CN221635867U - Multi-degree-of-freedom joint assembly and endoscopic instrument - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom joint assembly, including an execution terminal, a rotating component and a base, wherein one side of the rotating component is connected to the execution terminal, and the other side of the rotating component is connected to the base, and further includes a limiting component, which is used to limit the rotation of the rotating component. The multi-degree-of-freedom joint designed by the utility model effectively reduces the size of the multi-degree-of-freedom laparoscopic instrument joint; reduces the stress deviation of the joint rotating in all directions, improves the user's operation control accuracy, and makes the user's operation smoother and more natural.

Description

A multi-degree-of-freedom joint assembly and laparoscopic instrument

Technical Field

The utility model relates to the field of medical instruments, in particular to a multi-degree-of-freedom joint assembly and a laparoscope instrument.

Background Art

Multi-degree-of-freedom joint assemblies can be used in laparoscopic surgical procedures. Laparoscopic surgical instruments based on the wire-driven principle provide controllable multi-degree-of-freedom motion for laparoscopic surgical instruments. Laparoscopic surgical instruments based on the wire-driven principle have a total of three rotational degrees of freedom: deflection rotational freedom, pitch rotational freedom, and rotational freedom with fixed deflection and pitch angles.

The current multi-degree-of-freedom joint assemblies mainly use pulleys and shafts to achieve the deflection and pitch movements of the joints. For this type of joint assembly, on the one hand, there must be a large distance between each rotation axis. At the same time, considering that the driving line is the minimum turning curvature of the wire rope, the pulley size will not be small, so this type of joint is difficult to use on small-sized laparoscopic instruments. On the other hand, the distance between the deflection axis and the pitch axis is too long, which will cause the movement of the joint to be ergonomic, requiring the operator to spend more training time to adapt to the instrument. In addition, this type of pulley and shaft principle joint cannot achieve rotational movement with fixed deflection and pitch angles.

There is also a type of joint assembly on the market that is a multi-hinge structure, as shown in Figure 1. This type of hinge is composed of multiple mutually perpendicular equidistant rotation axes. There is a distance between each rotation axis of this type of joint assembly, and the distance determines the maximum selection angle of each axis. Therefore, when the laparoscopic instrument needs to output a larger angle, the length of this type of multi-hinge joint will be relatively large. On the other hand, if this type of joint assembly performs deflection and pitch motion, due to the different in and out strokes of the drive line, each hinge will have a drive line stroke difference, resulting in drive line relaxation. As a result, the more hinges in the joint assembly, the longer the overall length of the joint, the greater the difference in the formation of the drive line, and the greater the amount of drive line relaxation, resulting in lower accuracy in deflection and pitch motion control.

How to solve the technical problem of achieving the rotational freedom of laparoscopic surgical instruments in the existing technology is a technical problem that urgently needs to be solved.

Utility Model Content

The technical problem to be solved by the utility model is to solve the technical problem of realizing the rotational freedom of laparoscopic surgical instruments in the prior art.

In order to solve the above technical problems, the technical solutions provided by the utility model are as follows:

A multi-degree-of-freedom joint assembly comprises an execution terminal, a rotating component and a base, wherein one side of the rotating component is connected to the execution terminal, and the other side of the rotating component is connected to the base, and is characterized in that it also comprises a limiting component, which is used to limit the rotation of the rotating component.

Furthermore, a universal yoke is fixedly provided at the proximal end of the execution terminal, and universal yoke half holes are respectively provided at both ends of the universal yoke, and the universal yoke half hole at one end of the universal yoke is fixed on the execution terminal.

Furthermore, the rotating component includes a universal joint and the universal joint fork, the side wall of the universal joint is provided with a first universal joint shaft and a second universal joint shaft, the first universal joint shaft is inserted into the universal joint fork half hole of the universal joint fork of the execution terminal, and the second universal joint shaft is inserted into the universal joint fork half hole of the rotating component.

Furthermore, the universal joint is a cross universal joint, and the universal yoke fork is a cross universal yoke fork.

Furthermore, the number of the universal joints is N, and the number of the universal joint forks is N+1 (N is a positive number).

Furthermore, the surface of the universal joint fork is sloped.

Furthermore, the limiting component is an elastic keel, and the elastic keel is a circular tube structure.

Furthermore, the elastic keel is made of a material with a low friction coefficient.

Furthermore, the multi-degree-of-freedom joint assembly also includes four driving wires, the ends of the four driving wires are respectively fixed to the execution terminals, and four driving wire holes are respectively provided on the universal joint fork and the base, and the four driving wires pass through the four driving wire holes respectively.

The utility model also includes a laparoscope instrument, comprising any of the multi-degree-of-freedom joint components described above.

After adopting such a design, the utility model has at least the following advantages:

(1) The multi-degree-of-freedom joint designed in the present invention effectively reduces the size of the multi-degree-of-freedom laparoscopic instrument joint; reduces the stress deviation of the joint rotating in all directions, improves the user's operating control accuracy, and allows the user's operation to be smoother and more natural.

(2) The multi-degree-of-freedom joint designed in the present invention uses alternating vertical joint rotation axes to make the joint rotation smoother.

(3) The multi-degree-of-freedom joint designed by the utility model uses an embedded circular elastic keel to support the joint and prevent it from collapsing, ensuring that the internal stress of the joint rotating in all directions is uniform, avoiding mechanical quick return characteristics and stress concentration.

(4) The utility model has a simple structure, good effect, low cost and easy process implementation.

BRIEF DESCRIPTION OF THE DRAWINGS

The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

FIG1 is a block diagram of a chain joint assembly structure in the prior art;

FIG2 is a schematic structural diagram of a joint assembly according to an embodiment of the present invention;

3 is a schematic structural diagram of a universal joint and a universal yoke according to an embodiment of the present invention;

FIG4 is a schematic diagram of the assembly of a universal joint and a universal yoke according to an embodiment of the present invention;

5 is a schematic diagram of the assembly structure of a universal joint and a universal joint fork according to an embodiment of the present invention;

6 is a schematic diagram of the bending structure of a universal joint and a universal joint fork according to an embodiment of the present invention;

7 is a schematic diagram of a joint assembly in a bending state according to an embodiment of the present invention;

In the accompanying drawings, 1 is an execution terminal, 2 is a first universal joint, 201 is a first axis of the first universal joint, 202 is a second axis of the first universal joint, 3 is a second universal joint fork, 301 is a first half hole of the second universal joint fork, 302 is a second half hole of the second universal joint fork, 4 is a second universal joint, 5 is a third universal joint fork, 6 is a third universal joint, 7 is a base, 8 is an elastic keel,

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

In this document, “up”, “down”, “pitch”, “yaw”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints but also include several sub-ranges contained therein.

The end of each component close to the operator is defined as the proximal end, and the end away from the operator is defined as the distal end. The expressions of the proximal end and the distal end are only used to make the description simple and clear, and should not be understood as any limitation of the present invention.

As shown in Figures 1-7, an embodiment of the utility model provides a multi-degree-of-freedom joint assembly, including an execution terminal 1, a rotating component and a base, one side of the rotating component is connected to the execution terminal, and the other side of the rotating component is connected to the base, and also includes a limiting component, which is used to limit the rotation of the rotating component.

A universal yoke is fixedly arranged at the proximal end of the execution terminal 1, and the universal yoke is a cross universal yoke. The two ends of the universal yoke are respectively provided with a universal yoke half hole, and the universal yoke half hole at one end of the universal yoke is fixed on the execution terminal.

The rotating parts include a universal joint and a universal joint fork. The universal joint is provided with a first universal joint axis and a second universal joint axis. The universal joint fork is correspondingly provided with a first half hole of the universal joint fork and a second half hole of the universal joint fork. The first universal joint axis is inserted into the first half hole of the universal joint fork, and the second universal joint axis is inserted into the half hole at the other end of the universal joint fork proximal to the execution terminal 1.

Here, the universal joint 2 is a cross universal joint, and the universal yoke 3 is a cross universal yoke.

Specifically, there are N universal joints and N+1 universal yoke forks (N is a positive number). The number of universal joints and the number of universal yoke forks can be set as needed. In the utility model, N is taken as 3. Since a first universal yoke fork is fixed at the proximal end of the execution terminal, the joint assembly in the embodiment of the utility model includes 3 universal joints and 4 universal yoke forks. For the sake of ease of explanation, the first universal joint, the second universal joint, the third universal joint, the first universal yoke fork, the second universal yoke fork, the third universal yoke fork and the fourth universal yoke fork are used for specific description.

Specifically, the execution terminal 1 including the first universal joint fork is connected in series with one end of the first universal joint 2, the other end of the first universal joint 2 is connected in series with one end of the second universal joint fork 3, the other end of the second universal joint fork 3 is connected in series with one end of the second universal joint 4, the other end of the second universal joint 4 is connected in series with one end of the third universal joint fork 5, the other end of the third universal joint fork 5 is connected in series with one end of the third universal joint 6, and the other end of the third universal joint 6 is connected in series with one end of the fourth universal joint fork on the base 7.

The first half hole of the first universal joint fork is fixed at the proximal end of the execution terminal 1, the other half hole of the first universal joint fork is connected with the first axis 201 of the first universal joint, the second axis 202 of the first universal joint is connected with the first half hole 301 of the universal joint fork of the second universal joint fork 3, the second half hole 302 of the second universal joint fork is connected with the first axis of the second universal joint 4, the second axis of the second universal joint 4 is connected with the first half hole of the third universal joint fork 5, the second half hole of the third universal joint fork 5 is connected with the first axis of the third universal joint 6, and so on, so that the universal joints and universal joints are connected in series alternately. Here, the two rotation centers of the second universal joint fork 3 are perpendicular to each other, the two rotation centers of the third universal joint fork 5 are perpendicular to each other, and the two rotation centers of the fourth universal joint fork 7 are perpendicular to each other.

The elastic keel 8 is inserted into the hollow center of each universal joint and each universal joint fork connected in series.

The elastic keel 8 is a circular tubular structure and is made of a material with a low friction coefficient.

The elastic keel 8 is transitionally matched with the central holes of the execution terminal 1, the second universal yoke 3, the third universal yoke 5 and the base 7, so that when the elastic keel 8 is bent or rotated, the execution terminal 1, the second universal yoke 3, the third universal yoke 5 and the base 7 can be directly and synchronously driven to rotate and rotate together; because the execution terminal 1, the second universal yoke 3, the third universal yoke 5 and the base 7 are respectively provided with 4 driving wire holes, the multi-degree-of-freedom joint assembly also includes 4 driving wires, the ends of the 4 driving wires are respectively fixed to the execution terminal 1, and the 4 driving wires pass through the 4 driving wire holes respectively.

Here, the elastic keel has two functions: one is to support the joint, and the other is to allow the drive line to pass through the control terminal actuator.

Therefore, the movement of the four driving wires can also synchronously drive the rotation and self-rotation of the four parts, namely the execution terminal 1, the second universal joint fork 3, the third universal joint fork 5 and the base 7; the four driving wires and the elastic keel 8 serve as the power source to jointly control the rotation and self-rotation of the four parts, namely the execution terminal 1, the second universal joint fork 3, the third universal joint fork 5 and the base 7, while the single cross universal joint only cooperates with the shaft hole of the universal joint fork through the shaft to perform auxiliary cooperation movement, and the center hole and the elastic keel 8 are clearance fit, so that the rotation of the single cross universal joint will not affect any movement of the power source (the four driving wires and the elastic keel 8).

Specifically, when the instrument operator pulls the four drive wires to perform deflection and pitch operations, the in-and-out movement of the drive wires drives the deflection and pitch movement of the execution terminal 1. Since the execution terminal 1 and the elastic keel 8 are in transitional cooperation, the elastic keel 8 will be driven to perform deflection and pitch movement synchronously; at this time, since the elastic keel 8 is highly isotropic, it can maintain constant curvature bending by itself when it deflects and pitches; at this time, since the second universal joint fork 3, the third universal joint fork 5 and the base 7 have a transitional cooperation with the elastic keel 8, and the rotation axes of the same-direction rotational movement between the two universal joints are equidistant, the above four parts can cooperate with the elastic keel 8 to perform constant curvature bending. When the instrument operator pulls the four drive wires to perform deflection and pitch operations, the instrument joint assembly of the embodiment of the utility model can perform precise constant curvature deflection and pitch movement.

Furthermore, when the instrument operator wants to perform a rotation operation while fixing the deflection pitch angle, the operator will simultaneously pull the drive line operation and perform the elastic keel 8 rotation operation through the above-mentioned power source drive line and the elastic keel 8. At this time, the elastic keel 8 drives the rotation. If there is no drive line operation, the entire instrument joint will be driven to rotate as a whole; on the contrary, while the elastic keel 8 rotates, pulling the four drive lines can allow the instrument joint to rotate at a fixed deflection pitch angle, rather than rotating at a variable angle as a whole. In this rotation movement with a fixed deflection pitch angle, the power source elastic keel 8 has a transition fit with the execution terminal 1, the second universal joint fork 3, the third universal joint fork 5 and the center hole of the base 7, and the four drive lines of the power source also have fits with the above-mentioned four parts. Such a design can ensure that the elastic keel 8 maintains equal curvature rotation during the movement, thereby reducing the possibility of joint collapse during the rotation movement, reducing the quick return characteristics of the universal joint rotation, making the rotation movement more stable, and improving the operator's control accuracy.

An embodiment of the utility model further discloses a laparoscope instrument, comprising any of the multi-degree-of-freedom joint components described above.

After considering the utility model disclosed in the specification and examples, those skilled in the art will easily think of other embodiments of the utility model. This application is intended to cover any modification, use or adaptation of the utility model, which follows the general principles of the utility model and includes common knowledge or customary technical means in the art that are not disclosed in the utility model. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the utility model are indicated by the following claims.

It should be understood that the present invention is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims (8)

1. The multi-degree-of-freedom joint assembly comprises an execution terminal, a rotating part and a base, wherein one side of the rotating part is connected with the execution terminal, and the other side of the rotating part is connected with the base;

A universal joint fork is fixedly arranged at the proximal end of the execution terminal, two ends of the universal joint fork are respectively provided with a universal joint fork half hole, and the universal joint fork half holes at one end of the universal joint fork are fixed on the execution terminal;

The rotating component comprises a universal joint and a universal joint fork, a first universal joint shaft and a second universal joint shaft are arranged on the side wall of the universal joint, the first universal joint shaft is clamped into a half hole of the universal joint fork of the executing terminal, and the second universal joint shaft is clamped into the half hole of the universal joint fork of the rotating component.

2. The multiple degree of freedom joint assembly of claim 1 wherein the universal joint is a cross universal joint and the yoke is a cross yoke.

3. The multiple degree of freedom joint assembly of claim 2 wherein the number of universal joints is N, the number of universal joint forks is n+1, and N is a positive number.

4. A multiple degree of freedom joint assembly according to claim 3, wherein the yoke surface is sloped.

5. The multiple degree of freedom joint assembly of claim 1 or 4 wherein the spacing member is a flexible keel having a round tube configuration.

6. The multiple degree of freedom joint assembly of claim 5 wherein the resilient keel is fabricated from a low coefficient of friction material.

7. The multi-degree of freedom joint assembly of claim 1 further comprising 4 drive wires, wherein the ends of the 4 drive wires are respectively fixed to the actuation terminal, wherein 4 drive wire holes are respectively formed in the universal joint fork and the base, and the 4 drive wires respectively pass through the 4 drive wire holes.

8. A laparoscopic instrument comprising a multi-degree of freedom joint assembly as claimed in any one of claims 1-7.