CN220695340U - Flexible arm device and electric knife - Google Patents
Flexible arm device and electric knife Download PDFInfo
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- CN220695340U CN220695340U CN202323545717.8U CN202323545717U CN220695340U CN 220695340 U CN220695340 U CN 220695340U CN 202323545717 U CN202323545717 U CN 202323545717U CN 220695340 U CN220695340 U CN 220695340U
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- arm device
- flexible joint
- flexible arm
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- 238000005452 bending Methods 0.000 claims abstract description 12
- 230000000149 penetrating effect Effects 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of surgical instruments, in particular to a flexible arm device and an electrotome, which solve the problems that in the prior art, the structure of a flexible arm is complex, and all joints are contacted and rubbed with each other, so that the operation is not flexible enough. The utility model comprises a flexible joint group, a control line, an elastic resetting piece, a sleeve and a base; the flexible joint group comprises a plurality of flexible joints, the sleeve passes through the plurality of flexible joints, and a gap is reserved between two adjacent flexible joints; the control line is arranged on the flexible joint group in a penetrating way; the elastic resetting piece is fixedly arranged on the flexible joint group. The flexible bending of the flexible arm device is realized by arranging the elastic resetting piece, the control line and the flexible joint, and the flexible arm device has a simple structure; meanwhile, gaps are reserved between two adjacent flexible joints and are not in contact with each other, so that friction force between the two adjacent flexible joints when the flexible arm device is bent is eliminated, the flexibility of operation of the flexible arm device is improved, and the operation is convenient.
Description
Technical Field
The utility model relates to the technical field of surgical instruments, in particular to a flexible arm device and an electrotome.
Background
The multi-degree-of-freedom mechanical arm is widely applied to various technical fields, particularly the technical field of surgical instruments, and an electrotome can be conveyed to a lesion part through a complex natural cavity channel in a human body by utilizing the bending action of the multi-degree-of-freedom mechanical arm, so that a doctor can perform precise and fine surgical operation.
At present, a common flexible arm is generally formed by connecting a plurality of universal joints or a plurality of contact joints; for a flexible arm formed by connecting a plurality of universal joints, because the relative movement between the joints is realized by virtue of two mutually perpendicular shafts in the universal joints, the distance between the two joints is large, and when the flexible arm is bent in the oblique upper or oblique lower direction, the flexible arm can be affected by the relative positions of the two shafts to generate a jerk feeling, the operation is not flexible enough, and the bending precision of the flexible arm is low; for a flexible arm formed by adopting a plurality of contact type joint connections, as two arm bodies are directly connected through joints, physical factors such as friction exist in direct contact between the joints, and the like, the flexibility of operation of the flexible arm is also reduced.
Disclosure of Invention
In view of the above analysis, the present utility model aims to provide a flexible arm device and an electric knife, which are used for solving the problems of complex structure of a flexible arm, mutual contact friction between joints, and inflexible operation in the prior art.
The aim of the utility model is mainly realized by the following technical scheme:
the flexible arm device comprises a flexible joint group, a control line, an elastic resetting piece, a sleeve and a base, wherein the sleeve is arranged on the base in a penetrating manner; the flexible joint group comprises a plurality of flexible joints, the sleeve passes through the plurality of flexible joints, and a gap is reserved between two adjacent flexible joints; the control line penetrates through the base and is used for controlling the bending direction of the flexible joint group; the elastic resetting piece is fixedly arranged on the flexible joint group, one end of the elastic resetting piece is fixedly connected with the base, and the elastic resetting piece is used for resetting the flexible joint group after bending action, so that the flexible joint group is kept in an initial state, and meanwhile, support is provided for the flexible joint group.
Further, a trepanning, a guiding hole and a groove are arranged on the flexible joint.
Further, a plurality of guide holes are provided, and a plurality of guide holes are uniformly provided in the circumferential direction with the trepanning as the center.
Further, a plurality of grooves are formed.
Further, a plurality of the grooves are positioned on the outer circumference of the flexible joint and are uniformly arranged.
Further, a plurality of control lines are provided.
Further, the control wires are respectively penetrated in the guide holes.
Further, the elastic restoring pieces are arranged in a plurality, and the elastic restoring pieces are respectively embedded into the grooves.
Further, the flexible arm further comprises a positioning ring, and the positioning ring is sleeved on the periphery of the flexible joint.
An electric knife includes an actuating assembly, a control handle, and a flexible arm device, the actuating assembly including a tip, a driver, a connecting barrel, a drive wire, and a return spring.
The technical scheme of the utility model can at least realize one of the following effects:
the utility model relates to a flexible arm device and an electric knife, which comprise a flexible joint group, a control line, an elastic resetting piece, a sleeve and a base, wherein the sleeve is arranged on the base in a penetrating way; the flexible joint group comprises a plurality of flexible joints, the sleeve passes through the plurality of flexible joints, and a gap is reserved between two adjacent flexible joints; the control line penetrates through the base and is used for controlling the bending direction of the flexible joint group; the elastic resetting piece is fixedly arranged on the flexible joint group, one end of the elastic resetting piece is fixedly connected with the base, and the elastic resetting piece is used for resetting the flexible joint group after bending action, so that the flexible joint group is kept in an initial state and simultaneously provides support for the flexible joint group; the flexible bending of the flexible arm device is realized by arranging the elastic resetting piece, the control line and the flexible joint, and the flexible arm device has a simple structure; meanwhile, gaps are reserved between two adjacent flexible joints and are not in contact with each other, so that friction force between the two adjacent flexible joints when the flexible arm device is bent is eliminated, the flexibility of operation of the flexible arm device is improved, and the operation is convenient.
In the utility model, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the utility model, like reference numerals being used to designate like parts throughout the drawings;
FIG. 1 is a schematic view showing the structure of a flexible arm device in embodiment 1 of the present utility model;
FIG. 2 is an exploded view showing the structure of a flexible arm device in embodiment 1 of the present utility model;
FIG. 3 is a schematic view showing the structure of a flexible joint according to embodiment 1 of the present utility model;
fig. 4 is a sectional view of the electric knife in example 2 of the present utility model.
Reference numerals:
1-a flexible joint; 2-control lines; 3-an elastic restoring member; 4-sleeve; 5-a base; 6-positioning rings; 7-tip; 8-a driving member; 9-connecting a cylinder; 10-driving lines; 11-a return spring; 12-trepanning; 13-a guide hole; 14-grooves.
Detailed Description
The following detailed description of preferred embodiments of the utility model is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the utility model, are used to explain the principles of the utility model and are not intended to limit the scope of the utility model.
Example 1
In one embodiment of the utility model, a flexible arm device is disclosed, as shown in fig. 1 and 2, comprising a flexible joint group, a control wire 2, an elastic reset piece 3, a sleeve 4 and a base 5, wherein the sleeve 4 is arranged on the base 5 in a penetrating way; the flexible joint group comprises a plurality of flexible joints 1, the plurality of flexible joints 1 are sleeved on the sleeve 4, and a gap is reserved between two adjacent flexible joints 1, so that the two adjacent flexible joints 1 are not contacted with each other, friction force between the two adjacent flexible joints 1 when the flexible arm device is bent can be eliminated, and the operation flexibility of the flexible arm device can be improved; the control line 2 is arranged on the flexible joint group in a penetrating way and penetrates through the base 5, and the flexible joint group can be bent towards the corresponding direction by pulling the control line 2; the elastic resetting piece 3 is fixedly arranged on the flexible joint group, one end of the elastic resetting piece 3 is fixedly connected with the base 5, and the elastic resetting piece 3 is used for resetting the flexible joint group after bending action, so that the flexible joint group is kept in an initial state, and meanwhile, partial support is provided for the flexible joint group; compared with the prior art, the flexible arm device can be bent through the flexible joint group, the control line 2 and the elastic reset piece 3, and the flexible arm device has a simple structure; in addition, the sleeve 4 passes through a plurality of the flexible joints 1, and the adjacent two flexible joints 1 are provided with gaps and are not contacted with each other, so that the friction force between the two adjacent flexible joints 1 when the flexible arm device is bent can be eliminated, the flexibility of the operation of the flexible arm device can be improved, and the operation is convenient.
Preferably, the plurality of flexible joints 1 includes a first flexible joint and a second flexible joint, the first flexible joint being provided with one, and the second flexible joint being provided with at least one.
Preferably, as shown in fig. 3, the flexible joint 1 is provided with a sleeve hole 12, a guide hole 13 and a groove 14, the sleeve hole 12 is used for penetrating the sleeve 4, the guide hole 13 is used for penetrating the control wire 2, and the groove 14 is used for installing the elastic restoring piece 3; a plurality of guide holes 13 are formed, and the plurality of guide holes 13 are uniformly formed in the circumferential direction with the sleeve hole 12 as the center; the grooves 14 are provided in plural, and the grooves 14 are provided uniformly on the outer periphery of the flexible joint 1.
Preferably, a plurality of control wires 2 are arranged, the plurality of control wires 2 are respectively arranged in a plurality of guide holes 13 on the flexible joint 1 in a penetrating way, one end of each control wire 2 is fixedly connected with the first flexible joint, the other end of each control wire penetrates through the base 5, and the plurality of control wires 2 can control the flexible joint groups to bend towards different directions; in this embodiment, four control wires 2 are preferably provided.
Preferably, the elastic restoring member 3 has a bending portion, and the bending portion can be embedded into the groove 14, so that the elastic restoring member 3 can be fixed on the flexible joint 1, and the elastic restoring member 3 is used for restoring the bent flexible joint set, and can also provide support for the flexible joint set, so that the flexible joint set maintains a certain rigidity.
Preferably, a plurality of elastic restoring pieces 3 are provided, a plurality of elastic restoring pieces 3 are respectively embedded into a plurality of grooves 14 on the flexible joint 1 and are fixedly connected with the flexible joint 1, and the plurality of elastic restoring pieces 3 can uniformly stress the flexible joint group and improve the stability of supporting the flexible joint group; the elastic restoring member 3 is preferably provided in four in this embodiment.
Preferably, the flexible arm device further comprises a positioning ring 6, wherein the positioning ring 6 is sleeved on the periphery of the flexible joint 1, and is used for further fixing the elastic restoring member 3 on the flexible joint 1.
Preferably, the control line 2 is a steel wire rope, the elastic restoring piece 3 is an elastic steel bar, the sleeve 4 is an elastic plastic pipe, and the positioning ring 6 is a steel ring.
Example 2
The present embodiment provides an electric knife, as shown in fig. 4, including an execution assembly, a control handle (not shown in the figure), and the flexible arm device provided in embodiment 1, where two ends of the flexible arm device are respectively connected to the execution assembly and the control handle.
Compared with the prior art, the electric knife provided in this embodiment has the same beneficial effects as the flexible arm device provided in embodiment 1, and is not described in detail herein.
Preferably, the actuating assembly comprises a tip 7, a driving member 8, a connecting cylinder 9, a driving wire 10 and a return spring 11, wherein the tip 7 is connected with the driving member 8, and the tip 7 and the driving member 8 are both mounted on the connecting cylinder 9, and the driving member 8 can slide in the connecting cylinder 9; the connecting cylinder 9 is fixedly connected with a first flexible joint in the flexible arm device; one end of the driving wire 10 is fixedly connected with the driving piece 8, the other end sequentially passes through the connecting cylinder 9 and the sleeve 4 in the flexible arm device to be connected with the control device in the control handle, and the control device in the control handle controls the driving piece 8 to slide so as to control the tip 7 to execute actions; the reset spring 11 is sleeved on the driving wire 10, one end of the reset spring is fixedly connected with the driving piece 8, the other end of the reset spring is fixedly connected with the connecting cylinder 9, and the reset spring 11 always applies elastic thrust to the driving piece 8 and is used for resetting the driving piece 8 after executing actions.
Preferably, the base 5 of the flexible arm device is fixedly mounted on the control handle; the control wire 2 is connected with a control device in the control handle, and the control handle pulls the control wire 2 to drive the flexible arm device to flexibly bend, so that the execution assembly in the electric knife is controlled to execute operation actions at different angles.
Preferably, the tip 7 is a pair of scissors, and the driving member 8 is used for driving the scissors to open or close.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.
Claims (10)
1. The flexible arm device is characterized by comprising a flexible joint group, a control wire (2), an elastic resetting piece (3), a sleeve (4) and a base (5);
the sleeve (4) is arranged on the base (5) in a penetrating way;
the flexible joint group comprises a plurality of flexible joints (1), the sleeve (4) passes through the plurality of flexible joints (1), and a gap is reserved between two adjacent flexible joints (1);
the control line (2) is arranged on the flexible joint group in a penetrating way and penetrates through the base (5), and the control line (2) is used for controlling the bending direction of the flexible joint group;
the elastic reset piece (3) is fixedly arranged on the flexible joint group, one end of the elastic reset piece (3) is fixedly connected with the base (5), and the elastic reset piece (3) is used for resetting after the flexible joint group is bent, so that the flexible joint group is kept in an initial state and simultaneously provides support for the flexible joint group.
2. A flexible arm arrangement according to claim 1, characterized in that the flexible joint (1) is provided with a socket (12), a guide hole (13) and a groove (14).
3. A flexible arm device according to claim 2, wherein a plurality of said guide holes (13) are provided, and a plurality of said guide holes (13) are uniformly provided in a circumferential direction centering on the sleeve hole (12).
4. A flexible arm arrangement according to claim 3, characterized in that said grooves (14) are provided in plurality.
5. A flexible arm device according to claim 4, characterized in that a plurality of said grooves (14) are provided on the outer circumference of the flexible joint (1) and are uniformly arranged.
6. A flexible arm device according to claim 5, characterized in that the control wires (2) are provided in plurality.
7. A flexible arm device according to claim 6, wherein a plurality of said control wires (2) are respectively threaded in a plurality of said guide holes (13).
8. A flexible arm device according to claim 7, wherein a plurality of said elastic restoring members (3) are provided, and a plurality of said elastic restoring members (3) are respectively fitted into a plurality of said grooves (14).
9. A flexible arm arrangement according to any of claims 1-8, further comprising a positioning ring (6), said positioning ring (6) being arranged around the outer circumference of the flexible joint (1).
10. An electric knife, characterized by comprising an actuating assembly, a control handle and a flexible arm device according to any of claims 1-9, the actuating assembly comprising a tip (7), a driver (8), a connecting cartridge (9), a drive wire (10) and a return spring (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323545717.8U CN220695340U (en) | 2023-12-26 | 2023-12-26 | Flexible arm device and electric knife |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323545717.8U CN220695340U (en) | 2023-12-26 | 2023-12-26 | Flexible arm device and electric knife |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220695340U true CN220695340U (en) | 2024-04-02 |
Family
ID=90437980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323545717.8U Active CN220695340U (en) | 2023-12-26 | 2023-12-26 | Flexible arm device and electric knife |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220695340U (en) |
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2023
- 2023-12-26 CN CN202323545717.8U patent/CN220695340U/en active Active
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