技术领域Technical Field
本发明涉及微创腔镜手术用手术器械，具体涉及一种用于微创腔镜手术的多自由度手术器械。The invention relates to a surgical instrument for minimally invasive laparoscopic surgery, and in particular to a multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery.
背景技术Background Art
微创腔镜手术是一种主要通过内窥镜及各种微创手术器械实施完成的手术。微创腔镜手术因其伤口小、损伤少、康复周期短等优势，在临床工作中被广泛应用，甚至在一些疾病中替代传统手术成为治疗的主要手段。目前，腔镜手术方式在各外科领域应用广泛，技术成熟。Minimally invasive laparoscopic surgery is a type of surgery that is mainly performed using an endoscope and various minimally invasive surgical instruments. Minimally invasive laparoscopic surgery is widely used in clinical work due to its advantages such as small wounds, less damage, and a short recovery period. It has even replaced traditional surgery as the main means of treatment for some diseases. At present, laparoscopic surgery is widely used in various surgical fields and the technology is mature.
但是，微创腔镜手术也有很大的局限性。除了学习成本高、造价昂贵、占地大等条件所限，在有限的人体腔隙内完成钳夹、切割、缝合、打结等一系列操作，对于手术器械的要求极高。然而，现有的手术器械无法兼顾便携性、灵活性、自由度等因素，使得临床操作中的困难度增加。因此，本发明针对这一问题进行改进，试图研发更便携易用、自由度更高、稳定性更强且价格更低廉的微创腔镜手术操作器械。However, minimally invasive laparoscopic surgery also has great limitations. In addition to the high learning cost, high cost, and large footprint, completing a series of operations such as clamping, cutting, suturing, and knotting in a limited human body cavity requires extremely high requirements for surgical instruments. However, existing surgical instruments cannot take into account factors such as portability, flexibility, and degrees of freedom, which increases the difficulty in clinical operations. Therefore, the present invention improves on this problem and attempts to develop more portable, easy-to-use, more flexible, more stable, and cheaper minimally invasive laparoscopic surgical instruments.
发明内容Summary of the invention
针对现有技术中的手术器械无法兼顾便携性、灵活性、自由度的不足，本发明提供一种用于微创腔镜手术的多自由度手术器械，具有俯仰、偏摆以及旋转等多个自由度，更加便携易用、自由度更高、稳定性更强的微创腔镜手术操作器械，能够有效提高手术效率和质量。In view of the shortcomings of surgical instruments in the prior art that cannot take into account portability, flexibility and degrees of freedom, the present invention provides a multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery, which has multiple degrees of freedom such as pitch, yaw and rotation. It is a minimally invasive laparoscopic surgical operating instrument that is more portable and easy to use, has a higher degree of freedom and greater stability, and can effectively improve surgical efficiency and quality.
为实现上述目的，本发明提出的用于微创腔镜手术的多自由度手术器械，包括执行部、连接杆、轴向转动控制管和操作端；To achieve the above-mentioned purpose, the multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery proposed in the present invention comprises an execution part, a connecting rod, an axial rotation control tube and an operation end;
执行部包括工作端、头部连接座和转动座，头部连接座的前端用于安装工作端，头部连接座的后端与转动座的前端可相对转动连接；The execution part includes a working end, a head connection seat and a rotating seat. The front end of the head connection seat is used to install the working end, and the rear end of the head connection seat can be relatively rotatably connected with the front end of the rotating seat.
连接杆的前端为球头转动轴，转动座活动安装在球头转动轴上，转动座的后端至少固定有两条控制线；The front end of the connecting rod is a ball head rotating shaft, the rotating seat is movably mounted on the ball head rotating shaft, and at least two control lines are fixed at the rear end of the rotating seat;
轴向转动控制管的前端为蛇形管并与头部连接座固定连接；The front end of the axial rotation control tube is a serpentine tube and is fixedly connected to the head connection seat;
操作端固定安装在连接杆的后端，操作端上设有驱动机构，该驱动机构用于拉动控制线以使转动座带动头部连接座绕球头转动轴摆动，或用于驱动轴向转动控制管带动头部连接座旋转。The operating end is fixedly mounted on the rear end of the connecting rod, and a driving mechanism is provided on the operating end, which is used to pull the control line so that the rotating seat drives the head connecting seat to swing around the ball head rotating axis, or to drive the axial rotating control tube to drive the head connecting seat to rotate.
其中，头部连接座和转动座紧密配合，在连接处设置有钢珠以保证头部连接座轴向转动的同时转动座不会错位。具体地，所述头部连接座一端设有钳口连接端固定孔，用于安装钳口；另一端设有蛇形管固定孔和钢珠滚动槽，轴向转动控制管的前端固定安装在蛇形管固定孔上；所述转动座内部设有球头仓，与头部连接座配合面设置有钢珠定位孔，钢珠定位孔内设有钢珠。连接杆的球头转动轴安装于转动座的球头仓内，以实现转动座和头部连接座的转向运动。The head connection seat and the rotating seat are tightly matched, and a steel ball is arranged at the connection to ensure that the rotating seat will not be misaligned while the head connection seat rotates axially. Specifically, one end of the head connection seat is provided with a jaw connection end fixing hole for installing the jaw; the other end is provided with a serpentine tube fixing hole and a steel ball rolling groove, and the front end of the axial rotation control tube is fixedly installed on the serpentine tube fixing hole; the rotating seat is provided with a ball head bin inside, and a steel ball positioning hole is provided on the mating surface with the head connection seat, and a steel ball is arranged in the steel ball positioning hole. The ball head rotating shaft of the connecting rod is installed in the ball head bin of the rotating seat to realize the steering movement of the rotating seat and the head connection seat.
优选地，在所述的用于微创腔镜手术的多自由度手术器械中，所述工作端为钳口，钳口具有钳口连接端和钳口齿轮，钳口连接端转动安装在头部连接座上，钳口齿轮之间啮合有一齿轮杆，齿轮杆和头部连接座之间设有弹簧，齿轮杆的后端连接有张合控制钢丝，操作端设有操作手柄，操作手柄与张合控制钢丝的后端固定连接，能够拉动张合控制钢丝，以使钳口张开或闭合。Preferably, in the multi-degree-of-freedom surgical instrument used for minimally invasive laparoscopic surgery, the working end is a jaw, the jaw has a jaw connecting end and a jaw gear, the jaw connecting end is rotatably mounted on the head connecting seat, a gear rod is meshed between the jaw gears, a spring is provided between the gear rod and the head connecting seat, the rear end of the gear rod is connected to a tensioning and closing control wire, the operating end is provided with an operating handle, the operating handle is fixedly connected to the rear end of the tensioning and closing control wire, and can pull the tensioning and closing control wire to open or close the jaws.
其中，操作手柄为扳机，所述扳机一端为扳机连接端，该扳机连接端通过复位弹片与操作端的固定手柄转动连接，另一端设有齿合条，齿合条的末端设有张合控制钢丝固定孔，用于固定张合控制钢丝的末端，即张合控制钢丝的前端与齿轮杆固定连接，后端与扳机固定连接，拨动扳机能够拉动张合控制钢丝，以实现钳口的张开和闭合。Among them, the operating handle is a trigger, one end of the trigger is a trigger connecting end, the trigger connecting end is rotatably connected to the fixed handle of the operating end through a reset spring sheet, and the other end is provided with a toothed strip, and the end of the toothed strip is provided with a tensioning and closing control wire fixing hole, which is used to fix the end of the tensioning and closing control wire, that is, the front end of the tensioning and closing control wire is fixedly connected to the gear rod, and the rear end is fixedly connected to the trigger, and pulling the trigger can pull the tensioning and closing control wire to realize the opening and closing of the jaws.
固定手柄上滑动设有解锁按钮，解锁按钮的一端为齿合端，一端为弹簧固定端，齿合端与扳机的齿合条配合起到止退作用，当需要松开扳机时，滑动解锁按钮，使得齿合端和扳机分离，扳机在复位弹片作用下，自动复原解锁复位。该扳机还可以为具有圈状握持部的活动手柄，使用者手指可以穿过活动手柄，该设计能够使操作更加方便省力。解锁按钮也可以采用解锁旋钮，即解锁旋钮为转动安装在固定手柄上，通过转动解锁旋钮实现齿合端和齿合条的接触和分离，以使操作手柄在锁死和解锁两个状态下自由切换。An unlocking button is slidably provided on the fixed handle, one end of the unlocking button is a toothed end, and the other end is a spring fixed end. The toothed end cooperates with the toothed strip of the trigger to play a role of stopping retreat. When the trigger needs to be released, the unlocking button is slid to separate the toothed end from the trigger, and the trigger automatically recovers, unlocks and resets under the action of the reset spring. The trigger can also be a movable handle with a ring-shaped gripping portion, and the user's fingers can pass through the movable handle. This design can make the operation more convenient and labor-saving. The unlocking button can also be an unlocking knob, that is, the unlocking knob is rotatably installed on the fixed handle, and the toothed end and the toothed strip are contacted and separated by rotating the unlocking knob, so that the operating handle can be freely switched between the locked and unlocked states.
优选地，在所述的用于微创腔镜手术的多自由度手术器械中，所述控制线包括上下控制钢丝和左右控制钢丝，所述驱动机构包括上下控制电机、纵向传动轮、左右控制电机和横向传动轮，上下控制钢丝的一端固定在转动座的上侧，另一端绕过纵向传动轮后固定在转动座的下侧，上下控制电机用于驱动纵向传动轮转动；左右控制钢丝的一端固定在转动座的左侧，另一端绕过横向传动轮后固定在转动座的右侧，左右控制电机用于驱动横向传动轮转动。Preferably, in the multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery, the control wire includes an upper and lower control wire and a left and right control wire, and the driving mechanism includes an upper and lower control motor, a longitudinal transmission wheel, a left and right control motor and a transverse transmission wheel. One end of the upper and lower control wire is fixed to the upper side of the rotating seat, and the other end is fixed to the lower side of the rotating seat after bypassing the longitudinal transmission wheel. The upper and lower control motor is used to drive the longitudinal transmission wheel to rotate; one end of the left and right control wire is fixed to the left side of the rotating seat, and the other end is fixed to the right side of the rotating seat after bypassing the transverse transmission wheel. The left and right control motor is used to drive the transverse transmission wheel to rotate.
优选地，在所述的用于微创腔镜手术的多自由度手术器械中，所述驱动机构还包括轴向转动控制电机，所述轴向转动控制管的后端通过齿轮与轴向转动控制电机的输出端啮合。Preferably, in the multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery, the driving mechanism further comprises an axial rotation control motor, and the rear end of the axial rotation control tube is meshed with the output end of the axial rotation control motor through a gear.
其中，所述操作端外侧设有固定手柄，各控制电机安装于固定手柄内部，固定手柄外侧集成有操作按钮，用于控制上下控制电机、左右控制电机和轴向转动控制电机，上述电机分别用于控制执行部的上下俯仰、左右摆动以及轴向转动。在固定手柄内部设有电源，用于给各个电机和操作按钮供电，在固定手柄底部设有充电接口，用于给电源充电。Among them, a fixed handle is provided on the outside of the operating end, and each control motor is installed inside the fixed handle. An operation button is integrated on the outside of the fixed handle to control the up and down control motor, the left and right control motor and the axial rotation control motor. The above motors are used to control the up and down pitch, left and right swing and axial rotation of the actuator. A power supply is provided inside the fixed handle to power each motor and the operation button, and a charging interface is provided at the bottom of the fixed handle to charge the power supply.
优选地，在所述的用于微创腔镜手术的多自由度手术器械中，所述执行部和连接杆的连接部分外侧设置有保护囊。Preferably, in the multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery, a protective bag is provided on the outside of the connecting portion between the execution part and the connecting rod.
传统微创腔镜手术器械一般选用大型手术机器人，如达芬奇手术机械人，主刀医生坐在控制台中操作患者床旁机械臂系统，对于主刀医生来说缺乏力学反馈，而即使选用手持式腔镜器械，现有设备也存在灵活度不足的问题。Traditional minimally invasive laparoscopic surgical instruments generally use large surgical robots, such as the da Vinci surgical robot. The surgeon sits at a console and operates the robotic arm system next to the patient's bed. There is a lack of mechanical feedback for the surgeon. Even if handheld laparoscopic instruments are used, existing equipment still has the problem of insufficient flexibility.
本发明相较传统微创腔镜手术器械为手持式，体积小巧轻便，既能在操作时获得力学反馈，又能获得大型手术机器人的多自由度操作，操作者仅需要由操作按钮控制各个电机即可获得执行部实现上下仰俯、左右偏摆以及轴向转动，同时还可以由扳机控制执行部的张合，实现夹持动作，操作简单方便，学习成本低，能够有效提高手术效率和质量。Compared with traditional minimally invasive laparoscopic surgical instruments, the present invention is handheld, small and light, and can obtain mechanical feedback during operation, as well as multi-degree-of-freedom operation of large surgical robots. The operator only needs to control each motor by operating buttons to make the actuator realize up and down pitch, left and right yaw, and axial rotation. At the same time, the trigger can also be used to control the opening and closing of the actuator to realize clamping action. The operation is simple and convenient, with low learning cost, and can effectively improve the efficiency and quality of surgery.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为一种用于微创腔镜手术的多自由度手术器械整体效果图；FIG1 is an overall effect diagram of a multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery;
图2为一种用于微创腔镜手术的多自由度手术器械结构示意图；FIG2 is a schematic diagram of the structure of a multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery;
图3和图4执行部结构示意图；Figures 3 and 4 are schematic diagrams of the execution unit structure;
图5头部连接座结构示意图；Figure 5 is a schematic diagram of the structure of the head connector;
图6转动座结构示意图；Figure 6 is a schematic diagram of the rotating seat structure;
图7和图8连接杆结构示意图；Figures 7 and 8 are schematic diagrams of the connecting rod structure;
图9操作端内部结构示意图；Fig. 9 is a schematic diagram of the internal structure of the operating terminal;
图10牵引钢丝结构示意图；Figure 10 is a schematic diagram of the traction wire structure;
图11轴向转动控制管结构示意图；Fig. 11 is a schematic diagram of the structure of the axial rotation control tube;
图12扳机结构示意图；Figure 12 is a schematic diagram of the trigger structure;
图13解锁按钮结构示意图；Figure 13 is a schematic diagram of the unlock button structure;
图14实施例二整体效果示意图；Fig. 14 is a schematic diagram of the overall effect of the second embodiment;
图15实施例二操作端内部结构示意图；FIG15 is a schematic diagram of the internal structure of the operating terminal according to the second embodiment;
图16实施例二活动手柄结构示意图；Fig. 16 is a schematic diagram of the structure of the movable handle of the second embodiment;
图17实施例二解锁旋钮结构示意图；FIG17 is a schematic diagram of the unlocking knob structure of the second embodiment;
图18实施例三整体效果示意图；Fig. 18 is a schematic diagram of the overall effect of the third embodiment;
图19实施例三操作端内部结构示意图；FIG19 is a schematic diagram of the internal structure of the operating terminal according to the third embodiment;
图20实施例三活动手柄与固定手柄配合结构示意图。FIG. 20 is a schematic diagram of the coordination structure of the movable handle and the fixed handle of the third embodiment.
其中，1、执行部；11、钳口；111、钳口连接端；112、钳口齿轮；12、头部连接座；121、钳口连接端固定孔；122、蛇形管固定孔；123、钢珠滚动槽；13、转动座；131、球头仓；132、钢珠定位孔；14、齿轮杆；15、钢珠；16、弹簧；Among them, 1. actuator; 11. jaws; 111. jaw connection end; 112. jaw gear; 12. head connection seat; 121. jaw connection end fixing hole; 122. serpentine tube fixing hole; 123. steel ball rolling groove; 13. rotating seat; 131. ball head bin; 132. steel ball positioning hole; 14. gear rod; 15. steel ball; 16. spring;
2、操作端；21、固定手柄；211、充电接口；22、扳机；221、齿合条；222、扳机连接端；223、牵引钢丝固定孔；23、操作按钮；24、解锁按钮；241、齿合端；242、弹簧固定端；251、左右控制电机；252、上下控制电机；253、轴向转动控制电机；26、齿轮；27、传动轮；28、电源；29、复位弹片；2. Operation end; 21. Fixed handle; 211. Charging port; 22. Trigger; 221. Toothed strip; 222. Trigger connection end; 223. Tow wire fixing hole; 23. Operation button; 24. Unlock button; 241. Toothed end; 242. Spring fixing end; 251. Left and right control motor; 252. Up and down control motor; 253. Axial rotation control motor; 26. Gear; 27. Transmission wheel; 28. Power supply; 29. Reset spring;
3连接杆；31、球头转动轴；32、钢丝孔；3. Connecting rod; 31. Ball head rotating shaft; 32. Wire hole;
4、保护囊；4. Protective capsule;
5、轴向转动控制管；51、蛇形管；52、连接端；5. Axial rotation control tube; 51. Serpentine tube; 52. Connecting end;
6、牵引钢丝；61、上下控制钢丝；62、左右控制钢丝；63、张合控制钢丝；6. Traction wire; 61. Up and down control wire; 62. Left and right control wire; 63. Open and close control wire;
7、活动手柄；71、活动手柄齿合条；72、活动手柄连接端；73、活动手柄牵引钢丝固定孔；7. Movable handle; 71. Movable handle toothed strip; 72. Movable handle connecting end; 73. Movable handle traction wire fixing hole;
8、解锁旋钮；81、解锁旋钮齿合端。8. Unlocking knob; 81. Unlocking knob toothed end.
具体实施方式DETAILED DESCRIPTION
下面将结合示意图对本发明的用于微创腔镜手术的多自由度手术器械进行更详细的描述，其中表示了本发明的优选实施例，应该理解本领域技术人员可以修改在此描述的本发明，而仍然实现本发明的有利效果。因此，下列描述应当被理解为对于本领域技术人员的广泛知道，而并不作为对本发明的限制。The multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery of the present invention will be described in more detail below in conjunction with a schematic diagram, wherein a preferred embodiment of the present invention is shown, and it should be understood that those skilled in the art may modify the present invention described herein while still achieving the advantageous effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art, and not as a limitation of the present invention.
实施例一Embodiment 1
如图1、图2所示，用于微创腔镜手术的多自由度手术器械主要由执行部1、操作端2、连接杆3、保护囊4、轴向转动控制管5和牵引钢丝6组成。As shown in FIGS. 1 and 2 , the multi-degree-of-freedom surgical instrument used for minimally invasive laparoscopic surgery is mainly composed of an actuator 1 , an operating end 2 , a connecting rod 3 , a protective capsule 4 , an axial rotation control tube 5 and a traction wire 6 .
如图3和图4所示，所述执行部1由钳口11、头部连接座12、转动座13、齿轮杆14、钢珠15和弹簧16组成。参见图4，所述钳口11设有钳口连接端111和钳口齿轮112，钳口齿轮112和齿轮杆14啮合，齿轮杆14和张合控制钢丝63连接，齿轮杆14和头部连接座12之间设有弹簧16，所述张合控制钢丝63另一端固定在操作手柄上的牵引钢丝固定孔223内，通过操作手柄拉动张合控制钢丝带动齿轮杆14做直线运动，进而由齿轮杆14和钳口齿轮112的配合可以实现钳口11的张合。As shown in Fig. 3 and Fig. 4, the actuator 1 is composed of a jaw 11, a head connection seat 12, a rotating seat 13, a gear rod 14, a steel ball 15 and a spring 16. Referring to Fig. 4, the jaw 11 is provided with a jaw connection end 111 and a jaw gear 112, the jaw gear 112 is meshed with the gear rod 14, the gear rod 14 is connected with the opening and closing control wire 63, a spring 16 is provided between the gear rod 14 and the head connection seat 12, the other end of the opening and closing control wire 63 is fixed in the traction wire fixing hole 223 on the operating handle, the operating handle pulls the opening and closing control wire to drive the gear rod 14 to make a linear motion, and then the opening and closing of the jaw 11 can be realized by the cooperation of the gear rod 14 and the jaw gear 112.
如图5所示，所述头部连接座12一端设有钳口连接端固定孔121，用于安装钳口11；另一端设有蛇形管固定孔122和钢珠滚动槽123。如图6所示，所述转动座13内部设有球头仓131，与头部连接座12配合面设置有钢珠定位孔132。头部连接座12和转动座13紧密配合，在连接处的钢珠定位孔132内设置钢珠以保证头部连接座12轴向转动的同时，转动座13不会错位。As shown in FIG5 , one end of the head connection seat 12 is provided with a jaw connection end fixing hole 121 for mounting the jaw 11; the other end is provided with a serpentine tube fixing hole 122 and a steel ball rolling groove 123. As shown in FIG6 , a ball head bin 131 is provided inside the rotating seat 13, and a steel ball positioning hole 132 is provided on the mating surface with the head connection seat 12. The head connection seat 12 and the rotating seat 13 are tightly matched, and a steel ball is arranged in the steel ball positioning hole 132 at the connection to ensure that the rotating seat 13 will not be misaligned when the head connection seat 12 rotates axially.
如图7和图8所示，所述连接杆3头部有球头转动轴31，中间设置有5个钢丝孔32，钢丝孔32为牵引钢丝6的穿过通道。球头转动轴31安装在球头仓131中，使转动座13与连接杆3之间构成球铰接，转动座13能够绕球头转动轴31自由转动。As shown in Fig. 7 and Fig. 8, the head of the connecting rod 3 has a ball head rotating shaft 31, and five wire holes 32 are arranged in the middle, and the wire holes 32 are passages for the traction wire 6. The ball head rotating shaft 31 is installed in the ball head bin 131, so that the rotating seat 13 and the connecting rod 3 form a ball hinge, and the rotating seat 13 can rotate freely around the ball head rotating shaft 31.
参考图1，所述操作端2外侧设有固定手柄21、操作手柄、操作按钮23和解锁按钮24。参见图9，固定手柄内部有电机、齿轮26、传动轮27和电源28。所述固定手柄21底部设有充电接口211。其中，操作按钮23可以但不限于普通按钮、液晶触摸屏式虚拟按钮、轨迹球以及摇杆等形式。Referring to FIG1 , the operating end 2 is provided with a fixed handle 21, an operating handle, an operating button 23 and an unlocking button 24 on the outside. Referring to FIG9 , the fixed handle is provided with a motor, a gear 26, a transmission wheel 27 and a power source 28. A charging port 211 is provided at the bottom of the fixed handle 21. The operating button 23 may be in the form of, but not limited to, a normal button, a liquid crystal touch screen type virtual button, a trackball and a joystick.
再次参见图9，所述电机有左右控制电机251、上下控制电机252以及轴向转动控制电机253。参见图10，所述传动轮27有横向传动轮271和纵向传动轮272；所述牵引钢丝6包括上下控制钢丝61、左右控制钢丝62和张合控制钢丝63。其中，横向传动轮271为一组横向布置的传动轮，在左右控制钢丝62运转时起到导向作用，使得左右控制钢丝62在水平面内运转，从而达到左右控制钢丝62在水平面内传动时拉动转动座13左右摆动的目的；同理，纵向传动轮272为一组纵向布置的传动轮，在上下控制钢丝61运转时起到导向作用，使得上下控制钢丝61在竖直面内运转，从而达到上下控制钢丝在竖直面内传动时拉动转动座13上下俯仰的目的。Referring to FIG. 9 again, the motor includes a left-right control motor 251, an up-down control motor 252, and an axial rotation control motor 253. Referring to FIG. 10, the transmission wheel 27 includes a transverse transmission wheel 271 and a longitudinal transmission wheel 272; the traction wire 6 includes an up-down control wire 61, a left-right control wire 62, and an opening and closing control wire 63. Among them, the transverse transmission wheel 271 is a group of transmission wheels arranged transversely, which plays a guiding role when the left-right control wire 62 is running, so that the left-right control wire 62 runs in the horizontal plane, thereby achieving the purpose of pulling the rotating seat 13 to swing left and right when the left-right control wire 62 is transmitted in the horizontal plane; similarly, the longitudinal transmission wheel 272 is a group of transmission wheels arranged longitudinally, which plays a guiding role when the up-down control wire 61 is running, so that the up-down control wire 61 runs in the vertical plane, thereby achieving the purpose of pulling the rotating seat 13 to pitch up and down when the up-down control wire is transmitted in the vertical plane.
上下控制钢丝61的一端固定在转动座13的上侧，另一端绕过纵向传动轮272，固定在转动座13的下侧，且上下控制钢丝61的两端固定点对称布置。纵向传动轮包括一组呈上下布置的传动轮，用于导引上下控制钢丝61在竖直面内传动，上下控制电机252用于驱动纵向传动轮转动，从而实现上下控制钢丝61的运转。One end of the up-down control wire 61 is fixed to the upper side of the rotating seat 13, and the other end passes through the longitudinal transmission wheel 272 and is fixed to the lower side of the rotating seat 13, and the two end fixing points of the up-down control wire 61 are symmetrically arranged. The longitudinal transmission wheel includes a group of transmission wheels arranged up and down, which are used to guide the up-down control wire 61 to transmit in the vertical plane, and the up-down control motor 252 is used to drive the longitudinal transmission wheel to rotate, thereby realizing the operation of the up-down control wire 61.
参见图3和图10，左右控制钢丝62的一端固定在转动座13的左侧，另一端绕过横向传动轮271，固定在转动座13的右侧，且左右控制钢丝62的两端固定点对称布置。横向传动轮271包括一组呈上下布置的传动轮，用于导引左右控制钢丝62在水平面内传动，左右控制电机251用于驱动横向传动轮271转动，从而实现左右控制钢丝62的运转。3 and 10, one end of the left and right control wire 62 is fixed to the left side of the rotating seat 13, and the other end passes through the transverse transmission wheel 271 and is fixed to the right side of the rotating seat 13, and the two end fixing points of the left and right control wire 62 are symmetrically arranged. The transverse transmission wheel 271 includes a group of transmission wheels arranged up and down, which are used to guide the left and right control wire 62 to transmit in the horizontal plane, and the left and right control motor 251 is used to drive the transverse transmission wheel 271 to rotate, thereby realizing the operation of the left and right control wire 62.
张合控制钢丝63的一端与齿轮杆14固定连接，另一端穿过连接杆3的钢丝孔32与操作手柄固定连接，拨动操作手柄，能够拉动张合控制钢丝63，以实现钳口的张开和闭合。One end of the opening and closing control wire 63 is fixedly connected to the gear rod 14, and the other end passes through the wire hole 32 of the connecting rod 3 and is fixedly connected to the operating handle. By turning the operating handle, the opening and closing control wire 63 can be pulled to realize the opening and closing of the jaws.
如图11所示，所述轴向转动控制管5一端为蛇形管51，可以万向弯曲，另一端为连接端52。参见图9，该连接端52和齿轮26连接，轴向转动控制电机253的输出端与该齿轮26啮合。当轴向转动控制电机253带动齿轮26，齿轮26带动轴向转动控制管5轴向转动从而带动头部连接座12实现轴向转动。所述蛇形管51也称鹅颈管，可以万向弯曲，固定安装在头部连接座12的蛇形管固定孔122上，从而保证头部连接座12轴向转动不受转动座13上下左右转动的影响。As shown in FIG11 , one end of the axial rotation control tube 5 is a serpentine tube 51, which can be universally bent, and the other end is a connecting end 52. Referring to FIG9 , the connecting end 52 is connected to the gear 26, and the output end of the axial rotation control motor 253 is meshed with the gear 26. When the axial rotation control motor 253 drives the gear 26, the gear 26 drives the axial rotation control tube 5 to rotate axially, thereby driving the head connecting seat 12 to achieve axial rotation. The serpentine tube 51 is also called a gooseneck tube, which can be universally bent and fixedly mounted on the serpentine tube fixing hole 122 of the head connecting seat 12, thereby ensuring that the axial rotation of the head connecting seat 12 is not affected by the up, down, left, and right rotation of the rotating seat 13.
参见图1，执行部1和连接杆3的连接部分外侧设置有保护囊4，该保护囊4可采用橡胶、硅胶等具有弹性和柔性的材料，也可以采用蛇形管。在使用过程中，保护囊4可以跟随执行部1上下左右转动，其特点在于不影响执行部1转动的情况下，保护执行部1与连接杆3的连接部分，避免液体等杂质侵入。Referring to Fig. 1, a protective bag 4 is arranged outside the connection part between the actuator 1 and the connecting rod 3. The protective bag 4 can be made of elastic and flexible materials such as rubber and silicone, or a serpentine tube. During use, the protective bag 4 can rotate up and down and left and right with the actuator 1. Its characteristic is that it protects the connection part between the actuator 1 and the connecting rod 3 without affecting the rotation of the actuator 1, and prevents the intrusion of impurities such as liquid.
在本实施例中，操作手柄采用如图1和图12所示的扳机形式。参见图12，所述扳机22设有齿合条221，扳机连接端222和牵引钢丝固定孔223。参见图9，扳机连接端222通过复位弹片29和固定手柄21连接。In this embodiment, the operating handle adopts the trigger form as shown in Figures 1 and 12. Referring to Figure 12, the trigger 22 is provided with a toothed strip 221, a trigger connecting end 222 and a traction wire fixing hole 223. Referring to Figure 9, the trigger connecting end 222 is connected to the fixed handle 21 through a reset spring 29.
参见图9，在固定手柄21与齿合条221的运动轨迹对应位置滑动设置有解锁按钮24，解锁按钮24有齿合端241和弹簧固定端242，弹簧固定端242与固定手柄21之间设有用于使解锁按钮24复位的复位弹簧。当推动解锁按钮24，使得扳机22的齿合条221和解锁按钮24的齿合端241齿合，所述扳机22只能向内握持锁死(类似扎带)，当向下拨动解锁旋钮24时，扳机22的齿合条221与解锁按钮24的齿合端241分离，此时扳机22可以在复位弹片29的作用下解锁复位。Referring to FIG. 9 , an unlocking button 24 is slidably disposed at a position corresponding to the motion trajectory of the fixed handle 21 and the toothed strip 221. The unlocking button 24 has a toothed end 241 and a spring fixed end 242. A reset spring for resetting the unlocking button 24 is disposed between the spring fixed end 242 and the fixed handle 21. When the unlocking button 24 is pushed, the toothed strip 221 of the trigger 22 and the toothed end 241 of the unlocking button 24 are engaged, and the trigger 22 can only be held inward and locked (similar to a cable tie). When the unlocking knob 24 is pushed downward, the toothed strip 221 of the trigger 22 is separated from the toothed end 241 of the unlocking button 24, and the trigger 22 can be unlocked and reset under the action of the reset spring 29.
该多自由度手术器械的工作原理：Working principle of this multi-degree-of-freedom surgical instrument:
(执行部上下俯仰)(Actuator up and down pitch)
参见图3、图9和图10，启动上下控制电机252，驱动纵向传动轮272带动上下控制钢丝61顺时针旋转，拉动位于上面的上下控制钢丝61向操作端移动，进而带动转动座13绕着球头转动轴31向上即顺时针转动，完成执行部1的抬头动作；同理，当上下控制电机252驱动纵向传动轮272带动上下控制钢丝61逆时针旋转时，能够完成执行部1的低头动作。Referring to Figures 3, 9 and 10, start the up and down control motor 252, drive the longitudinal transmission wheel 272 to drive the up and down control wire 61 to rotate clockwise, pull the up and down control wire 61 located above to move toward the operating end, and then drive the rotating seat 13 to rotate upward, i.e. clockwise, around the ball head rotating shaft 31, to complete the lifting action of the actuator 1; similarly, when the up and down control motor 252 drives the longitudinal transmission wheel 272 to drive the up and down control wire 61 to rotate counterclockwise, the lowering action of the actuator 1 can be completed.
(执行部左右摆动)(The actuator swings left and right)
参见图3、9和图10，启动左右控制电机251，驱动横向传动轮271带动左右控制钢丝62顺时针旋转，拉动位于右面的左右控制钢丝62向操作端移动，进而带动转动座13绕着球头转动轴31向右即顺时针转动，完成执行部的右摆动作；同理，当左右控制电机251驱动横向传动轮271带动左右控制钢丝62逆时针旋转时，能够完成执行部1的左摆动作。Referring to Figures 3, 9 and 10, the left and right control motors 251 are started to drive the transverse transmission wheel 271 to drive the left and right control wires 62 to rotate clockwise, pulling the left and right control wires 62 on the right side to move toward the operating end, thereby driving the rotating seat 13 to rotate rightward, i.e., clockwise, around the ball head rotating shaft 31 to complete the right swing action of the actuator; similarly, when the left and right control motors 251 drive the transverse transmission wheel 271 to drive the left and right control wires 62 to rotate counterclockwise, the left swing action of the actuator 1 can be completed.
(执行部轴向旋转)(Actuator axial rotation)
参见图3和图9所示，轴向转动控制管5的前端通过蛇形管51与头部连接座12固定连接，后端通过齿轮26与轴向转动控制电机253啮合，轴向转动控制电机253启动后，由齿轮26带动轴向转动控制管5旋转，进而由轴向转动控制管5驱动头部连接座12轴向旋转，完成执行部1的轴向旋转操作。Referring to Figures 3 and 9, the front end of the axial rotation control tube 5 is fixedly connected to the head connecting seat 12 through the serpentine tube 51, and the rear end is meshed with the axial rotation control motor 253 through the gear 26. After the axial rotation control motor 253 is started, the gear 26 drives the axial rotation control tube 5 to rotate, and then the axial rotation control tube 5 drives the head connecting seat 12 to rotate axially, completing the axial rotation operation of the actuator 1.
(钳口张合动作)(Jaw opening and closing action)
参见图4、图9和图10，扣动扳机22向操作端2方向拉动张合控制钢丝63，张合控制钢丝63拉动齿轮杆14后移，钳口齿轮112向内旋转，钳口闭合；使解锁按钮24的齿合端241和扳机22的齿合条221分离，松开扳机22后，在复位弹片29的作用下，扳机22复位，进而在弹簧16的作用下，弹簧16拉动齿轮杆14前移，钳口齿轮112向外旋转，钳口11张开，当然可以理解的是，在其他实施方式中，也可以使得扣动扳机，由张合控制钢丝63拉动钳口闭合，由弹簧推动钳口张开，根据实际需要进行选择设计。Referring to Figures 4, 9 and 10, pulling the trigger 22 pulls the opening and closing control wire 63 toward the operating end 2, and the opening and closing control wire 63 pulls the gear rod 14 to move backward, the jaw gear 112 rotates inward, and the jaws are closed; the toothed end 241 of the unlocking button 24 and the toothed strip 221 of the trigger 22 are separated, and after releasing the trigger 22, under the action of the reset spring 29, the trigger 22 is reset, and then under the action of the spring 16, the spring 16 pulls the gear rod 14 forward, the jaw gear 112 rotates outward, and the jaws 11 open. Of course, it can be understood that in other embodiments, the trigger can also be pulled, the opening and closing control wire 63 pulls the jaws to close, and the spring pushes the jaws to open, and the design is selected according to actual needs.
通过上述可知，本实施例中，可通过上下控制电机带动纵向传动轮再带动上下控制钢丝实现执行部的上下仰俯；可通过左右控制电机带动横向传动轮再带动左右控制钢丝实现执行部的左右偏摆；可通过轴向转动控制电机带动齿轮，齿轮带动轴向转动控制管从而带动头部连接座实现轴向转动。From the above, it can be seen that in this embodiment, the upper and lower control motors can drive the longitudinal transmission wheel and then drive the upper and lower control wires to realize the up and down pitch of the actuator; the left and right control motors can drive the transverse transmission wheel and then drive the left and right control wires to realize the left and right swing of the actuator; the axial rotation control motor can drive the gear, and the gear drives the axial rotation control tube to drive the head connecting seat to realize axial rotation.
实施例二Embodiment 2
参考图14至图17，本实施例与实施例一的不同之处在于本实施例操作端2的操作手柄采用活动手柄7控制钳口11的张合；采用解锁旋钮8与活动手柄7配合。14 to 17 , the difference between this embodiment and the first embodiment is that the operating handle of the operating end 2 of this embodiment adopts a movable handle 7 to control the opening and closing of the jaws 11 ; and an unlocking knob 8 is used in conjunction with the movable handle 7 .
参见图16，所述活动手柄7设有活动手柄齿合条71，活动手柄连接端72和活动手柄牵引钢丝固定孔73。活动手柄连接端72通过复位弹簧可转动的连接在固定手柄21上，张合控制钢丝63的末端固定安装在活动手柄牵引钢丝固定孔73上。Referring to Fig. 16, the movable handle 7 is provided with a movable handle toothed strip 71, a movable handle connecting end 72 and a movable handle traction wire fixing hole 73. The movable handle connecting end 72 is rotatably connected to the fixed handle 21 through a return spring, and the end of the opening and closing control wire 63 is fixedly mounted on the movable handle traction wire fixing hole 73.
参见图17，所述解锁旋钮8设有解锁旋钮齿合端81；所述解锁旋钮齿合端81与所述活动手柄齿合条71齿合。解锁旋钮8转动地安装在固定手柄21上，且位于活动手柄齿合条71的运动轨迹上，通过拨动解锁旋钮8可以控制活动手柄7的锁定和解锁状态。Referring to Fig. 17, the unlocking knob 8 is provided with an unlocking knob toothing end 81, which is engaged with the movable handle toothing strip 71. The unlocking knob 8 is rotatably mounted on the fixed handle 21 and is located on the motion track of the movable handle toothing strip 71. The locking and unlocking states of the movable handle 7 can be controlled by turning the unlocking knob 8.
实施例三Embodiment 3
参见图18，本实施例与实施例一的不同之处在于本实施例的操作端2的操作手柄采用钳式握持手柄设计。图18是活动手柄7与固定手柄21配合结构示意图。本实施例，固定手柄21位于水平方向，采用钳式握持，更加符合人机工程学设计，符合目前医生的操作习惯，方便操作发力以及轴向转动的控制。Referring to FIG. 18 , the difference between this embodiment and the first embodiment is that the operating handle of the operating end 2 of this embodiment adopts a clamp-type grip handle design. FIG. 18 is a schematic diagram of the structure of the movable handle 7 and the fixed handle 21. In this embodiment, the fixed handle 21 is located in the horizontal direction and adopts a clamp-type grip, which is more in line with the ergonomic design, in line with the current operating habits of doctors, and is convenient for operating force and axial rotation control.
参见图19和图20，所述活动手柄7设有活动手柄齿合条71，活动手柄连接端72和活动手柄牵引钢丝固定孔73。活动手柄连接端72通过复位弹簧可转动的连接在固定手柄21上，张合控制钢丝63的末端固定安装在活动手柄牵引钢丝固定孔73上。Referring to Figures 19 and 20, the movable handle 7 is provided with a movable handle toothed strip 71, a movable handle connecting end 72 and a movable handle traction wire fixing hole 73. The movable handle connecting end 72 is rotatably connected to the fixed handle 21 through a return spring, and the end of the opening and closing control wire 63 is fixedly mounted on the movable handle traction wire fixing hole 73.
活动手柄7和固定手柄21通过解锁组件配合。如图19和图20所示，解锁组件包括解锁旋钮8和齿条9，解锁旋钮8转动安装在固定手柄21上，解锁旋钮8与齿条9的相对的一面设有推块82。齿条9的一端为齿条连接端92，另一端为齿合端91，齿合端91与齿合条71齿合。转动解锁旋钮8时，推块82将会推动齿条9转动，以使齿合端91与齿合条71分离，使得活动手柄7处于解锁状态。The movable handle 7 and the fixed handle 21 are matched through an unlocking assembly. As shown in Figures 19 and 20, the unlocking assembly includes an unlocking knob 8 and a rack 9. The unlocking knob 8 is rotatably mounted on the fixed handle 21, and a push block 82 is provided on the opposite side of the unlocking knob 8 and the rack 9. One end of the rack 9 is a rack connecting end 92, and the other end is a gearing end 91, which is geared with the gearing bar 71. When the unlocking knob 8 is turned, the push block 82 will push the rack 9 to rotate, so that the gearing end 91 is separated from the gearing bar 71, so that the movable handle 7 is in an unlocked state.
以上实施例是对本发明较佳的解释，但本发明创造并不限于所述的实施例，熟悉本领域的技术人员在不违背本发明创造精神的前提下还可以作出种种的等同的变型或替换，这些等同变型或替换均包含在本申请权利要求所限定的范围内。The above embodiments are the best explanations of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910699600.4ACN110403669B (en) | 2019-07-31 | 2019-07-31 | A multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910699600.4ACN110403669B (en) | 2019-07-31 | 2019-07-31 | A multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery |
| Publication Number | Publication Date |
|---|---|
| CN110403669A CN110403669A (en) | 2019-11-05 |
| CN110403669Btrue CN110403669B (en) | 2024-09-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910699600.4AActiveCN110403669B (en) | 2019-07-31 | 2019-07-31 | A multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery |
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