CN113855108A

CN113855108A - Surgical tool driving transmission system and surgical robot comprising same

Info

Publication number: CN113855108A
Application number: CN202010618753.4A
Authority: CN
Inventors: 徐凯; 刘旭
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-12-31

Abstract

The invention discloses a surgical tool driving transmission system and a surgical robot comprising the same, wherein the surgical tool driving transmission system comprises a flexible continuum structure and a driving transmission mechanism; the flexible continuous body structure comprises a near-end continuous body, a far-end continuous body and a driving connecting part, wherein the far end of the driving connecting part is connected with the near-end base disc, the near end of the driving connecting part penetrates through and is connected with the second near-end stop disc, and the part of the driving connecting part, which is positioned on the near-end side of the second near-end stop disc, forms a free end; the driving transmission mechanism comprises a first rotating part, a second rotating part and a driven part; the driving mechanism drives the driving connecting part to move to drive the bending of the near-end continuum, so that the first near-end stopping disc can be cooperatively turned along with the near-end continuum to finally drive the far-end continuum to be randomly bent in space, direct push-pull on a driving wire is avoided, and when a large number of structural bones are driven, the driving mechanism is free from the number of drivers, and meanwhile, the driving mechanism is compact in structure, simple in principle, easy to realize, and high in reliability and flexibility.

Description

Surgical tool driving transmission system and surgical robot comprising same

Technical Field

The invention relates to a drive transmission system, in particular to a surgical tool drive transmission system based on a rotary drive mechanism and a surgical robot comprising the same.

Background

Minimally invasive surgery has become an important place in surgical procedures because of its less trauma to patients and higher postoperative yield. Surgical instruments including a visual lighting module and a surgical operation arm enter a human body through an incision or a natural cavity to reach an operation part for performing an operation by using surgical tools. 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 is also difficult to further improve the motion performance of the instrument.

Compared with the traditional rigid kinematic chain which realizes the bending motion by mutual rotation at the joint, the flexible continuum structure realizes the bending deformation of the far-end structure by the deformation of the near-end structure, and the main structure body of the flexible continuum structure becomes the transmission structure of the drive, so that the extremely high degree of freedom configuration can be realized in a small-size space range. Therefore, the flexible probe is widely applied to the research and development of medical instruments such as flexible operation arms, endoscopes and controllable catheters and novel special equipment such as industrial deep cavity detection endoscopes and flexible mechanical arms.

The existing continuum structure generally adopts a driving mechanism to directly push and pull a driving wire in the continuum structure, so that the continuum structure is bent towards any direction, but along with the stricter requirements on the continuum structure, such as high precision, fast response, high bending flexibility, good stability and the like, the existing driving transmission structure can not meet the requirements of the existing driving mode gradually, and the existing driving modes are all directly pushing and pulling the driving wire to move, so that when the number of the driving wires is large, the number of the driving mechanism can be correspondingly increased, and the structure is complex.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a surgical tool driving transmission system based on a rotary driving mechanism, which can drive the non-planar movement of the continuum structure, so as to make the distal end of the continuum structure turn at any aspect, and at the same time avoid the direct push-pull of the driving wires, when driving a large number of driving wires, without being limited by the number of driving mechanisms, and at the same time, the structure is compact, the principle is simple, and the implementation is easy, so that the surgical tool driving transmission system has high reliability and flexibility; it is another object of the present invention to provide a surgical robot incorporating the surgical tool drive transmission system.

In order to achieve the purpose, the invention adopts the following technical scheme that the surgical tool driving transmission system comprises a flexible continuous body structure and a driving transmission mechanism;

the flexible continuum structure comprises:

the proximal continuum comprises a proximal basal disc, a first proximal end stop disc and a second proximal end stop disc which are arranged at intervals; a plurality of first structural bones, wherein the proximal ends of the first structural bones are fixedly connected with the second proximal end stopping disc, and the distal ends of the first structural bones penetrate through the first proximal end stopping disc and are fixedly connected with the proximal basal disc;

the distal end continuum comprises a distal end base disc and a distal end stop disc which are arranged at intervals, and the distal end base disc is adjacent to the proximal end base disc; the proximal ends of the second structural bones are fixedly connected with the first proximal end stopping disc, and the distal ends of the second structural bones sequentially penetrate through the proximal end basal disc and the distal end basal disc and are fixedly connected with the distal end stopping disc; and

the far end of the driving connecting part is connected with a near end base disc, the near end of the driving connecting part penetrates through the second near end stop disc and is connected with the second near end stop disc, and the part of the driving connecting part, which is positioned at the near end side of the second near end stop disc, forms a free end;

the drive transmission mechanism includes: a first rotating member, a second rotating member and a driven member;

the first rotating piece is hinged with the driven piece to form a first hinge point;

the second rotating piece is hinged with the driven piece to form a second hinge point;

the first rotating part is hinged with the second rotating part to form a third hinged point, and the rotating axis of the third hinged point is coincident with the rotating axis of the first rotating part;

the first rotating member is perpendicular to and intersects with the rotation axis of the second rotating member;

the driven piece is connected with the free end of the driving connecting part;

in an initial position, the rotation axis of the first hinge point coincides with the rotation axis of the second rotation element, and the rotation axis of the second hinge point coincides with the rotation axis of the first rotation element.

In some embodiments, the first rotating member is provided with a first connecting link; a second connecting rod piece is arranged on the second rotating piece; one end of the first connecting rod piece is hinged with the driven piece to form a first hinge point; one end of the second connecting rod piece is hinged with the driven piece to form a second hinge point; the other end of the first connecting rod piece is hinged with the other end of the second connecting rod piece to form the third hinged point.

In some embodiments, the first rotating member is arranged to be rotated by the first driving member, and the second rotating member is arranged to be rotated by the second driving member; the first rotating part is fixedly connected with the first connecting rod part; the second rotating piece is fixedly connected with the second connecting rod piece.

In some embodiments, the first rotating member is a first worm gear or a first bevel gear, and the first worm gear or the first bevel gear is fixedly connected with the first connecting rod member; the second rotating piece is a second worm wheel or a second bevel gear, and the second worm wheel or the second bevel gear is fixedly connected with the second connecting rod piece.

In some embodiments, the follower is hingedly connected to the first and second swivel members at the third hinge point.

In some embodiments, the driven member includes a connecting body connected to the free end of the driving connecting portion, and at least two connecting rods extending vertically upward from the connecting body, one of the connecting rods being hinged to the first rotating member, and the other connecting rod being hinged to the second rotating member.

In some embodiments, the drive connection is a gimbal, a distal end of the gimbal is connected to the proximal base plate, a proximal end of the gimbal passes through and is connected to the second proximal end stop plate, and a portion of the gimbal located on a proximal side of the second proximal end stop plate forms a free end;

or the driving connecting part is a spherical hinge joint, the far end of the spherical hinge joint is connected with the near-end base disc, the near end of the spherical hinge joint penetrates through the second near-end stop disc and is connected with the second near-end stop disc, and the part of the spherical hinge joint, which is positioned at the near-end side of the second near-end stop disc, forms a free end.

In some embodiments, the bone guiding device further comprises a structural bone guiding tube bundle, wherein the structural bone guiding tube bundle is connected between the proximal end base plate and the distal end base plate, and the distal ends of a plurality of second structural bones sequentially penetrate through the proximal end base plate, the structural bone guiding tube bundle and the distal end base plate and are fixedly connected with the distal end stop plate.

In some embodiments, the proximal continuum further comprises at least one first proximal retention disc disposed between the first proximal retention disc and the second proximal retention disc and/or at least one second proximal retention disc disposed between the proximal base disc and the first proximal retention disc, each of the first structural bones passing through the first proximal retention disc and/or the second proximal retention disc;

the distal continuum further includes at least one distal retention disc disposed between the distal base disc and the distal stop disc, each of the second structural bones passing through a second proximal retention disc and a distal retention disc in sequence.

In some embodiments, a resilient unit is mounted between each adjacent two discs of the proximal continuum and/or between each adjacent two discs of the distal continuum.

In some embodiments, through holes for the first structural bone and the second structural bone to slide through are uniformly distributed on the first proximal holding disc, the first proximal stopping disc, the second proximal holding disc, the proximal base disc, the distal base disc and the distal holding disc, locking holes for fixing the end part of the first structural bone are uniformly distributed on the proximal base disc and the second proximal stopping disc, and locking holes for fixing the end part of the second structural bone are uniformly distributed on the first proximal stopping disc and the distal stopping disc.

In some embodiments, the first structural bone and the second structural bone are both elastic thin rods or tubes made of super elastic material; the structural bone guiding tube bundle adopts a steel tube bundle.

Additionally, the invention also provides a surgical robot, which comprises at least one surgical tool driving transmission system in any embodiment.

In some embodiments, the surgical robot employs more than two of said surgical tool drive transmission systems in series or in parallel.

By adopting the technical scheme, the invention has the following advantages: the surgical tool driving transmission system provided by the invention only needs to drive the near-end stop disc to move through one driving transmission mechanism, so as to drive the near-end continuum to bend, so as to drive the first near-end stop disc of the near-end continuum to turn over, so as to indirectly push and pull the second structural bone, and finally drive the far-end continuum to bend randomly in space, so that the driving wire, namely the elastic thin rod, is prevented from being directly pushed and pulled, and when a large number of elastic thin rods are driven, the system is not limited by the number of drivers, and is compact in structure, simple in principle, easy to realize, and high in reliability and flexibility.

Drawings

FIG. 1 is a schematic view of the proximal continuum and structural bone guiding catheter bundle of a surgical tool drive train in accordance with one embodiment of the present invention;

FIG. 2 is a schematic view of the distal continuum and structural bone guiding catheter bundle of the surgical tool drive train in accordance with one embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a driving transmission mechanism according to a first embodiment of the present invention;

FIG. 4 is a schematic structural view of the drive transmission mechanism connected to the free end of the drive connection portion according to the first embodiment of the present invention;

FIG. 5 is a schematic diagram of a driven member according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a universal joint as the driving connecting portion in the second embodiment of the present invention;

fig. 7 is a schematic structural view of a second embodiment of the present invention, in which the driving connecting portion is a spherical hinge joint.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

Example one

The present embodiment provides a surgical tool drive transmission system comprising a flexible continuum structure 100 and a drive transmission mechanism 200;

wherein the flexible continuum structure 100 comprises:

as shown in fig. 1, the proximal continuum 1 comprises a proximal basal disc 4, a first proximal stopping disc 7, a second proximal stopping disc 8 and a first structural bone 13, the proximal basal disc 4, the first proximal stopping disc 7 and the second proximal stopping disc 8 are arranged at intervals, proximal ends of a plurality of first structural bones 13 are fixedly connected with the second proximal stopping disc 8, and distal ends of a plurality of first structural bones 13 pass through the first proximal stopping disc 7 and are fixedly connected with the proximal basal disc 4;

as shown in fig. 2, the distal continuum 3 includes a distal end base plate 9, a distal end stop plate 11 and second structural bones 12, the distal end base plate 9 and the distal end stop plate 11 are arranged at intervals, the distal end base plate 9 is adjacent to the proximal end base plate 4, proximal ends of the second structural bones 12 are fixedly connected to the first proximal end stop plate 7, and distal ends of the second structural bones 12 sequentially penetrate through the proximal end base plate 4 and the distal end base plate 9 and are fixedly connected to the distal end stop plate 11; and

as shown in fig. 4, a distal end of the drive connection portion is connected to the proximal base plate 4, a proximal end of the drive connection portion passes through the second proximal end stop 8 and is connected to the second proximal end stop 8, and a portion of the drive connection portion located on a proximal end side of the second proximal end stop 8 forms a free end;

the drive transmission mechanism 200 includes: a first rotation member, a second rotation member and a follower 1409; the first rotating member is hinged with the driven member 1409 to form a first hinge point; the second rotating member is hinged with the driven member 1409 to form a second hinge point; the first rotating piece is hinged with the second rotating piece to form a third hinged point; the first rotating member is perpendicular to and intersects with the rotation axis of the second rotating member; in the initial position, the rotation axis of the first hinge point coincides with the rotation axis of the second rotation element and the rotation axis of the second hinge point coincides with the rotation axis of the first rotation element.

The working principle of the embodiment is as follows:

the first rotating member and the second rotating member drive the driven member 1409 to rotate around the constant central point of the driving connection portion in space, the driven member 1409 drives the free end of the driving connection portion to rotate, the proximal continuum 1 generates dual bending, and the first proximal stopping disc 7 simultaneously generates cooperative inversion, so as to generate push-pull on each structural bone 12 fixed on the first proximal stopping disc 7 at the end, and generate corresponding change in the length of each structural bone 12 in the distal continuum 3, thereby driving the distal continuum 3 to generate bending in the opposite direction to the proximal continuum 1, that is, realizing bending of the distal continuum 3 in different directions in space.

In this embodiment, preferably, as shown in fig. 3, the first rotating member is fixedly provided with a first connecting rod member 1407; the second rotating piece is fixedly provided with a second connecting rod piece 1408; one end of the first connecting rod member 1407 is hinged to the follower 1409 to form a first hinge point; one end of the second connecting rod 1408 is hinged with the follower 1409 to form a second hinge point; the other end of the first connecting rod 1407 and the other end of the second connecting rod 1408 are hinged to form a third hinge point, which is located on the rotation axis of the first rotating member. It should be understood that the hinge connection between the first and second rotating members and the driven member 149 may be achieved by other types of connecting members other than the first and second connecting links 147 and 148, as long as the hinge points satisfy the above-mentioned geometrical relationship.

In this embodiment, the first rotation member is arranged to be rotated by the first driving member, and the second rotation member is arranged to be rotated by the second driving member.

In this embodiment, the first driving member and the first rotating member may include a first driving member and a first driven member which are matched, and the first driven member is fixedly connected to the first connecting member 1407; the second driving member and the second rotating member may include a second driving member and a second driven member, which are engaged with each other, and the second driven member is fixedly connected to the second connecting rod 1408. It is understood that the first driving member and the second driving member may also be directly driving members such as motors or motors, which directly drive the first rotating member and the second rotating member to rotate.

In this embodiment, preferably, the first driving member and the first rotating member may comprise a first worm 1404 and a first worm gear 1403 which are engaged with each other, or alternatively, a first driving bevel gear and a first bevel gear which are engaged with each other, and the first worm gear 1403 or the first bevel gear is fixedly connected with the first connecting rod member 1407; the second driving member and the second rotating member may comprise a second worm 1406 and a second worm gear 1405, or alternatively, a second driving bevel gear and a second bevel gear engaged with each other, and the second worm gear 1405 or the second bevel gear is fixedly connected to the second connection rod 1408. By providing two sets of rotary drive mechanisms, the direction of the driven member 1409 can be changed, and amplification of the drive torque can be achieved. It is understood that the first driving member and the second driving member may also be driving members such as motors or motors, which directly drive the first rotating member and the second rotating member to rotate. It should also be understood that the first and second rotating members may be other rotatable members other than worm or gear wheels.

In this embodiment, the follower 1409 is preferably hinged to the third hinge point with the first rotating member and the second rotating member to increase the rigidity of the overall movement.

In the embodiment shown in fig. 5, the follower 1409 comprises a connecting body 1409-1 connected with the free end of the driving connecting part, at least two connecting rods 1409-2 vertically and upwardly extending from the connecting body 1409-1, one connecting rod 1409-2 is hinged with the first rotating member, and the other connecting rod 1409-2 is hinged with the second rotating member.

In this embodiment, it is preferable that the surgical tool driving transmission system further includes a structural bone guiding tube bundle 2, the structural bone guiding tube bundle 2 is connected between the proximal base plate 4 and the distal base plate 9, and distal ends of a plurality of second structural bones 12 are fixedly connected to the distal end stop plate 11 after sequentially passing through the proximal base plate 4, the structural bone guiding tube bundle 2, and the distal base plate 9.

In this embodiment, it is preferable that the proximal continuum 1 further comprises at least one first proximal retention disc disposed between the first proximal retention disc 7 and the second proximal retention disc 8 and/or at least one second proximal retention disc disposed between the proximal base disc 4 and the first proximal retention disc 7, each first structural bone 13 passing through the first proximal retention disc and/or the second proximal retention disc, the first proximal retention disc and the second proximal retention disc each serving to support the first structural bone 13 from a radial direction of the first structural bone 13, such that each first structural bone 13 remains in a parallel state during bending deformation, preventing the first structural bone 13 from buckling during bending movement.

In this embodiment, the distal continuum 3 preferably further comprises at least one distal retaining disc 10 disposed between the distal base disc 9 and the distal stop disc 11, each second structural bone 12 sequentially passing through the second proximal and distal retaining discs 10, the second proximal and distal retaining discs 10 serving to support the second structural bones 12 radially of the second structural bones 12 such that each first structural bone 12 remains parallel during the bending deformation, preventing the second structural bones 12 from buckling during the bending movement.

In this embodiment, elastic units (such as springs, elastic tubes, etc., not shown in the figures) are preferably installed between two adjacent disks of the proximal continuum 1 and/or between two adjacent disks of the distal continuum 3 to space the disks apart.

In this embodiment, preferably, through holes for the first structural bone 13 and the second structural bone 12 to slide through are uniformly distributed on the first proximal holding disk, the first proximal stopping disk 7, the second proximal holding disk, the proximal base disk 4, the distal base disk 9 and the distal holding disk 10, locking holes for fixing the end of the first structural bone 13 are uniformly distributed on the proximal base disk 4 and the second proximal stopping disk 8, and locking holes for fixing the end of the second structural bone 12 are uniformly distributed on the first proximal stopping disk 7 and the distal stopping disk 11; the specific hole locations and number of holes for the through holes and locking holes on the different discs will depend on their relative relationship to the second structural bone 12 and the first structural bone 13.

In the present embodiment, the first structural bone 13 and the second structural bone 12 are preferably elastic thin rods or tubes made of super elastic material, and can be made of high strength, high toughness and elastic metal material such as nickel-titanium alloy. Specifically, the first structural bone 13 and the second structural bone 12 are both circumferentially arranged, for example, the first structural bone 13 and the second structural bone 12 may be circumferentially distributed or circumferentially arranged in a rectangular shape.

In the present embodiment, preferably, the structural bone guide tube bundle 2 may be a steel tube bundle.

Example two

Compared with the first embodiment, the main differences of the present embodiment are: the following four kinematic relationship connection nodes exist among the drive connection portion, the proximal continuum 1 and the drive transmission mechanism 200: the first connecting node refers to the connecting relation between the near-end base disc 4 and the driving connecting part, the second connecting node refers to the structure of the driving connecting part, the third connecting node refers to the connecting relation between the driving connecting part and the second near-end stop disc 8, and the fourth connecting node refers to the connecting relation between the free end of the driving connecting part and the driving transmission mechanism 200; the driving connecting part comprises a rotating pair; the first connecting node, the third connecting node and the fourth connecting node are combined in several of the following four connecting modes: the combination of the four connecting nodes is set to meet the minimum degree of freedom required for driving the proximal end stopping disc 7 of the proximal end continuum 1 to move and turn, so that the proximal end continuum 1 generates dual bending, and the first proximal end stopping disc 7 generates cooperative turning along with the proximal end continuum 1.

In this embodiment, the driving connection part may be a universal joint 131 or a spherical hinge joint 132, and in this case, there are four kinematic connection nodes between the driving connection part, the proximal continuum 1 and the driving transmission mechanism 200, which are as follows: the first connecting node refers to the connecting relation between the near-end base plate 4 and the driving connecting part, the second connecting node refers to the structure of the driving connecting part, the third connecting node refers to the connecting relation between the driving connecting part and the second near-end stop plate 8, the fourth connecting node refers to the connecting relation between the free end of the driving connecting part and the driving transmission mechanism 200, and the first connecting node, the third connecting node and the fourth connecting node can be combined in several of the following four connecting modes: the cylinder pair (can rotate and move), the sliding pair (can only move), the rotating pair (can only rotate) and the fixed connection are combined to realize that the near-end continuum 1 generates dual bending under the driving of the driving transmission mechanism 200, and the first near-end stopping disc 7 cooperatively overturns along with the near-end continuum 1. The following exemplifies the combination of the first proximal end stop 7 capable of being turned over by movement.

Example 1

As shown in fig. 6, in the present example, the drive connection portion employs the universal joint 131, the number of the universal joints 131 may be one, and one universal joint may be understood as including a revolute pair in which two rotation axes intersect. The four connection nodes adopt the following combination: the first connecting node adopts a rotary connection, the second connecting node adopts a universal joint, the third connecting node adopts a cylindrical pair for connection, the fourth connecting node adopts a fixed connection, namely, the first connecting node refers to one end of the universal joint 131 and the near-end base plate 4 are in rotary connection, the second connecting node refers to the structure of the universal joint 131, the other end of the universal joint 131 is the free end of the driving connecting part, the fourth connecting node refers to the free end of the universal joint 131 and the driven part 1409 which are fixedly connected, the third connecting node refers to the matching of the outer circular surface of the free end of the universal joint and the second near-end stop plate 8 through the cylindrical pair, and therefore the second near-end stop plate 8 can slide and rotate relative to the free end. When the free end moves under the drive of the follower 1409, with the invariant center point being the center of the gimbal 131, the follower 1409 rotates about the center of the gimbal 131, so that the proximal end base plate 4 and the second proximal end stop plate 8 are dislocated, the axes of the two do not coincide, because the two ends of the first structural bone 13 are respectively fixed with the proximal end base plate 4 and the second proximal end stop plate 8, and forced bending is generated, the proximal continuum 1 generates dual bending, and the first proximal end stop disk 7 generates cooperative turnover, thereby pushing and pulling the second structural bones 12 fixed at the ends to the first proximal end stop disk 7, the second structural bones 12 fixed to the first proximal end stop disk 7 are equally distributed, one side is pulled so that the length of the corresponding second structural bones 12 in the proximal continuum 1 is increased, and the other side is compressed so that the length of the corresponding second structural bones 12 in the proximal continuum 1 is decreased. But the overall length of each second structural bone 12 is unchanged, resulting in a corresponding change in the length of each second structural bone 12 in the distal continuum 3, thereby driving the distal continuum 3 to reverse curvature from the portion of the proximal continuum 1 near the proximal disc 4. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding second structural bone 12 (in the embodiment, the second structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed along the circumferential direction, and may be distributed along the rectangular circumferential direction, and may be uniformly distributed or non-uniformly distributed, which is not limited herein). The distribution radius of the second structural bone 12 in the proximal continuum 1 and the distal continuum 3 can be adjusted to meet actual bending ratio requirements during application. Therefore, the driving connecting part 14 and the second near-end stopping disc 8 are connected in a cylindrical pair mode, the second near-end stopping disc 8 and the driving connecting part 14 can slide up and down or rotate, parasitic motion (up-and-down sliding) in the axial direction generated when the near-end continuum 1 is bent in a dual mode and bending motion (rotation) in any direction can be met, the parasitic motion can avoid the phenomenon that the far-end continuum 3 generates telescopic motion in the axial direction in the bending process, the envelope wrapping on the periphery of the far-end continuum 3 is wrinkled or excessively stretched, and the service life of the envelope is affected.

Alternatively, the four nodes may also take the following combination: the first connecting node is connected by adopting a rotating pair, the second connecting node is connected by adopting a universal joint, the third connecting node is connected by adopting a rotating pair, the fourth connecting node is fixedly connected, the free end of the universal joint 131 can freely rotate under the driving of the driven member 1409, the near-end continuum 1 is bent in a dual mode, and the first near-end stopping disc 7 is cooperatively overturned along with the near-end continuum 1, so that the aim of bending the far-end continuum 3 is fulfilled.

Still alternatively, the four nodes may also take the following combinations: the first connecting node is fixedly connected, the second connecting node is a universal joint, the third connecting node is fixedly connected, and the fourth connecting node is connected by a sliding pair, so that the purpose can be achieved.

In summary, in addition to the above implementation manners, the first connection node, the third connection node, and the fourth connection node may also adopt several of the above connection manners to perform other combinations, and then combine with the structure of the driving connection portion itself to form other combinations of the above four connection manners, where the differences between the different combinations are that the number of degrees of freedom is different in each implementation manner, and on the premise of implementing the same function, the more degrees of freedom are, the better flexibility and flexibility are.

Example 2

As shown in fig. 7, in the present example, the driving connection part adopts a spherical hinge joint 132, which can be understood as a revolute pair including 3 intersecting axes, and in this case, the four connection nodes can adopt the following combination: the first connecting node is fixedly connected, the second connecting node is in spherical hinge connection, the third connecting node is in cylindrical pair connection, and the fourth connecting node is in fixed connection. Namely, the base of the first connecting node spherical hinge joint 132 is fixedly connected with the proximal base plate 4, the second connecting node spherical hinge joint 132 is of a structure, the other end of the fourth connecting node spherical hinge joint 132 is used as a free end and is fixedly connected with the third connecting rod 1409, the outer circular surface of the other end of the third connecting node spherical hinge joint 132 is matched with the second proximal stopping plate 8 by a cylindrical pair, so that the second proximal stopping plate 8 can slide and rotate relative to the free end, the invariable central point is the center of a spherical hinge, the driven member 1409 rotates around the center of the spherical hinge joint 132, when the free end rotates under the driving of the driven member 1409, the proximal continuum 1 generates dual bending, the first proximal stopping plate 7 generates cooperative turnover along with the proximal continuum 1, and further generates push-pull for each structural bone 12 fixed on the first proximal stopping plate 7 at the end, each second structural bone 12 fixed on the first proximal stopping plate 7 is uniformly distributed, one side is in tension so that the length of the corresponding second structural bone 12 in the proximal continuum 1 increases and the other side is in compression so that the length of the corresponding second structural bone 12 in the proximal continuum 1 decreases. But the overall length of each second structural bone 12 is unchanged, resulting in a corresponding change in the length of each second structural bone 12 in the distal continuum 3, thereby driving the distal continuum 3 to reverse curvature from the portion of the proximal continuum 1 near the proximal disc 4. Through the mutual cooperation of the four nodes, the second proximal end stop disc 8 can slide up and down or rotate relative to the driving connecting part or the driving connecting part and the driven part 1409, so that the parasitic motion (up-and-down sliding) of the proximal continuum 1 sliding along the axial direction in the bending process and the bending motion (rotation) towards any direction are met, and the parasitic motion can avoid the phenomenon that the envelope wrapping the periphery of the distal continuum 3 is wrinkled or excessively stretched to influence the service life of the envelope in the bending process of the distal continuum 3.

Alternatively, the four nodes may also take the following combination: the first connecting node is connected by adopting a revolute pair, the second connecting node is connected by adopting a spherical hinge, the third connecting node is connected by adopting a revolute pair, the fourth connecting node is fixedly connected, namely, the base of the first connecting node is connected with the proximal end base plate 4 by adopting a revolute pair, the second connecting node is in a structure of the spherical hinge joint 132, the other end of the fourth connecting node is taken as a free end and is fixedly connected with the driven piece 1409, and the outer circular surface of the other end of the third connecting node is matched with the second proximal end stop plate 8 by adopting a revolute pair; at this time, the free end can freely rotate under the driving of the driven member 1409, the proximal continuum 1 generates dual bending, and the first proximal stop disk 7 cooperatively overturns with the proximal continuum 1, so as to finally achieve the purpose of bending the distal continuum 3.

Still alternatively, the four nodes may also take the following combinations: the first connecting node is fixedly connected, the second connecting node is in a spherical hinge, the third connecting node is in a rotary connection, and the fourth connecting node is in a sliding pair connection, so that the purpose can be achieved.

In summary, besides the above combination modes, the first connection node, the third connection node, and the fourth connection node may also adopt several of the above connection modes to perform other forms of combination, and then combine with the structure of the driving connection part itself to form other forms of combination of the above four connection nodes.

It should be noted that the above embodiments are not intended to limit the practical limitations of the present invention, and the essence of the present invention lies in that the drive transmission mechanism 200 drives the proximal continuum 1 in the flexible continuum structure 100 to generate dual bending, the first proximal end stop disk 7 cooperatively rotates with the proximal continuum 1, and finally drives the distal continuum 3 to randomly bend in space, thereby overcoming the direct push-pull of the drive wire in the prior art.

Additionally, based on the surgical tool driving transmission system in the above embodiments, the present embodiment provides a surgical robot including at least one surgical tool driving transmission system described above.

In this embodiment, it is preferable that the surgical robot adopts two or more of the above-mentioned surgical tool drive transmission systems in series or in parallel, so as to increase the flexibility of the arm body.

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

1. A surgical tool drive transmission system comprising a flexible continuum structure (100) and a drive transmission mechanism (200);

the flexible continuum structure (100) comprises:

the proximal end continuum (1) comprises a proximal end base disc (4), a first proximal end stop disc (7) and a second proximal end stop disc (8) which are arranged at intervals; a first structural bone (13), wherein the proximal ends of the first structural bones (13) are fixedly connected with the second proximal stopping disc (8), and the distal ends of the first structural bones (13) penetrate through the first proximal stopping disc (7) and are fixedly connected with the proximal basal disc (4);

the far-end continuous body (3) comprises a far-end base disc (9) and a far-end stop disc (11) which are arranged at intervals, and the far-end base disc (9) is adjacent to the near-end base disc (4); the near ends of the second structural bones (12) are fixedly connected with the first near end stopping disc (7), and the far ends of the second structural bones (12) sequentially penetrate through the near end base disc (4) and the far end base disc (9) and are fixedly connected with the far end stopping disc (11); and

a distal end of the drive connecting part is connected with a proximal end base plate (4), a proximal end of the drive connecting part passes through the second proximal end stop plate (8) and is connected with the second proximal end stop plate (8), and a part of the drive connecting part, which is positioned at the proximal end side of the second proximal end stop plate (8), forms a free end;

the drive transmission mechanism (200) includes: a first rotating member, a second rotating member and a driven member (1409);

the first rotating member is hinged with the driven member (1409) to form a first hinge point;

the second rotating member is hinged with the driven member (1409) to form a second hinge point;

the follower (1409) is connected with the free end of the driving connecting part;

2. A surgical tool drive transmission system as recited in claim 1, wherein: the first rotation member is provided with a first connecting link member (1407); a second connecting rod piece (1408) is arranged on the second rotating piece; one end of the first connecting rod (1407) is hinged with the driven part (1409) to form the first hinge point; one end of the second connecting rod (1408) is hinged with the follower (1409) to form the second hinge point; the other end of the first connecting link (1407) and the other end of the second connecting link (1408) are hinged to form the third hinge point.

3. A surgical tool drive transmission system as claimed in claim 2, wherein: the first rotating part is arranged to be driven to rotate by the first driving part, and the second rotating part is arranged to be driven to rotate by the second driving part; the first rotating member is fixedly connected with the first connecting rod member (1407); the second rotating member is fixedly connected with the second connecting rod member (1408).

4. A surgical tool drive transmission system as claimed in claim 2 or 3, wherein: the first rotating piece is a first worm wheel (1403) or a first bevel gear, and the first worm wheel (1403) or the first bevel gear is fixedly connected with the first connecting rod piece (1407);

the second rotating piece is a second worm gear (1405) or a second bevel gear, and the second worm gear (1405) or the second bevel gear is fixedly connected with the second connecting rod (1408).

5. A surgical tool drive transmission system as recited in claim 1, wherein: the follower (1409) is hinged to the third hinge point with the first and second rotating members.

6. A surgical tool drive transmission system as recited in claim 1, wherein: the driven part (1409) comprises a connecting body (1409-1) connected with the free end of the driving connecting part, and at least two connecting rods (1409-2) formed by vertically and upwardly extending from the connecting body (1409-1), wherein one connecting rod (1409-2) is hinged with the first rotating part, and the other connecting rod (1409-2) is hinged with the second rotating part.

7. A surgical tool drive transmission system as recited in claim 1, wherein:

the drive connecting part is a universal joint (131), the far end of the universal joint (131) is connected with the near-end base plate (4), the near end of the universal joint (131) penetrates through the second near-end stop disc (8) and is connected with the second near-end stop disc (8), and the part of the universal joint (131) on the near-end side of the second near-end stop disc (8) forms a free end;

or the driving connecting part is a spherical hinge joint (132), the far end of the spherical hinge joint (132) is connected with the near-end base plate (4), the near end of the spherical hinge joint (132) penetrates through the second near-end stop plate (8) and is connected with the second near-end stop plate (8), and the part of the spherical hinge joint (132) located on the near-end side of the second near-end stop plate (8) forms a free end.

8. A surgical tool drive transmission system as recited in claim 1, wherein:

the bone fracture plate is characterized by further comprising a structural bone guiding pipe bundle (2), wherein the structural bone guiding pipe bundle (2) is connected between the near-end base plate (4) and the far-end base plate (9), and the far ends of the second structural bones (12) sequentially penetrate through the near-end base plate (4), the structural bone guiding pipe bundle (2) and the far-end base plate (9) and are fixedly connected with the far-end stop plate (11).

9. A surgical tool drive transmission system as recited in claim 1, wherein:

the proximal continuum (1) further comprises at least one first proximal retention disc arranged between the first proximal stop disc (7) and the second proximal stop disc (8) and/or at least one second proximal retention disc arranged between the proximal base disc (4) and the first proximal stop disc (7), each of the first structural bones (13) passing through the first proximal retention disc and/or the second proximal retention disc;

the distal continuum (3) further comprises at least one distal retaining disc (10) disposed between the distal base disc (9) and the distal stop disc (11), each of the second structural bones (12) passing in sequence through the second proximal and distal retaining discs (10).

10. A surgical tool drive transmission system as recited in claim 1, wherein:

elastic units are arranged between two adjacent discs of the proximal continuum (1) and/or between two adjacent discs of the distal continuum (3).

11. A surgical tool drive transmission system as recited in claim 9, wherein:

through holes for the first structural bone (13) and the second structural bone (12) to slide through are uniformly distributed on the first near-end retaining disc, the first near-end stopping disc (7), the second near-end retaining disc, the near-end base disc (4), the far-end base disc (9) and the far-end retaining disc (10), locking holes for fixing the end part of the first structural bone (13) are uniformly distributed on the near-end base disc (4) and the second near-end stopping disc (8), and locking holes for fixing the end part of the second structural bone (12) are uniformly distributed on the first near-end stopping disc (7) and the far-end stopping disc (11).

12. A surgical tool drive transmission system as recited in claim 8, wherein: the first structural bone (13) and the second structural bone (12) are both elastic thin rods or thin tubes made of super-elastic materials; the structural bone guiding tube bundle (2) is a steel tube bundle.

13. A surgical robot, characterized by:

comprising at least one surgical tool drive transmission system according to any one of claims 1 to 12.

14. A surgical robot as claimed in claim 13, wherein:

the surgical robot adopts more than two surgical tool driving transmission systems which are connected in series or in parallel.