A handheld multi-degree-of-freedom minimally invasive surgical instrument

Abstract

The present invention relates to a handheld minimally invasive surgical instrument with multiple degrees of freedom, which includes jaw A, jaw B, a wrist, a fixed handle, and a movable handle. Jaw A is fixed on the wrist through a jaw seat. The wrist is mounted on a straight rod sleeve. When the straight rod knob rotates, it drives the straight rod sleeve to rotate around its own axis of rotation. One end of the wrist drive rod is fixed with a pin shaft, and the other end is connected to a trapezoidal lead screw and makes a linear motion under the drive of the trapezoidal lead screw, thereby driving the wrist to rotate around the pin shaft. One end of the jaw drive rod is connected to jaw link B through a pin shaft. Jaw link B, jaw link A, and jaw A are sequentially connected through pin shafts. The other end of the jaw drive rod is connected to the notch of the movable handle through a ball head. When the movable handle rotates, the notch bites the ball head, driving the jaw drive rod, jaw link B, and jaw link A to move, thereby driving jaws A and B to rotate. The present invention solves the disadvantages of high cost, short instrument life of traditional minimally invasive surgical robots, and inflexibility of traditional minimally invasive instruments.

Description

[Technical field]

[0001] The invention relates to the technical field of medical instruments, in particular to a handheld multi-degree-of-freedom minimally invasive surgical instrument. [Background Technology]

[0002] At present, minimally invasive surgical robots have been widely used in traditional laparoscopic minimally invasive surgical operations such as the abdominal cavity, thoracic cavity, and pelvic cavity. Clinical practice has proved the safety, reliability, and flexibility of minimally invasive surgical robots. Compared with traditional laparoscopic minimally invasive surgery, minimally invasive surgical robots have the characteristics of multiple degrees of freedom, remote operation, and hand-eye coordination. Taking the grasping forceps as an example, the end grasping forceps of the minimally invasive surgical robot have 4 degrees of freedom, namely the rotation of the two claws, the rotation of the wrist, and the rotation of the straight rod. The robot arm also provides 3 degrees of freedom: pitch, yaw, and linear motion. Therefore, the intraoperative surgical robot single arm has 7 degrees of freedom, which greatly increases the flexibility of surgery in a small space.

[0003] However, due to the unique master-slave structure design and cable transmission structure, the R&D and manufacturing costs of minimally invasive surgical robots are high, which in turn raises the purchasing and maintenance thresholds for end users. In addition, the lack of intraoperative force feedback reduces the doctor's perception of tissue structure during surgery, which is also a problem that minimally invasive surgical robots have been urgently needed to solve since their birth. [Summary of the invention]

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a handheld multi-degree-of-freedom minimally invasive surgical instrument, which solves the shortcomings of traditional minimally invasive surgical robots, such as high cost, short instrument life, and inflexibility of traditional minimally invasive instruments, increases the flexibility of straight rod instruments, and the operator's hand movements are transmitted through hard rods, which has high reliability and long service life.

[0005] To achieve the above object, a handheld multi-degree-of-freedom minimally invasive surgical instrument is designed, including jaw A1, jaw B 2, jaw seat 3, wrist 4, straight rod sleeve 5, straight rod knob 6, fixed handle 7, wrist knob 8, movable handle 9, wrist drive rod 10 and jaw drive rod 14. Among them, the jaw A1 is installed on the jaw seat 3 through pin D 24, the jaw seat 3 is fixed on the wrist 4, the wrist 4 is installed on the straight rod sleeve 5 through pin B18, the straight rod sleeve 5 is fixedly connected with the straight rod knob 6, the straight rod knob 6 is rotatably connected to the fixed handle 7, the fixed handle 7 and the movable handle 9 are connected through pin A11, and when the straight rod knob 6 rotates, it drives the straight rod sleeve 5 to rotate around its own axis; the straight rod sleeve 5, the wrist drive rod 10, and the jaw drive rod 14 are coaxially arranged, the straight rod sleeve 5 is sleeved outside the wrist drive rod 10, the wrist drive rod 10 is sleeved outside the jaw drive rod 14, one end of the wrist drive rod 10 is fixed with pin C19, the other end of the wrist drive rod 10 is connected to the trapezoidal lead screw 16, the trapezoidal lead screw 16 is installed with the wrist knob 8 and rotates under the rotation of the wrist knob 8, the wrist drive rod 10 makes a linear motion driven by the trapezoidal lead screw 16, and drives the wrist 4 to rotate around pin B18 through pin C19; one end of the jaw drive rod 14 is fixed with pin E 26 and is connected to the jaw link B17 through pin E 26, the other end of the jaw link B17 is connected to the jaw link A13 through pin F 27, the other end of the jaw link A13 is connected to the jaw A1 through a pin, the other end of the jaw drive rod 14 is connected with the ball head 22 in cooperation with the notch 23 of the movable handle 9, when the movable handle 9 rotates, the notch 23 bites the ball head 22, thereby driving the jaw drive rod 14 to make a linear motion along the axis, and the jaw drive rod 14 drives the jaw link B17 and the jaw link A13 to move, thereby driving the jaw A1 and the jaw B 2 to rotate.

[0006] Further, the straight rod sleeve 5 is fixedly connected with the straight rod knob 6 through a buckle 25, the fixed handle 7 includes a cylindrical part and a handle part, the straight rod knob 6 is rotatably connected to one end of the cylindrical part and rotates around the cylindrical part of the fixed handle 7, the other end of the cylindrical part is fixedly connected to the handle part, and the handle part and the movable handle 9 are connected through pin A11.

[0007] Further, the wrist 4 is designed with a guide groove A 20 and a guide groove B 21, the extending directions of the guide groove A20 and the guide groove B 21 form an angle with the axis of the wrist 4, when the wrist drive rod 10 moves, it drives the pin C19 to move in the guide groove A 20 and the guide groove B 21, and applies a lateral force to the guide groove A 20 and the guide groove B 21, thereby causing the wrist 4 to rotate around pin B18.

[0008] Further, the other end of the wrist driving rod 10 is fixed on the lead screw nut 15, the lead screw nut 15 is connected with the trapezoidal lead screw 16 in a matching manner, and when the trapezoidal lead screw 16 rotates, the lead screw nut 15 moves linearly along the axis of the trapezoidal lead screw 16, thereby driving the wrist driving rod 10 to move linearly.

[0009] Further, a top cover 12 is arranged outside the trapezoidal lead screw 16, a strip-shaped groove extending along the axis is opened on the top cover 12, and the lead screw nut 15 extends out of the strip-shaped groove and moves linearly along the strip-shaped groove.

[0010] Further, the wrist driving rod 10 is a hollow through rod, and the jaw driving rod 14 is a solid rod.

[0011] Compared with the prior art, in view of the disadvantages of high cost, short instrument life of traditional minimally invasive surgical robots, and inflexibility of traditional minimally invasive instruments, and considering the advantages of flexible operation, multiple degrees of freedom of minimally invasive surgical robots, and high reliability and low use cost of traditional instruments, the present invention provides a handheld minimally invasive surgical instrument with multiple degrees of freedom. The instrument has three degrees of freedom of jaw rotation, wrist rotation, and straight rod sleeve rotation, which increases the flexibility of the straight rod instrument. The movement of the operator's hand is transmitted through the rigid rod. Compared with the cable drive, it has high reliability and long service life, and the user can directly contact the internal tissue with the handheld instrument, inheriting the natural force feedback function of traditional surgical instruments. In addition, the present invention has low development and use costs, is flexible and simple to operate, and has practical significance for the research and development and popularization of laparoscopic surgical instruments, and is worthy of popularization and application. [Description of the Drawings]

[0012] Figure 1 is the front structure schematic diagram of the present invention Figure 1 ;

[0013] Figure 2 is the front structure schematic diagram of the present invention Figure 2 (Wrist movement);

[0014] Figure 3 is the front structure schematic diagram of the present invention Figure 3 (Wrist and jaw move simultaneously);

[0015] Figure 4 is the top view structure schematic diagram of the present invention (wrist, jaw, and straight rod sleeve move simultaneously);

[0016] Figure 5 is the three-dimensional structure schematic diagram of the present invention;

[0017] Figure 6 is the internal structure schematic diagram of the present invention;

[0018] Figure 7It is a schematic side view structure of the present invention;

[0019] Figure 8 It is a detailed view of the wrist movement of the present invention;

[0020] Figure 9 It is a detailed view of the claw gripper movement of the present invention;

[0021] Figure 10 It is a schematic view of the wrist structure of the present invention;

[0022] Figure 11 It is a detailed view of the push rod movement of the present invention;

[0023] In the figure: 1. Claw gripper A; 2. Claw gripper B; 3. Claw gripper seat; 4. Wrist; 5. Straight rod sleeve; 6. Straight rod knob; 7. Fixed handle; 8. Wrist knob; 9. Movable handle; 10. Wrist drive rod; 11. Pin A; 12. Top cover; 13. Claw gripper link A; 14. Claw gripper drive rod; 15. Lead screw nut; 16. Trapezoidal lead screw; 17. Claw gripper link B; 18. Pin B; 19. Pin C; 20. Guide groove A; 21. Guide groove B; 22. Ball head; 23. Notch; 24. Pin D; 25. Snap; 26. Pin E; 27. Pin F. [Detailed implementation manner]

[0024] As shown in the attached Figure 1 to the attached Figure 11As shown in the figure, the present invention provides a handheld minimally invasive surgical instrument with multiple degrees of freedom, mainly including structural components such as jaw A 1, jaw B 2, jaw seat 3, wrist 4, straight rod sleeve 5, straight rod knob 6, fixed handle 7, wrist knob 8, movable handle 9, wrist drive rod 10 and jaw drive rod 14. Among them, jaw A 1 is installed on jaw seat 3 through pin D 24, jaw seat 3 is fixed on wrist 4, wrist 4 is installed on straight rod sleeve 5 through pin B 18, straight rod sleeve 5 is fixedly connected with straight rod knob 6, straight rod knob 6 is rotatably connected to fixed handle 7, fixed handle 7 and movable handle 9 are connected through pin A 11. When straight rod knob 6 rotates, it drives straight rod sleeve 5 to rotate around its own axis; straight rod sleeve 5, wrist drive rod 10 and jaw drive rod 14 are coaxially arranged, straight rod sleeve 5 is sleeved outside wrist drive rod 10, wrist drive rod 10 is sleeved outside jaw drive rod 14, one end of wrist drive rod 10 is fixed with pin C 19, the other end of wrist drive rod 10 is connected to trapezoidal lead screw 16, trapezoidal lead screw 16 is installed with wrist knob 8 and rotates under the rotation of wrist knob 8. Wrist drive rod 10 makes a linear motion driven by trapezoidal lead screw 16 and drives wrist 4 to rotate around pin B 18 through pin C 19; one end of jaw drive rod 14 is fixed with pin E 26 and is connected to jaw link B 17 through pin E 26, the other end of jaw link B 17 is connected to jaw link A 13 through pin F 27, the other end of jaw link A 13 is connected to jaw A 1 through a pin, the other end of jaw drive rod 14 is connected with the notch 23 of movable handle 9 through ball head 22. When movable handle 9 rotates, notch 23 bites ball head 22, thereby driving jaw drive rod 14 to make a linear motion along the axis. Jaw drive rod 14 drives jaw link B 17 and jaw link A 13 to move, thereby driving jaw A 1 and jaw B 2 to rotate.

[0025] Specifically, the straight rod sleeve 5 is fixedly connected to the straight rod knob 6 through the buckle 25. The fixed handle 7 includes a cylindrical part and a handle part. The straight rod knob 6 is rotatably connected to one end of the cylindrical part and rotates around the cylindrical part of the fixed handle 7. The other end of the cylindrical part is fixedly connected to the handle part, and the handle part is connected to the movable handle 9 through the pin shaft A11. The wrist 4 is designed with a guide groove A20 and a guide groove B21. The extending directions of the guide groove A20 and the guide groove B21 form an angle with the axis of the wrist 4. When the wrist driving rod 10 moves, it drives the pin shaft C19 to move in the guide groove A20 and the guide groove B21, and applies a lateral force to the guide groove A20 and the guide groove B21, thereby causing the wrist 4 to rotate around the pin shaft B18. The other end of the wrist driving rod 10 is fixed on the lead screw nut 15. The lead screw nut 15 is connected in cooperation with the trapezoidal lead screw 16. When the trapezoidal lead screw 16 rotates, the lead screw nut 15 moves linearly along the axis of the trapezoidal lead screw 16, thereby driving the wrist driving rod 10 to move linearly. A top cover 12 is arranged outside the trapezoidal lead screw 16. A strip-shaped groove extending along the axial direction is opened on the top cover 12. The lead screw nut 15 extends out of the strip-shaped groove and moves linearly along the strip-shaped groove.

[0026] The following further describes the present invention in conjunction with the accompanying drawings and specific embodiments:

[0027] The handheld multi-degree-of-freedom minimally invasive surgical instrument described in the present invention has at least 3 degrees of freedom of movement, namely the rotation of the jaw A1 and the jaw B2, the rotation of the wrist 4, and the rotation of the straight rod sleeve 5. The jaw A1 and the jaw B2 are linked, so they are regarded as one degree of freedom only. The rotation of the jaw A1 and the jaw B2 is controlled by the movable handle 9, the rotation of the wrist 4 is controlled by the wrist knob 8, and the rotation of the straight rod sleeve 5 is controlled by the straight rod knob 6. The rotation of the jaw A1 and the jaw B2, the rotation of the wrist 4, and the rotation of the straight rod sleeve 5 are independent of each other and do not interfere with each other. The straight rod sleeve 5 can rotate 360 degrees around its own rotation axis. The wrist 4 can rotate within a range of approximately 90 degrees around the pin shaft B18.

[0028] The jaw A1 is installed on the jaw seat 3 through the pin shaft D24. The jaw seat 3 is fixed on the wrist 4 by threads. The wrist 4 is installed on the straight rod sleeve 5 through the pin shaft B18. The straight rod sleeve 5 is fixedly connected to the straight rod knob 6 through the buckle 25. The straight rod knob 6 can rotate around the cylindrical part of the fixed handle 7. The fixed handle 7 and the movable handle 9 are connected through the pin shaft A11.

[0029] The straight rod sleeve 5, the wrist drive rod 10, and the jaw drive rod 14 are coaxial. The straight rod sleeve 5 is on the outermost layer, the wrist drive rod 10 is in the middle layer, and the jaw drive rod 14 is in the inner layer. The wrist drive rod 10 is a hollow through rod with a fixed pin shaft C19 at one end and is fixed to the lead screw nut 15 at the other end. The lead screw nut 15 cooperates with the trapezoidal lead screw 16 and moves linearly along the axis of the trapezoidal lead screw 16, driving the wrist drive rod 10 to move linearly. The jaw drive rod 14 is a solid rod with a fixed pin shaft E 26 at one end and is connected to the notch 23 of the movable handle 9 through a ball head 22 at the other end. The other end of the jaw drive rod 14 is connected to the jaw link B 17 through a pin shaft E 26. The jaw link B17 is also connected to the jaw link A13 through a pin shaft F 27, and the jaw link A13 is connected to the jaw A1 through a pin shaft. During use, by rotating the movable handle 9, the notch 23 engages with the ball head 22, thereby driving the jaw drive rod 14 to move linearly along the axis. The jaw drive rod 14 drives the jaw link B17 and the jaw link A13 to move. Due to the movement restriction of the straight rod sleeve 5 on the jaw drive rod 14 and the movement restriction of the jaw seat 3 on the jaw link A13, the linear movement of the jaw drive rod 14 is converted into the rotation of the jaw A1 and the jaw B 2.

[0030] By rotating the wrist knob 8, the trapezoidal lead screw 16 is driven to rotate, and then the lead screw nut 15 and the wrist drive rod 10 fixedly connected thereto are translated. The wrist 4 is designed with a guide groove A 20 and a guide groove B 21. The movement of the wrist drive rod 10 causes the pin shaft C19 to move in the guide groove A 20 and the guide groove B 21 of the wrist 4. The guide groove A 20 and the guide groove B 21 have a certain angle with the axis of the wrist 4. Therefore, when the pin shaft C19 moves, a lateral force will be applied to the guide groove A 20 and the guide groove B 21, thereby causing the wrist 4 to rotate around the pin shaft B18.

[0031] By rotating the straight rod knob 6, the straight rod sleeve 5 can be driven to rotate around its own axis. When the straight rod knob 6 is rotated, the wrist 4, the jaw seat 3, the jaw A1, and the jaw B 2 also rotate accordingly.

[0032] In summary, the present invention provides a handheld minimally invasive surgical instrument with multiple degrees of freedom. The instrument has at least 3 degrees of freedom of movement, increasing the flexibility of the straight rod instrument. The movement of the operator's hand is transmitted through a rigid rod, which has higher reliability and a longer service life compared with cable transmission. At the same time, the handheld operation inherits the natural force feedback function of traditional instruments. The instrument has a low use cost, is flexible and simple to operate, and has practical significance for the research and development and popularization of endoscopic surgical instruments.

[0033] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. Standard parts used can be purchased from the market. Special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. Machines, parts, and equipment all adopt conventional models in the prior art, and the circuit connections adopt conventional connection methods in the prior art, which will not be elaborated here.

[0034] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A handheld minimally invasive surgical instrument with multiple degrees of freedom, characterized in that: It includes jaw A (1), jaw B (2), jaw seat (3), wrist (4), straight rod sleeve (5), straight rod knob (6), fixed handle (7), wrist knob (8), movable handle (9), wrist drive rod (10) and jaw drive rod (14), wherein, The jaw A (1) is installed on the jaw seat (3) through a pin D (24), the jaw seat (3) is fixed on the wrist (4), the wrist (4) is installed on the straight rod sleeve (5) through a pin B (18), the straight rod sleeve (5) is fixedly connected to the straight rod knob (6), the straight rod knob (6) is rotatably connected to the fixed handle (7), the fixed handle (7) is connected to the movable handle (9) through a pin A (11), and when the straight rod knob (6) rotates, it drives the straight rod sleeve (5) to rotate around its own axis of rotation; The straight rod sleeve (5), the wrist drive rod (10), and the jaw drive rod (14) are coaxially arranged. The straight rod sleeve (5) is sleeved outside the wrist drive rod (10), and the wrist drive rod (10) is sleeved outside the jaw drive rod (14). One end of the wrist drive rod (10) is fixed with a pin C (19), the other end of the wrist drive rod (10) is connected to a trapezoidal lead screw (16), the trapezoidal lead screw (16) is provided with a wrist knob (8) and rotates under the rotation of the wrist knob (8). The wrist drive rod (10) makes a linear motion driven by the trapezoidal lead screw (16) and drives the wrist (4) to rotate around the pin B (18) through the pin C (19); One end of the jaw drive rod (14) is fixed with a pin E (26) and is connected to the jaw link B (17) through the pin E (26). The other end of the jaw link B (17) is connected to the jaw link A (13) through a pin F (27). The other end of the jaw link A (13) is connected to the jaw A (1) through a pin. The other end of the jaw drive rod (14) is connected to the notch (23) of the movable handle (9) through a ball head (22). When the movable handle (9) rotates, the notch (23) bites the ball head (22), thereby driving the jaw drive rod (14) to make a linear motion along the axis. The jaw drive rod (14) drives the jaw link B (17) and the jaw link A (13) to move, thereby driving the jaws A (1) and B (2) to rotate; The straight rod sleeve (5) is fixedly connected to the straight rod knob (6) through a buckle (25). The fixed handle (7) includes a cylindrical part and a handle part. The straight rod knob (6) is rotatably connected to one end of the cylindrical part and rotates around the cylindrical part of the fixed handle (7). The other end of the cylindrical part is fixedly connected to the handle part, and the handle part is connected to the movable handle (9) through a pin A (11); A guiding groove A (20) and a guiding groove B (21) are designed on the wrist portion (4). The extending directions of the guiding groove A (20) and the guiding groove B (21) form an angle with the axis of the wrist portion (4). When the wrist driving rod (10) moves, it drives the pin shaft C (19) to move in the guiding groove A (20) and the guiding groove B (21), and applies a lateral force to the guiding groove A (20) and the guiding groove B (21), thereby causing the wrist portion (4) to rotate around the pin shaft B (18).

2. The handheld multi-degree-of-freedom minimally invasive surgical instrument according to claim 1, wherein: The other end of the wrist driving rod (10) is fixed on the lead screw nut (15). The lead screw nut (15) is in mating connection with the trapezoidal lead screw (16). When the trapezoidal lead screw (16) rotates, the lead screw nut (15) makes a linear motion along the axis of the trapezoidal lead screw (16), thereby driving the wrist driving rod (10) to make a linear motion.

3. The handheld multi-degree-of-freedom minimally invasive surgical instrument according to claim 2, wherein: A top cover (12) is arranged on the periphery of the trapezoidal lead screw (16). A strip-shaped groove extending along the axial direction is formed on the top cover (12). The lead screw nut (15) extends out of the strip-shaped groove and makes a linear motion along the strip-shaped groove.

4. The handheld multi-degree-of-freedom minimally invasive surgical instrument according to claim 1, characterized in that: The wrist driving rod (10) is a hollow through rod, and the jaw driving rod (14) is a solid rod.

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