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WO2018040662A1 - 一种基于自然腔道的微创手术装置 - Google Patents

一种基于自然腔道的微创手术装置 Download PDF

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Publication number
WO2018040662A1
WO2018040662A1 PCT/CN2017/087729 CN2017087729W WO2018040662A1 WO 2018040662 A1 WO2018040662 A1 WO 2018040662A1 CN 2017087729 W CN2017087729 W CN 2017087729W WO 2018040662 A1 WO2018040662 A1 WO 2018040662A1
Authority
WO
WIPO (PCT)
Prior art keywords
triangular
assembly
rod
control box
fixed
Prior art date
Application number
PCT/CN2017/087729
Other languages
English (en)
French (fr)
Inventor
王树新
张国凯
魏俊波
Original Assignee
天津大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 天津大学 filed Critical 天津大学
Priority to US15/765,929 priority Critical patent/US10702253B2/en
Priority to EP17844969.0A priority patent/EP3345552B1/en
Publication of WO2018040662A1 publication Critical patent/WO2018040662A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00278—Transorgan operations, e.g. transgastric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00818—Treatment of the gastro-intestinal system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00876—Material properties magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00—General characteristics of surgical instruments
    • A61B2217/002—Auxiliary appliance
    • A61B2217/007—Auxiliary appliance with irrigation system

Definitions

  • the present disclosure relates to a minimally invasive surgical device, and more particularly to a minimally invasive surgical device based on a natural lumen.
  • One end of the surgical instrument is operated by a doctor, and the other end is invaded into the body through the natural cavity of the human body for surgical operation. Therefore, the surgical instrument is the only part that is in contact with the human diseased tissue, and is the only tool for directly performing the surgical action.
  • the doctor needs to hold a wide range of surgical instruments. The movement reduces the flexibility of performing the surgical action at the end of the instrument. At the same time, the long-term and wide-ranging operation makes the doctor easy to fatigue, which increases the difficulty of the surgery.
  • the present disclosure provides a minimally invasive surgical device based on a natural lumen, including a control box assembly, a hose assembly, a snake bone structure, and a tip assembly, wherein
  • the control box assembly includes a control box housing, and the quick change device is respectively disposed on the left and right sides of the rear wall of the control box housing, and the quick change device includes an upper connecting sleeve, and the upper connecting sleeve is used Inserting a surgical tool;
  • the control box assembly further includes a triangular drive assembly including a cap for effecting movement of the tip assembly of the front end by operating the cap;
  • the hose assembly includes a fixed outer skin, a front end of the fixed outer skin is connected to the outer sheath, and the serpentine structure is installed in the outer sheath.
  • the triangular driving assembly includes a toggle lever disposed through an intermediate portion of the upper casing of the control box housing;
  • the cap is connected at the top of the toggle lever by a key, and the rear end of the bottom of the toggle lever is rotatably coupled to a mount by a connecting pin, the front end of the bottom of the toggle lever and a pull rod The rear end is rotatably connected, and the front end of the pull rod is rotatably connected to the sliding block;
  • the sliding block and the fixing frame are slidably connected by a rail slider structure, the fixing bracket is fixed on a partition plate of the control box assembly, the rear end of the spring is fixed at the front end of the sliding block and the front end is fixed on the front wall of the fixing frame
  • the sliding axis of the sliding block coincides with the axis of the rail of the fixing frame
  • One end of a linear transmission wire is fixedly connected to one end of the wire joint, and the other end of the transmission wire is sequentially passed through the front sleeve assembly, the hose assembly and the snake bone structure, and then connected to a transmission wire rear end of the end assembly .
  • control box assembly further includes two rotary switches
  • Each rotary switch includes a swinging rod and a threaded frame, and a swinging wheel is fixed on the top of the swinging rod, a central hole is formed in the top wall of the threaded frame, and a middle hole is arranged in the middle of the threaded frame a cavity in which the center hole is connected;
  • the lower portion of the swinging rod is disposed through the central hole of the threaded bracket and extends into the cavity, and the swinging rod is clearance-fitted with the center hole of the threaded frame, and the swinging rod located in the threaded frame
  • An outer gear is fixed to the bottom of the outer gear, and an upper magnet assembly is fixed to the bottom wall of the outer gear.
  • the threaded bracket is fixed on the threaded seat, and the threaded seat is fixed on the fixing plate by a fixing bolt, and an inner ring gear is fixed in the threaded frame, and the opposite to the upper magnet assembly a lower magnet assembly is fixed on the bottom inner wall of the threaded seat, and the outer gear support is disposed on a thrust spring;
  • the upper magnet assembly is wrapped in a thrust spring, and the upper end of the thrust spring is in contact with the lower end of the external gear, and the lower end of the thrust spring is fixedly connected with the lower magnet assembly, and is located at the lower part of the inner ring gear.
  • the thrust spring outer sleeve has a compression washer to fix the radial position of the thrust spring, and the inner ring gear and the outer gear axis coincide with the axis of the swing rod, and the swing rod can move up and down to drive
  • the ring gear is in meshing engagement or disengagement with the external gear, and a sprocket is mounted on the swinging rod located at an upper portion of the creel.
  • baffles are respectively fixed on the partitions on the front side of each sprocket;
  • Each set of the chute includes two spaced apart chutes, and the sprockets on each of the swinging rods respectively engage with a chain wound around the sprockets;
  • each of the chains are respectively disposed in two chutes of a set of chutes, and the chain can be reciprocating linear motion in the chute under the driving of the swinging rod.
  • the two free ends of one of the chains are fixedly connected to one end of the transmission wire;
  • the other end of the four said drive wires are passed through the front sleeve assembly, the guide wire opening of the connecting ring and the guide wire opening in the serpentine structure, and then secured in the rear end opening of the end body of the end assembly.
  • the two quick-change devices include two lower connecting sleeves respectively fixedly connected to the left and right sides of the rear wall of the lower casing of the control box housing;
  • each lower connecting sleeve is fixedly connected with the rear end of the tool tube on the corresponding side, and an outer telescopic sleeve is fixedly disposed on each lower connecting sleeve, and the middle telescopic sleeve is slidably inserted into the middle hole of the outer telescopic sleeve
  • the inner telescopic sleeve is slidably inserted in the middle hole of the middle telescopic sleeve;
  • An upper connecting sleeve is fixed on the rear end of the inner telescopic sleeve, and two rectangular grooves of the same structure are symmetrically opened on the upper connecting sleeve on both sides of the axis of the upper connecting sleeve, and two unlocking rods having the same structure are respectively a straight rod section including a clearance fit and a rectangular groove inserted on the corresponding side;
  • a protruding hook capable of hooking and engaging with a groove on the surgical tool is disposed at a rear end of the straight rod segment, and a pressing plate is connected to the front end of the straight rod segment, and the straight rod segments of the two unlocking rods are
  • the upper connecting sleeve is connected by a rotating shaft;
  • a top rod is fixedly connected to the upper connecting sleeve portion opposite to each of the pressing plates, and the pressing plate is capable of contacting the top of the jack when the unlocking rod is rotated about the rotating shaft.
  • the tip assembly includes a tip body and is mounted in the middle of the tip body Opening and closing body in the tank;
  • the opening and closing body comprises two triangular rings which are identical in structure and symmetrically disposed on the left and right sides.
  • a triangular tie rod is disposed at an intermediate position between the two of the triangular rings, and is symmetric on both sides of each of the triangular rings.
  • the axis of the cylindrical boss is parallel to the axis of the cylindrical hole and perpendicular to the axis of the triangular ring, and each of the bosses is respectively rotatably connected with one end of one of the links, the front side
  • the other ends of the two connecting rods and the other ends of the two connecting rods on the rear side are respectively connected to the front and rear ends of the triangular rod by a pin shaft, and the front end of the transmission wire is vertically fixedly connected to the triangular rod, in the transmission
  • the wire is provided with a triangular spring, the rear end of the transmission wire is disposed through an intermediate opening of a terminal body, and a boss is disposed in the intermediate opening, and the triangular spring gap is disposed in the middle.
  • the inner and lower ends of the hole are fixedly connected to the boss.
  • the upper end of the triangular spring is in contact with the bottom end of the triangular pull rod, and each of the cylindrical holes and a triangular pin
  • the cylindrical side is rotatably connected and the triangular pin is fixed on the end body, and the triangular ring is rotatable about the triangular pin, and the inner wall of the slot is formed in the middle of the end body corresponding to the four cylindrical bosses.
  • a circular arc groove is arranged on the upper side, and a cylindrical boss end portion of the triangular ring is slidably disposed at a corresponding arc groove, and the cylindrical boss can slide back and forth in the circular arc groove, the triangular pull rod and each connecting rod Rotating connection with the triangular pin and the triangular ring to jointly form a four-bar mechanism.
  • the surgical device further includes a water gas switch connected to the upper casing.
  • the utility model has the beneficial effects that the present disclosure is a manual operation surgical device based on a wire drive, which adopts a wire transmission technology, has a small overall structure and is convenient to operate.
  • the surgical device is passively realized by the hose assembly supporting the deformation and the openable end assembly, and the surgical flexibility is expanded, and the surgeon facilitates the operation of the surgical operation.
  • the operation knob is switched.
  • the locking and unlocking of the surgical instrument is realized, and the position of the minimally invasive surgery is set according to the action required by the doctor, which facilitates the smooth operation of the minimally invasive surgery, and is safe, efficient, and operability.
  • the utility model has the functions of a replaceable surgical instrument and a quick change instrument tool, and the flexible operation in the minimally invasive surgery is effectively realized, and meets the requirements of different surgical operation tasks.
  • FIG. 1 is a schematic view showing the overall structure of a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure
  • FIG. 2A is a schematic view showing the overall structure of a control box assembly in a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure
  • FIG. 2B is a schematic view showing the internal structure of the control box assembly shown in FIG. 2A;
  • FIG. 2C is a schematic diagram of a triangular drive assembly of the control box assembly shown in FIG. 2A;
  • FIG. 2D is a schematic structural view of a rotary switch of the control box assembly shown in FIG. 2A;
  • FIG. 2E is a schematic structural view of a quick change device of the control box assembly shown in FIG. 2A;
  • 3A is a schematic structural view of a tip assembly of a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure
  • FIG. 3B is a schematic view showing the structure of the opening and closing body of the end assembly shown in FIG. 3A;
  • FIG. 3C is a schematic structural view of the end body of the end assembly shown in FIG. 3A;
  • 3D is a schematic diagram of an initial posture of the tip assembly shown in FIG. 3A;
  • FIG. 3E is a schematic enlarged view of the operation of the end assembly shown in FIG. 3A; FIG.
  • FIG. 4 is a schematic structural view of a hose assembly in a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure
  • FIG. 5 is a schematic structural view of a surgical tool installed on a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of a gastric surgery of a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure.
  • FIG. 1 is a schematic view of an overall structure of a minimally invasive surgical device based on a natural cavity according to an embodiment of the present disclosure, which includes a control box assembly 300 in which a hose assembly 400 is fixedly connected in the middle of a front end of the control box assembly 300, and is disposed.
  • the serpentine structure 500 and the tip assembly 600 inside the hose assembly 400, the hose assembly 400, the serpentine structure 500 coincides with the axis of the tip assembly 600, and the left and right surgical tools 100, 200 and the control box assembly
  • the back end of the 300 is connected.
  • the control box assembly 300 is a manipulation component of a natural-channel minimally invasive surgical device.
  • the control box assembly 300 can include a front cover assembly 101, the front cover The rear end of the assembly 101 is fixedly coupled to the front end of the control box housing 107.
  • the front cover assembly 101 provides access to the surgical tools 100 and 200, and also provides access to the transmission wire for controlling the control assembly 300, requiring a certain rigidity.
  • the front cover assembly 101 plays an important connecting role.
  • the front end of the front cover assembly 101 is sequentially coupled to the serpentine structure 500 and the tip assembly 600 by a hose assembly 400.
  • the control box housing 107 may specifically include a lower housing and an upper housing fixed to the lower housing.
  • a fixing plate 113 may be fixed by a pin, and the two structures are the same.
  • the tool tube 114 is symmetrically fixed to the fixed plate 113 by a pressing block 115.
  • the front ends of the two tool tubes 114 are disposed in the front sleeve assembly 101, and the tool tube 114 serves as a passage through the surgical tool.
  • the partition 112 may be fixed to the fixing plate 113 by a pin, and the chute 110 may be fixedly coupled to the partition 112 by a pin.
  • control box assembly 300 can further include a delta drive assembly 102 coupled between the diaphragms 112 and including a cap 201 that the physician can operate by operating the cap 201 to effect movement of the tip assembly 600 of the front end.
  • the triangular drive assembly 102 can include a toggle lever 202 disposed through the middle of the upper housing, and a cap 201 is coupled to the top of the toggle lever 202 by a key.
  • the cap 201 is a manually operated object, and the pull-back lever 202 can be pulled back and forth.
  • the rear end of the bottom of the toggle lever 202 is rotatably connected to the fixing frame 203 by a connecting pin, so that the rotation around the connecting pin can be realized.
  • the front end of the bottom of the toggle lever 202 is rotatably connected to the rear end of a pull rod 207 by a connecting pin.
  • the front end of the pull rod 207 is connected to the sliding block 204 by a pin rotation.
  • the sliding block 204 and the fixed frame are fixed.
  • the 203 is slidably coupled by the rail slider structure, whereby the rotational movement of the toggle lever 202 can be converted into a linear motion of the slider 204, the holder 203 is fixed to the partition 112, and the rear end of the spring 205 is fixed to the slider
  • the front end of the 204 is fixed to the front wall of the fixing frame 203, the sliding axis of the sliding block 204 coincides with the axis of the rail of the fixing frame 203, and one end of the linear driving wire 117 is fixedly connected with one end of the wire joint 206.
  • the other end of the linear drive wire 117 passes through the front sleeve assembly 101, the guide wire hole on the connecting ring 702 of the hose assembly 400, and the serpentine structure 500, and is then attached to the drawn wire 609 of the end assembly 600. .
  • the spring 205 is elongated in a normal state such that the sliding block 204 is close to the toggle lever 202, keeping the sliding block 204 normally away from the front wall of the fixing frame 203; pressing the toggle lever 202 downwardly compresses the spring 205, when loose Opening the toggle lever 202, the toggle lever 202 is restored to the original position due to the elastic force of the spring 205, and a cylindrical hole is formed in the front wall of the fixing bracket 203, and the rear end of a triangular wire connector 206 passes through the The cylindrical hole and the spring 205 are fixedly connected to the sliding block 204.
  • the axis of the triangular wire connector 206 coincides with the sliding axis of the sliding block 204, and the toggle lever 202 is manually pulled to drive the movement of the pull rod 207.
  • the pull rod 207 is connected to one end of the sliding block 204.
  • the linear motion of the slider 204 drives the movement of the wire joint 206.
  • the control box assembly 300 further includes two rotary switches 104, respectively disposed symmetrically on the rear side of the partition 112, which is a transmission component of the minimally invasive surgical control box, two rotations.
  • the switch 104 has the same structure.
  • Each of the rotary switches 104 includes a swinging rod 402 and a threaded frame 403.
  • a swinging wheel 401 is fixed on the top of the swinging rod 402, and a central hole is formed in the top wall of the threaded frame 403.
  • a cavity communicating with the central hole is disposed in the middle of the threaded frame 403, and a lower portion of the swinging rod 402 passes through a central hole of the threaded frame 403 and extends into the cavity, the swinging
  • the rod 402 is clearance-fitted with the central hole of the turret 403, and an external gear 302 is fixed to the bottom of the swinging rod 402 located in the turret 403, and an upper magnet group is fixed on the bottom wall of the external gear 302.
  • the threaded frame 403 is fixed on the threaded seat 404, and the threaded seat 404 is fixed on the fixing plate 113 by a fixing bolt 405, and an inner ring gear 301 is fixed in the threaded frame 403.
  • a lower magnet assembly 409 is fixed to the bottom inner wall of the threaded seat 404 opposite to the upper magnet assembly 408.
  • the outer gear 302 is supported on a thrust spring 407, and the upper magnet assembly 408 is wrapped around the thrust spring.
  • 407 in the normal state, that is, the spring non-stress state, the upper end of the thrust spring 407 is in contact with the lower end of the external gear 302, and the lower end of the thrust spring 407 is fixedly connected to the lower magnet assembly 409, and is located at the lower portion of the inner ring gear 301.
  • the outer sleeve of the thrust spring 407 has a compression washer 406 to fix the radial position of the thrust spring 407, and the limit is fixed.
  • the axis of the inner ring gear 301 and the outer gear 302 and the axis of the swing rod 402 can be moved up and down to drive the inner ring gear 301 to engage or disengage with the external gear 302.
  • the swinging rod 402 is mounted on the swinging rod 402 located at the upper portion of the threaded frame, and the left and right sides are chain 103 the same structure.
  • the thrust spring 407 is extended, and the outer gear 302 is brought close to the upper end surface of the inner wall of the crease 403 by the extension force of the spring, and the outer gear 302 and the inner ring gear 301 are not engaged.
  • the oscillating wheel 401 drives the oscillating lever 402 to perform a rotational motion, thereby driving the external gear 302 to rotate.
  • the outer gear 302 and the upper magnet assembly 408 move downward with the swing wheel 401, and the outer gear 302 moves downward to squeeze the thrust spring 407 so that the thrust spring 407 is in a compressed state, and the upper magnet assembly 408 is
  • the external gear 302 meshes with the inner ring gear 301 in the same plane, and the inner ring gear 301 and the outer gear 302 rub.
  • the contact makes the oscillating wheel unable to rotate, thereby realizing the locking of the control box.
  • the threaded frame 403 has a certain fixing effect on the swinging rod 402 in the axial direction.
  • the swinging wheel 401 is manually pulled upward, the distance between the upper magnet assembly 408 and the lower magnet assembly 409 becomes larger, and the attraction between the magnet assemblies is smaller than that of the thrust spring 407.
  • the extension force under the action of the extension force of the thrust spring 407, the external gear 302 moves upwardly out of engagement with the ring gear 301 to unlock the surgical control box, and the swing rod 402 continues to move upward to return to the initial state, the external gear 302 It is in contact with the upper end of the ferrule 403, thereby realizing a non-linear action switch.
  • Each of the sets of the chutes 110 includes Two spacer grooves 110 are provided at intervals, and the sprocket 103 on each of the swinging rods 402 is respectively engaged with a chain 111 wound around the sprocket 103, and the two free ends of each of the chains 111 are respectively Separately disposed in the two chutes 110 of the plurality of chutes 110, the chain 111 can be reciprocally linearly moved in the chute 110 by the swinging rod 402, and each of the chains 111 The two free ends are fixedly connected to one end of the transmission wire 116, and the other ends of the four transmission wires 116 sequentially pass through the front sleeve assembly 101, the guide wire hole of the connecting ring 702 and the guide wire on the serpentine structure 500.
  • the hole is then fixed in the rear end opening of the end body 607 of the end assembly 600, and the transmission wire 116 reciprocates back and forth in the guide wire hole of the connecting ring 702, and the transmission wire is tensioned and relaxed, thereby making the serpentine structure 500 Flexing movement under the pulling action of the transmission wire to realize the front end hose assembly 400 For, so that the operation of the front end of the surgical device pitching motion, swing.
  • the connection of the transmission wire 116 to the serpentine structure 500 can be performed by using the existing structure, and the transmission wire 116 can slide in the guide wire hole.
  • the rotary switch 104 is manually operated to rotate about the axis, thereby driving the sprocket 103 to rotate, so that the chain 111 fixedly connected to the sprocket 103 linearly moves, and the linear motion of the chain 111 drives the transmission wire 116 to slide in the guide wire hole.
  • the linear motion of the drive wire 116 drives the movement of the serpentine structure 500 of the surgical device to achieve the desired surgical channel configuration.
  • the rotary switch 104 is manually operated to drive the linear tensioning movement of the transmission wire 116 to achieve upward or downward bending of the front end serpentine structure 500, swinging to the left and right, thereby enabling the placement of the surgical device.
  • the adjustment of the two sets of gears achieves the locking of the up and down pitch and the left and right swing positions of the front end of the serpentine structure 500 of the surgical device, and the movement of the up and down pitch and the left and right swings can be realized.
  • the wire rope connection structure disclosed in CN200910306053.5 Thereby, the reach of the surgical device can be expanded.
  • the left and right quick change devices 105 are important components for minimally invasive surgery, and are disposed on the left and right sides of the rear wall of the lower casing of the control box housing 107, respectively.
  • Two quick-change devices 105, the two quick-change devices 105 include two lower connecting sleeves 501 fixedly connected to the left and right sides of the lower casing of the lower casing of the control box casing 107, and each of the lower connecting sleeves 501 The front end is fixedly connected to the rear end of the tool tube 114 on the corresponding side, and an outer telescopic sleeve 502 is sleeved and fixed on each of the lower connecting sleeves 501.
  • the middle telescopic sleeve 503 is slidably inserted into the middle hole of the outer telescopic sleeve 502.
  • the inner telescopic sleeve 504 is slidably inserted into the middle hole of the middle telescopic sleeve 503, and an upper connecting sleeve 506 is fixed at the rear end of the inner telescopic sleeve 504, and the upper connecting sleeve 506 is disposed on both sides of the axis of the upper connecting sleeve 506.
  • Two rectangular slots of the same structure are symmetrically opened, and the two unlocking levers 507 having the same structure each include a straight rod section which is clearance-fitted in a rectangular slot of the corresponding side, and the rear end of the straight section is provided with a groove on the surgical tool is hooked and fitted with a pressing hook, and a pressing plate is connected to the front end of the straight rod segment, and the straight rod segment of the two unlocking rods 507 is connected with the upper connecting sleeve 506 through the rotating shaft, in each The upper connecting sleeve 506 portion of the pressing plate is respectively arranged to pass the bomb A plunger 505 is fixedly connected.
  • the pressing plate can be in contact with the top of the jack 505.
  • the surgical tool If the surgical tool is inserted from the upper connecting sleeve 506 of the quick change device 105, the surgical tool passes through the intermediate hole of the inner telescopic sleeve 504, and is placed in the quick change device 105, the front end of the rod end of the unlocking rod 507 is squeezed by friction, The groove on the surgical tool cooperates with the hook of the unlocking lever 507, and the front end of the unlocking lever 507 is biased to act on the pressing plate at the rear end of the unlocking lever 507, and is in contact with the jack 505, so that the front end of the unlocking lever 507 is opened.
  • a water gas switch 106 can be connected to the upper casing for easy operation by a doctor, the water gas switch 106 is connected to the water pipe to access the water source, and the water gas switch 106 can be opened to clean the lens.
  • the doctor who is undergoing surgery has a wide field of vision and can clean the surface of the human organ. During the operation, there may be bleeding. At this time, the water-to-air switch 106 is activated to clean the organs around the surgery, which can improve the doctor's surgery. Security.
  • the water gas switch 106 can be constructed in the prior art.
  • the tip assembly 600 provides a support channel for a minimally invasive surgical instrument end effector, and the tip assembly 600 effects the connection of the surgical tool end effector to the hose assembly 400 of the surgical device, the end
  • the head assembly 600 includes a tip body 607 and an opening and closing body installed in an intermediate slot of the tip body 607, the opening body comprising two triangular rings 601 of the same structure and symmetrically disposed on the left and right sides, in the two triangles
  • An intermediate position between the rings 601 is provided with a triangular pull rod 610, and a cylindrical boss 612 and a cylindrical hole 613 are symmetrically disposed on each side of each of the triangular rings 601, and the axis of the cylindrical boss 612 is symmetrical.
  • each of the bosses 612 is rotatably connected to one end of one of the links 602, and the other end of the two links 602 on the front side and the two sides of the rear side are connected
  • the other end of the rod 602 is rotatably connected to the front and rear ends of the triangular rod 610 by a pin 611, and the front end of the drawn wire 609 is vertically fixedly connected to the triangular rod 610, and a triangular spring is set on the drawn wire 609.
  • the rear end of the drawn wire 609 is disposed through an intermediate opening of a tip body 607, and a boss is disposed in the intermediate opening, and the triangular spring 608 is disposed in the middle opening
  • the inner and lower ends are fixedly coupled to the boss.
  • the upper ends of the triangular springs 608 are in contact with the bottom ends of the triangular rods 610, and each of the cylindrical holes 613 and the cylindrical side of a triangular pin 603 Rotating and the triangular pin 603 is fixed to the end body 607, and the triangular ring 601 is rotatable about the triangular pin 603.
  • the triangular pin 603 has a triangular prism structure, and a triangular prism hole 615 is defined in the end body 607, and the triangular prism structure is fixed on the triangular prism hole 615.
  • An arcuate groove 614 is disposed on an inner wall of the intermediate end of the end body 607 corresponding to the four cylindrical bosses 612.
  • the end portion of the cylindrical boss 612 of the cam ring 601 is slidably disposed in a correspondingly disposed circle.
  • the cylindrical boss 612 can slide back and forth in the circular arc groove 614, and the triangular pull rod 610 and the connecting rod 602 are rotatably connected with the triangular pin 603 and the triangular ring 601 to form a common one.
  • Four-bar mechanism At the arc groove 614, the cylindrical boss 612 can slide back and forth in the circular arc groove 614, and the triangular pull rod 610 and the connecting rod 602 are rotatably connected with the triangular pin 603 and the triangular ring 601 to form a common one.
  • the drawing wire 609 is pulled, and the drawing wire 609 is linearly moved downward to drive the fixed connection to the triangular rod 610 to compress the triangular spring 608 to move downward, and the pulling rod 602 which is rotatably connected with the triangular rod 610 is rotated, and the rotation of the rod 602 is driven.
  • the cylindrical boss 612 of the right triangular ring 601 slides in the circular arc groove 614 on the end main body 607, and the triangular ring 601 rotates outwardly around the triangular pin 603. Similarly, the rotation of the pull rod 602 drives the left triangle.
  • the ring 601 is rotated outwardly, and the two triangular rings 601 are respectively rotated outward, whereby a large angle is formed between the two triangular rings 601, and the triangular ring 601 of the end assembly 600 based on the front end of the natural lumen surgical device is realized.
  • the motion output the initial posture is shown in Fig. 3D, a small angle ⁇ 1 is formed between the left and right triangle rings 601, the triangular driving assembly 102 is manually operated, and the stretching wire 609 is tensioned to reach the posture of Fig. 3E, and the left and right triangle rings
  • a large angle ⁇ 2 is formed between 601, and different angular changes are output to achieve the desired surgical position setting.
  • the doctor realizes the movement of the tip assembly of the front end by rotating the cap 201 of the operation control box, thereby realizing the expansion of the surgical operation triangle of the surgical device.
  • the two surgical tools 100, 200 sequentially pass through the connecting sleeve 506 of the corresponding side, the tool tube 114 of the control box of the corresponding side, the front sleeve assembly 101 of the surgical device, the tool hole of the connecting ring 702 of the hose assembly 400, and the snake bone.
  • the structure 500, the rear ends of the two surgical tools 100, 200 are respectively fixed by the concave hooks of the unlocking rods 507, and the end effector of the front end of the surgical tool passes through the surgical tool channel 605, respectively, and the gap is set.
  • the end effector of the surgical tool is passively disposed in the corresponding follower cam 601 movement in the cam ring 601.
  • the hose assembly 400 provides access to the minimally invasive surgical tool and the drive wire.
  • the hose assembly 400 is in direct contact with the natural lumen of the human body and should have good softness and no damage to the natural passage of the human body.
  • the hose assembly 400 includes a fixed outer skin 701 that is fixedly coupled to the front sleeve assembly 101.
  • the fixed outer skin 701 is a rubber tube, and the front ends of the fixed outer skins 701 are sequentially connected.
  • the ring 704 is connected to the outer cover 703.
  • the four connecting rings 702 are fixedly disposed inside and behind the fixed outer skin 701. Each of the connecting rings 702 is provided with a plurality of cylindrical guide wire holes and two tool holes.
  • the serpentine structure 500 is mounted within the outer sheath 703 with 200 through the tool aperture of the hose assembly 400.
  • FIG. 6 is a schematic view showing the application of a minimally invasive surgical device based on a natural cavity in gastric surgery according to an embodiment of the present disclosure.
  • the end effector of the surgical tool of the minimally invasive surgical device 1 of the embodiment of the present disclosure extends into the stomach 3 of the human body through the human esophagus 2 for surgical operation, and the end effectors of the surgical tools 100 and 200 directly contact the stomach of the human body.
  • the hose assembly 400 of the surgical device Direct contact with the esophagus 2 of the human body.
  • the operation of the minimally invasive surgical device based on natural lumens is as follows:
  • a minimally invasive surgical device based on a natural cavity the minimally invasive surgical tool is held by a doctor, the doctor firstly properly positions the surgical device, the control box assembly 300 is fixed in position, and the rotary switch 104 is adjusted, left and right Different rotary switches 104 respectively control different actions, one left rotary switch 104 realizes the tilting motion of the serpentine structure 500 of the front end surgical device, and the other rotary switch 104 realizes the left and right swing of the snake bone structure 500. Referring to FIG. 1, the doctor faces up.
  • the control box assembly 300 In the surgical control box assembly 300, the control box assembly 300 is normally in an unlocked state, and the left rotary switch 104 is rotated counterclockwise to implement the upward tilting motion of the front end serpentine structure 500, and the rotary switch 104 is pressed downward to implement the surgical control box assembly.
  • the locking of the 300, the serpentine structure 500 at the front end of the surgical device maintains the upward tilting motion. If the rotary switch 104 is pulled upward to unlock the control box assembly 300, and the left rotary switch 104 is rotated clockwise, the front end serpentine structure 500 can be realized. The action of going down.
  • the control box assembly 300 is in an unlocked state, and the right rotary switch 104 is rotated counterclockwise to realize the leftward swinging motion of the front end snake bone structure 500, and the rotary switch 104 is pressed downward to realize the locking of the surgical control box assembly 300.
  • the snake bone structure 500 at the front end of the device maintains the action of swinging to the left. If the rotary switch 104 is pulled upward to unlock the control box assembly 300, and the right rotary switch 104 is rotated clockwise, the rightward swinging motion of the snake bone structure 500 can be realized. At this time, the rotary switch 104 is pressed down to lock the control box assembly 300, and the serpentine structure 500 of the surgical device maintains the action at this time.
  • a surgical tool is inserted into the passage of the upper connecting sleeve 506 of the quick change device 105 of the control box assembly 300, and the surgical tool squeezes the straight end of the unlocking rod 507 by friction to make the groove and unlock on the surgical tool
  • the male hooks of the rod 507 are mated such that the end effector of the surgical tool sequentially passes through the tool tube 114 of the control box, the front cover assembly 101 of the surgical device, the hose assembly 400, and the serpentine structure 500, the end effector settings of the surgical tool At the tip assembly 600 of the surgical device, wherein the operating handle end of the surgical tool is coupled to the quick change device 105 of the control box by the groove-protrusion hook, thereby allowing the surgical tool operating end to be placed at the rear end of the control box
  • the end effector is disposed at the tip assembly 600 of the surgical device, thereby effecting the fixation of the surgical tool, then adjusting the triangular drive assembly 102, manually pulling the toggle lever 202 backward,
  • the purpose of the present disclosure is to overcome the shortcomings of the prior art, and to provide a minimally invasive surgical device based on a natural cavity that is small in size, convenient to use, flexible in operation, and large in operation operation.

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Abstract

一种基于自然腔道的微创手术装置，包括控制盒组件（300），在该控制盒组件（300）的前端中间依次固定连接有软管组件（400）、蛇骨结构（500）以及端头组件（600），该软管组件（400）、蛇骨结构（500）与端头组件（600）的轴线重合；控制盒组件（300）用于微创手术器械的定位与更换、手术工具（100、200）的操作支撑、微创手术的实施，软管组件（400）为微创手术器械和传动钢丝（116）提供通道、运动输出、负载输出，端头组件（600）为微创手术器械操作末端提供支撑，能够实现手术器械的运动空间范围的扩大。该装置操作方便，动作准确，实时性好，实现了微创手术的基本目标、扩大了运动的灵活性、增加了手术器械的操作空间、使得微创手术可以手持式进行。

Description

一种基于自然腔道的微创手术装置 技术领域
本公开涉及一种微创外科手术装置，尤其是涉及一种基于自然腔道的微创外科手术装置。
背景技术
经自然腔道微创手术在解决病人疾患的过程中，不在人体表面留有切口，减轻了手术创伤和术后疼痛，增加了美容效果，实现更好的生理微创和心理微创效果。对于那些肥胖、体质差、疤痕体质及对美容效果追求较高的人群来说，将成为他们最好的选择。但是手术器械欠缺灵活度，手术图像是二维成像，增加了手术操作难度。于是，能够增加手术器械的灵活度、提供三维手术图像的基于自然腔道的手术装置应运而生。在微创外科手术过程中，医生借助细长的微创手术器械实施手术操作任务。手术器械的一端由医生手持操作，另一端通过人体的自然腔道探入到体内进行手术操作，因此，手术器械是唯一与人体病变组织相接触的部分，也是直接执行手术动作的唯一工具。在手术实施中，由于手术器械末端的运动与器械手持部分的运动具有特殊的映射关系，为满足不同手术操作任务(夹持、缝合、打结等)的动作需求，医生需手持手术器械大范围运动，降低了器械末端执行手术动作的灵活性，同时，长时间大范围的操作使医生容易疲劳，无形中增加了手术的难度。
发明内容
本公开提供一种基于自然腔道的微创手术装置，包括控制盒组件、软管组件、蛇骨结构以及端头组件，其中，
在所述的控制盒组件的前端中间依次固定连接有软管组件、蛇骨结 构以及端头组件；所述的控制盒组件包括控制盒壳体，控制盒壳体后壁左右两侧分别设置有快换装置，所述的快换装置包括上连接套，所述上连接套用于插入手术工具；所述的控制盒组件还包括三角驱动组件，其包括一个旋帽，可通过操作旋帽实现前端的端头组件运动；
所述的软管组件包括固定外皮，所述的固定外皮的前端与外部包皮相连，所述的蛇骨结构安装在所述的外部包皮内。
进一步的，所述的三角驱动组件包括穿过控制盒壳体的上壳体中间设置的拨动杆；
在所述拨动杆的顶部通过键连接所述旋帽，所述拨动杆的底部的后端通过连接销转动连接在一固定架上，所述拨动杆的底部的前端与一个拉杆的后端转动相连，所述拉杆的前端与滑动块转动相连；
所述滑动块与固定架通过导轨滑块结构滑动连接，所述固定架固定在控制盒组件的一个隔板上，弹簧的后端固定在滑动块的前端并且前端固定在固定架的前壁上，滑动块的滑动轴线与固定架的导轨轴线相重合；
一根直线传动钢丝的一端与三角丝接头的一端固定相连，所述传动钢丝的另一端依次通过前套组件、软管组件和蛇骨结构，然后连接在端头组件的一根传动钢丝后端。
进一步的，所述控制盒组件还包括两个旋转开关；
每一个旋转开关包括一个摆动杆以及螺纹架，在所述的摆动杆的顶部固定有一个摆动轮，在所述的螺纹架顶壁上开有中心孔并且在所述的螺纹架中间设置有与中心孔连通的空腔；
所述的摆动杆的下部穿过螺纹架的中心孔并伸到所述的空腔内设置，所述的摆动杆与螺纹架的中心孔间隙配合，在位于螺纹架内的所述的摆动杆的底部固定有外齿轮，在所述的外齿轮底壁上固定有上磁铁组件。
进一步的，所述的螺纹架固定在螺纹座上，所述的螺纹座通过固定螺栓固定在固定板上，在所述的螺纹架内固定有内齿圈，在与上磁铁组件相对的所述的螺纹座的底部内壁位置上固定有下磁铁组件，所述的外齿轮支撑设置在一个推力弹簧上；
所述的上磁铁组件包裹在推力弹簧内，弹簧非受力状态下，推力弹簧的上端与外齿轮的下端接触，所述的推力弹簧的下端与下磁铁组件固定相连，在位于内齿圈下部的所述的推力弹簧外箍套有压紧垫圈以实现推力弹簧的径向位置固定，所述的内齿圈以及外齿轮的轴线与摆动杆的轴线重合，所述摆动杆能够上下移动以带动内齿圈与外齿轮啮合配合或者脱离啮合，在位于螺纹架的上部的所述的摆动杆上安装有链轮。
进一步的，在每一个链轮前侧的隔板上分别固定有一组隔流槽；
每一组隔流槽包括间隔设置的两个隔流槽，在每一个摆动杆上的链轮分别与一根环绕在链轮上的链啮合配合；
每一根所述的链的两个自由端分别设置在一组隔流槽的两个隔流槽内，所述的链在摆动杆的带动下可以在隔流槽中作往复直线运动，每一根所述的链的两个自由端分别与传动钢丝的一端固定相连；
四根所述的传动钢丝的另一端依次穿过前套组件、连接环的导丝孔和蛇骨结构上的导丝孔，然后固定在端头组件的端头主体的后端开孔中。
进一步的，所述的两个快换装置包括分别固定连接在控制盒壳体的下壳体后壁左右两侧的两个下连接套；
每一个下连接套的前端与相应侧的工具管的后端固定连接，在每一个下连接套上套装固定有一个外伸缩套，中伸缩套滑动的插在所述的外伸缩套中间孔内，内伸缩套滑动的插在中伸缩套中间孔内；
在所述的内伸缩套后端固定有上连接套，沿上连接套的轴线两侧在所述的上连接套上对称开有两个相同结构的矩形槽，两个结构相同的解锁杆均包括间隙配合插在对应侧的矩形槽的直杆段；
在所述的直杆段的后端设置有能够与手术工具上的凹槽钩挂配合的凸钩，在所述的直杆段的前端连接有按压板，两个解锁杆的直杆段与上连接套通过转轴转动相连；
在与每一个按压板相对设置的上连接套部位分别通过弹簧固定连接有一个顶杆，所述的解锁杆绕转轴转动时，所述的按压板能够与顶杆的顶部相接触。
进一步的，所述端头组件包括端头主体和安装在端头主体的中间开 槽内的开合体；
所述的开合体包括两个结构相同并且左右对称设置的三角环，在两个所述的三角环之间的中间位置设置有一个三角拉杆，在每一个所述的三角环的两侧分别对称设置有一个圆柱凸台与一个圆柱孔，所述的圆柱凸台的轴线与圆柱孔的轴线平行且与三角环的轴线垂直，每一个凸台分别与一个连杆的一端转动相连，前侧的两个连杆的另一端以及后侧的两个连杆的另一端分别通过销轴与所述的三角拉杆的前后端转动相连，传动钢丝前端垂直固定连接在三角拉杆上，在所述的传动丝上套装有三角弹簧，所述的传动钢丝的后端穿过一个端头主体的中间开孔设置，在所述的中间开孔内设置有凸台，所述的三角弹簧间隙设置在中间开孔内并且下端固定连接在凸台上，当两个三角环轴线平行时，所述的三角弹簧上端与三角拉杆的底端接触，每一个圆柱孔与一个三角销轴的圆柱侧转动相连并且所述的三角销轴固定在端头主体上，三角环可以绕三角销轴转动，在与四个所述的圆柱凸台相对应的端头主体的中间开槽的内壁上设置有圆弧槽，三角环的圆柱凸台端头部分滑动设置在对应设置的圆弧槽处，圆柱凸台可以在所述的圆弧槽中来回滑动，所述的三角拉杆、各连杆与三角销轴、三角环之间转动连接以共同构成一个四杆机构。
进一步的，手术装置还包括一个水气开关，所述水气开关连接在所述的上壳体上。
本公开的有益效果是：本公开是一种基于丝传动的手动操作手术装置，采用丝传动技术，整体结构体积小，操作方便。利用支持形变的软管组件和可以开合的端头组件被动实现手术器械的手术动作，并将其手术灵活性扩大化，医生进行手术动作操作的便利化，完成一个手术动作时，动作旋钮开关而实现手术器械的锁定与解锁，并根据医生所需动作设置微创手术的体位，便于微创手术的顺利进行，安全高效，可操作性强。具有可更换手术器械和快速更换器械工具两种功能，有效地实现的微创手术中的灵活动作，满足不同手术操作任务的要求。
附图说明
为了使公开的目的、技术方案和有益效果更加清楚，本公开提供如下附图进行说明；
图1为本公开实施例的基于自然腔道的微创手术装置的整体结构示意图；
图2A为本公开实施例的基于自然腔道的微创手术装置中的控制盒组件整体结构示意图；
图2B为图2A所示的控制盒组件的内部结构示意图；
图2C为图2A所示的控制盒组件的三角驱动组件示意图；
图2D为图2A所示的控制盒组件的旋转开关结构示意图；
图2E为图2A所示的控制盒组件的快换装置结构示意图；
图3A为本公开实施例的基于自然腔道的微创手术装置的端头组件结构示意图；
图3B为图3A所示的端头组件的开合体结构示意图；
图3C为图3A所示的端头组件的端头主体结构示意图；
图3D为图3A所示的端头组件初始姿态示意图；
图3E为图3A所示的端头组件操作三角扩大示意图；
图4为本公开实施例的基于自然腔道的微创手术装置中的软管组件结构示意图；
图5为本公开实施例的基于自然腔道的微创手术装置安装的手术工具结构示意图；
图6为本公开实施例所述基于自然腔道的微创手术装置经胃部手术示意图。
具体实施方式
下面将结合附图，并通过实例，对本公开的优选实施作进一步详细描述。
需要说明的是，本公开中提到的方向用语，例如“上”、“下”、“前”、 “后”、“左”、“右”等，仅是参考附图的方向，并非用来限制本公开的保护范围。贯穿附图，相同的元素由相同或相近的附图标记来表示。在可能导致对本公开的理解造成混淆时，将省略常规结构或构造。并且图中各部件的形状和尺寸不反映真实大小和比例，而仅示意本公开实施例的内容。
图1是本公开实施例的基于自然腔道的微创手术装置的整体结构示意图，它包括控制盒组件300，在所述的控制盒组件300的前端中间依次固定连接有软管组件400、设置在软管组件400内部的蛇骨结构500以及端头组件600，所述的软管组件400、蛇骨结构500与端头组件600的轴线重合，左右两个手术工具100、200与控制盒组件300的后端相连。
结合图2A、2B，所述的控制盒组件300为自然腔道微创手术装置的操控组件，在一些实施例中，所述的控制盒组件300可包括前套组件101，所述的前套组件101后端与控制盒壳体107前端固定相连，前套组件101为手术工具100与200提供通道，也给控制盒组件300的控制动作用的传动钢丝提供通路，需要具有一定的刚性，因此前套组件101起着重要的连接作用。所述的前套组件101的前端通过软管组件400依次与蛇骨结构500以及端头组件600相连。所述的控制盒壳体107具体可以包括下壳体和固定在所述的下壳体上的上壳体，在所述的下壳体上可以通过销钉固定有固定板113，两个结构相同的工具管114左右对称通过压块115固定在固定板113上，两个工具管114的前端设置在前套组件101内，所述的工具管114作为通过手术工具的通道。隔板112可以通过销钉固定在固定板113上，隔流槽110可以通过销钉固定连接在隔板112上。
对照图2C，控制盒组件300还可包括三角驱动组件102，其连接在所述的隔板112中间，它包括一个旋帽201，医生通过操作旋帽201实现前端的端头组件600运动。
在一些实施例中，所述的三角驱动组件102可包括穿过上壳体中间设置的拨动杆202，在所述的拨动杆202的顶部通过键连接有旋帽201， 旋帽201作为手动操作的对象，能够实现拨动杆202的来回拉动，所述的拨动杆202的底部的后端通过连接销转动连接在固定架203上，可以实现绕着连接销的转动，所述的拨动杆202的底部的前端通过连接销与一个拉杆207的后端转动相连，所述的拉杆207的前端与滑动块204通过销钉转动相连，所述的滑动块204与固定架203通过导轨滑块结构滑动连接，由此拨动杆202的旋转运动可以转化为滑动块204的直线运动，所述的固定架203固定在隔板112上，弹簧205的后端固定在滑动块204的前端并且前端固定在固定架203的前壁上，滑动块204的滑动轴线与固定架203的导轨轴线相重合，直线传动钢丝117的一端与三角丝接头206的一端固定相连，所述的直线传动钢丝117的另一端依次通过前套组件101、软管组件400的连接环702上的导丝孔和蛇骨结构500，然后连接在端头组件600的拉伸丝609的后端。
基于上述构造，弹簧205在常态下伸长使得滑动块204靠近拨动杆202，保持滑动块204常态下远离固定架203的前壁；向下压下拨动杆202弹簧205被压缩，当松开拨动杆202，由于弹簧205的弹力使得拨动杆202恢复到原来的位置，在所述的固定架203的前壁上开有圆柱孔，一个三角丝接头206的后端穿过所述的圆柱孔和弹簧205并与滑动块204固定相连，三角丝接头206的轴线与滑动块204的滑动轴线重合，手动拉动拨动杆202，带动拉杆207的运动，拉杆207连接于滑动块204一端，滑动块204的直线运动带动三角丝接头206的运动。
结合图2A、2D，在一些实施例中，控制盒组件300还包括两个旋转开关104，分别左右对称的设置在隔板112的后侧，为微创手术控制盒的传动部件，两个旋转开关104结构相同，每一个旋转开关104包括一个摆动杆402以及螺纹架403，在所述的摆动杆402的顶部固定有一个摆动轮401，在所述的螺纹架403顶壁上开有中心孔并且在所述的螺纹架403中间设置有与中心孔连通的空腔，所述的摆动杆402的下部穿过螺纹架403的中心孔并伸到所述的空腔内设置，所述的摆动杆402与螺纹架403的中心孔间隙配合，在位于螺纹架403内的所述的摆动杆402的底部固定有外齿轮302，在所述的外齿轮302底壁上固定有上磁铁组 件408，所述的螺纹架403固定在螺纹座404上，所述的螺纹座404通过固定螺栓405固定在固定板113上，在所述的螺纹架403内固定有内齿圈301，在与上磁铁组件408相对的所述的螺纹座404的底部内壁位置上固定有下磁铁组件409，所述的外齿轮302支撑设置在一个推力弹簧407上，所述的上磁铁组件408包裹在推力弹簧407内，常态下即弹簧非受力状态下，推力弹簧407的上端与外齿轮302的下端接触，所述的推力弹簧407的下端与下磁铁组件409固定相连，在位于内齿圈301下部的所述的推力弹簧407外箍套有压紧垫圈406以实现推力弹簧407的径向位置固定，起到限位作用，所述的内齿圈301以及外齿轮302的轴线与摆动杆402的轴线重合，所述的摆动杆402能够上下移动以带动内齿圈301与外齿轮302啮合配合或者脱离啮合，在位于螺纹架的上部的所述的摆动杆402上安装有链轮103，左右两个链轮103结构相同。
根据上述构造，在常态下即弹簧非受力状态下，推力弹簧407伸长，通过弹簧的伸长力使得外齿轮302靠近螺纹架403内壁上端面，外齿轮302与内齿圈301没有啮合，手动转动摆动轮401，则摆动轮401带动摆动杆402做旋转运动，从而带动外齿轮302旋转。通过手动向下推动摆动轮401，外齿轮302和上磁铁组件408随着摆动轮401向下运动，外齿轮302向下运动挤压推力弹簧407使得推力弹簧407处于压缩状态，上磁铁组件408与下磁铁组件409的距离较小时，上磁铁组件408与下磁铁组件409相互吸引，此时，外齿轮302与内齿圈301在同一个平面内而啮合，内齿圈301与外齿轮302的摩擦接触使得摆动轮无法转动，从而实现控制盒锁紧。螺纹架403对摆动杆402在轴向上有一定的固定作用，若手动向上拉动摆动轮401，上磁铁组件408与下磁铁组件409的距离变大，磁铁组件之间的吸引力小于推力弹簧407的伸长力，在推力弹簧407的伸长力作用下外齿轮302向上运动与内齿圈301脱离啮合，实现手术控制盒的解锁，摆动杆402继续向上运动而恢复到初始状态，外齿轮302与螺纹架403上端接触，由此实现一个非线性的动作开关。
对照图2B，操作旋转开关104向上运动，内齿圈301与外齿轮302脱离啮合时，实现手术控制盒解锁，摆动杆402可以绕着自身轴线做旋 转运动，与摆动杆402通过键配合的链轮103随之作旋转运动，在每一个链轮103前侧的隔板112上分别固定有一组隔流槽110，每一组隔流槽110包括间隔设置的两个隔流槽110，在每一个摆动杆402上的链轮103分别与一根环绕在链轮103上的链111啮合配合，每一根所述的链111的两个自由端分别设置在一组隔流槽110的两个隔流槽110内，所述的链111在摆动杆402的带动下可以在隔流槽110中作往复直线运动，每一根所述的链111的两个自由端分别与传动钢丝116的一端固定相连，四根所述的传动钢丝116的另一端依次穿过前套组件101、连接环702的导丝孔和蛇骨结构500上的导丝孔，然后固定在端头组件600的端头主体607的后端开孔中，传动钢丝116在连接环702的导丝孔中来回往复滑动，传动钢丝张紧和松弛，从而使蛇骨结构500在传动钢丝的牵拉作用下弯曲运动，实现前端软管组件400的动作，从而操作手术装置前端的俯仰运动、摆动。传动钢丝116与蛇骨结构500的连接方式采用已有的结构即可，传动钢丝116可以在所述的导丝孔中滑动。手动操作旋转开关104绕着轴线做旋转运动，从而带动链轮103转动，使得固定连接在链轮103上的链111做直线运动，链111的直线运动带动传动钢丝116在导丝孔中滑动，传动钢丝116的直线运动带动手术装置的蛇骨结构500的运动，实现所需要的手术通道构造，向下压下旋转开关104，使得内齿圈301与外齿轮302啮合时，旋转开关104无法转动，实现控制盒的锁紧，保持传动钢丝的张紧状态，实现前端的手术工具的位置锁定状态的功能。对照图1，手动操作旋转开关104，带动传动钢丝116的直线张紧运动，实现前端蛇骨结构500的向上或向下弯曲，向左与向右摆动，由此能够实现手术装置的摆放位置的调节，通过两组齿轮的啮合状态实现手术装置前端蛇骨结构500的上下俯仰与左右摆动位置的锁紧，上下俯仰与左右摆动的运动实现等具体可以参见CN200910306053.5专利公开的钢丝绳连接结构，由此使得手术装置的可达手术空间范围扩大。
结合图2A、2E，所述的左右两个快换装置105为微创手术实施的重要组件，在所述的控制盒壳体107的下壳体后壁左右两侧分别设置有 两个快换装置105，所述的两个快换装置105包括分别固定连接在控制盒壳体107的下壳体后壁左右两侧的两个下连接套501，每一个下连接套501的前端与相应侧的工具管114的后端固定连接，在每一个下连接套501上套装固定有一个外伸缩套502，中伸缩套503滑动的插在所述的外伸缩套502中间孔内，内伸缩套504滑动的插在中伸缩套503中间孔内，在所述的内伸缩套504后端固定有上连接套506，沿上连接套506的轴线两侧在所述的上连接套506上对称开有两个相同结构的矩形槽，两个结构相同的解锁杆507均包括间隙配合插在对应侧的矩形槽的直杆段，在所述的直杆段的后端设置有能够与手术工具上的凹槽钩挂配合的凸钩，在所述的直杆段的前端连接有按压板，两个解锁杆507的直杆段与上连接套506通过转轴转动相连，在与每一个按压板相对设置的上连接套506部位分别通过弹簧固定连接有一个顶杆505。所述的解锁杆507绕转轴转动时，所述的按压板能够与顶杆505的顶部相接触。
若从快换装置105的上连接套506插入手术工具，手术工具从内伸缩套504的中间孔中通过，并安置在快换装置105内时，通过摩擦挤压解锁杆507的杆端的前端，手术工具上的凹槽与解锁杆507的凸钩配合，解锁杆507的前端直杆段受力而作用于解锁杆507的后端的按压板，与顶杆505相接触，使得解锁杆507的前端保持固定位置，由此而实现手术工具的固定，通过手动挤压解锁杆507的按压板，压缩套在顶杆505上的弹簧，改变快换装置105组件的顶杆505与解锁杆507的配合关系，使得解锁杆507直杆段向外偏移，打开解锁杆507前端的凸台与手术工具上的凹槽的配合，实现手术工具的拆卸，继而可以实现手术工具的固定与拆卸，便于快速更换手术工具。
在一些实施例中，一个水气开关106可以连接在上壳体上，便于医生操作，所述的水气开关106与水管相连以接入水源，打开水气开关106可以用于清洗镜头，使正在进行手术的医生的视野开阔，还可以清洗人体器官的表面，在实施手术的过程中，可能会有出血的情况，此时开动水气开关106对需要手术的器官周围清洗，可以提高医生手术的安全性。所述的水气开关106可以采用现有技术中已有的结构。
结合图3A、3B，所述的端头组件600为微创手术器械末端执行器提供支撑通道，端头组件600实现手术工具末端执行器与手术装置的软管组件400的连接，所述的端头组件600包括端头主体607和安装在端头主体607的中间开槽内的开合体，所述的开合体包括两个结构相同并且左右对称设置的三角环601，在两个所述的三角环601之间的中间位置设置有一个三角拉杆610，在每一个所述的三角环601的两侧分别对称设置有一个圆柱凸台612与一个圆柱孔613，所述的圆柱凸台612的轴线与圆柱孔613的轴线平行且与三角环601的轴线垂直，每一个凸台612分别与一个连杆602的一端转动相连，前侧的两个连杆602的另一端以及后侧的两个连杆602的另一端分别通过销轴611与所述的三角拉杆610的前后端转动相连，拉伸丝609前端垂直固定连接在三角拉杆610上，在所述的拉伸丝609上套装有三角弹簧608，所述的拉伸丝609的后端穿过一个端头主体607的中间开孔设置，在所述的中间开孔内设置有凸台，所述的三角弹簧608间隙设置在中间开孔内并且下端固定连接在凸台上，当两个三角环601轴线平行时，所述的三角弹簧608上端与三角拉杆610的底端接触，每一个圆柱孔613与一个三角销轴603的圆柱侧转动相连并且所述的三角销轴603固定在端头主体607上，三角环601可以绕三角销轴603转动。作为本公开实施例的一种实施方式，所述的三角销轴603具有三棱柱结构，在所述的端头主体607上开有三棱柱孔615，所述的三棱柱结构固定在三棱柱孔615内。在与四个所述的圆柱凸台612相对应的端头主体607的中间开槽的内壁上设置有圆弧槽614，三角环601的圆柱凸台612端头部分滑动设置在对应设置的圆弧槽614处，圆柱凸台612可以在所述的圆弧槽614中来回滑动，所述的三角拉杆610、各连杆602与三角销轴603、三角环601之间转动连接以共同构成一个四杆机构。
牵拉拉伸丝609，拉伸丝609向下做直线运动，带动固定连接在三角拉杆610压缩三角弹簧608向下运动，牵拉与三角拉杆610转动连接的拉杆602转动，拉杆602的转动带动右边一个三角环601的圆柱凸台612在端头主体607上的圆弧槽614中滑动，三角环601相应的绕着三 角销轴603向外转动，相同的，拉杆602的转动带动左边一个三角环601向外转动，两个三角环601分别向外转动，由此两个三角环601之间形成较大的角度，实现基于自然腔道手术装置的前端的端头组件600的三角环601的运动输出，初始姿态如图3D，左右两个三角环601之间形成一个小角度θ1，手动操作三角驱动组件102，拉伸丝609张紧运动，达到图3E的姿态，左右两个三角环601之间形成一个大角度θ2，输出不同的角度变化，实现所需要的手术体位设置。医生通过旋转操作控制盒的旋帽201实现前端的端头组件运动，由此实现手术装置的手术操作三角的扩大。
两个手术工具100、200分别依次穿过相应侧的连接套506、相应侧的控制盒的工具管114、手术装置的前套组件101、软管组件400的连接环702的工具孔和蛇骨结构500，所述的两个手术工具100、200的后端分别通过凹槽与解锁杆507的凸钩咬合固定，所述的手术工具前端的末端执行器穿过手术工具通道605，分别间隙设置在相应侧的手术装置的端头组件600的三角环601中，手术工具的末端执行器被动地设置在三角环601中相应的跟随三角环601运动。
结合图4，所述的软管组件400为微创手术工具和传动钢丝提供通道，软管组件400和人体的自然腔道直接接触，应该具有良好的柔软度，对人体自然腔道没有损伤。在一些实施例中，软管组件400包括与前套组件101固定连接成为一体结构的固定外皮701，作为一种实施方式，固定外皮701采用橡胶管，所述的固定外皮701的前端依次与连接环704和外部包皮703相连，四个连接环702前后间隔固定设置在固定外皮701内部，在每一个所述的连接环702上设置有多个圆柱导丝孔与两个工具孔，手术工具100与200穿过所述的软管组件400的工具孔，所述的蛇骨结构500安装在所述的外部包皮703内。
图6为本公开实施例的基于自然腔道的微创手术装置在胃部手术中的应用示意图。图中本公开实施例的微创手术装置1的手术工具的末端执行器经过人体食道2伸入到人体的胃部3中进行手术操作，手术工具100、200末端执行器直接接触人体的胃部3，手术装置的软管组件400 与人体的食道2直接接触。
在一些实施例中，基于自然腔道的微创手术装置的操作过程如下：
一种基于自然腔道的微创手术装置，所述的微创手术工具由医生手持，医生首先合理安置好手术装置，所述的控制盒组件300固定好位置，通过调节旋转开关104，左右两个不同的旋转开关104分别控制不同的动作，左边一个旋转开关104实现前端手术装置的蛇骨结构500的俯仰动作，另一个旋转开关104实现蛇骨结构500的左右摆动，对照图1，医生正视于手术控制盒组件300，常态下控制盒组件300处于解锁状态，逆时针旋转左边一个旋转开关104，实现前端蛇骨结构500的向上仰的动作，向下压旋转开关104，实现手术控制盒组件300的锁紧，手术装置前端的蛇骨结构500保持向上仰的动作，若向上拉动旋转开关104，实现控制盒组件300解锁，顺时针旋转左边一个旋转开关104，可以实现前端蛇骨结构500的向下俯的动作。常态下控制盒组件300处于解锁状态，逆时针旋转右边一个旋转开关104，实现前端蛇骨结构500的向左摆动的动作，向下压旋转开关104，实现手术控制盒组件300的锁紧，手术装置前端的蛇骨结构500保持向左摆动的动作，若向上拉动旋转开关104，实现控制盒组件300解锁，顺时针旋转右边一个旋转开关104，可以实现蛇骨结构500的向右摆动的动作，此时向下压下旋转开关104，实现控制盒组件300锁紧，手术装置的蛇骨结构500保持此时的动作。然后，在所述的控制盒组件300的快换装置105的上连接套506的通道中插入手术工具，手术工具通过摩擦挤压解锁杆507的直杆端，使得手术工具上的凹槽与解锁杆507的凸钩配合，从而使手术工具的末端执行器依次穿过控制盒的工具管114、手术装置的前套组件101、软管组件400和蛇骨结构500，手术工具的末端执行器设置在手术装置的端头组件600处，其中手术工具的操作手柄端与控制盒的快换装置105通过所述的凹槽-凸钩配合连接，从而使手术工具操作端设置在控制盒后端的快换装置105处，末端执行器设置在手术装置的端头组件600处，由此实现手术工具的固定，接着调节所述的三角驱动组件102，手动向后拉动拨动杆202，牵拉直线传动钢丝117，带动拉伸丝609的运动，实现端 头组件上的三角环102的向外开合运动，实现基于自然腔道的手术装置前端的端头组件600的三角环601的运动输出，使两个三角环601之间形成一个较大角度，改变手术工具的末端执行器的位置，使得末端执行器尽量接近于病灶组织，形成一个比较好的操作三角，打开水气开关106，准备清洗器官，手术装置准备就绪，医生就可以开始微创手术操作。
本公开的目的是克服已有技术的缺点，提供一种体积小、使用方便、操作灵活、手术操作三角大的一种基于自然腔道的微创手术装置。
最后说明的是，以上优选实施例仅用以说明本公开的技术方案而非限制其应用范围。以上示意性的对本公开及其实施方式进行了描述，该描述没有限制性，附图中所示的也只是本公开的实施方式之一，实际的结构并不局限于此。所以，如果本领域的技术人员受其启示，在不脱离本公开创造宗旨的情况下，凡依本公开专利范围所作的均等变化与修饰，采用其它形式的传动、驱动装置以及连接方式不经创造性的设计与该技术方案相似的结构方式及实施例，均应属于本公开的保护范围。

Claims (8)

  1. 一种基于自然腔道的微创手术装置，其特征在于：包括控制盒组件、软管组件、蛇骨结构以及端头组件，其中，
    在所述的控制盒组件的前端中间依次固定连接有软管组件、蛇骨结构以及端头组件；所述的控制盒组件包括控制盒壳体，控制盒壳体后壁左右两侧分别设置有快换装置，所述的快换装置包括上连接套，所述上连接套用于插入手术工具；所述的控制盒组件还包括三角驱动组件，其包括一个旋帽，可通过操作旋帽实现前端的端头组件运动；
    所述的软管组件包括固定外皮，所述的固定外皮的前端与外部包皮相连，所述的蛇骨结构安装在所述的外部包皮内。
  2. 根据权利要求1所述的装置，其特征在于，所述的三角驱动组件包括穿过控制盒壳体的上壳体中间设置的拨动杆；
    在所述拨动杆的顶部通过键连接所述旋帽，所述拨动杆的底部的后端通过连接销转动连接在一固定架上，所述拨动杆的底部的前端与一个拉杆的后端转动相连，所述拉杆的前端与滑动块转动相连；
    所述滑动块与固定架通过导轨滑块结构滑动连接，所述固定架固定在控制盒组件的一个隔板上，弹簧的后端固定在滑动块的前端并且前端固定在固定架的前壁上，滑动块的滑动轴线与固定架的导轨轴线相重合；
    一根直线传动钢丝的一端与三角丝接头的一端固定相连，所述传动钢丝的另一端依次通过前套组件、软管组件和蛇骨结构，然后连接在端头组件的一根传动钢丝后端。
  3. 根据权利要求1所述的装置，其特征在于，所述控制盒组件还包括两个旋转开关；
    每一个旋转开关包括一个摆动杆以及螺纹架，在所述的摆动杆的顶部固定有一个摆动轮，在所述的螺纹架顶壁上开有中心孔并且在所述的螺纹架中间设置有与中心孔连通的空腔；
    所述的摆动杆的下部穿过螺纹架的中心孔并伸到所述的空腔内设置，所述的摆动杆与螺纹架的中心孔间隙配合，在位于螺纹架内的所述 的摆动杆的底部固定有外齿轮，在所述的外齿轮底壁上固定有上磁铁组件。
  4. 根据权利要求3所述的装置，其特征在于，所述的螺纹架固定在螺纹座上，所述的螺纹座通过固定螺栓固定在固定板上，在所述的螺纹架内固定有内齿圈，在与上磁铁组件相对的所述的螺纹座的底部内壁位置上固定有下磁铁组件，所述的外齿轮支撑设置在一个推力弹簧上；
    所述的上磁铁组件包裹在推力弹簧内，弹簧非受力状态下，推力弹簧的上端与外齿轮的下端接触，所述的推力弹簧的下端与下磁铁组件固定相连，在位于内齿圈下部的所述的推力弹簧外箍套有压紧垫圈以实现推力弹簧的径向位置固定，所述的内齿圈以及外齿轮的轴线与摆动杆的轴线重合，所述摆动杆能够上下移动以带动内齿圈与外齿轮啮合配合或者脱离啮合，在位于螺纹架的上部的所述的摆动杆上安装有链轮。
  5. 根据权利要求4所述的装置，其特征在于，在每一个链轮前侧的隔板上分别固定有一组隔流槽；
    每一组隔流槽包括间隔设置的两个隔流槽，在每一个摆动杆上的链轮分别与一根环绕在链轮上的链啮合配合；
    每一根所述的链的两个自由端分别设置在一组隔流槽的两个隔流槽内，所述的链在摆动杆的带动下可以在隔流槽中作往复直线运动，每一根所述的链的两个自由端分别与传动钢丝的一端固定相连；
    四根所述的传动钢丝的另一端依次穿过前套组件、连接环的导丝孔和蛇骨结构上的导丝孔，然后固定在端头组件的端头主体的后端开孔中。
  6. 根据权利要求1所述的装置，其特征在于，所述的两个快换装置包括分别固定连接在控制盒壳体的下壳体后壁左右两侧的两个下连接套；
    每一个下连接套的前端与相应侧的工具管的后端固定连接，在每一个下连接套上套装固定有一个外伸缩套，中伸缩套滑动的插在所述的外伸缩套中间孔内，内伸缩套滑动的插在中伸缩套中间孔内；
    在所述的内伸缩套后端固定有上连接套，沿上连接套的轴线两侧在所述的上连接套上对称开有两个相同结构的矩形槽，两个结构相同的解 锁杆均包括间隙配合插在对应侧的矩形槽的直杆段；
    在所述的直杆段的后端设置有能够与手术工具上的凹槽钩挂配合的凸钩，在所述的直杆段的前端连接有按压板，两个解锁杆的直杆段与上连接套通过转轴转动相连；
    在与每一个按压板相对设置的上连接套部位分别通过弹簧固定连接有一个顶杆，所述的解锁杆绕转轴转动时，所述的按压板能够与顶杆的顶部相接触。
  7. 根据权利要求1所述的装置，其特征在于，所述端头组件包括端头主体和安装在端头主体的中间开槽内的开合体；
    所述的开合体包括两个结构相同并且左右对称设置的三角环，在两个所述的三角环之间的中间位置设置有一个三角拉杆，在每一个所述的三角环的两侧分别对称设置有一个圆柱凸台与一个圆柱孔，所述的圆柱凸台的轴线与圆柱孔的轴线平行且与三角环的轴线垂直，每一个凸台分别与一个连杆的一端转动相连，前侧的两个连杆的另一端以及后侧的两个连杆的另一端分别通过销轴与所述的三角拉杆的前后端转动相连，传动钢丝前端垂直固定连接在三角拉杆上，在所述的传动丝上套装有三角弹簧，所述的传动钢丝的后端穿过一个端头主体的中间开孔设置，在所述的中间开孔内设置有凸台，所述的三角弹簧间隙设置在中间开孔内并且下端固定连接在凸台上，当两个三角环轴线平行时，所述的三角弹簧上端与三角拉杆的底端接触，每一个圆柱孔与一个三角销轴的圆柱侧转动相连并且所述的三角销轴固定在端头主体上，三角环可以绕三角销轴转动，在与四个所述的圆柱凸台相对应的端头主体的中间开槽的内壁上设置有圆弧槽，三角环的圆柱凸台端头部分滑动设置在对应设置的圆弧槽处，圆柱凸台可以在所述的圆弧槽中来回滑动，所述的三角拉杆、各连杆与三角销轴、三角环之间转动连接以共同构成一个四杆机构。
  8. 根据权利要求1所述的一种基于自然腔道的微创手术装置，其特征在于：还包括一个水气开关，所述水气开关连接在所述的上壳体上。
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