WO2018041203A1 - 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
WO2018041203A1
WO2018041203A1 PCT/CN2017/099853 CN2017099853W WO2018041203A1 WO 2018041203 A1 WO2018041203 A1 WO 2018041203A1 CN 2017099853 W CN2017099853 W CN 2017099853W WO 2018041203 A1 WO2018041203 A1 WO 2018041203A1
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WIPO (PCT)
Prior art keywords
proximal
distal
surgical tool
fastened
gear
Prior art date
Application number
PCT/CN2017/099853
Other languages
English (en)
French (fr)
Inventor
徐凯
戴正晨
张树桉
赵江然
刘欢
梁博
阳志雄
刘增辉
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
Priority claimed from CN201610799235.0A external-priority patent/CN106562806B/zh
Priority claimed from CN201610795869.9A external-priority patent/CN106308934B/zh
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 CA3035284A priority Critical patent/CA3035284C/en
Priority to US16/329,744 priority patent/US11844503B2/en
Priority to EP17845505.1A priority patent/EP3517050B1/en
Priority to JP2019531524A priority patent/JP7212619B2/ja
Priority to KR1020197009263A priority patent/KR102257231B1/ko
Publication of WO2018041203A1 publication Critical patent/WO2018041203A1/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
    • A61B17/00234—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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
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    • 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
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    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
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    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • 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
    • A61B1/005—Flexible endoscopes
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
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    • 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
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    • A61B2017/00323—Cables or rods
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    • 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
    • A61B2017/00336—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
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    • 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
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    • A61B2017/2926—Details of heads or jaws
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    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Definitions

  • the present invention relates to a medical device, and in particular to a flexible surgical tool system.
  • Porous laparoscopic minimally invasive surgery has occupied an important position in surgery because of its small wound and rapid recovery.
  • the Da Vinci surgical robotic assistant doctor of Intuitive Surgical (American Intuition Surgery Company) has 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 pre-bent casing, which improved to some extent.
  • the athletic performance of surgical instruments but still can not fundamentally solve the problems faced by traditional surgical instruments.
  • a flexible surgical tool system that is flexible
  • the tool system can be well applied to surgical robot systems that are operated through the natural lumen of a human body or through a single surgical incision.
  • a flexible surgical tool system comprising a flexible continuum structure mainly composed of a sequentially associated distal structure, a middle connector and a proximal structure, the distal structure
  • the proximal end of the body is associated with the proximal structure via the central connector, the distal end being a surgically performed end
  • the distal structure is comprised of at least one distal segment, each of the distal segments comprising a distal end An end fixation disc and a structural bone
  • the proximal structural body comprising a proximal end section, each of the proximal end sections comprising a proximal fixation disc and a structural bone
  • the flexible surgical tool system further comprises the proximal end a transmission drive unit associated with the structure
  • the transmission drive unit includes one or more transmission mechanisms respectively corresponding to driving the proximal end section, the transmission mechanism capable of converting a pair of axis-parallel rotational motion inputs into a pair
  • the number of proximal segments is equal to the number of distal segments.
  • the middle connector includes a flexible surgical tool distal plate, a channel support plate, a transmission substrate, and a fixed connection between the flexible surgical tool distal plate and the transmission substrate a structural bone guiding channel through the channel support plate; and the structural bone on the distal end section is in a one-to-one correspondence with the structural bone on the proximal end section or is the same structural bone, the structural bone One end is fastened to the proximal fixation plate, and the other end is fastened to the distal fixation plate after passing through the structural bone guiding channel.
  • the transmission mechanism is a gear transmission mechanism including a driving gear transmission mechanism, a planetary gear transmission mechanism and a swing rod transmission mechanism; the driving gear transmission mechanism transmits power from the outside
  • the planetary gear train, the planetary gear train and the swing link transmission mechanism are capable of converting the rotational motion input of a pair of axes parallel into the rotational motion output of a pair of axes perpendicularly intersecting, the planet a gearing mechanism for outputting the rotational motion parallel to the rotational motion input axis for controlling a bending plane orientation of the proximal section, the rocker transmission mechanism to be perpendicular to the rotational motion input axis
  • the rotational motion output is used to control the bending angle of the proximal end section in the turning plane.
  • the driving gear transmission mechanism is respectively fastened and connected to two Two driving gears at one end of the driving shaft, the other end of the driving shaft is tightly connected with the first coupling male shaft; two of the driving gears respectively pass through one idler gear respectively with the first driven ring gear and the second slave
  • the moving ring gear engages and drives its rotation, and the second driven ring gear has teeth on the inner side and the outer side of the second ring gear.
  • the planetary gear mechanism includes: a planet carrier plate and a support base fastened to the first driven ring gear, and a planetary drive shaft rotatably disposed on the planet carrier plate at one end Sewing a planetary gear coupled to the planetary transmission shaft and fastening a planetary bevel gear coupled to the other end of the planetary transmission shaft; wherein the second driven ring gear is rotatably disposed on the planet carrier plate The inner teeth of the second driven ring gear mesh with the planetary gears; the support seats are simultaneously rotatably coupled to the transmission substrate.
  • the swinging rod transmission mechanism includes: a swinging shaft bracket fastened to the supporting base, and a swinging shaft rotatably disposed on the swinging shaft bracket, and is fastened to the swinging shaft a web, a swing bevel gear and a guide post fastened to the web, and a guide sleeve slidably coupled to the guide post; wherein the swing bevel gear is a partial bevel gear, and the swing bevel gear a swing axis coincident with the swing shaft axis, the swing bevel gear meshes with the planetary bevel gear; and the guide sleeve is fastened to the proximal end fixed disc drive plate while the proximal fixed disc is The proximal end section secures the disc drive plate in a secure connection.
  • the transmission drive unit further includes a surgical actuator drive mechanism, and a surgical actuator is disposed at a distal end of the distal structure;
  • the surgical actuator drive mechanism includes: a flexible surgical tool a bottom plate, a screw supported between the channel support plate and the flexible surgical tool bottom plate, fastening a first coupling male end connected to one end of the screw, and screwing a nut on the screw tightly a guide rod fixedly coupled between the transmission mechanism substrate and the channel support plate and slidably coupled to the nut, and one end is fastened to the surgical actuator, and the other end is worn through the distal structure
  • a surgical actuator wire that is fastened and fastened to the nut.
  • the flexible surgical tool system further includes a motor drive unit associated with the flexible surgical tool, the motor drive unit comprising: a plurality of first motors fastened to the motor mounting plate, rotating a motor drive unit housing connected to an outer circumference of the motor fixing plate, fastening an inner ring gear connected to an end surface of the motor drive unit housing, fastening a gear connected to one of the first motor output shafts, and Fastening a second coupling male shaft connected to the remaining ones of the first motor output shafts; wherein the first motor coupled to the gears drives the gears to rotate and drives the motor drive unit All the structures other than the motor drive unit housing and the inner ring gear rotate integrally around the axis of the inner ring gear, thereby achieving roll angle control of the distal structure.
  • the motor drive unit comprising: a plurality of first motors fastened to the motor mounting plate, rotating a motor drive unit housing connected to an outer circumference of the motor fixing plate, fastening an inner ring gear connected to an end surface of the motor drive unit housing, fasten
  • the flexible surgical tool and the motor drive unit are connected by a sterile barrier comprising a sterile barrier cover and a sterile barrier support plate, the sterile barrier support plate
  • the upper rotation is provided with a plurality of coupling females that can be quickly coupled with the first coupling male and the second coupling male; respectively, a motor is arranged on the sterile barrier support plate a driving unit connecting screw, correspondingly disposed on the motor fixing plate with a sterile barrier connecting seat, the sterile barrier connecting seat being connected with the motor driving unit connecting screw, so that the sterile barrier and the motor
  • the fixed plate is fixedly coupled and is capable of transmitting an integral movement; and a sterile membrane for isolating the sterilizable portion from the unsterile portion is secured to the sterile barrier housing.
  • the flexible surgical tool system further includes a linear module
  • the linear module includes: a bracket body with a linear chute, and a screw disposed on the bracket body, and is screwed to a slider disposed on the lead screw and slidably disposed in the linear chute, and a second motor fastened to the bracket body; wherein the slider is fastened to the motor drive unit housing The second motor output shaft is tightly coupled to the lead screw.
  • the transmission mechanism is a cam transmission mechanism
  • the cam transmission mechanism includes two driving gears respectively fastened to one ends of the two driving shafts, and the other end of the driving shaft is coupled with the first coupling shaft
  • the male shaft is coaxially fastened; each of the driving gears meshes with the first driven ring gear and the second driven ring gear and drives the rotation thereof; the first driven ring gear is fastened to the cam,
  • the cam is rotatably connected to the transmission mechanism substrate; and the second driven ring gear is integrally and integrally connected with the transmission shaft, the rotation driving plate and the support plate, and the support plate is rotatably connected with the transmission mechanism substrate.
  • the cam is rotatably coupled to the rotary drive plate; and the cam drive mechanism further includes a planar link mechanism that is fastened to the slider at one end, the slider being axially slidably coupled to the drive shaft and capable of transmitting along a circumferentially rotating motion; the slider is fastened to a plurality of rollers, the rollers being matched with the helical cam grooves on the cam to generate a pushing and pulling force along the axis of the transmission shaft; level The other end of the link mechanism and the proximal end of the slide plate connected to a fixed disk drive, while the proximal end of the proximal end of the fixed disc and the fixed disk drive plate fastened.
  • the planar link mechanism is mainly composed of a push rod, a connecting rod and a rocker, and the push rod is slidably coupled to the support plate, and one end thereof is fastened to the slider.
  • the other end is rotatably connected to one end of the connecting rod through the support plate, and the other end of the connecting rod is rotatably connected with the rocking rod fixedly fixed on the transmission shaft, the rocking rod and the proximal end
  • the fixed disk drive board is slidably connected.
  • the distal section further comprises a plurality of distal spacers spaced apart therefrom, the plurality of structural bones of the distal section being distributed from each of the distal spacers Structural bone passage Passing through the hole, the end is fixed to the distal fixation plate; and the proximal end portion further includes a plurality of proximal spacer disks spaced apart therefrom and a proximal structure fastened to the transmission substrate Fixing the substrate, a plurality of the structural ends of the proximal end of the structure are fixed to the proximal fixed disc, and the other end is sequentially passed through the structural bones distributed through the proximal spacer discs through the holes and the The structural bones on the distal section are one-to-one correspondingly fastened or are the same structural bone.
  • the structural bone of the distal segment and/or the structural bone of the proximal segment is an elastic thin rod or a thin tube made of Nitinol or stainless steel;
  • the structural bone of the distal or proximal section of the former uses an elastic thin tube, the latter distal section or the proximal structure
  • the structural bone of the segment can pass through the elastic thin tube or directly through the distal spacer or the structural bone passage hole on the proximal spacer disk; and each of the distal or proximal end sections
  • the number of structural bones in the middle is more than three.
  • the outer structure of the distal structure is covered with a cover, and an outer sleeve and a sheath are further disposed outside the cover.
  • the invention adopts the above technical solutions, and has the following advantages: 1.
  • the 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 transmission drive unit, wherein, the far The end structure is associated with the proximal structure by the middle connector, and the drive drive unit is associated with the proximal structure.
  • the drive drive unit drives the proximal end of the proximal structure to bend in any direction, the distal structure Accordingly, the bending is reversed in the opposite direction, so that any bending movement of the flexible surgical arm composed of the distal structure and the cover can be achieved.
  • the present invention employs redundant structural bone arrangements (greater than three) in the proximal structure, the middle connector, and the distal structure to improve the safety, reliability, and load capacity of the flexible surgical tool system.
  • the sterile barrier of the present invention can be quickly connected to the flexible surgical tool at one end, and the motor drive unit can be quickly connected at the other end, thereby effectively isolating the system's sterilized flexible surgical tool from the remaining unsterilized parts to ensure clinical operation. Implementability. 4.
  • the present invention is provided with a gear transmission mechanism in a flexible surgical tool that converts a pair of axis-parallel rotational motion inputs into a rotational motion output in which a pair of axes intersect perpendicularly, wherein one parallel to the rotational motion input axis
  • the rotational motion (implemented by the first drive mode) outputs a bending plane orientation for controlling the proximal section, and the other rotational motion output (implemented by the second drive mode) perpendicular to the rotational motion input axis is used to control the proximal configuration
  • the turning angle of the knot in the turning plane can ultimately drive a proximal end section of the proximal structure to bend in any direction through a set of gearing mechanisms in a small space. 5.
  • the present invention is provided with a surgical actuator at the front end of the distal structure body, and the surgical actuator control line is connected through the flexible continuum structure to the surgical actuator driving mechanism located in the flexible surgical tool, thereby realizing the operation Actuator motion control.
  • the present invention is further provided with a motor drive unit housing, and an inner ring gear is fixedly connected to an end surface of the motor drive unit housing, and the remaining structure in the motor drive unit and the motor drive unit housing are relatively rotatable, wherein the motor output
  • the shaft is fixedly coupled with a gear, and the gear meshes with the ring gear. Therefore, the motor can drive a portion other than the motor drive unit housing and the ring gear for overall rotation, so that the flexible surgical arm has an overall rotational freedom.
  • the present invention is further provided with a linear module that is fixedly coupled to the motor drive unit housing and that can drive the motor drive unit, the sterile barrier, and the flexible surgical tool for linear motion, and thus the flexible surgical arm also has linear feed freedom.
  • the invention can be applied to single-port laparoscopic surgery, and can also be applied to non-invasive surgery through natural channels.
  • FIG. 1 is a schematic view showing the overall structure of a flexible surgical tool system according to a first embodiment of the present invention
  • Figure 2 is a schematic structural view of the distal structure of Figure 1;
  • Figure 3 is a schematic structural view of the proximal end section of Figure 1;
  • Figure 4 is a schematic structural view of the middle connector of Figure 1;
  • Figure 5 is a schematic structural view of the transmission drive unit of Figure 1;
  • FIG. 6 is a schematic structural view of the gear transmission mechanism and the surgical actuator driving mechanism of FIG. 1;
  • Figure 7 is a cross-sectional view of the gear transmission mechanism of Figure 1;
  • Figure 8 is a cross-sectional view of the gear transmission mechanism of Figure 1 in another direction;
  • Figure 9 is a schematic structural view of the motor drive unit of Figure 1;
  • FIG. 10 is a schematic structural view of the present invention after installing a sterile barrier, a motor drive unit, and a linear module;
  • Figure 11 is a schematic view showing the structure of the sterile barrier 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
  • Figure 13 is a schematic view showing the overall structure of a flexible surgical tool system according to a second embodiment of the present invention.
  • Figure 14 is a schematic structural view of the distal end structure of Figure 13;
  • Figure 15 is a schematic structural view of the proximal end section of Figure 13;
  • Figure 16 is a schematic structural view of the middle connector of Figure 13;
  • Figure 17 is a schematic structural view of the transmission drive unit of Figure 13;
  • Figure 18 is a schematic view showing the structure of the cam mechanism and the surgical actuator driving mechanism of Figure 13;
  • Figure 19 is a cross-sectional view of the cam gear of Figure 18;
  • FIG. 20 is a schematic structural view of a motor drive unit of a flexible surgical tool system according to a second embodiment of the present invention.
  • Figure 21 is a block diagram showing the construction of a sterile barrier, a motor drive unit and a linear module in accordance with a second embodiment of the present invention.
  • FIG. 1 illustrates a flexible surgical tool system 10 provided in accordance with the present embodiment including a flexible continuum structure consisting primarily of a distal structural body 11, a proximal structural body 16 and a central connecting body 15, and associated with a flexible continuum structure Drive drive unit 21.
  • a flexible continuum structure consisting primarily of a distal structural body 11, a proximal structural body 16 and a central connecting body 15, and associated with a flexible continuum structure Drive drive unit 21.
  • the proximal end of the distal structure 11 is associated with the proximal structure 16 through the central connector 15, and the distal end is the surgical end.
  • the drive drive unit 21 is associated with the proximal structure 16 and when the drive drive unit 21 drives the proximal structure 16 to bend in any direction, the distal structure 11 is correspondingly turned in the opposite direction.
  • the distal structure 11 includes a surgical actuator 101, a first distal section 12, and a second distal section 13.
  • the first distal end section 12 includes a first distal spacer disk 121, a first distal fixed disk 122, and a first structural bone 123.
  • a plurality of first distal spacer discs 121 are spaced apart from each other in the first distal end section 12 to prevent instability of the first articulated structural bone 123 when pushed.
  • a plurality of first structural structural bones 123 pass through the structural bones distributed from the respective first distal spacer disks 121, and the ends are fixed to the first distal fixed disk 122.
  • the second distal section 13 includes a second distal spacer disk 131, a second distal fixation disk 132, and a second skeletal structure bone 133.
  • a plurality of second distal spacers 131 are spaced apart in the second distal section 13 to prevent instability of the second articulated bone 133 when pushed.
  • a plurality of second structural structural bones 133 pass through the structural bones distributed from the respective second distal spacers 131 through the holes, and the ends are fixed to the second distal fixed disk 132. It should be noted that the first structural structure bone 123 and the second structural structure bone 133 should be three or more, respectively.
  • the proximal structure 16 includes two first proximal ends 17 and a second proximal end 18 that are identical in structure.
  • the first proximal end segment 17 includes a first proximal spacer disk 171, a first proximal fixation disk 172, a first configuration structure bone 173 and a first proximal end fixation substrate 174, and a plurality of first proximal spacer disks
  • the 171 are spaced apart from each other in the first proximal end section 17, respectively, to prevent the first structural bone 173 from being destabilized when pushed.
  • the second proximal end segment 18 includes a second proximal spacer disk 181, a second proximal fixation disk 182, a second formation structure bone 183, and a second proximal end fixation substrate 184, a plurality of second proximal ends
  • the spacers 181 are respectively spaced apart in the second proximal end section 18 to prevent the second structural bone 183 Lost when pushed.
  • the first structural structure bone 173 located on the first proximal end section 17 is in a one-to-one correspondence with the first structural structure bone 123 located on the first distal end section 12 or is the same structural bone;
  • the second structural member bone 183 on the two proximal end sections 18 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. It should be noted that the number of first and second structural bones 173 and 183 should be consistent with the number of first and second structural bones 123, 133, respectively.
  • the middle connecting body 15 includes a distal passage fixing plate 154, a passage supporting plate 152 and a gear transmission substrate 238 which are sequentially spaced apart, and are fixedly coupled to the distal passage fixing plate 154 and the gear transmission substrate 238.
  • the structural bone guide channel 151 is passed through and through the channel support plate 152.
  • the channel support plate 152 and the gear transmission substrate 238 may be a group, or may be arranged in groups (for example, two groups in FIG. 5), the number of the channel support plate 152 and the gear transmission substrate 238. It is consistent with the number of gear transmission mechanisms 22 in the drive drive unit 21.
  • 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 channel 151 is to keep the shape of the structural bone constant when pushed and pulled.
  • the structural bone in the distal structural body 11 and/or the structural bone in the proximal structural body 16 may be an elastic thin rod or a thin tube, and the material may be nickel titanium alloy or stainless steel or the like.
  • the number of nodes of the distal end section in the distal structure 11 and the number of sections of the proximal end section of the proximal structure 16 may be one or more than two, but the distal end of the distal structure 11 The number of segments of the segment should always be consistent with the number of segments of the proximal segment in the proximal structure 16.
  • the structure of the posterior distal or proximal segment can pass through the elastic tubule or directly through the structural bone passage hole in the distal spacer disk or the proximal spacer disk, which can be used without changing the relative motion relationship within the distal structure 11 or the proximal structure 16.
  • the relative arrangement of the proximal end segments in the proximal structure 16 can be in series, nested or independently arranged (as shown in Figure 1), and the like.
  • the transmission driving unit 21 includes two gear transmission mechanisms 22 (only by way of example, and not limited thereto), respectively corresponding to driving the first proximal end section 17 and the second proximal end section. 18.
  • the gear transmission mechanism 22 includes two driving gears 221 fastened to one ends of the two driving shafts 213, respectively.
  • the other end of the moving shaft 213 is coaxially fastened to the two coupling male heads 212, respectively.
  • the two driving gears 221 are respectively engaged with the first driven ring gear 223 and the second driven ring gear 224 by an idle gear 222 and drive the rotation thereof.
  • the first driven ring gear 223 is fastened to the planet carrier plate 227 and the support base 228.
  • the support base 228 is fastened to the swing shaft bracket 234, and the support base 228 is fastened to the first proximal end of the fixed base plate 174. Or the second proximal end of the fixed transmission substrate 175 on the gear train substrate 238 is rotatably coupled.
  • the second driven ring gear 224 is rotatably disposed on the planet carrier plate 227, and has teeth on the inner and outer sides thereof, and the outer teeth thereof mesh with the idler gear 222. The inner teeth mesh to drive the planetary gears 225 fastened to the planetary transmission shaft 226. .
  • the planetary transmission shaft 226 is rotatably disposed on the planet carrier plate 227, and one end of the planetary transmission shaft 226 is tightly coupled to the planetary bevel gear 229.
  • the swing bevel gear 231 is a partial bevel gear which is fastened to the web 232, the web 232 is fastened to the swing shaft 233, and the swing axis of the swing bevel gear 231 coincides with the axis of the swing shaft 233.
  • the swing shaft 233 is rotatably disposed on the swing shaft bracket 234, and the swing bevel gear 231 meshes with the planetary bevel gear 229 to transmit and move.
  • the web 232 is fastened to the guide post 235, the guide post 235 is slidably coupled to the guide sleeve 236, and the guide sleeve 236 is fastened to the proximal end of the fixed disc drive plate 237, while the first proximal fixed disc 172, the second near The end fixing plates 182 are each tightly coupled to a proximal fixed disk drive plate 237.
  • the swing bevel gear 231 and the web 232 are driven. Within a certain range, it oscillates about the axis of the swinging shaft 233, and drives the guiding post 235 to slide along the guiding sleeve 236, and finally drives the proximal end of the fixed disc driving plate 237 to bend, thereby directly controlling the first proximal end section 17 and the second proximal end.
  • the rotation angle of the first proximal end section 17 and the second proximal end section 18 in the corresponding bending plane remains unchanged, and only the swing plane pointing of the swing bevel gear 231 is changed, that is, the proximal end section fixed disc
  • the inversion plane of the drive plate 237 is directed to ultimately effect adjustment of the bending plane orientation of the first proximal end section 17 and the second proximal end section 18 without changing the first proximal end section 17 and the second proximal end section 18 a turning angle in the above-mentioned turning plane; in the second driving mode, the first driven ring gear 223 is stationary, and the second driven ring gear 224 is driven, at this time, the planet carrier plate 227 and the components fastened thereto Both are relatively stationary with the gear train substrate 238, and the first proximal end section 17 and the second proximal end section 18 only change in the bending angle in the turning plane, and the bending plane orientation remains unchanged.
  • first driving mode Combining the first driving mode and the second driving mode, synergy between the turning plane orientation of the first proximal end section 17 and the second proximal end section 18 and the turning angle in the bending plane can be achieved control.
  • first proximal end section 17 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 (determined by the distribution radius of the first structural section bone 123 (173)) to the opposite The direction is bent; similarly, when the second proximal end section 18 is bent in a certain direction, the second distal end section 13 will be in a certain proportional relationship (distribution by the second dissecting structure bone 133 (183)) The radii are determined together) to bend in the opposite direction.
  • a surgical actuator 101 (shown in Figures 1 and 2) is provided at the distal end of the distal structure 11, and one end of the surgical actuator control line 102 is fixedly coupled to the surgical actuator 101.
  • One end passes through the distal structure 11, and is connected to a surgical actuator drive mechanism 25 (shown in Figures 5 and 6) at the end of the drive drive unit 21, and the surgical actuator drive mechanism 25 controls the surgical actuator.
  • the physical push-pull of 102 enables motion control of the surgical actuator 101, such as a surgical forceps.
  • the surgical actuator control line 102 can also transmit energy such as electrical energy, ultrasonic vibration, etc.
  • the surgical actuator drive mechanism 25 includes a screw 251 and a nut 252.
  • the screw 251 is rotatably supported between the channel support plate 152 and the flexible surgical tool bottom plate 106.
  • One end of the screw 251 is coaxially fastened to the other coupling male head 212, and the screw 251 and the nut 252 are screwed, and the guide rod 253
  • the fastening is connected between the gear transmission base plate 238 and the passage support plate 152, and is slidably coupled to the nut 252.
  • the power from the outside drives the screw 251 to rotate through the coupling male 212, so that the nut 252 moves linearly forward and backward under the guidance of the guide rod 253, and pushes the surgical actuator control line 102, which is fastened and connected with the nut 252 at one end, and finally realizes the operation.
  • the motion control of the actuator 101 The motion control of the actuator 101.
  • the present invention further includes a motor driving unit 40 associated with the flexible surgical tool 10.
  • the motor driving unit 40 includes a motor driving unit housing 401, a motor fixing plate 402, Gear 421 and ring gear 422.
  • the motor drive unit housing 401 is located in the electric The outer circumference of the machine fixing plate 402, the end surface of the motor driving unit housing 401 is fastened to the inner ring gear 422, and the motor fixing plate 402 is rotatably connected to the motor driving unit housing 401.
  • a plurality of motors (six motors in this embodiment) are fastened to the motor fixing plate 402.
  • the gear 421 is meshed with the ring gear 422.
  • the motor connected to the gear 421 can drive the gear 421 to rotate, and drive all the structures of the motor drive unit 40 except the motor drive unit housing 401 and the ring gear 422 to rotate integrally around the axis of the ring gear 422, thereby realizing the distal end.
  • the roll angle control of the structure 11 and the surgical actuator 101 is provided.
  • the flexible surgical tool 10 and motor drive unit 40 can be quickly coupled by a sterile barrier 30 that includes a sterile barrier housing 301 and a sterile barrier support panel. 302.
  • the sterile barrier support plate 302 is rotatably disposed with a plurality of coupling female 303s that can be quickly coupled to the coupling males 212 and 403, respectively.
  • a motor drive unit connecting screw 304 is disposed on the sterile barrier support plate 302, and a sterile barrier connecting seat 404 (shown in FIG. 9), a sterile barrier connecting seat 404 and a motor are correspondingly disposed on the motor fixing plate 402.
  • the drive unit attachment screw 304 can be quickly coupled such that the sterile barrier 30 is fixedly coupled to the motor mounting plate 402 and can transmit an integral movement.
  • a sterile membrane (not shown) is secured to the sterile barrier housing 301 for use with the sterilizable portion (such as the portion of the flexible surgical tool 10 prior to the sterile barrier 30) and the unsterile portion ( For example, the motor drive unit 40, the linear module 50 and the like located behind the sterile barrier 30 are isolated to ensure the clinical feasibility of the operation.
  • the present invention also includes a linear module 50 (the linear module 50 is also isolated from the sterilized portion by a sterile membrane), which includes a stent body with linear chutes. 501, a screw 503 is rotatably disposed on the bracket body 501, and a slider 502 is disposed on the lead screw 503 by threadingly engaging with the lead screw 503 and slidingly disposed in the linear sliding slot, and is disposed at one end of the bracket body 501.
  • the motor 504, the output shaft of the motor 504 and the lead screw 503 are tightly coupled by a coupling.
  • the motor drive unit housing 401 is fastened to the slider 502. When the output shaft of the motor 504 is rotated, the slider 502 will drive the motor drive unit housing 401 to linearly move along the linear chute, thereby achieving the feed motion of the flexible surgical tool 10.
  • more than one (in this embodiment, one) support ring 108 can also be arranged in the middle connecting body 15, and the structural bone guiding channel 151 and the driving shaft 213 pass through the supporting ring 108 for supporting The structural bone guide channel 151 and the drive shaft 213.
  • a cover 103 is disposed on the outside of the distal structure 11 for improving the smoothness of the distal structure 11 into the natural cavity or surgical incision of the human body.
  • An outer sleeve 104 and a sheath 60 may also be provided on the outside 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 can freely pass through the through hole of the sheath 60 for the surgical tool to reach the surgical site.
  • the sheath 60 can also be a flexible sheath that can more easily extend into various natural lumens of the human body and adaptively change shape as the shape of the lumen.
  • One end of the flexible sheath is fixed at the entrance of the tunnel, and the distal structure 11 together with the cover 103 and the surgical actuator 101 can freely pass through the flexible sheath to the through hole through which the surgical tool passes.
  • Figure 13 illustrates a flexible surgical tool system 10a including a flexible continuum structure consisting primarily of a distal structural body 11a, a proximal structural body 16a and a central connecting body 15a, and a flexible continuum, in accordance with another embodiment of the present invention.
  • Structure-dependent drive drive unit 21a wherein, the proximal end of the distal structure 11a is associated with the proximal structure 16a through the central connector 15a, and the distal end is the surgical end.
  • the drive drive unit 21a is associated with the proximal structure 16a, and when the drive drive unit 21a drives the proximal structure 16a to bend in any direction, the distal structure 11a is correspondingly turned in the opposite direction.
  • the distal structure 11a includes a surgical actuator 101a, a first distal end section 12a, and a second distal end section 13a.
  • the first distal end section 12a includes a first distal spacer disk 121a, a first distal fixed disk 122a and a first structured structural bone 123a.
  • a plurality of first distal spacer discs 121a are spaced apart from each other in the first distal end section 12a to prevent instability of the first articulated structural bone 123a when pushed.
  • a plurality of first structural structural bones 123a pass through the structural bones distributed from the respective first distal spacer disks 121a, and the ends are fixed to the first distal fixed disk 122a.
  • the second distal end section 13a includes a second distal spacer disk 131a, a second distal fixed disk 132a, and a second shaped structural bone 133a.
  • a plurality of second distal spacer discs 131a are spaced apart from each other in the second distal end section 13a to prevent instability of the second articulated structural bone 133a when pushed.
  • a plurality of second segment structure bones 133a are passed through the holes through the structural bones distributed from the respective second distal spacer disks 131a, and the ends are fixed to the second distal fixed disk 132a. It should be noted that the first and second structural bones 123a and 133a should be three or more.
  • the proximal structure 16a includes two first proximal ends 17a and a second proximal end 18a that are identical in structure.
  • the first proximal end segment 17a includes a first proximal spacer disk 171a, a first proximal fixed disk 172a and a first structurally configured bone 173a, and the first proximal spacer disks 171a are spaced apart from each other at the first proximal end.
  • the role is to prevent the first structural member bone 173a from being destabilized when pushed.
  • the second proximal end segment 18a includes a second proximal spacer disk 181a, a second proximal fixed disk 182a and a second structurally configured bone 183a, and the plurality of second proximal spacer disks 181a are spaced apart from each other.
  • the action is to prevent the second section structure bone 183a from being destabilized when pushed.
  • One-to-one fastening connection or the same structural bone second structural bone 183a on the second proximal end 18a and second structural bone 133a on the second distal end 13a Corresponding to the fastening connection or the same structural bone.
  • the number of the first constitutional structure bone 173a and the second constitutional structure bone 183a should be consistent with the number of the first constitutional structure bone 123a and the second constitutional structure bone 133a, respectively.
  • the middle connecting body 15a includes a flexible surgical tool distal end plate 107a, a channel supporting plate 152a, and a cam gear mechanism substrate 236a which are sequentially spaced apart, and both ends are fixedly coupled to the flexible surgical tool distal end plate 107a and the cam drive.
  • the channel support plate 152a and the cam gear mechanism substrate 236a may be a group, or may be alternately arranged in multiple groups (for example, two groups in FIG. 17), the number of the channel support plate 152a and the cam gear mechanism substrate 236a. It is consistent with the number of cam drive mechanisms 22a.
  • first structural structure bone 173a (123a) is fastened to the first proximal fixation disk 172a, and the other end sequentially passes through the first proximal spacer disk 171a, the structural bone guiding channel 151a, and the first distal spacer disk 121a. It is then fastened to the first distal fixed disk 122a.
  • One end of the second segment structure bone 183a (133a) is fastened to the second proximal fixation disk 182a, and the other end sequentially passes through the second proximal spacer disk 181a, the structural bone guiding channel 151a, and the first distal end section 12a.
  • the second distal spacer 131a is then fastened to the second distal fixed disk 132a.
  • the function of the structural bone guiding channel 151a is to keep the shape of the structural bone constant when pushed and pulled.
  • the structural bone in the distal structural body 11a and/or the structural bone in the proximal structural body 16a may be an elastic thin rod or a thin tube, and the material may be nickel titanium alloy or stainless steel or the like.
  • the number of the distal end sections of the distal end structure 11a and the number of the proximal end sections of the proximal end structure 16a may be one or more than two, but the distal end of the distal end structure 11a
  • the number of segments of the segment should always be consistent with the number of segments of the proximal segment in the proximal structure 16a.
  • the structure of the posterior distal or proximal segment can pass through the elastic tubule or directly through the structural bone passage hole on the distal spacer disk or the proximal spacer disk, which can be used without changing the relative motion relationship within the distal structure 11a or the proximal structure 16a.
  • the relative arrangement of the proximal ends of the proximal structures 12a can be in series, nested or independently arranged (as shown in Figure 13), and the like.
  • the transmission drive unit 21a includes two cam transmission mechanisms 22a (only by way of example, and not limited thereto), respectively corresponding to driving the first proximal end section 17a and the second proximal end section. 18a.
  • the cam gear mechanism 22a includes two driving gears 221a fastened to one ends of the two driving shafts 213a, and the other ends of the two driving shafts 213a are coaxially fastened to the two coupling male heads 212a, respectively.
  • Each of the driving gears 221a meshes with the first driven ring gear 222a and the second driven ring gear 223a, respectively, and drives the rotation thereof.
  • the first driven ring gear 222a is tightly coupled to the cam 229a, and the cam 229a is rotatably coupled to the cam gear mechanism substrate 236a; while the second driven ring gear 223a, the transmission shaft 226a, and the rotating drive plate 224a are integrally fastened with the support plate 225a.
  • the support plate 225a is rotatably coupled to the cam drive mechanism substrate 236a, and the cam 229a is rotatably coupled to the rotary drive plate 224a.
  • the slider 227a is fastened to the push rod 232a and axially slidably coupled to the drive shaft 226a and can transmit a rotational movement in the circumferential direction; preferably, the slider 227a and the drive shaft 226a are connectable by ball splines.
  • a plurality of rollers 228a are fastened to the slider 227a, and the roller 228a is matched with the spiral cam groove 231a on the cam 229a to generate a pushing force in the axial direction of the transmission shaft 226a.
  • the push rod 232a is slidably coupled to the support plate 225a and is rotatably coupled to one end of the link 234a through the support plate 225a.
  • the other end of the link 234a is rotatably coupled to the rocker 233a rotatably fixed to the drive shaft 226a; the rocker 233a and The proximal fixed disk drive plate 235a is slidably coupled, and the first proximal fixed disk 172a and the second proximal fixed disk 182a are both tightly coupled to a proximal fixed disk drive plate 235a.
  • the slider 227a is fixedly connected to the slider 227a, the push rod 232a slides along the transmission shaft 226a, the push rod 232a drives the rocker 234a to swing within a certain range by the link 233a, and the rocker 233a slides relative to the proximal fixed disk drive plate 235a to drive
  • the proximal fixed disk drive plate 237a is bent to directly control the bending angle of the first proximal end section 17a and the second proximal end section 18a in a particular bending plane without changing the first proximal end section 17a and
  • the length of the second proximal end portion 18a is such that the curved shape of the first proximal end portion 17a and the second proximal end portion 18a is
  • the planar link mechanism composed of the push rod 232a, the connecting rod 233a and the rocker 234a is provided. Rotation, eventually changing the first proximal section 17a and Two curved configuration proximal end section 18a of the rotation plane orientation.
  • the first driving mode when the first driven ring gear 222a and the second driven ring gear 223a are driven to rotate in the same direction at the same angular velocity, the slider 227a and the cam 229a are relatively stationary, and the roller 228a is in the cam groove 231a.
  • the bending plane of the proximal end section 17a and the second proximal end section 18a point invariably, only at the turn The angle of the bend in the plane changes.
  • synergy between the turning plane orientation of the first proximal end section 17a and the second proximal end section 18a and the turning angle in the bending plane can be achieved control.
  • the first distal end section 12a When the first proximal end section 17a is bent in a certain direction, the first distal end section 12a will be in a certain proportional relationship (determined by the distribution radius of the first structural section bone 123a (173a)) to the opposite The direction is bent; similarly, when the second proximal end section 18a is bent in a certain direction, the second distal end section 13a will be in a certain proportional relationship (distribution by the second dissecting structure bone 133a (183a)) The radii are determined together) to bend in the opposite direction.
  • a surgical actuator 101a (shown in Figures 13 and 14) is provided at the distal end of the distal structure 11a, and one end of the surgical actuator control line 102a is fastened to the surgical actuator 101a.
  • the other end passes through the distal structure 11a and is connected to a surgical actuator drive mechanism 25a (shown in Figs. 17, 18) at the end of the drive drive unit 21a.
  • the surgical actuator drive mechanism 25a controls the surgical actuator.
  • the physical pushing and pulling of the wire 102a enables motion control of the mechanical surgical actuator 101a (such as a surgical forceps, etc.).
  • the surgical actuator control line 102a can also transmit energy such as electrical energy, ultrasonic vibration, etc.
  • the surgical actuator drive mechanism 25a includes a screw 251a and a nut 252a.
  • the screw 251a is rotatably supported between the channel supporting plate 152a and the flexible surgical tool bottom plate 106a, one end of the screw 251a is coaxially fastened with the other coupling male head 212a, and the screw 251a and the nut 252a are screwed, and the guiding rod 253a
  • the fastening is connected between the cam gear mechanism substrate 236a and the channel support plate 152a, and is slidably coupled to the nut 252a.
  • the drive coupling male head 212a drives the screw 251a to rotate, so that the nut 252a moves linearly forward and backward under the guidance of the guide rod 253a, and pushes the surgical actuator control line 102a which is fastened and connected to the nut 252a at one end, and finally realizes the surgical actuator 101a. Motion control.
  • the present invention further includes a motor driving unit 40a associated with the flexible surgical tool 10a.
  • the motor driving unit 40a includes a motor driving unit housing 401a, a motor fixing plate 402a, Gear 421a and inner ring gear 422a.
  • the motor drive unit housing 401a is located on the outer circumference of the motor fixing plate 402a, and the end surface of the motor drive unit housing 401a is fastened to the inner ring gear 422a, and the motor fixing plate 402a is rotatably connected to the motor drive unit housing 401a.
  • a plurality of motors (six motors in this embodiment) are fastened to the motor fixing plate 402a.
  • the output shaft of one of the motors is fastened to the gear 421a, and the output shafts of the remaining motors are fastened to the coupling male 403a.
  • the gear 421a is meshed with the ring gear 422a.
  • the motor connected to the gear 421a can drive the gear 421a to rotate, and drive all the structures of the motor drive unit 40a except the motor drive unit housing 401a and the ring gear 422a.
  • the axis of the ring gear 422a is integrally rotated to achieve roll angle control of the distal structure 11a and the surgical actuator 101a.
  • the linear module of the first embodiment (see FIG. 10), the sterile barrier (see FIG. 11), and the flexible sheath (see FIG. 12) can also be used.
  • the flexible surgical tool 10a and the motor drive unit 40a can be quickly coupled by a sterile barrier 30 that includes a sterile barrier housing 301 and a sterile barrier support panel. 302.
  • the sterile barrier support plate 302 is rotatably provided with a plurality of coupling female 303s that can be quickly coupled with the coupling males 212a, 403a, respectively.
  • a motor drive unit connecting screw 304 is disposed on the sterile barrier support plate 302, and a sterile barrier connecting seat 404a (shown in FIG. 20) is disposed on the motor fixing plate 402a, and the sterile barrier connecting seat 404a and the motor are disposed.
  • the drive unit attachment screw 304 can be quickly coupled such that the sterile barrier 30 is fixedly coupled to the motor mounting plate 402a and can transmit an integral movement.
  • a sterile membrane (not shown) is fastened to the sterile barrier housing 301 for use with the sterilizable portion (such as the portion of the flexible surgical tool 10a prior to the sterile barrier 30) and the unsterile portion ( For example, the motor drive unit 40a, the linear module 50a and the like located behind the sterile barrier 30 are isolated to ensure the clinical feasibility of the operation.
  • the present invention further includes a linear module 50a (the linear module 50a is also isolated from the sterilized portion by a sterile membrane), which includes a stent body with a linear chute 501a, a screw 503a is rotatably disposed on the bracket body 501a, and a slider 502a that is screwed with the lead screw 503a and slidably disposed in the linear chute is disposed on the lead screw 503a, and is disposed at one end of the bracket body 501a.
  • the motor 504a, the output shaft of the motor 504a and the lead screw 503a are fastened by a coupling.
  • the motor drive unit housing 401a is fastened to the slider 502a. When the output shaft of the motor 504a is rotated, the slider 502a will drive the motor drive unit housing 401a to linearly move along the linear chute, thereby achieving the feed motion of the flexible surgical tool 10a.

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Abstract

一种柔性手术工具系统（10），包括主要由顺序关联的远端结构体（11）、中部连接体（15）和近端结构体（16）组成的柔性连续体结构，还包括与近端结构体（16）关联的传动驱动单元（21）；传动驱动单元（21）包括多个分别对应驱动近端构节（17,18）的传动机构（22），传动机构（22）能够将一对轴线平行的旋转运动输入转化为一对轴线垂直相交的旋转运动输出，其中与旋转运动输入轴线平行的一个旋转运动输出用于控制近端构节（17,18）的弯转平面指向，另一个与旋转运动输入轴线垂直的旋转运动输出用于控制近端构节（17,18）在弯转平面中的弯转角度，以驱动近端结构体（16）中的近端构节（17,18）向任意方向弯转，进而驱动与之关联的远端结构体（11）中的远端构节（12,13）向相反的方向弯转。

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201610799235.0、发明名称为“一种采用结构骨的柔性手术工具系统”的中国专利申请以及2016年8月31日提交的、申请号为201610795869.9、发明名称为“一种多运动副组合驱动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
本发明涉及一种医疗器械，具体涉及一种柔性手术工具系统。
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(美国直觉外科公司)的da Vinci(达芬奇)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(SS型达芬奇)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，本发明的目的是提供一种柔性手术工具系统，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，包括主要由顺序关联的远端结构体、中部连接体和近端结构体组成的柔性连续体结构，所述远端结构体近端经所述中部连接体与所述近端结构体关联，远端为手术执行端；所述远端结构体由至少一个远端构节组成，每一所述远端构节包括远端固定盘和结构骨；所述近端结构体包括近端构节，每一所述近端构节包括近端固定盘和结构骨，其中，该柔性手术工具系统还包括与所述近端结构体关联的传动驱动单元；所述传动驱动单元包括分别对应驱动所述近端构节的一个或多个传动机构，所述传动机构能够将一对轴线平行的旋转运动输入转化为一对轴线垂直相交的旋转运动输出，其中与所述旋转运动输入轴线平行的一个旋转运动输出用于控制所述近端构节的弯转平面指向，与旋转运动输入轴线垂直的另一个所述旋转运动输出用于控制所述近端构节在弯转平面中的弯转角度，以驱动所述近端结构体中的所述近端构节向任意方向弯转，进而驱动与之关联的所述远端结构体中的所述远端构节向相反的方向弯转。
在一个优选的实施例中，所述近端构节的数量与所述远端构节的数量相等。
在一个优选的实施例中，所述中部连接体包括柔性手术工具远端板、通道支撑板、传动机构基板以及固定连接在所述柔性手术工具远端板和所述传动机构基板之间且穿过所述通道支撑板的结构骨引导通道；以及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，该结构骨的一端与所述近端固定盘紧固连接，另一端穿过所述结构骨引导通道后与所述远端固定盘紧固连接。
在一个优选的实施例中，所述传动机构为齿轮传动机构，所述齿轮传动机构包括主动齿轮传动机构、行星齿轮传动机构和摆杆传动机构；所述主动齿轮传动机构将来自外部的动力传递给所述行星齿轮传动机构，所述行星齿轮传动机构和所述摆杆传动机构能够将一对轴线平行的所述旋转运动输入转化为一对轴线垂直相交的所述旋转运动输出，所述行星齿轮传动机构将与所述旋转运动输入轴线平行的所述旋转运动输出用于控制所述近端构节的弯转平面指向，所述摆杆传动机构将与所述旋转运动输入轴线垂直的所述旋转运动输出用于控制所述近端构节在弯转平面中的弯转角度。
在一个优选的实施例中，所述主动齿轮传动机构包括分别紧固连接于两根 驱动轴一端的两个主动齿轮，所述驱动轴另一端与第一联轴器公头紧固连接；两个所述主动齿轮各通过一个惰轮分别与第一从动齿圈和第二从动齿圈啮合并驱动其旋转，所述第二从动齿圈内外侧均有齿，其外侧齿与所述惰轮啮合。
在一个优选的实施例中，所述行星齿轮传动机构包括：与所述第一从动齿圈紧固连接的行星支架板和支承座，一端旋转设置于所述行星支架板上的行星传动轴，紧固连接于所述行星传动轴上的行星齿轮，以及紧固连接于所述行星传动轴另一端的行星锥齿轮；其中，所述第二从动齿圈旋转设置于所述行星支架板上，所述第二从动齿圈的内侧齿与所述行星齿轮啮合；所述支承座同时与所述传动机构基板旋转连接。
在一个优选的实施例中，所述摆杆传动机构包括：与所述支承座紧固连接的摆动轴支架，旋转设置于所述摆动轴支架上的摆动轴，与所述摆动轴紧固连接的辐板，与所述辐板紧固连接的摆动锥齿轮和导向柱，以及与所述导向柱滑动连接的导套；其中，所述摆动锥齿轮为部分锥齿轮，且所述摆动锥齿轮的摆动轴线与所述摆动轴轴线重合，所述摆动锥齿轮与所述行星锥齿轮啮合；以及所述导套与近端构节固定盘驱动板紧固连接，同时所述近端固定盘与所述近端构节固定盘驱动板紧固连接。
在一个优选的实施例中，所述传动驱动单元还包括手术执行器驱动机构，同时在所述远端结构体的远端设置有手术执行器；所述手术执行器驱动机构包括：柔性手术工具底板，转动支撑于所述通道支撑板和所述柔性手术工具底板之间的螺杆，紧固连接所述螺杆一端的第一联轴器公头，通过螺纹配合于所述螺杆上的螺母，紧固连接于所述传动机构基板和所述通道支撑板之间并与所述螺母滑动连接的导杆，以及一端与所述手术执行器紧固连接，另一端从所述远端结构体中穿过并与所述螺母紧固连接的手术执行器控线。
在一个优选的实施例中，该柔性手术工具系统还包括与所述柔性手术工具关联的电机驱动单元，所述电机驱动单元包括：紧固连接于电机固定板上的多个第一电机，旋转连接于所述电机固定板外周的电机驱动单元壳体，紧固连接于所述电机驱动单元壳体端面的内齿圈，紧固连接于其中一个所述第一电机输出轴上的齿轮，以及紧固连接于其余所述第一电机输出轴上的第二联轴器公头；其中，与所述齿轮连接的所述第一电机驱动所述齿轮旋转，并带动所述电机驱动单元中除所述电机驱动单元壳体和所述内齿圈以外的全部结构绕所述内齿圈的轴线整体旋转，从而实现对所述远端结构体的横滚角度控制。
在一个优选的实施例中，所述柔性手术工具和所述电机驱动单元通过无菌屏障进行连接，所述无菌屏障包括无菌屏障外罩和无菌屏障支撑板，所述无菌屏障支撑板上旋转设置有多个能够分别与所述第一联轴器公头和所述第二联轴器公头快速配合连接的联轴器母头；在所述无菌屏障支撑板上设置有电机驱动单元连接螺钉，相对应地在所述电机固定板上设置有无菌屏障连接座，所述无菌屏障连接座与所述电机驱动单元连接螺钉连接，使得所述无菌屏障与所述电机固定板固定连接，并能够传递整体运动；以及在所述无菌屏障外罩上紧固连接有用于将可消毒部分与未消毒的部分进行隔离的无菌膜。
在一个优选的实施例中，该柔性手术工具系统还包括线性模组，所述线性模组包括：带有直线滑槽的支架体，转动设置于所述支架体的丝杠，通过螺纹配合于所述丝杠上且滑动设置于所述直线滑槽中的滑块，以及紧固连接于所述支架体的第二电机；其中，所述滑块与所述电机驱动单元壳体紧固连接，所述第二电机输出轴与所述丝杠紧固连接。
在一个优选的实施例中，所述传动机构为凸轮传动机构，所述凸轮传动机构包括分别紧固连接于两根驱动轴一端的两个主动齿轮，所述驱动轴另一端与第一联轴器公头同轴紧固连接；每一所述主动齿轮分别与第一从动齿圈和第二从动齿圈啮合并驱动其旋转；所述第一从动齿圈与凸轮紧固连接，所述凸轮与所述传动机构基板旋转连接；同时所述第二从动齿圈与传动轴、转动驱动板和支撑板一体紧固连接，所述支撑板与所述传动机构基板旋转连接，所述凸轮与所述转动驱动板旋转连接；以及所述凸轮传动机构还包括一端与滑块紧固连接的平面连杆机构，所述滑块与所述传动轴沿轴向滑动连接且能够传递沿周向的旋转运动；所述滑块上紧固连接若干滚子，所述滚子与所述凸轮上螺旋线形的凸轮槽相匹配，能够产生沿所述传动轴轴线方向的推拉力；所述平面连杆机构另一端与近端固定盘驱动板滑动连接，同时所述近端固定盘与所述近端固定盘驱动板紧固连接。
在一个优选的实施例中，所述平面连杆机构主要由推杆、连杆和摇杆组成，所述推杆滑动连接在所述支撑板上，其一端与所述滑块紧固连接，另一端穿过所述支撑板与所述连杆的一端旋转连接，所述连杆另一端与旋转固定在所述传动轴上的所述摇杆旋转连接，所述摇杆与所述近端固定盘驱动板滑动连接。
在一个优选的实施例中，所述远端构节还包括间隔分布于其中的多个远端间隔盘，所述远端构节的多根结构骨从各所述远端间隔盘上分布的结构骨通过 孔中穿过，末端固定于所述远端固定盘上；以及所述近端构节还包括间隔分布于其中的多个近端间隔盘以及与所述传动机构基板紧固连接的近端构节固定基板，多根所述近端构节的结构骨一端固定于所述近端固定盘上，另一端依次从各所述近端间隔盘上分布的结构骨通过孔中穿过后与所述远端构节上的结构骨一一对应紧固连接或为同一根结构骨。
在一个优选的实施例中，所述远端构节的结构骨和/或所述近端构节的结构骨为弹性细杆或细管，材料为镍钛合金或不锈钢；在使用多个所述远端构节或近端构节情况下，若前一所述远端构节或近端构节的结构骨使用弹性细管，则后一所述远端构节或所述近端构节的结构骨能够穿过该弹性细管，或直接穿过所述远端间隔盘或所述近端间隔盘上的结构骨通过孔；以及每一所述远端构节或近端构节中的结构骨数量为三根以上。
在一个优选的实施例中，所述远端结构体的外部包覆有封皮，且在所述封皮外部还设置有外套管和鞘套。
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，并配合以传动驱动单元，其中，远端结构体通过中部连接体与近端结构体关联，传动驱动单元与近端结构体关联，当传动驱动单元驱动近端结构体中各近端构节向任意方向弯转时，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、本发明在近端结构体、中部连接体和远端结构体中，采用冗余的结构骨布置(大于三根)，可提高柔性手术工具系统的安全性、可靠性和负载能力。3、本发明的无菌屏障一端可快速连接柔性手术工具，另一端可快速连接电机驱动单元，从而有效地将系统已消毒的柔性手术工具与其余未消毒的部分隔离开来，保证临床手术的可实施性。4、本发明在柔性手术工具中设置有齿轮传动机构，该齿轮传动机构可将一对轴线平行的旋转运动输入转化为一对轴线垂直相交的旋转运动输出，其中与旋转运动输入轴线平行的一个旋转运动(由第一驱动模式实现)输出用于控制近端构节的弯转平面指向，另一个与旋转运动输入轴线垂直的旋转运动输出(由第二驱动模式实现)用于控制近端构节在弯转平面中的弯转角度，最终可在较小空间内通过一组齿轮传动机构驱动近端结构体中的一个近端构节向任意方向弯转。5、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柔性连续体结构，与位于柔性手术工具中的手术执行器驱动机构连接，从而实现对手术 执行器的动作控制。6、本发明还设置有电机驱动单元壳体，在电机驱动单元壳体的端面固定连接有内齿圈，电机驱动单元内其余结构与电机驱动单元壳体之间可相对旋转，其中，电机输出轴固定连接有齿轮，齿轮与内齿圈啮合，因此，所述电机可驱动除电机驱动单元壳体和内齿圈以外的部分进行整体旋转，从而使得柔性手术臂具有整体旋转自由度。7、本发明还设置有线性模组，其与电机驱动单元壳体固定连接且可以带动电机驱动单元、无菌屏障和柔性手术工具进行线性运动，因此柔性手术臂还具有线性进给自由度。8、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是根据本发明的第一实施例的柔性手术工具系统的整体结构示意图；
图2是图1的远端结构体的结构示意图；
图3是图1的近端构节的结构示意图；
图4是图1的中部连接体的结构示意图；
图5是图1的传动驱动单元的结构示意图；
图6是图1的齿轮传动机构及手术执行器驱动机构的结构示意图；
图7是图1的齿轮传动机构的剖视图；
图8是图1的齿轮传动机构另一方向下的剖视图；
图9是图1的电机驱动单元的结构示意图；
图10是本发明装上无菌屏障、电机驱动单元和线性模组后的结构示意图；
图11是本发明无菌屏障的结构示意图；
图12是本发明远端结构体采用柔性鞘套的结构示意图；
图13是根据本发明的第二实施例的柔性手术工具系统的整体结构示意图；
图14是图13的远端结构体的结构示意图；
图15是图13的近端构节的结构示意图；
图16是图13的中部连接体的结构示意图；
图17是图13的传动驱动单元的结构示意图；
图18是图13的凸轮传动机构及手术执行器驱动机构的结构示意图；
图19是图18的凸轮传动机构的剖视图；
图20是根据本发明的第二实施例的柔性手术工具系统的电机驱动单元的结构示意图；以及
图21是根据本发明的第二实施例的装上无菌屏障、电机驱动单元和线性模组后的结构示意图。
具体实施方式
以下将结合附图对本发明的较佳实施例进行详细说明，以便更清楚理解本发明的目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。
图1展示了根据本实施例提供的柔性手术工具系统10，其包括主要由远端结构体11、近端结构体16和中部连接体15构成的柔性连续体结构，以及与柔性连续体结构关联的传动驱动单元21。其中，远端结构体11近端通过中部连接体15与近端结构体16关联，远端为手术执行端。传动驱动单元21与近端结构体16关联，当传动驱动单元21驱动近端结构体16向任意方向弯转时，远端结构体11相应地向相反的方向弯转。
如图2所示，远端结构体11包括手术执行器101、第一远端构节12和第二远端构节13。其中，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。若干第一远端间隔盘121间隔分布于第一远端构节12中，作用为防止第一构节结构骨123受推时失稳。多根第一构节结构骨123从各第一远端间隔盘121上分布的结构骨通过孔中穿过，末端固定于第一远端固定盘122上。相似的，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。若干第二远端间隔盘131间隔分布于第二远端构节13中，作用为防止第二构节结构骨133受推时失稳。多根第二构节结构骨133从各第二远端间隔盘131上分布的结构骨通过孔中穿过，末端固定于第二远端固定盘132上。需要注意的是，第一构节结构骨123和第二构节结构骨133应分别为三根以上。
如图1、图3所示，近端结构体16包括两个结构完全一致的第一近端构节17和第二近端构节18。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、、第一构节结构骨173和第一近端构节固定基板174，若干第一近端间隔盘171分别间隔分布于第一近端构节17中，作用是防止第一构节结构骨173在受推时失稳。相似的，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、第二构节结构骨183和第二近端构节固定基板184，若干第二近端间隔盘181分别间隔分布于第二近端构节18中，作用是防止第二构节结构骨183 在受推时失稳。位于第一近端构节17上的第一构节结构骨173与位于第一远端构节12上的第一构节结构骨123一一对应紧固连接或为同一根结构骨；位于第二近端构节18上的第二构节结构骨183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。需要注意的是，第一构节结构骨173和第二构节结构骨183数量应分别与第一构节结构骨123和第二构节结构骨133数量保持一致。
如图4所示，中部连接体15包括依次间隔设置的远端通道固定板154、通道支撑板152和齿轮传动机构基板238，以及固定连接在远端通道固定板154和齿轮传动机构基板238之间且穿过通道支撑板152的结构骨引导通道151。需要注意的是，通道支撑板152和齿轮传动机构基板238可以为一组，也可以为间隔布置的多组(例如图5中为两组)，通道支撑板152和齿轮传动机构基板238组数与传动驱动单元21中的齿轮传动机构22个数保持一致。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的作用是保持结构骨受推、拉力时形状不变。
在一个优选的实施例中，上述远端结构体11中的结构骨和/或近端结构体16中的结构骨可为弹性细杆或细管，材料可为镍钛合金或不锈钢等。同时，上述远端结构体11中远端构节的节数以及近端结构体16中近端构节的节数也可以是一个或者多于两个，但是远端结构体11中远端构节的节数应始终与近端结构体16中近端构节的节数保持一致。在使用多个远端构节或近端构节情况下，若前一远端构节或近端构节的结构骨使用弹性细管，则后一远端构节或近端构节的结构骨可穿过该弹性细管，或直接穿过远端间隔盘或近端间隔盘上的结构骨通过孔，这可在不改变远端结构体11或近端结构体16内相对运动关系的同时实现进一步微型化。此外，近端结构体16中各近端构节的相对布置可为串联连接、嵌套设置或独立布置(如图1所示)等。
如图5～图8所示，传动驱动单元21包括两个齿轮传动机构22(仅以此为例，并不限于此)，分别对应驱动第一近端构节17和第二近端构节18。齿轮传动机构22包括分别紧固连接于两根驱动轴213一端的两个主动齿轮221，两驱 动轴213另一端分别与两联轴器公头212同轴紧固连接。两个主动齿轮221各通过一个惰轮222分别与第一从动齿圈223、第二从动齿圈224啮合并驱动其旋转。第一从动齿圈223与行星支架板227和支承座228紧固连接，支承座228与摆动轴支架234紧固连接，同时支承座228与紧固连接在第一近端构节固定基板174或第二近端构节固定基板175上的齿轮传动机构基板238旋转连接。第二从动齿圈224旋转设置于行星支架板227上，其内外侧均有齿，且其外侧齿与惰轮222啮合，内侧齿啮合驱动紧固连接于行星传动轴226上的行星齿轮225。行星传动轴226旋转设置于行星支架板227上，行星传动轴226的一端与行星锥齿轮229紧固连接。摆动锥齿轮231为部分锥齿轮，其与辐板232紧固连接，辐板232与摆动轴233紧固连接，且摆动锥齿轮231的摆动轴线与摆动轴233轴线重合。摆动轴233旋转设置于摆动轴支架234上，该摆动锥齿轮231与行星锥齿轮229啮合传递运动。辐板232与导向柱235紧固连接，导向柱235与导套236滑动连接，导套236与近端构节固定盘驱动板237紧固连接，同时第一近端固定盘172、第二近端固定盘182均与一个近端固定盘驱动板237紧固连接。
当第一从动齿圈223旋转时，与第一从动齿圈223紧固连接的行星支架板227、支承座228与摆动轴支架234共同绕第一从动齿圈223的轴线旋转，进而带动行星传动轴226、行星齿轮225、行星锥齿轮229、摆动锥齿轮231、摆动轴233、辐板232、导向柱235等结构绕第一从动齿圈223的轴线旋转，直接控制第一近端构节17和第二近端构节18的弯转平面指向；当第二从动齿圈224旋转时，其内侧齿与行星齿轮225相啮合，第二从动齿圈224与第一从动齿圈223的转动角度差驱动行星齿轮225、行星传动轴226和行星锥齿轮229绕自身轴线旋转，通过行星锥齿轮229与摆动锥齿轮231的啮合，驱动摆动锥齿轮231和辐板232在一定范围内绕摆动轴233的轴线摆动，带动导向柱235沿导套236滑动，最终驱动近端构节固定盘驱动板237弯转，从而直接控制第一近端构节17和第二近端构节18在上述弯转平面中的弯转角度，而不改变第一近端构节17和第二近端构节18的长度，使得第一近端构节17和第二近端构节18的弯转形状为近似圆弧形。
在第一驱动模式下，当驱动第一从动齿圈223与第二从动齿圈224以相同角速度同向转动时，行星齿轮225与第二从动齿圈224之间无相对转动，使得行星齿轮225、行星传动轴226和行星锥齿轮229没有相对于自身轴线的旋转运 动，使得第一近端构节17和第二近端构节18在相应弯转平面中的弯转角度保持不变，仅改变摆动锥齿轮231的摆动平面指向，即近端构节固定盘驱动板237的翻转平面指向，最终实现对第一近端构节17和第二近端构节18弯转平面指向的调节而不改变第一近端构节17和第二近端构节18在上述弯转平面内的弯转角度；在第二驱动模式下，第一从动齿圈223静止，第二从动齿圈224被驱动，此时行星支架板227及与其紧固连接的部件均与齿轮传动机构基板238相对静止，第一近端构节17和第二近端构节18仅在弯转平面中的弯转角度发生改变，其弯转平面指向保持不变。结合所述第一驱动模式与第二驱动模式，即可实现对第一近端构节17和第二近端构节18的弯转平面指向和在该弯转平面中的弯转角度的协同控制。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123(173)的分布半径共同决定)向相反的方向弯转；类似地，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133(183)的分布半径共同决定)向相反的方向弯转。
在一个优选的实施例中，在远端结构体11的远端设置有手术执行器101(如图1、图2所示)，手术执行器控线102一端与手术执行器101固定连接，另一端从远端结构体11中穿过，与位于传动驱动单元21末端的手术执行器驱动机构25(如图5、图6所示)连接，手术执行器驱动机构25通过对手术执行器控线102的物理推拉实现对手术执行器101(如手术钳)的动作控制。本领域技术人员可以理解的是，手术执行器控线102同样也可以传递如电能、超声振动等能量至电外科式的手术执行器101(如电切刀、超声刀等)，从而实现手术执行器101的特定手术功能。手术执行器驱动机构25包括螺杆251和螺母252。其中，螺杆251转动支撑于通道支撑板152和柔性手术工具底板106之间，螺杆251一端与另一联轴器公头212同轴紧固连接，螺杆251与螺母252通过螺纹配合，导杆253紧固连接于齿轮传动机构基板238和通道支撑板152之间，与螺母252滑动连接。来自外部的动力通过联轴器公头212带动螺杆251转动，使螺母252在导杆253的引导下前后直线运动，推拉一端与螺母252紧固连接的手术执行器控线102，最终实现对手术执行器101的动作控制。
在一个优选的实施例中，如图9、图10所示，本发明还包括与柔性手术工具10关联的电机驱动单元40，电机驱动单元40包括电机驱动单元壳体401、电机固定板402、齿轮421和内齿圈422。其中，电机驱动单元壳体401位于电 机固定板402的外周，电机驱动单元壳体401的端面紧固连接内齿圈422，电机固定板402与电机驱动单元壳体401转动连接。在电机固定板402上紧固连接有多个电机(本实施例中为6个电机)，其中一个电机的输出轴紧固连接齿轮421，其余电机的输出轴紧固连接联轴器公头403，齿轮421与内齿圈422啮合。与齿轮421连接的电机可驱动齿轮421旋转，并带动电机驱动单元40中除电机驱动单元壳体401和内齿圈422以外的全部结构绕内齿圈422的轴线整体旋转，从而实现对远端结构体11和手术执行器101的横滚角度控制。
在一个优选的实施例中，如图10、11所示，柔性手术工具10和电机驱动单元40可通过无菌屏障30快速连接，无菌屏障30包括无菌屏障外罩301和无菌屏障支撑板302，无菌屏障支撑板302上旋转设置有多个可分别与联轴器公头212、403快速配合连接的联轴器母头303。在无菌屏障支撑板302上设置有电机驱动单元连接螺钉304，相对应地在电机固定板402上设置有无菌屏障连接座404(如图9所示)，无菌屏障连接座404与电机驱动单元连接螺钉304可快速连接，使得无菌屏障30与电机固定板402固定连接，并可传递整体运动。在无菌屏障外罩301上紧固连接有无菌膜(图中未示出)，用于将可消毒部分(如柔性手术工具10等位于无菌屏障30之前的部分)与未消毒的部分(如电机驱动单元40、线性模组50等位于无菌屏障30之后的部分)进行隔离，保证手术的临床可实施性。
在一个优选的实施例中，如图10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)，其包括带有直线滑槽的支架体501，在支架体501上转动设置有丝杠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直线滑槽中的滑块502，在支架体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。电机驱动单元壳体401与滑块502紧固连接。当电机504的输出轴转动时，滑块502将带动电机驱动单元壳体401沿直线滑槽做线性运动，从而实现柔性手术工具10的进给运动。
在一个优选的实施例中，还可以在中部连接体15中布置一个以上(本实施例为一个)支撑环108，结构骨引导通道151和驱动轴213从支撑环108上穿过，作用是支撑结构骨引导通道151和驱动轴213。
在一个优选的实施例中，如图1、图12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的外部还可以设置外套管104和鞘套60。如图1所示，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。如图12所示，在另一种应用中，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。
图13展示了根据本发明另一实施例的柔性手术工具系统10a，其包括主要由远端结构体11a、近端结构体16a和中部连接体15a构成的柔性连续体结构，以及与柔性连续体结构关联的传动驱动单元21a。其中，远端结构体11a近端通过中部连接体15a与近端结构体16a关联，远端为手术执行端。传动驱动单元21a与近端结构体16a关联，当传动驱动单元21a驱动近端结构体16a向任意方向弯转时，远端结构体11a相应地向相反的方向弯转。
如图14所示，远端结构体11a包括手术执行器101a、第一远端构节12a和第二远端构节13a。其中，第一远端构节12a包括第一远端间隔盘121a、第一远端固定盘122a和第一构节结构骨123a。若干第一远端间隔盘121a间隔分布于第一远端构节12a中，作用为防止第一构节结构骨123a受推时失稳。多根第一构节结构骨123a从各第一远端间隔盘121a上分布的结构骨通过孔中穿过，末端固定于第一远端固定盘122a上。相似的，第二远端构节13a包括第二远端间隔盘131a、第二远端固定盘132a和第二构节结构骨133a。若干第二远端间隔盘131a间隔分布于第二远端构节13a中，作用为防止第二构节结构骨133a受推时失稳。多根第二构节结构骨133a从各第二远端间隔盘131a上分布的结构骨通过孔中穿过，末端固定于第二远端固定盘132a上。需要注意的是，第一构节结构骨123a和第二构节结构骨133a应分别为三根以上。
如图13、图15所示，近端结构体16a包括两个结构完全一致的第一近端构节17a和第二近端构节18a。第一近端构节17a包括第一近端间隔盘171a、第一近端固定盘172a和第一构节结构骨173a，若干第一近端间隔盘171a分别间隔分布于第一近端构节17a中，作用是防止第一构节结构骨173a在受推时失稳。相似的，第二近端构节18a包括第二近端间隔盘181a、第二近端固定盘182a和第二构节结构骨183a，若干第二近端间隔盘181a分别间隔分布于第二近端构节18a中，作用是防止第二构节结构骨183a在受推时失稳。位于第一近端构节17a上的第一构节结构骨173a与位于第一远端构节12a上的第一构节结构骨123a 一一对应紧固连接或为同一根结构骨；位于第二近端构节18a上的第二构节结构骨183a与位于第二远端构节13a上的第二构节结构骨133a一一对应紧固连接或为同一根结构骨。需要注意的是，第一构节结构骨173a和第二构节结构骨183a数量应分别与第一构节结构骨123a和第二构节结构骨133a数量保持一致。
如图16所示，中部连接体15a包括依次间隔设置的柔性手术工具远端板107a、通道支撑板152a和凸轮传动机构基板236a，以及两端固定连接在柔性手术工具远端板107a和凸轮传动机构基板236a之间且穿过通道支撑板152a的结构骨引导通道151a。需要注意的是，通道支撑板152a和凸轮传动机构基板236a可以为一组，也可以为交替布置的多组(例如图17中为两组)，通道支撑板152a和凸轮传动机构基板236a组数与凸轮传动机构22a个数保持一致。第一构节结构骨173a(123a)的一端与第一近端固定盘172a紧固连接，另一端依次穿过第一近端间隔盘171a、结构骨引导通道151a、第一远端间隔盘121a后与第一远端固定盘122a紧固连接。第二构节结构骨183a(133a)的一端与第二近端固定盘182a紧固连接，另一端依次穿过第二近端间隔盘181a、结构骨引导通道151a、第一远端构节12a、第二远端间隔盘131a后与第二远端固定盘132a紧固连接。结构骨引导通道151a的作用是保持结构骨受推、拉力时形状不变。在一个优选的实施例中，上述远端结构体11a中的结构骨和/或近端结构体16a中的结构骨可为弹性细杆或细管，材料可为镍钛合金或不锈钢等。同时，上述远端结构体11a中远端构节的节数以及近端结构体16a中近端构节的节数也可以是一个或者多于两个，但是远端结构体11a中远端构节的节数应始终与近端结构体16a中近端构节的节数保持一致。在使用多个远端构节或近端构节情况下，若前一远端构节或近端构节的结构骨使用弹性细管，则后一远端构节或近端构节的结构骨可穿过该弹性细管，或直接穿过远端间隔盘或近端间隔盘上的结构骨通过孔，这可在不改变远端结构体11a或近端结构体16a内相对运动关系的同时实现进一步微型化。此外，近端结构体12a中各近端构节的相对布置可为串联连接、嵌套设置或独立布置(如图13所示)等。
如图17～图19所示，传动驱动单元21a包括两个凸轮传动机构22a(仅以此为例，并不限于此)，分别对应驱动第一近端构节17a和第二近端构节18a。凸轮传动机构22a包括分别紧固连接于两根驱动轴213a一端的两个主动齿轮221a，两驱动轴213a另一端分别与两联轴器公头212a同轴紧固连接。每一主动齿轮221a分别与第一从动齿圈222a、第二从动齿圈223a啮合并驱动其旋转。 第一从动齿圈222a与凸轮229a紧固连接，凸轮229a与凸轮传动机构基板236a旋转连接；同时第二从动齿圈223a、传动轴226a、转动驱动板224a与支撑板225a一体紧固连接，支撑板225a与凸轮传动机构基板236a旋转连接，凸轮229a与转动驱动板224a旋转连接。滑块227a与推杆232a紧固连接，并与传动轴226a沿轴向滑动连接且可传递沿周向的旋转运动；优选地，滑块227a与传动轴226a可通过滚珠花键连接。滑块227a上紧固连接若干滚子228a，滚子228a与凸轮229a上螺旋线形的凸轮槽231a相匹配，能够产生沿传动轴226a轴线方向的推拉力。推杆232a滑动连接在支撑板225a上并穿过支撑板225a与连杆234a的一端旋转连接，连杆234a的另一端与旋转固定在传动轴226a上的摇杆233a旋转连接；摇杆233a与近端固定盘驱动板235a滑动连接，同时第一近端固定盘172a、第二近端固定盘182a均与一个近端固定盘驱动板235a紧固连接。
当主动齿轮221a驱动第一从动齿圈222a旋转时，带动与之紧固连接的凸轮229a转动，使得滚子228a在凸轮槽231a中滑动；螺旋线形的凸轮槽231a使滚子228a以及与滚子228a固定连接的滑块227a，推杆232a沿传动轴226a滑动，推杆232a通过连杆233a驱动摇杆234a在一定范围内摆动，摇杆233a与近端固定盘驱动板235a相对滑动，驱动近端固定盘驱动板237a弯转，从而直接控制第一近端构节17a和第二近端构节18a在特定弯转平面中的弯转角度，而不改变第一近端构节17a和第二近端构节18a的长度，使得第一近端构节17a和第二近端构节18a的弯转形状为近似圆弧形；当第二从动齿圈223a旋转时，带动与之紧固连接的转动驱动板224a，传动轴226a和支撑板225a，并通过传动轴226a带动滑块227a共同做旋转运动，由推杆232a、连杆233a和摇杆234a组成的平面连杆机构随之旋转，最终改变第一近端构节17a和第二近端构节18a的弯转平面指向。在第一驱动模式下，当驱动第一从动齿圈222a与第二从动齿圈223a以相同角速度同向转动，滑块227a与凸轮229a之间相对静止，滚子228a在凸轮槽231a中无相对滑动，因此滑块227a和推杆232a在轴向无滑动运动，此时第一近端构节17a和第二近端构节18a在相应弯转平面中的弯转角度不变，仅弯转平面指向发生改变；在第二驱动模式下，驱动第一从动齿圈222a并使第二从动齿圈223a保持静止，此时凸轮229a与滑块227a之间相对转动，传动轴226a保持静止并限制滑块发生转动，滚子228a在凸轮槽231a中沿传动轴226a的轴向前后滑动，因此滑块227a带动与之紧固连接的推杆232a沿轴向滑动，此时第一近端构节17a和第二近端构节18a的弯转平面指向不变，仅在该弯转 平面中的弯转角度发生改变。结合所述第一驱动模式与第二驱动模式，即可实现对第一近端构节17a和第二近端构节18a的弯转平面指向和在该弯转平面中的弯转角度的协同控制。当第一近端构节17a向某个方向弯转时，第一远端构节12a将以一定的比例关系(由第一构节结构骨123a(173a)的分布半径共同决定)向相反的方向弯转；类似地，当第二近端构节18a向某个方向弯转时，第二远端构节13a将以一定的比例关系(由第二构节结构骨133a(183a)的分布半径共同决定)向相反的方向弯转。
在一个优选的实施例中，在远端结构体11a的远端设置有手术执行器101a(如图13、图14所示)，手术执行器控线102a一端与手术执行器101a紧固连接，另一端从远端结构体11a中穿过，与位于传动驱动单元21a末端的手术执行器驱动机构25a(如图17、图18所示)连接，手术执行器驱动机构25a通过对手术执行器控线102a的物理推拉实现对机械式的手术执行器101a(如手术钳等)的动作控制。本领域技术人员可以理解的是，手术执行器控线102a同样也可以传递如电能、超声振动等能量至电外科式的手术执行器101a(如电切刀、超声刀等)，从而实现手术执行器101a的特定手术功能。手术执行器驱动机构25a包括螺杆251a和螺母252a。其中，螺杆251a转动支撑于通道支撑板152a和柔性手术工具底板106a之间，螺杆251a一端与另一联轴器公头212a同轴紧固连接，螺杆251a与螺母252a通过螺纹配合，导杆253a紧固连接于凸轮传动机构基板236a和通道支撑板152a之间，与螺母252a滑动连接。驱动联轴器公头212a带动螺杆251a转动，使螺母252a在导杆253a的引导下前后直线运动，推拉一端与螺母252a紧固连接的手术执行器控线102a，最终实现对手术执行器101a的动作控制。
在一个优选的实施例中，如图20、图21所示，本发明还包括与柔性手术工具10a关联的电机驱动单元40a，电机驱动单元40a包括电机驱动单元壳体401a、电机固定板402a、齿轮421a和内齿圈422a。其中，电机驱动单元壳体401a位于电机固定板402a的外周，电机驱动单元壳体401a的端面紧固连接内齿圈422a，电机固定板402a与电机驱动单元壳体401a转动连接。在电机固定板402a上紧固连接有多个电机(本实施例中为6个电机)，其中一个电机的输出轴紧固连接齿轮421a，其余电机的输出轴紧固连接联轴器公头403a，齿轮421a与内齿圈422a啮合。与齿轮421a连接的电机可驱动齿轮421a旋转，并带动电机驱动单元40a中除电机驱动单元壳体401a和内齿圈422a以外的全部结构绕内 齿圈422a的轴线整体旋转，从而实现对远端结构体11a和手术执行器101a的横滚角度控制。
本实施例中，也可以采用第一实施例的线性模组(见图10)、无菌屏障(见图11)以及柔性鞘套(见图12)。
在一个优选的实施例中，如图11、21所示，柔性手术工具10a和电机驱动单元40a可通过无菌屏障30快速连接，无菌屏障30包括无菌屏障外罩301和无菌屏障支撑板302，无菌屏障支撑板302上旋转设置有多个可分别与联轴器公头212a、403a快速配合连接的联轴器母头303。在无菌屏障支撑板302上设置有电机驱动单元连接螺钉304，相对应地在电机固定板402a上设置有无菌屏障连接座404a(如图20所示)，无菌屏障连接座404a与电机驱动单元连接螺钉304可快速连接，使得无菌屏障30与电机固定板402a固定连接，并可传递整体运动。在无菌屏障外罩301上紧固连接有无菌膜(图中未示出)，用于将可消毒部分(如柔性手术工具10a等位于无菌屏障30之前的部分)与未消毒的部分(如电机驱动单元40a、线性模组50a等位于无菌屏障30之后的部分)进行隔离，保证手术的临床可实施性。
在一个优选的实施例中，如图21所示，本发明还包括线性模组50a(线性模组50a亦通过无菌膜与已消毒部分隔离开)，其包括带有直线滑槽的支架体501a，在支架体501a上转动设置有丝杠503a，在丝杠503a上套设有与丝杠503a通过螺纹配合且滑动设置在直线滑槽中的滑块502a，在支架体501a的一端设置有电机504a，电机504a的输出轴与丝杠503a通过联轴器紧固连接。电机驱动单元壳体401a与滑块502a紧固连接。当电机504a的输出轴转动时，滑块502a将带动电机驱动单元壳体401a沿直线滑槽做线性运动，从而实现柔性手术工具10a的进给运动。
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 (16)

  1. 一种柔性手术工具系统，包括主要由顺序关联的远端结构体、中部连接体和近端结构体组成的柔性连续体结构，所述远端结构体近端经所述中部连接体与所述近端结构体关联，远端为手术执行端；所述远端结构体由至少一个远端构节组成，每一所述远端构节包括远端固定盘和结构骨；所述近端结构体包括近端构节，每一所述近端构节包括近端固定盘和结构骨，其特征在于，所述柔性手术工具系统还包括与所述近端结构体关联的传动驱动单元；以及
    所述传动驱动单元包括分别对应驱动所述近端构节的一个或多个传动机构，所述传动机构能够将一对轴线平行的旋转运动输入转化为一对轴线垂直相交的旋转运动输出，其中与所述旋转运动输入轴线平行的一个所述旋转运动输出用于控制所述近端构节的弯转平面指向，与所述旋转运动输入轴线垂直的另一个所述旋转运动输出用于控制所述近端构节在弯转平面中的弯转角度，以驱动所述近端结构体中的所述近端构节向任意方向弯转，进而驱动与之关联的所述远端结构体中的所述远端构节向相反的方向弯转。
  2. 如权利要求1所述的柔性手术工具系统，其特征在于，所述中部连接体包括柔性手术工具远端板、通道支撑板、传动机构基板以及固定连接在所述柔性手术工具远端板和所述传动机构基板之间且穿过所述通道支撑板的结构骨引导通道；以及
    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，另一端穿过所述结构骨引导通道后与所述远端固定盘紧固连接。
  3. 如权利要求2所述的柔性手术工具系统，其特征在于，所述传动机构为齿轮传动机构，所述齿轮传动机构包括主动齿轮传动机构、行星齿轮传动机构和摆杆传动机构；所述主动齿轮传动机构将来自外部的动力传递给所述行星齿轮传动机构，所述行星齿轮传动机构和所述摆杆传动机构能够将一对轴线平行的所述旋转运动输入转化为一对轴线垂直相交的所述旋转运动输出，所述行星齿轮传动机构将与所述旋转运动输入轴线平行的所述旋转运动输出用于控制所述近端构节的弯转平面指向，所述摆杆传动机构将与所述旋转运动输入轴线垂直的所述旋转运动输出用于控制所述近端构节在弯转平面中的弯转角度。
  4. 如权利要求3所述的柔性手术工具系统，其特征在于，所述主动齿轮传 动机构包括分别紧固连接于两根驱动轴一端的两个主动齿轮，所述驱动轴另一端与第一联轴器公头紧固连接；两个所述主动齿轮各通过一个惰轮分别与第一从动齿圈和第二从动齿圈啮合并驱动其旋转，所述第二从动齿圈内外侧均有齿，其外侧齿与所述惰轮啮合。
  5. 如权利要求4所述的柔性手术工具系统，其特征在于，所述行星齿轮传动机构包括：
    与所述第一从动齿圈紧固连接的行星支架板和支承座，
    一端旋转设置于所述行星支架板上的行星传动轴，
    紧固连接于所述行星传动轴上的行星齿轮，以及
    紧固连接于所述行星传动轴另一端的行星锥齿轮；
    其中，所述第二从动齿圈旋转设置于所述行星支架板上，所述第二从动齿圈的内侧齿与所述行星齿轮啮合；以及所述支承座同时与所述传动机构基板旋转连接。
  6. 如权利要求5所述的柔性手术工具系统，其特征在于，所述摆杆传动机构包括：
    与所述支承座紧固连接的摆动轴支架，
    旋转设置于所述摆动轴支架上的摆动轴，
    与所述摆动轴紧固连接的辐板，
    与所述辐板紧固连接的摆动锥齿轮和导向柱，以及
    与所述导向柱滑动连接的导套；
    其中，所述摆动锥齿轮为部分锥齿轮，且所述摆动锥齿轮的摆动轴线与所述摆动轴轴线重合，所述摆动锥齿轮与所述行星锥齿轮啮合；以及所述导套与近端构节固定盘驱动板紧固连接，同时所述近端固定盘与所述近端构节固定盘驱动板紧固连接。
  7. 如权利要求2所述的柔性手术工具系统，其特征在于，所述传动驱动单元还包括手术执行器驱动机构，同时在所述远端结构体的远端设置有手术执行器；所述手术执行器驱动机构包括：
    柔性手术工具底板，
    转动支撑于所述通道支撑板和所述柔性手术工具底板之间的螺杆，
    紧固连接所述螺杆一端的第一联轴器公头，
    通过螺纹配合于所述螺杆上的螺母，
    紧固连接于所述传动机构基板和所述通道支撑板之间并与所述螺母滑动连接的导杆，以及
    一端与所述手术执行器紧固连接，另一端从所述远端结构体中穿过并与所述螺母紧固连接的手术执行器控线。
  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与所述柔性手术工具关联的电机驱动单元，所述电机驱动单元包括：
    紧固连接于电机固定板上的多个第一电机，
    旋转连接于所述电机固定板外周的电机驱动单元壳体，
    紧固连接于所述电机驱动单元壳体端面的内齿圈，
    紧固连接于其中一个所述第一电机输出轴上的齿轮，以及
    紧固连接于其余所述第一电机输出轴上的第二联轴器公头；
    其中，与所述齿轮连接的所述第一电机驱动所述齿轮旋转，并带动所述电机驱动单元中除所述电机驱动单元壳体和所述内齿圈以外的全部结构绕所述内齿圈的轴线整体旋转，从而实现对所述远端结构体的横滚角度控制。
  9. 如权利要求8所述的柔性手术工具系统，其特征在于，所述柔性手术工具和所述电机驱动单元通过无菌屏障进行连接，所述无菌屏障包括无菌屏障外罩和无菌屏障支撑板，所述无菌屏障支撑板上旋转设置有多个能够分别与所述第一联轴器公头和所述第二联轴器公头快速配合连接的联轴器母头；在所述无菌屏障支撑板上设置有电机驱动单元连接螺钉，相对应地在所述电机固定板上设置有无菌屏障连接座，所述无菌屏障连接座与所述电机驱动单元连接螺钉连接，使得所述无菌屏障与所述电机固定板固定连接，并能够传递整体运动；以及
    在所述无菌屏障外罩上紧固连接有用于将可消毒部分与未消毒的部分进行隔离的无菌膜。
  10. 如权利要求8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线性模组，所述线性模组包括：
    带有直线滑槽的支架体，
    转动设置于所述支架体的丝杠，
    通过螺纹配合于所述丝杠上且滑动设置于所述直线滑槽中的滑块，以及
    紧固连接于所述支架体的第二电机；
    其中，所述滑块与所述电机驱动单元壳体紧固连接，所述第二电机输出轴与所述丝杠紧固连接。
  11. 如权利要求2所述的柔性手术工具系统，其特征在于，所述传动机构为凸轮传动机构，所述凸轮传动机构包括分别紧固连接于两根驱动轴一端的两个主动齿轮，所述驱动轴另一端与第一联轴器公头同轴紧固连接；每一所述主动齿轮分别与第一从动齿圈和第二从动齿圈啮合并驱动其旋转；所述第一从动齿圈与凸轮紧固连接，所述凸轮与所述传动机构基板旋转连接；同时所述第二从动齿圈与传动轴、转动驱动板和支撑板一体紧固连接，所述支撑板与所述传动机构基板旋转连接，所述凸轮与所述转动驱动板旋转连接；以及
    所述凸轮传动机构还包括一端与滑块紧固连接的平面连杆机构，所述滑块与所述传动轴沿轴向滑动连接且能够传递沿周向的旋转运动；所述滑块上紧固连接若干滚子，所述滚子与所述凸轮上螺旋线形的凸轮槽相匹配，能够产生沿所述传动轴轴线方向的推拉力；所述平面连杆机构另一端与近端固定盘驱动板滑动连接，同时所述近端固定盘与所述近端固定盘驱动板紧固连接。
  12. 如权利要求11所述的柔性手术工具系统，其特征在于，所述平面连杆机构主要由推杆、连杆和摇杆组成，所述推杆滑动连接在所述支撑板上，其一端与所述滑块紧固连接，另一端穿过所述支撑板与所述连杆的一端旋转连接，所述连杆另一端与旋转固定在所述传动轴上的所述摇杆旋转连接，所述摇杆与所述近端固定盘驱动板滑动连接。
  13. 如权利要求1到12任一项所述的柔性手术工具系统，其特征在于，所述远端构节还包括间隔分布于其中的多个远端间隔盘，所述远端构节的多根结构骨从各所述远端间隔盘上分布的结构骨通过孔中穿过，末端固定于所述远端固定盘上；以及
    所述近端构节还包括间隔分布于其中的多个近端间隔盘以及与所述传动机构基板紧固连接的近端构节固定基板，所述近端构节的多根结构骨一端固定于所述近端固定盘上，另一端依次从各所述近端间隔盘上分布的结构骨通过孔中穿过后与所述远端构节上的结构骨一一对应紧固连接或为同一根结构骨。
  14. 如权利要求1到12任一项所述的柔性手术工具系统，其特征在于，所述远端构节的结构骨和/或所述近端构节的结构骨为弹性细杆或细管，材料为镍钛合金或不锈钢；在使用多个所述远端构节或所述近端构节情况下，若前一所 述远端构节的结构骨或所述近端构节的结构骨使用弹性细管，则后一所述远端构节的结构骨或所述近端构节的结构骨能够穿过该弹性细管，或直接穿过所述远端间隔盘或所述近端间隔盘上的结构骨通过孔；以及每一所述远端构节的结构骨或所述近端构节中的结构骨数量为三根以上。
  15. 如权利要求1到12任一项所述的柔性手术工具系统，其特征在于，所述远端结构体的外部包覆有封皮，且在所述封皮外部还设置有外套管和鞘套。
  16. 如权利要求1到12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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