Flexible mechanical arm

Abstract

The invention discloses a flexible mechanical arm which can be mainly applied to a digestive endoscopic surgery. A matching boss (402), a matching groove (403) and other slopes are formed on two opposite end faces of each joint of the mechanical arm, the matching boss (402) and the matching groove (403) extend in the orthogonal radial direction, and the slopes incline towards the other end faces, so that the joints get close to each other in the axial direction, are buckled together and swing relatively along the matching boss. The transmission case (600) and the driving unit on the control side are used for driving the four driving ropes (104) penetrating through the threading hole (401) to assist the mechanical arm to bend and swing in at least two directions, the driving ropes (206) can be linearly and rotationally driven, the clamping mechanism (100) at the tail end can be driven to do opening and closing movement and autorotation, and therefore the bending movement of the clamping mechanism can be more flexible and controllable.

Description

technical field [0001] The invention relates to a medical instrument, in particular to a flexible surgical instrument for natural cavity surgery. Background technique [0002] Traditional endoscopic mucosal dissection (ESD surgery) is performed by a gastroenterologist with the assistance of a digestive endoscope to complete the resection of diseased tissue. At present, most of the endoscopes used in the market are single-channel endoscopes, which have insufficient freedom and are difficult to operate. They can only meet the cutting of the lesioned mucosa, and cannot realize the lifting action during the cutting. Therefore, during the entire operation process High requirements for doctors' personal skills and experience increase the risk of surgical complications and operation time. Although there are digestive endoscopes with dual instrument channels on the market, the coaxiality of the two channels makes it inconvenient to lift and cut tissues, and also increases surgical ...

AI Technical Summary

Problems solved by technology

At present, most of the endoscopes on the market are endoscopes with a single instrument channel, which have insufficient freedom and are difficult to operate. They can only meet the cutting of the lesioned mucosa, and cannot realize the lifting action during the cutting. Therefore, during the entire operation process High requirements for doctors' personal skills and experience increase the risk of surgical complications and operation time

Although there are digestive endoscopes with dual instrument channels on the market, the coaxiality of the two channels makes it inconvenient to lift and cut tissues, which also leads to increased surgical complications

[0003] In the patent document CN113017838A, a flexible mechanical arm and surgical equipment are disclosed, which can basically meet the function of lifting the target mucosa. However, due to the use of two joint components to correspond to different swing directions, the joint part is too long and easy to operate. Affect the operation of the electrosurgical unit; a segment of the joint component located at the far end will also have the problem of insensitive manipulation

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