CN106308935A - Flexible surgical operation tool system driven by twin thread screw - Google Patents
Flexible surgical operation tool system driven by twin thread screw Download PDFInfo
- Publication number
- CN106308935A CN106308935A CN201610796071.6A CN201610796071A CN106308935A CN 106308935 A CN106308935 A CN 106308935A CN 201610796071 A CN201610796071 A CN 201610796071A CN 106308935 A CN106308935 A CN 106308935A
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- far
- fixed plate
- driver element
- fastenedly connected
- bone
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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
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B2034/306—Wrists with multiple vertebrae
Abstract
The invention relates to a flexible surgical operation tool system driven by a twin thread screw which comprises a flexible continuum structure and a drive unit; the flexible continuum structure includes a remote structural body, a local structural body and a middle connector; the remote structural body is provided with at least one remote joint, which comprises a remote space disk, a remote fixing plate and a structural bone; the local structural body is provided with as many local joints as the remote joints. The local joint comprises a local spacer disk, a local fixing plate and a structural bone; the middle connector comprises two channel fixing plates and a structural bone guiding channel located in between; the drive unit comprises a drive unit fixing board provided at the front end of the middle connector. A plurality of straight line motion assemblies are provided between the drive unit fixing plate and the channel fixing plate to convert the input of motor rotation into the output of straight motion of the straight motion mechanism. The output of the straight motion mechanism is linked to one side of the drive bone, which penetrates through the local space disk. The other side is fastened to the local fixing disk.
Description
Technical field
The present invention relates to a kind of flexible operation tool system using double threaded screw to drive, belong to medical instruments field.
Background technology
Porous peritoneoscope Minimally Invasive Surgery, because its wound is little, post-operative recovery fast, has occupied important in surgical operation
Status.The da Vinci operating robot auxiliary doctor of existing Intuitive Surgical company completes porous peritoneoscope Wicresoft
Operation, achieves coml immense success.
Invasive surgery formula develops again single-hole laparoscopic surgery and the noinvasive through natural tract after porous laparoscopic surgery
Operation, they outputs less to patient trauma, postoperative are higher.But at single-hole laparoscopic surgery with through the non-invasive procedures of natural tract
In, all operating theater instruments including visual illumination module and operation technique arm all reach art portion by single channel, and this is right
The preparation of operating theater instruments requires extremely harsh.The distal structure of existing operating theater instruments is mainly the hinged in series of many rod members, uses
Lineoutofservice signal pull drives, and makes operating theater instruments realize curving at articulation joint.Owing to steel wire rope must keep lasting by pulley
Tensioning state, this type of drive is difficult to the further miniaturization of operating theater instruments, is also difficult to promote further the fortune of apparatus
Dynamic performance.
Although Intuitive Surgical company is proposed da Vinci Single-Site operating robot in the recent period, its
It transform original rigidity operating theater instruments as semi-rigid operating theater instruments, and add prebuckling sleeve pipe, improve to a certain extent
The exercise performance of operating theater instruments, but still cannot fundamentally solve tradition micro-surgical instrument problem encountered.
Summary of the invention
For the problems referred to above, it is an object of the present invention to provide a kind of flexible operation tool using double threaded screw to drive
System, this flexibility operation tool system can preferably be applied to through human body natural's tract or through single operative incision and implement
The surgical robot system of operation.
For achieving the above object, the present invention is by the following technical solutions: a kind of flexible operation using double threaded screw to drive
Tool system, it is characterised in that: it includes flexible Continuum Structure and driver element；Described flexible Continuum Structure includes far-end
Structure, near structure body and middle connection body；Described far structure body includes that at least one far-end structure saves, and described far-end structure saves
Including far-end space disc, far-end fixed disk and structural bone；Described near structure body includes near equal with far-end structure joint number of quantity
End structure joint, described near-end structure joint includes near-end space disc, near-end fixed disk and structural bone；Described middle connection body includes that two lead to
Road fixed plate and the structural bone guiding channel being arranged on described in two between passage fixed plate；Described far-end structure joint on structural bone with
Structural bone one_to_one corresponding on described near-end structure joint is fastenedly connected or is same root knot llex cornuta, and one end of described structural bone is with described
Near-end fixed disk is fastenedly connected, and sequentially passes through described near-end space disc, described structural bone guiding channel, described far-end space disc,
The other end is fastenedly connected with described far-end fixed disk；Described driver element includes the driving being arranged on described middle connection body front
Unit fixed plate, arranges multiple for rotary motion being inputted between described driver element fixed plate and described passage fixed plate
Being converted to the straight-line motion mechanism of linear motion output, the outfan of described straight-line motion mechanism is connected with the one end driving bone,
Described driving bone passes described near-end space disc, and the other end is fastenedly connected with described near-end fixed disk；Described straight-line motion mechanism
Including rotating the double threaded screw being arranged between described driver element fixed plate and described passage fixed plate and fastening is arranged on institute
State the optical axis between driver element fixed plate and described passage fixed plate, two thread segments of described double threaded screw lead to respectively
Cross threaded engagement to connect a slide block, each described slide block and a described optical axis and be slidably connected；Drive bone and be positioned at described in a pair
Two slide blocks on same described double threaded screw are fastenedly connected respectively；Described double threaded screw through described driver element fixed plate and
Front end is fastenedly connected one for the shaft coupling male being directly or indirectly connected with the output shaft of motor.
Being provided with driving bone guided passage between two described passage fixed plates, described driving bone draws from described driving bone
Pathway passes.
When described far structure body includes that two or more far-end structure saves, the far-end structure away from described middle connection body saves
Structural bone near described middle connection body far-end structure joint far-end fixed disk and far-end space disc on pass, or from
Pass inside structural bone on the far-end structure joint of described middle connection body；When described near structure body includes that two or more is near
During end structure joint, away from the structural bone on the near-end structure joint of described middle connection body from the near-end structure joint near described middle connection body
On near-end fixed disk and near-end space disc on pass, or near described middle connection body near-end structure joint structural bone
Inside passes.
It is coated with strip of paper used for sealing in the outside of described far structure body, is fastenedly connected with operation in the front end of described strip of paper used for sealing and performs
Device, the rear end of described strip of paper used for sealing is connected with the rotary drive mechanism being arranged in described driver element.
Described rotary drive mechanism includes being rotatably supported in the revoling tube on front side of described driver element fixed plate, described rotation
The front end of pivoted housing pipe is fastenedly connected with described strip of paper used for sealing；It is additionally provided with rotary shaft, in institute in the front side of described driver element fixed plate
State and on rotary shaft and described revoling tube, a pair pitch wheel is set, be fastenedly connected useful in the front end of described rotary shaft
In the shaft coupling male being directly or indirectly connected with the output shaft of motor.
Be provided with operation executor in the front end of described far structure body, the control line of described operation executor is from described far-end
Structure passes, the other end be positioned in described passage fixed plate for rotary motion input is converted to move along a straight line defeated
The operation actuator driven mechanism gone out connects.
Described operation actuator driven mechanism includes the pedestal being fastenedly connected in described passage fixed plate, turns on pedestal
Be dynamically connected connecting rod, and one end of described connecting rod connects the first slide block, described first slide block and the be arranged on described pedestal
One optical axis is slidably connected, and the control line of described operation executor is fastenedly connected with described first slide block；The other end of described connecting rod is even
Being connected to the second slide block, described second slide block is slidably connected with the second optical axis being arranged in described passage fixed plate；Drive described
In moving cell fixed plate, rotational support has driving screw rod, and the front end of described driving screw rod is provided with for the output shaft with motor straight
The shaft coupling male connect or be indirectly connected with, described driving screw rod is connected by threaded engagement and has the 3rd slide block, and the described 3rd is sliding
Block is slidably connected at and is arranged between described driver element fixed plate and described passage fixed plate on the 3rd optical axis, and the described 3rd is sliding
It is connected by drive rod between block with described second slide block.
Also include housing, sterile barrier, group of motors and linear module；Described driver element fixed plate, described passage are solid
Determining plate to be all fastenedly connected with described housing, described near structure body, middle connection body and driver element are respectively positioned on described housing
Internal；The front end of described housing is connected with described group of motors by described sterile barrier；Described linear module includes support, fastening
Connecting motor on the bracket and Linear feed mechanism that the output shaft with described motor is fastenedly connected, described straight line enters
Be fastenedly connected the shell of described group of motors to the outfan of mechanism, described motor drives described electricity by described Linear feed mechanism
Unit drives described flexible Continuum Structure and driver element to move along a straight line by sterile barrier.
Described Linear feed mechanism includes the leading screw being rotationally connected on the bracket, is arranged with and institute on described leading screw
State the leading screw slide block by threaded engagement, be provided with straight on the bracket, described slide block be slidably arranged in described directly
In line chute；The output shaft of described motor is fastenedly connected with described leading screw by shaft coupling.
Also including housing, described driver element fixed plate, described passage fixed plate are all fastenedly connected with described housing, described
Near structure body, middle connection body and driver element are respectively positioned on the inside of described housing, and sterile screen is passed through in the front end of described housing
Barrier is connected with group of motors, and described sterile barrier includes cover body and rotates the shaft joint female being arranged on described cover body, described
The rear end of axial organ female is connected with described shaft coupling male, and another shaft coupling male and institute are passed through in the front end of described shaft coupling female
The motor output shaft stating group of motors connects, and there is sterile film peripheral connection of described cover body.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention use include near structure body,
The flexible Continuum Structure of middle connection body and far structure body is main body, and coordinates with driver element, wherein, and far structure body
Being associated with near structure body by middle connection body, driver element associates with near structure body, when drive unit drives near-end is tied
Structure body is when any direction curves, and far structure body curves the most in the opposite direction, therefore can realize by far structure body
The flexible surgical arm constituted with strip of paper used for sealing any to curving motion.2, the present invention is coated with envelope in the outside of far structure body
Skin, and the rear end of strip of paper used for sealing is connected to the mechanism that drives strip of paper used for sealing to rotate, and the front end of strip of paper used for sealing connects operation executor, therefore, logical
Strip of paper used for sealing of overdriving rotates the regulation that can realize operation executor's angle.3, the present invention performs the operation the control line of executor through far-end
Structure arrives middle connection body, is provided with at middle connection body position and performs for the operation driving control line to carry out linear movement
Device drive mechanism, therefore can realize the action control to operation executor.4, due to the fact that housing and group of motors are by aseptic
Barrier is attached, and effectively the group of motors do not sterilized is isolated with other sterilization section, therefore can ensure clinical hands
The exploitativeness of art.5, the present invention is additionally provided with linear module, and it is attached with group of motors housing portion and can band galvanic electricity
Unit, sterile barrier, housing carry out linear movement, and therefore, flexible surgical arm also has linear feeding degree of freedom.
Present invention can apply to single-hole laparoscopic surgery, it is possible to be applied to through natural tract non-invasive procedures.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of far structure body of the present invention；
Fig. 3 is the structural representation of near structure body of the present invention and middle connection body；
Fig. 4 is the structural representation of driver element of the present invention；
Fig. 5 is the driver element of the present invention structural representation under another visual angle；
Fig. 6 is that the present invention performs the operation the structural representation of actuator driven mechanism；
Fig. 7 is the structural representation after the present invention loads onto housing, sterile barrier, group of motors and linear module；
Fig. 8 is the connection diagram of sterile barrier of the present invention and housing；
Fig. 9 is the structural representation that far structure body of the present invention uses flexible sheath.
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present invention includes flexible Continuum Structure 10 and driver element 20.
The flexible Continuum Structure 10 of the present invention includes far structure body 101 (as shown in Figure 2), near structure body 102 and
Middle connection body 103, wherein, far structure body 101 is associated with near structure body 102 by middle connection body 103；Driver element
20 associate with near structure body 102, when driver element 20 drives near structure body 102 to curve to any direction, and distal structure
Body 101 curves the most in the opposite direction.As in figure 2 it is shown, far structure body 101 includes two far-end structure joints 104,105, often
One far-end structure joint 104,105 includes far-end space disc 106, far-end fixed disk 107 and structural bone 108.Wherein, far-end space disc
106 uniform intervals are distributed in far structure body 101, unstability when acting as preventing structural bone 108 from being pushed away.As it is shown on figure 3, near-end
Structure 102 includes two near-end structure joints 109,110, and each near-end structure joint 109,110 includes that near-end space disc 111, near-end are solid
Price fixing 112 and structural bone 108.Wherein, near-end space disc 111 uniform intervals is distributed near structure body 102, act as preventing
Unstability when structural bone 108 is pushed away.Structural bone 108 on first near-end structure joint 109 and the structural bone on the first far-end structure joint 104
108 one_to_one corresponding are fastenedly connected or are same root knot llex cornuta, the structural bone 108 on the second near-end structure joint 110 and the second far-end structure
Structural bone 108 one_to_one corresponding on joint 105 is fastenedly connected or is same root knot llex cornuta；For each far-end structure joint 104,105 or
For near-end structure joint 109,110, the quantity of structural bone 108 is more than three.Far-end structure included by said distal ends structure 101
Near-end structure joint number included by joint number and near structure body 102 can also be one or more than two, and near-end structure joint number
All the time keep consistent with far-end structure joint number.Middle connection body 103 includes two passage fixed plates 113 and is arranged on passage fixed plate
Structural bone guiding channel 114 between 113.One end of structural bone 108 on first near-end structure joint 109 and the first near-end structure joint
Near-end fixed disk 112 on 109 is fastenedly connected, and sequentially passes through the near-end space disc 111 on the first near-end structure joint 109, structural bone
Far-end on far-end space disc 106 on guiding channel the 114, first far-end structure joint 104, the other end and the first far-end structure joint 104
Fixed disk 107 is fastenedly connected.One end of structural bone 108 on second near-end structure joint 110 and the near-end on the second near-end structure joint 110
Fixed disk 112 is fastenedly connected, and sequentially passes through on near-end space disc the 111, the first near-end structure joint 109 on the second near-end structure joint 110
Near-end fixed disk the 112, first near-end structure joint 109 on near-end space disc 111, structural bone guiding channel the 114, first far-end structure
Between the far-end on fixed disk the 107, the second far-end structure joint 105 on far-end space disc the 106, first far-end structure joint 104 on joint 104
Far-end fixed disk 107 on dish 106, the other end and the second far-end structure joint 105 is fastenedly connected.Structural bone guiding channel 114
Effect is to maintain structural bone 108 by shape invariance during push and draw force, and it can use sleeve structure as shown in Figure 3, it is also possible to adopts
With other any one be able to maintain that structural bone 108 by indeformable version when thrust, pulling force, such as multi-cavity structure.
Wherein, the structural bone 108, first on structural bone the 108, the second far-end structure joint 105 on the first far-end structure joint 104 is near
Structural bone 108 on end structure joint 109 and the structural bone 108 on the second near-end structure joint 110 use thin elastic rod or elastic tubule.
When the structural bone 108 on the first far-end structure joint 104 and the structural bone 108 on the first near-end structure joint 109 use elastic tubule, the
Structural bone 108 on two far-end structure joints 105 can also pass in the structural bone 108 from the first far-end structure joint 104, correspondingly,
Structural bone 108 on second near-end structure joint 110 can also pass the inside of structural bone 108 from the first near-end structure joint 109.
As shown in Figure 4, driver element 20 includes the driver element fixed plate 201 being arranged on middle connection body 103 front,
Multiple straight-line motion mechanism 202, straight-line motion mechanism 202 it is provided with between driver element fixed plate 201 and passage fixed plate 113
Outfan with drive bone 203 one end be fastenedly connected, be additionally provided with between two passage fixed plates 113 driving bone guided lead to
Road 204；Bone 203 is driven to sequentially pass through driving bone guided passage 204, near-end space disc 111, the other end and near-end fixed disk 112
It is fastenedly connected.The effect driving bone guided passage 204 is to maintain and drives bone 203 by shape invariance during push and draw force, and it can use
Sleeve structure as shown in Figure 3, it would however also be possible to employ other any one be able to maintain that driving bone 203 is by indeformable when thrust, pulling force
Version, such as multi-cavity structure.In the present embodiment, driving bone 203 to have eight, four therein are saved with the first near-end structure
Near-end fixed disk 112 on 109 is fastenedly connected, and another four connect with near-end fixed disk 112 fastening on the second near-end structure joint 110
Connect.Work in coordination with push-and-pull by driver element 20 to realize the first near-end structure with the first near-end structure driving bones 203 of being connected of joint 109 and save
109 go up in any direction curve degree of freedom, when first near-end structure save 109 curve to a direction time, first far-end structure joint 104
Will be (common by the distribution radius of structural bone 108 in the first near-end structure joint 109 and the first far-end structure joint 104 with certain proportion relation
Determine) curve in the opposite direction；Similarly, work in coordination with what push-and-pull was connected with the second near-end structure joint 110 by driver element 20
Driving bone 203 to realize, the second near-end structure joint 110 goes up in any direction curves degree of freedom, when the second near-end structure saves 110 to certain
When one direction curves, the second far-end structure joint 105 will be with certain proportion relation (by the second near-end structure joint 110 and the second far-end structure joint
In 105, the distribution radius of structural bone 108 together decides on) curve in the opposite direction.109,110 are saved for each near-end structure
Saying, the quantity driving bone 203 is more than three.
In above-described embodiment, as shown in Figure 4, Figure 5, straight-line motion mechanism 202 includes that rotation is arranged on driver element and fixes
Double threaded screw 210 and fastening between plate 201 and passage fixed plate 113 are arranged on driver element fixed plate 201 and fix with passage
Optical axis 206 between plate 113, connects a slide block by threaded engagement on two thread segments of double threaded screw 210 respectively
207, each slide block 207 is slidably connected with an optical axis 206.Drive bone 203 and be positioned on same double threaded screw 210 for a pair
Two slide blocks 207 are fastenedly connected respectively.Double threaded screw 210 is fastenedly connected a connection through driver element fixed plate 201 and front end
Axial organ male 209.In the present embodiment, double threaded screw 210 has four, and it can drive eight to drive the collaborative of bone 203 to push away
Roping is moved, and correspondingly, shaft coupling male 209 is four.
In above-described embodiment, as shown in Figure 1, shown in Figure 5, it is coated with strip of paper used for sealing 30 in the outside of far structure body 101, strip of paper used for sealing 30
Front end is fixedly connected with operation executor 40, the rear end of strip of paper used for sealing 30 and the rotation being rotatably supported in driver element fixed plate 201 front end
Pivoted housing pipe 301 is fastenedly connected, and is additionally provided with rotary shaft 302 in the front end of driver element fixed plate 201, in rotary shaft 302 and rotation
Pivoted housing pipe 301 tightens fixed puts a pair pitch wheel 303, is fastenedly connected a shaft coupling in the front end of rotary shaft 302
Male 304.By driving rotary shaft 302 to rotate, sleeve pipe 301 can be rotated and strip of paper used for sealing 30 rotates, thus band is had an operation
Executor 40 rotates, and then realizes regulating operation executor 40 around the sensing of himself axis.
In above-described embodiment, as shown in Fig. 2, Fig. 3 and Fig. 6, the control line 401 of operation executor 40 is from far structure body 101
In pass, the other end is connected with the operation actuator driven mechanism 402 being positioned in passage fixed plate 113, actuator driven of performing the operation
Mechanism 402 is by realizing the control to operation executor 40 (such as operating forceps) to the physics push-and-pull of control line 401.Control line 401 is same
Energy as various forms of in electric energy, dither etc. can also be transmitted thus realize the particular procedure function of operation executor 40.
Above-mentioned operation actuator driven mechanism 402 includes the pedestal 403 being fastenedly connected in passage fixed plate 113, turns on pedestal 403
Dynamic being provided with connecting rod 404, one end of connecting rod 404 connects the first slide block 405, the first slide block 405 be arranged on pedestal 403
Primary optic axis 406 is slidably connected, and control line 401 is fastenedly connected with the first slide block 405；The other end of connecting rod 404 connects has second to slide
Block 407, the second slide block 407 is slidably connected with the second optical axis 408 being arranged in passage fixed plate 113.Fix at driver element
On plate 201, rotational support has driving screw rod 409, drives the front end of screw rod 409 to be provided with shaft coupling male 410 (as shown in Figure 5),
Driving to be connected by threaded engagement on screw rod 409 has the 3rd slide block (not shown), the 3rd slide block to be slidably connected to be positioned at and drive
Between moving cell fixed plate 201 and passage fixed plate 113 in the 3rd optical axis (not shown), the 3rd slide block and the second slide block
It is fastenedly connected by drive rod 412 between 407.When rotating driving screw rod 409 and rotating, the 3rd slide block will make line along the 3rd optical axis
Property motion, the 3rd slide block drives the second slide block 407 to do along the second optical axis 408 by the drive rod 412 being fastenedly connected with it simultaneously
Linear movement, thus drive the first slide block 405 to do linear movement along primary optic axis 406 by connecting rod 404, and then realize control line
The physics push-and-pull of 401.Further, between pedestal 403 and passage fixed plate 113, it is provided with control line guiding sleeve 411, is used for
Keep control line 401 by shape invariance during push and draw force.
In above-described embodiment, as it is shown in fig. 7, present invention additionally comprises housing 50；Driver element fixed plate 201, passage are fixed
Plate 113 is all fixing with housing 50 to be connected；Near structure body 102, middle connection body 103 and driver element 20 are respectively positioned on housing 50
Internal.Being connected with group of motors 70 by sterile barrier 60 in the front end of housing 50, as shown in Figure 8, sterile barrier 60 includes cover body
601 and the shaft coupling female 602 that is arranged on cover body 601, wherein, cover body 601 shell with housing 50, group of motors 70 respectively is adopted
With fast joint structure so that group of motors 70, sterile barrier 60, housing 50 are the most detachably connected；Shaft coupling female 602
Rear end is connected with shaft coupling male 209,304,410, and the front end of shaft coupling female 602 is by another shaft coupling male (in figure not
Illustrate) it is connected with the motor output shaft in group of motors 70.There is sterile film (not shown) peripheral connection of sterile barrier 60, uses
In the group of motors do not sterilized 70 is kept apart with other part sterilized, it is ensured that the clinic of flexible operation tool system can be implemented
Property.
In above-described embodiment, as it is shown in fig. 7, present invention additionally comprises linear module 80, (linear module 80 is also through sterile film
Keep apart with sterilization section), it includes the support 801 with chute, rotates and be provided with leading screw 802, at silk on support 801
It is arranged with on thick stick 802 and passes through threaded engagement and the slide block 803 being slidably arranged in chute, in one end of support 801 with leading screw 802
Being provided with motor 804, the output shaft of motor 804 is fastenedly connected by shaft coupling with leading screw 802.The shell of group of motors 70 and slide block
803 are fastenedly connected.When the output shaft rotation of motor 804, slide block 803 is by drive motor group 70, sterile barrier 60, housing 50 edge
Chute does linear movement, thus realizes the feed motion of flexible Continuum Structure 10.
In above-described embodiment, as in figure 2 it is shown, in one application, sheath 90 is fixed on the single incision in abdominal cavity, far-end
Structure 101 can pass freely through the through hole passed through for operation tool in sheath 90 arrive together with strip of paper used for sealing 30, operation executor 40
Art portion.As it is shown in figure 9, sheath 90 can also use flexible sheath, it can more easily stretch into all kinds of natural tract of human body
And along with the shape of tract adaptively changing profile, tract porch, far structure body 101 are fixed in one end of flexible sheath
Equally pass freely through flexible sheath and put, together with strip of paper used for sealing 30, operation executor 40, the through hole arrival art passed through for operation tool
Portion.
The present invention only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all to have
Changed.On the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention or equivalent
Conversion, the most should not get rid of outside protection scope of the present invention.
Claims (10)
1. the flexible operation tool system using double threaded screw to drive, it is characterised in that: it includes flexible Continuum Structure
And driver element；Described flexible Continuum Structure includes far structure body, near structure body and middle connection body；Described distal colorectal
Structure body includes that at least one far-end structure saves, and described far-end structure joint includes far-end space disc, far-end fixed disk and structural bone；Described closely
End structure body includes the near-end structure joint that quantity is equal with far-end structure joint number, and described near-end structure joint includes that near-end space disc, near-end are solid
Price fixing and structural bone；Described middle connection body includes two passage fixed plates and the knot being arranged on described in two between passage fixed plate
Llex cornuta guiding channel；The structural bone one_to_one corresponding on structural bone and described near-end structure joint on described far-end structure joint be fastenedly connected or
For same root knot llex cornuta, one end of described structural bone is fastenedly connected with described near-end fixed disk, sequentially passes through described near-end interval
Dish, described structural bone guiding channel, described far-end space disc, the other end is fastenedly connected with described far-end fixed disk；
Described driver element includes the driver element fixed plate being arranged on described middle connection body front, solid at described driver element
Determine between plate and described passage fixed plate, to arrange multiple straight line fortune for rotary motion input is converted to linear motion output
Motivation structure, the outfan of described straight-line motion mechanism is connected with the one end driving bone, and described driving bone is spaced through described near-end
Dish, the other end is fastenedly connected with described near-end fixed disk；
Described straight-line motion mechanism includes rotating be arranged between described driver element fixed plate and described passage fixed plate double
Head screw rod and fastening are arranged on the optical axis between described driver element fixed plate and described passage fixed plate, at described double threaded screw
Two thread segments on connect a slide block, each described slide block and a described optical axis by threaded engagement respectively and be slidably connected；
Bone is driven to be fastenedly connected respectively with two slide blocks being positioned on same described double threaded screw described in a pair；Described double threaded screw passes
Described driver element fixed plate and front end are fastenedly connected one for the shaft coupling being directly or indirectly connected with the output shaft of motor
Male.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 1, it is characterised in that: two
Being provided with driving bone guided passage between individual described passage fixed plate, described driving bone is worn from described driving bone guided passage
Cross.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 1, it is characterised in that: work as institute
State far structure body and include when two or more far-end structure saves, away from the structural bone on the far-end structure joint of described middle connection body from leaning on
Pass on far-end fixed disk on the far-end structure joint of nearly described middle connection body and far-end space disc, or near described middle part
Pass inside structural bone on the far-end structure joint of connector；When described near structure body includes that two or more near-end structure saves, far
The structural bone saved from the near-end structure of described middle connection body is solid from the near-end near the near-end structure joint of described middle connection body
Pass on price fixing and near-end space disc, or pass inside the structural bone near the near-end structure joint of described middle connection body.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 1, it is characterised in that: in institute
The outside stating far structure body is coated with strip of paper used for sealing, is fastenedly connected with operation executor in the front end of described strip of paper used for sealing, described strip of paper used for sealing
Rear end is connected with the rotary drive mechanism being arranged in described driver element.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 4, it is characterised in that: described
Rotary drive mechanism includes being rotatably supported in the revoling tube on front side of described driver element fixed plate, the front end of described revoling tube
It is fastenedly connected with described strip of paper used for sealing；It is additionally provided with rotary shaft, in described rotary shaft and institute in the front side of described driver element fixed plate
Stating and arrange a pair pitch wheel on revoling tube, be fastenedly connected with for motor in the front end of described rotary shaft is defeated
The shaft coupling male that shaft directly or indirectly connects.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 1, it is characterised in that: in institute
The front end stating far structure body is provided with operation executor, and the control line of described operation executor is worn from described far structure body
Crossing, the other end is held with the operation exported for rotary motion input is converted to linear motion being positioned in described passage fixed plate
Row device drive mechanism connects.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 6, it is characterised in that: described
Operation actuator driven mechanism includes the pedestal being fastenedly connected in described passage fixed plate, the company of being rotatably connected on pedestal
Bar, one end of described connecting rod connects the first slide block, and described first slide block slides with the primary optic axis being arranged on described pedestal
Connecting, the control line of described operation executor is fastenedly connected with described first slide block；The other end of described connecting rod connects has second to slide
Block, described second slide block is slidably connected with the second optical axis being arranged in described passage fixed plate；Fix at described driver element
On plate, rotational support has driving screw rod, the front end of described driving screw rod to be provided with and directly or indirectly connect for the output shaft with motor
The shaft coupling male connect, described driving screw rod is connected by threaded engagement and has the 3rd slide block, described 3rd slide block to be slidably connected
It is being arranged between described driver element fixed plate and described passage fixed plate on the 3rd optical axis, described 3rd slide block and described the
Connected by drive rod between two slide blocks.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 1, it is characterised in that: also wrap
Include housing, sterile barrier, group of motors and linear module；Described driver element fixed plate, described passage fixed plate are all with described
Housing is fastenedly connected, and described near structure body, middle connection body and driver element are respectively positioned on the inside of described housing；Described housing
Front end be connected with described group of motors by described sterile barrier；Described linear module includes support, is fastenedly connected at described
The Linear feed mechanism that motor on frame and the output shaft with described motor are fastenedly connected, the output of described Linear feed mechanism
End is fastenedly connected the shell of described group of motors, and described motor drives described group of motors by aseptic by described Linear feed mechanism
Barrier drives described flexible Continuum Structure and driver element to move along a straight line.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 8, it is characterised in that: described
Linear feed mechanism includes the leading screw being rotationally connected on the bracket, is arranged with and passes through spiral shell with described leading screw on described leading screw
The slide block that stricture of vagina coordinates, is provided with straight on the bracket, and described slide block is slidably arranged in described straight；Described
The output shaft of motor is fastenedly connected with described leading screw by shaft coupling.
A kind of flexible operation tool system using double threaded screw to drive the most as claimed in claim 1, it is characterised in that: also
Including housing, described driver element fixed plate, described passage fixed plate are all fastenedly connected with described housing, described proximal structure
Body, middle connection body and driver element are respectively positioned on the inside of described housing, and sterile barrier and motor are passed through in the front end of described housing
Group connects, and described sterile barrier includes cover body and rotates the shaft joint female being arranged on described cover body, described shaft coupling female
Rear end be connected with described shaft coupling male, the front end of described shaft coupling female is by another shaft coupling male and described group of motors
Motor output shaft connect, there is sterile film peripheral connection of described cover body.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796071.6A CN106308935B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using double threaded screw driving |
| US16/329,723 US11903571B2 (en) | 2016-08-31 | 2017-08-30 | Flexible surgical instrument system with prepositioned drive input |
| PCT/CN2017/099754 WO2018041158A1 (en) | 2016-08-31 | 2017-08-30 | Flexible surgical instrument system with prepositioned drive input |
| EP17845460.9A EP3508159B1 (en) | 2016-08-31 | 2017-08-30 | Flexible surgical instrument system with prepositioned drive input |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796071.6A CN106308935B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using double threaded screw driving |
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| CN106308935A true CN106308935A (en) | 2017-01-11 |
| CN106308935B CN106308935B (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610796071.6A Active CN106308935B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using double threaded screw driving |
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| CN (1) | CN106308935B (en) |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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