WO2018010502A1 - 刚度可控工具机构 - Google Patents

刚度可控工具机构 Download PDF

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Publication number
WO2018010502A1
WO2018010502A1 PCT/CN2017/087154 CN2017087154W WO2018010502A1 WO 2018010502 A1 WO2018010502 A1 WO 2018010502A1 CN 2017087154 W CN2017087154 W CN 2017087154W WO 2018010502 A1 WO2018010502 A1 WO 2018010502A1
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Prior art keywords
elastic
tool mechanism
stiffness
controllable tool
energy
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PCT/CN2017/087154
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English (en)
French (fr)
Inventor
王树新
王建辰
李雪洁
任祥云
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Tianjin University
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Tianjin University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods 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

Definitions

  • the invention relates to a minimally invasive surgical instrument joint mechanism, in particular to a stiffness controllable tool mechanism.
  • Single-hole surgery refers to the placement of multiple puncture devices or multi-channel puncture devices on a small incision of 15mm-40mm, and then placement of surgical instruments for surgical operations.
  • the instruments are mostly hard-rod tools and are accessed by one channel, it is easy to produce a "chopstick effect" which causes the device to collide in the body, affecting the operation time and the quality of the operation.
  • the object of the present invention is to overcome the deficiencies of the prior art and provide a rigid and controllable tool mechanism for a single-hole surgical instrument, which avoids the collision problem caused by the single-hole surgical space and ensures the rigidity of the device. .
  • a stiffness controllable tool mechanism for a single-hole surgical instrument, comprising: a covering layer for accommodating a single-hole surgical instrument; and an elastic continuum structure disposed on the Outside the cladding layer, made of an elastic material and having a plurality of spaced apart hollow grooves on the side walls of the elastic continuous body structure; an energy exchange device is disposed outside the elastic continuous body structure and connected to an external energy control source A change in the temperature of the energy exchange device itself is achieved by conduction; and a liquid metal coating is disposed between the elastic continuum structure and the energy exchange device.
  • the stiffness controllable tool mechanism further includes: an elastic support frame disposed outside the energy exchange device, made of an elastic material, and having a hollow structure thereon; The liquid metal coating is also disposed in the hollow structure.
  • each of the hollow slots includes two spaced and symmetrically disposed arcuate hollow holes, and the two spaced portions between the two curved hollow holes are symmetrically disposed, adjacent to the two turns of the hollow slots The spacing portions are arranged at intervals of 90 degrees from each other.
  • the elastic continuum structure is provided with a wire tunnel for passing through a control wire that drives the front end tool and controls movement of the elastic continuum structure.
  • the stiffness controllable tool mechanism further includes an insulating heat insulation film sleeved outside the elastic support frame.
  • the energy exchanger includes a resistor mesh sleeve
  • the external energy control source includes a power source
  • the resistor mesh sleeve is connected to the power source through a positive electrode and a negative electrode to generate heat to the liquid.
  • the metal coating performs phase change control.
  • the energy exchanger includes a water heat exchange tube
  • the external energy control source includes a heat source
  • the water inlet of the water heat exchange tube is connected to the heat source through a two-way peristaltic pump, The heat flow is introduced into the water heat exchange tube to control the phase change of the liquid metal coating.
  • the liquid metal switches between liquid and solid depending on the temperature of the energy interaction device.
  • the elastic support skeleton and/or the elastic continuum structure employs an elastic material that is an elastic rubber or an elastic organic polymer.
  • the liquid metal comprises an alloy of gallium indium bismuth copper or a gallium indium alloy.
  • the invention has the following beneficial effects:
  • the stiffness controllable tool mechanism in the embodiment of the invention introduces the stiffness controllable joint into the surgical instrument, filling the blank of the single hole surgical instrument in this aspect.
  • the stiffness controllable tool mechanism can effectively avoid the collision problem of the tool during the operation operation.
  • the stiffness controllable tool mechanism in the embodiment of the present invention controls the stiffness by the phase change of the liquid metal, and has a greater lifting force while maintaining flexibility.
  • FIG. 1 is a schematic view showing the overall structure of a rigidity controllable tool mechanism according to an embodiment of the present invention
  • FIG. 2 is a schematic exploded view of the overall structure of the stiffness controllable tool mechanism of FIG. 1;
  • FIG. 3 is a schematic view showing an electric heat exchange working state of a stiffness controllable tool mechanism according to an embodiment of the present invention
  • FIG. 4 is a schematic view showing a working state of water heat exchange of a stiffness controllable tool mechanism according to another embodiment of the present invention.
  • FIG. 5 is a schematic view showing the working state of the stiffness controllable tool mechanism according to an embodiment of the invention.
  • An embodiment of the present invention provides a stiffness controllable tool mechanism for a single-hole surgical instrument, including a cladding layer, an elastic continuum structure, an energy exchange device, and a liquid metal coating.
  • a coating layer for accommodating a single-hole surgical instrument; an elastic continuum structure, sleeved outside the coating layer, made of an elastic material and having a plurality of intervals of hollowing on the side wall of the elastic continuum structure a tank; an energy exchange device sleeved outside the elastic continuum structure, connected to an external energy control source to realize a change in temperature of the energy exchange device by conduction; a liquid metal coating disposed on the elastic continuum structure Between the energy exchange device and the energy exchange device.
  • FIG. 1 is a schematic view showing the overall structure of a stiffness controllable tool mechanism according to an embodiment of the present invention
  • FIG. 2 is a schematic exploded view of the overall structure of the stiffness controllable tool mechanism of FIG. 1, as shown in FIGS. 1 and 2,
  • the stiffness controllable tool mechanism 2-0 includes a coating layer 2-6, in the coating layer 2-6, for accommodating a single-hole surgical instrument, a coating layer 2-6 jacket provided with an elastic continuum structure 2-5, in the elastic continuum structure 2
  • the -5 jacket is provided with an energy exchange device, and the energy exchange device is connected with an external energy control source, and the temperature of the energy exchange device is changed by conduction.
  • the temperature of the energy exchange device can be realized by means of electric heat conduction or water heat conduction.
  • An elastic support frame 2-2 and an insulating and heat insulating film 2-1 are sequentially disposed outside the energy exchange device 2-3.
  • the elastic support frame 2-2 is made of an elastic material, and a hollow structure is formed on the elastic support frame, and the elastic continuous body structure 2-5 is made of an elastic material and is on the side of the elastic continuous body structure.
  • the wall is provided with a plurality of hollow grooves spaced apart from each other. Each of the hollow slots includes two arcuate hollow holes and is symmetrically spaced from each other.
  • the two spaced portions between the two curved hollow holes are also symmetrically arranged, and the spacing portions and phases between the two hollow holes on one turn
  • the liquid metal coatings 2-4 are evenly disposed at 90 degrees apart from each other, and the liquid metal coating 2-4 is uniformly disposed between the elastic continuum structure 2-5 and the energy exchange device and the hollow structure of the elastic support frame 2-2.
  • the elastic support frame 2-2 is used for locking the energy exchange device, and on the one hand, the hollow metal structure is provided with a space for the liquid metal filler, which is convenient to manufacture and has a good locking ability.
  • the liquid gold coating 2-4 can be solidified at room temperature or heat-dissipated by an energy exchange device, and can be liquefied when heated by an energy exchange device, and an alloy of gallium, indium and antimony may be used, or a gallium indium alloy may be used.
  • the elastic continuum structure 2-5 After the interval between the adjacent two turns of the hollow groove is 90 degrees, as shown in Fig. 2, the elastic continuum structure 2-5 is observed from the upper, lower, left and right directions, hollowed out and not hollowed out. With the interphase arrangement, the elastic continuum structure 2-5 can swing in the up and down and left and right directions, and thus it has the degree of freedom of deflection of the two directions of R1 and R2 which are spaced apart by 90 degrees.
  • the elastic continuum structure 2-5 may also be provided with a wire tunnel for passing through the control wire that drives the front end tool and controls the movement of the elastic continuum structure. The manner of setting the control wire can adopt the existing structure, and details are not described herein again.
  • the elastic material used in the elastic support skeleton 2-2 and the elastic continuous body structure 2-5 may be an elastic rubber or other elastic organic polymer.
  • the stiffness controllable tool mechanism in the embodiment of the present invention has a stiffness controllable characteristic mainly realized by the elastic continuum structure 2-5, the liquid metal coating and the energy exchange device, and changes its own temperature through the energy exchange device.
  • the stiffness controllable tool mechanism is in a flexible state, wherein the elastic continuum structure can be bent to the desired shape when the liquid metal coating
  • the stiffness controllable tool mechanism maintains a rigid structure.
  • the energy exchange device can use a hydrothermal energy exchange method and/or an electrothermal energy exchange method to control its own temperature, thereby regulating the shape of the stiffness controllable tool mechanism.
  • the energy exchanger comprises a resistor mesh sleeve, that is, an electrothermal energy exchange method is used to control the temperature of the energy exchange device itself.
  • 3 is a schematic diagram of an electric heat exchange working state of a stiffness controllable tool mechanism according to an embodiment of the present invention, wherein the energy exchanger uses a resistor mesh sleeve, the external energy control source uses a power source 3-4, and the resistor mesh sleeve passes through the positive electrode 3-1 and The negative electrode 3-2 is connected to the power source 3-4.
  • the liquid metal coating 2-4 is liquidated, and the deflection degrees of deflection of the originally locked R1 and R2 are solved, and the rigidity controllable tool
  • the mechanism enters a flexible state, and the elastic continuum structure adjustment of the stiffness controllable tool mechanism
  • the power supply 3-4 stops supplying power to the resistor mesh sleeve, the energy exchanger is naturally cooled, the liquid metal coating 2-4 is solidified, and the current shape of the current elastic continuum structure is re-locked, R1, R2
  • the degree of freedom of deflection in both directions, the stiffness controllable tool mechanism maintains a rigid state.
  • the energy exchanger includes a water heat exchange tube
  • FIG. 4 is a schematic diagram of a water heat exchange working state of the stiffness controllable tool mechanism according to another embodiment of the present invention.
  • the energy exchanger uses a water heat exchange tube
  • the external energy control source uses a heat source 4-3
  • the water inlet of the water heat exchange tube 4-1 passes through the two-way creep
  • the pump 4-4 is connected to the heat source 4-3, and the heat flow is introduced into the water heat exchange tube 4-1 to perform phase change control on the liquid metal coating 2-4 to achieve a controllable function of rigidity
  • the water outlet of 4-1 is connected to the storage tank 4-2.
  • FIG. 5 is a schematic diagram of the working state of the stiffness controllable tool mechanism according to an embodiment of the present invention, which is used for the operation of the single hole surgical robot.
  • the stiffness controllable tool mechanism can adopt the stiffness controllable tool mechanism in the above embodiments. As shown in Fig. 5, the stiffness controllable tool mechanism 2-0 is placed in the outer tube head of the single hole surgical robot, and the endoscope 5-1 and the single hole surgical tool 5-2 are both pierced from the stiffness controllable tool mechanism.
  • the stiffness controllable tool mechanism utilizes the above-described hydrothermal or electrothermal method for stiffness control. When the stiffness controllable tool mechanism is in a flexible state, the stiffness controllable tool mechanism is in a controllable state, and the internal control wire is used to control and adjust the stiffness controllable. Tool mechanism form.
  • the stiffness controllable tool mechanism 2-0 when the stiffness controllable tool mechanism 2-0 is in a flexible state, the single-tube head of the single-hole surgical robot can be deflected by two degrees of freedom, up and down, and can quickly track and locate the lesion point during the operation. Increases the flexibility of the operating space and the overall robot.
  • the stiffness controllable structure when the stiffness controllable structure is in a rigid state, the working state of the single-hole surgical robot, the endoscope 5-1, the single-hole surgical tool 5-2 can pass through the stiffness controllable tool mechanism, and the single-hole surgical tool forms an operation triangle. Surgical operation is achieved; the stiffness controllable structure 2-0 acts as a single-tube head, providing sufficient rigidity and operational support for surgical procedures.

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  • 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)
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  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
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Abstract

一种刚度可控工具机构（2-0），用于单孔手术器械，包括：包覆层（2-6），用于容置单孔手术器械；弹性连续体结构（2-5），套设于包覆层（2-6）外部，由弹性材料制成并且在弹性连续体结构（2-5）侧壁上开有多圈间隔设置的镂空槽；能量交换装置（2-3），套设于弹性连续体结构（2-5）外部，与外部能量控制源相连以通过传导的方式实现能量交换装置（2-3）自身温度的变化；以及液态金属涂层（2-4），设置在弹性连续体结构（2-5）与能量交换装置（2-3）之间。

Description

刚度可控工具机构 技术领域
本发明涉及一种微创手术器械关节机构，特别涉及一种刚度可控工具机构。
背景技术
随着科学技术的发展，现代医学领域已进入了微创外科时代。虽然，早年已有人提出了经人体自然腔道的内窥镜手术(natural orificetrans-luminal endoscopic surgery，NOTES)的无创外科手术，但是由于该技术难度高，且需要在一个狭长的空间进行夹持缝合等手术操作，且操作精度无法满足医生的需求，因而该技术在临床上并未得到广泛的应用。而被称为过渡技术的单孔手术，因其美容效果较一般微创手术技术更好，且技术相对成熟，反而得到了广泛的应用。
单孔手术是指在一个15mm-40mm的小切口上置入多个穿刺器或多孔道穿刺器，再置入手术器械进行手术操作。在现有的单孔手术操作中，由于器械多为硬杆工具且都由一个通道进入，容易产生“筷子效应”而导致器械在体内碰撞，影响手术时间和手术质量。
发明内容
本发明目的在于克服已有技术的不足，提供一种刚度可控工具机构，用于单孔手术器械，既避免了器械因单孔手术空间而导致的碰撞问题并且又保障了器械具有良好的刚性。
根据本发明一方面的实施例，提供一种刚度可控工具机构，用于单孔手术器械，包括：包覆层，用于容置单孔手术器械；弹性连续体结构，套设于所述包覆层外部，由弹性材料制成并且在弹性连续体结构侧壁上开有多圈间隔设置的镂空槽；能量交换装置，套设于所述弹性连续体结构外部，与外部能量控制源相连以通过传导的方式实现能量交换装置自身温度的变化；以及液态金属涂层，设置在所述弹性连续体结构与所述能量交换装置之间。
在本发明的一些实施例中，刚度可控工具机构还包括：弹性支撑骨架，套设于所述能量交换装置外部，由弹性材料制成，其上开设有镂空结构， 所述液态金属涂层还设置在所述镂空结构中。
在本发明的一些实施例中，每一圈镂空槽包括两个间隔且对称设置的弧形镂空孔，两个弧形镂空孔之间的两个间隔部分对称设置，相邻两圈镂空槽的间隔部分相互呈间隔90度设置。
在本发明的一些实施例中，所述弹性连续体结构上设置有丝孔道，所述丝孔道用于穿过驱动前端工具和控制弹性连续体结构运动的控制丝。
在本发明的一些实施例中，刚度可控工具机构还包括绝缘隔热膜，套设于所述弹性支撑骨架外部。
在本发明的一些实施例中，所述能量交换器包括电阻片网套，所述外部能量控制源包括电源，所述电阻片网套通过正电极和负电极与所述电源相连以发热对液态金属涂层进行相变控制。
在本发明的一些实施例中，所述能量交换器包括水热交换管，所述外部能量控制源包括热源，所述水热交换管的进水口通过双路蠕动泵与所述热源相连，将热流引入水热交换管中对液态金属涂层进行相变控制。
在本发明的一些实施例中，所述液态金属根据能量交互装置的温度在液态及固态间切换。
在本发明的一些实施例中，所述弹性支撑骨架和/或弹性连续体结构采用的弹性材料为弹性橡胶或者具有弹性的有机聚合物。
在本发明的一些实施例中，所述液态金属包括镓铟铋铜的合金或者镓铟合金。
本发明与现有技术相比具有以下有益效果：
本发明实施例中的刚度可控工具机构将刚度可控关节引入手术器械中，填补了单孔手术器械在该方面空白。
本发明实施例中刚度可控工具机构可有效的避免工具在手术操作时的碰撞问题。
本发明实施例中的刚度可控工具机构通过液态金属的相变控制刚度，在保持灵活性的同时使其具有了更大的提升力。
附图说明
图1为本发明一实施例刚度可控工具机构整体结构示意图；
图2为图1中刚度可控工具机构整体结构爆炸示意图；
图3为本发明一实施例刚度可控工具机构电热交换工作状态示意图；
图4为本发明另一实施例刚度可控工具机构水热交换工作状态示意图；
图5为本发明一实施例刚度可控工具机构工作状态示意图。
具体实施方式
本发明某些实施例于后方将参照所附附图做更全面性地描述，其中一些但并非全部的实施例将被示出。实际上，本发明的各种实施例可以许多不同形式实现，而不应被解释为限于此数所阐述的实施例；相对地，提供这些实施例使得本发明满足适用的法律要求。
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并结合附图，对本发明进行详细说明。
本发明一实施例提供一种刚度可控工具机构，用于单孔手术器械，包括包覆层、弹性连续体结构、能量交换装置以及液态金属涂层。包覆层，用于容置单孔手术器械；弹性连续体结构，套设于所述包覆层外部，由弹性材料制成并且在弹性连续体结构侧壁上开有多圈间隔设置的镂空槽；能量交换装置，套设于所述弹性连续体结构外部，与外部能量控制源相连以通过传导的方式实现能量交换装置自身温度的变化；液态金属涂层，设置在所述弹性连续体结构与所述能量交换装置之间。
图1为本发明一实施例刚度可控工具机构整体结构示意图，图2为图1中刚度可控工具机构整体结构爆炸示意图，如图1，2所示，刚度可控工具机构2-0包括包覆层2-6，在所述的包覆层2-6，用于容置单孔手术器械，包覆层2-6外套设有弹性连续体结构2-5，在弹性连续体结构2-5外套设有套有能量交换装置，能量交换装置与外部能量控制源相连，通过传导的方式实现能量交换装置自身温度的变化，例如可以通过电热传导或者水热传导的方式实现能量交换装置自身温度的变化。在所述的能量交换装置2-3外部依次套设有弹性支撑骨架2-2和绝缘隔热膜2-1。所述的弹性支撑骨架2-2由弹性材料制成，在所述的弹性支撑骨架上开有镂空结构，所述的弹性连续体结构2-5由弹性材料制成并且在弹性连续体结构侧壁上开有多圈彼此前后间隔设置的镂空槽。每一圈镂空槽包括两个弧形镂空孔并且彼此对称间隔设置，两个弧形镂空孔之间的两个间隔部分亦对称设置，一圈上的两个镂空孔之间的间隔部分与相邻圈的两个镂空孔之间的间隔部分 相互呈间隔90度设置，液态金属涂层2-4均匀的设置在弹性连续体结构2-5和能量交换装置之间及弹性支撑骨架2-2的镂空结构中。弹性支撑骨架2-2一方面用于锁紧能量交换装置，一方面利用其上设有镂空结构给液态金属填充物留出空间，该结构制造方便，具有较好的锁紧能力。液态金涂层2-4在室温下能够自然固化或者通过能量交换装置进行散热实现固化，通过能量交换装置加热时能够液化，可以采用镓铟铋铜的合金，也可以采用镓铟合金。
对于弹性连续体结构2-5，相邻两圈镂空槽的间隔部分采用90度相间设置后，如图2所示，从上下左右四个方向观察弹性连续体结构2-5，镂空和不镂空相间设置，所以弹性连续体结构2-5能在上下和左右方向上摆动，因而其具有R1和R2两个间隔90度的镂空方向的偏转自由度。所述的弹性连续体结构2-5上还可以设置有丝孔道，丝孔道用于穿过驱动前端工具和控制弹性连续体结构的运动的控制丝。所述的控制丝的设置方式可以采用已有的结构，在此不再赘述。
在一实施例中，弹性支撑骨架2-2和弹性连续体结构2-5采用的弹性材料可以为弹性橡胶或者其它具有弹性的有机聚合物。
如上所述，本发明实施例中的刚度可控工具机构，其刚度可控的特性主要由弹性连续体结构2-5、液态金属涂层以及能量交换装置实现，通过能量交换装置改变其自身温度来控制液态金属涂层在固态和液态之间切换，当液态金属涂层为液态时，刚度可控工具机构为柔性状态，其中的弹性连续体结构可弯曲至需要的形态，当液态金属涂层为固态时，刚度可控工具机构保持刚度结构。能量交换装置可以采用水热能量交换法和/或电热能量交换法来控制其自身温度，进而调控刚度可控工具机构的形态。
本发明一实施例中所述的能量交换器包括电阻片网套，即采用电热能量交换法来控制能量交换装置自身温度。图3为本发明一实施例刚度可控工具机构电热交换工作状态示意图，能量交换器采用电阻片网套，外部能量控制源采用电源3-4，电阻片网套通过其正电极3-1和负电极3-2与电源3-4相连。电阻片网套发热被液态金属涂层2-4充分吸收后，液态金属涂层2-4液相化，解开原先锁死的R1，R2两个方向上的偏转自由度，刚度可控工具机构进入柔性状态，当刚度可控工具机构的弹性连续体结构调整 至需要的形态后，电源3-4停止向电阻片网套供电，能量交换器自然冷却，液态金属涂层2-4固相化，重新锁死当前弹性连续体结构当前形态时的R1，R2两个方向上的偏转自由度，刚度可控工具机构保持刚性状态。
本发明另一实施例中，所述的能量交换器包括水热交换管，图4为本发明另一实施例刚度可控工具机构水热交换工作状态示意图，。将图3中电阻片网套结构替换为水热交换管结构，能量交换器采用水热交换管，外部能量控制源采用热源4-3，水热交换管4-1的进水口通过双路蠕动泵4-4与热源4-3相连，将热流引入水热交换管4-1中，对液态金属涂层2-4进行相变控制以实现刚度可控的功能，所述的水热交换管4-1的出水口与储存罐4-2相连。
图5为本发明一实施例刚度可控工具机构工作状态示意图，用于单孔手术机器人整机中的使用操作，刚度可控工具机构可以采用上述该些实施例中的刚度可控工具机构，如图5所示，刚度可控工具机构2-0布局在单孔手术机器人外管头部，内窥镜5-1和单孔手术工具5-2均从刚度可控工具机构中穿出。刚度可控工具机构利用上述的水热或电热法进行刚度控制，在刚度可控工具机构为柔性状态时，刚度可控工具机构为可控状态，依靠内部穿行的控制丝进行操控调整刚度可控工具机构形态。
通过对刚度可控工具机构的控制，改变其刚柔状态，可以极大的提高单孔手术机器人性能。在一实施例中，刚度可控工具机构2-0为柔性状态时，单孔手术机器人单管头部可以进行上下左右两个自由度的偏转，可以在手术中快速实现病灶点的追踪及定位，提高了操作空间及机器人整体的灵活性。在刚度可控结构为刚性状态时，为单孔手术机器人的工作态，内窥镜5-1、单孔手术工具5-2可以穿过刚度可控工具机构，单孔手术工具形成操作三角，实现手术操作；刚度可控结构2-0作为单管头部，为手术操作提供了足够的刚性及操作支撑。
应注意，附图中各部件的形状和尺寸不反映真实大小和比例，而仅示意本发明实施例的内容。
实施例中提到的方向用语，例如“上”、“下”、“前”、“后”、“左”、“右”等，仅是参考附图的方向，并非用来限制本发明的保护范围。并且上述实施例可基于设计及可靠度的考虑，彼此混合搭配使用或与其他实施例混合 搭配使用，即不同实施例中的技术特征可以自由组合形成更多的实施例。
以上示意性的对本发明及其实施方式进行了描述，该描述没有限制性，附图中所示的只是本发明的实施方式之一，实际的结构也并不局限于此。如果本领域的技术人员受其启示，在不脱离本发明创造宗旨的情况下，采用其它形式的传动、驱动装置以及连接方式不经创造性的设计与该技术方案相似的结构方式及实施例，均应属于本发明的保护范围。

Claims (10)

  1. 一种刚度可控工具机构，用于单孔手术器械，包括：
    包覆层，用于容置单孔手术器械；
    弹性连续体结构，套设于所述包覆层外部，由弹性材料制成并且在弹性连续体结构侧壁上开有多圈间隔设置的镂空槽；
    能量交换装置，套设于所述弹性连续体结构外部，与外部能量控制源相连以通过传导的方式实现能量交换装置自身温度的变化；以及
    液态金属涂层，设置在所述弹性连续体结构与所述能量交换装置之间。
  2. 根据权利要求1所述的刚度可控工具机构，其中，还包括：
    弹性支撑骨架，套设于所述能量交换装置外部，由弹性材料制成，其上开设有镂空结构，所述液态金属涂层还设置在所述镂空结构中。
  3. 根据权利要求1或2所述的刚度可控工具机构，其中，每一圈镂空槽包括两个间隔且对称设置的弧形镂空孔，两个弧形镂空孔之间的两个间隔部分对称设置，相邻两圈镂空槽的间隔部分相互呈间隔90度设置。
  4. 根据权利要求1-3中任一所述的刚度可控工具机构，其中，所述弹性连续体结构上设置有丝孔道，所述丝孔道用于穿过驱动前端工具和控制弹性连续体结构运动的控制丝。
  5. 根据权利要求2-4中任一所述的刚度可控工具机构，其中，还包括：
    绝缘隔热膜，套设于所述弹性支撑骨架外部。
  6. 根据权利要求1-5中任一所述的刚度可控工具机构，其中，所述能量交换器包括电阻片网套，所述外部能量控制源包括电源，所述电阻片网套通过正电极和负电极与所述电源相连以发热对液态金属涂层进行相变控制。
  7. 根据权利要求1-5中任一所述的刚度可控工具机构，其中，所述能量交换器包括水热交换管，所述外部能量控制源包括热源，所述水热交换管的进水口通过双路蠕动泵与所述热源相连，将热流引入水热交换管中对液态金属涂层进行相变控制。
  8. 根据权利要求1-7中任一所述的刚度可控工具机构，其中，所述液态金属根据能量交互装置的温度在液态及固态间切换。
  9. 根据权利要求1-7中任一所述的刚度可控工具机构，其中，所述弹性支撑骨架和/或弹性连续体结构采用的弹性材料为弹性橡胶或者具有弹性的有机聚合物。
  10. 根据权利要求1-7中任一所述的刚度可控工具机构，其中，所述液态金属包括镓铟铋铜的合金或者镓铟合金。
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