Wire-driven detachable electric multi-degree-of-freedom flexible instrumentTechnical Field
The invention relates to the technical field of surgical instruments, in particular to a wire-driven detachable electric multi-degree-of-freedom flexible instrument.
Background
In the minimally invasive surgery operation process, a surgeon makes 2-4 small incisions of 5-10 mm on the body surface of a patient, inserts required surgical instruments into the abdominal cavity through the small incisions on the body surface of the patient, performs surgery operations such as cutting and clamping on focus tissue organs, and the like, and the operation mode enables the surgical instruments to move only in a narrow inverted-cone-shaped working space taking the incisions as vertexes. The current minimally invasive surgical instrument mainly comprises a manual straight rod type instrument, an end effector of the instrument only has the opening and closing degrees of freedom, has no joint deflection function, has low instrument operation flexibility, and increases the operation difficulty.
Fig. 14 in CN114469201a shows a technical scheme for controlling the serpentine joint of the multi-degree-of-freedom flexible instrument to swing up and down, left and right relative to the shaft tube through wrist movement and four-strand wire and wire spool movement, in which the tool flap of the front end executing device is controlled to rotate relative to the tool supporting seat through driving the flexible transmission rod to stretch and retract, so as to realize clamping and cutting actions.
Because of the need to prevent virus transmission, the front end effector and shaft tube that need to be inserted into the body during surgery cannot be used on other patients for a second time, and thus, the potential customers of the multi-degree-of-freedom flexible instrument need to have detachable structures inserted into the body and recycled structures not inserted into the body. However, the conventional multi-degree-of-freedom flexible instruments are all schemes that wrists drive snake-shaped joints to swing through mechanical structures, and because the mechanical structures of the traction wires and the traction wires are large and are integrated with the whole multi-degree-of-freedom flexible instrument, the mechanical structures of the traction wires and the whole multi-degree-of-freedom flexible instrument are indistinct and detachable, so that the conventional multi-degree-of-freedom flexible instruments can only be used for one operation, and can only be treated as medical waste after the operation, thereby causing high operation cost and resource waste.
Disclosure of Invention
The invention aims to solve the technical problem that the prior multi-freedom-degree flexible instrument is not detachable and recycled, creatively improves the structure of the multi-freedom-degree flexible instrument, and divides the instrument into a detachable structure part which is inserted into a body and a recycled structure part which is not inserted into the body, wherein the structure part which is inserted into the body comprises a front end executing device, a joint, a shaft tube, a silk thread, a flexible transmission rod, a wire reel mechanism and other transmission structures, and the structure part which is not inserted into the body comprises a control component and a sensor. Effectively solves the difficult problems in the prior art.
The technical scheme of the invention is as follows: a wire-driven detachable motorized multiple degree of freedom flexible instrument comprising: the device comprises a handle, a driving part, a hollow shaft tube, a joint, a front end executing device and a universal steering mechanism, wherein the proximal end of the shaft tube is rotationally connected with the distal end of the driving part II and can rotate around the central shaft of the shaft tube, and the proximal end of the driving part is connected with the handle through the universal steering mechanism; the front end executing device comprises two tool petals which are connected with each other in a rotating way, the far/near ends of joints are respectively connected with the two tool petals and the far end of the shaft tube in a rotating way through a pin shaft I/pin shaft II which is orthogonal to each other and perpendicular to the shaft tube, four threads penetrate through the far end of the shaft tube, each two threads form a group, two threads in each group of threads are respectively close to two ends of the pin shaft II and extend to the far end of the joints, two threads in one group of threads are respectively connected with two sides of one tool petal or are in friction transmission, and two threads in the other group of threads are respectively connected with two sides of the other tool petal or are in friction transmission to drive the tool petals to open and close or swing around the pin shaft I; the two wires penetrate through the distal end of the shaft tube and are respectively connected with one side, close to the first end of the pin shaft, of the proximal end of the joint, the joint is driven to swing around the second end of the pin shaft, and the proximal ends of the six wires extend into the driving part;
Three rotatable shafts I, II and III perpendicular to the shaft tube are arranged in the driving part, two groups of wires driving the two tool petals are respectively stretched and contracted along with the rotation of the shafts I and II, two wires in each group of wires are driven to move in opposite directions by the stretched and contracted shafts, and two wires driving the joints are respectively moved in opposite directions along with the rotation of the shafts III;
The driving part is detachably connected with the universal steering mechanism, and four groups of motors and transmission mechanisms are further arranged in the driving part: two groups of motors are respectively used for driving the first rotating shaft and the second rotating shaft to rotate, one group of the other two groups of motors are used for driving the third rotating shaft, the other group of motors are used for driving the shaft tube to rotate, the four groups of motors are electrically connected with a circuit main board, a secondary circuit board and a power supply in the driving part, and signal input ends of the circuit main board and the secondary circuit board are in signal connection with a signal input terminal of the driving part;
The universal steering mechanism is internally provided with two variable resistors, the two variable resistors are in signal connection with a signal output terminal, the signal output terminal is detachably connected with a signal input terminal, one variable resistor is used for converting the rotation angle of a driving part relative to the center of the universal steering mechanism around a horizontal axis perpendicular to a shaft tube into an electric signal, synchronously controlling a first rotating shaft and a second rotating shaft to rotate clockwise or anticlockwise in the same direction, the other variable resistor is used for converting the rotation angle of the driving part relative to the center of the universal steering mechanism around the vertical axis perpendicular to the shaft tube into an electric signal, controlling a third rotating shaft to rotate, the vertical axis is parallel to a second pin shaft, the horizontal axis is parallel to the first pin shaft, and the universal steering mechanism is a resettable universal steering mechanism, so that the central shaft of the driving part is kept not deflected relative to the vertical axis and the horizontal axis;
Two analog quantity signal generators are arranged in the handle, are connected with the signal output terminals through signals, and are respectively used for transmitting clamping signals and rotating signals to the first motor driving rotating shaft and the second motor driving rotating shaft through the circuit board to synchronously and reversely rotate, and the driving shaft tube rotates.
Advantageously, the above structural design of the present invention allows the multi-freedom flexible instrument to be split into a driving part for driving the tool petals and the joints, and a handle for controlling the motor in the driving part, which is equivalent to the sensing part, creatively uses two variable resistors to detect the motion state of the universal steering mechanism with two degrees of freedom, the universal steering mechanism can enable the driving part or the handle to move around the vertical axis or the horizontal axis relative to the center of the universal steering mechanism, when the first rotating shaft and the second rotating shaft rotate in the same direction, the tool petals swing around the second pin shaft towards the left and right sides, when the first rotating shaft rotates clockwise and the second rotating shaft rotates anticlockwise, the tool petals are close to each other, and when the first rotating shaft rotates anticlockwise and the second rotating shaft rotates clockwise, the tool petals are far away from each other; the joint swings around the first pin shaft towards the upper and lower sides. The movement direction of the tool valve and the joint corresponds to the movement direction of the driving part or the handle relative to the center of the universal steering mechanism, the driving part is directly controlled by the wrist operation handle, and the driving part is detachable.
Further, the first rotating shaft, the second rotating shaft and the third rotating shaft are perpendicular to the shaft tube, and four rotatable transmission shafts which are parallel to the shaft tube are further arranged in the driving part and are respectively used for transmitting the first rotating shaft, the second rotating shaft, the third rotating shaft and the shaft tube through transmission mechanisms.
Preferably, when the rotatable first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to the shaft tube and are arranged in the driving part, a substrate vertical to the shaft tube is arranged in the driving part, one ends of the first rotating shaft, the second rotating shaft and the third rotating shaft, which deviate from the shaft tube, are rotatably arranged on the substrate through bearings, guide assemblies corresponding to the wires extending out of the first rotating shaft, the second rotating shaft and the third rotating shaft are uniformly distributed on the substrate by taking the axle center of the shaft tube as the center, and after each group of wires wound on the first rotating shaft, the second rotating shaft and the third rotating shaft bypass the corresponding guide assemblies, the wires extend parallel to the shaft tube, so that the wires do not interfere with each other when the wires stretch out and draw back; the transmission shaft in the driving part for driving the shaft tube to rotate is also arranged on the base plate through a bearing at one end away from the shaft tube.
Further, the driving part is a motor bin and a transmission bin which are detachably connected, the transmission bin is close to the shaft tube, when the first rotating shaft, the second rotating shaft and the third rotating shaft are perpendicular to the shaft tube, four transmission shafts, four groups of transmission mechanisms and the rotating shafts and the shaft tube driven by the transmission mechanisms are arranged in the transmission bin, and one end, facing away from the shaft tube, of each of the four transmission shafts is concentrically fixed with a rotary table; when the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to the shaft tube, a transmission shaft, a transmission mechanism, the rotating shaft driven by the transmission mechanism and the shaft tube are arranged in the transmission bin, and a turntable is concentrically fixed at one end of the transmission shaft, the first rotating shaft, the second rotating shaft and the third rotating shaft, which is opposite to the shaft tube, respectively; four groups of motors and circuit main boards, secondary circuit board are installed in the motor bin, one end of the motor bin, which is opposite to the transmission bin, is connected with the handle through the universal steering mechanism, one side of the turntable, which is opposite to the shaft tube, is provided with eccentric convex points, the output shaft of each motor is sleeved with a sleeve rotating along with the output shaft, and one side of the sleeve, which is opposite to the output shaft, is provided with concave holes matched with the convex points of the turntable.
Advantageously, the design of the invention further divides the driving part into a motor bin and a transmission bin, reduces the material consumption of the disposable assembly to be replaced, and further reduces the use cost.
Further, a shaft sleeve is arranged between the sleeve and the output shaft, the shaft sleeve is in interference fit with the output shaft, the sleeve is sleeved outside the shaft sleeve and is in sliding connection with the shaft sleeve, a third spring is further arranged between the sleeve and the shaft sleeve, a waist-shaped hole is formed in the sleeve, a pin hole capable of being mutually aligned is further formed in the shaft sleeve and the output shaft, a pin is inserted into the waist-shaped hole of the sleeve, the pin hole of the shaft sleeve and the pin hole of the output shaft, when the third spring pushes the sleeve to be far away from the shaft sleeve, the sleeve is prevented from being separated from the shaft sleeve, and the sleeve can synchronously rotate along with the shaft sleeve.
Advantageously, the design of the invention ensures that the transmission parts of the motor bin and the transmission bin are easier to be tightly butted and are convenient to install.
Furthermore, a strip-shaped rod is further arranged on one side, close to the motor, of the shaft sleeve, and a photoelectric sensor for monitoring the strip-shaped rod is further arranged in the motor bin.
Advantageously, the above design allows the motor to be changed such that the motor can drive the tool petals and the tool support, serpentine joints, shaft tube to rotate to an initial position.
Preferably, a rotatable operating handle is installed on the handle, the neck at the upper end of the operating handle penetrates through a round hole in the handle to be rotationally connected with the handle, a cylindrical guide groove extending along the axial direction is formed in the operating handle, lateral holes extending along the axial direction are symmetrically formed in the lower end of the operating handle, one end of a symmetrical rocking handle stretches into the lateral holes to be rotationally connected with the lower end of the operating handle, a pushing cylinder is accommodated at the lower part of the guide groove and can slide along the guide groove, a cylindrical rod is accommodated at the upper part of the guide groove, the lower end of the pushing cylinder is respectively rotationally connected with the rocking handle through a connecting rod, a cylindrical cavity is formed in the upper end of the pushing cylinder and can accommodate the cylindrical rod, spiral grooves which are mutually matched are formed in the periphery of the cylindrical rod and the inner periphery of the cylindrical cavity, balls are arranged in the spiral grooves between the cylindrical rod and the cylindrical cavity, two analog signal generators are a potentiometer I and a potentiometer II, the upper end of the cylindrical rod penetrates through the neck at the upper end of the operating handle and is coaxially connected with a potentiometer fixed relative to the handle through the coupler I;
the neck of handle upper end is in handle internal and driving gear coaxial coupling, installs the driven gear with driving gear meshing in the handle, and driven gear passes through shaft coupling two and potentiometer two coaxial coupling, and the diameter of driving gear is greater than the round hole, and restriction cylinder pole and guide slot are along axial relative displacement, allow the cylinder pole to rotate in the guide slot.
Advantageously, the above design makes the handle have the operation handle that can simulate the central siphon rotation, and simulate a pair of rocking handles that tool lamella and tool support seat opened and shut to convert these two actions into analog quantity signal through exquisite drive mechanism, corresponding to the degree of rotation and switching, can accurate control central siphon pivoted angle and tool lamella and tool support seat open and shut contained angle.
Preferably, a sliding block is further installed in the handle, the sliding block can move along a sliding groove formed in the handle and is far away from or close to the button gear, a protruding flap is arranged on one side of the sliding block, facing the button gear, of the sliding block, a button gear meshed with the driving gear is installed between the sliding block and the driving gear on the sliding path of the sliding block, a semi-cylindrical boss is arranged on one surface of the button gear, facing away from the operating handle, of the sliding block, a central protruding fin is further arranged on the side cambered surface of the semi-cylindrical boss and points to the central shaft of the driving gear, when the sliding block is pushed forwards to be close to the semi-cylindrical boss, the straight edge surface of the semi-cylindrical boss is limited, the semi-cylindrical boss is enabled to rotate left and right by not more than +/-90 degrees, and when the sliding block is pushed backwards to be far away from the semi-cylindrical boss, the fin of the semi-cylindrical boss is limited, and the semi-cylindrical boss is enabled to rotate left and right by not more than +/-180 degrees.
Advantageously, the above design avoids 360 ° rotation when turning the handle, which causes the shaft tube to also rotate 360 °, while also precisely providing two modes of rotation ±90° and 180 °.
Preferably, a pin is further arranged on one surface of the semi-cylindrical boss, which faces away from the operating handle, the pin is eccentrically arranged on a connecting line of the fin and the central shaft of the semi-cylindrical boss, a reset rod is arranged between one side of the semi-cylindrical boss, which faces towards one side of the semi-cylindrical boss, and the handle shell, the reset rod is provided with a pair of deflector rods, which are respectively positioned on two sides of the pin, two ends of the reset rod are respectively connected with the inner side of the handle through four springs, the four springs are parallel to the sliding groove, and if four springs are arranged, the four springs suspend the reset rod above the semi-cylindrical boss in parallel.
Preferably, the four springs are only two, a pair of auxiliary deflector rods which are symmetrical to the deflector rods are arranged on one side of the reset rod, which is opposite to the semicircular boss, the pair of auxiliary deflector rods are respectively embedded into a limiting groove in the handle and can slide along the limiting groove, and the two springs are arranged on the left side or the right side of the reset rod in the longitudinal direction, and one end of the reset rod and the handle shell are respectively pulled through the two ends of the four springs.
Advantageously, the above design provides a help shaft tube reset structure that avoids the embarrassment of being unable to distinguish its angle when the operator cannot directly look at the front end effector in the body.
Further, universal steering mechanism includes outer spherical shell and interior spherical shell, outer spherical shell and interior spherical shell all have spaciously, the blind end of interior spherical shell links as an organic wholely with the proximal end of drive portion, the one end of handle is equipped with the cavity towards drive portion, the seal end of outer spherical shell passes through the connecting piece to be fixed in the cavity, the spaciousness of outer spherical shell is towards the proximal end of drive portion, interior spherical shell inlays and forms spherical hinge structure in outer spherical shell, but free rotation, and be fixed with the sleeve just facing the spaciousness in the outer spherical shell, two variable resistor locates in the signal generation module of 3d rocker components and parts, 3d rocker components and parts still include the rocker, the signal generation module of 3d rocker components and parts is fixed in the cavity of interior spherical shell through the mounting, and the rocker stretches out the spaciousness of interior spherical shell, insert in the sleeve in the outer spherical shell, when making handle and drive portion relative rotation of rocker, the spaciousness edge of outer spherical shell still links to each other with the proximal end of drive portion through at least three spring, three spring is one and is encircleed the axis of drive portion and evenly arranges, makes the operator's the handle and stops to exert the biasing force to the realization and the drive portion voluntarily.
Preferably, the universal steering mechanism comprises a base plate connected with the upper end side plane of the proximal end/handle of the driving part, and two semicircular arc supports which are arranged in an orthogonal manner, the arched parts of the two semicircular arc supports are provided with waist-shaped holes in the middle, two ends of the waist-shaped holes extend towards two ends of the semicircular arc supports, the two ends of the semicircular arc supports are respectively connected with journals, each journal passes through an annular end cover of the horizontal bearing seat to be connected with a rotary reset mechanism in the horizontal bearing seat, the rotary reset mechanism is further connected with the inner side surface of the annular end cover, one side of the base plate facing the semicircular arc supports is fixedly provided with four horizontal bearing seats and 3d rocker elements which are arranged in the middle, the axes of the two groups of horizontal bearing seats are mutually orthogonal and are respectively parallel to a vertical shaft and a horizontal shaft and surround the 3d rocker elements, the signal generating modules of the 3d rocker elements are fixedly connected with the base plate, the two variable resistors are arranged in the signal generating modules of the 3d rocker elements, one ends of the 3d rocker elements far away from the signal generating modules pass through the upper end sides of the two semicircular supports to enable the rocking bars to rotate relatively to the upper end sides of the handles of the semicircular arc supports, and the signal generating modules rotate relatively to the driving parts.
Advantageously, the structure of the universal steering mechanism meets the requirement of simulating the multi-degree-of-freedom rotation of the snake-shaped joint by using the wrist motion to operate the driving part to rotate relative to the handle.
The present instrument increases the degrees of freedom of minimally invasive surgical instruments, increases operational flexibility, and simultaneously enables the conversion of natural finger and wrist movements to attached front end effectors (e.g., graspers, needle holders, electro-coagulation forceps, etc.), thereby enabling precise and fine control of the position and function of multi-degree of freedom flexible instruments.
Drawings
FIG. 1 is an overall block diagram of an electrodynamic multi-degree of freedom flexible medical device;
FIG. 2 is a schematic diagram of the structure of a front end effector of an electrodynamic multi-degree of freedom flexible medical instrument;
FIG. 3 is a schematic view of an explosive structure within a drive chamber of an electrodynamic multi-degree of freedom flexible medical device;
FIG. 4 is a schematic top view of a mechanism for driving a front end effector in an electrically powered multi-degree of freedom flexible medical device;
FIG. 5 is a schematic view of a 4-strand wire and drive mechanism layout;
FIG. 6 is a schematic diagram of a 4-strand wire and drive mechanism layout;
FIG. 7 is a schematic diagram of a motor compartment, a universal steering mechanism, a handle, and a handle of an electric multi-degree of freedom flexible medical instrument in a semi-sectional configuration;
FIG. 8 is a schematic view of a semi-sectional structure of a universal steering mechanism of an electrically powered multiple degree of freedom flexible medical device;
FIG. 9 is a schematic diagram of a drive cartridge and motor cartridge connection configuration for an electrically powered multiple degree of freedom flexible medical instrument;
FIG. 10 is a schematic view of the handle structure of an electrodynamic multi-degree of freedom flexible medical device;
FIG. 11 is a top cross-sectional view of a handle of the motorized multi-degree of freedom flexible medical device;
fig. 12 is a schematic structural view of a second embodiment of the driving section;
Wherein, I-handle, I-1-cavity, II-drive, V-handle, VI-joint, VII-front-end actuator, VIII-universal steering, 3, 4-crank, 5-link, 6-push cylinder, 7-cylinder rod, 8-helical groove, 8a, 8b, 8c, 8d, 8e, 8 f-wire, 8 g-ball, 8 h-radial protrusion, 9-potentiometer one, 10-drive gear, 11-driven gear, 12-coupler two, 13-potentiometer two, 14-coupler one, 15-button gear, 15 a-semi-cylindrical boss, 15 b-fin, 15 c-pin, 15 d-straight land, 16-slider, 16 a-protrusion flap, 16 b-slide slot, 17a 17 b-tool lobe, 18-spring four, 19-reset lever, 19 b-auxiliary lever, 20 a-limit slot, 21-inner upper hemisphere, 22-outer upper hemisphere, 23-outer lower hemisphere, 24-inner lower hemisphere, 25-sleeve, 26-connector, 27-spring one, 29-fastener, 30-3d rocker element, 30 a-rocker, 30 b-signal generating module, 30 c-first end, 30 d-second end, 31 a-pin one, 31 b-pin two, 33-auxiliary circuit board, 34, 38-motor, 39-circuit board, 40-motor compartment, 40 a-slot, 40 b-notch, 40 c-bead, 41-fastener, 42-sleeve, 42 b-bar, 43-spring three, 44-sleeve, 44 a-concave hole, 46-output shaft, 51-button, 51 a-convex block, 51 b-right trapezoid convex rib, 52-spring two, 53-driving bin, 53 a-guiding skirt, 53 b-concave groove, 54-rotary disk, 54 a-convex point, 58-helical gear eight, 63-helical gear seven, 68-helical gear two, 69-helical gear four, 69 a-helical gear five, 70-helical gear three, 72-shaft tube, 73-bearing, 90-guiding component, 91-central channel, 92 a-first driving shaft, 92 b-second driving shaft, 92 c-third driving shaft, 92 d-fourth driving shaft, 93 a-rotary shaft one, 93 b-rotary shaft two, 93 c-rotary shaft three, 93 d-rotary shaft four, 93 e-rotary shaft five, 94-base plate, 100, 101-semicircular arc bracket, 102-base plate, 103-waist-shaped hole, 104-horizontal bearing seat and 105-annular end cover.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "a," "an," and "the" are used for descriptive purposes and not to be construed as indicating or implying relative importance. The terms "distal" and "proximal" are used to describe a distance from an operator and are not to be construed as relative to a component.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected, and mechanically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The electric multi-degree-of-freedom flexible medical device comprises, as shown in fig. 1: the handle I, the driving part II, the hollow shaft tube 72, the joint VI, the front end actuating device VII and the universal steering mechanism VIII, the proximal end of the driving part II is connected with the handle I through the universal steering mechanism VIII, the proximal end of the shaft tube 72 is rotationally connected with the distal end of the driving part II and can rotate around the central axis of the shaft tube 72, as shown in fig. 2, the front end actuating device VII comprises two tool flaps 17a and 17b which are rotationally connected with each other, the distal end/proximal end of the joint VI is respectively rotationally connected with the two tool flaps 17a and 17b and the distal end of the shaft tube 72 through a first pin shaft 31 a/a second pin shaft 31b which are mutually orthogonal and perpendicular to the shaft tube 72, four wires penetrate through the distal end of the shaft tube 72, each two wires form a group which is respectively close to the two ends of the second pin shaft 31b and extend to the distal end of the joint VI, the wires in one group of wires are respectively connected with the two sides of the tool flap 17a or are in friction transmission, the wires in the other group of wires are respectively connected with the two sides of the tool flap 17b or in friction transmission, and the two wires in the other group of wires are respectively swung around the two sides of the tool flap 17b, and the tool flap is driven to open or close or swing around the first pin shaft 31 a; two wires pass through the distal end of the shaft tube 72 and are respectively connected with one side of the proximal end of the joint VI, which is close to the two ends of the pin shaft I31 a, so as to drive the joint VI to swing around the pin shaft II 31 b. The proximal ends of the six strands of wires extend into the driving part II.
Specifically, the two wires 8a and 8b pass through the distal end of the shaft tube 72 and respectively extend to the distal end of the joint VI near the left and right ends of the pin shaft two 31b to be respectively connected with or in friction transmission with the tool flap 17a, and the two wires 8c and 8d pass through the distal end of the shaft tube 72 and respectively extend to the distal end of the joint VI near the left and right ends of the pin shaft two 31b to be respectively connected with or in friction transmission with the tool flap 17b to drive the tool flap to open and close or swing around the pin shaft one 31 a; two wires 8e and 8f are respectively connected to the proximal end of the knuckle VI near the upper/lower ends of the first pin 31a through the distal end of the shaft tube 72 to drive the knuckle VI to swing around the second pin 31 b.
As a driving manner of the wire, as shown in fig. 2 to 7, four rotatable transmission shafts parallel to the shaft tube 72 are disposed in the driving portion II, and are uniformly disposed with the shaft center of the shaft tube 72 as the center, wherein the first transmission shaft 92a, the second transmission shaft 92b, and the third transmission shaft 92c respectively drive the rotation shaft one 93a, the rotation shaft two 93b, and the rotation shaft three 93c perpendicular to the shaft tube 72 through the transmission mechanism, and the fourth transmission shaft 92d drives the rotation shaft tube 72 through the transmission mechanism.
The first and second shafts 93a and 93b driven by the first and second shafts 92a and 92b are symmetrical with each other about the axis of the shaft tube 72, and the two groups of wires driving the tool petals 17a and 17b expand and contract with the rotation of the first and second shafts 93a and 93b, respectively, and the two wires in each group of wires are driven by the expanding shafts to move in opposite directions, and the two wires driving the joint VI move in opposite directions with the rotation of the third shaft 93c, respectively.
Specifically, the two wires 8a and 8b are connected to the first shaft 93a or friction-driven, and move in opposite directions along with the rotation of the first shaft 93a, the two wires 8c and 8d are connected to the second shaft 93b or friction-driven, and move in opposite directions along with the rotation of the second shaft 93b, so that when the first shaft 93a and the second shaft 93b rotate in the same direction, the tool flaps 17a and 17b swing around the second pin 31b to the left and right sides, when the first shaft 93a rotates clockwise and the second shaft 93b rotates counterclockwise, the tool flaps 17a and 17b are close to each other, and when the first shaft 93a rotates counterclockwise and the second shaft 93b rotates clockwise, the tool flaps 17a and 17b are far away from each other; the two threads 8e and 8f are connected with the rotating shaft III 93c or in friction transmission, and move in opposite directions along with the rotation of the rotating shaft III 93c, so that the joint VI swings upwards and downwards around the pin shaft II 31 b.
The front end execution device VII can be opened and closed to complete clamping action, and the included angle and the direction of the relative shaft tube can be adjusted by left-right and up-down deflection.
More specifically, the proximal end of the shaft tube 72 passes through a bearing 73 installed at the distal end of the driving part II, one end of the shaft tube 72 located in the driving part II is sleeved with a bevel gear 71, the bevel gear 71 is meshed with a transmission mechanism driven by a fourth transmission shaft 92d, the transmission mechanism comprises a bevel gear two 68 coaxial with the fourth transmission shaft 92d, a bevel gear three 70 and a bevel gear four 69 are sleeved on a rotating shaft four 93d and a rotating shaft five 93e perpendicular to the shaft tube 72, the rotating shaft five 93e is also sleeved with a bevel gear five 69a, the bevel gear two 68 is meshed with the bevel gear five 69a, the bevel gear five is coaxial with the bevel gear four 69, the bevel gear four 69 is meshed with the bevel gear three 70, and the bevel gear three 70 is meshed with the bevel gear two 68. The first rotating shaft 93a, the second rotating shaft 93b and the third rotating shaft 93c are respectively sleeved with a bevel gear seven 63, the first transmission shaft 92a, the second transmission shaft 92b and the third transmission shaft 92c are respectively sleeved with a bevel gear eight 58, the three bevel gears eight 58 are respectively meshed with the three corresponding bevel gears seven 63, and the first transmission shaft 92a, the second transmission shaft 92b and the third transmission shaft 92c are respectively provided with bearings and are rotatably connected with the shell of the driving part II through the bearings.
As another driving mode of the wires, as shown in fig. 12, a first rotation shaft 93a, a second rotation shaft 93b, and a third rotation shaft 93c are respectively parallel to the shaft tube 72 and one end facing away from the shaft tube 72 is rotatably mounted on the base plate 94 through a bearing, the base plate 94 is fixedly connected with the driving part housing perpendicular to the shaft tube 72, the wires 8a and 8b are connected with the first rotation shaft 93a or in friction transmission, the two wires 8c and 8d are connected with the second rotation shaft 93b or in friction transmission, the wires 8e and 8f are connected with the third rotation shaft 93c or in friction transmission, a plurality of guide assemblies 90 are mounted on one side of the base plate 94 facing the shaft tube, each guide assembly 90 comprises 4 pulleys and connecting members, each two side-by-side pulleys is used as a group, the rollers of one set of pulleys are perpendicular to the base plate 94, the rollers of the other set of pulleys are parallel to the rotating shafts of the 94,4 pulleys of the base plate 94 and fixedly mounted on the base plate 94 through connecting pieces, in each guide assembly 90, the pulleys of the rollers perpendicular to the base plate 94 face the rotating shafts for correspondingly driving the wires to stretch out and draw back, the rollers of the rollers parallel to the base plate 94 are close to the axle center of the axle tube 72, so that after each set of wires are sent out from one rotating shaft, the wires are guided by the pair of pulleys parallel to the base plate 94 and immediately enter the pair of pulleys perpendicular to the rollers, and the wires can be connected to tool petals at the far end of the axle tube along the extending direction of the axle tube without interference. The fourth drive shaft 92d is also arranged parallel to the shaft tube 72 and its end facing away from the shaft tube 72 is also rotatably connected to the base plate 94 by means of a bearing. The process of driving the shaft tube 72 to rotate by the fourth driving shaft 92d is identical to that described above, and will not be repeated.
The base plate 94 is provided with a turntable 54 concentric with the first rotation shaft 93a, the second rotation shaft 93b, the third rotation shaft 93c and the fourth rotation shaft 92d on a side surface facing away from the shaft tube 72, and an eccentric protruding point 54a is provided on a side of each turntable 54 facing away from the shaft tube 72. The driving part II is internally provided with a plurality of motors, the output ends of the motors are mutually embedded and tightly connected with the turntable 54 and the salient points 54a on the turntable 54 through a rotating device, the turntable 54 is matched with the motor in a transmission way, the turntable 54 can be driven to rotate by the motor to drive each transmission shaft to rotate, and at the moment, the first rotating shaft 93a, the second rotating shaft 93b, the third rotating shaft 93c and the fourth transmission shaft 92d are respectively driven by corresponding motors in the driving part II.
The first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c and the fourth transmission shaft 92d are respectively driven by one motor in the driving part II, or the first rotation shaft 93a, the second rotation shaft 93b, the third rotation shaft 93c and the fourth transmission shaft 92d are respectively driven by corresponding motors in the driving part II, and the four motors are in signal connection with the circuit main board 39 and the secondary circuit board 33, as a preferable scheme, the driving part II is detachably connected with the universal steering mechanism VIII, one end of the driving part II, which is mutually connected with the universal steering mechanism VIII, is provided with signal input and output terminals which are mutually spliced, and the signal input terminals are in signal connection with the circuit main board 39 and the secondary circuit board 33.
The circuit board 39 and the signal input/output terminals are in signal connection with the 3d rocker element 30. In the prior art CN107104016B and CN205621645U, two 3d rocker elements 30 are disclosed, two varistors are disposed in the housing of the 3d rocker element 30, the rockers are connected with an upper rocker and a lower rocker which are orthogonal to each other in the housing, and the rotation actions of the upper rocker and the lower rocker respectively enable the two varistors to generate corresponding signals, and output from the output terminal. One variable resistor is used for converting the rotation angle of the driving part relative to the center of the universal steering mechanism around the horizontal axis perpendicular to the shaft tube into an electric signal, synchronously controlling the first transmission shaft 92a and the second transmission shaft 92b to rotate clockwise or anticlockwise, and the other variable resistor is used for converting the rotation angle of the driving part relative to the center of the universal steering mechanism around the vertical axis perpendicular to the shaft tube into an electric signal, controlling the third transmission shaft 92c to rotate, wherein the vertical axis is parallel to the pin shaft II 31b, and the horizontal axis is parallel to the pin shaft I31 a.
The 3d rocker component 30 has a rocker 30a and a signal generating module 30b, wherein a first end 30c of the rocker 30a penetrates through an upper rocker arm and a lower rocker arm in the signal generating module 30b, the rotation of the upper rocker arm and the lower rocker arm causes two variable resistors in the signal generating module 30b to generate signals with corresponding magnitudes, the signals are output from an output terminal, the signals are transmitted to an MCU to process the signals corresponding to the direction and the angle of a second end 30d of the rocker 30a relative to the first end 30c for controlling the motors 34 and 38 to rotate in the same direction or in opposite directions, and the number of turns of the motors 34 and 38 are controlled according to the magnitude of the signals, so that the direction and the angle of deflection of a front end executing device VII relative to a shaft tube 72 are opposite to the direction and the angle of deflection of the signal generating module 30b relative to the rocker 30a, and the 3d rocker component 30 is mounted in a universal steering mechanism VIII, as shown in FIG. 8, and as one embodiment of the universal steering mechanism VIII comprises: the outer spherical shell formed by the outer lower hemisphere 23 and the outer upper hemisphere 22, and the inner spherical shell formed by the inner upper hemisphere 21 and the inner lower hemisphere 24 are provided with openings, the closed end of the inner spherical shell is connected with the proximal end of the driving part II into a whole, the signal generating module 30b of the 3d rocker component 30 is fixed in the cavity of the inner spherical shell through the fixing piece 29, the rocker 30a extends out of the opening of the inner spherical shell, one end of the handle I is provided with a concave cavity I-1 facing the driving part II, the sealed end of the outer spherical shell is fixed in the concave cavity I-1 through the connecting piece 26, the opening of the outer spherical shell faces the proximal end of the driving part II, the inner spherical shell is embedded in the outer spherical shell to form a spherical hinge structure, the outer spherical shell can freely rotate, the sleeve 25 facing the opening is fixed in the outer spherical shell, and the second end 30d of the rocker 30a is inserted into the sleeve 25 in the outer spherical shell, so that when the handle I and the driving part II relatively rotate, the rocker 30a relatively rotates synchronously with the signal generating module 30 b.
The open edge of the outer spherical shell is further connected with the proximal end of the driving part II through at least three first springs 27, and the three first springs 27 are uniformly arranged around the axis of the driving part II, so that after an operator stops applying the biasing force to the handle I, the handle I and the driving part II can realize autonomous reset.
As another embodiment of the universal steering mechanism VIII shown in fig. 8, the universal steering mechanism VIII is mounted on the upper end side plane of the proximal end/handle I of the driving part II, and the universal steering mechanism VIII includes a base plate 102 connected with the upper end side plane of the proximal end/handle I of the driving part II, and two semicircular arc supports 100, 101 arranged in quadrature, and the arch parts of the two semicircular arc supports 100, 101 are each provided with a waist-shaped hole 103 in the middle, two ends of the waist-shaped hole 103 extend towards two ends of the semicircular arc supports 100, 101, two ends of the semicircular arc supports 100, 101 are respectively connected with journals, each journal passes through an annular end cover 105 of the horizontal bearing seat 104 and is connected with a rotary reset mechanism in the horizontal bearing seat 104, and the rotary reset mechanism is also connected with the inner side surface of the annular end cover 105, and is quite common, for example, a rotary reset mechanism is disclosed in CN215859481U, and the rotary reset mechanism is realized by torsion springs. Four horizontal bearing seats 104 and 3d rocker components 30 which are arranged in the middle are fixed on one side of the base plate 102 facing the semicircular arc supports 100 and 101, every two horizontal bearing seats are concentrically arranged to form a group, the axes of the two groups of horizontal bearing seats are mutually orthogonal, the signal generating module 30b of the 3d rocker components 30 is fixedly connected with the base plate 102, and the second end 30d of the rocker 30a of the 3d rocker components 30 passes through the waist-shaped holes 103 of the two semicircular arc supports 100 and 101 and is connected with the proximal end of the upper end side plane/driving part II of the handle I. When the handle I and the driving part II rotate relatively, the rocker 30a rotates synchronously relative to the signal generating module 30 b.
Specifically, as shown in fig. 7, a circuit board 39 is mounted in the driving section II, the motors 34 and 38 are electrically connected to the circuit board 39, and the board 39 is signal-connected to the signal generating module 30 b.
As shown in fig. 9a to 9c, as a further improvement, the driving part II is divided into a motor compartment 40 and a driving compartment 53 which are detachably connected, the driving compartment 53 is close to the shaft tube 72, a first driving shaft 92a, a second driving shaft 92b, a third driving shaft 92c, a fourth driving shaft 92d and components driven by the first driving shaft 92a, the second driving shaft 92b, the third driving shaft 92c and the fourth driving shaft 92d are installed in the motor compartment 40, and four motors, a circuit board 39 and a secondary circuit board 33 of the motor compartment 40 are installed in the motor compartment 40, and one end of the motor compartment 40, which is opposite to the driving compartment 53, is connected with the handle I through a universal steering mechanism VIII.
One rotary table 54 is concentrically fixed at one end of the first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c and the fourth transmission shaft 92d, which are opposite to the shaft tube 72, and an eccentric convex point 54a is arranged at one side of each rotary table 54, which is opposite to the shaft tube 72.
The end of the transmission bin 53 facing away from the shaft tube 72 and the end of the motor bin 40 facing away from the handle I are provided with a guide skirt 53a and a slot 40a which are matched with each other, a groove 53b is formed in the guide skirt 53a, the button 51 is arranged in the groove 53b, a second spring 52 is accommodated between the button 51 and the groove 53b, a convex block 51a is arranged at the middle of one side of the button 51 facing away from the groove 53b, a notch 40b capable of accommodating the convex block 51a is formed in the edge of the slot 40a, when the guide skirt 53a of the transmission bin 53 and the slot 40a of the motor bin 40 are oppositely inserted, the convex block 51a can slide into the notch 40b, right trapezoid convex ribs 51b parallel to the end face of the guide skirt 53a are arranged on two sides of the convex block 51a of the button 51, a slope face of the right trapezoid convex rib 51b faces away from one side of the shaft tube 72, and convex ribs 40c matched with the right trapezoid convex ribs 51b are arranged on two sides of a plane of the notch 40b facing the center of the motor bin 40, and are used for locking the transmission bin 53 by matching the second spring 52 after the button 51 is inserted into the slot 40a along with the guide skirt 53 a. After the button 51 is pressed, the second spring 52 is compressed, the button 51 is separated from the inner side surface of the slot 40a, and the transmission bin 53 can be pulled out of the slot 40a.
Four motors are fixed in the motor bin 40 through the fixing plates 41 and the reinforcing plates 32, a shaft sleeve 42 is sleeved on an output shaft 46 of each motor, the shaft sleeve 42 is in interference fit with the output shaft 46 of the motor, a sleeve 44 is sleeved outside the shaft sleeve 42 and is in sliding connection with the shaft sleeve 42, a third spring 43 is further arranged between the sleeve 44 and the shaft sleeve 42, a waist-shaped hole 42a is formed in the sleeve 44, pin holes capable of being mutually aligned are formed in the sleeve 42 and the output shaft 46, a pin 50 is inserted into the waist-shaped hole 42a of the sleeve 44, the pin holes of the sleeve 42 and the output shaft 46, when the third spring 43 pushes the sleeve 44 to be far away from the shaft sleeve 42, the sleeve 44 is prevented from being separated from the shaft sleeve 42, the sleeve 44 can synchronously rotate along with the shaft sleeve 42, and a concave hole 44a matched with a convex point 54a of the turntable 54 is formed in one surface of the sleeve 44, which is opposite to the shaft sleeve 42.
Therefore, when the transmission bin 41 is inserted into the motor bin 40, the turntable 54 pushes the sleeve 44 to compress the third spring 43, the sleeve 44 slides relative to the shaft sleeve 42, after the rotating motor rotates the sleeve 44, the convex point 54a of the turntable 54 is inserted into the concave hole 44a of the sleeve 44, the third spring 43 pushes the surface of the sleeve 44 to be tightly adhered to the surface of the turntable 54, the turntable 54 is matched with the motor in transmission, and when the motor rotates again, the turntable 54 can be driven to drive the transmission shaft to rotate.
Further, a bar 42b is disposed on one side of the shaft sleeve 42 near the motor, and a photoelectric sensor 37 for monitoring the bar is disposed in the slot 40a of the motor compartment 40 for "changing" the initial position of the motor output shaft 46.
As shown in fig. 1, 10 and 7, a rotatable operating handle V is mounted on a handle I, a neck portion at an upper end of the operating handle V passes through a circular hole in the handle and is rotatably connected with the handle I, a cylindrical guide groove 8 extending along an axial direction is formed in the operating handle V, lateral holes extending along the axial direction are symmetrically formed at a lower end of the operating handle V, one ends of a pair of symmetrical rocking handles 3 and 4 extend into the lateral holes and are rotatably connected with a lower end of the operating handle V, a pushing barrel 6 is accommodated at a lower portion of the guide groove and can slide along the guide groove, a cylindrical rod 7 is accommodated at an upper portion of the guide groove, lower ends of the pushing barrel 6 are rotatably connected with a pair of rocking handles 3 and 4 through a connecting rod 5 respectively, a cylindrical cavity is formed at an upper end of the pushing barrel 6 and can accommodate the cylindrical rod 7, mutually-anastomotic spiral grooves 8 are formed in an outer periphery of the cylindrical rod 7 and an inner periphery of the cylindrical cavity, balls 8g are arranged in the spiral grooves 8 between the cylindrical rod 7 and the cylindrical cavity, a radially protruding structure 8b can be arranged at an inner periphery of an upper end of the guide groove, and the circular rod 7 is embedded into a circumferential groove at an upper end of the cylindrical rod 7, and the cylindrical rod is restrained to slide axially in the guide groove, and the cylindrical rod 7 is allowed to rotate along the axial direction in the guide groove 7. Therefore, when the finger presses the pair of rockers 3,4, the push cylinder 6 is pushed to slide upwards along the guide groove, and when the push cylinder 6 slides upwards along the cylindrical rod 7, the cylindrical rod 7 is driven to rotate by the ball 8 e. When the pair of rockers 3,4 are opened, the push cylinder 6 is pulled back in the axial direction, the push cylinder 6 slides down the cylindrical rod 7, and the cylindrical rod 7 is driven to rotate by the balls 8 e.
The upper end of the cylindrical rod 7 passes through the neck part of the upper end of the operating handle V and is coaxially connected with a potentiometer I9 fixed relative to the handle in the handle I through a coupler I14, and the potentiometer is a resistance element with linearly adjustable resistance. The potentiometer is composed of a resistor body and an electric brush which can move relatively. When the brush moves along the resistor, a resistance value or voltage which has a certain relation with the displacement is obtained at the output end. Rotation of the cylindrical rod 7 changes the voltage output from the potentiometer one 9 to the secondary circuit board 33. The sub-circuit board 33 outputs a signal to the motor for synchronously controlling the reverse rotation of the first drive shaft 92a and the second drive shaft 92b, thereby opening or closing the front-end effector VII.
Further, the neck of the upper end of the operating handle V is coaxially connected with the driving gear 10 in the handle I, the driven gear 11 meshed with the driving gear 10 is installed in the handle I, the driven gear 11 is coaxially connected with the potentiometer II 13 through the coupler II 12, the driving gear 10 enables the operating handle to be incapable of moving relative to the handle along the axial direction of the operating handle due to the fact that the driving gear 10 is larger than the diameter of a round hole in the handle, and the potentiometer I enables the cylindrical rod to be incapable of moving relative to the handle along the axial direction of the operating handle, the cylindrical rod 7 and the operating handle are limited to slide in the guide groove along the axial direction, and the cylindrical rod 7 is allowed to rotate in the guide groove and the operating handle is allowed to rotate. The finger operates the operating handle V to rotate axially to drive the driving gear 10 to rotate synchronously, and simultaneously the gear 10 drives the driven gear 11 to rotate, so that the potentiometer two 13 outputs a voltage signal to the secondary circuit board 33, and the secondary circuit board 33 outputs a signal to the motor to control the fourth transmission shaft 92d to rotate, so that the shaft tube 72 rotates by a certain angle.
When the drive section II and the universal steering mechanism VIII are designed to be detachably connected, the first potentiometer 9 and the second potentiometer 13 can be signal-connected with the sub-circuit board 33 through the signal input/output terminals. When the drive section II is designed as a detachably connected motor compartment 40 and transmission compartment 53, the potentiometer one 9, the potentiometer two 13 and the secondary circuit board 33 are directly connected by wire signals.
Further, as shown in fig. 10 to 11, in order to precisely control the rotation angle of the shaft tube 72, a sliding block 16 is further installed in the handle I, the sliding block 16 can be along a sliding groove 16b formed on the handle I, far away from or near the button gear 15, a protruding flap 16a is disposed on one side of the sliding block 16 facing the button gear 15, on the sliding path of the sliding block 16, a button gear 15 engaged with the driving gear 10 is installed between the sliding block 16 and the driving gear 10, a semi-cylindrical boss 15a is disposed on one side of the button gear 15 facing away from the operating handle V, a protruding fin 15b is disposed on a side cambered surface of the semi-cylindrical boss 15a and is directed toward the central axis of the driving gear 10, when the sliding block 16 is pushed forward to be close to the semi-cylindrical boss 15a, the straight prismatic surface 15d of the semi-cylindrical boss 15a is limited, the left-right rotation of the semi-cylindrical boss 15a is not more than ±90°, and when the sliding block 16 is pushed backward to be far away from the semi-cylindrical boss 15a, the fin 15b of the semi-cylindrical boss 15a is limited to be left-right rotation of the semi-cylindrical boss 15a is not more than ±180°, and the two rotation ranges of ±180° of the axial rotation of the operating handle V and the rotation range of ±180°.
Furthermore, in order to enable the operating handle V to rotate axially and reset automatically after being loosened, a pin 15c is further arranged on one surface of the semi-cylindrical boss 15a facing away from the operating handle V, the pin 15c is eccentrically arranged on a connecting line between the fin 16a and the central shaft of the semi-cylindrical boss 15a, a reset rod 19 is arranged between one side of the semi-cylindrical boss 15a facing away from the operating handle V and the handle I shell, the reset rod 19 is provided with a pair of deflector rods facing one side of the semi-cylindrical boss 15a, the pair of deflector rods are respectively positioned on two sides of the pin 15c, two ends of the reset rod 19 are respectively connected with the inner side of the handle I through four springs 18, the four springs 18 are arranged parallel to the sliding groove 16b, if the four springs 18 are arranged, the four springs 18 suspend the reset rod 19 in parallel above the semi-cylindrical boss, when the semi-cylindrical boss rotates along with the button gear 15, the pin pushes one side deflector rod 19 to deflect, stretches and compresses the four springs 18, after the operating handle V is loosened by hand, the four springs 18 reset the reset rod 19, and then pushes the eccentric pin to rotate the button gear 15.
Preferably, the four springs 18 are only two, and a pair of auxiliary deflector rods 19b symmetrical to the deflector rods are arranged on one side of the reset rod 19 facing away from the semicircular boss 15a, the pair of auxiliary deflector rods 19b are respectively embedded into a limiting groove 20a in the handle I and can slide along the limiting groove 20a, when the semicircular boss 15a rotates along with the button gear 15, the pin 15c pushes one deflector rod to enable the reset rod 19 to slide and deflect along the limiting groove 20a, the four springs 18 are stretched and compressed, and when the operating handle V is loosened by hand, the four springs 18 enable the reset rod 19 to reset, and then the eccentric pin 15c is pushed to enable the button gear 15 to rotate and reset.
When the operating handle V does not rotate, the electric multi-degree-of-freedom flexible medical instrument of the invention rotates relative to the driving part II through the handle I, so that the 3d rocker 30 generates four signals corresponding to the upper, lower, left and right directions, the front end actuator VII is controlled to deflect in the upper, lower, left and right directions, when the front end actuator VII and the joint VI keep straight, the clamping direction of the front end actuator VII can be adjusted by rotating the operating handle V and driving the shaft tube to axially rotate, and the invention also controls the front end actuator VII to complete the opening and closing actions by operating the rocking handles 3 and 4 on the operating handle V.