WO2018010502A1

WO2018010502A1 - Stiffness-controllable tool mechanism

Info

Publication number: WO2018010502A1
Application number: PCT/CN2017/087154
Authority: WO
Inventors: 王树新; 王建辰; 李雪洁; 任祥云
Original assignee: 天津大学
Priority date: 2016-07-12
Filing date: 2017-06-05
Publication date: 2018-01-18
Also published as: CN106037935A; CN106037935B

Abstract

A stiffness-controllable tool mechanism (2-0), for use in instruments for single-port surgery. The stiffness-controllable tool mechanism (2-0) comprises: a cladding layer (2-6) used for accommodating instruments for single-port surgery; an elastic continuum structure (2-5) fitted over the cladding layer (2-6) and made of an elastic material, multiple hollow-out grooves being provided at intervals on the side wall of the elastic continuum structure (2-5); an energy exchange means (2-3) fitted over the elastic continuum structure (2-5) and connected to an external energy control source to realize changes in the temperature of the energy change means (2-3) by means of conduction; and a liquid metal coating (2-4) disposed between the elastic continuum structure (2-5) and the energy exchange means (2-3).

Description

Stiffness controllable tool mechanism

Technical field

The invention relates to a minimally invasive surgical instrument joint mechanism, in particular to a stiffness controllable tool mechanism.

Background technique

With the development of science and technology, the field of modern medicine has entered the era of minimally invasive surgery. Although non-invasive surgery of natural orifice trans-luminal endoscopic surgery (NOTES) has been proposed in the early years, the technique is difficult and requires a suture in a long and narrow space. Such surgery, and the accuracy of the operation can not meet the needs of doctors, so the technology has not been widely used in clinical. The single-hole surgery, called transition technology, has been widely used because of its better cosmetic effect than general minimally invasive surgery and relatively mature technology.

Single-hole surgery refers to the placement of multiple puncture devices or multi-channel puncture devices on a small incision of 15mm-40mm, and then placement of surgical instruments for surgical operations. In the existing single-hole operation, since the instruments are mostly hard-rod tools and are accessed by one channel, it is easy to produce a "chopstick effect" which causes the device to collide in the body, affecting the operation time and the quality of the operation.

Summary of the invention

The object of the present invention is to overcome the deficiencies of the prior art and provide a rigid and controllable tool mechanism for a single-hole surgical instrument, which avoids the collision problem caused by the single-hole surgical space and ensures the rigidity of the device. .

According to an embodiment of the present invention, a stiffness controllable tool mechanism is provided for a single-hole surgical instrument, comprising: a covering layer for accommodating a single-hole surgical instrument; and an elastic continuum structure disposed on the Outside the cladding layer, made of an elastic material and having a plurality of spaced apart hollow grooves on the side walls of the elastic continuous body structure; an energy exchange device is disposed outside the elastic continuous body structure and connected to an external energy control source A change in the temperature of the energy exchange device itself is achieved by conduction; and a liquid metal coating is disposed between the elastic continuum structure and the energy exchange device.

In some embodiments of the present invention, the stiffness controllable tool mechanism further includes: an elastic support frame disposed outside the energy exchange device, made of an elastic material, and having a hollow structure thereon; The liquid metal coating is also disposed in the hollow structure.

In some embodiments of the present invention, each of the hollow slots includes two spaced and symmetrically disposed arcuate hollow holes, and the two spaced portions between the two curved hollow holes are symmetrically disposed, adjacent to the two turns of the hollow slots The spacing portions are arranged at intervals of 90 degrees from each other.

In some embodiments of the invention, the elastic continuum structure is provided with a wire tunnel for passing through a control wire that drives the front end tool and controls movement of the elastic continuum structure.

In some embodiments of the invention, the stiffness controllable tool mechanism further includes an insulating heat insulation film sleeved outside the elastic support frame.

In some embodiments of the present invention, the energy exchanger includes a resistor mesh sleeve, the external energy control source includes a power source, and the resistor mesh sleeve is connected to the power source through a positive electrode and a negative electrode to generate heat to the liquid. The metal coating performs phase change control.

In some embodiments of the invention, the energy exchanger includes a water heat exchange tube, the external energy control source includes a heat source, and the water inlet of the water heat exchange tube is connected to the heat source through a two-way peristaltic pump, The heat flow is introduced into the water heat exchange tube to control the phase change of the liquid metal coating.

In some embodiments of the invention, the liquid metal switches between liquid and solid depending on the temperature of the energy interaction device.

In some embodiments of the invention, the elastic support skeleton and/or the elastic continuum structure employs an elastic material that is an elastic rubber or an elastic organic polymer.

In some embodiments of the invention, the liquid metal comprises an alloy of gallium indium bismuth copper or a gallium indium alloy.

Compared with the prior art, the invention has the following beneficial effects:

The stiffness controllable tool mechanism in the embodiment of the invention introduces the stiffness controllable joint into the surgical instrument, filling the blank of the single hole surgical instrument in this aspect.

In the embodiment of the invention, the stiffness controllable tool mechanism can effectively avoid the collision problem of the tool during the operation operation.

The stiffness controllable tool mechanism in the embodiment of the present invention controls the stiffness by the phase change of the liquid metal, and has a greater lifting force while maintaining flexibility.

DRAWINGS

1 is a schematic view showing the overall structure of a rigidity controllable tool mechanism according to an embodiment of the present invention;

2 is a schematic exploded view of the overall structure of the stiffness controllable tool mechanism of FIG. 1;

3 is a schematic view showing an electric heat exchange working state of a stiffness controllable tool mechanism according to an embodiment of the present invention;

4 is a schematic view showing a working state of water heat exchange of a stiffness controllable tool mechanism according to another embodiment of the present invention;

FIG. 5 is a schematic view showing the working state of the stiffness controllable tool mechanism according to an embodiment of the invention.

detailed description

Some embodiments of the invention will be described more fully hereinafter with reference to the appended drawings, in which some, but not all, In fact, the various embodiments of the invention can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

The present invention will be described in detail below with reference to the specific embodiments and the accompanying drawings.

An embodiment of the present invention provides a stiffness controllable tool mechanism for a single-hole surgical instrument, including a cladding layer, an elastic continuum structure, an energy exchange device, and a liquid metal coating. a coating layer for accommodating a single-hole surgical instrument; an elastic continuum structure, sleeved outside the coating layer, made of an elastic material and having a plurality of intervals of hollowing on the side wall of the elastic continuum structure a tank; an energy exchange device sleeved outside the elastic continuum structure, connected to an external energy control source to realize a change in temperature of the energy exchange device by conduction; a liquid metal coating disposed on the elastic continuum structure Between the energy exchange device and the energy exchange device.

1 is a schematic view showing the overall structure of a stiffness controllable tool mechanism according to an embodiment of the present invention, and FIG. 2 is a schematic exploded view of the overall structure of the stiffness controllable tool mechanism of FIG. 1, as shown in FIGS. 1 and 2, the stiffness controllable tool mechanism 2-0 includes a coating layer 2-6, in the coating layer 2-6, for accommodating a single-hole surgical instrument, a coating layer 2-6 jacket provided with an elastic continuum structure 2-5, in the elastic continuum structure 2 The -5 jacket is provided with an energy exchange device, and the energy exchange device is connected with an external energy control source, and the temperature of the energy exchange device is changed by conduction. For example, the temperature of the energy exchange device can be realized by means of electric heat conduction or water heat conduction. The change. An elastic support frame 2-2 and an insulating and heat insulating film 2-1 are sequentially disposed outside the energy exchange device 2-3. The elastic support frame 2-2 is made of an elastic material, and a hollow structure is formed on the elastic support frame, and the elastic continuous body structure 2-5 is made of an elastic material and is on the side of the elastic continuous body structure. The wall is provided with a plurality of hollow grooves spaced apart from each other. Each of the hollow slots includes two arcuate hollow holes and is symmetrically spaced from each other. The two spaced portions between the two curved hollow holes are also symmetrically arranged, and the spacing portions and phases between the two hollow holes on one turn The spacing between the two hollow holes of the adjacent ring The liquid metal coatings 2-4 are evenly disposed at 90 degrees apart from each other, and the liquid metal coating 2-4 is uniformly disposed between the elastic continuum structure 2-5 and the energy exchange device and the hollow structure of the elastic support frame 2-2. On the one hand, the elastic support frame 2-2 is used for locking the energy exchange device, and on the one hand, the hollow metal structure is provided with a space for the liquid metal filler, which is convenient to manufacture and has a good locking ability. The liquid gold coating 2-4 can be solidified at room temperature or heat-dissipated by an energy exchange device, and can be liquefied when heated by an energy exchange device, and an alloy of gallium, indium and antimony may be used, or a gallium indium alloy may be used.

For the elastic continuum structure 2-5, after the interval between the adjacent two turns of the hollow groove is 90 degrees, as shown in Fig. 2, the elastic continuum structure 2-5 is observed from the upper, lower, left and right directions, hollowed out and not hollowed out. With the interphase arrangement, the elastic continuum structure 2-5 can swing in the up and down and left and right directions, and thus it has the degree of freedom of deflection of the two directions of R1 and R2 which are spaced apart by 90 degrees. The elastic continuum structure 2-5 may also be provided with a wire tunnel for passing through the control wire that drives the front end tool and controls the movement of the elastic continuum structure. The manner of setting the control wire can adopt the existing structure, and details are not described herein again.

In an embodiment, the elastic material used in the elastic support skeleton 2-2 and the elastic continuous body structure 2-5 may be an elastic rubber or other elastic organic polymer.

As described above, the stiffness controllable tool mechanism in the embodiment of the present invention has a stiffness controllable characteristic mainly realized by the elastic continuum structure 2-5, the liquid metal coating and the energy exchange device, and changes its own temperature through the energy exchange device. To control the liquid metal coating to switch between solid and liquid. When the liquid metal coating is in a liquid state, the stiffness controllable tool mechanism is in a flexible state, wherein the elastic continuum structure can be bent to the desired shape when the liquid metal coating When in solid state, the stiffness controllable tool mechanism maintains a rigid structure. The energy exchange device can use a hydrothermal energy exchange method and/or an electrothermal energy exchange method to control its own temperature, thereby regulating the shape of the stiffness controllable tool mechanism.

The energy exchanger according to an embodiment of the invention comprises a resistor mesh sleeve, that is, an electrothermal energy exchange method is used to control the temperature of the energy exchange device itself. 3 is a schematic diagram of an electric heat exchange working state of a stiffness controllable tool mechanism according to an embodiment of the present invention, wherein the energy exchanger uses a resistor mesh sleeve, the external energy control source uses a power source 3-4, and the resistor mesh sleeve passes through the positive electrode 3-1 and The negative electrode 3-2 is connected to the power source 3-4. After the heat of the resistor mesh sleeve is fully absorbed by the liquid metal coating 2-4, the liquid metal coating 2-4 is liquidated, and the deflection degrees of deflection of the originally locked R1 and R2 are solved, and the rigidity controllable tool The mechanism enters a flexible state, and the elastic continuum structure adjustment of the stiffness controllable tool mechanism After the required form, the power supply 3-4 stops supplying power to the resistor mesh sleeve, the energy exchanger is naturally cooled, the liquid metal coating 2-4 is solidified, and the current shape of the current elastic continuum structure is re-locked, R1, R2 The degree of freedom of deflection in both directions, the stiffness controllable tool mechanism maintains a rigid state.

In another embodiment of the present invention, the energy exchanger includes a water heat exchange tube, and FIG. 4 is a schematic diagram of a water heat exchange working state of the stiffness controllable tool mechanism according to another embodiment of the present invention. Replace the resistor mesh sleeve structure in Figure 3 with a water heat exchange tube structure, the energy exchanger uses a water heat exchange tube, the external energy control source uses a heat source 4-3, and the water inlet of the water heat exchange tube 4-1 passes through the two-way creep The pump 4-4 is connected to the heat source 4-3, and the heat flow is introduced into the water heat exchange tube 4-1 to perform phase change control on the liquid metal coating 2-4 to achieve a controllable function of rigidity, the water heat exchange tube The water outlet of 4-1 is connected to the storage tank 4-2.

FIG. 5 is a schematic diagram of the working state of the stiffness controllable tool mechanism according to an embodiment of the present invention, which is used for the operation of the single hole surgical robot. The stiffness controllable tool mechanism can adopt the stiffness controllable tool mechanism in the above embodiments. As shown in Fig. 5, the stiffness controllable tool mechanism 2-0 is placed in the outer tube head of the single hole surgical robot, and the endoscope 5-1 and the single hole surgical tool 5-2 are both pierced from the stiffness controllable tool mechanism. The stiffness controllable tool mechanism utilizes the above-described hydrothermal or electrothermal method for stiffness control. When the stiffness controllable tool mechanism is in a flexible state, the stiffness controllable tool mechanism is in a controllable state, and the internal control wire is used to control and adjust the stiffness controllable. Tool mechanism form.

By controlling the stiffness controllable tool mechanism and changing its rigid and soft state, the performance of the single hole surgical robot can be greatly improved. In an embodiment, when the stiffness controllable tool mechanism 2-0 is in a flexible state, the single-tube head of the single-hole surgical robot can be deflected by two degrees of freedom, up and down, and can quickly track and locate the lesion point during the operation. Increases the flexibility of the operating space and the overall robot. When the stiffness controllable structure is in a rigid state, the working state of the single-hole surgical robot, the endoscope 5-1, the single-hole surgical tool 5-2 can pass through the stiffness controllable tool mechanism, and the single-hole surgical tool forms an operation triangle. Surgical operation is achieved; the stiffness controllable structure 2-0 acts as a single-tube head, providing sufficient rigidity and operational support for surgical procedures.

It should be noted that the shapes and sizes of the various components in the drawings do not reflect the true size and proportions, but merely illustrate the contents of the embodiments of the present invention.

The directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are merely referring to the directions of the drawings, and are not intended to limit the invention. protected range. And the above embodiments can be mixed with or mixed with other embodiments based on design and reliability considerations. In combination, the technical features in different embodiments can be freely combined to form more embodiments.

The present invention and its embodiments have been described above in detail, and the description is not limited thereto, and only one embodiment of the present invention is shown in the drawings, and the actual structure is not limited thereto. If the person skilled in the art is inspired by this, other forms of transmission, drive, and connection are not creatively designed and similar to the technical solutions and embodiments of the present invention. It should fall within the scope of protection of the present invention.

Claims

A stiffness controllable tool mechanism for single-hole surgical instruments, including:

a coating for accommodating a single-hole surgical instrument;

The elastic continuum structure is sleeved on the outside of the cladding layer, and is made of an elastic material and has a plurality of annular grooves arranged on the sidewalls of the elastic continuum structure;

An energy exchange device is disposed outside the elastic continuum structure and connected to an external energy control source to realize a change in temperature of the energy exchange device by conduction;

A liquid metal coating is disposed between the elastomeric continuum structure and the energy exchange device.
The stiffness controllable tool mechanism of claim 1 further comprising:

The elastic support frame is sleeved outside the energy exchange device and is made of an elastic material, and has a hollow structure, and the liquid metal coating is further disposed in the hollow structure.
The stiffness controllable tool mechanism according to claim 1 or 2, wherein each of the annular hollow grooves comprises two spaced and symmetrically arranged curved hollow holes, and the two spaced portions between the two curved hollow holes are symmetrically arranged. The spacing portions of the adjacent two turns of the hollow groove are arranged at intervals of 90 degrees from each other.
A stiffness controllable tool mechanism according to any of claims 1-3, wherein the elastic continuum structure is provided with a wire tunnel for driving the front end tool and controlling the movement of the elastic continuum structure Control wire.
The rigidity controllable tool mechanism according to any one of claims 2 to 4, further comprising:

The insulating heat insulation film is sleeved on the outside of the elastic support frame.
A stiffness controllable tool mechanism according to any one of claims 1 to 5, wherein the energy exchanger comprises a resistor mesh sleeve, the external energy control source comprises a power source, and the resistor mesh sleeve passes through the positive electrode and A negative electrode is coupled to the power source for heat generation to phase change the liquid metal coating.
A stiffness controllable tool mechanism according to any one of claims 1 to 5, wherein said energy exchanger comprises a water heat exchange tube, said external energy control source comprising a heat source, said water inlet of said water heat exchange tube passing A two-way peristaltic pump is connected to the heat source to introduce a heat flow into the water heat exchange tube to perform phase change control of the liquid metal coating.
A stiffness controllable tool mechanism according to any of claims 1-7, wherein the liquid metal switches between liquid and solid depending on the temperature of the energy interaction device.
The stiffness controllable tool mechanism according to any one of claims 1 to 7, wherein the elastic support skeleton and/or the elastic continuum structure employs an elastic material which is an elastic rubber or an elastic organic polymer.
The stiffness controllable tool mechanism according to any one of claims 1 to 7, wherein the liquid metal comprises an alloy of gallium indium bismuth copper or a gallium indium alloy.