CN108245254B - Multipurpose flexible surgical tool system - Google Patents
Multipurpose flexible surgical tool system Download PDFInfo
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- CN108245254B CN108245254B CN201810023059.0A CN201810023059A CN108245254B CN 108245254 B CN108245254 B CN 108245254B CN 201810023059 A CN201810023059 A CN 201810023059A CN 108245254 B CN108245254 B CN 108245254B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention relates to a multipurpose flexible surgical tool system, which comprises a flexible surgical tool, a sterile barrier, a motor unit and a linear module, wherein the motor unit is arranged on the flexible surgical tool; the flexible surgical tool comprises a flexible continuum structure and a transmission drive unit; the flexible continuum structure comprises a distal structure, a proximal structure and a connector; the distal structure comprises a first distal segment and a second distal segment; the transmission driving unit is associated with the first far-end structure section so as to drive the first far-end structure section to perform bending motion; the second far-end structure section is associated with the near-end structure body through the connecting body, and the transmission driving unit is also associated with the near-end structure body so as to drive the near-end structure body to perform bending motion, so that the second far-end structure section is indirectly driven to perform bending motion; the motor unit is connected with the flexible surgical tool through the sterile barrier and provides driving force for the transmission driving unit; the output end of the linear module is connected with the motor unit and used for driving the flexible surgical tool to realize linear feeding motion.
Description
Technical Field
The invention relates to a multipurpose flexible surgical tool system, and belongs to the field of medical instruments.
Background
The porous laparoscope minimally invasive surgery has already occupied an important position in the surgical operation due to the small wound and the quick postoperative recovery. The existing da Vinci (DaVinci) Surgical robot of intuition Surgical company (American intuition Surgical company) assists doctors to complete the porous laparoscopic minimally invasive surgery, and has achieved great commercial success.
The minimally invasive surgery type develops single-port laparoscopic surgery and non-invasive surgery through natural orifices after the multi-port laparoscopic surgery, and the single-port laparoscopic surgery and the non-invasive surgery have less trauma to patients and higher postoperative output. However, in single port laparoscopic surgery and non-invasive surgery through a natural orifice, all surgical instruments including the visual illumination module and the surgical operation arm reach the operation part through a single channel, which is very strict for the preparation of the surgical instruments. The far end structure of the existing surgical instrument is mainly formed by serially connecting and hinging a plurality of rod pieces, and the surgical instrument is driven by the tensile force of a steel wire rope to realize the bending at a hinged joint. Because the steel wire rope must be kept in a continuous tensioning state through the pulley, the driving mode is difficult to realize further miniaturization of the surgical instrument and further improve the motion performance of the instrument.
Although the Intuitive Surgical company recently introduced the da Vinci Single-Site (SS type da Vinci) Surgical robot, which modifies the original rigid Surgical instrument into a semi-rigid Surgical instrument and adds a pre-bending sleeve, the motion performance of the Surgical instrument is improved to a certain extent, but the problem faced by the traditional Surgical instrument still cannot be fundamentally solved.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a multi-purpose flexible surgical tool system that can be better applied and operated upon through a natural orifice of the body or through a single surgical incision.
In order to achieve the purpose, the invention adopts the following technical scheme: a flexible surgical tool system capable of mixedly driving a distal structure, comprising: comprises a flexible surgical tool, a sterile barrier, a motor unit and a linear module; the flexible surgical tool includes a flexible continuum structure and a transmission drive unit; the flexible continuum structure comprises a distal structure, a proximal structure and a connector; the distal structure comprises a first distal segment and a second distal segment; the transmission driving unit is associated with the first distal end structure so as to drive the first distal end structure to perform bending motion; the second far-end structure is associated with the near-end structure through the connecting body, and the transmission driving unit is also associated with the near-end structure so as to drive the near-end structure to perform bending motion, so that the second far-end structure is indirectly driven to perform bending motion; the motor unit is connected with the flexible surgical tool through the sterile barrier and provides driving force for the transmission driving unit; the output end of the linear module is connected with the motor unit and used for driving the flexible surgical tool to realize linear feeding motion.
The first far-end structure joint comprises a first far-end spacing disc, a first far-end fixing disc and a first far-end structure bone, one end of the first far-end structure bone is connected with the transmission driving unit, and the other end of the first far-end structure bone penetrates through the first far-end spacing disc in sequence and then is fixedly connected with the first far-end fixing disc; the second distal construct segment comprises a second distal spacer disk, a second distal fixation disk and a second distal structural bone; the near-end structure body comprises a near-end spacing disc, a near-end fixing disc and a near-end structure bone; the second far-end structure bone and the near-end structure bone one-to-one fastening connection or be same root structure bone, the one end of structure bone with near-end fixed disk fastening connection, the other end pass in proper order behind near-end interval dish, connector, first far-end interval dish, first far-end fixed disk, the second far-end interval dish with second far-end fixed disk fastening connection.
The transmission drive unit includes basic frame and sets up be used for in the basic frame converting rotary motion input into linear motion output's linear motion mechanism, linear motion mechanism is a plurality of, and one of them part linear motion mechanism's output is connected with first distal end structure bone, another part linear motion mechanism's output is connected with the one end of drive bone, the other end of drive bone passes in proper order behind the near-end interval dish with near-end fixed disk fastening connection.
The base frame comprises a first supporting plate and a second supporting plate which are arranged at intervals; the linear motion mechanism comprises a double-threaded screw rod rotatably connected with the first supporting plate and the second supporting plate, two thread sections of the double-threaded screw rod are respectively connected with a thread sliding block in a matched mode, the thread sliding block is fixedly arranged on a guide rod sliding connection between the first supporting plate and the second supporting plate, and the thread sliding block is the output end of the linear motion mechanism.
The base frame comprises a first supporting plate and a second supporting plate which are arranged at intervals; linear motion mechanism is including rotating the connection and being in initiative screw rod, driven screw rod between first backup pad and the second backup pad be connected a second screw thread slider through screw-thread fit respectively on initiative screw rod and the driven screw rod, second screw thread slider is in with fixed setting second guide arm sliding connection between first backup pad and the second backup pad it establishes a synchronous pulley, two to fasten the cover respectively on initiative screw rod and the driven screw rod connect through the hold-in range between the synchronous pulley.
The connector comprises a channel connecting plate, a channel supporting plate, a far-end fixing plate, a near-end structure body fixing plate, a first guide channel and a second guide channel; the channel connecting plate is fixedly connected with the first supporting plate, the channel supporting plate is fixedly connected with the second supporting plate, and the near-end structure body fixing plate is fixedly connected with the channel supporting plate through a connecting column; one end of the first guide channel is fixedly connected with the near-end structure body fixing plate, and the other end of the first guide channel penetrates through the channel supporting plate and the channel connecting plate in sequence and then is fixedly connected with the far-end fixing plate; the structural bone passes through the first guide channel; the second guide channel is disposed between the distal fixation plate and the channel connection plate, and the first distal structural bone passes through the second guide channel.
Arranging a surgical actuator at the tail end of the second distal end structure, arranging an actuator driving mechanism in the base frame, and connecting the output end of the actuator driving mechanism with the surgical actuator through a surgical actuator control wire; the actuator driving mechanism comprises a screw rod which is rotatably arranged in the base frame, a sliding block is connected to the screw rod in a matching mode, the sliding block is in sliding connection with a guide rod which is fixedly arranged in the base frame, and the sliding block is fixedly connected with a control line of the surgical actuator.
And a visual lighting module is arranged at the tail end of the second far-end structure, a visual processing unit and a lighting control unit are arranged in the base frame, and the visual processing unit and the lighting control unit are connected with the visual lighting module through composite wires.
The flexible surgical tool also comprises an elastic connecting mechanism, wherein the elastic connecting mechanism comprises a connector, a coupler male head, a third supporting plate, a fourth supporting plate and a spring; the third supporting plate is fixedly connected with the second supporting plate through a supporting rod, the fourth supporting plate is fixedly connected with the third supporting plate through a supporting rod, the connector is connected to the third supporting plate in a sliding mode, the double-end screw is connected with one end of the connector in a sliding and non-rotating mode, the other end of the connector is connected with one end of the coupler male head, and the coupler male head is mounted on the fourth supporting plate in a sliding and rotating mode; the spring is sleeved on the coupler male head, one end of the spring abuts against the third supporting plate, and the other end of the spring is fixedly connected with the coupler male head.
The motor set unit comprises a motor set shell, a motor fixing plate is rotatably connected to the front end of the motor set shell, a cover plate is fixedly connected to the front side of the motor fixing plate, and a plurality of first motors, a second motor and a third motor are fixedly connected to the rear side of the motor fixing plate; an output shaft of the first motor penetrates through the cover plate and is fixedly connected with a male head of a second coupling, an output shaft of the second motor penetrates through the cover plate and is fixedly connected with a connecting block, an output shaft of the third motor is fixedly connected with a gear, the gear is meshed with an inner gear ring, and the inner gear ring is fixedly connected with the motor unit shell; the sterile barrier comprises a sterile barrier housing, a sterile barrier support plate and a coupling female head; the coupling female head is rotatably arranged on the sterile barrier supporting plate and is used for connecting the coupling male head with the second coupling male head; the sterile barrier outer cover is rotatably connected to the periphery of the sterile barrier supporting plate; a positioning pin hole is formed in the front side of the sterile barrier support plate; a positioning pin body which is used for being matched and connected with the positioning pin hole is arranged on the rear side of a fourth supporting plate of the flexible surgical tool; a connecting pin boss is arranged on the rear side of the sterile barrier supporting plate, and a second connecting pin boss used for being connected with the connecting pin boss is arranged on the front side of the cover plate of the motor unit; the sterile barrier supporting plate is characterized in that a quick locking device is further arranged on the sterile barrier supporting plate, the quick locking device comprises a quick locking body and a locking pin, the quick locking body is rotatably connected with the sterile barrier supporting plate, one end of the quick locking body is of a thin-wall structure, the other end of the quick locking body is provided with two circular holes in the axial direction, and the circular holes are used for being connected with protruding pins arranged on the connecting blocks so as to transmit rotary power; the locking pins are arranged along the circumferential direction of the inner wall of the thin-walled structure; a screw feature is provided on the rear side of the fourth support plate, and when the quick locking body rotates to drive the locking pin to move on the screw feature, the sterile barrier support plate will be tightened or pushed away from the fourth support plate.
The linear module comprises a support body with a sliding groove, a lead screw is rotatably arranged on the support body, a sliding block which is in threaded fit with the lead screw and is arranged in the sliding groove in a sliding mode is sleeved on the lead screw, a fourth motor is arranged at one end of the support body, and an output shaft of the fourth motor is fixedly connected with the lead screw through a coupler; the motor set shell is fixedly connected with the sliding block.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the flexible continuous body structure comprises a near-end structure body, a connecting body and a far-end structure body, and is matched with a transmission driving unit, wherein the transmission driving unit is associated with the near-end structure body and a first far-end structure section in the far-end structure body, and simultaneously the near-end structure body is associated with a second far-end structure section in the far-end structure body, so that the first far-end structure section and the near-end structure body can be driven to bend to any direction through the transmission driving unit, and the second far-end structure section in the far-end structure body can be driven to bend by the bending of the near-end structure body. 2. The motor unit is connected with the flexible operation tool through the sterile barrier, and the sterile barrier is connected with the flexible operation tool through the quick locking device, so that the sterile parts of the flexible operation tool and the like are isolated from the non-sterile parts of the motor unit and the like, and meanwhile, the quick connection of the motor unit, the sterile barrier and the flexible operation tool can be realized. 3. The transmission driving unit adopts the double-threaded screw and the sliding block as the linear motion mechanism, when the double-threaded screw is driven to rotate, the two threaded sliding blocks matched with the double-threaded screw move linearly in opposite directions at the same speed, so that a first far-end structural bone or a driving bone fixedly connected with the threaded sliding blocks is driven to be pushed or pulled, and the first far-end structural section or a near-end structural body is bent to any direction. 4. The end part of the far-end structure body is provided with the surgical actuator, the control line of the surgical actuator is connected with the actuator driving mechanism positioned in the transmission driving unit, and the actuator driving mechanism adopts a screw rod and a slide block kinematic pair (a ball screw pair) which can convert the rotary input into the linear output, so that the opening and closing driving of the surgical actuator can be realized. 5. The visual lighting module is arranged at the end part of the far-end structural body, and the pose can be adjusted to acquire a real-time image of the visual field of the working part under the driving of the far-end structural body.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the flexible surgical tool of the present invention with the housing omitted;
FIG. 3 is a schematic structural view of a distal structure of the present invention;
FIG. 4 is a schematic structural view of a proximal structure of the present invention;
FIG. 5 is a schematic structural view of the transmission drive unit of the present invention;
FIG. 6 is a schematic view of the structure of a connecting body (second guide channel not shown) of the present invention;
FIG. 7 is a schematic view of the present invention after the housing, cover and sheath have been installed;
FIG. 8 is a schematic view of the present invention employing a flexible sheath;
FIG. 9 is a schematic view of the second linear motion mechanism of the transmission drive unit of the present invention;
FIG. 10 is a schematic view of the distal structure of the present invention with the distal end attached to a visual lighting module;
FIG. 11 is a schematic view of the connection relationship between the linear module and the motor unit according to the present invention;
FIG. 12 is a schematic structural view of the motor unit of the present invention with the cover plate omitted;
FIG. 13 is a schematic view of the construction of the sterile barrier of the present invention;
FIG. 14 is a schematic view of the construction of the sterile barrier of the present invention from another perspective;
FIG. 15 is a schematic view of the configuration of the rear end of the flexible surgical tool of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1-4, the present invention includes a flexible surgical tool 10, a sterile barrier 50, a motor unit 60, and a wire pattern module 70. The flexible surgical tool 10 includes a flexible continuous body structure and a transmission drive unit 20. The flexible continuous body structure includes a distal structure 11, a proximal structure 12, and a connector 13. The distal structure 11 includes a first distal segment 14 and a second distal segment 15. A transmission drive unit 20 is associated with the first distal link 14 to drive the first distal link 14 into a bending motion. The second distal segment 15 is associated with the proximal structure 12 via a connecting body 13, and the transmission drive unit 20 is further associated with the proximal structure 12 for driving the proximal structure 12 in a bending motion, thereby indirectly driving the second distal segment 15 in a bending motion. The motor unit 60 is connected to the flexible surgical tool 10 via the sterile barrier 50 to provide a driving force for the transmission drive unit 20. The output of the linear module 70 is connected to the motor unit 60 for driving the flexible surgical tool 10 to perform a linear feed motion.
Further, the first distal end structure 14 includes a first distal end spacer disc 141, a first distal end fixing disc 142 and a first distal end structural bone 143, one end of the first distal end structural bone 143 is connected with the transmission driving unit 20, and the other end of the first distal end structural bone passes through the first distal end spacer disc 141 in sequence and then is fastened to the first distal end fixing disc 142. The second distal segment 15 includes a second distal spacer disk 151, a second distal fixation disk 152 and a second distal structural bone 153. Proximal structure 12 includes a proximal spacer disk 121, a proximal anchor disk 122, and a proximal structural bone 123. The second distal structure bone 153 and the proximal structure bone 123 are fastened and connected one to one or are the same structure bone, one end of the structure bone is fastened and connected with the proximal fixing disc 122, and the other end of the structure bone passes through the proximal spacing disc 121, the connecting body 13, the first distal spacing disc 141, the first distal fixing disc 142 and the second distal spacing disc 151 in sequence and then is fastened and connected with the second distal fixing disc 152.
Further, the transmission driving unit 20 includes a base frame 21 and a plurality of linear motion mechanisms 22 disposed in the base frame 21 for converting a rotational motion input into a linear motion output, wherein an output end of one portion of the linear motion mechanisms 22 is connected to the first distal structural bone 143, an output end of the other portion of the linear motion mechanisms 22 is connected to one end of the driving bone 124, and another end of the driving bone 124 sequentially passes through the proximal spacer disk 121 and then is tightly connected to the proximal fixing disk 122.
Further, as shown in fig. 5, the base frame 21 includes a first support plate 211 and a second support plate 212 which are arranged at intervals. The linear motion mechanism 22 comprises a double-threaded screw 221 rotatably connected with the first support plate 211 and the second support plate 212, two threaded sections of the double-threaded screw 221 are respectively connected with a threaded slider 222 in a matching manner, the threaded slider 222 is slidably connected with a guide rod 223 fixedly arranged between the first support plate 211 and the second support plate 212, and the threaded slider 222 is an output end of the linear motion mechanism 22. The thread directions of the two thread segments are opposite, when the double-threaded screw 221 rotates, the two thread sliders 222 on the double-threaded screw 221 perform linear motion in the same speed direction, and the two thread sliders 222 drive the first distal structural bone 143 (the driving bone 124) to perform linear motion in the same speed direction along the guide rod 223, so that the first distal structural bone 143 (the driving bone 124) is pushed or pulled, and the first distal joint 14 (the proximal structural body 12) is bent in any direction. In a preferred embodiment, there are four linear motion mechanisms 22, two of the linear motion mechanisms 22 having their outputs connected to the first distal structural bone 143 to allow the first distal segment 14 to have two degrees of freedom in flexion, and two of the linear motion mechanisms 22 having their outputs connected to the driver bone 124 to allow the proximal structural body 12 to have two degrees of freedom in flexion. When the proximal structure 12 is bent in a certain direction, the second distal segment 15 is bent in the opposite direction in a certain proportional relationship (determined by the distribution radii of the proximal structure bone 123 and the second distal structure bone 153).
As shown in fig. 9, the present invention further provides another form of the linear motion mechanism 22, specifically, the linear motion mechanism 22 includes a driving screw 221a and a driven screw 221b rotatably connected between the first support plate 211 and the second support plate 212, a threaded slider 222 is connected to the driving screw 221a and the driven screw 221b through a threaded fit, the threaded slider 222 is slidably connected to a guide rod 223 fixedly disposed between the first support plate 211 and the second support plate 212, a synchronous pulley 231 is respectively fastened and sleeved on the driving screw 221a and the driven screw 221b, and the two synchronous pulleys 231 are connected through a synchronous belt 232. The driving screw 221a and the driven screw 221b have opposite screw threads. When the driving screw 221a rotates, the thread slider 222 on the driving screw 221a and the thread slider on the driven screw 221b perform linear motions in opposite directions at the same speed.
Further, the first supporting plate 211 and the second supporting plate 212 are fixedly connected through a supporting rod, a connecting plate 213 is arranged between the first supporting plate 211 and the second supporting plate 212, the connecting plate 213 is also fixedly connected through a supporting rod, and a positioning sleeve 214 is sleeved on the supporting rod to position the connecting plate 213, the first supporting plate 211 and the second supporting plate 212. The double-threaded screw 221 passes through the connecting plate 213 with a gap between the connecting plate 213, and the connecting plate 213 separates two threaded sections of the double-threaded screw 221.
The first supporting plate 211 and the second supporting plate 212 may also be fixedly connected through a threaded supporting rod, and at this time, the positioning between the first supporting plate 211, the second supporting plate 212 and the connecting plate 213 may be realized by locking a positioning nut coupled to the supporting rod, that is, the positioning nut is used to replace the positioning sleeve 214.
Further, as shown in fig. 5 and 6, the connecting body 13 includes a channel connecting plate 131, a channel supporting plate 132, a distal fixing plate 133, a proximal structure fixing plate 134, a first guide channel 135, and a second guide channel 136. The channel connecting plate 131 is fastened to the first support plate 211, the channel support plate 132 is fastened to the second support plate 212, and the proximal structure fixing plate 134 is fastened to the channel support plate 132 through the connecting post 137. One end of the first guide channel 135 is fastened to the proximal structure fixing plate 134, and the other end thereof passes through the channel support plate 132 and the channel connecting plate 131 in sequence and then is fastened to the distal fixing plate 133; the structural bone passes through the first guide channel 135. The second guide channel 136 is disposed between the distal fixing plate 133 and the channel connecting plate 131, and the first distal structural bone 143 passes through the second guide channel 136. In an alternative embodiment, the channel support plate 132 and the attachment post 137 may be omitted, and the proximal structure mounting plate 134 may be secured directly to the second support plate 212.
Further, a surgical actuator 30 (shown in fig. 3) is disposed at the end of the second distal end segment 15, an actuator driving mechanism is disposed in the base frame 21, and an output end of the actuator driving mechanism is connected to the surgical actuator 30 through a surgical actuator control wire 301. The actuator driving mechanism comprises a screw 303 (shown in fig. 5) rotatably arranged in the base frame 21, a sliding block 304 is connected to the screw 303 in a matching manner, the sliding block 304 is connected with a guide rod 305 fixedly arranged in the base frame 21 in a sliding manner, and the sliding block 304 is fixedly connected with the control wire 301 of the surgical actuator.
As shown in fig. 10, the surgical effector 30 at the end of the second distal end segment 15 may be replaced with other functional performing end, such as a vision illumination module 90, in which case a vision processing unit and an illumination control unit are provided in the base frame 21, and the vision processing unit and the illumination control unit are connected to the vision illumination module by a composite wire. Under the drive of the far-end structural body 11, the pose can be adjusted to acquire a real-time image of the visual field of the working part.
Further, as shown in fig. 5, the present invention further includes an elastic connection mechanism 40, wherein the elastic connection mechanism 40 includes a connection head 401, a coupling male 402, a third support plate 403, a fourth support plate 404, and a spring 405. The third support plate 403 is fixedly connected to the second support plate 212 through a support rod 406, the fourth support plate 404 is fixedly connected to the third support plate 403 through a support rod 407, the connector 401 is slidably connected to the third support plate 403, the double-threaded screw 221 or the screw 303 is slidably and non-rotatably connected to one end of the connector 401 (when the second linear motion mechanism is adopted, the driving screw 221a or the screw 303 is slidably and non-rotatably connected to one end of the connector 401), the other end of the connector 401 is connected to one end of the male coupler 402, and the male coupler 402 is slidably and rotatably mounted to the fourth support plate 404. The spring 405 is sleeved on the male coupling head 402, one end of the spring 405 abuts against the third support plate 403, and the other end of the spring 405 is fixedly connected with the male coupling head 402.
Further, a shell 230 is arranged outside the transmission driving unit 20, and the first support plate and the second support plate are fixedly connected with the shell; an envelope 119 is provided on the exterior of the distal structure and functions to improve the smoothness of the distal structure 11 entering the body's natural orifice or surgical incision. An outer sleeve 120 and sheath 125 may also be provided on the exterior of the cover 119. In one application, as shown in fig. 7, the sheath 125 is secured to a single incision in the abdominal cavity, and the distal structure 11, along with the sheath 119 and the surgical implement 30, are free to pass through the through-hole in the sheath 125 for the passage of surgical tools to the surgical site. As shown in fig. 8, the sheath 125 may also be a flexible sheath, which can more easily extend into various natural orifices of the human body and change its shape adaptively according to the shape of the orifices, one end of the flexible sheath is fixed at the entrance of the orifices, and the distal structure 11, together with the envelope 119 and the surgical actuator 30, can also freely pass through the through hole on the flexible sheath for passing the surgical tool to reach the surgical site.
Further, as shown in fig. 11 to 15, the motor unit 60 includes a motor unit housing 601, a motor fixing plate 602 is rotatably connected to a front end of the motor unit housing 601, a cover plate 603 is tightly connected to a front side of the motor fixing plate 602, and a plurality of first motors 605, a second motor 606, and a third motor 607 are tightly connected to a rear side of the motor fixing plate 602. An output shaft of the first motor 605 penetrates through the cover plate 603 and is fixedly connected with a male connector 609 of the second coupling, an output shaft of the second motor 606 penetrates through the cover plate 603 and is fixedly connected with a connecting block 610, a gear 612 is fixedly connected to an output shaft of the third motor 607, the gear 612 is meshed with an inner gear ring 613, and the inner gear ring 613 is fixedly connected with the motor unit shell 601. Sterile barrier 50 includes sterile barrier housing 501, sterile barrier support plate 502, and coupling female 503; the coupling female head 503 is rotatably disposed on the sterile barrier support plate 502 for connecting the coupling male head 402 with the second coupling male head 609. Sterile barrier enclosure 501 is rotatably attached to the outer periphery of sterile barrier support panel 502. A registration pin hole 505 is provided on the front side of sterile barrier support plate 502. A positioning pin body 411 for fitting connection with the positioning pin hole 505 is provided on the rear side of the fourth support plate 404 of the flexible surgical tool 10. A connection pin boss 508 is provided at the rear side of the sterile barrier support plate 502, and a second connection pin boss (not shown) for connection with the connection pin boss 508 is provided at the front side of the cover plate 603 of the motor unit 60. Still be provided with quick locking device on aseptic barrier backup pad 502, quick locking device includes quick locking body 521 and locking pin 522, and quick locking body 521 rotates with aseptic barrier backup pad 502 to be connected, and quick locking body 521's one end is thin-walled structure, and the other end is provided with two round holes 523 in the axial, and round hole 523 is used for being connected with the outstanding round pin (not shown in the figure) that sets up on connecting block 610 in order to transmit rotary power. The locking pins 522 are arranged along the circumference of the inner wall of the thin-walled structure. A screw feature 415 is provided on the rear side of the fourth support plate 404 such that when the snap lock 521 is rotated to move the locking pin 522 over the screw feature 415, the sterile barrier support plate 502 will be pulled or pushed away from the fourth support plate 404. When the dowel hole 505 is aligned with the dowel body 411, the positions of the coupling male head 402 on the flexible surgical tool 10 and the coupling female head 503 of the sterile barrier 50 on the circumference are completely corresponding, and the dowel hole 505 and the dowel body 411 are provided with contacts for detecting whether the sterile barrier 50 is locked with the flexible surgical tool 10. The quick-lock device is used to effect a quick-lock connection of the flexible surgical tool 10 to the sterile barrier 50. When the flexible surgical tool 10 is connected with the sterile barrier 50, the positioning pin bodies 411 of the flexible surgical tool 10 are aligned with the positioning pin holes 505 in the sterile barrier 50, so as to ensure that the positions of the coupling male heads 402 of the flexible surgical tool 10 and the coupling female heads 503 of the sterile barrier 50 are aligned. The second motor 606 is started, power is transmitted to the quick locking body 521 through the connecting block 610 to enable the quick locking body 521 to rotate, the locking pin 522 embedded on the inner wall of the quick locking body 521 moves along the spiral feature 415 of the flexible surgical tool 10, the quick locking body 521 rotates, the flexible surgical tool 10 and the sterile barrier 50 generate opposite tensioning movement along the axial direction, the contact points on the positioning pin body 411 and the positioning pin hole 505 are gradually close, and when the contact point of the positioning pin body 411 is contacted with the contact point of the positioning pin hole 505, the second motor 606 stops rotating; this enables a quick locking connection of the flexible surgical tool 10 to the sterile barrier 50. The first motor 605 is activated to rotate the coupling female head 503 of the sterile barrier 50 until it is aligned with the coupling male head 402 of the flexible surgical tool 10, at which time the elastic connection mechanism 40 ejects the coupling male head 402 to connect the coupling male head 402 with the coupling female head 503. A sterile film (not shown) is attached to the sterile barrier housing 501, and can isolate the sterilized portion of the flexible surgical tool 10 before the sterile barrier 50 from the non-sterilized portion of the motor unit 60 and the linear module 70 after the sterile barrier 30, so as to ensure the feasibility of the clinical operation. When the output shaft of the third motor 607 rotates, it drives the gear 612 to rotate, and the gear 612 will travel along the circumferential direction of the inner gear ring 613, so as to drive the portion of the motor unit 60 of the present invention except for the motor unit housing 601 and the inner gear ring 613 to rotate integrally around its own axis, and further drive the flexible surgical tool 10 to rotate integrally around its own axis, and finally realize the roll angle control of the surgical actuator 30.
Further, the linear module 70 includes a support body 701 with a sliding slot, a lead screw 702 is rotatably disposed on the support body 701, a slider 703 which is in threaded fit with the lead screw 702 and is slidably disposed in the sliding slot is sleeved on the lead screw 702, a fourth motor 705 is disposed at one end of the support body 701, and an output shaft of the fourth motor 705 is fixedly connected with the lead screw 702 through a coupling 706; the motor unit housing 601 is fixedly connected with the sliding block 703. When the output shaft of the four motors 705 rotates, the sliding block 703 drives the motor set housing 601 to make linear motion along the sliding slot, thereby realizing the feeding motion of the flexible surgical tool 10.
The present invention has been described with reference to the above embodiments, and the structure, arrangement, and connection of the respective members may be changed. On the basis of the technical scheme of the invention, the improvement or equivalent transformation of the individual components according to the principle of the invention is not excluded from the protection scope of the invention.
Claims (10)
1. A multi-purpose flexible surgical tool system, characterized by: comprises a flexible surgical tool, a sterile barrier, a motor unit and a linear module;
the flexible surgical tool includes a flexible continuum structure and a transmission drive unit; the flexible continuum structure comprises a distal structure, a proximal structure and a connector; the distal structure comprises a first distal segment and a second distal segment; the transmission driving unit is associated with the first distal end structure so as to drive the first distal end structure to perform bending motion; the second far-end structure is associated with the near-end structure through the connecting body, and the transmission driving unit is also associated with the near-end structure so as to drive the near-end structure to perform bending motion, so that the second far-end structure is indirectly driven to perform bending motion; the transmission drive unit comprises a base frame; the base frame includes a second support plate;
the motor unit is connected with the flexible surgical tool through the sterile barrier and provides driving force for the transmission driving unit; the output end of the linear module is connected with the motor unit and used for driving the flexible surgical tool to realize linear feeding motion;
the flexible surgical tool also comprises an elastic connecting mechanism, wherein the elastic connecting mechanism comprises a connector, a coupler male head, a third supporting plate, a fourth supporting plate and a spring; the third support plate is fixedly connected with the second support plate through a first support rod, the fourth support plate is fixedly connected with the third support plate through a second support rod, the connector is connected to the third support plate in a sliding mode, one end of the connector is connected with one end of the coupler male head, and the coupler male head is slidably and rotatably mounted on the fourth support plate; the spring is sleeved on the coupler male head, one end of the spring abuts against the third supporting plate, and the other end of the spring is fixedly connected with the coupler male head.
2. A multi-purpose flexible surgical tool system according to claim 1, wherein: the first far-end structure joint comprises a first far-end spacing disc, a first far-end fixing disc and a first far-end structure bone, one end of the first far-end structure bone is connected with the transmission driving unit, and the other end of the first far-end structure bone penetrates through the first far-end spacing disc in sequence and then is fixedly connected with the first far-end fixing disc; the second distal construct segment comprises a second distal spacer disk, a second distal fixation disk and a second distal structural bone; the near-end structure body comprises a near-end spacing disc, a near-end fixing disc and a near-end structure bone; the second far-end structure bone with near-end structure bone one-to-one fastening connection or be same root structure bone, the second far-end structure bone with the structure bone that near-end structure bone one-to-one fastening connection formed or the one end of same root structure bone with near-end fixed disk fastening connection, the other end passes in proper order behind near-end interval dish, connector, first far-end interval dish, first far-end fixed disk, the second far-end interval dish with second far-end fixed disk fastening connection.
3. A multi-purpose flexible surgical tool system according to claim 2, wherein: the transmission driving unit further comprises a linear motion mechanism which is arranged in the base frame and used for converting a rotary motion input into a linear motion output; the linear motion mechanism is a plurality of, and wherein some linear motion mechanism's output is connected with first distal end structure bone, and another part linear motion mechanism's output is connected with the one end of drive bone, the other end of drive bone pass in proper order behind the near-end spacer disc with near-end fixed disk fastening connection.
4. A multi-purpose flexible surgical tool system according to claim 3, wherein: the base frame further comprises a first support plate arranged at a distance from the second support plate; the linear motion mechanism comprises a double-threaded screw rod rotatably connected with the first supporting plate and the second supporting plate, two thread sections of the double-threaded screw rod are respectively connected with a thread sliding block in a matched mode, the thread sliding block is fixedly arranged on a guide rod sliding connection between the first supporting plate and the second supporting plate, and the thread sliding block is the output end of the linear motion mechanism.
5. A multi-purpose flexible surgical tool system according to claim 3, wherein: the base frame further comprises a first support plate arranged at a distance from the second support plate; linear motion mechanism is including rotating the connection and being in initiative screw rod, driven screw rod between first backup pad and the second backup pad be connected a second screw thread slider through screw-thread fit respectively on initiative screw rod and the driven screw rod, second screw thread slider is in with fixed setting second guide arm sliding connection between first backup pad and the second backup pad it establishes a synchronous pulley, two to fasten the cover respectively on initiative screw rod and the driven screw rod connect through the hold-in range between the synchronous pulley.
6. A multi-purpose flexible surgical tool system according to claim 4, wherein: the connector comprises a channel connecting plate, a channel supporting plate, a far-end fixing plate, a near-end structure body fixing plate, a first guide channel and a second guide channel; the channel connecting plate is fixedly connected with the first supporting plate, the channel supporting plate is fixedly connected with the second supporting plate, and the near-end structure body fixing plate is fixedly connected with the channel supporting plate through a connecting column; one end of the first guide channel is fixedly connected with the near-end structure body fixing plate, and the other end of the first guide channel penetrates through the channel supporting plate and the channel connecting plate in sequence and then is fixedly connected with the far-end fixing plate; the proximal structural bone passes through the first guide channel; the second guide channel is disposed between the distal fixation plate and the channel connection plate, and the first distal structural bone passes through the second guide channel.
7. A multi-purpose flexible surgical tool system according to claim 3, wherein: arranging a surgical actuator at the tail end of the second distal end structure, arranging an actuator driving mechanism in the base frame, and connecting the output end of the actuator driving mechanism with the surgical actuator through a surgical actuator control wire; the actuator driving mechanism comprises a screw rod which is rotatably arranged in the base frame, a sliding block is connected to the screw rod in a matching mode, the sliding block is in sliding connection with a guide rod which is fixedly arranged in the base frame, and the sliding block is fixedly connected with a control line of the surgical actuator.
8. A multi-purpose flexible surgical tool system according to claim 3, wherein: and a visual lighting module is arranged at the tail end of the second far-end structure, a visual processing unit and a lighting control unit are arranged in the base frame, and the visual processing unit and the lighting control unit are connected with the visual lighting module through composite wires.
9. A multi-purpose flexible surgical tool system according to claim 8, wherein: the motor set unit comprises a motor set shell, a motor fixing plate is rotatably connected to the front end of the motor set shell, a cover plate is fixedly connected to the front side of the motor fixing plate, and a plurality of first motors, a second motor and a third motor are fixedly connected to the rear side of the motor fixing plate; an output shaft of the first motor penetrates through the cover plate and is fixedly connected with a male head of a second coupling, an output shaft of the second motor penetrates through the cover plate and is fixedly connected with a connecting block, an output shaft of the third motor is fixedly connected with a gear, the gear is meshed with an inner gear ring, and the inner gear ring is fixedly connected with the motor unit shell;
the sterile barrier comprises a sterile barrier housing, a sterile barrier support plate and a coupling female head; the coupling female head is rotatably arranged on the sterile barrier supporting plate and is used for connecting the coupling male head with the second coupling male head; the sterile barrier outer cover is rotatably connected to the periphery of the sterile barrier supporting plate; a positioning pin hole is formed in the front side of the sterile barrier support plate; a positioning pin body which is used for being matched and connected with the positioning pin hole is arranged on the rear side of a fourth supporting plate of the flexible surgical tool; a connecting pin boss is arranged on the rear side of the sterile barrier supporting plate, and a second connecting pin boss used for being connected with the connecting pin boss is arranged on the front side of the cover plate of the motor unit; the sterile barrier supporting plate is characterized in that a quick locking device is further arranged on the sterile barrier supporting plate, the quick locking device comprises a quick locking body and a locking pin, the quick locking body is rotatably connected with the sterile barrier supporting plate, one end of the quick locking body is of a thin-wall structure, the other end of the quick locking body is provided with two circular holes in the axial direction, and the circular holes are used for being connected with protruding pins arranged on the connecting blocks so as to transmit rotary power; the locking pins are arranged along the circumferential direction of the inner wall of the thin-walled structure; a screw feature is provided on the rear side of the fourth support plate, and when the quick locking body rotates to drive the locking pin to move on the screw feature, the sterile barrier support plate will be tightened or pushed away from the fourth support plate.
10. A multi-purpose flexible surgical tool system according to claim 4, wherein: the linear module comprises a support body with a sliding groove, a lead screw is rotatably arranged on the support body, a sliding block which is in threaded fit with the lead screw and is arranged in the sliding groove in a sliding mode is sleeved on the lead screw, a fourth motor is arranged at one end of the support body, and an output shaft of the fourth motor is fixedly connected with the lead screw through a coupler; the motor set shell is fixedly connected with the sliding block.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110201583.4A CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
| CN201810023059.0A CN108245254B (en) | 2018-01-10 | 2018-01-10 | Multipurpose flexible surgical tool system |
| JP2020557372A JP7295139B2 (en) | 2018-01-10 | 2019-01-08 | FLEXIBLE SURGICAL INSTRUMENTS AND FLEXIBLE SURGICAL INSTRUMENT SYSTEMS |
| KR1020207022814A KR102428622B1 (en) | 2018-01-10 | 2019-01-08 | Versatile Flexible Surgical Tool System |
| PCT/CN2019/070890 WO2019137380A1 (en) | 2018-01-10 | 2019-01-08 | Multi-purpose flexible surgical tool system |
| US16/961,210 US20200405279A1 (en) | 2018-01-10 | 2019-01-08 | Multi-purpose flexible surgical tool system |
| CA3088221A CA3088221A1 (en) | 2018-01-10 | 2019-01-08 | Multi-purpose flexible surgical instrument system |
| EP19738935.6A EP3738540B1 (en) | 2018-01-10 | 2019-01-08 | Multi-purpose flexible surgical tool system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810023059.0A CN108245254B (en) | 2018-01-10 | 2018-01-10 | Multipurpose flexible surgical tool system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110201583.4A Division CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
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| CN108245254A CN108245254A (en) | 2018-07-06 |
| CN108245254B true CN108245254B (en) | 2021-03-26 |
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| CN202110201583.4A Active CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
| CN201810023059.0A Active CN108245254B (en) | 2018-01-10 | 2018-01-10 | Multipurpose flexible surgical tool system |
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| CN202110201583.4A Active CN112998862B (en) | 2018-01-10 | 2018-01-10 | Flexible surgical tool and flexible surgical tool system |
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| EP3738540B1 (en) * | 2018-01-10 | 2023-02-22 | Beijing Surgerii Technology Co., Ltd. | Multi-purpose flexible surgical tool system |
| CN110870793B (en) * | 2018-08-31 | 2024-04-05 | 新加坡国立大学 | Mechanical arm, minimally invasive surgery robot and manufacturing method of robot |
| CN113397712B (en) * | 2018-09-30 | 2023-01-24 | 南京迈科视医疗科技有限公司 | Surgical robot based on ball-and-socket joint and tactile feedback |
| CN109431601B (en) * | 2018-10-09 | 2021-03-09 | 北京术锐技术有限公司 | Endoscopic surgery robot combination system and use method thereof |
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| CN109431605A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of percutaneous puncture robot system and its application method based on flexible surgical arm |
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| CN108245254A (en) | 2018-07-06 |
| CN112998862A (en) | 2021-06-22 |
| CN112998862B (en) | 2023-03-10 |
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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. |