Granted Patent B2

US 12,245,804 · App. 18/686,270 · Granted Mar 11, 2025

Inventors: Chunhua Ye (Shanghai, CN); Chunying Zhao (Shanghai, CN)

Assignee: SHANGHAI SINZEN MEDTECH LTD.

A61B18/1482A61B34/30A61B34/71A61B2017/00389A61B2017/00424A61B2018/00958A61B2034/301

Abstract

Claims (52)

1. A portable minimally invasive surgical mechanical arm with multi-degree of freedom comprising a blade part, a blade joint assembly, a shaft and a handle;

wherein the blade part is installed at one end of the shaft by the blade joint assembly, and the handle is installed at the other end of the shaft;

the shaft comprises a plurality of controlling wires and a controlling wire joint assembly at the other end of the shaft;

the controlling wire joint assembly and the blade joint assembly are connected by the plurality of controlling wires;

wherein the handle comprises

a grip part comprising a grip portion and an axle part, wherein the grip portion is used for holding;

a handle joint assembly which is used to movably connect the axle part and comprises a first axis and a second axis that are mutually perpendicular to each other, and allows the axle part to rotate around the first axis and the second axis respectively, wherein the first axis coincides with an axis of the axle part and the second axis is perpendicular to the shaft; and

a controlling mechanism connecting with the axle part and the controlling wire joint assembly, and used for transferring the movement of the grip part to the controlling wire joint assembly, and comprising a four-link mechanism;

wherein the four-link mechanism comprises an input piece, two push rods and an output piece, and the two push rods are connected with the input piece and the output piece, the input piece is configured for receiving movements of the axle part and the output piece is a part of the controlling wire joint assembly.

2. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the grip part is set on one side of the shaft, so that a holding direction of the grip part is intersected with an axial direction of the shaft.

3. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the grip part comprises a shell fixedly installed with respect to the shaft,

and the shell accommodates the handle joint assembly and the controlling mechanism;

the handle joint assembly comprises an inner cylinder with the first axis as an axis,

the inner cylinder is nested in the shell and can rotate around its own axis relative to the shell,

the axle part is connected to the inner cylinder with a pivot and is axially aligned with the inner cylinder,

and the pivot is arranged along the second axis.

4. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the grip part comprises a shell fixedly installed with respect to the shaft,

and the shell accommodates the handle joint assembly and the controlling mechanism;

the handle joint assembly comprises an inner cylinder and an outer cylinder with the first axis as an axis,

the axle part is set in the inner cylinder, and is rotatable around its own axis relative to the outer cylinder,

the outer cylinder is connected to the shell with a pivot,

and the pivot is arranged along the second axis.

5. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the grip part comprises a shell fixedly installed with respect to the shaft,

and the shell accommodates the handle joint assembly and the controlling mechanism;

the handle joint assembly is a ball joint including a joint ball and a support socket,

the joint ball is set at an end nearer to the shaft of the axle part,

the support socket is fixed on the shell,

and an axis of an opening of the support socket is the first axis.

6. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the controlling wire joint assembly comprises a third axis and a fourth axis perpendicular to each other, allows the controlling wire joint assembly to rotate in the same direction with that the axle part rotating around the first axis and/or the second axis to drive the controlling wires, so that the blade joint assembly is driven to bend.

7. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the input piece of the four-link mechanism is a push-rod-plate,

and the center of the push-rod-plate is on the first axis,

and the push-rod-plate is pivotedly connected with the axle part in the direction parallel to the second axis.

8. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the handle comprises a locking system,

the locking system comprises a locking switch, a locking transmission and a brake;

the locking switch is located on the grip part,

and the locking switch is connected to one end of the locking transmission while the brake is connected to the other end of the locking transmission;

the locking switch has two states of locking and releasing,

and when the locking switch is in the state of locking, the locking transmission drives the brake to a locking position to lock the handle joint assembly or the input piece of the four-link mechanism so that the four-link mechanism is frozen;

and when the locking switch is in the state of releasing, the brake moves out of the locking position leaving the input piece movable.

9. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 8 , wherein the handle comprises a blade switch rod and a blade controlling wire,

the blade switch rod is connected with the blade part by the blade controlling wire for making the blade part open or close;

the blade switch rod is installed on the grip part, and the blade switch rod and the grip part are arranged in the shape of herringbone, so that a user can pull the blade switch rod with fingers when holding the grip portion in hand;

the handle comprises a blade rotating knob,

the blade rotating knob is connected with the blade part by an elastic shaft for controlling the blade part rotating around its axis;

the blade rotating knob is installed on the grip part and is set in an upper location to the blade switch rod allowing a user to turn the blade rotating knob with ans index finger when holding the grip part;

the locking switch is located on one side of the grip part allowing a user to turn the locking switch with a thumb when holding the grip part.

10. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 9 , wherein the blade part comprises electrosurgical instruments,

and both of the shaft and the handle contain power lines for the electrosurgical instruments;

the handle comprises an electrosurgical instrument switch which is adjacent to the blade rotating knob allowing a user to operate the electrosurgical instrument switch with an index finger when holding the grip portion.

11. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 9 , the axle part is hollow to allow the blade controlling wire and the elastic shaft extend through the axle part.

12. The portable minimally invasive surgical mechanical arm with multi-degree of freedom claimed by claim 1 , wherein the shaft comprises a straight segment and a bending segment,

and the straight segment and the handle are connected by the bending segment, and the grip part of the handle is located on an extension line of the straight segment.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (21)