CN216098910U

CN216098910U - Continuum instrument and robot

Info

Publication number: CN216098910U
Application number: CN202121872567.XU
Authority: CN
Inventors: 徐凯; 刘旭; 梅龙树
Original assignee: Shurui Shanghai Technology Co ltd
Current assignee: Shurui Shanghai Technology Co ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2022-03-22
Anticipated expiration: 2031-08-11

Abstract

The utility model relates to the field of robot instruments, and discloses a continuum instrument, which comprises: the deformable continuum comprises a stop disc and a plurality of structural bones, and the far ends of the structural bones are fixedly connected with the stop disc; and the at least one driving mechanism comprises a screw rod, at least one nut and a plurality of balls, the balls are arranged between the screw rod and the at least one nut, the nut is fixedly connected with the proximal end of the structural bone, and the screw rod is used for rotating to drive the nut to linearly move along the screw rod so as to push and pull the structural bone. Through the lead screw ball actuating mechanism, the deformable continuum is driven to move, so that the motion stability can be improved, the motion abrasion can be reduced, and the service life of the continuum instrument can be prolonged.

Description

Continuum instrument and robot

Technical Field

The utility model relates to the field of robot instruments, in particular to a continuum instrument and a robot.

Background

Minimally invasive surgery has become an important place in surgical procedures because of its less trauma to patients and higher postoperative yield. Surgical instruments including a visual lighting module and a surgical operation arm enter a human body through an incision or a natural cavity to reach an operation part for operation by using surgical tools. The far end structure of the existing surgical instrument is mainly formed by serially connecting and hinging a plurality of rod pieces, and the surgical instrument is driven by the tensile force of a steel wire rope to realize the bending at a hinged joint. Because the steel wire rope must be kept in a continuous tensioning state through the pulley, the driving mode is difficult to realize further miniaturization of the surgical instrument, and is also difficult to further improve the motion performance of the instrument.

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

The existing driving mechanism of the continuum structure has poor motion stability and short service life due to large friction force, and along with the stricter requirements on the continuum structure, such as high precision, fast response, high bending flexibility, good stability and the like, the existing driving mechanism can not meet the requirements gradually.

SUMMERY OF THE UTILITY MODEL

Based on the above problems, the present invention aims to provide a continuum instrument and a robot, which drive a deformable continuum to move through a screw ball driving mechanism, thereby improving the motion stability, reducing the motion abrasion and prolonging the service life of the continuum instrument.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a continuum instrument comprising:

the deformable continuum comprises a stopping disc and a plurality of structural bones, and the far ends of the structural bones are fixedly connected with the stopping disc; and

at least one driving mechanism comprising a lead screw, at least one nut and a plurality of balls, wherein the plurality of balls are arranged between the lead screw and the at least one nut, the nut is fixedly connected with the proximal end of the structural bone, and the lead screw is used for rotating to drive the nut to move linearly along the lead screw so as to push and pull the structural bone.

In some embodiments, the at least one nut comprises a first nut and a second nut;

the screw rod comprises a first thread section and a second thread section, the first thread section comprises a first thread, and the second thread section comprises a second thread; and

the plurality of balls includes a plurality of first balls disposed between the first thread and the first nut and a plurality of second balls disposed between the second thread and the second nut.

In some embodiments, the first and second threads have opposite helical directions.

In some embodiments, the lead screw further comprises an unthreaded section located between the first threaded section and the second threaded section.

In some embodiments, further comprising:

at least one guiding mechanism, guiding mechanism includes the slide rail and slides and sets up at least one slider on the slide rail, the slider with nut fixed connection.

In some embodiments, the plurality of structural bones are distributed at intervals along the circumferential direction of the stopping disc, and two opposite structural bones are fixedly connected with the first nut and the second nut respectively.

In some embodiments, the deformable continuum includes:

at least one distal segment comprising a distal end stop disk and a plurality of distal structural bones, distal ends of the plurality of distal structural bones being fixedly connected with the distal end stop disk.

In some embodiments, a proximal end of at least one of the plurality of distal structural bones is fixedly coupled to the nut.

In some embodiments, further comprising:

at least one proximal section, including a proximal end stopping disc, a proximal end base disc and a plurality of proximal end structural bones, wherein the proximal ends of the proximal end structural bones are fixedly connected with the proximal end stopping disc, the distal ends of the proximal end structural bones are slidably connected with the proximal end base disc, and the proximal ends of at least some of the distal end structural bones are fixedly connected with or integrally formed with the distal ends of the proximal end structural bones; and

the proximal ends of the proximal end driving structural bones are fixedly connected with the proximal end stopping disc, and the distal ends of the proximal end driving structural bones penetrate through the proximal end basal disc and are fixedly connected with the nuts.

In some embodiments, the at least one distal segment comprises:

the first far-end structure section comprises a first far-end stopping disc and a plurality of first far-end structure bones, the far ends of the first far-end structure bones are fixedly connected with the first far-end stopping disc, and the near ends of the first far-end structure bones are fixedly connected with the far ends of the near-end structure bones or integrally formed; and

and the second far-end structure section comprises a second far-end stop disc and a plurality of second far-end structure bones, the far ends of the second far-end structure bones are fixedly connected with the second far-end stop disc, and the near ends of the second far-end structure bones are fixedly connected with the nuts.

In some embodiments, the at least one proximal construct further comprises at least one proximal retention disc disposed between the proximal base disc and the proximal stop disc, the plurality of proximal structural bones passing through the at least one proximal retention disc in sequence; and

the at least one distal construct segment further comprises at least one distal retaining disc disposed between the distal stop disc and the proximal base disc, the plurality of distal structural bones passing through the at least one distal retaining disc in sequence.

In some embodiments, further comprising: at least one coupling;

one end of the coupler is connected with the transmission input end of the screw rod, and the other end of the coupler is used for being connected with the motor, so that the motor drives the screw rod to rotate through the coupler.

In some embodiments, further comprising: a terminal device;

the end device is disposed at a distal end of the stop plate.

In some embodiments, further comprising: a terminal device drive line;

the far end of the end device driving wire is connected with the end device, the near end of the end device driving wire is fixedly connected with the nut or fixedly connected with a sliding block of the end device driving mechanism, and the end device driving mechanism further comprises a screw rod used for rotationally driving the sliding block to move along the screw rod.

In some embodiments, the present disclosure also provides a robot comprising the continuum instrument of any of the embodiments of the present disclosure.

The utility model has the beneficial effects that:

according to the continuum instrument, the deformable continuum is driven to move through the lead screw and ball driving mechanism, so that the movement precision and stability are improved, the movement abrasion is reduced, and the service life of the continuum instrument is prolonged; and bending the deformable continuum to achieve movement of the end device in multiple degrees of freedom.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below. The drawings in the following description illustrate only some embodiments of the utility model, and other embodiments will become apparent to those skilled in the art from consideration of the specification and practice of the utility model disclosed herein.

FIG. 1 illustrates a schematic structural view of a continuum instrument, in accordance with some embodiments of the present disclosure;

FIG. 2 illustrates a schematic structural view of a drive mechanism according to some embodiments of the present disclosure;

FIG. 3 illustrates a cross-sectional schematic view of a drive mechanism according to some embodiments of the present disclosure;

FIG. 4 illustrates a partial schematic view of a continuum instrument, in accordance with some embodiments of the present disclosure;

FIG. 5 illustrates a schematic partial cross-sectional view of a continuum instrument, in accordance with some embodiments of the present disclosure;

FIG. 6 shows a schematic structural view of a proximal segment according to some embodiments of the present disclosure;

fig. 7 illustrates a schematic structural view of a distal continuum, according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only exemplary embodiments of the present invention, and not all embodiments.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed and removable connections; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. In the present invention, the end close to the operator (e.g. doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. One skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as other non-medical devices.

The present disclosure provides a continuum instrument. Fig. 1 illustrates a schematic structural view of a continuum instrument 10, according to some embodiments of the present disclosure. As shown in fig. 1, the continuum instrument 10 may include a deformable continuum 100 and at least one drive mechanism 200. The deformable continuum 100 may include a stop plate and a plurality of structural bones (e.g., a distal stop plate 121 and a distal structural bone 122 as shown in fig. 7) having distal ends fixedly attached to the stop plate.

Fig. 2 and 3 illustrate a schematic structural view and a schematic cross-sectional view, respectively, of a drive mechanism 200 according to some embodiments of the present disclosure. As shown in fig. 2 and 3, the at least one drive mechanism 200 may include a lead screw 210, at least one nut 220, and a plurality of balls 230. A plurality of balls 230 are disposed between the lead screw 210 and the at least one nut 220. The nut 220 may be fixedly coupled to a proximal end of a structural bone, such as the proximal drive structural bone 130 shown in fig. 6 and/or the distal structural bone 122 shown in fig. 7. By rotation of the lead screw 210, the nut 220 may be driven to move linearly along the lead screw 210 to push and pull the structural bone. It should be understood that the number of drive mechanisms 200 may be adjusted according to the number of structural bones.

In some embodiments, as shown in fig. 2, the at least one nut 220 may include a nut 220a and a nut 220 b. The screw 210 may include a threaded section 211a and a threaded section 211b, and the threaded section 211a and the threaded section 211b are respectively provided with

threads

2111a and 2111 b. For example, the threaded section 211a and the threaded section 211b may be respectively provided at both ends of the screw shaft 210. As shown in fig. 3, the plurality of balls 230 may include a plurality of balls 230a and a plurality of balls 230b, the plurality of balls 230a being disposed between the thread 2111a and the nut 220a, and the plurality of balls 230b being disposed between the thread 2111b and the nut 220 b. The rolling friction between the nut 220 and the screw 210 can be changed by the balls 230, so that the friction loss of the driving mechanism during movement can be reduced, and the service life of the driving mechanism can be prolonged.

In some embodiments, as shown in FIG. 2, the

threads

2111a and 2111b spiral in opposite directions. For example, the

threads

2111a and 2111b may be slanted threads with opposite thread directions, and the nuts 220a and 220b may have slanted threads that mate with the

threads

2111a and 2111 b. When the screw 210 is driven to rotate, due to the fact that the spiral directions of the threads 2111a and the threads 2111b are opposite, the nut 220a and the nut 220b linearly move in opposite directions at the same speed, so that the structural bones (for example, two structural bones which are opposite in position) are cooperatively pushed and pulled to drive the deformable continuum 100 to bend. It should be appreciated that the length of the threaded

segments

211a and 211b, and the thread clearance size of the

threads

2111a and 2111b, may be set according to the stroke requirements of the actual structural bone.

In some embodiments, as shown in fig. 2, the lead screw 210 may further include an unthreaded section 212 located between the threaded section 211a and the threaded section 211 b. For example, the unthreaded section 212 may be located in an intermediate portion of the lead screw 210. The unthreaded section 212 prevents the nut 220a and the nut 220b from moving linearly along the lead screw 210 beyond the corresponding threaded section when the lead screw 210 is rotated. It should be appreciated that the lead screw 210 may also include unthreaded sections at both ends of the threaded section 211a and the threaded section 211 b.

Fig. 4 and 5 illustrate a partial schematic view and a partial cross-sectional schematic view, respectively, of a continuum instrument, according to some embodiments of the present disclosure. As shown in fig. 4 and 5, in some embodiments, the continuum instrument 10 may further include a bracket 300, and both ends of the lead screw 210 may be rotatably disposed on the bracket 300. For example, the lead screw 210 is provided on the bracket 300 to be axially rotatable but not axially movable. In some embodiments, the proximal or distal end of the lead screw 210 may be coupled to a motor to drive the lead screw 210 to rotate circumferentially by the motor.

In some embodiments, the continuous body instrument 10 may also have at least one coupling 600. As shown in fig. 1, 4 and 5, one end (e.g., a distal end) of the coupling 600 is connected to a transmission input end (e.g., a proximal end) of the lead screw 210, and the other end (e.g., a proximal end) of the coupling 600 is used for connecting to a motor (not shown) so that the motor drives the lead screw 210 to rotate through the coupling 600. It should be understood that the coupling 600 may also be located at the distal end of the continuum instrument 10, the distal end of the coupling 600 being connected to the motor, and the proximal end of the coupling 600 being connected to the transmission input of the lead screw 210 (e.g., the distal end of the lead screw). The torque of the motor can be better transmitted through the coupler so as to drive the lead screw to rotate accurately and stably.

In some embodiments, as shown in fig. 4 and 5, the continuum instrument 10 may further comprise at least one guide mechanism 400. The guiding mechanism 400 may include a sliding rail 410 and at least one sliding block 420 slidably disposed on the sliding rail 410, wherein the nut 220 is fixedly connected to the sliding block 420. It should be appreciated that the rotation of the lead screw 210 can drive the nut 220 to move linearly along the lead screw 210, and the slider 420 is driven to slide linearly along the slide rail 410 due to the fixed connection between the slider 420 and the nut 220. It should be understood that the slider 420 may also be integrally formed with the nut 220. In some embodiments, the structural bone may be fixedly connected with the sliding block. In some embodiments, as shown in fig. 4 and 5, the at least one slider 420 may include a slider 420a and a slider 420b, the

sliders

420a and 420b being slidably disposed on the slide rail 410, respectively. In some embodiments, where multiple structural bones (e.g., the proximal driving structural bone 130 shown in fig. 6 and/or the distal structural bone 122 shown in fig. 7) are spaced apart circumferentially of the stop plate (e.g., the proximal stop plate 111 shown in fig. 6 and/or the distal stop plate 121 shown in fig. 7), the

gliders

420a and 420b can be fixedly coupled to two opposing structural bones, respectively. The sliding

blocks

420a and 420b can be fixedly connected with the nuts 220a and 220b, respectively, and the lead screw 210 drives the nuts 220 to linearly move, so as to drive the sliding

blocks

420a and 420b to linearly move along the sliding rail 410 at the same speed in opposite directions, so as to realize the cooperative pushing and pulling on the structural bone, so as to drive the deformable continuum to bend. The guide mechanism is arranged, so that the motion of the driving mechanism is more stable, and the mechanical performance of the continuum instrument is improved.

In some embodiments, the at least one driving mechanism may comprise a plurality of driving mechanisms 200, the at least one guiding mechanism may comprise a plurality of guiding mechanisms 400, and the number of driving mechanisms 200 may correspond to the number of guiding mechanisms 400 to achieve pushing and pulling of the plurality of structural bones.

In some embodiments, as shown in FIG. 7, the deformable continuum may include at least one distal end segment 120. The distal segment 120 includes a distal stop disk 121 and a plurality of distal structural bones 122, the distal ends of the plurality of distal structural bones 122 being fixedly connected to the distal stop disk 121. In some embodiments, the proximal end of at least one of the plurality of distal structural bones 122 is fixedly coupled to the nut 220. To drive the nut 220 in linear motion along the lead screw by rotation of the lead screw 210 to push and pull the plurality of distal structural bones 122 to effect flexion of the distal segment 120. For example, a plurality of distal structural bones 122 may be circumferentially spaced along the distal stop disk 121, and two opposing distal structural bones 122 may be fixedly coupled to the nut 220a and the nut 220b (or the slider 420a and the slider 420b), respectively, and driven by the nut 220a and the nut 220b to linearly move in opposite directions at the same speed to cooperatively push and pull the opposing distal structural bones 122 to drive the distal segment 120 to bend.

In some embodiments, the deformable continuum 100 may include at least one proximal segment 110 and at least one distal segment 120. As shown in fig. 6, at least one proximal construct 110 includes a proximal stop 111, a proximal base 113, and a plurality of proximal structural bones 112. The proximal ends of the proximal structural bones 112 are fixedly connected to the proximal end stop disc 111, and the distal ends are slidably connected to the proximal base disc 113. It will be appreciated by those skilled in the art that proximal base plate 113 may be fixedly disposed, for example, on support 300, or proximal base plate 113 may be integrally formed with support 300. The proximal ends of the proximal structural bones 112 may be distributed along the circumference of the proximal end stop disc 111 and fixedly connected to the proximal end stop disc 111. For example, the proximal structural bones 112 may be evenly spaced along the circumference of the proximal end stop 111 or may be unevenly and symmetrically spaced. The distal ends of the plurality of proximal structural bones 112 may pass through the proximal template 113 and may slide relative to the proximal template 113.

In some embodiments, as shown in fig. 7, at least one distal end node 120 includes a distal end stop 121 and a plurality of distal structural bones 122. The distal ends of the distal structural bones 122 are fixedly connected with the distal end stop disc 121, and the proximal ends of the distal structural bones 122 are fixedly connected with the distal ends of the proximal structural bones 112 or integrally formed. In some embodiments, the plurality of distal structural bones 122 may be integrally formed with the corresponding plurality of proximal structural bones 112, with the distal ends of the structural bones (e.g., proximal structural bones 112 or distal structural bones 122) fixedly attached to the distal end stop plate 121 and the proximal ends of the structural bones passing through the proximal base plate 113 and fixedly attached to the proximal end stop plate 111. It should be understood that the structural bone (e.g., proximal structural bone 112 and/or distal structural bone 122) may comprise a thin, resilient rod or tube made of a superelastic material, such as a nickel titanium alloy material.

In some embodiments, as shown in fig. 6, the proximal segment 110 may further include a plurality of proximal drive structure bones 130. The proximal ends of the proximal driving structure bones 130 are fixedly connected with the proximal end stop disc 111, and the distal ends of the proximal driving structure bones 130 pass through the proximal base disc 113 and are fixedly connected with the nut 220 (or the slider 420). For example, a plurality of proximal driving structure bones 130 may be circumferentially spaced along the proximal base plate 113 and the proximal end stop plate 111, and two proximal driving structure bones 130 located opposite to each other may be fixedly connected to the nut 220a and the nut 220b (or the slider 420a and the slider 420b), respectively, and the two proximal driving structure bones 130 located opposite to each other are linearly moved in opposite directions at the same speed by the driving nut 220a and the nut 220b to cooperatively push and pull the two proximal driving structure bones 130 located opposite to each other to drive the proximal segment 110 to bend, and the distal segment 120 is driven by the proximal segment 110 to bend. In some embodiments, the diameter of the proximal drive structure bone 130 may be larger than the proximal drive structure bone 112 to avoid the proximal drive structure bone 130 from breaking when pushed or pulled. It should be understood that the diameter of the proximal driving structural bone 130 may also be equal to or less than the diameter of the proximal structural bone 112.

In some embodiments, as shown in fig. 7, the distal end of the distal segment 120 may be provided with an end device 500. For example, the end device 500 may be disposed on the distal side of the distal end stop disk 121. In some embodiments, tip device 500 includes, but is not limited to, forceps, electrotomes, electrical hooks, curved scissors, endoscopes, and the like. The bending of the deformable continuum is used to achieve movement of the end device in multiple degrees of freedom.

In some embodiments, as shown in fig. 1, the continuum instrument 10 may further comprise a tip apparatus drive wire 510. The end device drive wire 510 may be disposed in a channel, as shown in fig. 1, to slide in and out of the channel. In some embodiments, the distal end of the tip assembly drive wire 510 is coupled to the tip assembly 500 and the proximal end may be fixedly coupled to the nut 220. To rotate the drive nut 220 via the lead screw 210 for linear movement, to push and pull the end fitting drive wire 510 to drive the end fitting 500 for movement (e.g., opening and closing movement) to perform a corresponding operation, such as a clamping or shearing operation, etc. It should be appreciated that the end device drive wire 510 may include, but is not limited to, a thin elastic rod or tube made of a superelastic material (e.g., a nickel-titanium alloy material).

In some embodiments, as shown in FIG. 1, the distal end of the end device drive wire 510 is coupled to the end device 500 and the proximal end can be fixedly coupled to the end device drive mechanism 520. It should be appreciated that the end fitting drive mechanism 520 may include a threaded rod 521 and a slider 522, the proximal end of the end fitting drive wire 510 being fixedly attached to the slider 522, the threaded rod 521 being rotated to drive the slider 522 linearly along the threaded rod 521 to push and pull the end fitting drive wire 510 to drive the end fitting 500 in motion.

In some embodiments, as shown in fig. 7, the at least one distal segment 120 may include a distal segment 120a and a distal segment 120 b. The distal end structure 120a includes a distal end stop disk 121a and a plurality of distal end structural bones 122a, wherein the distal ends of the plurality of distal end structural bones 122a are fixedly connected with the distal end stop disk 121a, and the proximal ends are fixedly connected with or integrally formed with the distal ends of the plurality of proximal end structural bones 112. The distal segment 120b includes a distal stop disk 121b and a plurality of distal structural bones 122b, the distal ends of the plurality of distal structural bones 122b are fixedly connected to the distal stop disk 121b, and the proximal ends are fixedly connected to the at least one nut 220 (or the slider 420). It should be understood that the distal ends of the plurality of distal structural bones 122a are fixedly connected to the distal stop disk 121a, and the proximal ends thereof pass through the distal stop disk 121b and are fixedly connected to or integrally formed with the plurality of proximal structural bones 112. The distal ends of the plurality of distal structural bones 122b are fixedly connected with the distal end stop disk 121b, and the proximal ends thereof pass through the proximal base disk 113 and the proximal end stop disk 111 and are fixedly connected with at least one nut 220 (or a slider 420). To push and pull the distal structural bone 122b directly through a portion of the drive mechanism 200 to drive the distal segment 120b to bend, and to push and pull the proximal drive structural bone 130 through a portion of the drive mechanism 200 to drive the proximal segment 110 to bend, to drive the distal segment 120a to bend through the proximal segment 110. It should be understood that the distal structural bone 122a may also be pushed or pulled directly by a portion of the drive mechanism 200 to drive the distal segment 120a to bend and the proximal segment 110 may be driven by a portion of the drive mechanism 200 to bend to drive the distal segment 120b to bend.

In some embodiments, as shown in fig. 6, the at least one proximal construct 110 may further comprise at least one proximal retention disc 114 disposed between the proximal base disc 113 and the proximal stop disc 111, the plurality of proximal structural bones 112 sequentially passing through the at least one proximal retention disc 114. As shown in fig. 7, the at least one distal segment 120 may further comprise at least one distal retaining disc 124 disposed between the distal stop disc 121 and the proximal base disc 113, the plurality of distal structural bones 122 sequentially passing through the at least one distal retaining disc 124. For example, the distal and distal stop disks 121, and the proximal end of the plurality of distal structural bones 122 pass through one or more of the distal retaining disk 124, the proximal base disk 113, one or more of the proximal retaining disk 114, the proximal stop disk 111, and are coupled to the proximal stop disk 111 or to the nut (or slide) of the drive mechanism 200 passing through the proximal stop disk 111. By providing proximal and

distal retaining discs

114, 124, structural bone is prevented from destabilizing during push-pull to increase the precision and stability of motion of the continuum instrument.

The present disclosure also provides a robot including the continuum instrument (e.g., continuum instrument 10) disclosed in the above embodiments. It should be understood that the robot may be a surgical robot or an industrial robot. The continuum instrument drives the deformable continuum to move through the screw rod and ball bearing driving mechanism, so that the movement stability can be improved, the movement abrasion can be reduced, and the service life of the continuum instrument can be prolonged.

It is noted that the above description is only exemplary of the utility model and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A continuum instrument comprising:

2. The continuum instrument of claim 1, wherein the at least one nut comprises a first nut and a second nut;

3. The continuum instrument of claim 2, wherein the first thread and the second thread have opposite helical directions.

4. The continuum instrument of claim 2, wherein the lead screw further comprises an unthreaded section located between the first threaded section and the second threaded section.

5. The continuum instrument of any one of claims 1-4, further comprising:

6. The continuum instrument of any one of claims 2 to 4, wherein the plurality of structural bones are spaced apart along a circumference of the end plate, and two of the structural bones that are oppositely located are fixedly connected to the first nut and the second nut, respectively.

7. The continuum instrument of any one of claims 1-4, wherein the deformable continuum comprises:

8. The continuum instrument of claim 7, wherein a proximal end of at least one of the plurality of distal structural bones is fixedly connected to the nut.

9. The continuum instrument of claim 7, further comprising:

10. The continuum instrument of claim 9, wherein the at least one distal segment comprises:

11. The continuum instrument of claim 9, wherein the at least one proximal segment further comprises at least one proximal retention disc disposed between the proximal base disc and the proximal stop disc, the plurality of proximal structural bones passing through the at least one proximal retention disc in sequence; and

12. The continuum instrument of any one of claims 1-4, further comprising:

and one end of the coupler is connected with the transmission input end of the screw rod, and the other end of the coupler is used for being connected with a motor, so that the motor drives the screw rod to rotate through the coupler.

13. The continuum instrument of any one of claims 1-4, further comprising:

a tip device disposed at a distal end of the stop disk.

14. The continuum instrument of claim 13, further comprising:

the end device driving mechanism further comprises a screw rod used for rotationally driving the sliding block to move along the screw rod.

15. A robot comprising the continuum instrument of any one of claims 1-14.