CN107280718A - A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity - Google Patents
A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity Download PDFInfo
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- CN107280718A CN107280718A CN201710628109.3A CN201710628109A CN107280718A CN 107280718 A CN107280718 A CN 107280718A CN 201710628109 A CN201710628109 A CN 201710628109A CN 107280718 A CN107280718 A CN 107280718A
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- apparatus arm
- variation rigidity
- natural cavity
- folding exhibition
- tubular construction
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
- A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M29/00—Dilators with or without means for introducing media, e.g. remedies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00831—Material properties
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
- A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
- A61M2025/0024—Expandable catheters or sheaths
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- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
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- Pulmonology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Surgical Instruments (AREA)
- Tents Or Canopies (AREA)
Abstract
The invention discloses a kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity, the apparatus arm is a kind of operation branch stake tool with variable dimension and stiffness variable, including braiding tubular construction and diaphragm seal, diaphragm seal is coated on inside and outside braiding tubular construction and end, an annular closing inner chamber is formed, braiding tubular construction is coated on inside it.Both apparatus arm diameter can be increased by air bag or driving silk, and extracts the gas in diaphragm seal, made woven tube that firm state, major diameter state is presented, bigger path is provided for subsequent procedures instrument, prevent subsequent tool from stabbing tissue, and provide support guarantee precision.Soft state can be returned to by making to reenter gas in diaphragm seal again, and minor diameter state is returned to using tubular construction natural resiliency is woven, make this apparatus arm be easier to stretch into, leave body cavities, and avoid stabbing reduction human body sense of discomfort.
Description
Technical field
The present invention relates to natural cavity field of surgery, and in particular to a kind of folding exhibition variation rigidity device performed the operation for natural cavity
Tool arm and its application process.
Background technology
With the development of science and technology, surgical operation pattern experienced abdominal, Minimally Invasive Surgery, single hole operation, and just
To ESS (the natural orifice transluminal endoscopic through human body natural's cavity
Surgery, NOTES) noninvasive surgical operation carry out transition.So-called NOTES, refers to operation tool by human body aperture, including
Oral cavity, vagina, anus etc. enter inside of human body, and reach the operative model that affected area is operated.With other operation moulds
Formula is compared, and NOTES is smaller to interior environmental disturbances, and light with pain, the hospital stays is short, the advantages of skin is without scar, with good
Development prospect.Since occurring from NOTES in 1998, significant progress is obtained and has gone on clinic.NOTES is as after laparoscope
The revolution of another surgical field, has become new study hotspot problem after operation is carried out.
In order to adapt to organization of human body feature, frequently with elongated flexible operation tool in operation.In operation, operating theater instruments first
Affected area is reached by body cavities, doctor is operated in human external using main operation end, and main operation end passes through silk
The modes such as driving control the tool tip of inside of human body to complete the actions such as cutting, suture knotting, and Post operation again removes operation tool
From human body.
In whole surgical procedure, easily there are two problems in operating theater instruments：1) complicated inside of human body cavity requires apparatus
There is good flexibility, and elongated instrument needs enough rigidity to ensure precision, contradiction occurs to the demand of apparatus rigidity.2)
Complicated tool transmission system etc. makes apparatus size be difficult to reduce, and body cavities space is extremely limited, contradiction geometrically
Make instrument more difficult into human body, easily cause sense of discomfort or even stab.
Frequently with a kind of relatively low multiple tube branch of bending stiffness with good radial rigidity in current natural cavity operation
Support whole operation tool system.Relatively low bending stiffness allows instrument to pass through body cavities.But it does not have and can changed
Characteristic, do not solve the contradiction on rigidity and geometric scale.There is stiffness variable apparatus arm model to be suggested now.He
Rigidity is controlled using negative pressure, by the shape of apparatus arm superficial layer it is sealed and friction, propose respectively imperial squama structure with
And layer jamming structures.Both structures have rigidity controllable, soft state protection group can be presented by apparatus when entering human body
Firm state is presented when knitting, and being operated and ensures precision, so as to solve the contradiction in rigidity requirement.But supernumerary structure makes
Obtain the larger space-consuming of apparatus wall thickness more, and bending curvature is smaller, it is difficult to it is thicker by complex environment apparatus, and do not have
There is variable dimension, still passive form push-in human body, which is easily caused, stabs.
In summary, it is necessary to propose a kind of apparatus arm with stiffness variable and variable dimension at present, helps to perform the operation
Instrument solves the contradiction in apparatus rigidity requirement, and overcomes apparatus to enter the problem of body cavities are difficult.
The content of the invention
(1) technical problem to be solved
There is provided a kind of folding exhibition variation rigidity device performed the operation for natural cavity to overcome the shortcomings of existing operation tool by the present invention
Tool arm and its application process, to solve the above problems.
(2) technical scheme
A kind of folding exhibition variation rigidity apparatus arm performed the operation for natural cavity, including：Tubular construction is woven, with hollow channel；
Diaphragm seal, is attached inside and outside braiding tubular construction and termination, forms a closing inner chamber, the braiding tubular construction is covered by envelope
Close in inner chamber.
In some exemplary embodiments of the invention, the closing inner chamber is connected with air extractor, when air extractor is extracted out
During gas in closing inner chamber, the air pressure reduction in closing inner chamber, diaphragm seal is compressed to braiding tubular construction, and then lifts apparatus arm
Rigidity.
In some exemplary embodiments of the invention, air valve is also associated between closing inner chamber and air extractor, for adjusting
Save rate of air sucked in required.
In some exemplary embodiments of the invention, braiding tubular construction can carry out circumferentially extending under external applied load, change
The diameter of apparatus arm.
In some exemplary embodiments of the invention, the hollow channel places air bag, for applying radially to apparatus arm
Power and then increase apparatus arm diameter.
In some exemplary embodiments of the invention, the apparatus arm front end is provided with end cap, and end cap is connected with many drives
Dynamic silk, the driving silk and end cap are used to apply axial force to apparatus arm, adjust the diameter and degree of crook of woven tube.
In some exemplary embodiments of the invention, the front end of many drivings silk is connected with end cap, and in closing
The outside of chamber is axially rearwardly extending.
In some of the invention exemplary embodiments, remove woven after external applied load tubular construction automatically restored to by elasticity it is small
Diametric state.
It is a kind of that above-mentioned folding exhibition variation rigidity apparatus arm is used for the method that natural cavity is performed the operation, including：S1：Apparatus arm is stretched
Enter natural cavity；S2：Increase apparatus arm diameter, and extract the gas in closing inner chamber, firm state, major diameter shape is presented in woven tube
State；S3：Operation tool is passed through in apparatus arm to be operated；S4：Post operation makes to reenter gas in closing inner chamber, apparatus
Arm returns to soft state, minor diameter state, and apparatus arm is withdrawn from into natural cavity.
It is hollow by the way that air bag is put into increase apparatus arm diameter in some exemplary embodiments of the invention, in step S2
Pipeline, applies radial load increase apparatus arm diameter to apparatus arm；Or, by stretching driving silk, driving silk and end cap are to apparatus
Arm applies axial force increase apparatus arm diameter.
(3) beneficial effect
The folding exhibition variation rigidity apparatus arm and its application process and prior art performed the operation provided by the present invention for natural cavity
Compared to having the advantages that：
1st, folding exhibition variation rigidity apparatus arm of the invention has good flexibility, and deep camber bending can be achieved, complex man is adapted to
Body cavity road environment capacity is stronger.
2nd, folding of the invention exhibition variation rigidity apparatus arm enters after human body and propped up by air bag or driving silk, and major diameter shape is presented
State, strutting tissue, there is provided bigger cavity path.
3rd, folding of the invention exhibition variation rigidity apparatus arm becomes firm state after major diameter is presented using negative pressure, can protect people's body cavity
Road provides support from the stabbing of operating theater instruments, scratch, and for operating theater instruments, improves stability, lifting operation precision.
4th, folding of the invention exhibition variation rigidity apparatus arm Post operation cancels negative pressure, and minor diameter, soft state can be presented in mechanical arm, convenient
Withdraw from.
5th, minor diameter, soft state is presented in folding of the invention exhibition variation rigidity apparatus arm during entering, withdrawing from human body, enters
Cheng Buhui causes significant discomfort sense to human body.
Brief description of the drawings
Fig. 1 is used for the cross-section structure signal for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation for the embodiment of the present invention
Figure；
Fig. 2 is used for the woven tube structural representation for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation for the embodiment of the present invention
Figure；
Fig. 3 is used for the woven tube structural bending for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation for the embodiment of the present invention
Schematic diagram；
Fig. 4 illustrates for the folding exhibition variation rigidity apparatus arm air bag folding exhibition mode for being used for natural cavity operation of the embodiment of the present invention
Figure；
Fig. 5 is used for the folding exhibition variation rigidity apparatus arm major diameter state signal of natural cavity operation for the embodiment of the present invention
Figure；
Fig. 6 shows for the folding exhibition variation rigidity apparatus arm driving silk folding exhibition mode for being used for natural cavity operation of the embodiment of the present invention
It is intended to；
Fig. 7 is used for the folding exhibition variation rigidity apparatus arm air pressure control schematic diagram of natural cavity operation for the embodiment of the present invention；
Fig. 8 is used for the folding exhibition firm state structural representation of variation rigidity apparatus arm of natural cavity operation for the embodiment of the present invention；
Fig. 9 shows for the taper braiding structure for being used for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation of the embodiment of the present invention
It is intended to；
Figure 10 is used for the polygon braiding knot for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation for the embodiment of the present invention
Structure schematic diagram；
Figure 11 is used for the ellipse braiding knot for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation for the embodiment of the present invention
Structure schematic diagram；
Figure 12 has particle surface thin for the folding exhibition variation rigidity apparatus arm for being used for natural cavity operation of the embodiment of the present invention
Film schematic diagram.
Figure 13 will roll over exhibition variation rigidity apparatus arm for the embodiment of the present invention is used for the method flow diagram that natural cavity is performed the operation；
Figure 14 opens up variation rigidity apparatus arm in complete machine using showing for the folding that natural cavity performs the operation that is used for of the embodiment of the present invention
It is intended to.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
The embodiment of the present invention provides a kind of folding exhibition variation rigidity apparatus arm for natural cavity operation and mainly uses woven tube knot
Structure and diaphragm seal are constituted, and its mutative scale is by braiding tubular construction self-characteristic and by air bag or driving silk control, its stiffness change
Negative pressure value changes in the change diaphragm seal.
Fig. 1 is the folding exhibition variation rigidity apparatus arm sectional structure chart that natural cavity is performed the operation that is used for of the embodiment of the present invention, such as Fig. 1
It is shown, include braiding tubular construction 1-2 and diaphragm seal 1-1 for the folding exhibition variation rigidity apparatus arm that natural cavity is performed the operation, diaphragm seal is
Film, by woven tube encapsulated by structures inside it.Woven tube structure type is as shown in Fig. 2 braiding tubular construction is by multi-filament line spiral shell
Rotation winding intersection is formed, and silk thread includes left-handed and dextrorotation the helix of many equivalent, and many left-handed twist orders are arranged, many
Root right-hand helix order is arranged, left-handed twist and right-hand helix cross winding formation braiding tubular construction.Weave tubular construction
With good compliance, its bending shape as shown in figure 3, can realize that deep camber is bent.As shown in figure 1, in braiding tubular construction
Inside and outside 1-2 and termination is coated with diaphragm seal 1-1, and braiding tubular construction 1-2 termination does not refer to weave the whole of tubular construction
End face, and refer to the end of the silk thread of composition braiding tubular construction.Diaphragm seal 1-1 forms a closing inner chamber, and the closing inner chamber is in
Annular shape, braiding tubular construction is covered by the inside of closing inner chamber.Braiding tubular construction is hollow tubular structure, and centre is hollow
Passage, diaphragm seal is covered in the surface of braiding tubular construction, therefore the apparatus arm of the embodiment of the present invention is also hollow tubular structure,
Centre is hollow channel, can be passed through operation tool in hollow channel, play a part of isolating tool protective tissue, during operation technique
Play a part of to tool support.
In some embodiments of the invention, the folding exhibition for the folding exhibition variation rigidity apparatus arm performed the operation for natural cavity can utilize gas
Capsule is controlled, and control principle is as shown in Figure 4.Because each silk thread for weaving tubular construction is mutually only frictionally connected, woven tube knot
Structure can easily carry out circumferentially extending under external applied load.The elasticity for removing load braiding structure by filament materials is automatically restored to
Original state.Air bag can be placed in apparatus arm hollow channel, apply radial load to apparatus arm and then increase apparatus arm diameter, figure
Air bag 4-2 shown in 4 is used for the radial dimension for controlling to weave tubular construction, and then changes apparatus arm 4-1 radial dimension, such as Fig. 4
It is shown, air bag 4-2 is run through to apparatus arm 4-1 hollow channel, air bag 4-2 inflations are given, apparatus arm 4-1 is propped up, diameter becomes big,
As shown in Figure 5；Air bag 4-2 is removed, apparatus arm 4-1 can return to minor diameter state.
In other embodiments of the invention, the folding exhibition for the folding exhibition variation rigidity apparatus arm performed the operation for natural cavity also can profit
Controlled with driving silk, control principle is as shown in Figure 6.The leading section of apparatus arm is additionally provided with end cap 6-1, and end cap is by elastomeric material system
Into end radial deformation is not influenceed, end cap is in annular, and four equally distributed annulus of circumference are provided with end cap anchor ring
Attachment structure, the front end for connecting four driving silk 6-2, four driving silks are axially rearwardly extending in the outside of diaphragm seal.
Four driving silks of axial traction, braiding tubular construction is drawn thick, plays and acted on air bag identical.Remove pulling force braiding tubular construction with
Elasticity by means of filament materials automatically restores to original state.In the present embodiment, front end refers to the one end being operated.
The folding exhibition variation rigidity apparatus arm for being used for natural cavity operation of the embodiment of the present invention utilizes the air pressure control in diaphragm seal
The rigidity of apparatus arm processed, schematic diagram is as shown in Figure 7.Apparatus arm 7-1 diaphragm seal is provided with steam vent in rear end, and airway tube passes through row
Stomata is connected with the closing inner chamber of diaphragm seal, and it is gas that the airway tube other end, which is connected with air extractor in air extractor, the present embodiment,
Pump 7-3, the gas for extracting closing inner chamber is also associated with air valve 7-2 between apparatus arm and air pump 7-3, is taken out for adjusting
Tolerance.Booster air pump 7-3, the gas of diaphragm seal inner chamber is extracted out by airway tube and air valve 7-2 by air pump, the gas of diaphragm seal inner chamber
Pressure drop is low, in the presence of external atmosphere pressure, and the braiding tubular construction of the diaphragm seals of both sides internally is compressed.Diaphragm seal and woven tube
Deformation of the frictional force to the silk thread of braiding structure between structure plays effect of contraction, and then lifts the rigidity of total.Air pump
7-3 exhaust capacity is certain, can change the local pressure loss of gas passage to control by adjusting air valve 7-2 openings of sizes
The air pressure of diaphragm seal inner chamber processed, and then change the rigidity of structure.Fig. 8 is schematic diagram of the apparatus arm in firm state under negative pressure.Operation
After close gas reentered in air pump, diaphragm seal closing inner chamber, soft state is presented in apparatus arm, simultaneously because woven tube structural material
Elasticity, apparatus arm can recover minor diameter state, be easy to withdraw from apparatus arm.
Braiding tubular construction has a variety of weaving manners, including common braiding, diamond braiding and the braiding of three axles.
Braiding structure uses metal material or nonmetallic materials.
Seal diaphragm structure uses plastics, silica gel or other flexible materials.
Folding exhibition variation rigidity apparatus arm can be designed according to specific demand using uiform section or variable cross-section is designed, using at the beginning of other
The braiding structure of beginning shape, such as taper, as shown in Figure 9.Cross sectional shape can also be other shapes, such as polygon, ellipse, such as
Shown in Figure 10 and Figure 11.Can be using surface with the raised diaphragm seal of graininess, as shown in figure 12, to improve variation rigidity effect.
The order of reasonable Arrangement variation rigidity, variable diameters, can be achieved the coupling of variation rigidity and variable diameters, by folding exhibition method and rigidity-changing method
Integrated.
Second embodiment of the invention, which provides a kind of exhibition variation rigidity apparatus arm that will roll over, is used for the method that natural cavity is performed the operation, Figure 13
To roll over exhibition variation rigidity apparatus arm for the embodiment of the present invention is used for the method flow diagram that natural cavity is performed the operation, as shown in figure 13, bag
Include following steps：
Step S1：Apparatus arm is stretched into natural cavity.
By the apparatus arm stretch into body cavities reach affected area, apparatus arm enter human body during present minor diameter,
Soft state, significant discomfort sense will not be caused into process to human body.
Step S2：Increase apparatus arm diameter, and extract the gas in closing inner chamber, firm state, major diameter shape is presented in woven tube
State.
Apparatus arm is propped up using air bag or drives line, the increase of apparatus arm diameter；Booster air pump is vented, in sealing membrane closure
The air pressure reduction of chamber, in the presence of external atmosphere pressure, the braiding tubular construction of the diaphragm seals of both sides internally is compressed.Diaphragm seal with
Deformation of the frictional force to the silk thread of braiding structure woven between tubular construction plays effect of contraction, and then lifts the firm of total
Degree.Air bag or relaxation drives line are withdrawn from, apparatus arm keeps major diameter；
Step S3：Operation tool is passed through in apparatus arm to be operated.
Figure 14 rolls over exhibition variation rigidity apparatus arm in NOTES robots complete machine for the present invention's for what natural cavity was performed the operation
Use schematic diagram.14-1 is operation tool, and whole operation tools open up variation rigidity apparatus arm 14-2 by the folding of the present invention and enter people
Internal portion is operated.The apparatus arm 9-2 can play isolating tool protective tissue when operation tool enters human body
Effect, plays a part of many tool supports during operation technique.Step S4：Post operation makes to reenter gas in diaphragm seal, apparatus
Arm returns to soft state, minor diameter state, and apparatus arm is withdrawn from into natural cavity.
Post operation is closed and gas is reentered in air pump, diaphragm seal closing inner chamber, and soft state is presented in apparatus arm, simultaneously because compiling
The elasticity of tubular construction material is knitted, apparatus arm can recover minor diameter state；Withdraw from apparatus arm.
As can be seen from the above-described embodiment, folding exhibition variation rigidity apparatus arm of the invention has good flexibility, can be achieved big
Curvature is bent, and adapts to complicated body cavities environment capacity stronger；Folding exhibition variation rigidity apparatus arm enters after human body by air bag or driving
Silk is propped up, and major diameter state is presented, strutting tissue, there is provided bigger cavity path；Folding exhibition variation rigidity apparatus arm is presented big
Firm state is become using negative pressure after diameter, body cavities can be protected from the stabbing of operating theater instruments, scratch, and carry for operating theater instruments
For support, stability, lifting operation precision are improved；Folding exhibition variation rigidity apparatus arm Post operation cancels negative pressure, and mechanical arm can present small
Diameter, soft state, conveniently withdraw from；Minor diameter, soft state is presented in folding exhibition variation rigidity apparatus arm during human body is entered, into process not
Significant discomfort sense can be caused to human body.
It should also be noted that, the direction term mentioned in embodiment, for example " on ", " under ", "front", "rear", " left side ",
" right side " etc., is only the direction of refer to the attached drawing, not for limiting the protection domain of the disclosure.Through accompanying drawing, identical element by
Same or like reference is represented.When understanding of this disclosure may be caused to cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each part do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between bracket should not be configured to the limit to claim
System.
Otherwise numerical parameter unless there are known entitled phase in meaning, this specification and appended claims is approximation, energy
Enough required characteristic changings according to as obtained by content of this disclosure.Specifically, it is all to be used in specification and claim
The numeral of the middle content for representing composition, reaction condition etc., it is thus understood that repaiied by the term of " about " in all situations
Decorations.Generally, the implication of its expression refers to include by specific quantity ± 10% change in certain embodiments, at some
± 5% change in embodiment, ± 1% change in certain embodiments, in certain embodiments ± 0.5% change.
Furthermore, word "comprising" does not exclude the presence of element or step not listed in the claims.Before element
Word "a" or "an" does not exclude the presence of multiple such elements.
In addition, unless specifically described or the step of must sequentially occur, the order of above-mentioned steps, which has no, is limited to above institute
Row, and can change or rearrange according to required design.And above-described embodiment can based on design and reliability consideration, that
This mix and match is used or used with other embodiment mix and match, i.e., technical characteristic not in be the same as Example can be with independent assortment
Form more embodiments.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each open aspect, exist
Above in the description of exemplary embodiment of this disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
The disclosure of shield requires features more more than the feature being expressly recited in each claim.More precisely, such as following
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
All as the separate embodiments of the disclosure.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of folding exhibition variation rigidity apparatus arm performed the operation for natural cavity, including：
Tubular construction is woven, with hollow channel；
Diaphragm seal, is attached inside and outside braiding tubular construction and termination, forms a closing inner chamber, the braiding tubular construction is wrapped by
In closing inner chamber.
2. the folding exhibition variation rigidity apparatus arm according to claim 1 performed the operation for natural cavity, wherein, the closing inner chamber
Be connected with air extractor, when air extractor extracts the gas in closing inner chamber out, the air pressure reduction in closing inner chamber, diaphragm seal to
Weave tubular construction to compress, and then lift the rigidity of apparatus arm.
3. the folding exhibition variation rigidity apparatus arm according to claim 2 performed the operation for natural cavity, wherein, closing inner chamber is with taking out
Air valve is also associated between device of air, for bleeding regulating amount.
4. the folding exhibition variation rigidity apparatus arm according to claim 1 performed the operation for natural cavity, wherein, weave tubular construction energy
It is enough that circumferentially extending is carried out under external applied load, change the diameter of apparatus arm.
5. the folding exhibition variation rigidity apparatus arm according to claim 4 performed the operation for natural cavity, wherein, the hollow channel
Air bag is placed, for applying radial load to apparatus arm and then increasing apparatus arm diameter.
6. the folding exhibition variation rigidity apparatus arm according to claim 4 performed the operation for natural cavity, wherein, before the apparatus arm
End is provided with end cap, and end cap is connected with many driving silks, and the driving silk and end cap are used to apply apparatus arm axial force, regulation
The diameter and degree of crook of woven tube.
7. the folding exhibition variation rigidity apparatus arm according to claim 6 performed the operation for natural cavity, wherein, many drivings
The front end of silk is connected with end cap, and axially rearwardly extending in the outside of closing inner chamber.
8. the folding exhibition variation rigidity apparatus arm according to claim 4 performed the operation for natural cavity, wherein, remove after external applied load
Braiding tubular construction automatically restores to minor diameter state by elasticity.
9. a kind of folding exhibition variation rigidity apparatus arm by any one of claim 1 to 8 is used for the method that natural cavity is performed the operation,
Including：
S1：Apparatus arm is stretched into natural cavity；
S2：Increase apparatus arm diameter, and extract the gas in closing inner chamber, firm state, major diameter state is presented in woven tube；
S3：Operation tool is passed through in apparatus arm to be operated；
S4：Post operation makes to reenter gas in closing inner chamber, and apparatus arm returns to soft state, minor diameter state, and apparatus arm is removed
Go out natural cavity.
10. the folding exhibition variation rigidity apparatus arm according to claim 4 performed the operation for natural cavity, wherein, increase in step S2
Big apparatus arm diameter is, by the way that air bag is put into hollow pipeline, to apply radial load increase apparatus arm diameter to apparatus arm；Or,
By stretching driving silk, driving silk and end cap apply axial force increase apparatus arm diameter to apparatus arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628109.3A CN107280718B (en) | 2017-07-27 | 2017-07-27 | Folding and unfolding rigidity-variable instrument arm for natural orifice surgery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628109.3A CN107280718B (en) | 2017-07-27 | 2017-07-27 | Folding and unfolding rigidity-variable instrument arm for natural orifice surgery |
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| CN107280718A true CN107280718A (en) | 2017-10-24 |
| CN107280718B CN107280718B (en) | 2020-04-28 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019205277A1 (en) * | 2018-04-24 | 2019-10-31 | 天津大学 | Sponge-based variable-stiffness natural orifice surgery instrument support structure and use method therefor |
| CN110900652A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Continuum variable-rigidity mechanical arm based on sponge |
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| CN112790798A (en) * | 2021-01-12 | 2021-05-14 | 天津大学 | Variable-rigidity folding and unfolding protective sheath based on layer blocking principle and using method thereof |
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| CN114391898A (en) * | 2022-02-10 | 2022-04-26 | 天津大学 | Variable stiffness fold-and-unfold road carrier based on elastic corrugated hose and layer blocking principle |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
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| WO2019205277A1 (en) * | 2018-04-24 | 2019-10-31 | 天津大学 | Sponge-based variable-stiffness natural orifice surgery instrument support structure and use method therefor |
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| CN112438791A (en) * | 2019-09-03 | 2021-03-05 | 深圳北芯生命科技有限公司 | Cryoablation device with variable stiffness telescoping guidewire |
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| CN114391898B (en) * | 2022-02-10 | 2024-02-23 | 天津大学 | Variable-rigidity folding access carrier based on elastic corrugated hose and layer blocking principle |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
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