CN102465957A - Hollowed-out transmission part for multi degree of freedom transmission mechanism - Google Patents
Hollowed-out transmission part for multi degree of freedom transmission mechanism Download PDFInfo
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- CN102465957A CN102465957A CN2010105379656A CN201010537965A CN102465957A CN 102465957 A CN102465957 A CN 102465957A CN 2010105379656 A CN2010105379656 A CN 2010105379656A CN 201010537965 A CN201010537965 A CN 201010537965A CN 102465957 A CN102465957 A CN 102465957A
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Abstract
The invention discloses a hollowed-out transmission part for a multi degree of freedom (DOF) transmission mechanism, characterized in that: the hollowed-out transmission part is a circular pipe, two ends of the circular pipe are end portions, the end portions are solid circular columns or hollow circular columns, the middle portion of the hollowed-out transmission part is a hollow out portion, the hollow out portion is provided with a plurality of through holes which break through the pipe wall of the circular pipe, and the through holes are rhomboic or rectangular. According to the invention, the hollowed-out transmission part is a half-rigid member having a certain flexibility, can transmit enough operation operating physical force and torque and can realize bending, and can guarantee the multi DOF and agility of surgical equipment operation. The hollowed-out transmission part for the multi DOF transmission mechanism has a simple structure, can be easily cleaned and disinfected, and can be reused. The hollowed-out transmission part for the multi DOF transmission mechanism is suitable for transmission mechanisms of minimally invasive minimally invasive surgical operation equipments.
Description
Technical field
The present invention relates to the minimally invasive medical instrument field, particularly a kind of hollow out shape driving component that is used for micro-wound surgical operation apparatus multi-freedom degree driving mechanism.
Background technique
Minimally invasive surgery (Minimally Invasive Surgery; MIS) technical field is in the forefront of current medical science and technology developing direction; (Laparoscopic Surgery LS) progressively replaces traditional abdominal for the micro-wound surgical operation of representative with laparoscopic surgery.Through the development of two more than ten years, characteristics such as the celioscope Minimally Invasive Surgical Technology is day by day ripe, and it is little because of operation wound, postoperative pain is light, the hospital stays is short, cosmetic result is good have obtained the effect of using widely and being satisfied with clinically.The conventional laparoscopy operation is that (about 5-12mm) accomplish through a plurality of (3-5) small otch; Progress along with the abundant and engineering of clinical experience; Single-hole laparoscopic operation (Single-incision Laparoscopic Surgery, notion SILS) have been proposed again recently.Than the porous laparoscopic surgery, single hole operation has unique advantage: wound is further dwindled, the postoperative preventing from scar, patients ' recovery is fast and infection rate is low.Yet in single-hole laparoscopic surgery; Insert the position because of operating theater instruments and concentrate, the operating space is restricted, and is easy to mutual interference effect operation; So adopt the conventional laparoscopy operating theater instruments to be difficult to form operation trigonum (Triangulation), cause relatively difficulty of operation technique; In addition, operating theater instruments probes into direction and light source axle line parallel, and instrumentation space and surgical field of view are overlapping, and this has influenced the judgement of operator to the degree of depth and distance to a certain extent.Therefore, traditional laparoscopic surgical instruments can't satisfy the development of single-hole laparoscopic surgery, and modern micro-wound surgical operation requires operating theater instruments to have the more freedom degree to increase the flexibility of its operation.
Traditional micro-wound surgical operation apparatus is some elongated implement that can probe into the human intracavity, as the one of which by the Joystick (Handle) of rear end, middle driving mechanism (Transmission System) and execution arrestment mechanism (Actuator) formation of front end.The effect of said driving mechanism is that steering force or moment of torsion that the operator is applied on the Joystick are passed to the execution arrestment mechanism, to realize operation technique.Driving component in the conventional driving mechanism is general to be flexible tow rope perhaps, perhaps is the transmission shaft of rigidity.The former degrees of freedom is bigger, is difficult to transmit bigger power or moment of torsion, though and the latter can transmit bigger power or moment of torsion, but because can not be crooked, so operate degrees of freedom and flexibility extreme difference.
Summary of the invention
Technical problem to be solved by this invention is the deficiency that overcomes driving component in the existing micro-wound surgical operation apparatus; Provide a kind of multi-freedom degree driving mechanism with hollow out shape driving component; It can either transmit bigger power or moment of torsion; Again can be crooked to realize the multi-freedom degree of operating theater instruments motion, improve the flexibility of operation technique, the difficulty of reduction operation technique.
It is following that the present invention solves the technological scheme that its technical problem takes:
A kind of multi-freedom degree driving mechanism is characterized in that with hollow out shape driving component: said hollow out shape driving component is a pipe, and its two ends are the end, and the centre is a hollow part, and this hollow part is provided with the open-work of a plurality of these tube walls of break-through.
Multi-freedom degree driving mechanism according to the invention uses the end of hollow out shape driving component to be solid cylinder or hollow cylinder, said open-work be shaped as rhombus or rectangle.
It is a tubular type member that multi-freedom degree driving mechanism of the present invention uses hollow out shape driving component; Has certain rigidity; Its two end part can be connected with the execution arrestment mechanism with the Joystick of micro-wound surgical operation apparatus respectively, thereby transmit operation technique power and moment of torsion; The tube wall of its intermediate section is provided with a plurality of open-works, has therefore reduced the rigidity of whole driving component, makes it to have had certain flexibility, thereby in operation, can realize bending, reaches the multi-freedom degree and the flexibility of operation.In a word; Compare with the driving component in the existing micro-wound surgical operation apparatus, structure of the present invention makes it become the semi-rigid member with certain flexibility, can transmit enough operation technique power and moment of torsion; Can realize bending again; Guarantee the multi-freedom degree of operating theater instruments operation with flexibly, have simple in structure, be easy to cleaning and sterilizing, can reusable advantage, be applicable to the driving mechanism of micro-wound surgical operation apparatus.
Description of drawings
Fig. 1 is stereoscopic figure of the present invention.
Fig. 2 is a sectional drawing of the present invention.
Fig. 3 is a use installation diagram of the present invention.
Fig. 4 is user mode figure of the present invention.
Embodiment
Combine specific embodiment and accompanying drawing that the present invention is done further detailed description at present.
At first see also Fig. 1 stereogram of the present invention, diagram multi-freedom degree driving mechanism is installed in the driving mechanism of micro-wound surgical operation apparatus with hollow out shape driving component 1, in order to transmit operation technique power and moment of torsion.Said hollow out shape driving component 1 is a pipe, and its two ends are the handle and execution arrestment mechanism of end 12 in order to connect operating theater instruments, and this end 12 is hollow cylinder in the present embodiment, also can be solid cylinder; The centre of this hollow out shape driving component 1 is a hollow part 11, sees also Fig. 2, and this hollow part 11 is provided with the open-work 111 of a plurality of these tube walls of break-through, and the shape of this open-work 111 can be rhombus, also can be rectangle.
Because it is non-full solid body that multi-freedom degree driving mechanism of the present invention uses hollow out shape driving component 1; Therefore both had certain tension and compression rigidity, flexural rigidity and torsional stiffness; Have certain flexibility again, can connect and drive the action that multiple execution arrestment mechanism such as needle holder, scissors is realized push-and-pull, bending, a plurality of direction degrees of freedom such as reversed.
Fig. 3 has shown that with Fig. 4 a kind of application of the present invention is connected instance.Said multi-freedom degree driving mechanism is fastenedly connected with near-end hand push device 2 and far-end actuator 3 respectively with the two end part 12 of hollow out shape driving component 1; This far-end actuator 3 is connected with distal end effector device 7 again, and this distal end effector device 7 can carry out sliding motion in the groove on the far-end actuator 3.The near-end that said near-end hand push device 2 and far-end actuator 3 are arranged at tubulose respectively pushes away curved device 4 and pushes away within the tube chamber of curved device 5 with far-end; This near-end pushes away curved device 4 and directly carries out the pin connection with the side that far-end pushes away curved device 5, and opposite side carries out pin through the two ends that cause curved sheet 6 and connects.Therefore; Near-end hand push device 2 has constituted the handle part of micro-wound surgical operation apparatus; Said multi-freedom degree driving mechanism pushes away curved device 4, causes curved sheet 6 and far-end pushes away the driving mechanism that curved device 5 has constituted the micro-wound surgical operation apparatus with hollow out shape driving component 1, far-end actuator 3, near-end, and said distal end effector device 7 has constituted the execution arrestment mechanism of micro-wound surgical operation apparatus.
During operation technique; Said multi-freedom degree driving mechanism can pass to far-end actuator 3 with the push-pull effort of near-end hand push device 2 with hollow out shape driving component 1; Thereby cause that distal end effector device 7 does sliding motion in the groove of far-end actuator 3, realize the open and close movement of distal end effector device 7; Hollow out shape driving component 1 can also push away the axial motion of bending device 4 with near-end and pass to distal end effector device 7, causes the synchronous axial motion of distal end effector device 7; This hollow out shape driving component can enoughly hold the warping force of hand push device 2 to pass to far-end actuator 3 again nearly, and then the drive far-end pushes away curved device 5 and distal end effector device 7 reverses; As shown in Figure 4; Curved sheet 6, near-end push away curved device 4, far-end pushes away curved device 5 respectively when pin-and-hole relatively rotates when causing; Said hollow out shape driving component 1 can be realized bending, further realizes the bending and the multifreedom motion of whole micro-wound surgical operation apparatus, thereby has increased the operating flexibility of operating theater instruments.
Above-mentioned embodiment just is used for the present invention that explains, rather than limits the invention, and in spirit of the present invention and rights protection scope, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (3)
1. a multi-freedom degree driving mechanism is characterized in that with hollow out shape driving component: said hollow out shape driving component is a pipe, and its two ends are the end, and the centre is a hollow part, and this hollow part is provided with the open-work of a plurality of these tube walls of break-through.
2. multi-freedom degree driving mechanism according to claim 1 is characterized in that with hollow out shape driving component: said open-work be shaped as rhombus or rectangle.
3. multi-freedom degree driving mechanism according to claim 1 is characterized in that with hollow out shape driving component: said end is solid cylinder or hollow cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105379656A CN102465957A (en) | 2010-11-10 | 2010-11-10 | Hollowed-out transmission part for multi degree of freedom transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105379656A CN102465957A (en) | 2010-11-10 | 2010-11-10 | Hollowed-out transmission part for multi degree of freedom transmission mechanism |
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| CN102465957A true CN102465957A (en) | 2012-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105379656A Pending CN102465957A (en) | 2010-11-10 | 2010-11-10 | Hollowed-out transmission part for multi degree of freedom transmission mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107280718A (en) * | 2017-07-27 | 2017-10-24 | 天津大学 | A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity |
| JP2017533057A (en) * | 2014-09-04 | 2017-11-09 | メミック イノベーティブ サージェリー リミテッドＭｅｍｉｃ Ｉｎｎｏｖａｔｉｖｅ Ｓｕｒｇｅｒｙ Ｌｔｄ． | Devices and systems including mechanical arms |
| US10617481B2 (en) | 2016-03-09 | 2020-04-14 | Memic Innovative Surgey Ltd. | Modular device comprising mechanical arms |
| US10973592B2 (en) | 2017-03-09 | 2021-04-13 | Memie Innovative Surgery Ltd. | Control console for surgical device with mechanical arms |
| US11723728B2 (en) | 2015-09-04 | 2023-08-15 | Momentis Surgical Ltd. | Actuation of a device comprising mechanical arms |
| US11779410B2 (en) | 2017-03-09 | 2023-10-10 | Momentis Surgical Ltd | Control console including an input arm for control of a surgical mechanical arm |
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| US20060020287A1 (en) * | 2003-10-30 | 2006-01-26 | Woojin Lee | Surgical instrument |
| CN1732856A (en) * | 2004-07-28 | 2006-02-15 | 伊西康内外科公司 | Surgical instrument incorporating an electrically actuated articulation mechanism |
| CN101040798A (en) * | 2006-03-23 | 2007-09-26 | 伊西康内外科公司 | Surgical fastener and cutter with mimicking end effector |
| CN101703424A (en) * | 2003-05-23 | 2010-05-12 | 诺瓦尔外科系统公司 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
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2010
- 2010-11-10 CN CN2010105379656A patent/CN102465957A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101703424A (en) * | 2003-05-23 | 2010-05-12 | 诺瓦尔外科系统公司 | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
| US20060020287A1 (en) * | 2003-10-30 | 2006-01-26 | Woojin Lee | Surgical instrument |
| CN1732856A (en) * | 2004-07-28 | 2006-02-15 | 伊西康内外科公司 | Surgical instrument incorporating an electrically actuated articulation mechanism |
| CN101040798A (en) * | 2006-03-23 | 2007-09-26 | 伊西康内外科公司 | Surgical fastener and cutter with mimicking end effector |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11116589B2 (en) | 2014-09-04 | 2021-09-14 | Memic Innovative Surgery Ltd. | Control of device including mechanical arms |
| JP2017533057A (en) * | 2014-09-04 | 2017-11-09 | メミック イノベーティブ サージェリー リミテッドＭｅｍｉｃ Ｉｎｎｏｖａｔｉｖｅ Ｓｕｒｇｅｒｙ Ｌｔｄ． | Devices and systems including mechanical arms |
| US10500003B2 (en) | 2014-09-04 | 2019-12-10 | Memic Innovative Surgery Ltd. | Control of device including mechanical arms |
| US12167898B2 (en) | 2014-09-04 | 2024-12-17 | Momentis Surgrical Ltd. | Control of device including mechanical arms |
| US11517378B2 (en) | 2014-09-04 | 2022-12-06 | Momentis Surgical Ltd | Device and system including mechanical arms |
| US11723728B2 (en) | 2015-09-04 | 2023-08-15 | Momentis Surgical Ltd. | Actuation of a device comprising mechanical arms |
| US10617481B2 (en) | 2016-03-09 | 2020-04-14 | Memic Innovative Surgey Ltd. | Modular device comprising mechanical arms |
| US11771511B2 (en) | 2016-03-09 | 2023-10-03 | Momentis Surgical Ltd | Modular device comprising mechanical arms |
| US11969226B2 (en) | 2016-03-09 | 2024-04-30 | Momentis Surgical Ltd | Modular device comprising mechanical arms |
| US11083528B2 (en) | 2017-03-09 | 2021-08-10 | Memic Innovative Surgery Ltd. | Input arm for control of a surgical mechanical arm |
| US10973592B2 (en) | 2017-03-09 | 2021-04-13 | Memie Innovative Surgery Ltd. | Control console for surgical device with mechanical arms |
| US11779410B2 (en) | 2017-03-09 | 2023-10-10 | Momentis Surgical Ltd | Control console including an input arm for control of a surgical mechanical arm |
| US12082888B2 (en) | 2017-03-09 | 2024-09-10 | Momentis Surgical Ltd. | Control console for surgical device with mechanical arms |
| CN107280718A (en) * | 2017-07-27 | 2017-10-24 | 天津大学 | A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity |
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Application publication date: 20120523 |