Handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument

Abstract

The invention provides a handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument which comprises a handheld U-shaped main machine body and a processor installed in the handheld U-shaped main machine body, and a multi-degree-of-freedom linkage mechanism is contained on the handheld U-shaped main machine body. The handheld U-shaped main machine body of the integrated U-shaped hollow structure is adopted, and 360-degree unconstrained holding and posture adjustment of a doctor are achieved; the operation adaptive operating handle adopts a finger-held structure consistent with a scalpel / operating forceps, so that the learning cost of a doctor is effectively reduced; the action of the hands of a doctor on the operation adaptive operating handle can be synchronously transmitted to the end effector through the multi-degree-of-freedom linkage mechanism, and the problem that the linkage dimension of the tail end of an existing instrument is insufficient is solved. In addition, operations such as cutting, blood coagulation and tissue separation can be completed on the same instrument, the instrument does not need to be replaced, the operation efficiency is improved, the tail end recognition function is achieved, doctors are assisted in precise operation, and the operation risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of laparoscopic instrument technology, and particularly to a handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument. Background Technology

[0002] Current minimally invasive surgical instruments (such as the existing laparoscopic instruments of FlexDex Surgical) have the following technical shortcomings: 1. Strong operational constraints: The wrist fixation device is required to control the rotation / joint of the instrument, which limits the surgeon's operational flexibility and increases the complexity of intraoperative positioning adjustments; 2. Poor compatibility with operating habits: The handle adopts a non-surgical instrument-like (such as lever-type) operating structure, which is incompatible with the operating habits of surgeons using scalpels / forceps. 3. Insufficient end effector linkage: The linkage dimension between the end effector's drive and hand movements is limited, making it impossible to achieve synchronous correspondence between hand movements and end effector posture; 4. Low functional integration: It only supports a single surgical energy output, requiring frequent instrument changes to complete operations such as cutting and coagulation, thus prolonging the operation time; 5. Lack of intelligent assistance: The terminal lacks tissue recognition capabilities and relies on doctors' experience to determine tissue type (such as tumors or blood vessels), which poses a risk of misoperation; To address the shortcomings of existing laparoscopic instruments, we propose a handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument. Summary of the Invention

[0003] The present invention proposes a handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument includes a handheld U-shaped main body and a processor installed in the handheld U-shaped main body. The handheld U-shaped main body houses a multi-degree-of-freedom linkage mechanism. The operating end of the multi-degree-of-freedom linkage mechanism is equipped with a surgical-adaptive operating handle, and the linkage end of the multi-degree-of-freedom linkage mechanism is equipped with an end effector.

[0005] Preferably, the handheld U-shaped main body adopts an integrated U-shaped hollow structure, which enables doctors to hold and adjust their posture 360° without restraint. The handheld U-shaped main body is injection molded from a composite material of medical-grade ABS and titanium alloy. The width of the U-shaped opening of the handheld U-shaped main body is adapted to the palm of an adult. The handheld U-shaped main body also houses a multi-energy surgical module. A set of LED lights for electrical connection with the processor is installed on the handheld U-shaped main body.

[0006] Preferably, the surgical adapter handle adopts a finger-grip structure consistent with that of a scalpel / forceps, and its opening, closing and turning operation logic is completely matched with that of the scalpel / forceps used by doctors on a daily basis. The surface of the surgical adapter handle is covered with a silicone anti-slip layer.

[0007] Preferably, the multi-degree-of-freedom linkage mechanism consists of 12 nested joint units, each with 2 rotational degrees of freedom. Adjacent nested joint units are connected to the handle linkage via stainless steel cables. The multi-degree-of-freedom linkage mechanism enables the synchronous transmission of hand movements. The up-and-down swinging, left-and-right turning, and circumferential rotation of the doctor's hand on the surgical adaptable operating handle can be synchronously transmitted to the end effector through the multi-degree-of-freedom linkage mechanism, achieving a 1:1 multi-degree-of-freedom linkage between "hand movements and end-effector posture".

[0008] Preferably, the jaws of the end effector are provided with anti-slip teeth, and an ultrasonic sensor chip is built in. The ultrasonic sensor chip can collect tissue ultrasonic echo signals in real time. After the ultrasonic sensor chip is analyzed by the processor in the handheld U-shaped main body, the thickness / type of tumors, blood vessels and soft tissues can be obtained in real time, and the tissue type can be displayed by the LED lights on the handheld U-shaped main body.

[0009] Preferably, the multi-energy surgical module is electrically connected to a mode switching button installed on the outside of the handheld U-shaped main unit for switching surgical modes. The multi-energy surgical module has a built-in monopolar, bipolar electrocoagulation and ultrasonic cutting hybrid energy output unit, which is used to deliver energy to the end effector.

[0010] Preferably, the multi-energy surgical module has a unipolar output power of 0-120W, a bipolar output power of 0-80W, and an ultrasonic cutting frequency of 10kHz-500kHz.

[0011] Compared with existing technologies, this invention adopts an integrated U-shaped hollow handheld U-shaped main body, enabling doctors to hold and adjust their posture 360° without constraints. The surgical-adaptive operating handle adopts a finger-grip structure consistent with scalpels / forceps, effectively reducing the learning cost for doctors. The doctor's hand movements on the surgical-adaptive operating handle can be synchronously transmitted to the end effector through a multi-degree-of-freedom linkage mechanism, solving the problem of insufficient end-effector linkage dimension in existing instruments. In addition, this invention can also perform cutting, coagulation, and tissue separation operations on the same instrument without changing instruments, improving surgical efficiency. It also has end-effector recognition function to assist doctors in precise operation and reduce surgical risks. Attached Figure Description

[0012] Figure 1This is a schematic diagram of the handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument proposed in this invention.

[0013] In the diagram: 100, handheld U-shaped main body; 200, multi-degree-of-freedom linkage mechanism; 300, end effector; 400, surgical-adaptive operating handle. Detailed Implementation

[0014] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0015] Reference Figure 1 The handheld U-shaped multi-degree-of-freedom linkage laparoscopic instrument includes a handheld U-shaped main body 100 and a processor installed inside the handheld U-shaped main body 100. The handheld U-shaped main body 100 adopts an integrated U-shaped hollow structure, which enables doctors to hold and adjust their posture 360° without restraint, solving the wrist restraint problem of FlexDex instruments. The handheld U-shaped main body 100 is injection molded from a medical-grade ABS material and a titanium alloy composite material. The U-shaped opening width of the handheld U-shaped main body 100 is adapted to the width of an adult's palm. The interior of the handheld U-shaped main body 100 also houses a multi-energy surgical module. A set of LED lights for electrical connection with the processor are installed on the handheld U-shaped main body 100. The handheld U-shaped main body 100 houses a multi-degree-of-freedom linkage mechanism 200. The operating end of the multi-degree-of-freedom linkage mechanism 200 is equipped with a surgical-adaptive operating handle 400. The surgical-adaptive operating handle 400 adopts a finger-grip structure consistent with the scalpel / surgical forceps. Its opening, closing and turning operation logic is completely matched with the scalpel / surgical forceps used by doctors on a daily basis. The surface of the surgical-adaptive operating handle 400 is covered with a silicone anti-slip layer. The multi-degree-of-freedom linkage mechanism 200 is equipped with an end effector 300 at its linkage end. The multi-degree-of-freedom linkage mechanism 200 consists of 12 nested joint units, each with 2 rotational degrees of freedom. Adjacent nested joint units are connected to the handle linkage via stainless steel cables. The multi-degree-of-freedom linkage mechanism 200 enables the synchronous transmission of hand movements. The up-and-down swinging, left-and-right turning, and circumferential rotation of the surgeon's hand on the surgical adaptable operating handle 400 can be synchronously transmitted to the end effector 300 through the multi-degree-of-freedom linkage mechanism 200, achieving a 1:1 multi-degree-of-freedom linkage between "hand movements → end posture". The jaws of the end effector 300 are equipped with anti-slip teeth and have a built-in ultrasound sensor chip. The ultrasound sensor chip can collect tissue ultrasound echo signals in real time. After analysis by the processor inside the handheld U-shaped main body 100, the thickness / type of tumors, blood vessels, and soft tissues can be obtained in real time. The tissue type is displayed using LED lights on the handheld U-shaped main body 100, assisting the surgeon in precise operation and reducing surgical risks.

[0016] Specifically, the multi-energy surgical module is electrically connected to a mode switching button mounted on the outside of the handheld U-shaped main unit 100 for switching surgical modes. The multi-energy surgical module has a built-in monopolar, bipolar electrocoagulation, and ultrasonic cutting hybrid energy output unit. The multi-energy surgical module delivers energy to the end effector 300, enabling operations such as cutting, coagulation, and tissue separation to be performed on the same instrument without changing instruments, thus improving surgical efficiency. The monopolar output power of the multi-energy surgical module is 0-120W, the bipolar output power is 0-80W, and the ultrasonic cutting frequency is 10kHz-500kHz.

[0017] This embodiment employs an integrated U-shaped hollow handheld U-shaped main body 100, enabling doctors to grip and adjust their posture 360° without constraints. The surgical-adaptive operating handle 400 adopts a finger-grip structure consistent with scalpels / forceps, and its opening, closing, and turning operation logic is fully matched with the scalpels / forceps used by doctors daily, effectively reducing the learning cost for doctors. The up-and-down swinging, left-and-right turning, and circumferential rotation of the doctor's hand on the surgical-adaptive operating handle 400 can be synchronously transmitted to the end effector 300 through the multi-degree-of-freedom linkage mechanism 200, achieving a 1:1 multi-degree-of-freedom linkage between "hand movements → end-effector posture," solving the problem of insufficient end-effector linkage dimensions in existing instruments. In addition, this invention can also perform operations such as cutting, coagulation, and tissue separation on the same instrument without changing instruments, improving surgical efficiency. It also has end-effector recognition function to assist doctors in precise operation and reduce surgical risks.

[0018] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A handheld U-shaped multi-degree of freedom linked laparoscopic instrument, characterized in that, The utility model provides a kind of surgical robot, including handheld U-shaped main body (100) and processor installed in handheld U-shaped main body (100), the handheld U-shaped main body (100) is accommodated with multi-degree-of-freedom linkage mechanism (200), the operating end of multi-degree-of-freedom linkage mechanism (200) is installed with surgical adaptation operating handle (400), and the linkage end of multi-degree-of-freedom linkage mechanism (200) is installed with end effector (300).

2. The handheld U-shaped multi-degree of freedom linked laparoscopic instrument of claim 1, wherein, The handheld U-shaped main body (100) adopts integrated U-shaped hollow structure, realizes that doctor 360 ° is not restricted to hold and pose adjustment, the handheld U-shaped main body (100) adopts medical grade ABS material and titanium alloy composite material injection molding, the U-shaped opening width of handheld U-shaped main body (100) is adapted to adult palm, and the inside of handheld U-shaped main body (100) also accommodates multi-energy surgical module, and a group of LED lamp for being electrically connected with processor is installed on the handheld U-shaped main body (100).

3. The handheld U-shaped multi-degree of freedom linked laparoscopic instrument of claim 2, wherein, The surgical adaptation operating handle (400) adopts the finger grip type structure consistent with surgical knife / surgical forceps, and the opening and turning operation logic is completely matched with the surgical knife / surgical forceps used by doctor in daily life, and the surface of surgical adaptation operating handle (400) is covered with silica gel antiskid layer.

4. The handheld U-shaped multi-degree of freedom linked laparoscopic instrument of claim 3, wherein, The multi-degree-of-freedom linkage mechanism (200) is composed of 12 groups of nested joint units, each group of nested joint units is provided with 2 rotation degrees of freedom, and adjacent two nested joint units are connected by stainless steel cable and handle connecting rod, the multi-degree-of-freedom linkage mechanism (200) realizes the synchronous transmission of hand action, and the up-down swing, left-right turning and circumferential rotation action of doctor's hand on the surgical adaptation operating handle (400) can be synchronously transmitted to end effector (300) through multi-degree-of-freedom linkage mechanism (200), to realize the 1:1 multi-degree-of-freedom linkage of "hand action→end pose".

5. The handheld U-shaped multi-degree of freedom linked laparoscopic instrument of claim 4, wherein, The jaw of end effector (300) is provided with anti-skid tooth, and ultrasonic sensor chip is built-in, the ultrasonic sensor chip can collect tissue ultrasonic echo signal in real time, and after analysis by processor in handheld U-shaped main body (100), the thickness / type of tumor, blood vessel and soft tissue is obtained in real time, and LED lamp on handheld U-shaped main body (100) is used to display tissue type.

6. The handheld U-shaped multi-degree of freedom linked laparoscopic instrument of claim 5, wherein, The multi-energy surgical module is electrically connected with a mode switching button installed on the outside of handheld U-shaped main body (100) and used for switching surgical mode, the multi-energy surgical module is built-in monopolar, bipolar electrocoagulation and ultrasonic cutting hybrid energy output unit, and the multi-energy surgical module is used for delivering energy to end effector (300).

7. The handheld U-shaped multi-degree of freedom linked laparoscopic instrument of claim 6, wherein, The monopolar output power of the multi-energy surgical module is 0-120W, the bipolar output power of the multi-energy surgical module is 0-80W, and the ultrasonic cutting frequency of the multi-energy surgical module is 10kHz-500kHz.

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