CN106308938A - Flexible operation tool system capable of passing through natural orifice - Google Patents
Flexible operation tool system capable of passing through natural orifice Download PDFInfo
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- CN106308938A CN106308938A CN201610798123.3A CN201610798123A CN106308938A CN 106308938 A CN106308938 A CN 106308938A CN 201610798123 A CN201610798123 A CN 201610798123A CN 106308938 A CN106308938 A CN 106308938A
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- fastenedly connected
- operation tool
- far
- flexible operation
- motor
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- 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
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Abstract
The invention relates to a flexible operation tool system capable of passing through a natural orifice. The flexible operation tool system comprises a flexible operation tool and a driving unit, wherein the flexible operation tool comprises a flexible continuum structure composed of a far-end structure body, a near-end structure body and a middle connecting body, the far-end structure body comprises a far-end structure joint, the far-end structure joint comprises a far-end distance plate, a far-end fixed plate and a structure skeleton, the near-end structure body comprises a near-end structure joint, the near-end structure joint comprises a near-end distance plate, a near-end fixed plate and a structure skeleton, the middle connecting body comprises a channel fixing plate and a structure skeleton guiding channel, the driving unit comprises a driving unit fixing plate, multiple driving shafts are rotatably supported between the driving unit fixing plate and the channel fixing plate close to the near-end structure joint, a mooring rope pulling mechanism is arranged at the front end of each driving shaft and is in fastened connection with a mooring rope fixing block by penetrating through the near-end distance plate and the mooring rope of the near-end fixed plate, the mooring rope fixing block is in fastening connection with the near-end fixed plate, and the length of the mooring rope located in the near-end structure joint is changed through the mooring rope pulling mechanisms when the driving shafts rotate.
Description
Technical field
The present invention relates to a kind of to belong to medical instruments field through the flexible operation tool system of natural tract.
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 traditional operation apparatus 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 can be through the flexible operation tool system of natural tract
System, this flexibility tool system of performing the operation can preferably be applied to through human body natural's tract or through single operative incision and implement hands
The surgical robot system of art.
For achieving the above object, the present invention is by the following technical solutions: a kind of can be through the flexible operation tool of natural tract
System, it is characterised in that: it includes flexible operation tool and driver element；Described flexible operation tool kit includes by distal structure
The flexible Continuum Structure that body, near structure body and middle connection body are constituted；Described far structure body includes 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 near structure body includes quantity and institute
Stating the near-end structure joint that far-end structure joint number is equal, described near-end structure joint includes near-end space disc, near-end fixed disk and structural bone；Described
Middle connection body includes passage fixed plate and the structural bone guiding channel being arranged between described passage fixed plate；Described far-end structure
Structural bone on joint is fastenedly connected with the structural bone one_to_one corresponding on described near-end structure joint or is same root knot llex cornuta, described structure
One end of bone is fastenedly connected with described near-end fixed disk, sequentially passes through described near-end space disc, described structural bone guiding channel, institute
Stating far-end space disc, the other end is fastenedly connected with described far-end fixed disk；Described driver element includes driver element fixed plate,
Between the described passage fixed plate of described driver element fixed plate and close described near-end structure joint, rotational support has many drive shafts,
The front end of each described drive shaft arranges a hawser draw-off mechanism, and described hawser draw-off mechanism is by being spaced through described near-end
Dish, the hawser of near-end fixed disk are fastenedly connected with hawser fixed block, and described hawser fixed block is with the fastening of described near-end fixed disk even
Connect；When described drive shaft rotates, change, by described hawser draw-off mechanism, the length that described hawser is positioned at during described near-end structure saves.
Described hawser draw-off mechanism includes driving pulley, follow-up pulley and described hawser；Wherein, described driving pulley fastening
Being set in described drive shaft, one end of described hawser is fastenedly connected with described driving pulley, and the other end of described hawser is walked around
Described near-end structure joint is penetrated after described follow-up pulley.
Be provided centrally with universal joint at described near-end structure joint, the front end of described universal joint through described passage fixed plate and
Being connected with universal joint pedestal, described universal joint pedestal is fastenedly connected on channel support plate, and described channel support plate is arranged on and leans on
The front of the described passage fixed plate of nearly described near structure body side；Described hawser fixed block can along the axis of described universal joint
Slip is rotatably connected to the rear end of described universal joint simultaneously around the axis of described universal joint.
The front end of described near-end structure joint is fastenedly connected in described passage fixed plate；Near described near structure body side
The front of described passage fixed plate be provided with channel support plate, described driven pulley turns be supported on described channel support plate with
Between described passage fixed plate.
Described driver element also includes motor section and motion transmission portion；Described motor section include motor fixing plate and multiple with
The first motor that described motor fixing plate is fastenedly connected；Described motion transmission portion includes multiple for by described first motor
Rotate output be converted to two output shafts rotary motion reversely with each other near-end structure joint curve driving-chain；Two described defeated
The front end of shaft is directly or indirectly connected with the rear end of drive shaft described in a pair, and the rotary motion of self is passed to described driving
Axle.
Described near-end structure joint curves driving-chain and includes input gear, output gear, idle pulley and two described output shafts, described
Input gear adapter sleeve is located at wherein on output shaft described in, and described output gear adapter sleeve is located on another described output shaft,
It is in transmission connection by idle pulley described in even number between output shaft described in two；After the described output shaft that described input gear is connected
End is fastenedly connected by the output shaft of shaft coupling with described first motor.
Sterile barrier, described sterile barrier bag it is provided with between described motion transmission portion and described driver element fixed plate
Include sterile barrier gripper shoe, be fastenedly connected the sterile barrier outer housing in described sterile barrier gripper shoe periphery and multiple be rotationally connected
Shaft coupling female in described sterile barrier gripper shoe；Described sterile barrier outer housing is fastenedly connected with or without Mycoderma；Each
The rear end adapter sleeve of described drive shaft is provided with output gear, and described output gear engages with input gear, described input gear
Gear shaft through described driver element fixed plate and is fastenedly connected with a first shaft coupling male；Before each described output shaft
End is fastenedly connected with a second shaft coupling male；Described second shaft coupling male is by being positioned in described sterile barrier gripper shoe
Described shaft coupling female be connected with described first shaft coupling male.
Be provided with cover plate in the front end in described motion transmission portion, the front end of each described output shaft both pass through described cover plate and with
Described cover plate is rotationally connected, and is provided with the first connection key seat on described cover plate；Described sterile barrier gripper shoe is provided with
For being connected the second connection key seat that key seat quickly connects with described first.
Operation executor, the operation that one end is connected it is provided with described operation executor in the front end of described far structure body
Executor is controlled line and is passed from described far structure body, and the other end is connected with operation actuator driven mechanism；Described operation performs
Device drive mechanism includes connecting rod, connects frame, screw rod and nut；Line is controlled with described operation executor in the front end of described connecting rod
Rear end is fastenedly connected, and the rear end of described connecting rod is fastenedly connected with the described front end being connected frame, the rear end and of described connection frame
Individual screw rod is fastenedly connected, and is connected with nut on described screw rod, and described nut rotation is connected to described driver element and fixes
On plate；Described driver element also includes motor section；Described motor section includes motor fixing plate and fastens with described motor fixing plate
The second motor connected；The output shaft of described second motor is fastenedly connected by the rear end of shaft coupling and the second output shaft, described
The front end adapter sleeve of the second output shaft is provided with input gear, and described input gear engages with output gear, described output gear with
3rd output shaft is fastenedly connected, and the front end of described 3rd output shaft is directly or indirectly connected with described nut, by the rotation of self
Motion passes to nut and is converted to the linear motion of described connection frame.
Also include flexible operation tool outer casing and motor section shell；Described near structure body and middle connection body are respectively positioned on institute
State in flexible operation tool outer casing；Described passage fixed plate and driver element fixed plate are all tight with described flexible operation tool outer casing
It is solidly connected；Described motor section and motion transmission portion are respectively positioned in motor section shell；It is provided with in the front end in described motion transmission portion
Cover plate, described cover plate is fastenedly connected with described flexible operation tool outer casing by sterile barrier；Described cover plate and motor fixing plate
All it is rotationally connected with described motor section shell；Inner wall tightening at described motor section shell connects has ring gear, at described motor
Being fastenedly connected with the 3rd motor in fixed plate, the output shaft of described 3rd motor is tight by the rear end of shaft coupling and the 4th output shaft
Being solidly connected, the front end of described 4th output shaft is fastenedly connected with input gear, and described input gear engages with described ring gear.
Also include flexible operation tool outer casing, motor section shell and linear module；Described near structure body and middle part connect
Body is respectively positioned in described flexible operation tool outer casing；Described passage fixed plate and driver element fixed plate are all performed the operation with described flexibility
Tool outer casing is fastenedly connected；Described motor section and motion transmission portion are respectively positioned in motor section shell；In described motion transmission portion
Front end is provided with cover plate, and described cover plate is fastenedly connected with described flexible operation tool outer casing by sterile barrier；Described linear mould
Group includes support, be fastenedly connected the 4th motor on the bracket and the output shaft with described 4th motor is fastenedly connected
Linear feed mechanism, the outfan of described Linear feed mechanism is fastenedly connected the shell of described motor section, and described 4th motor leads to
Crossing described Linear feed mechanism drives described motor section and motion transmission portion to drive described flexible continuum to tie by sterile barrier
The part that structure and driver element are positioned at before described sterile barrier moves along a straight line.
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 4th motor is fastenedly connected with described leading screw by shaft coupling.
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, far structure body of the present invention, middle connection body and near-end
Structure uses the structural bone of redundancy to arrange (quantity of structural bone is more than three), can improve stability and the load energy of system
Power.3, the present invention is rotationally connected many drive shafts between driver element fixed plate and passage fixed plate, in the front end of drive shaft
Being provided with hawser draw-off mechanism, hawser draw-off mechanism passes through hawser and the hawser fixed block being fixedly connected on near-end fixed disk rear end
Connect, when drive shaft rotates, the length during the proximally-located structure of hawser saves, hawser in addition can be changed by hawser draw-off mechanism
Fixed block is connected with passage fixed plate by universal joint, thus the tractive of hawser is converted to any to curving fortune of near-end structure joint
Dynamic, the profile that curves simultaneously making near-end structure save is generally radiused.4, the perform the operation operation executor of executor of the present invention controls line
Arrive operation actuator driven mechanism through far structure body and be fixedly connected with the connecting rod, connecting frame fixing with connecting rod even
Connecing, connecting frame can be driven by one group of straight-line motion mechanism, it is achieved the motor control to operation executor.5, the present invention is additionally provided with
Motor section shell, uses rotating connected mode, at the inwall of motor section shell between motor fixing plate and motor section shell
Being fastenedly connected with ring gear, motor section is provided with motor, motor is fastenedly connected on motor fixing plate, and motor passes through shaft coupling
Being connected with an output shaft, one end of output shaft is fastenedly connected with input gear, and input gear engages with ring gear, therefore, described
Motor drive system can remove motor section shell, ring gear with outer portion integral-rotation so that flexible surgical arm has integral-rotation
Degree of freedom.6, due to the fact that and carried out even by sterile barrier between flexible operation tool outer casing and motor section, motion transmission portion
Connect, effectively the flexible operation tool etc. sterilized is positioned at part before sterile barrier aseptic with other being positioned at of not sterilizing
The later part of barrier is isolated, and therefore can ensure the exploitativeness of clinical operation.7, the present invention is additionally provided with linear module,
It is attached with motor section housing portion and flexible operation tool, driver element and sterile barrier can be driven linearly to transport
Dynamic, therefore, flexible surgical arm also has linear feeding degree of freedom.
Present invention can apply to single hole endoscope-assistant 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 after the present invention omits far structure body；
Fig. 4 is the structural representation of the present invention the first (the second) near-end structure joint；
Fig. 5 is the connection diagram of hawser draw-off mechanism of the present invention；
Fig. 6 is motor section of the present invention and the structural representation in motion transmission portion；
Fig. 7 is the structural representation that near-end structure of the present invention joint curves driving-chain；
Fig. 8 is the structure after the present invention loads onto flexible operation tool outer casing, motor section shell, sterile barrier and linear module
Schematic diagram；
Fig. 9 is the structural representation that sterile barrier of the present invention is connected with cover plate；
Figure 10 is the sterile barrier of the present invention structural representation under another visual angle；
Figure 11 is that the present invention performs the operation the structural representation of actuator driven mechanism；
Figure 12 is the structural representation of integral-rotation drive mechanism of the present invention；
Figure 13 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 operation tool 10 and driver element 20.
As shown in Figures 1 to 3, flexible operation tool 10 includes being connected by far structure body 11, near structure body 16 and middle part
The flexible Continuum Structure that body 15 is constituted.
Far structure body 11 includes that the first far-end structure joint 12 and the second far-end structure joint 13, the first far-end structure joint 12 include first
Far-end space disc the 121, first far-end fixed disk 122 and the first structure nodule llex cornuta 123；Second far-end structure joint 13 includes the second far-end
Space disc the 131, second far-end fixed disk 132 and the second structure nodule llex cornuta 133.Wherein, the first far-end space disc 121 and second is remote
End space disc 131 is respectively separated and is distributed in the first far-end structure joint 12 and the second far-end structure joint 13, and effect is to prevent the first structure joint
Structural bone 123 and second structure nodule llex cornuta 133 unstability when being pushed away.
Near structure body 16 includes the first near-end structure joint 17 and the second near-end structure joint 18, as shown in Figure 3, Figure 4, the first near-end
Structure joint 17 includes the first near-end space disc the 171, first near-end fixed disk 172 and the first structure nodule llex cornuta 173；Second near-end structure joint
18 include the second near-end space disc the 181, second near-end fixed disk 182 and the second structure nodule llex cornuta 183.Wherein, between the first near-end
It is respectively separated every dish 171 and the second near-end space disc 181 and is distributed in the first near-end structure joint 17 and the second near-end structure joint 18, effect
It is to prevent the first near-end structure joint 17 and the second near-end structure joint 18 unstability when being pushed away.The first structure nodule in first near-end structure joint 17
The first structure nodule llex cornuta 123 one_to_one corresponding in llex cornuta 173 and the first far-end structure joint 12 is fastenedly connected or is same root knot llex cornuta；
The second structure nodule llex cornuta 183 in second near-end structure joint 18 and the second structure nodule llex cornuta 133 in the second far-end structure joint 13 are one by one
Correspondence is fastenedly connected or is same root knot llex cornuta.For each near-end structure joint 17,18 or far-end structure joint 12,13, structural bone
Quantity be more than three.
As it is shown on figure 3, middle connection body 15 includes passage fixed plate 152 and is fastenedly connected between passage fixed plate 152
Structural bone guiding channel 151.One end of first structure nodule llex cornuta 173 (123) is fastenedly connected with the first near-end fixed disk 172,
The other end is remote with first after sequentially passing through the first near-end space disc 171, structural bone guiding channel the 151, first far-end space disc 121
End fixed disk 122 is fastenedly connected.One end of second structure nodule llex cornuta 183 (133) is fastenedly connected with the second near-end fixed disk 182,
The other end sequentially passes through the second near-end space disc 181, structural bone guiding channel the 151, first far-end structure joint the 12, second far-end interval
It is fastenedly connected with the second far-end fixed disk 132 after dish 131.The effect of structural bone guiding channel 151 is to maintain the first structure therein
Nodule llex cornuta 173 (123) and the second structure nodule llex cornuta 183 (133) are by shape invariance during push and draw force.
Far-end structure joint number included by said distal ends structure 11 and the near-end structure joint number included by near structure body 16
Can also be one or more than two, but near-end structure joint number keeps consistent with far-end structure joint number all the time.Additionally, when far-end structure
When joint number is two or more, using the mode of series connection to connect between each far-end structure joint, the i.e. second structure nodule llex cornuta is from the first far-end
Through (if the first structure nodule llex cornuta uses tubular structure, it is possible to from the first structure nodule llex cornuta on fixed disk, the first far-end space disc
Inside pass).When near-end structure joint number is two or more, can use between each structure joint and be connected in series, be independently arranged or nesting sets
Put.In the present embodiment, the mode (as shown in Figure 3) being independently arranged, now, passage are used between two near-end structure joints
Fixed plate 152 is three, the front end of structural bone guiding channel 151 and the passage fixed plate 152 near far structure body 11 side
Being fastenedly connected, structural bone guiding channel 151 is divided into two parts, the rear end of two-part structure bone guided passage 151 respectively with additionally
Two passage fixed plates 152 are fastenedly connected, and are respectively used to guide the first structure nodule llex cornuta 123 (173) and the second structure nodule structure
Bone 133 (183).
As seen in figures 3-5, driver element 20 includes driver element fixed plate 21, at driver element fixed plate 21 and passage
Between fixed plate 152, rotational support has many drive shafts 215, and in the present embodiment, drive shaft 215 is eight, each near near-end structure
Rotate respectively between passage fixed plate 152 and the driver element fixed plate 21 of joint and four drive shafts 215 are set.Every drive shaft
The rear end adapter sleeve of 215 is provided with an output gear 214, and output gear 214 engages with input gear 216, input gear 216
Gear shaft passes driver element fixed plate 21 and extends back.The front end of drive shaft 215 is provided with hawser draw-off mechanism, hawser tractive
Mechanism includes the driving pulley 221 that adapter sleeve is located in drive shaft 215, drives one end fastening of pulley 221 and a hawser 222 even
Connect, after the other end of hawser 222 walks around two follow-up pulleies 223 or through first near-end space disc the 171, first near-end fixed disk
172 and be fastenedly connected with hawser fixed block 163, or through second near-end space disc the 181, second near-end fixed disk 182 and with
Another hawser fixed block 163 is fastenedly connected.Hawser fixed block 163 is fixedly connected on the first near-end fixed disk 172 or the second near-end
The rear end of fixed disk 182.By rotating driveshaft 215, hawser 222 can be pulled and adjust it and save 17 or the at the first near-end structure
Length in two near-end structure joints 18.
It is provided with universal joint 161, after universal joint 161 at the center of the first near-end structure joint 17 and the second near-end structure joint 18
End is slidably connected with the shaft-like feature being positioned on front side of hawser fixed block 163, i.e. shaft-like feature can be along the axle of this universal joint 161 rear end
Line slides and can rotate around this axis；The front end of universal joint 161 through passage fixed plate 152 and is connected with universal joint pedestal 162,
Universal joint pedestal 162 is fastenedly connected on channel support plate 153.In the present embodiment, channel support plate 153 is two, is respectively provided with
Front in the passage fixed plate 152 near near structure body side.Arranging of universal joint 161 can make the first near-end structure joint
17, the circular arc that contour shape is approximation during the second near-end structure joint 18 bending.First near-end structure joint the 17, second near-end structure joint 18
Length respectively by first far-end structure joint the 12, second far-end structure joint 13 by first structure nodule llex cornuta the 123, second structure nodule llex cornuta
133 constraints, when tractive hawser 222, corresponding near-end structure saves 17,18 while curving along the length holding of its axis direction
Constant.Multiple freedom that respective proximal structure joint 17,18 curves can be realized to any direction by many hawsers 222 of Collaborative Control
Degree, is four degree of freedom the most altogether.As a example by the second near-end structure joint 18, when hawser 222 drives the second near-end structure joint
18 when a direction curves, and the second far-end structure joint 13 will be with certain proportion relation (by the second structure in the second near-end structure joint 18
The distribution radius of the second structure nodule llex cornuta 133 in nodule llex cornuta 183 and the second far-end structure joint 13 together decides on) to contrary side
To curving.
In above-described embodiment, the front end of the first near-end structure joint 17 and the second near-end structure joint 18 is fastenedly connected respectively accordingly
In passage fixed plate 152, follow-up pulley 223 is rotatably supported between channel support plate 153 and passage fixed plate 152.
In above-described embodiment, as shown in Figure 6, Figure 7, driver element 20 also includes motor section 41 and motion transmission portion.Motor
Portion 41 includes motor fixing plate 402 and multiple the first motor 411 being fastenedly connected with motor fixing plate 402.Motion transmission portion wraps
Including multiple near-end structure joint and curve driving-chain 42, each near-end structure joint curves driving-chain 42 by shaft coupling 412 and one first electricity
The output shaft of machine 411 connects, for the output that rotates of first motor 411 is decomposed into the mutually reciprocal of two output shafts 405
To rotary motion, thus pass to a pair drive shaft 215 to realize sending pine and tension to the collaborative of hawser fixed block 163.Closely
End structure joint curves driving-chain 42 and includes input gear 421, output gear 422, two (can also be other even number) idle pulley 423
With two output shafts 405, input gear 421 adapter sleeve is located at wherein on an output shaft 405, and the rear end of this output shaft 405 is passed through
Shaft coupling 412 connects the output shaft of the first motor 411；Output gear 422 adapter sleeve is located on another output shaft 405, inputs tooth
It is in transmission connection by two (even number) idle pulleys 423 between wheel 421 and output gear 422.The front end of each output shaft 405 all with
The gear shaft of one input gear 216 directly or indirectly connects, and thus, can be driven by the rotation output of first motor 411
Two drive shafts 215 rotate (two drive shaft 215 rotations reversely with each other), thus realize the first near-end structure joint 17 or the second near-end
Structure joint 18 curves driving on some direction.
In above-described embodiment, as shown in figs. 8-10, between motion transmission portion and driver element fixed plate 21, it is provided with nothing
Bacterium barrier 30, sterile barrier 30 includes sterile barrier gripper shoe 302, is fastenedly connected the nothing in sterile barrier gripper shoe 302 periphery
Bacterium barrier outer housing 301 and multiple shaft coupling female 303 being rotatably connected in sterile barrier gripper shoe 302.At each input tooth
The rear end of gear shaft of wheel 216 is fastenedly connected one for the shaft coupling male 212 that is connected with shaft coupling female 303 (such as Fig. 3 institute
Show)；Be fastenedly connected in the front end of each output shaft 405 one for be connected with shaft coupling female 303 shaft coupling male 403 (as
Shown in Fig. 6).Thus, the rotary motion of output shaft 405 can pass through shaft coupling male 403, shaft coupling female 303, shaft coupling male
212, input gear 216, output gear 214 pass to drive shaft 215.Sterile barrier outer housing 301 is fastenedly connected with or without bacterium
Film (not shown), its part sterilized can being positioned at by flexible operation tool 10 etc. before sterile barrier 30 passes with motion
The part do not sterilized that dynamic portion, motor section 41 etc. are positioned at sterile barrier 30 later is kept apart, it is ensured that implementing of clinical operation
Property.
In above-described embodiment, as shown in Fig. 6, Figure 10, cover plate 404, each output shaft 405 are set in the front end in motion transmission portion
Front end through cover plate 404 and being rotationally connected with cover plate 404, cover plate 404 is provided with two groups and connects key seats 406；Correspondingly,
Sterile barrier gripper shoe 302 is also provided with two groups for be connected the connection key seat 304 that key seat 406 quickly connects.Make
Sterile barrier 30 is fixing with motion transmission portion to be connected and can transmit mass motion.
In above-described embodiment, as shown in Fig. 2, Figure 11, Figure 12, it is provided with operation executor in the front end of far structure body 11
101, the operation executor that one end is connected with operation executor 101 is controlled line 102 and is passed from far structure body 11, the other end and hands
Art actuator driven mechanism 25 connects.Operation actuator driven mechanism 25 includes connecting rod 251, connects frame 252, screw rod 253 and
Nut 254, wherein, connects the rectangle frame structure that frame 252 is rigidity；Line 102 is controlled with operation executor in the front end of connecting rod 251
Rear end is fastenedly connected, and the rear end of connecting rod 251 is fastenedly connected with the front end being connected frame 252, the rear end of connection frame 252 and a spiral shell
Bar 253 is fastenedly connected, and is connected with nut 254 on screw rod 253, and nut 254 is rotatably connected on driver element fixed plate 21
On.Being fastenedly connected with the second motor on motor fixing plate 402, the output shaft of the second motor passes through shaft coupling 412 and output shaft
The rear end of 414 is fastenedly connected, and the front end adapter sleeve of output shaft 414 is provided with input gear 441, input gear 441 and output gear
442 engagements, output gear 442 is fastenedly connected with output shaft 415, and the front end of output shaft 415 and nut 254 are by sterile barrier 30
Connect, the rotation of the second motor output to be passed to nut 254, thus be converted into the straight line connecting frame 252 by screw rod 253
Move, and then promotion or tractive operation executor control line 102 to control operation executor 101 (such as operating forceps) enforcement action.Hands
Art executor control line 102 can also transmit energy as various forms of in electric energy, dither etc. thus realize perform the operation executor 101
Particular procedure function (such as coagulation, TURP etc.).Further, the front end of output shaft 415 is fastenedly connected with shaft coupling male 416
(as shown in Figure 6), shaft coupling male 213, shaft coupling male 416 and shaft coupling male it are fastenedly connected with in the rear end of nut 254
213 are connected by the shaft coupling female 305 (as shown in Figure 9, Figure 10) being positioned on sterile barrier 30.
In above-described embodiment, as shown in Fig. 8, Figure 12, present invention additionally comprises outside flexible operation tool outer casing 105 and motor section
Shell 401.Except motor section 41 with drive the part in addition to driving section near structure body 16, middle connection body 15, driver element 20
And operation actuator driven mechanism 25 is respectively positioned in flexible operation tool outer casing 105；Passage fixed plate 152, channel support plate
153 and driver element fixed plate 21 be all fastenedly connected with flexible operation tool outer casing 105.The equal position of motor section 41 and motion transmission portion
In motor section shell 401；The cover plate 404 of front end, motion transmission portion is by sterile barrier 30 and flexible operation tool outer casing 105
It is fastenedly connected, makes flexible operation tool 10 can be linked as entirety with motion transmission portion, motor section 41 and rotate.Cover plate 404, electricity
Machine fixed plate 402 is all rotationally connected with motor section shell 401.Inner wall tightening at motor section shell 401 connects ring gear
432, motor fixing plate 402 is fastenedly connected with the 3rd motor, the output shaft of the 3rd motor passes through shaft coupling 412 and output shaft
The rear end of 417 connects, and the front end of output shaft 417 is fastenedly connected input gear 433, and input gear 433 engages with ring gear 432.
When the output shaft of the 3rd motor rotates, it drives input gear 433 to rotate, and input gear 433 is by the circumference along ring gear 432
Walking, thus drive present invention part entirety in addition to motor section shell 401 and ring gear 432 to rotate, it is achieved opponent
The roll Angle ambiguity of art executor 101.
In above-described embodiment, as shown in Figure 8, (linear module 50 is also through sterile film to present invention additionally comprises linear module 50
Keep apart with sterilization section), it includes the support 501 with chute, is provided with leading screw 503, at leading screw on support 501
It is arranged with on 503 and passes through threaded engagement and the slide block 502 being slidably arranged in chute with leading screw 503, set in one end of support 501
Being equipped with motor 504, the output shaft of motor 504 is fastenedly connected by shaft coupling with leading screw 503.Motor section shell 401 and slide block 502
Being connected, when the output shaft rotation of motor 504, slide block 502 will drive driver element 20, sterile barrier 30 and flexible operation tool
10 do linear movement along chute, thus realize the feeding degree of freedom of far structure body 11.
In above-described embodiment, as shown in Figure 8, the outside of far structure body 11 being provided with strip of paper used for sealing 103, it act as improving
Far structure body 11 enters the smoothness of human body natural's tract or operative incision.In the outside of strip of paper used for sealing 103, rigidity can also be set
Trocar sheath 104 and sheath 60.In one application, sheath 60 is fixed on the single incision in abdominal cavity, far structure body 11 together with
Strip of paper used for sealing 103, operation executor 101 can pass freely through the through hole passed through for operation tool in sheath 60 and arrive art portion to put list to good use
Vestibule videoendoscopic surgery.As shown in figure 13, sheath 60 can also use flexible sheath, its can more easily stretch into human body all kinds of from
So tract and along with the shape of tract adaptively changing profile, one end of flexible sheath is fixed on tract porch, distal colorectal
Structure body 11 equally passes freely through flexible sheath and puts, together with strip of paper used for sealing 103, operation executor 101, the through hole passed through for operation tool
Arrive art portion to put the non-invasive procedures through natural tract to good use.
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 (12)
1. one kind can be through the flexible operation tool system of natural tract, it is characterised in that: it includes flexible operation tool and driving
Unit；Described flexible operation tool kit includes the flexible continuum being made up of far structure body, near structure body and middle connection body
Structure；Described far 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 near structure body includes the near-end structure joint that quantity is equal with described far-end structure joint number, described near-end structure joint bag
Include near-end space disc, near-end fixed disk and structural bone；Described middle connection body includes passage fixed plate and is arranged on described passage
Structural bone guiding channel between fixed plate；Structural bone on described far-end structure joint is with the structural bone on described near-end structure joint one by one
Correspondence is fastenedly connected or is same root knot llex cornuta, and one end of described structural bone and described near-end fixed disk are fastenedly connected, and wear successively
Crossing described near-end space disc, described structural bone guiding channel, described far-end space disc, the other end fastens with described far-end fixed disk
Connect；
Described driver element includes driver element fixed plate, in described driver element fixed plate and the institute near described near-end structure joint
Stating rotational support between passage fixed plate has many drive shafts, the front end of each described drive shaft to arrange a hawser draw-off mechanism,
Described hawser draw-off mechanism by being fastenedly connected through the hawser of described near-end space disc, near-end fixed disk with hawser fixed block,
Described hawser fixed block is fastenedly connected with described near-end fixed disk；When described drive shaft rotates, by described hawser draw-off mechanism
Change the length that described hawser is positioned in described near-end structure joint.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described hawser
Draw-off mechanism includes driving pulley, follow-up pulley and described hawser；Wherein, described driving pulley adapter sleeve is located at described drive shaft
On, one end of described hawser is fastenedly connected with described driving pulley, and the other end of described hawser is worn after walking around described follow-up pulley
Enter described near-end structure joint.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described closely
What end structure saved is provided centrally with universal joint, and the front end of described universal joint connects through described passage fixed plate and with universal joint pedestal
Connecing, described universal joint pedestal is fastenedly connected on channel support plate, and described channel support plate is positioned close to described proximal structure
The front of the described passage fixed plate of body side；Described hawser fixed block along the axis of described universal joint slidably simultaneously around described
The axis of universal joint is rotatably connected to the rear end of described universal joint.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described near-end
The front end of structure joint is fastenedly connected in described passage fixed plate；In the described passage fixed plate near described near structure body side
Front be provided with channel support plate, described driven pulley turns be supported on described channel support plate and described passage fixed plate it
Between.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described driving
Unit also includes motor section and motion transmission portion；Described motor section includes that motor fixing plate and multiple and described motor fixing plate are tight
The first motor being solidly connected；Described motion transmission portion includes multiple for the rotation of described first motor output being converted to
The near-end structure joint of the rotary motion reversely with each other of two output shafts curves driving-chain；The front end of two described output shafts with a pair
The rear end of described drive shaft directly or indirectly connects, and the rotary motion of self is passed to described drive shaft.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described near-end
Structure joint curves driving-chain and includes input gear, output gear, idle pulley and two described output shafts, and the fastening of described input gear is sheathed
Wherein on output shaft described in, described output gear adapter sleeve is located on another described output shaft, described in two between output shaft
It is in transmission connection by idle pulley described in even number；Shaft coupling and institute are passed through in the rear end of the described output shaft that described input gear is connected
The output shaft stating the first motor is fastenedly connected.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: in described fortune
Moving and be provided with sterile barrier between driving section and described driver element fixed plate, described sterile barrier includes that sterile barrier supports
Plate, it is fastenedly connected the sterile barrier outer housing in described sterile barrier gripper shoe periphery and multiple is rotatably connected on described sterile barrier
Shaft coupling female in gripper shoe；Described sterile barrier outer housing is fastenedly connected with or without Mycoderma；
The rear end adapter sleeve of each described drive shaft is provided with output gear, and described output gear engages with input gear, described defeated
The gear shaft entering gear through described driver element fixed plate and is fastenedly connected with a first shaft coupling male；
The front end of each described output shaft is fastenedly connected with a second shaft coupling male；Described second shaft coupling male passes through position
Described shaft coupling female in described sterile barrier gripper shoe is connected with described first shaft coupling male.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: in described fortune
The front end of dynamic driving section is provided with cover plate, and the front end of each described output shaft both passes through described cover plate and rotates even with described cover plate
Connect, described cover plate is provided with the first connection key seat；Described sterile barrier gripper shoe is provided with for described first
Connect the second connection key seat that key seat quickly connects.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described far
The front end of end structure body is provided with operation executor, and the operation executor that one end is connected with described operation executor controls line from described
Passing in far structure body, the other end is connected with operation actuator driven mechanism；Described operation actuator driven mechanism includes even
Extension bar, connection frame, screw rod and nut；The rear end that line is controlled with described operation executor in the front end of described connecting rod is fastenedly connected, institute
The rear end stating connecting rod is fastenedly connected with the described front end being connected frame, and the rear end of described connection frame is fastenedly connected with a screw rod,
Being connected with nut on described screw rod, described nut rotation is connected in described driver element fixed plate；
Described driver element also includes motor section；Described motor section includes motor fixing plate and connects with the fastening of described motor fixing plate
The second motor connect；The output shaft of described second motor is fastenedly connected by the rear end of shaft coupling and the second output shaft, and described
The front end adapter sleeve of two output shafts is provided with input gear, and described input gear engages with output gear, described output gear and
Three output shafts are fastenedly connected, and the front end of described 3rd output shaft is directly or indirectly connected with described nut, the rotation of self are transported
Move and pass to nut and be converted to the linear motion of described connection frame.
A kind of can be through the flexible operation tool system of natural tract, it is characterised in that: also include
Flexible operation tool outer casing and motor section shell；Described near structure body and middle connection body are respectively positioned on described flexible operation tool
In shell；Described passage fixed plate and driver element fixed plate are all fastenedly connected with described flexible operation tool outer casing；Described electricity
Machine portion and motion transmission portion are respectively positioned in motor section shell；The front end in described motion transmission portion is provided with cover plate, described cover plate
It is fastenedly connected with described flexible operation tool outer casing by sterile barrier；Described cover plate and motor fixing plate all with described motor section
Shell is rotationally connected；Inner wall tightening at described motor section shell connects ring gear, tightens connected at described motor fixing plate
Being connected to the 3rd motor, the output shaft of described 3rd motor is fastenedly connected by the rear end of shaft coupling and the 4th output shaft, and described
The front end of four output shafts is fastenedly connected with input gear, and described input gear engages with described ring gear.
11. a kind of can be through the flexible operation tool system of natural tract, it is characterised in that: also include
Flexible operation tool outer casing, motor section shell and linear module；Described near structure body and middle connection body are respectively positioned on described soft
In property operation tool shell；Described passage fixed plate and driver element fixed plate are all with described flexible operation tool outer casing fastening even
Connect；Described motor section and motion transmission portion are respectively positioned in motor section shell；The front end in described motion transmission portion is provided with cover plate,
Described cover plate is fastenedly connected with described flexible operation tool outer casing by sterile barrier；Described linear module includes support, fastening
Connect the 4th motor on the bracket and Linear feed mechanism that the output shaft with described 4th motor is fastenedly connected, institute
The outfan stating Linear feed mechanism is fastenedly connected the shell of described motor section, and described 4th motor passes through described straight-line feed machine
Structure drives described motor section and motion transmission portion to drive described flexible Continuum Structure and driver element to be positioned at by sterile barrier
Part before described sterile barrier moves along a straight line.
12. a kind of can be through the flexible operation tool system of natural tract, it is characterised in that: described directly
Line feed mechanism includes the leading screw being rotationally connected on the bracket, is arranged with and passes through screw thread with described leading screw on described leading screw
The slide block coordinated, is provided with straight on the bracket, and described slide block is slidably arranged in described straight；Described
The output shaft of four motors is fastenedly connected with described leading screw by shaft coupling.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798123.3A CN106308938B (en) | 2016-08-31 | 2016-08-31 | A kind of tool system that can perform the operation through the flexibility of natural cavity |
| US16/329,750 US11191425B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| PCT/CN2017/099918 WO2018041218A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| EP17845520.0A EP3508154B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798123.3A CN106308938B (en) | 2016-08-31 | 2016-08-31 | A kind of tool system that can perform the operation through the flexibility of natural cavity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106308938A true CN106308938A (en) | 2017-01-11 |
| CN106308938B CN106308938B (en) | 2019-01-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610798123.3A Active CN106308938B (en) | 2016-08-31 | 2016-08-31 | A kind of tool system that can perform the operation through the flexibility of natural cavity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106308938B (en) |
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| CN108814718A (en) * | 2018-03-23 | 2018-11-16 | 深圳市精锋医疗科技有限公司 | Motion arm, from operation equipment and operating robot |
| CN113858261A (en) * | 2020-06-30 | 2021-12-31 | 北京术锐技术有限公司 | Flexible continuum structure capable of being driven integrally and flexible mechanical arm |
| CN115414126A (en) * | 2022-09-01 | 2022-12-02 | 山东大学 | Continuum robot |
| CN115605139A (en) * | 2020-06-30 | 2023-01-13 | 北京术锐技术有限公司（Cn） | Continuum instrument and surgical robot |
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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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