CN115444560B - Support device for slender flexible instrument and surgical robot - Google Patents
Support device for slender flexible instrument and surgical robot Download PDFInfo
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- CN115444560B CN115444560B CN202210957348.4A CN202210957348A CN115444560B CN 115444560 B CN115444560 B CN 115444560B CN 202210957348 A CN202210957348 A CN 202210957348A CN 115444560 B CN115444560 B CN 115444560B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention provides a support device for an elongated flexible instrument and a surgical robot, wherein the support device comprises: the support assembly comprises a plurality of deformation supports which are sequentially connected along a first direction, and the deformation supports can stretch and compressively deform along the first direction so that the support assembly can stretch and change the length along the first direction; the deformation support body is provided with a first through hole along a first direction, the first through hole is suitable for penetrating the slender flexible instrument, the first through holes of the deformation support bodies are coaxial, and the plurality of first through holes are suitable for supporting the slender flexible instrument when the slender flexible instrument is moved along the first direction. According to the support device, when the support component is pressed or pulled along the first direction, the straight form is kept all the time, and the hole wall surfaces of the first through holes of the support component are contacted with the parts of the slender flexible instrument, so that the slender flexible instrument can keep the straight form along the first direction, and the stability and the accuracy of movement of the slender flexible instrument are ensured.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a supporting device for an elongated flexible instrument and a surgical robot.
Background
The traditional flexible instrument is generally held by a doctor to stand beside a patient through a natural cavity operation, and is subjected to examination and operation, in the process that the flexible instrument enters an anatomical structure through a natural cavity of a human body such as a nasal cavity or an oral cavity, an operator generally needs to hold a control end of the flexible instrument by one hand, holds the flexible instrument at an inlet end of the natural cavity by the other hand, and controls the tail end gesture of the flexible instrument through both hands and a single arm so as to control the flexible instrument to travel in the natural cavity of the human body and finally reach the anatomical structure. In the operation process, operators also need to observe the visual interface, know the position of the tail end of the flexible instrument in the natural cavity of the human body in real time so as to judge and adjust the gesture of the tail end of the flexible instrument, and the method has higher requirements on the hand-eye coordination operation capability of the operators and higher working strength of the operators.
In order to solve the problems, the operation robot device is used for operating the flexible instrument in the prior art, and the manual direct operation of the flexible instrument is changed into an indirect operation mode. However, the flexible instrument has the characteristics of slender and soft, when the flexible instrument is abutted against the inner wall of the cavity in the process of moving towards the natural cavity, when the flexible instrument is rotationally controlled and the tail end of the flexible instrument is subjected to bending adjustment, the external form of the flexible instrument is subjected to the action of axial force and radial force, and the flexible instrument is difficult to keep in a straight form at all times, so that the flexible instrument is difficult to reliably and accurately control the target position entering the natural cavity of the human body through the surgical robot device.
Disclosure of Invention
The invention provides a supporting device for an elongated flexible instrument and a surgical robot, which are used for solving the problem that the flexible instrument is difficult to keep in a straight state in real time in the process of controlling the movement of the flexible instrument by the conventional surgical robot device.
In a first aspect, the present invention provides a support device for an elongate flexible instrument comprising:
A support assembly, the support assembly comprising:
The deformation supporting bodies are sequentially connected along a first direction, and the deformation supporting bodies can stretch and deform in a compression mode along the first direction so that the supporting component can stretch and change length along the first direction;
the deformation support body is provided with a first through hole along the first direction, the first through hole is suitable for penetrating the slender flexible instrument, the first through holes of the deformation support body are coaxial, and the first through holes are suitable for supporting the slender flexible instrument when the slender flexible instrument is moved along the first direction.
According to the support device for the slender flexible instrument, the deformation support body comprises two support plates and two connecting parts, wherein the two support plates are sequentially arranged along the first direction, the two support plates are parallel and opposite, the two connecting parts are respectively connected with the opposite ends of the two support plates, so that the deformation support body is a hollow structure body with two open ends, and the opening direction is perpendicular to the first direction;
the connecting part can deform so that the two support plates can be mutually close to or far from each other along the first direction; the two supporting plates are coaxially provided with the first through holes.
According to the support device for the slender flexible instrument, the connecting part comprises two connecting plates, one ends of the two connecting plates are respectively connected with the end part of one supporting plate, the other ends of the two connecting plates are mutually connected, so that an included angle is formed between the two connecting plates, and the included angle dynamically changes along with the telescopic deformation of the deformation support body.
According to the support device for the slender flexible instrument, the included angle ranges from 0 degrees to 120 degrees.
According to the invention, a support device for an elongated flexible instrument is provided, wherein the thickness of the support plate is 0.2-2 mm.
According to the supporting device for the slender flexible instrument, the supporting plates of the two adjacent deformation supporting bodies are fixedly connected through bonding, riveting or clamping, and the first through holes in the two connected supporting plates coincide.
According to the present invention there is provided a support device for an elongate flexible instrument, the support device further comprising a holder member extending linearly in the first direction and simultaneously slidably coupled to a plurality of said deformed supports, the holder member being adapted to hold a plurality of said deformed supports aligned linearly in the first direction.
According to the support device for the slender flexible instrument, the deformation support body is further provided with a second through hole along the first direction, and the retainer is arranged through the second through hole.
According to the support device for the slender flexible instrument, the support device comprises at least two retaining pieces, and at least two second through holes are symmetrically arranged on two sides of the first through hole along a second direction on the deformation support body, wherein the second direction is perpendicular to the first direction.
According to the support device for the elongated flexible instrument, the retaining member is a flexible member, the retaining member is tensioned along the first direction, and the length of the retaining member is matched with the length of the support assembly.
According to the present invention there is provided a support device for an elongate flexible instrument, the support device further comprising a wind-up assembly;
one end of the retainer is fixed relative to one end of the supporting component, the other end of the retainer is connected with the winding component, and the winding component is suitable for winding or unwinding the retainer.
According to the present invention there is provided a support device for an elongate flexible instrument, the wind-up assembly further comprising a resilient member for generating a tensioning force in the first direction to the holder.
According to the present invention there is provided a support device for an elongate flexible instrument, the winding assembly further comprising a measurement sensor for measuring the length of the holder.
According to the present invention there is provided a support device for an elongate flexible instrument, the support device further comprising a first connection assembly and a second connection assembly;
One end of the supporting component is connected with the first connecting component, and the other end of the supporting component is connected with the second connecting component;
at least one of the first and second connection assemblies is provided with a guide hole for threading the elongate flexible instrument.
According to the invention, a support device for an elongated flexible instrument is provided, wherein the support assembly is detachably connected to both the first connection assembly and the second connection assembly.
In a second aspect, the present invention provides a surgical robot, including the support device, the surgical robot further includes a mechanical arm assembly, one end of the support assembly is connected to a movable end of the mechanical arm assembly, the other end of the support assembly is connected to a fixed end of the mechanical arm assembly, and the fixed end and the movable end can relatively move close to or far away from each other along the first direction, so as to drive the support assembly to move telescopically along the first direction.
According to the support device for the slender flexible instrument and the surgical robot, the plurality of deformation supports are sequentially connected along the first direction to form the support assembly, the first through holes of the plurality of deformation supports are coaxial, the support assembly always keeps a straight form when being pressed or pulled along the first direction, and the hole wall surfaces of the plurality of first through holes of the support assembly are contacted with the plurality of parts of the slender flexible instrument, so that the slender flexible instrument can keep the straight form along the first direction, and therefore stability and accuracy of movement of the slender flexible instrument along the first direction are guaranteed.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the operation of a surgical robot provided by the present invention;
FIG. 2 is a flow chart of an operation implementation of the surgical robot provided by the present invention;
FIG. 3 is a schematic operation view of the supporting device according to the present invention;
FIG. 4 is a schematic view of an assembly of the support device provided by the present invention;
FIG. 5 is a schematic view of the structure of the supporting device provided by the invention;
FIG. 6 is an assembled schematic view of a support assembly provided by the present invention;
FIG. 7 is a schematic view of a partial structure of a support assembly provided by the present invention;
FIG. 8 is a schematic cross-sectional view of a deformed support provided by the present invention;
FIG. 9 is a top view of a deformed support provided by the present invention;
FIG. 10 is a schematic illustration of the connection of flexible cords provided by the present invention;
FIG. 11 is a schematic view of a partial construction of the winding assembly provided by the present invention;
FIG. 12 is a schematic view of a first connecting assembly according to the present invention;
FIG. 13 is a second schematic structural view of the first connecting component according to the present invention;
FIG. 14 is a third schematic structural view of the first connecting component according to the present invention;
FIG. 15 is a schematic view of a second connection assembly according to the present invention;
FIG. 16 is a second schematic structural view of a second connecting assembly according to the present invention;
Reference numerals:
100: a support device; 1: a deformation support; 11: a support plate; 12: a connecting plate; 101: a first through hole; 102: a second through hole; 103: a first channel; 104: a second channel; 2: a holder; 3: a first connection assembly; 31: a first base; 32: a flexible instrument drive assembly connection joint; 33: a holder connection joint; 34: a flexible instrument drive box joint; 35: a support assembly distal joint; 4: a second connection assembly; 41: a second base; 42: a support assembly proximal joint; 43: a proximal robotic arm interface; 5: a winding assembly; 51: a hub; 52: a rotating shaft; 53: a constant force spring; 54: a measuring sensor;
200: an elongate flexible instrument; 300: a robotic arm system; 301: a robotic arm assembly; 3011: a distal robotic arm; 3012: a proximal robotic arm; 302: a flexible instrument drive assembly; 303: a flexible instrument interface box; 304: a flexible instrument transmission; 400: a host; 401: a main mechanical arm; 500: a teleoperation console; 600: a display system; 700: a navigation system; 800: natural orifice entrance.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
A support device for an elongated flexible instrument and a surgical robot according to embodiments of the present invention are described below with reference to fig. 1 to 16.
Fig. 1 is a schematic view of a surgical robot in accordance with some embodiments of the application. As shown in fig. 1, the surgical robot includes a support device 100, an elongated flexible instrument 200, a robotic arm system 300, a host 400, a teleoperational console 500, a display system 600, and a navigation system 700. The host 400 comprises a main mechanical arm 401, a control system, a data processing system, a detection system, a driving system and the like; the teleoperation console 500 comprises an operation actuator and a communication system, is connected with a control system of the host 400 in a communication manner, realizes that the action and the position signals of the operation actuator are transmitted to the control system, converts the signals into control signals for controlling the mechanical arm system 300 through the control system, and drives the slender flexible instrument 200 mounted on the teleoperation console to perform linear, rotary and tail end bending movements through the mechanical arm assembly 301 and the flexible instrument driving assembly 302, so as to realize the adjustment of the advancing gesture in the natural cavity of the human body and finally reach the target focus. An endoscope system is arranged at the tail end of the slender flexible instrument 200, an operator operates a controller on a teleoperation control console 500 by watching images in a human body cavity channel acquired by the endoscope system presented by a display system 600 and visual navigation prompts presented in a navigation system 700, controls a main mechanical arm 401 to aim the mechanical arm system 300 at an entrance of the human body natural cavity channel, and controls the mechanical arm system 300 to drive the slender flexible instrument 200 to enter a target position in the human body natural cavity channel through the entrance of the human body natural cavity channel or drive the slender flexible instrument 200 to move out of the human body natural cavity channel. The elongated flexible instrument 200 is supported by the support device 100 during its movement.
Fig. 2 is a flow chart of a work implementation of a surgical robot in some embodiments of the application. The endoscope system acquires images in the natural cavity of the human body in real time as the elongated flexible instrument 200 travels in the natural cavity of the human body, and an operator observes the traveling position and state of the elongated flexible instrument 200 in the natural cavity of the human body in real time through the display system 600. The endoscope system synchronously transmits the image data in the natural human body cavity to the detection system, the detection system transmits the real-time data of the natural human body cavity after calculation to the navigation system 700, and the navigation system 700 automatically registers the images of the navigation system according to the real-time data in the natural human body cavity, so that the effect that the position and angle information of the images of the navigation system are consistent with the real-time endoscope images is achieved, and the images enter the natural human body cavity more intuitively under the guidance of the navigation target path. After the elongated flexible instrument 200 reaches the target, surgical inspection and treatment tools are inserted through the tool channels of the elongated flexible instrument 200, and the positions and operations of the surgical inspection and treatment tools are performed under the perspective inspection of the perspective equipment, so as to complete the inspection, biopsy operation and treatment operation of the target focus.
The characteristics of the elongated flexible instrument 200 are that the elongated flexible instrument 200 is elongated and soft, and in the process of moving the elongated flexible instrument 200 into the natural cavity, when the section of the elongated flexible instrument 200 outside the natural cavity is not effectively supported, the elongated flexible instrument 200 is blocked by linear movement, and when the elongated flexible instrument 200 is rotated or the tail end of the elongated flexible instrument 200 is bent and adjusted, irregular bending and torsion phenomena of the elongated flexible instrument 200 are easy to occur, so that the positioning position accuracy of the elongated flexible instrument 200 is poor. In order to ensure that the section of the elongated flexible device 200 outside the natural orifice remains straight, the elongated flexible device 200 needs to be supported by the support apparatus 100 when the elongated flexible device 200 enters or exits the natural orifice of the human body.
Fig. 3 is a schematic operation view of the supporting device 100. The robotic arm system 300 includes a robotic arm assembly 301 and a flexible instrument drive assembly 302. The support device 100 includes a support assembly, one end of the support assembly is connected with a movable end of the mechanical arm assembly 301, and the other end of the support assembly is connected with a fixed end of the mechanical arm assembly 301, where the movable end of the mechanical arm assembly 301 is defined to be far away from the patient, and the fixed end of the mechanical arm assembly 301 is close to the patient. The support assembly is configured to support the elongate flexible instrument 200 and the support assembly is configured to deform in compression or in extension with movement of the robotic arm assembly 301.
The host 400 is connected with the fixed end of the mechanical arm assembly 301 through the main mechanical arm 401, the main mechanical arm 401 can drive the mechanical arm assembly 301 to move up and down along the vertical direction, and the main mechanical arm 401 can also drive the mechanical arm assembly 301 to rotate around the axis of the main mechanical arm 401, so that the fixed end of the mechanical arm assembly 301 can be accurately aligned with the natural cavity entrance 800.
The support assembly is capable of undergoing compressive deformation or tensile deformation as the movable end of the robot arm assembly 301 moves in a first direction toward and away from the fixed end of the robot arm assembly 301. The support assembly defines a first channel for supporting the elongate flexible instrument 200, the elongate flexible instrument 200 being positioned in the first channel, the elongate flexible instrument 200 being synchronously movable with the support assembly in a first direction. The support assembly can maintain a straight configuration along the first direction, thereby ensuring that the elongate flexible instrument 200 can also maintain a straight configuration during movement.
Fig. 4 is an assembly schematic of the support device 100. The mechanical arm assembly 301 includes a plurality of mechanical arms, two adjacent mechanical arms are movably connected, the number of the mechanical arms is set according to actual demands, for example, the number of the mechanical arms is three, the three mechanical arms are respectively a distal mechanical arm 3011, an intermediate mechanical arm and a proximal mechanical arm 3012 defined along the extending direction of the mechanical arm assembly 301, the distal mechanical arm 3011 is far away from a patient, the proximal mechanical arm 3012 is close to the patient, the distal mechanical arm 3011 can perform linear reciprocating motion along a first direction relative to the intermediate mechanical arm, the intermediate mechanical arm can perform linear reciprocating motion along the first direction relative to the proximal mechanical arm 3012, and the position of the proximal mechanical arm 3012 is relatively fixed. The robotic arm assembly 301 further includes a robotic arm driving mechanism for driving the distal robotic arm 3011 in a first direction toward a direction toward or away from the proximal robotic arm 3012.
When the distal mechanical arm 3011 moves in the first direction toward the proximal mechanical arm 3012, the support assembly is gradually compressed in the length direction and becomes shorter, and the support assembly remains in a straight configuration along the first direction, so that the elongate flexible instrument 200 can stably enter the target lesion in the natural orifice from the natural orifice entrance 800 along the first path. When the distal mechanical arm 3011 moves in the first direction toward a direction away from the proximal mechanical arm 3012, the support assembly is gradually stretched longer in the length direction, and the support assembly remains in a straight-to-straight configuration along the first direction, whereby the elongate flexible instrument 200 can be stably moved out of the natural orifice along the first passageway 103 from the target lesion in the natural orifice.
The elongate flexible instrument 200 has a tool channel along which the elongate flexible instrument 200 is advanced into a target lesion within the natural orifice, along which a tool for examination or treatment reaches the target lesion, for performing an examination, biopsy or treatment procedure on the target lesion. During movement of the elongate flexible instrument 200 along the first path toward the target lesion within the natural orifice, the flexible instrument drive assembly 302 drives the elongate flexible instrument 200 to rotate or end bend so that the elongate flexible instrument 200 can adjust pose in the natural orifice and eventually reach the target lesion.
In the process that the elongated flexible instrument 200 moves along the first channel towards the target focus in the natural cavity channel or in the process that the target focus in the natural cavity channel moves along the first channel towards the outside of the natural cavity channel, the supporting component can always keep a straight form, so that part of the section of the elongated flexible instrument 200 positioned outside the natural cavity channel can be stably supported, irregular bending and torsion phenomena of the elongated flexible instrument 200 in the process of translational resistance, rotation or tail end bending are effectively avoided, the elongated flexible instrument 200 is kept in the straight form in the moving process, and further the elongated flexible instrument 200 can be accurately moved to the target focus in the natural cavity channel or moved out of the natural cavity channel.
As shown in fig. 4, 5, 6, 7 and 9, in an alternative embodiment, the support assembly includes: the deformation supporting bodies 1 are sequentially connected along the first direction, and the deformation supporting bodies 1 can stretch and compressively deform along the first direction so that the supporting assembly can stretch and change the length along the first direction; the deformation support body 1 is provided with a first through hole 101 along a first direction, the first through hole 101 is suitable for penetrating the elongated flexible instrument 200, the first through holes 101 of the deformation support body 1 are coaxial, and the first through holes 101 are suitable for supporting the elongated flexible instrument 200 when the elongated flexible instrument 200 is moved along the first direction.
Specifically, the length direction of the deformation support body 1 is defined to be consistent with the first direction, and the deformation support body 1 can be compressed and deformed when being pressed, so that the length is shortened; the deformation support 1 can be stretched and deformed when pulled, and the length becomes long. The deformation supporting bodies 1 are sequentially connected along the first direction to form a supporting component, the length of the supporting component along the first direction can be changed when the supporting component is pressed or pulled, pressure is applied to the supporting component along the first direction, and the length of the supporting component is shortened; the support member is pulled in the first direction, and the length of the support member is increased.
The deformation support 1 is provided with a first through hole 101 penetrating through two opposite surfaces thereof, the aperture size of the first through hole 101 is matched with the outer diameter size of the slender flexible instrument 200, the first through holes 101 of the deformation support 1 are coaxial, the first through holes 101 of the deformation support 1 form a first channel 103, and the first channel 103 can be contacted with a plurality of parts of the slender flexible instrument 200. When the distal mechanical arm 3011 moves in the first direction toward the direction approaching the proximal mechanical arm 3012, the plurality of deformation supports 1 simultaneously undergo compression deformation in the first direction, the length of the support assembly becomes gradually shorter, and the elongate flexible instrument 200 moves gradually from the natural orifice entrance 800 to the target lesion in the natural orifice along the first path 103. During movement, the support assembly remains in a straightened configuration in the first direction, whereby the section of the elongate flexible instrument 200 positioned within the first channel 103 also remains in a straightened configuration, ensuring that the elongate flexible instrument 200 stably enters the target lesion within the natural orifice along the first channel 103. When the distal mechanical arm 3011 moves in the first direction toward a direction away from the proximal mechanical arm 3012, the plurality of deformation supports 1 simultaneously undergo stretching deformation in the first direction, the length of the support assembly gradually increases, and the elongated flexible instrument 200 moves out of the natural orifice along the first channel 103 from the target lesion in the natural orifice. During movement, the support assembly remains in a straightened configuration along the first direction, whereby the section of the elongate flexible instrument 200 positioned within the first channel 103 also remains in a straightened configuration, ensuring that the elongate flexible instrument 200 is stably moved out of the natural orifice along the first channel 103 from the target lesion within the natural orifice.
In the process that the elongated flexible instrument 200 moves towards the natural cavity along the first channel 103 or moves from the inside to the outside of the natural cavity, the support component always keeps a straight form, and the support component can effectively support the elongated flexible instrument 200, so that the elongated flexible instrument 200 can accurately reach a target focus or stably move out of the natural cavity.
In the embodiment of the present invention, the plurality of deformation supporting bodies 1 are sequentially connected along the first direction to form a supporting assembly, the first through holes 101 of the plurality of deformation supporting bodies 1 are coaxial, the supporting assembly always maintains a straight form when being pressed or pulled along the first direction, and the hole wall surfaces of the plurality of first through holes 101 of the supporting assembly are contacted with the plurality of parts of the elongated flexible apparatus 200, so that the elongated flexible apparatus 200 can maintain the straight form, thereby ensuring the stability and the accuracy of the movement of the elongated flexible apparatus 200 along the first direction.
As shown in fig. 7, 8 and 9, in an alternative embodiment, the deformation support 1 includes two support plates 11 and two connection parts, the two support plates 11 are sequentially arranged along a first direction, the two support plates 11 are parallel and opposite, and the two connection parts are respectively connected with opposite ends of the two support plates 11, so that the deformation support 1 is a hollow structure with two open ends, and the opening direction is perpendicular to the first direction; the connection portion is deformable so that the two support plates 11 can be moved toward or away from each other in the first direction; the two support plates 11 are coaxially provided with first through holes 101.
Specifically, the deformation support body 1 includes two support plates 11 and two connection portions, the two support plates 11 being arranged in parallel at intervals along the first direction, one end of the connection portion being connected to an end of one support plate 11, and the other end of the connection portion being connected to an end of the other support plate 11. One connecting part is positioned on one side of the two supporting plates 11, the other connecting part is positioned on the other side of the two supporting plates 11, the two supporting plates 11 and the two connecting parts enclose a hollow structure body with two ends being open, and the open direction is vertical to the first direction.
The structure of the connection portion is not particularly limited, and for example, the connection portion may be a spring, and the length dimension of the spring along the first direction may be gradually reduced when the connection portion is pressed, and the length dimension of the spring along the first direction may be gradually increased when the connection portion is pulled. As the length dimension of the spring in the first direction becomes smaller or larger gradually, the interval between the two support plates 11 can be smaller or larger, whereby the two support plates 11 can be brought closer to or farther from each other. The connecting part can also be a flexible plate, the flexible plate is in a V shape, when the flexible plate is pressed, the flexible plate is compressed and deformed along the first direction, and the distance between the two support plates 11 can be gradually reduced; when the flexible plate is pulled, the flexible plate is deformed in the first direction, and the distance between the two support plates 11 can be gradually increased. The two support plates 11 and the two connection portions form a hollow structure body, which may be a hollow quadrangular body, a hollow hexagonal body, a hollow polygonal body, or the like.
The two support plates 11 and the two connection portions form a hollow structure body, pressure is applied to the support assembly from one end of the support assembly toward the other end of the support assembly in a first direction, and the connection portions can be rapidly compressively deformed. And pulling force is applied to the support assembly along the first direction, and the connecting part can be rapidly stretched and deformed. The hollow structure body enables the compression deformation amount or the extension deformation amount of the deformation support body 1 along the first direction to have a larger variation range, and is beneficial to the deformation support body 1 to be conveniently switched between compression deformation and extension deformation. At the same time, the hollow structure is also advantageous for the weight reduction of the deformation support 1.
In the embodiment of the invention, the two support plates 11 are opposite in parallel at intervals along the first direction, the two support plates 11 and the two connecting parts enclose a hollow structure body, the connecting parts can deform, the weight reduction of the deformation support body 1 is facilitated, and meanwhile, the deformation support body 1 is conveniently switched between compression deformation and extension deformation, so that the flexible adjustment of the length of the support assembly is facilitated.
As shown in fig. 8, in an alternative embodiment, the connection portion includes two connection plates 12, one ends of the two connection plates 12 are respectively connected with an end portion of one support plate 11, and the other ends of the two connection plates 12 are connected with each other, so that an included angle is formed between the two connection plates 12, and the included angle dynamically changes along with the telescopic deformation of the deformation support body 1.
Specifically, a V-shaped structure is formed between two connection plates 12, one end of the connection plate 12 is connected with an end of the support plate 11, and the other end of the connection plate 12 is connected with the other connection plate 12, whereby the two support plates 11 and the two connection portions form a hollow hexagonal structure. An included angle is formed between the two connecting plates 12, the two connecting plates 12 can be formed by a plate through a bending process, and the two connecting plates 12 can also be connected through a rotating shaft, so that the included angle is formed between the two connecting plates 12. The connecting plate 12 can be made of flexible materials, and the flexible materials can be light materials with better flexibility and strength, such as rubber, silica gel or carbon fiber.
The two support plates 11 and the two connecting parts form a hollow hexagonal body structure, and the deformation support body 1 is a hollow hexagonal body. The deformation support body 1 is pressurized along the first direction, the compression deformation amount of the two connecting plates 12 of the connecting part is the same or similar, the included angle between the two connecting plates 12 is gradually reduced, and the distance between the two supporting plates 11 is further gradually reduced. Pulling force is applied to the deformation support body 1 along the first direction, the stretching deformation amount of the two connecting plates 12 of the connecting part is the same or similar, the included angle between the two connecting plates 12 is gradually increased, and the distance between the two support plates 11 is further gradually increased.
In the embodiment of the invention, the connecting part comprises two connecting plates 12, the two supporting plates 11 and the four connecting plates 12 form a hollow hexagon, and the included angle between the connecting plates 12 can be flexibly adjusted along with the compression or tension of the deformed supporting body 1, so that the flexible adjustment of the length of the supporting component is facilitated.
In alternative embodiments, the included angle may vary from 0 to 120 degrees.
Specifically, when the deformation support body 1 is pressed or pulled, the angle between the two connection plates 12 changes, and meanwhile, the support plate 11 needs to be ensured not to be deformed in a bending way, and the change range of the included angle between the two connection plates 12 is 0-120 degrees. When the deformation support body 1 is in a fully extended state, the included angle between the two connecting plates 12 is 120 degrees; when the deformation support 1 is in a fully compressed state, the angle between the two connection plates 12 is approximately 0 degrees. The angle between the two connection plates 12 can flexibly vary between 0 and 120 degrees as the deformed support body 1 is compressed or pulled, so as to adjust the length of the support assembly.
The width dimension of the supporting plate 11 and the width dimension of the connecting plate 12 are set according to actual requirements, the width dimension of the supporting plate 11 is defined as W1, the distance between the two supporting plates 11 is H, the width dimension of the connecting plate 12 is W2, the included angle between the two connecting plates 12 is theta, and the value range of theta is 0-120 degrees. For example, the thickness of the supporting plate 11 and the connecting plate 12 is 1mm, the size of W2 is 25 mm, the size of H is in the range of 0 to 43.3 mm, and the compression ratio of the deformed supporting body 1 is 43.3:2. It is appreciated that the hollow hexahedron of this configuration has a relatively high compression ratio and is particularly useful for supporting the elongate flexible instrument 200 for surgical procedures.
In the embodiment of the invention, the included angle between the two connecting plates 12 can flexibly change between 0 and 120 degrees, and the deformation support body 1 with the structure can ensure that the support assembly is stably switched between compression deformation and extension deformation along the first direction, thereby being beneficial to ensuring the stable movement of the slender flexible instrument 200.
In an alternative embodiment, the thickness of the support plate 11 is 0.2-2 mm.
Specifically, the thicknesses of the supporting plate 11 and the connecting plate 12 are set according to actual requirements, and the thickness of the supporting plate 11 is 0.2-2 mm, so that the deformation supporting body 1 is light under the premise of meeting the supporting effect. The thickness of the connection plate 12 may be 0.2 to 2 mm.
Further, the deformation support body 1 can be integrally formed through a die or a 3D printing technology, and the integral forming is beneficial to mass production of the deformation support body 1, so that the position accuracy of the first through hole 101 on the deformation support body 1 is guaranteed. The plurality of deformation supporting bodies 1 are sequentially connected to form a supporting assembly, so that the position accuracy of the first channel 103 is guaranteed.
In an alternative embodiment, the support plates 11 of two adjacent deformation supports 1 are fixedly connected by bonding, riveting or clamping, and the first through holes 101 on the two connected support plates 11 coincide.
Specifically, the support plates 11 of the adjacent two deformation supports 1 are fixedly connected by an adhesive manner, a riveting manner, or a clamping manner. For example, the support plates 11 of two adjacent deformation supports 1 can be connected by double-sided rivets. Under the condition that two adjacent deformation supporting bodies 1 are connected in a clamping mode, the number of the deformation supporting bodies 1 can be reduced or increased conveniently, the length of the supporting assembly can be flexibly adjusted, and the actual use requirements are met. It will be appreciated that the first through holes 101 in the two support plates 11 connected to each other coincide.
In an alternative embodiment, as shown in fig. 5, the supporting device 100 further includes a holder 2, where the holder 2 extends linearly along the first direction and is simultaneously slidably connected to the plurality of deformation supporters 1, and the holder 2 is used to hold the plurality of deformation supporters 1 aligned linearly along the first direction.
Specifically, the retainer 2 extends straight along the first direction, and the retainer 2 is kept in a straight form along the first direction all the time, for example, the retainer 2 sequentially penetrates through the plurality of deformation supports 1 of the support assembly. When the distal mechanical arm 3011 moves in a direction approaching to the proximal mechanical arm 3012, the holding member 2 contacts each deformation support body 1, and the plurality of deformation support bodies 1 are linearly arranged along the first direction when the support assembly is pressed by the holding member 2, so that a straight form of the support assembly is ensured. When the distal mechanical arm 3011 moves in a direction away from the proximal mechanical arm 3012, the retainer 2 is in contact with each deformation support body 1, and the retainer 2 makes the deformation supports 1 linearly arranged along the first direction when the support assembly is pulled, so as to ensure a straight form of the support assembly.
The retainer 2 always keeps a straight form along the first direction, when the support component is pressed or pulled, the retainer 2 can effectively avoid shaking or shaking phenomenon when the deformation support body 1 is subjected to compression deformation or extension deformation, and can overcome the deformation of the deformation support body 1 caused by dead weight in an inclined working state, so that a plurality of deformation support bodies 1 are linearly arranged along the first direction, and the support component is ensured to keep the straight form.
In the embodiment of the invention, the retainer 2 is kept in a straight form along the first direction all the time, and the retainer 2 is connected with the plurality of deformation supporting bodies 1 in a sliding way, so that the straight form of the supporting assembly is kept when the supporting assembly is pressed or pulled.
As shown in fig. 7 and 9, in an alternative embodiment, the deformation support 1 is further provided with a second through hole 102 along the first direction, and the retainer 2 is disposed through the second through hole 102.
Specifically, the deformation support body 1 includes a support plate 11 and a connecting plate 12, the axis of the second through hole 102 is parallel to the axis of the first through hole 101, the first through hole 101 is located at the center of the support plate 11, and the number of the second through holes 102 is set according to actual requirements. For example, the number of the second through holes 102 is two, the two second through holes 102 are uniformly distributed on two sides of the first through hole 101 along the second direction, or the two second through holes 102 are uniformly distributed on two sides of the first through hole 101 along the third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular. Or the number of the second through holes 102 is four, two second through holes 102 are uniformly distributed on two sides of the first through hole 101 along the second direction, and the other two second through holes 102 are uniformly distributed on two sides of the first through hole 101 along the third direction.
The second through holes 102 formed in the two support plates 11 of the deformation support body 1 are in one-to-one correspondence, and the second through holes 102 of the plurality of deformation support bodies 1 sequentially connected along the first direction form a second channel 104. The outer diameter of the retainer 2 is sized to match the inner diameter of the second through bore 102, and the retainer 2 is positioned in the second passage 104. When the support component is deformed under compression or in tension, the outer wall surface of the retainer 2 is contacted with the wall surface of the second through hole 102, and the retainer 2 can limit each deformed support body 1, so that the support component can keep a straight shape in the compression or tension process.
As shown in fig. 5,7 and 9, in an alternative embodiment, the supporting device 100 includes at least two holders 2, and at least two second through holes 102 are symmetrically arranged on both sides of the first through hole 101 along a second direction on the deformation supporting body 1, the second direction being perpendicular to the first direction.
Specifically, the number of the holders 2 is at least two, the number of the second through holes 102 formed in the deformation support body 1 is at least two, and the number of the holders 2 is equal to the number of the second through holes 102. For example, the deformation support body 1 is a hollow hexagon, the plane where the support plate 11 is located is perpendicular to the first direction, the width direction of the support plate 11 is defined as the second direction, the number of the second through holes 102 on the support plate 11 is two, the first through holes 101 are located in the central area of the support plate 11, and the two second through holes 102 are uniformly distributed on two sides of the first through holes 101 along the second direction.
The two second channels 104 are respectively positioned on two sides of the first channel 103, and the deformation support body 1 is supported from two directions through the two retainers 2, so that the deformation support body 1 is ensured to be uniformly stressed in the process of being pressed or pulled. When the number of the second through holes 102 is plural, the deformation support body 1 is supported by the plurality of holders 2 from plural orientations, and it is ensured that the deformation support body 1 is not likely to be displaced in the compression deformation or the tension deformation.
In the embodiment of the invention, at least two second through holes 102 are symmetrically arranged at two sides of the first through hole 101, at least two second channels 104 are formed by the plurality of second through holes 102 of the plurality of deformation supporting bodies 1, at least two retaining pieces 2 are positioned in the two second channels 104, the deformation supporting bodies 1 are supported from multiple directions, and the deformation supporting bodies are not easy to deviate in the compression or tension process of the supporting component.
In an alternative embodiment, the holder 2 is a flexible member, the holder 2 is tensioned in the first direction, and the length of the holder 2 is adapted to the length of the support assembly.
Specifically, the holding member 2 is a flexible member, which may be a flexible rope, which is capable of performing a winding and unwinding operation, and which may be wound and unwound by a reel. When the distal mechanical arm 3011 moves towards the direction close to the proximal mechanical arm 3012, the support component is gradually compressed in the length direction, the other end of the flexible rope is gradually wound on the reel, and both ends of the flexible rope in the second channel 104 are always in a tensioning state, so that the support component is ensured to be in a straight state in the compression process, and therefore, the section of the elongated flexible instrument 200 in the first channel 103 can keep the straight state.
When the distal mechanical arm 3011 moves in a direction away from the proximal mechanical arm 3012, the support assembly is gradually stretched in the length direction, the other end of the flexible rope is unreeled, and both ends of the flexible rope in the second channel 104 are always in a tensioned state, so that the support assembly is ensured to be in a straight state in the tensioning process, and therefore, the section of the elongated flexible instrument 200 in the first channel 103 can be kept in the straight state.
In the process that the support component is pressed or pulled, the length of the working section of the retainer 2 is matched with the length of the support component, the working section of the retainer 2 is in a tensioning state, and the support component is ensured to keep a straight shape.
In the embodiment of the invention, the retainer 2 is in a tensioning state along the first direction, the length of the retainer 2 is matched with the length of the support assembly, and the straight form of the support assembly is ensured.
As shown in fig. 10 and 11, in an alternative embodiment, the support device 100 further comprises a wind-up assembly 5; one end of the retainer 2 is fixed relative to one end of the support assembly, the other end of the retainer 2 is connected to a winding assembly 5, and the winding assembly 5 is adapted to wind or unwind the retainer 2. The winding assembly 5 further comprises an elastic member for generating a tensioning force in the first direction to the holder 2.
Specifically, the take-up assembly 5 includes a hub 51, a rotating shaft 52, and a constant force spring 53. The retainer 2 is a flexible rope, the flexible rope is wound at a groove of the hub 51, an inner ring of the hub 51 is connected with the rotating shaft 52 through a constant force spring 53, an outer ring of the constant force spring 53 is connected with the tail end of the inner ring of the hub 51, and the tail end of the inner ring of the constant force spring 53 is connected with the rotating shaft 52. Under the action of the constant force spring 53, the flexible rope wound around the hub 51 is always kept in a tensioned state, and the constant force spring 53 also has the function of keeping the tension of the flexible rope unchanged when the flexible rope is stretched and contracted.
The wind-up assembly 5 further comprises a storage box having a receiving cavity in which the hub 51, the constant force spring 53 and the rotating shaft 52 are located. When the support assembly is pressed, the rotating shaft 52 rotates forward under the action of the constant force spring 53, and the flexible rope can be wound on the rotating shaft 52 along with the rotation of the rotating shaft 52. When the support assembly is pulled, under the action of pulling force, the rotating shaft 52 reversely rotates, the flexible rope can be unreeled, the flexible rope is withdrawn from the rotating shaft 52, and the length of the working section of the flexible rope changes along with the change of the length of the support assembly. The working length of the flexible rope is matched with the length of the supporting component in the process that the supporting component is pressed or pulled, and the constant force spring 53 enables the working section of the flexible rope to be in a tensioning state all the time, so that a stable supporting effect is achieved on the supporting component. The flexible rope realizes rolling and unreeling actions through the rolling component 5, and the structure is compact and the operation is convenient.
In the embodiment of the invention, the working length of the flexible rope is matched with the length of the supporting body along with the rotation of the rotating shaft 52 in the process that the supporting component is pressed or pulled, so that the straight form of the supporting component can be ensured, and the compactness of the structure is facilitated.
In an alternative embodiment, as shown in fig. 11, the take-up assembly 5 further comprises a measuring sensor 54, the measuring sensor 54 being used to measure the length of the holder 2.
Specifically, the displacement measurement assembly includes a measurement sensor 54, the measurement sensor 54 may be a precision rotation sensor, the rotation shaft 52 is connected with the precision rotation sensor, the rotation sensor may be an incremental encoder or a rotation potentiometer, and the rotation sensor is used for converting a rotation angle of the hub 51 into an analog electrical signal to be output, the electrical signal is proportional to the displacement of the movement of the flexible rope, and the length of the movement of the flexible rope can be obtained by measuring the electrical signal. The length of the long and thin flexible instrument 200 entering the natural cavity can be indirectly obtained according to the moving length of the flexible rope, a data basis is provided for the navigation system 700 to realize the in-vivo position reconstruction of the long and thin flexible instrument 200, and the accuracy and the safety of the long and thin flexible instrument 200 in remote operation are ensured.
As shown in fig. 3, 4 and 5, in an alternative embodiment, the support device 100 further comprises a first connection assembly 3 and a second connection assembly 4; one end of the supporting component is connected with the first connecting component 3, and the other end of the supporting component is connected with the second connecting component 4; at least one of the first and second connection assemblies 3, 4 is provided with a guide hole for threading the elongated flexible instrument 200.
Specifically, the first and second connection assemblies 3 and 4 are disposed at intervals along the first direction, and the first and second connection assemblies 3 and 4 provide a mounting base for the support assembly. As shown in fig. 12, 13 and 14, the first connecting assembly 3 includes a first base 31, the first base 31 is connected with a distal mechanical arm 3011, an instrument through hole is provided on the first base 31, the instrument through hole is coaxial with the first through hole 101, and the instrument through hole is used for penetrating the elongated flexible instrument 200. A flexible instrument transmission box joint 34, a retainer connecting joint 33 and a flexible instrument driving assembly connecting joint 32 are arranged on one side of the first base 31 away from the second connecting assembly; the side of the first base 31 facing the second connection assembly is provided with a support assembly distal joint 35, the support assembly distal joint 35 being adapted to be connected to one end of the support assembly. The flexible instrument interface box connector 34 is configured to connect with the flexible instrument interface box 303, one end of the elongated flexible instrument 200 is connected with the flexible instrument interface box 303 through the instrument through hole, the flexible instrument interface box 303 is connected with the flexible instrument transmission device 304, and the flexible instrument drive assembly connector 32 is configured to connect with the flexible instrument drive assembly 302. The mechanical arm driving mechanism drives the distal mechanical arm 3011 to move in a first direction toward a direction approaching or separating from the proximal mechanical arm 3012, so that the support assembly is compressed or stretched in the first direction, and the flexible instrument driving assembly 302 drives the elongated flexible instrument 200 to rotate or perform a distal bending action, so that the elongated flexible instrument 200 can adjust the posture in the natural cavity and finally reach the target focus.
As shown in fig. 15 and 16, the second connecting component 4 includes a second base 41, the second base 41 is connected with the proximal mechanical arm 3012, a support component proximal joint 42 is disposed on a side of the second base 41 facing the first base 31, and the support component proximal joint 42 is used for connecting with another end of the support component. The second base 41 is further provided with a guide hole, the instrument through hole and the first through hole 101 are coaxial, the guide hole is used for penetrating the slender flexible instrument 200, one side of the second base 41, which faces away from the first base 31, is provided with an introduction device, the introduction device comprises an introduction pipe, and the slender flexible instrument 200 penetrates through the guide hole and then enters the natural cavity entrance 800 through the introduction pipe. The second base 41 is further provided with a proximal mechanical arm interface 43, and the second base 41 is connected with a proximal mechanical arm 3012 through the proximal mechanical arm interface 43. The second base 41 is further provided with a flexible rope interface, and the flexible rope passes through the flexible rope interface to be connected with the winding assembly 5.
In an alternative embodiment, the support assembly is detachably connected to both the first connection assembly 3 and the second connection assembly 4.
Specifically, the side of the first base 31 facing the second base 41 is convexly provided with an L-shaped first protruding portion, and a first sliding groove is formed between the two first protruding portions, and this structure forms the support assembly distal joint 35. One end of the supporting component is provided with a first connecting part which is matched with the first sliding groove. During assembly, the first connecting part is pushed from one end of the first sliding groove to the other end of the first sliding groove, after being pushed in place, the retainer is connected with the retainer connecting joint 33, the first connecting part and the first protruding part can be connected through a fastener, and the retainer can be a flexible rope.
As shown in fig. 15 and 16, the second base 41 is formed with an L-shaped second protruding portion protruding from a side facing the first base 31, and a second sliding groove is formed between the two second protruding portions, and this structure forms a support assembly proximal joint 42. The other end of the supporting component is provided with a second connecting part which is matched with the second sliding groove. During assembly, the second connecting part is pushed from one end of the second sliding groove to the other end of the second sliding groove, after being pushed in place, the flexible rope penetrates through the flexible rope interface to be connected with the winding component 5, and the second connecting part and the second protruding part can be connected through a fastener.
The first runner is formed on one side of the first base 31 facing the second base 41, the second runner is formed on one side of the second base 41 facing the first base 31, the first connecting portion at one end of the supporting component slides into the first runner to be connected with the first protruding portion, and the second connecting portion at the other end of the supporting component slides into the second runner to be connected with the second protruding portion, so that convenience in assembly and disassembly is facilitated.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (13)
1. A support device for an elongate flexible instrument, comprising:
A support assembly, the support assembly comprising:
The deformation supporting bodies are sequentially connected along a first direction, and the deformation supporting bodies can stretch and deform in a compression mode along the first direction so that the supporting component can stretch and change length along the first direction;
A first through hole is formed in the deformation supporting body along the first direction, the first through hole is suitable for penetrating an elongated flexible instrument, the first through holes of the deformation supporting bodies are coaxial, and the first through holes are suitable for supporting the elongated flexible instrument when the elongated flexible instrument is moved along the first direction;
The deformation support body comprises two support plates and two connecting parts, wherein the two support plates are sequentially arranged along the first direction, the two support plates are parallel and opposite, the two connecting parts are respectively connected with the opposite ends of the two support plates, so that the deformation support body is a hollow structure body with two open ends, and the orientation of the openings is perpendicular to the first direction;
the connecting part can deform so that the two support plates can be mutually close to or far from each other along the first direction; the two supporting plates are coaxially provided with the first through holes;
The connecting part comprises two connecting plates, one ends of the two connecting plates are respectively connected with the end part of one supporting plate, and the other ends of the two connecting plates are mutually connected, so that an included angle is formed between the two connecting plates, and the included angle dynamically changes along with the expansion and contraction deformation of the deformation supporting body;
The supporting device further comprises a retainer which extends linearly along the first direction and is simultaneously connected with the deformation supporting bodies in a sliding mode, and the retainer is used for retaining the deformation supporting bodies to be aligned linearly along the first direction.
2. The support device for an elongated flexible instrument according to claim 1, wherein the included angle varies from 0 to 120 degrees.
3. The support device for an elongated flexible instrument according to claim 1, wherein the support plate has a thickness of 0.2-2 mm.
4. The support device for an elongated flexible instrument according to claim 1, wherein the support plates of two adjacent ones of the deformed support bodies are fixedly connected by bonding, riveting or clamping, and the first through holes in the two connected support plates coincide.
5. The support device for an elongated flexible instrument according to claim 1, wherein the deformation support body is further provided with a second through hole along the first direction, and the retainer is provided through the second through hole.
6. The support device for an elongated flexible instrument according to claim 5, wherein the support device comprises at least two of the holders, at least two of the second through holes being symmetrically arranged on the deformed support body on both sides of the first through hole in a second direction, the second direction being perpendicular to the first direction.
7. The support device for an elongated flexible instrument according to claim 5, wherein the holder is a flexible member, wherein the holder is tensioned in the first direction, and wherein a length of the holder is adapted to a length of the support assembly.
8. The support device for an elongated flexible instrument according to claim 7, wherein the support device further comprises a wind-up assembly;
one end of the retainer is fixed relative to one end of the supporting component, the other end of the retainer is connected with the winding component, and the winding component is suitable for winding or unwinding the retainer.
9. The support device for an elongated flexible instrument according to claim 8, wherein the wind-up assembly further comprises a resilient member for generating a tensioning force in the first direction to the retainer.
10. The support device for an elongated flexible instrument according to claim 8, wherein the winding assembly further comprises a measuring sensor for measuring the length of the holder.
11. The support device for an elongated flexible instrument of claim 1, further comprising a first connection assembly and a second connection assembly;
One end of the supporting component is connected with the first connecting component, and the other end of the supporting component is connected with the second connecting component;
at least one of the first and second connection assemblies is provided with a guide hole for threading the elongate flexible instrument.
12. The support device for an elongated flexible instrument of claim 11, wherein the support assembly is detachably connected to both the first and second connection assemblies.
13. A surgical robot comprising the support device of any one of claims 1 to 12, further comprising a robotic arm assembly, one end of the support assembly being connected to a movable end of the robotic arm assembly, the other end of the support assembly being connected to a fixed end of the robotic arm assembly, the fixed end and the movable end being movable in a direction that is relatively close to or away from each other to drive the support assembly to move in a telescopic motion in the first direction.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109475721A (en) * | 2016-07-08 | 2019-03-15 | 直观外科手术操作公司 | Guide device and method of use for conveying elongated equipment |
| CN113974833A (en) * | 2020-07-27 | 2022-01-28 | 北京术锐技术有限公司 | A continuum mechanism coupled with kinematic chain and surgical tool |
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| US20120071752A1 (en) * | 2010-09-17 | 2012-03-22 | Sewell Christopher M | User interface and method for operating a robotic medical system |
| US10569052B2 (en) * | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109475721A (en) * | 2016-07-08 | 2019-03-15 | 直观外科手术操作公司 | Guide device and method of use for conveying elongated equipment |
| CN113974833A (en) * | 2020-07-27 | 2022-01-28 | 北京术锐技术有限公司 | A continuum mechanism coupled with kinematic chain and surgical tool |
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