Snakelike surgical instrument

A surgical instrument, snake-shaped technology, applied in the field of medical devices, can solve the problems of complex control of snake-shaped surgical instruments

Active Publication Date: 2018-04-20
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Based on this, it is necessary to provide a snake-shaped surgical instrument with simple control to solve the problem of complicated control of snake-shaped surgical instruments.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] like figure 1 As shown, the serpentine surgical instrument includes a manipulation structure 1 , a hand-held structure 2 , a connection structure 3 , an end instrument 4 and a transmission device 5 . The manipulation structure 1 is installed on one end of the hand-held structure 2 . One end of the connection structure 3 is connected to the hand-held structure 2, and the other end is connected to the terminal instrument 4, and the transmission device 5 is configured to make the terminal instrument 4 swing in the same direction under the drive of the control structure 1, that is, the control structure 1 is controlled by the transmission device 5 Movement of the end instrument 4 . The free end of the manipulation structure 1 extends in the same direction as the free end of the terminal instrument 4 . Wherein, both the handheld structure 2 and the connecting structure 3 have cavity structures inside. The transmission device 5 can be arranged in the above-mentioned cavity...

Embodiment 2

[0064] The type of end effector is not limited. When the end effector is an instrument with relative rotation, such as scissors, electric hooks, and clamps, the end instrument 4 of the hand-held serpentine device needs to have opening and closing degrees of freedom in addition to two rotational degrees of freedom.

[0065] like Figure 8 , Figure 13 and Figure 14 As shown, the end instrument 4 has two tool flap structures, namely a left tool flap 42 and a right tool flap 43 . Both the left tool flap 42 and the right tool flap 43 are rotatably connected to the tool support seat 41 . For example, the tool support seat 41 has a radial shaft hole structure, one end of the opening and closing flap 42 on the left side is rotationally connected with the tool support seat 41 through the radial shaft hole structure, and the other end is a free end. One end of the opening and closing flap 43 on the right side is rotationally connected with the tool support seat 41 through a radial...

Embodiment 3

[0085] like Figure 20-21 In the illustrated embodiment, a rotational connection can also be realized between the gripping structure 10 in the manipulation structure 1 and the first serpentine base 13, so that the gripping structure 10 has the ability to rotate (rotate) around the axis of the gripping structure 10. Rotational degree of freedom R3'. Correspondingly, the tool support base 41 can rotate relative to the serpentine structure 40 , and the tool support base 41 has a rotational degree of freedom R3 of rotating around the axis of the tool support base 41 (autorotation) relative to the serpentine structure 40 .

[0086] The transmission device 5 also includes a second flexible structure (not shown), one end of the second flexible structure is connected to the gripping structure 10 , and the other end is connected to the tool support seat 41 in the terminal instrument 4 . The gripping structure 10 drives the second flexible structure to rotate, and then drives the tool ...

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PUM

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Abstract

The invention relates to a snakelike surgical instrument which comprises a handheld structure, a control structure, a tail end instrument and a transmission device. The control structure comprises a snakelike joint which is installed on the handheld structure and has at least one swinging freedom degree. The tail end instrument is connected with the handheld structure through a connecting structure, and comprises a tool supporting base and a snakelike structure connected with the tool supporting base, the snakelike structure has a swinging freedom degree in the same direction as the snakelikejoint, and the transmission device comprises a flexible transmission structure connected with the snakelike joint and the snakelike structure. By means of the mechanical transmission structure, the movement of a handheld end can be directly transmitted to the tail end instrument, complicated force feedback control is avoided, and control is simple.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a serpentine surgical instrument. Background technique [0002] In the process of minimally invasive surgery, especially laparoscopic or endoscopic surgery, due to the small incision, in order to achieve better therapeutic effect and reduce damage to other tissues during the operation, surgical instruments with serpentine joints are often used. In order to avoid other organs during the operation. [0003] The surgical instrument's serpentine joints mimic the movement of the human hand, rotating along three orthogonal axes. For example, Chinese patent application CN106963494A provides a serpentine joint for a surgical robot, a surgical instrument and an endoscope, and the serpentine joint has rotational freedom through joint joints and flexible structures. [0004] Rotational motion of the serpentine joint of the surgical instrument is typically provided using a roll...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/00A61B1/005
CPCA61B1/0055A61B1/0057A61B1/008A61B17/00234A61B34/30A61B34/70A61B2017/00238A61B2034/302
Inventor 高国伟袁帅蒋友坤何超何裕源
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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