WO2023130872A1 - Ensemble de sections de flexion universelles, instrument chirurgical et dispositif chirurgical de type fendu - Google Patents

Ensemble de sections de flexion universelles, instrument chirurgical et dispositif chirurgical de type fendu Download PDF

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Publication number
WO2023130872A1
WO2023130872A1 PCT/CN2022/136310 CN2022136310W WO2023130872A1 WO 2023130872 A1 WO2023130872 A1 WO 2023130872A1 CN 2022136310 W CN2022136310 W CN 2022136310W WO 2023130872 A1 WO2023130872 A1 WO 2023130872A1
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WO
WIPO (PCT)
Prior art keywords
hole
steel wire
snake
universal
inclined surface
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PCT/CN2022/136310
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English (en)
Chinese (zh)
Inventor
王迎智
齐斌
于帅涛
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极限人工智能(北京)有限公司
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Publication of WO2023130872A1 publication Critical patent/WO2023130872A1/fr

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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
    • 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
    • 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
    • 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
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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

Definitions

  • the present disclosure relates to the technical field of surgical robots, in particular to a universal snake bone component, a surgical instrument and a split surgical device.
  • surgical instruments are also increasingly used in clinical operations.
  • surgical instruments are more common in the application of medical operations because of their convenience.
  • the two-degree-of-freedom universal pliers assembly includes a free universal pliers assembly and a plurality of movable joints, and the rotation of the universal pliers assembly is controlled through the plurality of movable joints.
  • the surgical instrument of the two-degree-of-freedom universal pliers assembly cannot be linked in the two degrees of freedom, and is limited by the movable joints, so that the The bending range is limited, which in turn limits the flexibility of using the surgical instrument, which brings limitations to the operation of the surgery.
  • the embodiments of the present disclosure provide a universal snake bone assembly, a surgical instrument and a split surgical device, so as to solve the problem of limited flexibility in the use of surgical instruments in the related art.
  • an embodiment of the present disclosure provides a universal snake bone assembly, including a front end of a vertebra, a rear end of a vertebra, and a plurality of snake bones;
  • Each snake bone is disc-shaped, and each snake bone includes opposite first and second faces, the first face includes a symmetrical first inclined face and a second inclined face, and the first inclined face and the second inclined face A protruding structure is arranged therebetween, and the protruding structure extends radially along the first surface;
  • the second surface includes a symmetrical third inclined surface and a fourth inclined surface, and a groove structure is arranged between the third inclined surface and the fourth inclined surface, and the groove structure extends along the radial direction of the second surface, wherein the first The inclined direction of the inclined surface is the same as that of the third inclined surface, and the inclined direction of the second inclined surface is the same as that of the fourth inclined surface;
  • Two adjacent snake bones are connected through the first surface and the second surface, the convex structure is embedded in the groove structure, and a plurality of snake bones are located between the front end of the vertebra and the back end of the vertebra.
  • the universal snake assembly further includes a driving steel wire, and each snake is provided with a first through hole, a second through hole, a third through hole, a fourth through hole and a fifth through hole;
  • the first through hole is located at the axis of the serpentine and runs through the first surface and the second surface;
  • the second through hole is arranged through the first inclined surface and the third inclined surface, and the third through hole is arranged through the second inclined surface and the fourth inclined surface;
  • the fourth through hole and the fifth through hole are arranged through the groove structure and the protrusion structure, and the fourth through hole and the fifth through hole are located on both sides of the first through hole;
  • a driving steel wire is passed through the first through hole, the second through hole, the third through hole, the fourth through hole and the fifth through hole in the snake bones.
  • the second through hole, the third through hole, the fourth through hole and the fifth through hole are symmetrically distributed with the first through hole as an axis.
  • both ends of the first through hole, both ends of the second through hole, both ends of the third through hole, both ends of the fourth through hole and both ends of the fifth through hole are rounded.
  • the universal snake assembly also includes a first crimping head and a second crimping head, the surface of the front end of the vertebra close to the snake bone has the same structure as the first face, the surface of the rear end of the vertebra close to the snake bone and the second face The structure of the two sides is the same;
  • the first ends of the two driving steel wires passing through the first through hole and the second through hole are fixed on the end of the front end of the vertebra away from the snake bone through the first crimping joint, and the two driving wires passing through the first through hole and the second through hole
  • the second end of the steel wire protrudes from the end of the back end of the vertebra away from the snake bone;
  • the first ends of the two driving steel wires passing through the third through hole and the fourth through hole are fixed on the end of the front end of the vertebra away from the snake bone through the second crimping joint, and the two driving wires passing through the third through hole and the fourth through hole
  • the second end of the steel wire protrudes from the end of the posterior end of the vertebra away from the snake bone.
  • the angle of inclination of the first inclined surface, the angle of inclination of the second inclined surface, the angle of inclination of the third inclined surface, and the angle of inclination of the fourth inclined surface are all equal, wherein the angle of inclination is the plane where the inclined surface is located and the angle of the fourth inclined surface An angle between two planes, wherein the first plane is a surface perpendicular to the axis of the serpentine.
  • the inclination angles of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface are all greater than or equal to 7° and less than or equal to 15°.
  • the protruding direction of the protruding structure is perpendicular to the extending direction of the groove structure.
  • the protrusion structure is a semicircular arc-shaped protrusion
  • the groove structure is a semicircular arc-shaped groove.
  • the number of snake bones is an odd number.
  • the pitch of the serpentine is greater than or equal to 1 mm and less than or equal to 2 mm, wherein the pitch is the distance between the central axis of the protruding structure and the central axis of the groove structure.
  • an embodiment of the present disclosure provides a surgical instrument, including a universal forceps head assembly, an abdominal tube, a detachable drill clip, and the universal snake bone assembly described in any embodiment of the first aspect;
  • the universal pliers head assembly is connected to the front end of the vertebrae, the first end of the abdominal tube is connected to the rear end of the vertebra, and the second end of the abdominal tube is connected to the detachable drill clamp, wherein the detachable drill clamp is used to connect the power host, and the power The host is used to provide the power source required for the bending of the universal snake assembly.
  • the detachable drill chuck includes a steel wire retaining ring, a disc seat, a driving wire socket and a plurality of first docked female shafts
  • the universal snake assembly includes a first driving steel wire, a second driving steel wire, a third driving steel wire and The fourth driving wire;
  • the steel wire fixing ring is fixed between the second end of the abdominal tube and the seat, and the driving wire socket is connected to the seat;
  • the first driving steel wire, the second driving steel wire, the third driving steel wire and the fourth driving steel wire sequentially pass through the steel wire retaining ring, the seat, the driving wire socket and the corresponding first docking female shaft and are fixedly connected.
  • the universal pliers head assembly includes a pliers lower jaw, a pliers upper jaw, an inner clevis and an outer clevis;
  • the lower jaw of the pliers and the upper jaw of the pliers are movably connected to the outer U-shaped clamp, the inner U-shaped clamp and the outer U-shaped clamp are hinged, and the outer U-shaped clamp is provided with a sliding groove, and the inner U-shaped clamp is opposite to the outer U-shaped clamp along the extension direction of the sliding groove. slide;
  • Both the end of the outer U-shaped clip and the end of the front end of the vertebra are sleeve structures, and the end of the outer U-shaped clip is nested in the end of the front end of the vertebra.
  • the universal snake assembly includes a fifth driving steel wire, and the detachable drill clip also includes a second docking female shaft;
  • the first driving steel wire, the second driving steel wire, the third driving steel wire, and the fourth driving steel wire are symmetrically distributed with the fifth driving steel wire as the axis;
  • the first end of the fifth driving steel wire is fixed to the end of the inner U-shaped clip, the second end of the fifth driving steel wire passes through the abdominal tube, the steel wire retaining ring, and the seat is fixedly connected with the driving wire socket, and the driving wire socket It is fixedly connected with the second butt female shaft, and when the second butt female shaft rotates, the outer U-shaped clamp rotates.
  • the universal snake assembly also includes a tie rod welding sleeve and a tie rod;
  • the second end of the fifth driving steel wire is fixed in the fixing hole provided by the welding sleeve of the pull rod, the end of the welding sleeve of the pull rod is welded to one end of the pull rod, and the other end of the pull rod passes through the abdominal tube;
  • a heat-shrinkable tube is sleeved at the junction of the fifth driving steel wire and the welding sleeve of the pull rod.
  • the outer part of the universal snake component is wrapped with a curved rubber tube.
  • the surgical instrument also includes a dial block, an interface shell and a cone shell;
  • the cone shell is sleeved on the outer ring of the seat, the first end of the interface shell is fixedly connected to the end of the cone shell, and the dial block is movably connected in the gap between the interface shell and the cone shell;
  • the dial block includes a plurality of limit holes, and the second butt female shaft and a plurality of first butt female shafts are clamped in the limit holes. When the dial block slides, the first butt female shaft and the second The docking female shaft is locked in the limit hole.
  • the second end of the interface shell is provided with a plurality of magnets, the multiple magnets are connected to different positions of the second end of the interface shell, and the magnets are used to identify related instruments.
  • an embodiment of the present disclosure further provides a split surgical device, which includes a power host and the surgical instrument described in any embodiment of the second aspect;
  • the power host and the detachable drill clamp are mated and connected to control the motion of the universal pliers assembly according to a preset track.
  • each snake bone includes opposite first surfaces and second surfaces
  • the first surface includes symmetrical first inclined surfaces and second inclined surfaces
  • the first A raised structure is provided between the inclined surface and the second inclined surface, and the raised structure extends radially along the first surface
  • the second surface includes a symmetrical third inclined surface and a fourth inclined surface
  • the third inclined surface and the first inclined surface A groove structure is arranged between the four inclined surfaces, the groove structure extends radially along the second surface, the inclination direction of the first inclined surface is the same as that of the third inclined surface, and the inclined direction of the second inclined surface is the same as that of the fourth inclined surface.
  • the inclined directions of the inclined surfaces are the same, so when the posterior end of the vertebrae of the universal snake-bone assembly is subjected to external tension in any direction, the shape of the gap between the first inclined surface and the third inclined surface in this direction changes or the second inclined surface changes.
  • the shape of the gap between the first inclined surface and the fourth inclined surface changes, and with the direction and magnitude of the external pulling force, the shape of the gap between the first inclined surface and the third inclined surface changes or the second inclined surface and the fourth inclined surface
  • the shape of the gap between the surfaces is also different, so that the bending direction and angle of the universal snake bone component are also different, so that the universal snake bone component can be bent in all directions, so that the surgical operation process is not limited by the bending direction, which improves the The convenience of operation is more convenient for the operator.
  • FIG. 1 shows a schematic structural view of a universal snake assembly provided in an embodiment of the present disclosure in an unbent state
  • Fig. 2 shows a schematic structural diagram of a universal snake assembly provided in an embodiment of the present disclosure in a bent state
  • Fig. 3 shows a schematic diagram of the structure of the first surface of a snake bone provided by an embodiment of the present disclosure
  • Fig. 4 shows a schematic diagram of the structure of the second surface of a snake bone provided by an embodiment of the present disclosure
  • Fig. 5 shows a schematic diagram of the assembly of two adjacent snake bones provided by an embodiment of the present disclosure
  • Figure 6 shows a schematic diagram of the assembly of multiple snake bones provided by an embodiment of the present disclosure
  • Fig. 7 shows a schematic diagram of the connection between the driving wire and a plurality of serpentines provided by an embodiment of the present disclosure
  • Fig. 8 shows a schematic diagram of the pitch of snake bones provided by an embodiment of the present disclosure
  • Fig. 9 is a schematic diagram showing the inclination angles of the third inclined surface and the fourth inclined surface of the snake bone provided by the embodiment of the present disclosure.
  • Fig. 10 is a schematic diagram showing the inclination angles of the first inclined surface and the second inclined surface of the snake bone provided by the embodiment of the present disclosure
  • Fig. 11 shows a schematic diagram of bending in a single direction of the universal snake assembly provided by an embodiment of the present disclosure
  • Fig. 12 shows a schematic diagram of bending in multiple directions of the universal snake assembly provided by an embodiment of the present disclosure
  • Fig. 13 is a schematic diagram showing the paths of the driving steel wires bent in different bending states in the universal snake assembly provided by the embodiment of the present disclosure
  • Fig. 14 shows a schematic diagram of the bending principle of the universal snake assembly provided in an embodiment of the present disclosure in different bending directions;
  • Fig. 15 shows a schematic structural view of a surgical instrument provided by an embodiment of the present disclosure
  • Fig. 16 shows a schematic diagram of an exploded structure of a surgical instrument provided by an embodiment of the present disclosure
  • Fig. 17 shows a schematic diagram of the assembly of the components of the surgical instrument provided by the embodiment of the present disclosure
  • Fig. 18 shows a schematic cross-sectional view of the surgical instrument provided by an embodiment of the present disclosure in the direction of A-A in Fig. 17;
  • Fig. 19 shows a schematic diagram of the rotation principle of the surgical instrument provided by the embodiment of the present disclosure.
  • Fig. 20 is a schematic diagram showing the assembly of the universal snake assembly and the detachable drill clip provided by the embodiment of the present disclosure
  • Fig. 21 shows a schematic diagram of the external structure of the surgical instrument provided by the embodiment of the present disclosure
  • Fig. 22 shows a schematic cross-sectional view of the surgical instrument provided by an embodiment of the present disclosure in the direction of B-B in Fig. 21;
  • Fig. 23 shows a schematic structural view of the universal pliers assembly provided by an embodiment of the present disclosure
  • Fig. 24 shows another schematic structural view of the universal pliers assembly provided by the embodiment of the present disclosure
  • Fig. 25 shows a schematic diagram of the assembly of the components in the conical shell provided by the embodiment of the present disclosure
  • Fig. 26 shows a schematic structural view of a split surgical device provided by an embodiment of the present disclosure.
  • an embodiment of the present disclosure provides a universal snake assembly, as shown in Figures 1 to 4, the universal snake assembly includes a vertebral front end 2841, a vertebral rear end 2842 and a plurality of snake bones 2843;
  • Each snake bone 2843 is disc-shaped, each snake bone 2843 includes opposite first face 2844 and second face 2845, first face 2844 includes symmetrical first inclined face 2846 and second inclined face 2847, and the first inclined face
  • a protruding structure 2850 is provided between the surface 2846 and the second inclined surface 2847, and the protruding structure 2850 extends radially along the first surface 2844;
  • the second surface 2845 includes a symmetrical third inclined surface 2848 and a fourth inclined surface 2849,
  • a groove structure 2851 is provided between the third inclined surface 2848 and the fourth inclined surface 2849, and the groove structure 2851 extends radially along the second surface 2845, wherein the inclination direction of the first inclined surface 2846 and the third inclined surface 2848 have the same inclination direction
  • each snake bone 2843 is the basic units of the universal snake bone assembly, and each snake bone 2843 is disc-shaped.
  • Each serpentine 2843 includes a first surface 2844 and a second surface 2845 opposite to each other.
  • the first surface 2844 is provided with a symmetrical first inclined surface 2846 and a second inclined surface 2847 with the diameter as the axis of symmetry.
  • a third inclined surface 2848 and a fourth inclined surface 2849 that are symmetrical to each other are provided with the diameter as the axis of symmetry.
  • first inclined surface 2846, the second inclined surface 2847, the third inclined surface 2848 and the fourth inclined surface 2849 are all inclined along the direction close to the first plane of the snake bone 2843, that is, the plane where the first inclined surface 2846 is located is the same as that of the snake.
  • the angle between the first plane of the bone 2843, the angle between the plane where the second inclined surface 2847 is located and the first plane of the snake bone 2843, the plane where the third inclined surface 2848 is located and the first plane of the snake bone 2843 The included angle between them and the included angle between the plane where the fourth inclined surface 2849 is located and the first plane of the snake bone 2843 are all acute angles, and the first plane is a plane perpendicular to the axis of the snake bone.
  • the surfaces of the first inclined surface 2846 , the second inclined surface 2847 , the third inclined surface 2848 and the fourth inclined surface 2849 are relatively flat, the structure is simple, and the processing is convenient. In small batch production, wire cutting and drilling machines can complete the part processing. In mass production, the part contour meets the mold production requirements. Since it is a thin-walled part with uniform wall thickness, there is no draft angle problem, and there is It is beneficial to reduce the manufacturing cost of the universal snake bone component.
  • a protruding structure 2850 is also provided between the first inclined surface 2846 and the second inclined surface 2847, and the protruding structure 2850 extends radially along the first surface 2844, that is, the extension length of the protruding structure 2850 and the diameter of the first surface 2844 equal.
  • a groove structure 2851 is arranged between the third inclined surface 2848 and the fourth inclined surface 2849, and the groove structure 2851 extends radially along the second surface 2845, that is, the extension length of the groove structure 2851 is equal to the diameter of the second surface 2845 .
  • multiple snake bones 2843 are sequentially connected between the front end 2841 of the vertebra and the rear end 2842 of the vertebra, and the first surface 2844 and the second surface 2845 of each adjacent two snake bones 2843 are connected to form a convex structure 2850 is embedded in the groove structure 2851.
  • the plurality of snake bones 2843 are bent in different directions.
  • the vertebrae of the universal snake assembly When the rear end 2842 is subjected to external pulling force in any direction, the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 in this direction changes or the gap between the second inclined surface 2847 and the fourth inclined surface 2849 changes.
  • the shape changes, and the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 or the shape of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 changes with the direction and magnitude of the external pulling force.
  • the bending direction and angle of the universal snake bone component are also different, so that the universal snake bone component can be bent in all directions, so that the surgical operation process is not limited by the bending direction, which improves the convenience of surgical operation and is more convenient. It is convenient for the operator to use.
  • the universal snake assembly further includes a driving wire, and each snake 2843 is provided with a first through hole 2852, a second through hole 2853, a third through hole 2854, The fourth through hole 2855 and the fifth through hole 2856;
  • the first through hole 2852 is located at the axis of the serpentine 2843, and runs through the first surface 2844 and the second surface 2845;
  • the second through hole 2853 runs through the first inclined surface 2846 and the second Three inclined surfaces 2848 are set
  • the third through hole 2854 is set through the second inclined surface 2847 and the fourth inclined surface 2849;
  • the fourth through hole 2855 and the fifth through hole 2856 are set through the groove structure 2851 and the raised structure 2850, and the
  • the four through holes 2855 and the fifth through hole 2856 are located on both sides of the first through hole 2852;
  • the first through hole 2852, the second through hole 2853, the third through hole 2854, and the fourth through hole 2855 in the plurality of snake bones 2843 and the fifth through hole 2856 are both
  • the second through hole 2853 is provided through the first inclined surface 2846 and the third inclined surface 2848
  • the third through hole 2854 is provided through the second inclined surface 2847 and the fourth inclined surface 2849
  • the fourth through hole 2855 and The fifth through hole 2856 is set through the groove structure 2851 and the protruding structure 2850
  • the fourth through hole 2855 and the fifth through hole 2856 are located on both sides of the first through hole 2852, so the first of the plurality of snake bones 2843
  • the second through hole 2853, the third through hole 2854, the fourth through hole 2855 and the fifth through hole 2856 are all pierced with a driving steel wire, when a certain driving steel wire or a certain two driving steel wires are pulled, , and the shape of the gap between the inclined surface through which the driving steel wire passes changes, and the universal snake assembly bends accordingly.
  • the second through hole 2853, the third through hole 2854, the fourth through hole 2855 and the fifth through hole 2856 take the first through hole 2852 as the axis center Symmetrical distribution, wherein the lifting force is the force on the universal snake assembly along the axis direction of the second through hole 307 , that is, the pulling force of the driving steel wire between two adjacent snakes 2843 .
  • the first through hole 2852 is located at the axis of the serpentine 2843, the first through hole 2852 is used as the In the case of symmetrical distribution of the axis, the distribution angles of the distances between each through hole and the axis of the serpentine 2843 are equal, so that when the driving wire in any through hole is pulled, in the direction along the axis of the serpentine 2843 The components of the force are equal, so that the lifting force of the universal snake assembly is equal when it is bent in all directions, so that the stability of the bending control of the universal snake assembly is higher.
  • the through hole through which the adjacent drive wire passes will be misaligned, which will increase the friction between the drive wire and the through hole or even get stuck, and also cause sharp contact between the through hole and the drive wire contact surface, scraping the drive wire Surface, resulting in the failure of the driving steel wire breakage or the increase of surface roughness affects the bending driving effect of the universal snake bone assembly.
  • the two ends of the first through hole 2852, the two ends of the second through hole 2853, the two ends of the third through hole 2854, the two ends of the fourth through hole 2855 and the two ends of the fifth through hole 2856 are all round.
  • Angle structure in this way, can reduce the friction between the driving steel wire and the through hole during driving, avoid sharp angle contact between the through hole and the driving steel wire contact surface, and then ensure the bending driving effect of the universal snake bone assembly.
  • the driving steel wire includes a first driving steel wire 2857, a second driving steel wire 2858, a third driving steel wire 2859 and a fourth driving steel wire 2860
  • the first driving steel wire 2857 passes through the second through hole 2853 of a plurality of snake bones 2843
  • the second driving steel wire 2858 passes through the third through hole 2854 of a plurality of snake bones 2843
  • the third driving steel wire 2859 passes through a plurality of snake bones
  • the fourth through hole 2855 of 2843, the fourth driving steel wire 2860 passes through the fifth through hole 2856 of the snake bones 2843.
  • the omni-directional bending of the universal snake-bone assembly can be realized through the above connection manner. Specifically, as shown in FIG. 14 , when the third driving wire 2859 is pulled and the fourth driving wire 2860 is loosened, the universal snake assembly bends in the direction A shown in the figure. When the fourth driving steel wire 2860 is pulled and the third driving steel wire 2859 is loosened, the universal snake assembly bends in the direction B shown in the figure. When the first driving steel wire 2857 is pulled and the second driving steel wire 2858 is loosened, the universal snake assembly bends in the direction C shown in the figure. When the second driving steel wire 2858 is pulled and the first driving steel wire 2857 is loosened, the universal snake assembly bends in the direction D shown in the figure.
  • the universal snake assembly bends in a direction between directions A and B as shown.
  • the fourth driving steel wire 2860 and the first driving steel wire 2857 are simultaneously pulled, and the second driving steel wire 2858 and the third driving steel wire 2859 are loosened, the universal snake assembly bends in a direction between directions B and C shown in the figure.
  • the first driving steel wire 2857 and the second driving steel wire 2858 are pulled, and the third driving steel wire 2859 and the fourth driving steel wire 2860 are loosened, the universal snake assembly bends in a direction between directions C and D as shown.
  • the universal snake assembly bends in a direction between directions A and D shown in the figure. It can be seen that the control of the bending direction and bending angle of the universal snake bone assembly can be realized by controlling the selection of the driving steel wire and the displacement of the driving steel wire, so that the surgical operation process is not limited by the bending direction, and the convenience of the surgical operation is improved. . Wherein, the bending direction of the universal snake-bone assembly is consistent with the direction shown by F in FIG. 11 and FIG. 12 .
  • the universal snake assembly further includes a first crimping head 2862 and a second crimping head 2863.
  • the surface of the front end of the vertebra 2841 near the end of the snake bone 2843 has the same structure as the first surface 2844.
  • the structure of the end surface of the rear end 2842 close to the snake bone 2843 and the second surface 2845 are the same; the first end of the first driving steel wire 2857 and the first end of the second driving steel wire 2858 are fixed on the front end of the vertebra 2841 by the first crimping joint 2862.
  • the first end of the four driving steel wires 2860 is fixed on the end of the front end of the vertebra 2841 away from the snake bone 2843 through the second crimping joint 2863. One end away from the snake bone 2843 protrudes.
  • the surface of the front end of the vertebra 2841 close to the snake bone 2843 has the same structure as the first surface 2844, and the surface of the back end 2842 of the vertebra near the snake bone 2843 has the same structure as the second surface 2845, so when assembling Just pass the driving steel wire through the snake bone 2843 sequentially, fix the first end of the driving steel wire with the first crimping joint 2862 and the second crimping joint 2863 of the front end of the vertebra 2841, and pull the second end of the driving steel wire from the rear end of the vertebra 2842 Tight, multiple snakes 2843 can form a movable assembly under the limit of the driving wire, without the need for other parts to be assembled, making the assembly of the entire universal snake assembly easier, further saving processing and manufacturing costs, and can be passed
  • the front end 2841 of the vertebra and the back end 2842 of the vertebra provide assembly space for the assembly of other components, making the assembly easier and making the structure of the whole universal snake assembly more compact.
  • the embodiments of the present disclosure also pass Optimizing the parameters of each snake 2843, such as the pitch, the inclination angle of the inclined surface, the shape of the convex structure 2850 and the groove structure 2851, etc. enables the universal snake component to complete complex operations in a small space, as follows:
  • the inclination angle of the first inclined surface 2846 , the inclination angle of the second inclined surface 2847 , the inclination angle of the third inclined surface 2848 , the inclination angle of the fourth inclined surface 2849 are equal, wherein the inclination angle is the angle between the plane where the inclined surface is located and the first plane of the serpentine 2843, wherein the first plane is a surface perpendicular to the axis of the serpentine 2843.
  • the range of the change in the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 and the change in the shape of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 can be equal, It is beneficial to keep the range of bending angles of the universal snake assembly in all directions consistent, so that the entire universal snake assembly can maintain structural stability when it bends in different directions.
  • the inclination angle of the first inclined surface 2846, the inclined angle of the second inclined surface 2847, the inclined angle of the third inclined surface 2848, and the inclined angle of the fourth inclined surface 2849 are all greater than or equal to 7° and less than or equal to 15° .
  • the universal snake bone component can meet the ultimate bending requirement of 90°, and can effectively ensure that the driving steel wire is built in, thereby avoiding the risk of damage to the internal tissue of the patient caused by the external driving steel wire, avoiding Scratch the organ tissue, and at the same time avoid the organ tissue being squeezed when it is close to the vertebral joint assembly, or avoid the occurrence of the oblique surface of the adjacent two snake bones 2843 pinching the organ assembly during the bending process of the universal snake bone assembly, further improving The safety performance of the universal snake bone component.
  • the protruding direction of the protruding structure 2850 is perpendicular to the extending direction of the groove structure 2851 .
  • the raised structure 2850 can be completely embedded in the groove structure 2851, and after the cooperation and accumulation of multiple groups of snakes 2843, the vertebral joint assembly will not be damaged. The anterior bending will not affect the normal insertion of the universal snake bone assembly into the surgical channel.
  • the protrusion structure 2850 is a semicircular arc-shaped protrusion
  • the groove structure 2851 is a semicircular arc-shaped groove.
  • the number of snake bones 2843 is odd. In this way, when the number of snake bones 2843 is odd, the number of joint pairs in the two degrees of freedom directions is guaranteed to be consistent, and the values of motion parameters, such as displacement and pulling speed, are consistent.
  • the five snake bones 2843 when the five snake bones 2843 are deflected by 20° along the first direction, the amount of bending caused by the change of the gap between the first inclined surface 2846 and the third inclined surface 2848 of the five snake bones 2843 The superposition is also 100°.
  • L1 represents the path of the driving steel wire when the universal snake assembly is in a straight state
  • L2 represents the calculated path of the driving steel wire when the universal snake assembly is in a 90° bending state
  • L3 Indicates the actual path of the driving steel wire when the universal snake assembly is in a 90°bending state.
  • the pitch of snake bones 2843 is greater than or equal to 1 mm and less than or equal to 2 mm, wherein the pitch is between the central axis of the protrusion structure 2850 and the central axis of the groove structure 2851
  • the central axis of the protruding structure 2850 is perpendicular to the extending direction of the groove structure 2851, and the central axis of the groove structure 2851 is consistent with the extending direction of the groove structure 2851.
  • the universal snake bone assembly can be bent at a small angle during bending, and the path of the driving steel wire can be made to become a perfect circle, which is convenient for calculating the relationship between the bending angle and the displacement function of the driving steel wire, and improves the stability of control.
  • the central axis of the protruding structure 2850 is consistent with the straight line shown by A in FIG. 8
  • the central axis of the groove structure 2851 is consistent with the straight line shown by B in FIG. The distance shown is the same.
  • each serpentine 2843 includes opposite first surfaces 2844 and second surfaces 2845
  • the first surfaces 2844 include symmetrical first inclined surfaces 2846 and second inclined surfaces.
  • surface 2847, and a raised structure 2850 is provided between the first inclined surface 2846 and the second inclined surface 2847, and the raised structure 2850 extends radially along the first surface 2844
  • the second surface 2845 includes a symmetrical third inclined surface 2848 and the fourth inclined surface 2849
  • a groove structure 2851 is arranged between the third inclined surface 2848 and the fourth inclined surface 2849, the groove structure 2851 extends along the radial direction of the second surface 2845, and the inclination direction of the first inclined surface 2846
  • the inclination direction of the second inclination surface 2847 is the same as that of the third inclination surface 2848
  • the inclination direction of the second inclination surface 2847 is the same as that of the fourth inclination surface 2849.
  • the universal snake bone assembly can be bent at a small angle when bending, reducing the bending radius and making the universal
  • the snake bone component can complete complex operations in a small space, further improving the convenience of surgical operation, and can make the path of the driving wire tend to be a perfect circle, which is convenient for calculating the relationship between the bending angle and the displacement function of the driving wire, and improves the stability of control .
  • the embodiment of the present disclosure also provides a surgical instrument, which includes a universal forceps assembly 305, an abdominal tube 304, a detachable drill clip 280, and any The universal snake bone assembly 284 described in one embodiment; the universal pliers head assembly 305 is connected to the vertebral front end 284, the first end of the abdominal tube 304 is connected to the vertebral rear end 2842, and the second end of the abdominal tube 304 can be connected to the Disassemble the drill clip 280 connection.
  • the universal pliers head assembly 305 is connected to the vertebral front end 2841, the first end of the abdominal tube 304 is connected to the vertebral rear end 2842, and the second end of the abdominal tube 304 is connected to the detachable drill clip 280, it can be passed through
  • the detachable drill clip 280 is used to connect the power host 27 to provide the required power source for the bending of the universal snake assembly 284, and because the universal snake assembly 284 can be bent in all directions, the universal pliers
  • the working direction and the working position of the head assembly 305 are not limited, thereby making the universal pliers head assembly 305 have a larger operable range, which is more convenient for the operator to use.
  • the detachable drill chuck 280 may include a steel wire retaining ring 2801, a disc seat 2802, a driving wire socket 2803 and a plurality of first docking female shafts 2804, and the universal snake bone assembly 284 includes a first driving steel wire 2857, a second driving wire Steel wire 2858, the third driving steel wire 2859 and the fourth driving steel wire 2860;
  • the steel wire fixing ring 2801 is fixed between the second end of the abdominal tube 304 and the seat, and the driving wire sleeve 2803 is connected to the seat 2802;
  • the first driving The steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859 and the fourth driving steel wire 2860 pass through the steel wire fixing ring 2801, the seat 2802, the driving wire socket 2803 and the corresponding first docking female shaft 2804 to be fixedly connected,
  • the first driving steel wire 2857 , the second driving steel wire 2858 , the third driving steel wire 2859 , and the fourth driving steel wire 2860 are symmetric
  • the steel wire fixing ring 2801 is a ring-shaped fixed connection leading out the first driving steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859 and the fourth driving steel wire 2860 from the abdominal tube 304, and the coil seat 2802 is for connecting the first driving steel wire
  • a drive wire 2857, a second drive wire 2858, a third drive wire 2859 and a fourth drive wire 2860 are separate cone mounts.
  • first driving steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859, the fourth driving steel wire 2860 There is an included angle between the first driving steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859, the fourth driving steel wire 2860 and the length direction of the abdominal tube 304 connected between the steel wire fixing ring 2801 and the seat 2802, Furthermore, the first driving steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859, and the fourth driving steel wire 2860 are separated in multiple directions after passing through the coil seat 2802, so that the first driving steel wire 2857, the second driving steel wire The distance between 2858, the third driving steel wire 2859, and the fourth driving steel wire 2860 is increased, which is more convenient for the operator to operate.
  • the length direction of the fixed tubes 2806 is parallel to the length direction of the abdominal tube 304, the first driving steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859, the fourth driving steel wire
  • the steel wires 2860 respectively pass through a fixed tube 2806 and are fixedly connected with the driving wire socket 2803, so that the ends of the first driving steel wire 2857, the second driving steel wire 2858, the third driving steel wire 2859 and the fourth driving steel wire 2860 return to The state parallel to the length direction of the abdominal tube 304 is convenient for the operator to control.
  • Each drive wire socket 2803 is inserted into the groove of the first docking female shaft 2804, and the first docking female shaft 2804 is used to connect with the docking female shaft of the external power host 27107 to facilitate the first driving steel wire 2857 and the second driving wire 2857.
  • the universal pliers head assembly 305 may include a pliers lower jaw 3051, a pliers upper jaw 3052, an inner U-shaped clip 3053 and an outer U-shaped clip 3054; the pliers lower jaw 3051 and the pliers upper jaw 3052 are movably connected to the outside On the U-shaped clip 3054, the inner U-shaped clip 3053 and the outer U-shaped clip 3054 are hinged, and the outer U-shaped clip 3054 is provided with a sliding groove, and the inner U-shaped clip 3053 slides relative to the outer U-shaped clip 3054 along the extending direction of the sliding groove; Both the end of the outer U-shaped clip 3054 and the end of the vertebral front end 2841 are sleeve structures, and the end of the outer U-shaped clip 3054 is nested in the end of the vertebral front end 2841 .
  • the inner U-shaped clip 3053 and the outer U-shaped clip 3054 are hinged, and the outer U-shaped clip 3054 is provided with a sliding groove, and the inner U-shaped clip 3053 is along the sliding groove.
  • the extending direction of the pliers slides with respect to the outer U-shaped clip 3054, so the movement of the inner U-shaped clip 3053 in the groove of the outer U-shaped clip 3054 can drive the lower jaw 3051 of the pliers and the upper jaw 3052 of the pliers to realize the clamping action.
  • the end of the outer U-shaped clip 3054 can also be limited by a pin, that is, the pin passes through the end of the vertebral front end 2841 and presses against the outer U-shaped clip 3054
  • the end of the outer U-shaped clip 3054 can rotate in the inner cavity of the front end of the vertebra 2841.
  • the universal snake assembly 284 rotates, it can drive the outer U-shaped clip 3054, and then drive the universal pliers head assembly 305 to rotate , to realize the rotation of the position of the universal pliers assembly 305 .
  • the universal snake assembly 284 includes a fifth driving steel wire 2861
  • the detachable drill chuck 280 also includes a second docking female shaft 2805; the first driving steel wire 2857, the second driving steel wire 2858, the The three driving steel wires 2859 and the fourth driving steel wires 2860 are symmetrically distributed with the fifth driving steel wire 2861 as the axis center; the first end of the fifth driving steel wire 2861 is fixed to the end of the inner U-shaped clip 3053, and the second The end passes through the abdominal tube 304, the steel wire fixing ring 2801, the seat 2802, the driving wire sleeve 2803 and the second docking female shaft 2805 are fixedly connected, and when the second docking female shaft 2805 rotates, the outer U-shaped clip 3054 turn.
  • the universal snake assembly 284 also includes a pull rod welding sleeve 2866 and a pull rod 2867; the second end of the fifth driving steel wire 2861 is fixed in the fixing hole provided by the pull rod welding sleeve 2866, and the end of the pull rod welding sleeve 2866 is connected to the pull rod One end of 2866 is welded, and the other end of the pull rod 2867 passes through the abdominal tube 304; the junction of the fifth driving steel wire 2861 and the pull rod welding sleeve 2866 is covered with a heat-shrinkable tube 2864, and the outside of the universal snake assembly 284 is wrapped with a curved rubber tube 2865.
  • the universal snake assembly 284 can also include a tie rod welding sleeve 2866 and a pull rod 2867, the tie rod welding sleeve 2866 is provided with a fixing hole, and the second end of the fifth driving wire 2861 can be fixed on the fixing rod of the tie rod welding sleeve 2866 In the hole, the end of the pull rod welding sleeve 2866 is welded to one end of the pull rod 2867, and the other end of the pull rod 2867 passes through the abdominal tube 304, the steel wire retaining ring 2801, and the coil seat 2802 are fixedly connected with the drive wire socket 2803, and the drive wire socket 2803 is fixedly connected with the second docking female shaft 2805, and the second docking female shaft 2805 can be connected with the docking female shaft of the external power host 27107 to facilitate the rotation of the pull rod 2867, thereby realizing the rotation of the fifth driving steel wire 2861, and finally driving the universal pliers
  • the head assembly 305 rotates to change the position of the universal sle
  • the heat-shrinkable tube 2864 is a special polyolefin heat-shrinkable tube.
  • the outer layer is made of high-quality soft cross-linked polyolefin material and the inner layer of hot-melt adhesive. Corrosion, wear resistance and other characteristics, the inner layer has the advantages of low melting point, waterproof sealing and high adhesion, so, when the fifth driving steel wire 2861 and the joint of the tie rod welding sleeve 2866 is sleeved with a heat shrinkable tube 2864, can reduce the second 5. Friction between the driving steel wire 2861 and the first through hole 2852 when it rotates.
  • the curved rubber hose 2865 can be made of rubber, nitrile rubber, styrene-butadiene and other materials with certain wear resistance and flexibility, so that the curved rubber hose 2865 can be bent along with the universal snake bone assembly 284, thereby avoiding scratches on organs and tissues.
  • the safety performance of the surgical instrument 28 is higher.
  • the surgical instrument 28 also includes a dial 303, an interface shell 301 and a conical shell 302; It is fixedly connected with the end of the cone shell 302, and the dial block 303 is movably connected in the gap between the interface shell 301 and the cone shell 302; the dial block 303 includes a plurality of position-limiting holes, the second docking female shaft 2805 and multiple The two first docking female shafts 2804 are all clamped in the limiting holes, and when the dial block 303 slides, the first docking female shaft 2804 and the second docking female shaft 2805 are locked in the limiting holes.
  • the limit hole includes a first limit through hole and a second limit through hole
  • the aperture of the first limit through hole is larger than the aperture of the second limit through hole
  • the aperture of the second limit through hole It is larger than the diameter of the first docking female shaft 2804 and the diameter of the second docking female shaft 2805 .
  • Both the first butt nut shaft and the second butt nut have limit slots, so that when the sliding block 303 makes the first butt nut shaft and the second butt nut shaft in the second limit through hole, the first butt joint
  • the nut shaft and the second counter nut shaft can move axially or rotate.
  • both the first butt nut shaft and the second butt nut shaft are locked, avoiding the first
  • the butt nut shaft and the second butt nut shaft can move axially or rotate. It can be seen that the start and stop of the movement of the surgical instrument 28 can be controlled by the dial block 303 , so that the movement of the entire surgical instrument 28 is controllable and the safety is higher.
  • the second end of the interface shell 301 is provided with a plurality of magnets 306 .
  • the multiple magnets 306 are located at different positions on the second end of the interface shell 301 .
  • the magnets 306 are used to identify related instruments. In this way, the type of the universal pliers assembly 305 can be identified through the magnet 306, and it can be used in cooperation with the power host more accurately.
  • the universal pliers head assembly 305 is connected to the front end 2841 of the vertebra, the first end of the abdominal tube 304 is connected to the rear end 2842 of the vertebra, and the second end of the abdominal tube 304 is connected to the detachable drill clip. 280 connection, so the bending angle and bending direction of multiple snake bones 2843 can be controlled through the detachable drill clip 280, and because the universal snake bone assembly 284 can be bent in all directions, the working direction of the universal pliers head assembly 305 and The working position is not limited, thereby making the universal pliers head assembly 305 have a larger operable range, which is more convenient for the operator to use.
  • the embodiment of the present disclosure also provides a split surgical device 20, which is characterized in that the split surgical device 20 includes a power host 2 and a surgical instrument 28 according to any one of the second aspect;
  • the power host 27 and the detachable drill clamp 280 are cooperatively connected to control the movement of the universal pliers head assembly 305 according to a preset track.
  • the split surgical device 20 includes the surgical instrument 28 according to any one of the second aspect, the beneficial effects of the split surgical device 20 are consistent with those of the aforementioned surgical instrument 28 , which will not be repeated in the embodiments of the present disclosure.
  • each embodiment in this specification is described in a progressive manner, each embodiment focuses on the differences from other embodiments, and the same or similar parts of each embodiment refer to each other That's it.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
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  • Surgical Instruments (AREA)

Abstract

Ensemble de sections de flexion universelles (284), instrument chirurgical (28) et dispositif chirurgical de type fendu (20). Chaque section de flexion (2843) comprise dans l'ensemble de sections de flexion universelles (284) est en forme de disque. Chaque section de flexion (2843) comprend une première face (2844) et une seconde face (2845) qui sont opposées l'une à l'autre, la première face (2844) comprenant une première face inclinée (2846) et une deuxième face inclinée (2847) qui sont symétriques l'une par rapport à l'autre, et une structure de saillie (2850) est disposée entre la première face inclinée (2846) et la deuxième face inclinée (2847) ; la deuxième face (2845) comprend une troisième face inclinée (2848) et une quatrième face inclinée (2849) qui sont symétriques l'une par rapport à l'autre, et une structure d'évidement (2851) est disposée entre la troisième face inclinée (2848) et la quatrième face inclinée (2849) ; et la première face inclinée (2846) a la même direction d'inclinaison que la troisième face inclinée (2848), et la deuxième face inclinée (2847) a la même direction d'inclinaison que la quatrième face inclinée (2849). Deux sections de flexion adjacentes (2843) sont reliées l'une à l'autre au moyen de la première face (2844) et de la seconde face (2845), la structure de saillie (2850) étant incorporée dans la structure d'évidement (2851). Une pluralité de sections de flexion (2843) sont situées entre une extrémité avant de vertèbre (2841) et une extrémité arrière de vertèbre (2842). De cette manière, l'ensemble de sections de flexion universelles (284) peut être plié dans toutes les directions, de telle sorte que le processus d'opération chirurgicale n'est pas limité par la direction de flexion.
PCT/CN2022/136310 2022-01-06 2022-12-02 Ensemble de sections de flexion universelles, instrument chirurgical et dispositif chirurgical de type fendu WO2023130872A1 (fr)

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CN114027983B (zh) * 2022-01-06 2022-04-12 极限人工智能(北京)有限公司 万向蛇骨组件、手术器械及分体式手术装置
CN116421851B (zh) * 2023-03-06 2024-02-06 极限人工智能有限公司 一种血管介入机器人用弯曲件、导管及血管介入机器人

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CN112022060A (zh) * 2020-09-18 2020-12-04 鑫圻科技股份有限公司 一种蛇骨结构及内窥镜装置
CN113017838A (zh) * 2021-03-18 2021-06-25 深圳市罗伯医疗科技有限公司 柔性机械臂及手术设备
CN113729927A (zh) * 2021-11-05 2021-12-03 极限人工智能(北京)有限公司 有源手术器械、分体式手术装置及软组织机器人
CN114027983A (zh) * 2022-01-06 2022-02-11 极限人工智能(北京)有限公司 万向蛇骨组件、手术器械及分体式手术装置

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CN112022060A (zh) * 2020-09-18 2020-12-04 鑫圻科技股份有限公司 一种蛇骨结构及内窥镜装置
CN113017838A (zh) * 2021-03-18 2021-06-25 深圳市罗伯医疗科技有限公司 柔性机械臂及手术设备
CN113729927A (zh) * 2021-11-05 2021-12-03 极限人工智能(北京)有限公司 有源手术器械、分体式手术装置及软组织机器人
CN114027983A (zh) * 2022-01-06 2022-02-11 极限人工智能(北京)有限公司 万向蛇骨组件、手术器械及分体式手术装置

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