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WO2021037044A1 - Appareil de commande pour instrument médical - Google Patents

Appareil de commande pour instrument médical Download PDF

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Publication number
WO2021037044A1
WO2021037044A1 PCT/CN2020/111303 CN2020111303W WO2021037044A1 WO 2021037044 A1 WO2021037044 A1 WO 2021037044A1 CN 2020111303 W CN2020111303 W CN 2020111303W WO 2021037044 A1 WO2021037044 A1 WO 2021037044A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission member
opening
medical device
lateral
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/111303
Other languages
English (en)
Chinese (zh)
Inventor
任洪亮
肖霄
李长胜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Singapore Suzhou Research Institute, National University of
National University of Singapore
Original Assignee
Singapore Suzhou Research Institute, National University of
National University of Singapore
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Singapore Suzhou Research Institute, National University of, National University of Singapore filed Critical Singapore Suzhou Research Institute, National University of
Publication of WO2021037044A1 publication Critical patent/WO2021037044A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2947—Pivots

Definitions

  • the invention relates to a medical device control device, in particular to a medical device control device used for minimally invasive surgery.
  • Surgical forceps are surgical instruments and are often used in endoscopic surgery.
  • Traditional laparoscopic surgical forceps fix the functional units such as knives, scissors, forceps, needles and threads to the end of a rigid straight rod, and operate through the hand-held part at the other end.
  • functional units such as knives, scissors, forceps, needles and threads
  • the opening and closing of the unit Since the end of the straight rod connecting the functional unit is rigid, the local freedom of the end of this type of surgical forceps is very limited, which greatly reduces the flexibility of operation.
  • researchers have proposed multi-degree-of-freedom surgical forceps that cooperate with robotic minimally invasive surgery.
  • This type of surgical forceps increases the freedom of movement by adding movable joints at the end.
  • the more degrees of freedom the more movable joints, which greatly increases the overall size and control difficulty.
  • the surgical forceps need to be replaced regularly, which increases the cost of the operation.
  • the diameter of the surgical arm of the Da Vinci surgical robot is 5mm/or 8mm, and the use of each surgical arm is limited to 10 times.
  • the size of the surgical forceps is usually required to be as small as possible while ensuring the flexibility of the operation.
  • the present invention provides a control device, comprising: a main body, a transmission member movably passing through the main body, an executive member fixed to the first end of the transmission member, and a first end fixed to the transmission member Controls on the two ends.
  • the first end of the transmission member extends from the first end of the body to the outside of the body, and the second end of the transmission member extends from the second end of the body to the outside of the body.
  • the displacement of the control member relative to the body drives the displacement of the transmission member relative to the body, and the displacement of the transmission member relative to the body then drives the displacement of the actuator relative to the body.
  • the body has a channel extending between the first end and the second end of the body in the longitudinal direction, and the transmission member is movably penetrated through the channel.
  • the channel includes a first channel, a second channel, a third channel, and a fourth channel that are independent of each other
  • the transmission member includes a first transmission member, a second transmission member, a third transmission member, and a fourth transmission member.
  • the transmission part, the first transmission part, the second transmission part, the third transmission part and the fourth transmission part are respectively movably penetrated through the first passage, the second passage, the third passage and the fourth passage.
  • the passage includes a first opening at the first end of the body, a second opening at the second end of the body, and a middle section between the first end and the second end
  • the transmission element includes a first transmission element, a second transmission element, a third transmission element, and a fourth transmission element that respectively pass through the body from the first opening and the second opening.
  • control device further includes a first sleeve, a second sleeve, a third sleeve, and a fourth sleeve fixed to the body, the first transmission member, the second transmission member, and the The three transmission parts and the fourth transmission part are respectively movably pierced through the first sleeve, the second sleeve, the third sleeve and the fourth sleeve.
  • the first opening includes a first lateral left opening, a first lateral left opening, a first lateral right opening, and a first lateral right opening;
  • the second opening includes a second lateral left opening, a second lateral left opening, and a first lateral right opening.
  • the first transmission member passes through the body from the first lateral left opening and the second lateral left opening, and the second The transmission member penetrates the body from the left opening of the first side and the left opening of the second side, and the third transmission member penetrates from the first lateral right opening and the second lateral right opening In the main body, the fourth transmission member passes through the main body from the first side opening to the right and the second side opening to the right.
  • the first opening includes a first lateral left opening, a first lateral left opening, a first lateral right opening, and a first lateral right opening;
  • the second opening includes a second lateral left opening, a first lateral left opening, and a first lateral right opening.
  • the first transmission member passes through the body from the first lateral left opening and the second lateral right opening, the first The second transmission member passes through the body from the first side opening to the left and the second side opening to the right, and the third transmission member passes through the first lateral right opening and the second lateral left opening Out of the main body, the fourth transmission member is opened to the right from the first side and to the left from the second side to pass through the main body.
  • the manipulation device further includes a support fixed to the second end of the body, a support pivotally connected to the support, and a handle pivotally connected to the support, wherein The control member is fixed to the handle.
  • the support is pivotally connected to the support through a first pivot
  • the handle is pivotally connected to the support through a second pivot
  • the second pivot is connected to the support.
  • the first pivot axis is orthogonal.
  • the bracket has a hollow core
  • the control member and the body are spaced apart, and the transmission member between the control member and the body passes through the hollow core of the bracket.
  • the rotation of the bracket about the first pivot causes at least one of the first transmission member, the second transmission member, the third transmission member, and the fourth transmission member to move along the body .
  • the rotation of the handle about the second pivot causes at least one of the first transmission member, the second transmission member, the third transmission member, and the fourth transmission member to move along the body .
  • the manipulation device further includes a sleeve fixed to the body, wherein the transmission member is movably penetrated through the sleeve.
  • the first end of the main body faces the first axial direction of the main body
  • the second end of the main body faces the second axial direction of the main body
  • the second axial direction is opposite to the second axial direction of the main body.
  • the first axial direction is opposite.
  • the first end of the body faces the first axial direction of the body
  • the second end of the body faces the second axial direction of the body
  • the second axial direction is opposite to the second axial direction of the body.
  • the first axial direction is the same.
  • the medical device manipulation device of the present invention further includes a grip, the grip is fixed to the handle, and the body, the handle, and the grip are arranged along the longitudinal direction of the medical device manipulation device ,
  • the support is located between the body and the handle.
  • the medical device manipulation device of the present invention further includes a first jaw fixed to the actuator, a second jaw that is pivotally connected to the actuator with respect to the jaw rotation axis and is paired with the first jaw, A cable and an actuator coupled to the handle, the first end of the cable passes through the handle, the bracket, the support, the body, and the actuator in sequence and is connected to The fixed portion of the second jaw, the fixed portion of the second jaw is offset radially from the rotation shaft of the jaw; the second end of the cable is connected to the actuating member, and the The moving member can move in translation relative to the grip, wherein the actuating member pulls the cable in a translation direction away from the execution end relative to the grip, so that the cable drives the second jaw Pivoting with respect to the jaw shaft.
  • the medical device manipulation device of the present invention further includes a guide rail located in the inner cavity of the grip, and the actuating member includes a sliding block located in the grip, and the sliding block is sleeved on the guide rail in a translational manner.
  • the actuating member further includes a shift lever connected to the sliding block, and the shift lever extends from the inner cavity of the grip to the outside of the grip.
  • the medical device manipulation device of the present invention further includes a guide groove formed on the side wall of the grip, the guide groove communicates with the inner cavity of the grip and the outside of the grip, and the shift lever extends from the inner cavity of the grip. Extending through the guide groove to the outside of the grip, the shift lever moves along the guide groove to drive the sliding block to move along the guide rail relative to the grip.
  • Fig. 1 is a perspective view of a medical device manipulation device according to an embodiment of the present invention
  • Fig. 2 is an enlarged perspective view of a part 2 of the medical device manipulation device shown in Fig. 1;
  • Fig. 3 is an enlarged perspective view of a part 3 of the medical device manipulation device shown in Fig. 1;
  • FIG. 4A is a partially cut-away perspective view of the main body of the medical device manipulation device shown in FIG. 1;
  • Fig. 4B is a bottom perspective partial sectional view of Fig. 4A;
  • FIG. 5 is a schematic partial cross-sectional view of the main body of the medical device manipulation device shown in FIG. 4A and the transmission member passing through the main body;
  • Fig. 6 is a partially cut-away perspective view of the medical device manipulation device shown in Fig. 1;
  • Fig. 7 is a perspective view of the medical device manipulation device shown in Fig. 6 and the tool part installed on it;
  • Fig. 8 is an exploded perspective view of the medical device manipulation device shown in Fig. 7;
  • Fig. 9 is a perspective view of the displacement state of the components of the medical device manipulation device shown in Fig. 7;
  • Figure 10 is a perspective view of the body part of a medical device manipulation device according to an alternative
  • Figure 11 is a partial cut-away perspective view of the body shown in Figure 10 and the transmission member mounted on it;
  • FIG. 12 is a perspective view of the displacement state of the components of the body and the transmission member of the medical device control device according to the present invention shown in FIG. 10;
  • Fig. 13 is a perspective view of a displacement state of components of a medical device manipulation device according to another embodiment of the present invention.
  • Fig. 14 is a partially cut-away exploded perspective view of the main body and transmission member of the medical device manipulation device of Fig. 13;
  • 15A is a partial perspective view of a transmission member and a sleeve of a medical device manipulation device according to another embodiment of the present invention.
  • 15B is a partial cross-sectional view of the transmission member and sleeve of the medical device manipulation device shown in FIG. 15A;
  • 16A is a partial cutaway perspective view of the transmission member and sleeve of the medical device manipulation device shown in FIG. 15A installed on the body according to a scheme;
  • 16B is a partial cutaway perspective view of the transmission member and sleeve of the medical device manipulation device shown in FIG. 15A installed on the body according to an alternative scheme;
  • Fig. 17A is a perspective view of a medical device manipulation device according to another embodiment of the present invention.
  • FIG. 17B is an enlarged perspective view of a part 18 of the medical device manipulation device shown in FIG. 17A;
  • Fig. 17C is an exploded perspective view of the medical device manipulation device shown in Fig. 17A;
  • FIG. 18 is a partially cut-away perspective view of the operating part of the medical device manipulation device shown in FIG. 17A;
  • FIG. 19 is an exploded perspective view of the operating part of the medical device manipulation device shown in FIG. 18;
  • FIG. 20 is a static partial cross-sectional view of the actuator and tool part of the medical device manipulation device shown in FIG. 17A before the orientation is changed;
  • FIG. 21 is a schematic perspective view of the actuator and the tool part of the medical device manipulation device shown in FIG. 20 after the orientation is changed along the first direction;
  • FIG. 22 is a schematic perspective view of the actuator and the tool part of the medical device manipulation device shown in FIG. 20 after changing the orientation along the second direction;
  • FIG. 23 is a schematic diagram of a medical device control device and its control according to another embodiment of the present invention.
  • 24 is a schematic diagram of a medical device control device and its control according to another embodiment of the present invention.
  • 25 is a schematic diagram of a medical device control device and its control according to another embodiment of the present invention.
  • Fig. 26 is a side perspective view of a medical device manipulation device according to still another embodiment of the present invention.
  • Fig. 27 is a partially enlarged perspective view of the grip portion of the medical device manipulation device shown in Fig. 26;
  • Figure 28 is a partially enlarged perspective view of the surgical instrument part of the medical instrument manipulation device shown in Figure 26, with the clamps in an open state;
  • Figure 29 is a partially enlarged perspective view of the surgical instrument part of the medical instrument manipulation device shown in Figure 26, with the clamps in a closed state;
  • FIG. 30 is a partially enlarged perspective view of the surgical instrument part of the medical instrument manipulation device shown in FIG. 26, wherein the surgical instrument is a surgical needle;
  • Figure 31 Figure 27 an exploded perspective view from another perspective
  • Fig. 32 is a partial cross-sectional perspective view of Fig. 28 from another perspective;
  • Fig. 33 is a schematic diagram of the holding state of the medical device manipulation device shown in Fig. 26;
  • Figure 34 is a partial cross-sectional front view of the medical device control device shown in Figure 26, in which the slider and the lever are located adjacent to the front end of the grip;
  • Figure 35 is a partial cross-sectional front view of the medical device control device shown in Figure 26, in which the slider and the lever are moved to a position away from the front end of the grip;
  • Figure 36 is a top view of Figure 34;
  • Figure 37 is a top view of Figure 35;
  • FIG. 38 is an enlarged schematic view of part 38 of FIG. 36, showing that the clamp is in an open state;
  • Fig. 39 is an enlarged schematic view of part 39 of Fig. 37, showing that the clamp is in a closed state;
  • Fig. 40 is a schematic diagram of deflection control of the medical device control device shown in Fig. 26, showing that the clamp is in an open state;
  • Fig. 41 is a schematic diagram of deflection control of the medical device control device shown in Fig. 26, showing that the clamp is in a closed state;
  • Fig. 42 is a schematic diagram of the deflection state of the medical device manipulation device shown in Fig. 26.
  • the lateral direction X, lateral direction Y, and longitudinal direction Z quoted or referenced herein are the directions shown in the XYZ coordinate system shown in FIGS. 1, 10, 17A, 18, and 22,
  • the lateral direction X and the lateral direction Y are perpendicular to each other and both are perpendicular to the longitudinal direction Z.
  • the manipulation device 100 of the present invention includes a main body 110, a control member 120, an execution member 130, and a transmission member 140 (FIG. 4A).
  • the body 110 is an elongated cylinder with a channel 114 extending between the first end 112 and the second end 116 of the body 110 along the longitudinal direction Z.
  • the channel 114 has a first opening at the first end 112 of the body 110, for example, four first openings that are evenly distributed along the XY plane and circumferentially about the geometric center of the first end 112, that is, the first lateral left opening 1121, The first side to the left opening 1122, the first lateral right opening 1123, and the first side to the right opening 1124; there is a second opening at the second end 116 of the body 110, for example, along the line parallel to the XY plane and about the second end 116
  • the four second openings evenly distributed in the circumferential direction of the geometric center are the second lateral left opening 1161, the second lateral left opening 1162, the second lateral right opening 1163, and the second lateral right opening 1164.
  • the transmission member 140 may include a first transmission member 1401, a second transmission member 1402, a third transmission member 1403, and a fourth transmission member 1404.
  • the first to fourth transmission members 1401, 1402, 1403, and 1404 can respectively pass through the body through the four first openings 1121, 1122, 1123, 1124 and the four second openings 1161, 1162, 1163, 1164, that is, the first
  • the transmission member 1401 penetrates the body 110 from the first lateral left opening 1121 and the second lateral left opening 1161
  • the second transmission member 1402 penetrates the body 110 from the first side to the left opening 1122 and the second side to the left opening 1162
  • the third transmission member 1403 penetrates the body 110 from the first lateral right opening 1123 and the second lateral right opening 1163
  • the fourth transmission member 1404 penetrates the body 110 from the first side to the right opening 1124 and the second side to the right opening 1164.
  • the manipulation device 100 may further include a tool part 190 detachably connected to the actuator 140.
  • the tool part 190 may include at least one or a combination of the following: for example, knives, scissors, pliers, needles, and the like.
  • the tool part may be a surgical instrument, such as a surgical clamp 190 shown in FIG. 7, or an electric knife 890 shown in FIG. 32.
  • the middle section of the channel 114 between the first end 112 and the second end 116 of the body 110 may be independent channels separated from each other, such as the four channels shown in FIG. 4A.
  • Independent channels that is, the first channel 1141, the second channel 1142, the third channel 1143, and the fourth channel 1144.
  • the first channel 1141, the second channel 1142, the third channel 1143, and the fourth channel 1144 are all parallel to the longitudinal direction Z, and each transmission member 140 is movably penetrated through the channel 114.
  • the transmission member 140 may include a first transmission member 1401, a second transmission member 1402, a third transmission member 1403, and a fourth transmission member 1404, respectively passing through the first channel 1141, the second channel 1142, and the third channel 1143 , The fourth channel 1144, as shown in Figure 5.
  • Fig. 6 is a partial cut-away perspective view of the control device with the body structure shown in Figs. 4 and 5 according to the present invention.
  • Fig. 7 is a partially cut-away perspective view of the manipulating device shown in Fig. 6 with clamps installed.
  • Fig. 8 is an exploded perspective view of Fig. 7.
  • Fig. 9 is a partial cross-sectional perspective view of the manipulation device shown in Fig. 7 after the orientation of the clamp is changed.
  • control member 120 is located adjacent to the first end 112 of the main body 110, and the execution member 130 is located adjacent to the second end 116 of the main body 110.
  • the control member 120 is separated from the first end 112 of the body along the longitudinal direction Z by a first gap 125, and the actuator 130 is separated from the second end 116 of the body along the longitudinal direction Z by a second gap 135.
  • the lengths of the first gap 125 and the second gap 135 may be equal or unequal.
  • the transmission member 140 passes through the channel of the body 110, and both ends of the transmission member 140 are respectively fixed to the actuator 120 and the control member 130 along the longitudinal direction Z, for example, one side of the control member 120 and/or one side of the actuator 130 Each may include a one-to-one corresponding hole with the transmission member 140 for receiving and fixing the transmission member 140.
  • the displacement of the control member 120 relative to the main body 110 drives one or more transmission members 140 to move relative to the main body 110, and then drives the actuator 130 and the tool part 190 connected to the actuator 130 to move relative to the main body 110 .
  • the rotation of the control member 120 in the extension direction 120a relative to the main body 110 that is, the rotation in the counterclockwise direction 120a as shown in FIG. 9, drives the first transmission member 1401 to move relative to the main body 110 in the direction of pulling the actuator 130
  • the third transmission member 1403 is driven to move relative to the main body 110 in the direction of pushing the actuator.
  • the displacement of the first transmission member 1401 and the third transmission member 1403 simultaneously drives the actuator 130 and the surgical clamp 190 installed on the actuator 130 to rotate in the same direction as the control member 120 relative to the body 110, as shown in FIG. 9
  • the counterclockwise direction 130a rotates.
  • the displacement of the control member 120 in the XYZ three-dimensional space relative to the main body 110 in other directions will drive one or more of the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404.
  • the independent displacement relative to the main body 110 then drives the actuator 130 to make a corresponding displacement in the same direction as the control element 120.
  • the displacement of the control member 120 relative to the main body 110 is transmitted to the execution member 130 through the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404, so as to realize the operation of the surgical clamp 190.
  • the separation distance control refers to that the actuator of the manipulation device of the present invention achieves a controlled displacement or action beyond a certain distance from the control element.
  • the middle section of the passage 114 between the first end 112 and the second end 116 of the body 110 may be a single-bore passage.
  • the first The transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 are in a common space.
  • the first transmission member 1401, the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 are all passed through the body 110 in parallel to each other in the longitudinal direction.
  • the first transmission member 1401 passes through the first lateral left opening 1121 of the first end 112 of the main body 110 and at the corresponding position on the same side of the central longitudinal axis 110Z, the second main body 110 The second lateral left opening 1161 of the end 116.
  • the second transmission member 1402, the third transmission member 1403, and the fourth transmission member 1404 respectively pass through the first lateral left opening 1122 of the first end 112 of the body 110 in the same manner and in the relative position relationship, and the first lateral right opening 1123,
  • the first side opens 1124 to the right
  • the second side opens 1162 to the left of the second end 116 of the body 110, the second lateral right opening 1163, and the second side opens 1164 to the right.
  • the displacement directions of the control member 120 and the actuator 130 are the same as those shown in FIG. 9.
  • the rotation of the control member 120 in the extension direction 120a relative to the main body 110 that is, the rotation in the counterclockwise direction 120a as shown in FIG. 12
  • the displacement simultaneously drives the third transmission member 1403 to move relative to the main body 110 in the direction of pushing into the main body 110.
  • the displacement of the first transmission member 1401 and the third transmission member 1403 simultaneously drives the actuator 130 and the surgical clamp 190 installed on the actuator 130 to rotate in the same direction as the control member 120 relative to the body 110, as shown in FIG.
  • FIG. 13 is a three-dimensional schematic diagram of a movement state of a manipulation device 200 according to another embodiment of the present invention.
  • Fig. 14 is a partial cut-away exploded perspective view of the manipulation device shown in Fig. 13.
  • the body 210 of the manipulation device 200 has four firsts evenly distributed along the circumferential direction parallel to the XY plane and about the geometric center of the first end 212, that is, the first lateral left opening 2121, the first side faces leftward. Opening 2122, first lateral right opening 2123, and first lateral right opening 2124.
  • the body 210 has four second openings evenly distributed along the circumferential direction parallel to the XY plane and about the geometric center of the second end 216, that is, the second lateral left opening 2161, the second lateral left opening 2162, the second lateral right The opening 2163 and the second side opening 2164 to the right.
  • the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404 respectively pass through the first openings 2121, 2122, 2123, and 2124 at the first end 212 of the body 210.
  • the body 210 has a single inner bore 214 in the middle section between the first end 212 and the second end 216.
  • the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404 are arranged in a crossing manner in the inner bore 214, that is, pass through the first lateral left opening 2121 of the first end 212 of the body 210
  • the first transmission member 2401 changes its position in the inner bore 214, so that the first transmission member 2401 passes through the second lateral right opening 2163 symmetrical to the first lateral left opening 2121 about the longitudinal axis 210Z at the second end 216 of the body 210 ⁇ 210 ⁇ Out of the body 210.
  • the second transmission member 2402 passing through the left opening 2122 of the first side of the first end 212 of the body 210 changes its position in the inner bore 214, so that the second transmission member 2402 is located at the second end 216 of the body 210 from and
  • the first side leftward opening 2122 is symmetrical about the longitudinal axis 210Z and the second side rightward opening 2164 penetrates the main body 210.
  • the third transmission member 2403 passing through the first lateral right opening 2123 of the first end 212 of the main body 210 changes its position in the inner bore 214, so that the third transmission member 2403 is located at the second end 216 of the main body 210 from the first lateral right.
  • the second lateral left opening 2161 with the opening 2123 symmetrical about the longitudinal axis 210Z passes through the main body 210.
  • the fourth transmission member 2404 passing through the fourth side rightward opening 2124 of the first end 212 of the body 210 changes its position in the inner bore 214 so that the fourth transmission member 2404 is connected to the first side at the second end 216 of the body 210
  • the rightward opening 2124 is symmetrical about the longitudinal axis 210Z and the second side leftward opening 2162 passes through the main body 210.
  • the control device 200 having the main body 210 and the transmission member structure shown in Figs. 13 and 14, the rotation of the control member 220 relative to the main body 210 in the direction 220a, that is, the rotation in the counterclockwise direction 220a as shown in Fig. 13, drives the first
  • the transmission member 2401 is displaced relative to the main body 210 in the direction in which the main body 210 is pulled out, and at the same time drives the third transmission member 2403 to be displaced relative to the main body 210 in the direction of pushing into the main body 210.
  • the displacement of the first transmission member 2401 and the third transmission member 2403 simultaneously drives
  • the actuator 230 and the surgical clamp 290 installed on the actuator 230 rotate relative to the main body 210 in a direction opposite to the control component 220, that is, rotate in a clockwise direction 230a as shown in FIG. 13.
  • the displacement of the control member 220 in the XYZ three-dimensional space relative to the main body 210 in other directions will drive one or more of the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404.
  • the independent displacement relative to the main body 210 then drives the actuator 230 to make a corresponding displacement in the opposite direction to the control element 220. That is, the displacement of the control member 220 relative to the main body 210 is transmitted to the execution member 230 through the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404 to realize the pairing of the surgical clamp 290.
  • the separation distance control is described in detail below.
  • the manipulation device 200 may also include one or more sleeves 2411, 2412, 2413, 2414, each sleeve 2411, 2412, 2413, 2414 is respectively sleeved on the outside of the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the fourth transmission member 2404, so that the first transmission member 2401, the second transmission member 2402, the third transmission member 2403, and the The fourth transmission member 2404 can be displaced relative to the respective sleeves 2411, 2412, 2413, 2414 along the longitudinal axis of each transmission member.
  • the middle section of the body 210 is a single bore.
  • One or more sleeves 2411, 2412, 2413, and 2414 pass through and are fixed to the main body 210.
  • the multiple sleeves 2411, 2412, 2413, 2414 can be fixed to the inside of the main body 210 in parallel to each other in the manner shown in FIG. 16A, so as to realize the manipulation manner shown in FIG. 12.
  • a plurality of sleeves 2411, 2412, 2413, and 2414 may cross each other in the middle section of a single inner bore of the body 210 in the manner shown in FIG. 16B, and be fixed inside the body 210, so as to achieve the same as those shown in FIGS. 4 and
  • the structure shown in 5 has the same control mode, so as to realize the control mode shown in Fig. 13.
  • the control device 300 of the present invention includes a main body 310, a transmission member 340 passing through the main body 310, and one end of the transmission member 340. And the control member 320 adjacent to the first end 312 of the main body 310, the actuator 330 fixed to the other end of the transmission member 340 and adjacent to the second end 316 of the main body 310, the support 360 fixed to the first end 312 of the main body 310, pivotable
  • the bracket 370 is rotatably connected to the support 360 and the handle 380 is pivotally connected to the bracket 370.
  • the support 360 has a support base 362 and a pair of support pillars 364 extending from the base 362.
  • a first support shaft hole 366 is formed at the end of each support post 364.
  • the bracket 370 has a hollow core 372, a pair of first bracket shaft holes 376 and second bracket shaft holes 378 spaced symmetrically with respect to the core 372.
  • the handle 380 has a handle base 382 and a pair of handle posts 384 extending from the handle base 382.
  • a second support shaft hole 388 is formed at the end of each handle post 384.
  • the pair of first bracket shaft holes 376 are arranged in the transverse direction, that is, the X direction shown in FIGS. 18 and 19.
  • the pair of second bracket shaft holes 378 are arranged along the lateral direction orthogonal to the lateral direction, that is, the Y direction shown in FIGS. 18 and 19.
  • the support 370 is pivotally connected to the support 360 through the first support shaft hole 376, the first support shaft hole 366, and a pair of first pivot shafts 356 along the X direction. That is, the support 370 can be connected to the support 360 relative to the support 360.
  • a pair of first pivots 356 pivot.
  • the handle 380 is pivotally connected to the bracket 370 through the second bracket shaft hole 378, the second bracket shaft hole 388, and a pair of second pivot shafts 358 along the Y direction. That is, the handle 380 can be pivotally connected to the bracket 370.
  • the second pivot 358 pivots.
  • the body 310 and the support 360 are relatively fixed.
  • the first end 312 of the body 310 is located between a pair of support pillars 364.
  • the control member 320 and the handle 380 are relatively fixed.
  • the control member 320 is located between the pair of second pillars 384.
  • the transmission member 340 connected between the main body 310 and the control member 320 is suspended on the hollow core 372 of the bracket.
  • the handle 380 drives the bracket 370 to pivot relative to the main body 310 about a pair of first pivots 356, and drives the control member 320 relative to the main body 310. Rotate. The rotation of the control member 320 then drives the transmission member 340 to move relative to the body 310. The displacement of the transmission member 340 relative to the main body 310 drives the actuator 330 and the surgical instrument 390 mounted on the actuator 330 to rotate in the same or opposite direction as the pivoting direction of the handle 380, thereby realizing the movement of the surgical instrument 390 in the YZ plane. Displacement manipulation, as shown in 21.
  • the pivoting of the handle 380 relative to the main body 310 about a pair of second pivots 358 drives the control member 320 to rotate relative to the main body 310.
  • the rotation of the control member 320 then drives the transmission member 340 to move relative to the body 310.
  • the displacement of the transmission member 340 relative to the body 310 drives the actuator 330 and the surgical instrument 390 installed on the actuator 330 to rotate in the same or opposite direction as the pivoting direction of the handle 380, thereby realizing the movement of the surgical instrument 390 in the XZ plane.
  • Displacement manipulation as shown in 22.
  • the combination of independent pivoting of the handle 380 relative to the body 310 about a pair of first pivots 356 and a pair of second pivots 358 can realize the manipulation of the surgical instrument 390 in any orientation in the X-Y-Z space.
  • FIG. 23 is a schematic diagram of manipulation of a manipulation device 400 according to another embodiment of the present invention.
  • the manipulation device 400 includes a main body 410, a transmission member 440 passing through the main body 410, a control member 420 fixed to one end of the transmission member 440, an actuator 430 fixed to the other end of the transmission member 440, and a transmission member 440 fixed to the main body 410
  • the support 460 at the first end, a support 470 pivotally connected to the support 460, a handle 480 pivotally connected to the support 470, and a handle 450 fixed to the body 410.
  • the grip 450 may also include two gripping parts 452 for assisting in holding the manipulation device 400 and controlling the opening and closing of the surgical clamp 490 installed on the actuator 430.
  • the first end 412 and the second end 416 of the body 410 face opposite directions.
  • the first end 412 of the body 410 faces the rear direction Z- of the manipulation device 400.
  • the second end 416 of the main body 410 faces the front end direction Z+ of the manipulation device 400.
  • FIG. 24 is a schematic diagram of manipulation of a manipulation device 500 according to another embodiment of the present invention.
  • the control device 500 includes a main body 510, a transmission member 540 penetrating through the main body 510, a control member 520 fixed to one end of the transmission member 540, an actuator 530 fixed to the other end of the transmission member 540, and fixed to the main body 510.
  • One end of the grip 570 is fixed to the support 560 along the longitudinal direction Z+/Z- and surrounds at least a part of the outer circumference of the body 510.
  • the second end 516 of the body 510 faces the front end direction Z+ of the manipulation device 500. Due to the U-shaped bending of the main body 510, the first end 512 of the main body 510 faces the same direction as the second end 516, that is, the first end 512 and the second end 516 of the main body 510 both face the front end direction Z+ of the manipulation device 500.
  • the control device 500 with such a structure is suitable for the user's palm, index finger, middle finger, ring finger and little finger to hold the grip 510, and allows the user to manipulate the handle 580 with the thumb to realize the actuator 530 and the surgical clamp on the front end of the body 510 590's position change control.
  • FIG. 25 is a schematic diagram of manipulation of a manipulation device 600 according to another embodiment of the present invention.
  • the control device 600 includes a main body 610, a transmission member 640 passing through the main body 610, a control member 620 fixed to one end of the transmission member 640, an actuator 630 fixed to the other end of the transmission member 640, and a transmission member 630 fixed to the main body 610.
  • One end of the grip 650 is fixed to the support 660 along the longitudinal direction Z+/Z- and surrounds at least a part of the outer circumference of the body 610.
  • the second end 616 of the main body 610 is deflected downward by an acute angle from the direction Z+ toward the front end of the manipulation device 600, but is still generally toward the front direction Z+ of the manipulation device 600.
  • the first end 612 of the main body 610 faces substantially the same direction as the second end 616, that is, the first end 612 of the main body 610 also faces the front end direction Z+ of the manipulation device 600.
  • the control device 600 with such a structure is suitable for the user to fix the wrist to the wrist strap 652 and allows the user to hold the control handle 680 to realize the control of the position change of the actuator 630 and the surgical clamp 690 at the front end of the main body 610.
  • the medical device manipulation device 700 includes a main body 710, a transmission member 740 passing through the main body 710, a control member 720 fixed to one end of the transmission member 740, and an execution member 730 fixed to the other end of the transmission member 740.
  • a support 760 fixed to the first end of the body 710, a support 770 pivotally connected to the support 760, a handle 780 pivotally connected to the support 770, and a grip 750 fixed to the handle 780.
  • the main body 710, the handle 780 and the grip 750 are arranged along the longitudinal direction Z+/Z- of the medical device manipulation device 700, and the support 760 is located between the main body 710 and the grip 750.
  • the bracket 770 can pivot with respect to the handle 780 about the first rotating shaft 770x.
  • the support 760 can pivot with respect to the support 770 about a second rotation axis 770y in a direction orthogonal to the first rotation axis 770x.
  • the medical device manipulation device 700 further includes a clamp 735 installed on the execution member 730.
  • the clamp 735 includes a first jaw 732, a second jaw 736 pivotally connected to the actuator 730 with respect to the jaw shaft 734 and paired with the first jaw 732, a cable 746 passing through the body 710, and
  • the actuator 756 is coupled to the handle 750.
  • the first end of the cable 746 passes through the handle 780, the bracket 770, the support 760, the body 710, and the actuator 730 in sequence, and is connected to the fixing portion 736a of the second jaw 736.
  • the fixing portion 736a of the second jaw 736 is radially offset from the jaw rotation shaft 734, so that the pulling force of the cable 746 can generate a torque that drives the second jaw 736 to rotate.
  • the second end of the cable 746 is connected to the actuator 756.
  • the actuating member 756 can move in translation with respect to the grip 750.
  • the actuating member 756 pulls the cable 746 in a translation direction away from the execution end relative to the grip 750, so that the cable 746 drives the second jaw 736 to pivot about the jaw rotation shaft 734, so that the second jaw 736 moves toward the first The closing operation of the jaw 732.
  • the medical device manipulation device 700 further includes a guide rail 752 located in the inner cavity of the grip 750.
  • the actuating member 756 includes a slider 757 located in the inner cavity of the grip 750.
  • the sliding block 757 is sleeved on the guide rail 752 in a translational manner.
  • the actuating member 756 may further include a lever 758 connected to the slider 757.
  • the shift lever 758 extends from the inner cavity of the grip 750 to the outside of the grip 750.
  • a guide groove 759 may be formed on the side wall of the grip 750.
  • the guide groove 759 communicates with the inner cavity of the grip 750 and the outside of the grip 750.
  • the shift lever 758 passes through the guide groove 759 from the inner cavity of the grip 750 and extends to the outside of the grip 750.
  • the translational movement of the shift lever 758 along the guide groove 759 drives the slider 757 to translate along the guide rail 752 relative to the grip 750.
  • the operator can hold and manipulate the medical device manipulation device 700 with one hand.
  • the operator can use the thumb to move the lever 758 to drive the slider 756 to move in the direction D1 along the guide rail 752 relative to the grip 750, while pulling the cable 736 to drive the second clamp
  • the pawl 736 rotates in the direction D2 to realize the closing operation of the clamp 735.
  • the operator can grasp the grip 750 with his hand, hold, press and/or with his thumb and/or index finger
  • the base 760 is pushed so that the base 760 drives the main body 710, the actuator 730, and the surgical instrument installed on the actuator 710, such as clamp 735 or other types of surgical instruments, relative to the grip 750 about the first rotation axis 770x along the first axis
  • a deflection direction 7101 is deflected
  • the second rotation axis 770y is deflected along a second deflection direction 7102.
  • the operator can directly control the displacement state of the surgical instrument at the front end of the actuator 710.
  • the base 760 at the front end of the grip 750 and a certain point on the body 710 fixedly connected to the base 760 provide support for the operator to hold and manipulate the medical device manipulation device 700 with one hand.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil de commande pour un instrument médical, comprenant un corps (110), des éléments de transmission (1401, 1402, 1403, 1403) disposés de façon mobile à travers le corps (110), un élément de mise en oeuvre (130) fixé à une première extrémité des éléments de transmission (1401, 1402, 1403, 1403), et un élément de commande (120) fixé à une seconde extrémité des éléments de transmission (1401, 1402, 1403, 1403). La première extrémité des éléments de transmission (1401, 1402, 1403, 1403) s'étend à partir d'une première extrémité du corps (110) vers l'extérieur du corps (110), et la seconde extrémité des éléments de transmission (1401, 1402, 1403, 1403) s'étend à partir d'une seconde extrémité du corps (110) vers l'extérieur du corps (110). Le déplacement de l'organe de commande (120) par rapport au corps (110) provoque le déplacement des éléments de transmission (1401, 1402, 1403, 1403) par rapport au corps (110), qui à son tour provoque le déplacement de l'élément de mise en oeuvre (130) par rapport au corps (110), ce qui permet d'obtenir une commande distale d'un instrument chirurgical relié à l'élément de mise en oeuvre (130), tel que des pinces (190). L'appareil de commande pour un instrument médical peut également comprendre un câble de transmission (746) et un bloc coulissant (758) pour tirer le câble de transmission (746) pour commander la fermeture des pinces (190). L'appareil de commande peut être utilisé dans des chirurgies minimalement invasives, a une structure simple et fournit une commande flexible.
PCT/CN2020/111303 2019-08-30 2020-08-26 Appareil de commande pour instrument médical Ceased WO2021037044A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910813745.2A CN112438779B (zh) 2019-08-30 2019-08-30 操控装置
CN201910813745.2 2019-08-30

Publications (1)

Publication Number Publication Date
WO2021037044A1 true WO2021037044A1 (fr) 2021-03-04

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CN (1) CN112438779B (fr)
WO (1) WO2021037044A1 (fr)

Citations (8)

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CN101061939A (zh) * 2006-04-24 2007-10-31 伊西康内外科公司 医疗器械手柄和具有手柄的医疗器械
US7338513B2 (en) * 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
CN101500493A (zh) * 2006-08-16 2009-08-05 坎布里奇内窥镜设备有限公司 外科手术器械
CN101961262A (zh) * 2010-11-08 2011-02-02 江苏康进医疗器材有限公司 医用多功能圈套器
CN102802551A (zh) * 2009-05-29 2012-11-28 南洋理工大学 用于可曲式内窥镜术的机器人系统
CN108524000A (zh) * 2017-03-06 2018-09-14 新加坡国立大学 外科手术操作臂及外科手术操作系统
CN108742848A (zh) * 2018-06-19 2018-11-06 深圳铭锐医疗自动化有限公司 一种微创手术机器人装置

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Publication number Priority date Publication date Assignee Title
WO2011052939A2 (fr) * 2009-10-26 2011-05-05 주식회사 이턴 Instrument chirurgical et adaptateur pour chirurgie à un seul orifice
JP6771494B2 (ja) * 2015-06-19 2020-10-21 コヴィディエン リミテッド パートナーシップ 双方向連結部を備えたロボット外科用機器の制御法
US10595855B2 (en) * 2017-02-23 2020-03-24 Covidien Lp Surgical suturing instruments
CN209136546U (zh) * 2018-08-16 2019-07-23 北京大学第一医院 一种转向型传动组件及内镜操作器械

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050204851A1 (en) * 2000-07-27 2005-09-22 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
US7338513B2 (en) * 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
CN101061939A (zh) * 2006-04-24 2007-10-31 伊西康内外科公司 医疗器械手柄和具有手柄的医疗器械
CN101500493A (zh) * 2006-08-16 2009-08-05 坎布里奇内窥镜设备有限公司 外科手术器械
CN102802551A (zh) * 2009-05-29 2012-11-28 南洋理工大学 用于可曲式内窥镜术的机器人系统
CN101961262A (zh) * 2010-11-08 2011-02-02 江苏康进医疗器材有限公司 医用多功能圈套器
CN108524000A (zh) * 2017-03-06 2018-09-14 新加坡国立大学 外科手术操作臂及外科手术操作系统
CN108742848A (zh) * 2018-06-19 2018-11-06 深圳铭锐医疗自动化有限公司 一种微创手术机器人装置

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CN112438779A (zh) 2021-03-05
CN112438779B (zh) 2025-08-22

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