WO2018041202A1 - 一种多自由度的柔性手术工具 - Google Patents

一种多自由度的柔性手术工具 Download PDF

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Publication number
WO2018041202A1
WO2018041202A1 PCT/CN2017/099852 CN2017099852W WO2018041202A1 WO 2018041202 A1 WO2018041202 A1 WO 2018041202A1 CN 2017099852 W CN2017099852 W CN 2017099852W WO 2018041202 A1 WO2018041202 A1 WO 2018041202A1
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WO
WIPO (PCT)
Prior art keywords
distal
proximal
fastened
drive
structural
Prior art date
Application number
PCT/CN2017/099852
Other languages
English (en)
French (fr)
Inventor
徐凯
戴正晨
董天来
赵江然
刘欢
陈煜阳
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 EP17845504.4A priority Critical patent/EP3508164B1/en
Priority to US16/329,234 priority patent/US11844502B2/en
Publication of WO2018041202A1 publication Critical patent/WO2018041202A1/zh

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    • 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
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—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
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • 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
    • 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
    • A61B2017/2943—Toothed members, e.g. rack and pinion

Definitions

  • the invention relates to a flexible surgical tool with multiple degrees of freedom, belonging to the field of medical instruments.
  • a multi-degree of freedom flexible surgical tool comprising a flexible continuum structure and a drive unit; the flexible continuum structure comprising a distal structure, a proximal end a structure and a middle connector; the distal structure comprising a first distal structure And a second distal section, the first distal section comprising a first distal spacer disk, a first distal fixation disk and a first structural bone; the second distal formation comprising a second a distal spacer disk, a second distal fixation disk, and a second 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 second Constructing a structural bone; the second structural bone located on the proximal joint is in a one-to-one correspondence with the second structural bone located on the second distal joint or is the same structural bone
  • the middle connecting body includes
  • the first distal section driving assembly includes a fixed base, a motor, a gear pair, a worm, a worm wheel, a transmission shaft, a connecting rod, a guide rod, and the slider;
  • the passage fixing plate is fastened and fastened, and the motor is fastened to the fixed base, and an output shaft of the motor is coaxially fastened with one of the gear pairs, and the gear is centered
  • Another gear is coaxially fastened to the worm, the worm is engaged with the worm wheel, the worm wheel is sleeved on the transmission shaft, and the transmission shaft is rotatably connected with the fixed base.
  • the transmission shaft is fastened to the middle of the connecting rod; the two sliders are respectively located on the left and right sides of the transmission shaft and are slidably connected to the guiding rod, and the guiding rod is fastened Connected between two of the channel fixing plates; and two ends of the connecting rod are respectively connected to one of the sliders.
  • a surgical actuator is disposed at a front end of the distal structure, and a control line of the surgical actuator passes through the distal structure, the middle connector, and the proximal structure, and One end is coupled to a surgical actuator drive mechanism disposed in the proximal articulation drive handle;
  • the surgical actuator drive mechanism includes a drive slider, a drive slide, a connection spring, a guide rod, a drive rod, a link, and a driving mechanism fixing plate;
  • the driving mechanism fixing plate is tightly connected with the proximal end section driving handle, a guide rod is disposed between the rear end of the proximal end section driving handle and the driving mechanism fixing plate;
  • the driving slider is slidably coupled to the guiding rod and fastened to the control line;
  • a drive slider is slidably coupled to the guide rod on a front side of the drive slider, the drive slider is coupled to the drive slider by the connection spring; one end of the drive rod and the proximal end
  • the segment driving handle is rotatably
  • a control line guiding channel is disposed between the channel fixing plate adjacent to the distal structure and the driving mechanism fixing plate, and the control line passes through the control line guiding channel.
  • a sliding groove is respectively disposed at both ends of the connecting rod; a cylindrical protrusion is disposed at one end of each of the sliding blocks, and a cylindrical protrusion of the sliding block is restricted in a sliding groove of the connecting rod; The distance between the plane of motion of the two sliders to the center of rotation of the link is equal.
  • the flexible surgical tool further comprises a flexible surgical tool housing and a proximal articulating drive handle outer sleeve; the middle connector is located inside the flexible surgical tool housing, and the two channel fixing plates are Securely coupled to the flexible surgical tool housing; the proximal articulating drive handle outer sleeve is sleeved over the exterior of the proximal articulating drive handle.
  • the flexible surgical tool further includes a motor drive system including a motor control board and a toggle switch, the motor control board being fixedly coupled between the two channel fixing plates, Controlling the rotational movement of the motor; the toggle switch is electrically connected to the motor control board, and the toggle switch is provided with three gear positions for controlling the forward rotation of the motor, maintaining the current position, and inverting .
  • a motor drive system including a motor control board and a toggle switch, the motor control board being fixedly coupled between the two channel fixing plates, Controlling the rotational movement of the motor; the toggle switch is electrically connected to the motor control board, and the toggle switch is provided with three gear positions for controlling the forward rotation of the motor, maintaining the current position, and inverting .
  • the flexible surgical tool further includes a first cover disposed outside the distal structure and a second cover disposed outside the proximal structure.
  • the present invention also provides a multi-degree of freedom flexible surgical tool comprising a flexible continuum structure and a drive unit; the flexible continuum structure comprising a distal structure, a proximal structure and a middle connector
  • the distal structure includes a first distal segment and a second distal segment, the first distal segment including a first distal spacer, a first distal fixed disk, and a first configuration
  • the second distal section includes a second distal spacer disk, a second distal fixation disk, and a second structural bone
  • the proximal structure includes a proximal end section, the proximal end section
  • the bellows and the second structural bone are included;
  • the second structural bone located on the proximal joint is in a one-to-one correspondence with the second structural bone located on the second distal joint or The same structural bone;
  • the middle connecting body comprises a channel fixing plate, a channel fixing block, a first structural bone guiding channel and a second structural bone guiding channel, wherein
  • the drive unit includes a proximal section drive handle and a first distal section drive assembly, wherein the proximal section drive handle is securely coupled to a rear end of the bellows; the first distal end
  • the segment driving assembly is located between the two channel fixing plates and the output end is two sliders that move in a reverse direction in a straight line; one end of the first segment structure bone is fastened to the slider, and the other One end passes through the channel fixing block, the first structural bone guiding channel, and the first distal spacer disk, and is fastened to the first distal fixing plate.
  • the first distal section driving assembly includes a fixed base, a motor, a gear pair, a worm, a worm wheel, a transmission shaft, a connecting rod, a guide rod, and the slider;
  • the passage fixing plate is fastened and fastened, and the motor is fastened to the fixed base, and an output shaft of the motor is coaxially fastened with one of the gear pairs, and the gear is centered
  • Another gear is coaxially fastened to the worm, the worm is engaged with the worm wheel, the worm wheel is sleeved on the transmission shaft, and the transmission shaft is rotatably connected with the fixed base.
  • the transmission shaft is fastened to the middle of the connecting rod; the two sliders are respectively located on the left and right sides of the transmission shaft and are slidably connected to the guiding rod, and the guiding rod is fastened Connected between two of the channel fixing plates; and two ends of the connecting rod are respectively connected to one of the sliders.
  • 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, a middle connector and a distal structure, wherein the distal structure has a series relationship.
  • the first distal segment and the second distal segment are configured, the proximal structure is composed of a proximal segment, the proximal segment is associated with the second distal segment, and the proximal segment is also proximal
  • the end section drives a handle association, the first distal section being associated with the first distal section drive assembly, whereby the first distal section drive assembly can control the bending motion of the first distal section in the horizontal plane
  • the bending movement of the second distal end section in any direction can be controlled by the proximal end of the drive handle.
  • 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. 3.
  • the operator can trigger the connection with the motor while bending the proximal end section to drive the handle.
  • the toggle switch implements a coordinated drive of the bending of the two sections in the distal structure. 4.
  • the present invention is provided with a surgical actuator at the front end of the distal structure, and the control thread of the surgical actuator passes through the distal structure and is connected to the surgical actuator driving mechanism located in the proximal section driving handle, the hand
  • the actuator actuator drive mechanism can control the movement of the surgical actuator by pushing and pulling the control line.
  • the invention can be applied to porous laparoscopic surgery as well as single-port laparoscopic surgery.
  • 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 first distal section driving assembly of the present invention.
  • Figure 5 is a schematic structural view of a surgical actuator driving mechanism of the present invention.
  • Figure 6 is a structural schematic view of the present invention with a flexible surgical tool housing and a proximal end-section driving handle outer sleeve;
  • FIG. 7 is a schematic structural view of a motor control board mounted on a first distal section driving assembly of the present invention.
  • Figure 8 is a schematic structural view of a bellows of the present invention.
  • Figure 9 is a schematic longitudinal sectional view of a bellows of the present invention.
  • the present invention includes a flexible continuum structure 10 and a drive unit 20.
  • the flexible continuum structure 10 includes a distal structural body 11 (shown in FIG. 2), a proximal structural body 16 (shown in FIG. 3), and a central connecting body 15.
  • the distal structure 11 includes a first distal section 12 and a second distal section 13 having a series connection relationship; the proximal structure includes a proximal end section, and the proximal end section passes through the middle connecting body 15 and the second
  • the distal section 13 is associated, and when the proximal section is bent in any direction, the second distal section 13 is correspondingly turned in the opposite direction.
  • the drive unit 20 includes a proximal articulation drive handle 21 and a first distal articulation drive assembly 22, wherein the proximal articulation drive handle 21 is associated with the proximal end section for driving the proximal end section to bend in any direction
  • the proximal end can also transmit the overall feed motion and the overall rotational motion from the proximal articulated drive handle 21 while maintaining its curved shape and length, thereby implementing a flexible surgical tool.
  • the overall feed motion and the overall rotational motion about its own axis.
  • the first distal section drive assembly 22 is associated with the first distal section 12 for driving a pivoting movement of the first distal section 12 in a horizontal direction.
  • the first distal section 12 includes a first distal spacer 121, a first distal fixation disk 122, and a first structural bone 123;
  • the second distal formation 13 includes a second distal end. Spacer 131, second far The end fixing disk 132 and the second structural structure bone 132.
  • 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 end section includes a proximal spacer disk 161, a proximal fixation disk 162, and a second stent structure bone 163, wherein the proximal spacer disk 161 is spaced apart in the proximal end section to prevent The second structural bone 163 is unstable when pushed.
  • the second segmental structural bone 163 located on the proximal end section is in a one-to-one correspondence with the second structural section bone 133 located on the second distal end section 13 or is the same structural bone.
  • the number of the first segmental structure bones 123 on the first distal section 12 and the second section structure bones 133 on the second distal section 13 are all three or more.
  • the middle connecting body 15 includes a channel fixing plate 152, a channel fixing block 153, a first structural bone guiding channel 151 and a second structural bone guiding channel 154, wherein the two channel fixing blocks 153 are arranged at right and left intervals and are fixedly connected in two channels.
  • the first structural bone guiding channel 151 is fastened between the channel fixing plate 152 and the channel fixing block 153
  • the second structural bone guiding channel 154 is fastened to the two channel fixing plates.
  • One end of the first structural structure bone 123 is fastened to the output end slider 228 of the first distal section driving assembly 22 (as shown in FIG.
  • the guiding channel 151 and the first distal spacer disk 121 are fastened to the first distal fixing disk 122.
  • One end of the second segment structure bone 163 (133) is fastened to the proximal fixation disk 162, and the other end sequentially passes through the proximal spacer disk 161, the second structural bone guiding channel 154, the first distal configuration section 12, The two distal spacers 131 are then fastened to the second distal fixed disk 132.
  • the function of the first structural bone guiding channel 151 is to keep the shape of the first structural bone 123 when it is pushed and pulled; the function of the second structural bone guiding channel 154 is to maintain the second structural bone 163 (133). The shape does not change when pushed or pulled.
  • the first distal section driving assembly 22 includes a fixed base 221, a motor 222, a gear pair 223, a worm 224, a worm wheel 225, a transmission shaft 226, a connecting rod 227, a slider 228, and a guide. Rod 229.
  • There are two fixing bases 221 (only one is shown in FIG. 4), which are fastened to the channel fixing plate 152 and arranged oppositely in the upper and lower directions.
  • the motor 222 is fastened to one of the fixed bases 221, and the output shaft of the motor 222 is coaxially fastened to one of the gear pairs 223, and the other of the gear pairs 223 is coaxially fastened to the worm 224.
  • the worm 224 is meshed with the worm wheel 225.
  • the worm wheel 225 is sleeved on the transmission shaft 226.
  • the transmission shaft 226 is rotatably supported between the two fixed bases 221, and the transmission shaft 226 is fastened to the middle of the connecting rod 227.
  • Two sliders 228 are located on the left and right sides of the transmission shaft 226 and are respectively slidably coupled to the guide rod 229.
  • the guide rod 229 is fastened between the two passage fixing plates 152. Both ends of the connecting rod 227 are respectively connected to a slider 228 which serves as an output end of the first distal end section driving assembly 22.
  • the rotational power of the motor 222 can be transmitted to the drive shaft 226 through the gear pair 223, the worm 224, and the worm wheel 225, so that the drive link 227 is rotated, and the rotation of the link 227 is converted into a linear motion of the slider 228 along the guide rod 229, thereby forming a pair.
  • the coordinated push-pull motion of the first articulated bone 123 drives the first segment 12 to bend in the horizontal direction.
  • the proximal end of the drive handle 21 is fastened to the proximal fixed disc 162, and the bending of the proximal end of the drive handle 21 can control the bending of the proximal structure 16 and
  • the curved shape of the proximal structure 16 under the drive of the proximal section drive handle 21 is approximately arcuate.
  • a surgical actuator 101 is provided at the front end of the distal structural body 11, and the control line 102 of the surgical actuator 101 is from the distal structural body 11, the central connecting body 15 and the vicinity.
  • the end structure 16 is passed through and the other end is coupled to a surgical actuator drive mechanism 25 disposed in the proximal articulation drive handle 21.
  • the surgical actuator drive mechanism 25 includes a drive slider 251, a drive slider 252, a connection spring 253, a guide rod 254, a drive lever 255, a link 256, and a drive mechanism fixing plate 257.
  • the driving mechanism fixing plate 257 is tightly connected with the proximal end section driving handle 21, and the guiding rod 254 is fastened between the rear end of the proximal end section driving handle 21 and the driving mechanism fixing plate 257.
  • the driving slider 251 is slidably connected to the guiding rod 254, and the driving slider 251 is tightly connected with the control line 102; the driving slider 252 is slidably coupled to the guiding rod 254 located at the front side of the driving slider 251, and the driving slider 252 and the driving The slider 251 is connected by a connection spring 253.
  • One end of the drive rod 255 is rotatably coupled to the proximal end section drive handle 21, and the middle portion of the drive rod 255 is coupled to the drive sled 252 via a link 256.
  • the rotation of the driving rod 255 can push and pull the driving slider 252 to slide back and forth along the guiding rod 254, so as to drive the sliding slider 251 to slide back and forth by the connecting spring 253, thereby forming a push-pull movement of the control line 102 to realize the surgical actuator 101.
  • Action control (such as surgical forceps).
  • the control line 102 of the surgical actuator 101 can also deliver various forms of energy, such as electrical energy, high frequency vibrations, etc., to achieve a particular surgical function of the surgical actuator 101.
  • a control line guiding passage 258 is disposed between the passage fixing plate 152 and the driving mechanism fixing plate 257 near the distal end structure 11, and the control line 102 passes through the control line guiding passage 258, and its function is to maintain The shape of the control line 102 is unchanged when pushed and pulled.
  • a sliding groove is respectively provided at both ends of the link 227; a cylindrical projection is provided at one end of each of the sliders 228, and the cylindrical projection of the slider 228 is restricted in the sliding groove of the link 227.
  • the moving planes of the two sliders 228 are equal to the center of rotation of the connecting rod 227. Therefore, the connecting rod 227 can drive the two sliders 228 to slide in the opposite direction along the guiding rod 229 at the same moving speed, thereby cooperatively pushing and pulling.
  • the first section structure bone 123 is respectively provided at both ends of the link 227; a cylindrical projection is provided at one end of each of the sliders 228, and the cylindrical projection of the slider 228 is restricted in the sliding groove of the link 227.
  • the moving planes of the two sliders 228 are equal to the center of rotation of the connecting rod 227. Therefore, the connecting rod 227 can drive the two sliders 228 to slide in the opposite direction along the guiding rod 229 at the same moving speed, thereby cooperatively pushing and pulling.
  • the present invention further includes a flexible surgical tool housing 105 and a proximal section driving handle outer sleeve 107, wherein the middle connecting body 15 is located inside the flexible surgical tool housing 105, and the two channels are fixed.
  • the plates 152 are each securely coupled to the flexible surgical tool housing 105; the proximal articulating drive handle outer sleeve 107 is tightened over the exterior of the proximal articulating drive handle 21.
  • the flexible surgical tool housing 105 and the proximally configured drive handle outer sleeve 107 enclose the drive unit 20 and isolate it from the outside so that the present invention can be integrally sterilized prior to use to ensure the feasibility of clinical procedures.
  • the present invention further includes a motor drive system including a motor control board 301 and a toggle switch 302.
  • the motor control board 301 is fixedly connected to the two channel fixing plates 152.
  • the toggle switch 302 is disposed on the proximal end of the proximal drive drive handle sleeve 107, which is electrically connected to the motor control board 301.
  • the toggle switch 302 is provided with three gear positions for controlling the forward rotation of the motor 222, maintaining the current position, and turn.
  • the toggle switch 302 can also be a potentiometer that precisely controls the degree of bending of the first distal section 12.
  • the present invention further includes a cover 103 disposed outside the distal structure 11 and a cover 165 disposed outside the proximal structure 106, the functions of the covers 103 and 165 being to improve the appearance, and The surface smoothness of the distal structure 11 can be improved.
  • the proximal end of the proximal structure 16 of the present invention may also employ another configuration, the proximal section of the structure comprising a bellows 167 (shown in Figures 8 and 9) and a second structured bone 163.
  • One end of the second structural structure bone 163 is fastened to one end of the bellows 167, and the other end passes through the through hole 166 disposed on the bellows 167, the second structural bone guiding channel 154, and the first distal end.
  • the frame 12 and the second distal spacer 131 are fastened to the second distal fixed disk 132.

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Abstract

一种多自由度的柔性手术工具，包括柔性连续体结构（10）和驱动单元（20）；柔性连续体结构（10）包括远端结构体（11）、近端结构体（16）和中部连接体（15）；远端结构体（11）包括第一远端构节（12）和第二远端构节（13），近端结构体（16）包括近端构节，位于近端构节上的第二构节结构骨（163）与位于第二远端构节（13）上的第二构节结构骨（133）一一对应紧固连接或为同一根结构骨；中部连接体（15）包括通道固定板（152）、通道固定块（153）、第一结构骨引导通道（151）和第二结构骨引导通道（154）；驱动单元（20）包括近端构节驱动手柄（21）和第一远端构节驱动组件（22），近端构节驱动手柄（21）与近端固定盘（162）紧固连接；第一远端构节驱动组件（22）位于两个通道固定板（152）之间且输出端为两个沿直线做反向运动的滑块（228）；第一构节结构骨（123）的一端与滑块（228）紧固连接，另一端依次穿过通道固定块（153）、第一结构骨引导通道（151）、第一远端间隔盘（121）后与第一远端固定盘（122）紧固连接。

Description

一种多自由度的柔性手术工具
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201610796050.4、发明名称为“一种多自由度的柔性手术工具”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
本发明涉及一种多自由度的柔性手术工具，属于医疗器械领域。
背景技术
在现代医疗领域中，手动多孔腹腔镜微创手术已被广泛应用于临床。此类微创手术成功降低了病人的术后疼痛、并发症、康复住院时间以及改善了术后疤痕外观。为了进一步减小手术创伤，减少患者病痛，研究者提出了单孔腹腔镜微创手术。
相较于多孔腹腔镜微创手术需要多个体表切口，单孔腹腔镜微创手术中所有手术工具均由一个体表切口(通常是肚脐)进入腹腔，进一步减小了对患者的创伤。然而，此类单一入口的构型无论对手术器械的设计还是手术时医生的操作均提出了更高的要求。
传统的刚性手术器械多为细长的杆状结构，在工具的末端设置有手术执行器，通过钢丝或绳索的牵拉进行运动控制。基于传统刚性手术器械的手动单孔腹腔镜手术由于存在复杂的手眼协同操作需求，加之手术工具的灵活度有限、工作范围较小等困难，手动单孔腹腔镜手术尚未广泛应用于临床。
发明内容
针对上述问题，本发明的一个目的是提供一种多自由度的柔性手术工具，该柔性手术工具能够较好地应用于经单一手术切口或多个手术切口而实施的手术。
为实现上述目的，本发明采用以下技术方案：一种多自由度的柔性手术工具，所述柔性手术工具包括柔性连续体结构和驱动单元；所述柔性连续体结构包括远端结构体、近端结构体和中部连接体；所述远端结构体包括第一远端构 节和第二远端构节，所述第一远端构节包括第一远端间隔盘、第一远端固定盘和第一构节结构骨；所述第二远端构节包括第二远端间隔盘、第二远端固定盘和第二构节结构骨；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、近端固定盘和第二构节结构骨；位于所述近端构节上的第二构节结构骨与位于所述第二远端构节上的第二构节结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括通道固定板、通道固定块、第一结构骨引导通道和第二结构骨引导通道，所述通道固定块位于两个所述通道固定板之间，所述第一结构骨引导通道紧固连接在所述通道固定块与靠近所述远端结构体的所述通道固定板之间，所述第二结构骨引导通道紧固连接在两个所述通道固定板之间；所述第二构节结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第二结构骨引导通道、所述第一远端构节、所述第二远端间隔盘后与所述第二远端固定盘紧固连接；以及所述驱动单元包括近端构节驱动手柄和第一远端构节驱动组件，其中，所述近端构节驱动手柄与所述近端固定盘紧固连接；所述第一远端构节驱动组件位于两个所述通道固定板之间且其输出端为两个沿直线做反向运动的滑块；所述第一构节结构骨的一端与所述滑块紧固连接，另一端依次穿过所述通道固定块、所述第一结构骨引导通道、所述第一远端间隔盘后与所述第一远端固定盘紧固连接。
一优选实施例中，所述第一远端构节驱动组件包括固定基座、电机、齿轮对、蜗杆、蜗轮、传动轴、连杆、导杆和所述滑块；所述固定基座与所述通道固定板紧固连接，在所述固定基座上紧固连接所述电机，所述电机的输出轴与所述齿轮对中的一个齿轮同轴紧固连接，所述齿轮对中的另一个齿轮与所述蜗杆同轴紧固连接，所述蜗杆与所述蜗轮啮合，所述蜗轮紧固套接在所述传动轴上，所述传动轴与所述固定基座转动连接，所述传动轴与所述连杆的中部紧固连接；所述滑块为两个，分别位于所述传动轴的左、右两侧且滑动连接在所述导杆上，所述导杆紧固连接在两个所述通道固定板之间；以及所述连杆的两端分别与一个所述滑块连接。
一优选实施例中，在所述远端结构体的前端设置有手术执行器，所述手术执行器的控线从所述远端结构体、中部连接体和近端结构体中穿过，另一端与设置在所述近端构节驱动手柄中的手术执行器驱动机构连接；其中所述手术执行器驱动机构包括驱动滑块、传动滑块、连接弹簧、导杆、驱动杆、连杆和驱动机构固定板；所述驱动机构固定板与所述近端构节驱动手柄紧固连接，所述 导杆设置在所述近端构节驱动手柄的后端与所述驱动机构固定板之间；所述驱动滑块滑动连接在所述导杆上并与所述控线紧固连接；所述传动滑块滑动连接在位于所述驱动滑块前侧的所述导杆上，所述传动滑块与所述驱动滑块通过所述连接弹簧连接；所述驱动杆的一端与所述近端构节驱动手柄转动连接，所述驱动杆的中部通过所述连杆与所述传动滑块连接。
一优选实施例中，在靠近所述远端结构体的所述通道固定板与所述驱动机构固定板之间设置有控线引导通道，所述控线从所述控线引导通道中穿过。
在所述连杆的两端分别设置有一个滑动槽；在每一个所述滑块的一端设置有圆柱形突起，所述滑块的圆柱形突起限制在所述连杆的滑动槽中；以及两个所述滑块的运动平面到所述连杆的转动中心的距离相等。
一优选实施例中，所述柔性手术工具还包括柔性手术工具外壳和近端构节驱动手柄外套管；所述中部连接体位于所述柔性手术工具外壳的内部，两个所述通道固定板均与所述柔性手术工具外壳紧固连接；所述近端构节驱动手柄外套管紧固套设在所述近端构节驱动手柄的外部。
一优选实施例中，所述柔性手术工具还包括电机驱动系统，所述电机驱动系统包括电机控制板和拨动开关，所述电机控制板固定连接在两个所述通道固定板之间，用于控制所述电机的旋转运动；所述拨动开关与所述电机控制板电连接，所述拨动开关设置有三个档位，分别用于控制所述电机正转、保持当前位置和反转。
一优选实施例中，所述柔性手术工具还包括设置在所述远端结构体外部的第一封皮以及设置在所述近端结构体外部的第二封皮。
本发明的还提供了一种多自由度的柔性手术工具，所述柔性手术工具包括柔性连续体结构和驱动单元；所述柔性连续体结构包括远端结构体、近端结构体和中部连接体；所述远端结构体包括第一远端构节和第二远端构节，所述第一远端构节包括第一远端间隔盘、第一远端固定盘和第一构节结构骨；所述第二远端构节包括第二远端间隔盘、第二远端固定盘和第二构节结构骨；所述近端结构体包括近端构节，所述近端构节包括波纹管和第二构节结构骨；位于所述近端构节上的第二构节结构骨与位于第二远端构节上的第二构节结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括通道固定板、通道固定块、第一结构骨引导通道和第二结构骨引导通道，所述通道固定块位于两个所述通道固定板之间，所述第一结构骨引导通道紧固连接在所述通道固定块与靠 近所述远端结构体的所述通道固定板之间，所述第二结构骨引导通道紧固连接在两个所述通道固定板之间；所述第二构节结构骨的一端与所述波纹管的一端紧固连接，另一端依次穿过所述波纹管、第二结构骨引导通道、第一远端构节、第二远端间隔盘后与第二远端固定盘紧固连接；所述驱动单元包括近端构节驱动手柄和第一远端构节驱动组件，其中，所述近端构节驱动手柄与所述波纹管的后端紧固连接；所述第一远端构节驱动组件位于两个所述通道固定板之间且输出端为两个沿直线做反向运动的滑块；所述第一构节结构骨的一端与所述滑块紧固连接，另一端依次穿过所述通道固定块、第一结构骨引导通道、第一远端间隔盘后与第一远端固定盘紧固连接。
一优选实施例中，所述第一远端构节驱动组件包括固定基座、电机、齿轮对、蜗杆、蜗轮、传动轴、连杆、导杆和所述滑块；所述固定基座与所述通道固定板紧固连接，在所述固定基座上紧固连接所述电机，所述电机的输出轴与所述齿轮对中的一个齿轮同轴紧固连接，所述齿轮对中的另一个齿轮与所述蜗杆同轴紧固连接，所述蜗杆与所述蜗轮啮合，所述蜗轮紧固套设在所述传动轴上，所述传动轴与所述固定基座转动连接，所述传动轴与所述连杆的中部紧固连接；所述滑块为两个，分别位于所述传动轴的左、右两侧且滑动连接在所述导杆上，所述导杆紧固连接在两个所述通道固定板之间；以及所述连杆的两端分别与一个所述滑块连接。
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，其中，远端结构体由具有串联关系的第一远端构节和第二远端构节构成，近端结构体由一个近端构节构成，近端构节与第二远端构节关联，并且，近端构节还与近端构节驱动手柄关联，第一远端构节与第一远端构节驱动组件关联，因此，通过第一远端构节驱动组件可以控制第一远端构节在水平面内的弯转运动，通过近端构节驱动手柄可以控制第二远端构节在任意方向上的弯转运动。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、本发明由于第一远端构节和第二远端构节分别由电机和近端构节驱动手柄进行驱动，因此操作者可在弯转近端构节驱动手柄的同时触发与电机关联的拨动开关实现对远端结构体中两个构节弯转的协同驱动。4、本发明在远端结构体的前端设置有手术执行器，手术执行器的控线穿过远端结构体，与位于近端构节驱动手柄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控线的推拉可以实现对手术执行器的动作控制。
本发明可应用于多孔腔镜手术，也可应用于单孔腔镜手术。
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是本发明第一远端构节驱动组件的结构示意图；
图5是本发明手术执行器驱动机构的结构示意图；
图6是本发明装上柔性手术工具外壳和近端构节驱动手柄外套管后的结构示意图；
图7是本发明第一远端构节驱动组件中安装上电机控制板的结构示意图；
图8是本发明波纹管的结构示意图；
图9是本发明波纹管的纵剖结构示意图。
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，本发明包括柔性连续体结构10和驱动单元20。
柔性连续体结构10包括远端结构体11(如图2所示)、近端结构体16(如图3所示)和中部连接体15。远端结构体11包括具有串联连接关系的第一远端构节12和第二远端构节13；近端结构体包括一个近端构节，近端构节通过中部连接体15与第二远端构节13关联，当近端构节向任意方向弯转时，第二远端构节13相应地向相反的方向弯转。驱动单元20包括近端构节驱动手柄21和第一远端构节驱动组件22，其中，近端构节驱动手柄21与近端构节关联，用于驱动近端构节向任意方向的弯转，此外，近端构节还能够在保持其弯转形状和长度不变的前提下，传递来自于近端构节驱动手柄21的整体进给运动和整体旋转运动，进而实现柔性手术工具的整体进给运动和绕自身轴线的整体旋转运动。第一远端构节驱动组件22与第一远端构节12关联，用于驱动第一远端构节12在水平方向上的弯转运动。
如图2所示，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132。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。
如图3所示，近端构节包括近端间隔盘161、近端固定盘162和第二构节结构骨163，其中，近端间隔盘161间隔分布于近端构节中，作用是防止第二构节结构骨163在受推时失稳。位于近端构节上的第二构节结构骨163与位于第二远端构节13上的第二构节结构骨133一一对应紧固连接或为同一根结构骨。第一远端构节12上的第一构节结构骨123以及第二远端构节13上的第二构节结构骨133的数量均为三根以上。
中部连接体15包括通道固定板152、通道固定块153、第一结构骨引导通道151和第二结构骨引导通道154，其中，两个通道固定块153左右间隔布置且固定连接在位于两个通道固定板152之间的导杆229上，第一结构骨引导通道151紧固连接在通道固定板152与通道固定块153之间，第二结构骨引导通道154紧固连接在两个通道固定板152之间。第一构节结构骨123的一端与第一远端构节驱动组件22的输出端滑块228紧固连接(如图4所示)，另一端依次穿过通道固定块153、第一结构骨引导通道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163(133)的一端与近端固定盘162紧固连接，另一端依次穿过近端间隔盘161、第二结构骨引导通道154、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。第一结构骨引导通道151的作用是保持第一构节结构骨123在受推、拉力时形状不变；第二结构骨引导通道154的作用是保持第二构节结构骨163(133)在受推、拉力时形状不变。
如图3、图4所示，第一远端构节驱动组件22包括固定基座221、电机222、齿轮对223、蜗杆224、蜗轮225、传动轴226、连杆227、滑块228和导杆229。其中，固定基座221为两个(图4中仅示出一个)，与通道固定板152紧固连接且呈上、下相对布置。在其中一个固定基座221上紧固连接电机222，电机222的输出轴与齿轮对223中的一个齿轮同轴紧固连接，齿轮对223中的另一个齿轮与蜗杆224同轴紧固连接，蜗杆224与蜗轮225啮合，蜗轮225紧固套设在传动轴226上，传动轴226转动支撑在两个固定基座221之间，传动轴226与连杆227的中部紧固连接。滑块228为两个，位于传动轴226的左、右两侧且分别滑动连接在导杆229上，导杆229紧固连接在两个通道固定板152之间。 连杆227的两端分别与一个滑块228连接，两个滑块228作为第一远端构节驱动组件22的输出端。电机222的旋转动力可以通过齿轮对223、蜗杆224、蜗轮225传递给传动轴226，从而驱动连杆227转动，连杆227的转动转化为滑块228沿导杆229的直线运动，进而形成对第一构节结构骨123的协同推拉运动，驱使第一构节12在水平方向上弯转。
如图3、图5所示，近端构节驱动手柄21与近端固定盘162紧固连接，对近端构节驱动手柄21施加弯转力矩可以控制近端结构体16的弯转，并且近端结构体16在近端构节驱动手柄21驱动下的弯转形状为近似圆弧形。
上述实施例中，如图2、图5所示，在远端结构体11的前端设置有手术执行器101，手术执行器101的控线102从远端结构体11、中部连接体15和近端结构体16中穿过，另一端与设置在近端构节驱动手柄21中的手术执行器驱动机构25连接。手术执行器驱动机构25包括驱动滑块251、传动滑块252、连接弹簧253、导杆254、驱动杆255、连杆256和驱动机构固定板257。其中，驱动机构固定板257与近端构节驱动手柄21紧固连接，导杆254紧固设置在近端构节驱动手柄21的后端与驱动机构固定板257之间。驱动滑块251滑动连接在导杆254上，驱动滑块251与控线102紧固连接；传动滑块252滑动连接在位于驱动滑块251前侧的导杆254上，传动滑块252与驱动滑块251通过连接弹簧253连接。驱动杆255的一端与近端构节驱动手柄21转动连接，驱动杆255的中部通过连杆256与传动滑块252连接。驱动杆255的转动可以推拉传动滑块252沿导杆254进行前后滑动，从而通过连接弹簧253带动驱动滑块251进行前后滑动，进而形成对控线102的推拉运动，以实现对手术执行器101(如手术钳)的动作控制。手术执行器101的控线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手术执行器101的特定手术功能。
上述实施例中，在靠近远端结构体11的通道固定板152与驱动机构固定板257之间设置有控线引导通道258，控线102从控线引导通道258中穿过，其作用是保持控线102受推、拉力时形状不变。
上述实施例中，在连杆227的两端分别设置有一个滑动槽；在每一个滑块228的一端设置有圆柱形突起，滑块228的圆柱形突起限制在连杆227的滑动槽中。此外，两个滑块228的运动平面到连杆227转动中心的距离相等，因此，连杆227能够驱动两个滑块228以相同的运动速度向相反的方向沿导杆229滑动，进而协同推拉第一构节结构骨123。
上述实施例中，如图6所示，本发明还包括柔性手术工具外壳105和近端构节驱动手柄外套管107，其中，中部连接体15位于柔性手术工具外壳105的内部，两个通道固定板152均与柔性手术工具外壳105紧固连接；近端构节驱动手柄外套管107紧固套设在近端构节驱动手柄21的外部。柔性手术工具外壳105和近端构节驱动手柄外套管107将驱动单元20封装并与外界隔离，使得本发明在使用前可进行整体消毒，以保证临床手术的可实施性。
上述实施例中，如图6、图7所示，本发明还包括电机驱动系统，电机驱动系统包括电机控制板301和拨动开关302，电机控制板301固定连接在两个通道固定板152之间，用于控制电机222的旋转运动。拨动开关302设置在近端构节驱动手柄外套管107上，其与电机控制板301电连接，拨动开关302设置有三个档位，分别用于控制电机222正转、保持当前位置和反转。拨动开关302也可以是电位计，精确控制第一远端构节12的弯曲程度。
上述实施例中，如图1所示，本发明还包括设置在远端结构体11外部的封皮103以及设置在近端结构体106外部的封皮165，封皮103和165的作用是改善外观，并可提高远端结构体11的表面光滑度。
本发明近端结构体16的近端构节也可以采用另一种结构，该结构下的近端构节包括波纹管167(如图8、图9所示)和第二构节结构骨163，其中，第二构节结构骨163的一端紧固连接在波纹管167的一端，另一端依次穿过设置在波纹管167上的通孔166、第二结构骨引导通道154、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。
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 (10)

  1. 一种多自由度的柔性手术工具，其特征在于：所述柔性手术工具包括柔性连续体结构和驱动单元；
    所述柔性连续体结构包括远端结构体、近端结构体和中部连接体；
    所述远端结构体包括第一远端构节和第二远端构节，所述第一远端构节包括第一远端间隔盘、第一远端固定盘和第一构节结构骨；所述第二远端构节包括第二远端间隔盘、第二远端固定盘和第二构节结构骨；
    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、近端固定盘和第二构节结构骨；位于所述近端构节上的第二构节结构骨与位于所述第二远端构节上的第二构节结构骨一一对应紧固连接或为同一根第二构节结构骨；
    所述中部连接体包括通道固定板、通道固定块、第一结构骨引导通道和第二结构骨引导通道，所述通道固定块位于两个所述通道固定板之间，所述第一结构骨引导通道紧固连接在所述通道固定块与靠近所述远端结构体的所述通道固定板之间，所述第二结构骨引导通道紧固连接在两个所述通道固定板之间；所述第二构节结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第二结构骨引导通道、所述第一远端构节、所述第二远端间隔盘后与所述第二远端固定盘紧固连接；以及
    所述驱动单元包括近端构节驱动手柄和第一远端构节驱动组件，其中，所述近端构节驱动手柄与所述近端固定盘紧固连接；所述第一远端构节驱动组件位于两个所述通道固定板之间且其输出端为两个沿直线做反向运动的滑块；所述第一构节结构骨的一端与所述滑块紧固连接，另一端依次穿过所述通道固定块、所述第一结构骨引导通道、所述第一远端间隔盘后与所述第一远端固定盘紧固连接。
  2. 如权利要求1所述的一种多自由度的柔性手术工具，其特征在于：所述第一远端构节驱动组件包括固定基座、电机、齿轮对、蜗杆、蜗轮、传动轴、连杆、导杆和所述滑块；所述固定基座与所述通道固定板紧固连接，在所述固定基座上紧固连接所述电机，所述电机的输出轴与所述齿轮对中的一个齿轮同轴紧固连接，所述齿轮对中的另一个齿轮与所述蜗杆同轴紧固连接，所述蜗杆与所述蜗轮啮合，所述蜗轮紧固套接在所述传动轴上，所述传动轴与所述固定基座转动连接，所述传动轴与所述连杆的中部紧固连接；所述滑块为两个，分 别位于所述传动轴的左、右两侧且滑动连接在所述导杆上，所述导杆紧固连接在两个所述通道固定板之间；以及所述连杆的两端分别与一个所述滑块连接。
  3. 如权利要求1所述的一种多自由度的柔性手术工具，其特征在于：在所述远端结构体的前端设置有手术执行器，所述手术执行器的控线从所述远端结构体、所述中部连接体和所述近端结构体中穿过，另一端与设置在所述近端构节驱动手柄中的手术执行器驱动机构连接；其中所述手术执行器驱动机构包括驱动滑块、传动滑块、连接弹簧、导杆、驱动杆、连杆和驱动机构固定板；所述驱动机构固定板与所述近端构节驱动手柄紧固连接，所述导杆设置在所述近端构节驱动手柄的后端与所述驱动机构固定板之间；所述驱动滑块滑动连接在所述导杆上并与所述控线紧固连接；所述传动滑块滑动连接在位于所述驱动滑块前侧的所述导杆上，所述传动滑块与所述驱动滑块通过所述连接弹簧连接；以及所述驱动杆的一端与所述近端构节驱动手柄转动连接，所述驱动杆的中部通过所述连杆与所述传动滑块连接。
  4. 如权利要求3所述的一种多自由度的柔性手术工具，其特征在于：在靠近所述远端结构体的所述通道固定板与所述驱动机构固定板之间设置有控线引导通道，所述控线从所述控线引导通道中穿过。
  5. 如权利要求2所述的一种多自由度的柔性手术工具，其特征在于：在所述连杆的两端分别设置有一个滑动槽；在每一个所述滑块的一端设置有圆柱形突起，所述滑块的圆柱形突起限制在所述连杆的滑动槽中；以及两个所述滑块的运动平面到所述连杆的转动中心的距离相等。
  6. 如权利要求1所述的一种多自由度的柔性手术工具，其特征在于：所述柔性手术工具还包括柔性手术工具外壳和近端构节驱动手柄外套管；所述中部连接体位于所述柔性手术工具外壳的内部，两个所述通道固定板均与所述柔性手术工具外壳紧固连接；以及所述近端构节驱动手柄外套管紧固套设在所述近端构节驱动手柄的外部。
  7. 如权利要求2所述的一种多自由度的柔性手术工具，其特征在于：所述柔性手术工具还包括电机驱动系统，所述电机驱动系统包括电机控制板和拨动开关，所述电机控制板固定连接在两个所述通道固定板之间，用于控制所述电机的旋转运动；所述拨动开关与所述电机控制板电连接，所述拨动开关设置有三个档位，分别用于控制所述电机正转、保持当前位置和反转。
  8. 如权利要求1所述的一种多自由度的柔性手术工具，其特征在于：所述 柔性手术工具还包括设置在所述远端结构体外部的第一封皮以及设置在所述近端结构体外部的第二封皮。
  9. 一种多自由度的柔性手术工具，其特征在于：所述柔性手术工具包括柔性连续体结构和驱动单元；
    所述柔性连续体结构包括远端结构体、近端结构体和中部连接体；
    所述远端结构体包括第一远端构节和第二远端构节，所述第一远端构节包括第一远端间隔盘、第一远端固定盘和第一构节结构骨；所述第二远端构节包括第二远端间隔盘、第二远端固定盘和第二构节结构骨；
    所述近端结构体包括近端构节，所述近端构节包括波纹管和第二构节结构骨；位于所述近端构节上的第二构节结构骨与位于所述第二远端构节上的第二构节结构骨一一对应紧固连接或为同一根第二构节结构骨；
    所述中部连接体包括通道固定板、通道固定块、第一结构骨引导通道和第二结构骨引导通道，所述通道固定块位于两个所述通道固定板之间，所述第一结构骨引导通道紧固连接在所述通道固定块与靠近所述远端结构体的所述通道固定板之间，所述第二结构骨引导通道紧固连接在两个所述通道固定板之间；所述第二构节结构骨的一端与所述波纹管的一端紧固连接，另一端依次穿过所述波纹管、所述第二结构骨引导通道、所述第一远端构节、所述第二远端间隔盘后与所述第二远端固定盘紧固连接；
    所述驱动单元包括近端构节驱动手柄和第一远端构节驱动组件，其中，所述近端构节驱动手柄与所述波纹管的后端紧固连接；所述第一远端构节驱动组件位于两个所述通道固定板之间且输出端为两个沿直线做反向运动的滑块；所述第一构节结构骨的一端与所述滑块紧固连接，另一端依次穿过所述通道固定块、所述第一结构骨引导通道、所述第一远端间隔盘后与所述第一远端固定盘紧固连接。
  10. 如权利要求9所述的一种多自由度的柔性手术工具，其特征在于：所述第一远端构节驱动组件包括固定基座、电机、齿轮对、蜗杆、蜗轮、传动轴、连杆、导杆和所述滑块；所述固定基座与所述通道固定板紧固连接，在所述固定基座上紧固连接所述电机，所述电机的输出轴与所述齿轮对中的一个齿轮同轴紧固连接，所述齿轮对中的另一个齿轮与所述蜗杆同轴紧固连接，所述蜗杆与所述蜗轮啮合，所述蜗轮紧固套设在所述传动轴上，所述传动轴与所述固定 基座转动连接，所述传动轴与所述连杆的中部紧固连接；所述滑块为两个，分别位于所述传动轴的左、右两侧且滑动连接在所述导杆上，所述导杆紧固连接在两个所述通道固定板之间；以及所述连杆的两端分别与一个所述滑块连接。
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