WO2020135753A1 - 一种双弯曲型柔性手术工具系统 - Google Patents

一种双弯曲型柔性手术工具系统 Download PDF

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Publication number
WO2020135753A1
WO2020135753A1 PCT/CN2019/129312 CN2019129312W WO2020135753A1 WO 2020135753 A1 WO2020135753 A1 WO 2020135753A1 CN 2019129312 W CN2019129312 W CN 2019129312W WO 2020135753 A1 WO2020135753 A1 WO 2020135753A1
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Prior art keywords
continuum
continuous body
segment
spacer
proximal
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PCT/CN2019/129312
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English (en)
French (fr)
Inventor
徐凯
赵江然
牛林辉
孙祎
朱兢
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北京术锐技术有限公司
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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 EP19904087.4A priority Critical patent/EP3903711A4/en
Priority to US17/418,881 priority patent/US20220071611A1/en
Priority to JP2021533729A priority patent/JP7333400B2/ja
Priority to KR1020217023739A priority patent/KR102587514B1/ko
Priority to CA3118940A priority patent/CA3118940C/en
Publication of WO2020135753A1 publication Critical patent/WO2020135753A1/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
    • 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
    • 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
    • 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
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0144—Tip steering devices having flexible regions as a result of inner reinforcement means, e.g. struts or rods
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Definitions

  • the invention relates to a medical device, and in particular to a dual-bending flexible surgical tool system based on a dual continuum mechanism.
  • Porous laparoscopic minimally invasive surgery has occupied an important position in surgery because of its small wound and fast postoperative recovery.
  • Existing Intuitive Surgical (American Intuitive Surgery) da Vinci (Da Vinci) surgical robot assists doctors to complete porous laparoscopic minimally invasive surgery and has achieved great commercial success.
  • Minimally invasive surgery has developed single-hole laparoscopic surgery and non-invasive surgery through the natural cavity after porous laparoscopic surgery. They are less invasive to patients and have higher postoperative output.
  • all surgical instruments including the visual illumination module and the surgical operating arm, reach the operation department through a single channel, which is extremely demanding for the preparation of surgical instruments.
  • the distal structure of the existing surgical instruments is mainly a series articulation of multiple rods, which is driven by wire rope pulling force, so that the surgical instruments can be bent at the articulated joints. Because the wire rope must maintain a continuous tension state through the pulley, it is difficult to achieve further miniaturization of surgical instruments with this driving method, and it is also difficult to further improve the motion performance of the instruments.
  • the object of the present invention is to provide a dual-curved flexible surgical tool system based on a dual continuum mechanism.
  • the flexible surgical tool system can be better applied through the natural cavity of the human body or through a single surgical incision and perform surgery .
  • a double-bending flexible surgical tool system including: a robot arm, the robot arm includes a first continuous body section, a rigid connection section, a second continuous body section And a third continuum node, the first continuum node and the second continuum node are associated to form a first dual continuum mechanism; the proximal continuum node is arranged on the first continuum node Proximal end, and associated with the third continuum structure disposed at the distal end of the second continuum structure to form a second dual continuum mechanism; a transmission drive unit, respectively connected to the rigid connection structure and the near End continuum structure association, used to drive the first continuum structure to turn in any direction, and then to drive the second continuum structure to turn in the opposite direction, and drive the proximal continuum
  • the node turns in any direction, and then the third continuous body node is coupled and driven to turn in the opposite direction.
  • a double-bending flexible surgical tool system including: a mechanical arm, the mechanical arm includes a first continuous body node, a rigid connection node, a second continuous body node and a third continuous body node, the first The continuum structure and the second continuum structure are associated to form a first dual continuum mechanism; the third continuum structure is arranged at the distal end of the second continuum structure; the drive unit is respectively The rigid connection structure is associated with the third continuum structure, and is used to drive the first continuity structure to turn in any direction, thereby coupling and driving the second continuity structure to turn in the opposite direction, and Directly drive the third continuum to turn in any direction.
  • the transmission drive unit includes a plurality of linear motion mechanisms mainly composed of a double-headed screw, a first slider, and a second slider;
  • the first continuous body configuration The joint includes a first continuum fixed disc and a steering continuum structural bone, and the rigid connection node includes a rigid connection fixed disc;
  • the steering continuum structural bone is a plurality of pairs, and each pair of the steering continuum structural bone The distal end of is connected to the rigid connection fixing plate, and the proximal end passes through the first continuous body fixing plate and is respectively connected to the first slider and the second slider.
  • the robotic arm further includes a rigid feed link, the rigid feed link includes a rigid feed link, and a plurality of rigid feed links Nodal spacer discs are distributed on the proximal end side of the first continuous body fixed disc; the first continuous body segment further includes a first continuous body spacer disc, and a plurality of the first continuous body spacer discs are distributed in the space Between the distal end side of the first continuous body fixed disc and the proximal end side of the rigid connection fixed disc; the steering continuum structure bone sequentially passes through the rigid feed node spacer disc and the first Continuum spacer disc; the second continuum segment includes a second continuum fixed disc and a first dual continuum structural bone; the first dual continuum structural bone is multiple, each of the first dual continuous The distal end of the body structure bone is connected to the second continuous body fixing plate, and the proximal end passes through the rigid connection fixing plate and is connected to the first continuous body fixing plate.
  • the rigid connection segment further includes a rigid connection spacer disc, and a plurality of the rigid connection spacer discs are distributed on the distal side of the rigid connection fixed disc;
  • the second continuum segment further includes a second continuum spacer disc, and a plurality of the second continuum spacer discs are spaced on the proximal end side of the second continuum fixed disc; the first dual continuum structure The bone sequentially passes through the first continuous body spacer disk (, rigid connection spacer disk and second continuous body spacer disk).
  • the proximal continuous body segment includes a proximal continuous body fixing disc and a proximal continuous body structural bone, and the proximal continuous body structural bone is at least two pairs, The distal end of each pair of proximal continuum structural bones is connected to the proximal continuum fixing plate, and the proximal end is directly connected to the first slider and the second slider.
  • the third continuum segment includes a third continuum fixed disk and a second dual continuum structural bone, and the second dual continuum structural bone is multiple ,
  • the distal end of each bone of the second dual continuum structure is connected to the distal fixing plate of the third continuum, the proximal end passes through the first continuum fixing plate, the rigid connection fixing plate, the second continuous
  • the body is fixed to the disk and connected to the proximal continuous body fixing disk.
  • the third continuum segment includes a third continuum fixed disc and a third continuum structural bone
  • the third continuum structural bone is at least two pairs
  • the distal end of each pair of the third continuum structural bone is connected to the distal continuity disc of the third continuum, and the proximal end passes through the first continuum fixation disc, rigid connection fixation disc, and second continuum fixation
  • the first slider and the second slider are connected behind the disc.
  • the flexible surgical tool system further includes a surgical execution mechanism, and the surgical execution mechanism includes: a surgical actuator installed on the third continuous body fixed disk; An instrument control line, the distal end of the surgical actuator control line is connected to the surgical actuator, and the proximal end passes through the mechanical arm and is connected to the first slider or the second slider.
  • the third continuous body segment further includes a third continuous body spacer disk, and a plurality of the third continuous body spacer disks are distributed in the third continuous body at intervals Between the distal side of the fixed disc and the distal side of the second continuum connected to the fixed disc, the bone of the second dual continuum structure and the control line of the surgical actuator both sequentially pass through each of the rigid feed nodes
  • the third continuous body segment further includes a third continuous body spacer disk, and a plurality of the third continuous body spacer disks are distributed in the third continuous body at intervals Between the distal side of the fixed disc and the distal side of the second continuous body connected to the fixed disc, the third continuous body structure bone and the control line of the surgical actuator both sequentially pass through each of the rigid feed node intervals The disk, the first continuous body spacer disk, the rigid connection spacer disk, the second continuous body spacer disk and the third continuous body spacer disk.
  • the first pair of linear motion mechanisms are respectively connected with a pair of bones of the steering continuum structure to achieve The degree of freedom of turning of the first continuum segment in two directions;
  • the second pair of linear motion mechanisms are respectively connected with a pair of the proximal continuum structure bones to realize the third continuum segment Freedom of turning in two directions;
  • one of the linear motion mechanism is connected with the control line of the surgical actuator to realize the motion control of the surgical actuator.
  • the double-bending flexible surgical tool system preferably, there are five linear motion mechanisms: wherein, the first pair of linear motion mechanisms are respectively connected with a pair of bones of the steering continuum structure to achieve The degree of freedom of turning of the first continuum structure in two directions; the second pair of linear motion mechanisms are respectively connected with a pair of the third continuum structure bones to realize the third continuum structure Freedom of turning in two directions; and one linear motion mechanism is connected with the control line of the surgical actuator to realize the motion control of the surgical actuator.
  • the present invention has the following advantages due to the adoption of the above technical solutions: 1.
  • the present invention provides a first dual continuum mechanism that is sequentially related by the first continuum constellation, the rigid connection constituency, and the second continuum constellation.
  • the distal end of the pair continuum mechanism is provided with a third continuum structure, and the structural bone of the third continuum structure is connected to the proximal continuum structure through the first dual continuum structure to form a second dual continuum structure, and
  • Cooperate with the transmission drive unit the transmission drive unit is associated with the rigid connection structure and the proximal continuous body structure, or the structural bone of the third continuous body structure is directly associated with the transmission drive unit, so the first drive can be driven by the transmission drive unit
  • the dual continuum mechanism and the second dual continuum mechanism/third continuum mechanism bend in any direction.
  • the first dual continuum mechanism and the second dual continuum mechanism/third continuum mechanism form a double-bending robot arm, which increases the flexibility of surgical tool movement and expands the movement space of the surgical tool, which can make
  • the mechanical arm maintains a fixed position, provides sufficient coverage of the surgical tool in the body and achieves precise control of the surgical action, thereby making the surgical performance of the surgical tool more superior, and helping to improve the surgical performance of the surgical instrument. Miniaturization and lightening of surgical instruments. 2.
  • the two ends of the structural bone in the first dual continuum mechanism of the present invention are respectively fixed at the proximal end of the first continuum segment and the distal end of the second continuum segment, the length of the structural bone remains unchanged during the driving process Therefore, the total length of the first continuum structure, the rigid connection structure and the second continuum structure remains unchanged.
  • the transmission drive unit drives the first continuum structure to bend in a certain direction
  • the second continuum structure The coupling motion of the node is also uniquely determined.
  • the structural bone of the second dual continuum mechanism/the structural bone of the third continuum structure remains unchanged during the driving process.
  • the transmission drive unit drives the proximal continuum structure to bend in a certain direction
  • the first The coupling motion of the three continuum constellation is also uniquely determined. 3.
  • the transmission drive unit of the present invention uses a double-headed screw and a slider as a linear motion mechanism.
  • the double-headed screw is driven to rotate, the two sliders that cooperate with the double-headed screw perform reverse linear motion at the same speed, thereby driving
  • the steering continuum structure bone or proximal continuum structure bone connected to the slider is pushed or pulled, so that the first or second dual continuum mechanism/third continuum structure bends in any direction.
  • Embodiment 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention.
  • Embodiment 1 of the present invention is a schematic structural view of a mechanical arm in Embodiment 1 of the present invention.
  • FIG. 3 is a schematic structural diagram of a transmission drive unit in Embodiment 1 of the present invention.
  • Embodiment 2 of the present invention is a schematic diagram of the overall structure of Embodiment 2 of the present invention.
  • Embodiment 2 is a schematic structural view of a mechanical arm in Embodiment 2 of the present invention.
  • FIG. 6 is a schematic structural diagram of a transmission drive unit in Embodiment 2 of the present invention.
  • FIG. 7 is a perspective view of the linear motion mechanism of the present invention.
  • FIG. 9 is a schematic view of the structure of the present invention after installing the housing, cover and outer sleeve.
  • the double-bending flexible surgical tool system includes a robot arm 10, a proximal continuous body segment 17 and a transmission drive unit 20.
  • the robot arm 10 includes a first continuous body configuration Node 12, rigid connection node 13, second continuous body node 14 and third continuous body node 15, first continuous body node 12, rigid connection node 13 and second continuous body node 14 are sequentially associated to form The first dual continuum mechanism;
  • the third continuum segment 15 is disposed at the distal end of the second continuum segment 14 and is associated with the proximal continuum segment 17 disposed in the transmission drive unit 20 to form a second dual Continuum mechanism;
  • the transmission drive unit 20 is associated with the rigid connection segment 13 and the proximal continuum segment 17, respectively, and is used to drive the first continuum segment 12 to bend in any direction, thereby coupling and driving the second continuum segment 14 Complete the turning in the opposite direction, and drive the proximal continuum segment 17 to turn in any direction, and then coupling drive the third continuum segment 15 to complete the
  • the transmission drive unit 20 includes a plurality of linear motion mechanisms 22 for converting a rotary motion input into a linear motion output.
  • the linear motion mechanism 22 includes: a double-headed screw 221, The double-headed screw 221 is rotatable and the threads of the two threaded sections on it are in opposite directions; the first slider 224 and the second slider 225 are screwed on the two threaded sections of the double-headed screw 221, respectively.
  • the double-headed screw 221 rotates, the first slider 224 and the second slider 225 move in a reverse linear motion along the double-headed screw 221 at the same speed.
  • the first continuum segment 12 includes a first continuum fixing disc 122 and a steering continuum structural bone 123
  • the rigid connection segment 13 includes a rigid connection fixing disc 132
  • the second continuum segment 14 includes a second continuum fixed disc 142 and a first dual continuum structural bone 143
  • the steering continuum structural bone 123 is a plurality of pairs, and each pair of steering continuum structural bone 123 is connected at the distal end
  • the proximal end passes through the first continuum fixing plate 122 and is connected to the first slider 224 and the second slider 225 respectively
  • the first dual continuum structural bones 143 are multiple, each The distal end of the pair of continuum structural bones 143 is connected to the second continuum fixing plate 142, and the proximal end passes through the rigid connection fixing plate 132 and is connected to the first continuum fixing plate 122.
  • first slider 224 and the second slider 225 performing the reverse linear motion push and pull a pair of steering continuum structure bones 123 connected thereto to drive the first continuum segment 12 to bend in a certain direction
  • the second continuous body segment 14 is coupled and driven to turn in the opposite direction along a certain proportional relationship. Since the length of the first dual continuum structure bone 143 during driving remains unchanged, the totality of the dual continuum mechanism composed of the first continuum structure 12, the rigid connection structure 13 and the second continuity structure 14 The length also remains constant, so the coupling motion of the second continuum segment 14 is also uniquely determined.
  • the proximal continuum segment 17 includes a proximal continuum fixed disc 172 and a proximal continuum structural bone 173, and the third continuum segment 15 includes a third continuum fixed disc 152 and a second dual continuum structural bone 153;
  • the end continuum structural bones 173 are at least two pairs, and the distal end of each pair of proximal continuum structural bones 173 is connected to the proximal continuum fixing plate 172, and the proximal end is directly connected to the first slider 224 and the second slider 225 ;
  • the second dual continuum structure bone 153 is a plurality of, each second dual continuum structure bone 153 has a distal end connected to the third continuum distal fixing plate 152, the proximal end passes through the first continuum fixing plate 122 1.
  • the rigid connection fixing disk 132 and the second continuous body fixing disk 142 are connected to the proximal continuous body fixing disk 172.
  • the first slider 224 and the second slider 225 performing the reverse linear motion push and pull a pair of proximal continuous body structural bones 173 connected thereto to drive the proximal continuous body segment 17 to bend in a certain direction
  • the third continuous body segment 15 is coupled and driven to turn in the opposite direction along a certain proportional relationship. Since the length of the second dual continuum structure bone 153 during driving remains unchanged, the total length of the dual continuum mechanism composed of the third continuum segment 15 and the proximal continuum segment 17 also remains unchanged, Therefore, the coupling motion of the third continuum segment 15 is also uniquely determined.
  • the ratio of the second continuum structure 14 turning is determined by the distribution radius of the first dual continuum structure bone 143 in the first continuum structure 12 and the second continuum structure 14 together, the third continuum structure
  • the distribution radius of the second dual continuum structural bone 153 at the turning of the node 15 at the third continuum segment 15 and the proximal continuum segment 17 is determined jointly.
  • the distribution radius of the first continuum segment 12 and the second continuum segment 14 are equal, so the first continuum segment 12 and the second continuum segment 14 will have the opposite ratio , Thereby ensuring that the first continuous body fixed disk 122 and the second continuous body fixed disk 142 are always kept parallel to each other during driving.
  • the flexible surgical tool system further includes a surgical execution mechanism 16.
  • the surgical execution mechanism 16 includes: a surgical actuator 50 installed on the third continuous body fixed disk 152; Surgical actuator control wire 163. The distal end of the surgical actuator control wire 163 is connected to the surgical actuator 50. The proximal end passes through the robot arm 10 and is connected to the first slider 224 or the second slider 225. Under the drive of 22, the opening and closing movement of the surgical actuator 50 is controlled.
  • the robot arm 10 further includes a rigid feed node 11, the rigid feed node 11 includes a rigid feed node spacer disk 111, and a plurality of rigid feed node spacer disks 111 are distributed at intervals The proximal end side of the first continuous body fixed disk 122; the first continuous body structure 12 further includes a first continuous body spaced disk 121, and a plurality of first continuous body spaced disks 121 are distributed at a distance from the first continuous body spaced disk 122 Between the end side and the proximal side of the rigid connection fixing plate 132, the steering continuum structure bone 123 sequentially passes through each rigid feed node spacer disc 111 and each first continuum spacer disc 121 to prevent the steering continuum The structural bone 123 is unstable when pushed.
  • the rigid connecting segment 13 further includes a rigid connecting spacer 131, and a plurality of rigid connecting spacers 131 are distributed on the distal end side of the rigid connecting fixed disc 132;
  • the second continuous body segment 14 further includes a second continuous body spacer 141, A plurality of second continuum spacer discs 141 are distributed on the proximal side of the second continuum fixed disc 142, and the first dual continuum structure bone 143 passes through the first continuum spacer disc 121, the rigid connection spacer disc 131 and the first
  • the two-continuous spacer disc 141 is used to limit the first dual-continuous structural bone 143.
  • the third continuum segment 15 further includes a third continuum spacer disc 151, and a plurality of third continuum spacer discs 151 are distributed on the distal end side of the third continuum fixed disc 152 and the second continuum connected to the fixed disc 142 Between the distal side, the second dual continuum structural bone 153 and the surgical actuator control wire 163 sequentially pass through each rigid feed node spacer disk 111, the first continuum spacer disk 121, and rigidly connect the spacer disk 131, the first The two-continuous spacer disc 141 and the third-continuous spacer disc 151 are used to limit the second dual-continuous structural bone 153 while preventing the surgical actuator control wire 163 from being unstable when pushed.
  • the transmission drive unit 20 further includes a base frame 21, and the base frame 21 includes: a first support plate 211 and a second support plate 213, the first The support plate 211 and the second support plate 213 are arranged at intervals, and the double-headed screw 221 is connected to the first support plate 211 and the second support plate 213 in the axial direction; the first guide bar 222 and the second guide bar 223 are in the axial direction Connected between the first support plate 211 and the second support plate 213, the first slider 224 and the second slider 225 are slidably connected to the first guide rod 222 and the second guide rod 223, respectively.
  • the second guide rod 223 plays a limiting and guiding role, so that the first slider 224 and the second slider 225 can smoothly perform reverse linear motion; the pressing block 226 controls the direction of the continuum structure bone 123, the proximal continuum
  • the structural bone 173 and the surgical actuator control wire 163 are fixed together with the first slider 224 and the second slider 225 by the pressing block 226.
  • the base frame 21 further includes: a connecting plate 212 provided between the first supporting plate 211 and the second supporting plate 213 and connected to the second guide rod 223, and the double-headed screw 221 is connected from The plate 212 passes through and has a gap with the connecting plate 212.
  • the connecting plate 212 is used to separate the two threaded sections of the double-headed screw 221; the third support plate 214 is connected to the second through the first guide rod 222 On the supporting plate 213, a space for arranging other required electrical components is formed between the second supporting plate 213 and the third supporting plate 214.
  • a positioning sleeve 401 can be sleeved on the first guide rod 222 and the second guide rod 223 to position the connecting plate 212 and the third support plate 214; or, the first support plate 211
  • the second support plate 213 can also be fixedly connected by a threaded support rod.
  • the positioning between the first support plate 211, the second support plate 213, and the connection plate 212 can be connected to the support rod by co-ordination
  • the nut is locked to achieve, that is, the positioning sleeve 401 is replaced with a positioning nut.
  • the first pair of linear motion mechanisms 22 are respectively connected to a pair of steering continuum structure bones 123, so as to realize the first continuum structure 12 in two Degrees of freedom in two directions; the second pair of linear motion mechanisms 22 are respectively connected to a pair of proximal continuum structural bones 173 to achieve the degrees of freedom in third directions of the third continuum segment 15; and A linear motion mechanism 22 is connected to the control line 163 of the surgical actuator to realize the motion control of the surgical actuator 50.
  • the steering continuum structure bone 123 and the second dual continuum structure bone 153 are connected to the first slider 224 and the second slider 225 after passing through the guide disc 162 through the guide channel 161,
  • the surgical actuator control wire 163 is also connected to the first slider 224 or the second slider 225 after passing through the guide disk 162 through the guide channel 161.
  • the double-headed screw 221 is connected to the male coupling head 402 mounted on the third support plate 214, and further can be connected to the rotating shaft of the drive motor through the female coupling head.
  • a housing 230 is provided outside the transmission drive unit 20, and both the first support plate 211 and the second support plate 213 are connected to the housing 230.
  • a cover 171 is provided on the outside of the robot arm 10, and its function is to improve the smoothness of the robot arm 10 entering the natural cavity of the human body or the surgical incision.
  • an outer sleeve 172 may be provided outside the cover 171.
  • the double-bending flexible surgical tool system includes a robot arm 10 and a transmission drive unit 20.
  • the robot arm 10 includes a first continuous body segment 12 and a rigid connection segment 13 ,
  • the second continuum segment 14 and the third continuum segment 15, the first continuum segment 12, the rigid connecting segment 13 and the second continuum segment 14 are sequentially associated to form a first dual continuum mechanism;
  • the three continuous body segments 15 are arranged at the distal end of the second continuous body segment 14, and the transmission drive unit 2 is associated with the rigid connection segment 13 and the third continuous body segment 15, respectively, for driving the first continuous body segment 12 Turning in any direction, and then coupling driving the second continuum segment 14 to complete turning in the opposite direction, and directly driving the third continuum segment 15 to turn in any direction.
  • the transmission drive unit 20 includes a plurality of linear motion mechanisms 22 for converting rotational motion input into linear motion output.
  • the linear motion mechanism 22 includes: a double-headed screw 221, The double-headed screw 221 is rotatable and the threads of the two threaded sections on it are in opposite directions; the first slider 224 and the second slider 225 are screwed on the two threaded sections of the double-headed screw 221, respectively.
  • the double-headed screw 221 rotates, the first slider 224 and the second slider 225 move in a reverse linear motion along the double-headed screw 221 at the same speed.
  • the first continuum segment 12 includes a first continuum fixing disc 122 and a steering continuum structural bone 123
  • the rigid connection segment 13 includes a rigid connection fixing disc 132
  • the second continuum segment 14 includes a second continuum fixed disc 142 and a first dual continuum structural bone 143
  • the steering continuum structural bone 123 is a plurality of pairs, and each pair of steering continuum structural bone 123 is connected at the distal end
  • the proximal end passes through the first continuum fixing plate 122 and is connected to the first slider 224 and the second slider 225 respectively
  • the first dual continuum structural bones 143 are multiple, each The distal end of the pair of continuum structural bones 143 is connected to the second continuum fixing plate 142, and the proximal end passes through the rigid connection fixing plate 132 and is connected to the first continuum fixing plate 122.
  • first slider 224 and the second slider 225 performing the reverse linear motion push and pull a pair of steering continuum structure bones 123 connected thereto to drive the first continuum segment 12 to bend in a certain direction
  • the second continuous body segment 14 is coupled and driven to turn in the opposite direction along a certain proportional relationship. Since the length of the first dual continuum structure bone 143 during driving remains unchanged, the totality of the dual continuum mechanism composed of the first continuum structure 12, the rigid connection structure 13 and the second continuity structure 14 The length also remains constant, so the coupling motion of the second continuum segment 14 is also uniquely determined.
  • the third continuum segment 15 includes a third continuum fixing disc 152 and a third continuum structural bone 154.
  • the third continuum structural bone 154 is at least two pairs, and the distal ends of each pair of third continuum structural bone 154 are connected at The distal end of the third continuous body is fixed on the disk 152, and the proximal end passes through the first continuous body fixed disk 122, the rigid connection fixed disk 132, and the second continuous body fixed disk 142, and is connected to the first slider 224 and the second slider 225 .
  • the first slider 224 and the second slider 225 performing a reverse linear motion push and pull a pair of third continuous body structural bones 154 connected thereto, and directly drive the third continuous body segment 15 to bend in a certain direction turn. Since the length of the third continuum structure bone 154 during driving remains unchanged, the movement of the third continuum structure 15 is also uniquely determined.
  • the flexible surgical tool system further includes a surgical execution mechanism 16, the surgical execution mechanism 16 includes: a surgical actuator 50 installed on a third continuous body fixed disk 152; a surgical actuator control wire 163 , The distal end of the surgical actuator control wire 163 is connected to the surgical actuator 50, and the proximal end passes through the robot arm 10 and is connected to the first slider 224 or the second slider 225, which can be driven by the linear motion mechanism 22 The opening and closing movement of the surgical actuator 50 is controlled.
  • the robot arm 10 further includes a rigid feed node 11, the rigid feed node 11 includes a rigid feed node spacer disk 111, and a plurality of rigid feed node spacer disks 111 are distributed at intervals The proximal end side of the first continuous body fixed disk 122; the first continuous body structure 12 further includes a first continuous body spaced disk 121, and a plurality of first continuous body spaced disks 121 are distributed at a distance from the first continuous body spaced disk 122 Between the end side and the proximal side of the rigid connection fixing plate 132, the steering continuum structure bone 123 sequentially passes through each rigid feed node spacer disc 111 and each first continuum spacer disc 121 to prevent the steering continuum The structural bone 123 is unstable when pushed.
  • the rigid connecting segment 13 further includes a rigid connecting spacer 131, and a plurality of rigid connecting spacers 131 are distributed on the distal end side of the rigid connecting fixed disc 132;
  • the second continuous body segment 14 further includes a second continuous body spacer 141, A plurality of second continuum spacer discs 141 are distributed on the proximal side of the second continuum fixed disc 142, and the first dual continuum structure bone 143 passes through the first continuum spacer disc 121, the rigid connection spacer disc 131 and the first
  • the two-continuous spacer disc 141 is used to limit the first dual-continuous structural bone 143.
  • the third continuum segment 15 further includes a third continuum spacer disc 151, and a plurality of third continuum spacer discs 151 are distributed on the distal end side of the third continuum fixed disc 152 and the second continuum connected to the fixed disc 142 Between the distal side, the third continuum structural bone 154 and the surgical actuator control wire 163 pass through each rigid feed node spacer disk 111, the first continuum spacer disk 121, and the rigid connection spacer 131, the second The continuum spacer 141 and the third continuum spacer 151 are used to limit the third continuum structural bone 154 while preventing the surgical actuator control wire 163 from being unstable when pushed.
  • the transmission drive unit 20 further includes a base frame 21, and the base frame 21 includes: a first support plate 211 and a second support plate 213, and the first support plate 211 Arranged at a distance from the second support plate 213, the double-headed screw 221 is connected to the first support plate 211 and the second support plate 213 in the axial direction; the first guide bar 222 and the second guide bar 223 are connected in the axial direction at the first Between a support plate 211 and a second support plate 213, the first slider 224 and the second slider 225 are slidingly connected to the first guide rod 222 and the second guide rod 223, respectively, the first guide rod 222 and the second guide rod 223 The rod 223 acts as a limit and guide, so that the first slider 224 and the second slider 225 can smoothly perform reverse linear motion; the pressing block 226 controls the direction of the continuum structure bone 123 and the third continuum structure bone 154 Both the surgical actuator control wire 163 and the first slider 224 and the
  • the base frame 21 further includes: a connecting plate 212 provided between the first supporting plate 211 and the second supporting plate 213 and connected to the second guide rod 223, and the double-headed screw 221 is connected from The plate 212 passes through and has a gap with the connecting plate 212.
  • the connecting plate 212 is used to separate the two threaded sections of the double-headed screw 221; the third support plate 214 is connected to the second through the first guide rod 222 On the supporting plate 213, a space for arranging other required electrical components is formed between the second supporting plate 213 and the third supporting plate 214.
  • a positioning sleeve 401 can be sleeved on the first guide rod 222 and the second guide rod 223 to position the connecting plate 212 and the third support plate 214; or, the first support plate 211
  • the second support plate 213 can also be fixedly connected by a threaded support rod.
  • the positioning between the first support plate 211, the second support plate 213, and the connection plate 212 can be connected to the support rod by co-ordination
  • the nut is locked to achieve, that is, the positioning sleeve 401 is replaced with a positioning nut.
  • the first pair of linear motion mechanisms 22 are respectively connected to a pair of steering continuum structure bones 123, so as to realize the first continuum structure 12 in two Degrees of freedom in turning in two directions; the second pair of linear motion mechanisms 22 are respectively connected to a pair of third continuum structural bones 154 to achieve the turning freedom of the third continuum segment 15 in two directions; and A linear motion mechanism 22 is connected to the control line 163 of the surgical actuator to realize the motion control of the surgical actuator 50.
  • the steering continuum structure bone 123 and the third continuum structure bone 154 are connected to the first slider 224 and the second slider 225 through the guide channel 161 after passing through the guide disk 162, respectively.
  • the actuator control wire 163 is also connected to the first slider 224 or the second slider 225 after passing through the guide disk 162 through the guide channel 161.
  • the double-headed screw 221 is connected to the male coupling head 402 mounted on the third support plate 214, and further can be connected to the rotating shaft of the drive motor through the female coupling head.
  • a housing 230 is provided outside the transmission drive unit 20, and both the first support plate 211 and the second support plate 213 are connected to the housing 230.
  • a cover 171 is provided on the outside of the robot arm 10, and its function is to improve the smoothness of the robot arm 10 entering the natural cavity of the human body or the surgical incision.
  • an outer sleeve 172 may be provided outside the cover 171.

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  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

一种双弯曲型柔性手术工具系统，包括：机械臂(10)，机械臂(10)包括第一连续体构节(12)、刚性连接构节(13)、第二连续体构节(14)和第三连续体构节(15)，第一连续体构节(12)和第二连续体构节(14)关联以形成第一对偶连续体机构；近端连续体构节(17)，布置在第一连续体构节(12)近端，并与布置在第二连续体构节(14)远端的第三连续体构节(15)关联以形成第二对偶连续体机构；传动驱动单元(20)，分别与刚性连接构节(13)和近端连续体构节(17)关联，用于驱动第一连续体构节(12)向任意方向弯转，进而耦合驱动第二连续体构节(14)向相反的方向弯转，以及驱动近端连续体构节(17)向任意方向弯转，进而耦合驱动第三连续体构节(15)向相反的方向弯转。能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。

Description

一种双弯曲型柔性手术工具系统 技术领域
本发明涉及一种医疗器械，尤其涉及一种基于对偶连续体机构的双弯曲型柔性手术工具系统。
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。
现有手术器械的灵活性，受限于刚性结构体和钢丝绳的驱动方式，而且体积较大。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基于对偶连续体机构的双弯曲型柔性手术工具系统，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。
为实现上述目的，本发明采用以下技术方案：一种双弯曲型柔性手术工具系统，包括：机械臂，所述机械臂包括第一连续体构节、刚性连接构节、第二连续体构节和第三连续体构节，所述第一连续体构节和第二连续体构节关联以形成第一对偶连续体机构；近端连续体构节，布置在所述第一连续体构节近端，并与布置在所述第二连续体构节远端的所述第三连续体构节关联以形成第二对偶连续体机构；传动驱动单元，分别与所述刚性连接构节和近端连续体构节关联，用于驱动所述第一连续体构节向任意方向弯转，进而耦合驱动所述第二连续体构节向相反的方向弯转，以及驱动所述近端连续体构节向任意方向弯转，进而耦合驱动所述第三连续体构节向相反的方向弯转。
一种双弯曲型柔性手术工具系统，包括：机械臂，所述机械臂包括第一连续体构节、刚性连接构节、第二连续体构节和第三连续体构节，所述第一连续体构节和第二连续体构节关联以形成第一对偶连续体机构；所述第三连续体构节布置在所述第二连续体构节的远端；传动驱动单元，分别与所述刚性连接构节和第三连续体构节关联，用于驱动所述第一连续体构节向任意方向弯转，进而耦合驱动所述第二连续体构节向相反的方向弯转，以及直接驱动所述第三连续体构节向任意方向弯转。
所述的双弯曲型柔性手术工具系统，优选的，所述传动驱动单元包括主要由双头螺杆、第一滑块和第二滑块组成的多个直线运动机构；所述第一连续体构节包括第一连续体固定盘和控向连续体结构骨，所述刚性连接构节包括刚性连接固定盘；所述控向连续体结构骨为多对，每对所述控向连续体结构骨的远端连接在所述刚性连接固定盘上，近端穿过所述第一连续体固定盘后分别与所述第一滑块和第二滑块连接。
所述的双弯曲型柔性手术工具系统，优选的，所述机械臂还包括刚性进给构节，所述刚性进给构节包括刚性进给构节间隔盘，多个所述刚性进给构节间隔盘间隔分布在所述第一连续体固定盘的近端侧；所述第一连续体构节还包括第一连续体间隔盘，多个所述第一连续体间隔盘间隔分布在所述第一连续体固定盘的远端侧和所述刚性连接固定盘的近端侧之间；所述控向连续体结构骨依次穿过所述刚性进给构节间隔盘和所述第一连续体间隔盘；所述第二连续体构节包括第二连续体固定盘和第一对偶连续体结构骨；所述第一对偶连续体结构骨为多根，每根所述第一对偶连续体结构骨的远端连接在所述第二连续体固定盘上，近端穿过所述刚性连接固定盘后连接在所述第一连续体固定盘上。
所述的双弯曲型柔性手术工具系统，优选的，所述刚性连接构节还包括刚性连接间隔盘，多个所述刚性连接间隔盘间隔分布在所述刚性连接固定盘的远端侧；所述第二连 续体构节还包括第二连续体间隔盘，多个所述第二连续体间隔盘间隔分布在所述第二连续体固定盘的近端侧；所述第一对偶连续体结构骨依次穿过所述第一连续体间隔盘(、刚性连接间隔盘和第二连续体间隔盘。
所述的双弯曲型柔性手术工具系统，优选的，所述近端连续体构节包括近端连续体固定盘和近端连续体结构骨，所述近端连续体结构骨为至少两对，每对所述近端连续体结构骨的远端连接在所述近端连续体固定盘上，近端直接与所述第一滑块和第二滑块连接。
所述的双弯曲型柔性手术工具系统，优选的，所述第三连续体构节包括第三连续体固定盘和第二对偶连续体结构骨，所述第二对偶连续体结构骨为多根，每根所述第二对偶连续体结构骨的远端连接在所述第三连续体远端固定盘上，近端穿过所述第一连续体固定盘、刚性连接固定盘、第二连续体固定盘后与所述近端连续体固定盘连接。
所述的双弯曲型柔性手术工具系统，优选的，所述第三连续体构节包括第三连续体固定盘和第三连续体结构骨，所述第三连续体结构骨为至少两对，每对所述第三连续体结构骨的远端连接在所述第三连续体远端固定盘上，近端穿过所述第一连续体固定盘、刚性连接固定盘、第二连续体固定盘后与所述第一滑块和第二滑块连接。
所述的双弯曲型柔性手术工具系统，优选的，该柔性手术工具系统还包括手术执行机构，所述手术执行机构包括：手术执行器，安装在所述第三连续体固定盘上；手术执行器控线，所述手术执行器控线的远端与所述手术执行器连接，近端穿过所述机械臂后与所述第一滑块或第二滑块连接。
所述的双弯曲型柔性手术工具系统，优选的，所述第三连续体构节还包括第三连续体间隔盘，多个所述第三连续体间隔盘间隔分布在所述第三连续体固定盘的远端侧和所述第二连续体连接固定盘的远端侧之间，所述第二对偶连续体结构骨和手术执行器控线均依次穿过各所述刚性进给构节间隔盘、第一连续体间隔盘，刚性连接间隔盘、第二连续体间隔盘和第三连续体间隔盘。
所述的双弯曲型柔性手术工具系统，优选的，所述第三连续体构节还包括第三连续体间隔盘，多个所述第三连续体间隔盘间隔分布在所述第三连续体固定盘的远端侧和所述第二连续体连接固定盘的远端侧之间，所述第三连续体结构骨和手术执行器控线均依次穿过各所述刚性进给构节间隔盘、第一连续体间隔盘，刚性连接间隔盘、第二连续体间隔盘和第三连续体间隔盘。
所述的双弯曲型柔性手术工具系统，优选的，所述直线运动机构为五个：其中,第一对所述直线运动机构分别与一对所述控向连续体结构骨连接，以实现所述第一连续体构节在两个方向上的弯转自由度；第二对所述直线运动机构分别与一对所述近端连续体结构骨连接，以实现所述第三连续体构节在两个方向上的弯转自由度；以及一个所述直线运动机构与所述手术执行器控线连接，以实现手术执行器的动作控制。
所述的双弯曲型柔性手术工具系统，优选的，所述直线运动机构为五个：其中,第一对所述直线运动机构分别与一对所述控向连续体结构骨连接，以实现所述第一连续体构节在两个方向上的弯转自由度；第二对所述直线运动机构分别与一对所述第三连续体结构骨连接，以实现所述第三连续体构节在两个方向上的弯转自由度；以及一个所述直线运动机构与所述手术执行器控线连接，以实现所述手术执行器的动作控制。
本发明由于采取以上技术方案，其具有以下优点：1、本发明设置由第一连续体构节、刚性连接构节和第二连续体构节顺序关联的第一对偶连续体机构，同时在第一对偶连续体机构的远端设置第三连续体构节，第三连续体构节的结构骨通过第一对偶连续体机构与近端连续体构节连接以形成第二对偶连续体机构，并配合以传动驱动单元，传动驱动单元分别与刚性连接构节和近端连续体构节关联，或者第三连续体构节的结构骨直接与传动驱动单元关联，因此通过传动驱动单元可以驱动第一对偶连续体机构和第二对偶连续体机构/第三连续体构节向任意方向弯转。由此，第一对偶连续体机构和第二对偶连续体机构/第三连续体构节形成双弯曲型机械臂，增加了手术工具运动灵活性，扩展了手术工具的运动空间，能够使得在体外机械臂保持固定位置的状态下，提供手术工具在体内的足够大的覆盖范围并达到手术动作的精确控制，从而使手术工具的运动性能更加优越，并且有助于提高手术器械的运动性能，实现手术器械的小型化、量轻化。2、本发明的第一对偶连续体机构中的结构骨两端分别固结在第一连续体构节近端和第二连续体构节远端，该结构骨在驱动过程中长度保持不变，因此第一连续体构节、刚性连接构节和第二连续体构节的总长度保持不变，当传动驱动单元驱动第一连续体构节向某一方向弯转，第二连续体构节的耦合运动也被唯一确定。同样的，第二对偶连续体机构的结构骨/第三连续体构节的结构骨在驱动过程中长度也保持不变，当传动驱动单元驱动近端连续体构节向某一个方向弯曲，第三连续体构节的耦合运动也被唯一确定。3、本发明的传动驱动单元采用双头螺杆、滑块作为直线运动机构，当驱动双头螺杆旋转时，与该双头螺杆配合的两滑块以相同的速度进行反向直线运动，从而带动与滑块连接的控向连续体结构骨或近端连续体结构骨受推或受拉，从而实现第一或第二对偶连续体机构/第三连续体构节向任意方向发生弯转。
附图说明
图1是本发明实施例一的整体结构示意图；
图2是本发明实施例一中机械臂的结构示意图；
图3是本发明实施例一中传动驱动单元的结构示意图；
图4是本发明实施例二的整体结构示意图；
图5是本发明实施例二中机械臂的结构示意图；
图6是本发明实施例二中传动驱动单元的结构示意图；
图7是本发明直线运动机构的立体图；
图8是本发明直线运动机构的仰视图；
图9是本发明安装壳体、封皮和外套管后的结构示意图。
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。
实施例一：
如图1、图2所示，本实施例提供的双弯曲型柔性手术工具系统，包括机械臂10、近端连续体构节17和传动驱动单元20，该机械臂10包括第一连续体构节12、刚性连接构节13、第二连续体构节14和第三连续体构节15，第一连续体构节12、刚性连接构节13和第二连续体构节14顺序关联以形成第一对偶连续体机构；第三连续体构节15布置在第二连续体构节14的远端，并与布置在传动驱动单元20中的近端连续体构节17关联以形成第二对偶连续体机构；传动驱动单元20分别与刚性连接构节13和近端连续体构节17关联，用于驱动第一连续体构节12向任意方向弯转，进而耦合驱动第二连续体构节14完成向相反的方向弯转，以及驱动近端连续体构节17向任意方向弯转，进而耦合驱动第三连续体构节15完成向相反的方向弯转。
在本实施例中，优选的，如图3所示，传动驱动单元20包括多个用于将旋转运动输入转换为直线运动输出的直线运动机构22，直线运动机构22包括：双头螺杆221，双头螺杆221可旋转且其上两个螺纹段的螺纹旋向相反；第一滑块224和第二滑块225，分别旋接在双头螺杆221的两个螺纹段上。当双头螺杆221旋转时，第一滑块224和第二滑块225沿双头螺杆221以相同的速度进行反向直线运动。
在本实施例中，优选的，如图2所示，第一连续体构节12包括第一连续体固定盘122和控向连续体结构骨123，刚性连接构节13包括刚性连接固定盘132，第二连续体构节14包括第二连续体固定盘142和第一对偶连续体结构骨143；控向连续体结构骨123为多对，每对控向连续体结构骨123的远端连接在刚性连接固定盘132上，近端穿过第一连续体固定盘122后分别与第一滑块224和第二滑块225连接；第一对偶连续体结构骨143为多根，每根第一对偶连续体结构骨143的远端连接在第二连续体固定盘142上，近端穿过刚性连接固定盘132后连接在第一连续体固定盘122上。由此，通过进行反向直线运动的第一滑块224和第二滑块225推拉与之连接的一对控向连续体结构骨123，驱动第一连续体构节12向某一方向弯转，进而耦合驱动第二连续体构节14沿一定的比例关系向相反方向进行弯转。由于第一对偶连续体结构骨143在驱动过程中的长度保持不变，使得由第一连续体构节12、刚性连接构节13和第二连续体构节14构成的对偶连续体机构的总长度也保持不变，因此第二连续体构节14的耦合运动也被唯一确定。
近端连续体构节17包括近端连续体固定盘172和近端连续体结构骨173，第三连续体构节15包括第三连续体固定盘152和第二对偶连续体结构骨153；近端连续体结构骨173为至少两对，每对近端连续体结构骨173的远端连接在近端连续体固定盘172上，近端直接与第一滑块224和第二滑块225连接；第二对偶连续体结构骨153为多根，每根第二对偶连续体结构骨153的远端连接在第三连续体远端固定盘152上，近端穿过第一连续体固定盘122、刚性连接固定盘132、第二连续体固定盘142后与近端连续体固定盘172连接。由此，通过进行反向直线运动的第一滑块224和第二滑块225推拉与之连接的一对近端连续体结构骨173，驱动近端连续体构节17向某一方向弯转，进而耦合驱动第三连续体构节15沿一定的比例关系向相反方向进行弯转。由于第二对偶连续体结构骨153在驱动过程中的长度保持不变，使得由第三连续体构节15和近端连续体构节17构成的对偶连续体机构的总长度也保持不变，因此第三连续体构节15的耦合运动也被唯一确定。
此外，第二连续体构节14弯转的比例关系由第一对偶连续体结构骨143在第一连续体构节12和第二连续体构节14的分布半径共同决定，第三连续体构节15弯转的第二对偶连续体结构骨153在第三连续体构节15和近端连续体构节17的分布半径共同决定。在该优选的实施例中，第一连续体构节12和第二连续体构节14的分布半径相等，因此第一连续体构节12和第二连续体构节14将会产生等比相反的弯转，由此保证第一连续体固定盘122和第二连续体固定盘142在驱动过程中始终保持互相平行。
在本实施例中，优选的，如图2所示，该柔性手术工具系统还包括手术执行机构16，该手术执行机构16包括：手术执行器50，安装在第三连续体固定盘152上；手术执行器控线163，手术执行器控线163的远端与手术执行器50连接，近端穿过机械臂10后与第一滑块224或第二滑块225连接，可在直线运动机构22的驱动下实现对手术执行器50的张合动作控制。
在本实施例中，优选的，机械臂10还包括刚性进给构节11，刚性进给构节11包括刚性进给构节间隔盘111，多个刚性进给构节间隔盘111间隔分布在第一连续体固定盘122的近端侧；第一连续体构节12还包括第一连续体间隔盘121，多个第一连续体间隔盘121间隔分布在第一连续体固定盘122的远端侧和刚性连接固定盘132的近端侧之间，控向连续体结构骨123依次穿过各刚性进给构节间隔盘111和各第一连续体间隔盘121，以防止控向连续体结构骨123在受推时失稳。
刚性连接构节13还包括刚性连接间隔盘131，多个刚性连接间隔盘131间隔分布在刚性连接固定盘132的远端侧；第二连续体构节14还包括第二连续体间隔盘141，多个第二连续体间隔盘141间隔分布在第二连续体固定盘142的近端侧，第一对偶连续体结构骨143依次穿过第一连续体间隔盘121、刚性连接间隔盘131和第二连续体间隔盘141，以对第一对偶连续体结构骨143进行限位。
第三连续体构节15还包括第三连续体间隔盘151，多个第三连续体间隔盘151间隔分布在第三连续体固定盘152的远端侧和第二连续体连接固定盘142的远端侧之间，第二对偶连续体结构骨153和手术执行器控线163均依次穿过各刚性进给构节间隔盘111、第一连续体间隔盘121，刚性连接间隔盘131、第二连续体间隔盘141和第三连续体间隔盘151，以对第二对偶连续体结构骨153进行限位，同时防止手术执行器控线163在受推时失稳。
在本实施例中，优选的，如图3、图7、图8所示，传动驱动单元20还包括基础框架21，基础框架21包括：第一支撑板211和第二支撑板213，第一支撑板211和第二 支撑板213间隔布置，双头螺杆221沿轴向转动连接在第一支撑板211和第二支撑板213上；第一导杆222和第二导杆223，沿轴向连接在第一支撑板211和第二支撑板213之间，第一滑块224和第二滑块225分别滑动连接在第一导杆222和第二导杆223上，第一导杆222和第二导杆223起限位和导向作用，使第一滑块224和第二滑块225能够平稳地进行反向直线运动；压紧块226，控向连续体结构骨123、近端连续体结构骨173和手术执行器控线163均通过压紧块226与第一滑块224和第二滑块225固定在一起。
在本实施例中，优选的，基础框架21还包括：连接板212，设置在第一支撑板211与第二支撑板213之间并连接在第二导杆223上，双头螺杆221从连接板212上穿过且与连接板212之间留有间隙，连接板212用于将双头螺杆221的两个螺纹段隔开；第三支撑板214，通过第一导杆222连接在第二支撑板213上，以使第二支撑板213和第三支撑板214之间形成其他所需电器元件的布置空间。
在本实施例中，优选的，可以在第一导杆222和第二导杆223上套设定位套筒401对连接板212和第三支撑板214进行定位；或者，第一支撑板211与第二支撑板213也可以通过带有螺纹的支撑杆固定连接，此时，第一支撑板211、第二支撑板213以及连接板212之间的定位可以通过配合连接在支撑杆上的定位螺母锁紧来实现，即用定位螺母代替定位套筒401。
在本实施例中，优选的，直线运动机构22为五个：其中,第一对直线运动机构22分别与一对控向连续体结构骨123连接，以实现第一连续体构节12在两个方向上的弯转自由度；第二对直线运动机构22分别与一对近端连续体结构骨173连接，以实现第三连续体构节15在两个方向上的弯转自由度；以及一个直线运动机构22与手术执行器控线163连接，以实现手术执行器50的动作控制。
在本实施例中，优选的，控向连续体结构骨123和第二对偶连续体结构骨153通过引导通道161穿过引导盘162后分别与第一滑块224和第二滑块225连接，手术执行器控线163亦通过引导通道161穿过引导盘162后与第一滑块224或第二滑块225连接。
在本实施例中，优选的，双头螺杆221与安装在第三支撑板214上的联轴器公头402的连接，进而可以通过联轴器母头与驱动电机转轴连接。
在本实施例中，优选的，如图9所示，在传动驱动单元20的外部设置壳体230，第一支撑板211和第二支撑板213均与壳体230连接。同时，在机械臂10的外部设置有封皮171，其作用为改善机械臂10进入人体自然腔道或手术切口的顺畅性。此外，在封 皮171的外部还可以设置外套管172。
实施例二：
如图4、图5所示，本实施例提供的双弯曲型柔性手术工具系统，包括机械臂10和传动驱动单元20，该机械臂10包括第一连续体构节12、刚性连接构节13、第二连续体构节14和第三连续体构节15，第一连续体构节12、刚性连接构节13和第二连续体构节14顺序关联以形成第一对偶连续体机构；第三连续体构节15布置在第二连续体构节14的远端，传动驱动单元2分别与刚性连接构节13和第三连续体构节15关联，用于驱动第一连续体构节12向任意方向弯转，进而耦合驱动第二连续体构节14完成向相反的方向弯转，以及直接驱动第三连续体构节15向任意方向弯转。
在本实施例中，优选的，如图6所示，传动驱动单元20包括多个用于将旋转运动输入转换为直线运动输出的直线运动机构22，直线运动机构22包括：双头螺杆221，双头螺杆221可旋转且其上两个螺纹段的螺纹旋向相反；第一滑块224和第二滑块225，分别旋接在双头螺杆221的两个螺纹段上。当双头螺杆221旋转时，第一滑块224和第二滑块225沿双头螺杆221以相同的速度进行反向直线运动。
在本实施例中，优选的，如图5所示，第一连续体构节12包括第一连续体固定盘122和控向连续体结构骨123，刚性连接构节13包括刚性连接固定盘132，第二连续体构节14包括第二连续体固定盘142和第一对偶连续体结构骨143；控向连续体结构骨123为多对，每对控向连续体结构骨123的远端连接在刚性连接固定盘132上，近端穿过第一连续体固定盘122后分别与第一滑块224和第二滑块225连接；第一对偶连续体结构骨143为多根，每根第一对偶连续体结构骨143的远端连接在第二连续体固定盘142上，近端穿过刚性连接固定盘132后连接在第一连续体固定盘122上。由此，通过进行反向直线运动的第一滑块224和第二滑块225推拉与之连接的一对控向连续体结构骨123，驱动第一连续体构节12向某一方向弯转，进而耦合驱动第二连续体构节14沿一定的比例关系向相反方向进行弯转。由于第一对偶连续体结构骨143在驱动过程中的长度保持不变，使得由第一连续体构节12、刚性连接构节13和第二连续体构节14构成的对偶连续体机构的总长度也保持不变，因此第二连续体构节14的耦合运动也被唯一确定。
第三连续体构节15包括第三连续体固定盘152和第三连续体结构骨154，第三连续体结构骨154为至少两对，每对第三连续体结构骨154的远端连接在第三连续体远端固定盘152上，近端穿过第一连续体固定盘122、刚性连接固定盘132、第二连续体固定 盘142后与第一滑块224和第二滑块225连接。由此，通过进行反向直线运动的第一滑块224和第二滑块225推拉与之连接的一对第三连续体结构骨154，直接驱动第三连续体构节15向某一方向弯转。由于第三连续体结构骨154在驱动过程中的长度保持不变，因此使得第三连续体构节15的运动也被唯一确定。
在本实施例中，优选的，该柔性手术工具系统还包括手术执行机构16，该手术执行机构16包括：手术执行器50，安装在第三连续体固定盘152上；手术执行器控线163，手术执行器控线163的远端与手术执行器50连接，近端穿过机械臂10后与第一滑块224或第二滑块225连接，可在直线运动机构22的驱动下实现对手术执行器50的张合动作控制。
在本实施例中，优选的，机械臂10还包括刚性进给构节11，刚性进给构节11包括刚性进给构节间隔盘111，多个刚性进给构节间隔盘111间隔分布在第一连续体固定盘122的近端侧；第一连续体构节12还包括第一连续体间隔盘121，多个第一连续体间隔盘121间隔分布在第一连续体固定盘122的远端侧和刚性连接固定盘132的近端侧之间，控向连续体结构骨123依次穿过各刚性进给构节间隔盘111和各第一连续体间隔盘121，以防止控向连续体结构骨123在受推时失稳。
刚性连接构节13还包括刚性连接间隔盘131，多个刚性连接间隔盘131间隔分布在刚性连接固定盘132的远端侧；第二连续体构节14还包括第二连续体间隔盘141，多个第二连续体间隔盘141间隔分布在第二连续体固定盘142的近端侧，第一对偶连续体结构骨143依次穿过第一连续体间隔盘121、刚性连接间隔盘131和第二连续体间隔盘141，以对第一对偶连续体结构骨143进行限位。
第三连续体构节15还包括第三连续体间隔盘151，多个第三连续体间隔盘151间隔分布在第三连续体固定盘152的远端侧和第二连续体连接固定盘142的远端侧之间，第三连续体结构骨154和手术执行器控线163均依次穿过各刚性进给构节间隔盘111、第一连续体间隔盘121，刚性连接间隔盘131、第二连续体间隔盘141和第三连续体间隔盘151，以对第三连续体结构骨154进行限位，同时防止手术执行器控线163在受推时失稳。
在本实施例中，优选的，如图6到图8所示，传动驱动单元20还包括基础框架21，基础框架21包括：第一支撑板211和第二支撑板213，第一支撑板211和第二支撑板213间隔布置，双头螺杆221沿轴向转动连接在第一支撑板211和第二支撑板213上；第一导杆222和第二导杆223，沿轴向连接在第一支撑板211和第二支撑板213之间， 第一滑块224和第二滑块225分别滑动连接在第一导杆222和第二导杆223上，第一导杆222和第二导杆223起限位和导向作用，使第一滑块224和第二滑块225能够平稳地进行反向直线运动；压紧块226，控向连续体结构骨123、第三连续体结构骨154和手术执行器控线163均通过压紧块226与第一滑块224和第二滑块225固定在一起。
在本实施例中，优选的，基础框架21还包括：连接板212，设置在第一支撑板211与第二支撑板213之间并连接在第二导杆223上，双头螺杆221从连接板212上穿过且与连接板212之间留有间隙，连接板212用于将双头螺杆221的两个螺纹段隔开；第三支撑板214，通过第一导杆222连接在第二支撑板213上，以使第二支撑板213和第三支撑板214之间形成其他所需电器元件的布置空间。
在本实施例中，优选的，可以在第一导杆222和第二导杆223上套设定位套筒401对连接板212和第三支撑板214进行定位；或者，第一支撑板211与第二支撑板213也可以通过带有螺纹的支撑杆固定连接，此时，第一支撑板211、第二支撑板213以及连接板212之间的定位可以通过配合连接在支撑杆上的定位螺母锁紧来实现，即用定位螺母代替定位套筒401。
在本实施例中，优选的，直线运动机构22为五个：其中,第一对直线运动机构22分别与一对控向连续体结构骨123连接，以实现第一连续体构节12在两个方向上的弯转自由度；第二对直线运动机构22分别与一对第三连续体结构骨154连接，以实现第三连续体构节15在两个方向上的弯转自由度；以及一个直线运动机构22与手术执行器控线163连接，以实现手术执行器50的动作控制。
在本实施例中，优选的，控向连续体结构骨123和第三连续体结构骨154通过引导通道161穿过引导盘162后分别与第一滑块224和第二滑块225连接，手术执行器控线163亦通过引导通道161穿过引导盘162后与第一滑块224或第二滑块225连接。
在本实施例中，优选的，双头螺杆221与安装在第三支撑板214上的联轴器公头402的连接，进而可以通过联轴器母头与驱动电机转轴连接。
在本实施例中，优选的，如图9所示，在传动驱动单元20的外部设置壳体230，第一支撑板211和第二支撑板213均与壳体230连接。同时，在机械臂10的外部设置有封皮171，其作用为改善机械臂10进入人体自然腔道或手术切口的顺畅性。此外，在封皮171的外部还可以设置外套管172。
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和等同变换，均不应排除在本发明的保护范围之外。

Claims (13)

  1. 一种双弯曲型柔性手术工具系统，其特征在于，包括：
    机械臂(10)，所述机械臂(10)包括第一连续体构节(12)、刚性连接构节(13)、第二连续体构节(14)和第三连续体构节(15)，所述第一连续体构节(12)和第二连续体构节(14)关联以形成第一对偶连续体机构；
    近端连续体构节(17)，布置在所述第一连续体构节(12)近端，并与布置在所述第二连续体构节(14)远端的所述第三连续体构节(15)关联以形成第二对偶连续体机构；
    传动驱动单元(20)，分别与所述刚性连接构节(13)和近端连续体构节(17)关联，用于驱动所述第一连续体构节(12)向任意方向弯转，进而耦合驱动所述第二连续体构节(14)向相反的方向弯转，以及驱动所述近端连续体构节(17)向任意方向弯转，进而耦合驱动所述第三连续体构节(15)向相反的方向弯转。
  2. 一种双弯曲型柔性手术工具系统，其特征在于，包括：
    机械臂(10)，所述机械臂(10)包括第一连续体构节(12)、刚性连接构节(13)、第二连续体构节(14)和第三连续体构节(15)，所述第一连续体构节(12)和第二连续体构节(14)关联以形成第一对偶连续体机构；所述第三连续体构节(15)布置在所述第二连续体构节(14)的远端；
    传动驱动单元(20)，分别与所述刚性连接构节(13)和第三连续体构节(15)关联，用于驱动所述第一连续体构节(12)向任意方向弯转，进而耦合驱动所述第二连续体构节(14)向相反的方向弯转，以及直接驱动所述第三连续体构节(15)向任意方向弯转。
  3. 根据权利要求1或2所述的双弯曲型柔性手术工具系统，其特征在于，所述传动驱动单元(20)包括主要由双头螺杆(221)、第一滑块(224)和第二滑块(225)组成的多个直线运动机构(22)；
    所述第一连续体构节(12)包括第一连续体固定盘(122)和控向连续体结构骨(123)，所述刚性连接构节(13)包括刚性连接固定盘(132)；
    所述控向连续体结构骨(123)为多对，每对所述控向连续体结构骨(123)的远端连接在所述刚性连接固定盘(132)上，近端穿过所述第一连续体固定盘(122)后分别与所述第一滑块(224)和第二滑块(225)连接。
  4. 根据权利要求1或2所述的双弯曲型柔性手术工具系统，其特征在于，所述机械臂(10)还包括刚性进给构节(11)，所述刚性进给构节(11)包括刚性进给构节间隔盘(111)，多个所述刚性进给构节间隔盘(111)间隔分布在所述第一连续体固定盘(122)的近端侧；
    所述第一连续体构节(12)还包括第一连续体间隔盘(121)，多个所述第一连续体间隔盘(121)间隔分布在所述第一连续体固定盘(122)的远端侧和所述刚性连接固定盘(132)的近端侧之间；所述控向连续体结构骨(123)依次穿过所述刚性进给构节间隔盘(111)和所述第一连续体间隔盘(121)；
    所述第二连续体构节(14)包括第二连续体固定盘(142)和第一对偶连续体结构骨(143)；所述第一对偶连续体结构骨(143)为多根，每根所述第一对偶连续体结构骨(143)的远端连接在所述第二连续体固定盘(142)上，近端穿过所述刚性连接固定盘(132)后连接在所述第一连续体固定盘(122)上。
  5. 根据权利要求4所述的双弯曲型柔性手术工具系统，其特征在于，所述刚性连接构节(13)还包括刚性连接间隔盘(131)，多个所述刚性连接间隔盘(131)间隔分布在所述刚性连接固定盘(132)的远端侧；
    所述第二连续体构节(14)还包括第二连续体间隔盘(141)，多个所述第二连续体间隔盘(141)间隔分布在所述第二连续体固定盘(142)的近端侧；
    所述第一对偶连续体结构骨(143)依次穿过所述第一连续体间隔盘(121)、刚性连接间隔盘(131)和第二连续体间隔盘(141)。
  6. 根据权利要求4所述的双弯曲型柔性手术工具系统，其特征在于，所述近端连续体构节(17)包括近端连续体固定盘(172)和近端连续体结构骨(173)，所述近端连续体结构骨(173)为至少两对，每对所述近端连续体结构骨(173)的远端连接在所述近端连续体固定盘(172)上，近端直接与所述第一滑块(224)和第二滑块(225)连接。
  7. 根据权利要求6所述的双弯曲型柔性手术工具系统，其特征在于，所述第三连续体构节(15)包括第三连续体固定盘(152)和第二对偶连续体结构骨(153)，所述第二对偶连续体结构骨(153)为多根，每根所述第二对偶连续体结构骨(153)的远端 连接在所述第三连续体远端固定盘(152)上，近端穿过所述第一连续体固定盘(122)、刚性连接固定盘(132)、第二连续体固定盘(142)后与所述近端连续体固定盘(172)连接。
  8. 根据权利要求4所述的双弯曲型柔性手术工具系统，其特征在于，所述第三连续体构节(15)包括第三连续体固定盘(152)和第三连续体结构骨(154)，所述第三连续体结构骨(154)为至少两对，每对所述第三连续体结构骨(154)的远端连接在所述第三连续体远端固定盘(152)上，近端穿过所述第一连续体固定盘(122)、刚性连接固定盘(132)、第二连续体固定盘(142)后与所述第一滑块(224)和第二滑块(225)连接。
  9. 根据权利要求7或8所述的双弯曲型柔性手术工具系统，其特征在于，该柔性手术工具系统还包括手术执行机构(16)，所述手术执行机构(16)包括：
    手术执行器(50)，安装在所述第三连续体固定盘(152)上；
    手术执行器控线(163)，所述手术执行器控线(163)的远端与所述手术执行器(50)连接，近端穿过所述机械臂(10)后与所述第一滑块(224)或第二滑块(225)连接。
  10. 根据权利要求8所述的双弯曲型柔性手术工具系统，其特征在于，所述第三连续体构节(15)还包括第三连续体间隔盘(151)，多个所述第三连续体间隔盘(151)间隔分布在所述第三连续体固定盘(152)的远端侧和所述第二连续体连接固定盘(142)的远端侧之间，所述第二对偶连续体结构骨(153)和手术执行器控线(163)均依次穿过各所述刚性进给构节间隔盘(111)、第一连续体间隔盘(121)，刚性连接间隔盘(131)、第二连续体间隔盘(141)和第三连续体间隔盘(151)。
  11. 根据权利要求8所述的双弯曲型柔性手术工具系统，其特征在于，所述第三连续体构节(15)还包括第三连续体间隔盘(151)，多个所述第三连续体间隔盘(151)间隔分布在所述第三连续体固定盘(152)的远端侧和所述第二连续体连接固定盘(142)的远端侧之间，所述第三连续体结构骨(154)和手术执行器控线(163)均依次穿过各所述刚性进给构节间隔盘(111)、第一连续体间隔盘(121)，刚性连接间隔盘(131)、第二连续体间隔盘(141)和第三连续体间隔盘(151)。
  12. 根据权利要求7所述的双弯曲型柔性手术工具系统，其特征在于，所述直线运 动机构(22)为五个：
    其中,第一对所述直线运动机构(22)分别与一对所述控向连续体结构骨(123)连接，以实现所述第一连续体构节(12)在两个方向上的弯转自由度；
    第二对所述直线运动机构(22)分别与一对所述近端连续体结构骨(173)连接，以实现所述第三连续体构节(15)在两个方向上的弯转自由度；
    以及一个所述直线运动机构(22)与所述手术执行器控线(163)连接，以实现手术执行器(50)的动作控制。
  13. 根据权利要求8所述的双弯曲型柔性手术工具系统，其特征在于，所述直线运动机构(22)为五个：
    其中,第一对所述直线运动机构(22)分别与一对所述控向连续体结构骨(123)连接，以实现所述第一连续体构节(12)在两个方向上的弯转自由度；
    第二对所述直线运动机构(22)分别与一对所述第三连续体结构骨(154)连接，以实现所述第三连续体构节(15)在两个方向上的弯转自由度；
    以及一个所述直线运动机构(22)与所述手术执行器控线(163)连接，以实现所述手术执行器(50)的动作控制。
PCT/CN2019/129312 2018-12-28 2019-12-27 一种双弯曲型柔性手术工具系统 WO2020135753A1 (zh)

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