Flexible surgical instrument with position feedback

Abstract

The invention relates to a flexible surgical instrument with a position feedback function. The flexible surgical instrument with the position feedback function comprises a supporting assembly; the transmission assembly is arranged on the supporting assembly; the operation execution assembly is arranged on the supporting assembly and connected with the transmission assembly, and the operation execution assembly comprises a rigid execution section, a flexible execution section and an operation execution tool which are sequentially connected in the direction from the position close to the supporting assembly to the position away from the supporting assembly; the transmission assembly is used for controlling the flexible execution section to bend and controlling the operation execution tool to act; a detection circuit is arranged in the detection thin film layer, the detection thin film layer is arranged on the flexible execution section, and when the flexible execution section is bent, the detection thin film layer and the detection circuit deform due to bending of the flexible execution section, so that the resistance value of the detection circuit is changed. The technical problems that the control precision of the minimally invasive surgical instrument is low, and the specific position of the surgical instrument cannot be accurately obtained are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a flexible surgical device with position feedback. BACKGROUND

[0002] Minimally invasive surgery has the advantages of small incision, less bleeding, and fast recovery time. Traditional minimally invasive surgical devices are long and straight, and the end thereof is inserted into the human body to perform targeted treatment (such as resection) on the lesion site.

[0003] Existing minimally invasive surgery needs to be assisted by an endoscope to know the position reached by the minimally invasive surgical tool. The position of the minimally invasive surgical tool in the human body is displayed on a display screen, and the surgeon performs the operation by viewing the display screen. However, the movement of the existing minimally invasive surgical device and the bending angle during the operation can only be displayed by an image, and the position information cannot be obtained. Therefore, there is a problem of low control accuracy of the minimally invasive surgical device and the inability to accurately know the specific position of the surgical device.

[0004] Therefore, the present application is proposed based on the experience and practice of the present inventor in the relevant industry for many years to overcome the defects of the prior art. SUMMARY

[0005] The present application aims to provide a flexible surgical device with position feedback. A detection film layer is arranged on a flexible execution section of the surgical device, which can detect the pose change of the flexible execution section when the flexible execution section is bent, and output the pose change in numerical form, so that the pose change of the flexible execution section can be accurately known, the control accuracy of the surgical device is improved, and accurate control of the surgical device is achieved.

[0006] The object of the present application can be achieved by the following scheme:

[0007] The present application provides a flexible surgical device with position feedback, which comprises:

[0008] a support assembly;

[0009] a transmission assembly arranged on the support assembly;

[0010] a surgical execution assembly arranged on the support assembly and connected with the transmission assembly. From the direction close to the support assembly to the direction away from the support assembly, the surgical execution assembly comprises a rigid execution section, a flexible execution section, and a surgical execution tool connected in sequence. The transmission assembly is used to control the bending of the flexible execution section and the action of the surgical execution tool.

[0011] The detection film layer has a detection circuit therein, and is arranged on the flexible execution section. When the flexible execution section is bent, the detection film layer and the detection circuit are deformed by the bending of the flexible execution section, so that the resistance value of the detection circuit changes.

[0012] In a preferred embodiment of the present application, the detection film layer is made of elastic material, and is arranged on the outer wall or the inner wall of the flexible execution section.

[0013] In a preferred embodiment of the present application, the flexible surgical instrument with position feedback further comprises a controller, the detection circuit is electrically connected to the controller, and the controller is used to receive the resistance value change information of the detection circuit and convert the resistance value change information into the pose information of the flexible execution section.

[0014] In a preferred embodiment of the present application, the flexible execution section comprises a flexible sleeve and a bendable vertebra section extending along the axial direction of the flexible sleeve, the flexible sleeve is sleeved on the outer periphery of the vertebra section, and the detection film layer is arranged between the inner wall of the flexible sleeve and the vertebra section.

[0015] From the rigid execution section to the surgical execution tool, the vertebra section comprises a proximal connecting block, a plurality of middle connecting blocks and a distal connecting block arranged in sequence, and the proximal connecting block and the adjacent middle connecting block, the distal connecting block and the adjacent middle connecting block, and the adjacent two middle connecting blocks are rotatably connected, so that the formed vertebra section can be bent at each connecting position.

[0016] The proximal connecting block, the middle connecting block and the distal connecting block are respectively provided with connecting holes, the connecting holes of the proximal connecting block, the middle connecting block and the distal connecting block are connected and form a connecting channel, and a connecting steel wire is arranged in the connecting channel, one end of the connecting steel wire is connected to the proximal connecting block, and the other end of the connecting steel wire sequentially passes through the connecting holes of the plurality of middle connecting blocks and is connected to the distal connecting block.

[0017] In a preferred embodiment of the present application, the proximal connecting block, the middle connecting block and the distal connecting block are respectively provided with a plurality of first through holes connected in sequence, and are respectively provided with a plurality of second through holes connected in sequence, the first through holes and the second through holes are symmetrically distributed about the vertical center line of the flexible sleeve, so that the vertebra section can be bent in at least two opposite directions.

[0018] A first bending drive wire and a second bending drive wire are respectively arranged in the vertebral segment and in the first through hole and the second through hole, one end of the first bending drive wire and one end of the second bending drive wire are respectively connected with the transmission assembly, and the other end of the first bending drive wire and the other end of the second bending drive wire are respectively connected with the distal end connecting block.

[0019] In a preferred embodiment of the present application, the rigid execution segment comprises an operating rod, one end of the operating rod is connected with the proximal end connecting block, the other end of the operating rod is rotatably arranged on the support assembly and connected with the transmission assembly, so as to drive the surgical execution assembly to rotate through the transmission assembly.

[0020] A through channel is formed in the operating rod and passes through both ends of the operating rod, a guide wire is arranged in the through channel, and the guide wire connects the detection circuit and the controller.

[0021] In a preferred embodiment of the present application, the vertebral segment and the operating rod respectively have a surgical instrument drive channel connected therewith, a rigid tube is arranged in the surgical instrument drive channel, a surgical instrument drive wire is arranged in the interior of the rigid tube, a first end of the surgical instrument drive wire is connected with the transmission assembly, and a second end of the surgical instrument drive wire passes through the rigid tube and is connected with the surgical execution tool.

[0022] In a preferred embodiment of the present application, the transmission assembly comprises a rotating sleeve in which a central shaft is arranged in a horizontal direction, a first winding wheel in which a central shaft is arranged in a vertical direction, and a first drive motor, an output shaft of the first drive motor is connected with the central shaft of the first winding wheel through a shaft coupling, and at least part of the operating rod extends into the rotating sleeve and is connected with the rotating sleeve.

[0023] A transmission wire rope is arranged around the rotating sleeve and the first winding wheel, and power of the first drive motor is transmitted to the rotating sleeve through the first winding wheel and the transmission wire rope in sequence.

[0024] In a preferred embodiment of the present application, the transmission assembly further comprises a second winding wheel and a second drive motor, an output shaft of the second drive motor is connected with the central shaft of the second winding wheel through a shaft coupling, and at least part of the surgical instrument drive wire is wound on the second winding wheel.

[0025] The transmission assembly further comprises a third winding wheel and a third drive motor, an output shaft of the third drive motor is connected with the central shaft of the third winding wheel through a shaft coupling, and at least part of the first bending drive wire is wound on the third winding wheel.

[0026] The transmission assembly further comprises a fourth winding wheel and a fourth driving motor, an output shaft of the fourth driving motor is connected with a central shaft of the fourth winding wheel through a shaft coupling, and at least part of the second bending driving wire is wound on the fourth winding wheel;

[0027] The transmission assembly further comprises a first wire guide wheel, a second wire guide wheel and a third wire guide wheel;

[0028] At least part of the surgical instrument driving wire winds around part of the outer wall of the first wire guide wheel and is wound on the second winding wheel, so that the surgical instrument driving wire between the first wire guide wheel and the operating rod extends along the central shaft direction of the operating rod;

[0029] At least part of the first bending driving wire winds around part of the outer wall of the second wire guide wheel and is wound on the third winding wheel, so that the first bending driving wire between the second wire guide wheel and the operating rod extends along the central shaft direction of the operating rod;

[0030] At least part of the second bending driving wire winds around part of the outer wall of the third wire guide wheel and is wound on the fourth winding wheel, so that the second bending driving wire between the third wire guide wheel and the operating rod extends along the central shaft direction of the operating rod.

[0031] In a preferred embodiment of the present application, the support assembly comprises a bottom plate, an intermediate plate and a top plate arranged in sequence from bottom to top, the first winding wheel, the second winding wheel, the third winding wheel, the fourth winding wheel, the first wire guide wheel, the second wire guide wheel and the third wire guide wheel are respectively rotatably arranged on the top of the bottom plate through respective central shafts;

[0032] A plurality of shaft couplings are rotatably arranged on the top of the intermediate plate;

[0033] The first driving motor, the second driving motor, the third driving motor and the fourth driving motor are arranged on the top of the top plate, and the output shaft of the first driving motor, the output shaft of the second driving motor, the output shaft of the third driving motor and the output shaft of the fourth driving motor all pass through the top plate and are respectively connected with corresponding shaft couplings.

[0034] From the above, the flexible surgical instrument with position feedback of the present application has the following characteristics and advantages:

[0035] The flexible execution section part capable of bending on the surgical execution assembly is provided with a detection film layer, and a detection circuit is arranged in the detection film layer. When the flexible execution section enters the human body and bends, the bending of the flexible execution section will cause the detection film layer to be deformed, and the detection circuit in the detection film layer will also be deformed, so that the resistance value of the detection circuit changes. In actual use, the actual resistance value of the detection circuit can be matched with the bending angle and / or the position of the bending of the flexible execution section. Different resistance values correspond to different changes in the pose of the flexible execution section, so that the pose of the surgical execution tool connected with the flexible execution section can be numerically output, and the position of the surgical execution tool in the human body can be accurately obtained, which helps to improve the control accuracy of the surgical instrument and achieves the purpose of accurate control of the surgical instrument. BRIEF DESCRIPTION OF DRAWINGS

[0036] The following drawings are only intended to illustrate and explain the present application, and do not limit the scope of the present application.

[0037] Among them:

[0038] Figure 1 It is a perspective view of the flexible surgical instrument with position feedback of the present application.

[0039] Figure 2 It is a position diagram of the detection film layer in an embodiment of the flexible surgical instrument with position feedback of the present application.

[0040] Figure 3 It is a front view sectional view of the flexible surgical instrument with position feedback of the present application.

[0041] Figure 4 It is a top view of the flexible surgical instrument with position feedback of the present application.

[0042] Figure 5 It is a schematic diagram of the transmission structure between the rotating sleeve and the first winding wheel in an embodiment of the flexible surgical instrument with position feedback of the present application.

[0043] Figure 6 It is a left view of the flexible surgical instrument with position feedback of the present application.

[0044] Figure 7 It is a partial enlarged view of the surgical execution assembly part in Figure 3

[0045] Figure 8 It is a sectional view of the A-A position in Figure 7

[0046] Figure 9 It is a sectional view of the B-B position in Figure 7 ​​​

[0047] Figure 10 : This is a perspective view of a flexible surgical instrument with position feedback according to one embodiment of the present invention.

[0048] Figure 11 This is a schematic diagram of the detection circuit in one embodiment of the flexible surgical instrument with position feedback according to the present invention.

[0049] The reference numerals in the accompanying drawings of this invention are:

[0050] 1. Surgical execution components; 101. Flexible execution segment;

[0051] 1011. Proximal connector block; 1012. Distal connector block;

[0052] 1013, Middle connecting block; 10131, Beveled surface;

[0053] 1014. Flexible sleeve; 1015. Rigid pipe;

[0054] 102. Rigid actuator section; 1021. Operating lever;

[0055] 1022. Flexible tubing; 103. Surgical instruments;

[0056] 1031. Upper gripper; 1032. Lower gripper;

[0057] 1033. Gripper bracket; 1034. Support component;

[0058] 10341. Spring receiving cavity; 1035. Push-pull rod;

[0059] 1036. Spring; 1037. Pin;

[0060] 1038. Locating pin; 1039. Arc-shaped through hole;

[0061] 104. Inspect the thin film layer; 105. Connecting holes;

[0062] 106. Connecting steel wire; 107. First through hole;

[0063] 108. Second through hole; 109. First bending drive wire;

[0064] 110. Second bend drive wire; 111. Passing through the channel;

[0065] 112. Capillary steel tube; 113. Surgical instrument drive wire;

[0066] 2. Transmission assembly; 201. Rotating sleeve;

[0067] 202. First winding reel; 203. Transmission rope;

[0068] 204. Coupling; 205. Second winding reel;

[0069] 206. Third winding reel; 207. Fourth winding reel;

[0070] 208. Second drive motor; 209. Third drive motor;

[0071] 210. Fourth drive motor; 211. First drive motor;

[0072] 212. First guide wheel; 213. Second guide wheel;

[0073] 214. Third guide wheel; 3. Support assembly;

[0074] 301, base plate; 3011, boss;

[0075] 302. Intermediate plate; 303. Top plate;

[0076] 304, quick-connect fittings; 305, swivel tubes;

[0077] 306. Bearings; 4. Controllers;

[0078] 5. Wires. Detailed Implementation

[0079] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0080] In this invention, terms such as "upper," "lower," "top," and "bottom," which indicate direction, are all used in this way. Figure 3 The directions such as "up," "down," "top," and "bottom" are used as a reference and are explained here together. The purpose is to describe the structure of each component in the flexible surgical instrument with position feedback in this invention more clearly and explicitly, so as to facilitate understanding, rather than to limit specific directions.

[0081] like Figures 1 to 11As shown, this invention provides a flexible surgical instrument with position feedback. The flexible surgical instrument with position feedback includes a support assembly 3, a transmission assembly 2, a surgical execution assembly 1, and a detection thin film layer 104. The transmission assembly 2 is disposed on the support assembly 3, and the surgical execution assembly 1 is disposed on the support assembly 3 and connected to the transmission assembly 2. From the direction closest to the support assembly 3 to the direction furthest away from the support assembly 3, the surgical execution assembly 1 includes a rigid execution section 102, a flexible execution section 101, and a surgical execution tool 103 connected in sequence. During use, the rigid execution section 102 provides stable support for the flexible execution section 101 and the surgical execution tool 103. The flexible execution section 101 has a bending capability and can bend to a certain extent after entering the human body according to the surgical location, so that the surgical execution tool 103 can accurately reach the surgical location. The surgical execution tool 103 can be used for clamping or removing human tissue. The bending of the flexible execution section 101 and the control of the movement of the surgical execution tool 103 can be controlled by the transmission assembly 2.

[0082] The detection thin film layer 104 of the present invention has a detection circuit. The detection thin film layer 104 is disposed on the flexible execution section 101. When the flexible execution section 101 bends, the detection thin film layer 104 and the detection circuit are deformed by the bending of the flexible execution section 101, so that the resistance value of the detection circuit changes.

[0083] A detection film layer 104 is provided on the flexible execution segment 101 of the surgical execution component 1 of the present invention, which is capable of bending. A detection circuit is provided in the detection film layer 104. When the flexible execution segment 101 enters the human body and bends, the bending of the flexible execution segment 101 will cause the detection film layer 104 to deform, and the detection circuit inside it will also deform, causing the resistance value of the detection circuit to change. In actual use, the actual resistance value of the detection circuit can be matched with the bending angle and / or the bending position of the flexible execution segment. Different resistance values ​​correspond to different pose changes of the flexible execution segment (a matching experiment can be performed in advance to obtain different poses of the flexible execution segment 101 and the corresponding resistance values ​​of the detection circuit to obtain a relative correspondence). Thus, the pose of the surgical execution tool 103 connected to the flexible execution segment 101 can be numerically output, and the position of the surgical execution tool 103 in the human body can be accurately determined, which helps to improve the control accuracy of the surgical instrument and achieve the purpose of precise control of the surgical instrument.

[0084] In an optional embodiment of the present invention, the detection film layer 104 may be a sheet-like structure made of an elastic material (such as a silicone precision film). The formed detection film layer 104 is cylindrical, with an inner diameter slightly smaller than the outer diameter of the flexible actuator section 101. Both ends of the detection film layer 104 are fixedly connected to the proximal connecting block 1011 and the gripper bracket 1033, respectively, and are laid on the outer or inner wall of the flexible actuator section 101, ensuring that it adheres to the wall surface of the flexible actuator section 101 and that the inner side of the bent portion remains in contact with the flexible actuator section 101. When the flexible actuator section 101 deforms, the detection film layer 104 also deforms accordingly. The elastic material may be, but is not limited to, PDMS (polydimethylsiloxane) or TPU (polyurethane elastomer), and the conductive material uses a copper-based alloy as the substrate, uniformly covered with a gallium indium tin alloy, exhibiting high sensitivity and stability. The film has acid and alkali corrosion resistance and good adhesion.

[0085] Furthermore, such as Figure 2 As shown, the flexible surgical instrument with position feedback also includes a controller 4. The signal output terminal of the detection circuit is electrically connected to the signal receiving terminal of the controller 4. The controller is used to receive the resistance value change information of the detection circuit and convert the resistance value change information into the pose information of the flexible execution segment 101. The controller 4 can be, but is not limited to, a microcontroller. After obtaining the resistance value of the detection circuit, it can retrieve the pre-stored correspondence data between the resistance value of the detection circuit and the pose of the flexible execution segment 101, thereby obtaining the pose of the flexible execution segment 101 (i.e., obtaining the position of the surgical execution tool 103).

[0086] In one specific embodiment of the present invention, such as Figure 11 As shown, a detection thin film layer 104 can be set on each of the two opposite sides of the flexible actuator 101, so that the bending of the flexible actuator 101 in different directions can be detected during actual use. The detection circuits in the two detection thin film layers 104 correspond to the first resistor R1 and the second resistor R2, respectively. The controller 4 has two parallel third resistors R. The first resistor R1, the second resistor R2, and the two third resistors R form a bridge circuit. O U is the power supply voltage, and U is the output voltage. By detecting the change in the output voltage U, the change in the resistance values ​​of the first resistor R1 and the second resistor R2 can be obtained, thereby determining the pose of the flexible actuator 101 to achieve precise control of the movement of the flexible surgical instrument.

[0087] In an optional embodiment of the present invention, such as Figure 3 , Figure 7 , Figure 10As shown, the flexible actuation section 101 includes a flexible sleeve 1014 and a bendable vertebral segment extending axially along the flexible sleeve 1014. The flexible sleeve 1014 is fixedly sleeved on the outer periphery of the vertebral segment, and the detection film layer 104 is sandwiched between the inner wall of the flexible sleeve 1014 and the vertebral segment. The flexible sleeve 1014 may be a transparent flexible tube.

[0088] Furthermore, such as Figure 7 , Figure 10 As shown, from the rigid execution section 102 to the surgical execution tool 103, the vertebral segment includes a proximal connecting block 1011, multiple middle connecting blocks 1013, and a distal connecting block 1012 arranged sequentially. The proximal connecting block 1011 is rotatably connected to its adjacent middle connecting block 1013, the distal connecting block 1012 is rotatably connected to its adjacent middle connecting block 1013, and two adjacent middle connecting blocks 1013 are rotatably connected to each other, so that the vertebral segment formed can bend at each connection position. Along the axial direction of the flexible sleeve 1014, the two ends of the middle connecting block 1013 have oblique cut surfaces 10131 to leave rotation space at the connection position, so that when the vertebral segment bends, two adjacent middle connecting blocks 1013 can rotate relative to each other and form a certain angle.

[0089] In an optional embodiment of the present invention, such as Figure 7 , Figure 8 As shown, along the axial direction of the flexible sleeve 1014 (or along a direction parallel to the axial direction of the flexible sleeve 1014), the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 each have a through connecting hole 105. The connecting holes 105 on the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 are connected to form a connecting channel. A connecting wire 106 is provided within the connecting channel. One end of the connecting wire 106 is connected to the proximal connecting block 1011, and the other end of the connecting wire 106 passes sequentially through the connecting holes 105 on multiple middle connecting blocks 1013 and connects to the distal connecting block 1012. Through the connection wire 106, the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 are connected into a single vertebral segment. However, due to the bendable nature of the connecting wire 106, the vertebral segment also possesses the ability to bend.

[0090] Furthermore, there can be two connecting channels, which are symmetrically distributed about the central axis of the vertebral segment. Each of the two connecting channels is equipped with a connecting steel wire 106 of the above-mentioned connecting structure, thereby improving the stability of the vertebral segment after molding.

[0091] In an optional embodiment of the present invention, such as Figures 7 to 9As shown, along the axial direction of the flexible sleeve 1014 (or along a direction parallel to the axial direction of the flexible sleeve 1014), the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 each have a plurality of first through holes 107, and the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 each have a plurality of second through holes 108. The first through holes 107 and the second through holes 108 are symmetrically distributed about the vertical centerline of the flexible sleeve 1014, so that the vertebral segment can be extended in at least two opposite directions (e.g., Figure 8 , Figure 9 The vertebral segment is bent in both left and right directions; a first bending drive wire 109 and a second bending drive wire 110 are inserted through the vertebral segment. One end of the first bending drive wire 109 and one end of the second bending drive wire 110 are respectively connected to the transmission assembly 2, and the other end of the first bending drive wire 109 and the other end of the second bending drive wire 110 are respectively connected to the distal connecting block 1012.

[0092] Specifically, such as Figures 7 to 9 As shown, the first through holes 107 on the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 are connected to form a first bending channel, and the second through holes 108 on the proximal connecting block 1011, the middle connecting block 1013, and the distal connecting block 1012 are connected to form a second bending channel. A first bending drive wire 109 is provided in the first bending channel, and a second bending drive wire 110 is provided in the second bending channel. One end of the first bending drive wire 109 and one end of the second bending drive wire 110 are respectively... Connected to the transmission assembly 2, the other end of the first bending drive wire 109 passes through the first through hole 107 on the rigid actuation section 102 and multiple middle connecting blocks 1013 in sequence and is connected to the distal connecting block 1012. The other end of the second bending drive wire 110 passes through the second through hole 108 on the rigid actuation section 102 and multiple middle connecting blocks 1013 in sequence and is connected to the distal connecting block 1012. The transmission assembly 2 drives the vertebral segment to bend by pulling the first bending drive wire 109 and / or the second bending drive wire 110.

[0093] In an optional embodiment of the present invention, such as Figure 7 , Figure 9As shown, the rigid execution section 102 includes an operating rod 1021, which is a hollow tubular structure arranged in the horizontal direction. One end of the operating rod 1021 is connected to the proximal connecting block 1011, and the other end of the operating rod 1021 is rotatably mounted on the support assembly 3 and connected to the transmission assembly 2. In actual use, the surgical execution assembly 1 can be rotated through the transmission assembly 2, thereby adjusting the rotation angle of the surgical execution tool 103 in the circumferential direction. Along the axial direction of the operating rod 1021 (or along the direction parallel to the axial direction of the operating rod 1021), a through channel 111 is formed inside the operating rod 1021, which passes through both ends of the operating rod 1021. A wire 5 is arranged in the through channel 111, and the wire 5 connects the detection circuit and the controller 4.

[0094] Furthermore, such as Figure 9 As shown, the first bending drive wire 109 and the second bending drive wire 110 pass through the operating rod 1021 and are connected to the transmission assembly 2. Capillary steel tubes 112 are respectively sleeved on the outer periphery of the first bending drive wire 109 and the outer periphery of the second bending drive wire 110 located inside the operating rod 1021, thereby providing a stable space for the setting of the first bending drive wire 109 and the second bending drive wire 110, while limiting the bending deformation of the first bending drive wire 109 and the second bending drive wire 110 in the rigid execution section 102, improving the rigidity of the first bending drive wire 109 and the second bending drive wire 110, and facilitating installation. Specifically, the first bending channel and the second bending channel extend into and through the operating rod 1021. The outer periphery of the first bending drive wire 109 in the first bending channel inside the operating rod 1021 and the outer periphery of the second bending drive wire 110 in the second bending channel inside the operating rod 1021 are respectively fitted with capillary steel tubes 112.

[0095] In an optional embodiment of the present invention, such as Figures 7 to 9 As shown, the vertebral segment and the operating rod 1021 each have a connected surgical instrument drive channel at their axial center and along their respective extension directions. A rigid tube 1015 passes through the surgical instrument drive channel, and a surgical instrument drive wire 113 is disposed inside the rigid tube 1015. The first end of the surgical instrument drive wire 113 is connected to the transmission assembly 2, and the second end of the surgical instrument drive wire 113 passes through the rigid tube 1015 and is connected to the surgical execution tool 103. During use, the transmission assembly 2 can drive the surgical instrument drive wire 113 to move, thereby driving the surgical execution tool 103 to move. The two ends of the surgical instrument drive wire 113 are the first end and the second end mentioned above. In this embodiment, the surgical instrument drive wire 113 drives the surgical execution tool 103 to perform surgical operations such as clamping or resection, which is a prior art technique. The specific operation method will not be described in detail here.

[0096] Furthermore, the rigid tube 1015 can be, but is not limited to, a nickel-titanium alloy tube.

[0097] Furthermore, such as Figure 7 As shown, an elastic tube 1022 is provided inside the operating lever 1021. The elastic tube 1022 is sleeved on the outside of the rigid tube 1015 located inside the operating lever 1021. One end of the elastic tube 1022 extends to the transmission assembly 2 and is rotatably connected to the transmission assembly 2 (which extends into and connects to the rotating tube 305). The other end of the elastic tube 1022 is connected to the proximal connecting block 1011. When the surgical execution assembly 1 bends, the tension of the elastic tube 1022 ensures that the first bending drive wire 109 and the second bending drive wire 110 are always taut, so as to ensure that the flexible execution section 101 can maintain a certain stability in the bending state.

[0098] In one specific embodiment of the present invention, such as Figure 1 , Figure 3 , Figure 4 , Figures 6 to 10As shown, the surgical execution tool 103 can be, but is not limited to, a surgical clamp. The surgical clamp includes an upper clamp 1031, a lower clamp 1032, and a clamp support 1033. The clamp support 1033 is a cylindrical structure with one open end and one closed end. The open end of the clamp support 1033 is connected to the distal connecting block 1012 and the flexible sleeve 1014, respectively. The closed end of the clamp support 1033 has a through hole. A support member 1034, connected to the distal connecting block 1012, is fixedly disposed inside the clamp support 1033. A push-pull rod 1035 is disposed inside the clamp support 1033 and near its open end. One end of the push-pull rod 1035 is slidably connected to the support member 1034, and a spring receiving cavity 10341 is formed between the push-pull rod 1035 and the support member 1034. A spring 1036 is provided inside the accommodating cavity 10341. The two ends of the spring 1036 abut against the push-pull rod 1035 and the support member 1034, respectively. The other end of the push-pull rod 1035 extends through the through hole on the gripper bracket 1033 to the outside of the gripper bracket 1033. The second end of the surgical instrument drive wire 113 passes through the spring accommodating cavity 10341 and is connected to the push-pull rod 1035. The upper gripper 1031 and the lower gripper 1032 are rotatably connected by a pin 1037. The upper gripper 1031 and the lower gripper 1032 have interconnected arc-shaped through holes 1039. A movable positioning pin 1038 is provided in the arc-shaped through hole 1039 and is connected to the push-pull rod 1035. During use, the forward motion of the transmission component 2 controls the extension of the surgical instrument drive wire 113 toward the surgical clamp. When the surgical instrument drive wire 113 extends toward the surgical clamp, it pushes the push-pull rod 1035 forward, increasing the opening between the upper clamp 1031 and the lower clamp 1032. At this time, the spring 1036 is compressed. After the surgical action is completed, the reverse motion of the transmission component 2 controls the retraction of the surgical instrument drive wire 113. The elastic force of the spring 1036 drives the push-pull rod 1035 to move back to its original position, and the opening between the upper clamp 1031 and the lower clamp 1032 decreases until they finally close together.

[0099] In an optional embodiment of the present invention, such as Figure 1 , Figures 3 to 6As shown, the transmission assembly 2 includes a rotating sleeve 201 with its central shaft arranged horizontally, a first winding wheel 202 with its central shaft arranged vertically, and a first drive motor 211. The output shaft of the first drive motor 211 is connected to the central shaft of the first winding wheel 202 via a coupling 204. The rotating sleeve 201 and the first winding wheel 202 are connected by a transmission rope 203 wound around both. At least a portion of the operating lever 1021 extends into and is connected to the rotating sleeve 201. The first drive motor 211 drives the first winding wheel 202 to rotate, which in turn drives the rotating sleeve 201 to rotate via the first winding wheel 202 and the transmission rope 203. The rotating sleeve 201 drives the operating lever 1021 to rotate, thereby achieving the purpose of driving the surgical execution tool 103 to rotate circumferentially.

[0100] Specifically, such as Figure 4 , Figure 5 As shown, the transmission cord 203 is wound between the rotating sleeve 201 and the first winding wheel 202 in the following manner: the transmission cord 203 is wound sequentially around the top of the first winding wheel 202, one end of the rotating sleeve 201, the other end of the rotating sleeve 201, and the bottom of the first winding wheel 202. The power of the first drive motor 211 is transmitted to the rotating sleeve 201 through the first winding wheel 202 and the transmission cord 203 in sequence, so as to drive the operating lever 1021 to rotate.

[0101] Furthermore, such as Figure 1 , Figures 3 to 6 As shown, the transmission assembly 2 also includes a second winding wheel 205 and a second drive motor 208 with the central shaft arranged vertically. The output shaft of the second drive motor 208 is connected to the central shaft of the second winding wheel 205 through a coupling 204. At least part of the surgical instrument drive wire 113 is wound on the second winding wheel 205. The second drive motor 208 drives the second winding wheel 205 to rotate, thereby driving the surgical instrument drive wire 113 to extend or retract, so as to drive the surgical execution tool 103 to extend or retract forward.

[0102] Furthermore, such as Figure 1 , Figures 3 to 6As shown, the transmission assembly 2 also includes a third winding wheel 206 with its central shaft arranged vertically and a third drive motor 209. The output shaft of the third drive motor 209 is connected to the central shaft of the third winding wheel 206 via a coupling 204, and at least a portion of the first bending drive wire 109 is wound on the third winding wheel 206. The transmission assembly 2 also includes a fourth winding wheel 207 with its central shaft arranged vertically and a fourth drive motor 210. The output shaft of the fourth drive motor 210 is connected to the central shaft of the fourth winding wheel 207 via a coupling 204, and at least a portion of the second bending drive wire 110 is wound on the fourth winding wheel 207. By driving the third winding wheel 206 and the fourth winding wheel 207 to rotate via the third drive motor 209 and the fourth drive motor 210 respectively, the surgical execution tool 103 can be driven to bend to the left or right respectively.

[0103] Furthermore, such as Figure 4 As shown, the transmission assembly 2 also includes a first guide wheel 212, a second guide wheel 213, and a third guide wheel 214, all with their central shafts arranged vertically. The first guide wheel 212, second guide wheel 213, and third guide wheel 214 are distributed on both sides of the extension line of the central shaft of the operating lever 1021, and are staggered along the extension line of the central shaft of the operating lever 1021. At least a portion of the surgical instrument driving wire 113 passes around a portion of the outer wall of the first guide wheel 212 and is wound around the second winding wheel 205, so that the wire is positioned between the first guide wheel 212 and the operating lever 1021. The surgical instrument drive wire 113 between the levers 1021 extends along the central axis of the operating lever 1021; at least a portion of the first bending drive wire 109 passes around a portion of the outer wall of the second guide wheel 213 and is wound around the third winding wheel 206, so that the first bending drive wire 109 located between the second guide wheel 213 and the operating lever 1021 extends along the central axis of the operating lever 1021; at least a portion of the second bending drive wire 110 passes around a portion of the outer wall of the third guide wheel 214 and is wound around the fourth winding wheel 207, so that the second bending drive wire 110 located between the third guide wheel 214 and the operating lever 1021 extends along the central axis of the operating lever 1021.

[0104] In one alternative embodiment of the present invention, such as Figure 1 , Figure 3 , Figure 4 , Figure 6As shown, the support assembly 3 includes a base plate 301, a middle plate 302, and a top plate 303 arranged sequentially from bottom to top. The first winding wheel 202, the second winding wheel 205, the third winding wheel 206, the fourth winding wheel 207, the first guide wheel 212, the second guide wheel 213, and the third guide wheel 214 are rotatably mounted on the top of the base plate 301 via their respective central shafts. Multiple couplings 204 are rotatably mounted on the top of the middle plate 302. The first drive motor 211, the second drive motor 208, the third drive motor 209, and the fourth drive motor 210 are mounted on the top of the top plate 303, and the output shafts of the first drive motor 211, the second drive motor 208, the third drive motor 209, and the fourth drive motor 210 all pass through the top plate 303 and are respectively connected to the corresponding couplings 204. The base plate 301, intermediate plate 302 and top plate 303 not only provide installation and support for each drive component and transmission component, but also have a reasonable arrangement of upper and lower layers, making the structure of the support component 3 simpler.

[0105] Furthermore, such as Figure 3 , Figure 6 As shown, a boss 3011 is formed on the edge of the base plate 301 facing the surgical tool 103. The boss 3011 has a mounting hole that passes through the boss 3011 in a horizontal direction. The rotating tube 305 is rotatably disposed in the mounting hole through the bearing 306. At least a portion of the rotating tube 305 extends into the rotating sleeve 201 and is connected to the rotating sleeve 201. At least a portion of the operating rod 1021 extends into the rotating tube 305 and is connected to the rotating tube 305.

[0106] Furthermore, such as Figure 1 , Figure 3 As shown, the support assembly 3 also includes a quick connector 304, which is connected to the base plate 301 and / or the intermediate plate 302. The quick connector 304 can be used to connect with the robotic arm of an existing surgical robot and drive the flexible surgical instrument of the present invention to perform surgical operations through the surgical robot.

[0107] The working process of the present invention will be further described below:

[0108] When the flexible surgical instrument with position feedback of the present invention is in operation, the first to fourth drive motors drive the first to fourth winding wheels to rotate through the corresponding couplings 204. The first winding wheel 202 drives the rotating sleeve 201 to rotate through the transmission rope 203, thereby driving the entire surgical execution component 1 to rotate. The rotation of the third winding wheel 206 drives the first bending drive wire 109 to extend forward or retract backward, thereby driving the distal connecting block 1012 to deflect to the right. At this time, the multiple middle connecting blocks 1013 also rotate relative to each other, so that the vertebral segment bends to the right, realizing the right bending action of the surgical execution component 1. Similarly, the rotation of the fourth winding wheel 207 drives the second bending drive wire 110 to extend forward or retract backward, thereby driving the distal connecting block 1012 to deflect to the left. At this time, the multiple middle connecting blocks 1013 also rotate relative to each other, so that the vertebral segment bends to the left, realizing the left bending action of the surgical execution component 1. When the flexible execution section 101 bends, the detection film layer 104 deforms accordingly, and the detection circuit inside also deforms. The resistance values ​​of the first resistor R1 and the second resistor R2 change, and the information of the resistance change is transmitted to the controller 4 through the wire 5. Here, the third resistor R is a fixed resistor, U0 is the power supply voltage, and U is the output voltage. The first resistor R1, the second resistor R, and the two third resistors R form a bridge circuit. During the bending process of the flexible execution section 101, by obtaining the change in the magnitude of the output voltage U, the change in the resistance values ​​of the first resistor R1 and the second resistor R2 can be obtained. In this way, the drive motors can be controlled to achieve precise adjustment of the bending position and bending angle of the flexible execution section 101, thereby realizing precise control of the posture of the surgical execution tool 103.

[0109] The rotation of the second winding wheel 205 can drive the surgical instrument drive wire 113 to extend forward or retract backward. The surgical instrument drive wire 113 can pull the push-pull rod 1035 forward or backward. When the push-pull rod 1035 moves forward, the upper jaw 1031 and the lower jaw 1032 slide relative to each other, thus closing the jaws. When the second winding wheel 205 rotates in the opposite direction, the spring 1036 pushes the push-pull rod 1035 to reset, thus opening the jaws.

[0110] The features and advantages of the flexible surgical instrument with position feedback of the present invention are as follows:

[0111] In this flexible surgical instrument with position feedback, a detection film layer 104 is provided on the flexible execution segment 101 of the surgical execution component 1, which is capable of bending. A detection circuit is provided within the detection film layer 104. When the flexible execution segment 101 enters the human body and bends, the bending of the flexible execution segment 101 causes the detection film layer 104 to deform, and consequently, the detection circuit within it also deforms, causing a change in the resistance value of the detection circuit. By matching the actual resistance value of the detection circuit with the bending angle and / or the bending position of the flexible execution segment, different resistance values ​​correspond to different pose changes of the flexible execution segment. Thus, the pose of the surgical execution tool 103 connected to the flexible execution segment 101 can be numerically output, accurately determining the position of the surgical execution tool 103 within the human body. This helps improve the control precision of the surgical instrument and achieves the goal of precise control of the surgical instrument.

[0112] The above description is merely an illustrative embodiment of the present invention and is not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A flexible surgical instrument with position feedback, characterized in that, The flexible surgical instrument with position feedback includes: Support components; A transmission assembly, wherein the transmission assembly is disposed on the support assembly; A surgical execution component is disposed on the support component and connected to the transmission component, extending from near the support component to away from the support component. The surgical execution component includes a rigid execution section, a flexible execution section, and a surgical execution tool connected in sequence. The transmission component is used to control the bending of the flexible execution section and control the movement of the surgical execution tool. A detection thin film layer is provided, which contains a detection circuit. The detection thin film layer is disposed on the flexible actuation section. When the flexible actuation section bends, the detection thin film layer and the detection circuit are deformed by the bending of the flexible actuation section, so that the resistance value of the detection circuit changes.

2. The flexible surgical instrument with position feedback as described in claim 1, characterized in that, The detection film layer is made of an elastic material and is applied to the outer or inner wall of the flexible actuator section.

3. The flexible surgical instrument with position feedback as described in claim 1, characterized in that, The flexible surgical instrument with position feedback also includes a controller. The detection circuit is electrically connected to the controller. The controller is used to receive the resistance value change information of the detection circuit and convert the resistance value change information into the pose information of the flexible actuation segment.

4. The flexible surgical instrument with position feedback as described in claim 3, characterized in that, The flexible actuation section includes a flexible sleeve and a bendable vertebral segment extending axially along the flexible sleeve. The flexible sleeve is sleeved on the outer periphery of the vertebral segment, and the detection film layer is sandwiched between the inner wall of the flexible sleeve and the vertebral segment. From the rigid execution section to the surgical execution tool direction, the vertebral segment includes a proximal connecting block, a plurality of middle connecting blocks and a distal connecting block arranged sequentially, and the proximal connecting block is rotatably connected to the adjacent middle connecting block, the distal connecting block is rotatably connected to the adjacent middle connecting block and the two adjacent middle connecting blocks, so that the formed vertebral segment can be bent at each connection position; The proximal connecting block, the middle connecting block, and the distal connecting block each have a connecting hole, and the connecting holes on the proximal connecting block, the middle connecting block, and the distal connecting block are connected to form a connecting channel. A connecting wire is provided in the connecting channel. One end of the connecting wire is connected to the proximal connecting block, and the other end of the connecting wire passes through the connecting holes on the middle connecting blocks in sequence and is connected to the distal connecting block.

5. The flexible surgical instrument with position feedback as described in claim 4, characterized in that, The proximal connecting block, the middle connecting block, and the distal connecting block each have a plurality of interconnected first through holes, and the proximal connecting block, the middle connecting block, and the distal connecting block each have a plurality of interconnected second through holes. The first through holes and the second through holes are symmetrically distributed about the vertical center line of the flexible sleeve, so that the vertebral segment can be bent in at least two opposite directions. The vertebral segment is provided with a first bending drive wire and a second bending drive wire respectively passing through the first through hole and the second through hole. One end of the first bending drive wire and one end of the second bending drive wire are respectively connected to the transmission assembly, and the other end of the first bending drive wire and the other end of the second bending drive wire are respectively connected to the distal connecting block.

6. The flexible surgical instrument with position feedback as described in claim 5, characterized in that, The rigid execution section includes an operating rod, one end of which is connected to the proximal connecting block, and the other end of which is rotatably mounted on the support assembly and connected to the transmission assembly, so as to drive the surgical execution assembly to rotate through the transmission assembly; The operating lever has a through-channel extending through both ends, and a wire is installed in the through-channel, which connects the detection circuit and the controller.

7. The flexible surgical instrument with position feedback as described in claim 6, characterized in that, The vertebral segment and the operating rod are respectively connected to a surgical instrument drive channel. A rigid tube is inserted through the surgical instrument drive channel. A surgical instrument drive wire is installed inside the rigid tube. The first end of the surgical instrument drive wire is connected to the transmission assembly, and the second end of the surgical instrument drive wire passes through the rigid tube and is connected to the surgical execution tool.

8. The flexible surgical instrument with position feedback as described in claim 6, characterized in that, The transmission assembly includes a rotating sleeve with its central shaft arranged horizontally, a first winding wheel with its central shaft arranged vertically, and a first drive motor. The output shaft of the first drive motor is connected to the central shaft of the first winding wheel via a coupling. At least a portion of the operating lever extends into the rotating sleeve and is connected to the rotating sleeve. A transmission rope is wound between the rotating sleeve and the first winding wheel, and the power of the first drive motor is transmitted to the rotating sleeve in sequence through the first winding wheel and the transmission rope.

9. The flexible surgical instrument with position feedback as described in claim 8, characterized in that, The transmission assembly also includes a second winding wheel and a second drive motor. The output shaft of the second drive motor is connected to the central shaft of the second winding wheel via a coupling. At least a portion of the surgical instrument drive wire is wound on the second winding wheel. The transmission assembly also includes a third winding wheel and a third drive motor. The output shaft of the third drive motor is connected to the central shaft of the third winding wheel via a coupling. At least a portion of the first bending drive wire is wound on the third winding wheel. The transmission assembly also includes a fourth winding wheel and a fourth drive motor. The output shaft of the fourth drive motor is connected to the central shaft of the fourth winding wheel via a coupling. At least a portion of the second bending drive wire is wound on the fourth winding wheel. The transmission assembly further includes a first guide wheel, a second guide wheel, and a third guide wheel; At least a portion of the surgical instrument drive wire passes around a portion of the outer wall of the first guide wheel and is wound around the second winding wheel, such that the surgical instrument drive wire located between the first guide wheel and the operating rod extends along the central axis of the operating rod. At least a portion of the first bending drive wire passes around a portion of the outer wall of the second guide wheel and is wound around the third winding wheel, so that the first bending drive wire located between the second guide wheel and the operating lever extends along the central axis of the operating lever; At least a portion of the second bending drive wire passes around a portion of the outer wall of the third guide wheel and is wound around the fourth winding wheel, such that the second bending drive wire located between the third guide wheel and the operating lever extends along the central axis of the operating lever.

10. The flexible surgical instrument with position feedback as described in claim 9, characterized in that, The support assembly includes a base plate, a middle plate, and a top plate arranged sequentially from bottom to top. The first winding wheel, the second winding wheel, the third winding wheel, the fourth winding wheel, the first guide wheel, the second guide wheel, and the third guide wheel are rotatably mounted on the top of the base plate via their respective central axes. Multiple couplings are rotatably mounted on the top of the intermediate plate; The first drive motor, the second drive motor, the third drive motor, and the fourth drive motor are disposed on the top of the top plate, and the output shafts of the first drive motor, the second drive motor, the third drive motor, and the fourth drive motor all pass through the top plate and are respectively connected to the corresponding couplings.

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