CN106344157B - A kind of sterilizable flexible operation tool system - Google Patents
A kind of sterilizable flexible operation tool system Download PDFInfo
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- CN106344157B CN106344157B CN201610796082.4A CN201610796082A CN106344157B CN 106344157 B CN106344157 B CN 106344157B CN 201610796082 A CN201610796082 A CN 201610796082A CN 106344157 B CN106344157 B CN 106344157B
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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
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Abstract
The present invention relates to a kind of sterilizable flexible operation tool systems, including flexible Continuum Structure, and the flexibility Continuum Structure includes far structure body, middle connection body and near structure body；The far structure body includes at least one distal end structure section, and the distal end structure section includes distal end space disc, distal end fixed disk and structural bone；The near structure body includes the proximal end structure section equal with the distal end structure joint number amount, and the proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；The proximal end structure section is associated with by the middle connection body with the distal end structure section；It further include gear unit, the gear unit includes the transmission mechanism fixed plate being arranged in front of the middle connection body, the gear drive for Rotary motion input to be converted to linear motion output is provided in the transmission mechanism fixed plate, the output end of the gear drive is fastenedly connected by one end of adapter and driving bone, and the other end of the driving bone is fastenedly connected after passing through the proximal end space disc with proximal end fixed disk.
Description
Technical field
The present invention relates to a kind of sterilizable flexible operation tool systems, belong to medical instruments field.
Background technique
Porous laparoscopic minimally invasive surgery occupies in surgical operation important because its wound is small, post-operative recovery is fast
Status.It is minimally invasive that the da Vinci operating robot auxiliary doctor of existing Intuitive Surgical company completes porous laparoscope
Operation, 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.
Although Intuitive Surgical company is proposed da Vinci Single-Site operating robot in the recent period,
It transform original rigid surgical instrument as semi-rigid surgical instrument, and increases prebuckling casing, improve to a certain extent
The movenent performance of surgical instrument, but still can not fundamentally solve traditional micro-surgical instrument problem encountered.
Summary of the invention
In view of the above-mentioned problems, this is soft it is an object of the present invention to provide a kind of sterilizable flexible operation tool system
Property operation tool system can preferably be applied to through human body natural's cavity or through single operative incision and implement the machine of operation
Device people's system.
To achieve the above object, the invention adopts the following technical scheme: a kind of sterilizable flexible operation tool system, packet
Flexible Continuum Structure is included, the flexibility Continuum Structure includes far structure body, middle connection body and near structure body；It is described
Far structure body includes at least one distal end structure section, and the distal end structure section includes distal end space disc, distal end fixed disk and structural bone；
The near structure body includes the proximal end structure section equal with the distal end structure joint number amount, and the proximal end structure section includes proximal end interval
Disk, proximal end fixed disk and structural bone；The proximal end structure section is associated with by the middle connection body with the distal end structure section；Its feature
It is: further includes gear unit, the gear unit includes the transmission mechanism fixed plate being arranged in front of the middle connection body,
The gear drive machine for Rotary motion input to be converted to linear motion output is provided in the transmission mechanism fixed plate
The output end of structure, the gear drive is fastenedly connected by one end of adapter and driving bone, described to drive the another of bone
End is fastenedly connected after the proximal end space disc with proximal end fixed disk.
The middle connection body includes two channel fixed plates and the structural bone that is arranged between the two channel fixed plates
Guiding channel；Structural bone one-to-one correspondence in structural bone and the proximal end structure section in the distal end structure section is fastenedly connected or is same
A piece structural bone, one end of the structural bone are fastenedly connected with the proximal end fixed disk, sequentially pass through the proximal end space disc, institute
Structural bone guiding channel, the distal end space disc are stated, the other end is fastenedly connected with the distal end fixed disk.
The gear drive includes driving gear, rack gear, sliding block, guide rod, guide rod base and steering structure bone；It is described
Guide rod is fastenedly connected in the transmission mechanism fixed plate or flexible operation front tool plate by the guide rod base, the cunning
Block is slidably connected with the guide rod, and the sliding block is fastenedly connected with the rack gear, in the rack gear and the steering structure bone
Portion is fastenedly connected, and the both ends of the steering structure bone pass through the transmission mechanism fixed plate and extend back and transfer respectively with one
Head connection；The rack gear is engaged with the driving gear；The driving gear is fastened and inserted in a drive shaft, the driving
The rear end thereof of axis is supported on the flexible operation tool end plate at the near structure body rear and is fastenedly connected with connection
Axis device male connector.
It is provided with guide rod between two channel fixed plates, the adapter is slidably connected with the guide rod.
The middle connection body includes two channel fixed plates and the structural bone that is arranged between the two channel fixed plates
Guiding channel；The each steering structure bone is passed through from two steering structure bone guided channels, the steering structure bone
One end of guiding channel is fastenedly connected with the channel fixed plate, the other end with leading in the transmission mechanism fixed plate is set
Rod base is fastenedly connected.
The front end of the far structure body is provided with operation actuator, the control line of the operation actuator is from the distal end
It is passed through in structural body, the other end is connect with the actuator driven mechanism, and the operation actuator driven mechanism passes through to described
Control action control of the physics push-and-pull realization to the operation actuator of line.
The operation actuator driven mechanism includes screw rod, nut, guide sleeve pedestal, guide sleeve, push-pull rod and shaft coupling
Male connector；The screw rod be rotatably connected on the flexible operation tool ends end plate for being placed in the near structure body rear and rear end with it is described
Shaft coupling male connector is fastenedly connected；The nut is threadedly attached on the screw rod；The front end of the guide sleeve pedestal fastens
The guide sleeve is connected, rear end is fastenedly connected on the flexible operation tool ends end plate；The inner hole of the guide sleeve is limitation institute
It states nut and is only capable of the square hole slided in inner hole without being able to rotate；The rear end of the push rod is fastenedly connected with the nut, front end
It is fastenedly connected with the control line.
It further include flexible operation tool outer casing, the transmission mechanism fixed plate, flexible operation front tool plate and flexible hand
Art tool end plate is fastenedly connected with the flexible operation tool outer casing.
It further include electric-motor drive unit, the electric-motor drive unit is connected by sterile barrier and the flexible operation tool
It connects；The electric-motor drive unit includes electric-motor drive unit shell, motor fixing plate and multiple is fastenedly connected in the motor
Motor in fixed plate, the output shaft of each motor are fastenedly connected with second shaft coupling male connector；The sterile barrier includes
Sterile barrier support plate, sterile barrier outer cover and multiple shaft coupling females being rotatably connected in the sterile barrier support plate,
The front end of the shaft coupling female is connect with the shaft coupling male connector, and rear end is connect with the second shaft coupling male connector；Sterile
It is fastenedly connected that whether there is or not mycoderms on barrier outer cover.
The front end of the motor fixing plate is provided with the first connection key seat, is set in the rear end of the sterile barrier support plate
It is equipped with the second connection key seat, the first connection key seat connect key seat with described second and connects by pin hole.
It further include electric-motor drive unit, the electric-motor drive unit is connected by sterile barrier and the flexible operation tool
It connects；The electric-motor drive unit includes electric-motor drive unit shell, motor fixing plate and is fastenedly connected in the motor fixing plate
On the second motor, the motor fixing plate is connect with the electric-motor drive unit housing into rotation, in the electric-motor drive unit
The inner wall of shell is fastenedly connected with ring gear, and the output shaft of second motor is fastenedly connected with gear, the gear with it is described
Ring gear engagement.
It further include electric-motor drive unit shell and linear mould group, the electric-motor drive unit shell and the flexible work of performing the operation
Has shell direct or indirect connection；The linear mould group includes support body, the third motor being fastenedly connected on the support body
And the Linear feed mechanism being fastenedly connected with the output shaft of the third motor, the output end fastening of the Linear feed mechanism
The electric-motor drive unit shell is connected, the third motor drives the electric-motor drive unit by the Linear feed mechanism
Shell drives the electric-motor drive unit, sterile barrier and flexible operation tool to move along a straight line.
The Linear feed mechanism includes the lead screw being rotatably connected on the support body, be arranged on the lead screw with
The lead screw passes through the second sliding block being threadedly engaged, and straight, the second sliding block sliding are provided on the support body
It is arranged in the straight；The output shaft of the third motor is fastenedly connected by shaft coupling and the lead screw.
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention using include near structure body,
Based on the flexible Continuum Structure of middle connection body and far structure body, and cooperate with gear unit, wherein far structure body
It is associated with by middle connection body near structure body, gear unit is associated with near structure body, when electric-motor drive unit driving is close
When end structure body is curved to any direction, far structure body correspondingly curves in the opposite direction, therefore can realize by distal colorectal
The flexible surgical arm that structure body and strip of paper used for sealing are constituted it is any to curve movement.2, the present invention is near structure body, middle connection body
In far structure body, using the structural bone arrangement (structural bone quantity is greater than three) of redundancy, flexible operation tool system can be improved
Safety, reliability and the load capacity of system.3, between the flexible operation tool of the present invention and electric-motor drive unit by band whether there is or not
The sterile barrier of mycoderm connects, so that effectively the part that system does not sterilize be isolated with the part sterilized, guarantees to face
The exploitativeness of bed operation.4, the present invention is provided with multiple groups gear drive in flexible operation tool, the gear drive machine
Structure can convert drive shaft Rotary motion input to linear motion output, and the lesser steering structure bone fixation of one more rigidity connects
Be connected in one group of gear drive, the achievable wide-angle space of this strand of steering structure bone curve and transmit it is described linear motion it is defeated
Out, the both ends of steering structure bone can be fixedly connected with rigidity biggish different driving bone one end respectively, and the driving bone other end is solid
Surely it is connected in proximal structure body, can finally pass through multiple groups gear drive coordinated drive near structure body in smaller space
It is curved to any direction.5, the present invention is provided with operation actuator in the front end of far structure body, and the control line for actuator of performing the operation is worn
Far structure body is crossed, the other end is connect with the operation actuator driven mechanism being located at middle connection body, to realize to operation
The action control of actuator.6, the present invention is provided with ring gear in the inner wall fastening of electric-motor drive unit shell, fixes in motor
It is provided with the motor for driving the part in addition to shell, ring gear to be rotated on plate, therefore, can be driven and be removed using motor
Part other than electric-motor drive unit shell, ring gear is integrally rotated, to carry out to the roll angle of operation actuator
It adjusts.7, the present invention is additionally provided with linear mould group, is attached with housing parts and shell can be driven to carry out linear movement,
Therefore, flexible surgical arm also has linear feeding freedom degree.
Present invention can apply to single hole endoscope-assistant surgery, can also be applied to through natural cavity non-invasive procedures.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of far structure body of the present invention；
Fig. 3 is the structural schematic diagram of near structure body of the present invention；
Fig. 4 is the structural schematic diagram of middle connection body of the present invention；
Fig. 5 is the structural schematic diagram of gear unit of the present invention；
Fig. 6 is the structural schematic diagram of present invention operation actuator driven mechanism；
Fig. 7 is the structural schematic diagram of electric-motor drive unit of the present invention；
Fig. 8 is that the present invention loads onto the structural schematic diagram after flexible operation tool outer casing, sterile barrier and linear mould group；
Fig. 9 is the structural schematic diagram of sterile barrier of the present invention；
Structural schematic diagram when Figure 10 far structure body of the present invention is using flexible sheath.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention includes flexible operation tool 10, flexible operation tool 10 includes by far structure body 11
The flexible non-individual body of (as shown in Figure 2), near structure body 16 (as shown in Figure 3) and the composition (as shown in Figure 5) of middle connection body 15
Structure and gear unit 21.Wherein, far structure body 11 is associated with by middle connection body 15 near structure body 16；Gear unit
21 are associated with near structure body 16, when gear unit 21 drives near structure body 16 to curve to any direction, far structure body
11 correspondingly curve in the opposite direction.
As shown in Fig. 2, far structure body 11 includes the first distal end structure section 12 and the second distal end structure section 13, the first distal end structure section
12 include the first distal end space disc 121, the first distal end fixed disk 122 and the first structure section structure bone 123；Second distal end structure section 13 packet
Include the second distal end space disc 131, the second distal end fixed disk 132 and the second structure section structure bone 133.Wherein, the first distal end space disc
121 and second distal end space disc 131 be respectively separated and be distributed in the first distal end structure section 12 and the second distal end structure section 13, effect is anti-
Only the first structure section structure bone 123 and the second unstability when being pushed away of structure section structure bone 133.
As shown in figure 3, near structure body 16 includes the first proximal end structure section 17 and the second proximal end structure section 18, the first proximal end structure section
17 include the first proximal end space disc 171, the first proximal end fixed disk 172 and the first structure section structure bone 173；Second proximal end structure section 18 packet
Include the second proximal end space disc 181, the second proximal end fixed disk 182 and the second structure section structure bone 183；Wherein, the first proximal end space disc
171 and second proximal end space disc 181 be respectively separated and be distributed in the first proximal end structure section 17 and the second proximal end structure section 18, effect is anti-
Only the first structure section structure bone 173 and the second unstability when being pushed away of structure section structure bone 183.First on the first proximal end structure section 17
Structure section structure bone 173 is fastenedly connected with the first structure section structure bone 123 one-to-one correspondence being located on the first distal end structure section 12 or is same
A piece structural bone；The second structure section structure bone 183 on the second proximal end structure section 18 be located on the second distal end structure section 13 the
Two structure section structure bones 133 one-to-one correspondence is fastenedly connected or is same root structural bone.For each proximal end structure section 17,18 and each remote
Structure section 12,13 is held, the quantity of structural bone is three or more.
As shown in figure 4, middle connection body 15 includes two channel fixed plates 152 and is fixedly connected on two channel fixed plates
Structural bone guiding channel 151 between 152.One end of first structure section structure bone 173 (123) and the first proximal end fixed disk 172 are tight
It is solidly connected, after the other end sequentially passes through the first proximal end space disc 171, structural bone guiding channel 151, the first distal end space disc 121
It is fastenedly connected with the first distal end fixed disk 122.One end of second structure section structure bone 183 (133) and the second proximal end fixed disk 182 are tight
It is solidly connected, the other end sequentially passes through the second proximal end space disc 181, structural bone guiding channel 151, the first distal end structure section 12, second
It is fastenedly connected after distal end space disc 131 with the second distal end fixed disk 132.The effect of structural bone guiding channel 151 is to maintain structure
Bone is by shape invariance when push and draw force.
Proximal end structure joint number included by distal end structure joint number and near structure body 16 included by said distal ends structural body 11
It is also possible to one or more than two, but proximal end structure joint number must be consistent with distal end structure joint number.In addition, working as distal structure
When structure joint number in distal end included by body 11 is more than two, connected between each distal end structure section using concatenated mode, i.e. the second structure
Section structure bone from the first distal end fixed disk, the first distal end space disc (if the first structure section structure bone uses tubular structure, can also be from the
Passed through in one structure section structure bone) on across；When the proximal end structure joint number included by the near structure body 16 is more than two, each structure section
Between can be using being connected in series, be independently arranged or nested setting (as shown in Figure 3) etc..
As shown in Figure 1, shown in Figure 5, gear unit 21 includes the transmission mechanism fixed plate 24 that 15 front of middle connection body is arranged in
And the gear drive 22 between transmission mechanism fixed plate 24 and flexible operation front tool plate 105 is set, gear passes
Motivation structure 22 is used to be converted to Rotary motion input linear motion output, and the output end of gear drive 22 is turned by two
Connector 23 drives one end of bone 211 to be fastenedly connected respectively with two, and the other end of two driving bones 211 is each passed through the first proximal end
It is fastenedly connected after space disc 171 with the first proximal end fixed disk 172, or consolidates after passing through the second proximal end space disc 181 with the second proximal end
Price fixing 182 is fastenedly connected.Collaboration push-and-pull can be carried out to a pair of driving bone 211 by a gear drive 22 as a result, from
And realize curving for the first proximal end structure section 17 or the second proximal end structure section 18.In the present embodiment, the quantity for driving bone 211 is eight
Root, wherein four are fastenedly connected with the first proximal end fixed disk 172, another four are fastenedly connected with the second proximal end fixed disk 182.Due to
Each gear drive 22 can cooperate with a pair of of driving bone 211 of push-and-pull by two adapters 23, therefore, in the present embodiment
In altogether there are four gear drive 22, two of them gear drive 22 is for driving the first proximal end structure section 17 to any side
To curve movement, when the first proximal end structure section 17 is curved to some direction, the first distal end structure section 12 will close in certain proportion
System's (being codetermined by the distribution radius of the first structure section structure bone 173 and the first structure section structure bone 123) curves in the opposite direction；
Another two gear drive 22 is for driving the second proximal end structure section 18 to curve movement to any direction, when the second proximal end structure section
18 to some direction when curving, the second distal end structure section 13 will in certain proportion relationship (by the second structure section structure bone 183 and second
The distribution radius of structure section structure bone 133 codetermines) it curves in the opposite direction.
As shown in figure 5, gear drive 22 includes driving gear 221, rack gear 222, sliding block 223, guide rod 224, guide rod
Pedestal 225 and steering structure bone 226, wherein guide rod 224 is fastenedly connected by guide rod base 225 in transmission mechanism fixed plate 24
Or on flexible operation front tool plate 105, sliding block 223 is slidably connected with guide rod 224, and sliding block 223 is fastenedly connected with rack gear 222,
Rack gear 222 and the middle part of a branch of steering structure bone 226 are fastenedly connected, and the both ends of the beam steering structure bone 226 pass through transmission mechanism
Fixed plate 24 extends back, and is connect respectively by an adapter 23 with a driving bone 211.Rack gear 222 and driving tooth
221 engagement of wheel, driving gear 221 are fastened and inserted in drive shaft 213, and it is solid that the rear end of drive shaft 213 sequentially passes through transmission mechanism
Fixed board 24, channel fixed plate 152 and flexible operation tool end plate 106 and and shaft coupling that 16 rear of near structure body is set
Device male connector 212 is fastenedly connected, meanwhile, it is rotation connection between drive shaft 213 and flexible operation tool end plate 106.
In above-described embodiment, multiple guide rods can be set between two channel fixed plates 152, adapter 23 and guide rod are sliding
Dynamic connection avoids adapter 23 from being flipped when push-and-pull drives bone 211 to guarantee that adapter 23 moves along a straight line always.
In above-described embodiment, each steering structure bone 226 is passed through from two steering structure bone guided channels 228,
The one end in steering structure bone guided channel is fastenedly connected with channel fixed plate 152, and the other end is fastenedly connected with guide rod base 225,
The effect in steering structure bone guided channel 228 is to maintain steering structure bone 226 by shape invariance when push and draw force.
In above-described embodiment, the front end of far structure body 11 is provided with operation actuator 101 (as shown in Figure 2), operation
The control line 102 of actuator 101 is passed through from far structure body 11, and the other end is connect with operation actuator driven mechanism 25.Operation
Actuator driven mechanism 25 realizes the control to operation actuator 101 (such as surgical clamp) by the physics push-and-pull to control line 102.Control
Line 102 can also equally transmit such as various forms of energy of electric energy, high-frequency vibration to realize the specific of operation actuator 101
Surgical functions.As shown in Figure 5, Figure 6, operation actuator driven mechanism 25 include screw rod 251, nut 252, guide sleeve pedestal 253,
Guide sleeve 254, push-pull rod 255 and shaft coupling male connector 256, wherein screw rod 251 is rotatably connected on flexible operation tool end plate
106 center and rear end is fastenedly connected with shaft coupling male connector 256, nut 252 is threadedly attached on screw rod 251；Guide sleeve
The front end of pedestal 253 is fastenedly connected guide sleeve 254, and rear end is fastenedly connected on flexible operation tool end plate 106；Guide sleeve
254 inner hole is that square hole and being formed to nut 252 limits, make nut 252 be only capable of sliding in the inner hole of guide sleeve 254 and cannot
Rotation；The rear end of push-pull rod 255 is fastenedly connected with nut 252, and front end is fastenedly connected with control line 102.
In above-described embodiment, as shown in Figure 7, Figure 8, the invention also includes electric-motor drive unit 40, electric-motor drive units 40
It is connect by sterile barrier 30 with flexible operation tool 10.Flexible operation tool 10 further includes flexible operation tool outer casing 107, is led to
Road fixed plate 152, transmission mechanism fixed plate 24 and flexible operation tool end plate 106 are tight with flexibility operation tool outer casing 107
It is solidly connected.Electric-motor drive unit 40 includes electric-motor drive unit shell 401, motor fixing plate 402 and multiple is fastenedly connected
First motor (not shown) on motor fixing plate 402, the output shaft of each first motor are fastenedly connected a connection
Axis device male connector 403.As shown in figure 9, sterile barrier 30 includes sterile barrier support plate 301, sterile barrier outer cover 302 and multiple
The shaft coupling female 303 being rotatably connected in sterile barrier support plate 301, the rear end of shaft coupling female 303 and shaft coupling male connector
403 connections, front end is connect with shaft coupling male connector 212 or shaft coupling male connector 256.The front side of motor fixing plate 402 is provided with company
Outbound seat 404 is correspondingly arranged on connection key seat 304 in the rear side of sterile barrier support plate 301, connects key seat 404 and connecting pin
Seat 304 can quickly be connected by pin hole；Sterile barrier outer cover 302 and operation tool shell 107 use detachable connection method.?
It is fastenedly connected on sterile barrier outer cover 302 whether there is or not mycoderm (not shown), is used for sterilizable part (such as flexible operation work
Tool 10 is equal be located at sterile barrier 30 before part) (such as electric-motor drive unit 40 is located at sterile barrier with the part that does not sterilize
Part later) it is isolated, guarantee the clinical exploitativeness of operation.
It is rotation connection between motor fixing plate 402 and electric-motor drive unit shell 401, in motor in above-described embodiment
The inner wall of driving unit shell 401 is fastenedly connected with ring gear 422, and the second electricity is also fastenedly connected on motor fixing plate 402
Machine (not shown), the output shaft of the second motor are fastenedly connected with gear 421, and gear 421 is engaged with ring gear 422.When
It when the output shaft rotation of two motors, will be rotated with moving gear 421, gear 421 will be along the circumferential walking of ring gear 422, thus band
The dynamic entire infrastructure in addition to electric-motor drive unit shell 401 and ring gear 422 is rotated around the axis of ring gear 422, from
And realize the integral-rotation of flexible operation tool 10, and realize the roll angle to far structure body 101 and operation actuator 30
Control.
In above-described embodiment, as shown in figure 8, (linear mould group 50 is also through sterile film the invention also includes linear mould group 50
230 keep apart with sterilization section) comprising the support body 501 with sliding slot, rotation is provided with lead screw on support body 501
502, it is arranged on lead screw 502 with lead screw 502 by being threadedly engaged and being slidably arranged in the sliding block 503 in sliding slot, in bracket
One end of body 501 is provided with motor 504, and output shaft and the lead screw 502 of motor 504 are fastenedly connected by shaft coupling.Motor driven
Unit housings 401 are fastenedly connected with sliding block 503.When the rotation of the output shaft of motor 504, sliding block 503 will drive motor driven list
First shell 401 does linear movement along the chute, to realize the feed motion of flexible operation tool 10.
In above-described embodiment, as shown in Figure 1, being provided with strip of paper used for sealing 103 in the outside of far structure body 11, it acts as improvement
Far structure body 11 enters the smoothness of human body natural's cavity or operative incision.In the outside of strip of paper used for sealing 103, sheath can also be set
60 (as shown in Figure 2), in one application, sheath 60 are fixed on the single incision in abdominal cavity, and far structure body 11 is together with strip of paper used for sealing
103, operation actuator 101 can pass freely through and reach art portion for the through-hole that operation tool passes through in sheath 60.As shown in Figure 10,
Sheath 60 can also more easily can protrude into all kinds of natural cavities of human body and the shape with cavity using flexible sheath
And cavity inlet is fixed in adaptively changing shape, one end of flexible sheath, far structure body 11 is together with strip of paper used for sealing 103, operation
Actuator 101 can equally pass freely through flexible sheath and put on the through-hole arrival art portion passed through for operation tool.
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 (13)
1. a kind of sterilizable flexibility operation tool system, including flexible Continuum Structure, the flexibility Continuum Structure include
Far structure body, middle connection body and near structure body；The far structure body includes at least one distal end structure section, the distal end
Structure section includes distal end space disc, distal end fixed disk and structural bone；The near structure body includes and the distal end structure joint number amount phase
Deng proximal end structure section, the proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；The proximal end structure section passes through institute
Middle connection body is stated to be associated with the distal end structure section；
It is characterized by also including gear unit, the gear unit includes the transmission being arranged in front of the middle connection body
Mechanism fixed plate and straight-line motion mechanism are provided in the transmission mechanism fixed plate for converting Rotary motion input
The one end for passing through adapter and driving bone for the gear drive of linear motion output, the output end of the gear drive
It is fastenedly connected, the other end of the driving bone is fastenedly connected after passing through the proximal end space disc with proximal end fixed disk；
The gear drive further includes steering structure bone, the output end of the gear drive and the steering structure bone
Middle part be fastenedly connected, the both ends of the steering structure bone pass through the transmission mechanism fixed plate extend back and respectively with one
Adapter connection；The one end of the rear end of two adapters respectively with a pair of of driving bone is fastenedly connected, to the driving bone into
Row collaboration push-and-pull.
2. a kind of sterilizable flexible operation tool system as described in claim 1, it is characterised in that: the middle connection body
Including two channel fixed plates and the structural bone guiding channel being arranged between the two channel fixed plates；In the distal end structure section
Structural bone and the proximal end structure section in structural bone one-to-one correspondence be fastenedly connected or for same root structural bone, the structural bone
One end is fastenedly connected with the proximal end fixed disk, sequentially passes through the proximal end space disc, the structural bone guiding channel, described remote
Space disc is held, the other end is fastenedly connected with the distal end fixed disk.
3. a kind of sterilizable flexible operation tool system as described in claim 1, it is characterised in that: the gear drive machine
Structure includes going back driving gear, sliding block, guide rod, guide rod base；The output end of the gear drive is rack gear, and the guide rod is logical
It crosses the guide rod base to be fastenedly connected in the transmission mechanism fixed plate or flexible operation front tool plate, the sliding block and institute
It states guide rod to be slidably connected, the sliding block is fastenedly connected with the rack gear, and the rack gear is engaged with the driving gear；The active
Gear is fastened and inserted in a drive shaft, and the rear end thereof of the drive shaft is supported on positioned at the near structure body rear
On flexible operation tool end plate and it is fastenedly connected with shaft coupling male connector.
4. a kind of sterilizable flexible operation tool system as claimed in claim 2, it is characterised in that: in two channels
Guide rod is provided between fixed plate, the adapter is slidably connected with the guide rod.
5. a kind of sterilizable flexible operation tool system as claimed in claim 3, it is characterised in that: the middle connection body
Including two channel fixed plates and the structural bone guiding channel being arranged between the two channel fixed plates；The each steering
Structural bone is passed through from two steering structure bone guided channels, the one end and the channel in steering structure bone guided channel
Fixed plate is fastenedly connected, and the other end is fastenedly connected with the guide rod base being arranged in the transmission mechanism fixed plate.
6. a kind of sterilizable flexible operation tool system as described in claim 1, it is characterised in that: in the distal structure
The front end of body is provided with operation actuator, and the control line of the operation actuator is passed through from the far structure body, the other end with
The actuator driven mechanism that performs the operation connection, the operation actuator driven mechanism are realized by the physics push-and-pull to the control line to institute
State the action control of operation actuator.
7. a kind of sterilizable flexible operation tool system as claimed in claim 6, it is characterised in that: the operation actuator
Driving mechanism includes screw rod, nut, guide sleeve pedestal, guide sleeve, push-pull rod and shaft coupling male connector；The screw rod is rotatably connected on
It is placed on the flexible operation tool ends end plate at the near structure body rear and rear end is fastenedly connected with the shaft coupling male connector；It is described
Nut is threadedly attached on the screw rod；The front end of the guide sleeve pedestal is fastenedly connected the guide sleeve, rear end fastening
It is connected on the flexible operation tool ends end plate；The inner hole of the guide sleeve be limit the nut be only capable of sliding in inner hole and
The square hole not being able to rotate；The rear end of the push-pull rod is fastenedly connected with the nut, and front end is fastenedly connected with the control line.
8. a kind of sterilizable flexible operation tool system as claimed in claim 3, it is characterised in that: further include flexible operation
Tool outer casing, the transmission mechanism fixed plate, flexible operation front tool plate and flexible operation tool end plate with it is described soft
Property operation tool shell is fastenedly connected.
9. a kind of sterilizable flexible operation tool system as claimed in claim 8, it is characterised in that: further include motor driven
Unit, the electric-motor drive unit are connect by sterile barrier with the flexible Continuum Structure；The electric-motor drive unit packet
Electric-motor drive unit shell, motor fixing plate and multiple motors being fastenedly connected on the motor fixing plate are included, each
The output shaft of motor is fastenedly connected with second shaft coupling male connector；The sterile barrier includes sterile barrier support plate, sterile screen
Hinder outer cover and multiple shaft coupling females being rotatably connected in the sterile barrier support plate, the front end of the shaft coupling female with
The shaft coupling male connector connection, rear end is connect with the second shaft coupling male connector；Be fastenedly connected on sterile barrier outer cover whether there is or not
Mycoderm.
10. a kind of sterilizable flexible operation tool system as claimed in claim 9, it is characterised in that: solid in the motor
The front end of fixed board is provided with the first connection key seat, and the rear end of the sterile barrier support plate is provided with the second connection key seat, institute
State the first connection key seat with described second connect key seat pass through pin hole connect.
11. a kind of sterilizable flexible operation tool system as claimed in claim 8, it is characterised in that: further include that motor drives
Moving cell, the electric-motor drive unit are connect by sterile barrier with the flexible Continuum Structure；The electric-motor drive unit
Including electric-motor drive unit shell, motor fixing plate and the second motor being fastenedly connected on the motor fixing plate, the electricity
Machine fixed plate is connect with the electric-motor drive unit housing into rotation, is fastenedly connected in the inner wall of the electric-motor drive unit shell
Ring gear, the output shaft of second motor are fastenedly connected with gear, and the gear is engaged with the ring gear.
12. a kind of sterilizable flexible operation tool system as claimed in claim 11, it is characterised in that: further include that motor drives
Moving cell shell and linear mould group, the electric-motor drive unit shell directly or indirectly connect with the flexible operation tool outer casing
It connects；The linear mould group include support body, the third motor being fastenedly connected on the support body and with the third motor
The Linear feed mechanism that is fastenedly connected of output shaft, the output end of the Linear feed mechanism is fastenedly connected the motor driven list
First shell, the third motor drive the electric-motor drive unit shell that the motor is driven to drive by the Linear feed mechanism
Moving cell, sterile barrier and flexible Continuum Structure move along a straight line.
13. a kind of sterilizable flexible operation tool system as claimed in claim 12, it is characterised in that: the straight-line feed
Mechanism includes the lead screw being rotatably connected on the support body, is arranged on the lead screw with the lead screw by being threadedly engaged
The second sliding block, straight is provided on the support body, second sliding block is slidably arranged in the straight；
The output shaft of the third motor is fastenedly connected by shaft coupling and the lead screw.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796082.4A CN106344157B (en) | 2016-08-31 | 2016-08-31 | A kind of sterilizable flexible operation tool system |
| US16/329,745 US11684432B2 (en) | 2016-08-31 | 2017-08-31 | Sterilizable flexible surgical instrument system |
| PCT/CN2017/099856 WO2018041205A1 (en) | 2016-08-31 | 2017-08-31 | Sterilizable flexible surgical instrument system |
| EP17845507.7A EP3508152A4 (en) | 2016-08-31 | 2017-08-31 | Sterilizable flexible surgical instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796082.4A CN106344157B (en) | 2016-08-31 | 2016-08-31 | A kind of sterilizable flexible operation tool system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106344157A CN106344157A (en) | 2017-01-25 |
| CN106344157B true CN106344157B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610796082.4A Active CN106344157B (en) | 2016-08-31 | 2016-08-31 | A kind of sterilizable flexible operation tool system |
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| Country | Link |
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| CN (1) | CN106344157B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3508152A4 (en) | 2016-08-31 | 2020-06-24 | Beijing Surgerii Technology Co., Ltd. | Sterilizable flexible surgical instrument system |
| CN108245254B (en) * | 2018-01-10 | 2021-03-26 | 北京术锐技术有限公司 | Multipurpose flexible surgical tool system |
| KR102428622B1 (en) | 2018-01-10 | 2022-08-03 | 베이징 서제리 테크놀로지 씨오., 엘티디. | Versatile Flexible Surgical Tool System |
| CN109806487A (en) * | 2019-01-04 | 2019-05-28 | 南京航空航天大学 | A kind of restructural conduit robot of rope driving for intervening operation |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK1605832T3 (en) * | 2003-03-13 | 2009-11-09 | Medtronic Inc | Apparatus for temporarily engaging body tissue |
| CN103315781B (en) * | 2013-07-10 | 2015-03-18 | 上海交通大学 | Endoscope noninvasive surgery system |
| CN103707322B (en) * | 2013-12-31 | 2016-04-20 | 汪雯 | Retractable and flexible non-individual body frame for movement can be curved |
| CN104546048B (en) * | 2015-01-19 | 2016-11-16 | 上海逸思医疗科技有限公司 | A kind of surgical instruments and control bender structure 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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