CN115300006B - Flexible continuum surgical instrument with structure decoupling function - Google Patents
Flexible continuum surgical instrument with structure decoupling function Download PDFInfo
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- CN115300006B CN115300006B CN202210795010.3A CN202210795010A CN115300006B CN 115300006 B CN115300006 B CN 115300006B CN 202210795010 A CN202210795010 A CN 202210795010A CN 115300006 B CN115300006 B CN 115300006B
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- 239000012636 effector Substances 0.000 claims abstract description 23
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- 229910052802 copper Inorganic materials 0.000 description 16
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- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
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- 238000012546 transfer Methods 0.000 description 5
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- 238000013461 design 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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- 230000008569 process Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
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- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000001079 digestive effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
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- 238000009297 electrocoagulation Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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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
Abstract
The invention discloses a flexible continuum surgical instrument with a decoupling function, which comprises a driving module, a flexible driving wire transmission module with 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 bending part and a first bending part, wherein the second bending part and the first bending part are formed by a plurality of joints in an orthogonal stacking arrangement, the second bending part is close to the end effector module, and the first bending part is close to the flexible driving wire transmission module; the corresponding flexible driving wires respectively penetrate through shaft holes 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 decoupling of the structure per se on the premise of ensuring more flexible control freedom degree so as to carry out more accurate wire driving control.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to a flexible continuum surgical instrument with a structure decoupling function.
Background
Along with the development of the medical technology and the gradual maturation of the robot technology in the field, the digestive endoscopy operation is widely applied to diagnosis and treatment of early cancers of the digestive tract, and the flexible surgical instrument used in the operation mainly adopts a wire driving mode and has the characteristics of compact size, multiple degrees of freedom and long-distance transmission, and the distal end of the flexible surgical instrument is generally composed of two parts: an end effector and a flexible continuum structure. The end effector performs cutting, clamping, wound suturing, etc. operations by surgical scissors, forceps or integrated electrotome, electrocoagulation, etc.
However, the existing flexible continuum surgical instrument has the problems of large return difference, large structural coupling, large size, poor flexibility and the like. By means of orthogonal dispersion stacking of rigid joints, a continuous body with available working channels, multiple degrees of freedom, high flexibility and better rigidity can be designed and manufactured. However, based on such a proposed structure, although a sufficient number of degrees of freedom is provided, there is a problem of structural coupling, and particularly in a multi-stage bending structure, a large return difference is liable to be caused.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art, and provides a flexible continuum surgical instrument which is compact in structure and has a structure decoupling function, and the flexible continuum surgical instrument is used for diagnosis and treatment of early cancer 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, comprising a drive module, a flexible drive wire transmission module of 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 bending part and a first bending part, wherein the second bending part and the first bending part are formed by a plurality of joints in an orthogonal stacking arrangement, the second bending part is close to the end effector module, and the first bending part is close to the flexible driving wire transmission module; fixed-length decoupling wires are equidistantly arranged between the first end joints and the second end joints 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 joints and the second end joints, the active bending part is arranged far away from the clamp, and the passive bending part is arranged near the clamp; the fixed-length decoupling wire sequentially passes through the first end joint, the active bending part, the passive bending part and the second end joint, and the two ends of the decoupling wire are fixed with the first end joint and the second end joint;
the driving module comprises a driving wheel group and a guiding wheel group, and is connected with the guiding wheel group and the driving wheel group, wherein the flexible driving wire comprises a first bending part driving wire, a second bending part driving wire and a clamp driving wire, and the first bending part driving wire, the second bending part driving wire and the clamp driving wire respectively penetrate through shaft holes formed in the flexible driving wire transmission module of the tubular structure and are mutually separated in the radial direction, and then extend out:
the first bending part driving wire passes through the active bending part through the first end joint, extends out from a third end joint at the tail end of the active bending part for realizing separation from the passive 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 the fourth end joint at the tail end of the second bending part and is fixed with the fourth end joint; the clamp driving wire passes through the first bending part and the second bending part through the first end joint, then extends out from the 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.
The four first bending portion driving wires and the four second bending portion driving wires are arranged at equal intervals along the circumferential direction of the flexible continuum module, the one clamp driving wire is arranged on the inner sides of the first bending portion driving wires and the second bending portion driving wires, and the first bending portion driving wires are arranged on the adjacent sides of the second bending portion driving wires.
The flexible driving wire transmission module comprises a clamp driving wire, a first flexible driving wire and a second flexible driving wire, wherein a central channel of a tube body of the flexible driving wire transmission module with a tubular structure 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 in 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.
Wherein, a flexible driving wire is correspondingly provided with a guide wheel and a driving wheel group, and each driving wheel group is connected with a driving motor.
Wherein, drive module's one end disposes multicavity pipe fixing device, including the fixed top board of multicavity pipe and the fixed lower support of multicavity pipe that lock together from top to bottom each other, form the body that is used for the flexible drive silk transmission module of tubular structure between the fixed lower support of multicavity pipe and pass through and spacing groove.
Wherein the jaws of the end effector module include an upper jaw, 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 in the clamp cylinder near one end of the flexible continuum module, the clamp can be kept open in an initial state, and the clamp driving wire is pulled to compress the spring so as to enable the clamp to be closed;
the upper clamp and the lower clamp are oppositely arranged at the front end of the clamp cylinder and are limited by two oppositely arranged connecting plates at the front end of the clamp cylinder and are positioned between the two connecting plates, and are connected through clamp rotating pins penetrating through the top of the clamp cylinder, the sliding groove pins are arranged on the mounting plate at the front end of the wire fixing sliding block and are connected with the mounting plate in a cross shape, and the sliding groove pins penetrate 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 self decoupling of the structure on the premise of ensuring more flexible control freedom so as to perform more accurate wire drive control.
The bending part of the invention is formed by stacking rigid stainless steel joints based on rotating arc joints, and has good rigidity and easy processing and assembly. The driving module has compact structure, is beneficial to the miniaturization design of a surgical instrument system and is convenient to use and replace.
The bending part decoupling method is simple and effective, solves the problem of coupling of different bending parts in the driving process of multiple degrees of freedom, and reduces return difference.
The flexible driving wire transmission module is simple to process and manufacture and low in cost.
Drawings
FIG. 1 shows a schematic 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 schematic 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 the drive wheel set;
FIG. 7 shows an exploded view of an end effector module;
FIG. 8 shows a schematic view of a guidewire structure;
fig. 9 shows a schematic cross-sectional view of a flexible drive wire transfer module.
In the figure:
1-a driving module; 2-a flexible drive wire transfer module; 3-an end effector module; 4-flexible continuum modules; 5-miniature DC motor; 6-a first socket head cap screw; 7-a motor support plate; 8-a wire wheel set cover plate; 9-brass coupling; 10-a first hexagonal copper pillar; 11-copper column fixing cover plate; 12-a second inner hexagonal copper pillar; 13-a first wire wheel set; 14-driving a wheel set; 15-a second wire wheel set; 16-a second socket head cap screw; 17-a bottom plate of the wire guide wheel set; 18-driving a wheel set bottom plate; 19-a third socket head cap screw; 20-fixing an upper pressing plate of the multi-cavity tube; 21-a multi-lumen tube fixed lower support;
31-clamp rotation pins; 32-upper clamp; 33-a slide slot pin; 34-a wire fixing sliding block; 35-a compression spring; 36-clamp drive wire; 37-clamp cylinder; 38-lower clamp;
41-a second bend drive wire; 42-fourth end joint; 43-second joint; 44-second end joint; 45-fixed-length decoupling wires; 46-first joint; 47-a first bend drive wire; 48-third end joint; 49-first end joint;
131, a wire guide wheel; 132-wire guide wheel flange bearing; 133-shims; 134-wire wheelset shaft;
141-a first flange bearing of the driving wheel group; 142-reel; 143-driving a wheelset shaft; 144-drive wheel set second flange bearing.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of 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 comprises a driving module and a flexible driving wire transmission module, wherein the driving module is connected with the flexible driving wire transmission module, the flexible driving wire transmission module is connected with one end of the flexible continuum module, and the other end of the flexible continuum module is connected with 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 wire of the flexible driving wire transmission module, and the driving wire comprises a first bending part driving wire 47, a second bending part 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 the motor and can rotate, so that the driving wires are driven to act and transmit driving force.
As an alternative embodiment, each driving wheel is connected with a motor, and the motor can be a miniature direct current motor or the like, a plurality of motors can be arranged on a motor supporting plate 7, a driving wheel set formed by a plurality of driving wheels is arranged on the outer side, and a wire wheel set is arranged on the inner side of the driving wheel set.
Referring to fig. 7, as an embodiment, the wire wheel sets have eight first wire wheel sets 13 and one second wire wheel set 15, the driving wheel sets 14 have five, the axle center head-tail connecting wires of the four driving wheel sets 14 are rectangular, the eight first wire wheels are arranged in two rows, the axle center head-tail connecting wires are rectangular, the other driving wheel set is arranged on the same side with two driving wheel sets, the second wire wheel set is arranged on the same side with four first wire wheel sets, and the second wire wheel set is arranged opposite to the other four first wire wheel sets.
Referring to fig. 7, as an embodiment, four first bending driving wires 47 are provided, four second bending driving wires 41 are provided, and one clamp driving wire 36 is provided.
The driving wire is shunted and fixed on the thread of the reel of the driving wheel set through the wire wheel of the wire wheel set, and the miniature direct current motor drives the driving wheel set to rotate, 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 and the driving wheel set bottom plate 18 of the frame structure, 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 screw 16, the wire wheel set cover plate 8 is arranged at the hollow structure of the inner rectangular shape of the copper column fixing cover plate 11 of the frame structure and is limited and supported by the limit groove on the copper column fixing cover plate 11 of the frame structure, the copper column fixing cover plate 11 is correspondingly provided with the corresponding copper column coupler 9, the driving wheel set is in transmission connection with the motor through the copper column coupler 9, the first hexagon socket head cap screws 10 are respectively arranged on the four corners upper surfaces of the copper column fixing cover plate 11, the second hexagon socket head cap screws 12 are matched with the fixing holes on the driving wheel set bottom plate 18, so that the motor support plate 7, the copper column fixing cover plate 11 and the driving wheel set bottom plate 18 are connected together to form a three-layer 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 column 10, a copper column fixing cover plate 11 and a second inner hexagonal copper column 12 through a first inner hexagonal screw 6, and the second inner hexagonal copper column 12 is directly fixed on a driving wheel set bottom plate 18 through threads; the wire wheel set bottom plate 17 is fixed on the driving wheel set bottom plate 18 through a second socket head cap screw 16.
As an embodiment, the first wire wheel set 13 and the second wire wheel set 15 each include 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 matched 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 in interference fit on the wire wheel set bottom plate 17 through the wire wheel shaft 134, and the wire wheel set cover plate 8 passes through the wire wheel shaft 134 and is matched 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 the brass coupling 9 upwards, and the driving wheel set 14 is driven to rotate through the rotation of the motor shaft, so that the displacement of the first bending portion driving wire 47, the second bending portion driving wire 41 and the clamp driving wire 36 is generated.
As an embodiment, a multi-cavity tube fixing lower support 21 and a multi-cavity tube fixing upper pressing plate 20 are arranged at a position near one end of the upper surface of the driving wheel set bottom plate 18; the multi-lumen tube fixing upper pressing plate is located on the upper surface of the multi-lumen tube fixing lower support and is fixed together by third socket head cap screws 19, which form a penetration space or passage of the multi-lumen tube through which the driving wires penetrate, and the flexible driving wire transmitting module 2 is fixed on the multi-lumen tube fixing lower support 21 of the driving module 1. Specifically, the 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 by threads.
As an example, the flexible drive wire transfer module comprises a multi-lumen tube having one central working channel and eight circumferentially arranged drive wire channels, see fig. 8.
As an example, referring to fig. 2, 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 be made of 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, bending deformation can be realized through curved surface contact, the first joint 46 and the second joint 43 can be the same or different, the first joint and the second joint 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 bends when driven to bend by the drive wires.
The fourth end joint 42 and the second joints 43 are sequentially and orthogonally stacked to form a second bending portion of the flexible continuum module 4, and the second end joint 44, the first joints 46, the third end joint 48 and the first end joint 49 are sequentially and orthogonally stacked to form a first bending portion of the flexible continuum module 4;
the four fixed-length decoupling wires 45 are circumferentially equidistantly arranged, the head and the tail are respectively adhered and fixed in the notches of the second end joint 44 and the first end joint 49, 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;
wherein, the third end joint 48, the three first joints 46 and the first end joint 49 are active bending parts, and the displacement of the first bending part driving wire 47 is controlled, and 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 bend the active bending parts at equal angles in opposite directions, so that the path of the second bending part driving wire 41 passing through the first bending part is not changed, and the aim of decoupling from the structure is fulfilled.
By controlling the displacement of the second bending portion driving wire 41, bending movement of two degrees of freedom independent of the first bending portion is achieved.
According to the embodiment of the invention, the driven bending part of the first bending part is connected with the driving bending part end to end through the fixed-length decoupling wire, the first bending part drives the first driving bending part to bend, meanwhile, the first driven bending part moves in the opposite direction relative to the first driving bending part due to the action of the fixed-length decoupling wire, the path of the driving wire passing through the first bending part is unchanged, and the decoupling of the first bending part and the second bending part is realized while an operation triangle is formed. Driving the second bend drive wire may effect control of the second bend for effecting positional control of the end effector module.
As an example, the end effector module 3 includes 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 compression spring 35, and a jaw drive wire 36. Wherein, one end of the clamp driving wire 36 is fixed with the wire fixing sliding block 34, a pre-compressed pressure spring 35 is arranged in the clamp cylinder 37, the clamp can be kept open in an initial state, and the clamp driving wire is pulled to compress the spring 35 so as to enable the clamp to be closed.
As an alternative embodiment, the wire fixing slider 34 and the pressure spring 35 are installed together at the front end of the clamp cylinder 37, the rear end of the clamp cylinder 37 is provided with a limiting tube for blocking the pressure spring 35 to prevent the pressure spring from sliding out, the upper clamp 32 and the lower clamp 38 are oppositely arranged at the front end of the clamp cylinder 37 and are limited by two oppositely arranged connecting plates at the front end of the clamp cylinder 37, are positioned between the two connecting plates and are connected through a clamp rotating pin 31 penetrating through the top of the clamp cylinder 37, the sliding slot pin 33 is installed on an installation plate at the front end of the wire fixing slider 34 and is connected with the installation plate in a cross shape, and the sliding slot pin 33 penetrates through sliding slot holes on the two connecting plates and can linearly move along the sliding slot holes.
As an embodiment, the clamp driving wire 36 passes through the hole at the bottom of the clamp cylinder 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 the hole of the mounting plate at the top or 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 cylinder 37, the clamp rotating pin 31 passes through the upper clamp 31 and the lower clamp 38 and is in interference fit with the hole at the top of the clamp cylinder 37, the sliding groove pin 33 is simultaneously matched with the notches on the upper clamp 31, the lower clamp 38 and the clamp cylinder 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 clamp is closed; the clamp driving wire 36 is released and the clamp opens in the restoring movement of the compression spring 35.
As an example, the end effector module 3 and the flexible continuum module 4 are connected together by an interference fit through the clamp cylinder 37, and the first bending drive wire 47 and the second bending drive wire 41 pass through the flexible drive wire transfer module 2 to connect to the drive module 1, bypass the first wire wheel set 13 and the second wire wheel set 15, and adhere in the thread grooves of the reel 142 in the drive wheel set 14.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, 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 may be embodied in 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.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. The flexible continuum surgical instrument with the structure decoupling function is characterized by comprising a driving module, a flexible driving wire transmission module with 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 bending part and a first bending part, wherein the second bending part and the first bending part are formed by a plurality of joints in an orthogonal stacking arrangement, the second bending part is close to the end effector module, and the first bending part is close to the flexible driving wire transmission module; fixed-length decoupling wires are equidistantly arranged between the first end joints and the second end joints 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 joints and the second end joints, the active bending part is arranged far away from the clamp, and the passive bending part is arranged near the clamp; the fixed-length decoupling wire sequentially passes through the first end joint, the active bending part, the passive bending part and the second end joint, and the two ends of the decoupling wire are fixed with the first end joint and the second end joint;
the driving module comprises a driving wheel group and a guiding wheel group, and is connected with the guiding wheel group and the driving wheel group, wherein the flexible driving wire comprises a first bending part driving wire, a second bending part driving wire and a clamp driving wire, and the first bending part driving wire, the second bending part driving wire and the clamp driving wire respectively penetrate through shaft holes formed in the flexible driving wire transmission module of the tubular structure and are mutually separated in the radial direction, and then extend out:
the first bending part driving wire passes through the active bending part through the first end joint, extends out from a third end joint at the tail end of the active bending part for realizing separation from the passive 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 the fourth end joint at the tail end of the second bending part and is fixed with the fourth end joint; the clamp driving wire passes through the first bending part and the second bending part through the first end joint, then extends out from the 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 structural decoupling function according to claim 1, wherein the number of the first bending portion driving wires and the second bending portion driving wires is four, the number of the clamp driving wires is one, the clamp driving wires are arranged on the inner sides of the first bending portion driving wires and the second bending portion driving wires, and the first bending portion driving wires are arranged on the adjacent sides of the second bending portion driving wires.
3. The flexible continuum surgical instrument with structural decoupling function according to claim 2, wherein a central channel of a 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 a first flexible driving wire and a second flexible driving wire pass are formed inside a 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 continuum surgical instrument with structural decoupling function according to claim 1, wherein a flexible drive wire is correspondingly configured with a guide wheel and a drive wheel set, each drive wheel set being coupled to a drive motor.
5. The flexible continuum surgical instrument with the structure decoupling function according to claim 1, wherein one end of the driving module is provided with a multi-lumen fixing device, the multi-lumen fixing device comprises a multi-lumen fixing upper pressing plate and a multi-lumen fixing lower support which are buckled together up and down, and a limiting groove for limiting the passage of a tube body of the flexible driving wire transmission module of the tubular structure is formed between the multi-lumen fixing upper pressing plate and the multi-lumen fixing lower support.
6. The flexible continuum surgical instrument with structural decoupling function according to claim 1, wherein the jaws of the end effector module comprise an upper jaw, 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 in the clamp cylinder near one end of the flexible continuum module, the clamp can be kept open in an initial state, and the clamp driving wire is pulled to compress the spring so as to enable the clamp to be closed;
the upper clamp and the lower clamp are oppositely arranged at the front end of the clamp cylinder and are limited by two oppositely arranged connecting plates at the front end of the clamp cylinder and are positioned between the two connecting plates, and are connected through clamp rotating pins penetrating through the top of the clamp cylinder, the sliding groove pins are arranged on the mounting plate at the front end of the wire fixing sliding block and are connected with the mounting plate in a cross shape, and the sliding groove pins penetrate 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 |
|---|---|
| CN115300006A CN115300006A (en) | 2022-11-08 |
| CN115300006B true CN115300006B (en) | 2024-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202210795010.3A Active CN115300006B (en) | 2022-07-07 | 2022-07-07 | Flexible continuum surgical instrument with structure decoupling function |
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