Patent ID: 12245804

INDEX OF THE DRAWING REFERENCE SIGNS

1—blade part;2—blade joint assembly;3—shaft;4—handle;5—grip part;6—shell;7—controlling mechanism;8—axle part;9—fulcrum rod;10—push-rod-plate11—push rod;12—controlling wire joint assembly;13—controlling wire;14—first axis;15—outer cylinder;16—inner cylinder;17—pivot with a second axis;18—third axis;19—fourth axis;20—locking switch;21—locking transmission;22—brake;23—elastic restorer;24—blade switch rod;25—blade rotating knob;26—powe line;27—electrosurgical instrument switch;28—stopper;29—blade controlling wire;30—elastic shaft;31—joint ball;32—brake window;33—support socket;34—brake pad;35—brake pivot;36—bending segment.

Previous figures are presented for a fuller understanding of the nature and design objects rather than as restriction for embodiments of the present invention. Wherein the x, y, z are coordinate system set for better illustrating the spatial relationship in the figures. The meanings of the signs and coordinate systems in each Fig. remain consistent. The previous figures are schematic illustration of the embodiments rather than accurate drawings including all the details of the parts.

DETAILED DESCRIPTION

Further detailed description shall be made by the following embodiments in conjunction with the drawings.

FIG.1is a schematic view showing the structure of a portable minimally invasive surgical mechanical arm with multi-degrees of freedom. The blade part1is connected to one end of the shaft3through the blade joint assembly2, and the other end of the shaft3is connected to the handle4. The handle4comprises a shell6, a controlling mechanism7and a grip part5. The shell6is fixed with the shaft3, and the controlling mechanism7is installed inside the shell6. According toFIG.2, one end of the grip part5is the axle part8, and the axle part8is inserted into the shell6. The user holds the other end of the grip part5, namely a grip portion, to operate the mechanical arm. When the user holds the grip part5, the thumb is positively oriented towards the z-axis relative to the palm, and this direction is defined as the holding direction.

As shown inFIGS.2and3, a handle joint assembly is installed inside the shell6, wherein the handle joint assembly comprises an outer cylinder15, an inner cylinder16and a pivot17with a second axis. The inner cylinder16can rotate around the first axis14in the z-axis direction relative to the outer cylinder15, and the axial direction of the pivot17with the second axis is the second axis. The axle part8is connected with the inner cylinder16through the second rotating axis pivot17, and the axle part8can rotate around the second axis through the pivot17with the second axis. A fulcrum rod9is fixed on the axle part8, and it is connected with the controlling mechanism7. The controlling mechanism7comprises a push-rod-plate10and two push rods11, the push-rod-plate10is pivotedly connected with the fulcrum rod9, allowing the push-rod-plate10to rotate around the y-axis relative to the fulcrum rod9, and the position of the connection point is on the first axis14. According toFIG.9, the two push rods11are pivotedly connected with the controlling wire joint assembly12, and the push-rod-plate10, the push rods11and the controlling wire joint assembly12form a four-link mechanism with the push-rod-plate10being an input piece receiving the movement input by the fulcrum rod9and driving the controlling wire joint assembly12. The fulcrum rod9and the push rods11are rods with some flexibility.

The structure of the controlling wire joint assembly12is shown inFIG.4, it comprises two pivots, and one of the pivots is arranged on the third axis18and the other of the pivot is arranged on the fourth axis19of the controlling wire joint, so that the controlling wire joint assembly12can rotate around the third axis18and the fourth axis19respectively. According toFIG.9, the two push rods11are pivotedly connected to the controlling wire joint assembly and installation position is above the fourth axis19. One end of multiple controlling wires13is fixed on the controlling wire joint assembly12, and the other end is fixed on the blade joint assembly2(including the case that the controlling wires directly fixed on the blade part1).

When the mechanical arm is utilized in operation, the shaft3is inserted into the patient's body through a surgical incision, and its position is relatively fixed. The user holds the grip part5with one hand, makes the axle part8rotate by moving the wrist of the holding hand, so that the bending blade joint assembly drives the blade part towards a direction required by surgical operation.

FIG.5is a schematic view of the blade part1swinging in the xz-plane. When the blade part1is required to swing towards the negative direction of the z-axis, the grip part5is made to rotate counterclockwise around the second axis17according to the direction of the arrow, so that the blade joint assembly2is driven to bend to the negative direction of the z axis by the controlling mechanism7. The movement of the controlling mechanism7can be demonstrated in combination withFIG.6, where the grip part5rotates counterclockwise around the pivot17with the second axis along the direction of the arrow, driving the fulcrum rod9and the push-rod-plate10to move together, and the push-rod-plate10drives the push rods11to move forward in the positive direction of the x-axis, and pushes the controlling wire joint assembly12to rotate counterclockwise around the fourth axis19of the controlling wire joint assembly. At this time, the upper controlling wire13is relaxed, and the lower controlling wire13is tightened, thus driving the blade joint assembly2to bend towards the negative direction of the z-axis. The stopper28plays a restricting role in the movement range of the push-rod-plate10, to avoid its movement exceeding the acceptable range of the controlling wire joint assembly12.

As the fulcrum rod9and the push rods11are flexible rods, the motion component, which generated by the push-rod-plate10following the fulcrum rod9rotating around the pivot17with the second axis in the z-axis direction, can be absorbed by the elastic deformation of the fulcrum rod9and the push rods11, reducing the stress of the hinge structure; the push-rod-plate10is pivotedly connected with the fulcrum rod9, and can rotate around the y-axis, eliminating the angle change caused by the rotation of the fulcrum rod9, so that the push-rod-plate10is always parallel to the xy-plane, optimizing the stress state of the fulcrum rod9and the push-rod-plate10. As a result, the service life of the relevant parts are prolonged and the reliability of the mechanical arm is improved.

FIG.7is a schematic view of blade part1swinging towards the negative direction of y-axis. When the blade part1is required to swing towards the negative direction of the y-axis as shown inFIG.7, asFIG.8illustrates that the axle part8rotates clockwise around the first axis14according to the direction of the arrow, and the controlling wire joint assembly12is driven to the right by the controlling mechanism7. As shown inFIG.9, the push-rod-plate10is driven by the axle part8to rotate clockwise around the first axis14, so that the controlling wire joint assembly12is driven to rotate clockwise around the third axis18of the controlling wire joint assembly by the two push rods11. During this process, the controlling wires13on the left are relaxed and the controlling wires13on the right are tightened, so that the blade joint assembly2is bent towards the negative direction of the y axis.

As shown inFIG.1andFIG.2, the handle4comprises a locking system including a locking switch20, a locking transmission21, a brake22and an elastic restorer23. The locking transmission21is a locking controlling wire, one end of which is connected with the locking switch20and the other end is connected with the brake22, and the brake is connected to the shell6through the elastic restorer23. As shown inFIG.6, when the blade joint assembly is bent to the predetermined position, the locking switch20is turned to the locking position, and the locking transmission21is driven to bring the brake22to press the push-rod-plate10, so that the push-rod-plate10is prevented from moving, locking the blade joint assembly. When the locking switch20is turned to the releasing position, the locking transmission21is relaxed, and the brake22moves away from the push-rod-plate10under the drive of the elastic restorer23, and the blade joint assembly is unlocked. The brake22is a friction plate, and the elastic restorer23is a reed or spring shaft. When the locking switch20is in the locking position, the brake22swings in the negative direction of the z-axis and presses the push-rod-plate10together with the stopper28, so that the push-rod-plate10is locked by the friction. When the locking switch20is in the releasing position, the brake22swings in the positive direction of the z-axis and moves away from the push-rod-plate10under the elastic force of the elastic restorer23, so as to restore the freedom of movement of the push-rod-plate.

In another embodiment, as shown inFIG.12, the push-rod-plate10is replaced by a “Y” shaped fork arm. One end of the fork arm is pivotedly connected with the fulcrum rod9, so that the fork arm can rotate around the y-axis direction relative to the fulcrum rod9. The other end is pivotedly connected with two push rods11, and the fork arm can rotate around the first axis14driven by the fulcrum rod9. The brake22is configured as a brake caliper. When the locking switch20is in the locking position, the fork arm is clamped by the brake caliper and is immovable. When the locking switch20is in the releasing position, the brake caliper frees the fork arm, so as to restore the movability of the folk arm.

In another embodiment, an electrosurgical instrument is integrated to the blade part1, the electrosurgical instrument can be a high-frequency electrotome, an ultrasonic knife or an argon gas knife. As shown inFIG.10, the handle4is equipped with a power line26and an electrosurgical instrument switch27, which are used to power and control the electrosurgical instrument.

The handle4is equipped with a blade switch rod24and a blade rotating knob25. As shown inFIG.10, blade controlling wire29passes through the shaft2, one end of which is connected with the blade part1and the other end is connected with the blade switch rod24. In operation, the blade switch rod24can be pulled to drive the blade controlling wire29to open or close the blade part1. The blade rotating knob25connects with the blade part through an elastic shaft30, and the blade rotating knob25can drive the blade part to rotate around the x axis. The blade switch rod24and the grip portion of the grip part5are arranged in a herringbone pattern, so that the user can hold the grip part5with the palm against the grip portion, and pull the blade switch rod24with fingers, to open or close the blade part1. The blade rotating knob25is set in a upper location above the blade switch rod24, so that the user can turn the blade rotating knob25with the index finger to make the blade part1to rotate around the x axis. The locking switch20is arranged on the side of the grip part5, so that the user can turn the locking switch to lock blade joint assembly2with the thumb. The electrosurgical instrument switch27is arranged under the blade rotating knob25, so that the user can operate the electrosurgical instrument with the index finger when holding the grip part5. Depending on the kind of the electrosurgical instruments integrated by the knife head1, the operations include high frequency electric cutting, electric coagulation, ultrasonic cutting, ultrasonic coagulation, argon plasma coagulation or other surgical actions.

As shown inFIG.8, when the pivot17with the second axis rotates around the first axis14with the axle part8and is unparalleled to the y axis and the fourth axis19of the of the controlling wire joint assembly. In this case, the user holds the grip part5and rotates around the with the second axis17. As shown inFIG.9, the push-rod-plate10produces a motion component in the y-axis direction. Additional bending moments borne by the fulcrum rod9and the push rods11maintains the movement of the four-link mechanism consisting of the push-rod-plate10, push rods11and the controlling wire joint assembly12.

This situation can be optimized by a preferable embodiment illustrated byFIG.11: the inner cylinder16of the grip part joint assembly is directly installed on the axle part8and nested with the outer cylinder15, and the axle part8can rotate around the first axis14relative to the outer cylinder15. The outer cylinder15with the first axis is connected with the shell through the pivot17with the second axis, so that the axle part8, the inner cylinder16and the outer cylinder15can rotate around the pivot17with the second axis.

When the grip part5rotates around the pivot17with the second axis, the outer cylinder is driven to rotate together; when the grip part5rotates around the first axis14, the parallel relationship between the pivot17with the second axis and the y-axis is remained, thereby ensuring that the pivot17with the second axis is always paralleled with the fourth axis19of the controlling wire joint assembly. So that interference between the grip part5rotating around the first axis14and the grip part5rotating around the pivot17with the second axis is eliminated, reducing the additional stress on the controlling mechanism caused by the combined movements of grip part5simultaneously rotating around the first axis14and around the pivot17with the second axis, improving the service life of the parts and optimizing the smoothness of the bending movement of the blade joint assembly2.

In another embodiment, as shown inFIG.13, the handle joint assembly is a ball joint, comprising the joint ball31and the support socket33, the joint ball31is arranged on the top of the axle part8, and the fulcrum rod9is connected with the joint ball31. The axis of the opening of the support socket33is the first axis14, and the axis parallels to the y axis of the joint ball is the second axis. Ball joint allows the grip part to rotate around the first axis14and swing in the xz-plane. A brake window32is arranged on the joint ball31, and a rubber brake pad34is arranged on the inner side of the support socket33corresponding to the brake window32. The locking switch20is connected with the brake22with a rubber pressing part through the locking transmission part21. The locking transmission part21is a lever fixed on the brake pivot35. When the locking switch20is turned, the handle, locking transmission21, rotates around the brake pivot35, driving the brake22pass through the brake window32and press the brake pad34, so that the joint ball31is locked by the friction and cannot rotate relative to the support socket33, and braking is achieved. The ball joint can reduce the parts of the handle joint assembly, simplifying manufacturing and maintenance.

Preferably, the support socket33is provided with a positioner, so that the joint ball can only rotate around the z axis and the y axis, but cannot rotate around the x axis, so as to reduce the additional moment borne by the fulcrum rod9, and improve the reliability of the parts.

Preferably, the brake pivot35is provided with a spring shaft. When the locking switch20is turned to the releasing position, the elasticity of the spring shaft boosts the rotation of the lever21, so that the brake22and the brake pad34can be rapidly separated, improving the agility of the brake termination process of mechanical arm, and optimizing the effectiveness of the operation.

In another embodiment, a rubber brake piece is arranged on the outside of the joint ball31. One end of the locking transmission21is connected with the brake switch20, and the other end is connected with a brake rod installed in the support socket33. The brake rod is provided with a rubber pressing part that fits the arc surface of the joint ball. When the brake switch20is pulled, the locking transmission21drives the brake rod to press the brake piece from the outside of the joint ball31. The joint ball31is prevent from rotating relative to the support socket33by the friction, achieving the braking. The pressing part of the brake rod is arranged on the outside of the joint ball31, improving the contact area that contributes to the friction, and achieving braking more effectively.

In another embodiment, as shown inFIG.14, there is a bending segment36on the shaft3, so that the blade part1and the upper end of the grip part5are in the same axis, thus the operation of the mechanical arm matches operation habits of laparoscopic instruments.

The purpose of the above embodiments is to provide a more detailed description of the disclosure in conjunction with the attached drawings so that the person in the art can achieve a better understanding of the technical concept of the disclosure, rather than to constitute a limitation on the embodiments of the disclosure. Within the scope of the claimed rights of the disclosure, equivalent replacement and improvement of the parts and structures of the disclosure, or combination of the embodiments without structural conflict, are all within the protection scope of the disclosure.