CN116712113A - Four-degree-of-freedom flexible surgical instrument based on conical continuum - Google Patents
Four-degree-of-freedom flexible surgical instrument based on conical continuum Download PDFInfo
- Publication number
- CN116712113A CN116712113A CN202311011067.0A CN202311011067A CN116712113A CN 116712113 A CN116712113 A CN 116712113A CN 202311011067 A CN202311011067 A CN 202311011067A CN 116712113 A CN116712113 A CN 116712113A
- Authority
- CN
- China
- Prior art keywords
- assembly
- conical
- traction
- clamping piece
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 7
- 230000000087 stabilizing effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of medical instruments, and provides a four-degree-of-freedom flexible surgical instrument based on a conical continuum, which comprises the conical continuum and a driving mechanism; the conical flexible body is in a truncated cone shape and comprises a deformable connecting piece, a rigid sleeve, a proximal clamping piece and a distal clamping piece, wherein two ends of the deformable connecting piece are respectively connected with the proximal clamping piece and the distal clamping piece, the proximal clamping piece is connected with the rigid sleeve, and the distal clamping piece extends out freely; the driving mechanism comprises a rotation driving component, a translation driving component and a traction component; the rotary driving assembly is in transmission connection with the rigid sleeve so as to drive the conical flexible body to rotate; the traction component is connected with the far-end clamping piece and is connected with the translation driving component through the near-end clamping piece and the rigid sleeve. The conical flexible body with higher flexibility and higher rigidity is arranged, so that larger action moment can be borne, the application range of the instrument is improved, the whole instrument is centrosymmetric, the convenience and applicability of clinical application are improved, and the operability of minimally invasive surgery is improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a four-degree-of-freedom flexible surgical instrument based on a conical continuum.
Background
Minimally invasive surgery is widely used because of its advantages of small trauma, high installability, quick recovery, small damage to normal tissues, and the like. In clinical practice, rigid surgical instruments are difficult to meet the requirements of minimally invasive surgery due to the complex environment and distribution of organs within the human body, so flexible surgical instruments are required for treatment.
At present, a conventional surgical instrument based on a cylindrical flexible body has the advantages that although the flexible surgical instrument has flexibility and can move to reach a focus, the structural rigidity is low, the bearing force of the tail end is small, the requirement of large acting force of an end execution part is difficult to meet, and the limitation of the flexible surgical instrument in clinical application is large.
Disclosure of Invention
The invention provides a four-degree-of-freedom flexible surgical instrument based on a conical continuum, which is used for solving the defects of small structural rigidity and poor terminal bearing capacity of a cylindrical flexible surgical instrument in the prior art.
The invention provides a four-degree-of-freedom flexible surgical instrument based on a conical continuum, comprising: a conical flexible body and a driving mechanism;
the conical flexible body is in a truncated cone shape and comprises a deformable connecting piece, a rigid sleeve, a proximal clamping piece and a distal clamping piece, wherein two ends of the deformable connecting piece are respectively connected with the proximal clamping piece and the distal clamping piece, the proximal clamping piece is connected with the rigid sleeve, and the distal clamping piece freely stretches out;
the driving mechanism comprises a rotation driving assembly, a translation driving assembly and a traction assembly; the rotary driving assembly is in transmission connection with the rigid sleeve so as to drive the conical flexible body to rotate; the traction component is connected with the far-end clamping piece and is connected with the translation driving component through the near-end clamping piece and the rigid sleeve so as to drive the traction component to move through the translation driving component, and further control the bending deformation of the conical flexible body;
the traction assembly is configured with three groups, the three groups of traction assemblies are respectively arranged in three different action directions of the conical flexible body, each traction assembly is respectively connected with the translation driving assembly, the traction assemblies are driven to move through the translation driving assemblies which are respectively connected, and then the conical flexible body can be controlled to bend and deform along the three different directions.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the outer side wall of the distal clamping piece is provided with the connecting jack, and the connecting jack allows one end of the traction assembly to extend into and be fixedly connected with the connecting jack; and a limit slot hole penetrating axially is formed in one periphery of the outer side wall of the proximal clamping piece, and the limit slot hole allows the traction assembly to pass through.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the deformable connecting piece comprises a conical spiral spring, the conical spiral spring is provided with a small-diameter end and a large-diameter end, the small-diameter end of the conical spiral spring is connected with the distal clamping piece, and the large-diameter end of the conical spiral spring is connected with the proximal clamping piece.
According to the present invention there is provided a four degree of freedom flexible surgical instrument based on a tapered continuum, the pulling assembly comprising a pulling bundle comprising one or more wires.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the rotary driving assembly comprises a motor, a coupler, a synchronous wheel and a bearing;
the coupler is connected with the output end of the motor;
the synchronous wheels comprise a first synchronous wheel and a second synchronous wheel, and the first synchronous wheel is in transmission connection with the second synchronous wheel;
the first synchronous wheel is connected with the coupler, the second synchronous wheel is connected with the bearing, and the bearing is connected with the rigid sleeve.
The invention provides a four-degree-of-freedom flexible surgical instrument based on a conical continuum, which further comprises a base and a support assembly, wherein the support assembly is arranged on the base;
the support assembly is provided with a fixing part and a rotating part, the rotary driving assembly is arranged on the fixing part of the support assembly, the translation driving assembly and the traction assembly are arranged on the rotating part of the support assembly, and the rotary driving assembly is connected with the rotating part of the support assembly so that the rotating part of the support assembly rotates to drive the translation driving assembly and the traction assembly to rotate simultaneously.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the support assembly comprises the first rotary support and the second rotary support, the first rotary support and the second rotary support are respectively provided with the rotary disc, and the accommodating cavity capable of accommodating the translation driving assembly and the traction assembly is formed between the first rotary support and the second rotary support so as to drive the translation driving assembly and the traction assembly to rotate through the rotary discs.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the translational driving assembly comprises a driving part and a translational actuating mechanism;
the output end of the driving part is connected with the translation executing mechanism, and the translation executing mechanism is connected with the traction assembly so as to drive the translation executing mechanism to move through the driving part, thereby driving the traction assembly to move.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the translation executing mechanism comprises a connecting plate, and a screw rod and a fixing piece which are arranged on the connecting plate;
the fixing piece is fixedly connected with the traction assembly;
the screw rod is connected with the driving part, so that the screw rod is driven to rotate through the driving part, and the fixing piece can be moved.
According to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the translation executing mechanism further comprises a guide optical axis, a linear displacement sensor and a tension pressure sensor which are arranged on the connecting plate, wherein the linear displacement sensor is fixedly connected to the connecting plate, the tension pressure sensor is arranged between the connecting plate and the fixing piece, and the guide optical axis penetrates through the connecting plate so that the connecting plate can move along the guide optical axis.
According to any of the embodiments described above, the present invention has at least the following advantageous effects:
according to the four-degree-of-freedom flexible surgical instrument based on the conical continuum, the flexible body in the flexible surgical instrument is configured into the conical flexible body with the truncated cone-shaped structure, and as the proximal end and the distal end of the conical flexible body are respectively connected with the proximal end clamping piece and the distal end clamping piece, the proximal end clamping piece and the distal end clamping piece are connected through the deformable connecting piece, structural support is provided for the whole conical flexible body, and structural rigidity of the whole flexible body is ensured; the flexible body is controlled to be pulled through the three groups of pulling components, so that the flexible body can perform bending motion along three degrees of freedom, and the flexibility of the flexible body is ensured. Further, the conical flexible body is also connected with the rotary driving assembly, so that the conical flexible body can perform rotary motion, and further four degrees of freedom of motion are realized.
From the above, the four-degree-of-freedom flexible surgical instrument based on the conical continuum can improve the structural rigidity of the flexible continuum, so that the flexible continuum has flexibility and larger structural rigidity, has a larger controllable range, can meet different actual surgical demands, and enriches the application scenes of the minimally invasive surgical instrument.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a four-degree-of-freedom flexible surgical instrument provided by the present invention;
FIG. 2 is a schematic view of a translational drive assembly connection provided by the present invention;
FIG. 3 is a schematic view of a specific connection of a translational drive assembly provided by the present invention;
FIG. 4 is a schematic view of a specific structure of a tapered flexible body provided by the present invention;
FIG. 5 is a schematic view of the attachment of the fastener to the traction assembly provided by the present invention;
FIG. 6 is a schematic view of a specific structure of a distal clip according to the present invention;
fig. 7 is a schematic view of a specific structure of a proximal clip according to the present invention.
Reference numerals:
100: a conical flexible body; 110: a rigid sleeve; 120: a proximal clip; 1201: limiting slot holes; 130: a deformable connecting member; 140: a distal clip; 1401: a connection jack;
200: a driving mechanism; 210: a translational drive assembly; 211: a connecting plate; 212: a linear displacement sensor; 213: guiding an optical axis; 214: a screw rod; 215: a pull pressure sensor; 216: a fixing member; 220: a rotary drive assembly; 221: a motor; 222: a coupling; 223: a first synchronizing wheel; 224: a second synchronizing wheel; 225: a stabilizing support; 230: a traction assembly;
300: a base; 400: a support assembly; 410: a first rotating bracket; 4101: a first rotating disc; 420: a second rotating bracket; 4201: and a second rotating disk.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present specification, reference to the terms "particular embodiment," "some embodiments," "particular examples," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
A four-degree-of-freedom flexible surgical instrument based on a tapered continuum of the present invention is described below in connection with fig. 1-4, which is configured to be applicable in minimally invasive surgery, and in particular in minimally invasive surgical applications requiring a large tip force. Comprising a conical flexible body 100 and a driving mechanism 200; the conical flexible body 100 is in a truncated cone shape and comprises a deformable connecting piece 130, a rigid sleeve 110, a proximal clamping piece 120 and a distal clamping piece 140, wherein two ends of the deformable connecting piece 130 are respectively connected with the proximal clamping piece 120 and the distal clamping piece 140, the proximal clamping piece 120 is connected with the rigid sleeve 110, and the distal clamping piece 140 freely stretches out.
The drive mechanism 200 includes a rotational drive assembly 220, a translational drive assembly 210, and a traction assembly 230; the rotary drive assembly 220 is drivingly connected to the rigid sleeve 110 to drive rotation of the tapered flexible body 100; the traction assembly 230 is connected to the distal clamp 140 and to the translational drive assembly 210 via the proximal clamp 120 and the rigid sleeve, so as to drive the traction assembly 230 to move by the translational drive assembly 210, thereby controlling the bending deformation of the tapered flexible body 100.
As shown in fig. 2, the traction assemblies 230 are configured with three groups, the three groups of traction assemblies 230 are respectively disposed in three different motion directions of the tapered flexible body 100, and each traction assembly 230 is respectively connected with a translation driving assembly 210, so that the traction assemblies 230 are driven to move by the respectively connected translation driving assemblies 210, and the tapered flexible body 100 is controlled to be capable of bending and deforming along three different directions.
The proximal end in the present invention is shown near the end connected to the drive mechanism 200, and the distal end is shown far from the end where the drive mechanism 200 is free to extend. The conical flexible body 100 in the above embodiment has a proximal end and a distal end that extends freely, wherein the proximal end is provided with a proximal clip member 120, the distal end is provided with a distal clip member 140, and the proximal clip member 120 and the distal clip member 140 are connected by a deformable connecting member 130 to form a conical flexible body 100 in the shape of a truncated cone.
It will be appreciated that the distal diameter of the tapered flexible body 100 is smaller than the proximal diameter of the tapered body, as shown in fig. 4. Specifically, the proximal end of the tapered flexible body 100 is connected to the rigid sleeve 110, and the distal end is free to extend, such that the proximal end provides greater support, overall greater structural rigidity, and is capable of carrying greater distal stress, while the distal end has greater flexibility, thereby ensuring that the tapered flexible body of the present invention has greater structural rigidity while having flexibility.
The distal clip 140 may be a columnar structure, and the distal clip 140 is axially provided with a connection jack 1401, and the connection jack 1401 can allow the traction assembly 230 to be inserted to connect the traction assembly 230 and the distal clip 140, so that the bending deformation of the tapered flexible body 100 can be achieved by the traction of the traction assembly 230.
The pulling assembly 230 may be any of an elongated shaft configuration or a pull cord configuration, and is not limited herein. The traction assembly 230, as a related component between the distal clip 140 and the translational driving assembly 210, can move in a horizontal direction under the driving of the translational driving assembly 210, and further can drive the tapered flexible body 100 to perform bending deformation, and the three-degree-of-freedom bending deformation control is realized through the arrangement of the three groups of traction assemblies 230 and the translational driving assembly 210.
The translation drive assembly 210 may be any of a ball screw 214 mechanism, a rack and pinion mechanism, and a hydraulic cylinder, without limitation. It is contemplated that under the driving of the translational driving assembly 210, the pulling assembly 230 can move in the horizontal direction, and one end of the pulling assembly 230 is connected to the distal clip member 140, and the other end of the pulling assembly 230 is connected to the translational driving assembly 210, so that the tapered flexible body 100 can be bent and deformed in the direction having one side of the pulling assembly 230 under the action of the pulling force.
It will be appreciated that the deformable coupling 130 serves as a main support structure for the tapered flexible body 100, and is integrally configured in a circular truncated cone-shaped structure, and the traction assembly 230 can drive the corresponding side deformable coupling 130 to bend and deform when horizontally moving.
As shown in fig. 2, in the present invention, the traction assemblies 230 are arranged in three groups, and the three groups of traction assemblies 230 are respectively arranged in three different directions of the tapered flexible body 100, so that the tapered flexible body 100 has three degrees of freedom in different directions, and the operation range of the apparatus is improved. Specifically, the three sets of traction assemblies 230 are uniformly arranged on the circumference of the tapered flexible body 100, so that the tapered flexible body 100 can be bent and deformed in three directions, for the purpose of flexible control of the tapered flexible body 100.
In some examples, distal clip member 140 has a connection receptacle 1401 on an outer sidewall thereof, connection receptacle 1401 allowing one end of pulling assembly 230 to extend into and be fixedly connected; the outer side wall of the proximal clip 120 has a limiting slot 1201 extending axially therethrough, the limiting slot 1201 allowing the traction assembly 230 to pass therethrough.
As shown in fig. 6, the distal clip 140 has a circular ring structure, a plurality of connection jacks 1401 are machined along the axial direction of the distal clip 140, and one end of the traction assembly 230 is inserted into the connection jacks 1401 to achieve a fixed connection with the distal clip 140. As shown in fig. 7, the proximal clamping member 120 is provided with a limiting slot 1201, and the limiting slot 1201 limits the traction assembly 230, so that the traction assembly 230 moves along the extending direction of the limiting slot 1201 when moving, thereby ensuring the accuracy of the bending deformation direction of the tapered flexible body 100 and improving the stable control of the bending deformation of the tapered flexible body 100.
In a specific example, the deformable coupling 130 comprises a conical coil spring configured with a small diameter end and a large diameter end, the small diameter end of the conical coil spring being coupled to the distal clip 140 and the large diameter end of the conical coil spring being coupled to the proximal clip 120.
It will be appreciated that the conical coil spring has a better mechanical stiffness and the small diameter end of the conical coil spring has a better flexibility than the large diameter end, enabling bending deformation in various radial directions of the conical coil spring, such that the deformable coupling 130 has a better stiffness and a better flexibility. The large-diameter end can provide good support, so that the whole structure has strong structural rigidity, and the large-diameter end can be suitable for a scene with large action moment.
Further, the conical spiral spring is selected so that the structural rigidity of the conical flexible body 100 can be adjusted by adjusting the diameter of a spring wire, the pitch of the spring and the like, and the conical spiral spring has better structural rigidity and flexibility.
In a specific example, the pulling assembly 230 includes a pulling bundle that includes one or more wires.
Wherein, the plurality of wires represent two or more wires, and the wires are made of super-elastic materials. The pulling assembly 230 is coupled to the distal clip 140 and bending deformation of the tapered flexible body 100 is achieved by movement of the pulling assembly 230. Preferably, two super-elastic wires are selected as traction bundles, and the super-elastic wires are adopted to traction the conical flexible body structure, so that the four-degree-of-freedom motion is realized, and the moment can be borne greatly.
It will be appreciated that in this embodiment, the translational drive assembly 210 effects control of the bending deformation of the tapered flexible body 100 by way of applying a pulling force. The plurality of metal wires can enable the metal wires to have larger bearing capacity, so that the action range of the instrument is improved.
Further, a conical coil spring is employed as the deformable coupling 130 when the pulling assembly 230 is a pulling bundle. It is envisioned that the small diameter end of the conical coil spring will deform under the action of the pulling force when the pulling force is applied to the pulling beam, thereby effecting control of the operation in each degree of freedom, while the conical coil spring will reset itself when the applied pulling force is removed, maintaining the initial state, making it easier to control, and being able to utilize its conical helix.
In some examples, the device further comprises a base 300 and a support assembly 400, wherein the support assembly 400 is arranged on the base 300; the support assembly 400 has a fixing portion and a rotating portion, the rotation driving assembly 220 is disposed on the fixing portion of the support assembly 400, the translation driving assembly 210 and the traction assembly 230 are disposed on the rotating portion of the support assembly 400, and the rotation driving assembly 220 is connected with the rotating portion of the support assembly 400, so that the rotating portion of the support assembly 400 rotates to drive the translation driving assembly 210 and the traction assembly 230 to rotate simultaneously.
It will be appreciated that by providing both the translational drive assembly 210 and the traction assembly 230 on the rotating portion of the support assembly 400 such that the translational drive assembly 210 and the traction assembly 230 rotate together during rotation, as can be appreciated from the embodiments described above, the traction assembly 230 is coupled to the translational drive assembly 210 such that the translational drive assembly 210 and the traction assembly 230 can rotate simultaneously during rotation, thereby avoiding intertwining of the traction beams and facilitating accurate performance of the instrument in the direction of rotation.
And, the base 300 provides support for the whole apparatus, and the support assembly 400 on the base 300 directly realizes support for the driving mechanism 200 and can realize rotation of the translation driving assembly 210 and the traction driving assembly, so that the whole apparatus has compact structure, small whole structure volume, strong flexibility, high rigidity and high accuracy.
In a specific example, the support assembly 400 includes a first rotating bracket 410 and a second rotating bracket 420, a rotating disc is provided on the first rotating bracket 410 and the second rotating bracket 420, respectively, and a receiving cavity capable of receiving the translation driving assembly 210 and the traction assembly 230 is configured between the first rotating bracket 410 and the second rotating bracket 420, so as to rotate the translation driving assembly 210 and the traction assembly 230 through the rotating disc.
In the above embodiment, the first rotating bracket 410 and the second rotating bracket 420 are fixedly connected to the base 300 through bolts, the rotating discs on the first rotating bracket 410 and the second rotating bracket 420 are configured as two sides of the accommodating cavity, and the driving assembly is disposed on the rotating disc on one side, and the driving assembly can realize displacement in the accommodating cavity in the horizontal direction, so as to drive the traction assembly 230 to realize a predetermined displacement in the horizontal direction.
Further, as shown in fig. 1, the traction assembly 230 is disposed through the center of the rotating disc, and the three sets of translational driving assemblies 210 are uniformly disposed on a circumference of the traction assembly 230, so that the whole body is centrosymmetric, thereby improving convenience and applicability of clinical application and operability of minimally invasive surgery.
In a specific example, the rotary drive assembly 220 of the present invention includes a motor 221, a coupling 222, a synchronizing wheel and a bearing; the coupling 222 is connected with the output end of the motor 221; the synchronizing wheel comprises a first synchronizing wheel 223 and a second synchronizing wheel 224, and the first synchronizing wheel 223 is in transmission connection with the second synchronizing wheel 224; wherein the first synchronizing wheel 223 is connected with the Lian Zhou device 222, the second synchronizing wheel 224 is connected with a bearing, and the bearing is connected with the rigid sleeve 110.
Further, the motor 221 is connected to the bottom of the first rotating bracket 410, and a process hole is formed in the second rotating bracket 420 corresponding to the motor 221, and the electrical connection between the motor 221 and an external controller, a power supply device, etc. can be realized through the process hole. One end of the coupling 222 is connected to the output shaft of the motor 221, and the other end is connected to the first synchronizing wheel 223.
In a more specific example, the first synchronizing wheel 223 and the second synchronizing wheel 224 are in transmission connection through the crawler belt, one end of the first synchronizing wheel 223 is also connected with a stabilizing support 225 in a rotating way, the stabilizing support 225 is fixedly connected to the base 300, a rotating bearing is arranged on the stabilizing support 225, and the rotating connection between the first synchronizing wheel 223 and the stabilizing support 225 is realized through the rotating bearing.
It will be appreciated that in the above embodiment, the motor 221 may be a servo motor, and the servo motor may rotate according to the number of received pulses, so as to be convenient for controlling rotation parameters, thereby realizing accurate driving.
In some examples, translational drive assembly 210 includes a drive portion and a translational actuator; the output end of the driving part is connected with a translation executing mechanism, and the translation executing mechanism is connected with the traction assembly 230 so as to drive the translation executing mechanism to move through the driving part, thereby driving the traction assembly 230 to move.
Specifically, the first rotating bracket 410 is rotatably connected to the first rotating disk 4101 via a bearing, and the second rotating bracket 420 is rotatably connected to the second rotating disk 4201 via a bearing. The driving part body is connected to the second rotating disc 4201, and an output shaft of the driving part is connected to the translation actuator, so as to implement translational connection through the action of the output shaft of the driving part.
In the above embodiment, the driving part may be a motor 221 and a hydraulic cylinder to implement pulling of the translation actuator.
Further, as shown in fig. 3 and 5, the translation actuator in the above embodiment includes a connection plate 211, and a screw and a fixing member 216 provided on the connection plate 211; the securing member 216 is fixedly coupled to the pulling assembly 230; the screw 214 is connected to the driving part, so that the screw 214 is driven to rotate by the driving part, and the fixing member 216 can be moved.
In some specific examples, the translation actuator further includes a guiding optical axis 213 disposed on the connecting plate 211, a linear displacement sensor 212, and a tension-pressure sensor 215, where the linear displacement sensor 212 is fixedly connected to the connecting plate 211, and the tension-pressure sensor 215 is disposed between the connecting plate 211 and the fixing member 216, and the guiding optical axis 213 penetrates through the connecting plate 211 so that the connecting plate 211 can move along the guiding optical axis 213.
Specifically, as shown in fig. 1, a first rotating disc 4101 is provided on the first rotating bracket 410, a second rotating disc 4201 is provided on the second rotating bracket 420, a positioning shaft is connected to an outer side surface of the first rotating disc 4101, a second synchronizing wheel 224 is connected to the positioning shaft, and the rigid sleeve 110 is connected to the first rotating disc 4101 through the positioning shaft. Three sets of translation actuators are provided between the first rotation plate 4101 and the second rotation plate, and the three sets of translation actuators are uniformly distributed between the first rotation plate 4101 and the second rotation plate 4201, and the respective translation actuators are respectively connected with the traction beam.
The guiding optical axis 213 is disposed between the first rotating disc 4101 and the second rotating disc 4201, the connecting plate 211 is slidably disposed on the guiding optical axis 213, and the screw 214 passes through the connecting plate 211 and has one end connected to the driving portion, so that the connecting plate 211 is driven to move along the guiding optical axis 213 by the rotation of the screw 214, and further the traction beam is driven to move to realize the conical flexible bending deformation.
It will be appreciated that, in the above embodiment, the driving portion may employ a servo motor, and the servo motor may rotate by the number of pulses received, so as to control the screw 214 to rotate, thereby realizing precise movement control.
As shown in fig. 3, in a specific example, the linear displacement sensor 212 is disposed at an upper end of the connection plate 211, the fixing member 216 is disposed at a lower end of the connection plate 211, the screw 214 is disposed on the connection plate 211 near one side of the fixing member 216, and the guiding optical axis 213 is disposed on a plate body of the connection plate 211 between the linear displacement sensor 212 and the screw 214.
As shown in fig. 3, the two guide optical axes 213 are arranged on the plate body of the connecting plate 211, and the two guide optical axes 213 can provide stable support and guide for the connecting plate 211, so that the connecting plate 211 is more stable during sliding. One end of the fixing piece 216 is connected with a pulling pressure sensor 215, the other end of the fixing piece 216 vertically extends downwards and is fixedly connected with the pulling beam, and the pulling pressure sensor 215 is fixedly arranged on the connecting plate 211, so that specific pulling pressure can be monitored through the pulling pressure sensor 215 when the fixing piece 216 is driven to pull the pulling beam, and further the pulling pressure can be monitored.
Through the description of the above embodiments, those skilled in the art can clearly understand that the conical flexible body 100 with a truncated cone structure is adopted in each embodiment, and through the arrangement of the truncated cone-shaped conical flexible body 100, the conical flexible body has higher structural rigidity compared with a cylindrical flexible body, can bear larger moment force, and has wider application range. Furthermore, the traction beam is arranged in three different directions of the same flexible body, so that the flexible body has multiple degrees of freedom of operation space, and the application range of the flexible body is further improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A four-degree-of-freedom flexible surgical instrument based on a tapered continuum, comprising: a conical flexible body and a driving mechanism;
the conical flexible body is in a truncated cone shape and comprises a deformable connecting piece, a rigid sleeve, a proximal clamping piece and a distal clamping piece, wherein two ends of the deformable connecting piece are respectively connected with the proximal clamping piece and the distal clamping piece, the proximal clamping piece is connected with the rigid sleeve, and the distal clamping piece freely stretches out;
the driving mechanism comprises a rotation driving assembly, a translation driving assembly and a traction assembly; the rotary driving assembly is in transmission connection with the rigid sleeve so as to drive the conical flexible body to rotate; the traction component is connected with the far-end clamping piece and is connected with the translation driving component through the near-end clamping piece and the rigid sleeve so as to drive the traction component to move through the translation driving component, and further control the bending deformation of the conical flexible body;
the traction assembly is configured with three groups, the three groups of traction assemblies are respectively arranged in three different action directions of the conical flexible body, each traction assembly is respectively connected with the translation driving assembly, the traction assemblies are driven to move through the translation driving assemblies which are respectively connected, and then the conical flexible body can be controlled to bend and deform along the three different directions.
2. The four-degree-of-freedom flexible surgical instrument of claim 1 wherein the distal clip has a connection socket on an outer sidewall thereof that allows one end of the pulling assembly to extend into and be fixedly connected thereto; and a limit slot hole penetrating axially is formed in one periphery of the outer side wall of the proximal clamping piece, and the limit slot hole allows the traction assembly to pass through.
3. The four degree of freedom flexible surgical instrument of claim 1 wherein the deformable coupling member comprises a conical coil spring configured with a small diameter end and a large diameter end, the small diameter end of the conical coil spring coupled to the distal clamp and the large diameter end of the conical coil spring coupled to the proximal clamp.
4. The four degree of freedom flexible surgical instrument of claim 1 or 3 wherein the pulling assembly comprises a pulling bundle comprising one or more wires.
5. The four degree of freedom flexible surgical instrument of claim 1 wherein the rotary drive assembly includes a motor, a coupling, a synchronizing wheel and a bearing;
the coupler is connected with the output end of the motor;
the synchronous wheels comprise a first synchronous wheel and a second synchronous wheel, and the first synchronous wheel is in transmission connection with the second synchronous wheel;
the first synchronous wheel is connected with the coupler, the second synchronous wheel is connected with the bearing, and the bearing is connected with the rigid sleeve.
6. The four degree of freedom flexible surgical instrument of claim 1 further comprising a base and a support assembly, the support assembly being disposed on the base;
the support assembly is provided with a fixing part and a rotating part, the rotary driving assembly is arranged on the fixing part of the support assembly, the translation driving assembly and the traction assembly are arranged on the rotating part of the support assembly, and the rotary driving assembly is connected with the rotating part of the support assembly so that the rotating part of the support assembly rotates to drive the translation driving assembly and the traction assembly to rotate simultaneously.
7. The four degree of freedom flexible surgical instrument of claim 6 wherein the support assembly includes a first rotating mount and a second rotating mount having a rotating disc disposed thereon, respectively, and wherein a receiving cavity is configured between the first rotating mount and the second rotating mount capable of receiving the translational drive assembly and the traction assembly, the rotating disc being adapted to rotate the translational drive assembly and the traction assembly.
8. The four degree of freedom flexible surgical instrument of claim 6 or 7 wherein the translational drive assembly includes a drive and a translational actuator;
the output end of the driving part is connected with the translation executing mechanism, and the translation executing mechanism is connected with the traction assembly so as to drive the translation executing mechanism to move through the driving part, thereby driving the traction assembly to move.
9. The four-degree-of-freedom flexible surgical instrument based on a tapered continuum of claim 8, wherein the translation actuator comprises a connecting plate and a lead screw and a fixture disposed on the connecting plate;
the fixing piece is fixedly connected with the traction assembly;
the screw rod is connected with the driving part, so that the screw rod is driven to rotate through the driving part, and the fixing piece can be moved.
10. The four-degree-of-freedom flexible surgical instrument of claim 9 wherein the translation actuator further comprises a guide optical axis disposed on the connecting plate, a linear displacement sensor fixedly coupled to the connecting plate, and a pull pressure sensor disposed between the connecting plate and the securing member, the guide optical axis extending through the connecting plate to enable the connecting plate to move along the guide optical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011067.0A CN116712113B (en) | 2023-08-11 | 2023-08-11 | Four-degree-of-freedom flexible surgical instrument based on conical continuum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011067.0A CN116712113B (en) | 2023-08-11 | 2023-08-11 | Four-degree-of-freedom flexible surgical instrument based on conical continuum |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116712113A true CN116712113A (en) | 2023-09-08 |
| CN116712113B CN116712113B (en) | 2023-10-31 |
Family
ID=87868409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311011067.0A Active CN116712113B (en) | 2023-08-11 | 2023-08-11 | Four-degree-of-freedom flexible surgical instrument based on conical continuum |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116712113B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4971490A (en) * | 1988-03-01 | 1990-11-20 | National Standard Company | Flexible guide wire with improved mounting arrangement for coil spring tip |
| US5821920A (en) * | 1994-07-14 | 1998-10-13 | Immersion Human Interface Corporation | Control input device for interfacing an elongated flexible object with a computer system |
| CN109498154A (en) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
| CN111544198A (en) * | 2020-05-14 | 2020-08-18 | 西安交通大学 | Flexible operation driving system of ophthalmic surgery robot |
| CN113954057A (en) * | 2021-10-28 | 2022-01-21 | 杭州电子科技大学 | Tendon-driven flexible mechanical arm capable of growing and changing rigidity and flexibility and driving method thereof |
| CN114886498A (en) * | 2022-04-26 | 2022-08-12 | 骨圣元化机器人(深圳)有限公司 | Bone drill device |
| CN115068015A (en) * | 2022-06-17 | 2022-09-20 | 清华大学 | Multi-section flexible instrument based on variable stiffness, variable curvature and variable bending length of spring |
| CN116269546A (en) * | 2023-05-17 | 2023-06-23 | 中国科学院自动化研究所 | Minimally invasive surgical instrument based on conical flexible body |
-
2023
- 2023-08-11 CN CN202311011067.0A patent/CN116712113B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4971490A (en) * | 1988-03-01 | 1990-11-20 | National Standard Company | Flexible guide wire with improved mounting arrangement for coil spring tip |
| US5821920A (en) * | 1994-07-14 | 1998-10-13 | Immersion Human Interface Corporation | Control input device for interfacing an elongated flexible object with a computer system |
| CN109498154A (en) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
| CN111544198A (en) * | 2020-05-14 | 2020-08-18 | 西安交通大学 | Flexible operation driving system of ophthalmic surgery robot |
| CN113954057A (en) * | 2021-10-28 | 2022-01-21 | 杭州电子科技大学 | Tendon-driven flexible mechanical arm capable of growing and changing rigidity and flexibility and driving method thereof |
| CN114886498A (en) * | 2022-04-26 | 2022-08-12 | 骨圣元化机器人(深圳)有限公司 | Bone drill device |
| CN115068015A (en) * | 2022-06-17 | 2022-09-20 | 清华大学 | Multi-section flexible instrument based on variable stiffness, variable curvature and variable bending length of spring |
| CN116269546A (en) * | 2023-05-17 | 2023-06-23 | 中国科学院自动化研究所 | Minimally invasive surgical instrument based on conical flexible body |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116712113B (en) | 2023-10-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111956328B (en) | Continuum robot for minimally invasive surgery | |
| CN111658152B (en) | Operation mechanical arm and endoscope system | |
| CN111839734B (en) | Surgical robot end device with manual quick-change mechanism | |
| CN110123457B (en) | Variable-stiffness robot for minimally invasive surgery and working method | |
| US11712313B2 (en) | Dual manipulation for robotic catheter system | |
| CN115922755A (en) | Apparatus and method for robotic assembly | |
| CN116269546B (en) | Minimally invasive surgical instrument based on conical flexible body | |
| CN110840524A (en) | Tumor clamp for surgical robot | |
| CN116712113B (en) | Four-degree-of-freedom flexible surgical instrument based on conical continuum | |
| CN112022238B (en) | Surgical instrument for minimally invasive surgery robot | |
| CN116712114B (en) | Seven-degree-of-freedom flexible surgical instrument based on conical continuum | |
| CN112826593B (en) | Continuum robot for narrow cavity surgery | |
| US20230225757A1 (en) | Continuum instrument and surgical robot | |
| CN113288440B (en) | Minimally invasive interventional operation robot based on multi-segment continuum series connection structure | |
| CN107041781B (en) | Digestion endoscope robot and digestion endoscope using mechanical arm | |
| EP4183534A1 (en) | Joint function unit | |
| EP4173588A1 (en) | Continuum instrument and surgical robot | |
| CN110934643B (en) | Tumor surgery robot instrument assembly with dual-drive structure | |
| CN113858261B (en) | Flexible continuum structure capable of being driven integrally and flexible mechanical arm | |
| CN113855111A (en) | Drive transmission system and surgical robot | |
| CN113081279A (en) | Multi-arm concentric tube robot for minimally invasive surgery | |
| CN113855103A (en) | Rotary-linear drive-based surgical tool driving transmission system and surgical robot | |
| CN110811841A (en) | Rotary piece of tumor surgical robot | |
| CN214804942U (en) | Operation executor and surgical instrument | |
| CN216854844U (en) | Surgical instrument for minimally invasive surgical robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |