CN115886892A - Bend adjusting device and wrist rotating instrument - Google Patents

Abstract

The application relates to a bending adjusting device and a wrist turning instrument. This transfer curved device includes the section of transferring curved more than two along the first direction, transfers curved section can the elastic bending, and the bending axis of at least two sections of transferring curved is not coincident and nonparallel. The bending adjusting section comprises a bending section and a supporting section, the supporting section is located at two ends of the bending section along a first direction, the bending rigidity of the bending section is smaller than that of the supporting section, the supporting section located at the far end is fixed, and the supporting section located at the near end can move along the first direction under the action of external force to drive the bending section to be elastically bent. When the bending axes of at least two bending sections of the bending adjusting device are not coincident, the bending adjusting device can bend towards different directions. When the bending adjusting device is used in the field of medical instruments, the range which can be reached by the end effector in the operation process can be enlarged, so that the end effector can complete corresponding operation conveniently.

Description

Bend adjusting device and wrist rotating instrument

Technical Field

The application relates to the field of medical equipment, in particular to a bending adjusting device and a wrist turning instrument.

Background

In laparoscopic surgery, the conventional instrument is of a straight tubular shape, and a surgical tool, called an end effector, is mounted on the distal end of the shaft section of the instrument, and the end effector is capable of performing corresponding operations during the surgical procedure. However, a surgeon can move the end effector to a desired position only by moving the position of the instrument shaft segment, and the orientation of the end effector relative to the instrument shaft segment is difficult to adjust because the instrument shaft segment cannot deflect, thereby limiting the movement space of the end effector and reducing the user experience. In the prior art, the deflection of the shaft section of the instrument is realized by adding a pulley cable mechanism, but the cable is easy to loosen and the reliability of the product is not high.

Disclosure of Invention

The application provides a transfer curved device and wrist and change apparatus makes the apparatus have the performance of elastic bending deformation, increases the degree of freedom of apparatus, makes the form that the user can nimble adjust the apparatus to change terminal end effector's position.

This application first aspect provides a transfer curved device, and this transfer curved device includes the section of transferring the bending more than two along first direction, transfers the bending section can the elastic bending, and the bending axis of at least two sections of transferring the bending is misaligned and nonparallel. The bending adjusting section comprises a bending section and a supporting section, the supporting section is located at two ends of the bending section along a first direction, the bending rigidity of the bending section is smaller than that of the supporting section, the supporting section located at the far end is fixed, and the supporting section located at the near end can move along the first direction under the action of external force to drive the bending section to be elastically bent.

In one possible design, the bend sections are connected adjacently to form a support section at the distal end, and the support section at the proximal end of the bend sections is capable of relative movement in a first direction.

In one possible design, the bend adjusting section comprises at least two linear parts connected in a first direction and capable of relative movement, and the rigidity of at least two of the linear parts is different to form the support section and the bending section.

In one possible design, the bending section comprises a small stiffness portion and a large stiffness portion connected in a direction perpendicular to the first direction, and the small stiffness portion and the large stiffness portion are deformed by different amounts during driving of the proximally located support section in the first direction to enable bending of the bending section.

In one possible design, the bending section has a neutral axis and a neutral layer, the high stiffness portion being located at the neutral axis, or the high stiffness portion being located at the neutral layer;

the neutral axis is an axis with unchanged length in space when the material of the bending section is compressed and stretched, and the neutral layer is a transition layer which is not stretched or compressed in the bending process of the material of the bending section.

In one possible design, the bending adjusting section comprises an inner pipe and an outer pipe, and the outer pipe is sleeved outside the inner pipe; the outer pipe and the inner pipe are both provided with a small rigidity part and a large rigidity part, and the large rigidity part of the outer pipe and the large rigidity part of the inner pipe are mutually staggered; along the first direction, the distal end of outer tube and the distal end fixed connection of inner tube form the support section that is located the distal end of accent curved section, and the near-end of outer tube and the near-end of inner tube can be followed first direction relative motion, form the support section that is located the near-end of accent curved section.

In one possible design, the modulus of elasticity of the material of the small stiffness portion is less than the modulus of elasticity of the material of the large stiffness portion, and/or the moment of area inertia of the small stiffness portion is less than the moment of area inertia of the large stiffness portion.

In one possible design, the elastic modulus of the material of the small rigidity portion and the elastic modulus of the material of the large rigidity portion are the same, and the bent section is provided with a plurality of recesses, each of which forms the small rigidity portion.

In one possible design, the bottom of the recess is of arcuate configuration.

In a possible design, the concave part is one or more of a U-shaped groove, an S-shaped groove and a special-shaped groove.

In one possible design, at least some of the recesses have different depths and/or the spacing between adjacent recesses is different.

In one possible design, the material of the small rigidity portion has the same elastic modulus as the material of the large rigidity portion, and the bent section has a thin wall region and a thick wall region, the thin wall region forming the small rigidity portion, and the thick wall region forming the large rigidity portion.

In one possible embodiment, a first drive element is connected to the support section at the distal end for driving the support section in a first direction.

A second aspect of the present application provides a wrist rotation apparatus, comprising:

an end effector;

the bending adjusting device is the bending adjusting device;

wherein, along the first direction, the end effector is connected with the bending section.

In one possible design, the wrist-rotating instrument further comprises a drive rod connected to the end effector, the drive rod passing through each bend-adjusting section;

the end effector is connected with the driving rod through the reciprocating rotation mechanism, and when the driving rod moves along the first direction, the end effector can be driven to open and close through the reciprocating rotation mechanism.

In one possible design, the reciprocating rotation mechanism comprises a sliding block and a sliding chute which are matched, one of the sliding block and the sliding chute is arranged on the driving rod, and the other one is arranged on the end effector;

the chute is inclined with respect to the first direction.

The medical instrument comprises a medical instrument field, a near end and a far end, wherein the near end is one end close to an operator, the far end is one end close to an operated object, and in the field of medical instruments, the near end is one end close to a doctor, and the far end is one end close to a patient. The first direction is the axis direction of the bending adjusting device in a natural state.

Because each section of transferring the bending all includes the structure of support section-bending section support section along first direction, when the support section that is located the distal end is fixed, the support section that is located the near-end receives under the exogenic action along first direction, the ability that two support sections that bending rigidity is great resist external force deformation than the bending section that bending rigidity is less is big, make two support sections play the effect of support at the both ends of bending section, thereby when making the external force of the support section of near-end transmit to bending section, make bending section for two support sections elastic bending, in order to realize transferring the whole bending of curved device.

The bending axes of at least two bending sections of the bending adjusting device are not coincident and are not parallel, so that the bending adjusting device can bend towards different directions, the bending direction of the whole bending adjusting device can be changed by changing the bending degree of each bending section, the degree of freedom of the bending adjusting device is improved, and the moving range of an end effector connected with the bending adjusting device is further enlarged. When the bending adjusting device is used in the field of medical instruments, the range which can be reached by the end effector in the operation process can be enlarged, so that the end effector can complete corresponding operation conveniently. And compared with the realization of deflecting through increasing pulley hawser mechanism among the prior art, the implementation of this application is owing to need not to set up the hawser to can prevent that the hawser from relaxing and the crooked reliability that leads to is lower, thereby improve the reliability of adjusting the bending device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

FIG. 1 is a schematic illustration of a wrist rotation instrument in one embodiment provided herein;

FIG. 2 is a schematic view of a partial structure of the bend adjusting device shown in FIG. 1;

FIG. 3 is an exploded view of the wrist instrument of FIG. 1;

FIG. 4 is a schematic illustration of the first outer tube of FIG. 3 in a first embodiment;

FIG. 5 is a schematic view of the connection between the second outer tube and the first inner tube in FIG. 3;

FIG. 6 is a schematic structural view of the second inner tube of FIG. 3;

FIG. 7 is a schematic structural view of the first bend adjusting section in FIG. 1;

FIG. 8 is a schematic illustration of the first outer tube of FIG. 3 in a second embodiment; FIG. 9 is a schematic structural view of the first outer tube of FIG. 3 in a third embodiment; FIG. 10 is a schematic view of the end effector and drive rod of FIG. 1 coupled together;

FIG. 11 is a schematic view of the end effector of FIG. 8 in a deployed state;

FIG. 12 is a schematic view of the end effector of FIG. 8 in a closed position.

Reference numerals:

1-a first bending section;

11-a first bending section;

111-a first low stiffness portion;

112-a first high stiffness portion;

12-a first distal support section;

13-a first proximal support section;

14. A first outer tube;

15-a first inner tube;

16-a first recess;

17-a first bending axis;

18-a first neutral axis;

2-a second bending adjusting section;

21-a second bend section;

211-a second minor stiffness portion;

212-a second high stiffness portion;

22-a second distal support section;

23-a second proximal support section;

24-a second outer tube;

25. About.a second inner tube;

251-opening;

26 × a second recess;

27-a second bending axis;

28-second neutral axis;

3-a driving member;

31-a first drive member;

32-a second drive member;

33-a third drive member;

4-an end effector;

41-pliers;

411-a chute;

42-a locating pin;

43-a stop;

5-a drive rod;

51 slider.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Detailed Description

For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.

It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be noted that the terms "upper", "lower", "left", "right", and the like used in the embodiments of the present application are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In addition, in this context, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on "or" under "the other element or be indirectly on" or "under" the other element via an intermediate element.

The embodiment of the application provides a bending adjusting device which can be used in the field of medical instruments or other fields needing to adjust deflection of an end effector. As shown in fig. 1, the bending adjusting device includes more than two bending adjusting sections along the first direction X, the bending adjusting sections can be elastically bent, and bending axes of at least two bending adjusting sections are not coincident and are not parallel. The bending adjusting section comprises a bending section and a supporting section, the supporting section is located at two ends of the bending section along the first direction X, the bending rigidity of the bending section is smaller than that of the supporting section, the supporting section located at the far end is fixed, and the supporting section located at the near end can move along the first direction X under the action of external force to drive the bending section to be elastically bent. The medical instrument comprises a medical instrument field, a near end and a far end, wherein the near end is one end close to an operator, the far end is one end close to an operated object, and in the field of medical instruments, the near end is one end close to a doctor, and the far end is one end close to a patient. The first direction X is an axial direction of the bending adjustment device in a natural state.

In this embodiment, each bending adjusting section of the bending adjusting device can be elastically bent, so that each bending adjusting section at least has a natural state and a bending state, and can be switched between the natural state and the bending state. When each section of transferring the bending all is in natural state, this device of transferring the bending is in non-bending state, when the section of transferring the bending of at least part of the device of transferring the bending is in bending state, this device of transferring the bending is in bending state, when this device of transferring the bending connects end effector, can drive end effector motion through the bending of transferring the bending device to increase end effector's home range improves user experience.

Because each bending adjusting section comprises a supporting section-bending section-supporting section structure along the first direction X, when the supporting section at the far end is fixed, the supporting section at the near end is under the action of external force along the first direction X, the capacity of resisting external force deformation of the two supporting sections with larger bending rigidity is larger than that of the bending section with smaller bending rigidity, so that the two supporting sections can play a supporting role at two ends of the bending section, and when the external force of the supporting section at the near end is transmitted to the bending section, the bending section is elastically bent relative to the two supporting sections, so that the integral bending of the bending adjusting device is realized.

Meanwhile, the bending axes of at least two bending sections of the bending adjusting device are not coincident and are not parallel, so that the bending adjusting device can bend towards different directions, the overall bending direction of the bending adjusting device can be changed by changing the bending degree of each bending section, the degree of freedom of the bending adjusting device is improved, and the moving range of an end effector connected with the bending adjusting device is further enlarged. When the bending adjusting device is used in the field of medical instruments, the range which can be reached by the end effector in the operation process can be enlarged, so that the end effector can complete corresponding operation conveniently. Compared with the deflection realized by adding a pulley cable mechanism in the prior art, the deflection regulating device has the advantages that the cable is not required to be arranged, so that the bending reliability caused by the loosening of the cable is low, and the reliability of the deflection regulating device is improved.

Specifically, in the embodiment shown in fig. 1 to 3, the bending adjusting device includes two bending adjusting sections along the first direction X, and the bending adjusting device includes two bending adjusting sections as an example, and when the bending adjusting device includes more than three bending adjusting sections, the structure is similar to this.

As shown in fig. 1-3, the bending adjustment device comprises a first bending adjustment section 1 and a second bending adjustment section 2 along a first direction X, which are separated by a dotted dashed frame. The distal end of the second bend adjusting section 2 of the bend adjusting device, i.e. the end close to the operator (e.g. a doctor), is used for connecting an end effector 4. The first bending adjusting section 1 and the second bending adjusting section 2 can be elastically bent, so that the first bending adjusting section 1 and the second bending adjusting section 2 at least have a natural state and a bending state, and can be switched between the natural state and the bending state.

When the first bending adjusting section 1 is in a bending state and the second bending adjusting section 2 is in a natural state, the position of the second bending adjusting section 2 changes along with the bending of the first bending adjusting section 1, when the first bending adjusting section 1 is in a natural state and the second bending adjusting section 2 is in a bending state, the first bending adjusting section 1 bends and drives the second bending adjusting section 2 to change the position, and when the first bending adjusting section 1 and the second bending adjusting section 2 are both in a bending state and the bending axes of the first bending adjusting section 1 and the second bending adjusting section 2 are not coincident and parallel, the bending degree and the bending direction of the whole bending device can be changed through the bending degrees of the two bending adjusting sections.

In the embodiment shown in fig. 2, the first bending adjustment section 1 includes a first distal support section 12, a first bending section 11, and a first proximal support section 13 along the first direction X, wherein the first distal support section 12 is fixed, and the first proximal support section 13 is capable of moving along the first direction X, so that when the first proximal support section 13 is subjected to a pushing force or a pulling force along the first direction X, the first support section 12 with a higher bending stiffness and the first proximal support section 13 serve as deformation support points of the first bending section 11 with a lower bending stiffness, so that the first bending section 11 changes from a natural state to a bending state, that is, the first bending adjustment section 1 rotates around the first bending axis 17. Similarly, the second bending adjustment section 2 comprises a second distal end support section 22, a second bending section 21 and a second proximal end support section 23 along the first direction X, wherein the second distal end support section 22 is fixed, and the second proximal end support section 23 is capable of moving along the first direction X, so that when the second proximal end support section 23 is pushed or pulled along the first direction X, the second bending adjustment section 2 rotates around the second bending axis 27.

In particular, first bending axis 17 and second bending axis 27 are non-coincident and non-parallel, i.e., may have a non-zero included angle therebetween.

Specifically, this transfer curved device can also include n and transfer curved section, and when the bending axis of n transfer curved section was all not coincided for transfer curved device can be around n bending axis crooked, thereby satisfies the user demand who transfers curved device.

In the embodiment shown in fig. 2, the bending adjustment device comprises a first bending adjustment section 1 and a second bending adjustment section 2, and a first bending axis 17 of the first bending adjustment section 1 is orthogonal to a second bending axis 27 of the second bending adjustment section 2. In this embodiment, the first bending axis 17 of the first bending adjusting section 1 is parallel to the Z axis, the second bending axis 27 of the second bending adjusting section 2 is parallel to the Y axis, and when the first bending axis 17 and the second bending axis 27 are orthogonally arranged, the bending adjusting device can realize 360 ° rotation in the X-Y plane and the X-Z plane through a small number of bending adjusting sections (the first bending adjusting section 1 and the second bending adjusting section 2).

In one embodiment, the bending segments are adjacently connected to form a support segment at the distal end, and the support segment at the proximal end of the bending segments is capable of relative movement in the first direction X. When the bending adjusting device comprises N bending adjusting sections, the structure of the bending adjusting device comprises: the structure of the support section-the bending section-the support section is such that the bending device is a structure that the support section and the bending section are distributed at intervals, and the bending axes of at least two bending sections are not coincident and are not parallel, so that the bending device can bend around a plurality of bending axes.

In the embodiment of fig. 1-3, the first tuned bend section 1 is fixedly connected to the second tuned bend section 2 by a first distal support section 12. When the first bending adjusting section 1 rotates around the first bending axis 17, the position of the first far-end supporting section 12 changes in the X-Y plane, so that the first far-end supporting section 12 drives the position of the second far-end supporting section 22 of the second bending adjusting section 2 to change in the X-Y plane, and at this time, if the second near-end supporting section 23 of the second bending adjusting section 2 is not driven by external force, the second bending adjusting section 2 cannot bend.

In a specific embodiment, the bending adjustment section comprises at least two linear members (not shown in the figure) connected along the first direction X and capable of relatively moving, and the bending stiffness of the at least two linear members is different, so as to form the support section and the bending section of the bending adjustment section. The linear part is a part, the axis of which extends along the first direction X in a natural state, the bending rigidity of each part of the linear part is the same, the support section and the bending section with different bending rigidities are realized by changing the relative bending rigidities of the two linear parts, the structures of the support section and the bending section are simplified, and when the support section and the bending section are realized by the two linear parts, the structure and the connection mode of the bending adjusting section can be simplified.

Specifically, two linear members having different bending rigidities can be realized by changing the sectional moment of inertia and changing the modulus of elasticity, respectively. When the elastic modulus of the materials of the two linear components is the same, the section sizes of the two linear components are different; when the sectional moments of inertia of the two linear members are the same, it is only necessary to make the materials of the two linear members different.

More specifically, the support section and the bending section of the bending section may be realized by welding a wire between two rigid blocks (or rigid rods or rigid tubes), or may be realized by welding a spring between two rigid blocks (or rigid rods or rigid tubes). Therefore, in the bending adjusting section, the bending section is realized by a structure with larger flexibility, and the supporting section is realized by a structure with larger rigidity.

In another embodiment, as shown in fig. 2 and 3, the bending section comprises a small stiffness portion and a large stiffness portion connected to each other in a direction perpendicular to the first direction X, and the small stiffness portion and the large stiffness portion are deformed differently during driving of the support section at the proximal end in the first direction X, i.e. the bending section is deformed differently in two portions in the direction perpendicular to the first direction X, so that the bending section can bend.

As shown in fig. 2, when the support section at the proximal end of the bending adjustment section receives a pushing force or a pulling force along the first direction X and the pushing force or the pulling force is transmitted to the bending section, the small stiffness portion of the bending section is weaker than the large stiffness portion in resisting deformation caused by an external force, and the support section at the distal end of the bending adjustment section along the first direction X is used as a stressed support point shared by the small stiffness portion and the large stiffness portion, and under the action of the external force, two ends of the small stiffness portion and two ends of the large stiffness portion are compressed or stretched inwards, and the small stiffness portion is deformed in a larger amount, the large stiffness portion is deformed in a smaller amount, and a distance d is formed between a force F borne by the large stiffness portion and a central axis (an axis through which a centroid of the bending adjustment section passes) of the bending adjustment section, so that the force F can generate a torque M1 or M2 for bending the bending section.

In this embodiment, two portions with different rigidity are arranged on the bending section, so that the two portions have different deformation amounts when being subjected to an external force, and the bending of the bending adjusting section is realized.

When the distribution directions of the large rigidity part and the small rigidity part in the bending section are different, the bending axes of the bending sections are not coincident and are not parallel.

In the embodiment shown in fig. 4-6, the first bending adjustment section 1 comprises a first distal support end 12, a first bending section 11 and a first proximal support section 13 along the first direction X, and the second bending adjustment section 2 comprises a second distal support section 22, a second bending section 21 and a second proximal support section 23 along the first direction X. The first bending section 11 includes a first small stiffness portion 111 and a first large stiffness portion 112 distributed along the Y-axis direction, and the second bending section 21 includes a second small stiffness portion 211 and a second large stiffness portion 212 distributed along the Z-axis direction, that is, the distribution directions of the large stiffness portion and the small stiffness portion in the first bending section 11 and the second bending section 21 are different, wherein the Y-axis direction and the Z-axis direction are both perpendicular to the first direction X.

In the working process of the bending adjusting device, when the first proximal end supporting section 13 of the first bending adjusting section 1 is subjected to pushing force or pulling force along the first direction X and the pushing force or pulling force is transmitted to the first bending section 11, the first distal end supporting end 12 of the first bending section 11 is used as a stressed supporting point, and the first small rigidity part 111 of the first bending section 11 is compressed inwards or stretched outwards, so that the torque applied to the bending section 11 is M1 and the first bending section can be bent around the first bending axis 17 on the X-Y plane. Similarly, when the pushing force or the pulling force of the second proximal support section 23 of the second bending adjusting section 2 along the first direction X is transmitted to the second bending section 21, the second bending section 21 takes the second distal support section 22 as a stressed support point, and the second small stiffness portion 211 thereof is compressed inward or stretched outward, so that the torque applied to the second bending section 21 is M2, and the second bending section can be bent around the second bending axis 27 in the X-Z plane. In addition, the second bending adjusting section 2 is connected with the first far end supporting end 12 of the first bending adjusting section 1, the first far end supporting end 12 is used as a position base point of the second bending adjusting section 2 relative to the first bending adjusting section 1, the second bending adjusting section 2 bends on the basis of the bending of the first bending adjusting section 1, and the first bending axis 17 and the second bending axis 27 are not coincident, so that the integral bending of the bending adjusting device is determined by the bending of the first bending adjusting section 1 and the second bending adjusting section 2.

Specifically, the bending section of each bending adjustment section has a neutral axis and a neutral layer, and the large rigidity portion is located on the neutral axis, or the large rigidity portion is located on the neutral layer. Wherein the neutral axis is the axis of the bending section material with unchanged length in space when being compressed and stretched; the material is bent, the outer layer is stretched, the inner layer is extruded, a transition layer which is not tensioned and not compressed is inevitably formed on the section of the material, the stress is almost equal to zero, the transition layer is called a neutral layer of the material, the length of the neutral layer in the bending process is the same as that before bending, the neutral layer is kept unchanged, and the neutral axis also refers to an intersection line of the neutral layer and the section, and the normal stress value of each point on the neutral axis is zero.

In this embodiment, since the large stiffness portion of the bending section is not easily deformed, when the large stiffness portion is located on the neutral axis or the neutral layer of the bending section, since the deformation amount of the neutral axis and the neutral layer is zero, the large stiffness portion does not limit the bending of the bending section, so that the bending apparatus can normally operate. In addition, because the normal stress of the neutral axis and the neutral layer is zero, when the large rigidity part is positioned on the neutral axis or the neutral layer of the bending section, the risk of fatigue damage of the bending section in the long-term use process can be reduced, and the service life of the bending adjusting device is prolonged.

In the embodiment shown in fig. 4-7, the first and second curved segments 11 and 21 each have a high stiffness portion, with the first high stiffness portion 112 of the first curved segment 11 located at the first neutral axis 18 of the first curved segment 11 and the second high stiffness portion 212 of the second curved segment 21 located at the second neutral axis 28 of the second curved segment 21.

In the embodiment shown in fig. 8 and 9, the first and second curved segments 11 and 21 each have two large stiffness portions, and the two first large stiffness portions 112 of the first curved segment 11 are located at the first neutral level of the first curved segment 11, and the two second large stiffness portions 212 of the second curved segment 21 are located at the second neutral level of the second curved segment 21. When the bending section has two large rigidity parts, the strength of the bending section can be increased, the risk of damage to the bending section when the bending device is used for a long time is reduced, and the service life of the bending device is prolonged. Meanwhile, when all the large rigidity parts of the bending section are positioned on the neutral layer of the bending adjusting section, the large rigidity parts can be prevented from limiting the bending deformation of the small rigidity parts of the bending section, so that the bending section can be normally bent and has a larger bending angle to meet the use requirements of users.

In a specific embodiment, as shown in fig. 3, the bend adjusting section includes an inner tube and an outer tube, and the outer tube is sleeved outside the inner tube; the outer pipe and the inner pipe are both provided with a small rigidity part and a large rigidity part, namely the outer pipe and the inner pipe form a bending section of the bending adjusting section, and the large rigidity part of the outer pipe and the large rigidity part of the inner pipe are mutually staggered; along first direction X, the distal end of outer tube and the distal end fixed connection of inner tube form the support section that is located the distal end of transferring the curved section, and the proximal end of outer tube and the proximal end of inner tube can be followed first direction X relative motion, form the support section that is located the proximal end of transferring the curved section.

In this embodiment, when the inner tube and the outer tube of transfer curved section along first direction X fixed connection form the support section of the distal end of transfer curved section, when the other end of inner tube and outer tube along first direction X was the support section of near-end, make the near-end that the thrust or the pulling force that follow first direction X acted on the inner tube and/or the near-end of outer tube homoenergetic drive transfer curved section bending deformation, and inner tube and outer tube bear this thrust or pulling force jointly, and warp jointly under the effect of this thrust or pulling force, inner tube and outer tube support each other, thereby reduce inner tube or outer tube and take place cracked risk under the effect of thrust or pulling force. Meanwhile, when the large rigidity part of the outer pipe and the large rigidity part of the inner pipe are arranged in a staggered mode, the deformation resistance of the inner pipe and the outer pipe caused by the fact that the large rigidity parts of the two pipes are overlapped with each other can be prevented from being too large, and therefore the flexibility of switching of the bending adjusting section between a bending state and a natural state is improved. In addition, the bending adjusting section is realized through the pipe fittings which are mutually sleeved, and when the bending adjusting section and the two supporting sections of the bending adjusting section are realized through the sleeved pipe fittings, the connection between the bending adjusting section and the supporting sections can be simplified, the space occupied by the bending adjusting section along the circumferential direction can be reduced, the whole assembled bending adjusting device is made to be of a tubular structure, the outer pipe is better, and the storage is convenient.

In the embodiment shown in fig. 3-6, the first turning section 1 comprises a first outer pipe 14 and a first inner pipe 15, and the first outer pipe 14 is sleeved outside the first inner pipe 15. The first small rigidity portion 111 and the first large rigidity portion 112 in the first outer tube 14 are distributed in the Y-axis direction. And a first outer tube 14 in the first bending adjusting section 1 is fixedly connected with one end of a first inner tube 15 to form a first far-end supporting section 12 of the first bending adjusting section 1, and the other end of the first outer tube 14 and/or the first inner tube 15 is used as a first near-end supporting section 13 of the first bending adjusting section 1. During the operation of the first bend adjusting section 1, when the first outer tube 14 and/or the first inner tube 15 is subjected to a pushing force or a pulling force along the first direction X, the first proximal support section 13 moves along the first direction X, and the first distal support section 12 is fixed, so that the first outer tube 14 and the first inner tube 15 with uneven rigidity are bent, and the first bend adjusting section 1 is bent.

For example, assuming that only the first proximal support section 13 of the first outer tube 14 is subjected to the pushing force in the first direction X and the first proximal support section 13 of the first inner tube 15 is not subjected to the external force, the first outer tube 14 is supported by the first distal support section 12 as the force-receiving support point, and the first small rigidity portion 111 is pressed and compressed inward, so that the first outer tube 14 is bent about the first bending axis 17. Meanwhile, in the bending process of the first outer tube 14, acting force can be applied to the first inner tube 15, so that the first inner tube 15 is driven by the first outer tube 14 to be bent, and the bending directions of the first inner tube and the first outer tube are the same.

Similarly, in the embodiment shown in fig. 3-6, the second turning section 2 includes a second outer tube 24 and a second inner tube 25, and the second outer tube 24 is sleeved on the outer side of the second inner tube 25. The second small rigidity portion 211 and the second large rigidity portion 212 in the second outer tube 24 are distributed in the Z-axis direction. And one end of a second outer tube 24 and one end of a second inner tube 25 in the second bending adjusting section 2 are fixedly connected to form a second far-end supporting section 22 of the second bending adjusting section 2. And the second outer tube 24 in this embodiment is connected with the first distal support section 12 of the first turning section 1, so that the other end of the second outer tube 24 serves as the second proximal support section 23 of the second turning section 2 in order to avoid interference when the two turning sections are bent. The bending process of the second bending adjusting section 2 is similar to that of the first bending adjusting section 1, and the description thereof is omitted.

In the embodiment shown in fig. 3 and 5, the first inner tube 15 of the first bend adjusting section 1 and the second outer tube 24 of the second bend adjusting section 2 may be the same tube integrally arranged, and the two are demarcated by a dotted line, one side of the dotted line is the first inner tube 15, and the other side is the second outer tube 24, and at this time, the first inner tube 15 and the second outer tube 24 are formed by arranging a large stiffness part and a small stiffness part at different positions on the tube member. Or, in other embodiments, the first inner tube 15 and the second outer tube 24 may also be two tube members, and the two tube members are fixedly connected to each other, so as to fixedly connect the first bend-adjusting section 1 and the second bend-adjusting section 2, and the fixed connection manner of the two tube members may be: welding, threaded connection, snap-fit connection, flange connection, and the like.

Particularly, the second inner tube 25 in the second bend adjusting section 2 is provided with a notch 251, and the position of the notch 251 in the second inner tube 25 corresponds to the position of the first small stiffness part 111 in the first bend adjusting section 1 along the first direction X, and the notch 251 can play a role of avoiding in the working process of the bend adjusting device, so that the interference between the first inner tube 15 and the second inner tube 25 in the bending process of the first bend adjusting section 1 can be avoided.

In the above embodiments, the large stiffness portion and the small stiffness portion with different stiffnesses in the bending section can be implemented in various ways, and different implementations of the large stiffness portion and the small stiffness portion are described in detail below.

Specifically, the elastic modulus of the material of the small rigidity portion is smaller than that of the material of the large rigidity portion, and/or the second moment of area of the small rigidity portion is smaller than that of the large rigidity portion.

In a first embodiment (not shown in the figures), the modulus of elasticity of the material of the small stiffness portion is smaller than the modulus of elasticity of the material of the large stiffness portion. The bending section is made of different materials, when the large rigidity part and the small rigidity part are realized by changing the materials, the bending section does not need to be further processed, and the rigidity difference of the large rigidity part and the small rigidity part can be changed by selecting proper materials so as to meet the use requirement.

When the bending adjusting section comprises an inner pipe and an outer pipe which are sleeved with each other, the elastic modulus of the material of the small rigidity part in the outer pipe is smaller than that of the material of the large rigidity part; in the inner tube, the elastic modulus of the material of the small rigidity portion is smaller than that of the material of the large rigidity portion. Namely, the small rigidity part and the large rigidity part of the inner pipe are made of different materials, and the small rigidity part and the large rigidity part of the outer pipe are made of different materials.

In this embodiment, different materials may be welded to form the inner and outer tubes.

In the second embodiment, when the material is the same, the small stiffness portion with small moment of inertia of section is easier to deform than the large stiffness portion with large moment of inertia of section, therefore, in the direction perpendicular to the first direction X, the large stiffness portion and the small stiffness portion are formed by setting different portions of the bending section to be structures with different moments of section inertia, and the implementation mode has the advantages of simple structure and convenient implementation.

Specifically, when the modulus of elasticity of the material of the small rigidity portion and the modulus of elasticity of the material of the large rigidity portion are the same, the bent section is provided with a plurality of recesses, each of which forms the small rigidity portion. The plurality of concave parts are distributed at intervals along the first direction X, namely gaps are formed between the adjacent concave parts, the gaps enable the bending sections not to be connected along the first direction X, an elastic deformation space of the small rigidity part is provided, and the small rigidity part in the bending section has lower rigidity than the large rigidity part. In addition, the bending section may accumulate elastic potential energy through a small rigidity portion formed by the recess, and the bend-adjusting section may be restored to a natural state from a bent state by its own elasticity after no external force is applied to the bend-adjusting section.

In this embodiment, when the little rigidity part of transfer curved section is realized through setting up the depressed part, have simple structure, the advantage of being convenient for realize, and this implementation need not to set up big rigidity part in addition to further simplify the structure of transfer curved section.

In the embodiment shown in fig. 4 to 6, when the first bend adjusting section 1 and the bend adjusting section 2 each include an inner pipe and an outer pipe, the first bend section 11 of the first outer pipe 14 and the first inner pipe 15 in the first bend adjusting section 1 is provided with a plurality of first recesses 16, and the areas where the plurality of first recesses 16 are located form the first small rigidity portions 111 of the first outer pipe 14 and the first inner pipe 15. The second outer tube 24 and the second bent section 21 of the second inner tube 25 in the second turning section 2 are also provided with a plurality of second recesses 26, and the areas where the plurality of second recesses 26 are located form the second small rigidity portions 211 of the second outer tube 24 and the second inner tube 25.

Specifically, the bottom of depressed part can be the arc structure, passes through the arc transition between depressed part and the big rigidity part rather than being connected promptly to can reduce the stress concentration of the in-process depressed part bottom of bending deformation, improve the life of transferring the curved section.

In the above embodiments, the recess is one or more of a U-shaped groove, an S-shaped groove, and a special-shaped groove. The same or different shapes of the concave parts are arranged in different bending adjusting sections, so that the rigidity of each bending adjusting section is the same or different, and then different bending adjusting effects are combined.

In the embodiment shown in fig. 4-6, the first recess 16 and the second recess 26 are U-shaped grooves with the same shape and size, so as to simplify the structure of the bend-adjusting section and make the deformation of the bend-adjusting section more uniform at each position.

In addition, in the above embodiment, at least some of the recesses have different depths, and/or the distance between adjacent recesses is different, but of course, the depths of the recesses may also be the same, and the adjacent recesses may be parallel to each other and uniformly arranged, so that the processing process of the small-rigidity portion of each bending adjusting section is simpler.

Therefore, in the present application, the structure, depth, shape, and pitch of the recessed portions are not limited as long as the large rigidity portions and the small rigidity portions can be formed.

In the embodiment shown in fig. 4-6, the first recesses 16 in the first turning section 1 are parallel to each other and are uniformly arranged on the first outer tube 14 and the first inner tube 15. The second recesses 26 in the second turning section 2 are parallel to each other and are uniformly arranged on the second outer tube 24 and the second inner tube 25.

In another embodiment, the material of the small rigidity portion has the same elastic modulus as the material of the large rigidity portion, the bending section has a thin wall region and a thick wall region (not shown in the figure), the thin wall region forms the small rigidity portion, the thick wall region forms the large rigidity portion, and the moment of inertia of the bending section in the thin wall region is smaller than that in the thick wall region.

In this embodiment, the thin-wall area of bending section compares with thick wall area, and is out of shape more easily to through setting up bending section into the structure that the thickness is different, form big rigidity part and little rigidity part, this implementation has simple structure, the advantage of being convenient for realize. And this mode makes the integrality of crooked section higher to can prevent that external impurity from getting into crooked section, improve the integrality and the cleanliness factor of transferring curved device.

When the bending adjusting section comprises an inner pipe and an outer pipe, in the actual processing process, the thin-wall area can be achieved by cutting the wall thickness of the pipe fitting, or the thin-wall area and the thick-wall area can be directly processed when the inner pipe and the outer pipe are processed.

In each of the above embodiments, the distal support section has a first drive member 31 attached thereto for driving the support section in a first direction. When the bending adjusting device works, the first driving piece 31 can apply pushing force or pulling force to the supporting section connected with the first driving piece, so that the bending adjusting section is driven to bend and deform. The first driving member 31 may be specifically an electric push rod, a rod cylinder, a rodless cylinder, a rod hydraulic cylinder, a rodless hydraulic cylinder, or the like.

In the embodiment shown in fig. 1 and 3, the first proximal support section 13 of the first outer tube 14 is connected to the first driving member 31, the first proximal support section 13 of the first inner tube 15 is connected to the second driving member 32, the second proximal support section 23 of the second inner tube 25 is connected to the third driving member 33, each driving member 3 respectively applies a pulling or pushing force in the first direction X to the connected proximal support section, and then the proximal support section moves relative to the corresponding distal support section, so that the first small stiffness portion 111 and the second small stiffness portion 211 are compressed or stretched inwards, and then the first bending adjustment section 1 and the second bending adjustment section 2 are deformed in a bending manner. The first driving member 31, the second driving member 32 and the third driving member 33 may be specifically an electric push rod, a rod cylinder, a rodless cylinder, a rod hydraulic cylinder, a rodless hydraulic cylinder, or the like.

The present application also provides a wrist rotation instrument, which may be specifically a surgical tool, such as a surgical tool commonly used in abdominal surgery. As shown in fig. 10, the wrist rotation instrument includes an end effector 4 and a bending device composed of at least two bending sections, and the end effector 4 is connected to a distal support section of a distal-most bending section along a first direction X. Therefore, when the bending adjusting device bends, the end effector 4 connected with the bending adjusting device can be driven to move, so that the position of the end effector 4 is adjusted, the end effector 4 can be flexibly adjusted to reach a target position besides the self action of the end effector 4 can be realized, and the use experience of the wrist rotation instrument is improved.

In the embodiment shown in fig. 1, the end effector 4 is attached to the second distal support section 22 of the second turning section 2. The position of the end effector 4 is adjusted by the combined bending deformation in the first bend adjusting section 1 and the second bend adjusting section 2.

In particular, as shown in fig. 10 to 12, the wrist-turning instrument further comprises a drive rod 5 connected to the end effector 4, the drive rod 5 passing through each bend-adjusting segment of the bend-adjusting device. The end effector 4 is connected to the drive rod 5 by a reciprocating rotation mechanism which is capable of converting linear motion of the drive rod 5 in the first direction X into open-close or rotational motion of the end effector 4 when the drive rod 5 is operated. In addition, the axial space inside the bending adjusting device is used as the movement space of the driving rod 5, so that the compactness of the wrist turning instrument is improved, the size of the wrist turning instrument is reduced, and the wrist turning instrument is convenient for users to use.

The reciprocating rotation mechanism can be a connecting rod mechanism such as a crank slider mechanism, a double-rocker mechanism and the like, and the reciprocating rotation mechanism can convert linear motion into rotation.

More specifically, as shown in fig. 3, 10-12, the reciprocating rotation mechanism includes a slider 51 and a sliding slot 411, which are adapted to each other, one of the slider 51 and the sliding slot 411 is disposed on the driving rod 5, the other is disposed on the end effector 4, and the sliding slot 411 is inclined with respect to the first direction X. Wherein, the sliding slot 411 may also be an arc slot.

In addition, as shown in fig. 3, 10-12, the wrist rotation instrument further includes a limiting member 43 connected to the bending adjustment device, and the limiting member 43 has an opening along the first direction X, so that the end effector 4 can extend into the opening, and a portion of the driving rod 5 can be located in the opening, i.e. the driving rod 5 and the end effector 4 are engaged in the limiting member 43, so as to realize the connection between the end effector 4 and the bending adjustment device. The end effector 4 is connected to the limiting member 43 through the positioning pin 42, and the positioning pin 42 prevents the end effector 4 from being detached from the limiting member 43.

The end effector 4 may be a tool or the like. In the embodiment shown in fig. 10 to 12, the end effector 4 is a forceps 41, the driving rod 5 transmits the driving force to the sliding slot 411 of the forceps 41 through the slider 51, and when the driving rod 5 is operated in the first direction X, the forceps 41 can be driven to rotate around the positioning pin 42 through the cooperation of the sliding slot 411 and the slider 51, so as to open and close. Therefore, the end effector 4 can be moved by the bending adjusting device, and can be opened and closed or rotated by the driving rod 5.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (16)

1. The bending adjusting device is characterized by comprising two or more bending adjusting sections along a first direction, wherein the bending adjusting sections can be elastically bent, and the bending axes of at least two bending adjusting sections are not coincident and are not parallel;

the bending adjusting section comprises a bending section and a supporting section, the supporting section is located at the two ends of the bending section in the first direction, the bending rigidity of the bending section is smaller than that of the supporting section, the supporting section located at the far end is fixed, and the supporting section located at the near end can move in the first direction under the action of external force to drive the bending section to be elastically bent.

2. The bend-adjusting apparatus according to claim 1, wherein the bend-adjusting sections are adjacently connected to form the support section at the distal end, and the support section at the proximal end of each bend-adjusting section is relatively movable in the first direction.

3. The bend-adjusting device according to claim 1, wherein the bend-adjusting section comprises at least two linear members connected in the first direction and capable of relative movement, and the stiffness of at least two of the linear members is different to form the support section and the bending section.

4. The bend-adjusting apparatus according to claim 1, wherein the bending section comprises a small stiffness portion and a large stiffness portion connected in a direction perpendicular to the first direction, and the small stiffness portion and the large stiffness portion are deformed by different amounts during driving of the support section at the proximal end in the first direction so as to enable bending of the bending section.

5. The bend tuning device of claim 4, wherein the bending section has a neutral axis and a neutral layer, the high stiffness portion being located at the neutral axis or the high stiffness portion being located at the neutral layer;

the neutral axis is an axis with unchanged length in space when the material of the bending section is compressed and stretched, and the neutral layer is a transition layer which is not pulled or pressed in the bending process of the material of the bending section.

6. The bend-adjusting device of claim 4, wherein the bend-adjusting section comprises an inner tube and an outer tube, and the outer tube is sleeved outside the inner tube;

the outer pipe and the inner pipe are both provided with the small rigidity part and the large rigidity part, and the large rigidity part of the outer pipe and the large rigidity part of the inner pipe are staggered with each other;

along the first direction, the far end of outer tube with the far end fixed connection of inner tube forms the support section that is located the far end of accent curved section, the near-end of outer tube with the near-end of inner tube can be followed first direction relative motion, forms the support section that is located the near-end of accent curved section.

7. The bend tuning device of claim 4, wherein the material of the small stiffness portion has a lower modulus of elasticity than the material of the large stiffness portion, and/or wherein the small stiffness portion has a lower moment of inertia in cross section than the large stiffness portion.

8. The bend-adjusting apparatus according to claim 7, wherein the elastic modulus of the material of the small rigidity portion is the same as the elastic modulus of the material of the large rigidity portion, and the bending section is provided with a plurality of recesses, each of which forms the small rigidity portion.

9. The bend-adjusting device according to claim 8, wherein the bottom of the concave portion is of an arc-shaped structure.

10. The bend-adjusting device of claim 8, wherein the recess is one or more of a U-shaped groove, an S-shaped groove and a profiled groove.

11. The bend-adjusting device according to claim 8, wherein at least some of the recesses have different depths and/or different distances between adjacent recesses.

12. The bend adjusting apparatus according to claim 7, wherein the elastic modulus of the material of the small rigidity portion and the elastic modulus of the material of the large rigidity portion are the same, and the bending section has a thin-walled region and a thick-walled region, the thin-walled region forming the small rigidity portion and the thick-walled region forming the large rigidity portion.

13. The bend-adjusting apparatus according to any one of claims 2-12, wherein a first driving member is connected to the support section at the distal end, and the first driving member is configured to drive the support section to move along the first direction.

14. A wrist rotation instrument, comprising:

an end effector;

a bending adjusting device, wherein the bending adjusting device is the bending adjusting device in any one of claims 1 to 13;

wherein, along the first direction, the end effector is connected with the bend adjusting section.

15. The wrist-articulating instrument of claim 14 further comprising a drive rod connected to said end effector, said drive rod passing through each of said bend-adjusting segments;

the end effector is connected with the driving rod through a reciprocating rotary mechanism, and when the driving rod moves along the first direction, the driving rod can drive the end effector to open and close through the reciprocating rotary mechanism.

16. The wrist instrument according to claim 15, wherein the reciprocating rotation mechanism includes a slider and a chute adapted to one of the slider and the chute is disposed on the drive rod and the other is disposed on the end effector;

the chute is inclined with respect to the first direction.

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