Flexible joint driving device and method for minimally invasive surgical instrument

A technology of minimally invasive surgery and flexible joints, which is applied in the field of minimally invasive surgical medical equipment, can solve problems such as inflexible operation, difficult operation, and insufficient operating force, and achieve simple and reliable methods, flexible and precise movements, and large operating force. Effect

Active Publication Date: 2016-11-09
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Flexible joint driving device and method for minimally invasive surgical instrument
  • Flexible joint driving device and method for minimally invasive surgical instrument
  • Flexible joint driving device and method for minimally invasive surgical instrument

Examples

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Example Embodiment

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] Such as figure 1 , 2 The drive device for a flexible joint for minimally invasive surgical instruments of the present invention shown in Figure 3 includes a wrist drive device 200. The wrist drive device 200 includes a drive hose 201 at the front end of the drive hose 201 A tapered core 202 is fixedly installed, a connecting housing 203 is fixedly installed on the tapered core 202, the connecting housing 203 is used to fix the connecting pipe 300, and the rear end of the driving hose 201 is fixedly installed for installation And a tensioning device for tensioning the driving steel wire 207, the tensioning device includes a tensioning baffle 204 fixed on the driving hose 201, and a tensioning frame 205 is fixed at the rear end of the tensioning baffle 204, A plurality of sliding grooves are uniformly opened on the circumferential side wal...

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Abstract

The invention discloses a flexible joint driving device and method for a minimally invasive surgical instrument. The method includes that under action of a rotating force, a driving hose is bent downward, upward, leftward or rightward by an input angle, a tension device moves along with bending of the driving hose, a tension block pulls a driving steel wire to move, central axis of the driving hose is unchanged, the driving steel wire pulls a joint piece of a tail-end flexible wrist to rotate upward, downward, rightward or leftward around a joint ball respectively, the flexible wrist is bent upward, downward, rightward or leftward by an output angle, and a ratio of the input angle to the output angle is that of radius of the flexible wrist to that of the driving hose. The flexible joint driving device can output surgical operation with spatial multiple degree-of-freedom, is flexible and accurate in action, easy to operate, large in operation force and more suitable for minimally invasive surgery complex in action.

Description

technical field [0001] The invention relates to a minimally invasive surgery medical device, in particular to a driving device for a flexible joint used in a minimally invasive surgical instrument. Background technique [0002] During minimally invasive surgery, doctors perform surgical tasks with the help of slender minimally invasive surgical instruments. 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 is in contact with the diseased tissue of the human body, and it is also the only tool that directly performs surgical actions. 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 (clampin...

Claims

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Application Information

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IPC IPC(8): A61B17/00
CPCA61B17/00234A61B2017/00305
Inventor 王树新张国凯
Owner TIANJIN UNIV
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