Flexible joint driving device and method for minimally invasive surgical instrument

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...

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.

The main problems of the 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, difficult to complete complex operations in the operation, and insufficient operating force to achieve wound closure.

Images