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Active stone micro-gripper

An active and grasper technology, applied in the field of medical devices, can solve problems such as difficulty in stone grasping and SMA processing

Active Publication Date: 2013-03-20
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the softness of SMA wire, it is also difficult to process SMA with a specific shape, so it is also difficult to grasp stones only by SMA

Method used

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Experimental program
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Embodiment Construction

[0026] The idea, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the present invention.

[0027] Such as figure 1 As shown, the micro-grabber of the present invention includes four flexible grasping fingers 6, four rotary shape memory alloy wires 2, finger fixing discs 4, alloy wire flexible fixing hoses 3, eight alloy wire fixing seats 7, endoscope1. Among them, the four flexible grasping fingers 6 are evenly arranged and glued and fixed on the finger fixing disk 4 , the finger fixing disk is ring-shaped, and is glued and connected with the alloy wire flexible fixing hose 3 . The flexible grasping fingers 6, the finger fixing disk 4 and the alloy wire flexible fixing hose 3 are all provided with through holes from top to bottom. The rotary shape memory alloy wire 2 passes through the through hole, and the two ends of...

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PUM

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Abstract

The invention discloses an active stone micro-gripper, which comprises four flexible fingers, four rotary shape memory alloy wires, a finger fixed tray, an endoscope, an alloy wire flexible fixed hose and eight alloy wire fixed seats, wherein the flexible fingers are evenly and circumferentially arranged on the finger fixed tray; the finger fixed tray and the alloy wire flexible fixed hose are connected in the manner of bonding; the flexible fingers, the finger fixed tray and the fixed hose are respectively provided with through holes from top to bottom; and each shape memory alloy wire is a driving source and can be used for driving the flexible fingers to be bent and closed and opened, and therefore, a gripping action is realized. According to the active stone micro-gripper disclosed by the invention, not only is the active driving characteristic of shape memory alloy fully utilized but also the characteristic of canal stone, especially choledocholithiasis,is fully considered. Compared with a passive gripper (stone basket), the gripping efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of medical equipment. The invention relates to an active micro-grabber, in particular to a micro-grabber which is applied to gallstone grasping and uses a shape memory alloy as a driving source. Background technique [0002] Gallstone surgery is by far one of the most effective ways to cure gallstone disease. The most advanced gallstone grabber in medicine is the stone retrieval basket produced by Endo-Flex, which plays an irreplaceable role in gallstone grabbing, especially common bile duct stone surgery. However, the stone extraction basket is passive, and it requires the doctor to continuously rotate and adjust the orientation of the stone extraction basket during the common bile duct stone capture process to achieve stone capture. Although the specific orientation of the stone can be seen through the conventional mirror, the stone grabbing is very inefficient due to the passive and soft nature of the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/22
Inventor 殷跃红张健军朱剑英
Owner SHANGHAI JIAO TONG UNIV
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