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Flexible endoscope minimally invasive surgery instrument arm

A minimally invasive surgery and instrument arm technology, applied in the field of medical equipment, can solve problems such as poor operational flexibility and lack of freedom, and achieve the effects of reasonable layout, miniaturization, and compact structure

Pending Publication Date: 2022-07-15
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Based on the problems that the existing flexible endoscopic minimally invasive surgical instrument arms generally lack degrees of freedom and poor operational flexibility, the present invention provides a flexible endoscopic minimally invasive surgical instrument arm with a front-end actuator that can rotate by itself

Method used

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  • Flexible endoscope minimally invasive surgery instrument arm
  • Flexible endoscope minimally invasive surgery instrument arm
  • Flexible endoscope minimally invasive surgery instrument arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Example 1: as figure 1 As shown, a flexible endoscopic minimally invasive surgical instrument arm includes a front-end execution device 1, a continuum sleeve 2, a flexible wire shaft 3 and a flexible wire shaft drive device 6; wherein:

[0038] like Figures 1 to 3 As shown, the front-end actuator 1 is connected to one end of the flexible wire shaft 3, and the other end of the flexible wire shaft 3 passes through the continuum casing 2 and is connected to the flexible wire shaft driving device 6, and the flexible wire shaft driving device 6 6 It can drive the flexible wire shaft 3 to rotate, and drive the front-end actuator 1 to rotate around its own axis.

[0039] In this embodiment, by arranging a flexible wire shaft 3 connected to the front-end actuator 1 inside the continuous casing 2 , the flexible wire shaft 3 can drive the front-end actuator 1 under the driving of the flexible wire shaft driving device 6 . The 360° rotation around the axis makes the front-end a...

Embodiment 2

[0045] Example 2: as Figures 1 to 3 As shown, in order to avoid axial play when the front-end actuator 1 rotates around the axis, the present invention continues to improve as follows on the basis of Embodiment 1:

[0046] like image 3 As shown, an annular raised portion 15 is provided at one end of the front-end actuator 1 close to the continuum sleeve 2; the continuum sleeve 2 is provided with an annular groove corresponding to the annular raised portion 15, The front-end actuator 1 is installed in clearance fit with the annular groove provided in the continuum casing 2 through the annular protrusion 15, and can be driven by the wire flexible shaft drive device 6 to realize shaftless rotation around its own axis. move to.

[0047] Specifically, as image 3 As shown, as one of the embodiments, one end of the continuous body sleeve 2 close to the front end effector 1 is internally provided with three limit blocks 16 arranged circumferentially and spaced 120° from each oth...

Embodiment 3

[0048] Example 3: as Figures 1 to 3 As shown, the present invention focuses on providing a flexible endoscopic minimally invasive surgical instrument arm when the front-end execution device is a surgical forceps, and further improvement is made on this basis, so that the surgical forceps assembly not only has the degree of freedom of rotation, but also It has the degree of freedom of opening and closing, and the specific structure settings are as follows:

[0049] like image 3 As shown, the surgical forceps assembly includes two jaws 11, a forceps head 12, and a push rod 13 for pushing and pulling the two jaws 11 to realize the opening and closing of the jaws, wherein: the two jaws 11 and the forceps head 12 Installed and fixed by cylindrical pins; the push rod 12 is arranged inside the pliers head 11 and connected with the wire flexible shaft 3; the two pliers 11 are respectively provided with chute 14, the front end of the push rod 13 The two sliding grooves 14 of the tw...

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Abstract

The invention relates to a flexible endoscopic minimally invasive surgery instrument arm which comprises a front end executing device, a continuum sleeve, a steel wire flexible shaft and a steel wire flexible shaft driving device, the front end executing device is connected with one end of the steel wire flexible shaft, and the other end of the steel wire flexible shaft penetrates through the continuum sleeve to be connected with the steel wire flexible shaft driving device. The steel wire flexible shaft driving device can drive the steel wire flexible shaft to rotate and drive the front-end executing device to rotate around the axis of the front-end executing device. The steel wire flexible shaft connected with the front-end execution device is arranged in the continuum cannula, and the steel wire flexible shaft can be driven by the driving device to drive the front-end execution device to rotate around the shaft by 360 degrees, so that the front-end execution device has high surgical operation flexibility and can meet the adjustment requirements of various postures.

Description

Technical field [0001] The invention relates to the field of medical instruments, and in particular to a flexible endoscopic minimally invasive surgical instrument arm. Background technique [0002] The flexible endoscopic minimally invasive surgical robot is a new type of surgical robot that uses flexible endoscopic surgical instruments to reach the location of the lesion along the natural orifice of the human body, conducts dexterous exploration, and can achieve complex and precise operations. For example, it can enter the human body through natural orifices to perform complex operations such as tissue biopsy, polyp removal, or tumor dissection. Compared with traditional surgeries, it can effectively reduce patient pain and use of anesthetics, speed up postoperative recovery, and reduce postoperative infections and complications. probability of disease. [0003] However, the current clinically used flexible endoscopic surgical instruments generally lack freedom. They only...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/29A61B17/00
CPCA61B34/30A61B17/00234A61B17/29A61B2034/306A61B2017/00305A61B2017/00323A61B2017/2904
Inventor 史超阳宋德智王树新
Owner TIANJIN UNIV
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