CN108814716B - Portable flexible electromechanical integrated minimally invasive surgical instrument - Google Patents

Abstract

The invention discloses a portable flexible mechatronic minimally invasive surgical instrument, comprising a first steel wire rope, a second steel wire rope, an operating handle and a hollow operating rod, wherein the operating handle comprises a lower shell and an upper shell, wherein the lower shell is provided with a rotating bracket, a steering gear and a rotatable operating handle, wherein the first end of the operating rod is rotatably arranged on the rotating bracket through a bearing, and a steering gear arm is fixedly connected to the output shaft of the steering gear; wherein the end of the operating rod is fixedly connected with a wrist flexible section, wherein one end of the first steel wire rope is fixedly connected with the steering gear arm, and one end of the second steel wire rope is fixedly connected with the operating handle, and the other ends of the first steel wire rope and the second steel wire rope pass through the operating rod and are connected with the wrist flexible section; wherein a surgical scissor fixing seat is fixedly connected to the flexible block at the end of the wrist flexible section, wherein the surgical scissor fixing seat is provided with a second through hole and a fixed shaft, and the fixed shaft is provided with surgical scissors. The instrument is convenient to carry, occupies little space, and is convenient to operate and easy to use.

Description

A portable flexible mechatronic minimally invasive surgical instrument

Technical Field

The present invention relates to the technical field of minimally invasive surgical instruments, and in particular to a portable flexible mechatronic minimally invasive surgical instrument.

Background Art

With the increasing maturity of robotic technology, minimally invasive surgical instruments have also introduced robotic technology. The combination of traditional minimally invasive surgical instruments and robots has formed a highly comprehensive technology point. Minimally invasive surgical robotic instruments can achieve movements that traditional manual minimally invasive surgical instruments cannot, allowing doctors to complete the operation more easily and quickly, while improving the accuracy and success rate of the operation, further giving full play to the advantages of minimally invasive surgery, and expanding the scope of application of traditional minimally invasive surgical technology, so that minimally invasive surgery can be used for operations that require higher accuracy. With people's attention to physical diseases and medical quality, and in today's fast-paced society, the postoperative recovery period is also included in the patient's considerations for the choice of surgical method, and the research and development of minimally invasive surgical robots has received the focus of many people.

At present, most of the minimally invasive surgical robot instruments on the market are of the master-slave type, which are large in size and expensive. Doctors control the slave manipulator instruments through the master console to perform surgery, and patients can get good medical services. However, due to its large size, patients can only go to fixed points for treatment, and the master-slave minimally invasive surgical robot instruments contain multiple systems, which leads to its high price. This cost is also transferred to the patients. Patients need to pay expensive medical expenses to experience this medical service, which also makes it impossible to promote it on a large scale.

Summary of the invention

In order to solve the above problems, an object of the present invention is to provide a portable and easy-to-operate mechatronic device, namely, a portable flexible mechatronic minimally invasive surgical instrument.

The technical solution adopted by the present invention to solve the problem is:

A portable flexible mechatronic minimally invasive surgical instrument.

It comprises a first steel wire rope, a second steel wire rope, an operating handle and a hollow operating rod, wherein the operating handle comprises a lower shell and an upper shell, wherein the lower shell is provided with a rotating bracket, a steering gear and a rotatably arranged operating handle, wherein the head end of the operating rod is rotatably arranged on the rotating bracket through a bearing, and a rotating wheel is sleeved on the outer periphery of the operating rod, and the rotating wheel is interference fit with the operating rod; a steering gear arm is fixedly connected to the output shaft of the steering gear; a wrist flexible section is fixedly connected to the end of the operating rod, wherein one end of the first steel wire rope is fixedly connected to the steering gear arm, and one end of the second steel wire rope is fixedly connected to the operating handle, and the other ends of the first steel wire rope and the second steel wire rope pass through the operating rod and are connected to the wrist flexible section;

The wrist flexible section includes a plurality of flexible blocks, the flexible blocks are provided with a plurality of first through holes, the front side of the flexible blocks is provided with a protrusion, and the back side thereof is provided with a groove matching the protrusion, the first steel wire rope and the second steel wire rope sequentially pass through the first through holes on adjacent flexible blocks, and the adjacent flexible blocks are rotatably connected through the matching grooves and protrusions, a surgical scissors fixing seat is fixedly connected to the flexible block at the end of the wrist flexible section, and the first steel wire rope is fixedly connected to the surgical scissors fixing seat;

The surgical scissors fixing seat is provided with a second through hole and a fixed shaft, the fixed shaft is provided with surgical scissors, the surgical scissors include a stationary blade fixedly connected to the fixed shaft and a dynamic blade rotatably connected to the fixed shaft, and the second steel wire rope passes through the second through hole and is fixedly connected to the dynamic blade.

Furthermore, the number of the first steel wire ropes is two, the servo arm is provided with two first screw holes, the first screw holes are provided with first pre-tightening screws, and the two first steel wire ropes are fixed to the servo arm by being respectively wound around and fixed on the two first pre-tightening screws.

Furthermore, the number of the second steel wire ropes is two, the lower shell body is provided with a rotating block, the rotating block is provided with two second screw holes, the second screw holes are provided with second pre-tightening screws, and the two second steel wire ropes are firstly respectively wound and fixed on the two second pre-tightening screws, and then fixedly connected with the operating handle.

Furthermore, it also includes a pawl, the rotating wheel is a ratchet wheel matching the pawl, and the pawl is connected to a needle handle that can extend out of the outside of the lower shell.

Furthermore, the flexible block is a silicone ring, and the number of protrusions and grooves on the flexible block are both two. The first through holes are divided into two groups and arranged between the two protrusions, with two in each group, and the two first through holes in each group respectively pass through the first steel wire rope and the second steel wire rope.

Furthermore, a square groove is provided on the movable blade, a limit block is embedded in the square groove, and two second steel wire ropes passing through the two second through holes are fixedly connected to two ends of the limit block respectively.

Furthermore, a conductor post is provided on the lower shell, and the conductor post is arranged between the head end of the operating rod and the rotating block. Two annular grooves are provided on the outer circumference of the conductor post, and the second steel wire rope on the rotating block crosses the annular grooves and penetrates into the operating rod.

Furthermore, a buckle is provided on the edge of the lower shell, and a matching slot is provided at a position of the upper shell corresponding to the buckle, and the upper shell and the lower shell are buckled and connected via the buckle and the slot.

Furthermore, the upper shell has a rotating wheel opening for extending the rotating wheel at the rotating wheel position, the lower shell has a needle handle opening for extending the needle handle at the needle handle position, and the upper and lower shells have operating handle openings for extending the operating handle at the operating handle positions.

Furthermore, the diameter of the first through hole is 0.8 mm.

The beneficial effects of the present invention are as follows: the present invention adopts a portable flexible mechatronic minimally invasive surgical instrument, which uses a steering gear control and traditional mechanical control. The steering gear controls the bending action of the flexible wrist segment through the first steel wire rope, and the operating handle controls the surgical scissors through the second steel wire rope. In addition, the rotating wheel drives the operating rod to rotate, so that the flexible wrist segment can bend in four directions. The portable flexible mechatronic device has three degrees of freedom. Under the premise of ensuring stable control accuracy, its volume can be greatly reduced, making it easy to carry and occupy a small space. At the same time, it is easy to operate and easy to use. Doctors only need a small amount of training to easily master its use method, and do not need to invest a lot of time to learn, reducing the expenditure of manpower and material resources. At the same time, the price is relatively cheap, which is conducive to promotion to small cities and promoting the development of minimally invasive surgery.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and examples.

FIG1 is a schematic structural diagram of a portable flexible mechatronic minimally invasive surgical instrument according to the present invention;

FIG2 is a schematic diagram of a partial structure of a portable flexible mechatronic minimally invasive surgical instrument according to the present invention;

FIG3 is another partial structural schematic diagram of a portable flexible mechatronic minimally invasive surgical instrument of the present invention;

FIG4 is a partial structural exploded view of a portable flexible mechatronic minimally invasive surgical instrument of the present invention;

FIG5 is a schematic diagram of the structure of a wrist flexible section of a portable flexible mechatronic minimally invasive surgical instrument according to the present invention;

FIG6 is a schematic diagram of the structure of surgical scissors of a portable flexible mechatronic minimally invasive surgical instrument of the present invention;

FIG7 is an exploded view of the surgical scissors structure of a portable flexible mechatronic minimally invasive surgical instrument of the present invention;

FIG8 is a schematic structural diagram of the front side of a flexible block of a portable flexible mechatronic minimally invasive surgical instrument according to the present invention;

FIG9 is a schematic structural diagram of the back side of a portable flexible mechatronic minimally invasive surgical instrument according to the present invention;

In the figure, 1-operating handle, 11-upper shell, 12-lower shell, 13-rotating wheel opening, 14-base plate, 15-buckle, 2-operating rod, 3-wrist flexible section, 31-flexible block, 32-bump, 33-groove, 34-first through hole, 4-surgical scissors, 41-surgical scissors fixing seat, 42-fixed shaft, 43-moving blade, 44-static blade, 45-square groove, 46-limiting block, 47-second through hole, 5-rotating wheel, 51-needle handle, 52-pawl, 53-spring, 54-mounting seat, 6-servo, 61-servo arm, 62-first pre-tightening screw, 7-operating handle, 71-rotating block, 72-second pre-tightening screw, 73-conductor column, 81-first steel wire rope, 82-second steel wire rope.

DETAILED DESCRIPTION

1 to 9, a portable flexible mechatronic minimally invasive surgical instrument of the present invention is shown.

It comprises a first steel wire rope 81, a second steel wire rope 82, an operating handle 1 and a hollow operating rod 2, wherein the operating handle 1 comprises a lower shell 12 and an upper shell 11, wherein the lower shell 12 is provided with a rotating bracket, a steering gear 6 and a rotatably arranged operating handle 7, wherein the lower shell 12 is provided with a base plate 14, wherein the steering gear 6 is mounted on the base plate 14, wherein the head end of the operating rod 2 is rotatably arranged on the rotating bracket through a bearing, wherein a rotating wheel 5 is sleeved on the outer periphery of the operating rod 2, wherein the rotating wheel 5 is interference fit with the operating rod 2; wherein a steering gear arm 61 is fixedly connected to the output shaft of the steering gear 6, wherein the steering gear arm 61 is connected to the output shaft of the steering gear 6 through a spline; wherein a wrist flexible section 3 is fixedly connected to the end of the operating rod 2, wherein one end of the first steel wire rope 81 is fixedly connected to the steering gear arm 61, and one end of the second steel wire rope 82 is fixedly connected to the operating handle 7, wherein the other ends of the first steel wire rope 81 and the second steel wire rope 82 pass through the operating rod 2 and are connected to the wrist flexible section 3;

The wrist flexible section 3 includes a plurality of flexible blocks 31, and a plurality of first through holes 34 are provided on the flexible blocks 31. A protrusion 32 is provided on the front of the flexible block 31, and the protrusion 32 is semi-cylindrical. A groove 33 matching the protrusion 32 is provided on the back of the flexible block 31, and the groove 33 is also semi-cylindrical. The first steel wire 81 and the second steel wire 82 pass through the first through holes 34 on adjacent flexible blocks 31 in sequence, and each first through hole 34 passes through a corresponding steel wire. The protrusions 32 on the front of the flexible block 31 are all embedded in the grooves 33 on the back of the adjacent flexible block 31, and the adjacent flexible blocks 31 are rotatably connected through the matching grooves 33 and protrusions 32. A surgical scissors fixing seat 41 is fixedly connected to the flexible block 31 at the end of the wrist flexible section 3, and the first steel wire 81 is fixedly connected to the surgical scissors fixing seat 41. When the steering gear 6 drives the steering gear arm 61 to rotate, the lengths of the two first steel wires 81 in the wrist flexible section 3 are inconsistent, and the wrist flexible section 3 bends toward the shorter first steel wire 81. Since the groove 33 and the protrusion 32 are both semi-cylindrical, the flexible block 31 (i.e., the wrist flexible section 3) connected in series by the steel wires can only swing in two directions. The operating rod 2 is rotated by turning the rotating wheel 5 by hand, and the wrist flexible section 3 is driven to rotate when the operating rod 2 rotates, thereby realizing the wrist flexible section 3 swinging in multiple directions.

The surgical scissors fixing seat 41 is provided with a second through hole 47 and a fixed shaft 42, and the fixed shaft 42 is provided with surgical scissors 4, and the surgical scissors 4 include a static blade 44 fixedly connected to the fixed shaft 42 and a dynamic blade 43 rotatably connected to the fixed shaft 42, and the second steel wire 82 passing through the first through hole 34 passes through the second through hole 47 and is fixedly connected to the dynamic blade 43. By turning the operating handle 7 to rotate, the two second steel wires 82 move relative to each other, thereby driving the dynamic blade 43 to rotate around the fixed shaft 42 and complete the shearing action with the static blade 44. The control signal of the servo 6 is a pulse width modulation signal, and the output angle of the servo 6 can be changed by changing the pulse width, so the system that can output the pulse signal can control the movement of the servo 6. This embodiment uses a 51 single chip microcomputer to control the servo 6, so the scheme of using the servo 6 to control the wrist flexible section 3 is low in cost and simple in structure, and because the servo 6 can receive feedback from the output shaft, it is ensured that the wrist flexible section 3 moves in place, and has higher precision.

For the above embodiment, the number of the first steel wires 81 is two, and the servo arm 61 is provided with two first screw holes, the first screw holes are M3 threaded holes, and the first pre-tightening screws 62 are provided in the first screw holes, and the first pre-tightening screws 62 are M3x6 round head cross screws, which shorten the length of the lever arm and provide a larger torque. The two first steel wires 81 are respectively wound and fixed on the two first pre-tightening screws 62 to achieve fixed connection with the servo arm 61. The first pre-tightening screws 62 are provided to pre-tighten the first steel wires 81 during installation. At the same time, since the first steel wires 81 may become loose during long-term use, the first steel wires 81 can be re-tightened by directly twisting the first pre-tightening screws 62 without reinstalling the first steel wires 81, which facilitates maintenance and reduces costs.

For the above embodiment, the number of the second steel wire ropes 82 is two, the lower housing 12 is provided with a rotatable rotating block 71, the rotating block 71 is provided with two second screw holes, the second screw holes are provided with second pre-tightening screws 72, the two second steel wire ropes 82 are firstly respectively wound and fixed on the two second pre-tightening screws 72, and then fixedly connected with the operating handle 7. The second pre-tightening screws 72 are provided to pre-tighten the second steel wire ropes 82 during installation. At the same time, since the second steel wire ropes 82 may become loose during long-term use, the second steel wire ropes 82 can be re-tightened by directly twisting the second pre-tightening screws 72 without reinstalling the second steel wire ropes 82, which facilitates maintenance and reduces costs.

In order to prevent the operating rod 2 from rotating in the opposite direction, a mounting seat 54 is also included, in which a pawl 52 is provided, and the pawl 52 is connected to a needle handle 51 that can extend out of the lower shell 12. The rotating wheel 5 is a ratchet wheel that matches the pawl 52. A spring 53 for providing an elastic force in the direction of the ratchet wheel to the pawl 52 is provided in the mounting seat 54. The ratchet wheel and the pawl 52 constitute a ratchet mechanism, which is a one-way intermittent motion mechanism. By setting the ratchet mechanism, it can be ensured that the operating rod 2 is stable in the corresponding position after being rotated, and reverse rotation is avoided due to mistakes. If the operating rod 2 is to be rotated in the opposite direction, the needle handle 51 can be held to pull the pawl 52 toward the outer side of the lower shell 12, and the elastic force of the spring 53 can be overcome to loosen the pawl 52 and the ratchet wheel, and the rotating wheel 5 can be manually turned to make the operating rod 2 rotate in the opposite direction.

Preferably, the flexible block 31 is a silicone ring, and the number of the protrusions 32 and the number of the grooves 33 on the flexible block 31 are both two. The first through holes 34 are divided into two groups and arranged between the two protrusions 32, and each group has two first through holes 34, and the first steel wire rope 81 and the second steel wire rope 82 are respectively passed through the two first through holes 34 in each group. Passing each steel wire rope through a separate first through hole 34 can avoid interference between the steel wire ropes caused by passing multiple steel wire ropes through the same first through hole 34.

Specifically, a square groove 45 is provided on the movable blade 43, a stopper 46 is embedded in the square groove 45, and two second steel wires 82 passing through two second through holes 47 are respectively fixedly connected to the two ends of the stopper 46. When the operating handle 7 is pulled after use, the two second steel wires 82 are caused to move relative to each other, thereby pulling the movable blade 43 to rotate around the fixed shaft 42 and complete the shearing action with the static blade 44.

In order to improve the sensitivity of the second steel wire rope 82, a wire post 73 is provided on the lower housing 12, and the wire post 73 is arranged between the head end of the operating rod 2 and the rotating block 71. Two annular grooves are arranged on the outer circumference of the wire post 73, and the second steel wire rope 82 on the rotating block 71 crosses the annular grooves and penetrates into the operating rod 2. The wire post 73 is equivalent to the role of a fixed pulley, which can change the transmission direction of the force on the second steel wire rope 82. The second steel wire rope 82 fixed to the rotating block 71 crosses the fixed pulley and then penetrates into the operating rod 2, which can avoid the friction between the second steel wire rope 82 and the operating rod 2, improve the sensitivity, and at the same time, the position of the rotating block 71 and the operating handle 7 can be flexibly adjusted, which is convenient for reducing the volume of the handle.

In order to facilitate installation and disassembly, a buckle 15 is provided on the edge of the lower shell 12, and a matching slot is provided on the upper shell 11 corresponding to the position of the buckle 15. The upper shell 11 and the lower shell 12 are buckled and connected through the buckle 15 and the slot.

Preferably, the upper shell 11 is provided with a rotating wheel 5 opening 13 for extending the rotating wheel 5 at a position corresponding to the rotating wheel 5, the lower shell 12 is provided with a needle handle 51 opening for extending the needle handle 51 at a position corresponding to the needle handle 51, and the lower shell 12 and the lower shell 12 are provided with an operating handle 7 opening for extending the operating handle 7 at a position corresponding to the operating handle 7. By providing the corresponding openings, it is convenient for doctors to control and use the instrument.

Preferably, the diameter of the first through hole 34 is 0.8 mm.

The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation mode. As long as the technical effect of the present invention is achieved by the same means, it should belong to the protection scope of the present invention.

Claims (4)

1. A portable flexible electromechanical integrated minimally invasive surgical instrument, which is characterized in that:

The steering device comprises a first steel wire rope, a second steel wire rope, an operating handle and a hollow operating rod, wherein the operating handle comprises a lower shell and an upper shell, a rotating support, a steering engine and an operating handle which is rotatably arranged are arranged on the lower shell, the head end of the operating rod is rotatably arranged on the rotating support through a bearing, a rotating wheel is sleeved on the periphery of the operating rod, and the rotating wheel is in interference fit with the operating rod; a rudder arm is fixedly connected to an output shaft of the steering engine; the tail end of the operating rod is fixedly connected with a wrist flexible section, one end of the first steel wire rope is fixedly connected with the steering engine arm, one end of the second steel wire rope is fixedly connected with the operating handle, and the other ends of the first steel wire rope and the second steel wire rope penetrate through the operating rod to be connected with the wrist flexible section;

the wrist flexible section comprises a plurality of flexible blocks, wherein a plurality of first through holes are formed in the flexible blocks, bumps are arranged on the front faces of the flexible blocks, the bumps are semi-cylindrical, grooves matched with the bumps are formed in the back faces of the bumps, the grooves are semi-cylindrical, the first steel wire ropes and the second steel wire ropes sequentially penetrate through the first through holes in the adjacent flexible blocks, each first through hole correspondingly penetrates through one steel wire rope, the bumps on the front faces of the flexible blocks are embedded into the grooves in the back faces of the adjacent flexible blocks, the adjacent flexible blocks are connected in a rotating mode through the matched grooves and the bumps, surgical scissors fixing seats are fixedly connected to the flexible blocks at the tail ends of the wrist flexible sections, and the first steel wire ropes are fixedly connected with the surgical scissors fixing seats;

the surgical scissors fixing seat is provided with a second through hole and a fixed shaft, the fixed shaft is provided with a surgical scissors, the surgical scissors comprise a static blade fixedly connected to the fixed shaft and a movable blade rotatably connected to the fixed shaft, and the second steel wire rope passes through the second through hole and is fixedly connected with the movable blade;

The number of the first steel wire ropes is two, two first screw holes are formed in the rudder horn, first pre-tightening screws are arranged in the first screw holes, and the two first steel wire ropes are fixedly connected with the rudder horn by being respectively wound and fixed on the two first pre-tightening screws;

The number of the second steel wire ropes is two, a rotating block is arranged on the lower shell, two second screw holes are formed in the rotating block, second pre-tightening screws are arranged in the second screw holes, and the two second steel wire ropes are respectively wound and fixed on the two second pre-tightening screws, and then fixedly connected with the operation handle;

the rotating wheel is a ratchet wheel matched with the pawl, and the pawl is connected with a needle handle which can extend out of the outer side of the lower shell;

The flexible block is a silica gel ring, the number of the convex blocks and the number of the grooves on the flexible block are two, the first through holes are divided into two groups and are arranged between the two convex blocks, the number of each group is two, and the two first through holes of each group respectively penetrate through the first steel wire rope and the second steel wire rope;

A square groove is formed in the movable blade, a limiting block is embedded in the square groove, and two second steel wire ropes respectively penetrating through the two second through holes are fixedly connected with two ends of the limiting block respectively;

The lower shell is provided with a wire column, the wire column is arranged between the head end of the operating rod and the rotating block, two annular grooves are formed in the periphery of the wire column, and a second steel wire rope on the rotating block penetrates into the operating rod across the annular grooves.

2. A portable flexible mechatronic minimally invasive surgical instrument according to claim 1, characterized in that: the lower shell edge is equipped with the buckle, go up the casing and correspond the buckle position and be equipped with assorted draw-in groove, go up casing and lower casing through buckle and draw-in groove looks lock are connected.

3. A portable flexible mechatronic minimally invasive surgical instrument according to claim 2, characterized in that: the upper shell is provided with a rotating wheel opening corresponding to the rotating wheel, the lower shell is provided with a needle handle opening corresponding to the needle handle, the needle handle opening is used for extending the needle handle, and the lower shell are provided with an operating handle opening corresponding to the operating handle.

4. A portable flexible mechatronic minimally invasive surgical instrument according to claim 3, characterized in that: the diameter of the first through hole is 0.8mm.