WO2020063994A1 - Appareil d'opération de flexion et de verrouillage multidirectionnel et flexible - Google Patents

Appareil d'opération de flexion et de verrouillage multidirectionnel et flexible Download PDF

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Publication number
WO2020063994A1
WO2020063994A1 PCT/CN2019/109254 CN2019109254W WO2020063994A1 WO 2020063994 A1 WO2020063994 A1 WO 2020063994A1 CN 2019109254 W CN2019109254 W CN 2019109254W WO 2020063994 A1 WO2020063994 A1 WO 2020063994A1
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WO
WIPO (PCT)
Prior art keywords
ball
driving
socket
surgical device
socket joint
Prior art date
Application number
PCT/CN2019/109254
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English (en)
Chinese (zh)
Inventor
郑杨
郑兴
Original Assignee
泗洪县正心医疗技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201811152844.2A external-priority patent/CN109171967A/zh
Priority claimed from CN201811152894.0A external-priority patent/CN109171837B/zh
Application filed by 泗洪县正心医疗技术有限公司 filed Critical 泗洪县正心医疗技术有限公司
Publication of WO2020063994A1 publication Critical patent/WO2020063994A1/fr
Priority to ZA2021/02893A priority Critical patent/ZA202102893B/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the invention relates to a surgical device, in particular to a multi-directional flexible bending and locking surgical device.
  • minimally invasive surgery the surgeon enters the human body through a small wound that is opened on the patient to perform a surgical operation by means of an elongated minimally invasive surgical instrument.
  • minimally invasive surgery has the advantages of less trauma, faster postoperative recovery, reduced recurrence rate, and reduced complications.
  • the surgical path required for minimally invasive surgery is complex, and the surgical operation space is narrow. In the operation, the situation of the surgical obstruction area is often encountered.
  • the different operation tasks (clamping, suture, knotting, etc.) in the operation have increased the difficulty of the operation. These situations require that the surgical instruments have sufficient wrist freedom to ensure that the end effector can successfully reach the surgical operation site and complete the action.
  • the present invention provides a multi-directional flexible bending and locking surgical device.
  • the multi-directional flexible bending and locking surgical device has a hollow rigid rod body, and has a control part and a wrist structure at both ends of the rod body.
  • a ball-and-socket joint and a driving device the wrist structure has a second ball-and-socket joint, the second ball-and-socket joint is connected to a front-end actuator, and a transmission cable is connected between the first ball head and the second ball-and-socket
  • the first ball and socket joint includes a first ball head and a first ball seat, and the second ball and socket joint has a second ball head and a second ball seat; a first ball and socket joint connected to each other through a driving cable;
  • the second ball-and-socket joint synchronizes the operation of the operator in the control unit and the execution of the wrist structure.
  • the execution cable or the execution channel connected between the control unit and the front-end execution device may be a commonly used hollow circular tube.
  • an elastic support device is provided at a front end of the control portion, the elastic support device supports a ball-shaped member, a bottom end of the first ball head is provided with a joint seat, and the ball-shaped member is slidingly matched with the joint seat.
  • the bottom end of the first ball head is connected to a universal joint, and the universal joint is connected to the supporting device.
  • control unit is a hand control device composed of a handle and a direction control member, and the direction control member is fixedly connected to the first ball head and is used to control the movement of the first ball and socket joint.
  • the first ball head and the first ball seat have a friction force sufficient to lock the relative sliding between the two ball heads.
  • the first ball head is disengaged from the first ball seat.
  • the friction force is provided by the surface of the first ball head and / or the first ball seat, and the first ball seat is an inner wall of the end of the expanded end shell that contacts the first ball head.
  • the first ball head is provided with an ejector rod.
  • the ejector rod disengages the ball-shaped member from the joint seat.
  • the elastic force causes the joint seat to frictionally lock the ball.
  • the surface of the joint seat and / or the ball-shaped member has a friction surface.
  • the second ball socket is provided with a plurality of curved ball and socket joints connected in series, and the curved ball and socket joint has a hole.
  • the device in use, it includes a control unit, a driving device, a driving device, a lever body, a wrist structure, and a front-end actuator connected to a sequential axis.
  • the device can flexibly bend and lock the bending direction of the front-end executive device of the endoscopic surgical device. Compared with the existing endoscopic surgical devices, it can flexibly control the front-end executive device during surgery without affecting the smooth operation.
  • the bending direction can be locked at any time according to the wishes of the surgeon, reducing the operator's difficulty in operation, reducing the risk and time of the operation.
  • the invention also provides a multi-directional flexible bending and locking surgical device driven by a servo motor.
  • the driving device is a driving component, and the driving component includes a driving member and a driving motor, and the driving member and the driving motor are directly connected. Or through transmission.
  • the drive motor is preferably a servo motor.
  • the surface of the first ball head is in close contact with the driving assembly.
  • the directions of driving the first ball head are perpendicular to each other.
  • an execution cable is connected between the control portion and the front-end execution device, and the execution cable is driven by a second driving component, and the second driving component includes a driving member and a driving motor, and the driving member and the driving motor are directly Connected or connected via gearing.
  • the driving assembly further includes an inductor, and the driving member and the inductor are directly connected or coupled through a transmission device, and the inductor senses the rotational movement of the driving member.
  • the present invention also provides a control device.
  • An induction component is installed on the housing of the control part, and the induction component passes through the induction hole to contact the first ball head.
  • the movement of the first ball head in the operator's control device is decomposed into up, down, left, and right movements, which can drive the induction member to rotate, and further drive the induction roller to rotate.
  • the induction magnetic ring installed on the induction roller will follow Its rotation.
  • the Hall sensor installed on the circuit board senses the change of the magnetic pole on the induction magnetic ring, generates an electrical signal, and sends it to the computer through the signal transmission system.
  • An inductive component is also provided at the exit of the control cable from the casing of the control unit, for sensing the displacement of the control cable, and the electric signal generated is also sent to the computer through the signal transmission system.
  • the computer processes the electrical signals and then sends out and controls the surgical device of this embodiment to control the movement of the surgical device, so that the surgical device can synchronize the movement of the operator's hand.
  • the present invention has the following significant improvements:
  • Example of manual control The operator can control rotation and clamping simultaneously with one hand. The thumb controls the direction of rotation, the index finger controls the grip, the middle and ring fingers are clamped in an arc and the handle is held with the little finger.
  • Example of remote control The operator can also control the remote control device, and then control the rotation direction by the motor.
  • the rotation bending angle of the pliers head can be locked arbitrarily, and the clamping force and tensioning angle of the pliers head can also be locked.
  • the models with different sizes of the first ball socket and the second ball socket can be selected.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the present invention.
  • FIG. 2 is a schematic diagram after the casing is removed according to the first embodiment
  • FIG. 3 is a schematic structural diagram of a driving device and a friction lock device according to the first embodiment
  • FIG. 4 is an anatomical view of a rod body and an inner cable of an embodiment
  • FIG. 5 is a schematic structural diagram of a wrist part according to the first embodiment
  • FIG. 6 is a schematic structural diagram of a wrist with a curved ball and socket joint according to the first embodiment
  • FIG. 7 is a schematic exploded view of a wrist with a curved ball and socket joint according to the first embodiment
  • FIG. 8 is a front-end execution device for clamping according to the first embodiment.
  • FIG. 9 is a schematic diagram of a support structure of a universal joint according to a second embodiment.
  • FIG. 10 is an exploded schematic view of a universal joint supporting structure in the second embodiment
  • FIG. 11 is a schematic structural diagram of a third embodiment
  • Embodiment 12 is a schematic structural cross-sectional view of Embodiment 3.
  • FIG. 13 is a schematic structural diagram of a fourth embodiment
  • FIG. 14 is a schematic structural diagram of a control unit shell after being removed according to the fourth embodiment.
  • FIG. 15 is a schematic structural cross-sectional view of a control unit according to the fourth embodiment.
  • FIG. 16 is a schematic structural diagram of a driving component in Embodiment 4.
  • FIG. 17 is a schematic sectional structural view of a control device in Embodiment 4.
  • FIG. 18 is a schematic structural diagram of a sensing component in Embodiment 4.
  • the surgical device of this embodiment is shown in FIGS. 1, 2 and 3 and includes a housing 1, a driving device, a support structure, a front-end performing device, and a holding portion.
  • the housing includes a first ball seat 11 and a circular notch 12.
  • the driving device includes a first ball head 21, a second ball seat 22, a joint seat 23, a direction control member 25, a transmission cable 26, and a cable fixing member 27.
  • the support structure includes a ball-shaped member 31, a support spring 32, a first support rod 33, a first support frame 34, a second ball head 36, a second support rod 37, a second support frame 38, and a funnel-shaped hole 39.
  • the front-end execution device 4 includes a mounting seat 41, a return spring 42, a transmission lever 43, a pliers head rotation shaft 44, and a pliers head 45.
  • the holding portion includes a handle 51, an arc ring 52, a trigger 53, an execution cable 54, a trigger locking tooth 55, and a trigger rotating shaft 56. It is easy to operate by hand control. It is gun-shaped as a whole. It has a hand grip to fit the bending direction of the operator's hand. The bending arc is ergonomic. Various existing gun grips can be imitated, and the handle can be changed according to the individual's preference.
  • the cable can be driven, the cable is pulled out from the hole in the casing and connected to the trigger, and the other end pulls the front-end actuator, such as the pliers and the scissors, such as the front-end
  • the device is electrocoagulation or electric cutting, etc.
  • the cable can be connected to the front-end circuit with a wire, and the trigger controls the switch of the circuit.
  • the front-end actuator is a toggle rod or a suction device
  • the execution cable is connected to a joint moving point at the end of the toggle rod or a suction device, and the toggle rod or suction device can be controlled to further bend.
  • the arc of the trigger is used to block the trigger and prevent misoperation.
  • the thumb since the thumb needs to be sleeved in the control direction ring, it cannot participate in holding the handle. Design a larger arc circle, you can put the middle finger in, sandwich the arc circle between the middle finger and ring finger, making the grip more stable and powerful.
  • trigger lock teeth on the arc, and the trigger can be locked by hooking the trigger with the fingers inward, keeping the front-end actuator fixed at an angle. Continue to pull the trigger with your finger, and the trigger slides into the next slot along the slope of the slot. Gently push sideways to slide out the locking teeth and allow the trigger to move freely. Release the trigger, and the front-end actuator will return to its initial state under the elastic force of the return spring.
  • the directional control member can be spherical, ring, cylindrical, bowl-shaped, etc.
  • the bowl-shaped is preferred.
  • the bowl-shaped bowl is taken as an example below. It is connected to the first ball socket to control its multi-directional rotation.
  • a flexible cylindrical thumb sleeve can also be connected, which is convenient for the surgeon with short thumb.
  • the driving device is composed of a first ball and socket joint, a support member, a driving cable and a second ball and socket joint.
  • At least two driving cables are connected between the ball head of the first ball and socket joint and the ball and socket of the second ball and socket joint.
  • the rotation direction of the first ball and socket turning off can be transmitted to the second ball and socket joint through the driving cable.
  • One end of the driving cable is connected to the first ball and socket joint, and the other end is connected to the second ball and socket joint.
  • the lengths of the driving cables are the same, and the running of the driving cables is parallel to the long axis direction of the rod body. The greater the number of cables, the more accurate the movement of the first ball and socket joint and the second ball and socket joint, and the more stable it is after locking.
  • Supports are provided at both ends of the device, and the top of the support is provided with a ball-shaped head, a bottom surface of the first head is recessed, and a second ball head forms a sliding structure.
  • a spring is provided on at least one of the first ball socket support and the second ball socket support.
  • the first ball A support spring is installed between the first support frame and the first support ball, and the first support frame has a hole for the first support rod to move.
  • the first support ball continuously supports the first ball socket in the opposite direction under the elastic force of the support spring.
  • the first ball and socket support has a first support frame, and the transmission cable passes through the first support frame.
  • the first support frame has at least two support rods connected to the shell.
  • the first supporting frame is provided with a limiting pipe or a limiting hole that matches the driving cable, so as to limit the driving cable to move only along the long axis of the limiting tube or the limiting hole to prevent the driving cables from entanglement with each other or Rotation occurs.
  • the first ball socket is larger than the second ball socket.
  • the inclination of the first ball socket causes the tension of the driving cable to drive the second ball socket to tilt at a larger angle in proportion, which can allow the operator's thumb to face the first ball.
  • the finely controlled angle of the socket is output at a larger angle at the front end, reducing the operator's fatigue.
  • the size of the first ball socket is smaller than that of the second ball socket, so that the operator can output the control angle of the first ball socket at a smaller angle at the front end to improve the precision of the action.
  • the driving device is shown in FIG. 3.
  • a first ball and socket joint is formed between the first ball socket and the housing of the device.
  • the friction lock is a friction material with a high coefficient of friction in the mounting joint.
  • the friction material may be fixed on the inner surface of the housing or the outer surface of the first ball socket, or both.
  • the center of the first ball and socket section has a smooth depression, and forms a frictionless third ball and socket joint with the smooth support ball on the first ball and socket support member.
  • the first ball socket When the operator presses the first ball socket through the direction control member, the first ball socket is separated from the friction material, and the direction can be flexibly rotated on the smooth third ball socket.
  • reduce the pressing pressure When turning to the direction that the operator is satisfied with, reduce the pressing pressure, and the first ball socket contacts the friction material again. The tighter the contact, the greater the friction.
  • the first ball socket When the operator stops pressing, the first ball socket will be locked in the current position by friction.
  • the size ratio of the first ball socket to the second ball socket is the operation accuracy.
  • the former is larger than the latter, the rotation angle of the control end will be enlarged proportionally at the output end, which is more labor-saving for the operator. If the former is smaller than the latter, the rotation angle of the control end will be proportionally reduced at the output end, which will make the operator's action more fine. Surgical devices with different needs can be made according to this principle.
  • the middle of the rod body is hollow and made of hard material, which has good directional directivity and force transmission effect.
  • the soft part of the front end is made of flexible material, one end is sealedly connected to the rod body, and one end is sealedly connected to the second ball socket, which can be deformed along with movement to prevent body fluid or gas from entering the rod body. It is easy to clean after the operation, and to avoid debris from entering and affecting the work of the instrument.
  • the inner cable may have various materials such as a steel wire rope and a nylon rope, and a steel wire rope is preferred.
  • the cable inside the rod body includes an execution cable that controls the movement of the front-end effector and a cable that controls the rotation of the second ball socket.
  • the front end of the rod body has a supporting structure, and the top end is spherical or hemispherical, and a funnel-shaped hole is provided in the middle.
  • the driving cable can move around the second ball head to drive the front-end actuator mounting seat to rotate flexibly.
  • the hole in the hole can avoid excessive bending and wear of the execution cable, and still maintain good force transmission.
  • the movable range of the front-end actuator mounting base is the second ball head as the apex, which can flex and rotate like a human wrist.
  • the surgeon can hold the most comfortable angle in his hand without turning his wrist. He can control the forceps head to hold objects in different planes by turning the thumb, or turn and poke objects away. In this way, relying on the forceps head to move in multiple directions in a confined space can allow the rod body of the device to reduce large-scale movements in a small space of the human body and reduce side injuries during surgery. For the operator, only the movement of the fingers is required, and the movement of the arms, forearms, and wrists is reduced, so that the arms can be kept in a comfortable state for more time, which greatly reduces the fatigue of the operator.
  • a hole with a superimposed bending angle between the support and the front-end actuator including: bending ball 71, bending ball socket 72, transmission cable hole 73, execution cable hole 74 .
  • a plurality of bending balls and adjacent bending balls and sockets form a bending ball and socket joint, and the bending ball and the bending ball and socket belt have through holes for the transmission cables and the execution cables to pass through.
  • the curved ball-and-socket joints can be superimposed on each other. The more the superposition, the greater the bending angle, the better the flexibility and flexibility of the wrist structure, and the smaller the damage to human tissues.
  • the outside of the wrist structure is closed and wrapped by the soft part of the front end of the rod body to keep the interior clean and easy to clean.
  • the front-end execution device is shown in Figure 8:
  • the support mechanism at the front end of the rod body and the second ball socket are hollow, and there are cables / wires / pipes passing through to control the front-end execution device.
  • a surgical forceps head as an example, it is mounted on a mounting base, and the mounting base is fixedly connected to the second ball socket.
  • One end of the return spring rests on the second ball socket, and one end rests on the rotating shaft of the transmission rod.
  • the opening and closing of the internal surgical forceps is controlled by the trigger of the control part, and the cable is retracted to pull the transmission rod backward.
  • the transmission rod is connected to the rotation axis of the pliers head.
  • the rotation axis of the pliers head can be rotated to drive the two pliers heads to close.
  • the return spring in the mount pushes the transmission rod forward, and the two pliers heads will open.
  • the surgical forceps are fixed. It is preferred that the surgical forceps head be closed when the transmission rod is pulled back in the following figure, and the clamping force can be controlled by the operator.
  • the forceps head can have a variety of states, preferably bionics, that is, slightly angled to one side, the angle is the angle between the index finger and the back of the hand when the thumb and the index finger are closed when the angle of the wrist is relaxed.
  • the front-end actuator can select but is not limited to the following devices: grippers, jaws, knives, knives, ablators, burners, drug delivery devices, radiation sources, EKG electrodes, pressure sensors, blood sensors, cameras, magnets, Heating elements and low temperature elements.
  • the cable can also be replaced with a tensile wire or a tensile pipe, which can be connected to cameras, led lights, electro-cutting and coagulation equipment, etc.
  • the tube can be connected to a syringe or a laser fiber channel.
  • FIG. 9 and FIG. 10 is an improvement on the first ball and socket support in the first embodiment, and the improvement lies in that the first support ball is changed to the cross universal joint 35.
  • the center of the first ball and socket section does not have a smooth depression, but is connected to the cross universal joint.
  • the cross universal joint can provide flexible support for the first ball socket, and it can also restrict the first ball socket from being able to rotate around the support rod as the axis, which will not cause the transmission cables to twist each other due to rotation, so it can be omitted from the support plate Set limit tube or limit hole.
  • the cross joint is replaced by a ball and fork joint. In another embodiment, the cross universal joint is replaced by a ball cage universal joint.
  • the direction control member includes: a direction control member ejector 61, a through-hole post 62, an ejector limit lever 63, and an ejector limit Bit groove 64 and ball 65.
  • the driving device is also locked by friction.
  • a smooth and frictionless first ball-and-socket joint is formed between the first ball-and-socket and the housing of the device.
  • a third ball and socket joint is formed with friction.
  • Friction lock is a high friction coefficient friction material in a third ball and socket joint. The friction material may be fixed on the inner surface of the first ball socket or the outer surface of the first support ball, or both.
  • the through-hole column is provided with a ejection rod limit groove, which together with the ejection rod limit rod in the middle section of the ejection rod of the direction control member forms a limiter to limit the movable range of the ejection rod of the direction control member and prevent it from falling off.
  • the first support ball When the first support ball is pressed by the spring, it will be in close contact with the friction material in the third ball and socket joint and locked in the current position.
  • the first support ball When the operator presses the first support ball through the direction control member, the first support ball is separated from the first ball socket, and the first ball socket can be flexibly rotated on the smooth ball.
  • reduce the pressing pressure When turning to the direction that the operator is satisfied with, reduce the pressing pressure, and the first ball socket is in contact with the first support ball again. The tighter the contact, the greater the friction.
  • the first ball socket When the operator stops pressing, the first ball socket will be locked in the current position by friction.
  • the driving device of this embodiment is not directly controlled by hand, but is controlled by a driving component, and is used as a surgical robot.
  • the driving assembly includes a driving member 81, a servo motor 82, a transmission device 83, a driving member fixing frame 84, a first driving assembly 85, and a second driving assembly 86.
  • the driving part is driven by a servo motor, and the power is transmitted to the driving part through a gear box in the transmission device.
  • the driving member is a roller, and the driving member is fixed on the casing by a driving member fixing frame.
  • the driving components have the same structure.
  • the first driving component is in contact with the first ball head, and the second driving component is connected to the execution cable.
  • the first ball head of the hemispherical type is pressed against the four roller-like driving members by the pressure of the support spring.
  • the driving members of the four first driving assemblies may take the form of a “mouth” shape perpendicular to each other.
  • the four driving parts are made of rubber with a high friction coefficient, which passes through a thin steel bar inside, and the steel bar is fixed on the housing.
  • the execution cable is wound on the second drive assembly.
  • the servo motor drives the tensioning execution cable to open the clamp head of the front-end actuator. After the servo motor rotates in the opposite direction to relax the execution cable, the clamp head is closed under the elastic force of the return spring.
  • the driving member When the servo motor rotates after receiving the electric signal, the driving member is rotated to drive the first ball head to rotate.
  • the driving member When the servo motor has no electrical signal, it stays still, and the driving part also stays still.
  • the first ball head is locked by friction.
  • the surgical device is controlled by a control circuit, and is provided with a battery or an external power supply.
  • the signal received by the control circuit is controlled wirelessly, and can also be controlled by wire.
  • the driving assembly in the surgical device further includes an inductor.
  • the servo motor and the sensor are directly connected or connected through a transmission device, and the inductor senses the rotation angle and angular velocity of the servo motor and converts it into electricity.
  • the signal is transmitted to the computer.
  • the surgical device can be used as a control device.
  • a rod-shaped direction control member is connected to the first ball head. The operator holds the surgical device in his hand, and the action of turning the direction control member is decomposed into up, down, left, and right motions to drive.
  • the driving part rotates and is converted into point signals by the sensors in the driving assembly, which are transmitted to the computer for processing. Then the signals are sent out to control another identical surgical device, and the corresponding servo motor in the other surgical device is Rotating at the same angle and angular velocity and driving the surgical device moves the surgical device to synchronize the movement of the operator's hand.
  • the control device of the surgical device in this embodiment is a further improvement on the basis of the first embodiment.
  • a casing of the control portion is provided with a sensing hole 96, and An induction component 9 is installed.
  • the induction component 9 includes: an induction component 91, an induction component housing 92, an induction roller 93, an induction magnetic ring 94, a Hall sensor, and a circuit board 95.
  • the sensor assembly uses the trackball component used in the BlackBerry 9000 model. Its structure is: the sensor is a rubber ball, which contacts the first ball head through the sensor hole. The movement of the first ball head in the operator's control device is decomposed into up, down, left, and right movements, which can drive the induction member to rotate, and further drive the induction roller to rotate.
  • the induction magnetic ring installed on the induction roller will follow Its rotation.
  • the Hall sensor installed on the circuit board senses the change of the magnetic pole on the induction magnetic ring, generates an electrical signal, and sends it to the computer through the signal transmission system.
  • An inductive component is also provided at the exit of the control cable from the casing of the control unit, for sensing the displacement of the control cable, and the electric signal generated is also sent to the computer through the signal transmission system.
  • the computer processes the electrical signals and then sends out and controls the surgical device of this embodiment to control the movement of the surgical device, so that the surgical device can synchronize the movement of the operator's hand.
  • the structure design of the invention is reasonable, easy to use, and has good portability and economy.

Abstract

L'invention concerne un appareil d'opération de flexion et de verrouillage multidirectionnel et flexible, comprenant un corps de tige dure creux; deux extrémités du corps de tige sont respectivement pourvues d'une partie de contrôle (2) et d'une structure de partie poignet; la partie de contrôle (2) est pourvue d'une première articulation et d'un dispositif d'entraînement; la structure de partie poignet est pourvue d'une seconde articulation; la seconde articulation est reliée à un composant d'exécution d'extrémité avant; un câble de transmission (26) est connecté entre une première tête sphérique (21) et la seconde articulation; la première articulation comprend la première tête sphérique (21) et un premier siège sphérique (11); la seconde articulation est pourvue d'une seconde tête sphérique (36) et d'un second siège sphérique (22); la première articulation et la seconde articulation reliées l'une à l'autre au moyen du câble de transmission (26) synchronisent une opération de la partie de contrôle et une action d'exécution de la structure de partie poignet; le dispositif d'entraînement peut être contrôlé directement manuellement et actionné par un médecin de manière portable et peut également être contrôlé par un servomoteur (82) et utilisé de manière télécommandée comme un robot d'exploitation. L'appareil d'opération de flexion et de verrouillage multidirectionnel et flexible présente une conception structurelle rationnelle, est pratique à utiliser et de plus, a une bonne portabilité et est économique.
PCT/CN2019/109254 2018-09-30 2019-09-29 Appareil d'opération de flexion et de verrouillage multidirectionnel et flexible WO2020063994A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ZA2021/02893A ZA202102893B (en) 2018-09-30 2021-04-29 Multi-directionally and flexibly bending and locking operation apparatus

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201811152894.0 2018-09-30
CN201811152844.2A CN109171967A (zh) 2018-09-30 2018-09-30 一种可灵活弯曲的手术机器人装置
CN201811152894.0A CN109171837B (zh) 2018-09-30 2018-09-30 多方向灵活弯曲与锁定的手术装置
CN201811152844.2 2018-09-30

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WO2020063994A1 true WO2020063994A1 (fr) 2020-04-02

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ZA (1) ZA202102893B (fr)

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