WO2020216317A1 - 内窥镜及操作臂 - Google Patents
内窥镜及操作臂 Download PDFInfo
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- WO2020216317A1 WO2020216317A1 PCT/CN2020/086605 CN2020086605W WO2020216317A1 WO 2020216317 A1 WO2020216317 A1 WO 2020216317A1 CN 2020086605 W CN2020086605 W CN 2020086605W WO 2020216317 A1 WO2020216317 A1 WO 2020216317A1
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- soft rod
- wire
- drive
- assembly
- area
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- 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
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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- 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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
- A61B2018/00059—Material properties
- A61B2018/00071—Electrical conductivity
- A61B2018/00083—Electrical conductivity low, i.e. electrically insulating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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- 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
- A61B34/37—Master-slave robots
Definitions
- This application relates to the field of medical devices, in particular to a surgical device.
- Minimally invasive surgery refers to a surgical method that uses modern medical instruments and related equipment such as laparoscopy and thoracoscopy to perform operations inside human cavities. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
- surgical instruments for minimally invasive surgery have gradually matured and been widely used.
- surgical instruments usually have a connecting component that can adjust the posture and position of the end device.
- the posture and position of the end device are adjusted by the bending and movement of the connecting component, so that the end device can perform a surgical operation at a desired position.
- the connecting components need to be turned frequently during the operation, the driving of the end instrument has become a design difficulty in the surgical instrument, and it is necessary to provide a better solution to solve the driving problem of the end instrument.
- This application provides a surgical instrument, including:
- a connecting component which is connected to the end device
- the end driving part has a soft rod and a driving wire, the driving wire passes through the soft rod and is connected with the end instrument, the soft rod passes through the connecting assembly, and at least one end of the driving wire is a free end.
- This application also provides a surgical instrument, including:
- the connecting assembly has a plurality of connecting units connected in sequence, and the terminal device is connected with the connecting unit;
- the end driving part has a soft rod and a driving wire, the driving wire passes through the soft rod and is connected to the end instrument, the soft rod passes through the connecting assembly, and at least one end of which is a free end;
- a gap is left between two adjacent connection units for turning, and the soft rod covers at least part of the gap in the connection assembly;
- the soft rod is provided with a bending opening to assist the bending of the soft rod.
- This application also provides a surgical instrument, including:
- the connecting assembly has a plurality of connecting units connected in sequence, and the terminal device is connected with the connecting unit;
- the end driving part has a soft rod and a driving wire, the driving wire passes through the soft rod and is connected to the end instrument, the soft rod passes through the connecting assembly, and at least one end of which is a free end;
- a gap is left between two adjacent connection units for turning, and the soft rod covers at least part of the gap in the connection assembly;
- the end drive part further has a drive assembly and a positioning assembly, the drive wire has a drive connection area, the drive connection area is connected to the drive assembly, and the drive wire is located at least part of the area outside the connection assembly through The positioning component is positioned so that the driving component drives the driving wire to move in a straight line.
- Fig. 1 is a schematic structural diagram of an embodiment of a surgical robot
- FIGS. 2 and 3 are partial schematic diagrams of different embodiments of the surgical robot
- Figure 4 is a schematic structural view of an embodiment of a surgical instrument
- FIGS 5 to 32 and Figure 34 are partial schematic views of different embodiments of surgical instruments respectively;
- Figure 33 is a partial enlarged view of Figure 32A.
- distal and proximal used in this article are locators, which are commonly used terms in the field of interventional medical devices, where “distal” refers to the end far away from the operator during surgery, and “proximal” refers to surgery The end close to the operator during the process.
- the surgical robot includes a master operating table 1 and a slave operating device 2.
- the master console 1 is used to send control commands to the slave operation device 2 according to the doctor's operation to control the slave operation device 2, and it is also used to display the image obtained by the slave device 2.
- the slave operating device 2 is used for responding to the control commands sent by the master console 1 and performing corresponding operations, and the slave operating device 2 is also used for acquiring images in the body.
- the slave operating device 2 includes a robotic arm 21, a power mechanism 22 provided on the robotic arm 21, a surgical instrument 23 provided on the power mechanism 22, and a sleeve 24 on which the surgical instrument 23 is sheathed.
- the mechanical arm 21 is used to adjust the position of the surgical instrument 23;
- the power mechanism 22 is used to drive the surgical instrument 23 to perform corresponding operations;
- the surgical instrument 23 is used to extend into the body and perform surgical operations through its distal end instruments, and/or Obtain in-vivo images.
- the surgical instrument 23 is passed through the sleeve 24, and the end instrument 100 of the surgical instrument 23 extends out of the sleeve 24 and is driven by the power mechanism 22 to perform operations.
- FIG. 1 the surgical instrument 23 is passed through the sleeve 24
- the end instrument 100 of the surgical instrument 23 extends out of the sleeve 24 and is driven by the power mechanism 22 to perform operations.
- the area where the surgical instrument 23 is located in the sleeve 24 is a rigid area; in FIG. 3, the area where the surgical instrument 23 is located in the sleeve 24 is a flexible area, and the sleeve is bent with the flexible area.
- the sleeve 24 can also be omitted.
- the surgical instrument 23 includes: a terminal instrument 100, a connecting assembly 200, a connecting rod 300, a driving housing 400 and a terminal driving part 500.
- the end instrument 100, the connecting assembly 200, the connecting rod 300, and the drive housing 400 are connected in sequence, and the end drive part 500 is partially disposed in the drive housing and connected with the end instrument 100 for driving the end instrument to perform surgical operations
- the connecting rod and the drive housing may also be omitted.
- the connection assembly 200 includes a plurality of connection units 210 connected in sequence.
- a plurality of connecting units can be directly connected, for example, the connecting unit has a connecting shaft, and two adjacent connecting units are rotatably connected by the connecting shaft; it can also be connected to each other through other components, for example, a plurality of connecting units drive wires through the connecting unit.
- the connecting unit drive wire is used to drive the connecting assembly 200.
- the specifications and structures of the multiple connection units may be the same or different.
- the connecting component may also have other structures.
- the end driving part 500 includes a soft rod 510 and a driving wire 520 through which the soft rod 510 is inserted.
- the driving wire 520 is connected to the end instrument 100 for driving the end instrument 100 and the soft rod 510 is used for restricting the movement of the driving wire 520.
- the rigidity of the drive wire is greater than the rigidity of the soft rod, which can be bent with the connecting component and can drive the jaws to open and close.
- the stiffness is 50 to 70N/mm.
- the soft rod can limit its bending, thereby making the end instrument more precise.
- the coefficient of friction between the drive wire and the soft rod is smaller than the friction coefficient between it and the connecting component. In this way, the soft rod can reduce the friction during driving, while extending The life of the drive wire, on the other hand, further improves the accuracy of the drive.
- the soft rod 510 is located in the axial region of the connecting assembly 200 and extends along the connecting assembly 200. That is, the soft rod is located in the middle area of the connecting component and extends along the connecting component.
- the gap is 0.1-3mm; for another example, the gap is 0.2mm.
- the soft rod 510 may not be located in the middle area of the connecting assembly 200, for example, the soft rod is located in the edge area of the connecting assembly and extends along the connecting assembly.
- the connecting unit can also have a plurality of accommodating holes spaced apart, and the soft rod is located in one of the accommodating holes. In this way, the accommodating hole for the soft rod can be selected as required.
- the soft rod 510 is provided with a threading hole 511, and the driving wire 520 is threaded with a threading hole 511.
- the threading hole 511 is located in the axial area of the soft rod 510 and extends along the soft rod 510, that is, the driving wire 520 is located in the middle area of the soft rod 510.
- the threading hole may also be located in other areas.
- the threading hole is arranged adjacent to the axis of the soft rod 510 and extends along the soft rod 510, that is, the driving wire 520 is deviated from the central area of the soft rod 510.
- the driving wire 520 is located in one or part of the threading holes.
- the gap is 0.05 to 0.5 mm; for another example, the gap is 0.2 mm.
- the flexible rod 510 passes through the connecting assembly 200, and at least one end thereof is a free end.
- the free end refers to the end that can change the direction of the end according to the force. In this way, when the soft rod 510 is bent under force, its deformation can be reduced, so that the position of the driving wire 520 through the soft rod 510 is more accurate, and further guarantees The accuracy of the instrument drive.
- the free end is the unfixed end of the soft rod 510, and the position is restricted by the barrier layer 220 on the connecting assembly 200. Please refer to the following for details.
- the free end is the end of the soft rod 510 arranged on the connecting unit through a universal structure, so that the free end can change the direction of the end according to its force, thereby reducing the stretching of the soft rod 510.
- the position of the free end can also be restricted by other structures, as long as it can reduce deformation when subjected to force.
- the soft rod may not have a free end, and the ends are fixed.
- the soft rod 510 When the soft rod 510 has two ends, it may have one free end or two free ends. When the soft rod 510 has one free end, the other end is fixedly arranged. For example, the distal end of the soft rod 510 is a free end, and the proximal end of the soft rod 510 is connected to at least one of the connecting assembly 200, the connecting rod 300, and the drive housing 400. A fixed connection.
- the fixed setting may be a non-detachable connection or a detachable connection.
- the two free ends of the soft rod 510 respectively correspond to the structure restricting its position and are arranged adjacently. For example, the two free ends are arranged corresponding to the two barrier layers 220 respectively.
- one of the two free ends corresponds to the barrier layer, and the other corresponds to the universal structure.
- the soft rod 510 is a soft rod 510 with multiple ends
- the number of free ends can be configured according to actual needs.
- the proximal end of the soft rod 510 has one end
- the distal end has two ends
- the distal end has two ends. Both ends can be free ends.
- the connecting unit 210 is provided with a receiving hole 211, and the soft rod 510 passes through the receiving hole 211.
- At least one of the connecting units is provided with a blocking layer 220, and a blocking portion of the receiving hole 211 is used to block the free end of the soft rod 510 to limit the displacement of the free end.
- the connecting unit provided with the barrier layer 220 does not close the receiving hole 211 so that the driving wire 520 can pass through the receiving hole 211 to be connected to the terminal instrument 100.
- the barrier layer 220 and the receiving hole 211 form a receiving cavity for receiving the free end of the soft rod 510.
- the connecting assembly includes two connecting units with barrier layers, the two barrier layers and the receiving holes of the connecting unit between the two barrier layers form a receiving cavity for receiving the soft rod. It should be noted that the accommodating hole specifications of multiple connection units are the same or may be different.
- the barrier layer can have various structures.
- the barrier layer 220 is a continuous area, that is, only the channel of the driving wire 520 is left on the barrier layer 220, and the rest of the receiving hole 211 is closed.
- the barrier layer 220 is a mesh structure, and the driving wire 520 extends from the mesh, or the driving wire 520 extends from the opening of the barrier layer.
- the surface of the barrier layer 220 for blocking the driving rod is a curved surface.
- the soft rod 510 may have a corresponding curved surface.
- the barrier layer can be formed integrally with the connection unit, or can be a detachable structure, for example, detachably connected with the connection unit.
- the end of the soft rod 510 for fixing is extended with a clamping edge 512, and the clamping edge 512 is clamped with the connecting component.
- the connecting unit 210 is provided with a blocking layer 220, the clamping edge 512 is clamped with the blocking layer 220, and the connecting assembly has a blocking cover 230 that is clamped with the blocking layer 220, so that the clamping edge 512 is located between the blocking cover 230 and the blocking layer 220. Between the layers 220, the end of the soft rod 510 is further fixed.
- the barrier layer may also be omitted, and in this case, the clamping edge clamps the edge area of the connection component.
- the blocking cover can also be omitted, and at this time, it can be clamped by the adjacent structure, for example, the clamped edge can be clamped by the adjacent connecting unit.
- the soft rod can also be fixed in other ways, such as pasting.
- the positions of the soft rod 510 and the driving wire 520 can also be restricted by restricting the position of the middle area of the soft rod 510.
- the receiving hole 211 has a first receiving hole 211A, a second receiving hole 211B, the diameter of the second receiving hole 211B is smaller than the diameter of the first receiving hole 211A, so that the soft rod 510 and the first receiving hole
- the gap between the inner wall of the hole 211A is larger than the gap with the inner wall of the second receiving hole 211B.
- the soft rod can swing relative to the second receiving hole, that is, there is a large gap between the two, and it can swing in the hole, or it can be fixed relative to the second receiving hole, that is, there is no gap or gap between the two It is smaller, so that the position of the first soft rod relative to the second receiving hole is basically fixed, or the soft rod and the connecting component are fixed to each other through a fixing structure.
- the connecting unit opening the second accommodating hole can be a splicing structure to facilitate the installation of the soft rod.
- the second receiving hole can reduce the swing of the soft rod, thereby making the control of the end device more precise.
- the connecting assembly has a plurality of second receiving holes
- the plurality of second receiving holes are arranged at intervals, that is, at most one of two adjacent connecting units is provided with a second receiving hole. This can reduce the deformation of the soft rod during bending.
- the second receiving hole can be located either in the middle area of the soft rod, or at the proximal end or the distal end of the soft rod.
- the soft rod can also have different sizes, so that the gaps between the different areas and the receiving holes of the same specification are different, thereby restricting the position of the soft rod.
- the gap between the two can be adjusted by the size of the soft rod and the size of the receiving hole together.
- the gap distribution between the soft rod and the accommodating hole can be the same as the above embodiment, and will not be repeated here.
- the connecting component can also not restrict the swing of the middle area of the soft rod, and it swings according to the force condition like the free end, which can reduce the deformation of the soft rod when it is bent.
- connection assembly 200 there is a gap 240 between two adjacent connection units 210 of the connection assembly 200 to facilitate relative movement of the connection units.
- the soft rod 510 covers at least a part of the gap 240 in the connection assembly 200.
- the soft rod 510 can limit the bending of the driving wire 520 in the gap area, thereby reducing the bending of the driving wire 520, and thus the driving accuracy is better.
- the soft rod can either cover every gap in the connection assembly, or only cover part of the gap in the connection assembly.
- the gaps covered by the connecting components are basically evenly distributed along the connecting components, or the gaps between the connecting units with relatively large relative movement are covered. In this way, the bending of the driving wire can be minimized.
- the uncovered gap and the covered gap are spaced apart, wherein there may be one uncovered gap or multiple uncovered gaps between the two covered gaps.
- the connecting units in the connecting assembly may also have different structures, for example, there is no gap between some of the connecting units.
- the covered gap can either be closed by the soft rod, that is, all the gaps are covered, or partly closed by the soft rod, that is, the gap is not completely covered by the soft rod. When the gap is partially covered by the soft rod, it can limit the bending of the drive wire. In one embodiment, the height of the unclosed area of the gap is 1 to 4 mm.
- the soft rod 510 is located in the area of the gap 240 and is not contained in the receiving hole 211, and only blocks the driving wire 520 from bending at the gap.
- the diameter of the receiving hole is set according to the driving wire 520, which may be slightly larger than the diameter of the driving wire 520 to limit the bending of the driving wire 520, and it may also leave a larger space for the driving wire 520 to reduce friction.
- the soft rod can also be penetrated by at least part of the connecting unit.
- the soft rod 510 is received in the receiving hole 211 and covers the gap 240, wherein at least one end of the soft rod 510 is received in the connecting unit 210 forming the gap, that is, the end of the soft rod 510 The part is not in the void area.
- both ends of the soft rod are correspondingly received in the receiving hole of the connecting unit forming the gap.
- the soft rod may also be pierced with a complete connecting unit, for example, the soft rod may be pierced with three connecting units arranged in sequence.
- a connecting unit is penetrated by the soft rod, and a connecting unit adjacent to the connecting unit is partially penetrated.
- the end of the soft rod may also be located in the gap area, for example, the free end of the soft rod is located in the gap area.
- the position restriction method and fixing method of the soft rod can refer to the above-mentioned embodiments, which will not be repeated here.
- the multiple soft rods 510 are arranged in sequence along the extending direction of the connecting assembly 200, and the driving wire 520 passes through the multiple soft rods 510 in sequence.
- the multiple soft rods 510 are spaced apart from each other, that is, the ends of the multiple soft rods 510 are not connected to each other, and when they rotate with the connecting assembly 200, the ends of two adjacent soft rods 510 do not interfere with each other.
- the connecting assembly 200 is bent, the multiple soft rods 510 deform less than one soft rod 510, thereby making the control more accurate.
- the adjacent ends of the two soft rods 510 are located in the connecting unit 210.
- the critical ends of the two soft rods may also be located in the area of the gap, for example, in the same gap, for example, in different gaps.
- each soft rod covers at least one gap.
- each soft rod covers only one gap.
- each soft rod covers multiple gaps. Among them, each soft rod can either completely cover the gap or partially cover the gap
- the multiple soft rods 510 have the same length. In other embodiments, at least two soft rods 510 have different lengths. For example, the lengths of the soft rods 510 are all different. For another example, the length of the soft rod 510 of the often bent portion of the connecting assembly 200 is shorter, and the length of the less bent area is longer. For another example, the length of the soft rod 510 at the distal end is less than the length of the soft rod 510 at the proximal end.
- the gaps between the multiple soft rods and the receiving holes can be set according to needs. For example, the gaps between at least two soft rods and the corresponding receiving holes are different. For another example, the gaps between the multiple soft rods and the corresponding receiving holes are the same.
- the gap specification can be limited by the size of the different areas of the soft rod and the size of the receiving hole.
- the cross-sectional specifications of the multiple soft rods are the same.
- the soft rods have a cylindrical structure, and the cross-sectional specifications are the same everywhere.
- the specifications include shapes and sizes.
- the cross-sections of the soft rods can have various shapes. , For example, circle, ellipse, triangle, polygon, etc.
- the cross-sectional specifications of at least two soft rods are different.
- the cross-sectional size of the soft rod at the distal end is smaller than the cross-sectional size of the soft rod at the proximal end, so that the gap between the soft rod at the distal end and the receiving hole is larger than the soft rod at the proximal end and the receiving hole The gap between.
- the size of the soft rod in the frequently bent part of the connecting assembly is smaller than the size of the soft rod in the less bent area, so that the gap between the soft rod in the frequently bent part and the receiving hole is larger than the soft rod in the less bent area The gap with the receiving hole.
- the cross section of the soft rod includes two sizes, and the soft rods with different sizes are arranged at intervals.
- the cross-section of the same soft rod may also have different specifications in different areas.
- the cross-sectional size of the soft rod at the proximal end is smaller than the cross-sectional size at the distal end.
- the cross-sectional shape of the soft rod in the proximal region is different from the cross-sectional shape in the distal region.
- the gap between the soft rod and the receiving hole is different, and the area with a larger gap is more flexible when the soft rod turns with the connecting component.
- the soft rod can reduce it in the receiving hole. , And then better limit the position of the drive wire.
- the stiffness of multiple soft rods can also be set as required.
- multiple soft rods have the same stiffness.
- at least two soft rods have different stiffnesses.
- the rigidity of the soft rod located in the area where the connecting component is often bent is smaller, and the rigidity of the area with less bending is greater.
- the soft rod may also be located in the connecting unit, which does not cover the gap, or partially covers the gap.
- the specific arrangement mode, structure and connection mode can be the same as the above embodiments, and will not be repeated here.
- the soft rod 510 is provided with a bending opening 513 to assist the soft rod 510 in bending, thereby further reducing the deformation of the soft rod 510 when the soft rod 510 is bent.
- the bending opening can have multiple distribution modes. In the embodiment shown in FIG. 15, there are multiple bending openings 513, all of which are located on one side of the center line of the soft rod 510. In the embodiment shown in FIG. 16, there are multiple bending openings 513 located on opposite sides of the center line of the soft rod 510. In this embodiment, the bending openings 513 on both sides are staggered along the soft rod 510.
- the staggered arrangement means that the bending opening on the first side 11 is between the two bending openings on the second side 12, where the bending opening on the first side is both It can be arranged adjacent to the two second side bending openings or not adjacent to each other. For example, three first side bending openings are located between two second side bending openings, and three first side bending openings are arranged in sequence . It should be noted that the staggered bending openings on both sides can be staggered regularly or irregularly.
- the soft rod 510 has a plurality of bending openings 513, and the plurality of bending openings 513 are distributed along the periphery of the soft rod 510 in the extending direction of the soft rod 510.
- a plurality of bending openings 513 are distributed along the extension direction of the soft rod 510 in a stepped shape.
- the bending opening may be located in the gap area of the connection assembly 200, or in the connection unit of the connection assembly 200, or partly in the gap area and partly in the connection unit.
- the bending opening can have various shapes, for example, the bending opening is a strip-shaped opening.
- the bending opening is a strip tangent, that is, the bending opening is a cut on the soft rod 510.
- the bend is wavy
- the inner wall of the receiving hole 211 and/or the soft rod 510 has abutting area, so that the soft rod 510 partially abuts the receiving hole 211, that is, when the soft rod and the connecting component both extend along a straight line, And when the soft rod is located on one side of the connecting assembly, the soft rod abuts against the receiving hole through the abutting area, and the side other than the receiving hole abuts against the soft rod.
- the abutment area makes a part of the soft rod 510 abut the connection assembly 200, which reduces its contact area with the connection assembly 200, thereby reducing friction.
- the abutting area can have a variety of structures, and the abutting area can be a curved surface or a flat surface.
- the receiving hole 211 is a tapered hole
- the contact area is an area with a smaller diameter of the tapered hole. That is, the abutment area is an opening area with a smaller diameter of the tapered hole.
- the connecting unit with a tapered hole can also be used to limit the position of the free end of the soft rod. When one of the opening areas is small so that the soft rod 510 cannot pass through, the position of the free end of the soft rod is restricted. In the embodiment shown in FIG.
- the inner wall of the receiving hole 211 is extended with a protrusion, and the abutting area is located on the protrusion.
- the receiving hole 211 is in the shape of an hourglass, and the convex area of the inner wall thereof is the abutting area.
- the receiving hole 211 is two conical holes communicating with each other, and the protruding area is the area where the two tapered holes are connected, and the two tapered holes forming the receiving hole can have the same or similar specifications.
- the raised area can be located either in the middle of the connecting unit or close to the edge.
- the abutting area is provided on the soft rod 510.
- the soft rod 510 is provided with protrusions to abut against the inner wall of the receiving hole.
- the abutting areas of the connecting units are all the same. In other embodiments, the abutting areas of at least two connecting units may be different.
- the end instrument 100 has two clamping parts 110 that are rotatably connected, wherein the clamping part 110 has a clamp 111, an insulating member 112, and a rotating member 113 connected in sequence, and the clamp 111 forms an electrode.
- the insulating member 112 is insulated from the rotating member 113, and the two rotating members 113 are rotatably connected to drive the two jaws 111 to open and close.
- the clamp 111 is insulated from the rotating member 113 and the connecting assembly 200 by the insulating member 112, which improves the stability of the surgical instrument.
- both the clamp 111 and the rotating member 113 are made of metal materials to ensure their rigidity; in other embodiments, the rotating member 113 may also be made of insulating material, and in this case, the rotating member 113 passes through the insulating member 112. It is connected to the clamp 111, or the insulating member 112 may be omitted.
- the end instrument 100 may also have other structures.
- the insulating member 112 is located between the two rotating members 113 to insulate the two rotating members 113 from each other.
- the clamp 111 is connected to the rotating part 113
- the insulating part 112 is located on the body to insulate the clamp 111 from the connecting assembly 200
- the insulating part 112 insulates the two rotating parts 113 from each other, two of the rotating parts 113
- the rotating shaft is arranged on the main body to rotate relative to the main body, and the connecting component is connected with the main body.
- the insulating part is omitted from the clamping part.
- the clamp 111 extends from the insulating member 112, which extends from the insulating member 112 in the distal direction. In the embodiment shown in FIG. 24, the clamp 111 does not protrude from the insulating member 112 in the distal direction. Specifically, the clamp 111 is embedded in the insulating member 112 and has a clamping surface 101. The clamping of the two clamps The faces 101 are arranged oppositely. At this time, the clamping surface 101 of the clamp 111 protrudes from the insulating member 112. In other embodiments, the clamping surface 101 of the clamp 111 may also be flush with the surface of the insulating member 112 or embedded in the insulating member 112.
- one clamping surface 101 protrudes from the insulating member 112, and the other clamping surface 101 is embedded in the insulating member 112.
- the two clamping surfaces 101 are both flush with the insulating member 112. It should be noted that when the clamping surface is embedded in the insulating member 112, the degree of embedding can still ensure that the two electrodes can be conducted when the tissue is clamped.
- each clamp 111 forms one electrode.
- multiple electrodes 102 may also be formed on each clamp 111.
- the electrodes 102 on the two clamps 111 are correspondingly arranged.
- a conductive sheet is provided on the clamp 111, and the conductive sheet forms an electrode.
- the entire clamp 111 can also form one electrode.
- the insulating member 112 wraps at least two surfaces of the end of the clamp 111 and/or the rotating member 113, so that it is firmly connected to the clamp 111 and/or the rotating member 113.
- the clamp 111 and/or the rotating member 113 may wrap at least two surfaces of the distal end of the insulating member 112 to be firmly connected.
- the insulating member 112 and the clamp 111 and/or the connecting member can be connected in a variety of ways, for example, connected by a connecting structure; another example is integrally formed; another example, the insulating member 112 and the clamp 111 and/or the rotating member 113 Riveted.
- the insulating member 112 may also be connected to only one surface of the clamp 111 and/or the rotating member 113.
- the end instrument 100 further has a main body 120, and two rotating parts 113 are arranged on the main body 120 via a rotating shaft to rotate relative to the main body 120, wherein the position of the rotating shaft is fixed relative to the main body 120.
- the end instrument 100 further includes a push rod 130 connected to the rotating member 113, and the push rod 130 and the rotating member 113 form a four-bar mechanism to drive the jaw 111 to open and close by driving the push rod 130.
- the driving wire 520 of the end driving part 500 is connected with the push rod, and the jaw 111 is driven by the push rod.
- the clamping portion 110 may also be driven by other structures.
- the push rod may be omitted.
- the driving wire 520 of the end driving part 500 is directly connected to the rotating member 113 to drive it to rotate.
- the surgical instrument further includes an electrocoagulation component.
- the electrocoagulation component has a wire 610, and the distal end of the wire is electrically connected to the clamp 111, so that the clamp 111 forms an electrode; the portion of the wire 610 located in the connecting assembly 200 is in a relaxed state; the wire has a fixed connection area 611 fixed to
- the main body and/or the end device 100 are attached so that the distal region of the guide wire is close to the end device 100.
- the main body includes at least one of a connecting component, a connecting rod, and a driving housing.
- the main body includes a connecting component and a connecting rod; for another example, the main body includes a connecting component and a driving housing.
- the slack state means that when the connecting component extends in a straight line, the length of the wire in the connecting component is greater than the length of the connecting component; or when the connecting component is bent, the length of at least one wire in the connecting component is greater than when the connecting component extends in a straight line.
- the length of the inner wire and the tension of the wire remain basically unchanged. For example, the length of the wire located in the connecting rod is greater than the length of the connecting rod.
- the end instrument may also be an electric hook or other surgical instrument. When it is an electric hook, the electric hook is connected with the wire to form an electrode.
- the fixed connection area can limit the slack of the lead, thereby avoiding excessive slack of the lead in the end instrument area.
- the fixed connection area can be set as required.
- the fixed connection area 611 is located in the area of the rotating member 113.
- the area of the rotating member 113 may be on the rotating member 113, on the main body 130, on the rotating shaft and other elements located in the area of the rotating member 113.
- the fixed connection area 611 is fixed on the area of the main body 130 adjacent to the rotating shaft, so that when the clamping portion 110 is opened and closed, the main body 130 is provided between the area of the fixed connection area 611 and the area of the distal end of the clamp 111.
- the first distance remains basically unchanged.
- the second distance between the fixed connection area and the distal end of the wire is substantially the same as the first distance, so that the wire and the clamping portion 110 are basically fit, and the wire is too loose to affect operation or bring safety hazards. .
- the first distance remains basically unchanged, it will not cause the wire to be pulled.
- the fixed connection area of the wire located in the area of the rotating element 113 may also be provided on the rotating element 113, for example, in the area of the rotation axis of the rotating element 113.
- the fixed connection area can also be provided on the rotating shaft.
- the fixed connection area 611 is not on the shaft area. It can also be understood that it is not on the shaft or on other areas corresponding to the shaft.
- the second distance needs to be slightly larger than the first distance in order to clamp When the holding part 110 is opened and closed, a space is left to prevent the wire from being tight.
- the second distance on the wire can also be slightly larger than the first distance, for example, the second distance is 1 to 3 mm larger than the first distance.
- the wire extends along the clamping portion and is in a relaxed state.
- the fixed connection area can also be located on the main body of the surgical instrument. In one embodiment, the fixed connection area is located at the proximal end of the main body and is closer to the proximal end than the proximal end of the connection assembly 200. As shown in FIG. 29, the fixed connection area is arranged in the connecting rod 300; for another example, the fixed connection area is arranged on the drive housing. In one embodiment, the fixed connection area is provided on the connection unit at the proximal end of the connection component. In this way, it can be ensured that the connecting component will not be taut when bent, and the proximal end of the wire will not be pulled.
- the fixed connection area may also be provided on the connection component.
- the fixed connection area divides the wire located in the connection assembly into at least two areas, wherein at least one area is in a relaxed state, for example, both are in a relaxed state.
- the displacement of the wire when the connection assembly is deflected can be reduced.
- the fixed connection area of the wire may be one or multiple. When there are more than one, it can be set at the position in the above embodiment. For example, one of them is located in the area of the rotating member 113, and one is located in the connecting rod 300 or the drive housing. For another example, one of them is located in the connecting rod 300, and the others are located in the connecting assembly 200.
- the clamping portion 110 is provided with a guide, and the area of the wire on the clamping portion 110 extends along the guide, so that the wire is close to the clamping portion 110.
- the guide 114 is provided with a guide hole 103 and an opening 104 communicating with the guide hole 103, so that the wire is received in the guide hole through the opening.
- the opening may also be omitted.
- a guide hole is provided for the wire to be received in the guide hole.
- the guide member is a guide groove opened in the clamping portion 110, and the wire is received in the guide groove, wherein the guide groove is located on the opposite surface of the clamping portion 110.
- the guide groove may also be located on other surfaces of the clamping portion 110, for example, on the side surface of the clamping portion 110, where the side surface refers to the surface adjacent to the opposite surfaces of the two clamping portions 110.
- the guide includes a guide groove opened on the clamping portion 110 and a guide unit guided by the guide groove. The wire is accommodated in the guide groove, and the wire is restricted in the guide groove by the guide unit.
- the guide unit is a gear lever, and its extending direction is arranged non-parallel to the extending direction of the guide groove.
- the wire passes through the connection component and extends along the connection component, and is located in the axial region of the connection component.
- the wire extends along the axis of the connecting component.
- the wire is arranged adjacent to the axis of the connecting component. Two wires can pass through one through hole to pass through the connection component, or through two through holes to pass through the connection component.
- the surgical instrument further includes a wire receiving rod through which the connecting assembly is inserted, and the receiving cavity is opened, the wire is passed through the wire receiving rod, and the wire is spaced from the inner wall of the receiving cavity, that is, there is a gap.
- the structure of the receiving rod can be the same as the soft rod in the foregoing embodiments, and is used to protect and restrict the wire, which will not be repeated here.
- the end driving part 500 of the surgical instrument has a driving wire 520, a driving component 530 and a positioning component 540.
- the driving wire 520 passes through the connecting assembly 200 and is connected to the end instrument 100, which is bendable with the connecting assembly 200, and the driving wire 520 has a driving connection area 521, which is connected to the driving assembly 530, and the driving wire 520 is located outside the connecting assembly 200 At least a part of the area is positioned by the positioning component 540 so that the driving component drives the driving wire 520 to move in a straight line, thereby driving the end instrument 100.
- the rigidity of the driving wire 520 is greater than the rigidity of the driving wire 520 of the connecting unit that drives the connecting assembly 200 to bend, and it can be bent with the connecting assembly 200.
- the driving assembly 530 drives the driving wire 520 to move in a straight line, which means that the driving wire 520 at least drives the connection
- the area 521 moves linearly with the driving assembly 530.
- the end instrument 100 can be selected according to needs. For example, it has a clamp 111, and the driving wire 520 drives the clamp 111 to open and close by feeding; for another example, the driving wire 520 drives the end instrument 100 to rotate through the feeding, and the end instrument 100 can It has a worm gear structure and is connected to the distal end of the driving wire 520.
- the positioning mechanism can limit its position, thereby reducing the error caused by the bending of the driving wire 520, and making the operation of the surgical instrument more accurate.
- the moving direction of the driving connection area is the same as the extending direction of the connecting component 200.
- the initial position of the connecting component 200 means that the connecting component 200 extends along a straight line without bending.
- the driving wire 520 is in a straight state, which is the same as the movement direction of the upper driving connection area.
- the moving direction of the driving connection area forms an angle with the extension direction of the connection assembly 200, for example, the included angle is an obtuse angle.
- the driving wire 520 is located in the area inside the connection assembly 200
- the position of the connecting assembly 200 is restricted by the internal structure, for example, the position of the driving wire is restricted by the receiving hole 211 on the connecting unit.
- the drive wire 520 extends along the axis of the connection assembly 200, that is, the drive wire 520 is located in the middle area of the connection assembly 200, which further improves the operation accuracy.
- the positioning assembly can have various structures.
- the end driving part 500 has a soft rod 510 passing through the connecting assembly 200, the driving wire 520 passes through the soft rod 510, and the soft rod 510 extends out of the connecting assembly 200 so that the soft rod 510 extends out of the connecting assembly 200.
- Part of the assembly 200 forms a positioning assembly 540, thereby reducing the bending of the driving wire 520.
- the positioning component 540 includes a positioning groove, and the driving wire 520 is located in the positioning groove and moves along the positioning groove to restrict its bending by the positioning groove. As shown in FIG. 34, the positioning component 540 wraps the driving connection area to avoid bending of the area.
- the positioning component is disposed on the driving component and moves with the driving component together with the driving wire 520.
- the drive connection area can be set on the drive assembly through the positioning assembly, or directly set on the drive assembly.
- the positioning component is strip-shaped, for example, the length of the positioning component is 5-10 mm.
- the positioning component can also be a combination of the above embodiments.
- the positioning component includes an area where the soft rod 510 extends out of the positioning component and a positioning groove.
- the soft rod 510 is located in the positioning groove, and the positioning groove passes through the soft rod. 510 Position the driving wire 520.
- the positioning component 540 is disposed adjacent to the driving connection area 521 to minimize the distance between the positioning component and the connection area, thereby improving accuracy.
- the extension area of the soft rod 510 is located adjacent to the connection area 521, and the extension area of the soft rod 510 does not interfere with the driving assembly 530.
- the drive connection area 521 is located at the extreme position in the distal direction, it is basically located at the proximal area of the soft rod 510, that is, when the drive assembly drives the connection area to move to the distal extreme position, the proximal end of the soft rod 510 is connected to the The edges of the area are basically on the same plane.
- the proximal end of the soft rod 510 is positioned at the distal end of the driving connection area, and the distance between the two is 3-10 mm.
- the side wall on one side of the positioning groove covers the driving connection area when the driving connection area moves, so that the side wall on one side is located at the extreme position of the moving connection area to the far end.
- the drive assembly is a belt transmission assembly, which includes two pulleys and a conveyor belt connecting the two pulleys.
- the drive connection area of the drive wire 520 is connected to the conveyor belt and moves along a straight line with the conveyor belt.
- the drive assembly is a synchronous wheel assembly.
- the pulley can drive the conveyor belt to move by friction.
- the drive assembly may also have other structures to drive the drive wire 520 to move.
- the drive assembly is a rack and pinion mechanism, and the drive wire 520 is arranged on the rack.
- the drive wire 520 is welded to the drive assembly, for example, the drive connection area of the drive wire 520 is welded to the conveyor belt.
- the welding area is strip-shaped, it can also be understood that the welding area is a positioning component that wraps the driving connection area.
- the driving wire 520 may also be provided on the driving assembly through a connecting member.
- the connecting piece is welded to the drive wire.
- the driving wire 520 is clamped with the connecting piece, and the connecting piece is arranged on the conveyor belt.
- the driving wire 520 extends with a clamping edge, and the clamping edge is clamped with the connecting member.
- the connecting member is provided with a clamping groove, the clamping edge is clamped with the clamping groove, and the clamping edge is located inside the connecting member.
- the positioning assembly includes a connector.
- the distal end of the driving wire 520 is the driving connection area.
- the driving assembly is at least partially disposed in the driving housing.
- the proximal end of the driving wire 520 may also be a driving connection area, that is, the driving assembly is at least partially disposed adjacent to the end instrument 100.
- the drive connection area may also be the area in the middle of the drive wire 520, not the end area.
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Abstract
Description
Claims (20)
- 一种手术器械,其特征在于,包括:末端器械;连接组件,具有多个依次连接的连接单元,所述末端器械与所述连接单元相连接;末端驱动部,具有软杆及驱动丝,所述驱动丝穿设所述软杆并与所述末端器械相连接,所述软杆穿设所述连接组件,其至少一个端部为自由端。
- 根据权利要求1所述的手术器械,其特征在于,相邻两个所述连接单元之间留有空隙,以进行弯转,所述软杆至少遮盖所述连接组件中的部分所述空隙。
- 根据权利要求1所述的手术器械,其特征在于,所述软杆开设有弯折口,以辅助所述软杆弯折。
- 根据权利要求1所述的手术器械,其特征在于,所述软杆为多个,多个所述软杆沿所述连接组件延伸方向依次排列,所述驱动丝穿设多个所述软杆并与所述末端器械相连接。
- 根据权利要求1所述的手术器械,其特征在于,所述末端器械具有转动连接的两个夹持部,所述夹持部具有依次连接的钳夹、绝缘件、转动件,所述钳夹形成电极,且通过所述绝缘件与所述转动件绝缘,两个所述转动件转动连接,以带动两个所述钳夹开合。
- 根据权利要求1所述的手术器械,其特征在于,所述末端器械具有钳夹,所述手术器械还包括:主体,所述主体具有所述连接组件,用于调节所述末端器械的位置及/或姿态;电凝组件,具有导线,导线的远端与所述钳夹电连接,以使所述钳夹形成电极,所述导线位于所述连接组件的部分为松弛状态,所述导线具有固定连接区域,固定于所述主体及/或所述末端器械上,以使所述导线的远端区域 贴近所述末端器械。
- 根据权利要求1所述的手术器械,其特征在于,所述末端驱动部还具有驱动组件及定位组件,所述驱动丝具有驱动连接区域,所述驱动连接区域与所述驱动组件相连接,所述驱动丝位于所述连接组件外的至少部分区域通过所述定位组件定位,以使所述驱动组件驱动所述驱动丝沿直线运动。
- 根据权利要求7所述的手术器械,其特征在于,所述定位组件包括定位槽,所述驱动丝位于所述定位槽内,并沿所述定位槽可移动,所述定位槽一侧的侧壁在驱动连接区域移动时覆盖驱动连接区域,令一侧的侧壁位于移动连接区域移动至远端的极限位置。
- 根据权利要求7所述的手术器械,其特征在于,所述定位组件设置于所述驱动组件上,并包裹所述驱动连接区域,其随所述驱动组件移动。
- 根据权利要求7所述的手术器械,其特征在于,所述驱动组件为带传动组件,所述带传动组件包括两个带轮、连接两个所述带轮的传送带,所述驱动丝的所述驱动连接区域与所述传送带相连接,并随传送带沿直线运动;或者,所述驱动组件为齿轮齿条机构,所述驱动丝设置于所述齿条上。
- 根据权利要求1所述的手术器械,其特征在于,所述连接单元开设有收容孔,所述软杆收容于所述收容孔内,所述收容孔的内壁及/或所述软杆具有抵接区域,以使软杆与所述收容孔部分抵接。
- 根据权利要求11所述的手术器械,其特征在于,所述收容孔为锥形孔,所述抵接区为锥形孔直径较小的区域;或者,所述收容孔的内壁延伸有凸起部,所述凸起部沿所述连接单元的周缘分布,所述抵接区域位于所述凸起部上。
- 根据权利要求1所述的手术器械,其特征在于,所述连接单元开设有收容孔,所述软杆穿设所述收容孔,其中至少一个所述连接单元设有阻挡层,阻挡部分所述收容孔,以限制所述自由端的位移。
- 根据权利要求13所述的手术器械,其特征在于,所述软杆具有两个所述自由端,所述连接组件包括两个具有所述阻挡层的所述连接单元,分别 与两个所述自由端对应,并临近设置。
- 根据权利要求13所述的手术器械,其特征在于,所述阻挡层为连续区域,其上开设有套设所述驱动丝的通道;所述阻挡层具有网状结构,所述驱动丝从其网孔伸出。
- 根据权利要求1所述的手术器械,其特征在于,所述连接单元开设有收容孔,所述软杆穿设所述收容孔,至少两个所述收容孔与所述软杆之间的间隙相异;所述收容孔具有第一收容孔、第二收容孔,所述第二收容孔的直径小于所述第一收容孔的直径,以使所述软杆与所述第一收容孔内壁之间的间隙大于与所述第二收容孔内壁之间的间隙,进而用于限制所述软杆的摆动。
- 根据权利要求1所述的手术器械,其特征在于,所述软杆开设有穿线孔,所述穿线孔位于所述软杆的周线区域或者邻近所述软杆的轴线设置,且沿所述软杆延伸,所述驱动丝穿设所述穿线孔。
- 根据权利要求1所述的手术器械,其特征在于,所述驱动丝的刚度大于所述软杆的刚度;所述驱动丝与所述软杆之间的摩擦系数小于其与所述连接组件之间的摩擦系数。
- 一种手术器械,其特征在于,包括:末端器械;连接组件,具有多个依次连接的连接单元,所述末端器械与所述连接单元相连接;末端驱动部,具有软杆及驱动丝,所述驱动丝穿设所述软杆并与所述末端器械相连接,所述软杆穿设所述连接组件,其至少一个端部为自由端;相邻两个所述连接单元之间留有空隙,以进行弯转,所述软杆至少遮盖所述连接组件中的部分所述空隙;所述软杆开设有弯折口,以辅助所述软杆弯折。
- 一种手术器械,其特征在于,包括:末端器械;连接组件,具有多个依次连接的连接单元,所述末端器械与所述连接单元相连接;末端驱动部,具有软杆及驱动丝,所述驱动丝穿设所述软杆并与所述末端器械相连接,所述软杆穿设所述连接组件,其至少一个端部为自由端;相邻两个所述连接单元之间留有空隙,以进行弯转,所述软杆至少遮盖所述连接组件中的部分所述空隙;所述末端驱动部还具有驱动组件及定位组件,所述驱动丝具有驱动连接区域,所述驱动连接区域与所述驱动组件相连接,所述驱动丝位于所述连接组件外的至少部分区域通过所述定位组件定位,以使所述驱动组件驱动所述驱动丝沿直线运动。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20794723.5A EP3960112A4 (en) | 2019-04-25 | 2020-04-24 | ENDOSCOPE AND OPERATING ARM |
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US11992287B2 (en) | 2018-04-10 | 2024-05-28 | Intuitive Surgical Operations, Inc. | Articulable medical devices having flexible wire routing |
CN110772331A (zh) * | 2019-04-25 | 2020-02-11 | 深圳市精锋医疗科技有限公司 | 手术器械 |
CN116784984B (zh) * | 2023-08-23 | 2023-12-08 | 深圳市精锋医疗科技股份有限公司 | 手术机器人系统 |
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CN110772331A (zh) | 2020-02-11 |
JP7331135B2 (ja) | 2023-08-22 |
BR112021021418A2 (pt) | 2022-02-01 |
EP3960112A1 (en) | 2022-03-02 |
JP2022530122A (ja) | 2022-06-27 |
US20220226060A1 (en) | 2022-07-21 |
EP3960112A4 (en) | 2023-02-01 |
KR102571499B1 (ko) | 2023-08-28 |
BR112021021418A8 (pt) | 2022-08-30 |
KR20210152525A (ko) | 2021-12-15 |
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