S-shaped surgical instrument

A surgical instrument, serpentine technology, applied in the field of medical equipment, can solve the problem of complex control of serpentine surgical instruments

Active Publication Date: 2019-04-05
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] 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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  • S-shaped surgical instrument
  • S-shaped surgical instrument
  • S-shaped surgical instrument

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] Such as figure 1 As shown, the serpentine surgical instrument includes a control structure 1, a hand-held structure 2, a connecting structure 3, a terminal instrument 4 and a transmission device 5 (such as Figure 10 shown). The manipulation structure 1 is mounted on the proximal end of the hand-held structure 2 . The proximal end of the connecting structure 3 is connected with the hand-held structure 2 , and the distal end is connected with the terminal instrument 4 . The control structure 1 controls the movement of the end device 4 through the transmission device 5 . The free end of the manipulation structure 1 faces the same direction as the free end of the terminal device 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 structure. However, the transmission device 5 can also be positioned externally on the handle structure 2 and the con...

Embodiment 2

[0069] The type of end effector is not limited. When the end effector is an instrument with a relatively rotating structure, such as scissors and clamps, the end instrument 4 with a serpentine structure needs to have opening and closing degrees of freedom in addition to two rotational degrees of freedom.

[0070] For this, as Figure 8 , Figure 13 to Figure 16 In the preferred embodiment shown, the end effector has two tool petal configurations, namely a left tool petal 42 and a right tool petal 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 left tool petal 42 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 right tool petal 43 is rotationally connected with the tool support seat 41 through a radial shaft hole structure, and th...

Embodiment 3

[0092] Such as Figure 21-22 In the shown embodiment, the holding structure 10 and the inner frame 14 in the manipulation structure 1 can also be rotatably connected, so that the holding structure 10 has a rotational degree of freedom R3' to rotate around its own axis. Correspondingly, the tool support seat 41 in the end instrument 4 can rotate relative to the serpentine structure 40, and has a rotational degree of freedom R3 around its own axis. The transmission device also includes a second flexible structure, the rotation of the gripping structure 10 drives the second flexible structure to rotate, and then drives the tool support seat 41 in the end instrument 4 and the end effector to rotate. In this way, the end instrument 4 realizes the self-rotation of the end effector through the rotation of the tool support seat 41 without the overall structure rotating, which brings convenient operation effect to the operation.

[0093] Among them, the second flexible structure is ma...

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PUM

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Abstract

The invention relates to an S-shaped surgical instrument. The S-shaped surgical instrument comprises a handheld structure, a control structure, a tail end instrument and a transmission device, whereinthe control structure comprises an outer frame which is hinged to the handheld structure and enables the control structure to have a rotational degree of freedom around a first axis, and an inner frame which is hinged to the outer frame and enables the control structure to have a rotational degree of freedom around a second axis; the first axis and the second axis are arranged at an angle; the tail end instrument is connected with the handheld structure through a connection structure, and comprises a tool supporting seat and an S-shaped structure connected with the tool supporting seat; the S-shaped structure has a motion degree of freedom in the same direction as the control structure; the transmission device comprises a flexible transmission structure for connecting the inner frame andthe S-shaped structure. The surgical instrument adopts a mechanical transmission manner, and the motion of a handheld end can be transmitted to the tail end instrument directly, so that complex forcefeedback control is avoided, and control is easy.

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 wound, in order to achieve better therapeutic effect and reduce the damage to other tissues during the operation, surgical instruments with serpentine structure are often used. In order to avoid other organs during the operation. [0003] The serpentine structure of the surgical instrument mimics the movement of the human hand, rotating along three orthogonal axes. For example, Chinese patent application CN106963494A provides a serpentine structure for a surgical robot, a surgical instrument and an endoscope, and the serpentine structure has rotational freedom through joint joints and flexible structures. [0004] Rotational motion of the serpentine structure of the surgical instrument is typica...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/00
CPCA61B17/00234A61B2017/00318A61B2017/00305A61B2017/0042A61B2017/00314A61B2017/00424A61B2017/00438A61B17/2909A61B17/29A61B2017/291A61B2017/00327A61B2017/00477A61B2017/00862A61B2017/2903A61B2017/2908A61B2017/2912A61B2017/2939
Inventor 袁帅蒋友坤何超何裕源
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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