Multi-degree-of-freedom minimally invasive surgical instrument end effector capable of avoiding motion coupling

Abstract

The utility model relates to the technical field of minimally invasive surgical instruments, and discloses a multi-degree-of-freedom minimally invasive surgical instrument end effector capable of avoiding motion coupling, which comprises a wrist connecting sleeve, a wrist sleeve is arranged in the wrist connecting sleeve, and a wrist pressing block is fixedly mounted on the outer surface of the wrist sleeve. An upper clamp and a lower clamp are installed on the inner wall of the far end of the wrist sleeve, a rotating shaft is installed at the far end of the inner wall of the wrist connecting sleeve, the inner wall of the wrist connecting sleeve is movably hinged to the inner wall of the wrist sleeve through the rotating shaft, a guide wheel is fixedly installed on the inner wall of the wrist connecting sleeve, and a clamp tensioning wheel is installed on the inner wall of the wrist sleeve. The problem that the resistance of a rotating shaft is increased due to the fact that strict tensioning of the steel wire ropes needs to be guaranteed is solved, the wrist freedom degree is added on the basis of the single freedom degree of an original end effector, the whole structure is simple, opening and closing of the end clamp and wrist deflection can be achieved only through the two steel wire ropes, the part machining cost is low, and the machining efficiency is high. The assembly difficulty is moderate.

Description

Technical Field

[0001] The utility model relates to the technical field of minimally invasive surgical instruments, and in particular to a multi-degree-of-freedom minimally invasive surgical instrument end effector that avoids motion coupling. Background Art

[0002] With the continuous advancement of medical technology, minimally invasive surgery has brought better treatment effects and quality of life to patients. Its functional characteristics of small trauma, light pain and fast recovery are the dream of every patient who needs surgery. However, minimally invasive surgery also faces great difficulties and challenges. At present, most doctors can only use ordinary straight-rod surgical instruments without bending function for surgery. The degrees of freedom at the end of such surgical instruments are very single, with only simple opening and closing degrees of freedom at the end. The wrist joint of the end effector that is in direct contact with human tissue or organs cannot be deflected. At the same time, surgical instruments driven by wires also have the problem of motion coupling. The rotation of the wrist joint will drive the opening and closing movement of the end effector. Due to the lack of flexibility and operability, it is difficult for doctors to perform complex surgical operations. This problem undoubtedly brings huge challenges to minimally invasive surgery. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a multi-degree-of-freedom minimally invasive surgical instrument end effector that avoids motion coupling, which is used to solve the problems that the current surgical instrument end has few degrees of freedom, inflexible operation, high cost, and complex structure. The traditional wire-driven end effector has high requirements for the tension of the wire rope, which leads to large shaft resistance and joint rotation jamming.

[0004] A multi-degree-of-freedom minimally invasive surgical instrument end effector that avoids motion coupling comprises a wrist connecting sleeve: a wrist sleeve is provided inside the wrist connecting sleeve, a wrist clamping block is fixedly installed on the outer surface of the wrist sleeve, an upper clamp and a lower clamp are respectively installed on the distal inner wall of the wrist sleeve, a rotating shaft is installed on the distal end of the inner wall of the wrist connecting sleeve, the inner wall of the wrist connecting sleeve is movably hinged to the inner wall of the wrist sleeve through the rotating shaft, a guide wheel is fixedly installed on the inner wall of the wrist connecting sleeve, and a clamp tensioning wheel is installed on the inner wall of the wrist sleeve.

[0005] The working principle of the end effector of a multi-degree-of-freedom minimally invasive surgical instrument that avoids motion coupling provided by the utility model is as follows: first, the wire rope that controls the opening and closing movement of the upper clamp is connected to the end of the upper clamp through the lateral squeezing action of the clamp clamp clamping block. When the wire rope is pulled in different directions, the upper clamp will rotate clockwise or counterclockwise, thereby realizing the opening and closing of the end clamp; similarly, the wire rope that controls the yaw rotation of the wrist sleeve is connected to the end of the wrist sleeve through the lateral squeezing action of the wrist clamping block. When the wire rope is pulled in different directions, the wrist sleeve will rotate clockwise or counterclockwise, thereby realizing the opening and closing of the end clamp. The left and right swing rotation of the wrist sleeve joint, the opening and closing of the end clamp, and the left and right swing rotation of the wrist sleeve joint realize the multi-degree-of-freedom movement of the end actuator; in addition, the clamp tensioning wheel and the wrist tensioning wheel will respectively tension the clamp motion control wire rope and the wrist sleeve motion control wire rope to a certain extent, so as to ensure the transmission efficiency. On the other hand, it also solves the problems of increased shaft resistance and motion coupling caused by the strict tensioning of the wire rope. The overall structure is simple, and only two wire ropes are needed to realize the opening and closing of the end clamp and the swing of the wrist, reducing the cost of parts processing and the difficulty of assembly.

[0006] Preferably, the inner ring of the proximal end of the wrist connecting sleeve is provided with a thread, and the proximal end of the wrist connecting sleeve is connected to a shaft rod.

[0007] Preferably, a wrist tensioning wheel is installed on the inner wall of the wrist connecting sleeve, and the top end of the wrist tensioning wheel and the bottom end of the wrist tensioning wheel both abut against the inner wall of the wrist sleeve.

[0008] Preferably, a clamp pressing block is installed on the inner bottom wall of the wrist sleeve, and the lower surface of the clamp pressing block is in contact with the upper surface of the upper clamp.

[0009] Preferably, the degree of freedom of the lower clamp is constrained and fixed by the rectangular groove at the front end of the wrist sleeve, and the wrist sleeve can rotate clockwise or counterclockwise inside the wrist connecting sleeve.

[0010] Preferably, the outer surface of the shaft is threadedly connected to the inner circle of the wrist connecting sleeve, and the diameter of the shaft is 5 mm.

[0011] Compared with the related art, the multi-degree-of-freedom minimally invasive surgical instrument end effector provided by the utility model that avoids motion coupling has the following beneficial effects:

[0012] The design of the end effector of the utility model solves the problem of increased shaft resistance caused by ensuring strict tension of the wire rope, and adds wrist freedom on the basis of the original single degree of freedom of the end effector. The overall structure is simple, and only two wire ropes are needed to realize the opening and closing of the end clamp and the wrist swing. The parts processing cost is low and the assembly difficulty is moderate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a front view of the utility model;

[0014] Figure 2 This is a schematic diagram of the exploded structure of the utility model;

[0015] Figure 3 It is a three-dimensional structural schematic diagram of the front view of the utility model;

[0016] Figure 4 It is the arrangement mode of the motion control wire rope of the end effector of the multi-degree-of-freedom minimally invasive surgical instrument of the utility model;

[0017] Numbers in the figure: 1, wrist connecting sleeve; 2, guide wheel; 3, rotating shaft; 4, shaft; 5, wrist sleeve; 6, clamp tensioning wheel; 7, wrist tensioning wheel; 8, clamp clamping block; 9, wrist clamping block; 10, upper clamp; 11, lower clamp. DETAILED DESCRIPTION

[0018] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0019] Please refer to Figure 1-Figure 4 The present embodiment provides a multi-degree-of-freedom minimally invasive surgical instrument end effector that avoids motion coupling, including a wrist connecting sleeve 1: a wrist sleeve 5 is provided inside the wrist connecting sleeve 1, a wrist clamping block 9 is fixedly installed on the outer surface of the wrist sleeve 5, an upper clamp 10 and a lower clamp 11 are respectively installed on the inner wall of the wrist connecting sleeve 5, a rotating shaft 3 is installed on the inner wall of the wrist connecting sleeve 1, and the inner wall of the wrist connecting sleeve 1 is movably hinged to the inner wall of the wrist sleeve 5 through the rotating shaft 3, a guide wheel 2 is fixedly installed on the inner wall of the wrist connecting sleeve 1, and a clamp tensioning wheel 6 is installed on the inner wall of the wrist sleeve 5, and the clamp tensioning wheel 6 is used to tension the motion control wire rope of the upper clamp 10 and the lower clamp 11 to a certain extent.

[0020] During the specific implementation process, the inner circle of the proximal end of the wrist connecting sleeve 1 is threaded, and the proximal end of the wrist connecting sleeve 1 is connected to the shaft rod 4. The inner wall of the wrist connecting sleeve 1 is installed with a wrist tensioning wheel 7. The top end and the bottom end of the wrist tensioning wheel 7 are both against the inner wall of the wrist connecting sleeve 1. The outer surface of the shaft rod 4 is threadedly connected to the inner circle of the wrist connecting sleeve 1. The diameter of the shaft rod 4 is 5 mm. The wrist connecting sleeve 1 can support the shaft rod 4, and the end actuator will be supported by the shaft rod 4. The motion control wire rope of the wrist connecting sleeve 1 can be tensioned to a certain extent through the wrist tensioning wheel 7.

[0021] A clamp pressing block 8 is installed on the inner bottom wall of the wrist sleeve 5, and the lower surface of the clamp pressing block 8 is in contact with the upper surface of the upper clamp 10. The freedom of the lower clamp 11 is constrained and fixed by the rectangular groove at the front end of the wrist sleeve 5. The wrist sleeve 5 can rotate clockwise or counterclockwise inside the wrist connecting sleeve 1. Through the setting of the clamp pressing block 8, the wire rope that controls the opening and closing movement of the upper clamp 10 can be connected to the end of the upper clamp 10 under the action of lateral extrusion.

[0022] The working principle of the multi-degree-of-freedom minimally invasive surgical instrument end effector that avoids motion coupling provided by the utility model is as follows: first, the wire rope that controls the opening and closing movement of the upper clamp 10 is connected to the end of the upper clamp 10 through the lateral squeezing action of the clamp clamp clamping block 8. When the wire rope is pulled in different directions, the upper clamp 10 will rotate clockwise or counterclockwise, thereby realizing the opening and closing of the end clamp; similarly, the wire rope that controls the swing rotation of the wrist sleeve 5 is connected to the end of the wrist sleeve 5 through the lateral squeezing action of the wrist clamping block 9. When the wire rope is pulled in different directions, the wrist sleeve 5 will rotate clockwise or counterclockwise, thereby realizing the left and right swing rotation of the wrist sleeve 5 joint, wherein the clamp tensioning wheel 6 and the wrist tensioning wheel 7 will respectively tension the clamp motion control wire rope and the wrist sleeve 5 motion control wire rope to a certain extent.

[0023] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0024] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-degree-of-freedom minimally invasive surgical instrument end effector that avoids motion coupling, characterized in that: The invention comprises a wrist connecting sleeve (1): a wrist sleeve (5) is provided inside the wrist connecting sleeve (1), a wrist pressing block (9) is fixedly installed on the outer surface of the wrist sleeve (5), an upper clamp (10) and a lower clamp (11) are respectively installed on the inner wall at the distal end of the wrist sleeve (5), a rotating shaft (3) is installed at the distal end of the inner wall of the wrist connecting sleeve (1), the inner wall of the wrist connecting sleeve (1) is movably hinged to the inner wall of the wrist sleeve (5) through the rotating shaft (3), a guide wheel (2) is fixedly installed on the inner wall of the wrist connecting sleeve (1), and a clamp tensioning wheel (6) is installed on the inner wall of the wrist sleeve (5).

2. The multi-degree-of-freedom minimally invasive surgical instrument end effector for avoiding motion coupling according to claim 1, characterized in that: The inner ring of the proximal end of the wrist connecting sleeve (1) is provided with a thread, and the proximal end of the wrist connecting sleeve (1) is connected to a shaft rod (4).

3. The multi-degree-of-freedom minimally invasive surgical instrument end effector for avoiding motion coupling according to claim 1, characterized in that: A wrist tensioning wheel (7) is installed on the inner wall of the wrist connecting sleeve (1), and the top end of the wrist tensioning wheel (7) and the bottom end of the wrist tensioning wheel (7) both abut against the inner wall of the wrist sleeve (5).

4. The multi-degree-of-freedom minimally invasive surgical instrument end effector for avoiding motion coupling according to claim 1, characterized in that: A clamp pressing block (8) is installed on the inner bottom wall of the wrist sleeve (5), and the lower surface of the clamp pressing block (8) is in contact with the upper surface of the upper clamp (10).

5. The multi-degree-of-freedom minimally invasive surgical instrument end effector for avoiding motion coupling according to claim 1, characterized in that: The degree of freedom of the lower clamp (11) is constrained and fixed by the rectangular groove at the front end of the wrist sleeve (5), and the wrist sleeve (5) can perform clockwise or counterclockwise rotational movement inside the wrist connecting sleeve (1).

6. The multi-degree-of-freedom minimally invasive surgical instrument end effector for avoiding motion coupling according to claim 2, characterized in that: The outer surface of the shaft rod (4) is threadedly connected to the inner circle of the wrist connecting sleeve (1), and the diameter of the shaft rod (4) is 5 mm.

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