CN116269792A - Continuum instrument with receiving channel and surgical robot - Google Patents

Continuum instrument with receiving channel and surgical robot Download PDF

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Publication number
CN116269792A
CN116269792A CN202111498065.XA CN202111498065A CN116269792A CN 116269792 A CN116269792 A CN 116269792A CN 202111498065 A CN202111498065 A CN 202111498065A CN 116269792 A CN116269792 A CN 116269792A
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continuum
bones
structures
flexible
instrument
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徐凯
朱传祥
姬利永
丁跃
陈诗英
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Beijing Surgerii Robot Co Ltd
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Beijing Surgerii Robot Co Ltd
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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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Prostheses (AREA)

Abstract

The present disclosure relates to the field of continuum instruments, and discloses a continuum instrument comprising a continuum structure, a driving structure bone and a driving transmission device. The continuum structure includes a plurality of spacer disks and a plurality of connecting structures. The spacer disc is provided with through holes, and a plurality of through holes form an accommodating channel along the axial direction. The connecting structure comprises one or more flexible structural bones, and two ends of the flexible structural bones are fixedly connected with adjacent spacing discs respectively and distributed along the circumferential direction of the spacing discs. The plurality of connecting structures at least comprise a first connecting structure and a second connecting structure, and the flexible structural bones of the first connecting structure and the flexible structural bones of the second connecting structure are distributed differently along the circumferential direction of the spacing disc. The first end of the driving structural bone is fixedly connected with the distal end spacer disc of at least one continuum structure, and the driving transmission device is fixedly connected with the second end of the driving structural bone. The plurality of continuum structures of the continuum instrument can be bent in different directions to adapt to complex bending environments without damaging the lumen.

Description

Continuum instrument with receiving channel and surgical robot
Technical Field
The present disclosure relates to the field of continuum instruments, and more particularly, to a continuum instrument with a receiving channel and a surgical robot.
Background
Traditional disease diagnosis and surgical treatment are largely divided into open diagnosis and surgery and endoluminal intervention diagnosis and treatment. The intracavitary intervention diagnosis or treatment is to make incision on blood vessel and skin to form channel or to reach target position via the original cavity of human body under the guidance of imaging equipment without opening to expose focus.
Traditional intra-cavity interventional procedures are mainly manually operated by doctors. In order to reduce the burden of doctors and improve the efficiency and safety of the intra-cavity intervention, a method for assisting the intervention diagnosis or operation by using the intra-cavity intervention instrument gradually becomes a research hot spot of the industry. The intra-cavity interventional instrument can be remotely controlled to eliminate risks caused by misoperation caused by physiological tremble and fatigue of doctors in the manual operation process.
However, in order to facilitate control operation, the currently adopted intracavity interventional device is generally provided with isotropic bending, so that the flexibility of the interventional device is relatively poor, the bending space is limited, the interventional device cannot adapt to a human body cavity with complex bending, and the cavity is easily damaged.
Disclosure of Invention
In some embodiments, a continuum instrument comprises:
One or more serially connected continuum structures, the continuum structures comprising:
the spacer discs are provided with through holes, and the through holes of the spacer discs form accommodating channels along the axial direction; and
a plurality of connection structures, the connection structures comprising:
the first ends and the second ends of the one or more flexible structural bones are respectively fixedly connected with the adjacent spacing discs, and the one or more flexible structural bones are distributed along the circumferential direction of the spacing discs;
the plurality of connecting structures at least comprise a first connecting structure and a second connecting structure, the first connecting structure comprises one or more first flexible structural bones, the second connecting structure comprises one or more second flexible structural bones, and the circumferential distribution of the one or more first flexible structural bones along the spacing disc is different from the circumferential distribution of the one or more second flexible structural bones along the spacing disc;
one or more driving structural bones, a first end of the one or more driving structural bones being fixedly connected to a distal spacer disc of at least one of the one or more continuum structures; and
and the driving transmission device is fixedly connected with the second ends of the one or more driving structural bones so as to drive the at least one continuum structure to bend.
In some embodiments, the present disclosure also provides a surgical robot comprising a continuum instrument as described in any one of the embodiments of the present disclosure.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly describe the drawings that are required to be used in the description of the embodiments of the present disclosure. The drawings in the following description illustrate only some embodiments of the disclosure and other embodiments may be obtained by those of ordinary skill in the art from the disclosure's contents and drawings without inventive effort.
FIG. 1 illustrates a schematic perspective view of a continuum structure according to some embodiments of the present disclosure;
FIG. 2 (a) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 2 (b) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 2 (c) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 3 illustrates a partially exploded schematic view of a continuum structure according to some embodiments of the disclosure;
FIG. 4 (a) illustrates a schematic view of a flexible structural bone of a continuum structure in an axial projection according to some embodiments of the present disclosure;
FIG. 4 (b) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
FIG. 5 (a) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 5 (b) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 5 (c) is a schematic perspective view showing a continuum structure according to other embodiments of the present disclosure;
FIG. 5 (d) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 5 (e) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 5 (f) shows a schematic perspective view of a continuum structure according to further embodiments of the present disclosure;
FIG. 6 (a) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
FIG. 6 (b) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
FIG. 6 (c) is a schematic view showing a projection of a flexible structural bone of a continuum structure in an axial direction according to further embodiments of the present disclosure;
FIG. 6 (d) shows a schematic view of a flexible structural bone of a continuum structure in an axial direction according to further embodiments of the present disclosure;
FIG. 7 (a) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
FIG. 7 (b) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
FIG. 7 (c) is a schematic view showing an axial projection of a flexible structural bone of a continuum structure according to further embodiments of the present disclosure;
FIG. 8 (a) shows a schematic view of a flexible structural bone of a continuum structure in an axial direction according to further embodiments of the present disclosure;
FIG. 8 (b) shows a schematic view of a flexible structural bone of a continuum structure in an axial direction according to further embodiments of the present disclosure;
fig. 9 (a) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
fig. 9 (b) shows a schematic view of a flexible structural bone of a continuum structure in an axial projection according to further embodiments of the present disclosure;
FIG. 9 (c) is a schematic view showing a projection of a flexible structural bone of a continuum structure in an axial direction according to further embodiments of the present disclosure;
FIG. 10 illustrates a schematic structural view of a spacer disk of a continuum structure according to some embodiments of the present disclosure;
FIG. 11 illustrates a schematic structural view of a continuum instrument according to some embodiments of the present disclosure;
FIG. 12 illustrates a schematic view of a continuum instrument according to further embodiments of the present disclosure;
FIG. 13 illustrates a schematic view of a continuum instrument according to further embodiments of the present disclosure;
fig. 14 (a) shows a schematic structural view of a continuum instrument according to further embodiments of the present disclosure;
fig. 14 (b) shows a schematic structural view of a continuum instrument according to further embodiments of the present disclosure;
FIG. 15 illustrates a structural schematic of a driving structural bone distribution of a continuum instrument according to further embodiments of the present disclosure;
fig. 16 (a) shows a schematic view of a drive structure bone of a continuum instrument in an axial projection according to further embodiments of the present disclosure;
fig. 16 (b) shows a schematic view of a drive structure bone of a continuum instrument in an axial projection according to further embodiments of the present disclosure;
fig. 16 (c) shows a schematic view of a drive structure bone of a continuum instrument in an axial projection according to further embodiments of the present disclosure;
fig. 17 (a) shows a schematic structural view of a driving unit according to other embodiments of the present disclosure;
fig. 17 (b) shows a schematic cross-sectional view of a drive unit according to further embodiments of the present disclosure;
fig. 18 illustrates a structural schematic of a surgical robot according to some embodiments of the present disclosure.
Detailed Description
In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are merely exemplary embodiments of the present disclosure, and not all embodiments.
In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be either a fixed connection or a removable connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between the interiors of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be. In this disclosure, the end proximal to the operator (e.g., physician) is defined as proximal, or posterior, and the end proximal to the surgical patient is defined as distal, or anterior, anterior. Those skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as with other non-medical devices.
Fig. 1 illustrates a schematic perspective view of a continuum structure 1000 according to some embodiments of the disclosure. In some embodiments, as shown in fig. 1, a series-connected continuum structure 1000 may include a plurality of spacer disks 1200 and a plurality of connection structures 1100. The connection structure 1100 may include one or more flexible structural bones 1110, the first and second ends of the one or more flexible structural bones 1110 are fixedly connected with the adjacent spacer disc 1200, respectively, and the one or more flexible structural bones 1110 are distributed along the circumferential direction of the spacer disc 1200. Wherein the plurality of connection structures 1100 may include at least a connection structure 1100a and a connection structure 1100b. Those skilled in the art will appreciate that while fig. 1 shows only two connection structures 1100a, 1100b, the plurality of connection structures 1100 may include other types of connection structures.
Fig. 2 (a) -2 (c) respectively show different perspective schematic views of a continuum structure 1000 according to some embodiments of the disclosure. As shown in fig. 2 (a) -2 (c), the connection structure 1100a may include one or more flexible structural bones 1110a, and the connection structure 1100b may include one or more flexible structural bones 1110b, with the one or more flexible structural bones 1110a being distributed differently along the circumferential direction of the spacer disc 1200 than the one or more flexible structural bones 1110b are distributed along the circumferential direction of the spacer disc 1200. As shown in fig. 2 (a), the connection structure 1100a may include a flexible structural bone 1110a and the connection structure 1100b may include a flexible structural bone 1110b. As shown in fig. 2 (b), the connection structure 1100a may include two flexible structural bones 11110a and the connection structure 1100b may include two flexible structural bones 1110b. As shown in fig. 2 (c), the connection structure 1100a may include three flexible structural bones 1110a and the connection structure 1100b may include three flexible structural bones 1110b. It should be appreciated that the connection structure 1100a may also include more flexible structural bones 1110a and the connection structure 1100b may also include more flexible structural bones 1110b.
Fig. 3 illustrates a partially exploded schematic view of a continuum structure 1000 according to some embodiments of the disclosure. It should be appreciated that a plurality of spacer disks 1200 may be spaced apart and that adjacent spacer disks 1200 may include one or more flexible structural bones 1110 disposed in parallel along the central axis O of the continuum structure, as shown in fig. 3. In some embodiments, one or more flexible structural bones 1110 may be distributed along an inner contour or inner circumference of spacer disk 1200. It should be appreciated that the inner contour or inner peripheral line may include a curve, an arc, a straight line, or the like, which is circumferentially or radially distributed from the central axis O of the continuum structure to the radial end surface of the spacer disk 1200. For example, one or more flexible structural bones 1110a or one or more flexible structural bones 1110b may be circumferentially distributed, curvilinearly distributed, rectangularly distributed, etc. along an inner contour or inner peripheral line of spacer disk 1200.
Fig. 4 (a) and 4 (b) respectively illustrate different schematic views of a flexible structural bone of a continuum structure along an axial direction according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 4 (a), the projection of the one or more flexible structural bones 1110a and the one or more flexible structural bones 1110b along the axis of the continuum structure may be distributed along the same circumference a along the circumference of the spacer disc 1200. Alternatively, as shown in fig. 4 (B), one or more flexible structural ribs 1110a are respectively distributed along a circumferential direction a of the spacer disc 1200, and one or more flexible structural ribs 1110B are respectively distributed along a circumferential direction B of the spacer disc 1200, the circumferential direction a being radially spaced apart from the circumferential direction B.
It will be appreciated by those skilled in the art that the one or more flexible structural bones 1110a or the one or more flexible structural bones 1110b are differently distributed along the circumference of the spacer disc 1200, including, but not limited to, the one or more flexible structural bones 1110a being distributed in a first region of the spacer disc 1200 and the one or more flexible structural bones 1110b being distributed in a second region of the spacer disc 1200 different from the first region; alternatively, one or more flexible structural bones 1110a are distributed over a first region of the spacer disc 1200 and one or more flexible structural bones 1110b are distributed over a second region of the spacer disc 1200 that partially overlaps the first region; alternatively, the one or more flexible structural ribs 1110a are distributed in a first region of the spacer disc 1200, and the one or more flexible structural ribs 1110b are distributed in a second region of the spacer disc 1200, the first region being offset from the second region by an angle along the circumferential direction of the spacer disc; alternatively, the number of flexible structural bones 1110a and 1110b may be different, resulting in a different distribution of the two; alternatively, the number of flexible structural bones 1110a and 1110b is the same, and the two are distributed differently due to the difference in the distribution spacing between the flexible structural bones. The flexible structural bones 1110a and 1110b are distributed differently along the circumferential direction of the spacer disc 1200 so that the continuum structure may bend in different directions, and the bending direction and degree of bending may be adjusted according to the number and distribution of the flexible structural bones, for example, the continuum structure may bend to a side where the flexible structural bones are less or not distributed.
Fig. 5 (a) -5 (f) respectively show different perspective structural schematic views of a continuum structure according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 5 (a) -5 (f), the plurality of connection structures 1100 may include one or more series connection structures 1100a and one or more series connection structures 1100b, with the one or more series connection structures 1100a and the one or more series connection structures 1100b being periodically or aperiodically distributed along the axis of the continuum structure. For example, one connection structure 1100a and one connection structure 1100b may be alternately distributed in sequence to form a plurality of periodic units T. As shown in fig. 5 (a), the connection structures 1100a and 1100b each include a flexible structural bone, alternately connected in series along the axial direction of the continuum structure. As shown in fig. 5 (b), the connection structure 1100a and the connection structure 1100b respectively include two flexible structural bones alternately connected in series in the axial direction of the continuum structure. As shown in fig. 5 (c), the connection structures 1100a and 1100b each include a flexible structure bone, and one connection structure 1100a and a plurality of connection structures 1100b connected in series may be sequentially and alternately distributed. It should be appreciated that one or more connection structures 1100a and one or more connection structures 1100b in series may also be distributed non-periodically, such as shown in fig. 2 (c).
As shown in fig. 5 (d), the connection structure 1100a and the connection structure 1100b respectively include two flexible structural bones, and a plurality of connection structures 1100a and one connection structure 1100b connected in series may be sequentially alternately distributed. As shown in fig. 5 (e), the connection structure 1100a includes two flexible structural bones, the connection structure 1100b includes three flexible structural bones, and a plurality of connection structures 1100a and one connection structure 1100b connected in series may be alternately distributed in sequence. It should be appreciated that multiple series-connected connection structures 1100a and one connection structure 1100b may also be distributed aperiodically. It should be appreciated that the plurality of series connected structures 1100a and the plurality of series connected structures 1100b may be alternately periodically distributed or non-periodically distributed in sequence, which is not shown. It should be appreciated that the number of flexible structural bones comprised by the connection structure 1100a and the connection structure 1100b in some embodiments of the present disclosure may include, but are not limited to, one, two, three, or more. The above embodiments are merely examples, but are not limited thereto.
In some embodiments, as shown in fig. 5 (f), the plurality of connection structures 1100 may also include one or more additional connection structures 1100c. The one or more additional connection structures 1100c in series are periodically or aperiodically distributed along the axial direction of the continuum structure with the one or more connection structures 1100a in series and the one or more connection structures 1100b in series. It should be appreciated that the additional connection structure 1100c may include one or more flexible structural bones 1110c, with the one or more flexible structural bones 1110c having a different circumferential distribution along the spacer disc 1200 than the circumferential distribution of the flexible structural bones 1110a and/or 1110 b. Fig. 5 (f) shows, by way of example only, a flexible structural bone 1110c. The number and distribution of flexible structural bones of the various additional connecting structures may vary. For example, as shown in fig. 5 (f), one additional connection structure 1100c, one connection structure 1100a, and one connection structure 1100b may be alternately distributed in sequence to form a plurality of periodic units T. It should be appreciated that one additional connection structure 1100c, one connection structure 1100a, and a plurality of connection structures 1100b connected in series may be alternately distributed or non-periodically distributed in sequence. It should be appreciated that the plurality of additional connection structures 1100c, the plurality of series connection structures 1100a, and one connection structure 1100b may be alternately distributed or non-periodically distributed in sequence. It should be appreciated that one additional connection structure 1100c, a plurality of series connection structures 1100a, and a plurality of series connection structures 1100b may be alternately distributed or non-periodically distributed in sequence. It should be appreciated that the plurality of additional connection structures 1100c in series, the plurality of connection structures 1100a in series, and the plurality of connection structures 1100b in series may be alternately distributed or aperiodically distributed in sequence. It should be appreciated that the plurality of additional connection structures 1100c, the plurality of series connection structures 1100a, and the plurality of series connection structures 1100b may be alternately distributed or non-periodically distributed in sequence. The foregoing is by way of example only, and not by way of limitation,
It should be appreciated that embodiments of the present disclosure may also include other periodic or aperiodic distributions or combinations of distributions, or multiple connection structures as desired to meet a particular bending direction. It should be appreciated that the number of flexible structural bones included in one or more additional connection structures 1100c in some embodiments of the present disclosure may include, but is not limited to, one, two, three, or more. The above embodiments are merely examples, but are not limited thereto. A variety of different periodic or aperiodic distributions along the axis of the continuum structure may be achieved by one or more additional connection structures 1100c, one or more series connection structures 1100a, and one or more series connection structures 1100b to increase the applicability of the continuum structure.
In some embodiments, the projections of the flexible structural bones 1110 (e.g., flexible structural bones 1110a, or 1110b, or 1110 c) of the plurality of connecting structures 1100 along the axial direction of the continuum structure may be asymmetrically distributed (e.g., as shown with reference to fig. 4 (a) and 4 (b)) or asymmetrically distributed. In the present disclosure, the symmetrical distribution may include an axisymmetrical distribution and a centrosymmetric distribution. For example, the non-centrally symmetric distribution may include, but is not limited to, an axisymmetric distribution that does not pass through the center of the spacer disk.
It should be appreciated that the projections of the plurality of flexible structural bones 1110a in the axial direction may be asymmetrically distributed or asymmetrically centrally located; alternatively, the projections of the plurality of flexible structural bones 1110b along the axial direction may be asymmetrically distributed or asymmetrically centrally distributed; alternatively, the projections of the one or more flexible structural bones 1110a and the one or more flexible structural bones 1110b in the axial direction may be asymmetrically distributed or asymmetrically distributed with respect to the center. It should be appreciated that the flexible structural bones 1110c, 1110a, and 1110b of the one or more additional connecting structures 1100c may also be asymmetrically distributed (e.g., as shown with reference to fig. 4 (a) and 4 (b)) or asymmetrically distributed along the axial projection.
In some embodiments, as shown in fig. 2 (a) and 5 (a), the connection structure 1100a may include a flexible structural bone 1110a, and the connection structure 1100b may include a flexible structural bone 1110b, with the flexible structural bone 1110a and the flexible structural bone 1110b being offset at an included angle along the circumference of the spacer 1200. For example, the projections of the flexible structural bones 1110a and 1110b in the axial direction may be distributed along the same circumference along the circumference of the spacer disc 1200 and circumferentially spaced apart from each other as shown in fig. 4 (a). It should be appreciated that the projections of the flexible structural bones 1110a and 1110b in the axial direction may be distributed along different circumferences along the circumference of the spacer disc 1200 and circumferentially or radially spaced apart from each other as shown in fig. 4 (b). The included angle may include an angle formed by the central axis O with the projection of the flexible structural bone 11110a and the flexible structural bone 1110 b.
In some embodiments, as shown in fig. 5 (b), 5 (d), and 5 (e), the connection structure 1100a may include a plurality of flexible structural bones 1110a, and the connection structure 1100b may include a plurality of flexible structural bones 1110b. Fig. 6 (a) -6 (d) respectively illustrate different schematic views of a flexible structural bone of a continuum structure along an axial direction according to some embodiments of the present disclosure. As shown in fig. 6 (a) -6 (d), a plurality of flexible structural bones 1110a form a connection line AA and a plurality of flexible structural bones 1110b form a connection line BB. For example, the line AA may be a straight line formed by two flexible structural bones 1110a, and the line BB may be a straight line formed by two flexible structural bones 1110b, as shown in fig. 6 (a) -6 (d). It should be understood that the AA wire may also be a straight line formed by three or more flexible structural bones 1110a, and the wire BB may be a straight line formed by three or more flexible structural bones 1110b.
The projection of lines AA and BB in the axial direction may comprise at least one of the following distributions: the line AA intersects the line BB at an angle (see fig. 6 (a)) at the central axis O of the continuum structure, the line BB crosses the central axis O of the continuum structure and intersects the line AA outside the central axis O of the continuum structure (see fig. 6 (b)), the line AA intersects the line BB off the central axis O of the continuum structure (see fig. 6 (c)), or the line AA intersects the line BB off the central axis O of the continuum structure and on an extension (see fig. 6 (d)). It will be appreciated that the angle at which line AA intersects line BB at the central axis O of the continuum structure may allow the continuum structure to be driven more stably and reliably, as well as with greater structural stability. The angle at which line AA intersects line BB away from the central axis O of the continuum structure may allow the continuum structure to bend more easily to a side of the flexible structure where there is little or no bone distribution.
Fig. 7 (a) -7 (c) respectively illustrate different schematic views of a flexible structural bone of a continuum structure along an axial direction according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 7 (a) -7 (c), the plurality of flexible structural bones 1110a form a curve AA 'and the plurality of flexible structural bones 1110b form a curve BB'. For example, curve AA 'may be an arc formed by two flexible structural bones 1110a and curve BB' may be an arc formed by two flexible structural bones 1110b, as shown in fig. 7 (a) -7 (c). It should be understood that curve AA 'may be an arc formed by three or more flexible structural bones 1110a and curve BB' may be an arc formed by three or more flexible structural bones 1110 b. It should be appreciated that forming the arc may facilitate stable and controlled driving of the flexible structural bone. In some embodiments, curves AA 'and BB' may also be irregular curves.
Curves AA 'and BB' may include at least one of the following distributions: the curve AA 'partially overlaps the curve BB' (see fig. 7 (a)), the curve AA 'is adjacent to the curve BB' (see fig. 7 (b)), the curve AA 'is opposite to the curve BB', the curve AA 'is circumferentially spaced from the curve BB' (see fig. 7 (c)), the curve AA 'is an arc, or the curve BB' is an arc.
In some embodiments, the connection structure 1100a may include a plurality of flexible structural bones 1110a, and the connection structure 1100b may include one flexible structural bone 110b, with the plurality of flexible structural bones 1110a forming a line AA or curve AA'. The projection of the flexible structural bone 1110b along the axial direction of the continuum structure overlaps, is adjacent to, or is distributed relative to the projection of the line AA or curve AA' along the axial direction.
Similarly, the connection structure 1100a may include one flexible structural bone 1110a and the connection structure 1100b may include a plurality of flexible structural bones 1110b, with the plurality of flexible structural bones 1110b forming a line BB or curve BB'. The projection of the flexible structural bone 1110a along the axial direction of the continuum structure and the projection of the line BB or curve BB' along the axial direction may overlap, be circumferentially spaced apart, or be adjacent. Fig. 8 (a) and 8 (b) respectively illustrate different schematic views of a flexible structural bone of a continuum structure along an axial direction according to some embodiments of the present disclosure. As shown in fig. 8 (a), the plurality of flexible structural bones 1110a form a curve AA ', and the projection of the flexible structural bones 1110b along the axial direction of the continuum structure is circumferentially spaced from the projection of the curve AA' along the axial direction.
In some embodiments, the connection structure 1100a may include a plurality of flexible structural bones 1110a, and the connection structure 1100b may include a plurality of flexible structural bones 110b, with the plurality of flexible structural bones 1110a forming a line AA or curve AA'. The plurality of flexible structural bones 1110b form a line BB or curve BB'. The line AA or curve AA 'and the line BB or curve BB' may partially overlap, intersect, be adjacent to, or be circumferentially spaced apart. As shown in fig. 8 (b), the plurality of flexible structural bones 1110a form a curve AA ', and the plurality of flexible structural bones 1110b (e.g., two flexible structural bones 1110 b) form a line BB, with the curve AA' being circumferentially spaced from and disposed opposite the line BB. It should be appreciated that the plurality of flexible structural bones 1110a may form a line AA and the plurality of flexible structural bones 1110b may form a curve BB'.
Fig. 9 (a) -9 (c) respectively illustrate different schematic views of a flexible structural bone of a continuum structure along an axial direction according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 9 (a), the projection of one or more flexible structural bones 1110 along the axial direction of the continuum structure may form a high density distribution region M and/or a low density distribution region N. It should be appreciated that the number of flexible structural bones of the high density distribution area M may be greater than the number of flexible structural bones of the low density distribution area N. Alternatively, the distribution interval of the flexible structural bones of the high-density distribution area M may be smaller than the distribution interval of the flexible structural bones of the low-density distribution area N.
In some embodiments, no flexible structural bone is disposed within the low density distribution region N. It will be appreciated by those skilled in the art that a plurality of high density distribution areas M and a plurality of low density distribution areas N may be included, and that the high density distribution areas M and the low density distribution areas N are relative concepts, and the division is not absolute and may be adjusted according to the actual application. For example, as shown in fig. 9 (a), the high-density distribution area M may refer to an upper left semicircular area, and the low-density distribution area N may refer to a lower right semicircular area.
It should be understood that the high density distribution area M or the low density distribution area N may be one or more arc-shaped areas or one or more rectangular areas or one or more irregular areas or the like along the circumferential direction of the spacer disc 1200. The high-density distribution area M and the low-density distribution area N may be adjacent two-stage areas, or two-stage areas spaced apart, or the high-density distribution area M may be opposite to at least a portion of the low-density distribution area N. The high-density distribution area M and the low-density distribution area N may form the circumferential direction of the complete spacer disk 1200 or may form the circumferential direction of the incomplete spacer disk 1200 (refer to fig. 9 (a)). For example, as shown in fig. 9 (b), the plurality of flexible structural bones 1110a may form a high-density distribution area M1 and a low-density distribution area N1, and the plurality of flexible structural bones 1110b may form a high-density distribution area M2 and a low-density distribution area N2, and the high-density distribution area M1 and the high-density distribution area M2 may be adjacent, opposite, circumferentially spaced apart, or at least partially overlapping or completely overlapping. Similarly, the low density distribution area N1 and the low density distribution area N2 may be adjacent, opposite, circumferentially spaced apart, or at least partially overlapping or fully overlapping. The low density distribution area N1 and the low density distribution area N2 may be connected to form one larger low density distribution area as shown in the lower right semicircle of fig. 9 (b) or the lower semicircle of fig. 9 (c). In the low-density distribution area N1 and the low-density distribution area N2, a flexible structural bone may not be provided, as shown in fig. 9 (c). It should be appreciated that the plurality of additional connecting structures of flexible structural bones 1110c may also form the high density distribution area M and the low density distribution area N together with the flexible structural bones 1110a or 1110b, or separately.
In some embodiments, the one or more flexible structural bones 1110a and the one or more flexible structural bones 1110b may form only the high density distribution area M (e.g., M1 or M2), or the high density distribution area M and the low density distribution area N (e.g., N1 or N2). For example, the projections of the plurality of flexible structural bones 1110a along the axial direction may be distributed along the same circumference, or along portions of the same circumference, or along different circumferences. In this way, the spacer disc 1200 is asymmetrically circumferentially distributed so that the continuum structure may bend better toward the areas of low density distribution where the flexible structure is less likely to be fractured. In some embodiments, the projections of the plurality of flexible structural bones 1110a and the plurality of flexible structural bones 1110b in the axial direction form a half circumference. For example, the plurality of flexible structural bones 1110a may be distributed along a quarter circumference and the plurality of flexible structural bones 1110b may be distributed along a quarter circumference adjacent to the plurality of flexible structural bones 1110 a. Alternatively, the plurality of flexible structural bones 1110a and the plurality of flexible structural bones 1110b may be uniformly staggered along the half circumference. The continuum structure 1000 may include one or more series connected structures 1100a and one or more series connected structures 1100b that are periodically staggered. By pushing or pulling the flexible structural bones 1110a and 1110b, the continuum structure is bent to the side where the flexible structural bones are not distributed, and stable and controllable bending in a specific direction is realized.
In some embodiments, as shown in fig. 1, the continuum structure 1000 may include one or more driving structural bones 1300. One or more driving structural bones 1300 axially slide through the plurality of spacer disks 1200 and are fixedly attached at a first end thereof to the most distally located spacer disk 1200. The plurality of connecting structures 1100 are driven to bend by pushing or pulling on one or more of the driving structure bones 1300. In some embodiments, a second end of the one or more drive structure bones 1300 extends proximally through the plurality of spacer discs 1200 for fixed connection with a drive mechanism by which the one or more drive structure bones 1300 are pushed or pulled to drive the plurality of connecting structures to bend. It should be appreciated that the drive mechanism may comprise a linear motion mechanism, such as a lead screw nut structure or a double-ended screw structure, etc., by which one or more of the drive structure bones 1300 are linearly pushed or pulled to drive bending of the continuum structure.
In some embodiments, as shown in fig. 9 (a), the number of the one or more driving structural bones 1300 projected in the axial direction of the continuum structure at the low density distribution area N is greater than the number at the high density distribution area M of the flexible structural bones 1110 of the plurality of connecting structures 1100. It should be appreciated that the one or more driving bones 1300 may also be distributed only in low density distribution areas. Providing more driving structure bones in the low density distribution region N allows finer, more stable control of bending of the continuum structure, such as bending angle, direction, etc.
For example, the plurality of driving bones 1300 may be distributed along the same circumference, or may be distributed along a portion of the circumference (see fig. 9 (a)), or may be distributed along different circumferences. In some embodiments, the one or more driving structural bones 1300 may include driving structural bones 1300 distributed at a location intermediate the low density distribution area N. For example, as shown in fig. 7 (a), the flexible structural bones 1110a and 1110b form a high-density distribution region M (e.g., right semicircle region) and a low-density distribution region N (e.g., left semicircle region), the low-density distribution region not distributing the flexible structural bones, and the driving structural bones 1300 may include driving structural bones distributed at the middle position of the low-density distribution region N. The driving structure bone 1300 distributed in the middle position of the corresponding low-density distribution area is used for realizing stable and controllable driving.
In some embodiments, the plurality of driving structural bones 1300 may be symmetrically distributed along the circumference of the spacer disc 1200. For example, the projections of the plurality of flexible structural bones in the axial direction form the high-density distribution area M and the low-density distribution area N, and the plurality of driving structural bones 1300 are distributed in the high-density distribution area M and the low-density distribution area N, and may be symmetrically distributed about the center of the spacer disc 1200 or non-centrally symmetrically distributed. In some embodiments, as shown in fig. 9 (a), the plurality of driving structural bones 1300 are asymmetrically distributed along the circumference of the spacer disc 1200. For example, the circumferentially asymmetric distribution may include, but is not limited to, the plurality of driving structure bones 1300 may be distributed along different inner contours or inner circumferences at the high density distribution region M and the low density distribution region N, respectively; or along the same inner contour or inner peripheral line (refer to fig. 9 (a)), and the number of low-density distribution areas N is greater than the number of high-density distribution areas M; or the plurality of driving structural bones 1300 may be distributed at different intervals, etc., to form an asymmetric distribution along the circumferential direction of the spacer disc 1200. By driving the structural bones 1300 in a symmetrical or asymmetrical distribution, one or more flexible structural bones 1300 in different distributions can be driven to achieve bending in multiple directions. The number of flexible structural bones can be reduced in the direction in which bending is desired according to actual demands, and the number of unnecessary driving structural bones 1300 can be reduced to achieve miniaturization of the continuum structure.
In some embodiments, as shown in fig. 9 (c), at least two flexible structural bones 1110a of the plurality of flexible structural bones 1110a form a connection AA, at least two flexible structural bones 1110b of the plurality of flexible structural bones 1110b form a connection BB, and one or more driving structural bones 1300 include driving structural bones 1300 passing through a position on the spacer disk 1200 corresponding to the connection AA and/or a perpendicular bisector of the connection BB (e.g., one driving structural bone 1300a may pass through a position of the perpendicular bisector of the connection AA, one driving structural bone 1300b may pass through a position of the perpendicular bisector of the connection BB). It should be appreciated that the low density distribution area N may include an area corresponding to a perpendicular bisector formed by the connection lines AA and/or BB, where one or more driving structural bones 1300 are located, and where portions of the driving structural bones 1300 pass through the spacer disc 1200 at locations corresponding to the perpendicular bisector of the connection lines AA and/or BB. In some embodiments, the plurality of flexible structural bones 1110a form a curve AA ', the plurality of flexible structural bones 1110b form a curve BB', the low density distribution region N may include an arc corresponding region of the curve AA 'and/or the curve BB', the one or more driving structural bones 1300 are positioned at the low density distribution region N, and the portion of the driving structural bones 1300 are positioned at the center line of the arc of the curve AA 'and/or the curve BB'. It should be understood by those skilled in the art that the above distribution of the driving structural bone 1300 is only exemplary, not limited thereto, and other asymmetric or symmetric distribution of the driving structural bone 1300 may be included.
Fig. 10 illustrates a schematic structural view of a spacer disc 1200 of a continuum structure 1000 according to some embodiments of the disclosure. In some embodiments, as shown in fig. 10, the plurality of spacer disks 1200 may include one or more mounting holes 1210 distributed along a first inner contour or inner perimeter (e.g., inner perimeter) and one or more mounting holes 1220 distributed along a second inner contour or inner perimeter, the first inner contour or inner perimeter being radially spaced from the second inner contour or inner perimeter. One or more flexible structural bones 1110 are fixedly connected with corresponding mounting holes 1210 of adjacent spacer disks 1200, and one or more drive structural bones 1300 are slidably disposed through corresponding mounting holes 1220 of a plurality of spacer disks 1200. In some embodiments, as shown in fig. 3, the first inner contour or inner perimeter is a distance D1 from the central axis O of the continuum structure and the second inner contour or inner perimeter is a distance D2 from the central axis O of the continuum structure, the distance D2 being greater than the distance D1. For example, the first inner contour or inner circumference may be a first circumference, the second inner contour or inner circumference may be a second circumference, the plurality of mounting holes 1210 may be distributed along the first circumference, the plurality of mounting holes 1220 may be distributed along the second circumference, and the first circumference and the second circumference may be radially spaced apart. In some embodiments, the first inner contour or inner contour and the second inner contour or inner contour may also be on the same circumferential line. For example, a first inner contour or inner contour may be distributed over a first region of a circumference and a second inner contour or inner contour may be distributed over a second region of the same circumference, the first region being adjacent or at least partially opposite the second region.
In some embodiments, the flexible structural bone 1110 and the driving structural bone 1300 may include, but are not limited to, thin rods or tubes made of deformable material, such as nitinol material. It should be appreciated that the flexible structural bone 1110 may also be a biocompatible, deformable polymeric material.
Fig. 11 illustrates a schematic structural view of a continuum instrument 100 according to some embodiments of the present disclosure. As shown in FIG. 11, the continuum instrument 100 may comprise a plurality of serially connected continuum structures. In some embodiments, as shown in fig. 11, the plurality of continuum structures of the continuum instrument 100 may include a continuum structure 1000 and a continuum structure 2000 in series with the continuum structure 1000. The plurality of connection structures 1100 of the continuum structure 1000 includes a connection structure 1100a and a connection structure 1100B connected in series, the connection structure 1100a may include a flexible structural bone 1110a, the connection structure 1100B may include a flexible structural bone 1110B, the flexible structural bone 1110a and the flexible structural bone 1110B are staggered by a first included angle along a circumferential direction of the spacer disc, and projection along an axial direction of the continuum structure forms a projection connection line A1B1.
As shown in fig. 11, the plurality of connection structures 2100 of the continuum structure 2000 may include a connection structure 2100a and a connection structure 2100b connected in series. The connecting structure 2100a may include a flexible structural bone 2110a and the connecting structure 2100B may include a flexible structural bone 2110B, the flexible structural bone 2110a and the flexible structural bone 2110B being offset by a second angle along the circumference of the spacer disc and forming projected lines A2B2 along the axial projection of the continuum structure. Projection link A1B1 and projection link A2B2 include at least one of the following distributions: the projection connecting line A1B1 and the projection connecting line A2B2 are intersected at an angle at the central axis O of the continuum structure, the projection connecting line A1B1 passes through the central axis O of the continuum structure and is intersected with the projection connecting line A2B2 outside the central axis O of the continuum structure, the projection connecting line A1B1 and the projection connecting line A2B2 deviate from the central axis O of the continuum structure and are intersected, or the projection connecting line A1B1 and the projection connecting line A2B2 deviate from the central axis O of the continuum structure and are intersected on an extension line. In some embodiments, the first angle is equal to the second angle, but the projection line A1B1 forms an angle with the projection line A2B2. For example, continuum structure 1000 is structurally identical to continuum structure 2000, but is serially angularly offset along the circumference of the continuum instrument. Those skilled in the art will appreciate that while fig. 11 shows only two continuum structures 1000, 2000, the plurality of continuum structures may also include one or more other types of continuum structures.
In some embodiments, the direction of the flex of the continuum structure 1000 is different from the direction of the flex of the continuum structure 2000. It should be understood that in the present disclosure, the direction of the flexible refers to the direction in which the continuum structure is most susceptible to bending in its entirety or the connection structure. The direction of the flexible of the continuum structure is the direction in which the plurality of connection structures included therein are most likely to bend as a whole. In some embodiments, the direction in which bending occurs includes a sector centered on the central axis of the continuum or connection structure, and the direction in which bending occurs may refer to the direction of the center of the sector. In some embodiments, the pliable direction of the continuum structure refers to a central direction of a low density distribution region axially formed by a plurality of flexible structural bones of the connecting structure opposite the high density distribution region. For example, a continuum structure comprising a scalloped region that does not distribute flexible structural bones (e.g., flexible structural bones 1110a, 1110b, 2110a, 2110 b), the direction of flexing may refer to the direction of the center of the scalloped region. If there are a plurality of scalloped areas that do not distribute the flexible structural bone, the direction of yielding may refer to the direction of the center of the largest scalloped area. It should be appreciated that the direction of the flexure of the continuum structure 1000 is different from the direction of the flexure of the continuum structure 2000, as shown in fig. 11.
In some embodiments, continuum structure 1000 is not in the same direction of flexure as continuum structure 2000. For example, the directions of the pliability of continuum structure 1000 and continuum structure 2000 may be reversed, and the continuum structure 1000 and continuum structure 2000 may be curved to form an "S" like shape. It should be appreciated that the curvature of continuum structure 1000 and continuum structure 2000 may also form wavy, or irregular curves, or the like. It should be appreciated that the "S" shape of the bend may allow for a more stable and controllable actuation of the continuum instrument 100.
In some embodiments, continuum structure 1000 differs from the curvature of continuum structure 2000. For example, the bending curvature of the continuum structure 1000 may be greater than the bending curvature of the continuum structure 2000. By varying the curvature of the bends, the continuum instrument 100 may achieve complex configurations and may be controllably achieved.
Fig. 12 illustrates a schematic structural view of a continuum instrument 200 according to some embodiments of the disclosure. As shown in fig. 12, the plurality of continuum structures of the continuum instrument 200 may include a continuum structure 1000 and a continuum structure 2000 in series with the continuum structure 1000. The plurality of connection structures 1100 of the continuum structure 1000 includes a connection structure 1100a and a connection structure 1100b in series, the connection structure 1100a may include a plurality (e.g., two as shown in fig. 12) of flexible structural bones 1110a, and the connection structure 1100b may include a plurality (e.g., two as shown in fig. 12) of flexible structural bones 1110b. The plurality of flexible structural bones 1110a form a connection AA1 and the plurality of flexible structural bones 1110b form a connection BB1. The connection AA1 and the connection BB1 may include at least one of the following distributions: the connection line AA1 and the connection line BB1 intersect at a first angle at the central axis O of the continuum structure 1000, the connection line AA1 passes through the central axis O of the continuum structure 1000 and intersects the connection line BB1 at a first angle outside the central axis O of the continuum structure 1000, the connection line AA1 and the connection line BB1 deviate from the central axis O of the continuum structure and intersect at a first angle, or the connection line AA1 and the connection line BB1 deviate from the central axis O of the continuum structure and intersect at a first angle on an extension line.
As shown in fig. 12, the plurality of connection structures 2100 of the continuum structure 2000 includes a connection structure 2100a and a connection structure 2100b connected in series. The connection structure 2100a includes a plurality (e.g., two as shown in fig. 12) of flexible structural bones 2110a and the connection structure 2100b includes a plurality (e.g., two as shown in fig. 12) of flexible structural bones 2110b. The plurality of flexible structures 2110a form a connection AA2 and the plurality of flexible structures form a connection BB2. The connection AA2 and the connection BB2 may include at least one of the following distributions: the line AA2 intersects the line BB2 at a second angle at the central axis O ' of the continuum structure 2000, the line AA2 crosses the central axis O ' of the continuum structure 2000 and intersects the line BB2 at a second angle outside the central axis O ' of the continuum structure 2000, the line AA2 intersects the line BB2 at a second angle away from the central axis O ' of the continuum structure 2000, or the line AA2 intersects the line BB2 at a second angle away from the central axis O ' of the continuum structure 2000 and at an extension.
For example, as shown in fig. 12, line AA1 and line BB1 may intersect at a first angle (e.g., an obtuse angle formed between line AA1 and line BB 1) at a central axis O of continuum structure 1000, and line AA2 and line BB2 intersect at a second angle (e.g., an obtuse angle formed between line AA2 and line BB 2) at a central axis O' of continuum structure 2000. Such a continuum structure 1000 and a continuum structure 2000 are more stable and controllable in structure. The second angle may be greater than the first angle, and the curved curvature of continuum structure 2000 is greater than the curved curvature of continuum structure 1000. The flexible direction of continuum structure 1000 may be opposite to the flexible direction of continuum structure 2000 such that continuum instrument 2000 may achieve an S-bend. By adjusting the first angle, the second angle, the bending characteristics of the continuum instrument 200 may be easily changed.
In some embodiments, as shown in fig. 12, the line AA1 forms a first angle with the line BB1 (e.g., an obtuse angle formed between the lines AA1 and BB 1), and the line AA2 forms a second angle with the line BB2 (e.g., an obtuse angle formed between the lines AA2 and BB 2). In some embodiments, the first included angle may be equal to the second included angle, but the first and second included angles are offset in the circumferential direction. As such, continuum structure 2000 is structurally identical to continuum structure 1000 and is serially connected at circumferentially offset angles along the continuum instrument.
It should be understood that the connection lines of the flexible structural bones in the continuum structure 1000 (e.g., AA1 or BB 1) may be replaced with curves, and the connection lines of the flexible structural bones in the continuum structure 2000 (e.g., AA2 or BB 2) may be replaced with curves.
Fig. 13 illustrates a schematic structural view of a continuum instrument 300 according to some embodiments of the disclosure. As shown in fig. 13, continuum instrument 300 may include continuum structure 1000, continuum structure 2000, continuum structure 3000, and continuum structure 4000 in series. In some embodiments, the direction of the pliability of at least two of the continuum structures 1000, 2000, 3000, and 4000 is different. It should be appreciated that the continuum instrument may also include a plurality of continuum structures in series. For example, the connection structure 1100a of the continuum structure 1000 may include two flexible structural bones 1110a, the two flexible structural bones 1110a forming a connection line AA1, the connection structure 1100b of the continuum structure 1000 may include two flexible structural bones 1110b, the two flexible structural bones 1110b forming a connection line BB1, the connection line AA1 and the connection line BB1 may intersect at a central axis. The connecting structure 2100a of the continuum structure 2000 may include three flexible structural bones 2110a, wherein the three flexible structural bones 2110a form an arc AA2. The connecting structure 2100b of the continuum structure 21000 may include two flexible structural bones 2110b, the two flexible structural bones 2110b forming a line BB2, and the arc AA2 may be disposed opposite the line BB 2. The connecting structure 3100a of the continuum structure 3000 may comprise a flexible structure bone 3110a and the connecting structure 3100b of the continuum structure 3000 may comprise a flexible structure bone 3110b, the flexible structure bone 3110a and the flexible structure bone 3110b being spaced apart along an axial projection. The connection structure 4100a of the continuum structure 4000 may comprise two flexible structure bones 4110a, the two flexible structure bones 4110a forming a connection line AA4, the connection structure 4100b of the continuum structure 4000 may comprise two flexible structure bones 4110b, the two flexible structure bones 4110b forming a connection line BB4, the connection line AA4 and the connection line BB4 may intersect in the extension direction. The continuum instrument 300 may achieve complex, controllable configurations. For example, the flexible directions of the continuum structures 1000, 2000, 3000, and 4000 are different, and complex S-shapes may be formed. In addition, continuum structure 3000 is more flexible and has less bending curvature, which can act as a more flexible joint, allowing finer control and manipulation.
It should be appreciated that the above is by way of example only and not limitation, and that the plurality of continuum structures 1000, 2000, 3000, 4000 of the continuum instrument 300 may be other types of continuum structures. In some embodiments, a continuum instrument (e.g., continuum instrument 100, 200, or 300) may further comprise at least one rigid connector (not shown). The rigid connector may be disposed between at least one pair of adjacent ones of the plurality of continuum structures (e.g., continuum structures 1000, 2000, 3000, or 4000). It will be appreciated that interference between multiple continuum structures may be avoided by the rigid connectors. In addition, the rigid connector can also endow the continuum instrument with proper rigidity so that the continuum instrument can enter a deeper bent complex cavity, and the phenomenon that a plurality of continuum structures cannot be driven accurately and stably due to excessive flexibility can be avoided.
Fig. 14 (a) and 14 (b) show schematic structural views of continuum instruments according to further embodiments of the present disclosure, respectively. In some embodiments, as shown in fig. 14 (a) and 14 (b), through holes 1230 (e.g., as shown in fig. 10) are provided on a plurality of spacer disks 1200 of one or more serial continuum structures 1000 (or continuum structures 2000, 3000, 4000) of a continuum instrument (e.g., continuum instrument 100, 200, or 300), the plurality of spacer disks being disposed at intervals along the axial direction of the continuum structure 1000, the through holes 1230 on each spacer disk 1200 being disposed correspondingly to form a receiving channel along the axial direction of the continuum structure 1000. Similarly, a plurality of spacer disks of the continuum structure 2000, 3000 or 4000 may be provided with through holes, respectively, which form receiving channels in the axial direction. It should be appreciated that the through-hole 1230 may be circular, oval, rectangular, polygonal, etc. The through holes 1230 may be provided in a central region (e.g., as shown in fig. 10) or in an edge region of each spacer disc 1200.
In some embodiments, as shown in fig. 14 (a), a continuum instrument (e.g., continuum instrument 100, 200, or 300) may comprise a flexible surgical tool 5. The flexible surgical tool may include a flexible arm 4 and an end tool 3 disposed at a distal end of the flexible arm 4. The receiving channel may be used for passage of the flexible arms 4 of the flexible surgical tool 5 such that the end tool 3 is located within the distally receiving channel or at least partially exposed to the distal side of the distally located distal spacer disc of the distally located continuum structure. In some embodiments, flexible arm 4 may include, but is not limited to, a continuous body structure flexible arm, a snake bone structure flexible arm, or other flexible structure arm, such as a flexible rod or the like. In some embodiments, the end tool 3 may include, but is not limited to, a surgical implement, an imaging device, an illumination device, a drug delivery device, an ultrasound probe, or a stylet. For example, upon arrival of a continuum instrument (e.g., continuum instrument 100, 200, or 300) at a target location (e.g., a focal portion), the flexible surgical tool 5 may pass through the receiving channel such that the end tool 3 (e.g., an administration device) is positioned within the distal receiving channel for manipulation at the target location, such as release of a drug. Alternatively, the flexible surgical tool 5 may pass through the receiving channel, the end tool 3 (e.g., an imaging device or an illumination device) to acquire an image of the target location or to effect illumination of the target location. Alternatively, the flexible surgical tool 5 may be passed through a receiving channel, with the distal end of the end tool 3 (e.g., surgical implement, ultrasonic probe, or stylet) at least partially or fully exposed to the distal end of the receiving channel, and the exposed portion may be used to perform a corresponding surgical procedure, such as cutting, grasping, puncturing, etc.
In some embodiments, as shown in fig. 14 (b), a continuum instrument (e.g., continuum instrument 100, 200, or 300) may include an end tool 3 and a flexible connection tool 6. The end tool 3 may be fixedly or removably disposed on a distal spacer plate 1200 of a distal continuum structure (e.g., continuum structure 1000) and the flexible connection tool 6 is connected to the end tool 3 via a receiving channel. For example, the end tool 3 may be an imaging device or an illumination device, and the flexible connection tool 6 may be a cable, such as an electrical or communication cable (e.g., an optical fiber), the distal end of which is electrically or communicatively connected to the end tool 3. Alternatively, the end tool 3 may be a surgical implement (e.g., forceps, graspers, scissors, etc.), and the flexible connection tool 6 may be a drive wire, such as a nitinol drive wire, with a distal end connected to the surgical implement for driving the surgical implement to open and close or pivot. The above end tool and flexible connection tool are examples only and are not limiting.
In some embodiments, a continuum instrument (e.g., continuum instrument 100, 200, or 300) may include one or more driving structure bones having a first end fixedly coupled to a distal spacer disk of at least one of the one or more continuum structures and a second end for receiving a drive to drive deflection of the at least one continuum structure. For example, a first end of one or more driving structure bones is fixedly connected to a distal spacer disc of a continuum structure located distally of a continuum instrument (e.g., continuum instrument 100, 200, or 300), and a second end sequentially passes through one or more continuum structures in series for receiving a drive to drive bending of a plurality of continuum structures of the continuum instrument.
In some embodiments, a continuum instrument (e.g., continuum instrument 100, 200, or 300) may include a plurality of drive structure bones having a first end fixedly coupled to a distal spacer disk of a corresponding continuum structure of a plurality of serially connected continuum structures and a second end for receiving a drive to independently drive the plurality of continuum structures to bend.
Fig. 15 illustrates a structural schematic of a driving structural bone distribution of a continuum instrument according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 15, the plurality of driving structural bones may include at least one or more driving structural bones 1300 and one or more driving structural bones 2300. A first end of one or more drive structure bones 1300 is fixedly coupled to a distal spacer disc 1200 of a continuum structure 1000 of the plurality of continuum structures. A first end of one or more driving structural bones 2300 is fixedly coupled to a distal spacer disc 2200 of a continuum structure 2000 of the plurality of continuum structures. In some embodiments, as shown in fig. 15, the plurality of drive structure bones may further comprise one or more drive structure bones 3300 and one or more drive structure bones 4300. A first end of one or more driving structural bones 3300 is fixedly connected to a distal spacer disk 3300 of a continuum structure 3000 of the plurality of continuum structures. A first end of the one or more drive structure bones 4300 is fixedly coupled to a distal spacer disc 4200 of a continuum structure 4000 of the plurality of continuum structures. Only the case including one driving structural bone 1300, one driving structural bone 2300, one driving structural bone 3300, and one driving structural bone 4300 is shown in fig. 15, it should be understood that the corresponding continuum structure may also include two, three, or more driving structural bones. By driving the structural bone, individual control of each continuum structure 1000, 2000, 3000, 4000 may be achieved, improving the controllability, flexibility and operability of the continuum instrument.
Fig. 16 (a) -16 (c) are distributed views illustrating different axial projections of a driving structure bone of a continuum instrument according to some embodiments of the present disclosure. In some embodiments, the plurality of driving structural bones may include a plurality of driving structural bones 1300 and a plurality of driving structural bones 2300. It should be appreciated that the plurality of driving structural bones 1300 may be symmetrically distributed along the circumference of the spacer disc (as shown with reference to fig. 16 (a)) or asymmetrically distributed. It should be appreciated that the circumferentially symmetric distribution may be a circumferentially axisymmetric, centrally symmetric distribution. Alternatively, the plurality of driving structural bones 2300 are symmetrically distributed (as shown with reference to fig. 16 (a)) or asymmetrically distributed along the circumference of the spacer disc. Alternatively, the plurality of driving structural bones 1300 and the plurality of driving structural bones 2300 are symmetrically distributed (shown with reference to fig. 16 (a)) or asymmetrically distributed (shown with reference to fig. 16 (b)) along the circumferential direction of the spacer disc. Alternatively, the driving structural bone 1300 and the driving structural bone 2300 are staggered (as shown with reference to fig. 16 (c)). It will be appreciated that the symmetrical distribution of the driving structure bones along the circumference of the spacer disc may allow for a more stable and controllable driving of multiple continuum structures.
In some embodiments, as shown in fig. 16 (a), the number of projected low density distribution areas N of the one or more driving structural bones 1300 and the one or more driving structural bones 2300 along the axial direction of the continuum structure is greater than the number of high density distribution areas M. In this way, by driving the structural bone, bending of the continuum instrument, such as bending in a pliable direction, can be more easily and finely controlled. For example, the axial projection of the one or more flexible structural bones 1110 and the one or more flexible structural bones 2110 may be distributed in a high density distribution area M (e.g., a lower semicircle), and the axial projection of the one or more driving structural bones 1300 and the one or more driving structural bones 2300 may be distributed in a low density distribution area N (e.g., an upper semicircle) to drive the continuum structures 1000 and 2000 to bend to one side of the low density distribution area N. It should be understood that the above distribution of flexible structural bone and driving structural bone is by way of example only and not by way of limitation.
In some embodiments, the cross-sectional dimensions (e.g., radii) of the plurality of continuum structures in series decrease from the proximal end to the distal end in the axial direction of the continuum structures. For example, the plurality of continuum structures may include continuum structure 1000, continuum structure 2000, continuum structure 3000, and continuum structure 4000 in series in order from the proximal end to the distal end. The proximal continuum structure 1000 has a first cross-sectional dimension, the continuum structure 2000 has a second cross-sectional dimension, the continuum structure 3000 has a third cross-sectional dimension, and the continuum structure 4000 has a fourth cross-sectional dimension. The first cross-sectional dimension is greater than the second cross-sectional dimension, the second cross-sectional dimension is greater than the third cross-sectional dimension, and the third cross-sectional dimension is greater than the fourth cross-sectional dimension. It should be understood that the cross-sectional dimension may be the cross-sectional dimension of the spacer disc corresponding to the continuum structure. It will be appreciated that the serial plurality of continuum structures, which decrease in cross-sectional dimension from the proximal end to the distal end, may allow the distal end of the continuum instrument to enter deep, narrow lumens without damaging the lumen tissue, and may better accommodate complex lumens and complex operational tasks.
In some embodiments, the drive structure bone (e.g., drive structure bone 1300) of a proximally located continuum structure (e.g., continuum structure 1000) of the plurality of continuum structures is distributed outside the drive structure bone (e.g., drive structure bone 2300, 3300, 4300) of a distally located continuum structure (e.g., continuum structure 2000, 3000, or 4000). For example, a proximal continuum structure 1000 having a larger cross-sectional dimension than a distal continuum structure 2000 (or continuum structures 3000, 4000) may allow the driver structure bone 1300 to be distributed outside of the driver structure bone 2300. Alternatively, the proximal continuum structure 1000 has the same cross-sectional dimensions as the distal continuum structure 2000 (or continuum structures 3000, 4000), the driving structure bone 1300 being distributed on a third inner contour or third inner perimeter, the driving structure bone 2300 being distributed on a fourth inner contour or fourth inner perimeter, the third inner contour or third inner perimeter being further outboard of the fourth inner contour or fourth inner perimeter, such that the driving structure bone 1300 is distributed outboard of the driving structure bone 2300.
Fig. 17 (a) shows a schematic structural view of a driving unit according to other embodiments of the present disclosure, and fig. 17 (b) shows a schematic sectional view of a driving unit according to other embodiments of the present disclosure. In some embodiments, as shown in fig. 17 (a), a continuum instrument (e.g., continuum instrument 100, 200, or 300) may comprise a drive transmission, which may comprise at least one drive unit 1400. A first end (e.g., distal end) of a drive structure bone (e.g., drive structure bone 1300, 2300, 3300, 4300) is fixedly coupled to a distal spacer disc (e.g., distal spacer disc 1200, 2200, 3200, 4200) of a continuum structure (e.g., continuum structure 100, 200, 300), and a second end (e.g., proximal end) of the drive structure bone is fixedly coupled to drive unit 1400. Thus, the drive transmission may drive the structural bone by pushing or pulling to drive one continuum structure to turn or independently drive multiple continuum structures to turn.
In some embodiments, as shown in fig. 17 (a), the driving unit 1400 may include a screw 1410 and at least one sliding block 1420 screw-coupled with the screw 1410. At least one slide 1420 is fixedly coupled to a second end of a corresponding one of the one or more driving structural bones (e.g., driving structural bones 1300, 2300, 3300, 4300), and a screw 1410 is configured to rotate to drive the at least one slide 1420 to move linearly along the screw 1410 to push or pull the corresponding driving structural bone. It should be understood that, as shown in fig. 17 (a), each screw 1410 may be provided with two threads having opposite screw directions, two sliding blocks 1420 are respectively disposed on the two threads of the screw 1410, and the two sliding blocks 1420 may be respectively connected to a corresponding pair of driving structural bones. When the screw 1410 rotates, the two sliders 1420 can be driven to linearly move along the screw 1410 at the same speed and in opposite directions to cooperatively push or pull the corresponding pair of driving structural bones. In this way, the number of drive units can be reduced, enabling miniaturization of the continuum instrument.
In some embodiments, as shown in fig. 17 (b), the driving unit 1400 may further include a plurality of balls 1430 disposed between the screw 1410 and the at least one slider 1420. At least one slide 1420 is fixedly coupled to a second end of a corresponding one of the one or more driving structural bones (e.g., driving structural bones 1300, 2300, 3300, 4300), and a screw 1410 is configured to rotate to drive the at least one slide 1420 to move linearly along the screw 1410 to push or pull the corresponding driving structural bone. It should be appreciated that the sliding friction between the slider and the lead screw can be changed into rolling friction by the balls, so that the friction loss of the driving transmission device during movement is reduced, the movement precision and stability are improved, and the service life of the continuum apparatus is prolonged.
In some embodiments, as shown in fig. 18, the present disclosure also provides a surgical robot 10 that may include a continuum instrument (e.g., continuum instrument 100, 200, 300) in any of the embodiments disclosed above. In some embodiments, the surgical robot 10 may include a base 1, one or more robotic arms 2, and one or more continuum instruments 100 (or continuum instruments 200, 300) disposed at the ends of the robotic arms 2. The continuum instrument 100 (or continuum instruments 200, 300) may include one or more continuum structures (e.g., continuum structures 1000, 2000, 3000, 4000) in series and an end tool 3 disposed at an end of the continuum structure. In some embodiments, the continuum instrument 100 (or continuum instruments 200, 300) may include one or more continuum structures (e.g., continuum structures 1000, 2000, 3000, 4000) in series, a flexible surgical tool 5 disposed within a receiving channel of the continuum instrument 100, and an end tool 3 disposed at an end of the flexible surgical tool 5. In some embodiments, the continuum instrument 100 (or continuum instrument 200, 300) may further comprise a drive transmission for pushing or pulling a driving structural bone (e.g., driving structural bone 1300, 2300, 3300, 4300) to drive one or more continuum structures of the continuum instrument to bend. One or more robotic arms 2 having multiple degrees of freedom may be provided on the base 1, with one or more continuum instruments 100 (or continuum instruments 200, 300) being detachably provided on the one or more robotic arms 2, the one or more robotic arms 2 being configured to adjust the position and orientation of the one or more continuum instruments 100. It should be appreciated that surgical robot 10 may extend into the lumen through one or more continuum instruments 100 (or continuum instruments 200, 300) for intra-luminal interventional diagnosis and treatment. The continuum structure (e.g., continuum structures 1000, 2000, 3000, 4000) can accommodate complex curved environments without damage to the lumen by staggering the flexible structural bones (e.g., flexible structural bones 1110, 2110, 3110, 4110).
Note that the above is merely exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (22)

1. A continuum instrument, comprising:
one or more serially connected continuum structures, the continuum structures comprising:
the spacer discs are provided with through holes, and the through holes of the spacer discs form accommodating channels along the axial direction; and
a plurality of connection structures, the connection structures comprising:
the first ends and the second ends of the one or more flexible structural bones are respectively fixedly connected with the adjacent spacing discs, and the one or more flexible structural bones are distributed along the circumferential direction of the spacing discs;
The plurality of connecting structures at least comprise a first connecting structure and a second connecting structure, the first connecting structure comprises one or more first flexible structural bones, the second connecting structure comprises one or more second flexible structural bones, and the circumferential distribution of the one or more first flexible structural bones along the spacing disc is different from the circumferential distribution of the one or more second flexible structural bones along the spacing disc;
one or more driving structural bones, a first end of the one or more driving structural bones being fixedly connected to a distal spacer disc of at least one of the one or more continuum structures; and
and the driving transmission device is fixedly connected with the second ends of the one or more driving structural bones so as to drive the at least one continuum structure to bend.
2. The continuum instrument of claim 1, wherein the plurality of continuum structures comprises a first continuum structure and a second continuum structure in series with the first continuum structure, wherein a direction of the first continuum structure is different from a direction of the second continuum structure and/or wherein a curvature of the first continuum structure is different from a curvature of the second continuum structure.
3. The continuum instrument of claim 1, further comprising:
at least one rigid connector disposed between at least one pair of adjacent ones of the plurality of continuum structures.
4. The continuum instrument of claim 1, wherein said plurality of connection structures comprises one or more of said first connection structures and one or more of said second connection structures in series, said one or more of said first connection structures in series and said one or more of said second connection structures in series being periodically or aperiodically distributed along an axial direction of said continuum structure.
5. The continuum instrument of claim 4, wherein for at least one of said continuum structures, said plurality of connection structures further comprises one or more additional connection structures, one or more of said additional connection structures in series with said one or more of said first connection structures in series and said one or more of said second connection structures in series being periodically or aperiodically distributed along an axial direction of said continuum structure.
6. The continuum instrument of claim 1, wherein said plurality of serially connected continuum structures comprises a first continuum structure and a second continuum structure serially connected to said first continuum structure, said second continuum structure being structurally identical to said first continuum structure and offset by an included angle along a circumferential direction of said continuum instrument.
7. The continuum instrument of claim 1, further comprising: a flexible surgical tool comprising a flexible arm and an end tool disposed at a distal end of the arm, the receiving channel for passage of the arm such that the end tool is located within the receiving channel distally or at least partially exposed to a distal side of a distal spacer disc of a distally located continuum structure.
8. The continuum instrument of claim 1, further comprising:
an end tool disposed on a distal spacer disc of the distally located continuum structure; and
and the flexible connecting tool is connected with the end tool through the accommodating channel.
9. The continuum instrument of any one of claims 7-8,
the end tool includes a surgical implement, an imaging device, an illumination device, a drug delivery device, an ultrasound probe, or a stylet; or alternatively
The flexible connection means comprises a drive wire, an electrical or communication cable.
10. The continuum instrument of any one of claims 1-8, wherein for at least one of the continuum structures, the first connection structure comprises a first flexible structural bone and the second connection structure comprises a second flexible structural bone, the first flexible structural bone and the second flexible structural bone being offset by a first included angle along a circumference of the spacer disk.
11. The continuum instrument of any one of claims 1-8, wherein for at least one of the continuum structures, the first connection structure comprises a plurality of first flexible structural bones, the second connection structure comprises a plurality of second flexible structural bones, the plurality of first flexible structural bones form a first link, the plurality of second flexible structural bones form a second link, the first link and the second link comprising at least one of the following distributions: the first wire and the second wire intersect at an angle at the central axis of the continuum structure, the first wire passes through the central axis of the continuum structure and intersects at an angle outside the central axis of the continuum structure, the first wire and the second wire deviate from the central axis of the continuum structure and intersect, or the first wire and the second wire deviate from the central axis of the continuum structure and intersect on an extension line.
12. The continuum instrument of any one of claims 1-8, wherein for at least one of the continuum structures, the first connection structure comprises a plurality of first flexible structural bones, the second connection structure comprises a plurality of second flexible structural bones, the plurality of first flexible structural bones forming a first curve, the plurality of second flexible structural bones forming a second curve, the first curve and the second curve comprising at least one of the following distributions: the first curve partially overlaps the second curve, the first curve is adjacent to the second curve, the first curve is opposite to the second curve, the first curve is circumferentially spaced from the second curve, the first curve is an arc, or the second curve is an arc.
13. The continuum instrument of any one of claims 1-8, wherein for at least one of said continuum structures, said plurality of connection structures comprises one or more of said first connection structures and one or more of said second connection structures in series in a periodically staggered arrangement, said plurality of first flexible structure bones and said plurality of second flexible structure bones forming a semi-circumference in axial projection.
14. The continuum instrument of any one of claims 1-8, wherein for at least one of the continuum structures, a projection of the flexible structure bone of the plurality of connection structures along an axial direction of the continuum structure is asymmetrically distributed or non-centrosymmetrically distributed.
15. The continuum instrument of any one of claims 1-8, wherein the plurality of driving structure bones comprises at least one or more first driving structure bones and one or more second driving structure bones, a first end of the one or more first driving structure bones being fixedly connected to a spacer disk distal to a first continuum structure of the plurality of continuum structures, a first end of the one or more second driving structure bones being fixedly connected to a spacer disk distal to a second continuum structure of the plurality of continuum structures.
16. The continuum instrument of any one of claims 1-8, wherein for at least one of the continuum structures, a number of projected low density distribution areas of the one or more driving structure bones in an axial direction of the continuum structure of flexible structure bones of the plurality of connecting structures is greater than a number of high density distribution areas.
17. The continuum instrument of claim 16, wherein the one or more driving structural bones comprise driving structural bones distributed at intermediate locations in the low density distribution region.
18. The continuum instrument of any one of claims 1-8, wherein a first end of a plurality of driving structure bones is fixedly coupled to a distal spacer disk of a corresponding continuum structure of a plurality of serially connected continuum structures to independently drive the plurality of continuum structures.
19. The continuum instrument of any one of claims 1-8, wherein the plurality of spacer discs comprises one or more first mounting holes distributed along a first inner contour or inner perimeter and one or more second mounting holes distributed along a second inner contour or inner perimeter, the first inner contour or inner perimeter being radially spaced from the second inner contour or inner perimeter, the one or more flexible structural bones being fixedly connected to corresponding first mounting holes of adjacent spacer discs, the one or more driving structural bones being slidably disposed through within corresponding second mounting holes of the plurality of spacer discs.
20. The continuum instrument of claim 19, wherein the first inner contour or inner perimeter is a first distance from a central axis of the continuum structure, the second inner contour or inner perimeter is a second distance from the central axis of the continuum structure, the second distance is greater than the first distance.
21. The continuum instrument of any one of claims 1-8, wherein the drive transmission comprises at least one drive unit comprising a lead screw and at least one slider threadably coupled to the lead screw, the at least one slider fixedly coupled to a second end of a respective drive structure of the one or more drive structures, the lead screw for rotation to drive the at least one slider for linear movement along the lead screw to push or pull the respective drive structure; or alternatively
The driving transmission device comprises at least one driving unit, the driving unit comprises a screw rod, at least one sliding block connected with the screw rod and a plurality of balls arranged between the screw rod and the at least one sliding block, the at least one sliding block is fixedly connected with the second end of a corresponding driving structural bone in the one or more driving structural bones, and the screw rod is used for rotating to drive the at least one sliding block to linearly move along the screw rod so as to push or pull the corresponding driving structural bone.
22. A surgical robot comprising a continuum instrument according to any one of claims 1-21.
CN202111498065.XA 2021-12-09 2021-12-09 Continuum instrument with receiving channel and surgical robot Pending CN116269792A (en)

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CN202111498065.XA CN116269792A (en) 2021-12-09 2021-12-09 Continuum instrument with receiving channel and surgical robot

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Application Number Priority Date Filing Date Title
CN202111498065.XA CN116269792A (en) 2021-12-09 2021-12-09 Continuum instrument with receiving channel and surgical robot

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CN116269792A true CN116269792A (en) 2023-06-23

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