WO2018041160A1 - 一种柔性手术工具系统 - Google Patents

一种柔性手术工具系统 Download PDF

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Publication number
WO2018041160A1
WO2018041160A1 PCT/CN2017/099756 CN2017099756W WO2018041160A1 WO 2018041160 A1 WO2018041160 A1 WO 2018041160A1 CN 2017099756 W CN2017099756 W CN 2017099756W WO 2018041160 A1 WO2018041160 A1 WO 2018041160A1
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WO
WIPO (PCT)
Prior art keywords
fastened
proximal
motor
surgical tool
fixing plate
Prior art date
Application number
PCT/CN2017/099756
Other languages
English (en)
French (fr)
Inventor
徐凯
戴正晨
张慧超
张树桉
赵江然
阳志雄
魏巍
Original Assignee
北京术锐技术有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 北京术锐技术有限公司 filed Critical 北京术锐技术有限公司
Priority to EP17845462.5A priority Critical patent/EP3508161B1/en
Priority to US16/329,733 priority patent/US11241288B2/en
Publication of WO2018041160A1 publication Critical patent/WO2018041160A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • 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
    • 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
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present invention relates to a flexible surgical tool system that can be accessed through a single surgical incision and belongs to the field of medical devices.
  • Porous laparoscopic minimally invasive surgery has occupied an important position in surgery because of its small wound and rapid recovery.
  • Existing Intuitive Surgical's da Vinci surgical robot assisted doctors completed the porous laparoscopic minimally invasive surgery and achieved great commercial success.
  • Minimally invasive surgery has developed single-port laparoscopic surgery and non-invasive surgery through natural lumens after porous laparoscopic surgery, which have less trauma to the patient and higher postoperative outcomes.
  • all surgical instruments including the visual illumination module and the surgical operating arm, are accessed through a single channel, which is extremely demanding for the preparation of surgical instruments.
  • the distal structure of the existing surgical instrument is mainly a series hinge of a plurality of rods, which is driven by a wire rope pulling force, so that the surgical instrument can be bent at the hinge joint. Since the wire rope has to be continuously tensioned by the pulley, this driving method is difficult to further miniaturize the surgical instrument, and it is difficult to further improve the exercise performance of the instrument.
  • Intuitive Surgical recently introduced the da Vinci Single-Site surgical robot, it transformed the original rigid surgical instrument into a semi-rigid surgical instrument and added a pre-bent sleeve to improve the performance of the surgical instrument to some extent, but It is still impossible to fundamentally solve the problems faced by traditional surgical instruments.
  • Robot system a flexible surgical tool system that can be subjected to a single surgical incision, which can be preferably applied to a surgery that is performed through a natural lumen of a human body or through a single surgical incision and undergoes surgery.
  • a flexible surgical tool system including a flexible surgical tool; the flexible surgical tool comprising a flexible continuum composed of a distal structural body, a proximal structural body and a central connecting body
  • the distal structure comprises at least one distal section, the distal section comprising a distal spacer disk, a distal fixation disk and a structural bone;
  • the proximal structure comprising a proximal end, the The proximal end segment includes a proximal spacer disk, a proximal fixation disk, and a structural bone;
  • the middle connector includes a channel fixation plate and a structural bone guiding channel disposed between the channel fixation plate;
  • the structural bone is fastened or connected to the structural bone in the proximal joint one-to-one, or is the same structural bone, and one end of the structural bone is fastened to the proximal fixing plate, and sequentially passes through the near An end spacer disk, the structural bone guiding channel, the distal space
  • the number of proximal segments is equal to the number of distal segments.
  • the cable transmission mechanism may include a coupling male body, a first bevel gear, a second bevel gear, a fixed block, a first pulley, a second pulley, a pulley block, a guide rod, the driving cable, and The guide slider;
  • the coupling male shaft is rotatably disposed on the driving unit fixing plate and the front end is coaxially fastened to the first bevel gear, the first bevel gear and the second cone a gear meshing
  • the second bevel gear is rotatably supported on the fixing block fastened to the driving unit fixing plate by a gear shaft
  • the first pulley is coaxially fastened with the second bevel gear;
  • the second pulley is rotatably supported on the pulley seat fastened to the channel fixing plate; one end of the driving cable is fastened to the first pulley, and the other end is bypassed by the second pulley Fastened to the first pulley; fastened to the driving cable, the guiding slider, the guiding slider is slid
  • the linear motion mechanism may include a push-pull rod, a second guide rod, and a proximal-section drive block, wherein the second guide rod is fastened between the two channel fixing plates,
  • the proximal end section driving block is slidably coupled to the second guide rod, the front end of the push rod is fastened to the proximal end section driving block, and the rear end of the push rod is passed through the passage
  • the plate is fixed and fastened to the guide slider.
  • the flexible surgical tool system can further include a drive unit, the drive unit including a motor portion and a motion transmission portion; the motor portion includes a motor fixing plate and a plurality of first motors fastened to the motor fixing plate; the motion transmission portion includes a plurality of the first motor
  • the rotary output is converted into a proximally configured bending drive chain of the two output shafts that rotate in opposite directions with each other; and the front ends of the two output shafts are directly or indirectly connected to the rear ends of the pair of coupling males, respectively The rotational motion is transmitted to the coupling male.
  • the proximal section bending drive chain may include an input gear, an output gear, an idler gear and two of the output shafts, and the input gear is fastened on one of the output shafts.
  • the output gear is sleeved on the other output shaft, and the input gear and the output gear are connected by an even number of the idler gears; the output gear is located behind the output shaft The end is fastened to the output shaft of the first motor via a coupling.
  • a sterile barrier may be disposed between the motion transmission portion and the drive unit fixing plate, and the sterile barrier includes a sterile barrier support plate and is fastened to the sterile barrier support plate.
  • a front cover may be disposed at a front end of the motion transmission portion, and a front end of each of the output shafts passes through the cover plate and is rotatably connected to the cover plate, and the cover plate is disposed on the cover plate a first connecting pin holder; a second connecting pin seat for quick connection with the first connecting pin holder is disposed on the sterile barrier support plate.
  • a surgical actuator may be disposed at a front end of the distal structure, and a surgical actuator wire connected to the surgical actuator at one end passes through the distal structure, and the other end is operated Actuator actuator linkage;
  • the surgical actuator drive mechanism includes a third coupling male shaft rotatably disposed on the drive unit fixing plate, and a front end of the third coupling male shaft is fastened to the screw a nut is coupled to the screw;
  • a sleeve is fastened to the front side of the fixing plate of the driving unit, and a sleeve end cover is fastened to the front end of the sleeve, and the sleeve end cover is provided with An inner hole;
  • the nut is slidably disposed in an inner hole of the sleeve end cover, the inner hole restricting a degree of freedom of rotation of the nut;
  • the nut is tightly connected to a rear end of the second push-pull rod, a front end of the second push-pull rod is fast
  • the flexible surgical tool system can further include a flexible surgical tool housing and a motor housing; the proximal structural body and the intermediate connector are both located within the flexible surgical tool housing; the channel mounting plate and The driving unit fixing plate is tightly connected to the flexible surgical tool casing; the motor portion and the motion transmission portion are both located in the motor portion casing; and a cover plate is disposed at a front end of the motion transmission portion, The cover plate is fastened to the flexible surgical tool casing through a sterile barrier; the cover plate and the motor fixing plate are rotatably connected to the motor portion casing; and the inner wall of the motor portion casing is fastened and connected An inner ring gear, a third motor is fastened to the motor fixing plate, and an output shaft of the third motor is tightly connected to a rear end of the fourth output shaft through a coupling, the fourth output shaft An input gear is fastened to the front end, and the input gear meshes with the ring gear.
  • the flexible surgical tool system can further include a flexible surgical tool housing, a motor housing, and a linear module; the proximal structure and the intermediate connector are both located within the flexible surgical tool housing; The channel fixing plate and the driving unit fixing plate are both tightly connected to the flexible surgical tool casing; the motor portion and the motion transmission portion are both located in the motor portion casing; and a cover is disposed at a front end of the motion transmission portion a cover plate fastened to the flexible surgical tool housing by a sterile barrier; the linear module comprising a bracket, a fourth motor fastened to the bracket, and an output of the fourth motor a linear feed mechanism for fastening a shaft, an output end of the linear feed mechanism is fastened to an outer casing of the motor portion, and the fourth motor drives the motor portion and the motor through the linear feed mechanism
  • the motion transmission portion drives the flexible continuum structure and the portion of the drive unit that is located before the sterile barrier to move linearly through the sterile barrier.
  • the linear feed mechanism may include a lead screw rotatably coupled to the bracket, and a screw that is threadedly engaged with the lead screw is sleeved on the lead screw, and the bracket is disposed on the bracket A linear chute is provided, the slider is slidably disposed in the linear chute; and an output shaft of the fourth motor is fastened to the lead screw through a coupling.
  • the present invention has the following advantages due to the above technical solution: 1.
  • the present invention adopts a flexible continuum structure including a proximal structure body, a middle connection body and a distal structure body as a main body, and cooperates with a driving unit, wherein the distal end
  • the structural body is associated with the proximal structural body through the central connecting body, and the driving unit is associated with the proximal structural body.
  • the driving unit drives the proximal structural body to bend in any direction, the distal structural body is correspondingly bent in the opposite direction. Therefore, it is possible to implement a flexible surgical arm composed of a distal structure and a cover. Intentional bending movement. 2.
  • the distal structure, the middle connector and the proximal structure of the present invention adopt redundant structural bone arrangement (the number of structural bones is greater than three), which can improve the stability and load capacity of the system.
  • the present invention provides a plurality of cable transmission mechanisms between the driving unit fixing plate and the channel fixing plate, and converts the rotation input of the coupling male shaft into a linear motion output of the driving cable, and the driving cable is pushed through the guiding slider fastening connection.
  • the transmission mechanism can achieve the bending of the proximal end section in any direction. 4.
  • the surgical actuator of the surgical actuator of the present invention passes through the distal structure and is coupled to the surgical actuator drive mechanism, and further, a motor for driving the surgical actuator drive mechanism is provided in the motor portion, and thus the present invention can be realized. Action control of the surgical actuator. 5.
  • the present invention is further provided with a motor housing, and the motor fixing plate and the motor housing are connected in a rotatable manner.
  • the inner ring of the motor housing is fastened with an internal ring gear, and the motor is provided with a motor.
  • the motor output shaft is connected to the output shaft through a coupling, and one end of the output shaft is fastened with an input gear, and the input gear meshes with the inner ring gear. Therefore, the motor can drive the system except the motor unit.
  • the outer portion of the outer casing and the outer ring gear rotate integrally, so that the flexible surgical arm has an overall rotational freedom. 6.
  • the present invention is connected by a sterile barrier between the flexible surgical tool housing and the motor portion and the motion transmission portion, effectively sterilizing the flexible surgical tool and the like before the sterile barrier and other unsterilized sterilized The part after the barrier is isolated, thus ensuring the feasibility of clinical surgery.
  • the present invention is further provided with a linear module that is coupled to the outer casing portion of the motor portion and that can drive the flexible surgical tool, the drive unit, and the sterile barrier for linear motion, and thus the flexible surgical arm also has linear feed freedom.
  • the invention can be applied to single-hole laparoscopic surgery, and can also be applied to non-invasive surgery through natural channels.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • FIG. 2 is a schematic structural view of a distal structure of the present invention.
  • FIG. 3 is a schematic structural view of a proximal structure of the present invention.
  • FIG. 4 is a schematic structural view of a middle joint body of the present invention.
  • Figure 5 is a longitudinal sectional view of the flexible surgical tool of the present invention after omitting the distal structure
  • Figure 6 is a schematic structural view of a driving unit of the present invention.
  • Figure 7 is a schematic structural view of a proximal end section bending transmission chain of the present invention.
  • Figure 8 is a flexible surgical tool housing, motor housing, sterile barrier and linear module of the present invention Rear structural diagram;
  • Figure 9 is a schematic view showing the structure of the sterile barrier of the present invention connected to the cover;
  • Figure 10 is a schematic view showing the structure of the sterile barrier of the present invention from another perspective
  • Figure 11 is a schematic structural view of the overall rotary drive mechanism of the present invention.
  • Figure 12 is a schematic view showing the structure of the distal structure of the present invention using a flexible sheath.
  • the present invention includes a flexible surgical tool 10 and a drive unit 20.
  • the flexible surgical tool 10 includes a flexible continuum structure comprised of a distal structural body 11, a proximal structural body 16, and a central connecting body 15.
  • the distal structure 11 includes a first distal section 12 and a second distal section 13, the first distal section 12 including a first distal spacer 121, a first distal fixed disk 122, and a first configuration section
  • the second distal stent 13 includes a second distal spacer disk 131, a second distal fixation disk 132, and a second structural bone 133.
  • the first distal spacer 121 and the second distal spacer 131 are respectively distributed in the first distal section 12 and the second distal section 13 to prevent the first structural bone 123 and the first
  • the two-section structure bone 133 is unstable when pushed.
  • the proximal structure 16 includes a first proximal end 17 and a second proximal end 18, as shown in FIG. 3, the first proximal end 17 includes a first proximal spacer 171, a first proximal fixed disc 172 and first articulated bone 173; second proximal stent 18 includes a second proximal spacer disk 181, a second proximal fixation disk 182, and a second structural bone 183.
  • first proximal spacer disk 171 and the second proximal spacer disk 181 are respectively spaced apart in the first proximal end node 17 and the second proximal end structure 18, so as to prevent the first structural structure bone 173 and the first The two-section structure bone 183 is unstable when pushed.
  • the first segmental structure bone 173 in the first proximal segment 17 is in a one-to-one correspondence with the first segmental structure bone 123 in the first distal segment 12 or is the same structural bone;
  • the second segmental structure bone 183 in the segment 18 is in a one-to-one correspondence with the second segmental structure bone 133 in the second distal segment 13 or is the same structural bone.
  • the number of structural bones is more than three.
  • the middle connector 15 includes a channel fixing plate 152 and a structural bone guiding channel 151 that is fastened between the channel fixing plates 152.
  • One end of the first structural structure bone 173 (123) is fastened to the first proximal fixation plate 172, and the other end sequentially passes through the first proximal spacer disk 171, the structural bone guiding channel 151, and the first distal spacer disk 121. It is then fastened to the first distal fixed disk 122.
  • Second section structure bone 183 (133) One end is fastened to the second proximal fixation plate 182, and the other end is sequentially passed through the second proximal spacer disk 181, the structural bone guiding channel 151, the first distal segment 12, and the second distal spacer 131.
  • the second distal fixed disk 132 is securely coupled.
  • the function of the structural bone guiding passage 151 is to maintain the shape of the first structural structural bone 173 (123) and the second structural structural bone 183 (133) under the push and tension.
  • the number of distal segments included in the distal structure 11 and the number of proximal segments included in the proximal structure 16 may also be one or more than two, but the number of proximal segments is always combined with the distal segment. The number is consistent.
  • the distal sections are connected in series, that is, the second section structure bone is worn from the first distal fixed disk and the first distal spacer If the first structural bone is tubular, it can also pass through the first structural bone.
  • a series connection, an independent setting, a nesting setting, or the like may be adopted between the respective sections. In this embodiment, a nested arrangement is used between the two proximal sections (as shown in FIG. 3).
  • a driving unit fixing plate 21 is disposed behind the channel fixing plate 152, and a plurality of cable transmission mechanisms 22 are disposed between the driving unit fixing plate 21 and the channel fixing plate 152, and the cable transmission mechanism 22 includes a coupling shaft.
  • the coupling male shaft 221 is rotatably disposed on the driving unit fixing plate 21, and the front end is coaxially fastened with the bevel gear 222, the bevel gear 222 is meshed with the bevel gear 223, and the bevel gear 223 is rotatably supported and driven by the gear shaft 235.
  • the unit fixing plate 21 is fastened to the fixed block 224; the pulley 225 is coaxially fastened to the bevel gear 223; the pulley 226 is rotatably supported on the pulley block 231 which is fastened to the channel fixing plate 152; one end of the driving cable 227 is The pulley 225 is fastened and the other end is wound around the pulley 226 and is fastened to the pulley 225.
  • the guide rail 230 is fastened to the drive cable 227, and the guide slider 230 is slidably disposed on the guide rod 232.
  • the guide rod 232 is fastened between the drive unit fixing plate 21 and the passage fixing plate 152.
  • the guide slider 230 is tightly coupled to the rear end of the push-pull rod 229.
  • the front end of the push-pull rod 229 passes through the passage fixing plate 152 and is connected to one end of the driving bone 211 through the proximal end section driving block 233, and the other end of the driving bone 211 passes through.
  • the first proximal spacer disk 171 is then tightly coupled to the first proximal fixation disk 172 or to the second proximal fixation disk 182 after passing through the second proximal spacer disk 181.
  • a guide rod 234 is fastened between the two passage fixing plates 152, and the proximal end section driving block 233 is slidably coupled to the guide rod 234.
  • the guide bar 234 and the guide bar 232 are the same guide bar.
  • the coupling male shaft 221 When the drive coupling male shaft 221 is rotated, the coupling male shaft 221 transmits the rotational motion to the pulley 225 through the bevel gears 222, 223, and the pulley 225 pulls the drive cable 227 so that the guide slider 230 moves linearly along the guide rod 232.
  • the proximal end section drives the slider 233 along the guide rod 234 by the push-pull rod 229 A linear motion is performed to push and pull the drive bone 211 to drive the first proximal end section 17 or the second proximal end section 18 to bend.
  • Collaboratively driving the plurality of sets of cable drive mechanisms 22 can achieve coordinated push and pull of the plurality of drive bones 211 (eight in this embodiment), thereby driving the proximal end sections 17, 18 in any direction. Bend.
  • the drive unit 20 includes a motor portion 41 and a motion transmission portion.
  • the motor portion 41 includes a motor fixing plate 402 and a plurality of first motors 411 that are fastened to the motor fixing plate 402.
  • the motion transmission portion includes a plurality of proximally configured bending drive chains 42, each of which is coupled to an output shaft of a first motor 411 via a coupling 412 for use in a first motor
  • the rotational output of 411 is decomposed into mutually opposite rotational motions of the two output shafts 405 for transmission to a pair of coupling males 221 to effect coordinated push-pull of the proximal end sections.
  • the proximal section bending drive chain 42 includes an input gear 421, an output gear 422, two (may be other even) idler pulleys 423, and two output shafts 405, and the input gears 421 are tightly sleeved on one of the output shafts. 405, the rear end of the output shaft 405 is connected to the output shaft of the first motor 411 through the coupling 412; the output gear 422 is tightly sleeved on the other output shaft 405, and the input gear 421 and the output gear 422 pass through two One (even) idler pulley 423 is connected.
  • each output shaft 405 is directly or indirectly connected to a coupling male shaft 221, whereby the two cable transmission mechanisms 22 can be moved by the rotation output of the first motor 411, thereby achieving the first proximal end.
  • a sterile barrier 30 is disposed between the motion transmission portion and the drive unit fixing plate 21, and the sterile barrier 30 includes a sterile barrier support plate 302, and is fastened in a sterile manner.
  • a coupling male 403 (shown in Fig. 6) for connecting to the rear end of the coupling female 303 is fastened to the front end of each of the output shafts 405.
  • a sterile membrane (not shown) is fastened to the sterile barrier outer cover 301, which can sterilize the flexible surgical tool 10 and the like before the sterile barrier 30, the motion transmission portion, the motor portion 41, and the like.
  • the unsterile portions located behind the sterile barrier 30 are isolated to ensure the feasibility of clinical procedures.
  • a cover plate 404 is disposed at the front end of the motion transmission portion, and the front end of each output shaft 405 passes through the cover plate 404 and is rotatably connected to the cover plate 404, and is disposed on the cover plate 404.
  • the sterile barrier 30 is fixedly connected to the motion transmission portion And can convey the overall movement.
  • a surgical actuator 101 is provided at the front end of the distal end structure 11, and a surgical actuator control line 102 connected to the surgical actuator 101 at one end is configured from the distal end.
  • the body 11 is passed through and the other end is connected to the surgical actuator drive mechanism 25.
  • the surgical actuator drive mechanism 25 includes a coupling male 213 that is rotatably disposed on the drive unit fixing plate 21.
  • the front end of the coupling male 213 is fastened to the screw 252, and a nut 253 is coupled to the screw 252.
  • a sleeve 254 is also fastened to the front side of the driving unit fixing plate 21.
  • the front end of the sleeve 254 is fastened to the sleeve end cover 255, and the sleeve end cover 255 is provided with an inner hole.
  • the nut 253 is slidably disposed in the inner hole of the sleeve end cover 255, and the inner hole is preferably a square hole so that the nut 253 can freely slide only in the inner hole and cannot rotate.
  • the nut 253 is fastened to the rear end of the push-pull rod 256, and the front end of the push-pull rod 256 is fastened to the rear end of the surgical actuator control line 102.
  • a second motor is fastened to the motor fixing plate 402.
  • the output shaft of the second motor is fastened to the rear end of the output shaft 414 through the coupling 412, and the front end fastening sleeve of the output shaft 414 is provided with an input gear 441.
  • the input gear 441 is meshed with the output gear 442, the output gear 442 is fastened to the output shaft 415, and the front end of the output shaft 415 is directly or indirectly connected to the coupling male 213 to transmit the rotational output of the second motor to the screw 252.
  • the linear motion of the nut 253 is converted, and the surgical actuator control line 102 is pushed or pulled by the push-pull rod 256 to control the surgical actuator 101 (such as a surgical forceps) to perform an action.
  • the surgical actuator control line 102 can also deliver various forms of energy, such as electrical energy, high frequency vibrations, etc., to achieve specific surgical functions (eg, electrocoagulation, electrical cutting) of the surgical actuator 101.
  • the front end of the output shaft 415 is fastened to the coupling male 416 (shown in FIG. 6), and the coupling male 416 and the coupling male 213 pass through the coupling on the sterile barrier 30.
  • the female head 305 (shown in Figures 9 and 10) is connected.
  • the present invention further includes a flexible surgical tool housing 105 and a motor portion housing 401.
  • Both the proximal structural body 16 and the central connecting body 15 are located within the flexible surgical tool housing 105; both the channel securing plate 152 and the drive unit mounting plate 21 are securely coupled to the flexible surgical tool housing 105.
  • the motor portion 41 and the motion transmission portion are both located in the motor portion housing 401; the cover plate 404 at the front end of the motion transmission portion is fastened to the flexible surgical tool housing 105 through the sterile barrier 30, so that the flexible surgical tool 10 can be coupled with the motion transmission portion and the motor.
  • the portion 41 is rotated as a whole.
  • the cover plate 404 and the motor fixing plate 402 are all rotatably connected to the motor portion housing 401.
  • An inner ring gear 432 is fastened to the inner wall of the motor unit casing 401, and a third motor is fastened to the motor fixing plate 402.
  • the output shaft of the third motor is connected to the rear end of the output shaft 417 through the coupling 412.
  • the front end of the output shaft 417 is fastened to the input gear 433, and the input gear 433 is meshed with the ring gear 432.
  • the output shaft of the third motor rotates, it drives the input gear 433 to rotate.
  • the input gear 433 will travel in the circumferential direction of the ring gear 432, thereby driving the entire portion of the present invention except the motor portion casing 401 and the ring gear 432 to rotate, thereby achieving roll angle control of the surgical actuator 101.
  • the present invention further includes a linear module 50 (the linear module 50 is also separated from the sterilized portion by a sterile membrane), which includes a bracket 501 with a chute in the bracket 501.
  • a screw 503 is disposed on the lead screw 503, and a slider 502 is disposed on the lead screw 503 to be screwed into the sliding slot.
  • the motor 504 is disposed at one end of the bracket 501, and the output shaft of the motor 504 is The lead screw 503 is fastened by a coupling.
  • the motor housing 401 is fixedly coupled to the slider 502. When the output shaft of the motor 504 is rotated, the slider 502 will drive the driving unit 20, the sterile barrier 30 and the flexible surgical tool 10 to linearly move along the chute, thereby realizing the distal structure.
  • a cover 103 is provided on the outside of the distal structure 11, which serves to improve the smoothness of the distal structure 11 into the natural cavity or surgical incision of the human body.
  • a rigid outer sleeve 104 and a sheath 60 may also be provided on the exterior of the cover 103.
  • the sheath 60 is secured to a single incision in the abdominal cavity, and the distal structure 11 together with the cover 103 and the surgical actuator 101 are free to pass through the sheath 60 for passage through the surgical tool to the surgical site for application. Single hole laparoscopic surgery. As shown in FIG.
  • the sheath 60 can also be a flexible sheath that can more easily extend into various natural passages of the human body and adaptively change shape along with the shape of the lumen.
  • One end of the flexible sheath is fixed to At the entrance of the tunnel, the distal structure 11 together with the cover 103 and the surgical actuator 101 can also freely pass through the flexible sheath through the through hole through which the surgical tool passes to reach the surgical site to perform non-invasive surgery through the natural lumen.

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Abstract

一种柔性手术工具系统，包括柔性手术工具（10），柔性手术工具（10）包括由远端结构体（11）、近端结构体（16）和中部连接体（15）构成的柔性连续体结构；远端结构体（11）包括远端构节（12，13），远端构节（12，13）包括远端间隔盘（121，131）、远端固定盘（122，132）和结构骨（123，133）；近端结构体（16）包括近端构节（17，18），近端构节（17，18）包括近端间隔盘（171，181）、近端固定盘（172，182）和结构骨（173，183）；中部连接体（15）包括通道固定板（152）和结构骨引导通道（151）；在通道固定板（152）的后方设置有驱动单元固定板（21），在驱动单元固定板（21）与通道固定板（152）之间设置有多个用于将旋转运动输入转换为直线运动输出的缆绳传动机构（22），缆绳传动机构（22）的输出端通过直线运动机构与驱动骨（211）的一端连接，驱动骨（211）的另一端穿过近端间隔盘（171，181）后与近端固定盘（172，182）紧固连接。

Description

一种柔性手术工具系统
相关申请的交叉引用
本专利申请要求于2016年8月31日提交的、申请号为201610796098.5、发明名称为“一种可经单一手术切口的柔性手术工具系统”的中国专利申请的优先权，上述申请的全文以引用的方式并入本文中。
技术领域
本发明涉及一种可经单一手术切口的柔性手术工具系统，属于医疗器械领域。
背景技术
多孔腹腔镜微创手术因其创口小、术后恢复快，已经在外科手术中占据了重要的地位。现有Intuitive Surgical公司的da Vinci手术机器人辅助医生完成多孔腹腔镜微创手术，取得了商业上的巨大成功。
微创术式在多孔腹腔镜手术之后又发展出单孔腹腔镜手术和经自然腔道的无创手术，它们对病人创伤更小、术后产出更高。但在单孔腹腔镜手术和经自然腔道的无创手术中，包括视觉照明模块和手术操作臂在内的所有手术器械均通过单一通道达到术部，这对手术器械的制备要求极为苛刻。现有手术器械的远端结构主要为多杆件的串联铰接，采用钢丝绳拉力驱动，使手术器械在铰接关节处实现弯转。由于钢丝绳须通过滑轮保持持续的张紧状态，这一驱动方式难以实现手术器械的进一步小型化，亦难以进一步提升器械的运动性能。
虽然Intuitive Surgical公司近期推出了da Vinci Single-Site手术机器人，其将原有的刚性手术器械改造为半刚性手术器械，并增加了预弯曲套管，一定程度上提升了手术器械的运动性能，但仍无法从根本上解决传统手术器械所面临的问题。
发明内容
针对上述问题，本发明的一个目的是提供一种可经单一手术切口的柔性手术工具系统，该柔性手术工具系统能够较好地应用于经人体自然腔道或经单一手术切口并且实施手术的手术机器人系统。
为实现上述目的，本发明采用以下技术方案：一种柔性手术工具系统，其包括柔性手术工具；所述柔性手术工具包括由远端结构体、近端结构体和中部连接体构成的柔性连续体结构；所述远端结构体包括至少一个远端构节，所述远端构节包括远端间隔盘、远端固定盘和结构骨；所述近端结构体包括近端构节，所述近端构节包括近端间隔盘、近端固定盘和结构骨；所述中部连接体包括通道固定板和设置在所述通道固定板之间的结构骨引导通道；所述远端构节上的结构骨与所述近端构节上的结构骨一一对应紧固连接或为同一根结构骨，所述结构骨的一端与所述近端固定盘紧固连接，依次穿过所述近端间隔盘、所述结构骨引导通道、所述远端间隔盘，另一端与所述远端固定盘紧固连接；以及在所述通道固定板的后方设置有驱动单元固定板，在所述驱动单元固定板与所述通道固定板之间设置有多个用于将旋转运动输入转换为直线运动输出的缆绳传动机构，所述缆绳传动机构的输出端通过直线运动机构与驱动骨的一端连接，所述驱动骨的另一端穿过所述近端间隔盘后与所述近端固定盘紧固连接。
优选地，所述近端构节的数量与所述远端构节的数量相等。
一实施例中，所述缆绳传动机构可包括联轴器公头、第一锥齿轮、第二锥齿轮、固定块、第一滑轮、第二滑轮、滑轮座、导向杆、所述驱动缆绳和所述导向滑块；所述联轴器公头转动设置在所述驱动单元固定板上且前端与所述第一锥齿轮同轴紧固连接，所述第一锥齿轮与所述第二锥齿轮啮合，所述第二锥齿轮通过齿轮轴转动支撑在与所述驱动单元固定板紧固连接的所述固定块上，所述第一滑轮与所述第二锥齿轮同轴紧固连接；所述第二滑轮转动支撑在与所述通道固定板紧固连接的所述滑轮座上；所述驱动缆绳的一端与所述第一滑轮紧固连接，另一端绕过所述第二滑轮后与所述第一滑轮紧固连接；在所述驱动缆绳上紧固连接所述导向滑块，所述导向滑块滑动设置在所述导向杆上，所述导向杆紧固连接在所述驱动单元固定板与所述通道固定板之间；以及所述导向滑块为所述缆绳传动机构的输出端。
一实施例中，所述直线运动机构可包括推拉杆、第二导向杆和近端构节驱动块，其中，所述第二导向杆紧固设置在两个所述通道固定板之间，所述近端构节驱动块滑动连接在所述第二导向杆上，所述推拉杆的前端与所述近端构节驱动块紧固连接，以及所述推拉杆的后端穿过所述通道固定板且与所述导向滑块紧固连接。
一实施例中，该柔性手术工具系统还可包括驱动单元，所述驱动单元包括 电机部和运动传动部；所述电机部包括电机固定板和多个与所述电机固定板紧固连接的第一电机；所述运动传动部包括多个用于将一个所述第一电机的旋转输出转换为两根输出轴的彼此反向旋转运动的近端构节弯转传动链；以及两根所述输出轴的前端与一对联轴器公头的后端直接或间接连接，将自身的旋转运动传递给所述联轴器公头。
一实施例中，所述近端构节弯转传动链可包括输入齿轮、输出齿轮、惰轮和两根所述输出轴，所述输入齿轮紧固套设在其中一所述输出轴上，所述输出齿轮紧固套设在另一所述输出轴上，所述输入齿轮与所述输出齿轮之间通过偶数个所述惰轮传动连接；所述输入齿轮所在的所述输出轴的后端通过联轴器与所述第一电机的输出轴紧固连接。
一实施例中，在所述运动传动部与所述驱动单元固定板之间可设置有无菌屏障，所述无菌屏障包括无菌屏障支撑板、紧固连接在所述无菌屏障支撑板外周的无菌屏障外罩和多个转动连接在所述无菌屏障支撑板上的联轴器母头；其中在所述无菌屏障外罩上紧固连接有无菌膜；以及每一所述输出轴的前端与一个第二联轴器公头紧固连接；所述第二联轴器公头通过位于所述无菌屏障支撑板上的所述联轴器母头与所述联轴器公头连接。
一实施例中，在所述运动传动部的前端可设置有盖板，各所述输出轴的前端均穿过所述盖板且与所述盖板转动连接，在所述盖板上设置有第一连接销座；在所述无菌屏障支撑板上设置有用于与所述第一连接销座快速连接的第二连接销座。
一实施例中，在所述远端结构体的前端可设置有手术执行器，一端与所述手术执行器连接的手术执行器控线从所述远端结构体中穿过，另一端与手术执行器驱动机构连接；所述手术执行器驱动机构包括转动设置在所述驱动单元固定板上的第三联轴器公头，所述第三联轴器公头的前端与螺杆紧固连接，所述螺杆上配合连接有螺母；在所述驱动单元固定板的前侧紧固连接有套筒，所述套筒的前端紧固连接有套筒端盖，所述套筒端盖上设置有内孔；所述螺母滑动设置在所述套筒端盖的内孔中，所述内孔对所述螺母的转动自由度进行限制；所述螺母与第二推拉杆的后端紧固连接，所述第二推拉杆的前端与所述手术执行器控线紧固连接；以及所述电机部进一步包括与所述电机固定板紧固连接的第二电机；所述第二电机的输出轴通过联轴器与第二输出轴的后端紧固连接，所述第二输出轴的前端紧固套设有输入齿轮，所述输入齿轮与输出齿轮啮合， 所述输出齿轮与第三输出轴紧固连接，所述第三输出轴的前端与所述第三联轴器公头直接或间接连接，用于将自身的旋转运动传递给所述螺杆并转换为所述螺母的直线运动。
一实施例中，该柔性手术工具系统还可包括柔性手术工具外壳和电机部外壳；所述近端结构体和所述中部连接体均位于所述柔性手术工具外壳内；所述通道固定板和所述驱动单元固定板均与所述柔性手术工具外壳紧固连接；所述电机部和运动传动部均位于所述电机部外壳内；在所述运动传动部的前端设置有盖板，所述盖板通过无菌屏障与所述柔性手术工具外壳紧固连接；所述盖板和所述电机固定板均与所述电机部外壳转动连接；以及在所述电机部外壳的内壁紧固连接有内齿圈，在所述电机固定板上紧固连接有第三电机，所述第三电机的输出轴通过联轴器与第四输出轴的后端紧固连接，所述第四输出轴的前端紧固连接有输入齿轮，所述输入齿轮与所述内齿圈啮合。
一实施例中，该柔性手术工具系统还可包括柔性手术工具外壳、电机部外壳和线性模组；所述近端结构体和所述中部连接体均位于所述柔性手术工具外壳内；所述通道固定板和所述驱动单元固定板均与所述柔性手术工具外壳紧固连接；所述电机部和运动传动部均位于所述电机部外壳内；在所述运动传动部的前端设置有盖板，所述盖板通过无菌屏障与所述柔性手术工具外壳紧固连接；所述线性模组包括支架、紧固连接在所述支架上的第四电机以及与所述第四电机的输出轴紧固连接的直线进给机构，所述直线进给机构的输出端紧固连接所述电机部的外壳，以及所述第四电机通过所述直线进给机构驱动所述电机部和所述运动传动部通过所述无菌屏障带动所述柔性连续体结构和所述驱动单元位于无菌屏障以前的部分进行直线运动。
一实施例中，所述直线进给机构可包括转动连接在所述支架上的丝杠，在所述丝杠上套设有与所述丝杠通过螺纹配合的滑块，在所述支架上设置有直线滑槽，所述滑块滑动设置在所述直线滑槽中；以及所述第四电机的输出轴通过联轴器与所述丝杠紧固连接。
本发明由于采取以上技术方案，其具有以下优点：1、本发明采用包括近端结构体、中部连接体和远端结构体的柔性连续体结构为主体，并配合以驱动单元，其中，远端结构体通过中部连接体与近端结构体关联，驱动单元与近端结构体关联，当驱动单元驱动近端结构体向任意方向弯转时，远端结构体相应地向相反的方向弯转，因此可实现由远端结构体和封皮所构成的柔性手术臂的任 意向弯转运动。2、本发明远端结构体、中部连接体和近端结构体采用冗余的结构骨布置(结构骨的数量大于三根)，可提高系统的稳定性和负载能力。3、本发明在驱动单元固定板与通道固定板之间设置多个缆绳传动机构，将联轴器公头的旋转输入转化为驱动缆绳的直线运动输出，驱动缆绳通过导向滑块紧固连接推拉杆的一端，推拉杆的另一端通过近端构节驱动块连接驱动骨的一端，驱动骨的另一端穿过近端构节且与近端固定盘紧固连接，因此，协同驱动多组缆绳传动机构可以实现近端构节向任意方向的弯转。4、本发明手术执行器的手术执行器控线穿过远端结构体并与手术执行器驱动机构连接，此外在电机部设置有用于驱动手术执行器驱动机构的电机，因此，本发明能够实现对手术执行器的动作控制。5、本发明还设置有电机部外壳，电机固定板与电机部外壳之间采用可转动的连接方式，在电机部外壳的内壁紧固连接有内齿圈，在电机部设置有电机，电机紧固连接于电机固定板上，电机输出轴通过联轴器与输出轴相连，输出轴的一端紧固连接有输入齿轮，输入齿轮与内齿圈啮合，因此，所述电机可驱动系统除电机部外壳、内齿圈以外部分整体旋转，使得柔性手术臂具有整体旋转自由度。6、本发明由于柔性手术工具外壳与电机部、运动传动部之间通过无菌屏障进行连接，有效地将已消毒的柔性手术工具等位于无菌屏障以前的部分与其它未消毒的位于无菌屏障以后的部分进行隔离，因此可保证临床手术的可实施性。7、本发明还设置有线性模组，其与电机部外壳部分进行连接且可以带动柔性手术工具、驱动单元和无菌屏障进行线性运动，因此，柔性手术臂还具有线性进给自由度。
本发明可应用于单孔腔镜手术，也可应用于经自然腔道无创手术。
附图说明
图1是本发明的整体结构示意图；
图2是本发明远端结构体的结构示意图；
图3是本发明近端结构体的结构示意图；
图4是本发明中部连接体的结构示意图；
图5是本发明柔性手术工具省略远端结构体后的纵剖结构示意图；
图6是本发明驱动单元的结构示意图；
图7是本发明近端构节弯转传动链的结构示意图；
图8是本发明装上柔性手术工具外壳、电机部外壳、无菌屏障和线性模组 后的结构示意图；
图9是本发明无菌屏障与盖板连接的结构示意图；
图10是本发明无菌屏障在另一视角下的结构示意图；
图11是本发明整体旋转驱动机构的结构示意图；
图12是本发明远端结构体采用柔性鞘套的结构示意图。
具体实施方式
下面结合附图和实施例对本发明进行详细的描述。
如图1所示，本发明包括柔性手术工具10和驱动单元20。
如图1～4所示，柔性手术工具10包括由远端结构体11、近端结构体16和中部连接体15构成的柔性连续体结构。
远端结构体11包括第一远端构节12和第二远端构节13，第一远端构节12包括第一远端间隔盘121、第一远端固定盘122和第一构节结构骨123；第二远端构节13包括第二远端间隔盘131、第二远端固定盘132和第二构节结构骨133。其中，第一远端间隔盘121和第二远端间隔盘131分别间隔分布于第一远端构节12和第二远端构节13中，作用是防止第一构节结构骨123和第二构节结构骨133在受推时失稳。
近端结构体16包括第一近端构节17和第二近端构节18，如图3所示，第一近端构节17包括第一近端间隔盘171、第一近端固定盘172和第一构节结构骨173；第二近端构节18包括第二近端间隔盘181、第二近端固定盘182和第二构节结构骨183。其中，第一近端间隔盘171和第二近端间隔盘181分别间隔分布于第一近端构节17和第二近端构节18中，作用是防止第一构节结构骨173和第二构节结构骨183在受推时失稳。第一近端构节17中的第一构节结构骨173与第一远端构节12中的第一构节结构骨123一一对应紧固连接或为同一根结构骨；第二近端构节18中的第二构节结构骨183与第二远端构节13中的第二构节结构骨133一一对应紧固连接或为同一根结构骨。对于每一近端构节17、18或远端构节12、13来说，结构骨的数量为三根以上。
中部连接体15包括通道固定板152和紧固连接在通道固定板152之间的结构骨引导通道151。第一构节结构骨173(123)的一端与第一近端固定盘172紧固连接，另一端依次穿过第一近端间隔盘171、结构骨引导通道151、第一远端间隔盘121后与第一远端固定盘122紧固连接。第二构节结构骨183(133) 的一端与第二近端固定盘182紧固连接，另一端依次穿过第二近端间隔盘181、结构骨引导通道151、第一远端构节12、第二远端间隔盘131后与第二远端固定盘132紧固连接。结构骨引导通道151的作用是保持其中的第一构节结构骨173(123)和第二构节结构骨183(133)受推、拉力时形状不变。
上述远端结构体11所包括的远端构节数以及近端结构体16所包括的近端构节数也可以是一个或者多于两个，但是近端构节数始终与远端构节数保持一致。此外，当远端构节数为两个以上时，各远端构节之间采用串联的方式连接，即第二构节结构骨从第一远端固定盘、第一远端间隔盘上穿过(若第一构节结构骨采用管状结构，也可从第一构节结构骨内穿过)。当近端构节数为两个以上时，各构节之间可以采用串联连接、独立设置或嵌套设置等。在本实施例中，两个近端构节之间采用的是嵌套设置的方式(如图3所示)。
如图5所示，在通道固定板152的后方设置一驱动单元固定板21，在驱动单元固定板21与通道固定板152之间设置有多个缆绳传动机构22，缆绳传动机构22包括联轴器公头221、两个锥齿轮222、223、齿轮轴235、固定块224、两个滑轮225、226、滑轮座231、驱动缆绳227、导向杆232、推拉杆229、导向滑块230。其中，联轴器公头221转动设置在驱动单元固定板21上且前端与锥齿轮222同轴紧固连接，锥齿轮222与锥齿轮223啮合，锥齿轮223通过齿轮轴235转动支撑在与驱动单元固定板21紧固连接的固定块224上；滑轮225与锥齿轮223同轴紧固连接；滑轮226转动支撑在与通道固定板152紧固连接的滑轮座231上；驱动缆绳227的一端与滑轮225紧固连接，另一端绕过滑轮226后与滑轮225紧固连接。在驱动缆绳227上紧固连接导向滑块230，导向滑块230滑动设置在导向杆232上，导向杆232紧固连接在驱动单元固定板21与通道固定板152之间。导向滑块230与推拉杆229的后端紧固连接，推拉杆229的前端穿过通道固定板152且通过近端构节驱动块233连接驱动骨211的一端，驱动骨211的另一端穿过第一近端间隔盘171后与第一近端固定盘172紧固连接或穿过第二近端间隔盘181后与第二近端固定盘182紧固连接。在两个通道固定板152之间紧固设置有导向杆234，近端构节驱动块233滑动连接在导向杆234上。在一个优选的实施例中，导向杆234与导向杆232为同一根导向杆。
当驱动联轴器公头221转动时，联轴器公头221通过锥齿轮222、223将旋转运动传递给滑轮225，滑轮225拉动驱动缆绳227，使得导向滑块230沿导向杆232做直线运动，通过推拉杆229使得近端构节驱动滑块233沿导向杆234 做直线运动，进而推拉驱动骨211，驱动第一近端构节17或第二近端构节18弯转。协同驱动多组缆绳传动机构22(本实施例中为8组)可实现对多根驱动骨211(本实施例中为8根)的协同推拉，进而驱动近端构节17、18向任意方向弯转。
如图6、图7所示，驱动单元20包括电机部41和运动传动部。电机部41包括电机固定板402和多个与电机固定板402紧固连接的第一电机411。运动传动部包括多个近端构节弯转传动链42，每一近端构节弯转传动链42通过联轴器412与一个第一电机411的输出轴连接，用于将一个第一电机411的旋转输出分解为两根输出轴405的相互反向的旋转运动，从而传递给一对联轴器公头221以实现对近端构节的协同推拉。近端构节弯转传动链42包括输入齿轮421、输出齿轮422、两个(也可以是其它的偶数)惰轮423和两根输出轴405，输入齿轮421紧固套设在其中一输出轴405上，该输出轴405的后端通过联轴器412连接第一电机411的输出轴；输出齿轮422紧固套设在另一输出轴405上，输入齿轮421、输出齿轮422之间通过两个(偶数个)惰轮423传动连接。每一输出轴405的前端均与一联轴器公头221直接或间接连接，由此，可通过一个第一电机411的旋转输出带动两个缆绳传动机构22运动，从而实现对第一近端构节17或第二近端构节18在某一个方向上的弯转驱动。
上述实施例中，如图8～10所示，在运动传动部与驱动单元固定板21之间设置有无菌屏障30，无菌屏障30包括无菌屏障支撑板302、紧固连接在无菌屏障支撑板302外周的无菌屏障外罩301和多个转动连接在无菌屏障支撑板302上的联轴器母头303，联轴器母头303的前端用于与联轴器公头221连接。在每一输出轴405的前端紧固连接一用于与联轴器母头303的后端进行连接的联轴器公头403(如图6所示)。由此，输出轴405的旋转运动可通过联轴器公头403、联轴器母头303、联轴器公头221传递给锥齿轮222。在无菌屏障外罩301上紧固连接有无菌膜(图中未示出)，其可将柔性手术工具10等位于无菌屏障30以前的已消毒的部分与运动传动部、电机部41等位于无菌屏障30以后的未消毒的部分隔离开来，保证临床手术的可实施性。
上述实施例中，如图6、图10所示，在运动传动部的前端设置盖板404，各输出轴405的前端穿过盖板404且与盖板404转动连接，在盖板404上设置有两组连接销座406；相应地，在无菌屏障支撑板302上亦设置有两组用于与连接销座406快速连接的连接销座304。使得无菌屏障30与运动传动部固定连接 并可传递整体运动。
上述实施例中，如图2、图5和图11所示，在远端结构体11的前端设置有手术执行器101，一端与手术执行器101连接的手术执行器控线102从远端结构体11中穿过，另一端与手术执行器驱动机构25连接。手术执行器驱动机构25包括转动设置在驱动单元固定板21上的联轴器公头213，联轴器公头213的前端与螺杆252紧固连接，螺杆252上配合连接有螺母253。在驱动单元固定板21的前侧还紧固连接有套筒254，套筒254的前端紧固连接有套筒端盖255，套筒端盖255上设置有内孔。螺母253滑动设置在套筒端盖255的内孔中，内孔优选采用方孔，使得螺母253仅可以在内孔中自由滑动而不能发生转动。螺母253与推拉杆256的后端紧固连接，推拉杆256的前端与手术执行器控线102的后端紧固连接。在电机固定板402上紧固连接有第二电机，第二电机的输出轴通过联轴器412与输出轴414的后端紧固连接，输出轴414的前端紧固套设有输入齿轮441，输入齿轮441与输出齿轮442啮合，输出齿轮442与输出轴415紧固连接，输出轴415的前端与联轴器公头213直接或间接连接，以将第二电机的旋转输出传递给螺杆252，从而转换为螺母253的直线运动，进而通过推拉杆256推动或牵拉手术执行器控线102以控制手术执行器101(如手术钳)实施动作。手术执行器控线102也可以传递如电能、高频振动等各种形式的能量从而实现手术执行器101的特定手术功能(如电凝、电切)。进一步地，输出轴415的前端紧固连接有联轴器公头416(如图6所示)，联轴器公头416与联轴器公头213通过位于无菌屏障30上的联轴器母头305(如图9、图10所示)连接。
上述实施例中，如图8、图12所示，本发明还包括柔性手术工具外壳105和电机部外壳401。近端结构体16和中部连接体15均位于柔性手术工具外壳105内；通道固定板152和驱动单元固定板21均与柔性手术工具外壳105紧固连接。电机部41和运动传动部均位于电机部外壳401内；运动传动部前端的盖板404通过无菌屏障30与柔性手术工具外壳105紧固连接，使柔性手术工具10可以与运动传动部、电机部41整体进行旋转。盖板404、电机固定板402均与电机部外壳401转动连接。在电机部外壳401的内壁紧固连接有内齿圈432，在电机固定板402上紧固连接有第三电机，第三电机的输出轴通过联轴器412与输出轴417的后端连接，输出轴417的前端紧固连接输入齿轮433，输入齿轮433与内齿圈432啮合。当第三电机的输出轴旋转时，其带动输入齿轮433旋转， 输入齿轮433将沿内齿圈432的周向行走，从而带动本发明除电机部外壳401和内齿圈432以外的部分整体进行旋转，实现对手术执行器101的横滚角度控制。
上述实施例中，如图8所示，本发明还包括线性模组50(线性模组50亦通过无菌膜与已消毒部分隔离开)，其包括带有滑槽的支架501，在支架501上设置有丝杠503，在丝杠503上套设有与丝杠503通过螺纹配合且滑动设置在滑槽中的滑块502，在支架501的一端设置有电机504，电机504的输出轴与丝杠503通过联轴器紧固连接。电机部外壳401与滑块502固连，当电机504的输出轴转动时，滑块502将带动驱动单元20、无菌屏障30和柔性手术工具10沿滑槽做线性运动，从而实现远端结构体11的进给自由度。
上述实施例中，如图8所示，在远端结构体11的外部设置有封皮103，其作用为改善远端结构体11进入人体自然腔道或手术切口的顺畅性。在封皮103的外部还可以设置刚性外套管104和鞘套60。在一种应用中，鞘套60固定于腹腔的单一切口处，远端结构体11连同封皮103、手术执行器101可以自由穿过鞘套60上供手术工具通过的通孔到达术部以施展单孔腔镜手术。如图12所示，鞘套60也可以采用柔性鞘套，其可以更容易地伸入人体的各类自然腔道并随着腔道的形状而自适应改变外形，柔性鞘套的一端固定于腔道入口处，远端结构体11连同封皮103、手术执行器101同样可以自由穿过柔性鞘套上供手术工具通过的通孔到达术部以施展经自然腔道的无创手术。
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的。在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进或等同变换，均不应排除在本发明的保护范围之外。

Claims (12)

  1. 一种柔性手术工具系统，其特征在于：所述柔性手术工具系统包括柔性手术工具；所述柔性手术工具包括由远端结构体、近端结构体和中部连接体构成的柔性连续体结构；所述远端结构体包括至少一个远端构节，所述远端构节包括远端间隔盘、远端固定盘和结构骨；所述近端结构体包括近端构节，所述近端构节包括近端间隔盘、近端固定盘和结构骨；所述中部连接体包括通道固定板和设置在所述通道固定板之间的结构骨引导通道；所述远端构节上的结构骨与所述近端构节上的结构骨一一对应紧固连接或为同一根结构骨，所述结构骨的一端与所述近端固定盘紧固连接，依次穿过所述近端间隔盘、所述结构骨引导通道、所述远端间隔盘，另一端与所述远端固定盘紧固连接；以及
    在所述通道固定板的后方设置有驱动单元固定板，在所述驱动单元固定板与所述通道固定板之间设置有多个用于将旋转运动输入转换为直线运动输出的缆绳传动机构，所述缆绳传动机构的输出端通过直线运动机构与驱动骨的一端连接，所述驱动骨的另一端穿过所述近端间隔盘后与所述近端固定盘紧固连接。
  2. 如权利要求1所述的柔性手术工具系统，其特征在于：所述缆绳传动机构包括联轴器公头、第一锥齿轮、第二锥齿轮、固定块、第一滑轮、第二滑轮、滑轮座、导向杆、驱动缆绳和导向滑块；其中所述联轴器公头转动设置在所述驱动单元固定板上且前端与所述第一锥齿轮同轴紧固连接，所述第一锥齿轮与所述第二锥齿轮啮合，所述第二锥齿轮通过齿轮轴转动支撑在与所述驱动单元固定板紧固连接的所述固定块上，以及所述第一滑轮与所述第二锥齿轮同轴紧固连接；所述第二滑轮转动支撑在与所述通道固定板紧固连接的所述滑轮座上；所述驱动缆绳的一端与所述第一滑轮紧固连接，另一端绕过所述第二滑轮后与所述第一滑轮紧固连接；在所述驱动缆绳上紧固连接所述导向滑块，所述导向滑块滑动设置在所述导向杆上，所述导向杆紧固连接在所述驱动单元固定板与所述通道固定板之间；以及所述导向滑块为所述缆绳传动机构的输出端。
  3. 如权利要求2所述的柔性手术工具系统，其特征在于：所述直线运动机构包括推拉杆、第二导向杆和近端构节驱动块，其中，所述第二导向杆紧固设置在两个所述通道固定板之间，所述近端构节驱动块滑动连接在所述第二导向杆上，所述推拉杆的前端与所述近端构节驱动块紧固连接，以及所述推拉杆的后端穿过所述通道固定板且与所述导向滑块紧固连接。
  4. 如权利要求1所述的柔性手术工具系统，其特征在于：所述柔性手术工具系统还包括驱动单元，所述驱动单元包括电机部和运动传动部；所述电机部包括电机固定板和多个与所述电机固定板紧固连接的第一电机；所述运动传动部包括多个用于将一个所述第一电机的旋转输出转换为两根输出轴的彼此反向旋转运动的近端构节弯转传动链；以及两根所述输出轴的前端与一对联轴器公头的后端直接或间接连接，用于将自身的旋转运动传递给所述联轴器公头。
  5. 如权利要求4所述的柔性手术工具系统，其特征在于：所述近端构节弯转传动链包括输入齿轮、输出齿轮、惰轮和两根所述输出轴，所述输入齿轮紧固套设在其中一所述输出轴上，所述输出齿轮紧固套设在另一所述输出轴上，所述输入齿轮与所述输出齿轮之间通过偶数个所述惰轮传动连接；以及所述输入齿轮所在的所述输出轴的后端通过联轴器与所述第一电机的输出轴紧固连接。
  6. 如权利要求4所述的柔性手术工具系统，其特征在于：在所述运动传动部与所述驱动单元固定板之间设置有无菌屏障，所述无菌屏障包括无菌屏障支撑板、紧固连接在所述无菌屏障支撑板外周的无菌屏障外罩和多个转动连接在所述无菌屏障支撑板上的联轴器母头；其中在所述无菌屏障外罩上紧固连接有无菌膜；以及
    每一所述输出轴的前端与一个第二联轴器公头紧固连接；所述第二联轴器公头通过位于所述无菌屏障支撑板上的所述联轴器母头与所述联轴器公头连接。
  7. 如权利要求6所述的柔性手术工具系统，其特征在于：在所述运动传动部的前端设置有盖板，各所述输出轴的前端均穿过所述盖板且与所述盖板转动连接，在所述盖板上设置有第一连接销座；在所述无菌屏障支撑板上设置有用于与所述第一连接销座快速连接的第二连接销座。
  8. 如权利要求4所述的柔性手术工具系统，其特征在于：在所述远端结构体的前端设置有手术执行器，一端与所述手术执行器连接的手术执行器控线从所述远端结构体中穿过，另一端与手术执行器驱动机构连接；所述手术执行器驱动机构包括转动设置在所述驱动单元固定板上的第三联轴器公头，所述第三联轴器公头的前端与螺杆紧固连接，所述螺杆上配合连接有螺母；在所述驱动单元固定板的前侧紧固连接有套筒，所述套筒的前端紧固连接有套筒端盖，所述套筒端盖上设置有内孔；所述螺母滑动设置在所述套筒端盖的内孔中，所述 内孔对所述螺母的转动自由度进行限制；所述螺母与第二推拉杆的后端紧固连接，所述第二推拉杆的前端与所述手术执行器控线紧固连接；以及
    所述电机部进一步包括与所述电机固定板紧固连接的第二电机；所述第二电机的输出轴通过联轴器与第二输出轴的后端紧固连接，所述第二输出轴的前端紧固套设有输入齿轮，所述输入齿轮与输出齿轮啮合，所述输出齿轮与第三输出轴紧固连接，所述第三输出轴的前端与所述第三联轴器公头直接或间接连接，用于将自身的旋转运动传递给所述螺杆并转换为所述螺母的直线运动。
  9. 如权利要求4所述的柔性手术工具系统，其特征在于：所述柔性手术工具系统还包括柔性手术工具外壳和电机部外壳；所述近端结构体和所述中部连接体均位于所述柔性手术工具外壳内；所述通道固定板和所述驱动单元固定板均与所述柔性手术工具外壳紧固连接；所述电机部和所述运动传动部均位于所述电机部外壳内；在所述运动传动部的前端设置有盖板，所述盖板通过无菌屏障与所述柔性手术工具外壳紧固连接；所述盖板和所述电机固定板均与所述电机部外壳转动连接；以及在所述电机部外壳的内壁紧固连接有内齿圈，在所述电机固定板上紧固连接有第三电机，所述第三电机的输出轴通过联轴器与第四输出轴的后端紧固连接，所述第四输出轴的前端紧固连接有输入齿轮，所述输入齿轮与所述内齿圈啮合。
  10. 如权利要求4所述的柔性手术工具系统，其特征在于：所述柔性手术工具系统还包括柔性手术工具外壳、电机部外壳和线性模组；所述近端结构体和所述中部连接体均位于所述柔性手术工具外壳内；所述通道固定板和所述驱动单元固定板均与所述柔性手术工具外壳紧固连接；所述电机部和所述运动传动部均位于所述电机部外壳内；在所述运动传动部的前端设置有盖板，所述盖板通过无菌屏障与所述柔性手术工具外壳紧固连接；所述线性模组包括支架、紧固连接在所述支架上的第四电机以及与所述第四电机的输出轴紧固连接的直线进给机构，所述直线进给机构的输出端紧固连接所述电机部外壳，所述第四电机通过所述直线进给机构驱动所述电机部和所述运动传动部通过所述无菌屏障带动所述柔性连续体结构和所述驱动单元位于所述无菌屏障以前的部分进行直线运动。
  11. 如权利要求10所述的柔性手术工具系统，其特征在于：所述直线进给机构包括转动连接在所述支架上的丝杠，在所述丝杠上套设有与所述丝杠通过螺纹配合的滑块，在所述支架上设置有直线滑槽，所述滑块滑动设置在所述直 线滑槽中；以及所述第四电机的输出轴通过联轴器与所述丝杠紧固连接。
  12. 如权利要求1-11任一项所述的柔性手术工具系统，其特征在于：所述近端构节的数量与所述远端构节的数量相等。
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