CN114870203B - Coiling device, surgical instrument and surgical robot - Google Patents
Coiling device, surgical instrument and surgical robot Download PDFInfo
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- CN114870203B CN114870203B CN202210456810.2A CN202210456810A CN114870203B CN 114870203 B CN114870203 B CN 114870203B CN 202210456810 A CN202210456810 A CN 202210456810A CN 114870203 B CN114870203 B CN 114870203B
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- 238000003860 storage Methods 0.000 claims abstract description 32
- 238000003780 insertion Methods 0.000 claims description 25
- 230000037431 insertion Effects 0.000 claims description 25
- 230000000670 limiting effect Effects 0.000 claims description 25
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 238000004064 recycling Methods 0.000 abstract 1
- 230000002829 reductive effect Effects 0.000 description 9
- 238000005452 bending Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000011084 recovery Methods 0.000 description 5
- 238000001574 biopsy Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0102—Insertion or introduction using an inner stiffening member, e.g. stylet or push-rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
- A61M2025/015—Details of the distal fixation of the movable mechanical means
Abstract
The application relates to a flexible instrument, a coiling device, a surgical instrument and a surgical robot, wherein the coiling device comprises a guide piece, a containing assembly and a driving assembly, the containing assembly is used for coiling the flexible tube body of the flexible instrument, and one end, close to an instrument element, of the flexible tube body penetrates out of the containing assembly; one end of the flexible tube body, which is far away from the instrument element, is fixed to the containing assembly. One end of the guide piece is connected with the storage component, and the guide piece is used for guiding the part of the flexible instrument, which is positioned outside the storage component. The drive assembly is connected with the storage assembly, and the drive assembly is used for driving the storage assembly to rotate so that the storage assembly conveys or rolls up the flexible instrument through the guide piece. The coiling device realizes automatic conveying and recycling of the flexible instrument, greatly lightens the workload of medical staff, and reduces the space requirement required in operation or examination by coiling the flexible instrument in the storage component.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a coiling device, a surgical instrument and a surgical robot.
Background
The surgical instruments used in the minimally invasive surgery through the natural cavity are generally flexible in structure and have a length of about one to two meters, and in clinical use, medical staff is required to hold the flexible instruments, push the flexible instruments into an insertion tube of an endoscope, and then control the instruments through an instrument operation end; or the flexible instrument is divided into a plurality of sections, and the sections are connected together by using a rotating structure and a rope guide when the flexible instrument is pushed forward.
Under the condition that the length of the flexible instrument is longer, a larger operation space is needed, and the workload of medical staff can be increased by manual pushing, so that the operation of the medical staff is inconvenient. The flexible instrument is pushed after being divided into a plurality of sections, the connection between the sections is easy to fail, and cables or other functional structures in the instrument are combined after being divided into a plurality of sections, so that smooth conduction is difficult to ensure, the bending control operation is inconvenient, and the design and manufacturing burden is high.
Disclosure of Invention
Based on this, it is necessary to aim at providing a coiling device, surgical instrument and surgical robot, coiling device can automatic propelling movement or retrieve flexible instrument, and easily carry out accuse bending operation to flexible instrument, saved operating space and doctor's work load.
In one aspect, the present application provides a coiling device comprising:
a guide for connection with an insertion tube of an endoscope;
the storage assembly is used for rolling up the flexible pipe body of the flexible instrument, and one end, close to the instrument element, of the flexible pipe body penetrates out of the storage assembly; one end of the flexible tube body, which is far away from the instrument element, is fixed to the containing assembly;
one end of the guide piece is connected with the containing assembly, and the guide piece is used for guiding the part of the flexible instrument positioned outside the containing assembly;
the driving assembly is connected with the containing assembly and used for driving the containing assembly to rotate so that the containing assembly can convey or roll up the flexible instrument through the guide piece; the method comprises the steps of,
the traction assembly is arranged on the storage assembly and is used for being connected with the traction wire of the flexible instrument to traction the traction wire.
The technical scheme of the application is further described as follows:
in one embodiment, the traction assembly comprises a first rotating wheel and a first motor connected with the first rotating wheel, the first rotating wheel is rotatably arranged on the storage assembly, the traction wire is connected with the first rotating wheel, and the first rotating wheel is used for rotating under the driving of the first motor to roll up the traction wire, so that the traction wire drags the instrument element.
In one embodiment, the coiling device further comprises a second rotating wheel rotatably arranged on the containing assembly, the second rotating wheel is located between the guide piece and the first rotating wheel, and the traction wire bypasses the second rotating wheel to be connected with the first rotating wheel.
In one embodiment, the storage assembly is rotatably provided with at least two first rotating wheels, the traction wires of the flexible instrument are provided with at least two traction wires, and the traction wires are connected with the first rotating wheels in a one-to-one correspondence.
In one embodiment, the accommodating component comprises a fixed disc and a rotating disc rotatably arranged on the fixed disc, the rotating disc is connected with the driving component and used for rolling up or conveying the flexible pipe body, the rotating disc is provided with a fixing part used for fixing the flexible pipe body, and the first rotating wheel is rotatably arranged on the rotating disc.
In one embodiment, the fixed disc comprises a first limiting part sleeved outside the rotating disc, the rotating disc is provided with a second limiting part protruding along the axial direction, a limiting groove for accommodating the flexible pipe body is formed between the first limiting part and the second limiting part, the guide piece is provided with a guide channel, the first limiting part is provided with an output port communicated with the guide channel and the limiting groove, and one end, close to the instrument element, of the flexible pipe body penetrates into the guide piece from the output port.
In one embodiment, the driving assembly comprises a power disc detachably connected with the rotating disc, the rotating disc can rotate synchronously with the power disc, the first motor is arranged on the power disc, and the first motor can rotate synchronously with the power disc.
In one embodiment, the driving assembly further comprises a driving box, the power disc is rotatably arranged in the driving box, a second motor and a transmission assembly are arranged in the driving box, and the second motor is connected with the power disc through the transmission assembly to drive the power disc to rotate.
In one embodiment, the coiling device comprises two or more storage assemblies, each storage assembly is coiled with one flexible instrument, and the driving assembly can drive any one or more storage assemblies to rotate, so that the storage assemblies can convey or coil the corresponding flexible instrument through the guide piece.
In one embodiment, the other end of the guide is adapted to be coupled to an insertion tube of an endoscope.
On the other hand, the application also provides a surgical instrument, which comprises the flexible instrument and the coiling device, wherein the flexible pipe body of the flexible instrument is coiled in the containing assembly, and one end of the flexible pipe body, which is close to the instrument element, is arranged in the guide piece; one end of the flexible tube, remote from the instrument element, is secured to the receiving assembly.
On the other hand, the application also provides a surgical robot which comprises the surgical instrument.
Above-mentioned coiling mechanism, surgical instrument and surgical robot are through coiling the flexible body of flexible instrument on accomodating the subassembly to when need carry flexible instrument, accomodate the subassembly through drive assembly drive and rotate, because the proximal end of flexible instrument is fixed in accomodate the subassembly, the distal end of flexible instrument penetrates into the guide, and drive assembly can drive the distal end of flexible instrument and carry along the guide, and finally carry to human internal passageway in order to perform the operation. When the flexible instrument needs to be recovered, the storage assembly is driven to rotate in the opposite direction through the driving assembly, the flexible instrument can be rolled up by the storage assembly, the distal end of the flexible instrument finally exits from the internal channel of the human body and returns to the guide piece, automatic conveying and recovery of the flexible instrument are realized, the workload of medical staff is greatly reduced, the flexible instrument is coiled in the storage assembly, the operation space required by conveying and recovering the flexible instrument is also greatly reduced, and the space requirement required by operation or examination is reduced. Meanwhile, one end of the traction wire is connected with the instrument element, and the other end of the traction wire penetrates out of the flexible pipe body, so that the traction wire is more convenient to be matched with a traction assembly of the coiling device, the traction assembly can control the instrument element to bend towards a preset direction or control the instrument element to open and close through the traction wire, automatic control of the flexible instrument is realized, and the workload of medical staff is further reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a coiled device according to an embodiment;
FIG. 2 is a front view of the coiling device shown in FIG. 1;
FIG. 3 is a cross-sectional view of the coiling device shown in FIG. 1;
FIG. 4 is a schematic view of a housing assembly according to an embodiment;
FIG. 5 is an enlarged partial view of part A shown in FIG. 2;
FIG. 6 is a schematic diagram of a structure of a rotating disc according to an embodiment;
FIG. 7 is a schematic diagram of a power disc according to an embodiment;
FIG. 8 is a partial cross-sectional view of a coiled device according to an embodiment;
FIG. 9 is a schematic structural view of a receiving assembly of the coiling device shown in FIG. 8;
FIG. 10 is a schematic view of the coiled device shown in FIG. 1 in another view;
FIG. 11 is a partial schematic view of the portion B shown in FIG. 4;
FIG. 12 is a schematic illustration of the mating of a flexible instrument with an insertion tube according to one embodiment;
fig. 13 is a schematic view showing the overall structure of the coiling device and the insertion tube according to an embodiment.
Reference numerals illustrate:
10. a guide member; 20. a receiving assembly; 21. a rotating disc; 211. a second limit part; 212. a limit groove; 213. a fixing part; 214. a first connecting shaft; 215. a connecting groove; 22. a fixed plate; 221. a first limit part; 222. an output port; 223. a chassis; 224. an avoidance groove; 225. a receiving chamber; 30. a drive assembly; 31. a power disc; 312. a connecting boss; 32. a drive box; 33. a second motor; 41. traction wire; 42. a first wheel; 43. a second wheel; 44. a first motor; 91. a flexible instrument; 92. an insertion tube; 93. and a fixing piece.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
Referring to fig. 1 and 2, in one aspect, the present application provides a flexible apparatus 91, specifically, the flexible apparatus 91 of an embodiment includes a flexible tube, an apparatus element and a traction wire 41, where the apparatus element is disposed at one end of the flexible tube, the traction wire 41 is disposed in the flexible tube in a penetrating manner, one end of the traction wire 41 is connected to the apparatus element, and the other end of the traction wire 41 is disposed outside the other end of the flexible tube.
The flexible mechanical device 91 is formed by threading the traction wire 41 into the flexible tube, and one end of the flexible device is connected with the device element, so that the bending and steering of the device element of the flexible device 91 or the opening and closing of the device element can be controlled by pulling the traction wire 41. The other end of the traction wire 41 penetrates out of the flexible pipe body, so that the traction wire 41 is more convenient to traction, and the traction wire 41 is more convenient to be matched with external automatic equipment, for example, the traction wire 41 is matched with a traction assembly, so that automatic traction is realized, automatic control of the flexible instrument 91 is realized, and the workload of medical staff is further reduced.
Further, the flexible instrument 91 includes, but is not limited to, biopsy forceps, biopsy needles, foreign body forceps, snares, and the like. The instrument element refers to an end instrument located at an end of the instrument such as biopsy forceps, biopsy needle, foreign body forceps, snare, etc., remote from the physician, and used to perform an operation within the patient. In general, the flexible instrument 91 is long, inconvenient for medical staff to perform manual transportation or recovery operation, and requires a large operation space.
Based thereon, another aspect of the present application provides a coiled device for transporting or retrieving a flexible instrument 91 along an insertion tube 92 of an endoscope during surgery. Referring to fig. 1 to 13, in particular, the coiling device of an embodiment includes a guide member 10, a housing assembly 20, a driving assembly 30 and a traction assembly, wherein the housing assembly 20 is used for coiling a flexible tube body of a flexible instrument 91, and one end of the flexible tube body, which is close to an instrument element, passes out of the housing assembly. The end of the flexible tube remote from the instrument member is secured to the receiving assembly 20. One end of the guide member 10 is connected to the housing assembly 20, and the guide member 10 is used for guiding a portion of the flexible instrument 91 located outside the housing assembly 20. Preferably, the other end of the guide 10 is adapted to be coupled to an insertion tube 92 of an endoscope to guide the flexible instrument 91 between the receiving assembly 20 and the insertion tube 92. The driving assembly 30 is connected to the housing assembly 20, and the driving assembly 30 is used for driving the housing assembly 20 to rotate, so that the housing assembly 20 conveys or rolls up the flexible apparatus 91 through the guide 10. A pulling assembly is provided to the receiving assembly 20 for coupling with the pulling wire 41 of the flexible instrument 91 to pull the pulling wire 41.
Specifically, prior to surgery, the flexible tube of the flexible instrument 91 is rolled up in the receiving assembly 20, and the end of the flexible tube distal from the instrument element is secured to the receiving assembly 20, and the end of the flexible tube proximal to the instrument element is threaded into the guide 10, at which time the coiling device may be mounted on the endoscope system and the guide 10 is communicated into the instrument channel of the endoscope insertion tube 92. Preferably, referring to fig. 12, the guide 10 is secured to the proximal end of the insertion tube 92 by a securing member 93. When the flexible instrument 91 needs to be conveyed, the storage assembly 20 is driven to rotate by the driving assembly 30, and as the proximal end of the flexible instrument 91 is fixed to the storage assembly 20, the distal end of the flexible instrument 91 penetrates into the guide member 10, the driving assembly 30 can drive the distal end of the flexible instrument 91 to be conveyed into the instrument channel of the insertion tube 92 along the guide member 10, and the flexible instrument 91 finally penetrates out of the insertion tube 92 along the instrument channel of the insertion tube 92 for performing operation. When it is desired to retrieve the flexible instrument 91, the retraction assembly 20 is rotated in a reverse direction by the drive assembly 30, which causes the retraction assembly 20 to retract the flexible instrument 91 and ultimately the distal end of the flexible instrument 91 to exit the insertion tube 92 of the endoscope and back into the guide 10. The above-mentioned coiling device has realized the automatic transportation and the recovery of flexible apparatus 91, has alleviateed medical personnel's work load greatly, through with flexible apparatus 91 roll-up in accomodate subassembly 20, has also reduced the required operating space of flexible apparatus 91 when carrying and retrieving greatly, has reduced the required space requirement in operation or the inspection.
Further, the pulling assembly is used to apply a pulling force to the pulling wire 41 to cause the pulling wire 41 to pull the instrument element of the flexible instrument 91, thereby controlling the instrument element of the flexible instrument 91 to bend in a predetermined direction or controlling the instrument element to open and close. Preferably, the traction wires 41 are provided in a plurality, the plurality of traction wires 41 being connected to different locations of the instrument element of the flexible instrument 91. Correspondingly, a plurality of traction assemblies are arranged, and the traction assemblies are connected with the traction wires 41 in a one-to-one correspondence manner, so that the instrument elements can be bent in different directions by traction of the corresponding traction wires 41 through different traction assemblies, and further bending of the flexible instrument 91 in a plurality of degrees of freedom is realized.
Specifically, referring to fig. 3 and 4, the traction assembly includes a first rotating wheel 42 and a first motor 44 connected to the first rotating wheel 42, the first rotating wheel 42 is rotatably disposed on the housing assembly 20, the traction wire 41 is connected to the first rotating wheel 42, and the first rotating wheel 42 is used for rotating under the driving of the first motor 44 to reel the traction wire 41, so that the traction wire 41 pulls the instrument element. The first rotating wheel 42 is driven by the first motor 44 to rotate, so that the traction wire 41 can draw the instrument element, the instrument element is further bent towards the preset direction, the flexible instrument 91 is controlled to be opened and closed, the control is simple and effective, the first rotating wheel 42 is arranged on the storage assembly 20, the first rotating wheel 42, the first motor 44 and the traction wire 41 can synchronously rotate with the storage assembly 20, the traction wire 41 is kept relatively static with other components on the storage assembly 20, and the cross knotting fault of the traction wire 41 is avoided. Preferably, at least two traction wires 41 are provided, at least two first rotating wheels 42 are rotatably provided on the accommodating assembly 20, and the traction wires 41 are connected with the first rotating wheels 42 in a one-to-one correspondence. Each first runner 42 is correspondingly connected with a first motor 44, so that the first motor 44 drives the corresponding first runner 42 to rotate, and the corresponding traction wire 41 is pulled, so that the flexible instrument 91 can bend in multiple degrees of freedom. For example, in this embodiment, four traction wires 41 are provided, and each traction wire 41 is correspondingly connected with one first rotating wheel 42, so that the four first rotating wheels 42 respectively pull the corresponding traction wires to achieve four-way bending of the flexible apparatus 91. It should be noted that the number of traction wires 41 is not limited to four, and in other embodiments, the actual number of traction wires 41 may be specifically set according to the degree of freedom required for the operation of the flexible instrument 91, and is not limited herein.
Further, the coiling device further comprises a second rotating wheel 43 rotatably arranged on the containing assembly 20, the second rotating wheel 43 is located between the guide element 10 and the first rotating wheel 42, and the traction wire 41 bypasses the second rotating wheel 43 to be connected with the first rotating wheel 42. By arranging the second rotating wheel 43 between the first rotating wheel 42 and the guide member 10, the second rotating wheel 43 can change the direction of the traction wire 41, so that the plurality of first rotating wheels 42 are more conveniently distributed on the storage assembly 20, and the problem of mutual interference caused by the excessive concentration of the plurality of first rotating wheels 42 is avoided.
With continued reference to fig. 3 and 4, the housing assembly 20 includes a fixed disc 22 and a rotating disc 21 rotatably disposed on the fixed disc 22, the rotating disc 21 is connected to the driving assembly 30, and the flexible device 91 is initially rolled up on the rotating disc 21, so that the rotating disc 21 is driven to rotate by the driving assembly 30, so as to drive the rotating disc 21 to roll up or convey the flexible device 91. Further, the first rotating wheel 42 is rotatably provided to the rotating disc 21, so that the first rotating wheel 42 can rotate in synchronization with the rotating disc 21. Further, the rotary disk 21 is provided with a fixing portion 213 for fixing the flexible instrument 91. Specifically, referring to fig. 5, the fixing portion 213 is provided with a fixing hole (not shown) in which the proximal end of the flexible instrument 91 is inserted. Preferably, the proximal end of the flexible device 91 and the wall of the fixing hole may be glued or screwed, so as to fix the proximal end of the flexible device 91 and the rotating disc 21 relatively.
With continued reference to fig. 3 and 4, the fixed disc 22 includes a chassis 223 and a first limiting portion 221 disposed at an edge of the chassis 223, where the chassis 223 and the first limiting portion 221 together define a receiving cavity 225, and the rotating disc 21 is rotatably disposed in the receiving cavity 225, so that the first limiting portion 221 is sleeved outside the rotating disc 21. Further, the rotating disc 21 is provided with a second limiting portion 211 protruding in the axial direction, and a limiting groove 212 for accommodating the flexible instrument 91 is formed between the first limiting portion 221 and the second limiting portion 211. The flexible instrument 91 is limited by the first limiting part 221 and the second limiting part 211, so that the flexible instrument 91 is fixedly rolled in the accommodating groove, and the problem that the flexible instrument 91 is scattered or knotted when the accommodating assembly 20 conveys or rolls up the flexible instrument 91 is avoided.
Further, the guide 10 is formed with a guide passage communicating with the insertion tube, and the first stopper 221 is provided with an output port 222 communicating the guide passage with the stopper groove 212, and the distal end of the flexible instrument 91 is threaded into the guide passage from the output port 222. The guide channel guides the flexible instrument to ensure that the flexible instrument is delivered from the receiving assembly 20 to the insertion tube 92 in a predetermined trajectory. Preferably, the guide 10 may be a pipe or a slotted member or a rail, etc., without limitation.
Further, referring to fig. 3, the chassis 223 of the fixed disc 22 is provided with a avoidance groove 224, and the first motor 44 passes through the avoidance groove 224 and is connected with the first rotating wheel 42, so as to avoid interference with the fixed disc 22 when the first motor 44 rotates along with the rotating disc 21. Preferably, the relief groove 224 may be a ring groove or a circular groove.
Referring to fig. 3, the driving assembly 30 further includes a power disc 31, the power disc 31 is detachably connected to the rotating disc 21, and the rotating disc 21 can rotate in synchronization with the power disc 31, a first motor 44 is provided to the power disc 31, and the first motor 44 can rotate in synchronization with the power disc 31. Specifically, the rotatable disk 21 may be pre-fixed to the endoscope system, such that the power disk 31 is capable of driving a plurality of different receiving assemblies 20 that receive different flexible instruments 91 due to the detachable connection of the power disk 31 to the rotatable disk 21. In the operation, the flexible instrument 91 required for the quick replacement operation can be realized by replacing the housing assembly 20 housing different flexible instruments 91.
Referring to fig. 6 and 7, in an embodiment, the rotating disc 21 is connected to the power disc 31 through a first connecting shaft 214, where the first connecting shaft 214 is provided with a polygonal connecting slot 215, for example, the connecting slot 215 is a square slot. The power disc 31 is provided with a coupling boss 312 matching the shape of the coupling groove 215, for example, the coupling boss 312 is a square boss. By inserting the coupling boss 312 into the coupling groove 215, the rotational disk 21 and the power disk 31 are axially detachable while restricting the relative rotation of the rotational disk 21 and the power disk 31. It should be appreciated that in another embodiment, the connection slot 215 may also be formed on the power disc 31, and correspondingly, the connection boss 312 is disposed on the rotating disc 21.
Referring to fig. 2 and 3, the driving assembly 30 further includes a driving box 32, the power disc 31 is rotatably disposed in the driving box 32, a second motor 33 and a transmission assembly are disposed in the driving box 32, and the second motor 33 is connected with the power disc 31 through the transmission assembly to drive the power disc 31 to rotate. The second motor 33 drives the transmission assembly, which in turn drives the power disc 31 to rotate, ultimately effecting rotation of the rotatable disc 21 to transport or retract the flexible instrument 91. Further, the transmission assembly may be a gear assembly, a synchronous belt assembly, a sprocket chain assembly, or the like, which will not be described herein. In other embodiments, the second motor 33 may directly drive the power disc 31 to rotate, thereby omitting the transmission assembly.
Preferably, referring to fig. 1 and 3, the coiling device comprises two or more storage assemblies 20, each storage assembly 20 is coiled with a flexible instrument 91, and the driving assembly 30 can drive any one or more storage assemblies 20 to rotate, so that the storage assemblies 30 can convey or coil the corresponding flexible instrument 91 through the guide member 10. Preferably, the driving assembly 30 can be controlled by a robot or a control center to drive two or more storage assemblies 20 to rotate simultaneously, so that two or more flexible instruments 91 can be conveyed or rolled up simultaneously, and the working efficiency is improved. Specifically, in this embodiment, two or more power discs 31 may be disposed on one driving box 32, each power disc 31 is correspondingly matched with a set of second motor 33 and transmission assembly, and each power disc 31 is connected with one storage assembly 20, so that at least two flexible apparatuses 91 can be simultaneously conveyed or rolled up by controlling one coiling device through a robot or a control center, thereby improving working efficiency and reducing space required for operation.
The above-mentioned coiling device is operated by first mounting the housing assembly 20 housing the flexible instrument 91 on the power disc 31 of the drive cassette 32 and then communicating the guide 10 to the instrument channel of the endoscope insertion tube 92 during the pre-operative preparation phase. The power disc 31 of the drive cassette 32 is then controlled to rotate to drive the rotating disc 21, at which time the flexible instrument 91 is advanced along the guide 10 into the instrument channel of the endoscope, and then by image feedback of the endoscope, it is determined whether the instrument element extends beyond the distal end of the insertion tube 92 of the endoscope and reaches the target position. When the flexible instrument 91 reaches the target position, the drive cassette 32 stops driving the power disc 31 and the rotating disc 21. The first motor 44 then drives the first pulley 42 to pull the traction wire 41, thereby controlling the bending and opening of the flexible instrument 91 to perform the surgical operation. After the operation is completed, the power disc 31 and the rotating disc 21 are driven to rotate reversely by the driving box 32, so that the rotating disc 21 is used for winding the flexible instrument 91, and when the instrument element is withdrawn from the insertion tube 92 of the endoscope and returns to the initial position, the recovery of the flexible instrument 91 can be completed.
Further, the application also provides a surgical instrument. Specifically, the surgical instrument of an embodiment includes the flexible instrument 91 and the coiling device of any of the above embodiments, wherein the flexible instrument 91 is coiled in the housing assembly 20, and one end of the flexible instrument 91 is disposed in the guide 10, and the other end of the flexible instrument 91 is fixed to the housing assembly 20.
The above-mentioned surgical instrument is characterized in that the flexible instrument 91 is coiled on the containing assembly 20 of the coiling device, so that when the flexible instrument 91 needs to be conveyed, the containing assembly 20 is driven to rotate by the driving assembly 30, and as the proximal end of the flexible instrument 91 is fixed on the containing assembly 20, the distal end of the flexible instrument 91 penetrates into the guide member 10, and the driving assembly 30 can drive the distal end of the flexible instrument 91 to be conveyed into the instrument channel of the insertion tube 92 along the guide member 10 and finally penetrate out of the insertion tube 92 along the instrument channel of the insertion tube 92 for performing a surgical operation. When it is desired to retrieve the flexible instrument 91, the retraction assembly 20 is rotated in a reverse direction by the drive assembly 30, which causes the retraction assembly 20 to retract the flexible instrument 91 and ultimately the distal end of the flexible instrument 91 to exit the insertion tube 92 of the endoscope and back into the guide 10. The above-mentioned coiling device has realized the automatic transportation and the recovery of flexible apparatus 91, has alleviateed medical personnel's work load greatly, through with flexible apparatus 91 roll-up in accomodate subassembly 20, has also reduced the required operating space of flexible apparatus 91 when carrying and retrieving greatly, has reduced the required space requirement in operation or the inspection.
The application also provides a surgical robot, which comprises the surgical instrument of any embodiment. Further, the driving cassette of the coiling device may be integrated on the surgical robot, so that each time of surgery, only the storage assembly 20 containing different flexible instruments 91 needs to be replaced, and different surgical operations or examinations can be performed by using different flexible instruments 91. Further, the driving cassette 32 may be electrically connected to a controller of the surgical robot, and the controller of the surgical robot is electrically connected to the endoscope system, whereby a circuit structure between the endoscope system and the robot may be integrated. Of course, it is understood that the controller of the surgical robot may be separately electrically connected to the drive cassette 32, thereby making the coiling device and the endoscope system independent of each other.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Claims (12)
1. A coiling device, characterized by comprising:
the accommodating assembly is used for rolling up a flexible pipe body of the flexible instrument, and one end, close to the instrument element, of the flexible pipe body penetrates out of the accommodating assembly; one end of the flexible tube body, which is far away from the instrument element, is fixed to the containing assembly;
one end of the guide piece is connected with the containing assembly, and the guide piece is used for guiding the part of the flexible instrument positioned outside the containing assembly;
the driving assembly is connected with the containing assembly and used for driving the containing assembly to rotate so that the containing assembly can convey or roll up the flexible instrument through the guide piece; the method comprises the steps of,
the traction assembly is arranged in the storage assembly and is used for being connected with the traction wire of the flexible instrument to traction the traction wire.
2. The coiling device as in claim 1, wherein said traction assembly includes a first wheel and a first motor connected to said first wheel, said first wheel being rotatably disposed in said housing assembly, said traction wire being connected to said first wheel, said first wheel being adapted to rotate under the drive of said first motor to reel said traction wire such that said traction wire pulls said instrument element.
3. The coiling device as in claim 2, further comprising a second wheel rotatably disposed in said housing assembly, said second wheel being located between said guide and said first wheel, said traction wire being connected to said first wheel by bypassing said second wheel.
4. Coiling device as in claim 2, characterized in that said housing assembly is rotatably provided with at least two of said first wheels, said traction wires of said flexible instrument being provided with at least two, said traction wires being connected in a one-to-one correspondence with said first wheels.
5. The coiling device as in claim 2, wherein said housing assembly comprises a fixed disc and a rotating disc rotatably arranged on said fixed disc, said rotating disc being connected to said driving assembly, said rotating disc being adapted to reel or transport said flexible tube, said rotating disc being provided with a fixing portion for fixing said flexible tube, said first rotating wheel being rotatably arranged on said rotating disc.
6. The coiling device as in claim 5, wherein said fixed plate includes a first limiting portion sleeved outside said rotating plate, said rotating plate has a second limiting portion axially protruding, a limiting groove for receiving said flexible tube is formed between said first limiting portion and said second limiting portion, said guide member forms a guide channel, said first limiting portion has an output port communicating said guide channel with said limiting groove, and an end of said flexible tube adjacent to said instrument member is threaded into said guide channel from said output port.
7. The coiling device as in claim 5, wherein said drive assembly includes a power disc detachably connected to said rotating disc and said rotating disc is rotatable in synchronism with said power disc, said first motor being disposed on said power disc and said first motor being rotatable in synchronism with said power disc.
8. The coiling device as in claim 7, wherein said drive assembly further comprises a drive box, said power disc is rotatably disposed in said drive box, a second motor and a transmission assembly are disposed in said drive box, said second motor is connected with said power disc through said transmission assembly to drive said power disc to rotate.
9. The coiling device as in claim 8, wherein said coiling device comprises two or more of said containing assemblies, each of said containing assemblies being reeled with one of said flexible instruments, said drive assembly being capable of driving any one or more of said containing assemblies in rotation, causing said containing assemblies to transport or reel the corresponding flexible instrument through said guide.
10. Coiling device as in claim 1, characterized in that the other end of said guide is intended to be connected with the insertion tube of an endoscope.
11. A surgical instrument comprising a flexible instrument and the coiling device of any one of claims 1-10, a flexible tube of the flexible instrument coiled in the receiving assembly, the flexible tube disposed within the guide proximate an end of the instrument element; one end of the flexible tube, remote from the instrument element, is secured to the receiving assembly.
12. A surgical robot comprising the surgical instrument of claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210456810.2A CN114870203B (en) | 2022-04-28 | 2022-04-28 | Coiling device, surgical instrument and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210456810.2A CN114870203B (en) | 2022-04-28 | 2022-04-28 | Coiling device, surgical instrument and surgical robot |
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| CN114870203A CN114870203A (en) | 2022-08-09 |
| CN114870203B true CN114870203B (en) | 2023-11-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115192200B (en) * | 2022-09-14 | 2023-01-13 | 北京云力境安科技有限公司 | Surgical robot system and flexible surgical instrument |
| CN115363649B (en) * | 2022-09-14 | 2023-02-17 | 北京云力境安科技有限公司 | Flexible surgical instrument and instrument driving device thereof |
| CN115363648B (en) * | 2022-09-14 | 2023-03-10 | 北京云力境安科技有限公司 | Flexible surgical instrument, flexible instrument and instrument conveying unit thereof |
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