Endoscopic surgery instrument outer sheath based on soft continuum mechanism

Abstract

The invention discloses an endoscopic surgery instrument outer sheath based on a soft continuum mechanism, and belongs to the technical field of minimally invasive surgery instruments. The endoscopic surgery instrument outer sheath comprises a plurality of flexible units, each soft unit comprises a soft air with the high ratio of expansion and contraction, a rigid connecting piece, a steel wire soft shaft, a nickel-titanium wire, a disc, a surgical instrument channel, a pretightening force support, a pretightening force air cylinder and a fastening screw. Air pressure in the air bags is controlled to change the lengths of the air bags, and space bending of the units is achieved. Under any bent state, the pretightening force air cylinders apply pretightening force to the three nickel-titanium wires, the bending rigidity of the units is controlled, the effect of changing the rigidity is achieved, and the function of passive protection is achieved. The endoscopic surgery instrument outer sheath is used as an outer sheath unit of an endoscopic surgery instrument entering a human body, the outer sheath can be bent along with the cavity of the human body, the tissue of an inner wall is prevented from being oppressed, the rigidity is changed after the endoscopic surgery instrument outer sheath reaches the position of a disease, mechanical support is provided for the surgical instrument, the tissue can be prevented from being over-pressed to be hurt through the passive protection characteristic of the outer sheath when the surgical operation is carried out, and therefore the safety and effectiveness of surgery are improved.

Description

technical field [0001] The present invention relates to a technique for realizing the outer sheath unit of a surgical instrument in the field of minimally invasive medical instruments, in particular to a method for providing passages for endoscopic surgical instruments through the natural orifice to enter and leave the human body, improving the flexibility of minimally invasive endoscopic surgical instruments An endoscopic surgical instrument outer sheath unit with passive protection and variable stiffness characteristics based on a compliant continuum mechanism that ensures surgical safety. Background technique [0002] Endoscopic surgery through the natural orifice is a minimally invasive surgical treatment method for treating celiac diseases through the natural orifices such as the mouth, vagina, and colorectum without skin incisions using a soft endoscope as a treatment tool. Less contact with organs can reduce the trauma caused by traditional open surgery and laparoscop...

AI Technical Summary

Problems solved by technology

However, the structure of the device is complex, and it can only achieve bending in a two-dimensional plane, which has poor adaptability to the environment of the cavity. The locking device can only lock the shape and cannot achieve variable stiffness, let alone passive protection.

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