CN110338741B - Visual flexible operation arm - Google Patents

Abstract

The invention relates to the field of medical instruments, in particular to a visual flexible surgical arm, comprising a multi-chamber cap, a multi-chamber flexible tube, a deformation skeleton, a spring tube, a driving tendon, a driving mechanism and an outer tube assembly. A multi-chamber hose with multiple hose cavities, a multi-chamber cap is provided at the front end of the deformation skeleton, and a plurality of cap cavities are arranged in the multi-chamber cap, and the cap cavities are in one-to-one correspondence with the hose cavities , a plurality of spring tubes are fixed on the outside of the deformation skeleton, and a plurality of driving tendons are respectively penetrated into the corresponding spring tubes and the front ends are fixed on the deformation skeleton. It is fixed inside and fixed by the corresponding pressing block, the driving tendon is protruded from the corresponding spring tube and wound around the corresponding rotating shaft, and the deformation skeleton, the spring tube and the driving tendon are all arranged in the outer tube assembly. The invention has the ability to be dexterously deformed, can be implanted into the human body along with the biopsy cavity of the flexible endoscope, and can guide cameras, auxiliary instruments, etc., and transport water vapor.

Description

A visual flexible surgical arm

technical field

The invention relates to the field of medical instruments, in particular to a visual flexible operating arm.

Background technique

Digestive, urinary, respiratory and other natural cavity diseases seriously endanger people's health. For example, the incidence and mortality of gastric cancer, bile duct cancer, lung cancer, bladder cancer and other diseases are increasing year by year, while flexible endoscopes such as gastroscope and bronchoscope , flexible urology and other interventional therapy have become the most important treatment methods for natural orifice diseases due to their advantages of small incision and quick recovery.

Due to the narrow and closed surgical operation space of the natural orifice, the operation process is delicate and complicated, so the surgical instrument needs a very high dexterity to adapt to the anatomical structure of the lumen to point to the target point, but in the prior art, it is used for flexible endoscopes. The surgical instruments lack independent degrees of freedom, and only rely on the bending of the endoscope to realize the movement of the instruments. When working in some narrow spaces, a lot of time is often wasted to adjust the position and direction of the instruments due to the lack of dexterity of the instruments, reducing the cost of operation. Efficiency and safety of surgery. However, some complex operations, such as endoscopic retrograde cholangiopancreatography (ERCP), require the cooperation of multiple medical staff due to the variety of surgical instruments involved and the need for the coordinated operation of multiple instruments. Uncontrollable costs and surgical outcomes. In addition, the visual feedback of the existing instruments is limited to the camera integrated at the front end of the flexible endoscope. The instrument itself does not have visual sensing. When the instrument enters the narrow lumen, the field of vision is lost, and the surgical scene cannot be accurately obtained. Relying entirely on experience to perform tentative surgical procedures carries a very high risk of complications from the procedure. The above technical obstacles directly affect the development of flexible endoscopic surgery and its application in clinical practice.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a visual flexible surgical arm, which has the ability to be dexterously deformed, and can be implanted into the human body along with the biopsy cavity of the flexible endoscope. The lower surgical instruments are implanted into the complex and narrow anatomical environment, and the water and gas supply functions are realized.

The purpose of this invention is to realize through the following technical solutions:

A visual flexible surgical arm, comprising a multi-chamber cap, a multi-chamber hose, a deformable skeleton, a spring tube, a driving tendon, a drive mechanism and an outer tube assembly, the deformable skeleton is provided with a multi-chamber hose, and the multi-chamber hose is provided with There are multiple hose cavities, the multi-cavity cap is arranged at the front end of the deformation skeleton, and the multi-cavity cap is provided with a plurality of cap cavities, the cap cavities correspond to the hose cavities one-to-one, and the outer side of the deformation skeleton is fixed. There are a plurality of spring tubes, each driving tendon is respectively penetrated into the corresponding spring tube and the front end of each driving tendon is fixed to the front end of the deformation frame, the driving mechanism is provided with a pressure block and a rotating shaft, and the rear end of the spring tube extends into the driving mechanism It is pressed and fixed by the corresponding pressing block, and the driving tendon is protruded from the corresponding spring tube and wound around the corresponding rotating shaft. The deformable frame, the spring tube and the driving tendon are all arranged in the outer tube assembly.

The multi-chamber cap is provided with a first cap cavity for the camera to pass through, the multi-cavity hose is provided with a first hose cavity, and the cable part of the camera is placed in the first cap cavity. In the hose lumen, the multi-lumen hose is provided with a plurality of second hose lumen, the multi-lumen cap is provided with a plurality of second cap lumen, and the second hose lumen and the first The two cap cavities correspond one-to-one.

The front end of the multi-chamber cap is in the shape of a smooth cone or flat.

The deformation skeleton is a hollow structure made of elastic material, and the hollow grooves on the deformation skeleton are dovetail grooves, strip grooves, spiral grooves or olive grooves.

The outer side of the deformation frame is provided with a fixing piece, and each spring tube is fixed on the deformation frame through the fixing piece.

The fixing piece includes a plurality of fixing segments connected in sequence along the axial direction of the deformable frame, two sides of the fixing segment are provided with fixing ends for fixing the spring tube, and two adjacent fixing segments are staggered by 90°.

The fixing member includes two braided belts that are continuously reciprocated and cross-braided.

The outer tube assembly includes an outer tube and an insertion tube, the front end of the outer tube is fixedly connected with the multi-chamber cap, and the deformation skeleton, the fixing member and the spring tube arranged on the deformation skeleton are all placed in the outer tube , the rear end of the outer tube is connected to the driving mechanism through the insertion tube, the rear end of the driving tendon and the spring tube extend into the driving mechanism after passing through the insertion tube, and a guide tube is provided on the outside of the insertion tube , and the guide tube is connected with the flexible endoscope.

The driving mechanism includes a casing, a rotating shaft and a dial, the rotating shaft is arranged in the casing, the dial is set outside the casing, and the end of the shaft of the dial extends into the casing and is fixedly connected with the corresponding rotating shaft, and the dial is driven by the dial The mechanism is driven to rotate, and the dial-wheel driving mechanism is provided with a rotatable dial-wheel seat, and the dial-wheel is inserted into the corresponding dial-wheel seat.

The dial-wheel driving mechanism is movably arranged on a support arm, and a rotary motor for driving the dial-wheel base to rotate is arranged in the dial-wheel driving mechanism.

The advantages and positive effects of the present invention are:

1. The present invention includes structures such as deformable skeleton, driving tendon, etc. The entire arm body has the ability to deform dexterously, can be implanted into the human body along with the biopsy cavity of the flexible endoscope, and can realize selective pointing operation.

2. The present invention is provided with a multi-chamber hose in the deformable skeleton, and a multi-chamber cap at the front end of the deformable skeleton, which can guide the camera, auxiliary equipment, etc. and transport water and gas, wherein the internal cavity of the arm body is equipped with a camera to observe the surgical operation in real time. , so that the present invention can complete the task of implanting surgical instruments in narrow cavities under visible conditions.

3. The multi-chamber hose of the present invention is fixedly connected to the inner surface of the deformation skeleton, and has good bending resistance, and can achieve synchronous bending deformation with the deformation skeleton. The deformation skeleton is made of elastic material and has a hollow structure, and the The hollow grooves on the deformation skeleton can be processed into suitable shapes by laser cutting, electrical processing, 3D printing and other precision processing methods as required, such as dovetail grooves, strip grooves, spiral grooves, olive grooves, etc., so that the deformation skeleton has continuous deformation. ability.

4. In the present invention, the spring tube is fixed to the outside of the deformation frame by the fixing member, and the corresponding fixing member structure or weaving method can be selected according to different deformation frame structures.

5. The present invention utilizes the rotating shaft, dial and other structures to realize the movement of the driving tendon, and then realizes the bending of the entire arm body to complete the selective pointing operation. Advance and retreat in the biopsy cavity of the endoscope.

6. In the present invention, the deformable skeleton and other structures are placed in the outer tube assembly composed of the outer tube and the insertion tube, and the outer side of the insertion tube is provided with a guide tube, on the one hand, it is convenient for the entire flexible arm of the present invention to enter along the guide tube. In the flexible endoscope, and passing through the front end of the flexible endoscope, on the other hand, it is convenient that the displacement of the driving mechanism can be directly converted into the displacement of the insertion tube.

Description of drawings

Fig. 1 is the structure schematic diagram of the invention,

FIG. 2 is a schematic diagram of the camera head and auxiliary instruments in FIG. 1 passing through the multi-lumen hose,

FIG. 3 is a schematic diagram of the multi-chamber cap, multi-chamber hose, deformable frame and outer tube in FIG. 1 ,

Fig. 4 is the schematic diagram of the multi-chamber cap in Fig. 3,

5 is a schematic diagram of a multi-chamber cap of another structure,

FIG. 6 is a schematic diagram of the multi-chamber hose in FIG. 3,

Fig. 7 is a kind of structural representation of the deformation skeleton in Fig. 3,

Fig. 8 is a front view of the deformation skeleton in Fig. 7,

Fig. 9 is another structural schematic diagram of the deformed skeleton in Fig. 3,

Fig. 10 is a front view of the deformation skeleton in Fig. 9,

Fig. 11 is another structural schematic diagram of the deformed skeleton in Fig. 3,

Figure 12 is a front view of the deformation skeleton in Figure 11,

Fig. 13 is another structural schematic diagram of the deformed skeleton in Fig. 3,

Fig. 14 is a front view of the deformation skeleton in Fig. 13,

Fig. 15 is a schematic diagram of the deformation skeleton, the fixing member, the spring tube and the driving tendon in Fig. 1,

Figure 16 is a schematic diagram of a single fixed segment in Figure 15,

Fig. 17 is a view from the direction A in Fig. 15,

Figure 18 is a schematic structural diagram of another type of fixing member provided on the deformable frame,

Fig. 19 is a front view of the deformation frame and the fixing member in Fig. 18,

Figure 20 is a schematic diagram of the outer tube in Figure 1,

Figure 21 is a schematic diagram of the guide tube in Figure 1,

Figure 22 is a schematic diagram of the use state of the guide tube in Figure 21,

Figure 23 is a schematic diagram of the drive mechanism in Figure 22,

Figure 24 is a schematic diagram of the internal structure of the drive mechanism in Figure 23,

Figure 25 is a three-dimensional schematic diagram of the internal structure of the drive mechanism in Figure 24,

Figure 26 is a schematic structural diagram of the dial drive mechanism in Figure 22,

Figure 27 is a schematic diagram of the internal structure of the dial drive mechanism in Figure 26,

Fig. 28 is the working state schematic diagram 1 of the present invention,

FIG. 29 is a second schematic diagram of the working state of the present invention.

Among them, 1 is a multi-chamber cap, 101 is a first cap cavity, 102 is a second cap cavity, 2 is a camera, 3 is an auxiliary device, 4 is a multi-chamber hose, 401 is the first hose cavity, 402 is the second hose cavity, 5 is the deformation frame, 501 is the dovetail groove, 502 is the strip groove, 503 is the spiral groove, 504 is the olive groove, 6 is the fixing piece, 601 is the fixed section, 602 is the fixed end , 603 is the braided belt, 7 is the spring tube, 8 is the outer tube, 9 is the driving tendon, 10 is the guide tube, 11 is the insertion tube, 12 is the driving mechanism, 121 is the first pressing block, 122 is the first rotating shaft, 123 is the shell, 124 is the second pressing block, 125 is the second shaft, 126 is the first dial, 127 is the second dial, 13 is the soft endoscope, 14 is the dial drive mechanism, 141 is the dial seat , 142 is a rotating motor, 143 is a fixed plate, 15 is a support arm, and 16 is an instrument cavity.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1-29, the present invention includes a multi-chamber cap 1, a multi-chamber hose 4, a deformable frame 5, a spring tube 7, a driving tendon 9, a driving mechanism 12 and an outer tube assembly, as shown in Figures 1-3, The deformation frame 5 is provided with a multi-chamber hose 4, and the multi-chamber hose 4 is provided with a plurality of through-tube cavities. The multi-chamber cap 1 is arranged at the front end of the deformation frame 5, and the multi-chamber Cap 1 is provided with a plurality of through cap cavities, and the cap cavities in the multi-chamber cap 1 correspond to the hose cavities in the multi-chamber hose 4 one-to-one, and the hose cavities correspond to the The corresponding cap cavity is used for the camera 2, auxiliary equipment 3, etc. to pass through and to transport water, gas, etc. As shown in Figs. The tendons 9 are respectively penetrated into the corresponding spring tubes 7, and the front ends of the driving tendons 9 are fixed to the front ends of the deformation skeleton 5. As shown in Figures 23 to 25, the driving mechanism 12 is provided with a pressure block and a rotating shaft. The end extends into the driving mechanism 12 and is pressed and fixed by the corresponding pressing block. The driving tendon 9 extends from the corresponding spring tube 7 and wraps around the corresponding rotating shaft. When the rotating shaft rotates, the entire arm body is realized by the driving tendon 9. As shown in Figure 1, the deformable frame 5, the spring tube 7 and the driving tendon 9 are all provided in the outer tube assembly.

As shown in FIGS. 2 to 6 , the hose cavity on the multi-lumen hose 4 includes a first hose cavity 401 and a second hose cavity 402 located outside the first hose cavity 401 , the cap cavity on the multi-chamber cap 1 includes a first cap cavity 101 and a second cap cavity 102 located outside the first cap cavity 101, and the camera 2 passes through the first hose cavity After the channel 401 extends into the first cap cavity 101, or the cable part of the camera 2 can also be integrated and fixed in the first hose cavity 402, each second hose cavity 402 and each second cap cavity The channels 102 are one-to-one used for the auxiliary instruments 3 to pass through and transport water, gas, etc. The auxiliary instruments 3 can be guide wires, biopsy forceps, duodenal papillotomy, balloons, stents, laser fibers, etc. Surgical instruments commonly used in flexible endoscope 13 surgery. The multi-cavity hose 4 is made of fluorine-based polymer or other medical grade plastics. The multi-cavity hose 4 is fixedly connected to the inner surface of the deformation skeleton 5 and has good bending resistance, which can be realized with the deformation skeleton 5. Simultaneous bending deformation.

The material of the multi-chamber cap 1 is fluorine-based polymer or other medical grade plastics, and the shape of the multi-chamber cap 1 can be selected according to actual needs. As shown in FIG. 4 , the front end of the multi-chamber cap 1 can be in a smooth cone shape, which is convenient for the intervention of the narrow cavity space without causing damage to the tissue. As shown in FIG. 5 , the front end of the multi-chamber cap 1 can also be in the shape of a smooth cone. The flat shape facilitates interventional procedures.

The deformable skeleton 5 has a hollow structure and is made of elastic materials, such as medical grade stainless steel, nickel-titanium alloy or medical polymer materials. And other precision machining methods are processed into suitable shapes.

As shown in FIGS. 7 to 8 , a structure of the deformable skeleton 5 is that a plurality of rows of dovetail-shaped grooves 501 are machined on the surface, and the cutting amount in the middle of the dovetail-shaped grooves 501 is greater than the cutting amount at both ends, even if the arrangement of the driving tendons 9 is slightly deviated, When the deformation skeleton 5 is bent, the deformation of the middle part of the dovetail groove 501 is large, and the deformation of both ends is small, so it will always maintain the shape of bending toward the middle.

As shown in FIGS. 9 to 10 , another structure of the deformable frame 5 is that a plurality of groups of strip-shaped grooves 502 are machined on the surface, and each set of strip-shaped grooves 502 is two in number and arranged along the circumferential direction of the deformable frame 5 . , and the strip grooves 502 of the adjacent two groups are staggered by 90°, that is, when viewed along the axial direction of the deformation skeleton 5, the center line of the two strip grooves 502 in each group is connected with the two strip grooves in the adjacent group. The center line of the shaped groove 502 is cross-orthogonal, which enables the deformable skeleton 5 to achieve bending motion in four directions after applying a load.

As shown in FIGS. 11-12 , another structure of the deformable frame 5 is that a spiral groove 503 is machined on the surface around the axial direction, and the deformable frame 5 of this structure has good axial compressibility.

As shown in FIGS. 13-14 , another structure of the deformable skeleton 5 is that a plurality of rows of olive-shaped grooves 504 are machined on the surface, and the two ends of the olive-shaped grooves 504 are symmetrical and approximately triangular. 5 Able to achieve large bending angles with limited load capacity.

As shown in FIGS. 15-19 , a fixing member 6 is provided on the outer side of the deformation frame 5 , and each spring tube 7 is fixed on the deformation frame 5 through the fixing member 6 . The fixing member 6 and the spring tube 7 are made of Medical-grade elastic metal materials, such as 316 stainless steel, nickel-titanium alloy, etc., the fixing member 6 can adopt an appropriate structure according to actual needs, and the structural form of the driving tendon 9 includes elastically deformable wires, rods, tubes or ropes.

As shown in FIGS. 15 to 17 , a structure of the fixing member 6 includes a plurality of fixing segments 601 connected in sequence along the axial direction of the deformable frame 5 . As shown in FIG. 16 , two sides of the fixing segment 601 are provided with There is a fixed end 602 for fixing the spring tube 7, and the two adjacent fixed sections 601 are staggered by 90°, that is, when viewed along the axial direction of the deformation skeleton 5, the connecting line of the fixed ends 602 of the two adjacent fixed sections 601 is The crosses are orthogonal, so as shown in FIG. 15 and FIG. 17 , the four spring tubes 7 are uniformly distributed and fixed along the circumferential direction of the deformable frame 5 .

As shown in FIGS. 18 to 19, another structure that the fixing member 6 can adopt is a cross-braided structure, that is, the two braided belts 603 are continuously reciprocating and cross-braided to fix the spring tube 7 on the deformation frame 5. The specific braiding method is that the first braid 603 is wrapped from the outside of one spring tube 7, then passes through the gap between another spring tube 7 adjacent to 90 degrees and the deformation skeleton 5, and then bypasses the spring tube 7 at the 180-degree position The outer side of the spring tube 7 at the 270-degree position and the deformed skeleton 5 finally pass through the gap back to the outside of the initial spring tube. The second braid 603 wraps from the outside of the spring tube 7 at the 90-degree position, and then passes through 180 degrees. The gap between the spring tube 7 at the position and the deformation frame 5, then bypasses the outside of the 270-degree spring tube 7, and finally passes through the gap between the spring tube 7 at the 0-degree position and the deformation frame 5 back to the outside of the 90-degree spring tube 7, The above steps are repeated, and each braid 603 is wound obliquely from the top end to the bottom end of the deformable frame 5 until the deformable frame 5 is completely wrapped.

As shown in FIG. 1 , the deformable frame 5 , the spring tube 7 and the driving tendon 9 are all provided in an outer tube assembly, and the outer tube assembly includes an outer tube 8 and an insertion tube 11 , and the front end of the outer tube 8 is connected to the The multi-cavity cap 1 is fixedly connected, and as shown in FIG. 20 , the outer tube 8 penetrates through the hollow for the deformation frame 5 and the like to pass through. As shown in FIG. 3 , the multi-cavity hose 4 is set in the deformation frame 5, and the deformation The frame 5, the fixing member 6 and the spring tube 7 provided on the deformable frame 5 are all placed in the outer tube 8, and the outer tube 8 plays a protective role. As shown in FIG. 28, the outer tube 8 The rear end is connected to the driving mechanism 12 through the insertion tube 11 , and the rear ends of the driving tendon 9 and the spring tube 7 both pass through the insertion tube 11 and then extend into the driving mechanism 12 . The outer tube 8 and the insertion tube 11 are made of medical-grade polymer materials such as fluoropolymer or silicone rubber. The outer tube 8 can elastically deform with the deformed skeleton 5, and can be coated on the surface to reduce friction.

As shown in FIG. 1 and FIGS. 21 to 22 , a guide tube 10 is provided on the outside of the insertion tube 11 . The guide tube 10 is a flexible pipe with good flexibility, and both ends of the guide tube 10 are provided with a guide tube 10 . There is a docking interface, as shown in FIG. 22 , in this embodiment, the docking interface at one end of the guide tube 10 is used for connecting with the flexible endoscope 13 , and the docking interface at the other end is used for connecting with the support arm carrying the drive mechanism 12 . 15 is connected, the guide tube 10 establishes a channel for the insertion tube 11, which facilitates the direct conversion of the displacement of the driving mechanism 12 into the displacement of the insertion tube 11, and also facilitates the insertion of the present invention into the flexible endoscope 13. The guide tube 10 is made of a medical-grade polymer material such as a fluorine-based polymer or a silicone rubber material.

As shown in FIGS. 23 to 25 , the driving mechanism 12 includes a casing 123 , a first rotating shaft 122 , a second rotating shaft 125 , a first dial 126 and a second dial 127 . The first rotating shaft 122 and the second rotating shaft 125 The first dial 126 and the second dial 127 are arranged outside the casing 123 rotatably, and the axle end of the first dial 126 extends into the casing 123 and is fixed to the first rotating shaft 122 . The end of the wheel shaft of the second dial 127 extends into the casing 123 and is fixedly connected to the second shaft 125. The drive mechanism 12 is arranged on the support arm 15 of the medical robot, and the support arm 15 is arranged on the support arm 15. There is a dial drive mechanism 14 that drives the first dial wheel 126 and the second dial wheel 127 to rotate. As shown in FIGS. 26-27 and 29 , the dial wheel drive mechanism 14 includes a box body, and in the The box body is provided with two dial wheel seats 141 , the first dial wheel 126 and the second dial wheel 127 are respectively embedded in different dial wheel seats 141 , and two dial wheel seats 141 are provided in the box body of the dial wheel drive mechanism 14 . The rotating motors 142 respectively drive different dial bases 141 to rotate, thereby realizing the rotation of the first dial 126 and the second dial 127 and driving the first rotating shaft 122 and the second rotating shaft 125 to rotate. The rotating motors 142 pass through the fixed plate 143 It is fixed with the inner wall of the box of the dial drive mechanism 14 .

As shown in FIGS. 24-25 , the casing 123 is provided with a first pressing block 121 and a second pressing block 124 , and a first rotating shaft 122 is arranged between the first pressing block 121 and the second pressing block 124 , and the second pressing block 122 is The other side of the pressing block 124 is provided with a second rotating shaft 125, a part of the spring tube 7 is pressed and fixed by the first pressing block 121, and the driving tendon 9 extending from this part of the spring tube 7 is wound around the first rotating shaft 122, and the other part The spring tube 7 passes through both sides of the first pressing block 121 and is then pressed and fixed by the second pressing block 124 , and the driving tendon 9 extending from this part of the spring tube 7 is wound around the second rotating shaft 125 .

The dial driving mechanism 14 is movably arranged on the support arm 15 , thereby driving the driving mechanism 12 to move linearly to realize the present invention advancing and retreating in the biopsy cavity of the flexible endoscope 13 . In this embodiment, the box body of the dial-wheel driving mechanism 14 is movably arranged on the support arm 15 through the slide rail slider assembly, and the box body is provided with a moving motor with an output shaft and a gear, and the support arm 15 There is a rack matched with the gear and parallel to the slide rail, and when the moving motor is activated, the box body is driven to move by transmitting torque through the rack and pinion.

The working principle of the present invention is:

As shown in Figure 1 and Figures 28-29, the present invention includes a multi-chamber cap 1, a multi-chamber hose 4, a deformation frame 5, a driving tendon 9, a driving mechanism 12 and other structures, wherein the deformation frame 5 is driven by the driving tendon 9 to achieve deformation , a plurality of spring tubes 7 are fixed on the outside of the deformation frame 5, each driving tendon 9 penetrates into the corresponding spring tube 7, and the front end of each driving tendon 9 is fixed on the deformation frame 5, and the driving mechanism 12 is provided with The driving tendon 9 extends into the driving mechanism 12 and is wound around the corresponding rotating shaft. The rotation of the rotating shaft realizes the movement of the corresponding driving tendon 9, thereby realizing the bending motion of the arm body. The deformation skeleton 5 is provided with a multi-lumen hose 4, and the first hose lumen 401 with the largest inner diameter in the multi-lumen hose 4 is for the camera 2 to pass through to realize visual instrument operation, or the camera 2 can also be used. The cable part is integrated and fixed in the first hose cavity 401, and the multi-lumen hose 4 is also provided with a plurality of second hose cavities 402. In this embodiment, one of the second hose cavity The channel 402 is used for the auxiliary device 3 to pass through, and the other second flexible tube lumen 402 is used for conveying water, gas, etc. The auxiliary device 3 can be a guide wire, a biopsy forceps, a duodenal papillotomy, a balloon, Surgical instruments such as stents, laser fibers, etc. are commonly used in the operation of the flexible endoscope 13. As shown in FIG. 28, the driving mechanism 12 is provided with an instrument cavity 16 for the insertion of auxiliary instruments, and the multi-cavity cap 1 is provided in the deformation frame 5. The front end of the deformation frame 5 and the spring tube 7 and the driving tendon 9 on the deformation frame 5 are all arranged in the outer tube 8 in the outer tube assembly. As shown in FIG. 28 , the rear end of the outer tube 8 is inserted through the The tube 11 is connected to the driving mechanism 12, and the driving tendon 9 and the spring tube 7 pass through the insertion tube 11 and then enter the driving mechanism 12. As shown in FIG. 29, a flexible guide tube 10 is sleeved on the outside of the insertion tube 11. In this embodiment, one end of the guide tube 10 is connected to the flexible endoscope 13, and the other end is connected to the support arm 15 carrying the drive mechanism 12. The entire flexible arm body of the present invention enters the soft endoscope along the guide tube 10. In the flexible endoscope 13, and passing through the front end of the flexible endoscope 13, the driving mechanism 12 is driven and rotated by the dial driving mechanism 14 on the support arm 15, and the dial driving mechanism 14 is movably arranged on the support arm 15 , and then drive the driving mechanism 12 to move linearly to realize the advancement and retreat of the present invention in the biopsy cavity of the flexible endoscope 13 .

Claims (7)

1. A visual flexible surgical arm, characterized in that it comprises a multi-chamber cap (1), a multi-chamber hose (4), a deformable skeleton (5), a spring tube (7), a driving tendon (9), a driving mechanism (12) and the outer tube assembly, the deformation frame (5) is provided with a multi-chamber hose (4), the multi-chamber hose (4) is provided with a plurality of hose cavities, and the multi-chamber cap (1) is provided in the deformation The front end of the skeleton (5) is provided with a plurality of cap cavities in the multi-cavity cap (1), the cap cavities are in one-to-one correspondence with the hose cavities, and a plurality of springs are fixed on the outside of the deformation skeleton (5). Tube (7), each driving tendon (9) is respectively penetrated into the corresponding spring tube (7) and the front end of each driving tendon (9) is fixed on the front end of the deformable frame (5), the driving mechanism (12) is provided with a pressure Block and rotating shaft, the rear end of the spring tube (7) extends into the drive mechanism (12) and is pressed and fixed by the corresponding pressing block, and the driving tendon (9) extends from the corresponding spring tube (7) and wraps around the corresponding spring tube (7). On the rotating shaft, the deformable skeleton (5), the spring tube (7) and the driving tendon (9) are all arranged in the outer tube assembly; A fixing member (6) is provided on the outer side of the deformation frame (5), and each spring tube (7) is fixed on the deformation frame (5) through the fixing member (6); The deformation skeleton (5) is a hollow structure made of elastic material, and the hollow groove on the deformation skeleton (5) is a dovetail-shaped groove (501) with more removal of the middle tip and less removal of both ends; The outer tube assembly comprises an outer tube (8) and an insertion tube (11), the front end of the outer tube (8) is fixedly connected with the multi-chamber cap (1), a deformable frame (5) and an inserting tube (5) provided on the deformable frame The fixing member (6) and the spring tube (7) on (5) are placed in the outer tube (8), and the rear end of the outer tube (8) passes through the insertion tube (11) and the drive mechanism (12). ) are connected, the rear end of the drive tendon (9) and the spring tube (7) pass through the insertion tube (11) and then extend into the drive mechanism (12), the outer side of the insertion tube (11) is provided with a guide A tube (10) is provided, and the guide tube (10) is connected with a flexible endoscope (13). 2 . The visual flexible surgical arm according to claim 1 , wherein the multi-chamber cap ( 1 ) is provided with a first cap cavity ( 101 ) through which the camera ( 2 ) passes, and the The multi-lumen hose (4) is provided with a first hose lumen (401), and the cable part of the camera (2) is placed in the first hose lumen (401), the multi-lumen The hose (4) is provided with a plurality of second hose cavities (402), the multi-chamber cap (1) is provided with a plurality of second cap cavities (102), and the second hose cavities The channels (402) are in one-to-one correspondence with the second cap cavity channels (102). 3. The visual flexible surgical arm according to claim 1 or 2, wherein the front end of the multi-chamber cap (1) is in a smooth cone shape or a flat shape. 4. The visual flexible surgical arm according to claim 1, characterized in that: the fixing member (6) comprises a plurality of fixing segments (601) connected in sequence along the axial direction of the deformation frame (5), and the fixing Both sides of the segment (601) are provided with fixed ends (602) for fixing the spring tube (7), and two adjacent fixed segments (601) are staggered by 90°. 5 . The visual flexible surgical arm according to claim 1 , wherein the fixing member ( 6 ) comprises two braided belts ( 603 ) that are continuously reciprocated and cross-braided. 6 . 6 . The visual flexible surgical arm according to claim 1 , wherein the driving mechanism ( 12 ) comprises a casing ( 123 ), a rotating shaft and a dial, the rotating shaft is arranged in the casing ( 123 ), and the dial is arranged in the casing ( 123 ). Outside the casing (123), and the axle end of the dial extends into the casing (123) and is fixedly connected with the corresponding rotating shaft, the dial is driven to rotate by the dial drive mechanism (14), and the dial drive mechanism (14) ) is provided with a rotatable dial wheel seat (141), and the dial wheel is inserted into the corresponding dial wheel seat (141). 7. The visual flexible surgical arm according to claim 6, characterized in that: the dial-wheel drive mechanism (14) is movably arranged on a support arm (15), and the dial-wheel drive mechanism (14) A rotating motor (142) for driving the wheel base (141) to rotate is arranged inside.

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