CN106175849B - A kind of single hole endoscope-assistant surgery system based on flexible operation tool - Google Patents
A kind of single hole endoscope-assistant surgery system based on flexible operation tool Download PDFInfo
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- CN106175849B CN106175849B CN201610795885.8A CN201610795885A CN106175849B CN 106175849 B CN106175849 B CN 106175849B CN 201610795885 A CN201610795885 A CN 201610795885A CN 106175849 B CN106175849 B CN 106175849B
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 33
- 238000003384 imaging method Methods 0.000 claims abstract description 104
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000005286 illumination Methods 0.000 claims abstract description 18
- 210000000988 bone and bone Anatomy 0.000 claims description 48
- 238000010276 construction Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 9
- 238000002324 minimally invasive surgery Methods 0.000 description 8
- 238000007789 sealing Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005253 cladding Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 229940030225 antihemorrhagics Drugs 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000000025 haemostatic effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002574 poison Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
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Abstract
The single hole endoscope-assistant surgery system based on flexible operation tool that the present invention relates to a kind of, which is characterized in that the system includes flexible operation tool, imaging tool and catheter body；Wherein, flexibility operation kit includes operation actuator, flexible arm body, driving handle and near structure body, operation actuator is associated with flexible arm body distal end, and flexible arm body is associated with proximally by near structure body with driving handle, and driving handle driving flexible arm body realization curves movement；Imaging tool includes imaging illumination mould group, curves joint and imaging tool driving unit, and imaging illumination mould group is associated with joint distal end is curved, curves joint proximal end and be associated with imaging tool driving unit, and the driving of imaging tool driving unit curves joint realization and curves movement；Catheter body is used for the operation actuator of flexible arm body distal end and curves imaging illumination mould group guidance arrival the same area of joint distal end, while will be located at flexible arm body and curve the later part in joint proximal end and guide to space different directions.
Description
Technical field
The present invention relates to a kind of medical instruments, and in particular to a kind of single hole endoscope-assistant surgery system based on flexible operation tool
System.
Background technique
In modern medical service field, manual porous laparoscopic minimally invasive surgery has been widely used in clinic.Such Minimally Invasive Surgery
It successfully reduces the postoperative pain of patient, complication probability, rehabilitation duration and improves scar after the operation.In recent years, for convenience of doctor
Preferably postoperative output, the porous laparoscopic minimally invasive surgery of robot assisted are widely used for raw operation and realization,
In by Intuitive Surgical company, the U.S. (intuition surgery company, the U.S.) release Leonardo da Vinci's surgical robot system, can
It assists doctor to complete porous laparoscopic minimally invasive surgery, achieves commercial immense success.
In order to further decrease operation wound area and rehabilitation duration, researcher proposes single-port laparoscopic minimally-invasive surgery.
Need multiple body surface notch compared to porous laparoscopic minimally invasive surgery, in single-port laparoscopic minimally-invasive surgery all operation tools by
One body surface notch (usually navel) enters abdominal cavity, further reduces the wound to patient.However, such single entrance
No matter equal to the design of surgical instrument or the operation of operation Shi doctor configuration is, and more stringent requirements are proposed.Based on conventional rigid hand
Due to there is complicated trick cooperating demand in the manual single-hole laparoscopic surgery of art tool, the flexibility ratio of operation tool in addition
It is limited, working range is smaller etc., and difficulties, manual single-hole laparoscopic surgery are not yet applied to clinic.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a set of single hole hysteroscope Minimally Invasive Surgery based on flexible operation tool
System, and the characteristics of for tool entrained by the surgery systems, propose two kinds of feasible facility layout schemes.
To achieve the above object, the invention adopts the following technical scheme: a kind of single hole hysteroscope based on flexible operation tool
Surgery systems, which is characterized in that the system includes flexible operation tool, imaging tool and catheter body；Wherein, the flexible operation
Tool includes operation actuator, flexible arm body, driving handle and near structure body, the operation actuator and the flexible arm body
Distal end is associated with, and the flexible arm body is associated with proximally by the near structure body with the driving handle, and the driving handle drives
It moves the flexible arm body realization and curves movement；The imaging tool includes imaging illumination mould group, curves joint and imaging tool drive
Moving cell, the imaging illumination mould group is associated with the joint distal end that curves, described to curve joint proximal end and the imaging tool
Driving unit is associated with, and is curved joint realization described in the imaging tool driving unit driving and is curved movement；The catheter body is used for
The operation actuator of flexible arm body distal end and the imaging illumination mould group guidance for curving joint distal end are reached into same area
Domain, while the flexible arm body will be located at and curving the later part in joint proximal end and guided to space different directions.
In a preferred embodiment, the flexible arm body includes more than one distal end structure section, each distal end structure
Section includes distal end fixed disk, distal end space disc and structural bone；Multiple distal end space discs are spaced apart in the distal end structure section
In, structural bone one end of the distal end structure section is fixed in the distal end fixed disk, and the other end sequentially passes through between each distal end
It is fixed on after disk in the near structure body.
In a preferred embodiment, the near structure body includes proximal end space disc, proximal end fixed disk and proximal end knot
Structure bone, multiple proximal end space discs are spaced apart in the near structure body, more proximal structure bone one end and institute
It states proximal end fixed disk to be fastenedly connected, the structural bone one-to-one correspondence of the other end and the distal end structure section is fastenedly connected or is same root knot
Structure bone.
In a preferred embodiment, the proximal end fixed disk in the driving handle and the near structure body, which fastens, connects
It connects, manual lateral rotation driving handle is curved with controlling the near structure body to any direction, to drive the flexible arm
Body is curved to any direction.
In a preferred embodiment, button switch is provided on the driving handle, while the operation executes
After the control line of device is passed through from the flexible arm body and near structure body, with the operation actuator driven mechanism in the driving handle
It is fastenedly connected, the operation actuator driven mechanism in the control handle can be converted to the up and down motion of the button switch pair
The front and back of the control line of the operation actuator pushes and pulls movement, and then realizes the action control to the operation actuator.
In a preferred embodiment, the catheter body includes multi-cavity tube body, support construction and guiding sleeve；It is described more
Lumen body is located at the catheter body distal end and is rod-shaped linear structure, is provided with flexible operation tool and passes through cavity；It is described
Flexible operation tool is protruded into the support construction by cavity and extends to the support construction proximal end；The support construction is close
End is fastenedly connected with multiple guiding sleeves, and the flexible hand of the hollow cavity in the guiding sleeve and the support construction proximal end
Art tool is aligned by cavity, so that the flexibility operation tool can smoothly be inserted into the guiding sleeve and flexible operation tool
By in cavity.
In a preferred embodiment, the guiding sleeve is in diverging distribution, by the flexible operation tool
The later part in flexible arm body proximal end is guided to space different directions；The guiding sleeve proximal end is provided with guiding sleeve entrance,
Its inner wall be smooth rigid cylindrical channel, it is described flexibility operation tool on have with the guiding sleeve be slidably connected into
To guide pipe, the feeding guide pipe can it is free to slide wherein, rotation, by driving handle described in Manual push-pull to change
State flexible arm body and stretch out length of the flexible operation tool by cavity, thus realize the flexible operation tool it is whole into
To freedom degree；Meanwhile the integral-rotation of the flexible arm body is controlled by can be manually rotated the driving handle, and then realize institute
State the integral-rotation freedom degree of flexible operation tool and the adjusting to the operation actuator roll angle.
In a preferred embodiment, imaging tool is additionally provided in the multi-lumen tube body by cavity, it is described at
As tool extends to by cavity the rear portion of the support construction from the multi-lumen tube, the imaging tool can be inserted smoothly
Enter the imaging tool by cavity, and the imaging tool can the imaging tool by it is free to slide in cavity, turn
It is dynamic, its freedom degree for integrally feeding and rotating is realized by Manual push-pull, the rotation imaging tool.
In a preferred embodiment, the catheter body includes distal plate, proximal plate, conduit, multi-cavity tube body and guidance
Casing, and be provided with flexible operation tool in the multi-cavity tube body and cavity is passed through by cavity and imaging tool；The distal plate
It is fastenedly connected integrally with proximal plate, multi-cavity tube body proximal end and the distal end of catheter are fastenedly connected in the distal plate
On, and the conduit is connected with the flexible operation tool in the multi-cavity tube body by cavity and tangent, the catheter proximal end is tight
It is connected and is connected in the proximal plate and connects and tangent with being equally fastenedly connected in the guiding sleeve in the proximal plate, with
Enable the flexible operation tool to be smoothly inserted into the guiding sleeve, conduit and flexible operation tool to pass through in cavity.
In a preferred embodiment, the guiding sleeve is in parallelly distribute on and possesses enough offset distances mutually
From the guiding sleeve proximal end is provided with guiding sleeve entrance, and inner wall is smooth rigid cylindrical channel, the flexible hand
There is the feeding guide pipe being slidably connected with the guiding sleeve, the feeding guide pipe can free skating wherein on art tool
Dynamic, rotation is changed the flexible arm body by driving handle described in Manual push-pull and stretches out the flexible operation tool transit chamber
The length in road, to realize the whole feeding freedom degree of the flexible operation tool；Meanwhile by can be manually rotated the driving hand
Handle realizes the integral-rotation freedom degree of the flexible operation tool and to institute to control the integral-rotation of the flexible arm body
State the adjusting of operation actuator roll angle.
In a preferred embodiment, imaging tool is additionally provided in the multi-lumen tube body by cavity, it is described at
As tool passes through cavity also cross the distal plate and proximal plate；The imaging tool can smoothly be inserted into the imaging tool
By in cavity, and the imaging tool can be in the imaging tool by free to slide in cavity, rotation, by pushing away manually
It draws, rotate the freedom degree that the imaging tool realizes its entirety feeding and rotation.
In a preferred embodiment, when the flexible arm body includes more than two distal end structure sections, the flexible arm
Body further includes flexible operation tool drives unit, and flexible arm body proximal end is associated with the flexible operation tool drives unit,
The flexible operation tool drives unit is associated with by the near structure body with the driving handle；At this point, a portion
Structural bone one end of the distal end structure section is fixed in the distal end fixed disk, and the other end sequentially passes through each distal end space disc
After be fixed in the flexible operation tool drives unit, the flexible operation tool drives unit driving flexible is performed the operation with described
The distal end structure section of tool drives unit association is curved in specific curve in plane.
In a preferred embodiment, the flexible operation tool drives unit includes fixed pedestal, motor, gear
To, worm screw, worm gear, transmission shaft, connecting rod, guide rod, sliding block and channel fixed plate；The electricity is fastenedly connected on the fixed pedestal
Machine, the output shaft of the motor are coaxially fastenedly connected with a gear in the gear mesh, another in the gear mesh
Gear is coaxially fastenedly connected with the worm screw, and the worm screw engages with the worm gear, and the worm gear is fastened and inserted on the transmission
On axis, the transmission shaft and the fixed pedestal are rotatablely connected, and the transmission shaft is fastenedly connected with the connecting rod；The sliding block is
It two, is located at the two sides of the transmission shaft and is slidably connected on the guide rod, the guide rod is fastenedly connected described logical
In road fixed plate；The both ends of the connecting rod are connect with a sliding block respectively, are closed with the flexible operation tool drives unit
The structural bone of the distal end structure section of connection is fastenedly connected with the sliding block.
In a preferred embodiment, toggle switch, while the flexible hand are additionally provided on the driving handle
The motor control panel for controlling the motor rotary motion, the motor control panel and institute are provided in art tool drives unit
State toggle switch electrical connection, the toggle switch can control the motor and rotate forward, keep current location and reversion, and then drive with
The distal end structure section of the flexible operation tool drives unit association curves to side in specific curve in plane respectively, keeps current
It posture and is curved to the other side.
In a preferred embodiment, the structural bone is rod-shaped or tubular structure, when the structure joint number more than two
When, it is connected using concatenated mode between each structure section, i.e. the distal end structure section far from the flexible operation tool drives unit
Structural bone worn from the distal end fixed disk of the distal end structure section close to the flexible operation tool drives unit and distal end space disc
It crosses；If the structural bone close to the distal end structure section of the flexible operation tool drives unit uses tubular structure, far from described soft
Property operation tool driving unit distal end structure section structural bone from the distal end structure section close to the flexible operation tool drives unit
Structural bone in pass through.
In a preferred embodiment, the imaging tool further includes rigid tube body, and described at this time to curve joint tight
It is solidly connected in the rigid body distal end, the rigidity tube body proximal end is fastenedly connected with the imaging tool driving unit；More into
One step, the imaging tool further includes the control button positioned at imaging tool driving unit proximal end, the imaging illumination
Mould group includes multiple cameras for realizing stereoscopic vision and multiple illuminating devices, curves pass described in the control button control
Section it is any to curving, while controlling the working condition of the camera and illuminating device.
In a preferred embodiment, the flexible operation tool is two or more, the imaging by cavity quantity
Tool is more than one by cavity quantity, and the multi-cavity tube body further includes more than one multi-functional cavity.
The invention adopts the above technical scheme, which has the following advantages: 1, meeting single hole the invention proposes a set of
Endoscope-assistant surgery puts the surgery systems of process to good use, and the flexible operation tool and imaging tool front end in the system, which are all made of, can be achieved to appoint
The structure that intention curves, therefore, three flexible operation tools and an imaging tool can enter human body by same multi-cavity tube body
And flexibly put operation to good use.2, catheter body of the invention uses the guidance cavity with particular space curved configuration, and catheter body can incite somebody to action
Flexible operation tool and imaging tool are led into same multi-cavity tube body, when ensure that multiple tools by single operative incision
Size limitation.According to the size and motion feature of different flexible operation tool and imaging tool, guidance can adjust
The space curve configuration of cavity, to realize compact extrapersonal space arrangement.3, the present invention contains catheter body, imaging tool, soft
Property operation tool, and propose the installation of feasible single hole endoscope-assistant surgery and put process to good use.4, catheter body of the invention is purely mechanic knot
Structure, flexible operation tool and imaging tool can carry out airtightness encapsulation, so that the surgery systems can carry out overall disinfection, guarantee to face
The exploitativeness of bed operation.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of flexible operation tool of the invention；
Fig. 3 is the structural schematic diagram of flexible arm body of the present invention；
Fig. 4 is the structural schematic diagram of flexible operation tool drives unit of the invention；
Fig. 5 is the structural schematic diagram of near structure body of the present invention；
Fig. 6 is the structural schematic diagram of imaging tool of the present invention；
Fig. 7 is the structural schematic diagram of catheter body of the present invention；
Fig. 8 a-c is that flow chart is put in installation of the invention to good use；
Fig. 9 is the structural schematic diagram of catheter body in another embodiment of the present invention；
Figure 10 is the overall structure diagram of another embodiment of the present invention.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understand
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is
Illustrate the connotation of technical solution of the present invention.
As shown in Figure 1, single hole endoscope-assistant surgery system provided by the invention includes flexible operation tool 10,30 and of imaging tool
Catheter body 40.
As shown in Figure 2, Figure 4 shows, flexible operation tool 10 includes operation actuator 101, operation actuator control line 102, flexibility
Arm body 11, flexible cover 104, rigid strip of paper used for sealing 105, flexible operation tool drives unit 20, driving handle 21 and near structure body
16.Operation actuator 101 is fastenedly connected in 11 distal end of flexible arm body, can be electro-mechanical surgical actuator, and such as surgical clamp is cut
Knife, haemostatic clamp etc., can also perform the operation actuator for energy type, such as electric knife, electriocoagulator.Perform the operation 102 distal end of actuator control line with
Operation actuator 101 is fastenedly connected, and proximal end passes through flexible arm body 11, flexible operation tool drives unit 20 and near structure body 16
Afterwards, it is connect with the operation actuator driven fastening in driving handle 21.Flexible arm body 11 is to possess multiple to curve freedom degree
More structure section flexible structures, be distally fastenedly connected with operation actuator 101, proximal end and flexible operation tool drives unit 20 close
Connection.Flexible arm body 11 is coated with strip of paper used for sealing, and strip of paper used for sealing is flexible cover 104 in the part close to operation actuator 101, and strip of paper used for sealing is leaning on
The part of nearly flexible operation tool drives unit 20 is the rigid strip of paper used for sealing 105 of rigid tubular structure.Flexibility operation tool drives list
Member 20 is associated with by near structure body 16 with driving handle 21, and flexibility operation tool drives unit 20 and driving handle 21 drive jointly
The realization of flexible arm body 11 moved under the cladding of flexible cover 104 curves movement, the flexible arm body 11 under rigid strip of paper used for sealing 105 cladding
It then can not achieve and any curve movement.
As shown in figure 3, flexible arm body 11 includes the first distal end structure section 12 and the second distal end structure section 13, the first distal end structure section 12
Including the first distal end space disc 121, the first distal end fixed disk 122 and the first structure section structure bone 123；Second distal end structure section 13 includes
Second distal end space disc 131, the second distal end fixed disk 132 and the second structure section structure bone 133.Wherein, the first distal end space disc 121
It is respectively separated and is distributed in the first distal end structure section 12 and the second distal end structure section 13 with the second distal end space disc 131, effect is to prevent
First structure section structure bone 123 and the second unstability when being pushed away of structure section structure bone 133.First structure section structure bone, 123 one end is fixed on
In first distal end fixed disk 122, the other end passes through the first distal end space disc 121, is finally fixed on flexible operation tool drives list
In member 20；Similar, 131 one end of the second structure section structure bone is fixed in the second distal end fixed disk 132, and the other end sequentially passes through
Two distal end space discs 131, the first distal end fixed disk 122 and the first distal end space disc 121, are finally fixed near structure body 16
In.Flexibility operation tool drives unit 20 can realize that the first distal end structure section 12 exists by collaboration the first structure section structure bone 123 of push-and-pull
It is specific to curve curving in plane；Near structure body 16 can realize the second distal end by collaboration the second structure section structure bone 133 of push-and-pull
Structure section 13 is curved to any direction.It should be noted that due to the first distal end structure section 12 only it is specific curve it is curved in plane
Turn, therefore 123 quantity of the first structure section structure bone is two or more.
As shown in figure 4, flexible operation tool drives unit 20 includes fixed pedestal 221, motor 222, gear mesh 223, snail
Bar 224, worm gear 225, transmission shaft 226, connecting rod 227, sliding block 228, guide rod 229 and channel fixed plate 230.Wherein, fixed pedestal
221 be two (one is only shown in figure), is fastenedly connected motor 222 on a fixed pedestal 221 wherein, motor 222 it is defeated
Shaft is coaxially fastenedly connected with a gear in gear mesh 223, another gear and worm screw 224 in gear mesh 223 are coaxial
It is fastenedly connected, worm screw 224 engages with worm gear 225, and the fastening of worm gear 225 is set on transmission shaft 226,226 rotational support of transmission shaft
Between two fixed pedestals 221, transmission shaft 226 and the middle part of connecting rod 227 are fastenedly connected.Sliding block 228 is two, is located at transmission
It the two sides of axis 226 and is slidably connected on guide rod 229 respectively, guide rod 229 is fastenedly connected between two channel fixed plates 230
(one is only shown in figure).The sliding slot at 227 both ends of connecting rod is connect with a sliding block 228 respectively, and two sliding blocks 228 are used as flexible hand
The output end of art tool drives unit 20 is fastenedly connected with the first structure section structure bone 123.The rotary power of motor 222 can pass through
Gear mesh 223, worm screw 224, worm gear 225 pass to transmission shaft 226, so that drive link 227 rotates, the rotation of connecting rod 227 turns
Sliding block 228 is turned to along the linear motion of guide rod 229, and then the collaboration formed to the first structure section structure bone 123 pushes and pulls movement, drives
First distal end structure section 12 curves curving in plane specific.
In a preferred embodiment, the structure joint number that flexible arm body 11 includes is also possible to one or more than two,
Each structure section structure bone can be rod-shaped or tubular structure.When structure joint number is one, flexible operation tool drives unit can be given up
20 and the first distal end structure section 12 for being associated, at this time flexible arm body 11 only include and 16 associated second distal end of near structure body
Structure section 13；It when structure joint number more than two, is connected between each structure section using concatenated mode, i.e., far from flexible operation tool drives
Fixed disk 122 of the structural bone 133 (123) of the structure section of unit 20 from the structure section close to flexible operation tool drives unit 20
(132) and on space disc 121 (131) across.If the structural bone 133 of the structure section close to flexible operation tool drives unit 20
(123) tubular structure is used, the structural bone 133 (123) of the structure section far from flexible operation tool drives unit 20 can also be from close
It is passed through in the structural bone 123 (133) of the structure section of flexibility operation tool drives unit 20.
As shown in figure 5, near structure body 16 includes proximal end space disc 161, proximal end fixed disk 162 and proximal structure bone 163；
Wherein, proximal end space disc 161 is spaced apart near structure body 16, and effect is to prevent the mistake when being pushed away of proximal structure bone 163
Surely.More 163 one end of proximal structure bone are fastenedly connected in proximal end fixed disk 162, the other end be located at the second distal end structure section 13
On the second structure section structure bone 133 one-to-one correspondence be fastenedly connected or for same root structural bone.Preferably, outside near structure body 16
It is coated with strip of paper used for sealing.It should be noted that since the second distal end structure section 13 is to curve to any direction, for proximal structure
Body 16 and the second distal end structure section 13, structural bone quantity therein should be three or more.
As shown in Fig. 2, driving handle 21 is fastenedly connected with the proximal end fixed disk 162 near structure body 16, it is lateral manually
Rotate driving handle 21 can control near structure body 16 and curve to any direction, to drive the second distal end structure section 13 to any
Direction curves.Toggle switch 202 and button switch 201 are provided on driving handle 21, while in flexibility operation tool drives
Be provided with the motor control panel (not shown) for controlling 222 rotary motion of motor in unit 20, motor control panel with dial
Dynamic switch 202 is electrically connected, and there are three gears for the setting of toggle switch 202, is respectively used to control motor 222 and is rotated forward, keeps present bit
It sets and inverts, the toggle switch 202 on driving handle 21 is stirred in left and right, and the first distal end structure section 12 can be driven respectively specific curved
Turn to curve to side in plane, keep current pose and curve to the other side.Button press switch 201 controls in handle 21
Operation actuator driven mechanism, which can be converted to the up and down motion of button switch 201, pushes away the front and back of operation actuator control line 102
Roping is dynamic, and then realizes the action control to operation actuator 101.
As shown in fig. 6, imaging tool 30 includes imaging illumination mould group 301, curves joint 302, rigid tube body 303, imaging
Tool drives unit 304 and control button 305.Wherein, two are integrated in imaging illumination mould group 301 for realizing stereoscopic vision
Camera 306 and multiple illuminating devices 307.Imaging illumination mould group 301 is carried by curving joint 302, curves the fastening of joint 302
It is connected to rigid 303 distal end of tube body, rigid 303 proximal end of tube body is fastenedly connected with imaging tool driving unit 304.Positioned at imaging work
The control button 305 of tool 304 proximal end of driving unit, which can control, curves curving for joint 302, while control button 305 can also be controlled
The working condition of camera 306 and illuminating device 307 processed.By Manual push-pull, rotation imaging tool 30 and press control button
305, imaging tool 30 can realize whole feeding, rotate integrally and curve joint 302 arbitrarily to four freedom of motion curved,
And then realize the monitoring of the multi-angle in the course of surgery of camera 306.It should be noted that imaging tool driving unit 304
Structure is similar to flexibility operation tool drives unit 20 to driving principle, and so it will not be repeated.
As shown in fig. 7, catheter body 40 includes that multi-cavity tube body 401, support construction 403, flexible operation tool pass through cavity
404, imaging tool passes through cavity 405 and guiding sleeve 410.It preferably, can also include multiple multi-functional on multi-cavity tube body 401
Cavity (not shown), to be inserted into surgical assist tool during surgery.Multi-cavity tube body 401 is located at 40 distal end of catheter body and is
Rod-shaped linear structure is provided with an imaging tool by cavity 405 and three flexible operation tools and passes through cavity 404.
Imaging tool is protruded into support construction 403 by cavity 404 by cavity 405 and each flexible operation tool and extends to support knot
The proximal end (i.e. with the junction of guiding sleeve 410) of structure 403.The proximal end of support construction 403 connects with three fastenings of guiding sleeve 410
It connects, and the hollow cavity in guiding sleeve 410 is aligned with the flexible operation tool of 403 proximal end of support construction by cavity 404, is made
Flexible operation tool 10 can smoothly be inserted into guiding sleeve 410 and flexible operation tool and reach art portion by cavity 404.Draw
Guide thimble 410 can draw the later part of the rigid strip of paper used for sealing 105 of flexible operation tool 10 to space different directions in diverging distribution
It leads, is interfered to avoid each flexible operation tool 10.The proximal end of guiding sleeve 410 is provided with guiding sleeve entrance 409, in
Wall be smooth rigid cylindrical channel, flexible 10 front end of operation tool and with flexibility operation tool drives unit 20 be fastenedly connected
Feeding guide pipe 106 be slidably connected with guiding sleeve 410, feeding guide pipe 106 can free to slide wherein, rotation, therefore hand
Dynamic push-and-pull driving handle 21 can change flexible arm body 11 and stretch out the length that flexible operation tool passes through cavity 404, to realize
The whole feeding freedom degree of flexible operation tool 10；Can be manually rotated driving handle 21 can control the integral-rotation of flexible arm body 11
It is directed toward with the specific plane that curves of the first distal end structure section 12, and then realizes the integral-rotation freedom degree of flexible operation tool 10 and right
The adjusting for 101 roll angle of actuator of performing the operation.Imaging tool extends to support knot from multi-cavity tube body 401 by cavity 405
The rear portion of structure 403 is the cavity of a rigid, straight, so that imaging tool 30, which can also smoothly be inserted into imaging tool, passes through cavity
405 reach art portion, and the rigid tube body 303 of imaging tool 30 can pass through free to slide, rotation in cavity 405 in imaging tool,
Therefore its freedom degree for integrally feeding and rotating can be realized by Manual push-pull, rotation imaging tool 30.
Fig. 8 a-c shows that process, including following below scheme are put in installation of the invention to good use:
1) catheter body 40 and the imaging tool being packaged 30, flexible operation tool 10 impregnate and disappear by operation consent
Poison.
2) sheath that single operative incision with patient is fixed in the front end of catheter body 40 as shown in Figure 8 a, is inserted into people
The imaging tool 30 sterilized is inserted into catheter body 40, by cavity 405 until imaging illumination mould by body by imaging tool
Block 301 and joint 302 is curved completely from imaging tool by stretching out in cavity 405.The maximum outside diameter of imaging illumination mould group 301 and
The maximum outside diameter of steering connections 302 is no more than the maximum outside diameter of rigid tube body 303, to guarantee that imaging illumination mould group 301 can
Imaging tool is passed through by cavity 405, and rigid tube body 303 pass through in imaging tool it is free to slide in cavity 405.Pass through
What is manually controlled the front-rear position of imaging tool 30, rotate integrally angle and curve joint 302 curves the adjustable imaging of angle
Visual angle.
3) as shown in Figure 8 b, the flexible operation tool 10 sterilized is inserted into catheter body 40 by guiding sleeve 410
Flexible operation tool by cavity 404, until flexible arm body 11 in cavity 404 completely from flexible operation tool by stretching
Out.Flexible arm body 11 can pass through flexible operation tool and pass through cavity 404 and wherein free to slide, rotation.
4) flexible operation tool 10 and imaging tool 30 are as shown in Figure 8 c in the relative position of inside of human body point and configuration, at
As the illuminating device 307 of 30 front end of tool provides illumination, three flexible surgical arms 11 and operation actuator for surgical procedure space
101 within the field range of camera 306.
Fig. 9 illustrates the catheter body 50 that another embodiment provides according to the present invention, the catheter body 50 include distal plate 501,
Proximal plate 502, support construction bar 504, conduit 505, multi-cavity tube body 401 and guiding sleeve 410.Distal plate 501 and proximal plate 502
It is fastenedly connected integrally by support construction bar 504, the proximal end of multi-cavity tube body 401 is fastenedly connected in distal plate 501, conduit
505 distal ends are fastenedly connected in distal plate 501 and are connected simultaneously with the flexible operation tool in multi-cavity tube body 401 by cavity 404
It is tangent, 505 proximal end of conduit be fastenedly connected in proximal plate 502 and with the guiding sleeve that is equally fastenedly connected in proximal plate 502
410 connect and tangent.Imaging tool in multi-cavity tube body 401 is by cavity 405 then also cross distal plate 501 and proximal plate
502。
In the present embodiment, the main distinction of catheter body 50 and catheter body 40 is flexible operation tool 10 in space
Arrangement is different.In catheter body 40, the radial arrangement of three flexible operation tools 10 and there is certain angle between each other,
Purpose be in order to avoid the external drive part of flexible operation tool 10 is interfered in operational movement, and it is optimal simultaneously
Change volume shared by the external drive part of single hole endoscope-assistant surgery system as shown in Figure 1.And three flexible operations in catheter body 50
10 parallelly distribute on of tool and possess enough offset distances mutually, it is external that such arrangement equally realizes single hole endoscope-assistant surgery system
The compact arrangement (as shown in Figure 10) of drive part can also avoid the external drive part of flexible operation tool 10 from transporting in operation
It is interfered when dynamic.
The present invention is only illustrated with above-described embodiment, and structure, setting position and its connection of each component are all can have
Changed.Based on the technical solution of the present invention, the improvement or equivalent that all principles according to the present invention carry out individual part
Transformation, should not exclude except protection scope of the present invention.
Claims (16)
1. a kind of single hole endoscope-assistant surgery system based on flexible operation tool, which is characterized in that the system includes flexible operation work
Tool, imaging tool and catheter body；
Wherein, the flexible operation kit includes operation actuator, flexible arm body, flexible operation tool drives unit, driving hand
Handle and near structure body, the operation actuator are associated with flexible arm body distal end, flexible arm body proximal end with it is described soft
Property the association of operation tool driving unit, the flexible operation tool drives unit passes through the near structure body and the driving hand
Handle association, the flexible operation tool drives unit and the driving handle drive the flexible arm body realization to curve fortune jointly
It is dynamic；
The flexible operation tool drives unit includes fixed pedestal, motor, gear mesh, worm screw, worm gear, transmission shaft, connecting rod, leads
Bar, sliding block and channel fixed plate；The motor, the output shaft of the motor and the gear are fastenedly connected on the fixed pedestal
One gear of centering is coaxially fastenedly connected, another gear in the gear mesh is coaxially fastenedly connected with the worm screw, institute
It states worm screw to engage with the worm gear, the worm gear is fastened and inserted on the transmission shaft, the transmission shaft and the fixed pedestal
Rotation connection, the transmission shaft are fastenedly connected with the connecting rod；The sliding block is two, is located at the two sides of the transmission shaft
And be slidably connected on the guide rod, the guide rod is fastenedly connected in the channel fixed plate；Distinguish at the both ends of the connecting rod
It is connect with a sliding block, the structural bone for the distal end structure section being associated with the flexible operation tool drives unit and the sliding block
It is fastenedly connected；
The imaging tool includes imaging illumination mould group, curves joint and imaging tool driving unit, the imaging illumination mould group
It is associated with the joint distal end that curves, the joint proximal end that curves is associated with the imaging tool driving unit, the imaging work
Joint realization, which is curved, described in tool driving unit driving curves movement；
The catheter body is used for the operation actuator and the imaging illumination for curving joint distal end of flexible arm body distal end
The guidance of mould group reaches the same area, while it is different to space to be located at the flexible arm body part later with joint proximal end is curved
Direction guidance.
2. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as described in claim 1, which is characterized in that described
Flexible arm body includes more than one distal end structure section, and each distal end structure section includes distal end fixed disk, distal end space disc and structure
Bone；Multiple distal end space discs are spaced apart in the distal end structure section, and structural bone one end of the distal end structure section is fixed on
In the distal end fixed disk, the other end is fixed in the near structure body after sequentially passing through each distal end space disc.
3. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 2, which is characterized in that described
Near structure body includes proximal end space disc, proximal end fixed disk and proximal structure bone, multiple proximal end space discs be spaced apart in
In the near structure body, more proximal structure bone one end are fastenedly connected with the proximal end fixed disk, the other end with it is described
The structural bone one-to-one correspondence of distal end structure section is fastenedly connected or is same root structural bone.
4. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 3, which is characterized in that described
Driving handle is fastenedly connected with the proximal end fixed disk in the near structure body, and manual lateral rotation driving handle is described to control
Near structure body is curved to any direction, so that the flexible arm body be driven to curve to any direction.
5. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 4, which is characterized in that described
Button switch is provided on driving handle, while the control line of the operation actuator is worn from the flexible arm body and near structure body
Later, it is connect with the operation actuator driven fastening in the driving handle, the operation actuator in the driving handle
The up and down motion of the button switch can be converted to the front and back push-and-pull movement to the control line of the operation actuator by driving mechanism,
And then realization is to the action control of the operation actuator.
6. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as described in claim 1, which is characterized in that described
Catheter body includes multi-cavity tube body, support construction and guiding sleeve；The multi-lumen tube body is located at the catheter body distal end and is rod-shaped
Linear structure is provided with flexible operation tool and passes through cavity；The flexibility operation tool protrudes into the support by cavity
In structure and extend to the support construction proximal end；The support construction proximal end is fastenedly connected with multiple guiding sleeves, and described
Hollow cavity in guiding sleeve is aligned with the flexible operation tool of the support construction proximal end by cavity, so that the flexibility
Operation tool can smoothly be inserted into the guiding sleeve and flexible operation tool passes through in cavity.
7. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 6, which is characterized in that described
Guiding sleeve is in diverging distribution, by the later part in the flexible arm body proximal end of the flexible operation tool to space different directions
Guidance；The guiding sleeve proximal end is provided with guiding sleeve entrance, and inner wall is smooth rigid cylindrical channel, the flexibility
There is the feeding guide pipe being slidably connected with the guiding sleeve, the feeding guide pipe can free skating wherein on operation tool
Dynamic, rotation is changed the flexible arm body by driving handle described in Manual push-pull and stretches out the flexible operation tool transit chamber
The length in road, to realize the whole feeding freedom degree of the flexible operation tool；Meanwhile by can be manually rotated the driving hand
Handle realizes the integral-rotation freedom degree of the flexible operation tool and to institute to control the integral-rotation of the flexible arm body
State the adjusting of operation actuator roll angle.
8. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 6, which is characterized in that described
Imaging tool is additionally provided in multi-lumen tube body by cavity, the imaging tool is extended to by cavity from the multi-lumen tube
The rear portion of the support construction, the imaging tool can smoothly be inserted into the imaging tool and pass through in cavity, and the imaging
Tool can be realized in the imaging tool by free to slide in cavity, rotation by Manual push-pull, the rotation imaging tool
It integrally feeds and the freedom degree of rotation.
9. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as described in claim 1, which is characterized in that described
Catheter body includes distal plate, proximal plate, conduit, multi-cavity tube body and guiding sleeve, and is provided with flexible hand in the multi-cavity tube body
Art tool passes through cavity by cavity and imaging tool；The distal plate and proximal plate are fastenedly connected integrally, the multi-lumen tube
Body proximal end and the distal end of catheter are fastenedly connected in the flexibility in the distal plate, and in the conduit and the multi-cavity tube body
Operation tool is connected and tangent by cavity, the catheter proximal end be fastenedly connected in the proximal plate and be equally fastenedly connected
Connect and tangent in the guiding sleeve in the proximal plate, so that the flexibility operation tool can smoothly be inserted into described draw
Guide thimble, conduit and flexible operation tool pass through in cavity.
10. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 9, which is characterized in that institute
Guiding sleeve is stated in parallelly distribute on and possesses enough offset distances mutually, the guiding sleeve proximal end is provided with guiding sleeve and enters
Mouthful, inner wall is smooth rigid cylindrical channel, has on the flexibility operation tool and is slidably connected with the guiding sleeve
Feeding guide pipe, the feeding guide pipe can it is free to slide wherein, rotation, by driving handle described in Manual push-pull to change
Become the flexible arm body and stretch out length of the flexible operation tool by cavity, to realize the whole of the flexible operation tool
Body feeds freedom degree；Meanwhile the integral-rotation of the flexible arm body, Jin Ershi are controlled by can be manually rotated the driving handle
Now the integral-rotation freedom degree of the flexibility operation tool and the adjusting to the operation actuator roll angle.
11. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 9, which is characterized in that institute
State and be additionally provided with imaging tool in multi-lumen tube body by cavity, the imaging tool by cavity also cross the distal plate and
Proximal plate；The imaging tool can smoothly be inserted into the imaging tool and pass through in cavity, and the imaging tool can be described
Imaging tool by free to slide in cavity, rotation, by Manual push-pull, the rotation imaging tool realize its integrally feeding and
The freedom degree of rotation.
12. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 2, which is characterized in that its
Structural bone one end of middle a part of distal end structure section is fixed in the distal end fixed disk, and the other end sequentially passes through each described remote
Be fixed on after the space disc of end in the flexible operation tool drives unit, the flexible operation tool drives unit driving with it is described
The distal end structure section of flexibility operation tool drives unit association is curved in specific curve in plane.
13. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as described in claim 1, which is characterized in that institute
It states and is additionally provided with toggle switch on driving handle, while being provided in the flexible operation tool drives unit described for controlling
The motor control panel of motor rotary motion, the motor control panel are electrically connected with the toggle switch, and the toggle switch can be controlled
The motor is made to rotate forward, keep current location and reversion, so drive be associated with the flexible operation tool drives unit it is far
End structure section is curved to side in specific curve in plane respectively, keeps current pose and is curved to the other side.
14. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as claimed in claim 12, which is characterized in that institute
Stating structural bone is rod-shaped or tubular structure, and when the structure joint number more than two, concatenated mode is used between each structure section
The structural bone of connection, i.e., the distal end structure section far from the flexible operation tool drives unit is driven from close to the flexible operation tool
It is passed through in the distal end fixed disk and distal end space disc of the distal end structure section of moving cell；If close to the flexible operation tool drives unit
The structural bone of distal end structure section use tubular structure, then the structure of the distal end structure section far from the flexible operation tool drives unit
Bone is passed through out of the distal end structure section close to the flexible operation tool drives unit structural bone.
15. special such as a kind of described in any item single hole endoscope-assistant surgery systems based on flexible operation tool of claims 1 to 14
Sign is that the imaging tool further includes rigid tube body, and the joint that curves described at this time is fastenedly connected in the rigid body distal end,
The rigidity tube body proximal end is fastenedly connected with the imaging tool driving unit；
Further, the imaging tool further includes the control button positioned at imaging tool driving unit proximal end, described
Imaging illumination mould group includes multiple cameras for realizing stereoscopic vision and multiple illuminating devices, and the control button controls institute
It states and curves any to curving of joint, while controlling the working condition of the camera and illuminating device.
16. a kind of single hole endoscope-assistant surgery system based on flexible operation tool as described in claim 8 or 11, feature exist
In, the flexibility operation tool is two or more by cavity quantity, and the imaging tool is more than one by cavity quantity,
And the multi-cavity tube body further includes more than one multi-functional cavity.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795885.8A CN106175849B (en) | 2016-08-31 | 2016-08-31 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
| PCT/CN2017/099857 WO2018041206A1 (en) | 2016-08-31 | 2017-08-31 | Single-port endoscopic surgical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795885.8A CN106175849B (en) | 2016-08-31 | 2016-08-31 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
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| Publication Number | Publication Date |
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| CN106175849A CN106175849A (en) | 2016-12-07 |
| CN106175849B true CN106175849B (en) | 2019-03-01 |
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| CN201610795885.8A Active CN106175849B (en) | 2016-08-31 | 2016-08-31 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
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| Country | Link |
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| CN (1) | CN106175849B (en) |
| WO (1) | WO2018041206A1 (en) |
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| CN106175849B (en) * | 2016-08-31 | 2019-03-01 | 北京术锐技术有限公司 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
| CN108852515B (en) * | 2018-03-23 | 2022-06-24 | 深圳市精锋医疗科技股份有限公司 | Slave operation device for single incision surgery and surgical robot |
| CN112190336B (en) * | 2018-10-09 | 2023-12-05 | 北京术锐机器人股份有限公司 | Flexible surgical robot system |
| CN109431605A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of percutaneous puncture robot system and its application method based on flexible surgical arm |
| CN112842533B (en) * | 2018-10-09 | 2023-09-05 | 北京术锐机器人股份有限公司 | Flexible surgical tool and vascular intervention surgical robot system |
| CN109567927B (en) * | 2018-11-22 | 2021-06-29 | 清华大学 | An intracavity operating tool |
| CN111227939B (en) * | 2018-11-29 | 2021-08-31 | 中国科学院沈阳自动化研究所 | A modular single-hole endoscopic surgical drive device |
| WO2020133368A1 (en) * | 2018-12-29 | 2020-07-02 | 天津大学 | Flexible surgical instrument, operating arm system and minimally invasive surgical robotic slave manipulator system |
| CN109700537B (en) * | 2018-12-29 | 2021-07-30 | 天津大学 | Flexible surgical instrument, manipulator arm system and minimally invasive surgical robot slave hand system |
| CN111714162B (en) * | 2019-05-10 | 2023-03-28 | 上海微创医疗机器人（集团）股份有限公司 | Surgical device and surgical instrument |
| CN113858260B (en) * | 2020-06-30 | 2023-11-17 | 北京术锐机器人股份有限公司 | Flexible continuum structure capable of being integrally driven and flexible mechanical arm |
| CN113858261B (en) * | 2020-06-30 | 2023-03-10 | 北京术锐技术有限公司 | Flexible continuum structure capable of being driven integrally and flexible mechanical arm |
| WO2022001188A1 (en) | 2020-06-30 | 2022-01-06 | 北京术锐技术有限公司 | Continuum instrument and surgical robot |
| CN114073584A (en) * | 2020-08-17 | 2022-02-22 | 北京术锐技术有限公司 | A robotic system for urology surgery |
| CN114073583A (en) * | 2020-08-17 | 2022-02-22 | 北京术锐技术有限公司 | Urinary surgery operation machine and operation robot |
| CN111888012B (en) * | 2020-08-26 | 2021-11-05 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument platform |
| CN112773476A (en) * | 2021-02-07 | 2021-05-11 | 宁波龙泰医疗科技有限公司 | Adjusting device for endoscopic surgery and endoscopic surgery equipment |
| CN113598949A (en) * | 2021-07-02 | 2021-11-05 | 北京理工大学 | A flexible surgical robot for the natural orifice of the human body |
| CN114869359B (en) * | 2022-05-27 | 2023-08-22 | 四川大学华西医院 | Catheter apparatus |
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| WO2018041206A1 (en) | 2018-03-08 |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |