Surgical device with flexible bending and locking in multiple directions
A surgical device and multi-directional technology, applied in the field of multi-directional flexible bending and locking surgical devices, can solve the problems of high price and complex structure, and achieve the effect of convenient operation, reduced operation difficulty and reduced surgical risk
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Embodiment 1
[0035] The surgical device of this embodiment is as figure 1 , figure 2 and image 3 As shown, it includes a casing, a driving device, a supporting structure, a front end effector and a gripping part, wherein the casing includes a first ball seat 11 , a circular notch 12 , a rod casing 13 and a wrist sealing soft cover 14 . The driving device includes a first ball head 21 , a second ball seat 22 , a joint seat 23 , a direction control member 25 , a transmission cable 26 and a cable fixing member 27 . The supporting structure includes a spherical member 31 , a supporting spring 32 , a first supporting rod 33 , a first supporting frame 34 , a second ball head 36 , a second supporting rod 37 , a second supporting frame 38 and a funnel-shaped hole 39 . The front-end actuator includes a mounting base 41 , a return spring 42 , a transmission rod 43 , a pincer head rotating shaft 44 , and a pincer head 45 .
[0036] The grip part includes a handle 51 , an arc ring 52 , a trigger ...
Embodiment 2
[0064] This example Figure 9 and Figure 10 As shown, it is an improvement to the first ball-and-socket support in Embodiment 1, and the improvement is that the first support ball is changed to a cross universal joint 35 . The center of the first ball and socket section does not have a smooth depression, but is connected with the cross cardan.
[0065] The two mutually perpendicular rotating forks of the cross universal joint are connected through a cross shaft, and can swing in any direction around the center of the cross shaft at the same time. The cross universal joint can provide flexible support for the first ball socket, and it will also restrict the first ball socket from rotating around the support rod as the axis, and will not cause the transmission cables to twist each other due to rotation, so it does not need to be used on the support plate Set limit tube or limit hole.
[0066] In one embodiment, the Oldham joint is replaced by a ball joint. In another embodi...
Embodiment 3
[0068] In this implementation, it is a further improvement on the basis of Embodiment 1, such as Figure 11 and Figure 12 As shown, the driving device is also locked by friction, and a smooth and frictionless first ball-and-socket joint is formed between the first ball-socket and the shell of the equipment. A support ball forms the frictional third ball and socket joint. Friction Lock is a high coefficient of friction friction material installed in the third ball and socket joint. The friction material can be fixed on the inner surface of the first ball socket or the outer surface of the first support ball, or both.
[0069] There is a fixedly connected through hole post in the center of the first ball socket, and the push rod of the direction control member passes through the first ball socket and the through hole post to contact with the first supporting ball. There are balls on the top of the push rod of the direction control member, which can roll in any direction with...
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