CN106419975A - Electrically-driven multi-degree-of-freedom transurethral surgery system - Google Patents
Electrically-driven multi-degree-of-freedom transurethral surgery system Download PDFInfo
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- CN106419975A CN106419975A CN201611046709.0A CN201611046709A CN106419975A CN 106419975 A CN106419975 A CN 106419975A CN 201611046709 A CN201611046709 A CN 201611046709A CN 106419975 A CN106419975 A CN 106419975A
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
The invention relates to an electrically-driven multi-degree-of-freedom transurethral surgery system comprising a multi-degree-of-freedom surgical tool and a surgical tool driving unit, the multi-degree-of-freedom surgical tool comprises a flexible continuous body mechanical arm and a mechanical arm driving unit; the flexible continuous body mechanical arm comprises a first-section continuous body, a second-section continuous body and a surgery clamp; the first-section continuous body comprises four equidistantly and parallelly arranged first structural bones, multiple equidistantly distributed first spacing discs and a first fixing piece, the rear end of each first structural bone is connected with the mechanical arm driving unit, and the front end of each first structural bone sequentially penetrates the first spacing discs to be fixedly connected with the first fixing piece; the second-section continuous body comprises four equidistantly and parallelly arranged second structural bones, multiple equidistantly distributed second spacing discs and a second fixing piece, the rear end of each second structural bone is connected with the mechanical arm driving device, and the front end of each second structural bone sequentially penetrates the first spacing discs, the first fixing piece and the second spacing discs to be fixedly connected with the second fixing piece.
Description
Technical field
The present invention relates to a kind of transurethral electric drive multiple degrees of freedom surgery systems, belong to medical instruments field.
Background technology
In modern medical service field, Minimally Invasive Surgery is when the postoperative pain for reducing patient and complication, shortening are in hospital
Between, improve the aspects such as postoperative cicatrix situation and achieve successfully.In the field, the Intuitive of successful commercialization at present
The da Vinci porous laparoscopic surgery robot developed by Surgical company disclosure satisfy that the requirement of multiple Minimally Invasive Surgerys.But
With reaching its maturity and the higher and higher requirement of patient for medical skill, occur in that through human body natural's tract operation (natural
Orifice trans-luminal endoscopic surgery, NOTES), it is characterized in not needing any otch, surgical device
Tool needs to carry out clamping the surgical action such as suture by reaching art portion after long and narrow complicated body cavities.At present, including
Da Vinci is in the existing operating robot of interior major part because of the limit of its rigid structure, apparent size and degree of freedom configuration etc.
System, is all difficult to meet the technical requirements through the operation of human body natural's tract, particularly with the urological surgery that per urethra is put to good use.By
8mm is typically smaller than in urethra diameter, there is no in current world wide company develop can transurethral operating robot, therefore,
The urology procedure that per urethra is put to good use as the important branch that performs the operation through human body natural's tract, with high novelty and wide
General social application is worth.
Content of the invention
For the problems referred to above, it is an object of the invention to provide a kind of transurethral electricity for implementing operation suitable for per urethra drives
Dynamic multiple degrees of freedom surgery systems.
For achieving the above object, the present invention is employed the following technical solutions：A kind of transurethral electric drive multiple degrees of freedom operation
System, it is characterised in that：It includes a surgical instrument with degrees of freedom and an operation tool drives unit, wherein, multiple degrees of freedom handss
Art instrument includes a flexible continuum mechanical arm and a mechanical arm driving device；The flexibility continuum mechanical arm includes one first
Section continuum and a second section continuum；The first segment continuum include four first structure bones be arrangeding in parallel at equal intervals,
Multiple the first space discs being spacedly distributed and first stator, the rear end of the first structure bone is driven with the mechanical arm
Dynamic device connection, the front end of the first structure bone is fixed with first stator after sequentially passing through each first space disc
Connection；The second section continuum include four the second structural bone be arrangeding in parallel at equal intervals, multiple be spacedly distributed second
Space disc and second stator, the rear end of second structural bone is connected with the mechanical arm driving device, and described second
The front end of structural bone sequentially pass through after each first space disc, first stator and each second space disc with described
Second stator is fixedly connected；The mechanical arm driving device includes a housing and four structural bone for being located at the enclosure interior
Drive component；Each structural bone drive component and two first structure bones for passing through the housing forward end or two institutes
State the connection of the second structural bone；Each structural bone drive component includes one first pedestal, a first shaft coupling male, a binodal
Hooks coupling universal coupling, a connecting rod, two first pressing plates and two first slide blocks；Four are provided between the front-end and back-end of the housing
Guide rail, belongs to the described first cunning of the different structural bone drive components while being slidably connected two on each guide rail
Block；The pedestal is located at described in two and is fixedly connected between guide rail and with the rear end of the housing, the first shaft coupling male position
It is fixedly connected in the rear end of the housing and with one end of one first power transmission shaft, first power transmission shaft is with the housing into rotation even
Connect, the other end of first power transmission shaft is fixedly connected one end of the binodal Hooks coupling universal coupling, the binodal Hooks coupling universal coupling
The other end be fixedly connected on the middle part of the connecting rod by a second driving shaft, the second driving shaft is rotated by a bearing
It is supported on first pedestal；The two ends of the connecting rod slidably and rotatably connect the first pressing plate described in respectively, per
Described in one, the first pressing plate is fixedly connected with the rear end of the second structural bone described in first structure bone or described in；First pressure described in two
Plate is fixedly connected with the first slide block described in respectively；The operation tool driver element includes a straight-line motion mechanism, a fixation
Pedestal, a group of motors, a connection outer housing and a sterile barrier；The fixed pedestal is fixedly connected on the straight-line motion mechanism
In move portion, the group of motors is fixedly connected in the rear side of the fixed pedestal, the group of motors includes multiple motors；The company
Connect outer housing be fixedly connected on the front side of the fixed pedestal and ring cover on the group of motors outfan periphery；The connection is outer
Cover be connected with the housing by the sterile barrier, the outfan of each motor pass through a shaft coupling male-female coupling part and
First shaft coupling male connection described in one.
The front end of the second section continuum is provided with operating forcepies, the rear end of the operating forcepies control line of the operating forcepies according to
Ci Cong center is through after second stator, each second space disc, first stator, each first space disc
It is connected with the operating forcepies drive component being located in the housing；The operating forcepies drive component include one second pedestal, one first
Guiding sleeve, a second shaft coupling male, a screw rod, a nut, one second pressing plate and a guide rod；The guide rod is fixedly connected on
It is slidably connected between the front end of the housing and rear end and with the nut, the front end of second pedestal and the housing is fixed
Connection, the second shaft coupling male is located at the rear end of the housing and is fixedly connected with one end of the screw rod, the screw rod
Two ends be all connected with the housing into rotation, the screw rod is parallel with the guide rod, and the nut is coordinated with the screw flight,
The nut is fixedly connected with second pressing plate, and second pressing plate is fixedly connected with the rear end of the operating forcepies control line；
First guiding sleeve is arranged between the front end of the housing and second pedestal, and the operating forcepies control line is from described
Passing through in first guiding sleeve, the second motor being fixedly connected with the fixed pedestal, the outfan of second motor leads to
Cross shaft coupling male-female coupling part to be connected with second shaft coupling male.
The sterile barrier is in one end closing, the tubular structure of open at one end, and the blind end of the sterile barrier inserts institute
After stating connection outer housing, the housing is inserted in the opening end of the sterile barrier, the housing, the sterile barrier and the company
Meet outer housing three to connect by a quick-connect machanism；Each shaft coupling male-female coupling part is rotatably connected on the sterile barrier
Blind end on.
Each structural bone drive component also includes a micro-adjusting mechanism, and the micro-adjusting mechanism includes two bolts, two cylindricalitys
Nut and two extension springs, each bolt passes through the front end of the housing and bolt head to be located at the outside of the housing, the bolt
Rear end be threaded connection one end of cylindricality nut described in, the other end of the cylindricality nut passes through extension spring connection described in
One end of the connecting rod.
Two second guiding sleeves are set between the front end of the housing and each first pedestal；With each knot
Two first structure bones of llex cornuta drive component connection or second structural bone are worn from described two second guiding sleeves
Cross.
The quick-connect machanism is spring box, and the spring box is fixedly connected on the outside of the connection outer housing, in institute
Stating sterile barrier, a connecting hole is correspondingly arranged respectively on the housing；A guiding is provided with the inside of the barrel of the sterile barrier
Raised；The housing is provided with a gathering sill for matching with the guide protrusions on the side wall of rear end.
A wireless radio frequency identification mark is fixedly connected in the rear side of the housing；Blind end and institute in the sterile barrier
State the relative position of wireless radio frequency identification mark and one radio frequency identification module for reading and writing mounting groove is set；In the fixed pedestal
Front side is fixedly connected a radio frequency identification module for reading and writing, and the radio frequency identification module for reading and writing penetrates less radio-frequency knowledge
Spacing is left in other module for reading and writing mounting groove and between the wireless radio frequency identification mark.
The straight-line motion mechanism includes a fixed mount, is fixedly connected one second motor, institute in one end of the fixed mount
The output shaft for stating the second motor is fixedly connected one end of a leading screw, and the two ends of the leading screw are rotated with the fixed mount and are connected,
On the leading screw, a sheathed rectangular nut, is fixedly connected a fixed block on the rectangular nut, fixing on the fixed block
Connect the fixed pedestal.
The inner side of the housing forward end is provided with the integrated end of a guiding sleeve；One end of first guiding sleeve is fixed
It is connected in the vertical through hole at the integrated end of the guiding sleeve.
The inner side of the housing forward end is provided with the integrated end of a guiding sleeve；One end of second guiding sleeve is fixed
It is connected in the vertical through hole at the integrated end of the guiding sleeve.
The present invention is due to taking above technical scheme, and which has advantages below：1st, the present invention is by surgical instrument with degrees of freedom
Constitute with an operation tool drives unit, wherein, surgical instrument with degrees of freedom includes a flexible continuum mechanical arm and a machinery
Arm driving means, and can realize under the driving of driver element spatially four of flexible continuum mechanical arm curve freedom
Degree, the operating forcepies for being simultaneously located at flexible continuum mechanical arm front end can realize controlled folding, and therefore, the present invention is in freedom
The requirement that per urethra implements operation can be met on degree.2nd, the present invention is additionally provided with and each structural bone driving group in driver element
The fine tuning structure of part connection, thereby it is ensured that each first structure bone and the second structural bone are in the state being input into without power
Under be always positioned at fixation initial position.3rd, the present invention is provided with the integrated end of a guiding tube, multiple guiding on the inside of housing forward end
The integrated end of guiding tube is fixed in sleeve pipe one end, and the other end is connected on the pedestal of structural bone drive component, each first structure bone
All pass through from guiding sleeve with the second structural bone, therefore, the first structure bone of the present invention and the second structural bone are by structural bone
Drive component to advance in fixing space orbit or can be retreated when driving and doing push-and-pull campaign, so as to ensure stablizing for operation
Property.4th, the present invention is fixedly connected a circle sterile plastic sheet in the open end margin of sterile barrier, and sterile barrier is together with aseptic modeling
Material thin film can be separated the surgical instrument with degrees of freedom of sterilization and non-sterilization section to meet operation demand.5th, the present invention
Guide protrusions are provided with the inside of the barrel of sterile barrier, while a guiding is provided with housing on the side wall of rear end
Groove, the rapid-aligning of housing and sterile barrier is realized in the cooperation that therefore can pass through guide protrusions and gathering sill.The present invention can be wide
The general operation for being applied to per urethra enforcement.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of surgical instrument with degrees of freedom of the present invention；
Fig. 3 is structural representation of the surgical instrument with degrees of freedom of the present invention under another visual angle；
Fig. 4 is the structural representation of present invention flexibility continuum mechanical arm；
Fig. 5 is the structural representation of mechanical arm driving device of the present invention；
Fig. 6 is the structural representation of present configuration bone drive component；
Fig. 7 is structural representation of the present configuration bone drive component under another visual angle；
Fig. 8 is the structural representation of operating forcepies drive component of the present invention；
Fig. 9 is the structural representation of operation tool driver element of the present invention；
Figure 10 is the connection diagram of fixed pedestal of the present invention, group of motors and connection outer housing；
Figure 11 is the structural representation of sterile barrier of the present invention；
Figure 12 is structural representation of the sterile barrier of the present invention under another visual angle.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
As shown in figure 1, the present invention includes a surgical instrument with degrees of freedom 10 and an operation tool drives unit 20.Wherein,
Surgical instrument with degrees of freedom 10 includes a flexible continuum mechanical arm 30 and a mechanical arm driving device 40 (as Fig. 2, Fig. 3 institute
Show).
As shown in figure 4, the flexible continuum mechanical arm 30 of the present invention includes a first segment continuum 301, a second section even
Continuous body 302 and operating forcepies 303.First segment continuum 301 includes four first structure bones 304 be arrangeding in parallel at equal intervals, many
Individual the first space disc 305 being spacedly distributed and first stator 306, wherein, 304 rear end of first structure bone and mechanical arm
Driving means 40 connect (being described in detail below), and front end is consolidated with the first stator 306 after sequentially passing through each first space disc 305
Fixed connection.Second section continuum 302 includes four the second structural bone 307 be arrangeding in parallel at equal intervals, multiple is spacedly distributed
Second space disc 308 and second stator 309, wherein, 307 rear end of the second structural bone is with mechanical arm driving device 40 even
Connect, front end sequentially pass through after each first space disc 305, the first stator 306 and each second space disc 308 with the second stator
309 are fixedly connected.Operating forcepies 303 are arranged on the front end of second section continuum 302, the rear end of operating forcepies control line 310 successively from
Center through the second stator 309, each second space disc 308, the first stator 306, after each first space disc 305 with mechanical arm
Driving means 40 connect.The flexible continuum mechanical arm 30 can achieve the motion that curves of spatially four degree of freedom and feed with one
Degree of freedom.Wherein, in first segment continuum 301, by two first structure bones 304 for cooperateing with push-and-pull to be separated by 180 °, can be real
One in plane that present two first structure bones 304 are formed curves degree of freedom, therefore includes four first structure bones
304 first segment continuum 301 can achieve two and curve degree of freedom；In the same manner, include the second section of four second structural bone 307
Continuum 302 can achieve two and curve degree of freedom.Operating forcepies 303 can realize folding by the push-and-pull to operating forcepies control line 310.
As shown in Fig. 2, Fig. 3 and Fig. 5, the mechanical arm driving device 40 of the present invention includes that a housing 401, four is located at housing
Structural bone drive component 402 inside 401 and an operating forcepies drive component 403 being located inside housing 401.Wherein, each
Structural bone drive component 402 is connected with the two first structure bones 304 for passing through 401 front end of housing or two second structural bone 307；
Operating forcepies drive component 403 is connected with the operating forcepies control line 310 through 401 front end of housing.As shown in Figure 6, Figure 7, Mei Yijie
Llex cornuta drive component 402 includes a pedestal 404, a shaft coupling male 405, a binodal Hooks coupling universal coupling 406, a connecting rod 407, two
Pressing plate 408 and two slide blocks 410.Four guide rails 409 are provided between the front-end and back-end of housing 410, in each guide rail 409
Upper being slidably connected two simultaneously belongs to the slide block 410 of different structure bone drive component 402.Pedestal 404 is Wei Yu two guide rails 409 between
And be fixedly connected with the rear end of housing 401, shaft coupling male 405 is located at the rear end of housing 401 and the one end with a power transmission shaft 411
It is fixedly connected, power transmission shaft 411 is rotated with housing 401 and is connected, and the other end of power transmission shaft 411 is fixedly connected binodal Hooks coupling universal coupling
406 one end, the other end of binodal Hooks coupling universal coupling 406 is fixedly connected on the middle part of connecting rod 407 by another power transmission shaft, and
And, another power transmission shaft is rotatably supported on pedestal 404 by a bearing.The two ends of connecting rod 407 are respectively slidably and rotatably
Connect a pressing plate 408, each pressing plate 408 is fixedly connected with the rear end of a first structure bone 304 or one second structural bone 307.Two
Pressing plate 408 is fixedly connected with a slide block 410 respectively.
As shown in figure 8, operating forcepies drive component 403 includes a pedestal 412, a guiding sleeve 413, a shaft coupling male
414th, a screw rod 415, a nut 416, a pressing plate 417 and a guide rod 418.Wherein, guide rod 418 is fixedly connected on housing 401
It is slidably connected between front end and rear end and with nut 416, pedestal 412 is fixedly connected with the front end of housing 401, shaft coupling male
414 be fixedly connected positioned at the rear ends of housing 401 and with one end of screw rod 415, and the two ends of screw rod 415 are all rotated even with housing 401
Connect, screw rod 415 is parallel with guide rod 418, nut 416 is coordinated with 415 screw thread of screw rod, nut 416 is fixedly connected with pressing plate 417, pressure
Plate 417 is fixedly connected with the rear end of operating forcepies control line 310.Guiding sleeve 413 is arranged on the front end of housing 401 and pedestal 412
Between, operating forcepies control line 310 is passed through from guiding sleeve 413, and guiding sleeve 413 is used for providing for operating forcepies control line 310
Fixing space orbit.When shaft coupling male 414 is rotated, can drive screw 415 rotate so that drive nut 416 along guide rod
418 move along a straight line, and so as to realize the push-and-pull to operating forcepies control line 310, finally realize the folding of operating forcepies 303.
As shown in Figure 9, Figure 10, the operation tool driver element 20 of the present invention includes a straight-line motion mechanism 201, a fixation
Pedestal 202, a group of motors 203, connect outer housing 204 and a sterile barrier 205.Fixed pedestal 202 is fixedly connected on straight line fortune
In the move portion of motivation structure 201, group of motors 203 is fixedly connected in the rear side of fixed pedestal 202, group of motors 203 includes five electricity
Machine 206, the outfan of each motor 206 passes through fixed pedestal 202.Before connection outer housing 204 is fixedly connected on fixed pedestal 202
Side and ring cover on the periphery of the outfan of group of motors 203.As shown in Figure 11, Figure 12, sterile barrier 205 is in one end closing, one end
Open tubular structure, rotates five shaft coupling male-female coupling parts 207 of connection in the blind end of sterile barrier 205.Sterile barrier
After 205 blind end insertion connection outer housing 204, housing 401 is inserted in the opening end of sterile barrier 205, and housing 401, aseptic
Barrier 205 and connection 204 three of outer housing are connected by a quick-connect machanism 208.After each shaft coupling male-female coupling part 207
End is connected with the outfan of a motor 206, and front end is connected with the rear end of a shaft coupling male 405,414.
In above-described embodiment, a circle sterile plastic sheet, sterile screen is fixedly connected in the open end margin of sterile barrier 205
The surgical instrument with degrees of freedom 10 that has sterilized and non-sterilization section can be separated by barrier 205 together with sterile plastic sheet, full
Foot operation demand.
In above-described embodiment, as shown in Fig. 3, Figure 10, Figure 12, a RFID (less radio-frequency is fixedly connected in 401 rear side of housing
Identification) label 501；In the blind end of sterile barrier 205 position relative with RFID label tag 501, one RFID read-write module peace is set
Tankage 502；A RFID read-write module 503 is fixedly connected in the front side of fixed pedestal 202, RFID read-write module 503 penetrates RFID
Module for reading and writing mounting groove 502 and spacing is left with RFID label tag 501.The effect of RFID label tag 501 is storage multiple degrees of freedom operation
The access times of instrument 10.In above-described embodiment, each structural bone drive component 402 also includes a micro-adjusting mechanism 419, such as Fig. 6,
Shown in Fig. 7, micro-adjusting mechanism 419 includes two bolts 420, two cylindricality nuts 421 and two extension springs 422, and wherein, each bolt 420 is worn
The outside that the front end of housing 401 and bolt head are located at housing 401 is crossed, the rear end of bolt 420 is threaded connection a cylindricality nut 421
One end, the other end of cylindricality nut 421 connects one end of connecting rod 407 by an extension spring 422.The effect of micro-adjusting mechanism 419 is
Two first structure bones 304 that each structural bone drive component 402 connected or the second structural bone 307 are realized defeated without power
Enter and under state, remain at fixing initial position.
In above-described embodiment, two guiding sleeves 423 can be set between the front end of housing 401 and each pedestal 404, with
Two first structure bones 304 of each connection of structural bone drive component 402 or the second structural bone 307 are from above-mentioned two guiding sleeve
Pass through in 423, guiding sleeve 423 is used for being that first structure bone 304 or the second structural bone 307 provide fixing space orbit.
In above-described embodiment, the inner side of 401 front end of housing is provided with the integrated end 424 of a guiding sleeve, each guiding sleeve
413rd, 423 one end is fixedly connected with the vertical through hole at the integrated end 424 of guiding sleeve, and the integrated end 424 of guiding sleeve is used for
Ensure smoothly to guide first structure bone 304, the second structural bone 307 and operating forcepies control line 310 by guiding sleeve 413,423
Enter in flexible continuum mechanical arm 30.
In above-described embodiment, quick-connect machanism 208 can specifically adopt spring box, and spring box is fixedly connected on connection outer housing
204 outsides, are correspondingly arranged a connecting hole 209, the button on trip spring case on sterile barrier 205, housing 401 respectively
When, can move down with the straight pin of button connects and recover to initial bit through the connecting hole 209 on sterile barrier 205, housing 401
Put, realize the quick connection of connection outer housing 204, sterile barrier 205 and 401 three of housing.
In above-described embodiment, guide protrusions 210 are provided with the inside of the barrel of sterile barrier 205, correspondingly, in housing
401 are provided with a gathering sill 211 on the side wall of rear end, and guide protrusions 210 and gathering sill 211 coordinate achievable housing 401
Rapid-aligning with sterile barrier 205.
In above-described embodiment, straight-line motion mechanism 201 includes a fixed mount 212, is fixedly connected in one end of fixed mount 212
One motor 213, the output shaft of motor 213 is fixedly connected one end of a leading screw 214, and the two ends of leading screw 214 are rotated with fixed mount 212
Connection.A sheathed rectangular nut 215 on leading screw 214, is fixedly connected a fixed block 216, in fixed block on rectangular nut 215
Fixed pedestal 202 is fixedly connected on 216.
The present invention is only illustrated with above-described embodiment, and the structure of each part, set location and its connection are all to have
Changed.On the basis of technical solution of the present invention, all improvement for individual part being carried out according to the principle of the invention or equivalent
Conversion, all should not exclude outside protection scope of the present invention.
Claims (10)
1. a kind of transurethral electric drive multiple degrees of freedom surgery systems, it is characterised in that：It includes a surgical instrument with degrees of freedom
With an operation tool drives unit, wherein, surgical instrument with degrees of freedom includes that a flexible continuum mechanical arm and a mechanical arm drive
Dynamic device；
The flexibility continuum mechanical arm includes a first segment continuum and a second section continuum；The first segment continuum bag
Four first structure bones be arrangeding in parallel at equal intervals, multiple the first space discs being spacedly distributed and first stator is included,
The rear end of the first structure bone is connected with the mechanical arm driving device, and the front end of the first structure bone sequentially passes through each institute
It is fixedly connected with first stator after stating the first space disc；The second section continuum includes that four be arranged in parallel at equal intervals
The second structural bone, multiple the second space discs being spacedly distributed and second stator, the rear end of second structural bone
Be connected with the mechanical arm driving device, the front end of second structural bone sequentially pass through each first space disc, described
One stator be fixedly connected with second stator after each second space disc；
The mechanical arm driving device includes a housing and four structural bone drive components for being located at the enclosure interior；Each institute
State structural bone drive component and pass through two first structure bones of the housing forward end or two second structural bone to connect
Connect；Each structural bone drive component include one first pedestal, a first shaft coupling male, a binodal Hooks coupling universal coupling, one
Connecting rod, two first pressing plates and two first slide blocks；Four guide rails are provided between the front-end and back-end of the housing, at each
While being slidably connected two belong to first slide block of the different structural bone drive components on the guide rail；The pedestal position
In being fixedly connected between guide rail and with the rear end of the housing described in two, after the first shaft coupling male is located at the housing
Hold and be fixedly connected with one end of one first power transmission shaft, first power transmission shaft is connected with the housing into rotation, described first passes
The other end of moving axis is fixedly connected one end of the binodal Hooks coupling universal coupling, and the other end of the binodal Hooks coupling universal coupling passes through one
Second driving shaft is fixedly connected on the middle part of the connecting rod, and the second driving shaft is rotatably supported in described first by a bearing
On pedestal；The two ends of the connecting rod slidably and rotatably connect the first pressing plate described in, each first pressing plate respectively
It is fixedly connected with the rear end of the second structural bone described in first structure bone or described in；First pressing plate described in two respectively with described in one
First slide block is fixedly connected；
The operation tool driver element includes a straight-line motion mechanism, a fixed pedestal, a group of motors, a connection outer housing and
Sterile barrier；The fixed pedestal is fixedly connected in the move portion of the straight-line motion mechanism, after the fixed pedestal
Side is fixedly connected the group of motors, and the group of motors includes multiple motors；The connection outer housing is fixedly connected on the fixed base
Seat front side and ring cover on the group of motors outfan periphery；The connection outer housing is by the sterile barrier and the shell
Body connects, and the outfan of each motor is connected with first shaft coupling male described in by a shaft coupling male-female coupling part.
2. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1, it is characterised in that：Described
The front ends of two section continuuies are provided with operating forcepies, and the rear end of the operating forcepies control line of the operating forcepies is successively from center through described
After second stator, each second space disc, first stator, each first space disc and in the housing
Operating forcepies drive component connection；The operating forcepies drive component include one second pedestal, one first guiding sleeve, one second
Axial organ male, a screw rod, a nut, one second pressing plate and a guide rod；The guide rod be fixedly connected on the front end of the housing with
It is slidably connected between rear end and with the nut, second pedestal is fixedly connected with the front end of the housing, described second
Axial organ male is located at the rear end of the housing and is fixedly connected with one end of the screw rod, the two ends of the screw rod all with the shell
Body rotates connection, and the screw rod is parallel with the guide rod, and the nut is coordinated with the screw flight, the nut and described the
Two pressing plates are fixedly connected, and second pressing plate is fixedly connected with the rear end of the operating forcepies control line；First guiding sleeve
It is arranged between the front end of the housing and second pedestal, the operating forcepies control line is worn from first guiding sleeve
Crossing, the second motor being fixedly connected with the fixed pedestal, the outfan of second motor passes through shaft coupling male-female coupling
Part is connected with second shaft coupling male.
3. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：Described
Sterile barrier is closed in one end, the tubular structure of open at one end, after the blind end of the sterile barrier inserts the connection outer housing,
The housing is inserted in the opening end of the sterile barrier, and the housing, the sterile barrier and the connection outer housing three are led to
Cross quick-connect machanism connection；Each shaft coupling male-female coupling part is rotatably connected on the blind end of the sterile barrier.
4. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：Each
The structural bone drive component also includes a micro-adjusting mechanism, and the micro-adjusting mechanism includes two bolts, two cylindricality nuts and two extension springs,
Each bolt passes through the front end of the housing and bolt head to be located at the outside of the housing, and the rear end of the bolt passes through screw thread
One end of cylindricality nut described in connection one, the other end of the cylindricality nut passes through extension spring described in connects the connecting rod one
End.
5. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：Institute
State two second guiding sleeves of setting between the front end of housing and each first pedestal；With each structural bone drive component
Two first structure bones of connection or second structural bone are passed through from described two second guiding sleeves.
6. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 3, it is characterised in that：Described quick
Bindiny mechanism is spring box, and the spring box is fixedly connected on the outside of the connection outer housing, in the sterile barrier, the shell
A connecting hole is correspondingly arranged on body respectively；Guide protrusions are provided with the inside of the barrel of the sterile barrier；The housing is close
A gathering sill for matching with the guide protrusions is provided with the side wall of rear end.
7. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 3, it is characterised in that：In the shell
The rear side of body is fixedly connected a wireless radio frequency identification mark；Blind end and the radio frequency identification mark in the sterile barrier
Sign relative position and one radio frequency identification module for reading and writing mounting groove is set；One is fixedly connected no in the front side of the fixed pedestal
Line radio frequency identification read-write module, the radio frequency identification module for reading and writing penetrates the radio frequency identification module for reading and writing mounting groove
In and leave spacing between the wireless radio frequency identification mark.
8. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1 or 2, it is characterised in that：Described
Straight-line motion mechanism includes a fixed mount, is fixedly connected one second motor in one end of the fixed mount, second motor
Output shaft is fixedly connected one end of a leading screw, and the two ends of the leading screw are rotated with the fixed mount and are connected, and are covered on the leading screw
If a rectangular nut, a fixed block being fixedly connected on the rectangular nut, is fixedly connected the fixation on the fixed block
Pedestal.
9. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 1, it is characterised in that：In the shell
The inner side of body front end is provided with the integrated end of a guiding sleeve；One end of first guiding sleeve is fixedly connected on the guide sleeves
Manage in the vertical through hole at integrated end.
10. a kind of transurethral electric drive multiple degrees of freedom surgery systems as claimed in claim 5, it is characterised in that：Described
The inner side of housing forward end is provided with the integrated end of a guiding sleeve；One end of second guiding sleeve is fixedly connected on the guiding
In the vertical through hole at the integrated end of sleeve pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611046709.0A CN106419975B (en) | 2016-11-23 | 2016-11-23 | A kind of transurethral electric drive multiple degrees of freedom surgery systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611046709.0A CN106419975B (en) | 2016-11-23 | 2016-11-23 | A kind of transurethral electric drive multiple degrees of freedom surgery systems |
Publications (2)
| Publication Number | Publication Date |
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| CN106419975A true CN106419975A (en) | 2017-02-22 |
| CN106419975B CN106419975B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611046709.0A Expired - Fee Related CN106419975B (en) | 2016-11-23 | 2016-11-23 | A kind of transurethral electric drive multiple degrees of freedom surgery systems |
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| WO2023106102A1 (en) * | 2021-12-10 | 2023-06-15 | キヤノン株式会社 | Support device and method for manufacturing support device |
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| Publication number | Publication date |
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| CN106419975B (en) | 2018-06-26 |
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