CN106308939B - It is a kind of for driving the driving unit of flexible Continuum Structure - Google Patents
It is a kind of for driving the driving unit of flexible Continuum Structure Download PDFInfo
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- CN106308939B CN106308939B CN201610799232.7A CN201610799232A CN106308939B CN 106308939 B CN106308939 B CN 106308939B CN 201610799232 A CN201610799232 A CN 201610799232A CN 106308939 B CN106308939 B CN 106308939B
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to a kind of for driving the driving unit of flexible Continuum Structure, it includes being coated in the proximal end fixed disk of near structure body in flexible Continuum Structure and being mutually related to drive structure section fixed disk, it is coated on the proximal base disk of near structure body and is mutually related and drive structure section base plate, it is connected to driving structure section fixed disk and drives the driving structure section between structure section base plate and being coated near structure body, the driving structure section structure bone that both ends are each passed through after driving structure section base plate and are fixed in driving structure section fixed disk, and make the structural bone driving mechanism for driving structure section structure bone middle section to pass therethrough, and structural bone driving mechanism quantity is consistent with driving structure section structure bone quantity；Structural bone driving mechanism now drives structure section to curve movement to any direction by collaboration push-and-pull driving structure section structure bony process, to realize that near structure body curves movement to the same direction.
Description
Technical field
The present invention relates to a kind of driving mechanisms of medical instrument, and in particular to a kind of for driving flexible Continuum Structure
Driving unit.
Background technique
Porous laparoscopic minimally invasive surgery occupies in surgical operation important because its wound is small, post-operative recovery is fast
Status.Da Vinci (Leonardo da Vinci) operating robot of existing Intuitive Surgical company (intuition surgery company of the U.S.)
It assists doctor to complete porous laparoscopic minimally invasive surgery, achieves commercial immense success.
Invasive surgery formula develops single-hole laparoscopic surgery and through the noninvasive of natural cavity again after porous laparoscopic surgery
Operation, their smaller to patient trauma, postoperative outputs are higher.But in single-hole laparoscopic surgery and through the non-invasive procedures of natural cavity
In, all surgical instruments including visual illumination module and surgical procedure arm pass through single channel and reach art portion, this is right
The preparation of surgical instrument requires extremely harsh.The distal structure of existing surgical instrument is mainly the hinged in series of more rod pieces, is used
Lineoutofservice signal pull driving, realizes surgical instrument at articulation joint and curves.Since wirerope must keep lasting by pulley
Tensioning state, this driving method are difficult to realize miniaturising for surgical instrument, are also difficult to further promote the fortune of instrument
Dynamic performance.And it is directed to the surgical instrument based on flexible Continuum Structure, there is no can quickly connect at present with flexible Continuum Structure
Modular event driven unit.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of for driving the driving unit of flexible Continuum Structure.
To achieve the above object, the invention adopts the following technical scheme: it is a kind of for driving the drive of flexible Continuum Structure
Moving cell, which is characterized in that the driving unit include: be coated near structure body in the flexible Continuum Structure proximal end it is solid
It on price fixing and is mutually related and drives structure section fixed disk, be coated on the proximal base disk of the near structure body and interrelated
Driving structure section base plate, be connected to the driving structure section fixed disk and driving structure section base plate between and be coated at the proximal end
Driving structure section on structural body, both ends are each passed through after the driving structure section base plate and are fixed on the driving structure section fixed disk
On driving structure section structure bone, and make the structural bone driving mechanism that passes therethrough of the driving structure section structure bone middle section, and
The structural bone driving mechanism quantity is consistent with the driving structure section structure bone quantity；The structural bone driving mechanism passes through
The collaboration push-and-pull driving structure section structure bony process shows the driving structure section and curves movement to any direction, to realize described close
End structure body curves movement to the same direction.
In a preferred embodiment, the driving unit further include: be coated in the flexible Continuum Structure
On first fixed charge method end plate of middle connection body and second fixed charge method end plate that is mutually related, two or more and a part are set to described
Drive the feedback arrangement bone in structure section, and the potentiometer equal with the feedback arrangement bone quantity；Wherein, the structural bone is driven
Motivation structure is fixed on second fixed charge method end plate, and the driving structure section structure bone both ends are respectively from first structure bone guided channel
It passes through；Feedback arrangement bone both ends are separately fixed on the sliding block in the driving structure section fixed disk and potentiometer.
In a preferred embodiment, the driving unit further includes that the operation being arranged in the middle connection body is held
Row device control line transmission mechanism, the operation actuator control line transmission mechanism includes: the guidance being fixed on the proximal base disk
Block and space disc, through the centre bore of the bootstrap block, and the connection that can be moved forward and backward in the centre bore of the bootstrap block
Block, both ends are individually fixed in the control line guiding channel on first fixed charge method end plate and space disc, and one end sequentially passes through the control
It is fixed on after the centre bore of line guiding channel and space disc on the link block, the other end is consolidated from the first of the middle connection body
Determine end plate central to pass through, protrude into the far structure body of the flexible Continuum Structure and extend therewith, final end is solid
Operation actuator control line on the operation actuator of the flexible Continuum Structure distal end, and it is fixed on the link block
On the first magnet.
In a preferred embodiment, the operation actuator driven mechanism includes: motor drive component, with the electricity
The bevel gear box of the output end connection of machine driving assembly, the sliding slot housing being installed on the bevel gear box are located at the sliding slot
Connect Linear transmission component in housing and with the output end of the bevel gear box, it is interior and can be arranged at intervals at the sliding slot housing
Two sliding shoes slid back and forth, and wherein a sliding shoe is connect with the movable end of the Linear transmission component, is installed on another
The spring that the second magnet and both ends on one sliding shoe are fixedly connected with two sliding shoes；The motor driven group
Power is transferred to the Linear transmission component by the bevel gear box by part, what the Linear transmission Component driver was attached thereto
The sliding shoe slides back and forth under the lateral slot guiding of the sliding slot housing；Second in the operation actuator driven mechanism
Magnet couples transmitting push-and-pull movement with the first magnet in the operation actuator control line transmission mechanism, to realize the operation
The motion control of actuator；The spring makes the Linear transmission component in limited slip stroke to the operation actuator control
Line exports stably and controllable push and draw force, prevents the operation actuator from generating excessive bite force.
In a preferred embodiment, the motor drive component includes: the connection for installing the bevel gear box
Frame, the motor fixing plate being installed in the connection framework and support plate, the operation being installed on the motor fixing plate are held
Row device driving motor and rotary setting are in the transmission gear pair in the support plate；Wherein, the transmission gear centering is defeated
The output shaft for entering gear by shaft coupling and the operation actuator driven motor is coaxially connected, the output of the transmission gear pair
The input terminal of gear and the bevel gear box is coaxially connected.
In a preferred embodiment, the Linear transmission component include: in the sliding slot housing and with it is described
The coaxially connected screw rod of the output end of bevel gear box, and by being threadedly engaged in the nut on the screw rod；The nut is
The movable end of the Linear transmission component turns sliding block by resistance and is fastenedly connected with wherein one sliding shoe.
In a preferred embodiment, the structural bone driving mechanism includes: successively interval setting and passes through support column
The two driving support plates to link into an integrated entity and a motor fixing plate, are installed on the structural bone driving motor of the motor fixing plate,
Driving gear set and pulley blocks of the rotary setting between the two drivings support plate, are driven by shaft coupling and the structural bone
The driving gear and one end is fixedly connected with the driving structure section base plate, the other end is fastenedly connected in described that motor is connected
Structural bone guiding channel on support column；The driving gear set and pulley blocks respectively constitute several pulley gear sets, in every group
Pulley and gear are fixedly and coaxially connected, and are intermeshed between each gear；The driving structure section structure bone is through the structural bone
Guiding channel protrudes between the pulley of pulley gear set described in each group, the driving gear and wherein pulley gear set described in one group
In gear engagement transmitting driving force, the driving gear set and pulley blocks are rotated together about respective axis, and then pass through friction
Power realizes the push-and-pull to the driving structure section structure bone.
The invention adopts the above technical scheme, which has the following advantages: 1, driving in driving unit provided by the invention
Dynamic structure section be associated with the near structure body of flexible Continuum Structure, driving unit can make driving structure section together near structure body to times
Meaning direction curves, while making to curve with the associated far structure body of near structure body to correspondingly opposite direction, therefore can realize
The flexible surgical arm being made of far structure body it is any to curve movement.2, driving unit of the invention include pulley blocks and
It is tightly attached to the driving structure section structure bone on pulley blocks surface, driving structure section structure bone generates local deformation in pulley blocks, therefore, leads to
Pulley blocks of overdriving rotation can push-and-pull of the very-close-coupled structure realization to driving structure section structure bone.3, operation of the invention is held
Row device control line passes through far structure body and reaches middle connection body, is provided in middle connection body for driving operation actuator control
Line carries out the operation actuator control line transmission mechanism of linear movement, and operation actuator driven unit can drive it linearly to be transported
It is dynamic, realize the action control to operation actuator；It is arranged in operation actuator driven unit and has elastic component, prevents having restricted driving
Excessive push-pull effort is applied to operation actuator control line in journey.4, driving structure section of the invention and near structure body can quickly connect
It connects, meanwhile, operation actuator control line transmission mechanism and operation actuator driven unit can be connected quickly, it is preferable that this quickly connects
Magnet can be used in connection function；By quick linkage function, by flexible Continuum Structure and operation actuator control line transmission mechanism group
At flexible operation tool can fast quick-detach or replacement from Modular Flexible operation tool system.5, potentiometer of the invention with
Drive structure section association, can Real-time Feedback driving structure section posture, in the system failure, can auxiliary drive structure section be back to initial appearance
Therefore state can make flexible surgical arm be back to initial attitude.
Detailed description of the invention
Fig. 1 is the scheme of installation that the present invention is connected to flexible Continuum Structure；
Fig. 2 is the structural schematic diagram of present invention operation actuator control line transmission mechanism
Fig. 3 is the structural schematic diagram of present invention driving unit in addition to actuator control line transmission mechanism of performing the operation；
Fig. 4 A is the structural schematic diagram of structure of the invention bone driving mechanism；
Fig. 4 B is the partial schematic diagram of structure of the invention bone driving mechanism；
Fig. 5 is the structural schematic diagram of present invention operation actuator driven mechanism.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understand
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is
Illustrate the connotation of technical solution of the present invention.
As shown in FIG. 1 to 3, driving unit 30 provided by the invention include operation actuator control line transmission mechanism 202, it is close
End structure body driving mechanism 30 and operation actuator driven mechanism 311.
As shown in Figure 1, 2, operation actuator control line transmission mechanism 202 is arranged in the middle part connection of flexible Continuum Structure 10
In body 12 comprising space disc 203, bootstrap block 204, link block 205, magnet 206, operation actuator control line 207 and control line draw
Pathway 208.Two space discs 203 and bootstrap block 204 are fixed near structure body in flexible Continuum Structure 10 by support column
On 13 proximal base disk 134, link block 205 runs through the centre bore of bootstrap block 204, and can be in the centre bore of bootstrap block 204
In move forward and backward.Control 208 both ends of line guiding channel are individually fixed in the fixed charge method end plate 121 and space disc 203 of middle connection body 12
On, after operation 207 one end of actuator control line passes through control line guiding channel 208, the centre bore for being then passed through space disc 203 is fixed on company
It connects on block 205, the effect of space disc 203 is to prevent operation actuator control line 207 from being pushed away unstability.Actuator control line 207 of performing the operation is another
One end is passed through from 121 center of fixed charge method end plate of middle connection body 12, is protruded into far structure body 11 and is extended therewith, finally
End is fixed on the operation actuator 201 of flexible 10 distal end of Continuum Structure.Magnet 206 is fixed on link block 205, is passed through
Push-and-pull link block 205 can realize the push-and-pull for actuator control line 207 of performing the operation, and then realize to mechanical operation actuator
The action control of 201 (such as surgical clamps).It will be understood by those skilled in the art that operation actuator control line 207 equally may be used
The operation actuator 201 (such as electric knife, ultrasound knife) of such as electric energy, ultrasonic vibration energy to electrosurgery formula is transmitted, to implement
Electrosurgery.
As shown in figure 3, near structure body driving mechanism 30 includes driving structure section 301, driving structure section fixed disk 302, driving
Structure septa intersegmental disk 303, driving structure section base plate 304, driving structure section structure bone 305, structural bone guiding channel 306, feedback arrangement
Bone 307, potentiometer 308, fixed charge method end plate 309 and structural bone driving mechanism 310.Driving structure section 301 is from driving structure section fixed disk
302 to driving structure section base plate 304 tubbiness cyclic structure, drive the structure joint number amount and length and near structure body of structure section 301
Proximal end structure joint number amount in 13 is consistent.301 sets of structure section of driving drives structure section fixed disk 302 outside near structure body 13
Housing is in the proximal end fixed disk of near structure body 13 and can mutually Quick fastening connect；It is similar, drive structure section base plate 304
Housing is on the proximal base disk 134 of near structure body 13 and can mutually Quick fastening connect.Structural bone driving mechanism 310 and electricity
Position meter 308 is fixed on fixed charge method end plate 309, and 309 housing of fixed charge method end plate is on the fixed charge method end plate 121 of middle connection body 12 and can phase
Mutual Quick fastening connection, 310 quantity of structural bone driving mechanism are consistent with driving 305 quantity of structure section structure bone, potentiometer 308
Quantity of the quantity then with feedback arrangement bone 307 be consistent.306 one end of structural bone guiding channel and structural bone driving mechanism
310 are fixedly connected, and the other end is fixedly connected with driving structure section base plate 304.Driving structure septa intersegmental disk 303 is spaced apart in driving
Between structure section base plate 304 and driving structure section fixed disk 302, drive 305 middle section of structure section structure bone from structural bone driving mechanism 310
It passes through, both ends sequentially pass through driving structure section base plate 304 and driving structure septa intersegmental disk after passing through structural bone guiding channel 306 respectively
303, and be individually fixed in driving structure section fixed disk 302,305 quantity of driving structure section structure bone in each driving structure section 301
It must be two or more (being in the present embodiment two), the effect of driving structure septa intersegmental disk 303 is to prevent driving structure section structure bone
305 unstabilitys when being pushed away.Structural bone driving mechanism 310 by collaboration push-and-pull driving structure section structure bone 305 realize driving structure section 301 to
Any direction curves movement, thus realize that near structure body 13 curves movement to the same direction, it is final to realize that flexibility is continuous
The far structure body 11 of body structure 10 round about curve movement.A part setting of feedback arrangement bone 307 is in driving structure
In section 301, and its quantity in each driving structure section 301 must be two or more (preferably two), feedback arrangement bone 307
Quantity must be consistent with potentiometer 308, and 307 both ends of feedback arrangement bone are separately fixed at driving structure section fixed disk 302 and current potential
On sliding block in meter 308, the movement that curves of driving structure section 301 will cause feedback arrangement bone 307 to be located at the portion in driving structure section 301
The length variation divided, length variation will cause push-and-pull of the feedback arrangement bone 307 to sliding block in potentiometer 308, so that the length
Degree variation is recorded by potentiometer 308.Since the length of driving structure section 301 can remain unchanged, whole feedback arrangement bones 307 are being driven
The length combination of part in structure section 301 by uniquely determine driving structure section curve plane be directed toward and this curve it is curved in plane
Gyration, therefore the current absolute meandering shape for driving structure section 301 can be obtained by potentiometer 308 and feedback arrangement bone 307, with
Realize the closed-loop control further to driving structure section.
As shown in Fig. 4 A, Fig. 4 B, structural bone driving mechanism 310 includes structural bone driving motor 3101, shaft coupling 3102, drives
Moving gear 3103, driving gear set 3104, pulley blocks 3105, driving support plate 3106, motor fixing plate 3107 and support column
3108.Wherein, two driving support plates 3106 and a motor fixing plate 3107, which are successively spaced, is arranged and is connected by support column 3108
Integrally, driving gear set 3104 and 3105 rotary setting of pulley blocks are between two driving support plates 3106, and if respectively constituting
Dry pulley gear set, every group of middle pulley are fixedly connected with gear, are intermeshed between each gear.Driving gear 3103 passes through shaft coupling
Device 3102 is connected with structural bone driving motor 3101, and gear 3103 is driven to engage biography with the gear in wherein one group of pulley gear set
It passs driving force, drive gear set 3104 and pulley blocks 3105 to rotate together about respective axis, and then is realized by frictional force to drive
The push-and-pull of dynamic structure section structure bone 305.306 one end of structural bone guiding channel is fixedly connected with support column 3108, drives structure section structure
Bone 305 is protruded into through structural bone guiding channel 306 between the pulley of each group pulley gear set, and is generated under the squeezing action of pulley
Thus local deformation generates biggish frictional force on the contact surface with pulley.It should be noted that the number of pulley gear set
The size that amount, size and position distribution can move required driving force according to driving structure section structure bone 305 is adjusted, to protect
It will not skid with respect to pulley blocks 3105 in card driving 305 motion process of structure section structure bone.
As shown in Figure 1, shown in Figure 5, operation actuator driven mechanism 311 includes connection framework 3111, operation actuator driven electricity
Machine 3112, motor fixing plate 3113, shaft coupling 3114, support plate 3115, transmission gear are to 3116, bevel gear box 3117, screw rod
3118, nut 3119, sliding shoe 3120, spring 3121, resistance turn sliding block 3122, sliding slot housing 3123 and magnet 3124.Wherein, electric
Machine fixed plate 3113, support plate 3115 and bevel gear box 3117 are each attached in connection framework 3111, are executed for fixed operation
Device driving motor 3112 and support gear shaft, transmission gear are coaxial fixed with shaft coupling 3114 to the input gear in 3116, pass
Moving gear coaxially fixes 3116 output gear and the input terminal of bevel gear box 3117.Actuator driven motor 3112 of performing the operation is logical
Cross shaft coupling 3114, transmission gear realizes the rotation of screw rod 3118 to 3116 and bevel gear box 3117.Sliding slot housing 3123 is fixed
On bevel gear box 3117, screw rod 3118 is located in sliding slot housing 3123 and coaxially fixes with the output end of bevel gear box 3117,
Nut 3119 is with screw rod 3118 by being threadedly engaged.Sliding shoe 3120 is spaced two and can be in sliding slot housing 3123
It slides back and forth, nut 3119 turns sliding block 3122 by resistance and is fixedly connected with a wherein sliding shoe 3120, turns sliding block 3122 in resistance
Under effect, the rotation of screw rod 3118 driving nut 3119 and the front and back under the lateral slot guiding of sliding slot housing 3123 of sliding shoe 3120 are sliding
It is dynamic.Magnet 3124 is fixed on another 3120 end of sliding shoe, can be with the magnet 206 in operation actuator control line transmission mechanism 202
Coupling transmitting push-and-pull movement, to realize the motion control of operation actuator 201.The both ends of spring 3121 respectively with two sliding shoes
3120 are fixedly connected, can make nut 3119 in limited slip stroke to operation actuator control line 207 export it is stably and controllable push away,
Pulling force, and prevent operation actuator 201 (such as surgical clamp) from generating excessive bite force.
Driving unit 30 provided by the invention when in use, when in driving unit 30 structural bone driving mechanism 310 drive
When the near structure body 13 of flexible Continuum Structure 10 is curved to any direction, far structure body 11 is correspondingly in the opposite direction
It curves, the operation actuator driven mechanism 311 in driving unit 30 can drive the operation actuator of 11 end of far structure body
201, realize the action control of operation actuator 201.
The present invention is only illustrated with above-described embodiment, and structure, setting position and its connection of each component are all can have
Changed.Based on the technical solution of the present invention, the improvement or equivalent that all principles according to the present invention carry out individual part
Transformation, should not exclude except protection scope of the present invention.
Claims (7)
1. a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that the driving unit includes:
Being coated in the flexible Continuum Structure in the proximal end fixed disk of near structure body and being mutually related drives structure section solid
Price fixing,
It is coated on the proximal base disk of the near structure body and is mutually related and drive structure section base plate,
It is connected to the driving structure section fixed disk and drives the drive between structure section base plate and being coated in the near structure body
Dynamic structure section,
The driving structure nodule that both ends are each passed through after the driving structure section base plate and are fixed in the driving structure section fixed disk
Structure bone, and
The structural bone driving mechanism for passing therethrough the driving structure section structure bone middle section, and the structural bone driving mechanism number
Amount is consistent with the driving structure section structure bone quantity；
The structural bone driving mechanism pushes and pulls the driving structure section structure bony process by collaboration and shows the driving structure section to any side
To curve movement, to realize that the near structure body curves movement to the same direction.
2. as described in claim 1 a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that the drive
Moving cell further include:
On first fixed charge method end plate of the middle connection body being coated in the flexible Continuum Structure and it is mutually related second solid
Fixed end plate,
Two or more and a part of feedback arrangement bone being set in the driving structure section, and
The potentiometer equal with the feedback arrangement bone quantity；
Wherein, the structural bone driving mechanism is fixed on second fixed charge method end plate, driving structure section structure bone both ends point
It is not passed through from first structure bone guided channel；Feedback arrangement bone both ends are separately fixed at the driving structure section fixed disk and electricity
On sliding block in the meter of position.
3. as claimed in claim 2 a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that the drive
Moving cell further includes the operation actuator control line transmission mechanism being arranged in the middle connection body, the operation actuator control line
Transmission mechanism includes:
The bootstrap block and space disc being fixed on the proximal base disk,
Through the centre bore of the bootstrap block, and the link block that can be moved forward and backward in the centre bore of the bootstrap block,
Both ends are individually fixed in the control line guiding channel on first fixed charge method end plate and space disc,
One end sequentially pass through it is described control line guiding channel and space disc centre bore after be fixed on the link block, the other end from
First fixed charge method end plate center of the middle connection body passes through, protrude into the far structure body of the flexible Continuum Structure and with
Extend together, the operation actuator control on the operation actuator of the flexible Continuum Structure distal end is fixed in final end
Line, and
The first magnet being fixed on the link block.
4. as claimed in claim 3 a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that the hand
Art actuator driven mechanism includes:
Motor drive component,
The bevel gear box being connect with the output end of the motor drive component,
The sliding slot housing being installed on the bevel gear box,
It is connect Linear transmission component in the sliding slot housing and with the output end of the bevel gear box,
Be arranged at intervals at two sliding shoes that in the sliding slot housing and can be slid back and forth, and wherein a sliding shoe with it is described
The movable end of Linear transmission component connects,
The second magnet being installed on another sliding shoe, and
The spring that both ends are fixedly connected with two sliding shoes；
Power is transferred to the Linear transmission component, the Linear transmission by the bevel gear box by the motor drive component
The sliding shoe that Component driver is attached thereto slides back and forth under the lateral slot guiding of the sliding slot housing；The operation executes
The second magnet in device driving mechanism couples transmitting push-and-pull fortune with the first magnet in the operation actuator control line transmission mechanism
It is dynamic, to realize the motion control of the operation actuator；The spring makes the Linear transmission component in limited slip stroke
It is interior that stably and controllable push and draw force is exported to the operation actuator control line, prevent the operation actuator from generating excessive occlusion
Power.
5. as claimed in claim 4 a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that the electricity
Machine driving assembly includes:
For installing the connection framework of the bevel gear box,
The motor fixing plate and support plate being installed in the connection framework,
The operation actuator driven motor being installed on the motor fixing plate, and
Rotary setting is in the transmission gear pair in the support plate；
Wherein, the output shaft that the input gear of the transmission gear centering passes through shaft coupling and the operation actuator driven motor
Coaxially connected, the output gear of the transmission gear pair and the input terminal of the bevel gear box are coaxially connected.
6. as claimed in claim 4 a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that described straight
Line transmission component includes:
In the sliding slot housing and the screw rod coaxially connected with the output end of the bevel gear box, and
By being threadedly engaged in the nut on the screw rod；
The nut is the movable end of the Linear transmission component, turns sliding block by resistance and connects with the wherein one sliding shoe fastening
It connects.
7. as described in claim 1 a kind of for driving the driving unit of flexible Continuum Structure, which is characterized in that the knot
Structure bone driving mechanism includes:
Successively interval setting and a two driving support plates and motor fixing plate to be linked into an integrated entity by support column,
It is installed on the structural bone driving motor of the motor fixing plate,
Driving gear set and pulley blocks of the rotary setting between the two drivings support plate,
The driving gear being connected by shaft coupling with the structural bone driving motor, and
One end is fixedly connected with the driving structure section base plate, the other end is fastenedly connected in the structure bone guided on the support column
Channel；
The driving gear set and pulley blocks respectively constitute several pulley gear sets, and coaxially fixation connects for every group of middle pulley and gear
It connects, is intermeshed between each gear；The driving structure section structure bone protrudes into described in each group through the structural bone guiding channel
Between the pulley of pulley gear set, the driving gear engages transmitting driving with the gear in wherein pulley gear set described in one group
Power, the driving gear set and pulley blocks are rotated together about respective axis, and then are realized by frictional force to the driving structure section
The push-and-pull of structural bone.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799232.7A CN106308939B (en) | 2016-08-31 | 2016-08-31 | It is a kind of for driving the driving unit of flexible Continuum Structure |
| PCT/CN2017/100021 WO2018041231A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument and driving unit thereof |
| US16/329,752 US11642112B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument and driving unit thereof |
| EP17845533.3A EP3508166B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument and driving unit thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799232.7A CN106308939B (en) | 2016-08-31 | 2016-08-31 | It is a kind of for driving the driving unit of flexible Continuum Structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106308939A CN106308939A (en) | 2017-01-11 |
| CN106308939B true CN106308939B (en) | 2019-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610799232.7A Active CN106308939B (en) | 2016-08-31 | 2016-08-31 | It is a kind of for driving the driving unit of flexible Continuum Structure |
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| CN (1) | CN106308939B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3508166B1 (en) * | 2016-08-31 | 2024-02-07 | Beijing Surgerii Robotics Company Limited | Flexible surgical instrument and driving unit thereof |
| CN111166480B (en) * | 2018-11-09 | 2021-09-21 | 中国科学院沈阳自动化研究所 | Hierarchical rack and pinion driven surgical instrument |
| CN109498154A (en) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
| CN110507416B (en) * | 2019-07-12 | 2022-01-18 | 南京航空航天大学 | Minimally invasive surgery system adopting self-unfolding flexible micro-fine operation arm and control method thereof |
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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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