WO2024055555A1 - Instrument chirurgical flexible et appareil d'entraînement d'instrument associé - Google Patents

Instrument chirurgical flexible et appareil d'entraînement d'instrument associé Download PDF

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Publication number
WO2024055555A1
WO2024055555A1 PCT/CN2023/083632 CN2023083632W WO2024055555A1 WO 2024055555 A1 WO2024055555 A1 WO 2024055555A1 CN 2023083632 W CN2023083632 W CN 2023083632W WO 2024055555 A1 WO2024055555 A1 WO 2024055555A1
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
driving
output shaft
driving device
flexible
Prior art date
Application number
PCT/CN2023/083632
Other languages
English (en)
Chinese (zh)
Inventor
江维
武文杰
卢天伟
Original Assignee
北京云力境安科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京云力境安科技有限公司 filed Critical 北京云力境安科技有限公司
Publication of WO2024055555A1 publication Critical patent/WO2024055555A1/fr

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Classifications

    • 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
    • A61B17/00234—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
    • 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
    • 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
    • A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope

Definitions

  • the present application relates to the technical field of medical devices, and specifically to a flexible surgical instrument and its instrument driving device.
  • Diseases of natural orifices such as the digestive system, urinary system, and respiratory system are common major chronic diseases.
  • Diseases such as gastric cancer, esophageal cancer, colorectal cancer, bladder cancer, and lung cancer have high morbidity and mortality rates and seriously endanger human health.
  • Diagnosis and treatment using flexible endoscopy with related surgical instruments has become a mainstream treatment method, which has the characteristics of small trauma, small bleeding volume, and low complication rate.
  • the purpose of this application is to provide a flexible surgical instrument and its instrument driving device, which can provide a composite action of driving the flexible instrument for transportation operation through optimized configuration, and can meet the functional needs of the flexible instrument.
  • An instrument driving device used to provide driving force to a flexible instrument, including a first driving component, an output shaft and an interface component: wherein the interface component is used to transmit the The driving force is applied to the flexible instrument; the first driving component includes an output end capable of outputting rotational driving force; the output shaft is drivingly connected to the output end of the first driving component, and the interface component is provided on the output shaft Above; there are two power transmission paths between the output end of the first driving component and the output shaft, and are configured to drive the output shaft to rotate and move axially respectively, so as to pass through the drive base plate of the interface component Drive flexible instruments for conveying operations.
  • a screw nut transmission mechanism and a pulley transmission mechanism are provided between the output end of the first driving component and the output shaft, and the pulley transmission mechanism is configured to form a power transmission path that drives the output shaft to rotate,
  • the screw nut transmission mechanism is configured to form a power transmission path that drives the output shaft to move in the axial direction.
  • the screw nut transmission mechanism is configured such that its screw rod is coaxially fixed with the output end of the first driving component, its nut is fixedly provided on the connecting piece, and the output shaft is pivotally connected with the connecting piece. , and there is an axial limit between the output shaft and the connecting piece; the pulley transmission mechanism is configured such that its driving pulley is fixed on the screw rod, and its driven pulley is arranged on the output shaft The driven pulley can drive the output shaft to rotate, and the output shaft can move axially relative to the driven pulley.
  • a bushing is provided between the driven pulley and the output shaft, both ends of the bushing are pivoted to a fixed structure, and the driven pulley is fixedly connected to the bushing.
  • the outer surface of the output shaft has a key arranged along the axial direction, and the inner surface of the sleeve has a keyway matching the key.
  • the key and the keyway are matching splines and spline grooves respectively.
  • the shaft sleeve is fixed on the housing of the instrument driving device through a fixed plate.
  • a thrust bearing is provided at the shaft end of the output shaft, and a bearing fixing seat is fixedly provided on the connecting piece, and the bearing fixing seat and the thrust bearing form the axial limit.
  • the interface component further includes a sleeve, and the drive base plate is fixedly arranged on the output shaft through the sleeve.
  • the interface component further includes a first driving transmission disk and a second driving transmission disk, and the third driving component
  • a driving transmission plate is drivingly connected to the output end of the second driving component, and the second driving driving disk is drivingly connected to the output end of the second driving component
  • the driving base plate has an opening There are first through-holes and second through-holes, the first through-holes are arranged correspondingly to the first driving transmission plate, and the second through-holes are arranged correspondingly to the second driving transmission plates so as to correspond to the driving transmission plates.
  • the flexible instrument is driven through the through hole to operate the actuator.
  • the first active transmission plate and the second active transmission plate are respectively fixed on two sliding brackets, each of the sliding brackets is axially displaceable relative to a corresponding fixed slide rail, and each An elastic reset member is provided between the sliding bracket and the fixed structure.
  • the elastic reset piece is configured to deform when the sliding bracket is displaced toward the instrument driving device to provide a reset force to the corresponding sliding bracket. stand.
  • first driving transmission plate and the second driving component are connected through a first flange
  • second driving transmission disk and the third driving component are connected through a second flange.
  • the flange and the second flange are respectively fixed on the corresponding sliding bracket.
  • a guide sleeve is provided around the sleeve, the guide sleeve is fixed on the cover of the instrument driving device, and an axial movement adapter pair is formed between the sleeve and the guide sleeve.
  • An embodiment of the present application also provides a flexible surgical instrument, including a flexible instrument and an instrument driving device that can output driving force to the flexible instrument.
  • the instrument driving device adopts the instrument driving device as described above.
  • the present invention provides an instrument driving device for providing driving force to the flexible instrument.
  • an instrument driving device for providing driving force to the flexible instrument.
  • the drive base plate located on the output shaft can simultaneously realize compound movements. In other words, it rotates while displacing along the axial direction.
  • the compound movements include forward rotation and extension and reverse rotation and adduction, which can meet the requirements of flexible instruments. Required for transport action function.
  • a second driving component and a third driving component are also included, both of which include an output end capable of outputting rotational driving force; correspondingly, the interface component also includes a first active transmission plate and a second active transmission plate.
  • the transmission plate, the first active transmission plate is connected with the output end of the second driving component, and can drive the flexible instrument to perform the actuator operation, such as but not limited to the pulling of the driving wire; the second active transmission plate is connected with the second driving component.
  • the transmission connection at the output end can drive the flexible instrument to perform actuator operation, such as but not limited to the twisting of the drive wire.
  • the structural design is reasonable and reliable, and can be further Further improve the overall driving capability of the driving device.
  • the first driving transmission plate and the second driving transmission plate are respectively fixed on two sliding brackets, each sliding bracket is axially displaceable relative to the corresponding fixed slide rail, and each An elastic reset piece is provided between each sliding bracket and the fixed structure.
  • the elastic reset piece is configured to deform when the sliding bracket is displaced toward the driving device to provide a reset force to the corresponding sliding bracket.
  • Figure 1 is a schematic diagram of the overall structure of the flexible operating instrument according to the embodiment of the present application.
  • Figure 2 is a schematic diagram of the flexible instrument according to the embodiment of the present application.
  • Figure 3 is an exploded view of the assembly of the flexible device shown in Figure 2;
  • Figure 4 is a schematic diagram of a partially cutaway view of the flexible instrument shown in Figure 2;
  • Figure 5 is a schematic diagram of an actuator unit provided by an embodiment of the present application.
  • Figure 6 is a cross-sectional view along line A-A of Figure 2;
  • Figure 7 is a schematic diagram of the overall structure of the transmission unit provided by the embodiment of the present application.
  • Figure 8 shows a schematic diagram of the assembly relationship between the transmission unit and the instrument storage according to the embodiment of the present application
  • Figure 9 is a schematic diagram of the assembly relationship between the transmission unit and the instrument storage from another perspective
  • Figure 10 is a schematic diagram of the assembly relationship of the execution transmission assembly according to the embodiment of the present application.
  • FIG 11 is an enlarged schematic diagram of part I of Figure 6;
  • Figure 12 is a schematic diagram of the assembly relationship of the rotation transmission assembly according to the embodiment of the present application.
  • Figure 13 is an enlarged schematic diagram of Part II of Figure 6;
  • Figure 14 is a schematic diagram of the power supply and signal source introduction paths in the embodiment of the present application.
  • Figure 15 is a schematic diagram of the internal structure of the instrument driving device according to the embodiment of the present application.
  • Figure 16 is a schematic diagram of the connection mechanism on the instrument driving device side shown in Figure 15
  • Figure 17 is a schematic diagram of the assembly relationship between the drive substrate and the instrument storage according to the embodiment of the present application.
  • Figure 18 is a partial cross-sectional view of BB in Figure 16;
  • Figure 19 is a schematic diagram of the assembly relationship between the first active transmission plate and the second active transmission plate in the embodiment of the present application.
  • Figure 20 is a schematic diagram of the assembly relationship between the transmission substrate and the transmission unit in the embodiment of the present application.
  • Figure 21 is a schematic diagram of the transmission relationship of the first driving member in the embodiment of the present application.
  • FIG. 22 is an axial cross-sectional view of FIG. 15 .
  • FIG. 1 is a schematic diagram of the overall structure of the flexible operating instrument according to the embodiment of the present application.
  • the flexible surgical instrument includes a flexible instrument 10 and an instrument driving device 20.
  • the flexible instrument 10 is equipped with an actuator unit 12 for diagnosis and auxiliary diagnosis and treatment.
  • the instrument driving device 20 can provide driving force to the flexible instrument 10 to realize the flexible instrument. The conveying operation and the rotation or opening and closing of the actuator.
  • FIG. 2 is a schematic diagram of the flexible device according to an embodiment of the present application
  • FIG. 3 is an exploded assembly view of the flexible device 10 shown in FIG. 2 .
  • the flexible instrument 10 includes an instrument delivery unit 11, an actuator unit 12 built in the instrument delivery unit 11, and a transmission unit 13 for transmitting the driving force of the movement of the actuator.
  • the instrument transport unit 11 includes a housing 111 and an instrument storage 112. Driven by the transmission unit 13, the instrument storage 112 can rotate relative to the housing 111; after assembly, the housing 111 remains relatively fixed.
  • the flexible body (driving wire 121 and sleeve 123) of the actuator unit 12 is wrapped around the outer periphery of the instrument storage 112, and can be extended through the instrument outlet 1111 opened on the side wall of the housing 111; here, a protective guard is provided on the outside of the instrument outlet 1111. Tube 113, this protective tube is fixed on the housing 111, so that the actuator unit 12 extending out of the housing 111 protects a stable posture.
  • the flexible body of the actuator unit 12 is continuously transported through the instrument outlet 1111; similarly, when the instrument storage 112 moves in reverse, the flexible body can be retracted into the housing and wrapped around the instrument storage 112 to realize the retraction and storage of the actuator unit 12.
  • the outer shell 111 and the instrument storage 112 in the non-use state form a relatively closed space for storing the flexible instrument body.
  • the outer peripheral surface of the instrument storage 112 can be provided with a spiral receiving groove 1121.
  • Figure 4 is a partial cross-section of the flexible instrument shown in Figure 2 Schematic diagram of the formation. The flexible body of the actuator unit 12 that is retracted into the housing is placed in the spiral receiving groove 1121 of the instrument storage 112 to avoid messy or knotted wires.
  • the instrument storage 112 can also move axially relative to the housing 111. That is to say, when the instrument storage 112 rotates, it moves synchronously in the axial direction. In this way, the part where the flexible body of the actuator unit 12 breaks away from the spiral receiving groove 1121 can be kept roughly aligned with the instrument outlet 1111 in two dimensions, and the retracting and retracting operation can be performed smoothly. Smooth execution.
  • the actuator unit 12 can be selected according to specific applications, such as but not limited to clamp-type, electrocoagulation-type, basket-type, injection-type, guidance-type, sensor-type flexible instruments, etc.
  • the clamp-type flexible instrument includes a tissue clamping device with a degree of freedom of clamping and a hemostatic device with a degree of rotational freedom
  • the electrocoagulation and resection type flexible instrument includes a clamping degree of freedom and a degree of freedom for tissue electrocution and electrocoagulation.
  • basket type flexible instruments include a push degree of freedom for pushing out and retracting the basket
  • injection type flexible instruments include a pushing degree of freedom for pushing out and retracting needles
  • guidance type For coaxial instrument guidance, there is no degree of freedom
  • sensor-type flexible instruments can include image sensor instruments, position sensor instruments or shape sensor instruments, etc.
  • FIG. 5 is a schematic diagram of an actuator unit 12 provided in an embodiment of the present application.
  • the actuator 122 located at the distal end can be moved, such as but not limited to opening and closing the actuator and pushing the actuator; similarly, by twisting the driving wire 121, the actuator 122 located at the distal end can also be moved. the rotational movement of the actuator 122.
  • proximal end and distal end used in this article are defined from the perspective of the operator of the surgical instrument. That is, the end of the drive wire 121 close to the operator is the “proximal end”. Correspondingly, The other end closer to the patient is the “distal end”. It should be understood that the use of the above directional words is only used to clearly describe the technical solution, and does not constitute a substantial limitation on the flexible surgical instrument claimed in this application.
  • FIG. 1 is a cross-sectional view along line AA in Figure 2
  • Figure 7 is a schematic diagram of the overall structure of the transmission unit provided by the embodiment of the present application.
  • the transmission unit 13 includes a transmission base plate 133.
  • the execution transmission assembly 131 and the rotation transmission assembly 132 are arranged on the transmission base plate 133, and can be assembled and fixed with the instrument storage 112 of the instrument delivery unit 11 through the transmission base plate 133.
  • Figures 8 and 9 together. The two figures respectively show the assembly relationship between the transmission unit and the instrument storage from different perspectives. The overall structure is relatively compact and the assembly process is good.
  • the actuator transmission assembly 131 includes a first terminal 1312 , a traction member 1313 and a first driving shaft 1311 .
  • the traction member 1313 is connected to the first drive shaft 1311.
  • the first drive shaft 1311 is inserted and installed on the transmission base plate 133 to rotate under the driving force of the instrument driving device 20 and drive the traction member 1313 to swing around its rotation center. .
  • the first terminal 1312 is fixed on the pulling member 1313 and can follow when the pulling member 1313 rotates.
  • the proximal end of the driving wire 121 is connected to the first terminal 1312 and is configured such that the driving wire 121 can be pushed out or retracted along a predetermined trajectory driven by the first terminal 1312, and the driving wire 121 can rotate relative to the first terminal 1312. It can be understood that within the swing range of the pulling member 1313, the pulling stroke requirement of the first terminal 1312 needs to be met, that is, the push-out or retract displacement required by the actuator 122 located at the distal end.
  • FIG. 10 is a schematic diagram of the assembly relationship of the execution transmission assembly according to the embodiment of the present application
  • FIG. 11 is an enlarged schematic diagram of part I of FIG. 6 .
  • the first terminal 1312 is embedded in the traction member 1313.
  • the traction member 1313 has an installation groove 13131 adapted to the first terminal 1312 on its outer peripheral surface, and the outer peripheral surface is an arc surface.
  • the outer peripheral surface of the traction part 1313 is not limited to the arc shape shown in the figure; at the same time, the fixed terminal can also be completely set inside the traction part, and is not limited to embedded installation.
  • the outer peripheral surface of the traction member 1313 (not shown in the figure).
  • the driving wire 121 is inserted into the fourth through hole 13121 of the first terminal 1312, and two limit blocks 1211 are provided on the driving wire 121 body, which are respectively located at the two end sides of the fourth through hole 13121, and the size of the limit blocks 1211 is larger than the size of the fourth through hole 13121.
  • the driving wire 121 can be pushed out and retracted to meet the specific operation requirements during the operation.
  • the driving wire 121 has a degree of rotational freedom relative to the fixed terminal.
  • the driving wire rotates driven by the rotating transmission assembly 132 can rotate relative to the fourth through hole 13121, and has no operational interference with the fixed terminal side.
  • a first constraining member 1315 is fixedly provided on the transmission base plate 133.
  • the first constraining member 1315 has a constraining cavity 13151, and the driving wire 121 is placed in the constraining cavity 13151. Driven by the first terminal 1312, the driving wire 121 can be pushed out or retracted on the predetermined trajectory constructed by the constraint cavity 13151.
  • the first restraining member 1315 and the restraining cavity 13151 formed thereon are generally arc-shaped.
  • the first restraining member 1315 includes a guide segment C and a retaining segment D that are connected in sequence.
  • the guide segment C has an arc-shaped inner wall that matches the arc-shaped outer peripheral surface of the traction member 1313.
  • the constraint cavity 13151 on the inner wall of the guide section C is an open cavity, and the constraint cavity 13151 on the holding section D is a closed cavity.
  • the displacement guide of the pulling member 1313 can be established through the arc-shaped inner wall, and at the same time, the guide The open lumen on section C and the closed lumen on retaining section D jointly establish a predetermined trajectory for guiding the driving wire 121 .
  • the rotation transmission assembly 132 in this embodiment includes a rotation shaft 1321 , a second terminal 1322 , a bevel gear set 1323 and a second drive shaft 1324 .
  • the driving wheel of the bevel gear set 1323 is connected to the second drive shaft 1324.
  • the second drive shaft 1324 is inserted and installed on the transmission base plate 133 to rotate under the driving force of the instrument drive device 20 and passes through the bevel gear set 1323.
  • the rotating shaft 1321 is driven to rotate around its rotation center.
  • the second terminal 1322 is provided on the rotating shaft 1321.
  • the driving wire 121 is fixed by the second terminal 1322 and can follow the rotation of the rotating shaft 1321. And it is configured such that the second terminal 1322 can rotate driven by the rotating shaft 1321, and the second terminal 1322 can slide relative to the rotating shaft 1321 along the pulling direction of the driving wire 121.
  • the sliding stroke of the second terminal 1322 also needs to meet the pulling stroke requirement of the first terminal 1312.
  • Figure 12 is a schematic diagram of the assembly relationship of the rotation transmission assembly according to the embodiment of the present application. This figure is a view formed by radial sectioning from the position of the second terminal 1322.
  • Figure 13 is an enlarged schematic diagram of Part II of Figure 6 .
  • the second terminal 1322 is embedded in the rotating shaft 1321. Specifically, a mounting hole 13211 is opened in the middle of the rotating shaft 1321, and the driving wire 121 can extend to the constraint of the first restraining member through the mounting hole 13211. in the cavity.
  • the second terminal 1322 fixedly connected to the driving wire 121 is inserted into the mounting hole 13211, and both have matching rectangular cross-sections. In this way, when the rotating shaft 1321 rotates, the second terminal 1322 can rotate synchronously to drive the driving wire 121 to twist; at the same time, the second terminal 1322 has sliding freedom relative to the rotating shaft 1321, that is, the second terminal 1322 can slide relative to the rotating shaft 1321. 1321 moves axially. When the driving wire is pulled by the execution transmission assembly 131, it can rotate relative to the mounting hole 13211 without interfering with the rotation axis side.
  • the cross-sectional form of the second terminal 1322 and the mounting hole 13211 can also adopt other structures, such as, but not limited to, other polygons or shapes with circumferential limiting planes, as long as the position of the second terminal in the mounting hole can be satisfied.
  • the functional requirements of internal sliding and synchronous rotation with the rotating axis are within the scope of protection requested by this application.
  • a second restraining member 1325 is fixedly provided on the transmission base plate 133. As shown in FIGS. 6 and 7, along the axial direction of the rotation shaft 1321, one end of the second restraining member 1325 is connected to the first restraining member 1315 to maintain section D. The ends are arranged oppositely, and the second restraining member 1325 and the first restraining member 1315 respectively provide shaft end support, so that the shaft ends on both sides of the rotating shaft 1321 can obtain a reliable pivot adaptation relationship to meet the functional requirements of relative rotation.
  • the second restraining member 1325 is provided with a third through hole 13251.
  • the instrument storage 112 of the instrument delivery unit 11 is provided with a passage opening 1122, and the passage opening 1122 is opened obliquely so that the actuator unit 12
  • the flexible body extends and transitions into the spiral receiving groove 1121 on its outer surface.
  • the diameter of the third through hole 13251 can be adapted to the size of the flexible body sleeve 123 of the actuator unit 12 to reliably fix the pipe end of the sleeve 123 .
  • the flexible instrument 10 provided in this embodiment also includes a docking unit 14 for connection to external devices, such as but not limited to power and signal source connection and waterway connection.
  • a docking unit 14 for connection to external devices, such as but not limited to power and signal source connection and waterway connection.
  • the top of the housing 111 is provided with an electrical interface 141 and a water interface 142 that communicate with the interior.
  • the housing 111 is fixedly provided with an axially extending guide tube 15 .
  • the electrical interface 141 can introduce power and signal sources into the instrument, and the water interface 142 can introduce external water sources into the instrument, enter the actuator unit 12 through the guide tube 15 in the middle of the housing 111, and then be connected to the remote actuator.
  • Figure 14 is a schematic diagram of the introduction path of power supply and signal source.
  • the first restraining member 1315 is provided with a first internal channel 13152, and the first internal channel 13152 is connected with the mounting hole 13211 of the rotating shaft.
  • the cable introduced from the electrical interface 141 goes down through the guide tube, enters the mounting hole 13211 of the rotating shaft through the first internal channel 13152 of the first restraining member 1315, and is connected to the remote execution through the sleeve 123 of the actuator unit 12.
  • device For example, but not limited to, it is used to realize the power supply of the remote actuator, and the interactive transmission of signals with the remote actuator.
  • the second restraining member 1325 is also provided with a second internal channel 13252, and the second internal channel 13252 is connected with the third through hole 13251.
  • the water pipe introduced by the water interface 142 can also go down through the guide tube, enter the third through hole 13251 through the second internal channel 13252 of the second restraining member 1325, and be connected to the distal end through the sleeve 123 of the actuator unit 12 Actuator.
  • it is used to realize the perfusion of flushing liquid, etc.
  • a detachable connection mechanism is provided between the flexible instrument 10 and the instrument driving device 20, specifically including an instrument storage 112 and a transmission unit 13 (execution transmission assembly 131, rotation transmission assembly 132)
  • the detachable connection with the instrument driving device 20 satisfies the functional requirement of transmitting corresponding driving force on the basis of rapid assembly operation.
  • FIG. 15 is a schematic diagram of the internal structure of the instrument driving device 20 according to the embodiment of the present application
  • FIG. 16 is a schematic diagram of the connection mechanism on the side of the instrument driving device shown in FIG. 15 .
  • an interface component 24 for outputting power is disposed on the top of the instrument driving device 20 .
  • the driving base plate 241 serves as an interface connection for outputting the driving force of the first driving component 21 and is used to transmit power to the instrument storage 112 ;
  • the first active transmission disk 242 serves as an interface connector for outputting the driving force of the second driving component 22 to transmit power to the first drive shaft 1311 for pulling the drive wire;
  • the second active transmission disk 243 serves as an output for the third drive
  • the driving force interface of component 23 is used to transmit power to the second driving shaft 1324 for twisting the driving wire.
  • FIG. 17 shows a schematic diagram of the assembly relationship between the drive substrate and the instrument storage 112 .
  • the driving base plate 241 is arranged opposite to the transmission base plate 133.
  • the driving base plate 241 is provided with a buckle 244, and the transmission base plate 133 is provided with a corresponding slot 1331. After assembly, the buckle 244 is placed in the slot 1331 to form a circumferential rotation limit. Deputy.
  • the driving substrate 241 is rotated driven by the first driving component 21, it can Based on the circumferential rotation limit pair, the transmission base plate 133 is driven to rotate synchronously, and then the instrument storage 112 fixed to the transmission base plate 133 is driven to rotate to transport the actuator unit 12 .
  • the matching buckles 244 and the slots 1331 are arranged in two groups, and are arranged symmetrically, so that the force is relatively balanced. It is understood that in other specific implementations, other complex arrays set at circumferential intervals may also be configured.
  • the buckle 244 can move in the radial direction relative to the driving base plate 241, that is, the buckle 244 can also slide in the buckle groove 1331.
  • the buckle 244 has a hook portion 2441 formed by extending from the body, and the outer end; correspondingly Specifically, a bayonet 1123 adapted to the hook head 2441 is provided on the side wall of the instrument storage 112 . In this way, when the buckle 244 is in the extended working position, the hook head 2441 can be inserted into the bayonet 1123 to limit the instrument storage device 112 from being detached.
  • the instrument storage 112 when the instrument storage 112 is driven to rotate, it can be synchronously driven to extend or retract in the axial direction through the matching buckle 244 and the groove 1331 .
  • the functional requirement of synchronous axial movement can also be achieved through other structural forms.
  • a button 245 is provided on the outside of the buckle 244, and a return spring 246 is provided on the inside of the buckle 244.
  • the return spring 246 can be pre-compressed and disposed between the buckle 244 and the driving base plate 241, so that the buckle 244 Reliably maintains extended working position.
  • Figure 18, is a partial cross-sectional view taken along line B-B of Figure 16.
  • the operator applies force to the button 245, the buckle 244 slides inward along the slot 1331, the return spring 246 further deforms, and the hook head 2441 comes out of the bayonet 1123, and the flexible instrument 10 can be removed.
  • the top of the extended end of the hook head 2441 has a guide surface 2442, and the guide surface 2442 extends downward.
  • the lower edge of the instrument storage 112 axially presses against the guide surface 2442 of the hook head 2441, and generates a radially inward component force acting on the buckle 244, and the buckle 244 moves inward under this force.
  • the return spring 246 is further deformed under pressure.
  • the return spring 246 releases its elastic deformation energy and pushes the hook.
  • the head 2441 extends into the bayonet 1123 to quickly complete the assembly operation between the two.
  • the return spring can also be implemented in other structural forms, such as, but not limited to, a return member made based on the properties of rubber material, or a return member with an elastic sheet structure.
  • a sleeve 247 is provided on the outer periphery of the driving base plate 241, and the sleeve 247 includes a shielding section 2471 extending axially upward.
  • the driving base plate 241 and the buckle 244 thereon can be built into the cavity formed by the blocking section 2471; at the same time, the blocking section 2471 is provided with two through holes 2472, which are arranged diametrically opposite to the two buttons 245. So that the push rod of the button 245 is fixedly connected to the body of the buckle 244 through the through hole 2472.
  • the operability of the buttons can also be taken into account.
  • the driving base plate 241 is drivingly connected to the first driving component 21 through the sleeve 247 and the connecting sleeve 248 .
  • the sleeve 247 and the connecting sleeve 248 may be an integral structure.
  • the driving base plate 241 can also be directly connected to the first driving component 21 in transmission, or can also be connected in transmission to the first driving component 21 through the sleeve 247.
  • an electronic identification component can also be configured between the flexible instrument 10 and the instrument driving device 20 for the system to identify the type of instrument currently connected.
  • the electronic identification component may include a signal generator 161 configured on one side of the flexible instrument and a signal receiver 162 configured on one side of the instrument driving device.
  • the signal generator 161 may be disposed on the instrument storage side.
  • the outer peripheral surface of the device 112, and accordingly the signal receiver 162 can be disposed on the inner wall of the sleeve 247 (not shown in the figure), using radio frequency signal identification.
  • the installation detection component 17 can be configured on the side of the instrument driving device. As shown in FIGS. 15 and 16 , the installation detection component 17 can use a micro switch and is arranged on the top surface of the buckle 244 . When the flexible instrument is installed on the driving device, the flexible instrument generates a signal by squeezing the micro switch, thereby realizing the installation status detection.
  • the electronic identification components and installation detection components can be in the form of other devices, which can be selected according to actual product design requirements and are not limited to the device types and configuration positions shown in the figure.
  • Figure 19 shows a schematic diagram of the assembly relationship between the first driving transmission plate 242 and the second driving transmission plate 243.
  • Figure 20 further shows Schematic diagram of the assembly relationship between the transmission base plate and the transmission unit.
  • the transmission base plate 133 there are two sets of active transmission disks and passive transmission disks that are transmission connected.
  • the bottom of the transmission base plate 133 is provided with a first passive transmission disk 134 and a second passive transmission disk 135 .
  • the first passive transmission plate 134 is fixedly connected to the shaft end of the first drive shaft 1311 and is connected with the first active transmission plate 134 .
  • the disk 242 is adaptively connected; the second passive transmission disk 135 is fixedly connected to the shaft end of the second drive shaft 1324 and is adaptively connected with the second active transmission disk 243 .
  • the driving base plate 241 is provided with a first through hole 2411 and a second through hole 2412, so that the first active transmission disk 242 and the second active transmission disk 243 are adapted to the matching passive transmission disk through the two through holes.
  • the second driving component 22 is fixedly installed on the first flange 251, and its output shaft is connected to the first driving transmission plate 242 through the first flange 251.
  • the third driving component 23 is fixedly installed on the second flange 252, and The output shaft is connected to the second driving transmission plate 243 through the second flange 252, and is arranged sequentially along the axial direction as a whole, which can reduce the space occupation in the radial dimension.
  • the detachable connection mechanism of this embodiment further has axial adaptability.
  • the first flange 251 and the second flange 252 can be respectively fixed on the corresponding sliding bracket 253, and the two sliding brackets 253 can respectively be axially displaced relative to the fixed slide rail 254.
  • the sliding bracket 253 and the sliding rail 254 that are adapted to the first flange 251 are shown in FIG. 19 . That is to say, the sliding bracket 253 has a degree of freedom that can be axially displaced relative to the slide rail 254 to adaptively adjust the axial relative position.
  • an elastic return member 255 can be provided at the bottom of each sliding bracket 253 to provide a restoring force to the sliding bracket 253 so that a reliable connection is established between the corresponding active and passive transmission disks.
  • the slide rail 254 is a relatively fixed structural member, and a corresponding fixed connection method can be configured according to the internal space, such as but not limited to being fixedly provided on the connecting sleeve 248 as shown in the figure.
  • the first passive transmission plate 134 has a first recess 1341
  • the second passive transmission plate 135 has a second recess 1351
  • the first active transmission plate 242 has a third recess 1351.
  • the matching outer diameters of the active transmission plate and the passive transmission plate are approximately the same.
  • the concave portion is formed radially inwardly from the outer peripheral surface of the passive transmission plate, and the convex portion is formed by axially extending from the top surface of the active transmission plate. , after assembly, the convex part on the active transmission plate fits into the concave part on the passive transmission plate. It has the characteristics of compact structure and high connection reliability.
  • each drive On the path the number of matching convex and concave parts can be determined according to the overall design requirements of the product, and is not limited to the two groups shown in the figure.
  • Figure 21 shows a schematic diagram of the transmission relationship of the first driving component.
  • Figure 22 is an axial cross-sectional view of Figure 15. The specific cross-section position passes through the first driving component and the output The centerline of the shaft.
  • the output end of the first driving component 21 is coaxially fixed with the screw rod 261, and the screw rod 261 is used as the basic transmission component of the two power transmission paths.
  • a driving pulley 263 and a nut 262 are arranged on the screw rod 261 at intervals.
  • the driving pulley 263 is fixedly arranged on the screw rod 261 and transmits the rotational driving force to the driven pulley 264 through the belt.
  • the driven pulley 264 is arranged on the output shaft 265.
  • the driven pulley 264 is fixedly provided on the first sleeve 266, which is pivotally connected to the fixed structure through the bearing 269.
  • the outer surface of the output shaft 265 has an axially arranged key 2651.
  • the inner surface of a sleeve 266 has a keyway 2661 that matches the key. Based on the pulley transmission mechanism, driven by the first sleeve 266, the output shaft 265 can rotate synchronously, and the output shaft 265 and the first sleeve 266 can move axially relative to each other.
  • the nut 262 is threadedly adapted to the screw rod 261 and is connected to the output shaft 265 through the connecting piece 267.
  • the nut 262 is fixedly mounted on one end of the connecting piece 267, and the output shaft 265 is pivotally connected on the other end of the connecting piece 267, with an axial limiter between them.
  • a thrust bearing 2681 is provided at the shaft end of the output shaft 265, a bearing fixing seat 268 is fixedly provided on the connecting member 267, and the bearing fixing seat 268 and the thrust bearing 2681 form the axial limit. Based on the matching relationship between the screw rod and the nut, the output shaft 265 can be driven to reciprocate along the axial direction.
  • the driving force output from the output end of the first driving component 21 synchronously drives the output shaft 265 to rotate and move axially through the two power transmission paths, and drives the driving base plate 241 to rotate and axially move through the connecting sleeve 248 fixed on the output shaft 265. move towards.
  • rotation is the main movement for delivering the flexible instrument
  • axial movement is the auxiliary movement to ensure that the flexible body of the actuator unit 12 and the instrument storage 112 maintain alignment through the opening 1122 .
  • the fixed structure for pivotally adapting to the first sleeve 266 and the related structure for keeping the housing 111 relatively fixed can be implemented in different ways.
  • the above-mentioned fixing structure is integrally provided on the cover 27 of the instrument driving device 20 , and the side wall 271 of the cover 27 extends upward to the side of the shell 111 of the flexible instrument 10 .
  • the outer peripheral surface of the housing 111 is provided with a socket 1112, and can be mounted on the side wall 271 through the socket 1112.
  • the housing 111 is fixed on the side wall 271 using threaded fasteners based on different assembly sizes.
  • the fixed plate 272 that is pivotally adapted to the first sleeve 266, as shown in Figures 15 and 22, the fixed plate 272 is fixed on the side wall 271, thereby forming a second sleeve for installing the bearing 269. 273.
  • the second sleeve 273 and the fixed plate 272 may adopt an integrated structure.
  • a guide sleeve 274 can be disposed on the outer periphery of the connecting sleeve 248.
  • the guide sleeve 274 is fixed on the side wall 271, and an axial movement adaptation is formed between the connecting sleeve 248 and the guide sleeve 274.
  • the pair provides guide support within the axial movement range of the connecting sleeve 248 to ensure that the relevant structure has good operating performance.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Transmission Devices (AREA)
  • Flexible Shafts (AREA)

Abstract

L'invention concerne un instrument chirurgical flexible et un appareil d'entraînement d'instrument (20) associé. L'appareil d'entraînement d'instrument (20) est utilisé pour fournir une force d'entraînement à un instrument flexible (10) et comprend un premier composant d'entraînement (21), un arbre de sortie (265) et un composant d'interface (24). Le composant d'interface (24) est utilisé pour transmettre la force d'entraînement à l'instrument flexible (10). Le premier composant d'entraînement (21) comprend une extrémité de sortie apte à délivrer une force d'entraînement en rotation. L'arbre de sortie (265) est en liaison de transmission avec l'extrémité de sortie du premier composant d'entraînement (21). Le composant d'interface (24) est disposé sur l'arbre de sortie. Deux trajets de transmission de puissance sont présents entre l'extrémité de sortie du premier composant d'entraînement (21) et l'arbre de sortie (265) et sont configurés pour entraîner l'arbre de sortie (265) en rotation et se déplacer axialement, respectivement, de façon à entraîner, au moyen d'un substrat d'entraînement (241) du composant d'interface (24), l'instrument flexible (10) pour effectuer une opération de transport. L'appareil peut fournir des actions composites pour entraîner l'instrument flexible (10) afin d'effectuer des opérations de transport et d'actionnement, peut satisfaire aux exigences fonctionnelles de l'instrument flexible (10), présente un mécanisme compact et un niveau d'intégration élevé, et améliore la précision de fonctionnement de l'instrument flexible (10) en même temps.
PCT/CN2023/083632 2022-09-14 2023-03-24 Instrument chirurgical flexible et appareil d'entraînement d'instrument associé WO2024055555A1 (fr)

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CN202211118048.3A CN115363649B (zh) 2022-09-14 2022-09-14 一种柔性手术器械及其器械驱动装置
CN202211118048.3 2022-09-14

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CN115363648B (zh) * 2022-09-14 2023-03-10 北京云力境安科技有限公司 一种柔性手术器械、柔性器械及其器械输送单元
CN115363649B (zh) * 2022-09-14 2023-02-17 北京云力境安科技有限公司 一种柔性手术器械及其器械驱动装置
CN115192200B (zh) * 2022-09-14 2023-01-13 北京云力境安科技有限公司 一种手术机器人系统及柔性手术器械
CN115553924B (zh) * 2022-12-02 2023-03-10 北京云力境安科技有限公司 一种柔性器械输送装置及其执行部件、驱动部件
CN117297790B (zh) * 2023-11-28 2024-03-08 北京云力境安科技有限公司 一种医疗设备及其器械操控机构

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