CN110215240A - A kind of end effector mechanism of single-hole laparoscopic surgery - Google Patents
A kind of end effector mechanism of single-hole laparoscopic surgery Download PDFInfo
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- CN110215240A CN110215240A CN201910463889.XA CN201910463889A CN110215240A CN 110215240 A CN110215240 A CN 110215240A CN 201910463889 A CN201910463889 A CN 201910463889A CN 110215240 A CN110215240 A CN 110215240A
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- central sill
- positive cylinder
- hole
- cylinder
- orifice plate
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
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Abstract
A kind of end effector mechanism of single-hole laparoscopic surgery, it is related to a kind of executing agency, it is flexible positive cylinder, and each flexible positive cylinder is equipped with multipair groove in the axial direction, and each pair of groove radially opens up, between adjacent grooves and flexible positive cylinder both ends are orifice plate in axial direction, orifice plate is supported by the central sill of partition groove, axial along flexible positive cylinder, and wire hole is provided on central sill, the wire hole of perforation groove is provided on orifice plate, the silk rolling hole positioned at central sill the same side is located along the same line；Flexible positive cylinder is serially connected by the orifice plate of end, and the central sill of two neighboring flexible positive cylinder is mutually perpendicular to radially, and the wire hole of groove is crossed on a positive cylinder of flexibility and wire hole is corresponded and connected on the central sill of the positive cylinder of adjacent flexible.Flexibly, movement angle range is larger for present invention movement.
Description
Technical field
The present invention relates to a kind of executing agency, in particular to a kind of end effector mechanism of single-hole laparoscopic surgery.
Background technique
Currently, it is relationship surgical procedure effect that the big end of motion range, which executes structure, for single-hole laparoscopic surgery
A vital ring.The single dof mobility range of current existing executing agency is mostly limited, and limited motion range increases
The difficulty of surgical procedure is added.
Summary of the invention
The present invention is in order to overcome the deficiencies of the prior art, to provide a kind of motion range that can improve end effector mechanism, mention
The end effector mechanism of the single-hole laparoscopic surgery of the flexibility of high surgical procedure.
The technical scheme is that
Scheme one, a kind of end effector mechanism of single-hole laparoscopic surgery, it is flexible positive cylinder, in flexible positive cylinder axis
It is equipped with multipair groove to direction, each pair of groove radially opens up, between adjacent grooves and flexible positive cylinder both ends in axial direction
Portion is orifice plate, and orifice plate is supported by the central sill of partition groove, axial along flexible positive cylinder, wire hole is provided on central sill, in orifice plate
On be also provided with perforation groove wire hole, the silk rolling hole positioned at central sill the same side is located along the same line.
Scheme two, a kind of end effector mechanism of single-hole laparoscopic surgery, it is flexible positive cylinder, the number of flexible positive cylinder
Amount is N, and N is integer, and N >=2；Each flexible positive cylinder is equipped with multipair groove in the axial direction, and each pair of groove is radially opened
If between adjacent grooves and flexible positive cylinder both ends are orifice plate in axial direction, orifice plate is supported by the central sill of partition groove, along soft
Property positive cylinder it is axial, wire hole is provided on central sill, the wire hole of perforation groove is also provided on orifice plate, is located at central sill the same side
Silk rolling hole be located along the same line；N number of flexible positive cylinder is serially connected by the orifice plate of end, two neighboring flexibility positive column
The central sill of body is mutually perpendicular to radially, and is crossed in the wire hole and the positive cylinder of adjacent flexible of groove on a positive cylinder of flexibility
Wire hole one-to-one correspondence connects on beam.
Further, flexible positive cylinder is cylindrical body.
Further, the material of flexible positive cylinder is silicon rubber.
The present invention has the effect that compared with prior art
Using central sill along straight line configuration, intersects tandem arrangement using multiple flexible positive cylinders, realize single-degree-of-freedom
180 degree bending.By multiple degrees of freedom cross-over configuration, multiple degrees of freedom can be achieved using four driving silks and configure, substantially increase machine
The flexibility and movement angle range of structure movement, flexion angular range greatly increase.The configuration of the present invention is simple, operation can
It leans on.
The present invention is described in detail with reference to the accompanying drawings and examples.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram that the present invention has a positive cylinder of flexibility；
Fig. 2 is main sectional view of the invention；
Fig. 3 is that the present invention is disposed with the structural schematic diagram that driving silk is disposed in wire hole；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is the structural schematic diagram for being equipped with the positive cylinder concatenation of two flexibilities of driving silk；
Fig. 6 is the top view of Fig. 5；
Fig. 7 is the structural schematic diagram for being equipped with the positive cylinder concatenation of three flexibilities of driving silk；
Fig. 8 is the cross-sectional view of the line B-B along Fig. 7；
Fig. 9 is the cross-sectional view of the line C-C along Fig. 7.
Specific embodiment
Shown in referring to figures 1-4, in one embodiment, a kind of end effector mechanism of single-hole laparoscopic surgery, it
For flexible positive cylinder 1, it is equipped with multipair groove 11 on 1 axial direction of flexible positive cylinder, each pair of groove 11 radially opens up, axial
Between upper adjacent grooves 11 and flexible positive cylinder both ends are orifice plate 12, and orifice plate 12 is supported by the central sill 13 of partition groove 11,
It is axial along flexible positive cylinder 1, it is provided with wire hole 15 on central sill 13, the wire hole of perforation groove 11 is also provided on orifice plate 12
15, the mistake wire hole 15 positioned at 13 the same side of central sill is located along the same line.
In said one embodiment, preferably, shown in Figure 1, the flexible positive cylinder 1 is cylindrical body.It is described soft
Property positive cylinder 1 material be silicon rubber.So set, improving the flexibility of mechanism kinematic.Referring to figure 1 and figure 2, Mei Gekong
It is arc transition between 12 upper and lower surface of plate and central sill 13.Using circular arc or fillet, it both ensure that two opposite grooves 11 were right
Claim arrangement, and improves the support strength of orifice plate 12.Line can be used comprising the positive cylinder 1 of flexibility including groove and circular arc among the above
It cuts or casts.Mutual groove 11 is reserved as space, it can be achieved that wide-angle bending, realizes single freedom
90 degree of bendings of degree.
Shown in Figure 4, the wire hole of 13 two sides of central sill respectively forms one and crosses wire hole line, and silk is worn in setting two on central sill 13
Hole 15 is crossed wire hole line and two wire holes 15 for two and is evenly distributed with along the circumferential direction of flexible positive cylinder 1.Among the above, central sill 13 two sides are worn
Wire hole 15 is to open up two tubulose wire holes along axial tubular structure, be provided on each orifice plate 12 of 13 two sides of central sill and wear silk
Multiple wire holes 15 in hole 15, every side are arranged in a straight line in one, form two and cross wire hole line, cross wire hole work for two kinds in order to facilitate understanding
Difference, tubular type is crossed the driving silk 16 arranged in wire hole is indicated using the filling of grid line pattern, linear being arranged in
Driving silk 16 in the wire hole 15 of arrangement is filled with solid pattern and is indicated.It is empty as movement to reserve mutual groove 11
Between, it can be achieved that wide-angle be bent, realize single-degree-of-freedom 180 degree bending.
For the wire hole 15 being arranged in a linear there are two function, first is the movement for being collectively responsible for current flexible positive cylinder 1, the
Second is that the driving silk for the positive cylinder 1 of flexibility of subsequent concatenation provides channel, wire hole 15 of tubular type are subsequent freedom degree
Silk is driven to provide channel, the channel provided by crossing wire hole in preposition structure is subsequent to increase multiple freedom degrees, such as Fig. 5 and Fig. 7
Shown in multiple freedom degrees are increased by rotation angle.
Referring to shown in Fig. 5-Fig. 7, in another embodiment, a kind of end effector mechanism of single-hole laparoscopic surgery, it
For flexible positive cylinder 1, the quantity of flexible positive cylinder 1 is N, and N is integer, and N >=2；
Each flexible positive cylinder 1 is equipped with multipair groove 11 in the axial direction, and each pair of groove 11 radially opens up, in axial direction
Between adjacent grooves 11 and flexible positive cylinder both ends are orifice plate 12, and orifice plate 12 is supported by the central sill 13 of partition groove 11, edge
Flexible positive cylinder 1 is axial, and wire hole 15 is provided on central sill 13, the wire hole 15 of perforation groove 11 is also provided on orifice plate 12,
Mistake wire hole 15 positioned at 13 the same side of central sill is located along the same line；N number of flexible positive cylinder 1 is serially connected in by the orifice plate 12 of end
Together, the central sill 13 of two neighboring flexible positive cylinder 1 is mutually perpendicular to radially, and groove 11 is crossed on the positive cylinder 1 of a flexibility
Wire hole 15 on the central sill 13 of the positive cylinder 1 of adjacent flexible wire hole 15 one-to-one correspondence connect.
Preferably, each flexible positive cylinder 1 is cylindrical body referring to shown in 1, Fig. 5 and Fig. 7.Each flexibility is just
The material of cylinder 1 is silicon rubber.So set, multiple flexible positive cylinders 1 concatenate, the flexibility of mechanism kinematic is greatly improved
With movement angle range, flexion angular range is greatly increased.Referring to shown in Fig. 6 and Fig. 7, in each flexible positive cylinder 1
It is arc transition between each 12 upper and lower surface of orifice plate and central sill 13.Using circular arc or fillet, it both ensure that opposite two were recessed
Slot 11 is arranged symmetrically, and improves the support strength of orifice plate 12.It among the above can comprising the positive cylinder 1 of flexibility including groove and circular arc
Using wire cutting or cast.
Wherein, Fig. 5-Fig. 6 shows a kind of end effector mechanism made of the positive cylinder 1 of two flexibilities concatenates, this kind
End effector mechanism can be bonded by end orifice plate 12 or mechanism using wire cutting or casting integrated is process.Fig. 6 shows, most
Tubular type crosses the driving silk 16 arranged in wire hole and uses grid line pattern filling table on orifice plate 12 in the positive cylinder 1 of the flexibility of top
Show, the driving silk 16 being arranged in the wire hole 15 being arranged in a linear is filled with solid pattern to be indicated, it is seen then that the flexibility of lower section
On orifice plate 12 in positive cylinder 1 tubular type cross be arranged in a linear in wire hole and flexibility 1 aperture plate 12 of positive cylinder of top wear silk
Hole 15 penetrates through, in the positive cylinder 1 of flexibility of the wire hole 15 and top that are arranged in a linear in flexibility 1 aperture plate 12 of positive cylinder of lower section
Orifice plate 12 on tubular type cross wire hole perforation, that is, the upper and lower positive cylinder 1 of two flexibilities is mutually rotated by 90 ° and concatenates.
Fig. 7-Fig. 9 shows a kind of end effector mechanism made of the positive cylinder 1 of three flexibilities concatenates, this kind of end is held
Row mechanism using wire cutting or casting integrated can be process by flexible positive 1 end orifice plate 12 of cylinder bonding or mechanism.Fig. 4 is aobvious
Show, tubular type is crossed the driving silk 16 arranged in wire hole and filled using grid line pattern on the orifice plate 12 in each flexible positive cylinder 1
It indicates, the driving silk 16 being arranged in the wire hole 15 being arranged in a linear is filled with solid pattern to be indicated, Fig. 7 is as it can be seen that lower section
The positive cylinder 1 of flexibility in orifice plate 12 on tubular type cross in wire hole and intermediate flexible just 1 aperture plate 12 of cylinder and be arranged in a linear
Wire hole 15 penetrate through, the wire hole 15 that is arranged in a linear in positive 1 aperture plate 12 of cylinder of the flexibility of lower section and it is intermediate it is flexible just
On orifice plate 12 in cylinder 1 tubular type cross wire hole perforation, that is, in the lower positive cylinder 1 of two flexibilities be mutually rotated by 90 ° concatenation and
At.And tubular type is crossed in wire hole and flexibility 1 aperture plate 12 of positive cylinder of top and is on the orifice plate 12 in the positive cylinder 1 of intermediate flexibility
Wire hole 15 arranged in a straight line penetrates through, the wire hole 15 being arranged in a linear in intermediate flexibility 1 aperture plate 12 of positive cylinder and top
Positive 1 aperture plate 12 of cylinder of flexibility on tubular type cross wire hole perforation namely it is upper in the positive cylinder 1 of two flexibilities be mutually rotated by 90 ° string
It connects, the positive cylinder 1 of three flexibilities of such upper, middle and lower is alternately rotated 90 degree and concatenates.The big flexibility for improving mechanism kinematic and
Movement angle range, flexion angular range greatly increase.The drive of disc type dual direction drive mechanism can be used in the end effector mechanism
It is dynamic.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (10)
1. a kind of end effector mechanism of single-hole laparoscopic surgery, it is characterised in that: it is flexible positive cylinder (1), it is flexible just
Cylinder (1) axial direction is equipped with multipair groove (11), and each pair of groove (11) radially opens up, in axial direction adjacent grooves (11) it
Between and flexible positive cylinder both ends be orifice plate (12), orifice plate (12) is supported by the central sill (13) of partition groove (11)；Along flexible
Positive cylinder (1) is axial, and wire hole (15) are provided on central sill (13), and perforation groove (11) is also provided on orifice plate (12) wears silk
Hole (15), the mistake wire hole (15) for being located at central sill (13) the same side are located along the same line.
2. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 1, it is characterised in that: the flexibility is just
Cylinder (1) is cylindrical body.
3. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 2, it is characterised in that: each orifice plate
It (12) is arc transition between upper and lower surface and central sill (13).
4. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 3, it is characterised in that: the flexibility is just
The material of cylinder (1) is silicon rubber.
5. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 4, it is characterised in that: central sill (13) two
The wire hole of side respectively forms one and crosses wire hole line, two wire holes (15) is arranged on central sill (13), two are crossed wire hole line and two
The circumferential direction that wire hole (15) is crossed along flexible positive cylinder (1) is uniformly distributed.
6. a kind of end effector mechanism of single-hole laparoscopic surgery, it is characterised in that: it is flexible positive cylinder (1), flexible positive column
The quantity of body (1) is N, and N is integer, and N >=2；
Each flexible positive cylinder (1) is equipped with multipair groove (11) in the axial direction, and each pair of groove (11) radially opens up, axial
Between upper adjacent grooves (11) and flexible positive cylinder both ends are orifice plate (12), orifice plate (12) by partition groove (11) central sill
(13) it supports；It is axial along flexible positive cylinder (1), it is provided with wire hole (15) on central sill (13), is also provided with and passes through on orifice plate (12)
The wire hole (15) of logical groove (11), the mistake wire hole (15) for being located at central sill (13) the same side are located along the same line；N number of flexibility is just
Cylinder (1) is serially connected by the orifice plate (12) of end, the central sill (13) of two neighboring flexible positive cylinder (1) phase radially
It is mutually vertical, and on a positive cylinder of flexibility (1) the wire hole (15) of groove (11) and the central sill of the positive cylinder of adjacent flexible (1)
(13) wire hole (15) one-to-one correspondence connects on.
7. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 1, it is characterised in that: the flexibility is just
Cylinder (1) is cylindrical body.
8. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 2, it is characterised in that: each orifice plate
It (12) is arc transition between upper and lower surface and central sill (13).
9. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 3, it is characterised in that: flexible positive cylinder
(1) material is silicon rubber.
10. a kind of end effector mechanism of single-hole laparoscopic surgery according to claim 9, it is characterised in that: flexible positive column
Body (1) is wire cutting or casts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910463889.XA CN110215240A (en) | 2019-05-30 | 2019-05-30 | A kind of end effector mechanism of single-hole laparoscopic surgery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910463889.XA CN110215240A (en) | 2019-05-30 | 2019-05-30 | A kind of end effector mechanism of single-hole laparoscopic surgery |
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| CN110215240A true CN110215240A (en) | 2019-09-10 |
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| CN201910463889.XA Pending CN110215240A (en) | 2019-05-30 | 2019-05-30 | A kind of end effector mechanism of single-hole laparoscopic surgery |
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Application publication date: 20190910 |