END EFFECTOR WITH HINGE ASSEMBLY AND ENDOSCOPIC SURGICAL APPARATUS DRIVE Russian patent published in 2017 - IPC A61B17/29 A61B17/94 A61B17/00 

FIELD: medicine.

SUBSTANCE: surgical endoscopic device comprises an end effector, an end effector control mechanism, a drive and a connecting body. The end effector consists of a body in which a pusher is located, connected to a surgical instrument. The end effector control mechanism has a flexible shaft, a hinge section made of links and cables. The drive has a cable control mechanism, a flexible shaft drive unit including a drive shaft, and a coupling unit with a robotic mechatronic surgical complex located on the drive body. At that, the flexible shaft is rigidly connected to the drive shaft on one side, and to the pusher of the end effector on the other side. The links are made with docking congruent hemispherical surfaces with a hole in the centre for the flexible shaft and holes on the periphery of the links for cables. The cabled are connected with the cable control mechanism on one side, and are rigidly fixed to the edge link of the hinge section fixed to the end effector body on the other side. At that, the other edge link of the hinge section is fixed on the connecting body, inside of which a flexible shaft, cables and a drive shaft extend. The cable control mechanism reports traction to at least one cable, and the flexible shaft drive unit communicates, via the drive shaft, rotational motion to the flexible shaft and/or reciprocating motion to the flexible shaft and pusher. The drive of the above surgical endoscopic device comprises a cable control mechanism and a flexible shaft assembly. The flexible shaft drive assembly has independent mechanisms driven by electric motors and allowing closure or opening of the end effector surgical instrument operating parts and rotational movement of the end effector with the surgical instrument, respectively, and a device providing separate or simultaneous operation of both mechanisms. The cable control mechanism has cable tensioning units to deflect the end effector, driven by electric motors. The first unit of the cable control mechanism comprises a roller-coupled drum, in which the cables are arranged to meet each other, and the guide rollers. The second unit of the cable control mechanism contains the guide rollers connected in series, a distribution roller and a roller drum. At that, the mechanism providing closure or opening of the end effector surgical instrument operating parts comprises a cylindrical spur gear in the form of a pinion and a wheel, the wheel being connected to the traction of the drive shaft coupled to the drive shaft. The device providing separate or simultaneous operation of independent mechanisms is made in the form of a splined coupling consisting of a hollow shaft with a groove for the slot and a splined insert rigidly connected to the liner of the guide shaft and the drive shaft. The mechanism providing the rotational motion of the end effector with the surgical instrument contains a single-stage helical gear in the form of a driving wheel and a driven wheel mounted on the hollow shaft.

EFFECT: increased positioning accuracy of the surgical endoscopic device end effector used in a robotic surgical complex in a limited surgical field.

9 cl, 5 dwg