CN111568557A - Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment - Google Patents
Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment Download PDFInfo
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- CN111568557A CN111568557A CN202010481272.3A CN202010481272A CN111568557A CN 111568557 A CN111568557 A CN 111568557A CN 202010481272 A CN202010481272 A CN 202010481272A CN 111568557 A CN111568557 A CN 111568557A
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- 238000011902 gastrointestinal surgery Methods 0.000 description 1
- 238000001356 surgical procedure Methods 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
- A61B34/35—Surgical robots for telesurgery
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- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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Abstract
The invention discloses a distal end instrument of a gynecological and obstetrical teleoperation surgical device, which comprises an operation arm and a surgical device connected to the operation arm, wherein the surgical device is used for performing surgical operation.
Description
Technical Field
The present invention relates to surgical devices.
Background
The remote operation equipment (one kind of operation robot) is widely used in clinical medical treatment, especially in the fields of obstetrics and gynecology, gastrointestinal surgery and the like, a terminal instrument is arranged at the tail end of the remote operation equipment, the terminal instrument is provided with an operation instrument, the operation instrument enters a human body to perform operation, and a doctor enables the terminal instrument to control the operation instrument to make various operation instructions by remotely operating the operation equipment.
The surgical instrument is usually a long shaft structure to facilitate the instrument to enter the human body through a minimally invasive opening, the seat end instrument needs to provide the surgical instrument with a degree of freedom in the long shaft direction, the existing surgical instruments are provided with an operation end, and the connection modes of the operation end and the end instrument are usually two types: in the first case, the operation end can be moved along the distal end instrument in the longitudinal direction, in which case the length of the distal end instrument in the longitudinal direction always needs to be longer than L in order to make the maximum moving distance of the surgical instrument in the longitudinal direction L, in which case the length of the distal end instrument is large and flexibility in the operation is not utilized; under another condition, the tail end apparatus is provided with a plurality of units capable of moving mutually in the long axis direction, the tail end apparatus is fixed on one unit, the units capable of moving mutually can drive the units to move mutually, and then when the L needs to be moved when the long axis direction of the surgical apparatus is ensured to move upwards, the units capable of moving mutually can be contracted, so that the length of the tail end apparatus is reduced, and the operation is facilitated. However, the plurality of mutually moving components are usually driven by a motor and the like, so that the operation end of the surgical instrument is subjected to a large vibration error, and the long shaft of the surgical instrument is not stabilized.
Disclosure of Invention
The invention aims to: a remote operation surgical equipment end instrument comprises an operation arm and a surgical instrument connected to the operation arm, the surgical instrument is used for performing operation, the remote operation surgical equipment end instrument is characterized in that the surgical instrument comprises an operation end and a long pipe, the end of the long pipe is provided with an execution head, the operation end controls the execution head to perform opening and closing or/rotating operation instructions through the long pipe, the axial direction of the long pipe is a first direction, the operation arm comprises a support frame and a moving part, the support frame is connected with a surgical equipment body, the operation end is fixed on the moving part,
the support frame is provided with a positioning plate and a movable table, the movable part is movably connected on the movable table, the long tube comprises a first long tube connected with the operation end and a second long tube connected with the execution head, the first long tube and the second long tube are detachably connected, the first long tube penetrates through the positioning plate, the positioning plate can drive the first long tube to move along a first direction and enable the movable part to slide along the first direction on the movable table, the operation arm further comprises a fixed tube and a driving part, the fixed tube penetrates through the positioning plate and is sleeved on the first long tube, the driving part comprises a motor, a first gear and a second gear, the motor is connected with the first gear, the first gear and the second gear are meshed, the interior of the second gear is hollow, the fixed tube penetrates through the second gear and is in threaded connection with the second gear, the fixed tube comprises a fixed ring, the fixed ring fixes the fixed tube and the first long tube in the first direction, and enables the fixed tube to rotate relative to the fixed tube, the motor drives the second gear to rotate through the first gear so as to drive the fixed pipe to move along the first direction, and further drives the first long pipe to move in the first direction.
As the improvement, fixed pipe on be equipped with the fixed slot, the fixed slot extends along first direction, is equipped with the fixed block on the locating plate, the fixed block card is gone into the fixed slot and then the fixed pipe rotation of restriction.
As an improvement, the first long pipe is provided with a groove ring, the end part of the fixing ring is clamped into the groove ring, so that the first long pipe can rotate relative to the fixing pipe, and the first long pipe and the fixing pipe are fixed in the first direction.
As the improvement, the movable table is provided with a movable groove extending along the first direction, the movable piece is provided with a movable clamping portion, and the movable clamping portion is clamped into the movable groove and can move along the first direction in the movable groove.
As an improvement, the operating arm is also provided with a connecting piece, the connecting piece is connected with the movable table, and the connecting piece is connected with the main body of the teleoperation surgical equipment.
As an improvement, the first long pipe comprises a first pipe part and a first central shaft located inside the first pipe part, the second long pipe comprises a second pipe part and a second central shaft located inside the second pipe part, the first central shaft and the second central shaft are detachably connected to form a central shaft, the first pipe part and the second pipe part are detachably connected to form a pipe part, the operating end controls the actuating head to be opened and closed through the central shaft, and the operating end rotates the pipe part to control the actuating head to rotate around the first direction.
As an improvement, first center pin on be equipped with the second concave part, be equipped with the second convex part on the second center pin, the inside rotation chamber that is equipped with of first center pin, rotation chamber and concave part intercommunication, it is equipped with a screens piece to rotate the chamber, screens piece rotates around its axis of rotation, the end of screens piece is equipped with magnet), be equipped with the bayonet socket on the second convex part, be equipped with the spring in the axis of rotation so that screens piece rotates under natural state in inserting the bayonet socket on the second convex part in the second concave part and then fix first center pin and second center pin, when will need separate first center pin and second center pin simultaneously, a magnet has been placed to the pipe portion top, will drive screens piece and rotate and then make it shift out from the bayonet socket.
As an improvement, the first pipe part is provided with two first concave parts, the second pipe part is provided with two first convex parts respectively corresponding to the first concave parts, and the first convex parts can be inserted into and fixed in the first concave parts.
Drawings
FIG. 1 is a schematic view of a tip instrument of the present invention;
FIG. 2 is a schematic view of a mobile station;
FIG. 3 is a schematic view of a fixation plate;
FIG. 4 is a schematic view of a stationary tube;
FIG. 5 is a schematic view of the drive member;
FIG. 6 is a schematic view of a retaining ring;
FIG. 7 is a schematic view of a retaining ring;
FIG. 8 is a schematic view of the separation of the first and second pipe portions;
FIG. 9 is a schematic view of the separation of the first and second pipe portions;
FIG. 10 is a schematic view of the first central shaft and the second central shaft when fixed;
FIG. 11 is a schematic view of the first central axis and the second central axis separated;
the labels in the figure are: 100-operating arm, 110-supporting frame, 111-positioning plate, 1111-fixing block, 112-movable table, 113-movable groove, 114-connecting piece, 120-movable piece, 121-movable clamping part, 130-fixed tube, 131-fixed groove, 132-fixed ring, 140-driving piece, 141-motor, 142-first gear, 142-second gear, 200-surgical instrument, 210-operating end, 220-first long tube, 221-first tube part, 2211-first concave part, 222-first central shaft, 2221-second concave part, 2222-rotating cavity, 2223-clamping part, 2224-magnet, 2225-rotating shaft, 230-second long tube, 231-second tube part, 2311-first convex part, 232-second central shaft, 2321-second projection, 2322-bayonet. .
Detailed Description
In order to solve the problems existing in the prior art, the present embodiment discloses a remote operation surgical device end apparatus, as shown in fig. 1, which includes an operation arm 100 and a surgical device 200 connected to the operation arm, the surgical device is used for performing a surgical operation, the surgical device includes an operation end 210, a long tube 220, 230, an execution head is arranged at the end of the long tube, the operation end controls the execution head to perform an operation instruction of opening, closing or/rotating through the long tube, the axial direction of the long tube is a first direction, the operation arm 100 includes a support frame 110 and a movable element 120, the support frame is connected to a surgical device body, the operation end 210 is fixed on the movable element 120,
the supporting frame 110 is provided with a positioning plate 111 and a movable table 112, the movable member is movably connected to the movable table, the long tube comprises a first long tube 220 connected to the operating end and a second long tube 230 connected to the operating head, the first long tube and the second long tube are detachably connected, the first long tube passes through the positioning plate 111, the positioning plate can drive the first long tube to move along a first direction and enable the movable member to slide along the first direction on the movable table, the operating arm further comprises a fixed tube 130 and a driving member 140, the fixed tube passes through the positioning plate 111 and is sleeved on the first long tube 220, the driving member 140 comprises a motor 141, a first gear 142 and a second gear 142, the motor is connected with the first gear, the first gear and the second gear are meshed, the second gear is internally hollow, the fixed tube 130 passes through the second gear and is in threaded connection with the second gear, the fixed tube comprises a fixed ring 132, the fixed ring fixes the fixed tube and the first long tube 220 so that the fixed tube and the first long tube are fixed in the first direction and the first The motor can rotate relative to the fixed pipe, and the motor drives the second gear to rotate through the first gear so as to drive the fixed pipe to move along the first direction, and further drives the first long pipe 220 to move in the first direction.
In a preferred embodiment, as shown in fig. 4, the fixing tube is provided with fixing grooves 131, the fixing grooves extend along a first direction, the positioning plate is provided with two fixing blocks 1111, the two fixing blocks 1111 are located at two ends of the second gear, on one hand, the fixing tube can be fixed, on the other hand, the second gear can also be fixed, and the fixing blocks are clamped into the fixing grooves 131 to limit the rotation of the fixing tube.
In a preferred embodiment, as shown in fig. 7, the first long tube is provided with a groove ring, the end of the fixing ring is clamped in the groove ring so that the first long tube can rotate relative to the fixing tube, and the first long tube and the fixing tube are fixed in a first direction.
In a preferred embodiment, as shown in fig. 1, the movable table is provided with a movable groove 113 extending along a first direction, the movable member is provided with a movable clamping portion 121, the movable clamping portion is clamped in the movable groove and can move in the movable groove along the first direction, the first long tube is driven by the positioning plate 111 to move along the first direction, the operating end is fixed on the movable member 120, and the movable member moves along the movable groove relative to the movable table. The movable part of the invention is passive relative to the movable platform, and power devices such as a motor and the like are not needed to be provided, so that the operation end has better stability to surgical instruments.
In a preferred embodiment, the manipulator arm is further provided with a connector 114 as shown in fig. 4, the connector 114 being connected to the movable stage 112 and the connector being connected to the main body of the teleoperated surgical device.
Because the tube part of the invention needs to penetrate through the positioning plate, the whole surgical instrument is difficult to disassemble, and different surgical tools such as forceps, knives and the like need to be replaced according to different requirements during surgery. Therefore, the tube part of the present invention includes two detachable parts, specifically, a first long tube installed on the positioning plate 111 and a second long tube installed with the execution head, the first long tube 220 includes a first tube part 221 and a first central shaft 222 located inside the first tube part, the second long tube 230 includes a second tube part 231 and a second central shaft 232 located inside the second tube part, the first central shaft 222 and the second central shaft 232 are detachably connected to form a central shaft, the first tube part 221 and the second tube part 231 are detachably connected to form a tube part, the operation end controls the execution head to open and close through the central shaft, and the operation end rotates the tube part to control the execution head to rotate around the first direction.
As shown in fig. 8-10, the first central shaft 222 is provided with a second concave portion 2221, the second central shaft 232 is provided with a second convex portion 2321, the first central shaft 222 is provided with a rotation cavity 222 therein, the rotation cavity is communicated with the concave portion, the rotation cavity is provided with a locking member 2223, the locking member rotates around a rotation shaft 2225, the end of the locking member is provided with a magnet 2224, the second convex portion 2321 is provided with a bayonet 2322, and the rotation shaft is provided with a spring so that the locking member rotates into the bayonet 2322 on the second convex portion inserted into the second concave portion under a natural state to fix the first central shaft and the second central shaft, and when the first central shaft and the second central shaft need to be separated, a magnet is placed above the tube portion to drive the locking member to rotate and move out of the bayonet. The first tube part is provided with two first recesses 2211, the second tube part 231 is provided with two first protrusions 2311 corresponding to the first recesses, and the first protrusions can be inserted into and fixed in the first recesses 2211.
The dismantlement structure of first pipe portion and second pipe portion is similar to first center pin and second center pin, it is concrete, first pipe portion inside is equipped with rotates chamber 222, it communicates with first concave part to rotate the chamber, it is equipped with a screens 2223 to rotate the chamber, screens rotates around its axis of rotation 2225, the end of screens is equipped with magnet 2224, be equipped with bayonet socket 2322 on first convex part 2311, be equipped with the spring on the axis of rotation so that the screens rotates under natural state and inserts in the bayonet socket 2322 on the first convex part in the second concave part and then fix first pipe portion and second pipe portion, when will need separate first center pin and second center pin simultaneously, a magnet has been placed above the pipe portion, will drive screens and rotate and then make it shift out from the bayonet socket.
The invention is provided with the moving part 120 and the support frame 110 which can slide mutually, wherein the long pipe passes through the positioning plate 111 on the support frame 110, the positioning plate can drive the pipe part to move along the first direction, and then under the condition that the operation end is fixed relative to the moving part 120, the pipe part can move as long as a driving device is arranged on the moving part 120, and further the vibration on the operation end is better, so that the operation is more stable.
Claims (8)
1. An end instrument of a gynecological and obstetrical teleoperation surgical equipment, which comprises an operation arm (100) and a surgical instrument (200) connected to the operation arm, wherein the surgical instrument is used for performing surgical operation and is characterized in that the surgical instrument comprises an operation end (210), a long pipe (220, 230), an execution head is arranged at the tail end of the long pipe, the operation end controls the execution head to perform opening and closing or/rotating surgical instructions through the long pipe, the axial direction of the long pipe is a first direction, the operation arm (100) comprises a support frame (110) and a movable part (120), the support frame is connected with a surgical equipment body, the movable part (120) is fixedly provided with the operation end (210),
the support frame (110) is provided with a positioning plate (111) and a movable platform (112), the movable part is movably connected on the movable platform, the long pipe comprises a first long pipe (220) connected with the operation end and a second long pipe (230) connected with the execution head, the first long pipe and the second long pipe are detachably connected, the first long pipe penetrates through the positioning plate (111), the positioning plate can drive the first long pipe to move along a first direction and enable the movable part to slide on the movable platform along the first direction, the operation arm further comprises a fixed pipe (130) and a driving part (140), the fixed pipe penetrates through the positioning plate (111) and is sleeved on the first long pipe (220), the driving part (140) comprises a motor (141), a first gear (142) and a second gear (142), the motor is connected with the first gear, the first gear is meshed with the second gear, the inside of the second gear is hollow, the fixed pipe (130) penetrates through the second gear and is in threaded connection with the second gear, the fixed pipe comprises a fixed ring (132), the fixed ring fixes the fixed pipe and the first long pipe (220) so that the fixed pipe and the first long pipe are fixed in a first direction and the first long pipe can rotate relative to the fixed pipe, the motor drives the second gear to rotate through the first gear so as to drive the fixed pipe to move in the first direction, and further drives the first long pipe (220) to move in the first direction.
2. The distal instrument of claim 1, wherein the mounting tube has a mounting slot (131) extending in a first direction, and the positioning plate has a mounting block (1111) that is engaged with the mounting slot (131) to restrict rotation of the mounting tube.
3. The distal gynecological teleoperational device instrument of claim 2, wherein the elongated first tube is provided with a slotted collar, and wherein the end of the retainer ring is snapped into the slotted collar to allow the elongated first tube to rotate relative to the retainer tube and to secure the elongated first tube and the retainer tube in a first orientation.
4. The distal instrument of the gynecological teleoperated surgical device according to claim 3, characterized in that the movable table is provided with a movable groove (113) extending in the first direction, the movable piece being provided with a movable catch (121) which snaps into the movable groove and can move in the movable groove in the first direction.
5. The distal instrument of the gynecological teleoperated surgical device according to claim 4, characterized in that the manipulator arm is further provided with a connecting element (114), the connecting element (114) being connected to the movable table (112) and the connecting element being connected to the body of the teleoperated surgical device.
6. An end instrument of a gynecological teleoperated surgical device according to any of claims 1 to 5, characterized in that the first long tube (220) comprises a first tube part (221) and a first central shaft (222) inside the first tube part, the second long tube (230) comprises a second tube part (231) and a second central shaft (232) inside the second tube part, the first central shaft (222) and the second central shaft (232) are detachably connected to form the central shaft, the first tube part (221) and the second tube part (231) are detachably connected to form the tube part, the operation end controls the opening and closing of the operation head through the central shaft, and the operation end rotates the tube part to control the rotation of the operation head around the first direction.
7. The distal instrument of the gynecological teleoperated surgical device of claim 6, wherein the first central shaft (222) is provided with a second concave portion (2221), the second central shaft (232) is provided with a second convex portion (2321), the first central shaft (222) is internally provided with a rotation cavity (222) which is communicated with the concave portion, the rotation cavity is provided with a locking member (2223) which rotates around a rotation shaft (2225) thereof, the end of the locking member is provided with a magnet (2224), the second convex portion (2321) is provided with a bayonet (2322), the rotation shaft is provided with a spring to allow the locking member to rotate into the bayonet (2322) on the second convex portion inserted into the second concave portion under a natural state to fix the first central shaft and the second central shaft, and when the first central shaft and the second central shaft need to be separated, the magnet is placed above the tube portion, the blocking piece can be driven to rotate so as to be removed from the bayonet.
8. An obstetric and gynecologic teleoperational surgical device tip instrument as claimed in any one of claims 1 to 7, characterized in that said first tube portion is provided with two first recesses (2211), and said second tube portion (231) is provided with two first protrusions (2311) corresponding to the first recesses, respectively, and the first protrusions can be inserted and fixed in the first recesses (2211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481272.3A CN111568557A (en) | 2020-05-31 | 2020-05-31 | Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481272.3A CN111568557A (en) | 2020-05-31 | 2020-05-31 | Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment |
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| Publication Number | Publication Date |
|---|---|
| CN111568557A true CN111568557A (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010481272.3A Pending CN111568557A (en) | 2020-05-31 | 2020-05-31 | Distal end instrument of gynaecology and obstetrics's teleoperation surgical equipment |
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| CN (1) | CN111568557A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247847A (en) * | 2005-07-11 | 2008-08-20 | 导管机器人技术公司 | Remotely controlled catheter insertion system |
| CN101918073A (en) * | 2008-01-16 | 2010-12-15 | 导管机器人技术公司 | The catheter insertion system of Long-distance Control |
| CN105473095A (en) * | 2013-08-26 | 2016-04-06 | 奥林巴斯株式会社 | Medical manipulator |
| US20170049519A1 (en) * | 2014-04-29 | 2017-02-23 | Covidien Lp | Surgical instruments, instrument drive units, and surgical assemblies thereof |
| CN108433768A (en) * | 2018-04-17 | 2018-08-24 | 重庆邮电大学 | A kind of 3-degree-of-freedom electrical type stapler driving device |
| CN110575258A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | A kind of medical operation instrument and operation robot |
| CN110680501A (en) * | 2019-10-18 | 2020-01-14 | 杨锐 | A surgical robot clamp drive unit |
| CN110934643A (en) * | 2019-12-01 | 2020-03-31 | 杨锐 | Tumor surgery robot instrument assembly with dual-drive structure |
-
2020
- 2020-05-31 CN CN202010481272.3A patent/CN111568557A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247847A (en) * | 2005-07-11 | 2008-08-20 | 导管机器人技术公司 | Remotely controlled catheter insertion system |
| CN101918073A (en) * | 2008-01-16 | 2010-12-15 | 导管机器人技术公司 | The catheter insertion system of Long-distance Control |
| CN105473095A (en) * | 2013-08-26 | 2016-04-06 | 奥林巴斯株式会社 | Medical manipulator |
| US20170049519A1 (en) * | 2014-04-29 | 2017-02-23 | Covidien Lp | Surgical instruments, instrument drive units, and surgical assemblies thereof |
| CN108433768A (en) * | 2018-04-17 | 2018-08-24 | 重庆邮电大学 | A kind of 3-degree-of-freedom electrical type stapler driving device |
| CN110680501A (en) * | 2019-10-18 | 2020-01-14 | 杨锐 | A surgical robot clamp drive unit |
| CN110575258A (en) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | A kind of medical operation instrument and operation robot |
| CN110934643A (en) * | 2019-12-01 | 2020-03-31 | 杨锐 | Tumor surgery robot instrument assembly with dual-drive structure |
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Application publication date: 20200825 |