CN112998862B - Flexible surgical tool and flexible surgical tool system - Google Patents
Flexible surgical tool and flexible surgical tool system Download PDFInfo
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- CN112998862B CN112998862B CN202110201583.4A CN202110201583A CN112998862B CN 112998862 B CN112998862 B CN 112998862B CN 202110201583 A CN202110201583 A CN 202110201583A CN 112998862 B CN112998862 B CN 112998862B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention discloses a flexible surgical tool, comprising: a flexible continuum structure comprising: a proximal structure comprising a proximal fixation disc, a proximal structural bone and a drive bone; a distal structure comprising: a first distal construct segment comprising a first distal fixation disk and a first distal structural bone; and a second distal construct comprising a second distal fixation disk and a second distal structural bone; and a transmission drive unit including a plurality of linear motion mechanisms for converting a rotational motion input to a linear motion output, the plurality of linear motion mechanisms including: a first linear motion mechanism coupled to the first distal structural bone to drive the first distal segment to flex; and the second linear motion mechanism is connected with the driving bone of the near-end structure body so as to drive the near-end structure body to bend and drive the second far-end structure section to bend. The flexible surgical tool can be better applied to pass through a natural cavity of a human body or pass through a single surgical incision and perform an operation.
Description
The scheme is based on a divisional application of an invention patent application with the patent application number of 201810023059.0, which is filed on the basis of 2018, 1 month and 10 days and is named as 'a multipurpose flexible surgical tool system'.
Technical Field
The invention relates to a flexible surgical tool and a flexible surgical tool system, and belongs to the field of medical instruments.
Background
The porous laparoscope minimally invasive surgery has already occupied an important position in the surgical operation due to the small wound and the quick postoperative recovery. The existing da Vinci (DaVinci) Surgical robot of intuition Surgical company (American intuition Surgical company) assists doctors to complete the porous laparoscopic minimally invasive surgery, and has achieved great commercial success.
The minimally invasive surgery type develops single-port laparoscopic surgery and non-invasive surgery through natural orifices after the multi-port laparoscopic surgery, and the single-port laparoscopic surgery and the non-invasive surgery have less trauma to patients and higher postoperative output. However, in single port laparoscopic surgery and non-invasive surgery through a natural orifice, all surgical instruments including the visual illumination module and the surgical operation arm reach the operation part through a single channel, which is very strict for the preparation of the surgical instruments. The far end structure of the existing surgical instrument is mainly formed by serially connecting and hinging a plurality of rod pieces, and the surgical instrument is driven by the tensile force of a steel wire rope to realize the bending at a hinged joint. Because the steel wire rope must be kept in a continuous tensioning state through the pulley, the driving mode is difficult to realize further miniaturization of the surgical instrument and further improve the motion performance of the instrument.
Although the Intuitive Surgical company recently introduced the da Vinci Single-Site (SS type da Vinci) Surgical robot, which modifies the original rigid Surgical instrument into a semi-rigid Surgical instrument and adds a pre-bending sleeve, the motion performance of the Surgical instrument is improved to a certain extent, but the problem faced by the traditional Surgical instrument still cannot be fundamentally solved.
Disclosure of Invention
The present invention provides a flexible surgical tool that can be better applied to perform surgery through a natural orifice of a human body or through a single surgical incision.
The invention adopts the following technical scheme:
a flexible surgical tool comprising:
a flexible continuum structure comprising:
the proximal structure body comprises a proximal fixing disc, a proximal structure bone and a driving bone;
a distal structure comprising:
a first distal construct segment comprising a first distal fixation disk and a first distal structural bone; and
the second far-end structure section comprises a second far-end fixing disc and a second far-end structural bone, and the second far-end structural bone is correspondingly and fixedly connected with the near-end structural bone or is the same structural bone; and
a transmission drive unit including a plurality of linear motion mechanisms for converting a rotational motion input to a linear motion output, the plurality of linear motion mechanisms comprising:
a first linear motion mechanism coupled to the first distal structural bone to drive the first distal segment to flex;
and the second linear motion mechanism is connected with the driving bone of the proximal structure body to drive the proximal structure body to bend and drive the second distal structure section to bend.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the flexible surgical tool of the present invention with the housing omitted;
FIG. 3 is a schematic structural view of a distal structure of the present invention;
FIG. 4 is a schematic structural view of a proximal structure of the present invention;
FIG. 5 is a schematic structural view of the transmission drive unit of the present invention;
FIG. 6 is a schematic view of the structure of the connecting body (second guide passage not shown) of the present invention;
FIG. 7 is a schematic view of the present invention after the housing, cover and sheath have been installed;
FIG. 8 is a schematic view of the present invention employing a flexible sheath;
FIG. 9 is a schematic view of the second linear motion mechanism of the transmission drive unit of the present invention;
FIG. 10 is a schematic view of the distal structure of the present invention with the distal end attached to a visual lighting module;
FIG. 11 is a schematic diagram of the connection relationship between the linear module and the motor unit according to the present invention;
FIG. 12 is a schematic structural view of the motor unit of the present invention with the cover plate omitted;
FIG. 13 is a schematic view of the construction of the sterile barrier of the present invention;
FIG. 14 is a schematic view of the sterile barrier of the present invention from another perspective;
fig. 15 is a schematic view of the configuration of the rear end of the flexible surgical tool of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
A flexible surgical tool system capable of mixedly driving a distal end structure body comprises a flexible surgical tool, a sterile barrier, a motor unit and a linear module; the flexible surgical tool includes a flexible continuum structure and a transmission drive unit; the flexible continuum structure comprises a distal structure, a proximal structure and a connector; the distal structure comprises a first distal segment and a second distal segment; the transmission driving unit is associated with the first distal end structure so as to drive the first distal end structure to perform bending motion; the second far-end structure is associated with the near-end structure through the connecting body, and the transmission driving unit is also associated with the near-end structure so as to drive the near-end structure to perform bending motion, so that the second far-end structure is indirectly driven to perform bending motion; the motor unit is connected with the flexible surgical tool through the sterile barrier and provides driving force for the transmission driving unit; the output end of the linear module is connected with the motor unit and used for driving the flexible surgical tool to realize linear feeding motion.
The first far-end structure joint comprises a first far-end spacing disc, a first far-end fixing disc and a first far-end structure bone, one end of the first far-end structure bone is connected with the transmission driving unit, and the other end of the first far-end structure bone penetrates through the first far-end spacing disc in sequence and then is fixedly connected with the first far-end fixing disc; the second distal construct segment comprises a second distal spacer disk, a second distal fixation disk and a second distal structural bone; the near-end structure body comprises a near-end spacing disc, a near-end fixing disc and a near-end structure bone; the second far-end structure bone with near-end structure bone one-to-one fastening connection or be same root structure bone, the one end of structure bone with near-end fixed disk fastening connection, the other end passes in proper order behind near-end interval dish, connector, first far-end interval dish, first far-end fixed disk, the second far-end interval dish with second far-end fixed disk fastening connection.
The transmission drive unit includes basic frame and sets up be used for in the basic frame converting rotary motion input into linear motion output's linear motion mechanism, linear motion mechanism is a plurality of, and one of them part linear motion mechanism's output is connected with first distal end structure bone, another part linear motion mechanism's output is connected with the one end of drive bone, the other end of drive bone passes in proper order behind the near-end interval dish with near-end fixed disk fastening connection.
The base frame comprises a first supporting plate and a second supporting plate which are arranged at intervals; the linear motion mechanism comprises a double-threaded screw rod rotatably connected with the first supporting plate and the second supporting plate, two thread sections of the double-threaded screw rod are respectively connected with a thread sliding block in a matched mode, the thread sliding block is fixedly arranged on a guide rod sliding connection between the first supporting plate and the second supporting plate, and the thread sliding block is the output end of the linear motion mechanism.
The base frame comprises a first supporting plate and a second supporting plate which are arranged at intervals; linear motion mechanism is including rotating the connection and being in initiative screw rod, driven screw rod between first backup pad and the second backup pad be connected a second screw thread slider through screw-thread fit respectively on initiative screw rod and the driven screw rod, second screw thread slider is in with fixed setting second guide arm sliding connection between first backup pad and the second backup pad it establishes a synchronous pulley, two to fasten the cover respectively on initiative screw rod and the driven screw rod connect through the hold-in range between the synchronous pulley.
The connector comprises a channel connecting plate, a channel supporting plate, a far-end fixing plate, a near-end structure body fixing plate, a first guide channel and a second guide channel; the channel connecting plate is fixedly connected with the first supporting plate, the channel supporting plate is fixedly connected with the second supporting plate, and the near-end structure body fixing plate is fixedly connected with the channel supporting plate through a connecting column; one end of the first guide channel is fixedly connected with the near-end structure body fixing plate, and the other end of the first guide channel penetrates through the channel supporting plate and the channel connecting plate in sequence and then is fixedly connected with the far-end fixing plate; the structural bone passes through the first guide channel; the second guide channel is disposed between the distal fixation plate and the channel connection plate, and the first distal structural bone passes through the second guide channel.
Arranging a surgical actuator at the tail end of the second distal end structure, arranging an actuator driving mechanism in the base frame, and connecting the output end of the actuator driving mechanism with the surgical actuator through a surgical actuator control wire; the actuator driving mechanism comprises a screw rod which is rotatably arranged in the base frame, a sliding block is connected to the screw rod in a matching mode, the sliding block is in sliding connection with a guide rod which is fixedly arranged in the base frame, and the sliding block is fixedly connected with a control line of the surgical actuator.
And a visual lighting module is arranged at the tail end of the second far-end structure, a visual processing unit and a lighting control unit are arranged in the base frame, and the visual processing unit and the lighting control unit are connected with the visual lighting module through composite wires.
The flexible surgical tool also comprises an elastic connecting mechanism, wherein the elastic connecting mechanism comprises a connector, a coupler male head, a third supporting plate, a fourth supporting plate and a spring; the third supporting plate is fixedly connected with the second supporting plate through a supporting rod, the fourth supporting plate is fixedly connected with the third supporting plate through a supporting rod, the connector is connected to the third supporting plate in a sliding mode, the double-end screw is connected with one end of the connector in a sliding and non-rotating mode, the other end of the connector is connected with one end of the coupler male head, and the coupler male head is mounted on the fourth supporting plate in a sliding and rotating mode; the spring is sleeved on the coupler male head, one end of the spring abuts against the third supporting plate, and the other end of the spring is fixedly connected with the coupler male head.
The motor set unit comprises a motor set shell, a motor fixing plate is rotatably connected to the front end of the motor set shell, a cover plate is fixedly connected to the front side of the motor fixing plate, and a plurality of first motors, a second motor and a third motor are fixedly connected to the rear side of the motor fixing plate; an output shaft of the first motor penetrates through the cover plate and is fixedly connected with a male head of a second coupling, an output shaft of the second motor penetrates through the cover plate and is fixedly connected with a connecting block, an output shaft of the third motor is fixedly connected with a gear, the gear is meshed with an inner gear ring, and the inner gear ring is fixedly connected with the motor unit shell; the sterile barrier comprises a sterile barrier outer cover, a sterile barrier supporting plate and a coupling female head; the coupling female head is rotationally arranged on the sterile barrier supporting plate and is used for connecting the coupling male head with the second coupling male head; the sterile barrier outer cover is rotatably connected to the periphery of the sterile barrier supporting plate; a positioning pin hole is formed in the front side of the sterile barrier support plate; a positioning pin body which is used for being matched and connected with the positioning pin hole is arranged on the rear side of a fourth supporting plate of the flexible surgical tool; a connecting pin boss is arranged on the rear side of the sterile barrier supporting plate, and a second connecting pin boss used for being connected with the connecting pin boss is arranged on the front side of the cover plate of the motor set unit; the sterile barrier supporting plate is characterized in that a quick locking device is further arranged on the sterile barrier supporting plate, the quick locking device comprises a quick locking body and a locking pin, the quick locking body is rotatably connected with the sterile barrier supporting plate, one end of the quick locking body is of a thin-wall structure, the other end of the quick locking body is provided with two circular holes in the axial direction, and the circular holes are used for being connected with protruding pins arranged on the connecting blocks so as to transmit rotary power; the locking pins are arranged along the circumferential direction of the inner wall of the thin-walled structure; a screw feature is provided on the rear side of the fourth support plate, and when the quick locking body rotates to drive the locking pin to move on the screw feature, the sterile barrier support plate will be tightened or pushed away from the fourth support plate.
The linear module comprises a support body with a sliding groove, a lead screw is rotatably arranged on the support body, a sliding block which is in threaded fit with the lead screw and is arranged in the sliding groove in a sliding mode is sleeved on the lead screw, a fourth motor is arranged at one end of the support body, and an output shaft of the fourth motor is fixedly connected with the lead screw through a coupler; the motor set shell is fixedly connected with the sliding block.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the flexible continuous body structure comprises a near-end structure body, a connecting body and a far-end structure body, and is matched with a transmission driving unit, wherein the transmission driving unit is associated with the near-end structure body and a first far-end structure section in the far-end structure body, and simultaneously the near-end structure body is associated with a second far-end structure section in the far-end structure body, so that the first far-end structure section and the near-end structure body can be driven to bend to any direction through the transmission driving unit, and the second far-end structure section in the far-end structure body can be driven to bend by the bending of the near-end structure body. 2. The motor unit is connected with the flexible operation tool through the sterile barrier, and the sterile barrier is connected with the flexible operation tool through the quick locking device, so that the sterile parts of the flexible operation tool and the like are isolated from the non-sterile parts of the motor unit and the like, and meanwhile, the quick connection of the motor unit, the sterile barrier and the flexible operation tool can be realized. 3. The transmission driving unit adopts the double-threaded screw and the sliding block as the linear motion mechanism, when the double-threaded screw is driven to rotate, the two threaded sliding blocks matched with the double-threaded screw move linearly in opposite directions at the same speed, so that a first far-end structural bone or a driving bone fixedly connected with the threaded sliding blocks is driven to be pushed or pulled, and the first far-end structural section or a near-end structural body is bent to any direction. 4. The end part of the far-end structure body is provided with the surgical actuator, the control wire of the surgical actuator is connected with the actuator driving mechanism in the transmission driving unit, and the actuator driving mechanism adopts a screw rod and a slide block kinematic pair (a ball screw pair) which can convert the rotary input into the linear output, so that the opening and closing driving of the surgical actuator can be realized. 5. The visual lighting module is arranged at the end part of the far-end structural body, and the pose can be adjusted to acquire a real-time image of the visual field of the working part under the driving of the far-end structural body.
As shown in fig. 1-4, the present invention includes a flexible surgical tool 10, a sterile barrier 50, a motor unit 60, and a wire pattern module 70. The flexible surgical tool 10 includes a flexible continuous body structure and a transmission drive unit 20. The flexible continuous body structure includes a distal structure 11, a proximal structure 12, and a connecting body 13. The distal structure 11 includes a first distal segment 14 and a second distal segment 15. A transmission drive unit 20 is associated with the first distal link 14 to drive the first distal link 14 in a bending motion. The second distal segment 15 is associated with the proximal structure 12 via the connecting body 13, and the transmission drive unit 20 is further associated with the proximal structure 12 for driving the proximal structure 12 in a bending movement, thereby indirectly driving the second distal segment 15 in a bending movement. The motor unit 60 is connected to the flexible surgical tool 10 via the sterile barrier 50 to provide a driving force for the transmission drive unit 20. The output of the linear module 70 is connected to the motor unit 60 for driving the flexible surgical tool 10 to perform a linear feed motion.
Further, the first distal end structure 14 includes a first distal end spacing disc 141, a first distal end fixing disc 142 and a first distal end structural bone 143, one end of the first distal end structural bone 143 is connected to the transmission driving unit 20, and the other end of the first distal end structural bone 143 sequentially passes through the first distal end spacing disc 141 and then is tightly connected to the first distal end fixing disc 142. The second distal segment 15 includes a second distal spacer disk 151, a second distal fixation disk 152 and a second distal structural bone 153. Proximal structure 12 includes a proximal spacer disk 121, a proximal anchor disk 122, and a proximal structural bone 123. The second distal structure bone 153 and the proximal structure bone 123 are fastened and connected one to one or are the same structure bone, one end of the structure bone is fastened and connected with the proximal fixing disc 122, and the other end of the structure bone passes through the proximal spacing disc 121, the connecting body 13, the first distal spacing disc 141, the first distal fixing disc 142 and the second distal spacing disc 151 in sequence and then is fastened and connected with the second distal fixing disc 152.
Further, the transmission driving unit 20 includes a base frame 21 and a plurality of linear motion mechanisms 22 disposed in the base frame 21 for converting a rotational motion input into a linear motion output, wherein an output end of one portion of the linear motion mechanisms 22 is connected to the first distal structural bone 143, an output end of the other portion of the linear motion mechanisms 22 is connected to one end of the driving bone 124, and another end of the driving bone 124 sequentially passes through the proximal spacer disk 121 and then is tightly connected to the proximal fixing disk 122.
Further, as shown in fig. 5, the base frame 21 includes a first support plate 211 and a second support plate 212 arranged at intervals. The linear motion mechanism 22 comprises a double-threaded screw 221 rotatably connected with the first support plate 211 and the second support plate 212, two threaded sections of the double-threaded screw 221 are respectively connected with a threaded slider 222 in a matching manner, the threaded slider 222 is slidably connected with a guide rod 223 fixedly arranged between the first support plate 211 and the second support plate 212, and the threaded slider 222 is an output end of the linear motion mechanism 22. The thread directions of the two thread segments are opposite, when the double-threaded screw 221 rotates, the two thread sliders 222 on the double-threaded screw 221 perform linear motion in the same speed in the opposite direction, and the two thread sliders 222 drive the first distal structural bone 143 (driving bone 124) to perform linear motion in the same speed in the opposite direction along the guide rod 223, so that the first distal structural bone 143 (driving bone 124) is pushed or pulled, thereby achieving the bending of the first distal end structure 14 (proximal end structure 12) in any direction. In a preferred embodiment, there are four linear motion mechanisms 22, two of the linear motion mechanisms 22 having outputs connected to the first distal structural bone 143 to enable the first distal segment 14 to have bending freedom in two directions, and two of the linear motion mechanisms 22 having outputs connected to the driver bone 124 to enable the proximal structural bone 12 to have bending freedom in two directions. When the proximal structure 12 is bent in a certain direction, the second distal segment 15 is bent in the opposite direction in a certain proportional relationship (determined by the distribution radii of the proximal structure bone 123 and the second distal structure bone 153).
As shown in fig. 9, the present invention further provides another form of the linear motion mechanism 22, specifically, the linear motion mechanism 22 includes a driving screw 221a and a driven screw 221b rotatably connected between the first support plate 211 and the second support plate 212, a threaded slider 222 is connected to the driving screw 221a and the driven screw 221b through a threaded fit, the threaded slider 222 is slidably connected to a guide rod 223 fixedly disposed between the first support plate 211 and the second support plate 212, a synchronous pulley 231 is respectively fastened and sleeved on the driving screw 221a and the driven screw 221b, and the two synchronous pulleys 231 are connected through a synchronous belt 232. The driving screw 221a and the driven screw 221b have opposite screw threads. When the driving screw 221a rotates, the thread slider 222 on the driving screw 221a and the thread slider on the driven screw 221b perform linear motions in opposite directions at the same speed.
Furthermore, the first supporting plate 211 and the second supporting plate 212 are fixedly connected through a supporting rod, a connecting plate 213 is arranged between the first supporting plate 211 and the second supporting plate 212, the connecting plate 213 is also fixedly connected through a supporting rod, and a positioning sleeve 214 is sleeved on the supporting rod to position the connecting plate 213, the first supporting plate 211 and the second supporting plate 212. The double-threaded screw 221 passes through the connecting plate 213 with a gap between the connecting plate 213 and the connecting plate 213 separating the two threaded sections of the double-threaded screw 221.
The first supporting plate 211 and the second supporting plate 212 can also be fixedly connected through a supporting rod with threads, and at this time, the positioning among the first supporting plate 211, the second supporting plate 212 and the connecting plate 213 can be realized by locking a positioning nut which is connected to the supporting rod in a matching manner, that is, the positioning nut is used to replace the positioning sleeve 214.
Further, as shown in fig. 5 and 6, the connecting body 13 includes a channel connecting plate 131, a channel supporting plate 132, a distal end fixing plate 133, a proximal structure fixing plate 134, a first guide channel 135, and a second guide channel 136. The channel connecting plate 131 is fastened to the first support plate 211, the channel support plate 132 is fastened to the second support plate 212, and the proximal structure fixing plate 134 is fastened to the channel support plate 132 through the connecting post 137. One end of the first guide channel 135 is fastened to the proximal structure fixing plate 134, and the other end thereof passes through the channel support plate 132 and the channel connection plate 131 in sequence and then is fastened to the distal fixing plate 133; the structural bone passes through the first guide channel 135. A second guide channel 136 is provided between the distal fixing plate 133 and the channel connecting plate 131, and the first distal structural bone 143 passes through the second guide channel 136. In an alternative embodiment, the channel support plate 132 and the attachment post 137 may be omitted, and the proximal structure fixation plate 134 may be secured directly to the second support plate 212.
Further, a surgical actuator 30 (shown in fig. 3) is disposed at the end of the second distal end segment 15, an actuator driving mechanism is disposed in the base frame 21, and an output end of the actuator driving mechanism is connected to the surgical actuator 30 through a surgical actuator control wire 301. The actuator driving mechanism comprises a screw 303 (shown in fig. 5) rotatably arranged in the base frame 21, a sliding block 304 is connected to the screw 303 in a matching manner, the sliding block 304 is connected with a guide rod 305 fixedly arranged in the base frame 21 in a sliding manner, and the sliding block 304 is fixedly connected with the control wire 301 of the surgical actuator.
As shown in fig. 10, the surgical effector 30 at the end of the second distal end segment 15 may be replaced with other functional performing end, such as a vision illumination module 90, in which case a vision processing unit and an illumination control unit are provided in the base frame 21, and the vision processing unit and the illumination control unit are connected to the vision illumination module by a composite wire. Under the drive of the far-end structural body 11, the pose can be adjusted to acquire a real-time image of the visual field of the working part.
Further, as shown in fig. 5, the present invention further includes an elastic connection mechanism 40, wherein the elastic connection mechanism 40 includes a connection head 401, a coupling male 402, a third support plate 403, a fourth support plate 404, and a spring 405. The third support plate 403 is fixedly connected to the second support plate 212 through a support rod 406, the fourth support plate 404 is fixedly connected to the third support plate 403 through a support rod 407, the connector 401 is slidably connected to the third support plate 403, the double-threaded screw 221 or the screw 303 is slidably and non-rotatably connected to one end of the connector 401 (when the second linear motion mechanism is adopted, the driving screw 221a or the screw 303 is slidably and non-rotatably connected to one end of the connector 401), the other end of the connector 401 is connected to one end of the male coupler 402, and the male coupler 402 is slidably and rotatably mounted to the fourth support plate 404. The spring 405 is sleeved on the male coupling head 402, one end of the spring 405 abuts against the third support plate 403, and the other end of the spring 405 is fixedly connected with the male coupling head 402.
Further, a housing 230 is arranged outside the transmission driving unit 20, and the first support plate and the second support plate are both fixedly connected with the housing; an envelope 119 is provided on the exterior of the distal structure and functions to improve the smoothness of the distal structure 11 entering the body's natural orifice or surgical incision. An outer sleeve 120 and sheath 125 may also be provided on the exterior of the envelope 119. In one application, as shown in fig. 7, the sheath 125 is secured to a single incision in the abdominal cavity, and the distal structure 11, along with the sheath 119 and the surgical implement 30, are free to pass through the through-hole in the sheath 125 for the passage of surgical tools to the surgical site. As shown in fig. 8, the sheath 125 may also be a flexible sheath, which can be more easily inserted into various natural orifices of the human body and can change its shape adaptively according to the shape of the orifices, one end of the flexible sheath is fixed at the entrance of the orifices, and the distal structure 11, together with the cover 119 and the surgical actuator 30, can also freely pass through the through hole on the flexible sheath for passing the surgical tool to reach the operation portion.
Further, as shown in fig. 11 to 15, the motor unit 60 includes a motor unit housing 601, a motor fixing plate 602 is rotatably connected to a front end of the motor unit housing 601, a cover plate 603 is tightly connected to a front side of the motor fixing plate 602, and a plurality of first motors 605, a second motor 606, and a third motor 607 are tightly connected to a rear side of the motor fixing plate 602. The output shaft of the first electric motor 605 passes through the cover plate 603 and is tightly connected with the male head 609 of the second coupling, the output shaft of the second electric motor 606 passes through the cover plate 603 and is tightly connected with the connecting block 610, the output shaft of the third electric motor 607 is tightly connected with a gear 612, the gear 612 is engaged with a ring gear 613, and the ring gear 613 is tightly connected with the motor set housing 601. Sterile barrier 50 includes a sterile barrier enclosure 501, a sterile barrier support plate 502, and a coupling female head 503; the coupling female head 503 is rotatably disposed on the sterile barrier support plate 502 for connecting the coupling male head 402 with the second coupling male head 609. Sterile barrier enclosure 501 is rotatably attached to the outer periphery of sterile barrier support panel 502. Registration pin holes 505 are provided on the front side of sterile barrier support plate 502. A positioning pin body 411 for fitting connection with the positioning pin hole 505 is provided on the rear side of the fourth support plate 404 of the flexible surgical tool 10. A connection pin boss 508 is provided at the rear side of the sterile barrier support plate 502, and a second connection pin boss (not shown) for connection with the connection pin boss 508 is provided at the front side of the cover plate 603 of the motor unit 60. Still be provided with quick locking device on aseptic barrier backup pad 502, quick locking device includes quick locking body 521 and fitting pin 522, and quick locking body 521 rotates with aseptic barrier backup pad 502 to be connected, and quick locking body 521's one end is thin-walled structure, and the other end is provided with two round holes 523 in the axial, and round hole 523 is used for being connected with the outstanding round pin (not shown in the figure) that sets up on connecting block 610 in order to transmit rotary power. The locking pins 522 are arranged along the circumference of the inner wall of the thin-walled structure. A screw feature 415 is provided on the rear side of the fourth support plate 404 such that when the snap lock 521 is rotated to move the locking pin 522 over the screw feature 415, the sterile barrier support plate 502 will be pulled or pushed away from the fourth support plate 404. When the dowel hole 505 is aligned with the dowel body 411, the positions of the coupling male head 402 on the flexible surgical tool 10 and the coupling female head 503 of the sterile barrier 50 on the circumference are completely corresponding, and the dowel hole 505 and the dowel body 411 are provided with contacts for detecting whether the sterile barrier 50 is locked with the flexible surgical tool 10. The quick-lock device is used to effect a quick-lock connection of the flexible surgical tool 10 to the sterile barrier 50. When the flexible surgical tool 10 is connected with the sterile barrier 50, the positioning pin bodies 411 of the flexible surgical tool 10 are aligned with the positioning pin holes 505 in the sterile barrier 50, so as to ensure that the positions of the coupling male heads 402 of the flexible surgical tool 10 and the coupling female heads 503 of the sterile barrier 50 are aligned. The second motor 606 is started, power is transmitted to the quick locking body 521 through the connecting block 610 to enable the quick locking body 521 to rotate, the locking pin 522 embedded on the inner wall of the quick locking body 521 moves along the spiral feature 415 of the flexible surgical tool 10, the quick locking body 521 rotates, the flexible surgical tool 10 and the sterile barrier 50 generate opposite tensioning movement along the axial direction, the contact points on the positioning pin body 411 and the positioning pin hole 505 are gradually close, and when the contact point of the positioning pin body 411 is contacted with the contact point of the positioning pin hole 505, the second motor 606 stops rotating; this enables a quick locking connection of the flexible surgical tool 10 to the sterile barrier 50. The first motor 605 is activated to drive the coupling female head 503 of the sterile barrier 50 to rotate until it is aligned with the coupling male head 402 of the flexible surgical tool 10, at which time the elastic connection mechanism 40 ejects the coupling male head 402 to connect the coupling male head 402 with the coupling female head 503. A sterile film (not shown) is attached to the sterile barrier housing 501, and can isolate the sterilized portion of the flexible surgical tool 10 before the sterile barrier 50 from the non-sterilized portion of the motor unit 60 and the linear module 70 after the sterile barrier 30, so as to ensure the feasibility of the clinical operation. When the output shaft of the third motor 607 rotates, it drives the gear 612 to rotate, and the gear 612 will rotate and travel along the circumferential direction of the inner gear ring 613, so as to drive the portion of the motor unit 60 except the motor unit housing 601 and the inner gear ring 613 to rotate integrally around its own axis, further drive the flexible surgical tool 10 to rotate integrally around its own axis, and finally realize the roll angle control of the surgical actuator 30.
Further, the linear module 70 includes a support body 701 with a sliding slot, a lead screw 702 is rotatably disposed on the support body 701, a slider 703 which is in threaded fit with the lead screw 702 and is slidably disposed in the sliding slot is sleeved on the lead screw 702, a fourth motor 705 is disposed at one end of the support body 701, and an output shaft of the fourth motor 705 is fixedly connected with the lead screw 702 through a coupling 706; the motor unit housing 601 is fixedly connected with the sliding block 703. When the output shaft of the four motors 705 rotates, the sliding block 703 drives the motor set housing 601 to make linear motion along the sliding slot, thereby realizing the feeding motion of the flexible surgical tool 10.
The present invention has been described with reference to the above embodiments, and the structure, arrangement, and connection of the respective members may be changed. On the basis of the technical scheme of the invention, the improvement or equivalent transformation of the individual components according to the principle of the invention is not excluded from the protection scope of the invention.
Claims (18)
1. A flexible surgical tool comprising:
a flexible continuum structure comprising:
the proximal structure body comprises a proximal fixing disc, a proximal structure bone and a driving bone;
a distal structure comprising:
a first distal construct segment comprising a first distal fixation disk and a first distal structural bone; and
the second far-end structure section comprises a second far-end fixing disc and a second far-end structural bone, and the second far-end structural bone is correspondingly and fixedly connected with the near-end structural bone or is the same structural bone; and
a transmission drive unit including a plurality of linear motion mechanisms for converting a rotational motion input to a linear motion output, the plurality of linear motion mechanisms comprising:
a first linear motion mechanism, an output end of the first linear motion mechanism being connected to the first distal structural bone to drive the first distal structural segment to flex; the second far-end structural bone penetrates through the first far-end structure section, and the far end of the second far-end structural bone is fixedly connected with the second far-end fixing disc;
and the output end of the second linear motion mechanism is connected with the driving bone of the near-end structure body so as to drive the near-end structure body to bend and drive the second far-end structure to bend.
2. The flexible surgical tool of claim 1, the linear motion mechanism comprising a threaded rod and a slider in threaded engagement with the threaded rod.
3. The flexible surgical tool of claim 1, the first linear motion mechanism comprising:
a first double-headed screw;
a first threaded slider threadedly attached to a first threaded section of the first double-threaded screw; and
the second thread sliding block is screwed on the second thread section of the first double-thread screw;
the first threaded slider and the second threaded slider are respectively connected with a pair of the first distal structural bones.
4. The flexible surgical tool of claim 1 or 3, the second linear motion mechanism comprising:
a second double-ended screw;
the third threaded sliding block is screwed on the first threaded section of the second double-threaded screw; and
the fourth threaded sliding block is screwed on the second threaded section of the second double-thread screw;
the third threaded slider and the fourth threaded slider are respectively connected with a pair of the driving bones.
5. The flexible surgical tool of claim 1, the proximal end of the proximal structural bone being in secure connection with the proximal fixation disc;
the proximal end of the driving bone is fixedly connected with the proximal end fixing disc;
the far end of the first far-end structural bone is fixedly connected with the first far-end fixing disc; and
the far end of the second far-end structural bone is fixedly connected with the second far-end fixing disc.
6. The flexible surgical tool of claim 1, the proximal structure comprising a proximal spacer disk through which the proximal structural bone passes;
the first distal structural link comprises a first distal spacer disk through which the first distal structural bone passes;
the second distal segment includes a second distal spacer disk through which the second distal structural bone passes.
7. The flexible surgical tool of claim 1, the flexible continuum structure comprising a first connector comprising:
a proximal structure fixing plate connected to a distal end of the proximal structure;
a distal fixation plate proximate the distal structure; and
a first guide channel disposed between the proximal structure fixation plate and the distal fixation plate;
the second distal structural bone passes through the first guide channel.
8. The flexible surgical tool of claim 7, the flexible continuous body structure comprising a second connector comprising:
a channel connecting plate disposed between the proximal structure fixing plate and the distal fixing plate; and
a second guide channel disposed between the channel connecting plate and the distal fixation plate;
the first distal structural bone passes through the second guide channel.
9. The flexible surgical tool of claim 1, further comprising an elastic connection mechanism comprising:
the first end of the connector is connected with one end of the first linear motion mechanism or one end of the second linear motion mechanism in a sliding mode;
the first end of the coupler is connected with the second end of the connector;
the connector supporting plate is connected with the connector in a sliding manner;
a coupler support plate on which the coupler is slidably and rotatably mounted; and
the spring is sleeved on the coupler, the first end of the spring is connected with the connector supporting plate, and the second end of the spring is connected with the coupler.
10. The flexible surgical tool of claim 1, further comprising a function-performing end disposed at a distal end of the second distal end segment.
11. The flexible surgical tool of claim 10, the functional execution end comprising a surgical effector, and the flexible surgical tool further comprising:
the output end of the actuator driving mechanism is connected with the surgical actuator through a surgical actuator control line; or
The function performing tip includes a visual illumination module, and the flexible surgical tool further includes:
a vision processing unit; and
and the visual processing unit and the illumination control unit are connected with the visual illumination module through a composite wire.
12. A flexible surgical tool system, comprising:
the flexible surgical tool of any one of claims 1-8, 10, 11; and
a motor unit, the transmission drive unit being driven by the motor unit.
13. The flexible surgical tool system according to claim 12, further comprising a sterile barrier having two ends connected to the flexible surgical tool and the motor unit, respectively.
14. The flexible surgical tool system of claim 13, the motor pack unit comprising:
the motor fixing plate is rotatably connected to the front end of the motor set shell; and
the first motor is fixedly connected to the motor fixing plate;
the first end of the first coupler is connected with the output shaft of the first motor;
the sterile barrier includes:
a sterile barrier support plate; and
the second coupler is rotatably arranged on the sterile barrier supporting plate, a first end of the second coupler is connected with a second end of the second coupler, and a second end of the second coupler is connected with the first linear motion mechanism or the second linear motion mechanism.
15. The flexible surgical tool system of claim 14, further comprising a resilient coupling mechanism comprising:
the first end of the connector is connected with one end of the first linear motion mechanism or one end of the second linear motion mechanism in a sliding mode;
the first end of the third coupler is connected with the second end of the connector;
the connector supporting plate is connected with the connector in a sliding manner;
the third coupler is slidably and rotatably arranged on the coupler supporting plate; and
the spring is sleeved on the third coupler, the first end of the spring is connected with the connector supporting plate, and the second end of the spring is connected with the third coupling;
a second end of the third coupling is connected to a second end of the second coupling.
16. The flexible surgical tool system according to claim 15, the coupling support plate having a dowel body disposed thereon, the sterile barrier support plate having a dowel hole disposed thereon;
when the positioning pin body is connected with the positioning pin hole in an aligning mode, the second end of the third coupler is circumferentially aligned with the second end of the second coupler.
17. The flexible surgical tool system according to claim 16, the sterile barrier further comprising:
the quick locking device comprises a quick locking body and a locking pin;
the quick locking body is rotatably connected with the sterile barrier support plate, the first end of the quick locking body comprises a thin-walled structure, the locking pins are circumferentially arranged along the inner wall of the thin-walled structure, and the second end of the quick locking body is axially provided with a circular hole which is used for being connected with a matched protruding pin to receive rotary power;
the coupling supporting plate is provided with a spiral feature, the quick locking body rotates to drive the locking pin to move on the spiral feature, and the coupling supporting plate is far away from or close to the sterile barrier supporting plate.
18. The flexible surgical tool system according to claim 17, the motor pack unit further comprising:
the connecting block is fixedly connected with the motor fixing plate, and the protruding pin is arranged on the connecting block; and
and the second motor is fixedly connected with the motor fixing plate, and an output shaft of the second motor is fixedly connected with the connecting block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110201583.4A CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
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| CN202110201583.4A CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
| CN201810023059.0A CN108245254B (en) | 2018-01-10 | 2018-01-10 | Multipurpose flexible surgical tool system |
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| CN201810023059.0A Division CN108245254B (en) | 2018-01-10 | 2018-01-10 | Multipurpose flexible surgical tool system |
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| CN202110201583.4A Active CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
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| CN110870793B (en) * | 2018-08-31 | 2024-04-05 | 新加坡国立大学 | Mechanical arm, minimally invasive surgery robot and manufacturing method of robot |
| CN113397712B (en) * | 2018-09-30 | 2023-01-24 | 南京迈科视医疗科技有限公司 | Surgical robot based on ball-and-socket joint and tactile feedback |
| CN109431603A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | Flexible robot's surgery systems and its application method for endoscope treatment art formula |
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| CN109431605A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of percutaneous puncture robot system and its application method based on flexible surgical arm |
| CN112190337B (en) * | 2018-10-09 | 2023-12-05 | 北京术锐机器人股份有限公司 | Flexible surgical robot system of peritoneoscope |
| CN109431601B (en) * | 2018-10-09 | 2021-03-09 | 北京术锐技术有限公司 | Endoscopic surgery robot combination system and use method thereof |
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| CN114483808A (en) * | 2020-11-13 | 2022-05-13 | 北京术锐技术有限公司 | Connection adapter, mechanical arm assembly and surgical robot system |
| WO2022037075A1 (en) * | 2020-08-21 | 2022-02-24 | 北京术锐技术有限公司 | Connection adapter, connection assembly, and surgical robot system |
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Also Published As
| Publication number | Publication date |
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| CN108245254A (en) | 2018-07-06 |
| CN112998862A (en) | 2021-06-22 |
| CN108245254B (en) | 2021-03-26 |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |