Flexible minimally invasive surgery instrument based on natural orifice

Abstract

The invention discloses a flexible minimally invasive surgery instrument based on a natural orifice. The flexible minimally invasive surgery instrument comprises an operation handle, a wrist driving device, a connecting catheter, a flexible wrist part and a tail end executing device. The flexible minimally invasive surgery instrument can be integrally applied to minimally invasive surgery in the fields of abdominal cavity, thoracic cavity, urination, gynecology and the like. In the surgery implementation process, the minimally invasive surgery intelligent instrument passes through a trocar hole formed in the body surface of a patient, and a doctor holds the instrument by hand, and puts the instrument into the body to implement the surgery operation; the instrument is held by the doctor by hand; all operations, including the instrument tail end opening and closing movement, of an ordinary minimally invasive surgery instrument can be realized; meanwhile, the three-freedom-degree movement (the pitching movement, the swinging movement and the auto-rotation movement) of the tail end of the instrument can also be realized through controlling the operation handle and the wrist driving device. The space multi-freedom-degree surgery actions can be output by the instrument, the action is flexible, and the operation force is great; the instrument is more suitable for minimally invasive surgery with complicated actions.

Description

Technical field [0001] The invention relates to a minimally invasive surgical medical equipment, in particular to a minimally invasive surgical instrument based on a natural cavity. Background technique [0002] In the process of minimally invasive surgery, doctors use slender minimally invasive surgical instruments to perform surgical tasks. One end of the surgical instrument is held by the doctor, and the other end is inserted into the body through a tiny incision on the surface of the human body for surgical operations. Therefore, the surgical instrument is the only part that contacts the diseased tissue of the human body and is the only tool for directly performing surgical actions. In the implementation of surgery, because the movement of the end of the surgical instrument has a special mapping relationship with the movement of the handheld part of the instrument, in order to meet the action requirements of different surgical tasks (clamping, suture, knotting, etc.), doctors...

AI Technical Summary

Problems solved by technology

During the operation, since the movement of the end of the surgical instrument and the movement of the hand-held part of the instrument have a special mapping relationship, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting, etc.), the doctor needs to hold the surgical instrument in a wide range. Movement reduces the flexibility of the end of the instrument to perform surgical actions. At the same time, long-term and large-scale operations make doctors prone to fatigue, which virtually increases the difficulty of surgery.

Limited by the size limit of natural orifice surgical instruments, the main problems of existing products are that the number of degrees of freedom at the end of the instrument is small, and the working space is small, resulting in inflexible operation, difficulty in completing complex operations during surgery, and insufficient operating force. Difficulty achieving wound closure

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