CN113786222A - Driving device for minimally invasive surgery instrument flexible joint based on spherical universal joint control - Google Patents
Driving device for minimally invasive surgery instrument flexible joint based on spherical universal joint control Download PDFInfo
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- 238000002324 minimally invasive surgery Methods 0.000 title claims description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000003044 adaptive effect Effects 0.000 claims abstract description 10
- 230000003139 buffering effect Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 238000003466 welding Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
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- 230000001681 protective effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
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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
- 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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- 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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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Abstract
The invention discloses a driving device of a flexible joint of a minimally invasive surgical instrument based on spherical universal joint control, which comprises an operating handle shell, the flexible joint, a flexible lock, a buffer component, a rear end control mechanism and a support frame arranged in the shell, wherein one end of the flexible joint is fixed in an outer tube; the rear end control mechanism is a rear end primary component and a rear end secondary component which is concentrically arranged with the rear end primary component, and the rear end primary component and the rear end secondary component perform relative circumferential motion through the matching of the rotating inner spherical surface and the rotating outer spherical surface; one end of the flexible lock is connected with the flexible joint in an adaptive mode, and the other end of the flexible lock is in linkage fit with the buffering assembly and the rear end control mechanism.
Description
Technical Field
The invention relates to the technical field of medical electronic instruments, in particular to a flexible joint driving mode applied to a minimally invasive surgery endoscope product.
Background
At present, flexible joints are widely applied to minimally invasive surgical instruments, but how to flexibly drive the flexible joints is always a difficult point.
Most companies drive the flexible joints in a disc pull wire mode, and the flexible joints are universal through integral rotation, the flexibility of the movement of the flexible joints is limited in the mode, and the movement performance of the flexible joints is not visual.
Also have the structure of the motion of four directions of the direct drive flexibility among the prior art, but the structure that corresponds is all more complicated, and also there is the requirement to the position that sets up of this structure, and when flexible joint realized the motion through gentle lock drive, also have the requirement to the fore-and-aft movement distance of each gentle pulling force of locking and two corresponding gentle locks, hardly guarantee in the installation, realize accurate control through the motor among the prior art, but do so and restrict the design of rear end structure, make the overall design too bloated, it is not light and handy.
And the problem of flexible latch in kinking in the use has increased the degree of difficulty of design. The existing flexible joint motion can drive the supporting outer pipe due to the flexible locking driving characteristic, so that the outer pipe is deformed, and the operation is influenced.
Therefore, it is necessary for those skilled in the art to develop a driving device for a flexible joint of a minimally invasive surgical instrument based on a ball-and-socket joint control.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a driving device of a minimally invasive surgical instrument flexible joint based on ball-and-socket joint control.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
a driving device of a flexible joint of a minimally invasive surgery instrument based on spherical universal joint control comprises an operating handle shell and the flexible joint; the flexible joint is characterized by further comprising a flexible lock, a buffer assembly, a rear end control mechanism and a support frame arranged in the shell, wherein an outer tube fixing piece and a limiting seat are fixedly arranged on the support frame, an outer tube is fixedly arranged on the outer tube fixing piece, and one end of the flexible joint is fixed in the outer tube; a limiting groove is formed in the limiting seat;
the rear end control mechanism is a spherical universal joint, the spherical universal joint comprises a rear end primary component and a rear end secondary component which is concentrically arranged with the rear end primary component, the rear end primary component is provided with a rotating inner spherical surface, the rear end secondary component is provided with a rotating outer spherical surface, the rotating inner spherical surface is matched with the rotating outer spherical surface, and the rear end primary component and the rear end secondary component perform relative circumferential motion under the action of external force through the matching of the rotating inner spherical surface and the rotating outer spherical surface; the rear-end primary assembly is fixedly connected with the support frame, the inner side of the rear-end secondary assembly is provided with two limiting bulges, the two limiting bulges are symmetrically arranged, the rear-end primary assembly is provided with a limiting notch corresponding to the limiting bulge, when the secondary assembly moves along the X direction, the limiting bulge reciprocates in the limiting notch of the rear-end primary assembly and along the limiting notch, and when the rear-end secondary assembly moves along the Y direction, the limiting bulge rotates in the limiting notch of the rear-end primary assembly; a positioning channel is arranged on the rear-end primary assembly; the buffer assembly is a spring protection pipe or a guide hose, one end of the spring protection pipe or the guide hose is clamped in the limiting groove, and the other end of the spring protection pipe or the guide hose is fixedly arranged in a positioning channel of the rear-end primary assembly; one end of the flexible lock is connected with the flexible joint in an adaptive mode, and the other end of the flexible lock is in linkage fit with the buffer assembly and the rear-end control mechanism, namely the other end of the flexible lock penetrates through the spring protection pipe or the guide hose and is fixed on the rear-end secondary assembly; the number of the buffer components is as follows: number of positioning channels: the number of flexible locks =1:1: 1.
As a further improvement of the invention, the rear end control mechanism controls the movement of the flexible joint by controlling the movement of the flexible lock, and the limiting bulge is used for limiting the rear end secondary assembly to move only in X and Y directions, namely four directions, so as to avoid the rear end secondary assembly from moving coaxially. Spacing arch sets up the interior centre of sphere symmetric position at rear end secondary assembly, when rear end secondary assembly moves to the X direction, sliding motion is done in the notch of rear end primary assembly to spacing arch, when rear end secondary assembly moves to the Y direction, rotational motion is done in the notch of rear end primary assembly to spacing arch, when rear end secondary assembly is coaxial to rotate, because this spacing arch is in the spacing notch of rear end primary assembly, by spacing notch spacing, so rear end primary assembly and rear end secondary assembly can't carry out first week rotational motion each other. Rear end secondary assembly is the hemisphere, the buffering subassembly carries out the guide effect to gentle lock to can place wantonly in rear end control mechanism's position, leave sufficient degree of freedom for the handle design of operating handle casing.
As a further improvement of the invention, the fixing or fixed connection mentioned in the invention can be a welding fixed connection, an adhesive fixed connection or a detachable fixed connection formed by a fixing piece;
as a further improvement, the flexible lock is a rope formed by twisting a plurality of steel wire ropes into one strand, and the tensile force which can be borne by the flexible lock is more than or equal to 25N.
As a further improvement of the invention, the flexible lock is a rope with the diameter of 0.2mm, and the tensile force which can be borne by the flexible lock is more than or equal to 40N.
As a further improvement of the invention, the limiting bulge is a cylindrical bulge.
As a further improvement of the invention, the limiting bulge is a cylindrical bulge, the limiting bulge is arranged at the symmetrical position of the inner spherical center of the rear-end secondary assembly, when the rear-end secondary assembly moves towards the X direction, the limiting bulge makes sliding motion in the notch of the rear-end primary assembly, when the rear-end secondary assembly moves towards the Y direction, the limiting bulge makes rotating motion in the notch of the rear-end primary assembly, and when the rear-end secondary assembly coaxially rotates, because the limiting bulge is limited by the notch in the notch of the rear-end primary assembly, the rear-end primary assembly and the rear-end secondary assembly cannot make head-circle rotating motion mutually.
As a further improvement, the driving device for the flexible joint of the minimally invasive surgical instrument based on the ball-and-socket joint control further comprises an adjusting component, the adjusting component comprises a screw and a nut matched with the screw, a limiting lifting lug is uniformly distributed on the rear-end secondary component, the screw is detachably and fixedly connected with the limiting lifting lug through the nut, a positioning hole is formed in the screw, one end of the flexible lock is matched and connected with the flexible joint, the other end of the flexible lock firstly penetrates through a spring protection tube or a guide hose and then penetrates through the positioning hole and is fixed on the screw of the adjusting component, and the number of the buffering components is as follows: number of positioning channels: the number of the limiting lifting lugs is as follows: the number of flexible locks =1:1:1:1: 1.
As a further improvement of the invention, the adjusting component is used for precisely adjusting the length of the flexible lock, thereby ensuring the stability of the flexible joint; thereby through the length of rotatory half-thread hexagon socket head cap screw accurate adjustment gentle lock, also fix gentle lock on the control point of rear end secondary unit is spacing lug promptly simultaneously. Before the device is used, the length of the flexible lock can be precisely adjusted through the adjusting component, and when a worker rotates the screw, the flexible lock is driven by the rotation of the screw due to the fact that the flexible lock is fixed on the positioning hole of the screw, and the flexible lock is tightened or loosened.
The screw is a half-thread inner hexagon screw, and the nut is a micro nut.
As a further improvement, the driving device for the flexible joint of the minimally invasive surgical instrument based on the ball-and-socket joint control further comprises a supporting module, wherein the supporting module is a capillary tube, the flexible lock penetrates through the capillary tube and can reciprocate along the capillary tube, and the outer diameter of the flexible lock is smaller than the inner diameter of the capillary tube; one end of the capillary tube is fixed at the tail end of the flexible joint, the other end of the capillary tube is fixedly provided with a positioning terminal, the support frame is fixedly provided with a terminal fixing piece, and the terminal fixing piece is provided with a clamping groove; the positioning terminal is matched with the clamping groove;
one end of the flexible lock is connected with the flexible joint in an adaptive mode, and the other end of the flexible lock penetrates through the capillary tube, the spring protection tube or the guide hose, the positioning hole and the rear-end secondary assembly.
As a further improvement of the invention, one end of the capillary is fixed at the tail end of the flexible joint through laser welding. The support module is responsible for supporting flexible joint end, guarantees that the motion of gentle lock can not influence whole root outer tube to the motion of protection gentle lock in the outer tube is inside.
As a further improvement, the driving device for the flexible joint of the minimally invasive surgical instrument based on the ball-and-socket joint control further comprises an adjusting component and a supporting module, wherein the adjusting component comprises a screw and a nut matched with the screw, limit lifting lugs are uniformly distributed on the rear-end secondary component, the screw and the limit lifting lugs form detachable fixed connection through the nut, and a positioning hole is formed in the screw;
as a further improvement of the invention, the support module is a capillary tube, the flexible lock penetrates through the capillary tube and can reciprocate along the capillary tube, and the outer diameter of the flexible lock is smaller than the inner diameter of the capillary tube; one end of the capillary tube is fixed at the tail end of the flexible joint through laser welding, the other end of the capillary tube is fixedly provided with a positioning terminal, the support frame is fixedly provided with a terminal fixing piece, and the terminal fixing piece is provided with a clamping groove; the positioning terminal is matched with the clamping groove;
as a further improvement of the invention, one end of the flexible lock is in adaptive connection with the flexible joint, and the other end of the flexible lock firstly passes through the capillary tube, then passes through the spring protection tube or the guide hose, then passes through the positioning hole and is fixed on a screw of the adjusting component fixed on the rear-end secondary component.
As a further improvement of the present invention, the number of the buffering assemblies = the number of the positioning channels = the number of the spacing lugs = the number of the half-thread hexagon socket screws = the number of the flexible locks = 4; the number of the buffer components is the number of the spring protection tubes or the guide hoses; the end part of the spring protection tube or the guide hose is fixed on the positioning channel through UV glue, and the extension line of the positioning channel is tangent to the rotary outer spherical surface.
The positioning channel and the horizontal plane form an included angle D which is 0-45 degrees, and the included angle D is used for limiting the extension line of the positioning channel to be tangent to the rotary outer spherical surface. The support module is responsible for supporting flexible joint end, guarantees that the motion of gentle lock can not influence whole root outer tube to the motion of protection gentle lock in the outer tube is inside.
As a further improvement of the invention, the limiting seat, the outer tube fixing piece, the limiting seat and the terminal fixing piece are respectively and fixedly connected with the supporting frame through screws.
As a further improvement of the invention, the support frame is a special-shaped bent integrated piece and comprises an installation section, a connection section, an installation section and a connection section which are connected in sequence; an outer pipe fixing piece is fixedly arranged at the end part of the mounting section, an outer pipe is fixedly arranged on the outer pipe fixing piece, and one end of the flexible joint is fixed in the outer pipe; the mounting section is fixedly provided with a limiting seat and a terminal fixing piece, and an included angle A is formed between the mounting section and the connecting section and is 90-180 degrees; the connecting section and the mounting section form an included angle B, and the included angle B is 90-180 degrees; the mounting section and the connecting section form an included angle C which is 90-150 degrees, and the rear-end first-stage component is fixedly connected with the connecting section of the support frame.
As a further improvement of the invention, the mounting first section is arranged in parallel with the mounting second section.
As a further improvement of the invention, the rear-end primary assembly and the connecting section form a detachable fixed connection through screws.
Based on the technical scheme, compared with the prior art, the invention has the following technical advantages:
the invention adopts the ball-shaped universal joint to solve the problem of controlling the four-direction movement of the flexible joint, and adopts the spring protection tube or the guide hose wire to solve the problem of the installation position of the ball-shaped universal joint, so that the position of the ball-shaped universal joint can be randomly placed when the handle is designed, more possibilities are left for the design of the handle, and the influence of the movement of the flexible joint on the whole outer tube is reduced. More possibilities are created for product designers when designing in appearance or ergonomics.
The invention can simply, directly and accurately operate the flexible joint by only one operating rod, and carry out continuous universal motion, and can ensure that the bending angle of the flexible joint reaches 270 degrees under the condition that the whole outer pipe is soft.
The rear end control structure of the invention adopts the control of the spherical universal joint, and controls the movement of the flexible joint by controlling the movement of the flexible lock, thereby ensuring that the whole structure only moves in four directions without coaxial rotation movement when moving. The buffer structure adopts the flexible protective pipe of the spring protective pipe or the guide hose to protect the inner flexible lock and guide the flexible lock, and the flexible lock is guided by the spring protective pipe or the guide hose, so that the position of the rear-end control structure can be randomly placed, and enough freedom is left for the design of the handle.
The invention is also provided with a support module which is responsible for supporting the tail end of the flexible joint, adopts a terminal to fasten the capillary and ensures the back-and-forth movement of the internal flexible lock, ensures that the movement of the four flexible locks does not influence the whole outer tube, and protects the movement of the four flexible locks in the outer tube. The adjusting assembly can precisely adjust the lengths of the four flexible locks, so that workers can simply adjust the tightness of the four flexible locks, and the lengths of the four flexible locks can be simply and precisely adjusted during installation, so that the stability of a product is ensured, and the adjusting assembly is arranged on a spherical universal joint of a rear end driving structure, so that the adjusting assembly is convenient to adjust.
The flexible joint is convenient for workers to install, reduces cost, and can meet different application conditions of the flexible joint in a flexible lock driving mode. The invention is mainly used for electronic soft lenses, most of the same type products realize universal motion by bidirectional motion and autorotation, the universal motion realized by adopting the driving structure is more intuitive, in addition, the split design is adopted in the process, the erection and the adjustment of the driving device are carried out outside the whole shell, the installation is convenient, finally, the supporting frame containing the driving device is fixed in the shell, all the components are installed on the supporting frame, and the shell is closed at last, thereby ensuring the simplicity and convenience of the installation of workers. The flexible joint driving device is reasonable in structural design and simple and clear in overall structure, flexible driving and smooth operation of the flexible joint are met, and the winding of a driving wire is avoided, so that the use fault of the overall device is avoided.
Drawings
FIG. 1 is a schematic structural diagram of a driving device of a flexible joint of a minimally invasive surgical instrument based on ball-and-socket joint control according to the invention.
Fig. 2 is an exploded view of fig. 1.
FIG. 3 is a schematic view of the support frame, the rear-end primary component, and the rear-end secondary component of the present invention.
Fig. 4 is a top view of fig. 3.
FIG. 5 is an exploded view of the back end control mechanism of the present invention.
Fig. 6 is a schematic structural diagram of the rear end control mechanism of the present invention.
Fig. 7 is a cross-sectional view of the rear end control mechanism of the present invention.
FIG. 8 is a schematic diagram of a back end secondary assembly according to the present invention.
FIG. 9 is a schematic structural diagram of a rear-end primary assembly according to the present invention.
Fig. 10 is a schematic structural view of the limiting seat and the terminal fixing member on the supporting frame.
Fig. 11 is a schematic structural view of an outer tube fixing member on a support bracket.
FIG. 12 is a schematic view showing the fitting relationship of the flexible joint, the flexible lock and the capillary tube.
Fig. 13 is a schematic structural view of embodiment 6.
In the figure: the flexible joint comprises an operating handle shell, a flexible joint, a support frame 2-1, a mounting section 2-1-1, a connecting section 2-1-2, a mounting section 2-1-3, a connecting section 2-1-4, a limiting seat 2-2, an outer tube fixing part 2-3, an outer tube 2-4, a terminal fixing part 2-5, a flexible lock 3, a rear end primary component 4-1, a positioning channel 4-1-1, a limiting notch 4-1-2, a rear end secondary component 4-2, a limiting bulge 4-2-2, a spring protection tube 5-1, a screw 6-1, a positioning hole 6-1-1, a nut 6-2, a capillary 7-1 and a positioning terminal 7-2.
Detailed Description
The invention is further explained below with reference to the figures and examples.
Example 1
A driving device of a flexible joint of a minimally invasive surgery instrument based on spherical universal joint control comprises an operating handle shell 1 and a flexible joint 2; the flexible joint is characterized by further comprising a flexible lock 3, a buffer assembly, a rear end control mechanism and a support frame 2-1 arranged in the shell, wherein the support frame 2-1 is fixedly provided with an outer tube fixing piece 2-3 and a limiting seat 2-2, the outer tube fixing piece 2-3 is fixedly provided with an outer tube 2-4, and one end of the flexible joint 2 is fixed in the outer tube 2-4; a limiting groove is arranged on the limiting seat 2-2; the rear end control mechanism is a spherical universal joint, the spherical universal joint comprises a rear end first-stage component 4-1 and a rear end second-stage component 4-2 concentrically arranged with the rear end first-stage component 4-1, the rear end first-stage component 4-1 is provided with a rotating inner spherical surface, the rear end second-stage component 4-2 is provided with a rotating outer spherical surface, the rotating inner spherical surface is matched with the rotating outer spherical surface, and the rear end first-stage component 4-1 and the rear end second-stage component 4-2 perform relative circumferential motion under the action of external force through the matching of the rotating inner spherical surface and the rotating outer spherical surface; the rear-end primary assembly 4-1 is fixedly connected with the support frame 2-1, the rear-end secondary assembly 4-2 is hemispherical, the inner side of the rear-end secondary assembly 4-2 is provided with two limiting bulges 4-2-1 which are symmetrically arranged, the rear-end primary assembly 4-1 is provided with a limiting notch corresponding to the limiting bulge 4-2-1, when the secondary assembly 4-2 moves along the X direction, the limiting bulge 4-2-1 reciprocates in the limiting notch of the rear-end primary assembly 4-1, and when the rear-end secondary assembly 4-2 moves along the Y direction, the limiting bulge 4-2-1 rotates in the limiting notch 4-1-2 of the rear-end primary assembly 4-1; a positioning channel 4-1-1 is arranged on the rear-end primary component 4-1;
the buffer component is a spring protective pipe 5-1 or a guide hose, one end of the spring protective pipe 5-1 or the guide hose is clamped in the limit groove, and the other end of the spring protective pipe 5-1 or the guide hose is fixedly arranged in a positioning channel 4-1-1 of the rear-end primary component 4-1;
one end of the flexible lock 3 is in adaptive connection with the flexible joint 2, and the other end of the flexible lock 3 is in linkage fit with the buffer component and the rear-end control mechanism, namely, the other end of the flexible lock 3 penetrates through the spring protection pipe 5-1 or the guide hose and is fixed on the rear-end secondary component 4-2;
number of buffer assemblies: number of positioning channels 4-1-1: the number of flexible locks 3 =1:1: 1.
The rear end control mechanism controls the movement of the flexible joint by controlling the movement of the flexible lock, and the limiting bulge 4-2-1 is used for limiting the rear end secondary component 4-2 to only move in X and Y directions, namely four directions, so that the rear end secondary component 4-2 is prevented from coaxially rotating. The limiting bulges are arranged at the symmetrical positions of the inner spherical centers of the rear-end secondary assemblies 4-2, when the rear-end secondary assemblies 4-2 move towards the X direction, the limiting bulges slide in the notches of the rear-end primary assemblies 4-1, when the rear-end secondary assemblies 4-2 move towards the Y direction, the limiting bulges rotate in the notches of the rear-end primary assemblies 4-1, when the rear-end secondary assemblies 4-2 rotate coaxially, because the limiting bulges are limited by the limiting notches 4-1-2 in the limiting notches 4-1-2 of the rear-end primary assemblies 4-1, the rear-end primary assemblies 4-1 and the rear-end secondary assemblies 4-2 can not perform head-to-head rotation movement mutually.
The buffer component has a guiding function on the flexible lock 3, so that the flexible lock can be placed at any position of the rear end control mechanism, and enough freedom degree is reserved for the design of a handle of the operating handle shell 1;
the fixing or fixing connection mentioned in the present invention may be a welding fixing connection, an adhesive fixing connection or a detachable fixing connection formed by fixing members.
The implementation process comprises the following steps: when the rear end control structure 4-2 is stirred to a certain angle, the front end flexible joint 2 correspondingly rotates to a certain angle, and meanwhile, the outer pipe 2-4 is ensured not to deform, and when the rear end control structure 4-2 carries out universal motion, the front end flexible joint 5 correspondingly carries out universal motion.
The working process is as follows: after the rear-end control structure 4-2 is pulled, the flexible lock fixed on the rear-end control structure 4-2 is stretched to drive the flexible joint 2 to rotate for a certain angle. The flexible joint mentioned in the present invention can be referred to the related patents of published CN202110117506.0, CN202021644967.0, etc.
Example 2
Otherwise, the scheme is consistent with the scheme of the embodiment 1, and the limiting bulge 4-2-1 is a cylindrical bulge. The limiting bulge 4-2-1 is a cylindrical bulge, the limiting bulge is arranged at the symmetrical position of the inner spherical center of the rear-end secondary assembly 4-2, when the rear-end secondary assembly 4-2 moves towards the X direction, the limiting bulge slides in the notch of the rear-end primary assembly 4-1, when the rear-end secondary assembly 4-2 moves towards the Y direction, the limiting bulge rotates in the notch of the rear-end primary assembly 4-1, when the rear-end secondary assembly 4-2 coaxially rotates, the limiting bulge is limited by the notch in the notch of the rear-end primary assembly 4-1, and therefore the rear-end primary assembly 4-1 and the rear-end secondary assembly 4-2 cannot perform head-to-head rotation movement with each other.
Example 3
The rest is consistent with the scheme of the embodiment 1 or 2, the invention also comprises an adjusting component, the adjusting component comprises a screw 6-1 and a nut 6-2 matched with the screw 6-1, a limiting lifting lug 4-2-2 is uniformly distributed on the rear-end secondary component 4-2, the screw 6-1 is detachably and fixedly connected with the limiting lifting lug 4-2-2 through the nut 6-2, a positioning hole 6-1-1 is arranged on the screw 6-1, one end of a flexible lock 3 is matched and connected with a flexible joint 2, the other end of the flexible lock firstly passes through a spring protection tube 5-1 or a guide hose, then passes through the positioning hole 6-1-1 and is fixed on the screw 6-1 of the adjusting component, and the number of the buffering components is as follows: number of positioning channels 4-1-1: the number of the limiting lifting lugs 4-2-2 is as follows: the number of flexible locks 3 =1:1:1: 1.
The adjusting component is used for precisely adjusting the length of the flexible lock 3, so that the stability of the flexible joint is ensured; the length of the flexible lock 3 is precisely adjusted by rotating the half-thread hexagon socket head cap screws 1-3, and meanwhile, the flexible lock 3 is fixed on a control point of the rear-end secondary assembly 4-2, namely the limiting lifting lug 4-2-2. Before the device is used, the length of the flexible lock 3 can be precisely adjusted through the adjusting component, when a worker rotates the screw 6-1, the flexible lock is driven by the rotation of the screw due to the fact that the flexible lock is fixed on the positioning hole 6-1-1 of the screw, and the flexible lock is tightened or loosened.
The screw 6-1 is a half-thread inner hexagonal screw, and the nut 6-2 is a micro nut.
Example 4
Otherwise, the solution of any one of the embodiments 1 to 3 is the same, the invention further comprises a support module, the support module is a capillary tube 7-1, the flexible lock 3 passes through the capillary tube 7-1, the flexible lock 3 can reciprocate along the capillary tube 7-1, and the outer diameter of the flexible lock 3 is smaller than the inner diameter of the capillary tube 7-1; one end of a capillary tube 7-1 is fixed at the tail end of the flexible joint 2, the other end of the capillary tube is fixedly provided with a positioning terminal 7-2, a terminal fixing piece 2-5 is fixedly arranged on the supporting frame 2-1, and a clamping groove is formed in the terminal fixing piece 2-5; the positioning terminal 7-2 is matched with the clamping groove;
one end of the flexible lock 3 is in adaptive connection with the flexible joint 2, and the other end of the flexible lock firstly passes through the capillary tube 7-1, then passes through the spring protection tube 5-1 or the guide hose, then passes through the positioning hole 6-1-1 and is fixed on the rear-end secondary component 4-2.
One end of the capillary 7-1 is fixed at the tail end of the flexible joint 2 through laser welding. The support module is responsible for supporting flexible joint end, guarantees that the motion of gentle lock can not influence whole root outer tube to the motion of protection gentle lock in the outer tube is inside.
Example 5
The rest is consistent with any scheme of the embodiment 1-4, the invention also comprises an adjusting component and a supporting module, wherein the adjusting component comprises a screw 6-1 and a nut 6-2 matched with the screw 6-1, a limiting lifting lug 4-2-2 is uniformly distributed on the rear-end secondary component 4-2, the screw 6-1 is detachably and fixedly connected with the limiting lifting lug 4-2-2 through the nut 6-2, and a positioning hole 6-1-1 is arranged on the screw 6-1;
the support module is a capillary tube 7-1, the flexible lock 3 penetrates through the capillary tube 7-1, the flexible lock 3 can reciprocate along the capillary tube 7-1, and the outer diameter of the flexible lock 3 is smaller than the inner diameter of the capillary tube 7-1; one end of the capillary 7-1 is fixed at the tail end of the flexible joint 2 through laser welding, the other end of the capillary is fixedly provided with a positioning terminal 7-2, the support frame 2-1 is fixedly provided with a terminal fixing piece 2-5, and the terminal fixing piece 2-5 is provided with a clamping groove; the positioning terminal 7-2 is matched with the clamping groove;
one end of the flexible lock 3 is in adaptive connection with the flexible joint 2, and the other end of the flexible lock firstly passes through the capillary 7-1, then passes through the spring protection tube 5-1 or the guide hose, then passes through the positioning hole 6-1-1 and is fixed on the screw 6-1 of the adjusting component fixed on the rear-end secondary component 4-2.
Example 6
Otherwise in accordance with any of embodiments 1-5, the number of bumper assemblies = the number of positioning channels 4-1-1 = the number of restraining ears 4-2-2 = the number of half-thread allen screws 6-1 = the number of flexible locks 3 = 4; the number of the buffer components is 5-1 of the spring protection pipes or the number of the guide hoses; the end part of the spring protection tube 5-1 or the guide hose is fixed on the positioning channel 4-1-1 through UV glue, and the extension line of the positioning channel 4-1-1 is tangent to the rotary outer spherical surface.
Referring to fig. 13, the positioning channel 4-1-1 forms an included angle D with the horizontal plane, the included angle D is 0-45 °, and the included angle D is used for limiting the extension line of the positioning channel 4-1-1 to be tangent to the rotating outer spherical surface.
The support module is responsible for supporting flexible joint end, guarantees that the motion of gentle lock can not influence whole root outer tube to the motion of protection gentle lock in the outer tube is inside.
Example 7
The rest is consistent with any scheme of the embodiment 1-6, and the limiting seat 2-2, the outer tube fixing piece 2-3, the limiting seat 2-2 and the terminal fixing piece 2-5 are respectively fixedly connected with the supporting frame 2-1 through screws.
Example 8
The rest is consistent with the scheme of any one of the embodiments 1-7, the support frame 2-1 is a special-shaped bent integrated piece, and the support frame 2-1 comprises a mounting section 2-1-1, a connecting section 2-1-2, a mounting section 2-1-3 and a connecting section 2-1-4 which are connected in sequence; an outer pipe fixing piece 2-3 is fixedly arranged at the end part of the installation section 2-1-1, an outer pipe 2-4 is fixedly arranged on the outer pipe fixing piece 2-3, and one end of the flexible joint 2 is fixed in the outer pipe 2-4; the mounting section 2-1-3 is fixedly provided with a limiting seat 2-2 and a terminal fixing piece 2-5, and the mounting section 2-1-1 and the connecting section 2-1-2 form an included angle A which is 90-180 degrees; an included angle B is formed between the connecting section 2-1-2 and the mounting section 2-1-3, and the included angle B is 90-180 degrees; the installation section 2-1-3 and the connection section 2-1-4 form an included angle C which is 90-150 degrees, and the rear-end first-stage component 4-1 is fixedly connected with the connection section 2-1-4 of the support frame 2-1. Through the structural design of support frame, set up the angle that corresponds, can make the angle of the subassembly of installation satisfy the design demand for whole drive arrangement's operation is more smooth, and the operation is more nimble.
Example 9
The rest is in accordance with the scheme of the embodiment 8, and the installation section 2-1-1 and the installation section 2-1-3 are arranged in parallel.
Example 10
Otherwise, in accordance with any of embodiments 1 to 9, the rear-end primary assembly 4-1 and the connecting section 2-1-4 are detachably and fixedly connected by screws.
The foregoing is illustrative and explanatory of the invention and is not intended to limit the advantages attainable thereby, and it is within the scope of the present application for any one or more of the advantages to be realized, whether simple changes in construction and/or implementation in some embodiments are possible in the practice of the invention.
Claims (9)
1. A driving device of a flexible joint of a minimally invasive surgery instrument based on ball-and-socket joint control comprises an operating handle shell (1) and a flexible joint (2); the method is characterized in that: the device also comprises a flexible lock (3), a buffer component, a rear end control mechanism and a support frame (2-1) arranged in the shell;
the supporting frame (2-1) is fixedly provided with an outer tube fixing piece (2-3) and a limiting seat (2-2), the outer tube fixing piece (2-3) is fixedly provided with an outer tube (2-4), and one end of the flexible joint (2) is fixed in the outer tube (2-4); a limiting groove is arranged on the limiting seat (2-2);
the rear end control mechanism is a spherical universal joint, the spherical universal joint comprises a rear end primary component (4-1) and a rear end secondary component (4-2) concentrically arranged with the rear end primary component (4-1), the rear end primary component (4-1) is provided with a rotating inner spherical surface, the rear end secondary component (4-2) is provided with a rotating outer spherical surface, the rotating inner spherical surface is matched with the rotating outer spherical surface, and the rear end primary component (4-1) and the rear end secondary component (4-2) perform relative circumferential motion under the action of external force through the matching of the rotating inner spherical surface and the rotating outer spherical surface; the rear end primary component (4-1) is fixedly connected with the support frame (2-1), the inner side of the rear end secondary component (4-2) is provided with a limit bulge (4-2-1), two limiting bulges are symmetrically arranged, the rear-end primary assembly (4-1) is provided with a limiting notch corresponding to the limiting bulge (4-2-1), when the secondary component (4-2) moves along the X direction, the limiting bulge (4-2-1) reciprocates in the limiting notch of the primary component (4-1) at the rear end, when the rear-end secondary assembly (4-2) moves along the Y direction, the limiting bulge (4-2-1) rotates in the limiting notch (4-1-2) of the rear-end primary assembly (4-1); a positioning channel (4-1-1) is arranged on the rear-end primary component (4-1);
the buffer assembly is a spring protection pipe (5-1) or a guide hose, one end of the spring protection pipe (5-1) or the guide hose is clamped in the limiting groove, and the other end of the spring protection pipe (5-1) or the guide hose is fixedly arranged in a positioning channel (4-1-1) of the rear-end primary assembly (4-1);
one end of the flexible lock (3) is connected with the flexible joint (2) in an adaptive manner, and the other end of the flexible lock is in linkage fit with the buffer component and the rear-end control mechanism, namely, the other end of the flexible lock (3) penetrates through the spring protection pipe (5-1) or the guide hose and is fixed on the rear-end secondary component (4-2);
the number of the buffer components is as follows: number of positioning channels (4-1-1): the number of flexible locks (3) =1:1: 1.
2. The ball-and-gimbal-control-based minimally invasive surgical instrument flexible joint driving device according to claim 1, wherein: the limiting bulge (4-2-1) is a cylindrical bulge.
3. The ball-and-gimbal-control-based minimally invasive surgical instrument flexible joint driving device according to claim 1, wherein: also comprises an adjusting component which comprises a screw (6-1) and a nut (6-2) matched with the screw (6-1), the rear-end secondary component (4-2) is uniformly distributed with limiting lifting lugs (4-2-2), the screw (6-1) is detachably and fixedly connected with the limiting lifting lugs (4-2-2) through nuts (6-2), the screw (6-1) is provided with positioning holes (6-1-1), one end of the flexible lock (3) is connected with the flexible joint (2) in a matching way, the other end of the flexible lock penetrates through the spring protection tube (5-1) or the guide hose firstly, then penetrates through the positioning holes (6-1-1) and is fixed on the screw (6-1) of the adjusting component, and the number of the buffering components is as follows: number of positioning channels (4-1-1): the number of the limiting lifting lugs (4-2-2) is as follows: the number of flexible locks (3) =1:1:1:1: 1.
4. The ball-and-socket control based minimally invasive surgical instrument flexible joint driving device according to any one of claims 1 to 3, characterized in that: the flexible lock is characterized by further comprising a supporting module, the supporting module is a capillary tube (7-1), the flexible lock (3) penetrates through the capillary tube (7-1), the flexible lock (3) can reciprocate along the capillary tube (7-1), and the outer diameter of the flexible lock (3) is smaller than the inner diameter of the capillary tube (7-1); one end of the capillary tube (7-1) is fixed at the tail end of the flexible joint (2), the other end of the capillary tube is fixedly provided with a positioning terminal (7-2), the support frame (2-1) is fixedly provided with a terminal fixing piece (2-5), and the terminal fixing piece (2-5) is provided with a clamping groove; the positioning terminal (7-2) is matched with the clamping groove;
one end of the flexible lock (3) is connected with the flexible joint (2) in an adaptive mode, and the other end of the flexible lock penetrates through the capillary tube (7-1), the spring protection tube (5-1) or the guide hose, the positioning hole (6-1-1) and the rear-end secondary component (4-2) in a fixed mode.
5. The driving device for the flexible joint of the minimally invasive surgical instrument based on the ball-and-socket joint control according to claim 1 or 2, wherein: the adjusting component comprises a screw (6-1) and a nut (6-2) matched with the screw (6-1), limiting lifting lugs (4-2-2) are uniformly distributed on the rear-end secondary component (4-2), the screw (6-1) is detachably and fixedly connected with the limiting lifting lugs (4-2-2) through the nut (6-2), and a positioning hole (6-1-1) is formed in the screw (6-1);
the support module is a capillary tube (7-1), the flexible lock (3) penetrates through the capillary tube (7-1) and can reciprocate along the capillary tube (7-1), and the outer diameter of the flexible lock (3) is smaller than the inner diameter of the capillary tube (7-1); one end of the capillary tube (7-1) is fixed at the tail end of the flexible joint (2) through laser welding, the other end of the capillary tube is fixedly provided with a positioning terminal (7-2), the support frame (2-1) is fixedly provided with a terminal fixing piece (2-5), and a clamping groove is formed in the terminal fixing piece (2-5); the positioning terminal (7-2) is matched with the clamping groove;
one end of the flexible lock (3) is in adaptive connection with the flexible joint (2), and the other end of the flexible lock firstly passes through the capillary tube (7-1), then passes through the spring protection tube (5-1) or the guide hose, then passes through the positioning hole (6-1-1) and is fixed on the screw (6-1) of the adjusting component fixed on the rear-end secondary component (4-2);
the number of the buffering assemblies = the number of the positioning channels (4-1-1 = the number of the spacing lugs (4-2-2 = the number of the half-thread hexagon socket screws (6-1 = the number of the flexible locks (3 = 4); the number of the buffer components is the number of the spring protection pipes (5-1) or the guide hoses; the end part of the spring protection tube (5-1) or the guide hose is fixed on the positioning channel (4-1-1) through UV glue, and the extension line of the positioning channel (4-1-1) is tangent to the rotary outer spherical surface.
6. The ball-and-gimbal-control-based minimally invasive surgical instrument flexible joint driving device according to claim 5, wherein: the limiting seat (2-2), the outer tube fixing piece (2-3), the limiting seat (2-2) and the terminal fixing piece (2-5) are fixedly connected with the support frame (2-1) through screws respectively.
7. The ball-and-gimbal-control-based minimally invasive surgical instrument flexible joint driving device according to claim 6, wherein: the supporting frame (2-1) is a special-shaped bent integrated piece, and the supporting frame (2-1) comprises a mounting section (2-1-1), a connecting section (2-1-2), a mounting section (2-1-3) and a connecting section (2-1-4) which are connected in sequence; an outer tube fixing piece (2-3) is fixedly arranged at the end part of the mounting section (2-1-1), an outer tube (2-4) is fixedly arranged on the outer tube fixing piece (2-3), and one end of the flexible joint (2) is fixed in the outer tube (2-4); the mounting section (2-1-3) is fixedly provided with a limiting seat (2-2) and a terminal fixing piece (2-5), the mounting section (2-1-1) and the connecting section (2-1-2) form an included angle A, and the included angle A is 90-180 degrees; the connecting section (2-1-2) and the mounting section (2-1-3) form an included angle B, and the included angle B is 90-180 degrees; the mounting section (2-1-3) and the connecting section (2-1-4) form an included angle C which is 90-150 degrees, and the rear-end first-stage component (4-1) is fixedly connected with the connecting section (2-1-4) of the support frame (2-1).
8. The ball-and-gimbal-control-based minimally invasive surgical instrument flexible joint driving device according to claim 7, wherein: the installation first section (2-1-1) and the installation second section (2-1-3) are arranged in parallel.
9. The ball-and-gimbal-control-based minimally invasive surgical instrument flexible joint driving device according to claim 7, wherein: the rear-end primary assembly (4-1) and the connecting section (2-1-4) form detachable fixed connection through screws.
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| CN202011119948 | 2020-10-19 | ||
| CN2020111199480 | 2020-10-19 |
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| CN202111211580.5A Active CN113786222B (en) | 2020-10-19 | 2021-10-18 | Driving device for flexible joint of minimally invasive surgical instrument based on spherical universal joint control |
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| CN216167587U (en) * | 2020-10-19 | 2022-04-05 | 江苏木偶医疗器械有限公司 | Driving device for minimally invasive surgery instrument flexible joint based on spherical universal joint control |
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| CN113786222B (en) | 2024-05-17 |
| CN216167587U (en) | 2022-04-05 |
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