WO2018041161A1 - 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
WO2018041161A1
WO2018041161A1 PCT/CN2017/099757 CN2017099757W WO2018041161A1 WO 2018041161 A1 WO2018041161 A1 WO 2018041161A1 CN 2017099757 W CN2017099757 W CN 2017099757W WO 2018041161 A1 WO2018041161 A1 WO 2018041161A1
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WO
WIPO (PCT)
Prior art keywords
motor
bone
fixing plate
proximal
surgical tool
Prior art date
Application number
PCT/CN2017/099757
Other languages
English (en)
French (fr)
Inventor
徐凯
董天来
戴正晨
张树桉
赵江然
刘欢
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 KR1020197009260A priority Critical patent/KR102257224B1/ko
Priority to JP2019531520A priority patent/JP7009480B2/ja
Priority to EP17845463.3A priority patent/EP3508162B1/en
Priority to CA3035329A priority patent/CA3035329C/en
Publication of WO2018041161A1 publication Critical patent/WO2018041161A1/zh
Priority to US16/288,184 priority patent/US11484373B2/en

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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
    • 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
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A61B46/13—Surgical drapes specially adapted for instruments, e.g. microscopes the drapes entering the patient's body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • 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
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • 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
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Definitions

  • the invention relates to a flexible surgical tool system comprising a driving bone, belonging to the field of medical instruments.
  • 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.
  • a flexible surgical tool system including a drive bone that can be preferably applied to a surgical robot system that is subjected to a natural canal or a single surgical incision and performs surgery.
  • a flexible surgical tool system A flexible surgical tool and a drive unit are included;
  • the flexible surgical tool includes a flexible continuum structure comprised of a distal structure, a proximal structure, and a central connector;
  • the distal structure including at least one distal segment,
  • the distal section includes a distal spacer disk, a distal fixation disk, and a structural bone;
  • the proximal structure includes a proximal end section, the proximal end section including a proximal spacer disk, a proximal fixation disk, and a structural bone
  • the middle connector includes a channel fixing plate and a structural bone guiding channel disposed between the channel fixing plates;
  • the structural bone in the distal segment corresponds to the structural bone in the proximal segment Fastening the connection or being the same structural bone, one end of the structural bone being fastened to the proximal fixation disk, sequentially passing through the proximal spacer disk, the structural bone guiding channel, the
  • the number of proximal segments is equal to the number of distal segments.
  • the linear motion mechanism may include a first screw, a first slider and a first optical axis, the first screw is rotatably supported between the two channel fixing plates, the first screw a rear end passing through the passage fixing plate near a side of the proximal structure body and extending rearward, the first optical axis being fixedly coupled between the two channel fixing plates, the first slider sliding Attached to the first optical axis and threadedly coupled to the first screw; the first drive bone is fastened to the first slider.
  • the adapter unit may include a steering structural bone, a structural bone transition block, and a steering structural bone guiding channel, and both ends of the steering structural bone guiding channel are fastened and connected to the distal structural body.
  • a front side of the channel fixing plate, the steering structure bone passes through the steering structure bone guiding channel and two ends are respectively fastened and connected to one of the structural bone transition blocks, wherein one of the structural bone transfer blocks One end of the first drive bone is fastened, and the other of the structural bone transfer blocks is fastened to one end of the second drive bone.
  • the steering structural bone may be composed of a plurality of elastic structural bones, and the plurality of elastic structural bones are symmetrically distributed around the first driving bone or the second driving bone.
  • a driven gear is fastened to the first screw on a front side of the driving unit fixing plate, and the driven gear meshes with a driving gear that is rotatably supported on the driving unit fixing plate.
  • a gear shaft of the driving gear passes through the driving unit fixing plate and is fastened with a coupling male connection.
  • a surgical actuator may be disposed at a front end of the distal structure, and a surgical actuator line connected to the surgical actuator at one end passes through the distal structure, and the operation is performed.
  • the other end of the control line is coupled to the surgical actuator drive mechanism;
  • the surgical actuator drive mechanism includes a surgical actuator drive mechanism mounting plate disposed between the two channel fixation plates, the surgical actuator drive mechanism a second screw is disposed between the fixed plate and the driving unit fixing plate, and a front end of the second screw passes through the channel fixing plate near the side of the proximal structure body, and is located at the channel fixing plate a second slider is coupled to the second screw between the surgical actuator driving mechanism fixing plate by a threaded engagement, and the second slider is slidably disposed on the second optical axis, the second optical axis Provided between the channel fixing plate and the surgical actuator driving mechanism fixing plate; fixed between the surgical actuator driving mechanism fixing plate and the channel fixing plate on a side close to the distal structure body a control line guiding channel is connected, the rear end of
  • the flexible surgical tool system can further include a flexible surgical tool housing, the drive unit securing plate and the channel securing plate each being securely coupled to the flexible surgical tool housing, the proximal structural body and
  • the middle connector is located inside the flexible surgical tool housing; the rear end of the flexible surgical tool housing is connected to the motor unit through a sterile barrier, the sterile barrier comprising a sterile barrier support plate, and a fastening connection a sterile barrier outer cover of the outer periphery of the sterile barrier support plate and a plurality of coupling females rotatably coupled to the sterile barrier support plate;
  • the motor set including a motor fixing plate and a fastening connection fixed to the motor a second motor on the board, the motor fixing plate and the sterile barrier support plate are connected by a connecting pin seat; a front end of the coupling female head is connected to the male coupling of the coupling, and the other end is passed through another The coupling male shaft is fastened to the output shaft of the second motor.
  • the flexible surgical tool system can further include a flexible surgical tool housing, a sterile barrier, and a motor set; the drive unit mounting plate and the channel securing plate are each securedly coupled to the flexible surgical tool housing, The proximal structure and the middle connector are both located inside the flexible surgical tool housing; the motor set includes a motor fixing plate and a third motor fastened to the motor fixing plate, the flexible surgical tool The housing is connected to the motor fixing plate through the sterile barrier; the motor unit further includes a motor unit housing, and the motor fixing plate is rotatably connected to the motor unit housing at the motor An inner ring of the group outer casing is fastened to the inner ring gear; an output shaft of the third motor is fastened to the integral rotary input gear, and the integral rotary input gear meshes with the inner ring gear.
  • the flexible surgical tool system can further include a flexible surgical tool housing, a sterile barrier, a motor assembly, and a linear module; the drive unit mounting plate and the channel fixation plate are both secured to the flexible surgical tool housing Connecting, the proximal structure body and the middle connector are both located inside the flexible surgical tool housing; the flexible surgical tool housing is connected to the motor group through the sterile barrier, the motor group includes electricity
  • the linear module includes a bracket, a fourth motor fastened to the bracket, and a linear feed mechanism fastened to the output shaft of the fourth motor, the output of the linear feed mechanism The end is fastened to the motor casing, and the fourth motor drives the motor unit through the linear feed mechanism to drive the flexible continuum structure and the driving unit to linearly move through the sterile barrier.
  • the linear feed mechanism includes a lead screw rotatably coupled to the bracket, and a slider that is threadedly engaged with the lead screw is disposed on the lead screw, and is disposed on the bracket There is a linear chute, and the slider is slidably disposed in the linear chute; 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. It is thus possible to achieve any directional bending movement of the flexible surgical arm consisting of the distal structure and the cover.
  • 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 is provided with a linear motion mechanism and an adapter unit between the drive unit fixing plate and the channel fixing plate, wherein the linear motion mechanism is used to convert the rotary motion input into a linear motion output, and the transfer unit is used to The linear motion of one driving bone is transmitted to the other driving bone. Therefore, the rotational movement of a set of linear motion mechanisms can be input to realize the coordinated pushing and pulling of the two driving bones, thereby realizing the proximal structure through multiple sets of linear motion mechanisms. The degree of freedom of bending in any direction. 4.
  • the present invention is provided with a surgical actuator at the front end of the distal structure, the surgical actuator control line passes through the distal structure, and is connected to the surgical actuator driving mechanism located in the flexible surgical tool, and the surgical actuator driving mechanism passes through The push and pull of the surgical actuator control line can realize the action control of the surgical actuator. 5.
  • the invention is provided with a motor casing, and the motor fixing plate and the motor casing are connected in a rotatable manner, and are fastened on the inner wall of the motor casing.
  • the present invention isolates the flexible surgical tool housing from the motor unit through a sterile barrier, effectively isolating the portion of the sterilized flexible surgical tool prior to the sterile barrier from other unsterile portions after the sterile barrier. Therefore, the feasibility of clinical surgery can be guaranteed.
  • the present invention is further provided with a linear module that is coupled to the motor casing outer 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 the present invention after omitting the distal structure
  • FIG. 4 is a schematic structural view of a proximal structure of the present invention.
  • Figure 5 is a perspective view showing the three-dimensional structure of the present invention after omitting the distal structure
  • Figure 6 is a schematic structural view of a surgical actuator driving mechanism of the present invention.
  • Figure 7 is a schematic view showing the structure of the flexible surgical tool casing, the motor casing, the sterile barrier and the linear module of the present invention
  • Figure 8 is a schematic view showing the structure of the sterile barrier of the present invention.
  • Figure 9 is a schematic view showing the structure of the sterile barrier of the present invention from another perspective
  • Figure 10 is a schematic structural view of a motor unit of the present invention.
  • Figure 11 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, a first distal section 12
  • the first distal spacer 121, the first distal fixed disk 122 and the first structural bone 123 are included;
  • the second distal configuration 13 includes a second distal spacer 131, a second distal fixed disk 132 and a Two-section structure 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. 4, 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.
  • One end of the second segment structure bone 183 (133) is fastened to the second proximal fixation disk 182, and the other end sequentially passes through the second proximal spacer disk 181, the structural bone guiding channel 151, and the first distal end section 12
  • the second distal spacer 131 is then fastened to the second distal fixed disk 132.
  • 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 segments are connected in series, that is, the second distal structural bone is worn from the first distal spacer and the first distal fixed disk. If the first distal structural bone adopts a tubular structure, it can also pass through the first distal 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 setting is adopted between the two proximal end sections (as shown in FIGS. 3 and 4).
  • the driving unit 20 includes a driving list disposed behind the channel fixing plate 152.
  • the element fixing plate 21 is provided with a plurality of sets of linear motion mechanisms 22 for converting the rotational motion input into the linear motion output between the drive unit fixing plate 21 and the channel fixing plate 152 near the distal structure 11.
  • each linear motion mechanism 22 is fastened to a first driving bone 211, and one end of the first driving bone 211 is fastened to one end of a second driving bone 212 through the switching unit 23, the first driving The other end of the bone 211 and the second driving bone 212 passes through the first proximal spacer 171 and is fastened to the first proximal fixing disk 172 or passes through the second proximal spacer 181 and the second proximal fixed disk. 182 fastening connection.
  • the two sets of linear motion mechanism 22 and the adapter unit 23 cooperatively pushing and pulling the first driving bone 211 and the second driving bone 212 connected to the first proximal end section 17, the first proximal end section 17 can be realized in any direction.
  • the degree of freedom of bending when the first proximal end section 17 is bent in a certain direction, the first distal end section 12 will be in a certain proportional relationship (from the first structural section bone 173 and the first structural section bone)
  • the distribution radius of 123 is jointly determined to be bent in the opposite direction; similarly, the first driving bone 211 and the second driving connected to the second proximal end portion 18 are cooperatively pushed and pulled by the two sets of linear motion mechanism 22 and the switching unit 23;
  • the bone 212 can realize the degree of freedom of bending of the second proximal end section 18 in any direction.
  • the second distal end section 13 When the second proximal end section 18 is bent in a certain direction, the second distal end section 13 will be at a certain ratio.
  • the relationship (determined by the distribution radius of the second and second structural bones 183 and 133) is reversed in the opposite direction.
  • the linear motion mechanism 22 includes a screw 221, a slider 222, and an optical shaft 223, wherein the screw 221 is rotatably supported between the two passage fixing plates 152, and the rear end of the screw 221 passes through the passage fixing plate near the side of the proximal structural body 16. 152 and extending rearward, the optical axis 223 is fixedly coupled between the two channel fixing plates 152, and the slider 222 is slidably coupled to the optical axis 223 and screwed to the screw 221 .
  • the adapter unit 23 includes a steering structural bone 231, a structural bone transition block 232, and a steering structure bone guiding passage 233, wherein both ends of the steering structural bone guiding passage 233 are fastened to the passage fixing plate 152 near the distal structural body 11.
  • the steering structural bone 231 passes through the steering structural bone guiding channel 233 and is fixedly connected to a structural bone adapter block 232 at each end, wherein one structural bone adapter block 232 is fastened to one end of the first driving bone 211 Connected, another structural bone adapter block 232 is securely coupled to one end of the second drive bone 212.
  • the rotational motion of the screw 221 is converted into a linear motion of the slider 222, and the linear motion slider 222 directly pushes and pulls the first drive bone 211 on the one hand, and the structural bone transfer block on the other hand.
  • the steering structure bone 231 forms a push-pull movement opposite to the movement direction of the first driving bone 211, and the first proximal end is further realized by cooperative pushing and pulling of the first driving bone 211 and the second driving bone 212. Any directional bending motion of the segment 17 or the second proximal segment 18.
  • the steering structural bone 231 can be composed of a plurality of flexible structural bones that can withstand the push-pull force, and the distribution of the plurality of elastic structural bones is preferably in the form of the first driving bone 211 or the second driving bone. 212 is symmetrically distributed at the center of the center.
  • the distribution of the plurality of elastic structural bones is not symmetrically distributed around the center centered on the first driving bone 211 or the second driving bone 212, it is necessary to add an optical axis between the two channel fixing plates 152, and the structural bone transfer block A 232 is slidably coupled to the optical axis to prevent the structural bone transition block 232 from flipping under the force of the push-pull force.
  • the driven gear 224 is fastened to the screw 221 located on the front side of the driving unit fixing plate 21, and the driven gear 224 is meshed with the driving gear 225 rotatably supported on the driving unit fixing plate 21, and the driving gear 225
  • the gear shaft passes through the drive unit fixing plate 21 and is fastened to a coupling male 226.
  • the coupling male 226 is used to connect directly or indirectly to the motor to facilitate input of rotational motion to the screw 221.
  • a surgical actuator 101 is provided at the front end of the distal structural body 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 driving mechanism 25 includes a surgical actuator driving mechanism fixing plate 251 disposed between the two channel fixing plates 152, and a screw 252 is disposed between the surgical actuator driving mechanism fixing plate 251 and the driving unit fixing plate 21, The front end of the screw 252 passes through the channel fixing plate 152 near the side of the proximal structure body 16, and the slider 253 is connected by a screw fit on the screw 252 between the channel fixing plate 152 and the surgical actuator driving mechanism fixing plate 251.
  • the slider 253 is slidably disposed on the optical axis 254, and the optical axis 254 is fixedly coupled between the channel fixing plate 152 and the surgical actuator driving mechanism fixing plate 251.
  • a control line guiding passage 255 is fastened between the surgical actuator driving mechanism fixing plate 251 and the channel fixing plate 152 on the side close to the distal structural body 11, and the rear end of the surgical actuator control line 102 passes through the control line guiding channel. After 255, it is fastened to the slider 253.
  • the function of the control line guiding channel 255 is to keep the shape of the surgical actuator control line 102 unchanged when pushed and pulled.
  • the rotational motion of the screw 252 is converted into a linear motion of the slider 253, and the linear motion slider 253 can push and pull the surgical actuator control line 102 to implement the mechanical surgical actuator 101 (eg, Action control of surgical forceps, etc.)
  • the rear end of the screw 252 passes through the drive unit fixing plate 21 and is fastened to a coupling male 256, and the coupling male 256 is used to directly or indirectly connect with the motor to output a rotational motion to the screw 252.
  • 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 (e.g., electrocoagulation, electrical cutting, etc.) of the energy surgical actuator 101.
  • the present invention further includes a flexible surgical tool housing 105, and the driving unit fixing plate 21, the channel fixing plate 152, and the surgical actuator driving mechanism fixing plate 251 are all fastened to the flexible surgical tool housing 105.
  • Both the proximal structure 16 and the middle connector 15 are located inside the flexible surgical tool housing 105.
  • the rear end of the flexible surgical tool housing 105 is coupled to the motor pack 41 via a sterile barrier 30.
  • the sterile barrier 30 includes a sterile barrier support plate 302, a sterile barrier outer cover 301 fastened to the outer periphery of the sterile barrier support plate 302, and a plurality of rotationally coupled to the sterile barrier support plate 302.
  • the motor unit 41 includes a motor fixing plate 411 (shown in FIG. 10) and a motor 412 fastened to the motor fixing plate 411.
  • the front end of the sterile barrier housing 301 is in a quick and detachable connection with the flexible surgical tool housing 105.
  • Two sets of connecting pin holders 304 are provided on the rear side of the sterile barrier support plate 302, correspondingly in front of the motor mounting plate 411.
  • Two sets of connecting pin holders 415 are disposed on the side, and the connecting pin seat 304 and the connecting pin seat 415 can be quickly connected through the pin holes, so that the sterile barrier 30 is fixedly connected with the motor fixing plate 411 and can be integrally moved.
  • the front end of the coupling female head 303 is coupled to the coupling male 226 or the coupling male 256, and the rear end is coupled to the output shaft of the motor 412 through another coupling male 414 to transmit rotational motion.
  • a sterile membrane (not shown) is fastened to the sterile barrier housing 301 for unsterile portions (the portion behind the sterile barrier 30) and the sterilized portion (before the sterile barrier) The part is isolated to ensure the feasibility of clinical surgery.
  • the present invention further includes a motor unit housing 418, the motor fixing plate 411 is rotatably connected to the motor unit housing 418, and an inner ring gear 416 is fastened to the inner wall of the motor unit housing 418 to be fastened on the motor fixing plate 411.
  • a motor 417 is connected, and an output shaft of the motor 417 is fastened to the integral rotary input gear 419, and the integral rotary input gear 419 is meshed with the ring gear 416.
  • the output shaft of the motor 417 rotates, the integral rotary input gear 419 will be rotated, and the overall rotary input gear 419 will travel along the circumference of the ring gear 416, thereby driving the present invention in addition to the motor casing 418 and the ring gear 416.
  • the whole portion is rotated to achieve 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 unit housing 418 is fixed to the slider 502 when the output shaft of the motor 504 When rotated, the slider 502 linearly moves the belt motor unit 41, the sterile barrier 30, and the flexible surgical tool 10 along the chute, thereby achieving the degree of freedom of feeding of the distal structure 11.
  • a cover 103 is provided on the outside of the distal structure 11, which functions 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 adopt a flexible sheath, which can more easily extend into various natural passages of the human body and adaptively change the shape along with the shape of the passage, and 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）和驱动单元（20）；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）；驱动单元（20）包括驱动单元固定板（21），在驱动单元固定板（21）与靠近近端结构体（16）的通道固定板（152）之间设置多个直线运动机构（22），直线运动机构（22）的输出端与第一驱动骨（211）紧固连接，第一驱动骨（211）的一端通过转接单元（23）与第二驱动骨（212）的一端紧固连接，第一驱动骨（211）和第二驱动骨（212）的另一端均穿过近端间隔盘（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201610796073.5、发明名称为“一种包含驱动骨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
本发明涉及一种包含驱动骨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包含驱动骨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 包括柔性手术工具和驱动单元；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；所述远端构节中的结构骨与所述近端构节中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；所述驱动单元包括驱动单元固定板，在所述驱动单元固定板与靠近所述远端结构体的所述通道固定板之间设置有多组用于将旋转运动输入转换为直线运动输出的直线运动机构，每一所述直线运动机构的输出端与一根第一驱动骨紧固连接，所述第一驱动骨的一端通过转接单元与一根第二驱动骨的一端紧固连接，所述第一驱动骨和第二驱动骨的另一端均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，所述直线运动机构可包括第一螺杆、第一滑块和第一光轴，所述第一螺杆转动支撑在两个所述通道固定板之间，所述第一螺杆的后端穿过靠近所述近端结构体一侧的所述通道固定板且向后延伸，所述第一光轴固定连接在两个所述通道固定板之间，所述第一滑块滑动连接在所述第一光轴上且与所述第一螺杆通过螺纹连接；所述第一驱动骨与所述第一滑块紧固连接。
一实施例中，所述转接单元可包括转向结构骨、结构骨转接块和转向结构骨引导通道，所述转向结构骨引导通道的两端紧固连接在靠近所述远端结构体的所述通道固定板的前侧，所述转向结构骨从所述转向结构骨引导通道中穿过且两端分别紧固连接一个所述结构骨转接块，其中一个所述结构骨转接块与所述第一驱动骨的一端紧固连接，另一个所述结构骨转接块与所述第二驱动骨的一端紧固连接。
一实施例中，所述转向结构骨可由多根弹性结构骨构成，多根所述弹性结构骨以所述第一驱动骨或第二驱动骨为中心对称分布。
一实施例中，在位于所述驱动单元固定板前侧的所述第一螺杆上紧固连接有从动齿轮，所述从动齿轮与转动支撑在所述驱动单元固定板上的主动齿轮啮合，所述主动齿轮的齿轮轴穿过所述驱动单元固定板且与一个联轴器公头紧固 连接。
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，所述手术执行器控线的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设置在两个所述通道固定板之间的手术执行器驱动机构固定板，在所述手术执行器驱动机构固定板与所述驱动单元固定板之间转动设置有第二螺杆，所述第二螺杆的前端穿过靠近所述近端结构体一侧的所述通道固定板，在位于所述通道固定板与所述手术执行器驱动机构固定板之间的所述第二螺杆上通过螺纹配合连接有第二滑块，所述第二滑块滑动设置在第二光轴上，所述第二光轴设置在所述通道固定板与所述手术执行器驱动机构固定板之间；在所述手术执行器驱动机构固定板与靠近所述远端结构体一侧的所述通道固定板之间固定连接有控线引导通道，所述手术执行器控线的后端穿过所述控线引导通道后与所述第二滑块紧固连接；以及所述驱动单元还包括电机组，所述电机组包括电机固定板和紧固连接在所述电机固定板上的第一电机，所述第一电机的输出轴与所述第二螺杆直接或间接连接，将所述第一电机的所述输出轴的旋转运动传递给所述第二螺杆并转换为所述第二滑块的直线运动输出。
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，所述驱动单元固定板和所述通道固定板均与所述柔性手术工具外壳紧固连接，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的内部；所述柔性手术工具外壳的后端通过无菌屏障与电机组连接，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以及多个转动连接在所述无菌屏障支撑板上的联轴器母头；所述电机组包括电机固定板和紧固连接在所述电机固定板上的第二电机，所述电机固定板与所述无菌屏障支撑板通过连接销座连接；所述联轴器母头的前端与所述联轴器公头连接，另一端通过另一联轴器公头与所述第二电机的输出轴紧固连接。
一实施例中，柔性手术工具系统还可包括柔性手术工具外壳、无菌屏障和电机组；所述驱动单元固定板和所述通道固定板均与所述柔性手术工具外壳紧固连接，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的内部；所述电机组包括电机固定板和紧固连接在所述电机固定板上的第三电机，所述柔性手术工具外壳通过所述无菌屏障与所述电机固定板连接；所述电机组还包括电机组外壳，所述电机固定板与所述电机组外壳转动连接，在所述电机 组外壳的内壁紧固连接有内齿圈；所述第三电机的输出轴紧固连接有整体旋转输入齿轮，所述整体旋转输入齿轮与所述内齿圈啮合。
一实施例中，柔性手术工具系统还可包括柔性手术工具外壳、无菌屏障、电机组和线性模组；所述驱动单元固定板和所述通道固定板均与所述柔性手术工具外壳紧固连接，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的内部；所述柔性手术工具外壳通过所述无菌屏障与所述电机组连接，所述电机组包括电机组外壳；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组外壳，所述第四电机通过所述直线进给机构驱动所述电机组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进行直线运动。
一实施例中，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；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依次设置有直线运动机构和转接单元，其中，直线运动机构用于将旋转运动输入转换为直线运动输出，转接单元则用于将一根驱动骨的直线运动传递给另一根驱动骨，因此，可以通过对一组直线运动机构输入旋转运动，实现对两根驱动骨的协同推拉，从而通过多组直线运动机构实现近端构节在任意方向上的弯转自由度。4、本发明在远端结构体的前端设置有手术执行器，手术执行器控线穿过远端结构体，与位于柔性手术工具中的手术执行器驱动机构连接，手术执行器驱动机构通过对手术执行器控线的推拉可以实现对手术执行器的动作控制。5、本发明设置有电机组外壳，电机固定板与电机组外壳之间采用可转动的连接方式，在电机组外壳的内壁紧固 连接有内齿圈，在电机组设置有电机，电机紧固连接于电机固定板上，电机输出轴紧固连接有整体旋转输入齿轮，整体旋转输入齿轮与内齿圈啮合，因此，所述电机可驱动系统除电机组外壳、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，从而实现对手术执行器横滚角度的调节。6、本发明由于柔性手术工具外壳与电机组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，其与电机组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是本发明省略远端结构体后的结构示意图；
图4是本发明近端结构体的结构示意图；
图5是本发明省略远端结构体后的立体结构示意图；
图6是本发明手术执行器驱动机构的结构示意图；
图7是本发明装上柔性手术工具外壳、电机组外壳、无菌屏障和线性模组后的结构示意图；
图8是本发明无菌屏障的结构示意图；
图9是本发明无菌屏障在另一视角下的结构示意图；
图10是本发明电机组的结构示意图；
图11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1～3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4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，即第二远端结构骨从第一远端间隔盘、第一远端固定盘上穿过(若第一远端结构骨采用管状结构，也可从第一远端结构骨内穿过)。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、图4所示)。
如图3、图5所示，驱动单元20包括设置在通道固定板152后方的驱动单 元固定板21，在驱动单元固定板21与靠近远端结构体11的通道固定板152之间设置有多组用于将旋转运动输入转换为直线运动输出的直线运动机构22。每一直线运动机构22的输出端与一根第一驱动骨211紧固连接，第一驱动骨211的一端通过转接单元23与一根第二驱动骨212的一端紧固连接，第一驱动骨211和第二驱动骨212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。通过两组直线运动机构22和转接单元23协同推拉与第一近端构节17连接的第一驱动骨211、第二驱动骨212，可以实现第一近端构节17在任意方向上的弯转自由度，当第一近端构节17向某个方向弯转时，第一远端构节12将以一定的比例关系(由第一构节结构骨173和第一构节结构骨123的分布半径共同决定)向相反的方向弯转；类似地，通过两组直线运动机构22和转接单元23协同推拉与第二近端构节18连接的第一驱动骨211、第二驱动骨212，可以实现第二近端构节18在任意方向上的弯转自由度，当第二近端构节18向某个方向弯转时，第二远端构节13将以一定的比例关系(由第二构节结构骨183和第二构节结构骨133的分布半径共同决定)向相反的方向弯转。
直线运动机构22包括螺杆221、滑块222和光轴223，其中，螺杆221转动支撑在两个通道固定板152之间，螺杆221的后端穿过靠近近端结构体16一侧的通道固定板152且向后延伸，光轴223固定连接在两个通道固定板152之间，滑块222滑动连接在光轴223上且与螺杆221通过螺纹连接。转接单元23包括转向结构骨231、结构骨转接块232和转向结构骨引导通道233，其中，转向结构骨引导通道233的两端紧固连接在靠近远端结构体11的通道固定板152的前侧，转向结构骨231从转向结构骨引导通道233中穿过且两端分别固定连接一个结构骨转接块232，其中一个结构骨转接块232与第一驱动骨211的一端紧固连接，另一个结构骨转接块232与第二驱动骨212的一端紧固连接。当对螺杆221输入旋转运动时，螺杆221的旋转运动将转换为滑块222的直线运动，做直线运动的滑块222一方面直接推拉第一驱动骨211，另一方面通过结构骨转接块232、转向结构骨231对第二驱动骨212形成与第一驱动骨211运动方向相反的推拉运动，而通过对第一驱动骨211、第二驱动骨212的协同推拉可进一步实现第一近端构节17或第二近端构节18的任意向弯转运动。
上述实施例中，转向结构骨231可由多根可弯曲、可承受推拉力的弹性结构骨构成，多根弹性结构骨的分布优选形式为以第一驱动骨211或第二驱动骨 212为中心的中心对称分布。当多根弹性结构骨的分布不是以第一驱动骨211或第二驱动骨212为中心的中心对称分布时，则需要在两个通道固定板152之间增设光轴，并且结构骨转接块232滑动连接在该光轴上，以防止结构骨转接块232在推拉力的作用下发生翻转。
上述实施例中，在位于驱动单元固定板21前侧的螺杆221上紧固连接有从动齿轮224，从动齿轮224与转动支撑在驱动单元固定板21上的主动齿轮225啮合，主动齿轮225的齿轮轴穿过驱动单元固定板21且与一个联轴器公头226紧固连接。联轴器公头226用于直接或间接与电机连接，以便于向螺杆221输入旋转运动。
上述实施例中，如图1、图5和图6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包括设置在两个通道固定板152之间的手术执行器驱动机构固定板251，在手术执行器驱动机构固定板251与驱动单元固定板21之间转动设置有螺杆252，螺杆252的前端穿过靠近近端结构体16一侧的通道固定板152，在位于通道固定板152与手术执行器驱动机构固定板251之间的螺杆252上通过螺纹配合连接有滑块253，滑块253滑动设置在光轴254上，光轴254固定连接在通道固定板152与手术执行器驱动机构固定板251之间。在手术执行器驱动机构固定板251与靠近远端结构体11一侧的通道固定板152之间紧固连接有控线引导通道255，手术执行器控线102的后端穿过控线引导通道255后与滑块253紧固连接。控线引导通道255的作用是保持手术执行器控线102受推、拉力时形状不变。当对螺杆252输入旋转运动时，螺杆252的旋转运动将转换为滑块253的直线运动，做直线运动的滑块253能够推拉手术执行器控线102从而实现对机械式手术执行器101(如手术钳等)的动作控制。螺杆252的后端穿过驱动单元固定板21且与一个联轴器公头256紧固连接，联轴器公头256用于直接或间接与电机连接，以便于向螺杆252输出旋转运动。手术执行器控线102同样也可以传递如电能、高频振动等各种形式的能量从而实现能量式手术执行器101的特定手术功能(如电凝、电切等)。
上述实施例中，在两通道固定板152间设置手术执行器驱动机构固定板251后，由于第二构节结构骨183的分布半径大于第一构节结构骨173的分布半径，与近端第二构节18关联的直线运动机构22将穿过手术执行器驱动机构固定板 251，且上述直线运动机构22中的滑块222在手术执行器驱动机构固定板251和靠近远端结构体11一侧的通道固定板152之间滑动。相应的，与第一近端构节17关联的直线运动机构22中的滑块222则在两通道固定板152之间滑动。
上述实施例中，如图7所示，本发明还包括柔性手术工具外壳105，驱动单元固定板21、通道固定板152和手术执行器驱动机构固定板251均与柔性手术工具外壳105紧固连接；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的内部。柔性手术工具外壳105的后端通过无菌屏障30与电机组41连接。如图8、图9所示，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。电机组41包括电机固定板411(如图10所示)和紧固连接在电机固定板411上的电机412。无菌屏障外罩301的前端与柔性手术工具外壳105采用快速可拆卸的连接形式，在无菌屏障支撑板302的后侧设置有两组连接销座304，相应地，在电机固定板411的前侧设置两组连接销座415，连接销座304与连接销座415可通过销孔快速连接，使得无菌屏障30与电机固定板411固定连接，并可整体运动。联轴器母头303的前端与联轴器公头226或联轴器公头256连接，后端通过另一联轴器公头414与电机412的输出轴连接，以传递旋转运动。在无菌屏障外罩301上紧固连接有无菌膜(图中未示出)，用于将未消毒的部分(位于无菌屏障30后的部分)与已消毒的部分(位于无菌屏障前的部分)隔离开，保证临床手术的可实施性。
上述实施例中，本发明还包括电机组外壳418，电机固定板411与电机组外壳418转动连接，在电机组外壳418的内壁紧固连接有内齿圈416，在电机固定板411上紧固连接有电机417，电机417的输出轴紧固连接有整体旋转输入齿轮419，整体旋转输入齿轮419与内齿圈416啮合。当电机417的输出轴旋转时，将带动整体旋转输入齿轮419旋转，整体旋转输入齿轮419将沿内齿圈416的周向行走，从而带动本发明除电机组外壳418和内齿圈416以外的部分整体进行旋转，进而实现对手术执行器101的横滚角度控制。
上述实施例中，如图7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。电机组外壳418与滑块502固连，当电机504的输出轴 转动时，滑块502将带电机组41、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1、图7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11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 (11)

  1. 一种柔性手术工具系统，其特征在于：它包括柔性手术工具和驱动单元；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；所述远端构节中的结构骨与所述近端构节中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
    所述驱动单元包括驱动单元固定板，在所述驱动单元固定板与靠近所述远端结构体的所述通道固定板之间设置有多组用于将旋转运动输入转换为直线运动输出的直线运动机构，每一所述直线运动机构的输出端与一根第一驱动骨紧固连接，所述第一驱动骨的一端通过转接单元与一根第二驱动骨的一端紧固连接，所述第一驱动骨和第二驱动骨的另一端均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：所述直线运动机构包括第一螺杆、第一滑块和第一光轴，所述第一螺杆转动支撑在两个所述通道固定板之间，所述第一螺杆的后端穿过靠近所述近端结构体一侧的所述通道固定板且向后延伸，所述第一光轴固定连接在两个所述通道固定板之间，所述第一滑块滑动连接在所述第一光轴上且与所述第一螺杆通过螺纹连接；以及所述第一驱动骨与所述第一滑块紧固连接。
  3. 如权利要求1所述的柔性手术工具系统，其特征在于：所述转接单元包括转向结构骨、结构骨转接块和转向结构骨引导通道，所述转向结构骨引导通道的两端紧固连接在靠近所述远端结构体的所述通道固定板的前侧，所述转向结构骨从所述转向结构骨引导通道中穿过且两端分别紧固连接一个所述结构骨转接块，其中一个所述结构骨转接块与所述第一驱动骨的一端紧固连接，另一个所述结构骨转接块与所述第二驱动骨的一端紧固连接。
  4. 如权利要求3所述的柔性手术工具系统，其特征在于：所述转向结构骨由多根弹性结构骨构成，多根所述弹性结构骨以所述第一驱动骨或第二驱动骨 为中心对称分布。
  5. 如权利要求2所述的柔性手术工具系统，其特征在于：在位于所述驱动单元固定板前侧的所述第一螺杆上紧固连接有从动齿轮，所述从动齿轮与转动支撑在所述驱动单元固定板上的主动齿轮啮合，所述主动齿轮的齿轮轴穿过所述驱动单元固定板且与一个联轴器公头紧固连接。
  6. 如权利要求1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，所述手术执行器控线的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设置在两个所述通道固定板之间的手术执行器驱动机构固定板，在所述手术执行器驱动机构固定板与所述驱动单元固定板之间转动设置有第二螺杆，所述第二螺杆的前端穿过靠近所述近端结构体一侧的所述通道固定板，在位于所述通道固定板与所述手术执行器驱动机构固定板之间的所述第二螺杆上通过螺纹配合连接有第二滑块，所述第二滑块滑动设置在第二光轴上，所述第二光轴设置在所述通道固定板与所述手术执行器驱动机构固定板之间；在所述手术执行器驱动机构固定板与靠近所述远端结构体一侧的所述通道固定板之间固定连接有控线引导通道，所述手术执行器控线的后端穿过所述控线引导通道后与所述第二滑块紧固连接；以及
    所述驱动单元还包括电机组，所述电机组包括电机固定板和紧固连接在所述电机固定板上的第一电机，所述第一电机的输出轴与所述第二螺杆直接或间接连接，将所述第一电机的所述输出轴的旋转运动传递给所述第二螺杆并转换为所述第二滑块的直线运动输出。
  7. 如权利要求5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，所述驱动单元固定板和所述通道固定板均与所述柔性手术工具外壳紧固连接，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的内部；所述柔性手术工具外壳的后端通过无菌屏障与电机组连接，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以及多个转动连接在所述无菌屏障支撑板上的联轴器母头；所述电机组包括电机固定板和紧固连接在所述电机固定板上的第二电机，所述电机固定板与所述无菌屏障支撑板通过连接销座连接；所述联轴器母头的前端与所述联轴器公头连接，另一端通过另一联轴器公头与所述第二电机的输出轴紧固连接。
  8. 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柔性手术工具外壳、无菌屏障和电机组；所述驱动单元固定板和通道固定板均与所述柔性手术工具外壳紧固连接，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的内部；所述电机组包括电机固定板和紧固连接在所述电机固定板上的第三电机，所述柔性手术工具外壳通过所述无菌屏障与所述电机固定板连接；所述电机组还包括电机组外壳，所述电机固定板与所述电机组外壳转动连接，在所述电机组外壳的内壁紧固连接有内齿圈；以及所述第三电机的输出轴紧固连接有整体旋转输入齿轮，所述整体旋转输入齿轮与所述内齿圈啮合。
  9. 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柔性手术工具外壳、无菌屏障、电机组和线性模组；所述驱动单元固定板和所述通道固定板均与所述柔性手术工具外壳紧固连接，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的内部；所述柔性手术工具外壳通过所述无菌屏障与所述电机组连接，所述电机组包括电机组外壳；以及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组外壳，所述第四电机通过所述直线进给机构驱动所述电机组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进行直线运动。
  10. 如权利要求9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。
  11. 如权利要求1-11任一项所述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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