WO2022253065A1 - 一种便携式手动手术机器人 - Google Patents

一种便携式手动手术机器人 Download PDF

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Publication number
WO2022253065A1
WO2022253065A1 PCT/CN2022/094902 CN2022094902W WO2022253065A1 WO 2022253065 A1 WO2022253065 A1 WO 2022253065A1 CN 2022094902 W CN2022094902 W CN 2022094902W WO 2022253065 A1 WO2022253065 A1 WO 2022253065A1
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WO
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Prior art keywords
cutter head
joint
shaft
handle
closing
Prior art date
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PCT/CN2022/094902
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English (en)
French (fr)
Inventor
赵春英
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上海生知医疗科技有限公司
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Publication of WO2022253065A1 publication Critical patent/WO2022253065A1/zh

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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
    • 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
    • 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
    • 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
    • A61B2018/00607—Coagulation and cutting with the same instrument
    • 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
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1412—Blade
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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

Definitions

  • the invention relates to a portable manual surgical robot, which belongs to the field of medical instruments.
  • Surgical laparoscopic surgery has gradually become the current mainstream surgical method. Through an incision of 5-10 mm in size, surgeons can insert small light sources, cameras and surgical instruments. Through the image transmitted to the monitor, the operation of surgical instruments is guided to perform the operation. When this surgery is performed in the abdomen, it is called laparoscopic surgery, and when it is performed in the chest cavity, it is called thoracoscopic surgery.
  • the current laparoscopic surgical instruments are straight, and the distal end cannot be bent, so it cannot achieve the requirement of reaching the target tissue from multiple angles for operation.
  • the da Vinci surgical robot achieves flexible bending functions through complex mechanical structures, power systems and computer programs, the high price and huge equipment volume at the same time make it impossible to popularize and realize commercial operations.
  • CN 110811839 A discloses a "wearable laparoscopic surgical instrument", wherein the instrument includes a cutter head, a shaft, a curved joint and a plurality of pull ropes, the cutter head is connected to the front end of the rod body through a curved joint, and a plurality of pull ropes
  • the drawstring is used to drive the cutter head to rotate
  • the driving component is used to control the drawstring to drive the cutter head to bend horizontally and/or vertically.
  • the gesture sensing module is fixedly installed on the frame and communicated with the control component.
  • the gesture sensing module is used for sensing operation
  • the gesture signal of the operator is transmitted to the control component; the control component is connected with the drive component for outputting a control signal according to the gesture signal to control the operation of the drive component.
  • the purpose of the present invention is to provide a portable manual surgical robot, which realizes the function of the surgical robot for free bending of the distal joint of the endoscopic instrument through purely mechanical manual control.
  • the present invention adopts following technical scheme:
  • a portable manual surgical robot including a knife head, a shaft, a curved joint and multiple pull ropes, the knife head is connected to the front end of the shaft through a curved joint, and the multiple pull ropes are used to drive the knife head to rotate.
  • the robot The characteristic is that it also includes a rear end joint, which is arranged at the rear end of the shaft and is connected to the handle through spherical rotation; one end of multiple pulling ropes is fixedly connected inside the handle, and the other end is connected to the cutter head. Turn the handle so that the pulling steel rope is pulled, thereby driving the cutter head to follow the rotation of the handle; the handle includes a handle, and the rear end joint is arranged on the rear side of the handle to allow The end joint is near the top of the wrist joint.
  • a portable manual surgical robot characterized in that it includes: a cutter head, a shaft and a handle, the cutter head is connected to the front end of the shaft through a curved joint, and the joint is a hollow hemispherical shape at the junction of the shaft and the handle, The front end of the joint is fixedly connected to the shaft, and the rear end is connected to the handle through spherical rotation; the joint lock switch is set on the side of the upper part of the handle, and the joint lock transmission shaft is L-shaped.
  • the front end is fixedly connected to the joint lock switch, and the tail end is locked to the joint
  • the ring is fixedly connected, and the joint locking ring is located in the joint;
  • the cutter head joint is bent in four directions to pull the steel rope, one end is fixedly connected to the joint locking ring behind the joint bending control shaft, and the other end is connected to the cutter head;
  • the cutter heads connected in sequence
  • the opening and closing control lever, the cutter head opening and closing pulling shaft, the cutter head opening and closing pulling steel rope, the front end of the cutter head opening and closing pulling steel rope is fixedly connected to the cutter head, and the turning fulcrum of the cutter head opening and closing pulling shaft is set at Inside the handle, the opening and closing pull shaft of the cutter head is rotationally connected with the fulcrum of the pull shaft for opening and closing the cutter head.
  • the portable manual surgical robot of the present invention also includes: sequentially connected cutter head rotation knob, cutter head rotation transmission shaft, cutter head rotation transmission belt, cutter head rotation hollow shaft and cutter head rotation ring surface, cutter head rotation knob, setting On the handle, the cutter head rotation transmission shaft, the front end is fixedly connected with the cutter head rotation knob, the cutter head rotation transmission belt, the lower end is sleeved on the rear end of the cutter head rotation transmission shaft, the upper end is sleeved on the cutter head rotation hollow shaft, and the cutter head rotation is hollow
  • the shaft passes through the inside of the shaft, the front end is connected to the rotary ring surface of the cutter head, the front end of the rotary ring surface of the cutter head is fixedly connected with the cutter head, and the rear end is rotationally connected with the bendable joint.
  • the portable manual surgical robot of the present invention also includes: the hollow shaft for rotating the cutting head and the rotating transmission shaft for the cutting head, and two sets of rotating transmission gears for the cutting head are installed at the proximal ends of the hollow rotating shaft for the cutting head and the rotating driving shaft for the cutting head.
  • the portable manual surgical robot of the present invention also includes: a high-frequency electric energy cutting button, which is arranged on the handle and below the rotary knob of the cutter head, and the high-frequency electric energy transmission line is electrically connected with the high-frequency electric energy cutting button.
  • the electric energy transmission line is connected with the cutter head through the cutter head opening and closing pulling shaft and the cutter head opening and closing pulling steel rope.
  • the portable manual surgical robot of the present invention also includes: the high-frequency electric energy coagulation button is arranged on the handle, located below the rotary knob of the cutter head, and arranged side by side with the high-frequency electric energy cutting button.
  • the portable manual surgical robot of the present invention also has the feature that the cutter head is an instrument suitable for laparoscopic operation.
  • the portable manual surgical robot of the present invention also includes: the joint is located behind the handle, and at the same time, the joint is located above the operator's wrist joint, corresponding to the longitudinal position of the operator's wrist joint, and the opening of the joint spherical shell faces the front of the handle.
  • the portable manual surgical robot of the present invention further includes: the joint-locking transmission shaft is a straight rod, the front end is fixedly connected to the joint-locking switch, and the tail-end is fixedly connected to the joint-locking ring.
  • the portable manual surgical robot of the present invention also includes: two bends in the middle of the shaft to form a space for accommodating the handle, and the shaft, the knife head rotation knob, the knife head and the knife head rotation knob are located on the same horizontal axis.
  • the rear joint Since the rear joint is located on the back side of the grip of the handle, the rear joint is close to the top of the wrist joint during use, so that the control of the bendable joint only needs to bend the wrist joint, while the elbow joint and shoulder joint will not bend and move, making the operation easier Intuitive and convenient.
  • the present invention realizes the function of the surgical robot for free bending of the distal joint of the endoscopic instrument through purely mechanical manual control, without additional motor power and computer program assistance, thereby reducing volume and cost of use, and improving portability and popularity.
  • Fig. 1 is a schematic structural view of the cutter head of the portable manual surgical robot in the first embodiment.
  • Fig. 2 is a schematic structural view of the handle of the portable manual surgical robot in the first embodiment.
  • Fig. 3 is a schematic diagram of the upward bending of the cutter head.
  • Fig. 4 is a schematic diagram of the cutter head bending to one side.
  • Fig. 5 is a schematic diagram of the rotary transmission structure of the cutter head of the portable manual surgical robot in the second embodiment.
  • Fig. 6 is a schematic structural view of the handle of the portable manual surgical robot in the third embodiment.
  • Fig. 7 is a schematic structural view of the portable manual surgical robot in the fourth embodiment.
  • Fig. 8 is a cross-sectional view of the four-way bending pulling steel rope position of the cutter head joint.
  • Fig. 9 is a structural schematic diagram of the joint bending control shaft and the joint locking ring.
  • the portable manual surgical robot of the present embodiment comprises: cutter head 11, shaft 12 and handle 13,
  • the cutter head 11 is connected to the front end of the shaft 12 through a bending joint 14,
  • the rear end joint 15 is hollow hemispherical and is located at the junction of the shaft 12 and the handle 13.
  • the front end of the rear end joint 15 is integrally connected with the shaft 12, and the rear end is connected with the handle 13 through spherical rotation.
  • the joint lock switch 16 is arranged on the side of the upper part of the handle 13, and is positioned at a position that the operator's thumb can reach when holding the handle.
  • the joint locking transmission shaft 17 is L-shaped, the front end is fixedly connected with the joint locking switch 16 , and the tail end is fixedly connected with the joint locking ring 18 .
  • the joint locking ring 18 is located in the spherical space inside the rear end joint 15 .
  • the joint lock switch 16 When the joint lock switch 16 is moved to the front of the handle to drive the joint lock transmission shaft 17 to move and drive the joint lock ring 18 to move forward, the joint lock ring 18 will be in close contact with the rear end joint 15 to form greater resistance, Thereby, the rotation of the rear joint 15 is prevented.
  • the front end of the joint locking ring 18 is a joint bending control shaft 34 , and the two are fixedly connected or have an integrated structure.
  • the joint bending control shaft 34 and the rear joint 15 form a spherical pair.
  • FIG. 8 is a schematic cross-sectional view of the joint locking ring 18 .
  • the four cutter head joints are bent in four directions and the pulling steel ropes 19 are distributed inside the shaft 12 at 90 degrees.
  • the handle 13 is rotated in four directions up, down, left, and right, two of the cutter head joints are pulled in four-way bending pulling steel ropes 19, thereby driving the cutter head to rotate accordingly.
  • cutter head opening and closing control lever 20 Sequentially connected cutter head opening and closing control lever 20, cutter head opening and closing pulling shaft 21, cutter head opening and closing pulling steel rope 22, the cutting head opening and closing pulling steel rope 22 front ends are fixedly connected on the cutter head 11.
  • the turning fulcrum 23 of the cutter head opening and closing pulling shaft is arranged inside the handle 15 , and the cutting head opening and closing pulling shaft 21 is rotationally connected with the cutter head opening and closing pulling shaft rotating fulcrum 23 .
  • the cutter head rotating knob 24, the cutter head rotating transmission shaft 25, the cutter head rotating transmission belt 26, the cutter head rotating hollow shaft 27 and the cutter head rotating ring surface 28 are connected in sequence.
  • the cutter head rotation knob 24 is arranged on the handle 13 .
  • the front end of the cutter head rotating transmission shaft 25 is fixedly connected with the cutter head rotating knob 24 .
  • the cutter head rotation transmission belt 26 lower end is enclosed within the rear end of the cutter head rotation transmission shaft 25, and the upper end is enclosed within on the cutter head rotation hollow shaft 27.
  • the cutter head rotating hollow shaft 27 passes through the inside of the joint locking ring 18 , the joint bending control shaft 34 , and the shaft 12 , and the front end is connected to the cutter head rotating ring surface 28 .
  • the front end of the rotary ring surface 28 of the cutter head is fixedly connected with the cutter head 11 , and the rear end is connected with the bendable joint 14 in rotation.
  • the high-frequency electric energy cutting button 29 is arranged on the handle 13 and is positioned under the cutter head rotary knob 24.
  • the high-frequency electric energy transmission line 30 is electrically connected with the high-frequency electric energy cutting button 29, and the high-frequency electric energy transmission line 30 is opened through the cutter head. Closing pulling shaft 21 and cutter head opening and closing pulling steel rope 22 are connected with cutter head.
  • the high-frequency electric energy coagulation closing button 31 is arranged on the handle 13, is located below the cutter head rotation knob 24, and is arranged side by side with the high-frequency electric energy cutting button 29.
  • the cutter head 11 adopts an instrument suitable for laparoscopic operation, and can be assembled with various commonly used laparoscopic instrument cutter heads, such as grasping forceps, scissors, electric hooks, etc.
  • the handle 13 provides a handle 131 and an adapter section 132 .
  • the handle has a front side 1311 and a rear side 1312 , and the front side 1311 of the handle is provided with a high-frequency electric energy cutting button 29 and a high-frequency electric energy coagulation button 31 .
  • the transfer section 132 protrudes upward from the rear side of the handle, and the joint locking transmission shaft 17 and the cutter head opening and closing pulling shaft 21 are arranged on the top of the handle 131 and extend into the transfer section 132 .
  • the cutter head rotating hollow shaft 27 and the cutter head opening and closing pulling wire 22 extend from the upper part of the transition section 132 and pass through the joint locking ring 18 and the joint bending control shaft 34 , and then enter the shaft 12 .
  • the joint bending control shaft 34 is rotatably matched with the rear end joint 15 on the front side of the transition section 132 .
  • the rear end joint 15 is located above the rear side of the grip of the handle 13, the rear end joint 15 is close to the top of the wrist joint during use, so that the control of the bendable joint 14 only needs to bend the wrist joint, and the elbow joint and shoulder joint will not bend And mobile, the operation is more intuitive and convenient.
  • cutter head rotation the cutter head rotating hollow shaft 27 is connected and fixed with the cutter head rotating annulus 28 and the cutter head 11 , and these three are relatively movable with the shaft 12 and the bendable joint 14 .
  • cutter head rotation transmission shaft 25 When turning the cutter head rotary knob 24 with the forefinger to drive the cutter head rotation transmission shaft 25, then drive the cutter head rotation transmission belt 26, and then drive the cutter head to rotate the hollow shaft 27, drive the cutter head that is sleeved on the flexible joint 14 far side by the shaft 12
  • the ring surface 28 is rotated so that the cutter head 11 rotates synchronously, and the shaft 12 and the bendable joint 14 do not rotate.
  • joint lock when the thumb pushes the joint lock switch 16 to the far side, the joint lock transmission shaft 17 is moved to the far side, and the joint lock ring 18 is driven to move to the far side so as to press the inner wall of the rear joint 15 and increase the friction to make The rear end joint 15 is locked, so that the angle of the distal bendable joint 14 is locked.
  • the thumb pushes the joint lock switch 16 proximally, so that the joint lock transmission shaft 17 moves proximally, and drives the joint lock ring 18 to move proximally, thereby leaving the inner wall of the rear joint 15, so that the rear joint 15 To be released, unlocked.
  • Cutting or coagulation operation when the index finger presses the high-frequency electric energy cutting button 29 or the high-frequency electric energy coagulation button 31, the signal is transmitted to the nearby high-frequency electric knife main unit through the high-frequency energy connection line 32, and the high-frequency electric knife main unit passes through The high-frequency electric energy transmission line 30 transmits cutting or coagulating high-frequency electric energy to the cutter head opening and closing pulling shaft 21 to the cutter head opening and closing pulling steel wire 22 to the cutter head 11 to cut or coagulate the target tissue.
  • the portable manual surgical robot of this embodiment has changed the opening, closing and rotating structure of the cutter head 11 on the basis of the first embodiment.
  • the cutter head rotating hollow shaft 27 is extended downward to the vicinity of the cutter head opening and closing control rod 20, and the cutter head opening and closing pulling steel rope 22 is also directly connected with the cutter head opening and closing control rod 20 along the cavity of the cutter head rotating hollow shaft 27 Pressing the cutter head opening and closing control lever 20 can drive the cutter head opening and closing pulling shaft 21 and the cutter head opening and closing pulling steel rope 22 in the cutter head rotating hollow shaft 27, so that the distal cutter head 11 performs opening and closing movement.
  • a group of cutter head rotation transmission gears 33 are installed at the proximal end of the cutter head rotation hollow shaft 27 and the cutter head rotation transmission shaft 25, which are respectively located at the intersection of the cutter head rotation transmission shaft and the cutter head rotation hollow shaft, and mesh with each other.
  • the curved part of the rotating hollow shaft of the cutter head is a flexible pipe, such as a threaded pipe, so as to transmit the rotation.
  • the portable manual surgical robot of this embodiment changes the joint position and the joint fixing structure.
  • the shaft 12 includes a curved section 120, which extends from above the rear side of the handle 131 to the rear side of the handle 131, so that the rear end joint 15 moves to the rear of the handle, while the joint is located at the operator's wrist.
  • the upper part of the joint corresponds to the longitudinal position of the operator's wrist joint, which makes the movement of the wrist joint and the movement of the distal bendable joint 14 more stable, and can eliminate the wrist pain caused by the upper structure of the rear end joint 15 in Embodiment 1 and Implementation 2.
  • the shaking of the shaft and the cutter head 11 improves stability and accuracy.
  • the length of the joint locking transmission shaft 17 is shortened, so that pushing the joint locking switch 16 to the far side to drive the joint locking ring 18 to lock the joint reduces the effort, and the structure is simpler.
  • the structure of the shaft of the portable manual surgical robot of this embodiment is changed on the basis of the third embodiment.
  • the shaft 12 includes a curved section 120 extending from above the rear side of the grip 131 to the rear side of the grip 131 .
  • the curved section 120 of the shaft 12 is bent at two places in the middle, and a space for receiving the handle is formed by bending.
  • the head rotates the hollow shaft 27, and a knife head opening and closing pulling steel rope 22 is simultaneously bent at two places.
  • the tubing used at the two bends is flexible tubing to be able to transmit the rotation.
  • the distal shaft 12 , the cutter head rotation knob 24 , the cutter head 11 and the cutter head rotation knob 24 are on the same horizontal axis, and the operating habits of existing endoscopic instruments are maintained.

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Abstract

一种便携式手动手术机器人，包括：刀头(11)，杆身(12)和手柄(13)，刀头(11)通过弯曲关节(14)连接在杆身(12)的前端，后端关节(15)前端与杆身(12)固定连接，后端与手柄(13)通过球面转动连接；关节锁定开关(16)，设置在手柄(13)上段的侧面，关节锁定传动轴(17)，关节锁定环(18)，位于后端关节(15)内；刀头关节四向弯曲牵拉钢绳(19)，一端固定连接在关节弯曲控制轴(34)后方的关节锁定环(18)上，另一端与刀头(11)连接；依次连接的刀头开闭控制杆(20)、刀头开闭牵拉轴(21)、刀头开闭牵拉钢绳(19)，刀头开闭牵拉钢绳(19)前端固定连接在刀头(11)上，刀头开闭牵拉轴转动支点(23)，设置在手柄(13)内部，刀头开闭牵拉轴(21)与刀头开闭牵拉轴转动支点(23)之间转动连接。本手术机器人无需额外电机动力和计算机程序辅助，从而降低体积和使用成本，提高便携性和普及性。

Description

一种便携式手动手术机器人 技术领域
本发明涉及一种便携式手动手术机器人，属于医疗器械领域。
背景技术
外科腔镜手术已逐渐成为当前的主流外科手术方式，其通过5-10毫米大小的切口，外科医生可以插入细小的光源、摄像机和外科器械。通过传输到监视器中的图像，引导操作外科手术器械实施手术。这种外科手术在腹腔中实施时，称为腹腔镜手术，在胸腔中实施时，称为胸腔镜手术。
当前的腔镜手术器械是直的，远端不能弯曲，所以无法实现多角度到达目标组织进行操作的要求。虽然达芬奇外科手术机器人通过复杂的机械结构、动力系统和计算机程序实现灵活弯曲功能，但同时带来的昂贵价格和庞大设备体积使其无法普及和实现商业化运营。
CN 110811839 A公开一种“可穿戴式腔镜手术器械”，其中的器械包括刀头、杆身、弯曲关节以及多根牵拉绳，刀头通过弯曲关节连接在杆身的前端，多根牵拉绳用于带动刀头转动，驱动组件用于控制拉绳带动刀头进行横向和/或纵向弯曲，手势感应模块固定安装在框架上、并与控制组件通信连接，手势感应模块用于感应操作者的手势信号并传送至控制组件；控制组件与驱动组件连接，用于根据手势信号输出控制信号以控制驱动组件运转。
发明内容
本发明的目的在于提供一种便携式手动手术机器人，通过纯机械手动控制来实现腔镜器械远端关节自由弯曲的手术机器人功能。
本发明采用了如下技术方案：
一种便携式手动手术机器人，包括刀头、杆身、弯曲关节以及多根牵拉绳，刀头通过弯曲关节连接在杆身的前端，多根牵拉绳用于带动刀头转动，所述机器人的特点是，还包括后端关节，所述后端关节设置在杆身的后端，与手柄通过球面转动连接；多根牵拉绳的一端固定连接在手柄内部，另一端与刀头连接，转动 手柄以使牵拉钢绳受到牵拉，从而带动刀头发生跟随手柄的转动；所述手柄包括握把，所述后端关节设置在所述握把的后侧，以容许在使用时后端关节靠近腕关节上方。
一种便携式手动手术机器人，其特征在于，包括：刀头，杆身和手柄，刀头通过弯曲关节连接在杆身的前端，关节，为中空的半球形，位于杆身和手柄的连接处，关节前端与杆身固定连接，后端与手柄通过球面转动连接；关节锁定开关，设置在手柄上段的侧面，关节锁定传动轴，为L形，前端与关节锁定开关固定连接，尾端与关节锁定环固定连接，关节锁定环，位于关节内；刀头关节四向弯曲牵拉钢绳，一端固定连接在关节弯曲控制轴后方的关节锁定环上，另一端与刀头连接；依次连接的刀头开闭控制杆、刀头开闭牵拉轴、刀头开闭牵拉钢绳，刀头开闭牵拉钢绳前端固定连接在刀头上，刀头开闭牵拉轴转动支点，设置在手柄内部，刀头开闭牵拉轴与刀头开闭牵拉轴转动支点之间转动连接。
进一步，本发明的便携式手动手术机器人，还包括：依次连接的刀头旋转钮、刀头旋转传动轴、刀头旋转传动带、刀头旋转空心轴和刀头旋转环面，刀头旋转钮，设置在手柄上，刀头旋转传动轴，前端与刀头旋转钮固定连接，刀头旋转传动带，下端套在刀头旋转传动轴的后端，上端套在刀头旋转空心轴上，刀头旋转空心轴从杆身的内部穿过，前端连接在刀头旋转环面上，刀头旋转环面前端与刀头固定连接，后端与可弯曲关节转动连接。
进一步，本发明的便携式手动手术机器人，还包括：刀头旋转空心轴和刀头旋转传动轴，在刀头旋转空心轴和刀头旋转传动轴的近端安装两组刀头旋转传动齿轮。
进一步，本发明的便携式手动手术机器人，还包括：高频电能量切割按键，设置在手柄上，位于刀头旋转钮的下方，高频电能量传输线与高频电能量切割按键电连接，高频电能量传输线通过刀头开闭牵拉轴和刀头开闭牵拉钢绳与刀头连接。
进一步，本发明的便携式手动手术机器人，还包括：高频电能量凝闭按键设置在手柄上，位于刀头旋转钮的下方，与高频电能量切割按键并排设置。
进一步，本发明的便携式手动手术机器人，还具有这样的特征：刀头为适用于腔镜操作的器械。
进一步，本发明的便携式手动手术机器人，还包括：关节位于手柄后方，同时关节位于操控者腕关节的上方，与操控者腕关节纵向位置相对应，关节球壳的开口面向手柄前方。
进一步，本发明的便携式手动手术机器人，还包括：关节锁定传动轴为直杆，前端与关节锁定开关固定连接，尾端与关节锁定环固定连接。
进一步，本发明的便携式手动手术机器人，还包括：杆身中部有两处弯曲，弯曲后形成容纳手柄的空间，杆身、刀头旋转钮、刀头和刀头旋转钮位于同一水平轴上。
由于后端关节位于手柄的握把的后侧，在使用时后端关节靠近腕关节上方，使得控制可弯曲关节仅需要弯曲腕关节，而肘关节和肩关节不会发生弯曲和移动，操作更加直观便利。
本发明通过纯机械手动控制来实现腔镜器械远端关节自由弯曲的手术机器人功能，无需额外电机动力和计算机程序辅助，从而降低体积和使用成本，提高便携性和普及性。
附图说明
图1是实施例一中便携式手动手术机器人的刀头处的结构示意图。
图2是实施例一中便携式手动手术机器人的手柄处的结构示意图。
图3是刀头向上弯曲的示意图。
图4是刀头向一侧弯曲的示意图。
图5是实施例二中的便携式手动手术机器人的刀头旋转传动结构的示意图。
图6是实施例三中的便携式手动手术机器人的手柄处的结构示意图。
图7是实施例四中的便携式手动手术机器人的结构示意图。
图8是刀头关节四向弯曲牵拉钢绳位置的截面图。
图9是关节弯曲控制轴和关节锁定环的结构示意图。
具体实施方式
以下结合附图来说明本发明的具体实施方式。
实施例一
如图1和图2所示，本实施例的便携式手动手术机器人包括：刀头11，杆身12和手柄13，
刀头11通过弯曲关节14连接在杆身12的前端，
后端关节15为中空的半球形，位于杆身12和手柄13的连接处，后端关节15前端与杆身12一体化连接，后端与手柄13通过球面转动连接。
关节锁定开关16，设置在手柄13上段的侧面，位于操控者手握手柄时大拇指所能触达的位置。
关节锁定传动轴17，为L形，前端与关节锁定开关16固定连接，尾端与关节锁定环18固定连接。
关节锁定环18，位于后端关节15内部的球形空间中。当关节锁定开关16被向手柄前方拨动进而带动关节锁定传动轴17运动并带动关节锁定环18向前运动时，关节锁定环18会与后端关节15内部贴紧并形成较大的阻力，从而阻止后端关节15的转动。如图9所示，关节锁定环18的前端为关节弯曲控制轴34，二者之间固定连接或者为一体化结构。关节弯曲控制轴34与后端关节15组成球面副。
刀头关节四向弯曲牵拉钢绳19，一端固定连接在关节弯曲控制轴后方的手柄内部，例如连接在关节锁定环18上，另一端向前与刀头连接。图8是关节锁定环18的横断面示意图，如图8所示，四根刀头关节四向弯曲牵拉钢绳19呈90度分布在杆身12内部。在向上下左右四个方向转动手柄13时，其中两根刀头关节四向弯曲牵拉钢绳19受到牵拉，从而带动刀头发生相应的转动。关节弯曲控制轴34上具有线槽，使得刀头关节四向弯曲牵拉钢绳19从中通过，并固定连接在后面的关节锁定环18上。
依次连接的刀头开闭控制杆20、刀头开闭牵拉轴21、刀头开闭牵拉钢绳22，刀头开闭牵拉钢绳22前端固定连接在刀头11上。
刀头开闭牵拉轴转动支点23，设置在手柄15内部，刀头开闭牵拉轴21与刀头开闭牵拉轴转动支点23之间转动连接。
依次连接的刀头旋转钮24、刀头旋转传动轴25、刀头旋转传动带26、刀头旋转空心轴27和刀头旋转环面28。
刀头旋转钮24设置在手柄13上。
刀头旋转传动轴25前端与刀头旋转钮24固定连接。
刀头旋转传动带26下端套在刀头旋转传动轴25的后端，上端套在刀头旋转空心轴27上。
刀头旋转空心轴27从关节锁定环18、关节弯曲控制轴34、杆身12的内部穿过，前端连接在刀头旋转环面28上。刀头旋转环面28前端与刀头11固定连接，后端与可弯曲关节14转动连接。
高频电能量切割按键29，设置在手柄13上，位于刀头旋转钮24的下方，高频电能量传输线30与高频电能量切割按键29电连接，高频电能量传输线30通过刀头开闭牵拉轴21和刀头开闭牵拉钢绳22与刀头连接。
高频电能量凝闭按键31设置在手柄13上，位于刀头旋转钮24的下方，与高频电能量切割按键29并排设置。
刀头11采用适用于腔镜操作的器械，可以装配各类常用腔镜器械刀头，如抓钳、剪刀、电钩等。
从图2至图7中可以看出，手柄13提供握把131和转接段132。该握把具有前侧1311和后侧1312，握把的前侧1311设置高频电能量切割按键29、高频电能量凝闭按键31。该转接段132从该握把的后侧上方向上凸出设置，关节锁定传动轴17、刀头开闭牵拉轴21在握把131的上部设置并延伸到转接段132内。刀头旋转空心轴27、刀头开闭牵拉钢绳22从转接段132的上部延伸并穿过关节锁定环18和关节弯曲控制轴34，再进入到杆身12。关节弯曲控制轴34与后端关节15在转接段132的前侧球面转动配合。
使用时，用手握住手柄13的握把的前侧1311和后侧1312，向上弯曲手部腕关节，由于杆身12被胸腹部穿刺器固定，使腕关节正上方的后端关节15相对于手握的手柄13方向向下旋转，使得关节弯曲控制轴34发生同步弯曲导致刀头关节四向弯曲牵拉钢绳19的上方钢绳受到牵拉，下方松弛，钢绳通过杆身12牵拉远侧刀头11处的可弯曲关节14，如图3所示，使得可弯曲关节14发生同步向上弯曲。同理，如图4所示，当手部腕关节向右弯曲，后端关节15则相对于手握的手柄13向左旋转带动关节弯曲控制轴34，即腕关节和可弯曲关节14呈同一方向运动。
由于后端关节15位于手柄13的握把的后侧上方，在使用时后端关节15靠近腕关节上方，使得控制可弯曲关节14仅需要弯曲腕关节，而肘关节和肩关节不会发生弯曲和移动，操作更加直观便利。
刀头开闭的操作：当用中指无名指小指按压刀头开闭控制杆20时，使其与手柄13距离靠近，此时刀头开闭牵拉轴21向远侧发生移动，通过刀头开闭牵拉轴转动支点23带动刀头旋转空心轴27内的刀头开闭牵拉钢绳22向近侧移动，从而带动刀头11部位的刀头开闭牵拉钢绳22发生关闭咬合组织的动作。
刀头旋转的操作：刀头旋转空心轴27与刀头旋转环面28和刀头11连接固定，这三者与杆身12和可弯曲关节14相对活动。当用食指转动刀头旋转钮24带动刀头旋转传动轴25，再带动刀头旋转传动带26，再带动刀头旋转空心轴27，通过杆身12带动套在可弯曲关节14远侧的刀头旋转环面28，使得刀头11发生同步旋转，杆身12和可弯曲关节14不会发生转动。
关节锁定的操作：当拇指向远侧推动关节锁定开关16时，使得关节锁定传动轴17向远侧移动，带动关节锁定环18向远侧移动从而压住后端关节15内壁，增加摩擦力使后端关节15得以锁定，从而远侧可弯曲关节14角度得以锁定。需要松开关节时，拇指向近侧推动关节锁定开关16，使得关节锁定传动轴17向近侧移动，带动关节锁定环18向近侧移动，从而离开后端关节15内壁，使后端关节15得以松开，解除锁定。
切割或凝闭操作：当食指按压高频电能量切割按键29或高频电能量凝闭按键31，信号通过高频能量连接线32传到旁边的高频电刀主机，高频电刀主机通过高频电能量传输线30输送切割或凝闭高频电能量至刀头开闭牵拉轴21至刀头开闭牵拉钢绳22至刀头11，对目标组织进行切割或凝闭。
实施例二
如图5所示，本实施方式的便携式手动手术机器人在实施例一的基础上，更改了刀头11开闭和旋转的结构。
把刀头旋转空心轴27向下延长至刀头开闭控制杆20附近，刀头开闭牵拉钢绳22也顺着刀头旋转空心轴27内腔直接与刀头开闭控制杆20连接，按压刀头开闭控制杆20可以带动刀头开闭牵拉轴21和刀头旋转空心轴27内的刀头开闭牵拉钢绳22，使得远侧刀头11进行开闭运动。
如图5所示，在刀头旋转空心轴27和刀头旋转传动轴25的近端安装一组刀头旋转传动齿轮33，分别位于刀头旋转传动轴和刀头旋转空心轴交叉的位置，并相 互啮合。刀头旋转空心轴弯曲那一段是柔性的管材，例如螺纹管，从而传递转动。当食指向顺时针转动刀头旋转钮24带动刀头旋转传动轴25上的刀头旋转传动齿轮33同步向顺时针转动，使得刀头旋转空心轴27上的刀头旋转传动齿轮33同步向逆时针方向转动，从而带动远侧刀头旋转环面28和刀头11向顺时针转动。
实施例三
本实施方式的便携式手动手术机器人在实施例二的基础上，更改了关节位置和关节固定结构。
如图6所示，杆身12包括弯曲段120，弯曲段120从握把131的后侧上方延伸到握把131的后侧，使得后端关节15移动至手柄后方，同时关节位于操控者腕关节的上方，与操控者腕关节纵向位置相对应，使得腕关节运动与远侧可弯曲关节14运动更加稳定，可消除实施例一和实施二中的后端关节15在上方结构而导致的手腕关节在上下弯曲时，杆身和刀头11的晃动，提高稳定和精准性。
关节锁定传动轴17长度缩短，使得向远侧推动关节锁定开关16带动关节锁定环18来锁定关节的用力减少，结构更简单。
实施例四
本实施方式的便携式手动手术机器人在实施例三的基础上，更改了杆身的结构。杆身12包括弯曲段120，弯曲段120从握把131的后侧上方延伸到握把131的后侧。
如图7所示，杆身12的弯曲段120在中部有2处弯曲，通过弯曲形成接收手柄的空间，杆身12内部的四根刀头关节四向弯曲牵拉钢绳19、一根刀头旋转空心轴27、一根刀头开闭牵拉钢绳22同步进行两处弯曲。在两处弯曲处所使用的管路为柔性管材，从而能够传递旋转。使得远侧杆身12、刀头旋转钮24、刀头11和刀头旋转钮24在同一水平轴上，维持与现有腔镜器械操作习惯。

Claims (10)

  1. 一种便携式手动手术机器人，包括刀头、杆身、弯曲关节以及多根牵拉绳，刀头通过弯曲关节连接在杆身的前端，多根牵拉绳用于带动刀头转动，其特征在于，所述机器人还包括后端关节，所述后端关节设置在杆身的后端，与手柄通过球面转动连接；
    多根牵拉绳的一端固定连接在手柄内部，另一端与刀头连接，转动手柄以使牵拉钢绳受到牵拉，从而带动刀头发生跟随手柄的转动；
    所述手柄包括握把，所述后端关节设置在所述握把的后侧，以容许在使用时后端关节靠近腕关节上方。
  2. 如权利要求1所述的便携式手动手术机器人，其特征在于，所述手柄还包括转接段，该转接段从该握把的后侧上方向上凸出设置，后端关节位于所述转接段的前侧。
  3. 如权利要求2所述的便携式手动手术机器人，其特征在于，所述杆身包括弯曲段，所述弯曲段从所述握把的后侧上方延伸到所述握把的后侧，所述后端关节位于所述弯曲段的后端，与所述握把的上部后侧通过球面转动连接。
  4. 如权利要求3所述的便携式手动手术机器人，其特征在于，所述弯曲段还通过弯曲形成接收手柄的空间。
  5. 如权利要求1所述的便携式手动手术机器人，其特征在于，所述机器人还包括：
    关节锁定开关，设置在所述握把上段的侧面，
    关节锁定传动轴，前端与关节锁定开关固定连接，
    关节锁定环，位于所述后端关节内，与关节锁定传动轴的尾端固定连接，所述牵拉绳的所述一端固定在该关节锁定环上；
    其中，关节锁定开关用于通过关节锁定传动轴带动关节锁定环，当关节锁定环进入到锁定位置时在所述后端关节内部形成较大的阻力，以阻止后端关节的转动。
  6. 如权利要求1所述的便携式手动手术机器人，其特征在于，所述机器人还包括依次连接的刀头开闭控制杆、刀头开闭牵拉轴、刀头开闭牵拉钢绳，刀头开闭牵拉钢绳从所述杆身中穿过且前端固定连接在刀头上，
    刀头开闭牵拉轴转动支点设置在手柄内部，刀头开闭牵拉轴与刀头开闭牵拉轴转动支点之间转动连接；
    其中，刀头开闭控制杆用于带动刀头开闭牵拉轴，以使刀头开闭牵拉轴绕所述刀头开闭牵拉轴转动支点转动，进而使刀头开闭牵拉钢绳移动，刀头开闭牵拉钢绳的移动用于带动刀头发生开闭动作。
  7. 如权利要求1所述的便携式手动手术机器人，其特征在于，所述机器人还包括依次连接的刀头旋转钮、刀头旋转传动轴、刀头旋转传动带、刀头旋转空心轴和刀头旋转环面，
    刀头旋转钮设置在手柄上，
    刀头旋转传动轴前端与刀头旋转钮固定连接，
    刀头旋转传动带下端套在刀头旋转传动轴的后端，上端套在刀头旋转空心轴上，
    刀头旋转空心轴从杆身的内部穿过，前端连接在刀头旋转环面上，刀头旋转环面前端与刀头固定连接，后端与可弯曲关节转动连接。
  8. 如权利要求1所述的便携式手动手术机器人，其特征在于，
    所述机器人还包括依次连接的刀头旋转钮、刀头旋转传动轴、刀头旋转空心轴和刀头旋转环面，
    刀头旋转钮设置在手柄上，
    刀头旋转传动轴前端与刀头旋转钮固定连接，
    刀头旋转空心轴从杆身的内部穿过，前端连接在刀头旋转环面上，刀头旋转环面前端与刀头固定连接，后端与可弯曲关节转动连接；
    在刀头旋转空心轴和刀头旋转传动轴的近端分别安装刀头旋转传动齿轮。
  9. 如权利要求6所述的便携式手动手术机器人，其特征在于，所述机器人还包括高频电能量切割按键，
    所述高频电能量切割按键，设置在手柄上，高频电能量传输线与高频电能量切割按键电连接，高频电能量传输线通过刀头开闭牵拉轴和刀头开闭牵拉钢绳与刀头连接。
  10. 如权利要求1所述的便携式手动手术机器人，其特征在于：
    刀头为适用于腔镜操作的器械。
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