Stacked hybrid flexible continuum surgical instrument

Abstract

The invention discloses a stacked mixed type flexible continuum surgical instrument. The stacked mixed type flexible continuum surgical instrument comprises a flexible continuum module and an end effector module connected with the flexible continuum module. The outer layer of the bending part of the flexible continuum module is provided with stacked and staggered rotational joints, the inner layer of the bending part of the flexible continuum module is provided with a notch type flexible framework which is integrally cut and processed, and gaps formed by stacking the rotational joints of the outer layer correspond to notches of a notch type flexible framework body one by one; rotating shafts between the rotating joints on the outer layer are in one-to-one correspondence with strain center shafts of the bent beams of the notch type flexible framework; and the bending part driving wires of the flexible continuum module are uniformly arranged in the circumferential direction of the side wall of the rotating joint. On the premise that more flexible operation freedom is guaranteed, the motion precision, the motion stability and the axial rigidity are improved, more accurate wire driving control is achieved, and meanwhile good flexibility and strength balance is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a laminated hybrid flexible continuum surgical instrument. Background Art

[0002] Minimally invasive surgery is widely used in clinical medicine due to its advantages such as small trauma and fast recovery. With the development of medical technology and the gradual maturity of robotics in this field, digestive endoscopic surgery has been widely used in the diagnosis and treatment of early digestive tract cancer. The continuum surgical instruments used in the above-mentioned surgery mainly adopt wire drive, which has the characteristics of compact size, high precision and efficient long-distance transmission. Its distal end usually consists of two parts: an end effector and a flexible continuum structure. The end effector performs injection, clamping, cutting, wound suturing and other operations through injection needles, surgical scissors, surgical forceps or integrated electrocuting, electrocoagulation and other equipment. For example, the flexible continuum surgical instrument with structural decoupling function disclosed in CN115300006A includes a drive module, a flexible drive wire transmission module with a tubular structure, a flexible continuum module and an end effector module connected to the flexible continuum module, and the end effector module includes a clamp.

[0003] However, due to their inherent flexibility and deformability, existing flexible continuum surgical instruments have many problems during surgical operations, such as low motion accuracy, large size and poor stability. In addition, based on the needs of laparoscopic surgery, the flexibility and strength of the instrument need to be balanced. The discrete flexible continuum or the integrated notch-type flexible continuum, which is formed by stacking and interlacing multiple rigid rotating joints, has the characteristics of available working channels and flexibility, but each has its own advantages and disadvantages. The discrete flexible continuum has high operational flexibility, each segment can be independently controlled, and the unidirectional control accuracy is high, which can realize complex spatial motion, but the motion continuity is poor and the motion hysteresis is large; the integrated notch-type flexible continuum has good motion continuity and motion reset, but the operation stability is poor and the control accuracy is low. At the same time, due to the stress dispersion of its bending strain part and the long-term material performance loss, the motion position accuracy of the end of the continuum is difficult to guarantee. Summary of the invention

[0004] The purpose of the present invention is to provide a laminated hybrid flexible continuum surgical instrument to overcome one or more of the problems of low motion accuracy, large motion backlash, large size, poor flexibility, etc. of existing flexible continuum surgical instruments. The outer layer of the flexible continuum is designed based on discrete staggered stacked rotation joints to provide flexible flexible wrapping, and the inner layer is designed based on an integrated cut-processed notched tubular continuous flexible skeleton to provide a certain axial stiffness and stable internal support, and transmit power through multiple strands of steel wires.

[0005] A stacked hybrid flexible continuum surgical instrument comprises a flexible continuum module and an end effector module connected to the flexible continuum module; the outer layer of the bending part of the flexible continuum module is stacked and staggered rotation joints, and the inner layer is an integrated cut and processed notch-type flexible skeleton, the gaps formed by the stacking of the rotation joints of the outer layer correspond one-to-one with the notches of the notch-type flexible skeleton; the rotation axes between the rotation joints of the outer layer correspond one-to-one with the strain center axes of the bending beams of the notch-type flexible skeleton; the driving wires of the bending part of the flexible continuum module are evenly arranged along the circumference of the side walls of the rotation joints.

[0006] Wherein, the two ends of the notch-shaped flexible skeleton are respectively connected and fixed to the internal grooves of the joints at the two ends of the bending part of the flexible continuum module.

[0007] Wherein, the rotation joint includes an outer layer end joint, a plurality of outer layer bending portion joints and an outer layer base joint which are stacked orthogonally in sequence.

[0008] Wherein, the two ends of the inner layer notch continuous flexible skeleton are respectively connected to the central grooves of the outer layer terminal joint and the outer layer base joint.

[0009] Wherein, the bending portion driving wire is fixed in the U-shaped notch of the outer layer terminal joint.

[0010] Wherein, the end effector module includes at least one of a clamp, an electric knife or an injection needle.

[0011] Among them, the clamp includes an upper clamp and a lower clamp, and the upper clamp and the lower clamp are connected to the clamp barrel through a clamp rotating pin and are arranged at the front end of the clamp barrel, and the upper clamp and the lower clamp are connected to the connecting column through a clamp connecting rod, and the connecting column is connected to a wire fixing slider, and the wire fixing slider is connected to a clamp driving wire, and a compression spring is installed on the clamp driving wire, and the clamp connecting rod, connecting column, wire fixing slider and compression spring are installed in the clamp barrel, and the clamp driving wire extends from the rear end of the clamp barrel, and the clamp driving wire is arranged in the central channel of the flexible continuum module; in the initial state, the clamp remains open, and pulling the clamp driving wire to compress the compression spring can close the clamp.

[0012] The rear end of the clamp barrel is provided with a limiting tube to block the compression spring and prevent it from sliding out from the rear end. The clamp drive wire passes through the inside of the limiting tube, and the limiting tube is fixed to the rear end of the clamp barrel.

[0013] The upper clamp and the lower clamp are arranged opposite to each other at the front end of the clamp barrel, and are limited by two oppositely arranged connecting plates at the front end of the clamp barrel, and are located between the two connecting plates. The connecting plates and the barrel body of the clamp barrel form a U-shaped structure.

[0014] The electric knife includes an insulating end, an electrode and an electric knife wire; the insulating end is connected to the central groove of the outer terminal joint; the central channel of the insulating end is connected to the electrode; the electric knife wire passes through the central channel of the flexible continuum module, enters the central channel of the insulating end, and is connected to the central groove of the electrode.

[0015] Among them, the injection needle includes an injection needle end, a fixing platform, and a needle tube with a needle; wherein the rectangular boss at the injection needle end is connected to the central rectangular groove of the fixing platform; the fixing platform is connected to the central cylindrical groove of the outer layer end joint; the needle tube passes through the central channel of the flexible continuum module, enters the outer layer end joint and the injection needle loading and unloading platform, and is connected to the injection needle end.

[0016] The outer layer of the bending part of the stacked hybrid flexible continuum surgical instrument of the present invention is composed of discrete rigid joints stacked and buckled based on staggered arc hinges, and the inner layer is composed of an integrated notched continuous skeleton processed by laser cutting. The different mechanical properties of the continuum structures of different forms in the inner and outer layers are utilized to achieve more stable and accurate force transmission through the interaction between the layers. It has good flexibility, motion stability and axial rigidity, and is easy to process and assemble. The stacked structure can better improve the stability and durability of the continuum structure by dispersing stress and load, extend the overall service life of the instrument, reduce maintenance and replacement costs, and improve the reliability of use. The different material combinations of the inner and outer layers can optimize the overall mechanical properties of the continuum, provide better mechanical performance, and improve the operational performance of the flexible surgical instrument.

[0017] The stacked hybrid flexible bending portion of the stacked hybrid flexible continuum surgical instrument of the present invention is simple and effective, which solves the problems of poor motion continuity, large motion hysteresis, poor end motion position accuracy, poor motion resetting accuracy, etc. during the movement of the flexible continuum, and improves the motion accuracy, stability and durability.

[0018] The flexible surgical instrument of the present invention combines the advantages of multiple degrees of freedom and flexibility based on discrete stacked joint continua and the axial stiffness, stability, and high resetting accuracy of the notched tubular continuum through integrated cutting and processing. While ensuring more flexible operating degrees of freedom, it improves the motion accuracy, motion stability, and axial stiffness, and enables more precise wire drive control. At the same time, it achieves a good balance between flexibility and strength, and can meet the requirements of miniaturization, dexterity, high precision, and stability of flexible continuum surgical instruments for the diagnosis and treatment of early gastrointestinal cancer. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall application structure of the present invention combined with a driving device is shown.

[0020] Figure 2 as well as Figure 3 Schematic diagrams showing the clamp in a closed state and an open state are shown respectively.

[0021] Figure 4 and Figure 5 Schematic diagrams of an electric knife and an injection needle are shown respectively.

[0022] Figure 6 , Figure 7 as well as Figure 8 Schematic diagrams showing the connection between the injection needle, the electric knife, and the clamp and the flexible continuum module are shown respectively.

[0023] Fig. 9 A schematic diagram of a flexible continuum module is shown.

[0024] Fig.10 , Fig.11 as well as Fig.12 The axonometric view, the front view and the schematic diagram of the assembly connection with the rotating joint of the inner layer notch continuous flexible skeleton are respectively shown.

[0025] Fig.13 An exploded schematic diagram of the clamp is shown.

[0026] Fig.14 A partial perspective schematic diagram of the clamp is shown.

[0027] Fig.15 An exploded schematic diagram of an electric knife is shown.

[0028] Fig.16 An exploded schematic diagram of the injection needle is shown.

[0029] In the figure:

[0030] 1-Flexible continuum module; 2-end effector module; 3-clamp; 4-electric knife; 5-injection needle; 6-buckle; 7-outer end joint; 8-inner notch continuous flexible skeleton; 9-bending part driving wire; 10-outer bending part joint; 11-outer base joint; 12-upper clamp; 13-lower clamp; 14-single column connecting rod; 15-double column connecting rod; 16-connecting column; 17-wire fixing slider; 18-compression spring; 19-clamp sliding pin; 20-clamp barrel; 21-clamp driving wire; 22-electrode; 23-insulating end; 24-electric knife wire; 25-injection needle fixing end; 26-injection needle loading and unloading platform; 27-needle tube with needle; 81-bending beam; 82-notch. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] like Figures 1 to 15As shown, the hybrid flexible continuum surgical instrument according to the embodiment of the present invention comprises a flexible continuum module 1 and an end effector module 2 , wherein the end of the flexible continuum module 1 is connected to the end effector module 2 .

[0033] As an embodiment, the bending portion of the flexible continuum module 1 includes an outer layer end joint 7, an inner layer gap continuous flexible skeleton 8, a bending portion driving wire 9, an outer layer bending portion joint 10 and an outer layer base joint 11. Figure 4 As shown, the outer layer terminal joint 7, multiple outer layer bending joints 10 and outer layer base joints 11 are stacked orthogonally in sequence to form an outer layer rotation joint; the two ends of the inner layer notch continuous flexible skeleton 8 are respectively connected to the central grooves of the outer layer terminal joint 7 and the outer layer base joint 11, and are located between the outer layer terminal joint 7 and the outer layer base joint 11; the bending part driving wire 9 is fixed in the U-shaped notch of the outer layer terminal joint 7, and together constitute the bending part of the flexible continuum module 1, wherein the gap formed by the stacking of the outer layer rotation joints corresponds one-to-one to the notch of the notch-type flexible skeleton; the rotation axis between the outer layer rotation joints corresponds one-to-one to the strain center axis of the bending beam of the notch-type flexible skeleton; the bending part driving wires of the flexible continuum module are evenly arranged along the circumference of the side wall of the rotation joint.

[0034] Among them, there are four bending drive wires 9, which are evenly arranged in the circumferential direction, passing through the flexible continuum module 1, such as passing through the bending drive wire holes on the outer layer end joint 7, multiple outer layer bending joints 10 and the outer layer base joint 11, and connected to the buckle 6 at the front end; the inner layer notch-type flexible skeleton 8 is coaxially arranged with the outer layer's rotating joint.

[0035] In the present invention, all joints can be made of stainless steel joints, and the joints are connected to each other through the convex part at one end of one joint and the concave part at the other end of another joint. The tension of the bending part driving wire 9 makes the joints tightly stacked and staggered together; the bending movement of the flexible continuum can be realized through the curved surface contact between the joints, and when the flexible continuum module 1 is driven to bend by the bending part driving wire 9, different bending parts can be formed.

[0036] The inner layer gap continuous flexible skeleton 8 can be made of a nickel-titanium alloy material with superelasticity and shape memory properties, and is an integral structure. The bending beams 81 between two adjacent units are perpendicular to each other, and symmetrical gaps 82 are formed on both sides of each bending beam. Preferably, the gap on each side is composed of an outer gap portion with equal width at the top and bottom and an inner bottom gap portion with a cross section approximately conical and transitioned by an arc surface, see Fig.11 shown.

[0037] It should be noted that, in the present invention, the outer layer bending joints 10 may be the same or different, the structures of the outer layer end joints 7 and the outer layer base joints 11 may be the same or different, and the shapes of the notches of the inner layer notch continuous flexible skeleton 8 may be the same or different.

[0038] In the present invention, the bending movement of the flexible continuum module is driven by controlling the displacement of the bending driving wire 9. During the movement of the flexible continuum module, the movement deflection axis of the outer bending joint 10 and the bending center of the strain beam of the inner notch-type flexible skeleton 8 are always kept coincident, so as to realize high-precision bending movement with independent freedom in two directions.

[0039] As an optional embodiment, the end effector module 2 includes a clamp 3, an electric knife 4 and an injection needle 5, see Figures 2 to 3 as well as Figures 4 to 5 The clamp 3, the electric knife 4, the injection needle 5 are directly connected to the outer end joint 7 of the flexible continuum module 1, so as to realize the connection between the clamp 3, the electric knife 4, the injection needle 5 and the flexible continuum module 1, and the flexible continuum module 1 is connected to the driving device, and the driving device can be realized by the driving module or device disclosed in CN115300006A.

[0040] See also Fig.13 and Fig.14 As shown, as an embodiment, the clamp 3 includes an upper clamp 12 and a lower clamp 13; the upper clamp 12 and the lower clamp 13 are connected to the connecting column 16 through a clamp connecting rod, the connecting column 16 is connected to the wire fixing slider 17, one end of the clamp driving wire 21 is connected to the wire fixing slider 17, the other end of the clamp driving wire 21 passes through the compression spring 18 and the clamp barrel 20 and then extends out, the compression spring 18 is placed in the clamp barrel 20, and the spring force can keep the clamp open in the initial state, and pulling the clamp driving wire 21 to compress the spring can make the clamp closed.

[0041] See also Fig.13 and Fig.14 As shown, in one embodiment, the clamp connecting rod includes a single-column connecting rod 14 and a double-column connecting rod 15. The single-column connecting rod 14, the double-column connecting rod 15, the connecting column 16, the wire fixing slider 17 and the compression spring 18 are installed together into the front end of the clamp barrel 20. The rear end of the clamp barrel 20 has a limiting tube to block the compression spring 18 and prevent it from sliding out from the rear end. The clamp driving wire 21 passes through the inside of the limiting tube, and the limiting tube is fixed to the rear end of the clamp barrel 20.

[0042] See also Fig.13 and Fig.14As shown, the upper clamp 12 and the lower clamp 11 are arranged opposite to each other at the front end of the clamp barrel 20, and are limited by two connecting plates arranged opposite to each other at the front end of the clamp barrel 20. They are located between the two limiting connecting plates, and the connecting plates and the barrel body of the clamp barrel form a U-shaped structure.

[0043] See also Fig.13 and Fig.14 As shown, specifically, a cylinder on the surface of the double-column connecting rod 15 passes through the circular hole of the connecting column 16 and is connected to the circular hole of the single-column connecting rod 14, and the other cylinder passes through the circular hole at one end of the lower clamp 13; the cylinder of the single-column connecting rod 14 passes through the circular hole at one end of the upper clamp 12, wherein the cylinder and the circular hole can roll relative to each other, and the clamp sliding pin 19 arranged along the radial direction of the clamp barrel passes through the two connecting plates at the front end of the clamp barrel 20, the upper clamp 12 and another circular hole on the lower clamp 13, to connect the upper clamp 12, the lower clamp 13 and the two connecting plates at the front end of the clamp barrel 20.

[0044] See also Fig.13 and Fig.14 As shown, as an embodiment, the compression spring 18 and the wire-fixing slider 17 are placed in the clamp barrel 20, and are interference-fitted in the hole at the top of the clamp barrel 20. When the clamp drive wire 21 is pulled, the compression spring 18 is compressed, and the wire-fixing slider 17 drives the connecting column 16 to slide backward, pulling the single-column connecting rod 14 and the double-column clamp connecting rod 15 to rotate, and the clamp is closed; release the clamp drive wire 21, and the clamp opens during the recovery movement of the compression spring 18.

[0045] See also Fig.13 and Fig.14 As shown, as an embodiment, the clamp 3 and the flexible continuum module 1 are connected together by interference fit through the clamp barrel 20, and the other ends of the bending portion driving wire 9 and the clamp driving wire 21 are connected to the driving device, so that the driving device controls the movement of the bending portion driving wire 9 and the clamp driving wire 21, thereby controlling the opening and closing movement of the clamp.

[0046] See also Fig.13 and Fig.14 As shown, specifically, the limiting tube at the rear end of the clamp barrel 20 protrudes to form a connecting protrusion, which is connected to the central cylindrical groove of the outer layer end joint 7 to achieve the connection between the clamp barrel 20 and the flexible continuum module 1.

[0047] See also Fig.15As shown, as an embodiment, the electric knife 4 includes an electrode 22, an insulating end 23 and an electric knife wire 24. The insulating end 23 has a cylindrical boss, which is connected to the central cylindrical groove of the outer layer end joint 7; the central channel of the insulating end 23 is connected to the electrode 22; the electric knife wire 24 passes through the central channel of the flexible continuum module 1, enters the outer layer end joint 7 and the central channel of the insulating end 23, and is connected to the central groove of the electrode 22.

[0048] The insulating section 23 can be made of 3D printed insulating material, the electrode 22 can be made of conductive materials such as stainless steel tubes, and the electric knife wire 24 can be made of Teflon silver-plated high-temperature resistant wire.

[0049] See also Fig.16 As shown, as an embodiment, the injection needle 5 includes a detachable injection needle fixing end 25, an injection needle loading and unloading platform 26 and a needle tube 27 with a needle. The detachable injection needle fixing end 25 has a rectangular boss, which is connected to the central rectangular groove of the injection needle loading and unloading platform 26; the injection needle loading and unloading platform 26 has a cylindrical boss, which is connected to the central cylindrical groove of the outer layer end joint 7; the needle tube 27 passes through the central channel of the flexible continuum module 1, enters the outer layer end joint 7 and the injection needle loading and unloading platform 26, and is connected to the detachable injection needle end 25.

[0050] The injection needle fixing end 25 and the injection needle loading and unloading platform 26 can be made of 3D printing resin material, and the needle tube 27 can be made of 06Cr19Ni10 stainless steel and PTFE material.

[0051] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0052] Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the claims are included in the present invention.

[0053] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A laminated hybrid flexible continuum surgical instrument, characterized in that: It comprises a flexible continuum module and an end effector module connected to the flexible continuum module; the outer layer of the bending part of the flexible continuum module is stacked and staggered rotation joints, the inner layer is an integrated cut and processed notch-type flexible skeleton, the gaps formed by the stacking of the rotation joints of the outer layer correspond one-to-one with the notches of the notch-type flexible skeleton; the rotation axes between the rotation joints of the outer layer correspond one-to-one with the strain center axes of the bending beams of the notch-type flexible skeleton; the driving wires of the bending part of the flexible continuum module are evenly arranged along the circumference of the side walls of the rotation joints.

2. The laminated hybrid flexible continuum surgical instrument according to claim 1, characterized in that: The two ends of the notch-shaped flexible skeleton are respectively connected and fixed to the inner grooves of the joints at the two ends of the bending part of the flexible continuum module.

3. The stacked hybrid flexible continuum surgical instrument according to claim 1, characterized in that: The rotation joint comprises an outer layer end joint, a plurality of outer layer bending portion joints and an outer layer base joint which are stacked orthogonally in sequence.

4. The stacked hybrid flexible continuum surgical instrument according to claim 3, characterized in that: The two ends of the inner layer notch continuous flexible skeleton are respectively connected to the central grooves of the outer layer terminal joint and the outer layer base joint; the bending part driving wire is fixed in the U-shaped notch of the outer layer terminal joint.

5. The stacked hybrid flexible continuum surgical instrument according to claim 4, characterized in that: The end effector module includes at least one of a clamp, an electric knife or an injection needle.

6. The stacked hybrid flexible continuum surgical instrument according to claim 5, characterized in that: The clamp includes an upper clamp and a lower clamp, which are connected to the clamp barrel by a clamp rotating pin and are arranged at the front end of the clamp barrel. The upper clamp and the lower clamp are connected to the connecting column by a clamp connecting rod, and the connecting column is connected to a wire fixing slider, and the wire fixing slider is connected to a clamp driving wire. A compression spring is installed on the clamp driving wire, and the clamp connecting rod, connecting column, wire fixing slider and compression spring are installed in the clamp barrel. The clamp driving wire extends out from the rear end of the clamp barrel, and the clamp driving wire is arranged in the central channel of the flexible continuum module; in the initial state, the clamp remains open, and the clamp can be closed by pulling the clamp driving wire to compress the compression spring.

7. The stacked hybrid flexible continuum surgical instrument according to claim 6, characterized in that: The rear end of the clamp barrel is provided with a limiting tube to block the compression spring and prevent it from sliding out from the rear end. The clamp drive wire passes through the inside of the limiting tube, and the limiting tube is fixed to the rear end of the clamp barrel.

8. The stacked hybrid flexible continuum surgical instrument according to claim 7, characterized in that: The upper clamp and the lower clamp are arranged oppositely at the front end of the clamp barrel, and are limited by two oppositely arranged connecting plates at the front end of the clamp barrel, and are located between the two connecting plates. The connecting plates and the barrel body of the clamp barrel form a U-shaped structure.

9. The stacked hybrid flexible continuum surgical instrument according to claim 6, characterized in that: The electric knife includes an insulating end, an electrode and an electric knife wire; the insulating end is connected to the central groove of the outer terminal joint; the central channel of the insulating end is connected to the electrode; the electric knife wire passes through the central channel of the flexible continuum module, enters the central channel of the insulating end, and is connected to the central groove of the electrode.

10. The stacked hybrid flexible continuum surgical instrument according to claim 6, characterized in that: The injection needle includes an injection needle end, a fixing platform, and a needle tube with a needle; wherein the rectangular boss at the injection needle end is connected to the central rectangular groove of the fixing platform; the fixing platform is connected to the central cylindrical groove of the outer layer end joint; the needle tube passes through the central channel of the flexible continuum module, enters the outer layer end joint and the injection needle loading and unloading platform, and is connected to the injection needle end.

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