TWI572325B - Retractable medical instrument control mechannism - Google Patents

Description

Flexible medical device control mechanism

The present invention relates to a control mechanism for controlling the actuation of a medical device, and more particularly to a medical device control mechanism that is scalable.

Because minimally invasive surgery has the advantages of small wound, less bleeding, faster wound recovery, and shorter hospital stay, it is widely used in surgery. In order to facilitate the minimally invasive surgery, a medical device (such as an endoscope) is usually driven by a control mechanism to enable the medical device to move in multiple axial directions and stably.

Referring to Fig. 1, there is shown a diagram of a remotely operated surgical robot of the central motion of U.S. Patent No. 5,397,323, which is mainly connected to parallel links 13A, 13B, 13C by parallel adjustment telescopic links 11 and 12, and connected to each The pivot joint 14, together with the various actuators 15A, 15B, allows the medical device 16 to be multi-axially moved for examination or treatment, however, it still has the following immediate improvement in practical use.

Since the mechanism for controlling the extension and extension of the medical device 16 with respect to the patient 17 is mainly achieved by the linear brake 15A which is connected to the parallel adjustment telescopic links 11 and 12, The outer portions 11A, 12A are thus close to the medical device 16, and also close to the insertion point P of the patient 17, thus limiting the operating space, causing inconvenience to the physician, which is detrimental to the minimally invasive surgery.

Therefore, how to develop a control mechanism for a medical device that can solve the above-mentioned defects is the motivation for the research and development of the present invention.

It is an object of the present invention to provide a retractable medical device control mechanism that can control a medical device to perform a telescopic movement to increase patient insertion by mainly providing a medical device and a patient insertion point without an actuator arrangement. The operating space near the point enhances the convenience of the physician for minimally invasive surgery.

In order to achieve the foregoing object, a scalable medical device control mechanism according to the present invention is suitable for use in a medical device having a telescopic axial axis and the telescopic axial direction and a patient Intersecting to form an insertion point, the control mechanism comprises: a base; a first rotating module is disposed on the base and has a first axial direction passing through the insertion point to drive the base to surround the a first axial rotation; a second rotation module is disposed on the base and has a second pivot pivoted on the base, the second pivot having a first axis perpendicular to the first axis a second axial direction; a link module comprising a proximal link set and a distal link set, the proximal link set being disposed on the second pivot of the second rotary module a shaft parallel to the telescopic axial direction, the distal link set having a first distal stem portion removably disposed on the proximal end link set, and a second distal stem portion disposed for the medical instrument a telescopic drive module disposed on the proximal link set and coupled to drive the distal link set at the proximal end Group displaceable reciprocally on the rod, so that the medical instrument along the axially reciprocating telescopic displacement.

Preferably, the first rotating module includes a first motor, a first speed reducer, and a first belt. The first motor is fixed on the base and has a first rotating shaft, and the first speed is reduced. The machine is fixed on the base and has a first input shaft and a first output shaft coupled to the first input shaft, the first output shaft axially overlapping the first axial direction, the first belt Power is connected between the first rotating shaft and the first input shaft.

Preferably, the output shaft of the first speed reduction mechanism is pivotally provided with a base frame.

Preferably, the second rotating module includes a second motor, a second reducer, and a second belt. The second motor is fixed to the base and has a second rotating shaft. The second rotating speed is reduced. The machine is fixed on the base and has a second input shaft and a second pivot shaft coupled to the second input shaft, the second belt is dynamically connected between the second shaft and the second input shaft Actuating the second motor causes the second pivot to pivot in place to drive the link module, the telescopic drive module, and the medical device to reciprocate about the second axis.

Preferably, the proximal link set of the link module includes a first proximal slide rail, a second proximal slide rail parallel to the first proximal slide rail, and a first and second near connection. a connecting rod at one end of the end rail, a first sliding block disposed on the first proximal sliding rail, and a second sliding sliding portion disposed on the second proximal sliding rail, the first proximal sliding rail Having a first proximal end fixed to the second pivot, the second proximal slide has a second proximal end fixed to the base; the telescopic drive module includes a parallel arrangement a screw on the second proximal slide rail, a nut screwed on the screw and fixed on the second slider, and a third motor driving the screw to rotate in place; the far end of the link module The first distal rod portion of the end link set is simultaneously fixed to the first slider and the nut.

The present invention has been described in connection with the preferred embodiments of the present invention in accordance with the accompanying drawings.

Referring to FIG. 2 to FIG. 5, a scalable medical device control mechanism according to an embodiment of the present invention is provided for use in a medical device 91 having a telescopic axis 911 and the telescopic device. The axial 911 intersects with a patient 92 to form an insertion point P. The control mechanism is mainly composed of a base 20, a first rotating module 30, a second rotating module 40, a connecting rod module 50, and A telescopic driving module 60 is composed of:

The first rotating module 30 is disposed on the base 20 and has a first axial direction 31 passing through the insertion point P to drive the base 20 to rotate about the first axial direction 31. This embodiment The first rotating module 30 includes a first motor 32, a first speed reducer 33, and a first belt 34. The first motor 32 is fixed to the base 20 and has a first rotating shaft 321 The first reducer 33 is fixed to the base 20 and has a first input shaft 331 and a first output shaft 332 that is mechanically coupled to the first input shaft 331. The axial direction of the first output shaft 332 The first axial direction is overlapped, and the first belt 34 is electrically connected between the first shaft 321 and the first input shaft 331. In addition, the first output shaft 332 of the first speed reducer 33 is pivoted to a base frame. 96.

The second rotating module 40 is disposed on the base 20 and has a second pivot 432 pivotally mounted on the base 20. The second pivot 432 has a vertical axis 31 In the embodiment, the second rotating module 40 includes a second motor 42 , a second reducer 43 , and a second belt 44 . The second motor 42 is fixed on the base. The base 20 has a second rotating shaft 421 fixed to the base 20 and has a second input shaft 431 and the second pivot 432 electrically connected to the second input shaft 431. The second belt 44 is electrically connected between the second rotating shaft 421 and the second input shaft 431. Actuating the second motor 42 finally causes the second pivot 432 to pivot in place to drive the connecting rod module 50. The telescopic drive module 60 and the medical device 91 reciprocate about the second axial direction 41.

The link module 50 includes a proximal link set 51 and a distal link set 52 that are assembled with each other. The proximal link set 51 is disposed on the second pivot of the second rotary module 40. 432, and parallel to the telescopic axial direction 911, the distal link set 52 has a first distal rod portion 521 displacably disposed on the proximal rod set 51, and a first set for the medical device 91 Two distal rod portions 522.

The telescopic drive module 60 is disposed on the proximal link set 51 and coupled to drive the distal link set 52 to reciprocally displace on the proximal link set 51 such that the medical device 91 is along the telescopic axis. 911 reciprocating displacement.

In this embodiment, the proximal link set 51 of the link module 50 includes a first proximal slide rail 511, a second proximal slide rail 512 parallel to the first proximal slide rail 511, and a connection. a connecting rod 513 at one end of the first and second proximal sliding rails 511, 512, a first sliding block 514 slidingly disposed on the first proximal sliding rail 511, and a sliding portion 512 disposed on the second proximal sliding rail 512 a second slider 515 having a first proximal end 511A fixed to the second pivot 432, the second proximal rail 512 having a fixed base The second proximal end portion 512A of the seat 20; the distal link group 52 is composed of two rod members; the telescopic driving module 60 includes a screw 61 disposed parallel to the second proximal end rail 512, and a a screw 62 disposed on the screw 61 and fixed to the second slider 515, and a third motor 63 that drives the screw 61 to rotate in place; the distal link set 52 of the link module 50 The first distal rod portion 521 is simultaneously fixed to the first slider 514 and the nut 62, so that the telescopic driving module 60 is connected to drive the distal link group 52 to reciprocate on the proximal link group 51. Displacement, let the medical device 91 along the The retracting displacement of the retracting axis 911, that is, as shown in Figs. 2, 3, and 6, when the third motor 63 is controlled to operate, the screw 61 is controlled to rotate in place, thereby causing the nut 62 to follow the direction of the screw 61. The reciprocating displacement (with the telescopic axial direction 911) reciprocally displaces the distal link group 52 and the medical instrument 91 fixed directly or indirectly to the nut 62 along the telescopic axial direction 911.

The above description is the structure and configuration description of each main component of the embodiment of the present invention. The first rotating module 30, the second rotating module 40, and the telescopic driving module 60 are combined with the structural design of the connecting rod module 50, so that the medical device 91 is kept at the insertion point P to surround the In addition to the rotational movement of the first axial direction 31 and the second axial direction 41, the reciprocating displacement of the telescopic axial direction 911 is further performed by the insertion point P, allowing the medical device 91 to be examined or treated as a shallow depth.

In addition, the structural design of the proximal link set 51 and the distal link set 52 of the link module 50 and the driving design of the telescopic drive module 60 enable the medical device 91 to pass through the insertion point. In addition to the reciprocating displacement of the telescopic axial direction 911, the telescopically driven module 60 is assembled to the proximal link set 51, and the first distal rod portion 521 of the distal link set 52 is displaceable. The second distal rod portion 522 of the distal link group 52 is disposed for the medical device 91, and thus is configured to drive the medical device 91 to reciprocate along the telescopic axis 911. The displacement telescopic drive module 60 is disposed away from the medical device 91 while also being away from the insertion point P of the patient 92. Thus, the control mechanism of the present invention is adjacent to the insertion point P of the medical device 91 and the patient 92 and Without the arrangement of the actuator, the medical device 91 can be controlled to perform the telescopic movement to increase the operation space near the insertion point P of the patient 92, thereby improving the convenience of the physician in performing minimally invasive surgery.

It should be noted that the first axial direction and the second axial rotational movement of the medical device 91 with the insertion point P as a pivot point are as follows.

The first axial movement is as shown in FIGS. 2, 4, 5, and 7. When the first motor 32 is controlled to be actuated, the first motor 32 drives the first reducer 33 by the first belt 34. The first input shaft 331 rotates to further decelerate the first output shaft 332. At this time, the base 20 and the second rotation module 40, the link module 50, and the link module 50 directly or indirectly disposed on the base 20 The telescopically driven module 60 is pivoted about the first output shaft 332 and rotates about the first axial direction 31. Since the first axial direction 31 passes through the insertion point P, the medical device 91 is inserted. The point P is the center of the circle and pivots at an angle to allow the medical device 91 to complete the first axial movement.

The second axial movement is as shown in FIGS. 2, 3, 4 and 8. When the second motor 42 is actuated, the second motor 42 drives the second of the second reduction gear 43 by the second belt 44. The input shaft 431 is rotated to further reduce the rotation of the second pivot 432. At this time, the link module 50 directly and indirectly disposed on the second pivot 432 and the telescopic drive module 60 are the second pivot. 432 is an axis, and rotates about the second axial direction 41. Since the second axial direction 41 is perpendicular to the first axial direction 31, and the first axial direction 31 passes through the insertion point P, the medical device is made 91 pivots an angle with the insertion point P as a center, thereby allowing the medical device 91 to complete the second axial movement 41.

In the above, the above embodiments and drawings are only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equal changes and modifications made by the scope of the present invention should be It is within the scope of the patent of the present invention.

11, 12‧‧‧Adjust the telescopic link

11A, 12A‧‧‧ outer part

13A, 13B, 13C‧‧‧ parallel links

14‧‧‧Pivot joint

15A, 15B‧‧‧ actuator

16‧‧‧ medical equipment

17‧‧‧ Patients

P‧‧‧ insertion point

20‧‧‧ Pedestal

30‧‧‧First Rotary Module

31‧‧‧First axial

32‧‧‧First motor

321‧‧‧First shaft

33‧‧‧First reducer

331‧‧‧First input shaft

332‧‧‧First output shaft

34‧‧‧First belt

40‧‧‧Second Rotary Module

41‧‧‧second axial

42‧‧‧second motor

421‧‧‧second shaft

43‧‧‧second reducer

431‧‧‧Second input shaft

432‧‧‧second pivot

44‧‧‧Second belt

50‧‧‧ linkage module

51‧‧‧ Near-end link set

511‧‧‧First proximal slide

511A‧‧‧First proximal end

512‧‧‧Second proximal rail

512A‧‧‧second proximal end

513‧‧‧ linkage

514‧‧‧First slider

515‧‧‧second slider

52‧‧‧ distal link set

521‧‧‧First distal rod

522‧‧‧Second distal rod

60‧‧‧ Telescopic drive module

61‧‧‧ screw

62‧‧‧ nuts

63‧‧‧third motor

91‧‧‧ medical equipment

911‧‧‧ telescopic axial

92‧‧‧ Patients

P‧‧‧ insertion point

96‧‧‧ pedestal

Figure 1 is a drawing of one of U.S. Patent No. 5,397,323. Figure 2 is a perspective view of an embodiment of the present invention. Figure 3 is a partial front elevational view of an embodiment of the present invention. Figure 4 is a partial rear elevational view of an embodiment of the present invention. Figure 5 is a top view of an embodiment of the present invention. Fig. 6 is a schematic view showing the operation of the embodiment of the present invention, showing the state in which the medical device performs the telescopic movement. Fig. 7 is a schematic view showing the operation of the embodiment of the present invention, showing the state in which the first axial movement of the present invention is performed. Fig. 8 is a schematic view showing the operation of the embodiment of the present invention, showing the state in which the second axial movement of the present invention is performed.

20‧‧‧ Pedestal

31‧‧‧First axial

32‧‧‧First motor

332‧‧‧First output shaft

41‧‧‧second axial

42‧‧‧second motor

432‧‧‧second pivot

50‧‧‧ linkage module

51‧‧‧ Near-end link set

511‧‧‧First proximal slide

512‧‧‧Second proximal rail

514‧‧‧First slider

515‧‧‧second slider

52‧‧‧ distal link set

521‧‧‧First distal rod

522‧‧‧Second distal rod

60‧‧‧ Telescopic drive module

61‧‧‧ screw

62‧‧‧ nuts

63‧‧‧third motor

91‧‧‧ medical equipment

911‧‧‧ telescopic axial

P‧‧‧ insertion point

96‧‧‧ pedestal

Claims (5)

A scalable medical device control mechanism for use in a medical device having a telescopic axial axis and intersecting a patient to form an insertion point, the control mechanism comprising: a base a first rotating module is disposed on the base and has a first axial direction passing through the insertion point to drive the base to rotate around the first axis; a second rotating module, The assembly is disposed on the base and has a second pivot pivoted on the base, the second pivot has a second axial direction perpendicular to the first axial direction; a linkage module includes a proximal link group and a distal link set which are arranged to each other, the proximal link set is disposed on the second pivot of the second rotary module, and parallel to the telescopic axial direction, the distal link The rod set has a first distal rod portion that is displaceably disposed on the proximal rod set, and a second distal rod portion that is provided for the medical device; a telescopic driving module is disposed at the proximal end Connecting rod set and connecting to drive the distal end The proximal end of rod linkage reciprocating displacement, so that the medical instrument along the axially reciprocating telescopic displacement. The medical device control mechanism as claimed in claim 1, wherein the first rotating module comprises a first motor, a first speed reducer, and a first belt, wherein the first motor is fixed on the a pedestal having a first rotating shaft fixed to the base and having a first input shaft and a first output shaft coupled to the first input shaft, the first output shaft The axial direction overlaps the first axial direction, and the first belt is electrically connected between the first rotating shaft and the first input shaft. The scalable medical device control mechanism of claim 2, wherein the first output shaft of the first reducer is pivoted with a base frame. The flexible medical device control mechanism of claim 1, wherein the second rotary module comprises a second motor, a second reducer, and a second belt, wherein the second motor is fixed a base having a second rotating shaft fixed to the base and having a second input shaft and the second pivot coupled to the second input shaft, the second belt power Connecting the second rotating shaft and the second input shaft, actuating the second motor to pivot the second pivoting shaft to drive the connecting rod module, the telescopic driving module and the medical device to surround the first Two axial reciprocating rotations. The telescopic medical device control mechanism of claim 1, wherein the proximal link set of the link module comprises a first proximal slide rail and a first parallel slide rail parallel to the first proximal slide rail a proximal rail, a connecting rod connecting one end of the first and second proximal rails, a first slider slidingly disposed on the first proximal rail, and a sliding sliding on the second proximal end a second slider of the rail, the first proximal rail having a first proximal end fixed to the second pivot, the second proximal rail having a second fixed to the base a proximal end portion; the telescopic drive module includes a screw disposed parallel to the second proximal slide rail, a nut screwed to the screw and fixed to the second slider, and a driving screw a third motor that rotates; the first distal rod portion of the distal link set of the linkage module is simultaneously fixed to the first slider and the nut.