Snakelike surgical instrument
A snakelike surgical instrument, comprising a handheld structure ( 2 ); an manipulating structure ( 1 ) comprising an outer frame ( 13 ) hingedly connected to the handheld structure ( 2 ) so that the manipulating structure ( 1 ) has a rotational degree of freedom (R 1′ ) around a first axis and an inner frame ( 14 ) hingedly connected to the outer frame ( 13 ) so that the manipulating structure ( 1 ) has a rotational degree of freedom (R 2′ ) around a second axis, the first axis and the second axis forming an angle; an end unit ( 4 ) connected to the handheld structure ( 2 ) by means of a connecting component ( 3 ) and comprising a tool supporting base ( 41 ) and a snakelike structure ( 40 ) connected to the tool supporting base ( 41 ), the snakelike structure ( 40 ) having degrees of freedom of motion (R 1, R 2 ) in the same direction as the manipulating structure ( 1 ); and a transmission unit ( 5 ) comprising a flexible transmission structure connected to the inner frame ( 14 ) and the snakelike structure ( 40 ). A mechanical transmission mode is used by the snakelike surgical instrument, the motion of a handheld side can be directly transmitted to the end unit ( 4 ), complicated force feedback control is avoided, and control is simple.
1. A snake-like surgical instrument, comprising:
a hand-held component;
a connecting component;
a manipulation component comprising a hooke joint, wherein the hooke joint comprises an inner frame and an outer frame, wherein the outer frame is hinged with the hand-held component to cause the manipulation component to have a rotational degree of freedom about a first axis, and the inner frame is hinged with the outer frame to cause the manipulation component to have a degree of freedom of rotation about a second axis, the first axis angularly arranged with respect to the second axis;
a terminal connected to the hand-held component via the connecting component, wherein the terminal includes a jaw supporting base, a snake-like component connected to the jaw supporting base, and an end effector mounted on the snake-like component, the snake-like component having two rotational degrees of freedom; and
a transmission mechanism, wherein the transmission mechanism includes a flexible transmission structure for connecting the inner frame and the snake-like component and is configured to cause the manipulation component and the snake structure to rotate in a same direction.
2. The snake-like surgical instrument according to claim 1 , wherein the hand-held component includes an arc-shaped body, wherein the arc-shaped body has a proximal end provided with a proximal supporting base, the proximal supporting base having a distal end connected to the manipulation component, and wherein the arc-shaped body has a distal end provided with a distal supporting base, the distal supporting base having a distal end connected to the connecting component.
3. The snake-like surgical instrument according to claim 2 , wherein the transmission mechanism further includes a driving wheel mounted on the hand-held component, through which the flexible transmission structure changes direction thereof.
4. The snake-like surgical instrument according to claim 1 , wherein the first axis and the second axis are located in a centrosymmetric plane of the outer frame in a thickness direction, and are orthogonal to a center of the centrosymmetric plane.
5. The snake-like surgical instrument according to claim 1 , wherein the flexible transmission structure has one end fixed to the inner frame and the other end fixed to the snake-like component, and wherein a position at which the flexible transmission mechanism is fixed to the inner frame and a position at which the flexible transmission mechanism is fixed to the snake-like component are arranged in opposite manners.
6. The snake-like surgical instrument according to claim 1 , wherein the manipulation component further comprises a gripping portion connected to the inner frame, and the gripping portion is configured to control movements of the hooke joint.
7. The snake-like surgical instrument according to claim 6 , wherein the manipulation component further includes an end effector controller disposed on the gripping portion, and wherein the transmission mechanism further includes a first flexible member, through which the end effector controller controls movements of the end effector.
8. The snake-like surgical instrument according to claim 7 , wherein the end effector includes at least one jaw rotatably connected to the jaw supporting base, wherein the end effector controller includes at least one opening/closing segment having one end rotatably connected to the gripping portion, and wherein the opening/closing segment controls a rotation of the at least one jaw via the first flexible member.
9. The snake-like surgical instrument according to claim 8 , wherein the end effector includes two jaws that are able to rotate relatively, each of the two jaws rotatably connected to the jaw supporting base, and wherein the opening/closing segment controls a relative rotation of the two jaws via the first flexible member.
10. The snake-like surgical instrument according to claim 9 , wherein the transmission mechanism further comprises an elastic structure provided on the gripping portion, the jaw supporting base, or between the two jaws, so as to keep the two jaws normally open.
11. The snake-like surgical instrument according to claim 8 , wherein the end effector includes two jaws, one of the two jaws fixedly connected to the jaw supporting base, the other one of the two jaws rotatably connected to the jaw supporting base, and wherein the opening/closing segment controls a relative rotation of the two jaws via the first flexible member.
12. The snake-like surgical instrument according to claim 11 , wherein the transmission mechanism further comprises an elastic structure provided on the gripping portion, the jaw supporting base, or between the two jaws, so as to keep the two jaws normally open.
13. The snake-like surgical instrument according to claim 8 , wherein the manipulation component further comprises a manipulation end connector connected to the end effector controller, and the terminal further comprises an end effector connector attached to the end effector, wherein the end effector connector includes a first rotating shaft, a second rotating shaft and a first link rod, the first link rod having a proximal end rotatably connected to a distal end of the first flexible member via the first rotating shaft and a distal end connected to a proximal end of the jaw via the second rotating shaft, the first rotating shaft configured to move along an axial direction of the connecting component; wherein the manipulation end connector includes a fourth rotating shaft, a fifth rotating shaft, and a third link rod, the third link rod having a distal end rotatably connected to a proximal end of the first flexible member via the fourth rotating shaft and a proximal end rotatably connected to a distal end of the opening/closing segment, the fourth rotating shaft configured to move along the axial direction of the connecting component.
14. The snake-like surgical instrument according to claim 8 , wherein the manipulation component further comprises a manipulation end connector connected to the end effector controller, and the terminal further comprises an end effector connector attached to the end effector, and wherein movements of the end effector controller are transferred to manipulation end connector that transmits the transferred movements to the end effector connector through the first flexible member, which causes the end effector connector to drive the end effector to move.
15. The snake-like surgical instrument according to claim 14 , wherein the first flexible member is a soft shaft and the transmission mechanism further includes a compression spring, and wherein the compression spring is disposed between the manipulation end connector and the gripping portion, or between the gripping portion and the opening/closing segment, or in the manipulation end connector, or between the end effector and the jaw supporting base, or in the end effector.
16. The snake-like surgical instrument according to claim 14 , wherein the end effector includes a left jaw and a right jaw, and the first flexible member includes a flexible elongated body, and wherein the transmission mechanism further includes a compression spring disposed between the left jaw and the right jaw.
17. The snake-like surgical instrument according to claim 14 , wherein one end of the first flexible member is connected to the end effector connector and the other end of the first flexible member is connected to the manipulation end connector by passing through the gripping portion; or wherein the hand-held component is provided with a driving wheel, and wherein one end of the first flexible member is connected to the end effector connector and the other end of the first flexible member is connected to the manipulation end connector by changing an extending direction thereof via the driving wheel mounted on the hand-held component.
18. The snake-like surgical instrument according to claim 8 , wherein the opening/closing segment is provided with a finger cuff.
19. The snake-like surgical instrument according to claim 6 , wherein the gripping portion is rotatably connected to the inner frame to cause the gripping portion have a rotational degree of freedom about an axis of the gripping portion and cause the jaw supporting base has a rotational degree of freedom about an axis of the jaw supporting base with respect to the snake-like component, and wherein the transmission mechanism further comprises a second flexible structure, through which the gripping portion transmit rotation movements to the jaw supporting base, so as to drive the end effector to rotate around the axis of the jaw supporting base.