WO2019200798A1 - 变刚度自然腔道手术器械的支撑结构及其刚度控制方法 - Google Patents

变刚度自然腔道手术器械的支撑结构及其刚度控制方法 Download PDF

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WO2019200798A1
WO2019200798A1 PCT/CN2018/101918 CN2018101918W WO2019200798A1 WO 2019200798 A1 WO2019200798 A1 WO 2019200798A1 CN 2018101918 W CN2018101918 W CN 2018101918W WO 2019200798 A1 WO2019200798 A1 WO 2019200798A1
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surgical instrument
support structure
variable stiffness
natural
natural lumen
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French (fr)
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王树新
任旭阳
张国凯
尚祖峰
李进华
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Tianjin University
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Tianjin University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments

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  • Natural orifice transluminal endoscopic surgery is a new research field in the field of surgical microsurgery and single-hole minimally invasive surgery.
  • surgical instruments are orally, colorectally,
  • the natural cavity of the human body such as the bladder enters the abdominal cavity to treat the disease, and is a scarless operation with no incision on the surface.
  • there is no incision left on the surface of the human body which reduces the surgical trauma and postoperative pain, increases the cosmetic effect, and achieves better physiological minimally invasive and psychological minimally invasive effects.
  • the inventors of the present disclosure have found that in the process of accessing the surgical site through the natural cavity of the human body, the current surgical instrument has insufficient pipe compliance, which may cause damage to the natural cavity and before the operation. Micro-surgical tools also have greater difficulty in reaching certain poses because of insufficient flexibility. At the same time, a stable operating environment is required for the operation, and the surgical instruments need to be provided to stabilize the micro-surgical tools. Reliable support, and the current pipeline stiffness of surgical instruments is not sufficient to ensure the stability and accuracy of the operation.
  • the present disclosure provides a support structure and a stiffness control method for a variable stiffness natural lumen surgical instrument to alleviate the flexibility of the natural lumen surgical instrument pipeline in the prior art, which is easy to damage the natural lumen and the stiffness of the pipeline.
  • Technical problems that are not sufficient to ensure the stability and accuracy of the operation.
  • the present disclosure provides a support structure for a variable stiffness natural lumen surgical instrument, comprising: a variable stiffness conduit for coupling to the variable stiffness natural lumen surgical instrument and supporting the variable stiffness naturally within the natural lumen a lumen surgical instrument; a heating device coupled to the variable stiffness conduit for heating the variable stiffness conduit to reduce stiffness of the variable stiffness conduit; a cooling device coupled to the variable stiffness conduit for use in a cooling station
  • the variable stiffness pipe is described to increase the stiffness of the variable stiffness pipe.
  • variable stiffness pipe includes: a thermoplastic pipe connected to the heating device and the cooling device; a protective film attached to an inner wall and an outer wall of the thermoplastic pipe for Avoid melting thermoplastics that stick to human tissue and variable stiffness natural lumen surgical instruments.
  • the method further includes: a metal spring tube disposed in the thermoplastic pipe and abutting against the protective film attached to the inner wall of the thermoplastic pipe.
  • the heating device is a power source that is coupled to the metal spring tube; a portion or all of the metal spring tube forms a current loop with the power source.
  • the cooling device is a low temperature gas source for providing a low temperature gas; the low temperature gas source delivers the low temperature gas into a metal spring tube, and the thermoplastic pipe is cooled by the metal spring tube .
  • the power source includes N, N of the power source and the metal spring tube form N current loops, and an N-segment heating region is formed on the metal spring tube, wherein N ⁇ 1.
  • the metal spring tube is a stainless steel spring tube.
  • the thermoplastic pipe has a cross section of an elliptical ring or an M-shaped ring, M ⁇ 3.
  • thermoplastic is polycaprolactone.
  • the present disclosure also provides a stiffness control method for a rigid stiffness natural lumen surgical instrument support structure, comprising: assembling any of the above-described variable stiffness natural lumen surgical instrument support structures with natural lumen surgical instruments; Heating the thermoplastic pipe to make it soft, and inserting the natural cavity surgical instrument into the natural cavity; adjusting the natural cavity surgical tool posture, and cooling the thermoplastic pipe to become rigid by the cooling device After the operation is completed, the thermoplastic pipe is heated by the heating device to make it soft, and the surgical instrument is removed from the human body through the natural cavity.
  • the heating device is a power source, and further includes: partially or fully inserting a metal spring tube into the current loop.
  • FIG. 1 is a schematic structural view of a support structure of a variable stiffness natural lumen surgical instrument according to a first embodiment of the present disclosure.
  • FIG. 2 is a partial cross-sectional view of the thermoplastic pipe in the support structure of FIG. 1.
  • Figure 3 is a cross-sectional view of the thermoplastic pipe of Figure 2 taken perpendicular to its axis.
  • FIG 4 is a schematic view showing the state in which the thermoplastic pipe shown in Figure 2 is integrally bent.
  • Figure 5 is a schematic view showing a state in which the thermoplastic pipe shown in Figure 2 is partially bent.
  • FIG. 6 is a schematic structural view of a surgical instrument assembly according to a second embodiment of the present disclosure.
  • FIG. 7 is a flow chart of a method for controlling stiffness of a rigid-stable natural-cavity surgical instrument support structure according to a third embodiment of the present disclosure.
  • thermoplastics are used as the base of the support structure, and the rigidity of the thermoplastic plastic can be adjusted to reduce the scratch of the surgical instrument.
  • the risk of the natural lumen ensures the stability of the surgical instrument during the procedure.
  • FIG. 1 is a schematic structural view of a support structure of a variable stiffness natural lumen surgical instrument.
  • 2 is a partial cross-sectional view of the thermoplastic pipe in the support structure of FIG. 1.
  • Figure 3 is a cross-sectional view of the thermoplastic pipe of Figure 2 taken perpendicular to its axis.
  • the support structure 1 of the variable stiffness natural cavity surgical instrument of the present embodiment includes a variable stiffness duct 10, a heating device 13, and a cooling device 14.
  • variable stiffness conduit 10 is coupled to a natural lumen surgical instrument for supporting a natural lumen surgical instrument within a natural lumen.
  • the variable stiffness pipe 10 is made of a thermoplastic pipe 11 to which the inner and outer walls of the thermoplastic pipe 11 are attached with a PVC film 12 which completely covers the inner and outer walls of the thermoplastic pipe 11 for preventing the melted thermoplastic from sticking to the human body. Tissue and surgical instruments.
  • a heating device 13 is connected to the thermoplastic pipe 11 for heating the thermoplastic pipe 11.
  • thermoplastic pipe 11 When it is required to lower the rigidity of the thermoplastic pipe 11, the thermoplastic pipe 11 is heated by the heating means 13, so that the thermoplastic is in a glassy state (viscous flow state), thereby achieving the purpose of lowering the rigidity of the thermoplastic pipe 11; when it is necessary to increase the thermoplastic
  • the thermoplastic pipe 11 When the rigidity of the pipe 11 is stabilized, the thermoplastic pipe 11 is cooled by the cooling device, thereby increasing the rigidity of the thermoplastic pipe 11; and by providing a PVC film, the thermoplastic is prevented from sticking to the natural cavity wall and the surgical instrument, thermoplastic
  • the tube 11 has good rigid-flexion characteristics, and can be softened when assembled with a natural lumen surgical instrument to facilitate assembly, and protects human tissue from being naturally removed when it is introduced into the natural lumen with the natural lumen surgical instrument. Surgical instrument tube scratches can not increase the additional resistance during the adjustment of the surgical posture, reduce the difficulty of posture adjustment, and become a rigid operation when the operation is performed to provide a stable operation platform to ensure
  • the support structure of the variable stiffness natural cavity surgical instrument further includes: a metal spring tube 15 disposed in the thermoplastic pipe and closely attached to the PVC film 12 attached to the inner wall of the thermoplastic pipe 11.
  • a metal spring tube 15 disposed in the thermoplastic pipe and closely attached to the PVC film 12 attached to the inner wall of the thermoplastic pipe 11.
  • Figure 4 is a schematic view showing the state in which the thermoplastic pipe shown in Figure 2 is integrally bent.
  • Figure 5 is a schematic view showing a state in which the thermoplastic pipe shown in Figure 2 is partially bent.
  • the heating device 13 is a power source; it is connected to the metal spring tube 15 through a cable, and part or all of the metal spring tube 15 and the power source form a current loop (as shown in FIG. 5 and FIG. 4 respectively),
  • the metal spring tube 15 is inserted into the circuit.
  • the metal spring tube 15 After the power source is energized, the metal spring tube 15 generates heat (Joule heat), and the thermoplastic pipe 11 is heated to lower the rigidity of the thermoplastic pipe 11, and the length of the current loop is changed by changing the metal spring tube 15.
  • the effect of local variable stiffness is achieved, the segmental control of the stiffness of the surgical instrument is realized, and the differential control is performed to meet the diversified needs of the operation.
  • the cooling device 14 is a low temperature gas source for supplying a low temperature gas; wherein the low temperature gas source is connected to the metal spring tube 15 through a pipe, and the low temperature gas is delivered into the metal spring tube 15 through the metal spring tube 15 The thermoplastic pipe 11 is cooled.
  • a power source can be included.
  • the power source may include N, N power sources and N segments of the metal spring tube form N current loops, and an N-section heating region is formed on the metal spring tube, where N ⁇ 1.
  • the third embodiment of the present disclosure provides a stiffness control method for a rigid stiffness natural lumen surgical instrument support structure
  • FIG. 7 is a flow chart of a stiffness control method for a variable stiffness natural lumen surgical instrument support structure.
  • Step A The support structure 1 of the variable stiffness natural cavity surgical instrument provided by the first embodiment of the present disclosure is assembled with the natural lumen surgical instrument 2; the heating device 13 is a power source to connect some or all of the metal spring tube 15 to the current. In the loop.
  • Step B heating the thermoplastic pipe 11 by the heating device 13 to make it soft, and inserting the natural cavity surgical instrument 2 into the natural cavity;
  • Step C adjusting the posture of the natural lumen surgical instrument 2, cooling the thermoplastic tube 11 through the cooling device 14 to make it into a rigid state, and performing a surgical operation;
  • Step D After the surgical operation is completed, the thermoplastic pipe 11 is heated by the heating device 13 to make it soft, and the natural cavity surgical instrument 2 is removed from the human body through the natural cavity, and the thermoplastic pipe 11 is realized by cooling and heating.
  • the rigid-flexible conversion, fast response, high conversion efficiency, can effectively shorten the operation time.

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Abstract

一种变刚度自然腔道手术器械(2)的支撑结构(1), 其中, 包括：变刚度管道(10), 用于与变刚度自然腔道手术器械(2)连接, 并在自然腔道内支撑变刚度自然腔道手术器械(2)；加热装置(13), 与变刚度管道(10)连接, 用于加热变刚度管道(10), 以降低变刚度管道(10)的刚度；冷却装置(14), 与变刚度管道(10)连接, 用于冷却变刚度管道(10), 以增加变刚度管道(10)的刚度。

Description

变刚度自然腔道手术器械的支撑结构及其刚度控制方法 技术领域
本公开涉及自然腔道手术器械技术领域，尤其涉及一种变刚度自然腔道手术器械的支撑结构及其刚度控制方法。
背景技术
经自然腔道微创手术(natural orifice transluminal endoscopic surgery，NOTES)是继多孔微创手术以及单孔微创手术之后新的外科手术领域研究热点，此类手术中，手术器械经口、结直肠、膀胱等人体的自然腔道进入腹腔治疗疾病，是一种体表无切口的无瘢痕手术。经自然腔道微创手术在解决病人疾患的过程中，不在人体表面留有切口，减轻了手术创伤和术后疼痛，增加了美容效果，实现更好的生理微创和心理微创效果。
目前使用的NOTES手术器械多采用主从式操作器械，只将作为执行机构的微型手术工具送至手术部位，医生在远端通过控制机构进行操作，通过管道将控制机构与执行机构进行连接，为了适应人体曲折的腔道结构，中间连接的管道需要做成柔性杆。管道末端固连微型手术工具，通过人体腔道将其送至手术部位，辅助微型手术工具进行切割，缝合，打结，冲洗等手术操作，然后在手术完毕之后再沿着自然腔道撤出微型手术工具。
然而，在实现本公开的过程中，本公开发明人发现，在通过人体自然腔道接近手术部位的过程中，目前手术器械的管道柔顺性不够，会对自然腔道造成损伤，并且在手术之前微型手术工具位姿调整的过程中也因为没有足够的柔顺性导致到达某些位姿存在较大的难度；同时手术操作时候需要一个稳定的操作环境，需要手术器械的管道给微型手术工具提供稳定可靠的支撑，而目前的手术器械的管道刚度不足以保证手术的稳定性和准确性。
公开内容
本公开提供了一种变刚度自然腔道手术器械的支撑结构及其刚度控制方法，以缓解现有技术中的自然腔道手术器械管道柔顺性不够，容易对自然腔道造成损伤，并且管道刚度不足以保证手术的稳定性和准确性的技术问题。
本公开提供了一种变刚度自然腔道手术器械的支撑结构，其中，包括：变刚度管道，用于与所述变刚度自然腔道手术器械连接，并在自然腔道内支撑所述变刚度自然腔道手术器械；加热装置，与所述变刚度管道连接，用于加热所述变刚度管道，以降低所述变刚度管道的刚度；冷却装置，与所述变刚度管道连接，用于冷却所述变刚度管道，以增加所述变刚度管道的刚度。
在本公开的一些实施例中，所述变刚度管道包括：热塑性塑料管道，与所述加热装置和所述冷却装置连接；所述热塑性塑料管道的内壁和外壁上贴附有保护膜，用于避免融化的热塑性塑料粘连人体组织以及变刚度自然腔道手术器械。
在本公开的一些实施例中，所述保护膜为PVC膜。
在本公开的一些实施例中，还包括：金属弹簧管，设置于所述热塑性塑料管道内，紧贴所述热塑性塑料管道内壁贴附的保护膜。
在本公开的一些实施例中，所述加热装置为电源，其与所述金属弹簧管连接；所述金属弹簧管的局部或全部与所述电源构成电流回路。
在本公开的一些实施例中，所述冷却装置为低温气体源，用于提供低温气体；所述低温气体源将低温气体输送至金属弹簧管内，通过所述金属弹簧管冷却所述热塑性塑料管道。
在本公开的一些实施例中，所述电源包括N个，N个所述电源与所述金属弹簧管之间构成N个电流回路，在所述金属弹簧管上形成N段加热区域，其中N≥1。
在本公开的一些实施例中，所述金属弹簧管为不锈钢弹簧管。
在本公开的一些实施例中，所述热塑性塑料管道的横截面为椭圆环或M边形环，M≥3。
在本公开的一些实施例中，所述热塑性塑料为聚己内酯。
本公开还提供了一种手术器械组件，其中，包括：自然腔道手术器械、以及变刚度自然腔道手术器械的支撑结构，所述支撑结构采用权利要求1至10中任一项所述的变刚度自然腔道手术器械支撑结构，并与自然腔道手术器械连接以支撑自然腔道手术器械。
本公开还提供了一种变刚度自然腔道手术器械支撑结构的刚度控制 方法，其中，包括：将上述任一变刚度自然腔道手术器械支撑结构与自然腔道手术器械进行装配；通过加热装置加热热塑性塑料管道，使其变为柔态，并将自然腔道手术器械插入自然腔道；调整自然腔道手术工具位姿，通过所述冷却装置冷却所述热塑性塑料管道使其变为刚态，进行手术操作；手术操作完毕后，通过加热装置加热热塑性塑料管道，使其变为柔态，并通过自然腔道将手术器械移出人体。
在本公开的一些实施例中，所述加热装置为电源，还包括：将金属弹簧管的局部或全部接入电流回路中。
从上述技术方案可以看出，本公开实施例至少具有以下有益效果：
热塑性塑料管道具有良好的刚柔变换特性，在与自然腔道手术器械进行装配时候可以变为柔态方便装配，在和手术器械组件一起通入自然腔道时可保护人体组织不被自然腔道手术器械管道划伤，在进行手术位姿调整时可以不增加额外阻力，降低位姿调整的难度，在进行手术操作时变为刚态可以提供稳定的操作平台，保证手术操作稳定，精准。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1为本公开第一实施例变刚度自然腔道手术器械的支撑结构的结构示意图。
图2为图1所示支撑结构中热塑性塑料管道的局部剖视示意图。
图3为图2中所示热塑性塑料管道的垂直于其轴线的截面图。
图4为图2中所示热塑性塑料管道整体弯曲的状态示意图。
图5为图2中所示热塑性塑料管道局部弯曲的状态示意图。
图6为本公开第二实施例手术器械组件的结构示意图。
图7为本公开第三实施例变刚度自然腔道手术器械支撑结构的刚度控制方法的流程图。
【符号说明】
1-变刚度自然腔道手术器械的支撑结构；
10-变刚度管道；
11-热塑性塑料管道；
12-PVC膜；
13-加热装置；
14-冷却装置；
15-金属弹簧管；
2-自然腔道手术器械。
具体实施方式
本公开实施例提供的变刚度自然腔道手术器械的支撑结构及其刚度控制方法、手术器械组件中，采用热塑性塑料作为支撑结构的基体，通过调节热塑性塑料的刚度既能降低手术器械划伤人体自然腔道的风险，又能保证手术过程中手术器械的稳定性。
为使本公开的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本公开进一步详细说明。
本公开第一实施例提供了一种变刚度自然腔道手术器械的支撑结构，图1为变刚度自然腔道手术器械的支撑结构的结构示意图。图2为图1所示支撑结构中热塑性塑料管道的局部剖视示意图。图3为图2中所示热塑性塑料管道的垂直于其轴线的截面图。
本实施例的变刚度自然腔道手术器械的支撑结构1包括：变刚度管道10、加热装置13和冷却装置14。
变刚度管道10与自然腔道手术器械连接，用于在自然腔道内支撑自然腔道手术器械。变刚度管道10采用热塑性塑料管道11，热塑性塑料管道11的内壁和外壁上贴附有PVC膜12，PVC膜12将热塑性塑料管道11的内壁和外壁完全覆盖，用于避免融化的热塑性塑料粘连人体组织和手术器械。
加热装置13，与热塑性塑料管道11连接，用于加热热塑性塑料管道11。
冷却装置14，与热塑性塑料管道11连接，用于冷却热塑性塑料管道11。
当需要降低热塑性塑料管道11的刚度时，通过加热装置13加热热塑性塑料管道11，使热塑性塑料呈玻璃态(粘流态)，从而实现降低热塑性 塑料管道11的刚度的目的；当需要增加热塑性塑料管道11的刚度时，通过冷却装置冷却热塑性塑料管道11，从而提升热塑性塑料管道11的刚度；并且通过设置PVC膜，避免热塑性塑料融化后粘连在人体自然腔道腔壁和手术器械上，热塑性塑料管道11具有良好的刚柔变换特性，在与自然腔道手术器械进行装配时可以变为柔态以方便装配，在和自然腔道手术器械一起通入自然腔道时可保护人体组织不被自然腔道手术器械管道划伤，在进行手术位姿调整时可以不增加额外阻力，降低位姿调整的难度，在进行手术操作时变为刚态可以提供稳定的操作平台，保证手术操作稳定、精准。
如图1至图3所示，该变刚度自然腔道手术器械的支撑结构还包括：金属弹簧管15，其设置于热塑性塑料管道内，紧贴热塑性塑料管道11内壁贴附的PVC膜12，通过设置金属弹簧管15能够使热塑性塑料管道11在大曲率变形或者受到径向挤压的情况下不容易垮塌导致中空结构被堵塞。
图4为图2中所示热塑性塑料管道整体弯曲的状态示意图。图5为图2中所示热塑性塑料管道局部弯曲的状态示意图。
如图1所示，加热装置13为电源；其通过线缆与金属弹簧管15连接，金属弹簧管15的局部或全部与电源构成电流回路(分别如图5和图4所示)，通过将金属弹簧管15接入电路中，电源通电后金属弹簧管15产生热量(焦耳热)，加热热塑性塑料管道11，使热塑性塑料管道11的刚度降低，通过改变金属弹簧管15接入电流回路的长度达到局部变刚度的效果，实现手术器械刚度分段控制，差异化控制，满足手术的多样化需求。
如图1所示，冷却装置14为低温气体源，用于提供低温气体；其中，低温气体源通过管道连接至金属弹簧管15，将低温气体输送至金属弹簧管15内，通过金属弹簧管15冷却热塑性塑料管道11。
在本实施例中，可以包括一个电源。电源可以包括N个，N个电源与金属弹簧管的N个段之间构成N个电流回路，在金属弹簧管上形成N段加热区域，其中N≥1。
金属弹簧管15可以为不锈钢弹簧管。热塑性塑料管道11的垂直于其轴线的横截面为椭圆环或M边形环，M≥3。热塑性塑料可以为聚己内酯， 热塑性塑料以及PVC膜所用材料为无毒且具有良好组织相容性的材料，适合用于和人体组织有接触的手术器械上。PVC膜12可以用其他材料的保护膜替代，只要能起到避免融化的热塑性塑料粘连人体组织和手术器械的作用即可。
本公开第二实施例提供了一种手术器械组件，图6为手术器械组件的结构示意图。手术器械组件包括：自然腔道手术器械2、以及变刚度自然腔道手术器械的支撑结构。变刚度自然腔道手术器械的支撑结构采用上述第一实施例的变刚度自然腔道手术器械支撑结构，并与自然腔道手术器械2连接以支撑自然腔道手术器械。
本公开第三实施例提供了一种变刚度自然腔道手术器械支撑结构的刚度控制方法，图7为变刚度自然腔道手术器械支撑结构的刚度控制方法流程图。
本实施例的刚度控制方法包括：
步骤A：将本公开第一实施例提供的变刚度自然腔道手术器械的支撑结构1与自然腔道手术器械2进行装配；加热装置13为电源将金属弹簧管15的局部或全部接入电流回路中。
步骤B：通过加热装置13加热热塑性塑料管道11，使其变为柔态，并将自然腔道手术器械2插入自然腔道；
步骤C：调整自然腔道手术器械2的位姿，通过冷却装置14冷却热塑性塑料管道11使其变为刚态，进行手术操作；
步骤D：手术操作完毕后，通过加热装置13加热热塑性塑料管道11，使其变为柔态，并通过自然腔道将自然腔道手术器械2移出人体，通过冷却与加热实现热塑性塑料管道11的刚柔转换，响应快速，转换效率高，可有效缩短手术耗时。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非 对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；在不冲突的情况下，本发明实施例中的特征可以任意组合；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (13)

  1. 一种变刚度自然腔道手术器械的支撑结构，其中，包括：
    变刚度管道，用于与所述变刚度自然腔道手术器械连接，并在自然腔道内支撑所述变刚度自然腔道手术器械；
    加热装置，与所述变刚度管道连接，用于加热所述变刚度管道，以降低所述变刚度管道的刚度；
    冷却装置，与所述变刚度管道连接，用于冷却所述变刚度管道，以增加所述变刚度管道的刚度。
  2. 根据权利要求1所述的支撑结构，其中，所述变刚度管道包括：
    热塑性塑料管道，与所述加热装置和所述冷却装置连接；
    所述热塑性塑料管道的内壁和外壁上贴附有保护膜，用于避免融化的热塑性塑料粘连人体组织以及变刚度自然腔道手术器械。
  3. 根据权利要求2所述的支撑结构，其中，所述保护膜为PVC膜。
  4. 根据权利要求2所述的变刚度自然腔道手术器械支撑结构，其中还包括：金属弹簧管，设置于所述热塑性塑料管道内，紧贴所述热塑性塑料管道内壁贴附的保护膜。
  5. 根据权利要求4所述的变刚度自然腔道手术器械支撑结构，其中，所述加热装置为电源，其与所述金属弹簧管连接；所述金属弹簧管的局部或全部与所述电源构成电流回路。
  6. 根据权利要求4所述的变刚度自然腔道手术器械支撑结构，其中，所述冷却装置为低温气体源，用于提供低温气体；
    所述低温气体源将低温气体输送至金属弹簧管内，通过所述金属弹簧管冷却所述热塑性塑料管道。
  7. 根据权利要求4所述的变刚度自然腔道手术器械支撑结构，其中，所述电源包括N个，N个所述电源与所述金属弹簧管之间构成N个电流回路，在所述金属弹簧管上形成N段加热区域，其中N≥1。
  8. 根据权利要求4所述的变刚度自然腔道手术器械支撑结构，其中，所述金属弹簧管为不锈钢弹簧管。
  9. 根据权利要求2所述的变刚度自然腔道手术器械支撑结构，其中，所述热塑性塑料管道的横截面为椭圆环或M边形环，M≥3。
  10. 根据权利要求3所述的变刚度自然腔道手术器械支撑结构，其中，所述热塑性塑料为聚己内酯。
  11. 一种手术器械组件，其中，包括：自然腔道手术器械、以及变刚度自然腔道手术器械的支撑结构，所述支撑结构采用权利要求1至10中任一项所述的变刚度自然腔道手术器械支撑结构，并与自然腔道手术器械连接以支撑自然腔道手术器械。
  12. 一种变刚度自然腔道手术器械支撑结构的刚度控制方法，其中，包括：
    将权利要求1至10中任一项所述变刚度自然腔道手术器械支撑结构与自然腔道手术器械进行装配；
    通过加热装置加热热塑性塑料管道，使其变为柔态，并将自然腔道手术器械插入自然腔道；
    调整自然腔道手术工具位姿，通过所述冷却装置冷却所述热塑性塑料管道使其变为刚态，进行手术操作；
    手术操作完毕后，通过加热装置加热热塑性塑料管道，使其变为柔态，并通过自然腔道将手术器械移出人体。
  13. 根据权利要求12所述的变刚度自然腔道手术器械支撑结构的使用方法，其中，所述加热装置为电源，还包括：
    将金属弹簧管的局部或全部接入电流回路中。
PCT/CN2018/101918 2018-04-20 2018-08-23 变刚度自然腔道手术器械的支撑结构及其刚度控制方法 Ceased WO2019200798A1 (zh)

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