Mechanism for controlling deflection of snakelike joint and multi-degree-of-freedom flexible instrument applied by mechanism

Abstract

The invention discloses a mechanism for controlling deflection of a snakelike joint and a multi-degree-of-freedom flexible instrument applying the same. The mechanism comprises a handle, a main frame, a fixed support, a shaft tube, the snakelike joint and an execution tool. A connecting rod sliding block mechanism and a flexible transmission rod (a steel wire bundle) are arranged in the handle to control opening and closing of the execution tool. A multi-degree-of-freedom rotating shaft is arranged in the main frame and comprises two rotating shafts for controlling the snakelike joint to deflect in the horizontal direction and the vertical direction, and a joint locking mechanism is further arranged on the main frame and can lock the execution tool at any angle relative to the shaft tube and unlock the execution tool at any time. A pulley mechanism is arranged in the fixing support to bear the silk threads. The far end of the silk thread is fixed to the execution tool and penetrates through the snakelike joint and the shaft tube to be fixed to a wire spool of the multi-degree-of-freedom rotating shaft. Deflection in the horizontal direction and the vertical direction of the handle can be transmitted to the snakelike joint through the multi-degree-of-freedom rotating shaft, so that horizontal and vertical two-degree-of-freedom movement of the execution tool is achieved.

Description

technical field [0001] The invention relates to the technical field of surgical instruments, in particular to a mechanism for controlling the deflection of serpentine joints and a multi-degree-of-freedom flexible instrument for its application. Background technique [0002] During minimally invasive surgery, the surgeon makes 2 to 4 small incisions of 5 to 10 mm on the patient's body surface, inserts the required surgical instruments into the abdominal cavity through the tiny incisions on the patient's body surface, and cuts the lesion tissues and organs , Clamping and other surgical operations, this operation mode makes the surgical instrument can only move in the narrow inverted awl-shaped working space with the incision as the apex. The current minimally invasive surgical instruments are mainly manual-controlled straight-rod instruments. The end effectors of the instruments only have the degree of freedom to open and close, and have no joint deflection function. The flexi...

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Problems solved by technology

[0003] For example, patents CN215534654U, CN215651296U, and CN215534655U have the following deficiencies: 1. When the swing joint is driven by the grab handle to swing left and right to pull the silk thread, because the lever arm is relatively small, the drive end It is more laborious when the actuator swings left and right; 2. The spherical crown surface on the swing joint can only lock the swing joint when its round hole is aligned with the insertion rod in the gun shell, so the end effector can only be locked when it is in contact with the shaft. The position of the tube can be locked when it is in the same straight line, but the position of the end effector cannot be locked after it is deflected at a certain angle relative to the shaft tube. As a result, the telescopic displacement of the flexible transmission rod will change the offset angle of the end effector relative to the shaft tube. After the end effector rotates, the surgical instrument drives the flexible transmission rod to grasp, cut, suture and other actions on the tissue, which will cause the tissue to be torn by the end effector

[0005] At present, the mechanism published by CN113100857A to drive the deflection of the serpentine joint through the winding shaft and the wire can only drive the deflection of the serpentine joint to one degree of freedom. The deflection of the degree of freedom requires four winding axes, but how to convert one movement of one hand at a time into two movements of four winding axes is difficult to design, and there is currently no reference plan

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