CN114795481A - Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery - Google Patents
Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery Download PDFInfo
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- CN114795481A CN114795481A CN202210361730.9A CN202210361730A CN114795481A CN 114795481 A CN114795481 A CN 114795481A CN 202210361730 A CN202210361730 A CN 202210361730A CN 114795481 A CN114795481 A CN 114795481A
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- 238000012084 abdominal surgery Methods 0.000 title claims description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 78
- 229910000831 Steel Inorganic materials 0.000 claims description 102
- 239000010959 steel Substances 0.000 claims description 102
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000000149 penetrating effect Effects 0.000 claims description 21
- 230000000903 blocking effect Effects 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 2
- 238000002357 laparoscopic surgery Methods 0.000 claims 4
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 5
- 239000012636 effector Substances 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 abstract 2
- 238000002324 minimally invasive surgery Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000002432 robotic surgery Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011111 cardboard Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Ophthalmology & Optometry (AREA)
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Abstract
The utility model provides a quick replacement formula flexible surgical instruments for abdominal cavity minimal access surgery, relates to pleuroperitoneal cavity minimal access surgery medical equipment field, has solved current surgical instruments and can't fix a position and gesture adjustment and the unable quick replacement's of surgical instruments end effector problem through self. The invention comprises a tail end operating forceps, a flexible joint device, a transmission box and a motor box. The invention realizes flexible deflection by connecting the flexible joints in series by using the pin shaft, is convenient for the installation and the disassembly of the flexible joints and is convenient for increasing or reducing the number of the flexible joints according to different operations; the flexible joint device is designed into a flexible bending structure, so that the working range and flexibility of the surgical instrument in the body of a patient are improved; the transmission box and the motor box form a modular driving assembly, so that the transmission box can be quickly mounted and dismounted, the driving is more flexible, and the overall structure is lighter; the driving assembly can be adapted to various minimally invasive surgical instruments, so that the compatibility of the surgical instruments is improved, and the surgical application range is expanded.
Description
Technical Field
The invention relates to the technical field of medical equipment for a pleuroperitoneal cavity minimally invasive surgery, in particular to a quick-replaceable flexible surgical instrument for a laparoscopic cavity minimally invasive surgery.
Technical Field
Minimally invasive surgery is honored as one of the important contributions of medical science in the 20 th century to human civilization. Minimally invasive surgery refers to a surgeon treating a lesion of a patient with the aid of surgical instruments and an endoscope by making a small hole in the body surface of the patient. Compared with the traditional operation, the minimally invasive operation has the advantages of small incision, no secondary damage to the body surface of a patient, short recovery time and the like. In recent years, robot technology is applied to minimally invasive surgery, and the precision and flexibility of operation are improved by means of the robot technology, wherein the robot is developed to assist the minimally invasive surgery. The surgical instrument is used as an executing tool in a minimally invasive surgical process, and surgeons use the surgical instrument to complete surgical operations such as cutting, clamping, suturing, lifting, dissociating and the like on visceral organs and tissues. The surgical instruments interact directly with the operating tissue, so the specific structure and performance specifications of the surgical instruments have a direct impact on the quality and safety of the procedure.
Chinese patent publication No. CN104758060A discloses a "multi-degree-of-freedom flexible robot for single-hole minimally invasive abdominal surgery", in which there is no quick replacement mechanism between the driving motor and the instrument transmission box of the surgical instrument, so that the end effector of the surgical instrument cannot be quickly replaced. Chinese patent publication No. CN102028548A discloses "clamp type surgical instrument for abdominal cavity minimally invasive surgery robot"; chinese patent publication No. CN103251458A discloses "a wire-driven four-degree-of-freedom surgical instrument for minimally invasive surgical robot"; chinese patent publication No. CN104116547A discloses a "low-friction and small-inertia surgical instrument for minimally invasive surgical robot"; chinese patent publication No. CN204337044A discloses "a surgical instrument tip structure of a minimally invasive surgical robot", in which an operating rod between a tip forceps mechanism and a driving device of a surgical instrument described in the above patent is a rigid rod, and the surgical instrument mainly realizes the degrees of freedom of movement such as opening and closing and deflection of the tip forceps mechanism and rotation of the operating rod.
Chinese patent publication No. CN103431913A discloses a "micro-instrument for minimally invasive surgical robotic surgery", in which the surgical instrument has 7 degrees of freedom, and its flexible wrist joint includes two driving joints and two driven joints, which are connected with each other by a rotatable link, and can complete the swinging and pitching motions of the wrist; however, the surgical instrument cannot be positioned, moved, etc. within the patient, and thus its working range and flexibility are limited. Chinese patent publication No. CN103431913A discloses "a micro-instrument for minimally invasive surgical robotic surgery", in which a flexible wrist mechanism is designed for the surgical instrument, the surgical instrument can realize the swinging and pitching motions of the wrist, but its guide rod is a straight rod that cannot be bent, so that the pose change of the wrist mechanism needs to be controlled by a telecentric mechanism and a mechanical arm with multiple degrees of freedom, and therefore, the patent cannot perform positioning and moving operations in the body of a patient by itself, and its working range and flexibility are limited to a certain extent.
Disclosure of Invention
The invention provides a quick-replaceable flexible surgical instrument for abdominal cavity minimally invasive surgery, and aims to solve the problems that the existing robot-assisted minimally invasive surgical instrument cannot be used for positioning and posture adjustment by the instrument and an end effector of the surgical instrument cannot be quickly replaced.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the invention discloses a quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery, which comprises:
the tail end surgical forceps consist of tail end fixed surgical forceps, tail end swinging surgical forceps and a rivet, and the tail end fixed surgical forceps and the tail end swinging surgical forceps are riveted through the rivet;
the flexible joint device comprises a connecting piece, a C-shaped clamp spring, a head end joint, a pin shaft, a swinging joint and a tail end joint, wherein the connecting piece is arranged at the lower end of a tail end fixing surgical forceps;
the transmission box consists of a rigid rod, a side cover plate, an upper cover plate, a bottom plate, a motor wire wheel device, a control autorotation gear device, a wire rope guide wheel set, a guide wheel fixing base, a transmission box compression device and a transmission box chuck, wherein the upper end of the rigid rod is fixed on the bottom plate, and the lower end of the rigid rod is connected with a tail end joint through a pin shaft; the motor wire wheel device, the control autorotation gear device and the guide wheel fixing base are all arranged on the inner surface of the bottom plate; the side cover plate is buckled on the inner side of the bottom plate; the upper cover plate is fixed on the side cover plate; the motor wire wheel device and the control autorotation gear device are both connected with the upper cover plate; the steel wire rope guide wheel set is arranged on the guide wheel fixing base; the two transmission box compression devices are respectively arranged on two sides of the side cover plate; the transmission box chucks are all arranged on the outer surface of the bottom plate; the motor wire wheel device and the control autorotation gear device are both connected with the transmission box chuck;
the motor box that constitutes by motor housing, the motor of installing in motor housing and the motor chuck of installing outside at motor housing, the motor links to each other with motor chuck, motor chuck links to each other with the transmission box chuck.
Furthermore, the tail end fixing surgical forceps are provided with a first through hole and a self-transmission shaft, the self-transmission shaft is provided with a first steel wire rope groove, a second steel wire rope groove and a circular groove for limiting the position of the tail end fixing surgical forceps, and a first fixing rope hole and a second fixing rope hole are respectively arranged in the first steel wire rope groove and the second steel wire rope groove; the tail end swing surgical forceps are provided with a clamping rope wheel, the clamping rope wheel is provided with a second through hole, a third fixed rope hole and a wheel groove, and the third fixed rope hole is communicated with the wheel groove; the first through hole and the second through hole are coaxially arranged and are matched with the rivet; the connecting piece is provided with a third through hole, and the rotating shaft is in clearance fit with the third through hole; the C-shaped clamp spring is clamped in the circular groove, and the tail end fixing operation forceps are axially fixed through the C-shaped clamp spring.
Furthermore, a first central rope penetrating hole is formed in the center of the head end joint and used for penetrating through a first steel wire rope and a second steel wire rope; the edge of the head end joint is provided with a first rope passing hole and a second rope passing hole which are respectively used for passing through a third steel wire rope and a fourth steel wire rope; a first fixing rope penetrating hole and a second fixing rope penetrating hole are formed in the edge of the head end joint and are used for fixing a fifth steel wire rope and a sixth steel wire rope respectively; and one end of the head end joint is provided with a first pin shaft connecting groove.
Furthermore, a central rope penetrating hole II is formed in the center of the swing joint and used for penetrating through the first steel wire rope and the second steel wire rope; the edge of the swing joint is provided with a third rope threading hole and a fourth rope threading hole, and the third rope threading hole and the fourth rope threading hole are oppositely arranged and are used for penetrating through a third steel wire rope and a fourth steel wire rope; a third fixed threading hole and a fourth fixed threading hole are formed in the edge of the swing joint, and the third fixed threading hole and the fourth fixed threading hole are oppositely arranged and are used for penetrating through a fifth steel wire rope and a sixth steel wire rope; one end of the swing joint is provided with two pin shaft connecting holes, and the other end of the swing joint is provided with two pin shaft connecting grooves II; and a first pin shaft connecting groove at the lower end of the head end joint is connected with a pin shaft connecting hole at the upper end of a first swing joint through a pin shaft, a second pin shaft connecting groove at the lower end of the first swing joint is connected with a pin shaft connecting hole at the upper end of a second swing joint through a pin shaft, and the like, and a second pin shaft connecting groove at the lower end of the last swing joint is connected with a pin shaft connecting hole at the upper end of a tail end joint through a pin shaft.
Further, a central cavity is processed on the rigid rod and used for penetrating through a first steel wire rope to a sixth steel wire rope; a rectangular hole is formed in the bottom plate; and a groove is arranged on the transmission box chuck.
Further, the motor reel device includes: the device comprises a line wheel shaft, a line wheel I and a line wheel II which are sleeved on the line wheel shaft; a first steel wire rope fixing groove is formed in the first wire wheel; a fourth fixing rope hole is formed in the first steel wire rope fixing groove and used for fixing a steel wire rope; a second steel wire rope fixing groove is formed in the second wire wheel; a fifth fixing rope hole is formed in the second steel wire rope fixing groove and used for fixing the steel wire rope; the upper end of the line shaft is mounted on the upper cover plate through a bearing, and the lower end of the line shaft penetrates through the bottom plate to be connected with the transmission box chuck.
Further, the control rotation gear device includes: the gear shaft, the first gear sleeved on the gear shaft and the second gear sleeved on the upper end of the rigid rod and meshed with the first gear; the upper end of the gear shaft is mounted on the upper cover plate through a bearing, and the lower end of the gear shaft penetrates through the bottom plate to be connected with the transmission box chuck.
Further, the wire rope guide wheel group includes: the guide wheel fixing base is fixed on the guide wheel fixing base, the guide wheel rod is fixed on the guide wheel base, the guide wheel is sleeved on the guide wheel rod, and the clamp spring is installed on the guide wheel rod and located on the outer side of the guide wheel; the positions of the guide wheel and the guide wheel rod are limited through the clamp spring; and a wheel groove is processed on the guide wheel and used for guiding the steel wire rope.
Further, the transmission case compressing device includes: the flexible joint device comprises a button positioned in the flexible joint device, a blocking part arranged on a side cover plate, a spring, a fixed part connected with the inner wall of the button and a clamping plate fixed on the inner wall of the fixed part; the fixed shaft at the front end of the button is inserted into the blocking part, and the spring is sleeved on the fixed shaft at the front end of the button; two ends of the spring respectively abut against the button and the inner wall of the blocking part; the clamping plate base and the clamping block are arranged at two ends of the clamping plate respectively, and the clamping plate base is fixed on the upper cover plate; the button can reciprocate along the direction perpendicular to the axis of the rectangular hole.
Furthermore, an inserting part is arranged on the outer surface of the motor shell, a clamping groove is formed in the inserting part, and the inserting part is installed in the rectangular hole; a bulge is arranged on the motor chuck; the groove on the transmission box chuck is clamped with the protrusion, so that the driving force of the motor box is transmitted to the transmission box; the clamping groove is matched with the clamping plate; the clamping plate is pushed to be separated from or clamped with the inserting part through the reciprocating movement of the button.
The invention has the beneficial effects that:
(1) the flexible joint device at the front end of the rigid rod is designed into a flexible bending structure, so that the posture adjustment and the opening, closing and rotating operation of the tail end surgical clamp are carried out in a patient body, and the working range and the flexibility of surgical instruments in the patient body are greatly improved.
(2) In the invention, the tail end fixing surgical clamp and the flexible joint device are integrally designed, so that the complexity of the tail end fixing surgical clamp and the flexible joint device is greatly simplified.
(3) The invention adopts the pin shaft with the through hole to connect the flexible joints in series to realize flexible deflection motion, thereby facilitating the installation and the disassembly of the flexible joints and increasing or reducing the number of the flexible joints according to different operations.
(4) According to the invention, through the layout and design of the steel wire rope guide wheel set in the transmission box, the transmission interference between the steel wire ropes is avoided.
(5) The quick-replacement flexible surgical instrument for the minimally invasive abdominal surgery has a simple structure, the motor box is used as a power source, the transmission box is used as a transmission mechanism, and the power source and the transmission mechanism are jointly packaged in the shell, so that a modularized driving assembly is formed and a driving force is provided for the surgical instrument; wherein, the transmission box can be installed fast and dismantled with the motor box between, makes whole surgical instruments realize the modularization to the drive is more nimble, whole lightweight more.
(6) In the invention, the driving assembly formed by the motor box and the transmission mechanism can be adapted to various minimally invasive surgical instruments, thereby improving the compatibility of the surgical instruments and enlarging the application range of the operation.
Drawings
FIG. 1 is an isometric view of the entirety of a quick-change flexible surgical instrument for minimally invasive surgery in the abdominal cavity of the present invention.
Fig. 2 is a schematic structural view of the end-use forceps.
Fig. 3 is a schematic view of the connection between the end forceps, the connector and the joint at the head end.
Fig. 4 is a schematic connection diagram between the head end joint and the swing joint.
FIG. 5 is a schematic view of the connection between the end joint and the rigid rod.
Fig. 6 is an isometric view of a head end joint.
Fig. 7 is an isometric view of a swing joint.
Fig. 8 is a schematic view of the internal structure of the transmission case.
Fig. 9 is a schematic structural diagram of the abutting surface of the motor box and the transmission box.
Fig. 10 is a schematic structural diagram of a motor reel device inside the transmission box.
Fig. 11 is a schematic structural view of a control rotation gear device inside a transmission case.
Fig. 12 is a schematic structural view of a wire rope guide pulley set inside the transmission case.
Fig. 13 is a schematic structural view of a transmission case compressing device inside the transmission case.
FIG. 14 is a schematic view of the normal state of the gear box.
Fig. 15 is a schematic view of the compressed state of the transmission case.
Fig. 16 is a schematic structural diagram of the motor box and the transmission box after being mutually inserted.
Fig. 17 is a schematic view of the movement of the distal end of the surgical instrument.
In the figure, A is the opening and closing movement of the end swinging surgical clamp; b is the autorotation movement of the end surgical forceps; and C, the deflection motion of the flexible joint device.
In the figure, 1, a tail end operating forceps, 1-1, a tail end fixing operating forceps, 1-1-1, a through hole I, 1-1-2, a self-transmission shaft, 1-1-3, a circular groove, 1-1-4, a steel wire rope groove I, 1-1-5, a steel wire rope groove II, 1-1-6, a fixing rope hole I, 1-1-7, a fixing rope hole II, 1-2, a tail end swinging operating forceps, 1-3 and a rivet;
2. the flexible joint device comprises 2-1 parts of a flexible joint device, 2-2 parts of a connecting piece, 2-3 parts of a C-shaped clamp spring, 2-4 parts of a head end joint, 2-5 parts of a pin shaft, 2-6 parts of a swing joint and a tail end joint;
3. the device comprises a transmission box, 3-1 parts of a rigid rod, 3-2 parts of a side cover plate, 3-3 parts of an upper cover plate, 3-4 parts of a bottom plate, 3-5 parts of a motor wire wheel device, 3-6 parts of a control rotation gear device, 3-7 parts of a steel wire rope guide wheel set, 3-8 parts of a guide wheel fixing base, 3-9 parts of a transmission box compression device, 3-10 parts of a transmission box chuck;
4. 4-1 of a motor box, 4-2 of a motor shell and 4-2 of a motor chuck.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in FIG. 1, the present invention provides a quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery, which mainly comprises: the surgical forceps comprise a tail end surgical forceps 1, a flexible joint device 2, a transmission box 3 and a motor box 4; the motor box 4 is installed on the transmission box 3, the flexible joint device 2 is installed on the motor box 4, and the tail end surgical clamp 1 is installed on the flexible joint device 2.
As shown in fig. 2, the end effector 1 mainly includes: a tail end fixing operating forceps 1-1, a tail end swinging operating forceps 1-2 and a rivet 1-3. The center of the tail end fixing operating forceps 1-1 is provided with a through hole I1-1-1, the tail end fixing operating forceps 1-1 is provided with a self-transmission shaft 1-1-2, the self-rotation shaft 1-1-2 is provided with a circular groove 1-1-3 for limiting the position of the tail end fixing operating forceps 1-1, the self-rotation shaft 1-1-2 is provided with a steel wire rope groove I1-1-4 and a steel wire rope groove II 1-1-5, the steel wire rope groove I1-1-4 is provided with a fixing rope hole I1-1-6, the steel wire rope groove II 1-1-5 is provided with a fixing rope hole II 1-1-7, and the center of the self-rotation shaft 1-1-2 is provided with a through hole 1-1-8. The tail end swing surgical clamp 1-2 is provided with a clamping rope wheel 1-2-1, the center of the clamping rope wheel 1-2-1 is provided with a through hole II 1-2-3, the through hole I1-1-1 and the through hole II 1-2-3 are coaxially arranged, and the through hole I1-1-1 and the through hole II 1-2-3 are matched with a rivet 1-3; the clamping rope wheel 1-2-1 is provided with a fixed rope hole III 1-2-2 and a wheel groove 1-2-4, and the fixed rope hole III 1-2-2 is communicated with the wheel groove 1-2-4; after the through hole I1-1-1 and the through hole II 1-2-3 are coaxially arranged, the rivet 1-3 is installed to realize riveting between the tail end fixing surgical clamp 1-1 and the tail end swinging surgical clamp 1-2.
As shown in fig. 3 to 7, the flexible joint device 2 mainly includes: the device comprises a connecting piece 2-1, a C-shaped clamp spring 2-2, a head end joint 2-3, a pin shaft 2-4, a swing joint 2-5 and a tail end joint 2-6; a through hole III 2-1-1 is manufactured on the connecting piece 2-1, a rotating shaft 1-1-2 on the tail end fixing surgical clamp 1-1 is in clearance fit with the through hole III 2-1-1, a C-shaped clamp spring 2-2 is clamped into a circular groove 1-1-3 of the tail end fixing surgical clamp 1-1, and the tail end fixing surgical clamp 1-1 is axially fixed through the C-shaped clamp spring 2-2; the head end joint 2-3 is arranged at the lower end of the connecting piece 2-1, the head end joint 2-3 is connected with the connecting piece 2-1 through threads, and the tail end fixing surgical clamp 1-1, the tail end swinging surgical clamp 1-2, the connecting piece 2-1 and the head end joint 2-3 are connected into a whole through the operations; the swing joints 2-5 and the tail end joints 2-6 are identical in structural composition, and the head end joints 2-3, the swing joints 2-5 and the tail end joints 2-6 are connected in series end to end through the pin shafts 2-4 according to the sequence of the head end joints 2-3, the swing joints 2-5 and the tail end joints 2-6.
As shown in fig. 3 and 6, a first central rope passing hole 2-3-1 is formed in the center of the first-end joint 2-3 and used for passing through a first steel wire rope and a second steel wire rope; the edge of the head end joint 2-3 is provided with a first rope passing hole 2-3-2 and a second rope passing hole 2-3-3, and the first rope passing hole 2-3-2 and the second rope passing hole 2-3-3 are oppositely arranged and are respectively used for passing through a third steel wire rope and a fourth steel wire rope; the edge of the head end joint 2-3 is provided with a first fixing rope penetrating hole 2-3-4 and a second fixing rope penetrating hole 2-3-5 which are respectively used for fixing a fifth steel wire rope and a sixth steel wire rope; one end of the head end joint 2-3 is provided with two pin shaft connecting grooves I2-3-6.
As shown in fig. 3 and 7, a central rope threading hole II 2-5-1 is formed in the center of the swing joint 2-5 and used for penetrating through the first steel wire rope and the second steel wire rope; the edge of the swing joint 2-5 is provided with a third rope threading hole 2-5-2 and a fourth rope threading hole 2-5-3, and the third rope threading hole 2-5-2 and the fourth rope threading hole 2-5-3 are oppositely arranged and used for penetrating through a third steel wire rope and a fourth steel wire rope; a third fixed stringing hole 2-5-4 and a fourth fixed stringing hole 2-5-5 are formed in the edge of the swing joint 2-5, and the third fixed stringing hole 2-5-4 and the fourth fixed stringing hole 2-5-5 are oppositely arranged and used for penetrating through a fifth steel wire rope and a sixth steel wire rope; one end of the swing joint 2-5 is provided with two pin shaft connecting holes 2-5-6, and the other end of the swing joint 2-5 is provided with two pin shaft connecting grooves 2-5-7; the first pin shaft connecting groove 2-3-6 at the lower end of the first end joint 2-3 is connected with the pin shaft connecting hole 2-5-6 at the upper end of the first swing joint 2-5 through a pin shaft 2-4, the second pin shaft connecting groove 2-5-7 at the lower end of the first swing joint 2-5 is connected with the pin shaft connecting hole 2-5-6 at the upper end of the second swing joint 2-5 through a pin shaft 2-4, and so on, the second pin shaft connecting groove 2-5-7 at the lower end of the last swing joint 2-5 is connected with the pin shaft connecting hole at the upper end of the tail end joint 2-6 through a pin shaft 2-4.
As shown in fig. 8, 9 and 11, the transmission case 3 mainly includes: the device comprises a rigid rod 3-1, a side cover plate 3-2, an upper cover plate 3-3, a bottom plate 3-4, a plurality of motor wire wheel devices 3-5, a control autorotation gear device 3-6, a plurality of steel wire rope guide wheel groups 3-7, a guide wheel fixing base 3-8, a transmission box compression device 3-9 and a plurality of transmission box chucks 3-10; as shown in fig. 5, the lower end of a rigid rod 3-1 is connected with a tail end joint 2-6 of a flexible joint device 2 through a pin shaft 2-4, the upper end of the rigid rod 3-1 is fixed on a bottom plate 3-4, a central cavity is processed on the rigid rod 3-1, and the central cavity is used for penetrating through a first steel wire rope to a sixth steel wire rope; a rectangular hole 3-4-1 is formed in the bottom plate 3-4; the plurality of motor wire wheel devices 3-5, the control autorotation gear devices 3-6 and the guide wheel fixed bases 3-8 are all arranged on the inner surface of the bottom plate 3-4; the side cover plate 3-2 is buckled on the inner side of the bottom plate 3-4; the upper cover plate 3-3 is fixed on the side cover plate 3-2; the motor wire wheel device 3-5 and the control autorotation gear device 3-6 are both connected with the upper cover plate 3-3; a plurality of steel wire rope guide wheel groups 3-7 are arranged on the guide wheel fixing bases 3-8; the number of the transmission box compression devices 3-9 is 2, and the 2 transmission box compression devices 3-9 are respectively arranged on two sides of the side cover plate 3-2; the transmission box chucks 3-10 are all arranged on the outer surfaces of the bottom plates 3-4, namely power input ends of the bottom plates 3-4, the motor wire wheel devices 3-5 and the control autorotation gear devices 3-6 are all connected with the transmission box chucks 3-10, and grooves 3-10-1 are arranged on the transmission box chucks 3-10.
As shown in fig. 10, the electric motor reel device 3-5 mainly includes: a reel shaft 3-5-1, a reel I3-5-2 and a reel II 3-5-3; the first wire wheel 3-5-2 and the second wire wheel 3-5-3 are sleeved and fixed on a wire wheel shaft 3-5-1, and the first wire wheel 3-5-2 and the second wire wheel 3-5-3 are used for driving a steel wire rope; a first steel wire rope fixing groove 3-5-2-2 is formed in the first wire wheel 3-5-2; a fixed rope hole IV 3-5-2-1 is formed in the first steel wire rope fixing groove 3-5-2-2, and the fixed rope hole IV 3-5-2-1 is used for fixing one end of a steel wire rope; a steel wire rope fixing groove II 3-5-3-2 is formed in the second wire wheel 3-5-3, a fixed rope hole V3-5-3-1 is formed in the steel wire rope fixing groove II 3-5-3-2, and the fixed rope hole V3-5-3-1 is used for fixing one end of a steel wire rope; the lower end of the line shaft 3-5-1 penetrates through the bottom plate 3-4 to be connected with the transmission box chuck 3-10, and the upper end of the line shaft 3-5-1 is arranged on the upper cover plate 3-3 through a bearing. The plurality of transmission box chucks 3-10 are correspondingly connected with the plurality of line shafts 3-5-1 one by one.
As shown in fig. 11, the control of the rotation gear device 3-6 mainly includes: a gear shaft 3-6-1, a first gear 3-6-2 and a second gear 3-6-3; the lower end of the gear shaft 3-6-1 penetrates through the bottom plate 3-4 to be connected with the transmission box chuck 3-10, and the upper end of the gear shaft 3-6-1 is installed on the upper cover plate 3-3 through a bearing; the first gear 3-6-2 is sleeved and fixed on the gear shaft 3-6-1; the second gear 3-6-3 is sleeved and fixed at the upper end of the rigid rod 3-1, namely the end far away from the tail end surgical clamp 1; the first gear 3-6-1 and the second gear 3-6-2 are engaged with each other. The plurality of gear box chucks 3-10 are coupled to the plurality of gear shafts 3-6-1.
As shown in fig. 12, the wire rope guide pulley group 3-7 mainly includes: 3-7-1 of a guide wheel, 3-7-2 of a guide wheel rod, 3-7-3 of a clamp spring and 3-7-4 of a guide wheel base; the guide wheel base 3-7-4 is fixed on the guide wheel fixing base 3-8; the guide wheel rod 3-7-2 is fixed on the guide wheel base 3-7-4; the guide wheel 3-7-1 is sleeved and fixed on the guide wheel rod 3-7-2; the clamp spring 3-7-3 is arranged on the guide wheel rod 3-7-2 and is positioned on the outer side of the guide wheel 3-7-1, and the positions of the guide wheel 3-7-1 and the guide wheel rod 3-7-2 are limited by the clamp spring 3-7-3; a wheel groove 3-7-1-1 is processed on the guide wheel 3-7-1, and the wheel groove 3-7-1-1 is used for guiding the steel wire rope.
As shown in fig. 13 to 16, the transmission case compressing apparatus 3-9 mainly includes: the device comprises a button 3-9-1, a blocking part 3-9-2, a spring 3-9-3, a clamping plate 3-9-4 and a fixing part 3-9-5; the blocking part 3-9-2 is arranged on the side cover plate 3-2; the button 3-9-1 is arranged in a through hole of the flexible joint device 2 body; a fixed shaft at the front end of the button 3-9-1 is inserted into the blocking part 3-9-2, the spring 3-9-3 is sleeved on the fixed shaft at the front end of the button 3-9-1, one end of the spring 3-9-3 props against the inner wall of the button 3-9-1, and the other end of the spring 3-9-3 props against the inner wall of the blocking part 3-9-2; the fixed part 3-9-5 is connected with the inner wall of the button 3-9-1; the middle part of the clamping plate 3-9-4 is fixed on the inner wall of the fixing part 3-9-5; one end of the clamping plate 3-9-4 is provided with a clamping plate base 3-9-4-1, the clamping plate base 3-9-4-1 is fixed on the upper cover plate 3-3, and the other end of the clamping plate 3-9-4 is provided with a clamping block 3-9-4-2. The button 3-9-1 is reciprocally movable in a direction perpendicular to the axis of the rectangular hole 3-4-1.
As shown in fig. 16, the motor case 4 mainly includes: the motor comprises a motor shell 4-1, a plurality of motors and a plurality of motor chucks 4-2; the motors are all arranged in the motor shell 4-1, the motor chucks 4-2 are all arranged on the outer surface of the motor shell 4-1, and the motors are connected with the motor chucks 4-2 in a one-to-one correspondence manner; the outer surface of the motor shell 4-1 is provided with a plug-in part 4-1-1, and the plug-in part 4-1-1 is provided with a clamping groove 4-1-1-1; the position of the rectangular hole 3-4-1 on the bottom plate 3-4 is arranged corresponding to the position of the inserting part 4-1-1, and the inserting part 4-1-1 is arranged in the rectangular hole 3-4-1; the motor chuck 4-2 is arranged on a power output shaft of the motor, and a bulge 4-3-1 is arranged on the motor chuck 4-2; when the motor box 3 and the transmission box 4 are mutually inserted, a transmission box chuck 3-10 in the motor box 3 is mutually contacted with a motor chuck 4-2 in the transmission box 4, so that a groove 3-10-1 on the transmission box chuck 3-10 is clamped with a bulge 4-3-1 on the motor chuck 4-2, and the driving force of the motor box 4 is transmitted to the transmission box 3; the clamping groove 4-1-1-1 on the insertion part 4-1-1 is matched with the clamping plate 3-9-4 of the transmission box compression device 3-9. The button 3-9-1 can reciprocate along the direction vertical to the axis of the rectangular hole 3-4-1 to push the card board 3-9-4 and the plug part 4-1-1 to separate or clamp each other.
As shown in fig. 14, when the button 3-9-1 is not acted by an external force, the transmission box 3 is in a normal state, the insertion part 4-1-1 is correspondingly inserted into the rectangular hole 3-4-1, and then the clamping block 3-9-4-2 of the clamping plate 3-9-4 is clamped with the clamping groove 4-1-1-1 when the insertion part 4-1-1 is inserted into the rectangular hole 3-4-1, and the transmission box 3 and the motor box 4 are in an insertion state; as shown in fig. 15, when the button 3-9-1 is acted by an external force, the button 3-9-1 extrudes the clamping plate 3-9-4 to make the clamping block 3-9-4-2 of the clamping plate 3-9-4 fall off from the clamping groove 4-1-1-1, at this time, the spring 3-9-3 is compressed, the button 3-9-1 is pressed until the transmission box 3 and the motor box 4 are separated, and at this time, the transmission box 3 and the motor box 4 are in a separated state; the button 3-9-1 is released and the compressed spring 3-9-3 of the button 3-9-1 springs back to the original position.
The invention relates to a quick-replacement flexible surgical instrument for an abdominal cavity minimally invasive surgery, which has four movements, namely opening and closing movement of a tail end swing surgical clamp 1-2, autorotation movement of the tail end surgical clamp 1, deflection movement of a flexible joint device 2 and rotation movement of a rigid rod 3-1. These four movement processes are described below.
1. Opening and closing movement of the end swinging forceps 1-2
As shown in A in figure 17, one end of a first steel wire rope and one end of a second steel wire rope are fixed in a fixed rope hole III 1-2-2 on a clamping rope wheel 1-2-1 on a tail end swing surgical clamp 1-2 in a knotting mode, then are sequentially wound on a wheel groove 1-2-4 of the clamping rope wheel 1-2-1 on the tail end swing surgical clamp 1-2 in the opposite direction, pass through a through hole I1-1-1 on the tail end fixed surgical clamp 1-1, pass through a central rope penetrating hole I2-3-1 on a head end joint 2-3, pass through a plurality of central rope penetrating holes II 2-5-1 on a swing joint 2-5, pass through a central cavity of a rigid rod 3-1, and then respectively pass through a first gear 3-6-2 and a second gear 3-6-3, And finally, the first steel wire rope and the second steel wire rope are wound in the steel wire rope fixing grooves of the first pulley 3-5-2 and the second steel wire rope fixing grooves 3-5-3-2 of the second pulley 3-5-3 in opposite directions and are fixed in the fourth fixed rope hole 3-5-2-1 and the fifth fixed rope hole 3-5-3-1.
After the motor boxes 4 are spliced with the transmission boxes 3, the motors in the corresponding motor boxes 4 transmit driving force to the corresponding line shafts 3-5-1, so that the first steel wire rope and the second steel wire rope are driven to extend and shorten, and the opening and closing movement of the tail end swing surgical clamp 1-2 is controlled.
2. Self-rotation movement of the end forceps 1
As shown in B in figure 17, one end of a third steel wire rope and one end of a fourth steel wire rope are respectively fixed in a first fixed rope hole 1-1-6 and a second fixed rope hole 1-1-7 on a tail end fixed surgical clamp 1-1 in a knotting mode, the third steel wire rope and the fourth steel wire rope are respectively wound in a first steel wire rope groove 1-1-4 and a second steel wire rope groove 1-1-5 in the reverse photographing direction, then respectively pass through a first rope passing hole 2-3-2 and a second rope passing hole 2-3-3 on a head end joint 2-3, respectively pass through a third rope passing hole 2-5-2 and a fourth rope passing hole 2-5-3 of a plurality of swing joints 2-5, are led out through a central cavity of a rigid rod 3-1, enter a transmission box 3 and respectively bypass a first gear 3-6-2 and a second gear 3-6-3, and then the third steel wire rope and the fourth steel wire rope are wound in the steel wire rope fixing grooves of the corresponding first reel 3-5-2 in the opposite directions of 3-5-2-2 and the second steel wire rope fixing grooves of the second reel 3-5-3-2 and are fixed in the fixed rope hole IV 3-5-2-1 and the fixed rope hole V3-5-3-1.
After the motor boxes 4 are spliced with the transmission boxes 3, the motors in the corresponding motor boxes 4 transmit driving force to the corresponding line shafts 3-5-1, so that the third steel wire rope and the fourth steel wire rope are driven to extend and shorten, and the autorotation motion of the tail end surgical clamp 1 is controlled.
3. Yawing motion of flexible joint device 2
As shown in fig. 17C, one end of the wire rope five and one end of the wire rope six are respectively fixed in the first fixed threading hole 2-3-4 and the second fixed threading hole 2-3-5 of the first joint 2-3 by knotting, then respectively pass through the third fixed threading hole 2-5-4 and the fourth fixed threading hole 2-5-5 of the plurality of swing joints 2-5, then are led out through the central cavity of the rigid rod 3-1, enter the transmission box 3, respectively bypass the first gear 3-6-2 and the second gear 3-6-3, then the wire rope five and the wire rope six are wound in opposite directions in the wire rope fixing groove of the corresponding wire wheel one 3-5-2 and the wire rope fixing groove of the wire wheel two 3-5-3-2, and is fixed in the fixed rope hole IV 3-5-2-1 and the fixed rope hole V3-5-3-1.
After the motor boxes 4 are inserted into the transmission boxes 3, the motors in the corresponding motor boxes 4 transmit driving force to the corresponding wheel shafts 3-5-1, so that the fifth steel wire rope and the sixth steel wire rope are driven to extend and shorten, and then the deflection motion of the flexible joint device 2 is controlled.
4. Rotational movement of the rigid bar 3-1
After the motor box 4 is spliced with the transmission box 3, the corresponding motor in the motor box 4 transmits the driving force to the gear shaft 3-6-1, so as to drive the first gear 3-6-2 to rotate, further drive the second gear 3-6-3 meshed with the first gear 3-6-2 to rotate, and further drive the rigid rod 3-1 fixed on the second gear 3-6-3 to rotate.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A quick-change flexible surgical instrument for minimally invasive laparoscopic surgery, comprising:
the tail end operating forceps comprise tail end fixing operating forceps, tail end swinging operating forceps and rivets, and the tail end fixing operating forceps and the tail end swinging operating forceps are riveted through the rivets;
the flexible joint device comprises a connecting piece, a C-shaped clamp spring, a head end joint, a pin shaft, a swinging joint and a tail end joint, wherein the connecting piece is arranged at the lower end of a tail end fixing surgical forceps;
the transmission box consists of a rigid rod, a side cover plate, an upper cover plate, a bottom plate, a motor wire wheel device, a control autorotation gear device, a steel wire rope guide wheel group, a guide wheel fixing base, a transmission box compression device and a transmission box chuck, wherein the upper end of the rigid rod is fixed on the bottom plate, and the lower end of the rigid rod is connected with a tail end joint through a pin shaft; the motor wire wheel device, the control autorotation gear device and the guide wheel fixing base are all arranged on the inner surface of the bottom plate; the side cover plate is buckled on the inner side of the bottom plate; the upper cover plate is fixed on the side cover plate; the motor wire wheel device and the control autorotation gear device are both connected with the upper cover plate; the steel wire rope guide wheel set is arranged on the guide wheel fixing base; the two transmission box compression devices are respectively arranged on two sides of the side cover plate; the transmission box chucks are all arranged on the outer surface of the bottom plate; the motor wire wheel device and the control autorotation gear device are both connected with the transmission box chuck;
the motor box that constitutes by motor housing, the motor of installing in motor housing and the motor chuck of installing outside at motor housing, the motor links to each other with motor chuck, motor chuck links to each other with the transmission box chuck.
2. The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery as claimed in claim 1, wherein the distal fixation forceps are provided with a first through hole and a self-transmission shaft, the self-transmission shaft is provided with a first wire rope groove, a second wire rope groove and a circular groove for limiting the position of the distal fixation forceps, and the first wire rope groove and the second wire rope groove are respectively provided with a first fixing rope hole and a second fixing rope hole; the tail end swing surgical forceps are provided with a clamping rope wheel, the clamping rope wheel is provided with a second through hole, a third fixed rope hole and a wheel groove, and the third fixed rope hole is communicated with the wheel groove; the first through hole and the second through hole are coaxially arranged and are matched with the rivet; the connecting piece is provided with a third through hole, and the rotating shaft is in clearance fit with the third through hole; the C-shaped clamp spring is clamped in the circular groove, and the tail end fixing operation forceps are axially fixed through the C-shaped clamp spring.
3. The quick-change flexible surgical instrument for minimally invasive laparoscopic surgery as claimed in claim 2, wherein a first central threading hole is formed in the center of the head end joint for allowing a first steel wire rope and a second steel wire rope to pass through; the edge of the head end joint is provided with a first rope passing hole and a second rope passing hole which are respectively used for passing through a third steel wire rope and a fourth steel wire rope; a first fixing rope penetrating hole and a second fixing rope penetrating hole are formed in the edge of the head end joint and are used for fixing a fifth steel wire rope and a sixth steel wire rope respectively; and one end of the head end joint is provided with a first pin shaft connecting groove.
4. The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery as claimed in claim 3, wherein a second central threading hole is formed in the center of the swing joint and used for passing through the first steel wire rope and the second steel wire rope; the edge of the swing joint is provided with a third rope threading hole and a fourth rope threading hole, and the third rope threading hole and the fourth rope threading hole are oppositely arranged and are used for penetrating through a third steel wire rope and a fourth steel wire rope; a third fixed threading hole and a fourth fixed threading hole are formed in the edge of the swing joint, and the third fixed threading hole and the fourth fixed threading hole are oppositely arranged and are used for penetrating through a fifth steel wire rope and a sixth steel wire rope; one end of the swing joint is provided with two pin shaft connecting holes, and the other end of the swing joint is provided with two pin shaft connecting grooves II; and a first pin shaft connecting groove at the lower end of the head end joint is connected with a pin shaft connecting hole at the upper end of a first swing joint through a pin shaft, a second pin shaft connecting groove at the lower end of the first swing joint is connected with a pin shaft connecting hole at the upper end of a second swing joint through a pin shaft, and the like, and a second pin shaft connecting groove at the lower end of the last swing joint is connected with a pin shaft connecting hole at the upper end of a tail end joint through a pin shaft.
5. The flexible surgical instrument of claim 4, wherein the rigid rod is formed with a central cavity for passing one to six wire cables; a rectangular hole is formed in the bottom plate; and a groove is arranged on the transmission box chuck.
6. The quick-change flexible surgical instrument for minimally invasive laparoscopic surgery of claim 5, wherein said motor reel means comprises: the device comprises a line wheel shaft, a line wheel I and a line wheel II which are sleeved on the line wheel shaft; a first steel wire rope fixing groove is formed in the first wire wheel; a fourth fixing rope hole is formed in the first steel wire rope fixing groove and used for fixing a steel wire rope; a second steel wire rope fixing groove is formed in the second wire wheel; a fifth fixing rope hole is formed in the second steel wire rope fixing groove and used for fixing the steel wire rope; the upper end of the line shaft is mounted on the upper cover plate through a bearing, and the lower end of the line shaft penetrates through the bottom plate to be connected with the transmission box chuck.
7. The flexible surgical instrument of claim 6, wherein the control rotation gear means comprises: the gear shaft, the first gear sleeved on the gear shaft and the second gear sleeved on the upper end of the rigid rod and meshed with the first gear; the upper end of the gear shaft is mounted on the upper cover plate through a bearing, and the lower end of the gear shaft penetrates through the bottom plate to be connected with the transmission box chuck.
8. The quick-change flexible surgical instrument for minimally invasive abdominal surgery of claim 7, wherein the cable guide pulley set comprises: the guide wheel fixing base is fixed on the guide wheel fixing base, the guide wheel rod is fixed on the guide wheel base, the guide wheel is sleeved on the guide wheel rod, and the clamp spring is installed on the guide wheel rod and located on the outer side of the guide wheel; the positions of the guide wheel and the guide wheel rod are limited through the clamp spring; and a wheel groove is processed on the guide wheel and used for guiding the steel wire rope.
9. The quick change flexible surgical instrument for minimally invasive laparoscopic surgery of claim 8, wherein said gear box compression means comprises: the flexible joint device comprises a button positioned in the flexible joint device, a blocking part arranged on a side cover plate, a spring, a fixed part connected with the inner wall of the button and a clamping plate fixed on the inner wall of the fixed part; the fixed shaft at the front end of the button is inserted into the blocking part, and the spring is sleeved on the fixed shaft at the front end of the button; two ends of the spring respectively abut against the button and the inner wall of the blocking part; the clamping plate base and the clamping block are arranged at two ends of the clamping plate respectively, and the clamping plate base is fixed on the upper cover plate; the button can reciprocate along the direction perpendicular to the axis of the rectangular hole.
10. The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery as claimed in claim 9, wherein an insertion part is provided on an outer surface of the motor housing, the insertion part is provided with a slot, and the insertion part is installed in the rectangular hole; a bulge is arranged on the motor chuck; the groove on the transmission box chuck is clamped with the protrusion, so that the driving force of the motor box is transmitted to the transmission box; the clamping groove is matched with the clamping plate; the clamping plate is pushed to be separated from or clamped with the inserting part through the reciprocating movement of the button.
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| CN202210361730.9A CN114795481A (en) | 2022-04-07 | 2022-04-07 | Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery |
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| CN202210361730.9A CN114795481A (en) | 2022-04-07 | 2022-04-07 | Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery |
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| CN116269546B (en) * | 2023-05-17 | 2023-08-15 | 中国科学院自动化研究所 | Minimally invasive surgical instrument based on conical flexible body |
| CN117330231A (en) * | 2023-11-30 | 2024-01-02 | 武汉理工大学 | Multidimensional force sensing feedback minimally invasive manipulator and multidimensional force information detection method |
| CN117330231B (en) * | 2023-11-30 | 2024-03-12 | 武汉理工大学 | Multidimensional force sensing feedback minimally invasive manipulator and multidimensional force information detection method |
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Application publication date: 20220729 |