CN218338520U - Endoscopic surgical device - Google Patents

Abstract

The utility model discloses an endoscopic surgery equipment, include: an endoscope control unit for holding and manipulating knobs and buttons of an endoscope; a surgical instrument control unit for securing and actuating a surgical instrument using the endoscope working channel; a frame for carrying the endoscope control unit and the surgical instrument control unit; and a driving unit for driving the endoscope control unit and the surgical instrument control unit, respectively. The utility model discloses endoscope operation equipment can realize that endoscope and the surgical instruments through the working channel of this endoscope operate under robot control system, and this process just like allowing the surgeon to carry out open operation with both hands, also will reduce ESD etc. and have the admission threshold of the operation of higher requirement to technique and professional knowledge, make more doctors can carry out the operation through operation robot. This will also minimize recovery, pain and hospital stays for the patient.

Description

Endoscopic surgical device

Technical Field

The present invention relates to an endoscopic surgical device.

Background

The flexible endoscope is a medical instrument commonly used in clinic and is commonly used for diagnosing and treating diseases related to natural cavities and tracts. The flexible endoscope has an operation section and an insertion section (including a bending section), and the operation section generally includes a bending operation knob for performing a bending operation on the bending section, an air supply and water supply button for performing an air supply operation and a water supply operation, a suction operation button for performing a suction operation, and a plurality of remote control switch buttons for remote operation of the video processor. When the endoscope is used, the operator is usually required to operate the endoscope by matching two hands, namely, one hand holds the operation part of the endoscope body to perform bending and function key operation, and the other hand holds the endoscope body to perform pushing and rotating.

Because the operation space of the natural cavity is narrow, the operation process is delicate and complex, a great amount of time is wasted to adjust the position and the direction of the instrument due to the fact that the dexterity of the instrument is not enough, and an operator needs to be in a standing state and hold the endoscope for a long time to keep a certain posture when performing the endoscope operation, which can cause the physiological fatigue of the operator.

When the operations such as electrocoagulation, cutting, traction and the like are required in the examination and operation processes, other surgical instruments are also required to be matched with an endoscope for use. For this purpose, the scope operating portion further includes a tool channel and a tool insertion port as an opening communicating to the tool channel, which allows surgical instruments such as a biopsy forceps, a high-frequency electric scalpel, and the like to be introduced through the tool insertion port and to pass through the working channel.

Since a flexible endoscope requires both hands of the operator for control of the distal end of the endoscope, one operator cannot simultaneously control the deflection of the distal end of the endoscope and the actuation of the surgical instrument positioned through its tool channel, and therefore more operators are required to coordinate the manual control of the surgical instrument, which reduces the efficiency and safety of the operation.

Disclosure of Invention

The invention provides an endoscopic surgery apparatus capable of simultaneously coordinating and finishing control of an endoscope and a surgical instrument passing through a working channel of the endoscope.

An endoscopic surgical device comprising:

an endoscope control unit for holding and manipulating knobs and buttons of an endoscope;

a surgical instrument control unit for securing and actuating a surgical instrument using the endoscope working channel;

a chassis for carrying the endoscope control unit and the surgical instrument control unit;

and a driving unit for driving the endoscope control unit and the surgical instrument control unit, respectively.

Preferably, the endoscope control unit comprises

A knob control device for controlling a large knob and a small knob of an operation section of the endoscope;

the endoscope holding device comprises an upper holding piece and a lower holding piece, the upper holding piece can fix the operation part of the endoscope when being buckled with the lower holding piece, and the large knob and the small knob are coupled and matched with the knob control device.

Preferably, the knob control device comprises

The first knob control device comprises a first transmission mechanism, a first transmission shaft and a first movable coupling mechanism, wherein the first transmission mechanism drives the first movable coupling mechanism to rotate through the first transmission shaft so as to adjust the large knob;

the second knob control device comprises a second transmission mechanism, a second transmission shaft and a second movable coupling mechanism, and the second transmission mechanism drives the second movable coupling mechanism to rotate through the second transmission shaft so as to adjust the small knob;

the first transmission shaft is a hollow shaft, and the first transmission shaft is sleeved on the second transmission shaft and connected through a bearing.

Preferably, the first movable coupling mechanism includes a first coupling member having a shape that can be coupled to the large knob, the first transmission shaft has a flange portion, the first transmission shaft is connected at the flange portion thereof to the first coupling member by a shoulder screw, the shoulder screw is freely slidable in a through hole of the flange portion, a threaded portion of the shoulder screw is threadedly connected to the first coupling member, and a restoring force is provided between the flange portion and the first coupling member by a spring.

Preferably, the second movable coupling mechanism includes a second coupling element having a shape that can be coupled to the small knob, the second transmission shaft has a flange portion, the second transmission shaft is connected to the second coupling element at the flange portion thereof by a shoulder screw that is freely slidable in a through hole of the flange portion, a threaded portion of the shoulder screw is threadedly connected to the second coupling element, and a restoring force is provided between the flange portion and the second coupling element by a spring.

Preferably, the surgical instrument control unit includes a surgical instrument assembly and a drive assembly, the surgical instrument assembly includes a manipulator detachably coupled to a connector of an output of the drive assembly, the drive assembly drives the surgical instrument assembly to perform an operation when the surgical instrument assembly is coupled to the drive assembly, and the surgical instrument assembly and the drive assembly are not operated together when the surgical instrument assembly is decoupled and separated.

Preferably, the driving assembly comprises a moving frame and a fixed frame, and the fixed frame is provided with a motor for driving the moving frame to move back and forth relative to the fixed frame.

Preferably, the rack comprises a rotating mechanism and a base, the rotating mechanism is connected with a fixed seat, and the endoscope control unit and the surgical instrument control unit are respectively fixed on the fixed seat.

Preferably, the frame still includes elevating system, elevating system includes by electric jar driven lift platform, the electric jar is fixed in on the base, under the drive of electric jar, lift platform can vertical lift.

Preferably, the rack further comprises a deflection mechanism, the deflection mechanism is arranged on the base or the lifting platform, the deflection mechanism comprises a deflection support driven by a tooth transmission mechanism, and the rotating mechanism is arranged on the deflection support.

Preferably, the deflector abutment has a ramp.

Preferably, the machine frame further comprises a feeding mechanism, the feeding mechanism comprises a feeding support driven by a linear guide mechanism, the rotating mechanism is arranged on the feeding support, and the feeding mechanism is arranged on the base or the lifting platform.

The endoscopic surgery equipment can realize the operation of the endoscope and the surgical instruments passing through the working channel of the endoscope under the robot control system, and the process is just like allowing a surgeon to perform open surgery with both hands, so that the access threshold of operation operations with higher requirements on technology and professional knowledge, such as ESD (electro-static discharge) and the like, is reduced, and more doctors can perform the operation operations through the surgical robots. This will also minimize recovery, pain and hospital stays for the patient.

Drawings

FIG. 1 is a schematic structural view of an endoscopic surgical device provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural view of an endoscope control unit of one embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a knob control device according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of the embodiment of FIG. 3;

FIG. 5 is a schematic structural diagram of a first rotary knob control device of the embodiment of FIG. 3;

FIG. 6 is a schematic structural view of the first transmission shaft of FIG. 5;

figure 7 is a side elevational view of the first coupling element of figure 5;

FIG. 8 is a schematic structural view of a second rotary knob control device of the embodiment of FIG. 3;

FIG. 9 is a schematic structural view of the secondary drive shaft of FIG. 8;

figure 10 is a side elevational view of the second coupling element of figure 8;

FIG. 11 is a schematic structural view of a feed mechanism and a deflection mechanism in accordance with one embodiment of the present invention;

FIG. 12 is a schematic structural view of a surgical instrument assembly in accordance with an embodiment of the present invention;

FIG. 13 is a schematic structural view of a surgical instrument assembly in accordance with another embodiment of the present invention;

FIG. 14 is a schematic diagram of a robot assembly according to one embodiment of the present invention;

FIGS. 15a and 15b are schematic structural views of a bending segment according to an embodiment of the present invention;

FIG. 16 is a schematic structural view of two curved segments connected in series in a column according to one embodiment of the present invention;

FIGS. 17a and 17b are schematic structural views of a bending segment according to another embodiment of the present invention;

fig. 18 is a schematic structural view of a steerable member according to one embodiment of the present invention;

FIG. 19 is a schematic view of the proximal connector of the embodiment of FIG. 18;

fig. 20 is a schematic view of a connection of an elastomeric tube to a steerable member according to one embodiment of the present invention;

fig. 21 is a schematic view of a connection of a resilient tube to a steerable member according to another embodiment of the present invention;

FIG. 22 is a schematic structural view of an end effector of one embodiment of the present invention;

FIG. 23 is a schematic diagram of the clevis of the embodiment of FIG. 22;

FIGS. 24a and 24b are schematic structural views of a bending segment according to another embodiment of the present invention;

fig. 25 is a schematic structural view of a steerable member according to one embodiment of the present invention (the actuation cord with its end constrained to the distal link is not shown);

FIG. 26 is a schematic view of a configuration for attaching to a dual channel endoscope using two sets of surgical instruments simultaneously in accordance with an embodiment of the present invention;

fig. 27 is a schematic structural diagram of a driving assembly according to an embodiment of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the description of the present invention, terms of directions or positional relationships as used with directional words such as "upper, lower, left, right" are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the device or member must have a particular orientation, be constructed and operated in a particular orientation; likewise, for ease of understanding and description, "inner and outer" refer to inner and outer relative to the profile of the components themselves, but the above directional terms are not intended to limit the invention.

It should also be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Since a flexible endoscope requires both hands of the operator for control of the distal end of the endoscope, one operator cannot simultaneously control the deflection of the distal end of the endoscope and the actuation of the surgical instrument positioned through its tool channel, and therefore more operators are required to coordinate the manual control of the surgical instrument, which reduces the efficiency and safety of the operation.

As shown in fig. 1, the endoscopic surgical device of the present invention includes an endoscope control unit 100, a surgical instrument control unit 200, and a frame 300. The endoscope control unit 100 is used for holding and manipulating knobs and buttons of the endoscope, the surgical instrument control unit 200 is used for fixing and actuating a surgical instrument using an endoscope working channel, and the frame 300 is used for carrying the endoscope control unit 100 and the surgical instrument control unit 200 and can realize rotation, feeding, deflection and lifting of the endoscope and the surgical instrument as a whole. The endoscope control unit 100 can be replaced according to the endoscope specification, and the surgical instrument control unit 200 can also be replaced according to different requirements of the required surgical instrument and the degree of freedom thereof.

As shown in fig. 2, the endoscope control unit 100 includes a scope gripping means 110, a knob control means 120, and a button control means 130. The endoscope holding device 110 includes an upper holding member 111 and a lower holding member 112, and the upper holding member 111 and the lower holding member 112 can fix the operation portion of the endoscope when they are engaged, and make the knob of the operation portion coupled with the knob control device 120. The upper and lower grips 111 and 112 may be hinged on one side and fixed on the other side by magnets in an attractive manner.

As shown in FIG. 3, the knob control 120 includes a first knob control and a second knob control. The first knob control device is used for coupling and adjusting a large knob of the endoscope operation part, the second knob control device is used for coupling and adjusting a small knob of the endoscope operation part, and the first knob control device and the second knob control device respectively comprise a transmission mechanism, a transmission shaft and a movable coupling mechanism. The transmission mechanism may be implemented as a toothed transmission mechanism, which in the embodiment of fig. 2, 3 is embodied as a worm gear.

As shown in fig. 3, 4 and 5, the first knob control device includes a first worm gear 121, a first transmission shaft 122 and a first coupling member 123, and the first worm gear 121 is fixed to the first transmission shaft 122. The first coupling member 123 has a shape to be coupled with a large knob of the operating portion of the endoscope, the first transmission shaft 122 has a flange portion 124 (shown in fig. 6), the first transmission shaft 122 is connected with the first coupling member 123 at the flange portion 124 by a shoulder screw 125, the shoulder screw 125 is freely slidable in a through hole of the flange portion 124, a threaded portion of the shoulder screw 125 is threadedly connected with the first coupling member 123, and a restoring force is provided between the flange portion 124 of the first transmission shaft 122 and the first coupling member 123 by a spring. Here, the first coupling member 123, the shoulder screw 125 and the spring constitute a movable coupling mechanism.

As shown in fig. 3, 4 and 8, the second knob control device includes a second worm gear 126, a second transmission shaft 127 and a second coupling member 128, and the second worm gear 126 is fixed to the second transmission shaft 127. The second coupling member 128 has a shape that can be coupled with a small knob of the operating portion of the endoscope, the second transmission shaft 127 has a flange portion 124' (as shown in fig. 9), the second transmission shaft 127 is connected with the second coupling member 128 at the flange portion 124' by a shoulder screw 125', the shoulder screw 125' is freely slidable in a through hole of the flange portion 124', a threaded portion of the shoulder screw 125' is threadedly connected with the second coupling member 128, and a restoring force is provided between the flange portion 124' of the second transmission shaft 127 and the second coupling member 128 by a spring. Here, the second coupling member 128, the shoulder screw 125' and the spring constitute a movable coupling mechanism.

As shown in fig. 4, the first transmission shaft 122 is a hollow shaft, and the first transmission shaft 122 is sleeved on the second transmission shaft 127 and connected through a bearing 129 so that the first transmission shaft 122 and the second transmission shaft 127 rotate respectively without mutual influence. To achieve balance, a pair of bearings 129 may be used simultaneously.

The shapes of the above-described first coupling member 123 (shown in fig. 7) and second coupling member 128 (shown in fig. 10) are respectively fitted to the large knob and the small knob of a two-channel endoscope of a model number OLYMPUS GIF 2T 240.

As shown in fig. 2, the button control apparatus 130 includes a push rod motor 131 and a motor holder 132. Taking a two-channel endoscope of type OLYMPUS GIF 2T240 as an example, the endoscope operation section includes an air supply and water supply button for performing air supply operation and water supply operation, a suction operation button for performing suction operation, and four remote control switch buttons for remote operation of the video processor. The motor holder 132 structurally surrounds the buttons, the push rod motor 131 is fixed to the motor holder 132, and the push rod motor 131 is located at a position where the corresponding button can be controlled.

As shown in fig. 1, the rack 300 includes a rotating mechanism 310, a feeding mechanism 320, a deflecting mechanism 330, a lifting mechanism 340 and a base 350, the rotating mechanism 310 is connected to a fixing base 311, and the endoscope control unit 100 and the surgical instrument control unit 200 are respectively fixed to the fixing base 311. By holding the endoscope control unit 100, the tool insertion port 10 of the endoscope operation portion is positioned upward, and accordingly, the surgical instrument control unit 200 is positioned above the endoscope control unit 100, so that the surgical instrument can be introduced from the tool insertion port 10 relatively smoothly. The rotation mechanism 310 is driven by a gear transmission mechanism or a belt transmission mechanism, and thus, the endoscope control unit 100 and the surgical instrument control unit 200 can be controlled to rotate together. The feeding mechanism 320 and/or the deflecting mechanism 330 and/or the lifting mechanism 340 are/is added between the rotating mechanism 310 and the base 350, so that the feeding, the deflecting and the lifting of the endoscope control unit 100 and the surgical instrument control unit 200 can be realized.

For easy movement, the base 350 is provided with rollers. The lifting mechanism 340 comprises a lifting platform 342 driven by an electric cylinder 341, the electric cylinder 341 is fixed on the base 350, and the lifting platform 342 can vertically lift under the drive of the electric cylinder 341.

The deflection mechanism 330 is disposed on the lift platform 340. As shown in fig. 1 and 11, the deflecting mechanism 330 is implemented as a deflecting support 331 driven by a gear train, and the feeding mechanism 320 is implemented as a feeding support 321 driven by a linear guide mechanism. The deflecting support 331 has an inclined surface, and the feeding support 321 is connected to the inclined surface of the deflecting support 331 by a linear guide mechanism, and the feeding support 321 can be fed obliquely downward by the linear guide mechanism. Here, the linear guide mechanism includes a lead screw 322 and a guide rail 323. The feed nut 324 mounted on the screw 322 is fixed to the feed support 321, the feed support 321 is fixed to the slider 325 on the guide rail 323, and the motor is driven by the driver to drive the screw 322 to rotate through the coupler, so as to convert the rotary motion into linear feed motion, and further drive the feed support 321 and the components fixed thereto to feed and retract integrally along the direction of the guide rail 323.

A rack is provided beside the frame 300, and a display for displaying an image of the endoscope, an image processor for processing an image displayed by the endoscope, a cold light source for an illumination light source of the endoscope, a high-frequency generator, and the like can be placed on the rack.

Surgical instrument control unit 200 includes a surgical instrument assembly 210 and a drive assembly 220. Surgical instrument assembly 210 and drive assembly 220 are removably coupled such that when surgical instrument assembly 210 and drive assembly 220 are coupled, drive assembly 220 drives surgical instrument assembly 210 to perform an operation, and when surgical instrument assembly 210 and drive assembly 220 are decoupled and separated, they are no longer operated together.

As shown in fig. 12 and 13, the surgical instrument assembly 210 includes a mechanical arm assembly 211 and a manipulator 212, the mechanical arm assembly 211 includes an end effector 213, a steerable member 214 and an actuating cord 215, the actuating cord 215 connected to the steerable member 214 at the distal end thereof can drive the mechanical arm assembly 211 to deflect up and down, left and right; an actuation cord 215, distally attached to the end effector 213, extends through the center of the steerable member 214 and drives the end effector 213 forward and backward, as well as forward and backward. The end effector 213 is deflectable along with the steerable member 214. The proximal end of the actuation cord 215 is connected to the manipulator 212, and the manipulator 212 is coupled to the drive assembly 220.

As shown in fig. 18, the steerable member 214 has a plurality of curved segments 2141 in series in a column in contact with each other. As shown in fig. 15a, 15b, 17a, 17b, curved segments 2141 each include a raised portion 2142 at one end thereof and a recessed portion 2143 at an opposite end thereof, the raised portions 2142 being positioned with the recessed portions 2143 offset by 90 degrees. The curved section 2141 has a first through hole 2147 and a second through hole 2148, the first through hole 2147 is located at the center of the curved section 2141, and the actuation cord 215 of the distal end connection end effector 213 extends through the first through hole 2147. The second through holes 2148 are symmetrically arranged about the first through hole 2147, and the actuation cord 215, which is distally connected to the steerable member 214, extends through the second through hole 2148.

As shown in fig. 16, the protrusion portions 2142, the groove portions 2143 each have a circular arc surface, the protrusion portions 2142 of the curved segments are received in the groove portions 2143 of the adjacent curved segments to form a hinge connection, and each protrusion portion 2142 can slide along the surface of the corresponding groove portion 2143 such that the center line of the adjacent curved segment is angularly movable with respect to the circular arc focal point.

The two ends of the bending sections 2141 are respectively provided with a distal connecting element 2144 and a proximal connecting element 2145, and the distal connecting element 2144 and the proximal connecting element 2145 are connected with the adjacent bending sections 2141 by the same hinge connection manner as above.

To enable the steerable member 214 to return to a relatively straight state after deflection, an elastic tube 2146 (shown in fig. 14) is provided in the center of the steerable member 214. The outer diameter of the flexible tube 2146 is the same size as the inner diameter of the first through hole 2147, so that the bent segments 2141 may be aligned without misalignment. The flexible tube 2146 may be implemented as a tightly wound stainless steel helical tube.

The first through hole 2147 of the distal connector 2144 and/or the proximal connector 2145 is a stepped hole (as shown in fig. 19, 21) to retain the resilient tube 2146 within the steerable member 214, wherein a larger portion of the stepped hole has an inner diameter dimension that is the same as the outer diameter dimension of the resilient tube 2146.

The inner diameter dimension of the first through hole 2147 between adjacent connectors may also be varied to retain the flexible tube 2146 within the steerable member 214. For example, the inner diameter of the first through hole 2147 of the curved section 2141 is larger in size, while the inner diameter of the first through hole 2147 of the adjacent distal connecting member 2144 or proximal connecting member 2145 is smaller in size; the first through hole 2147 of the distal link 2144 has a larger inner diameter dimension, while the first through hole 2147 of the adjacent end effector 213 has a smaller inner diameter dimension (as shown in fig. 20).

The actuation tether 215, having a distal end connected to the steerable member 214, is melted at its distal end to form a ball 2151 for trapping the distal end of the actuation tether at the distal end of the second through hole 2148 of the distal connector 2144.

The actuation tether 215 distally attached to the steerable member 214 is sheathed with a teflon sleeve that reduces friction between the actuation tether and the curved section 2141, prevents the actuation tether from breaking due to friction, and also prevents possible contact of the metal actuation tether with an electrically powered surgical instrument, providing insulation.

The end effector may be a surgical tool such as a high frequency electrosurgical knife, scissors, forceps, or the like.

In one embodiment, the end effector 213 is a scalpel 20, the distal connecting member 2144 is made of ceramic, and the scalpel 20 can be accommodated in the first through hole 2147 of the distal connecting member 2144 and can extend out from the first through hole 2147. The actuating cord 215, which is connected to the high frequency electrosurgical knife, is connected at its proximal end to a conductive post, which is connected to the high frequency generator.

As an example, as shown in fig. 14 and 22, the end effector 213 includes a four-bar linkage, in which a first link 2131 and a second link 2132 are connected by a first pivot pin 2135, and a third link 2133 and a fourth link 2134 are connected by a second pivot pin 2136, the distal end of the actuation rope 215 is connected to the second pivot pin 2136, a distal link 2144 is connected to the first pivot pin 2135 by a forked link 217, and the first link 2131 and the second link 2132 are respectively extended to form the clamp 30.

As shown in fig. 23, wishbone connector 217 includes a tube portion 2171 and arm portions 2172. The tube portion 2171 is fixedly attached to the distal link 2144, the actuation cord 215 of the distal link end effector 213 is capable of passing through the central bore of the tube portion 2171, and the first pivot pin 2135 is attached within the bore of the arm portion 2172.

When two sets of surgical instrument assemblies are used simultaneously to attach to a dual channel endoscope for cooperative operation, undesirable interference may occur during the performance of a surgical procedure due to the close proximity of the two tool channels of the endoscope. To this end, in one set of surgical instrument assemblies, 4 actuation cords 215 end-constrained to the distal link and 4 actuation cords 215 end-constrained to the intermediate bending section 2141 (as shown in fig. 25) are used so that the proximal and distal ends of the steerable member 214 can be deflected in different directions to avoid interference with the other set of surgical instrument assemblies after extending out of the endoscope distal bending section 10 (as shown in fig. 26). At this time, as shown in fig. 24a and 24b, 8 second through holes 2148 are uniformly distributed around the circumference of the curved section 2141, and the actuation strings 215 whose ends are constrained by the distal connectors and the actuation strings 215 whose ends are constrained by the middle curved section 2141 are arranged at intervals among the 8 second through holes 2148.

When two groups of surgical instrument assemblies are attached to a double-channel endoscope to be operated cooperatively, the steerable components of at least one group of mechanical arm assemblies are controlled in a segmented mode, when the group of mechanical arm assemblies extend out of a working channel of the endoscope, the group of mechanical arm assemblies can deflect in the opposite direction of the other group of mechanical arm assemblies in advance, and interference generated when the two groups of surgical instrument assemblies are operated cooperatively is avoided.

As shown in fig. 12 and 13, a spool 2121 or a slider 2122 is provided in the manipulator 212, and the proximal end of the actuation cord is connected to the spool 2121 or the slider 2122. Either the spool 2121 or the slider 2122 is removably coupled to a coupling at the output of the drive assembly 220 such that when the surgical instrument assembly 210 and the drive assembly 220 are coupled, the drive assembly 220 drives the surgical instrument assembly 210 into operation and when the surgical instrument assembly 210 and the drive assembly 220 are decoupled and uncoupled, they are no longer operable together.

In the case of the reel 2121, the reel 2121 includes a capstan and a spindle thereof, which is constrained to the base 2120 of the manipulator 212. The capstan on the mandrel may be a simple cylindrical capstan having a circular cross-section around which the actuation cord 215 is wound.

As shown in fig. 12, each spool 2121 includes a pair of capstans on which the pair of actuation cords 215 are wound. For example, the upper and lower winches may be fixed on the axle of the reel so that both winches rotate as the reel rotates. The actuation cords 215 are wound in one direction around the upper capstan and the other actuation cord 215 is wound in the opposite direction around the lower capstan, such that rotation of the capstan about the mandrel pays out a length of one of the actuation cords 215 and simultaneously takes in an equal length of the other actuation cord 215.

When the end effector 213 is implemented as a clamp requiring opening and closing operations and the manipulator 212 controls the actuation cord 215 using the reel 2121, a restoring force is required to restore the actuation cord 215 to an original state after being pulled. To this end, a stop 2151 is secured to the distal end of the actuator cord 215 that actuates the opening and closing of the end effector 213 to trap the compression spring between the stop 2151 and the clevis 217 (as shown in fig. 22).

In the case of the slider 2122, the slider 2122 slides back and forth under the guide of the linear guide mechanism. The linear guide mechanism includes a guide rail and a lead screw, wherein the guide rail is disposed on the base 2120 of the manipulator 212, and the lead screw is disposed on the driving assembly 220.

As shown in fig. 13, the two sliders 2122 are connected to the two ends of the same bidirectional screw, and when the motor driving the bidirectional screw rotates, the two sliders 2122 move in opposite directions, so as to tighten the actuation rope 215 on one side of the actuation steerable member 214 and loosen the actuation rope 215 on the other side.

As shown in fig. 27, the driving assembly 220 includes a moving frame 2201 and a fixed frame 2202, the moving frame 2201 is provided with motors for respectively actuating the grasping and releasing (if any) of the end effector 213, the deflecting of the steerable member 214, and corresponding transmission devices, which may be a lead screw transmission mechanism, a gear transmission mechanism; the fixed frame 2202 is fixed with the fixed seat 311, the fixed frame 2202 is provided with a motor for driving the movable frame 2201 to move back and forth, and the motor drives the movable frame 2201 to move relative to the fixed frame 2202 through a driving transmission device, so that the whole surgical instrument component 210 can move back and forth.

The endoscopic surgical equipment provided by the invention is suitable for a surgical robot in a master-slave control mode. The console is provided with a main operating hand, and the form of the main operating hand comprises but is not limited to a series isomorphic mechanical arm, a series isomerous mechanical arm, a parallel mechanical arm, an exoskeleton glove and the like. The operator operates the main operator, corresponding information is transmitted to the controller, and the controller calculates the received information and transmits the calculated information to the driving device as an action command. The driving device comprises a driver and a motor controlled by the driver, and when the driver receives an action command sent by the controller, the corresponding motor is controlled to run or stop. The controlled motors include motors of the endoscope control unit 100 and the surgical instrument control unit 200, and motors of the rotation mechanism 310, the feeding mechanism 320, the deflecting mechanism 330, and the lifting mechanism 340.

Claims (12)

1. Endoscopic surgical device, characterized in that it comprises:

an endoscope control unit for holding and manipulating knobs and buttons of the endoscope;

a surgical instrument control unit for securing and actuating a surgical instrument using the endoscope working channel;

a chassis for carrying the endoscope control unit and the surgical instrument control unit;

and a driving unit for driving the endoscope control unit and the surgical instrument control unit, respectively.

2. The endo-surgical device of claim 1, wherein said endoscope control unit includes

A knob control device for controlling a large knob and a small knob of an operation section of the endoscope;

the endoscope holding device comprises an upper holding piece and a lower holding piece, the upper holding piece can fix the operation part of the endoscope when being buckled with the lower holding piece, and the large knob and the small knob are coupled and matched with the knob control device.

3. The endoscopic surgical apparatus according to claim 2, wherein said knob control device includes

The first knob control device comprises a first transmission mechanism, a first transmission shaft and a first movable coupling mechanism, wherein the first transmission mechanism drives the first movable coupling mechanism to rotate through the first transmission shaft so as to adjust the large knob;

the second knob control device comprises a second transmission mechanism, a second transmission shaft and a second movable coupling mechanism, and the second transmission mechanism drives the second movable coupling mechanism to rotate through the second transmission shaft so as to adjust the small knob;

the first transmission shaft is a hollow shaft, and the first transmission shaft is sleeved on the second transmission shaft and connected through a bearing.

4. The endoscopic surgical device according to claim 3, wherein said first movable coupling mechanism comprises a first coupling element having a shape couplable to said large knob, said first transmission shaft having a flange portion, said first transmission shaft being connected at said flange portion thereof to said first coupling element by a shoulder screw freely slidable in a through hole of said flange portion, a threaded portion of said shoulder screw being in threaded connection with said first coupling element, a return force being provided between said flange portion and said first coupling element by a spring.

5. The endoscopic surgical device according to claim 3, wherein said second movable coupling mechanism comprises a second coupling element having a shape that can be coupled with said small knob, said second transmission shaft having a flange portion, said second transmission shaft being connected at said flange portion thereof with said second coupling element by a shoulder screw that is freely slidable in a through hole of said flange portion, a threaded portion of said shoulder screw being in threaded connection with said second coupling element, a restoring force being provided between said flange portion and said second coupling element by a spring.

6. The endoscopic surgical device of claim 1, wherein the surgical instrument control unit includes a surgical instrument assembly and a drive assembly, the surgical instrument assembly including a manipulator detachably coupled between the manipulator and a connection of the drive assembly output, the drive assembly driving the surgical instrument assembly to perform an operation when the surgical instrument assembly is coupled to the drive assembly, the surgical instrument assembly and the drive assembly no longer operating together when they are decoupled and uncoupled.

7. The endo-surgical device of claim 6, wherein said drive assembly includes a mobile frame and a fixed frame, said fixed frame having a motor thereon for driving said mobile frame forward and backward relative to said fixed frame.

8. The endoscopic surgical device of claim 1, wherein the frame comprises a rotation mechanism and a base, the rotation mechanism having a fixed mount coupled thereto, the endoscopic control unit and the surgical instrument control unit being secured to the fixed mount, respectively.

9. The endo-surgical device of claim 8, wherein said frame further includes a lift mechanism including a lift platform driven by an electric cylinder, said electric cylinder being secured to said base, said lift platform being vertically liftable and lowerable by said electric cylinder.

10. The endo-surgical device of claim 9, wherein said frame further includes a deflection mechanism disposed on said base or said lift platform, said deflection mechanism including a deflection mount driven by a gear train, said rotation mechanism disposed on said deflection mount.

11. The endo-surgical device of claim 10, wherein said deflecting support has a beveled surface.

12. The endo-surgical device of claim 9, wherein said frame further includes a feed mechanism including a feed support driven by a linear guide mechanism, said rotary mechanism being disposed on said feed support, said feed mechanism being disposed on said base or said lift platform.

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