CN114795481A - Quick-replacement type flexible surgical instrument for minimally invasive abdominal surgery - Google Patents

Abstract

The utility model provides a quick replacement formula flexible surgical instruments for abdominal cavity minimal access surgery, relates to pleuroperitoneal cavity minimal access surgery medical equipment field, has solved current surgical instruments and can't fix a position and gesture adjustment and the unable quick replacement's of surgical instruments end effector problem through self. The invention comprises a tail end operating forceps, a flexible joint device, a transmission box and a motor box. The invention realizes flexible deflection by connecting the flexible joints in series by using the pin shaft, is convenient for the installation and the disassembly of the flexible joints and is convenient for increasing or reducing the number of the flexible joints according to different operations; the flexible joint device is designed into a flexible bending structure, so that the working range and flexibility of the surgical instrument in the body of a patient are improved; the transmission box and the motor box form a modular driving assembly, so that the transmission box can be quickly mounted and dismounted, the driving is more flexible, and the overall structure is lighter; the driving assembly can be adapted to various minimally invasive surgical instruments, so that the compatibility of the surgical instruments is improved, and the surgical application range is expanded.

Description

A quick-change flexible surgical instrument for minimally invasive abdominal surgery

technical field

The invention relates to the technical field of medical equipment for thoracic and abdominal minimally invasive surgery, in particular to a quick-change flexible surgical instrument for minimally invasive abdominal surgery.

technical background

Minimally invasive surgery is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery means that the surgeon treats the patient's lesions with the help of surgical instruments and endoscopes by incising small holes in the patient's body surface. Compared with traditional surgery, minimally invasive surgery has the advantages of small incision, no secondary damage to the patient's body surface, and short recovery time. In recent years, robotic technology has been applied to minimally invasive surgery, and the robot-assisted minimally invasive surgery developed from this has improved the precision and flexibility of surgical operations with the help of robotic technology. Surgical instruments are used as performing tools in minimally invasive surgical procedures. Surgeons use surgical instruments to complete surgical operations such as cutting, clamping, suturing, lifting and freeing of organ tissue. Surgical instruments interact directly with operating tissues, so the specific structure and performance indicators of surgical instruments have a direct impact on the quality and safety of surgery.

The Chinese patent with publication number CN104758060A discloses "a multi-degree-of-freedom flexible robot for single-hole abdominal minimally invasive surgery". There is no quick replacement mechanism between the driving motor of the surgical instrument and the instrument transmission box described in the patent, As a result, the end effector of the surgical instrument cannot be quickly replaced. The Chinese Patent Publication No. CN102028548A discloses "Clamp-Type Surgical Instrument for Minimally Invasive Abdominal Surgery Robot"; the Chinese Patent Publication No. CN103251458A discloses "A Wire-driven Four-degree-of-Freedom Surgical Instrument for Minimally Invasive Surgical Robot" ; Chinese patent publication number CN104116547A discloses a "low friction and small inertia surgical instrument for minimally invasive surgical robots"; Chinese patent publication number CN204337044A discloses "a surgical instrument end structure for minimally invasive surgical robots" , the operating rod between the terminal operating forceps mechanism and the driving device of the surgical instrument described in the above patent is a rigid rod, and this type of surgical instrument mainly realizes the freedom of movement such as the opening and closing of the terminal operating forceps mechanism, the yaw and the rotation of the operating rod. Spend.

The Chinese patent with publication number CN103431913A discloses "Minimally Invasive Surgical Robot Operation Micro Instrument", the surgical instrument described in the patent has 7 degrees of freedom, and its flexible wrist joint includes two active joints and two driven joints, It is connected with each other by rotatable links, which can complete the swing and pitch motion of the wrist; however, the surgical instrument cannot perform operations such as positioning and moving in the patient's body, so that its working range and flexibility are limited. The Chinese Patent Publication No. CN103431913A discloses "A Minimally Invasive Surgical Robot Operation Micro Instrument", the surgical instrument described in the patent is designed with a flexible wrist mechanism, and the surgical instrument can realize the swing and pitch motion of the wrist , however, its guide rod is a straight rod that cannot be bent, so the control of the posture change of the wrist mechanism needs to be controlled by a telecentric mechanism and a robotic arm with multiple degrees of freedom, so the patent cannot be positioned in the patient's body by itself and mobile operations, the scope and flexibility of its work are limited.

SUMMARY OF THE INVENTION

In order to solve the problems that the existing robot-assisted minimally invasive surgical instruments cannot perform positioning and posture adjustment by themselves, and the end effectors of the surgical instruments cannot be quickly replaced, the present invention provides a quick-replacement flexible device for abdominal minimally invasive surgery. Surgical Instruments.

The technical scheme adopted by the present invention for solving the technical problem is as follows:

A quick-change flexible surgical instrument for minimally invasive abdominal surgery of the present invention includes:

an end forceps consisting of a fixed end forceps, an end swinging forceps and a rivet, the end fixed forceps and the end swinging forceps being riveted by rivets;

A flexible joint device consisting of a connecting piece, a C-shaped circlip, a head-end joint, a pin shaft, a swing joint and an end joint, the connecting piece is installed on the lower end of the fixed-end surgical forceps, and the C-shaped circlip is clamped into the fixed-end surgical forceps, The head-end joint is installed at the lower end of the connecting piece, and the structural composition of the swing joint and the end joint is the same, and the head-end joint, multiple swing joints, and end joints are connected in series through the pin shaft;

The transmission box is composed of a rigid rod, a side cover, an upper cover, a bottom plate, a motor wire wheel device, a control rotation gear device, a wire rope guide wheel group, a guide wheel fixing base, a transmission box compression device and a transmission box chuck. The upper end of the rigid rod is fixed on the base plate, and the lower end of the rigid rod is connected with the end joint through the pin shaft; the motor wire wheel device, the control rotation gear device and the guide wheel fixing base are all installed on the inner surface of the base plate; the side cover plate buckle installed on the inner side of the bottom plate; the upper cover plate is fixed on the side cover plate; the motor wire wheel device and the control rotation gear device are both connected with the upper cover plate; the wire rope guide wheel group is installed on the guide wheel fixing base; The two transmission box compression devices are respectively installed on both sides of the side cover; the transmission box chucks are installed on the outer surface of the bottom plate; the motor wire wheel device and the control rotation gear device are connected with the transmission box chuck;

A motor box consists of a motor housing, a motor installed in the motor housing and a motor chuck installed outside the motor housing, the motor is connected with the motor chuck, and the motor chuck is connected with the transmission box chuck.

Further, the end-fixing surgical forceps are provided with a first through hole and a self-transmission shaft, and the self-rotating shaft is provided with a wire rope groove 1, a wire rope groove 2 and a circular groove for limiting the position of the end-fixing surgical forceps, the wire rope groove 1 is provided. A fixed rope hole 1 and a fixed rope hole 2 are respectively set in the wire rope groove 2; the end swinging surgical forceps is provided with a clamping rope pulley, and the clamping rope pulley is provided with a second through hole, a third fixed rope hole and a pulley. The fixing rope hole 3 is communicated with the wheel groove; the through hole 1 and the through hole 2 are coaxially arranged and both are matched with rivets; The three holes are in clearance fit; the C-shaped circlip is snapped into the circular groove, and the end-fixing surgical forceps are axially fixed by the C-shaped circlip.

Further, the center of the head joint is provided with a central rope hole 1, which is used to pass through the wire rope 1 and the wire rope 2; the edge of the head joint is provided with a rope hole 1 and a rope hole 2, which are respectively used to pass through The third wire rope and the fourth wire rope; the edge of the head joint is provided with a fixed rope hole 1 and a fixed rope hole 2, which are respectively used to fix the wire rope 5 and the wire rope 6; the head joint is provided with two pin shaft connection grooves at one end one.

Further, the center of the swing joint is provided with a central rope hole 2, which is used to pass through the wire rope 1 and the wire rope 2; the edge of the swing joint is provided with a rope hole 3 and a rope hole 4, the rope hole 3 and the rope The fourth hole is arranged opposite to the wire rope 3 and the wire rope 4; the edge of the swing joint is provided with the fixed rope hole 3 and the fixed rope hole 4, and the fixed rope hole 3 and the fixed rope hole 4 are arranged opposite to each other and are used for threading. Pass the wire rope 5 and the wire rope 6; one end of the swing joint is provided with two pin shaft connection holes, and the other end of the swing joint is provided with two pin shaft connection grooves 2; the pin shaft connection groove 1 at the lower end of the head end joint and the first swing The pin connection hole at the upper end of the joint is connected by the pin shaft, the pin shaft connection slot 2 at the lower end of the first swing joint is connected with the pin shaft connection hole at the upper end of the second swing joint through the pin shaft, and so on, the lower end of the last swing joint The second pin shaft connection slot is connected with the pin shaft connection hole at the upper end of the end joint through the pin shaft.

Further, the rigid rod has a central cavity for passing through the wire ropes 1 to 6; the bottom plate is provided with a rectangular hole; the transmission box chuck is provided with a groove.

Further, the motor reel device comprises: reel shaft, reel 1 and reel 2 both sleeved on the reel shaft; the reel 1 is provided with a wire rope fixing groove 1; the wire rope fixing groove 1 is provided with a wire rope fixing groove 1. The fourth fixed rope hole is used to fix the wire rope; the second wire rope is provided with a second wire rope fixing groove; the second wire rope fixing groove is provided with a fixed rope hole No. On the upper cover plate, the lower end of the reel shaft is connected to the transmission box chuck through the bottom plate.

Further, the control rotation gear device includes: a gear shaft, a first gear sleeved on the gear shaft, a second gear sleeved on the upper end of the rigid rod and meshed with the first gear; the upper end of the gear shaft is mounted on the upper end of the gear shaft through a bearing. On the cover plate, the lower end of the gear shaft is connected to the transmission box chuck through the bottom plate.

Further, the wire rope guide wheel set includes: a guide wheel base fixed on the guide wheel fixing base, a guide wheel rod fixed on the guide wheel base, a guide wheel sleeved on the guide wheel rod, and a guide wheel rod installed on the guide wheel rod. A circlip located on the outer side of the guide wheel; the position of the guide wheel and the guide wheel rod is limited by the circlip; a wheel groove is machined on the guide wheel for guiding the wire rope.

Further, the transmission box compressing device includes: a button located in the flexible joint device, a blocking part installed on the side cover, a spring, a fixing part connected with the inner wall of the button, and a clamping plate fixed on the inner wall of the fixing part; The fixed shaft of the front end of the button is inserted into the blocking part, and the spring is sleeved on the fixed shaft of the front end of the button; the two ends of the spring are respectively pressed against the button and the inner wall of the blocking part; A clamping block, the clamping plate base is fixed on the upper cover plate; the button can reciprocate along the direction perpendicular to the axis of the rectangular hole.

Further, the outer surface of the motor casing is provided with a plug portion, the plug portion is provided with a slot, and the plug portion is installed in a rectangular hole; the motor chuck is provided with a protrusion; the The groove on the chuck of the transmission box is engaged with the protrusion, and the driving force of the motor box is transmitted to the transmission box; the slot is matched with the card plate; the reciprocating movement of the button pushes the separation of the card plate and the plug-in part or snap.

The beneficial effects of the present invention are:

(1) In the present invention, the flexible joint device at the front end of the rigid rod is designed into a flexible bending structure, so that the posture adjustment of the present invention and the opening, closing and rotating operations of the terminal surgical forceps are all performed in the patient's body, which greatly improves the operation of the surgical instrument in the patient's body. range of work and flexibility.

(2) In the present invention, the terminal-fixed surgical forceps and the flexible joint device are designed in an integrated manner, which greatly simplifies the complexity of the terminal-fixed surgical forceps and the flexible joint device.

(3) The present invention adopts a pin shaft with a through hole in series with a flexible joint to realize flexible yaw motion, which facilitates the installation and disassembly of the flexible joint, and facilitates increasing or decreasing the number of flexible joints according to different operations.

(4) The present invention avoids the transmission interference between the wire ropes through the layout and design of the wire rope guide wheel group in the transmission box.

(5) A quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery of the present invention has a simple structure, a motor box as a power source, and a transmission box as a transmission mechanism. By encapsulating the power source and the transmission mechanism together in the casing, Thus, a modular drive assembly is formed to provide driving force for surgical instruments; wherein, the transmission box can be quickly installed and disassembled from the motor box, so that the entire surgical instrument is modularized, so that the drive is more flexible and the overall weight is lighter.

(6) In the present invention, the drive assembly composed of the motor box and the transmission mechanism can be adapted to various types of minimally invasive surgical instruments, which improves the compatibility of the surgical instruments and expands the scope of application of the operation.

Description of drawings

FIG. 1 is an overall axonometric view of a quick-change flexible surgical instrument for minimally invasive abdominal surgery according to the present invention.

FIG. 2 is a schematic diagram of the structure of the distal surgical forceps.

FIG. 3 is a schematic diagram of the connection between the terminal forceps, the connector and the head-end joint.

FIG. 4 is a schematic diagram of the connection between the head end joint and the swing joint.

Figure 5 is a schematic diagram of the connection between the end joint and the rigid rod.

Figure 6 is an axonometric view of the head end joint.

Figure 7 is an axonometric view of the swing joint.

Figure 8 is a schematic diagram of the internal structure of the transmission box.

FIG. 9 is a schematic structural diagram of the butting surfaces of the motor box and the transmission box.

Figure 10 is a schematic structural diagram of the motor pulley device inside the transmission box.

FIG. 11 is a schematic structural diagram of the control rotation gear device inside the transmission box.

Figure 12 is a schematic structural diagram of a wire rope guide wheel set inside the transmission box.

FIG. 13 is a schematic structural diagram of the transmission box compression device inside the transmission box.

Figure 14 is a schematic structural diagram of the transmission box in a normal state.

FIG. 15 is a schematic structural diagram of the compressed state of the transmission box.

FIG. 16 is a schematic structural diagram of the motor box and the transmission box after they are plugged into each other.

Figure 17 is a schematic diagram of the movement of the end of the surgical instrument.

In the figure, A is the opening and closing movement of the end swinging surgical forceps; B is the rotation movement of the end surgical forceps; C is the yaw movement of the flexible joint device.

In the figure, 1. End surgical forceps, 1-1, End fixed surgical forceps, 1-1-1, through hole one, 1-1-2, autobiographical shaft, 1-1-3, round groove, 1-1- 4. Wire rope groove 1, 1-1-5, wire rope groove 2, 1-1-6, fixed rope hole 1, 1-1-7, fixed rope hole 2, 1-2, end swing surgical forceps, 1-3 ,rivet;

2. Flexible joint device, 2-1, connector, 2-2, C-type circlip, 2-3, head joint, 2-4, pin, 2-5, swing joint, 2-6, end joint ;

3. Transmission box, 3-1, rigid rod, 3-2, side cover, 3-3, upper cover, 3-4, bottom plate, 3-5, motor pulley device, 3-6, control gear device, 3-7, wire rope guide wheel set, 3-8, guide wheel fixing base, 3-9, transmission box compression device, 3-10, transmission box chuck;

4. Motor box, 4-1, motor shell, 4-2, motor chuck.

Detailed ways

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

As shown in FIG. 1 , a quick-replaceable flexible surgical instrument for abdominal minimally invasive surgery of the present invention mainly includes: terminal surgical forceps 1, flexible joint device 2, transmission box 3 and motor box 4; the motor box 4 is installed On the transmission box 3 , the flexible joint device 2 is mounted on the motor box 4 , and the distal surgical forceps 1 is mounted on the flexible joint device 2 .

As shown in FIG. 2, the terminal surgical forceps 1 mainly includes: terminal fixed surgical forceps 1-1, terminal swing surgical forceps 1-2 and rivets 1-3. The end-fixing surgical forceps 1-1 is provided with a through hole 1-1-1 in the center, the end-fixing surgical forceps 1-1 is provided with a self-transmission shaft 1-1-2, and the self-rotating shaft 1-1-2 is provided with a limit for the end The circular groove 1-1-3 for fixing the position of the surgical forceps 1-1, the self-rotating shaft 1-1-2 is provided with a wire rope groove 1-1-4, a wire rope groove 2 1-1-5, and a wire rope groove 1-1 -4 is provided with a fixed rope hole 1-1-6, a wire rope groove 2 1-1-5 is provided with a fixed rope hole 2 1-1-7, and the center of the rotation shaft 1-1-2 is provided with a through hole 1- 1-8. The end swinging surgical forceps 1-2 is provided with a clamping sheave 1-2-1, the center of the clamping sheave 1-2-1 is provided with a second through hole 1-2-3, and the first through hole 1-1-1 and The second through hole 1-2-3 is coaxially arranged, the first through hole 1-1-1 and the second through hole 1-2-3 are matched with the rivet 1-3; the clamping sheave 1-2-1 is provided with a fixed Rope hole 3 1-2-2 and wheel groove 1-2-4, fixed rope hole 3 1-2-2 is connected with wheel groove 1-2-4; connect through hole 1-1-1 with through hole 2 1-2-3 After coaxial placement, install the rivet 1-3 to realize the riveting between the end fixed surgical forceps 1-1 and the end swing surgical forceps 1-2.

As shown in FIGS. 3 to 7 , the flexible joint device 2 mainly includes: a connecting piece 2-1, a C-shaped circlip 2-2, a head end joint 2-3, a pin shaft 2-4, a swing joint 2-5 and an end Joint 2-6; a through hole 2-1-1 is made on the connecting piece 2-1, and the rotation axis 1-1-2 on the end fixed surgical forceps 1-1 is clearance fit with the through hole 3 2-1-1, The C-type circlip 2-2 is snapped into the circular groove 1-1-3 of the end-fixing surgical forceps 1-1, and the end-fixing surgical forceps 1-1 is axially fixed by the C-type circlip 2-2; the head end The joint 2-3 is installed on the lower end of the connecting piece 2-1, and the joint 2-3 at the head end is connected with the connecting piece 2-1 through threads. The above operations fix the end of the surgical forceps 1-1, the end swinging surgical forceps 1-2, and the connecting piece. 2-1 and the head joint 2-3 are connected as a whole; the swing joint 2-5 and the end joint 2-6 have the same structural composition, according to the head joint 2-3, multiple swing joints 2-5, and end joints In the order of 2-6, the head joint 2-3, a plurality of swing joints 2-5, and the end joint 2-6 are connected in series through the pin shaft 2-4.

As shown in Figure 3 and Figure 6, the center of the head joint 2-3 is provided with a central rope hole 2-3-1, which is used to pass through the wire rope 1 and the wire rope 2; the edge of the head joint 2-3 is provided with a wire rope Hole 1 2-3-2 and rope hole 2 2-3-3, rope hole 1 2-3-2 and rope hole 2 2-3-3 are arranged opposite to each other, and are used to pass through wire rope 3 and wire rope 4 respectively. ; The edge of the head joint 2-3 is provided with a fixed rope hole 1 2-3-4 and a fixed rope hole 2-3-5, which are respectively used to fix the wire rope 5 and the wire rope 6; one end of the head joint 2-3 is set There are two pin shaft connection slots a 2-3-6.

As shown in Figures 3 and 7, the center of the swing joint 2-5 is provided with a central rope hole 2-5-1, which is used to pass through the wire rope 1 and the wire rope 2; the edge of the swing joint 2-5 is provided with a rope hole 3 2-5-2 and rope hole 4 2-5-3, rope hole 3 2-5-2 and rope hole 4 2-5-3 are set opposite to each other, used to pass through wire rope 3 and wire rope 4; swing joint 2-5 The edge is set with fixed rope hole three 2-5-4 and fixed rope hole four 2-5-5, fixed rope hole three 2-5-4 and fixed rope hole four 2-5-5 are set opposite , used to pass through the wire rope 5 and the wire rope 6; one end of the swing joint 2-5 is provided with two pin shaft connection holes 2-5-6, and the other end of the swing joint 2-5 is provided with two pin shaft connection grooves 2-5 -7; The pin shaft connecting groove one 2-3-6 at the lower end of the head end joint 2-3 is connected with the pin shaft connecting hole 2-5-6 at the upper end of the first swing joint 2-5 through the pin shaft 2-4, and the first The pin shaft connecting groove 2-5-7 at the lower end of one swing joint 2-5 is connected with the pin shaft connecting hole 2-5-6 at the upper end of the second swing joint 2-5 through the pin shaft 2-4, and so on. , the pin shaft connection groove two 2-5-7 at the lower end of the last swing joint 2-5 is connected with the pin shaft connection hole at the upper end of the end joint 2-6 through the pin shaft 2-4.

As shown in Figure 8, Figure 9 and Figure 11, the transmission box 3 mainly includes: a rigid rod 3-1, a side cover 3-2, an upper cover 3-3, a bottom plate 3-4, and several motor pulley devices 3 -5. Control rotation gear device 3-6, several wire rope guide wheel sets 3-7, guide wheel fixing base 3-8, transmission box compression device 3-9 and several transmission box chucks 3-10; as shown in the figure 5, the lower end of the rigid rod 3-1 is connected with the end joint 2-6 of the flexible joint device 2 through the pin 2-4, the upper end of the rigid rod 3-1 is fixed on the base plate 3-4, and the rigid rod 3-1 is processed The central cavity is used to pass through the wire ropes 1 to 6; the bottom plate 3-4 is provided with a rectangular hole 3-4-1; a number of motor wire wheel devices 3-5, control gear devices 3-6 and guide The wheel fixing bases 3-8 are installed on the inner surface of the bottom plate 3-4; the side cover plate 3-2 is fastened on the inner side of the bottom plate 3-4; the upper cover plate 3-3 is fixed on the side cover plate 3-2; the motor cable The wheel device 3-5 and the control rotation gear device 3-6 are connected with the upper cover plate 3-3; several wire rope guide wheel groups 3-7 are installed on the guide wheel fixing base 3-8; the transmission box compression device 3- The number of 9 is 2, and the 2 transmission box compression devices 3-9 are respectively installed on both sides of the side cover 3-2; several transmission box chucks 3-10 are installed on the outer surface of the bottom plate 3-4, that is, the bottom plate 3- 4, the motor wire wheel device 3-5 and the control rotation gear device 3-6 are all connected with the transmission box chuck 3-10, and the transmission box chuck 3-10 is provided with a groove 3-10-1.

As shown in Figure 10, the motor reel device 3-5 mainly includes: reel shaft 3-5-1, reel one 3-5-2 and reel two 3-5-3; reel one 3-5-2 and reel 2 3-5-3 are set and fixed on the reel shaft 3-5-1, reel 1 3-5-2 and reel 2 3-5-3 are used to drive the wire rope; reel 1 3-5- 2 is provided with a wire rope fixing groove 1 3-5-2-2; a wire rope fixing groove 1 3-5-2-2 is provided with a fixing rope hole 4 3-5-2-1, and a fixing rope hole 4 3-5- 2-1 is used to fix one end of the wire rope; the wire wheel 2 3-5-3 is provided with a wire rope fixing groove 2 3-5-3-2, and the wire rope fixing groove 2 3-5-3-2 is provided with a fixing rope hole 5 3-5-3-1, fixed rope hole five 3-5-3-1 is used to fix one end of the wire rope; the lower end of the spool shaft 3-5-1 is connected to the transmission box chuck 3-10 through the bottom plate 3-4. The upper end of the wheel shaft 3-5-1 is mounted on the upper cover plate 3-3 through a bearing. A plurality of transmission box chucks 3-10 are connected with a plurality of spool shafts 3-5-1 in one-to-one correspondence.

As shown in Figure 11, the control gear device 3-6 mainly includes: a gear shaft 3-6-1, a first gear 3-6-2 and a second gear 3-6-3; the lower end of the gear shaft 3-6-1 It is connected with the transmission box chuck 3-10 through the bottom plate 3-4, the upper end of the gear shaft 3-6-1 is mounted on the upper cover plate 3-3 through the bearing; the first gear 3-6-2 is sleeved and fixed on the gear shaft 3 On -6-1; the second gear 3-6-3 is sleeved and fixed on the upper end of the rigid rod 3-1, that is, the end away from the end forceps 1; the first gear 3-6-1 and the second gear 3-6-2 are mutually mesh. A plurality of transmission box chucks 3-10 are connected with a plurality of gear shafts 3-6-1.

As shown in Figure 12, the wire rope guide wheel group 3-7 mainly includes: a guide wheel 3-7-1, a guide wheel rod 3-7-2, a circlip 3-7-3 and a guide wheel base 3-7-4; The guide wheel base 3-7-4 is fixed on the guide wheel fixing base 3-8; the guide wheel rod 3-7-2 is fixed on the guide wheel base 3-7-4; the guide wheel 3-7-1 set is fixed on the guide wheel base 3-7-4 On the guide wheel rod 3-7-2; the circlip 3-7-3 is installed on the guide wheel rod 3-7-2 and is located outside the guide wheel 3-7-1, and the guide wheel is limited by the circlip 3-7-3 3-7-1 and the position of the guide wheel rod 3-7-2; the wheel groove 3-7-1-1 is machined on the guide wheel 3-7-1, and the wheel groove 3-7-1-1 is used for the wire rope guide.

As shown in Figures 13 to 16, the transmission box compression device 3-9 mainly includes: a button 3-9-1, a blocking part 3-9-2, a spring 3-9-3, a card plate 3-9-4 and a fixed part 3-9-5; the blocking part 3-9-2 is installed on the side cover 3-2; the button 3-9-1 is installed in the through hole of the body of the flexible joint device 2; The fixed shaft is inserted into the blocking part 3-9-2, the spring 3-9-3 is sleeved on the fixed shaft at the front end of the button 3-9-1, and one end of the spring 3-9-3 is pressed against the inner wall of the button 3-9-1, The other end of the spring 3-9-3 is against the inner wall of the blocking part 3-9-2; the fixing part 3-9-5 is connected with the inner wall of the button 3-9-1; the middle part of the card plate 3-9-4 is fixed on the fixing part 3 -9-5 on the inner wall; one end of the card plate 3-9-4 is provided with a card plate base 3-9-4-1, the card plate base 3-9-4-1 is fixed on the upper cover plate 3-3, and the card plate The other end of 3-9-4 is provided with a clamping block 3-9-4-2. The button 3-9-1 can reciprocate in the direction perpendicular to the axis of the rectangular hole 3-4-1.

As shown in FIG. 16 , the motor box 4 mainly includes: a motor housing 4-1, several motors and several motor chucks 4-2; several motors are installed in the motor housing 4-1, and several motor chucks 4-2 are installed on the outer surface of the motor housing 4-1, and several motors are connected with several motor chucks 4-2 in one-to-one correspondence; The connecting portion 4-1-1 is provided with a card slot 4-1-1-1; the position of the rectangular hole 3-4-1 on the bottom plate 3-4 is set corresponding to the position of the inserting portion 4-1-1, The plug part 4-1-1 is installed in the rectangular hole 3-4-1; the motor chuck 4-2 is installed on the power output shaft of the motor, and the motor chuck 4-2 is provided with a protrusion 4-3- 1; When the motor box 3 and the transmission box 4 are plugged into each other, the transmission box chuck 3-10 in the motor box 3 and the motor chuck 4-2 in the transmission box 4 are in contact with each other, so that the transmission box chuck 3-10 is in contact with each other. The groove 3-10-1 of the motor chuck is engaged with the protrusion 4-3-1 on the motor chuck 4-2, which is used to transmit the driving force of the motor box 4 to the transmission box 3; the plug-in part 4-1- The card slot 4-1-1-1 on 1 is matched with the card plate 3-9-4 of the transmission box compressing device 3-9. The button 3-9-1 can reciprocate along the direction perpendicular to the axis of the rectangular hole 3-4-1, so as to push the card plate 3-9-4 and the plug-in portion 4-1-1 to separate or engage with each other.

As shown in Figure 14, when the push button 3-9-1 is not affected by external force, the transmission box 3 is in a normal state, and the plug-in portion 4-1-1 is correspondingly connected to the rectangular hole 3-4-1. When the part 4-1-1 is inserted into the rectangular hole 3-4-1, the clamping block 3-9-4-2 of the card board 3-9-4 is engaged with the card slot 4-1-1-1, The transmission box 3 and the motor box 4 are in the plug-in state; as shown in Figure 15, when the button 3-9-1 is acted by an external force, the button 3-9-1 squeezes the card plate 3-9-4, so that the card plate 3 The clamping block 3-9-4-2 of -9-4 falls off from the clamping slot 4-1-1-1, at this time, the spring 3-9-3 is compressed, press the button 3-9-1 until the transmission box 3 and the motor box 4 are separated, at this time the transmission box 3 and the motor box 4 are in a separated state; release the button 3-9-1, the button 3-9-1 is compressed by the spring 3-9-3 springs back to its original position.

A quick-replaceable flexible surgical instrument for abdominal minimally invasive surgery of the present invention has four movements, namely the opening and closing movement of the end swinging surgical forceps 1-2, the self-rotating movement of the end surgical forceps 1, and the flexible joint device 2 The yaw motion and the rotational motion of the rigid rod 3-1. The four motion processes are described below.

1. The opening and closing movement of the end swing surgical forceps 1-2

As shown in A in Figure 17, both ends of the first wire rope and the second wire rope are fixed to the fixed rope hole three 1-2- 2, and then wrap them in the opposite direction on the grooves 1-2-4 of the clamping rope pulley 1-2-1 on the end swinging surgical forceps 1-2, and pass through the holes on the end fixed surgical forceps 1-1. Hole one 1-1-1, passing through the center rope hole one 2-3-1 on the head end joint 2-3, passing through the center rope hole two 2-5-1 on several swing joints 2-5 , pass through the central cavity of the rigid rod 3-1, and then bypass the first gear 3-6-2 and the second gear 3-6-3 respectively, and finally the wire rope 1 and wire rope 2 are wound in opposite directions on the wire wheel 1 3- The wire rope fixing groove of 5-2 is in the wire rope fixing groove 2 3-5-3-2 of 3-5-2-2 and the wire wheel 2 3-5-3, and fixed to the fixing rope hole 4 3-5-2 -1 and fix the rope hole inside five 3-5-3-1.

After the motor box 4 and the transmission box 3 are plugged in, the motor in the corresponding motor box 4 transmits the driving force to the corresponding spool shaft 3-5-1, thereby driving the elongation and shortening of the wire rope 1 and the wire rope 2, thereby controlling the The opening and closing motion of the end swing surgical forceps 1-2.

2. Rotational movement of the distal surgical forceps 1

As shown in B in Figure 17, the third and fourth ends of the steel wire rope are respectively fixed to the fixed rope hole one 1-1-6 and the fixed rope hole two 1-1- In 7, wire rope three and wire rope four are respectively wound in wire rope groove one 1-1-4 and wire rope groove two 1-1-5 in opposite directions, and then pass through the rope hole one 2 on the head end joint 2-3 respectively. -3-2 and rope hole two 2-3-3, respectively pass through rope hole three 2-5-2 and rope hole four 2-5-3 of several swing joints 2-5, and then pass through rigid rod 3 The central cavity of -1 is led out, enters the transmission box 3, bypasses the first gear 3-6-2 and the second gear 3-6-3 respectively, and then the wire rope 3 and wire rope 4 are wound on the corresponding wire pulleys in opposite directions. A 3-5-2 wire rope fixing groove is placed in the wire rope fixing groove 2 3-5-3-2 of 3-5-2-2 and reel 2 3-5-3, and fixed in the fixing rope hole 4 3- 5-2-1 and fixing rope hole five 3-5-3-1 inside.

After the motor box 4 is plugged into the transmission box 3, the motor in the corresponding motor box 4 transmits the driving force to the corresponding spool shaft 3-5-1, thereby driving the elongation and shortening of the wire rope 3 and the wire rope 4, thereby controlling the Rotational movement of the distal forceps 1.

3. The yaw motion of the flexible joint device 2

As shown in C in Figure 17, one end of the wire rope 5 and the wire rope 6 are respectively fixed to the fixed rope hole one 2-3-4 and the fixed rope hole two 2-3- of the head end joint 2-3 by means of knotting 5, and then pass through the fixed rope hole three 2-5-4 and the fixed rope hole four 2-5-5 of several swing joints 2-5, and then lead out through the central cavity of the rigid rod 3-1, enter In the transmission box 3, the first gear 3-6-2 and the second gear 3-6-3 are respectively bypassed, and then the wire rope 5 and the wire rope 6 are wound in the opposite direction on the wire rope of the corresponding wire wheel 1 3-5-2 and fixed. The groove is fixed in the wire rope fixing groove 2 3-5-3-2 of 3-5-2-2 and the reel 2 3-5-3, and fixed in the fixing rope hole 4 3-5-2-1 and the fixing rope hole Five within 3-5-3-1.

When the motor box 4 and the transmission box 3 are plugged in, the motor in the corresponding motor box 4 transmits the driving force to the corresponding axle 3-5-1, thereby driving the elongation and shortening of the wire rope 5 and the wire rope 6, thereby controlling the flexibility Yaw movement of the joint device 2 .

4. Rotational motion of rigid rod 3-1

When the motor box 4 is plugged into the transmission box 3, the motor in the corresponding motor box 4 transmits the driving force to the gear shaft 3-6-1, and then drives the first gear 3-6-2 to rotate, and then drives the first gear 3-6-2 to rotate. The second gear 3-6-3 meshed with the gear 3-6-2 rotates, thereby driving the rigid rod 3-1 fixed on the second gear 3-6-3 to rotate.

In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or obscuring It means that the referred device or element must have a specific orientation, be constructed and operate for a specific orientation, and therefore cannot be understood as a limitation on the protection content of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced, but these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. a quick-change flexible surgical instrument for abdominal minimally invasive surgery, characterized in that, comprising: an end forceps consisting of a fixed end forceps, an end swinging forceps and a rivet, the end fixed forceps and the end swinging forceps being riveted by rivets; A flexible joint device consisting of a connecting piece, a C-shaped circlip, a head-end joint, a pin shaft, a swing joint and an end joint, the connecting piece is installed on the lower end of the fixed-end surgical forceps, and the C-shaped circlip is clamped into the fixed-end surgical forceps, The head-end joint is installed at the lower end of the connecting piece, and the structural composition of the swing joint and the end joint is the same, and the head-end joint, multiple swing joints, and end joints are connected in series through the pin shaft; The transmission box is composed of a rigid rod, a side cover, an upper cover, a bottom plate, a motor wire wheel device, a control rotation gear device, a wire rope guide wheel group, a guide wheel fixing base, a transmission box compression device and a transmission box chuck. The upper end of the rigid rod is fixed on the base plate, and the lower end of the rigid rod is connected with the end joint through the pin shaft; the motor wire wheel device, the control rotation gear device and the guide wheel fixing base are all installed on the inner surface of the base plate; the side cover plate buckle installed on the inner side of the bottom plate; the upper cover plate is fixed on the side cover plate; the motor wire wheel device and the control rotation gear device are both connected with the upper cover plate; the wire rope guide wheel group is installed on the guide wheel fixing base; The two transmission box compression devices are respectively installed on both sides of the side cover; the transmission box chucks are installed on the outer surface of the bottom plate; the motor wire wheel device and the control rotation gear device are connected with the transmission box chuck; A motor box consists of a motor housing, a motor installed in the motor housing and a motor chuck installed outside the motor housing, the motor is connected with the motor chuck, and the motor chuck is connected with the transmission box chuck. 2 . The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 1 , wherein the end-fixed surgical forceps is provided with a through hole and a self-transmission shaft, and the self-rotating shaft is provided with a through-hole 1 . 3 . There are a wire rope groove 1, a wire rope groove 2 and a circular groove for limiting the position of the fixed surgical forceps at the end. The wire rope groove 1 and the wire rope groove 2 are respectively provided with a fixed rope hole 1 and a fixed rope hole 2; the end swinging surgical forceps There is a clamping rope pulley on the clamping rope wheel, and the clamping rope pulley is provided with a second through hole, a third fixed rope hole and a wheel groove, and the third fixed rope hole is connected with the wheel groove; The shaft is arranged and matched with the rivet; the connecting piece is provided with a through hole 3, and the rotation shaft fits with the through hole 3 clearance; Fixed surgical forceps for axial fixation. 3 . The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 2 , wherein the center of the head joint is provided with a central rope hole 1 for passing through the wire rope 1 and 3 . The second wire rope; the edge of the joint at the head end is provided with a rope hole 1 and a rope hole 2, which are respectively used to pass through the wire rope 3 and the wire rope 4; the edge of the head joint is provided with a fixed rope hole 1 and a fixed rope hole 2. They are respectively used to fix the wire rope 5 and the wire rope 6; one end of the head joint is provided with two pin shaft connection grooves 1 . 4 . The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 3 , wherein the center of the swing joint is provided with a second central rope hole for passing through the first wire rope and the wire rope. 5 . 2. The edge of the swinging joint is provided with the third and fourth rope-piercing holes, and the third and fourth rope-piercing holes are arranged opposite to each other for passing through the third and fourth wire ropes; the edge of the swinging joint is provided with a fixed threading rope Hole 3 and fixed rope hole 4, fixed rope hole 3 and fixed rope hole 4 are arranged opposite to each other, and are used for passing wire rope 5 and wire rope 6; one end of the swing joint is provided with two pin shaft connection holes, and the other side of the swing joint is One end is provided with two pin shaft connection slots 2; the pin shaft connection slot 1 at the lower end of the head end joint is connected with the pin shaft connection hole at the upper end of the first swing joint through the pin shaft, and the pin shaft connection slot 2 at the lower end of the first swing joint It is connected with the pin shaft connection hole at the upper end of the second swing joint through the pin shaft, and so on, the pin shaft connection slot 2 at the lower end of the last swing joint is connected with the pin shaft connection hole at the upper end of the end joint through the pin shaft. 5 . The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 4 , wherein the rigid rod is processed into a central cavity for passing through the wire rope 1 to the wire rope 6; the The bottom plate is provided with a rectangular hole; the transmission box chuck is provided with a groove. 6 . The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 5 , wherein the motor reel device comprises: a reel shaft, a reel one and a reel both sleeved on the reel shaft. 7 . Reel two; the reel one is provided with a wire rope fixing slot 1; the wire rope fixing slot 1 is provided with a fixing rope hole 4 for fixing the wire rope; the reel 2 is provided with a wire rope fixing slot 2; The wire rope fixing groove 2 is provided with a fixing rope hole 5 for fixing the wire rope; the upper end of the spool shaft is mounted on the upper cover plate through a bearing, and the lower end of the spool shaft passes through the bottom plate and is connected to the transmission box chuck. 7 . The quick-change flexible surgical instrument for minimally invasive abdominal surgery according to claim 6 , wherein the control gear device comprises: a gear shaft, a first gear sleeved on the gear shaft, The second gear is sleeved on the upper end of the rigid rod and meshes with the first gear; the upper end of the gear shaft is mounted on the upper cover plate through the bearing, and the lower end of the gear shaft is connected to the transmission box chuck through the bottom plate. 8. A quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 7, wherein the wire rope guide wheel set comprises: a guide wheel base fixed on a guide wheel fixing base, The guide wheel rod fixed on the guide wheel base, the guide wheel sleeved on the guide wheel rod, the circlip installed on the guide wheel rod and located outside the guide wheel; the position of the guide wheel and the guide wheel rod is limited by the circlip; A wheel groove is machined on the guide wheel for guiding the wire rope. 9 . The quick-change flexible surgical instrument for minimally invasive abdominal surgery according to claim 8 , wherein the transmission box compression device comprises: a button located in the flexible joint device, a button mounted on the side cover A blocking part, a spring, a fixed part connected to the inner wall of the button, and a card plate fixed on the inner wall of the fixed part; the fixed shaft at the front end of the button is inserted into the blocking part, and the spring is sleeved on the fixed shaft at the front end of the button; The two ends of the spring press against the button and the inner wall of the blocking part respectively; the two ends of the card plate are respectively provided with a card plate base and a clamping block, and the card plate base is fixed on the upper cover; the button can be perpendicular to the rectangular hole. The axis direction reciprocates. 10 . The quick-replaceable flexible surgical instrument for minimally invasive abdominal surgery according to claim 9 , wherein a plug portion is provided on the outer surface of the motor housing, and a card is opened on the plug portion. 11 . The insertion part is installed in the rectangular hole; the motor chuck is provided with a protrusion; the groove on the transmission box chuck is engaged with the protrusion to transmit the driving force of the motor box to the transmission The card slot is matched with the card board; the reciprocating movement of the button pushes the separation or engagement of the card board and the plug-in portion.

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