WO2022001188A1 - 连续体器械及手术机器人 - Google Patents

连续体器械及手术机器人 Download PDF

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Publication number
WO2022001188A1
WO2022001188A1 PCT/CN2021/080949 CN2021080949W WO2022001188A1 WO 2022001188 A1 WO2022001188 A1 WO 2022001188A1 CN 2021080949 W CN2021080949 W CN 2021080949W WO 2022001188 A1 WO2022001188 A1 WO 2022001188A1
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WO
WIPO (PCT)
Prior art keywords
proximal
continuum
distal
drive
driving
Prior art date
Application number
PCT/CN2021/080949
Other languages
English (en)
French (fr)
Inventor
徐凯
刘旭
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 CN202010618743.0A external-priority patent/CN113855104A/zh
Priority claimed from CN202010618748.3A external-priority patent/CN113858261B/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 EP21834684.9A priority Critical patent/EP4173577A4/en
Priority to US18/010,058 priority patent/US20230225757A1/en
Priority to CN202180034396.XA priority patent/CN115605139B/zh
Publication of WO2022001188A1 publication Critical patent/WO2022001188A1/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
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms 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

Definitions

  • the present disclosure relates to the field of medical instruments, and in particular, to a continuum instrument and a surgical robot.
  • Minimally invasive surgery has less trauma to patients and faster recovery after surgery, and has occupied an important position in surgical operations.
  • surgical instruments including surgical tools and visual lighting modules enter the human body through incisions or natural orifices to reach the surgical site for surgery.
  • the distal end structure of the existing surgical instrument is mainly a series hinged connection of multiple rods, which is driven by the pulling force of the wire rope, so that the surgical instrument can be bent at the hinge joint. Since the wire rope must be kept in a continuous tension state by the pulley, it is difficult to further miniaturize the surgical instrument with this driving method, and it is also difficult to further improve the movement performance of the instrument.
  • the flexible continuum structure can realize continuous bending deformation, so the flexible continuum structure is widely used in flexible manipulators, endoscopes, controllable Research and development of medical devices such as catheters, as well as industrial deep cavity detection endoscopes, flexible robotic arms and other new special equipment.
  • the existing continuum structure generally pushes and pulls the driving wire in the continuum structure directly through the driving mechanism, so as to realize the bending of the continuum structure in any direction.
  • High flexibility, good stability and other stricter requirements the existing driving structure has gradually been unable to meet the above requirements, and the existing driving method is to directly push and pull the driving wire to move, so when the number of driving wires is large, the driving mechanism The number will also increase accordingly, making the structure complex.
  • the present disclosure provides a continuum instrument comprising: at least one proximal continuum including a proximal stop and a plurality of proximal structural bones, a proximal end and a proximal end of the plurality of proximal structural bones
  • the stop disk is fixedly connected;
  • at least one distal continuum includes a distal stop disk and a plurality of distal structural bones, the distal ends of the multiple distal structural bones are fixedly connected with the distal stop disk, and the multiple distal structural bones are connected with the multiple distal structural bones.
  • the proximal end structure of the root is fixedly connected or integrally formed; the drive connection part is connected with the proximal stop plate, and the drive connection part includes an input end located on the proximal end side of the proximal stop plate, and the input end is used to drive the proximal stop plate to turn over, so as to Through the proximal structural bone and the distal structural bone, the distal continuum is driven to bend.
  • the present disclosure provides a surgical robot, comprising at least one surgical trolley, at least one positioning arm, and at least one surgical instrument; the at least one surgical instrument includes at least one continuum instrument as described above and is arranged in a continuous The end device at the distal end of the body instrument; at least one positioning arm is movably arranged on at least one operating trolley, and at least one surgical instrument is respectively arranged at the distal end of the at least one positioning arm.
  • FIG. 1 shows a schematic structural diagram of a continuum device according to some embodiments of the present disclosure
  • FIG. 2( a ) shows a schematic structural diagram of a gimbal joint of a drive connection part according to some embodiments of the present disclosure
  • Fig. 2(b) shows a schematic structural diagram of another universal joint of the drive connection part according to some embodiments of the present disclosure
  • FIG. 3 shows a schematic structural diagram of another continuum apparatus according to some embodiments of the present disclosure
  • FIG. 4( a ) shows a schematic structural diagram of a ball joint of a drive connection part according to some embodiments of the present disclosure
  • Figure 4(b) shows a schematic structural diagram of another ball joint of the drive connection part according to some embodiments of the present disclosure
  • FIG. 5 shows a schematic structural diagram of another continuum apparatus according to some embodiments of the present disclosure.
  • FIG. 6 shows a schematic structural diagram of a hinge joint of a drive connection part according to some embodiments of the present disclosure
  • FIG. 7 shows a partial structural schematic diagram of another continuum apparatus according to some embodiments of the present disclosure.
  • FIG. 8 shows a partial structural schematic diagram of the continuum device shown in FIG. 7 according to some embodiments of the present disclosure
  • FIG. 9 shows a schematic structural diagram of a drive transmission mechanism according to some embodiments of the present disclosure.
  • FIG. 10 shows a partial structural schematic diagram of a drive transmission mechanism according to some embodiments of the present disclosure
  • FIG. 11 shows a schematic longitudinal cross-sectional structural diagram of the drive transmission mechanism shown in FIG. 10 according to some embodiments of the present disclosure
  • Fig. 12 shows a partial structural schematic diagram of another continuum device according to some embodiments of the present disclosure.
  • Fig. 13 shows a partial structural schematic diagram of the continuum device shown in Fig. 12 according to some embodiments of the present disclosure
  • FIG. 14 shows a schematic structural diagram of another drive transmission mechanism according to some embodiments of the present disclosure.
  • FIG. 15 shows a partial structural schematic diagram of the drive transmission mechanism shown in FIG. 14 according to some embodiments of the present disclosure
  • FIG. 16 shows a schematic structural diagram of a follower of the drive transmission mechanism shown in FIG. 14 according to some embodiments of the present disclosure
  • FIG. 17 shows a partial structural schematic diagram of another continuum apparatus according to some embodiments of the present disclosure.
  • Fig. 18 shows a partial structural schematic diagram of another continuum device according to some embodiments of the present disclosure.
  • FIG. 19 shows a schematic structural diagram of a surgical robot according to some embodiments of the present disclosure.
  • the terms “installed”, “connected”, “connected” and “coupled” should be understood in a broad sense, for example, it may be a fixed connection, or It can be a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • installed e.g., it may be a fixed connection, or It can be a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • the end close to the operator is defined as proximal, proximal or posterior, posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior.
  • Figure 1 illustrates a continuum instrument 10 in accordance with some embodiments of the present disclosure.
  • the continuum instrument 10 may include a flexible continuum structure 110 and a drive connection 120 .
  • the flexible continuum structure 110 may include at least one proximal continuum 111 at the proximal end and at least one distal continuum 112 at the distal end.
  • the proximal continuum 111 may include a proximal base 1111 , a proximal stop 1112 and a proximal structural bone 1113 .
  • the proximal base plate 1111 and the proximal stop plate 1112 are arranged at intervals, the proximal ends of the plurality of proximal structural bones 1113 are fixedly connected with the proximal stop plate 1112, and the distal ends of the multiple proximal structural bones 1113 pass through the proximal base plate 1111 .
  • the distal continuum 112 may include a distal base 1121 , a distal stop 1122 and a distal structural bone 1123 .
  • the distal base plate 1121 and the distal stop plate 1122 are arranged at intervals, the distal base plate 1121 is adjacent to the proximal base plate 1111, the distal ends of the plurality of distal structural bones 1123 are fixedly connected with the distal stop plate 1122, The proximal end of the end structural bone 1123 is fixedly connected or integrally formed with the plurality of proximal structural bones 1113 through the distal base plate 1121 .
  • the drive connection portion 120 is connected to the proximal stop 1112 .
  • the drive connection part 120 includes an input end located at the proximal end side of the proximal end stop 1112, and the input end is used to drive the proximal stop plate 1112 to move and turn over by the drive transmission mechanism, so as to push and pull the proximal structural bone 1113, so as to realize the distal end.
  • the end continuum 112 turns in different directions in space.
  • the distal end of the drive link 120 is connected to the proximal base 1111 , and the proximal end of the drive link 120 passes through the proximal stop 1112 and is connected to the proximal stop 1112 , as shown in FIG. 1 .
  • the drive link 120 may include at least one joint, such as a gimbal joint, a ball joint, or a hinge joint, or the like.
  • FIG. 2( a ) shows a schematic structural diagram of the universal joint 121 of the drive connection portion 120 according to some embodiments of the present disclosure
  • FIG. 2( b ) shows another universal joint 121 according to some embodiments of the present disclosure. Schematic. In some embodiments, as shown in FIG.
  • the drive connection 120 may include a gimbal joint 121 , and the gimbal joint 121 may include one gimbal 1211 or a plurality of gimbal 1211 (eg, connected in series) multiple universal joints), one or more universal joints 1211 are located between the proximal base plate 1111 and the proximal stop plate 1112.
  • the universal joint 1211 may include two rotational pairs whose rotational axes intersect with each other, wherein the rotational axis of one rotational pair is radially disposed. It should be understood that the radial direction may be perpendicular to the axial direction of the drive connecting portion 120 at the initial position, where the initial position refers to the natural extended state of the drive connecting portion 120 when it is not driven.
  • the gimbal joint 121 may include at least one gimbal 1211 and at least one link 1212 .
  • the drive link 120 may include a gimbal 1211 at the distal end and a link 1212 at the proximal end.
  • the distal end of the link 1212 is connected to the universal joint 1211
  • the distal end of the universal joint 1211 (the distal end of the drive connection 120 ) is connected to the proximal base 1111 .
  • the proximal end of the connecting rod 1212 (the proximal end of the drive connection portion 120 ) passes through the proximal end stop 1112 and is connected with the proximal stop 1112 .
  • the drive link 120 may include links 1212a-b and a universal joint 1211 between the links 1212a-b, the links 1212a-b (drive link 120) are connected to the proximal base 1111 and the proximal stop 1112, respectively.
  • the flexible continuum structure 110 may further include a structural bone guide tube bundle 113 , the proximal end of the structural bone guide tube bundle 113 is fixedly connected to the proximal base plate 1111 , and the structural bone guide tube bundle 113 The distal end is fixedly connected to the distal base 1121.
  • the distal ends of the plurality of proximal structural bones 1113 are sequentially connected to the plurality of distal structural bones 1123 through the proximal base plate 1111 and the structural bone guide tube bundle 113 respectively.
  • Structural bone guide bundle 113 can guide and constrain a plurality of proximal structural bones 1113 located between proximal base 1111 and distal base 1121 .
  • FIG. 3 illustrates a continuum instrument 20 in accordance with some embodiments of the present disclosure.
  • the continuum instrument 20 may include a flexible continuum structure 110 and a drive connection 220 .
  • FIG. 4( a ) shows a schematic structural diagram of a ball joint 221 of the drive connection portion 220 according to some embodiments of the present disclosure
  • FIG. 4( b ) shows a structural schematic diagram of another spherical joint 221 according to some embodiments of the present disclosure .
  • the drive link 220 may include a ball joint 221 .
  • the ball joint 221 may include one ball joint 2211 or a plurality of ball joints 2211 (eg, a plurality of ball joints 2211 connected in series). At least one ball hinge 2211 is located between the proximal base plate 1111 and the proximal stop plate 1112 .
  • the ball hinge 2211 may include a rotational pair whose three axes intersect.
  • the ball joint 221 of FIG. 4( a ) may include at least one ball joint 2211 and at least one link 2212 .
  • the drive link 220 may include a ball hinge 2211 at the distal end and a link 2212 at the proximal end.
  • the distal end of the connecting rod 2212 is connected to the spherical hinge 2211, the distal end of the spherical hinge 2211 (the distal end of the drive connection part 220) is connected to the proximal base plate 1111, and the proximal end of the connecting rod 2212 (the proximal end of the drive connection part 220) Pass through the proximal stop 1112 and connect with the proximal stop 1112 .
  • drive link 220 may include links 2212a-b and a ball hinge 2211 between links 2212a-b, links 2212a-b (proximal ends of drive link 220 and The distal end) is connected to the proximal base plate 1111 and the proximal stop plate 1112, respectively.
  • FIG. 5 illustrates a continuum instrument 30 in accordance with some embodiments of the present disclosure.
  • the continuum instrument 30 may include a flexible continuum structure 110 and a drive connection 320 .
  • FIG. 6 shows a schematic structural diagram of the hinge joint 321 of the drive connection part 320 according to some embodiments of the present disclosure.
  • the drive link 320 may include a hinge joint 321 that may include at least one distal link 3211 and at least one proximal link 3212 hinged to each other.
  • the distal link 3211 and the proximal base plate 1111 are connected by an axial rotation along the distal link 3211, and the proximal link 3212 and the proximal stop plate 1112 are connected through a proximal connection.
  • the hinge axis of the distal link 3211 and the proximal link 3212 hinged to each other is perpendicular to the axis direction of the distal link 3211 and the proximal link 3212 .
  • the proximal end of the proximal end link 3212 penetrates the proximal end stop disc 1112 , and the portion of the proximal end link 3212 on the proximal end side of the proximal end stop disc 1112 forms the input end of the drive connection portion 320 .
  • the continuum instrument 10 may also include a drive transmission mechanism.
  • the output end of the drive transmission mechanism can perform non-planar motion.
  • FIGS. 7 and 8 respectively illustrate partial structural schematic views of a continuum instrument 10 (or 20 , 30 ) including a drive transmission mechanism 130 according to some embodiments of the present disclosure.
  • FIG. 9 shows a schematic structural diagram of the drive transmission mechanism 130 according to some embodiments of the present disclosure.
  • the drive transmission mechanism 130 may include a first rotatable member 131 , a second rotatable member 132 , a rotary-linear motion mechanism 133 and a connecting member 134 .
  • the first rotatable member 131 is used to rotate under the driving of the first driving member 135
  • the second rotatable member 132 is coaxially arranged with the first rotatable member 131 and is used for being driven by the second driving member 136 relative to the first rotatable member 136 .
  • a rotatable member 131 rotates.
  • the rotary-linear motion mechanism 133 is connected with the first rotatable member 131 and is used for converting the rotational motion of the first rotatable member 131 into a linear motion output.
  • One end of the connecting piece 134 is hinged with the output end of the rotary-linear motion mechanism 133
  • the other end of the connecting piece 134 is hinged with the input end of the driving connecting part 120 (or 220 , 320 ).
  • FIG. 10 shows a partial structural schematic diagram of the drive transmission mechanism 130 according to some embodiments of the present disclosure.
  • the first rotatable member 131 may include, for example, a first driven gear 1311
  • the first driving member 135 may include a first driving gear 1351
  • the second rotatable member 132 For example, a second driven gear 1321 may be included, and the second driving member 136 may include a second driving gear 1361 .
  • the first driving gear 1351 meshes with the first driven gear 1311
  • the second driving gear 1361 meshes with the first driven gear 1311
  • the second driven gear 1321 is overlapped and arranged above the first driven gear 1311 .
  • the first driving gear 1351 can drive the first driven gear 1311 to rotate under the driving of the driving motor
  • the second driving gear 1361 can drive the second driven gear 1321 to rotate under the driving of the driving motor
  • the first driven gear 1311 and the The second driven gears 1321 are rotatable relative to each other.
  • the first rotatable member 131 and the second rotatable member 132 may include a first gear and a second gear, respectively, and the first driving member 135 and the second driving member 136 may include a driving motor (or a motor), The first gear and the second gear are respectively rotatable relative to each other under the driving of the driving motor.
  • the transmission mode of the first rotatable member 131 and the second rotatable member 132 may also include other transmission modes, such as pulley transmission or sprocket transmission.
  • the rotary-linear motion mechanism 133 may include a guide member 1331 , a rotary member 1332 and a moving member 1333 .
  • the proximal end of the guide member 1331 is fixedly connected with the second rotatable member 132
  • the proximal end of the rotary member 1332 passes through the second rotatable member 132 and is fixedly connected with the first rotatable member 131
  • the moving member 1333 rotates with the rotary member 1332 connected
  • the moving part 1333 is used to linearly move along the axis direction of the guide part 1331 under the guidance of the guide part 1331 .
  • the rotary-linear motion mechanism 133 may include a lead screw nut structure.
  • the guide member 1331 may include a guide rod 1331-1
  • the rotating member 1332 may include a lead screw 1332-1
  • the moving member 1333 may include a nut 1333-1 and a slider 1333-2
  • the nut 1333-1 and the lead screw 1332-1 is rotatably connected, and the guide rod 1331-1 slides through the slider 1333-2.
  • the rotary-linear motion mechanism 133 may also be implemented using other structures known in the art, such as a ball screw mechanism.
  • the connector 134 may include an arcuate link 1341 .
  • the slider 1333-2 may include an upper hinge part and a lower cylindrical part that are fixedly connected or integrally formed, the upper hinge part is used for hinged with one end of the arc-shaped link 1341,
  • the cylindrical portion is fixedly sleeved outside the nut 1333-1.
  • the shape of the lower cylindrical portion can match the shape of the nut 1333-1, so that it can be fitted on the outside of the nut 1333-1.
  • the drive transmission mechanism 130 may further include a barrel-shaped member 137 sleeved outside the moving member 1333 , and the proximal end of the barrel-shaped member 137 is fixed to the second rotatable member 132 connect.
  • the proximal end of the guide member 1331 is fixedly connected with the second rotatable member 132, the distal end of the guide member 1331 is fixedly connected with the barrel-shaped member 137, and the moving member 1333 slides through the guide member 1331.
  • the proximal end of the lead screw 1332 - 1 passes through the second driven gear 1321 and is coaxially and fixedly connected with the first driven gear 1311 .
  • the nut 1333-1 is rotatably connected to the lead screw 1332-1, and the lower cylindrical portion of the slider 1333-2 is fixedly connected to the nut 1333-1.
  • the barrel 137 is sleeved outside the slider 1333 - 2 , and the proximal end of the barrel 137 is fixedly connected with the second driven gear 1321 .
  • the proximal end of the guide rod 1331-1 is fixedly connected with the second driven gear 1321, the distal end of the guide rod 1331-1 is fixedly connected with the distal end of the barrel 137, the lower barrel of the nut 1333-1 or the slider 1333-2
  • the shaped portion can be slidably passed through the guide rod 1331-1.
  • One end of the arc-shaped link 1341 is hinged with the upper hinge part of the slider 1333-2, and the other end of the arc-shaped link 1341 is hinged with the input end of the drive connection part 120 (or 220, 320).
  • the rotary-linear motion mechanism 133 can convert the rotational motion of the first rotatable member 131 into a linear motion output.
  • the guide member 1331 may include a guide rod and a guide groove (not shown in the figure) that cooperate with each other, the guide groove may be fixedly arranged on the barrel-shaped member 137 along the axial direction of the barrel-shaped member 137 , and the guide rod is along the barrel-shaped member 137 .
  • the axial direction of the shaped piece 137 is slidably arranged in the guide groove, and the guide rod is fixedly connected with the slider 1333-2.
  • the rotary-linear motion mechanism 133 can also convert the rotational motion of the first rotatable member 131 into a linear motion output.
  • proximal end stop 1112 can be turned over by the driving connecting portion 320 , the proximal base plate 1111 and the proximal stop plate 1112 are misaligned, and the axes of the two are no longer coincident.
  • the proximal stop plate 1112 is turned over, so as to push and pull the plurality of proximal structural bones 1113 fixed on the proximal stop plate 1112, so that a plurality of proximal ends fixed on the proximal stop plate 1112 (for example, evenly distributed) are pushed and pulled.
  • one side is pulled so that the length of the corresponding proximal structural bone 1113 in the proximal continuum 111 increases, and the other side is pushed so that the corresponding proximal structural bone 1113 is located in the proximal continuum 111 length is reduced.
  • each proximal structural bone 1113 is basically unchanged, the length of each distal structural bone 1123 in the distal continuum 112 is correspondingly changed, thereby driving the distal continuum 112 to produce the same length as the proximal continuum 111
  • the bending degree of the proximal continuum 111 can be adjusted by adjusting the angle of the arc-shaped connecting rod 1341 .
  • the first driving gear 1351 drives the first driven gear 1311 to rotate
  • the second driven gear 1321 and the first driven gear 1311 are synchronized in the same direction (for example, When rotating at a constant speed), the upper and lower positions of the slider 1333-2 in the barrel 137 do not change, but the azimuth angle of the rotation plane of the arc-shaped link 1341 changes.
  • the proximal continuum 111 is bent, the pushing and pulling on the proximal structural bone 1113 is transmitted to the distal structural bone 1123 and the distal continuum 112 through the structural bone guiding tube bundle 113, so that the distal continuum 112 can move along the Turning in different directions.
  • the degree of bending of the proximal continuum 111 and the bending in different planes can be adjusted.
  • the bending ratio of the proximal continuum 111 and the distal continuum 112 and the corresponding distribution radii of the proximal structural bone 1113 and the distal structural bone 1123 respectively are respectively distributed along the circumferential direction, which can be distributed on the circumference, or can be distributed on the circumference of a rectangle, a polygon, an ellipse or other shapes.
  • proximal structural bone 1113 and the distal structural bone 1123 can be adjusted in the proximal continuum 111 and the distal continuum respectively.
  • FIGS. 12 and 13 respectively illustrate a partial structural schematic diagram of a continuum instrument 10 (or 20 , 30 ) including another drive transmission mechanism 230 according to some embodiments of the present disclosure.
  • FIG. 14 shows a schematic structural diagram of a drive transmission mechanism 230 according to some embodiments of the present disclosure.
  • the driving transmission mechanism 230 may include a first rotating member 231 , a second rotating member 232 and a driven member 233 .
  • the first rotating member 231 is used to rotate under the driving of the first driving member 235
  • the second rotating member 232 is used to rotate under the driving of the second driving member 236 .
  • FIG. 15 shows a partial structural schematic diagram of the drive transmission mechanism 230 according to some embodiments of the present disclosure.
  • the follower 233 is hinged with the first rotating member 231 and the second rotating member 232 respectively to form a first hinge point E and a second hinge point F, and the first rotating member 231 and the second rotating member 231 are hinged with each other.
  • the member 232 is hinged to form a third hinge point G, the rotation axis of the third hinge point G coincides with the rotation axis of the first rotation member 231, and the driven member 233 is connected to the input end of the drive connection portion 120 (or 220).
  • the rotation axis of the first hinge point E coincides with the rotation axis of the second rotation member 232
  • the rotation axis of the second hinge point F coincides with the rotation axis of the first rotation member 231 .
  • the first rotating member 231 and the second rotating member 232 together drive the driven member 233 to rotate around the invariant center point of the driving connecting portion 120 in space, and the driven member 233 drives the input end of the driving connecting portion 120 to rotate, Therefore, the proximal stop plate 1112 is driven to move and turn over, so as to realize the bending of the proximal continuum 111, and then push and pull the multiple proximal structural bones 1113 whose ends are fixed on the proximal stop disk 1112, resulting in multiple distal structural bones 1113.
  • the length of 1123 in the distal continuum 112 changes correspondingly, thereby driving the distal continuum 112 to produce a bend corresponding to the proximal continuum 111 . In this way, the bending of the distal continuum 112 in different directions in space can be achieved.
  • a first connecting rod 2312 is fixed on the first rotating member 231
  • a second connecting rod 2322 is fixed on the second rotating member 232 .
  • One end of the first connecting rod 2312 is hinged with the follower 233 to form a first hinge point E
  • one end of the second connecting rod 2322 is hinged with the follower 233 to form a second hinge point F.
  • the other end of the first connecting rod 2312 is hinged with the other end of the second connecting rod 2322 to form a third hinge point G, which is located on the rotation axis of the first rotating member 231.
  • the follower 233 may be hinged at the third hinge point G with the other end of the first connecting rod 2312 and the other end of the second connecting rod 2322 . In some embodiments, the follower 233 may not be hinged with the other end of the first connecting rod 2312 and the other end of the second connecting rod 2322 . It should be understood that the hinge connection between the first rotating member 231 and the second rotating member 232 and the driven member 233 in the present invention can also be achieved by other forms of connecting members other than the first connecting rod member 2312 and the second connecting rod member 2322 It can be realized as long as each hinge point satisfies the above geometric relationship.
  • the first rotating member 231 and the first driving member 235 may respectively include a first worm wheel 2311 and a first worm screw 2351 that mesh with each other, and the first worm wheel 2311 and the first connecting rod member 2312 Fixed connection.
  • the second rotating member 232 and the second driving member 236 may respectively include a second worm wheel 2321 and a second worm screw 2361 which are engaged with each other, and the second worm wheel 2321 is fixedly connected with the second connecting rod member 2322 .
  • the driving transmission mechanism 230 can change the rotation direction of the driven member 233 by providing two groups of worm gear and worm structures, and can realize the amplification of the driving torque.
  • first rotating member 231 and the second rotating member 232 include but are not limited to worm gear structures, for example, the first rotating member 231 and the second rotating member 232 can also be bevel gears, and the first driving member 235 and the second driving member 235 and the second driving member
  • the member 236 may be a driving bevel gear meshed with the bevel gear, and the bevel gear is driven to rotate by the driving bevel gear.
  • first rotating member 231 and the second rotating member 232 may also be other rotatable members other than gears.
  • the first driving member 235 and the second driving member 236 may further comprise motors (or motors), and the first rotating member 231 and the second rotating member 232 may rotate relative to each other directly driven by the motors.
  • FIG. 16 shows a schematic structural diagram of the follower 233 of the drive transmission mechanism 230 according to some embodiments of the present disclosure.
  • the follower 233 may include a connecting body 2331 connected to the input end of the drive connection 120 (or 220 ), and a hinged connection connected to the connecting body 2331 and extending distally Rods 2332a-b, wherein the hinge link 2332a is hinged with one end of the first connecting rod 2312 of the first rotating member 231 at the first hinge point E, and the hinge link 2332b is hinged with one end of the second connecting rod 2322 of the second rotating member 232 It is hinged at the second hinge point F.
  • FIG. 16 shows a schematic structural diagram of the follower 233 of the drive transmission mechanism 230 according to some embodiments of the present disclosure.
  • the follower 233 may include a connecting body 2331 connected to the input end of the drive connection 120 (or 220 ), and a hinged connection connected to the connecting body 2331 and extending distally Rods 2332a-b
  • the follower 233 may further include a third hinged link 2332c connected with the connecting body 2331 and extending to the distal end, the hinged link 2332c is connected with the first rotating member 231 and the second hinged link 2332c.
  • the other ends of the first connecting rod 2312 and the second connecting rod 2322 of the two rotating members 232 are hinged to the third hinge point G.
  • the connecting body 2331 and the hinge links 2332a-c may be integrally formed or fixedly connected.
  • the first worm gear 2311 and the second worm gear 2321 are driven by the first worm 2351 and the second worm 2361, respectively, to drive the first connecting rod 2312 connected to the first worm gear 2311 and the
  • the second connecting rod 2322 connected with the second worm gear 2321 rotates, thereby driving the follower 233 hinged with the first connecting rod 2312 and the second connecting rod 2322 around the constant center of the driving connecting part 120 (or 220 ) in space
  • the rotation point (for example, the center point of the universal joint or the center point of the spherical joint) rotates, and the input end of the drive connecting portion 120 is driven to rotate by the follower 233, thereby driving the proximal end stop plate 1112 to move and turn over, so that the end portion is fixed at the proximal end.
  • the plurality of proximal structural bones 1113 on the end stop plate 1112 are pushed and pulled to realize the bending of the proximal continuum 111, and then drive the distal continuum 112 to generate a corresponding (eg opposite direction) bending of the proximal continuum 111 By turning, the distal continuum 112 can be turned in different directions in space.
  • the bending ratio of the proximal continuum 111 and the distal continuum 112 and the corresponding distribution radii of the proximal structural bone 1113 and the distal structural bone 1123 in the proximal continuum 111 and the distal continuum 112 respectively are distributed along the circumferential direction, which may be distributed on the circumference, and may also be distributed in a rectangle, a polygon, an ellipse, or other shapes.
  • the circumferential direction of the shape which can be uniformly distributed or non-uniformly distributed, is not limited here) is inversely proportional.
  • the distribution radius of the proximal structural bone 1113 and the distal structural bone 1123 can be adjusted to meet the actual bending ratio requirement. Push and pull the proximal structural bone by driving the proximal stop plate to turn over, so as to avoid direct pushing and pulling of the proximal structural bone.
  • driving a large number of proximal structural bones it is not limited by the number of driving transmission mechanisms. , compact structure, high reliability and flexibility.
  • the drive connection portion 320 (or 120 , 220 ), the proximal continuum 111 and the drive transmission mechanism 130 (or 230 ) may include the following kinematic relationship connection nodes: the first connection Node A may refer to the connection relationship between the proximal base plate 1111 and the drive connection part 320 (or 120, 220), the second connection node B may refer to the structure of the drive connection part itself (such as a universal joint, a ball joint or a hinge joint);
  • the three connection nodes C may refer to the connection relationship between the drive connection part 320 and the proximal end stop 1112 , and the fourth connection node D may refer to the connection relationship between the input end of the drive connection part 320 and the drive transmission mechanism 130 .
  • connection nodes can be combined by several of the following connection methods: cylindrical pair (which can be rotated or moved), moving pair, rotating pair (can only be rotated), fixed connection, and the structure of the drive connection part itself, so as to realize the
  • connection methods cylindrical pair (which can be rotated or moved), moving pair, rotating pair (can only be rotated), fixed connection, and the structure of the drive connection part itself, so as to realize the
  • the above combination of connection nodes can satisfy the minimum degree of freedom required to drive the proximal continuum 111 to bend.
  • the input end of the drive connection portion 120 (or 220 , 320 ) and the drive transmission mechanism 130 are driven along the The proximal end of the connecting portion 120 is connected in a rotationally vertical direction in the axial direction, and the input end of the driving connecting portion 120 is rotationally connected along the axial direction of the proximal end of the driving connecting portion 120 relative to the proximal end stop 1112 .
  • the drive transmission mechanism adopts the non-planar drive transmission mechanism 130 based on the gear barrel
  • the distal end of the drive connection portion 120 (or 220 , 320 ) and the proximal base plate 1111 pass along the drive connection portion 120
  • the distal end of the axial rotation pair is connected, or the proximal end of the drive connection portion 120 and the proximal stop disc 1112 are connected by a rotational pair along the axial direction of the proximal end of the drive connection portion 120, and the input end of the drive connection portion 120 is connected to the
  • the drive transmission mechanisms 130 are rotationally connected to each other in the vertical direction of the rotational axis along the axial direction of the proximal end of the drive connection portion 120 .
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 130 based on a gear barrel
  • the drive connection portion 120 may include a universal joint 121 .
  • the connection nodes can adopt the following combinations: the first connection node A is connected by a rotation pair, the second connection node B is connected by a universal joint 1211, the third connection node C is connected by a cylindrical pair, the fourth connection node D is connected by a rotation pair, and the third connection node C is connected by a rotary pair.
  • the axis of rotation of the four connection node D is perpendicular to the axial direction of the proximal end of the drive connection portion 120 .
  • gimbal joint 121 includes links 1212a-b and a gimbal 1211 positioned between links 1212a-b.
  • the first connection node A may refer to the connection between the distal end of the connecting rod 1212a at the distal end of the universal joint 1211 and the proximal base plate 1111 in a rotational pair
  • the second connection node B may refer to the structure of the universal joint 1211 itself, the universal joint 1211
  • the proximal end of the connecting rod 1212b at the proximal end is the input end of the driving connecting part 120
  • the third connecting node C may refer to the cylindrical pair between the outer circular surface of the connecting rod 1212b and the proximal end stop 1112
  • the fourth connecting node D may refer to the connection between the input end of the connecting rod 1212b and the arc-shaped connecting rod 1341 in the drive transmission mechanism 130 using a rotating pair, and the rotation axis of the rotating pair is perpendicular to the axial direction of the connecting rod 1212b.
  • the proximal end stop 1112 can slide and rotate relative to the outer circumferential surface of the input end.
  • the proximal stop disk 1112 can be driven to produce a coordinated overturn, so as to realize the bending of the proximal continuum 111, and then the opposite end is fixed on the proximal stop disk 1112
  • the plurality of proximal structural bones 1113 of the 111 generate push-pull, thereby driving the distal continuum 112 to generate a corresponding (eg, opposite) bending of the proximal continuum 111 .
  • the proximal stop plate 1112 can move up and down or rotate relative to the driving connecting portion 120 or the driving connecting portion 120 relative to the arc-shaped connecting rod 1341, so as to satisfy the requirement of the proximal continuum.
  • the 111 produces parasitic motion (up and down) sliding along the axis direction during the turning process, and bending motion (rotation) in any direction.
  • the parasitic motion can prevent the distal continuum 112 from producing axial telescopic motion during the bending process, causing the cover wrapped around the distal continuum 112 to be wrinkled or overstretched, which affects the service life of the cover.
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 130 based on a gear barrel
  • the drive connection part 120 may include a universal joint 121
  • the connection node may also adopt the following combination: the first connection Node A is connected by a rotating pair, the second connecting node B is connected by a universal joint 1211, the third connecting node C is connected by a rotating pair, the fourth connecting node D is connected by a rotating pair, and the rotation axis of the fourth connecting node D is connected with the drive
  • the axial direction of the proximal end of the portion 120 is vertical.
  • connection nodes may also adopt the following combinations: the first connection node A adopts a cylindrical sub-connection, the second connection node B adopts a universal joint 1211, the third connection node C adopts a mobile sub-connection, and the fourth connection node D adopts a mobile sub-connection.
  • a rotation pair connection is adopted, and the rotation axis of the fourth connection node D is perpendicular to the axial direction of the proximal end of the drive connection portion 120 .
  • connection nodes can also be combined in other forms by adopting several of the above five connection methods. Under the premise of achieving a similar function (driving the proximal continuum 111 to bend), the more degrees of freedom, the more flexible it is. The compliance and flexibility of the continuum structure 110 would be better.
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 130 based on a gear barrel
  • the drive connection portion 220 may include a ball joint 221 .
  • the connection nodes can adopt the following combinations: the first connection node A adopts a fixed connection, the second connection node B adopts the spherical hinge 2211, the third connection node C adopts the cylindrical auxiliary connection, the fourth connection node D adopts the rotating auxiliary connection, and the third connection node D adopts the rotating auxiliary connection.
  • the axis of rotation of the four connection node D is perpendicular to the axial direction of the proximal end of the drive connection portion 220 .
  • the drive link 220 includes links 2212a-b and a ball hinge 2211 between the links 2212a-b.
  • the first connection node A may refer to the connection between the distal end of the connecting rod 2212a at the distal end of the ball hinge 2211 and the proximal base plate 1111 in a rotational pair
  • the second connection node B may refer to the structure of the ball hinge itself, and the connection of the proximal end of the ball hinge 2211.
  • the proximal end of the rod 2212b is the input end of the drive connection part 220
  • the third connection node C may refer to the cylindrical pair between the outer circular surface of the connecting rod 2212b and the proximal end stop 1112
  • the fourth connection node D may refer to the connection.
  • the input end of the rod 2212b is connected with the arc-shaped connecting rod 1341 in the drive transmission mechanism 130 by a rotating pair, and the rotation axis of the rotating pair is perpendicular to the axial direction of the connecting rod 2212b. Therefore, the proximal end stop 1112 can slide and rotate relative to the outer circumference of the input end.
  • the proximal end stop 1112 can be driven to turn over in coordination, so as to realize the bending of the proximal continuum 111, and then the end is fixed on the proximal stop plate.
  • the plurality of proximal structural bones 1113 on the 1112 push and pull, thereby driving the distal continuum 112 to produce a bend corresponding to (eg, opposite direction) the proximal continuum 111 .
  • the drive transmission mechanism adopts the non-planar drive transmission mechanism 130 based on the gear barrel
  • the connection nodes can also adopt the following combinations: the first connection node A adopts the cylindrical pair connection, the second connection node B adopts the spherical hinge 2211, and the first connection node B adopts the spherical hinge 2211.
  • the three connection nodes C are connected by rotation, and the fourth connection node D is connected by a rotation pair.
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 130 based on a gear barrel
  • the hinge joint of the drive connection part 320 may include a distal link 3211 and a proximal link 3212 .
  • the connection nodes can adopt the following combinations: the first connection node A adopts a rotating pair, the second connecting node B adopts a rotating pair, the third connecting node C adopts a cylindrical pair, and the fourth connecting node D adopts a rotating pair.
  • the first connection node A may refer to the distal end of the distal link 3211 being rotatable around its own axis in the proximal base 1111
  • the second connection node B may refer to the proximal end of the distal link 3211 and the proximal link
  • the distal end of 3212 is hinged, and the drive connecting part 320 itself is structured as a distal link 3211 and a proximal link 3212 that are hinged to each other, and the proximal end of the proximal link 3212 serves as the input end of the drive connecting part 320
  • the third connection node C Refers to the cylindrical pair between the outer peripheral surface of the proximal link 3212 and the proximal stop disk 1112, the proximal stop disk 1112 can slide and rotate relative to the input end of the proximal link 3212
  • the fourth connection node D refers to the proximal end
  • the input end of the connecting rod 3212 is hinged with the drive transmission mechanism 130 , and
  • the input end of the proximal connecting rod 3212 is driven by the driving transmission mechanism 130, which will drive the proximal end stop 1112 to produce cooperative overturning, so as to realize the bending of the proximal continuum 111, and furthermore, the multiple ends fixed on the proximal stop disc 1112 will be reversed.
  • the proximal root structural bone 1113 pushes and pulls, thereby driving the distal continuum 112 to bend in a corresponding (eg, opposite) direction to the proximal continuum 111 .
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 130 based on a gear barrel
  • the connection nodes can also adopt the following combinations: the first connection node A adopts a cylindrical pair, the second connection node B adopts a rotary pair, and the third connection node adopts a rotary pair.
  • the node C adopts a rotating pair, the fourth connecting node D adopts a rotating pair, and the rotation axis of the fourth connecting node D is perpendicular to the axial direction of the proximal end of the driving connecting portion 320 .
  • the input end of the drive connecting portion 320 can also be freely rotated under the drive of the drive transmission mechanism 130 , thereby driving the proximal stop disk 1112 to move over, so as to realize the bending of the distal continuum 112 .
  • the input end of the drive connection portion 120 (or 220 ) and the drive transmission mechanism 230 can be fixedly connected or can be Rotating pair or connecting by cylindrical pair etc.
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 230 based on a worm gear and worm
  • the drive connection portion 120 may include a universal joint 121 .
  • the connection nodes can adopt the following combinations: the first connection node A is connected by a cylinder pair, the second connection node B is connected by a universal joint 1211, the third connection node C has a movement degree of freedom (cylinder pair or moving pair), and the fourth connection node D Use a fixed connection.
  • gimbal joint 121 includes links 1212a-b and a gimbal 1211 positioned between links 1212a-b.
  • the first connection node A can refer to the distal end of the connecting rod 1212a at the distal end of the universal joint 1211 and the proximal base plate 1111 is matched by a cylindrical pair
  • the second connection node B can refer to the structure of the universal joint 1211 itself, the universal joint 1211
  • the proximal end of the connecting rod 1212b at the proximal end is the input end of the driving connecting portion 120
  • the third connecting node C may refer to the cylindrical pair (or the moving pair) between the outer circular surface of the connecting rod 1212b and the proximal end stop 1112.
  • the fourth connection node D may refer to the fixed connection between the input end of the connecting rod 1212 b and the follower 233 .
  • the proximal end stop 1112 can slide and rotate relative to the input end.
  • the invariable center point of the drive connection portion 120 is the center of the universal joint 1211, and the follower 233 rotates around the center of the universal joint 1211, thereby driving the input end to rotate under the drive of the follower 233, so as to drive the proximal end
  • the stop plate 1112 is cooperatively turned over, and then pushes and pulls the plurality of proximal structural bones 1113 whose ends are fixed on the proximal stop plate 1112, so as to realize the bending of the proximal continuum 111, and then drive the distal continuum 112 to produce
  • the proximal continuum 111 corresponds (eg, in the opposite direction) to the bend.
  • the above nodes cooperate with each other, so that the proximal end stop 1112 can move up and down or rotate relative to the driving connecting portion 120 or the driving connecting portion 120 relative to the follower 233, so as to satisfy the requirement that the proximal continuum 111 is generated during the bending process.
  • Parasitic motion sliding up and down
  • bending motion rotation
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 230 based on a worm gear and worm
  • the drive connection portion 120 may include a universal joint 121 .
  • the connection nodes can also adopt the following combinations: the first connection node A adopts a rotary auxiliary connection, the second connection node B adopts a universal joint 1211, the third connection node C adopts a rotation auxiliary connection, and the fourth connection node D adopts a rotation auxiliary connection.
  • the input end of the connecting portion 120 can be driven to rotate under the driving of the drive transmission mechanism 230 , thereby driving the proximal stop disk 1112 to move and turn over, so as to realize the bending of the distal continuum 112 .
  • the nodes may also adopt the following combination: the first connection node A adopts a fixed connection, the second connection node B adopts a universal joint 1211, the third connection node C adopts a fixed connection, and the fourth connection node D adopts a mobile joint connect.
  • the connection nodes can also be combined in other forms by adopting several of the above five connection methods. Under the premise of achieving a similar function (driving the proximal continuum 111 to bend), the more degrees of freedom, the more flexible the continuum structure is. The compliance and flexibility of the 110 will be better.
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 230 based on a worm gear and worm
  • the drive connection portion 220 may include a ball joint 221 .
  • the connection nodes can adopt the following combinations: the first connection node A adopts fixed connection, the second connection node B adopts spherical hinge 2211, the third connection node C adopts cylindrical auxiliary connection, and the fourth connection node D adopts fixed connection.
  • the drive link 220 includes links 2212a-b and a ball hinge 2211 between the links 2212a-b.
  • the first connection node A may refer to the fixed connection between the distal end of the connecting rod 2212a at the distal end of the ball joint 2211 and the proximal base plate 1111
  • the second connection node B may refer to the structure of the ball joint 221 itself, the connecting rod at the proximal end of the ball joint 2211.
  • the proximal end of 2212b is the input end of the drive connection part 220
  • the third connection node C may refer to the cylindrical pair between the outer circular surface of the connecting rod 2212b and the proximal end stop 1112
  • the fourth connecting node D may refer to the connecting rod.
  • the input end of 2212b is fixedly connected to the follower 233 .
  • the proximal end stop 1112 can slide and rotate relative to the input end.
  • the invariable center point of the drive connecting portion 220 is the center of the spherical hinge 2211, and the follower 233 rotates around the center of the spherical hinge 2211, thereby driving the input end to rotate under the drive of the follower 233, so as to drive the proximal stop disk 1112 produces cooperative overturning, and then pushes and pulls the plurality of proximal structural bones 1113 whose ends are fixed on the proximal stop plate 1112, thereby realizing the bending of the proximal continuum 111, and then driving the distal continuum 112 to generate a Continuum 111 corresponds to (eg opposite direction) turning.
  • the above connecting nodes cooperate with each other, so that the proximal end stop 1112 can move up and down or rotate relative to the driving connecting part 220 or the driving connecting part 220 can rotate relative to the follower 233, so as to satisfy the requirement that the proximal continuum 111 can be rotated during the bending process.
  • Parasitic motion (sliding up and down) along the axis is generated, and bending motion (rotation) in any direction is generated.
  • the drive transmission mechanism adopts a non-planar drive transmission mechanism 230 based on a worm gear and worm
  • the drive connection portion 220 may include a ball joint 221 .
  • the connection nodes can also adopt the following combinations: the first connection node A adopts a rotating auxiliary connection, the second connection node B adopts a spherical hinge 2211, the third connection node C adopts a movable auxiliary connection, and the fourth connection node D adopts a fixed connection.
  • connection nodes may also adopt the following combinations: the first connection node A adopts a fixed connection, the second connection node B adopts a spherical hinge 2211, the third connection node C adopts a rotary connection, and the fourth connection node D adopts a movable joint connect.
  • the proximal continuum 111 may further include at least one proximal retaining plate 1114 disposed between the proximal base plate 1111 and the proximal stop plate 1112 , a plurality of proximal structural bones 1113 is passed through at least one proximal retention disc 1114 in turn. As shown in FIG. 1 , in some embodiments, the proximal continuum 111 may further include at least one proximal retaining plate 1114 disposed between the proximal base plate 1111 and the proximal stop plate 1112 , a plurality of proximal structural bones 1113 is passed through at least one proximal retention disc 1114 in turn. As shown in FIG.
  • the distal continuum 112 may further include at least one piece of distal retention disk 1124 disposed between the distal base plate 1121 and the distal stop disk 1122 , a plurality of distal structural bones 1123 also in turn passes through at least one piece of distal retention disk 1124, the proximal retention disk 1114 and the distal retention disk 1124 are used to radially support the structural bone from the proximal structural bone 1113 and the distal structural bone 1123, respectively, so that the proximal The structural bone 1113 and the distal structural bone 1123 still maintain a parallel state during the bending deformation process, which can prevent the proximal structural bone 1113 and the distal structural bone 1123 from being unstable during the bending motion.
  • the structural bone guide tube bundle 113 is provided with at least one tube bundle holding plate 1131 (refer to FIG. 17 ), the proximal end of the structural bone guide tube bundle 113 is fixedly connected to the proximal base plate 1111 , the structural bone guide tube bundle 113 is The distal end passes through at least one tube bundle holding plate 1131 and is fixedly connected with the distal base plate 1121 .
  • the proximal structural bone 1113 and the distal structural bone 1123 may include elastic wires or tubes made of superelastic materials, such as high-strength, high-toughness, and elastic metal materials such as nickel-titanium alloys.
  • the structural bone guide tube bundle 113 may include a plurality of thin tubes made of steel material to form a steel tube bundle.
  • the continuum instrument 40 may include at least two continuum instruments 10 (or 20, 30) as in the above-described embodiments. In some embodiments, the continuum instrument 40 includes at least two continuum instruments 10 (or 20, 30) in series or in parallel.
  • FIGS. 17 and 18 respectively illustrate partial structural schematic views of the continuum instrument 40 and the continuum instrument 50 according to some embodiments of the present disclosure.
  • the continuum device 40 (or the continuum device 50 ) further includes a stent 140 .
  • the proximal bases 1111 of the at least two flexible continuum structures 110 are respectively fixedly connected or integrally formed with the stent 140
  • the proximal ends of the at least two structural bone guide tube bundles 113 are respectively fixedly connected to the proximal bases 1111 of the proximal continuum 111 .
  • the distal ends of the at least two structural bone guide tube bundles 113 pass through the stent 140 in sequence, and merge into one bundle at the distal base 1121 , for example, the distal ends of the two structural bone guide tube bundles 113 are at the distal base 1121 Distributed in a cluster along the circumference or in a circle. It should be understood that the distal ends of the two structural bone guide tube bundles 113 may also be distributed in a bundle along the periphery of the rectangle at the distal base 1121 or distributed within the rectangle. In some embodiments, the proximal base 1111 or the distal base 1121 may directly become part of the stent 140 . In some embodiments, as shown in FIG.
  • At least two driving transmission mechanisms 130 are arranged side by side on the bracket 140 , and the output end of each driving transmission mechanism 130 is respectively connected with at least one driving connecting portion 120 (or 220 , 320 ) input connection.
  • the at least two drive transmission mechanisms 130 respectively drive the proximal stop disks 1112 of the at least two flexible continuum structures 110 to flip through the at least two input ends, so as to push and pull the proximal structural bones 1113 of the at least two flexible continuum structures 110 , so as to realize the turning of at least two distal continuums 112 along different directions in space.
  • At least two drive transmission mechanisms 230 are arranged side by side on the bracket 140 , and the output end of each drive transmission mechanism 230 is respectively connected with the at least two drive connection parts 120 (or 220 )
  • the input ends are connected, and the proximal stop disks 1112 of the two flexible continuum structures 110 are respectively driven by at least two input ends to turn over, so as to push and pull the proximal structural bones 1113 of the at least two flexible continuum structures 110, so as to achieve at least two flexible continuum structures 110.
  • the two distal continuum 112 bend in different directions in space.
  • the lengths of the distal continuum 112 in the at least two flexible continuum structures 110 of the continuum device 40 may be the same or different. It will be appreciated that the distal ends of the at least two structural bone guide tube bundles 113 meet at the distal base 1121 . At least two distal continuums 112 can be connected in series.
  • the proximal end of the first distal continuum extends distally from the distal base 1121 and is fixedly connected to the distal stop 1122, and the distal base of the second distal continuum is continuous with the first distal end
  • the distal stop 1122 of the body is connected or identical, and the distal end of the second distal continuum can be fixedly connected to the distal stop 1122.
  • at least two drive connecting parts 120 are respectively driven to move by at least two drive transmission mechanisms 130 (or 230 ), and at least two proximal continuums 111 are respectively driven to move, so as to realize the movement of the distal continuum 112 . Bending, thereby increasing the degrees of freedom of the distal continuum 112, increases the flexibility of the continuum instrument.
  • the present disclosure also provides a surgical robot comprising at least one continuum instrument 10 (or 20, 30, 40, 50) as in the above-described embodiments.
  • FIG. 19 shows a schematic structural diagram of a surgical robot 1 according to some embodiments of the present disclosure.
  • the surgical robot 1 may further include at least one surgical trolley 2 , at least one positioning arm 3 and at least one surgical instrument 4 .
  • At least one positioning arm 3 is movably arranged on at least one operating trolley 2
  • at least one surgical instrument 4 is respectively arranged at the distal end of at least one positioning arm 3 .
  • the surgical instrument 4 includes a continuum instrument 10 (or continuum instruments 20 , 30 , 40 , 50 ) and a tip device 5 disposed at the distal end of the continuum instrument 10 .
  • the end device 5 may comprise an end effector or an endoscope.
  • the position of the continuum device can be adjusted by adjusting the positioning arm 3, and the posture of the end device 5 can be adjusted through the continuum device.
  • Continuum instruments are compact, with high reliability and flexibility, which can improve the safety of surgical robots.

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Abstract

一种连续体器械(10，20，30，40，50)，属于医疗器械领域，包括：至少一个近端连续体(111)、至少一个远端连续体(112)和驱动连接部(120，220，320)。近端连续体(111)包括近端止盘(1112)和多根近端结构骨(1113)，多根近端结构骨(1113)与近端止盘(1112)固定连接。远端连续体(112)包括远端止盘(1122)和多根远端结构骨(1123)，多根远端结构骨(1123)与远端止盘(1122)固定连接，多根远端结构骨(1123)与多根近端结构骨(1113)固定连接或一体成型。驱动连接部(120，220，320)与近端止盘(1112)连接，驱动连接部(120，220，320)的输入端用于驱动近端止盘(1112)翻转，以驱动远端连续体(112)弯转。从而可以避免对柔性连续体的结构骨进行直接的推拉，在驱动数量较多的结构骨时，可以不受限于驱动机构的数量，同时结构紧凑，原理简单，易于实现，具有很高的可靠性和灵活性。

Description

连续体器械及手术机器人
相关申请的交叉引用
本申请要求于2020年6月30日提交的、申请号为2020106187483、发明名称为“一种可整体驱动的柔性连续体结构及柔性机械臂”,2020年6月30日提交的、申请号为2020106187093、发明名称为“一种基于旋转驱动机构的手术工具驱动传动系统”,2020年6月30日提交的、申请号为2020106187430、发明名称为“基于回转-直线驱动的手术工具驱动传动系统及手术机器人”的中国专利申请的优先权，这些申请的全文以引用方式整体结合于此。
技术领域
本公开涉及医疗器械领域，尤其涉及一种连续体器械及手术机器人。
背景技术
微创术式对病人创伤更小、术后恢复更快，已经在外科手术中占据了重要的地位。在微创术式中，包括手术工具以及视觉照明模块在内的手术器械均通过切口或者自然腔道进入人体中，到达手术部位进行手术。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，因此该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。
相较传统的通过在关节处相互转动从而实现弯转运动的刚性运动链，柔性连续体结构可以实现连续弯转变形，因而柔性连续体结构被广泛应用于柔性操作臂、内窥镜、可控导管等医疗器械，以及工业用深腔探测内窥镜、柔性机械 臂等新型特种装备的研发。
现有的连续体结构一般通过驱动机构对连续体结构中的驱动丝进行直接推拉，从而实现连续体结构向任意方向弯转，但是随着对连续体结构提出的精度高、响应快、弯转灵活性高、稳定性好等更严格的要求，现有的驱动结构已逐渐不能满足上述要求，且现有的驱动方式为直接推拉驱动丝进行运动，故当驱动丝的数量较多时，驱动机构的数量也会相应的增加，使得结构复杂。
发明内容
在一些实施例中，本公开提供了一种连续体器械，包括：至少一个近端连续体，包括近端止盘和多根近端结构骨，多根近端结构骨的近端与近端止盘固定连接；至少一个远端连续体，包括远端止盘和多根远端结构骨，多根远端结构骨的远端与远端止盘固定连接，多根远端结构骨与多根近端结构骨固定连接或一体成型；驱动连接部，与近端止盘连接，驱动连接部包括位于近端止盘近端侧的输入端，输入端用于驱动近端止盘翻转，以通过近端结构骨和远端结构骨，驱动远端连续体弯转。
在一些实施例中，本公开提供了一种手术机器人，包括至少一个手术台车、至少一个定位臂和至少一个手术器械；至少一个手术器械包括至少一个如上所述的连续体器械以及设置在连续体器械远端的末端装置；至少一个定位臂可活动设置在至少一个手术台车上，至少一个手术器械分别设置在至少一个定位臂的远端。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对本公开实施例描 述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅示出本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据本公开实施例的内容和这些附图获得其他的实施例。
图1示出根据本公开一些实施例的连续体器械的结构示意图；
图2(a)示出根据本公开一些实施例的驱动连接部的万向节关节的结构示意图；
图2(b)示出根据本公开一些实施例的驱动连接部的另一万向节关节的结构示意图；
图3示出根据本公开一些实施例的另一连续体器械的结构示意图；
图4(a)示出根据本公开一些实施例的驱动连接部的球铰关节的结构示意图；
图4(b)示出根据本公开一些实施例的驱动连接部的另一球铰关节的结构示意图；
图5示出根据本公开一些实施例的另一连续体器械的结构示意图；
图6示出根据本公开一些实施例的驱动连接部的铰链关节的结构示意图；
图7示出根据本公开一些实施例的另一连续体器械的部分结构示意图；
图8示出根据本公开一些实施例的图7所示连续体器械的部分结构示意图；
图9示出根据本公开一些实施例的驱动传动机构的结构示意图；
图10示出根据本公开一些实施例的驱动传动机构的部分结构示意图；
图11示出根据本公开一些实施例的图10所示驱动传动机构的纵向剖面结构示意图；
图12示出根据本公开一些实施例的另一连续体器械的部分结构示意图；
图13示出根据本公开一些实施例的图12所示连续体器械的部分结构示意 图；
图14示出根据本公开一些实施例的另一驱动传动机构的结构示意图；
图15示出根据本公开一些实施例的图14所示驱动传动机构的部分结构示意图；
图16示出根据本公开一些实施例的图14所示驱动传动机构的从动件的结构示意图；
图17示出根据本公开一些实施例的另一连续体器械的部分结构示意图；
图18示出根据本公开一些实施例的另一连续体器械的部分结构示意图；
图19示出根据本公开一些实施例的手术机器人的结构示意图。
具体实施方式
为使本公开解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本公开实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本公开示例性实施例，而不是全部的实施例。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、仅用于描述目的，而不能理解为指示或暗示相对重要性。在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“耦合”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连； 可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。在本公开中，定义靠近操作者(例如医生)的一端为近端、近部或后端、后部，靠近手术患者的一端为远端、远部或前端、前部。本领域技术人员可以理解，本公开的实施例可以用于医疗器械或手术机器人，也可以用于其他非医疗装置。
图1示出根据本公开一些实施例的连续体器械10。如图1所示，连续体器械10可以包括柔性连续体结构110和驱动连接部120。柔性连续体结构110可以包括位于近端的至少一个近端连续体111和位于远端的至少一个远端连续体112。近端连续体111可以包括近端基盘1111、近端止盘1112和近端结构骨1113。近端基盘1111和近端止盘1112间隔布置，多根近端结构骨1113的近端与近端止盘1112固定连接，多根近端结构骨1113的远端穿过近端基盘1111。远端连续体112可以包括远端基盘1121、远端止盘1122和远端结构骨1123。远端基盘1121和远端止盘1122间隔布置，远端基盘1121与近端基盘1111相邻，多根远端结构骨1123的远端与远端止盘1122固定连接，多根远端结构骨1123的近端穿过远端基盘1121与多根近端结构骨1113固定连接或一体成型。驱动连接部120与近端止盘1112连接。驱动连接部120包括位于近端止盘1112近端侧的输入端，输入端用于由驱动传动机构驱动而带动近端止盘1112运动翻转，实现对近端结构骨1113的推拉，从而实现远端连续体112在空间中沿着不同方向的弯转。在一些实施例中，驱动连接部120的远端与近端基盘1111连接，驱动连接部120的近端穿过近端止盘1112且与近端止盘1112连接，如图1所示。
在一些实施例中，驱动连接部120可以包括至少一个关节，例如万向节关节、球铰关节或铰链关节等。图2(a)示出根据本公开一些实施例的驱动连接部120的万向节关节121的结构示意图，图2(b)示出根据本公开一些实施例 的另一万向节关节121的结构示意图。在一些实施例中，如图2(a)所示，驱动连接部120可以包括万向节关节121，万向节关节121可以包括一个万向节1211或者多个万向节1211(例如串联的多个万向节)，一个或多个万向节1211位于近端基盘1111与近端止盘1112之间。万向节1211可以包括旋转轴线彼此相交的两个旋转副，其中一个旋转副的旋转轴线沿径向设置。应当理解，径向可以垂直于驱动连接部120位于初始位置处的轴向方向，其中初始位置是指驱动连接部120在未被驱动的情况下的自然伸展状态。在一些实施例中，如图2(a)所示，万向节关节121可以包括至少一个万向节1211和至少一根连杆1212。在一些实施例中，驱动连接部120可以包括位于远端的万向节1211和位于近端的连杆1212。连杆1212的远端连接到万向节1211，万向节1211的远端(驱动连接部120的远端)与近端基盘1111连接。连杆1212的近端(驱动连接部120的近端)穿过近端止盘1112并与近端止盘1112连接。在一些实施例中，如图2(b)所示，驱动连接部120可以包括连杆1212a-b和位于连杆1212a-b之间的万向节1211，连杆1212a-b(驱动连接部120的近端和远端)分别与近端基盘1111和近端止盘1112连接。
如图1所示，在一些实施例中，柔性连续体结构110还可以包括结构骨引导管束113，该结构骨引导管束113的近端固定连接在近端基盘1111上，结构骨引导管束113的远端固定连接在远端基盘1121上。多根近端结构骨1113的远端依次穿过近端基盘1111、结构骨引导管束113分别和多根远端结构骨1123连接。结构骨引导管束113可以引导和约束位于近端基盘1111和远端基盘1121之间的多根近端结构骨1113。
图3示出根据本公开一些实施例的连续体器械20。如图3所示，连续体器械20可以包括柔性连续体结构110和驱动连接部220。图4(a)示出根据本公 开一些实施例的驱动连接部220的球铰关节221的结构示意图，图4(b)示出根据本公开一些实施例的另一球铰关节221的结构示意图。在一些实施例中，如图4(a)所示，驱动连接部220可以包括球铰关节221。球铰关节221可以包括一个球铰2211或者多个球铰2211(例如串联的多个球铰2211)。至少一个球铰2211位于近端基盘1111与近端止盘1112之间。球铰2211可包括三个轴线相交的旋转副。在一些实施例中，图4(a)球铰关节221可以包括至少一个球铰2211和至少一根连杆2212。在一些实施例中，驱动连接部220可以包括位于远端的球铰2211和位于近端的连杆2212。连杆2212的远端连接到球铰2211，球铰2211的远端(驱动连接部220的远端)与近端基盘1111连接，连杆2212的近端(驱动连接部220的近端)穿过近端止盘1112并与近端止盘1112连接。在一些实施例中，图4(b)驱动连接部220可以包括连杆2212a-b和位于连杆2212a-b之间的球铰2211，连杆2212a-b(驱动连接部220的近端和远端)分别与近端基盘1111和近端止盘1112连接。
图5示出根据本公开一些实施例的连续体器械30。如图5所示，连续体器械30可以包括柔性连续体结构110和驱动连接部320。图6示出根据本公开一些实施例的驱动连接部320的铰链关节321的结构示意图。如图6所示，在一些实施例中，驱动连接部320可以包括铰链关节321，铰链关节321可以包括彼此铰接的至少一根远端连杆3211和至少一根近端连杆3212。在一些实施例中，远端连杆3211与近端基盘1111之间通过沿远端连杆3211的轴向旋转连接，近端连杆3212与近端止盘1112之间通过沿近端连杆3212的轴向旋转连接。远端连杆3211和近端连杆3212彼此铰接的铰接轴线与远端连杆3211和近端连杆3212的轴线方向垂直。近端连杆3212的近端贯穿近端止盘1112，且近端连杆3212位于近端止盘1112近端侧的部分形成驱动连接部320的输入端。
在一些实施例中，连续体器械10(或20、30)还可以包括驱动传动机构。驱动传动机构的输出端可以进行非平面的运动。图7和图8分别示出根据本公开一些实施例的包括驱动传动机构130的连续体器械10(或20、30)的部分结构示意图。图9示出根据本公开一些实施例的驱动传动机构130的结构示意图。在一些实施例中，如图7-图9所示，驱动传动机构130可以包括第一可转动件131、第二可转动件132、回转-直线运动机构133和连接件134。第一可转动件131用于在第一驱动件135的驱动下转动，第二可转动件132与第一可转动件131同轴设置，用于在第二驱动件136的驱动下相对于第一可转动件131转动。回转-直线运动机构133与第一可转动件131连接，用于将第一可转动件131的旋转运动转换为直线运动输出。连接件134一端与回转-直线运动机构133的输出端铰接，连接件134的另一端与驱动连接部120(或220、320)的输入端铰接。
在一些实施例中，如图9所示，第二可转动件132可以重叠布置在第一可转动件131的上方，二者可相对于彼此转动。图10示出根据本公开一些实施例的驱动传动机构130的部分结构示意图。如图9和图10所示，在一些实施例中，第一可转动件131可以包括例如第一从动齿轮1311，第一驱动件135可以包括第一主动齿轮1351，第二可转动件132可以包括例如第二从动齿轮1321，第二驱动件136可以包括第二主动齿轮1361。第一主动齿轮1351和第一从动齿轮1311啮合，第二主动齿轮1361和第一从动齿轮1311啮合，且第二从动齿轮1321重叠布置于第一从动齿轮1311上方。第一主动齿轮1351可以在驱动电机的驱动下驱动第一从动齿轮1311转动，第二主动齿轮1361可以在驱动电机的驱动下驱动第二从动齿轮1321转动，且第一从动齿轮1311和第二从动齿轮1321可相对于彼此转动。在一些实施例中，第一可转动件131和第二可转动件132可 以分别包括第一齿轮和第二齿轮，第一驱动件135和第二驱动件136可以包括驱动电机(或马达)，第一齿轮和第二齿轮可以分别在驱动电机的驱动下相对于彼此转动。在一些实施例中，第一可转动件131和第二可转动件132的传动方式也可以包括其他传动方式，例如带轮传动或链轮传动等等。
在一些实施例中，如图10所示，回转-直线运动机构133可以包括引导件1331、回转件1332和运动件1333。引导件1331的近端与第二可转动件132固定连接，回转件1332的近端穿过第二可转动件132并与第一可转动件131固定连接，运动件1333的与回转件1332转动连接，且运动件1333用于在引导件1331的引导下沿引导件1331的轴线方向线性移动。图11示出根据本公开一些实施例的驱动传动机构130的纵向剖面结构示意图。如图11所示，在一些实施例中，回转-直线运动机构133可以包括丝杠螺母结构。如图11所示，引导件1331可以包括导向杆1331-1，回转件1332可以包括丝杠1332-1，运动件1333包括螺母1333-1和滑块1333-2，螺母1333-1与丝杠1332-1转动连接，导向杆1331-1滑动穿设在滑块1333-2上。在一些实施例中，回转-直线运动机构133也可采用本领域其他已知结构来实现，例如滚珠丝杠机构。
如图11所示，在一些实施例中，连接件134可以包括弧形连杆1341。如图11所示，在一些实施例中，滑块1333-2可以包括固定连接或一体成型的上层铰接部和下层筒形部，上层铰接部用于与弧形连杆1341的一端铰接，下层筒形部固定套设在螺母1333-1外部。例如，下层筒形部的形状可以与螺母1333-1的形状匹配，从而可以相适应的套设在螺母1333-1外部。
如图9和图11所示，在一些实施例中，驱动传动机构130还可以包括套设在运动件1333外部的桶形件137，桶形件137的近端与第二可转动件132固定连接。在一些实施例中，引导件1331的近端与第二可转动件132固定连接，引 导件1331的远端与桶形件137固定连接，运动件1333滑动穿设在引导件1331上。如图11所示，在一些实施例中，丝杠1332-1的近端穿过第二从动齿轮1321后与第一从动齿轮1311同轴固定连接。螺母1333-1转动连接在丝杠1332-1上，滑块1333-2的下层筒形部固定连接在螺母1333-1上。桶形件137套设在滑块1333-2外部，且桶形件137的近端与第二从动齿轮1321固定连接。导向杆1331-1的近端与第二从动齿轮1321固定连接，导向杆1331-1的远端与桶形件137的远端固定连接，螺母1333-1或滑块1333-2的下层筒形部可以滑动穿设在导向杆1331-1上。弧形连杆1341的一端与滑块1333-2的上层铰接部铰接，弧形连杆1341的另一端与驱动连接部120(或220、320)的输入端铰接。回转-直线运动机构133可以将第一可转动件131的旋转运动转化成直线运动输出。
在一些实施例中，引导件1331可以包括相互配合的导杆和引导槽(图中未示)，引导槽可以沿桶形件137的轴向固定设置在桶形件137上，导杆沿桶形件137的轴向可滑动地设置在引导槽中，导杆与滑块1333-2固定连接。回转-直线运动机构133的也可以将第一可转动件131的旋转运动转化成直线运动输出。
由此，如图7、图8和图11所示，当第一主动齿轮1351带动位于下层的第一从动齿轮1311旋转而位于上层的第二主动齿轮1361保持静止时，与第一从动齿轮1311固定的丝杠1332-1会相应的发生转动，由于引导件1331的限位作用使得滑块1333-2与螺母1333-1不能发生旋转，从而驱动螺母1333-1及滑块1333-2在桶形件137中上下移动，并带动弧形连杆1341运动，通过弧形连杆1341带动驱动连接部320(或220、120)的输入端运动。由于近端止盘1112可由驱动连接部320带动翻转，使得近端基盘1111和近端止盘1112产生错位，两者轴线不再重合。近端止盘1112产生翻转，从而对端部固定在近端止盘1112 上的多根近端结构骨1113产生推拉，由此固定在近端止盘1112上(例如均匀分布)的多根近端结构骨1113，一侧受拉从而使得对应近端结构骨1113处在近端连续体111中的长度增加，另一侧受推从而使得对应近端结构骨1113处在近端连续体111中的长度减少。但由于各近端结构骨1113的总长基本不变，从而导致各远端结构骨1123位于远端连续体112中的长度发生相应的变化，从而驱动远端连续体112产生与近端连续体111相对应(例如同向、反向或成角度)的弯转，并可通过调节弧形连杆1341的角度，进而调节近端连续体111的弯转程度。当第二主动齿轮1361带动第二从动齿轮1321旋转，第一主动齿轮1351带动第一从动齿轮1311旋转，且在第二从动齿轮1321齿轮和第一从动齿轮1311同向同步(例如等速)旋转时，滑块1333-2在桶形件137中的上下位置不发生改变，但是弧形连杆1341的旋转平面方位角发生改变。当近端连续体111弯转后，对近端结构骨1113产生的推拉通过结构骨引导管束113传递到远端结构骨1123和远端连续体112，实现远端连续体112在空间中沿着不同方向的弯转。通过协同驱动第二从动齿轮1321和第一从动齿轮1311，从而调整近端连续体111的弯转程度以及在不同平面内的弯转。需要说明的是，近端连续体111和远端连续体112的弯转比例与对应的近端结构骨1113和远端结构骨1123分别在两者中的分布半径(在本实施例中，近端连续体111和远端连续体112中的近端结构骨1113和远端结构骨1123分别沿周向分布，其可以分布在圆周上，也可以分布在矩形、多边形、椭圆或者其他形状的周向上，并且可以均匀分布或者非均匀分布，在此不加以限定)呈反比，因此在应用时可通过调整近端结构骨1113和远端结构骨1123分别在近端连续体111和远端连续体112中的分布半径，以满足实际弯转比例需求。
图12和图13分别示出根据本公开一些实施例的包括另一驱动传动机构230 的连续体器械10(或20、30)的部分结构示意图。图14示出根据本公开一些实施例的驱动传动机构230的结构示意图。在一些实施例中，如图12和图13所示，驱动传动机构230可以包括第一旋转件231、第二旋转件232和从动件233。第一旋转件231用于在第一驱动件235的驱动下转动，第二旋转件232用于在第二驱动件236的驱动下转动。在一些实施例中，第二旋转件232与第一旋转件231的旋转轴线垂直且相交。图15示出根据本公开一些实施例的驱动传动机构230的部分结构示意图。如图14和图15所示，从动件233分别与第一旋转件231和第二旋转件232铰接，形成第一铰接点E和第二铰接点F，第一旋转件231与第二旋转件232铰接，形成第三铰接点G，第三铰接点G的旋转轴线与第一旋转件231的旋转轴线重合，从动件233与驱动连接部120(或220)的输入端连接。在初始位置处，第一铰接点E的旋转轴线与第二旋转件232的旋转轴线重合，第二铰接点F的旋转轴线与第一旋转件231的旋转轴线重合。由此，第一旋转件231和第二旋转件232共同驱使从动件233在空间中绕着驱动连接部120的不变中心点旋转，从动件233带动驱动连接部120的输入端旋转，从而带动近端止盘1112运动翻转，实现近端连续体111的弯转，进而对端部固定在近端止盘1112上的多根近端结构骨1113产生推拉，导致多根远端结构骨1123位于远端连续体112中的长度发生相应的变化，从而驱动远端连续体112产生与近端连续体111相对应的弯转。这样，可以实现远端连续体112在空间中沿着不同方向的弯转。
在一些实施例中，如图14和图15所示，第一旋转件231上固定设有第一连接杆件2312，第二旋转件232上固定设有第二连接杆件2322。第一连接杆件2312的一端与从动件233铰接，形成第一铰接点E，第二连接杆件2322的一端与从动件233铰接，形成第二铰接点F。第一连接杆件2312的另一端和第二连 接杆件2322的另一端铰接，形成第三铰接点G，该第三铰接点G位于第一旋转件231的旋转轴线上。在一些实施例中，从动件233可以与第一连接杆件2312的另一端和第二连接杆件2322的另一端铰接于第三铰接点G。在一些实施例中，从动件233也可以与第一连接杆件2312的另一端和第二连接杆件2322的另一端不铰接。应理解，本发明中第一旋转件231和第二旋转件232以及从动件233之间的铰接也可通过第一连接杆件2312和第二连接杆件2322之外的其他形式连接件来实现，只要各铰接点满足上述几何关系即可。
如图15所示，在一些实施例中，第一旋转件231和第一驱动件235可以分别包括相啮合的第一蜗轮2311和第一蜗杆2351，第一蜗轮2311与第一连接杆件2312固定连接。第二旋转件232和第二驱动件236可以分别包括相啮合的第二蜗轮2321和第二蜗杆2361，第二蜗轮2321与第二连接杆件2322固定连接。驱动传动机构230通过设置两组蜗轮蜗杆结构，可以使从动件233的旋转方向发生改变，且能够实现驱动扭矩的放大。可以理解的是，第一旋转件231和第二旋转件232包括但不限于蜗轮结构，例如第一旋转件231和第二旋转件232还可以为锥齿轮，第一驱动件235和第二驱动件236可以为与锥齿轮相啮合的主动锥齿轮，通过主动锥齿轮驱动锥齿轮旋转。应当理解，第一旋转件231和第二旋转件232还可以为齿轮之外的其他可转动件。在一些实施例中，第一驱动件235和第二驱动件236还可以包括电机(或马达)，第一旋转件231和第二旋转件232可以直接在电机的驱动下相对于彼此旋转。
图16示出根据本公开一些实施例的驱动传动机构230的从动件233的结构示意图。如图16所示，在一些实施例中，从动件233可以包括与驱动连接部120(或220)的输入端连接的连接体2331，以及与连接体2331连接并向远端延伸的铰接连杆2332a-b，其中铰接连杆2332a与第一旋转件231的第一连接杆2312 的一端铰接于第一铰接点E，铰接连杆2332b与第二旋转件232的第二连接杆2322的一端铰接于第二铰接点F。在一些实施例中，如图16所示，从动件233还可以包括与连接体2331连接并向远端延伸的第三根铰接连杆2332c，铰接连杆2332c与第一旋转件231和第二旋转件232的第一连接杆2312和第二连接杆2322的另一端铰接于第三铰接点G。在一些实施例中，连接体2331和铰接连杆2332a-c可以一体成型或固定连接。
由此，如图12-14所示，第一蜗轮2311和第二蜗轮2321分别在第一蜗杆2351和第二蜗杆2361的驱动下，带动与第一蜗轮2311连接的第一连接杆2312和与第二蜗轮2321连接的第二连接杆2322转动，从而带动与第一连接杆2312和第二连接杆2322铰接的从动件233在空间中绕着驱动连接部120(或220)的不变中心点(例如万向节的中心点或者球铰的中心点)转动，通过从动件233带动驱动连接部120的输入端旋转，从而驱动近端止盘1112运动翻转，以对端部固定在近端止盘1112上的多根近端结构骨1113产生推拉，以实现近端连续体111的弯转，进而驱动远端连续体112产生与近端连续体111相对应(例如相反方向)的弯转，可以实现远端连续体112在空间中沿着不同方向的弯转。近端连续体111和远端连续体112的弯转比例与对应的近端结构骨1113和远端结构骨1123分别在近端连续体111和远端连续体112中的分布半径(在本实施例中，近端连续体111和远端连续体112中的近端结构骨1113和远端结构骨1123沿周向分布，其可以分布在圆周上，也可以分布在矩形、多边形、椭圆或者其他形状的周向上，可以均匀分布或者非均匀分布，在此不加以限定)呈反比。在应用时可通过调整近端结构骨1113和远端结构骨1123在两者中的分布半径，以满足实际弯转比例需求。通过驱动近端止盘翻转实现对近端结构骨的推拉，以避免对近端结构骨进行直接的推拉，在驱动数量较多的近端结构骨时，可以 不受限于驱动传动机构的数量，结构紧凑，具有很高的可靠性和灵活性。
在一些实施例中，如图5所示，驱动连接部320(或120、220)、近端连续体111和驱动传动机构130(或230)之间可以包括以下运动关系连接节点：第一连接节点A可以指近端基盘1111与驱动连接部320(或120、220)的连接关系，第二连接节点B可以指驱动连接部本身结构(例如万向节、球铰或铰链关节)，第三连接节点C可以指驱动连接部320与近端止盘1112的连接关系，第四连接节点D可以指驱动连接部320的输入端与驱动传动机构130的连接关系。以上四个连接节点可采取如下连接方式中的几种进行组合：圆柱副(可以旋转也可移动)、移动副、旋转副(只能旋转)、固定连接、驱动连接部本身结构，以实现通过以上连接节点组合可以满足驱动近端连续体111弯转所需要的最少自由度。
在一些实施例中，如图7所示，当驱动传动机构采用基于齿轮桶的非平面驱动传动机构130时，驱动连接部120(或220、320)的输入端与驱动传动机构130沿与驱动连接部120的近端轴向的垂直方向旋转连接，且驱动连接部120的输入端相对于近端止盘1112沿驱动连接部120的近端的轴向旋转连接。在一些实施例中，当驱动传动机构采用基于齿轮桶的非平面驱动传动机构130时，驱动连接部120(或220、320)的远端与近端基盘1111之间通过沿驱动连接部120远端的轴向的旋转副连接，或驱动连接部120的近端与近端止盘1112之间通过沿驱动连接部120近端的轴向的旋转副连接，驱动连接部120的输入端与驱动传动机构130之间通过沿驱动连接部120的近端的轴向的旋转副轴向的垂直方向旋转连接。
如图2(a)、图2(b)和图7所示，在一些实施例中，驱动传动机构采用基于齿轮桶的非平面驱动传动机构130，驱动连接部120可以包括万向节关节 121。连接节点可以采取如下组合：第一连接节点A采用旋转副连接，第二连接节点B采用万向节1211，第三连接节点C采用圆柱副连接，第四连接节点D采用旋转副连接，且第四连接节点D的旋转轴线与驱动连接部120的近端的轴向垂直。例如，万向节关节121包括连杆1212a-b和位于连杆1212a-b之间的万向节1211。第一连接节点A可以指万向节1211的远侧端的连杆1212a的远端与近端基盘1111以旋转副连接，第二连接节点B可以指万向节1211本身结构，万向节1211近侧端的连杆1212b的近端为驱动连接部120的输入端，第三连接节点C可以指连杆1212b的外圆面与近端止盘1112之间以圆柱副相配合，第四连接节点D可以指连杆1212b的输入端与驱动传动机构130中的弧形连杆1341采用旋转副连接，且该旋转副连接的旋转轴线与连杆1212b的轴向垂直。因此，近端止盘1112可相对输入端的外圆面滑动和旋转。通过驱动传动机构130的弧形连杆1341驱动输入端旋转，可以带动近端止盘1112产生协同翻转，以实现近端连续体111的弯转，进而对端部固定在近端止盘1112上的多根近端结构骨1113产生推拉，从而驱动远端连续体112产生与近端连续体111相对应(例如反方向)的弯转。由此，通过以上四个连接节点相互配合，使得近端止盘1112可相对于驱动连接部120或者驱动连接部120相对于弧形连杆1341可上下滑移或旋转，从而满足近端连续体111在弯转过程中产生沿着轴线方向滑动的寄生运动(上下滑移)，以及向任意方向的弯转运动(旋转)。寄生运动可避免远端连续体112在弯转的过程中，产生沿轴向的伸缩运动，导致包覆在远端连续体112外周的封皮起皱或者过度拉伸，影响封皮的使用寿命。
如图7所示，在一些实施例中，驱动传动机构采用基于齿轮桶的非平面驱动传动机构130，驱动连接部120可以包括万向节关节121，连接节点还可以采取如下组合：第一连接节点A采用旋转副连接，第二连接节点B采用万向节1211， 第三连接节点C采用旋转副连接，第四连接节点D采用旋转副连接，且第四连接节点D的旋转轴线与驱动连接部120的近端的轴向垂直。这样，也可以实现在弧形连杆1341的驱动下输入端可以旋转，从而带动近端止盘1112运动翻转，以实现远端连续体112的弯转。在一些实施例中，连接节点还可以采取如下组合：第一连接节点A采用圆柱副连接，第二连接节点B采用万向节1211，第三连接节点C采用移动副连接，第四连接节点D采用旋转副连接，且第四连接节点D的旋转轴线与驱动连接部120的近端的轴向垂直。应当理解的是，以上连接节点还可采取以上五中连接方式中的几种进行其他形式的组合，在实现类似功能(驱动近端连续体111弯转)的前提下，自由度数越多，柔性连续体结构110的柔顺性和灵活性会更好。
如图4(a)、图4(b)和图7所示，在一些实施例中，驱动传动机构采用基于齿轮桶的非平面驱动传动机构130，驱动连接部220可以包括球铰关节221。这样，连接节点可以采取如下组合：第一连接节点A采用固定连接，第二连接节点B采用球铰2211，第三连接节点C采用圆柱副连接，第四连接节点D采用旋转副连接，且第四连接节点D的旋转轴线与驱动连接部220的近端的轴向垂直。例如，驱动连接部220包括连杆2212a-b和位于连杆2212a-b之间的球铰2211。第一连接节点A可以指球铰2211的远侧端的连杆2212a的远端与近端基盘1111以旋转副连接，第二连接节点B可以指球铰本身结构，球铰2211近侧端的连杆2212b的近端为驱动连接部220的输入端，第三连接节点C可以指连杆2212b的外圆面与近端止盘1112之间以圆柱副相配合，第四连接节点D可以指连杆2212b的输入端与驱动传动机构130中的弧形连杆1341采用旋转副连接，且该旋转副连接的旋转轴线与连杆2212b的轴向垂直。因此近端止盘1112可相对输入端的外圆面滑动和旋转。这样，通过驱动传动机构130的弧形连杆1341 驱动输入端旋转，可以带动近端止盘1112产生协同翻转，以实现近端连续体111的弯转，进而对端部固定在近端止盘1112上的多根近端结构骨1113产生推拉，从而驱动远端连续体112产生与近端连续体111相对应(例如相反方向)的弯转。
在一些实施例中，驱动传动机构采用基于齿轮桶的非平面驱动传动机构130，连接节点还可以采取如下组合：第一连接节点A采用圆柱副连接，第二连接节点B采用球铰2211，第三连接节点C采用旋转连接，第四连接节点D采用旋转副连接。
如图6和图7所示，在一些实施例中，驱动传动机构采用基于齿轮桶的非平面驱动传动机构130，驱动连接部320的铰链关节可以包括远端连杆3211和近端连杆3212。连接节点可以采取如下组合：第一连接节点A采用旋转副，第二连接节点B采用旋转副，第三连接节点C采用圆柱副，第四连接节点D采用旋转副。例如，第一连接节点A可以指远端连杆3211的远端在近端基盘1111中可绕自身轴线旋转，第二连接节点B可以指远端连杆3211的近端与近端连杆3212的远端铰接，驱动连接部320本身结构为彼此铰接的远端连杆3211和近端连杆3212，近端连杆3212的近端作为驱动连接部320的输入端，第三连接节点C指近端连杆3212的外周面与近端止盘1112之间以圆柱副相配合，近端止盘1112可相对近端连杆3212的输入端滑动和旋转，第四连接节点D指近端连杆3212的输入端与驱动传动机构130铰接，且铰接点的旋转轴线与驱动连接部320的近端的轴向垂直。通过驱动传动机构130驱动近端连杆3212的输入端，会带动近端止盘1112产生协同翻转，实现近端连续体111的弯转，进而对端部固定在近端止盘1112上的多根近端结构骨1113产生推拉，从而驱动远端连续体112产生与近端连续体111相对应(例如相反方向)的弯转。
在一些实施例中，驱动传动机构采用基于齿轮桶的非平面驱动传动机构130，连接节点还可以采取如下组合：第一连接节点A采用圆柱副，第二连接节点B采用旋转副，第三连接节点C采用旋转副，第四连接节点D采用旋转副，且第四连接节点D的旋转轴线与驱动连接部320的近端轴向垂直。这样，也可以实现在驱动传动机构130的驱动下驱动连接部320的输入端自由旋转运动，从而带动近端止盘1112运动翻转，以实现远端连续体112的弯转。
如图12所示，在一些实施例中，当驱动传动机构采用基于蜗轮蜗杆的非平面驱动传动机构230时，驱动连接部120(或220)的输入端与驱动传动机构230可以固定连接或者采用旋转副或者采用圆柱副等方式连接。
如图2(a)、图2(b)和图12所示，在一些实施例中，驱动传动机构采用基于蜗轮蜗杆的非平面驱动传动机构230，驱动连接部120可以包括万向节关节121。连接节点可以采取如下组合：第一连接节点A采用圆柱副连接，第二连接节点B采用万向节1211，第三连接节点C具有移动自由度(圆柱副或移动副)，第四连接节点D采用固定连接。例如，万向节关节121包括连杆1212a-b和位于连杆1212a-b之间的万向节1211。第一连接节点A可以指万向节1211远侧端的连杆1212a的远端与近端基盘1111以圆柱副相配合，第二连接节点B可以指万向节1211本身结构，万向节1211近侧端的连杆1212b的近端为驱动连接部120的输入端，第三连接节点C可以指连杆1212b的外圆面与近端止盘1112之间以圆柱副(或移动副)相配合，第四连接节点D可以指连杆1212b的输入端与从动件233固定连接。因此，近端止盘1112可相对输入端滑动和旋转。驱动连接部120的不变中心点为万向节1211的中心，从动件233绕着万向节1211的中心旋转，从而带动输入端在从动件233的驱动下旋转运动，以带动近端止盘1112产生协同翻转，进而对端部固定在近端止盘1112上的多根近端结构骨 1113产生推拉，从而实现近端连续体111的弯转，进而驱动远端连续体112产生与近端连续体111相对应(例如相反方向)的弯转。通过以上节点相互配合，使得近端止盘1112可相对于驱动连接部120或者驱动连接部120相对于从动件233可上下滑移或旋转，从而满足近端连续体111在弯转过程中产生沿着轴线方向滑动的寄生运动(上下滑移)，以及向任意方向的弯转运动(旋转)。
在一些实施例中，驱动传动机构采用基于蜗轮蜗杆的非平面驱动传动机构230，驱动连接部120可以包括万向节关节121。连接节点还可以采取如下组合：第一连接节点A采用旋转副连接，第二连接节点B采用万向节1211，第三连接节点C采用旋转副连接，第四连接节点D采用旋转副连接，也可以实现在驱动传动机构230的驱动下驱动连接部120的输入端旋转，从而带动近端止盘1112运动翻转，以实现远端连续体112的弯转。在一些实施例中，节点还可以采取如下组合：第一连接节点A采用固定连接，第二连接节点B采用万向节1211，第三连接节点C采用固定连接，第四连接节点D采用移动副连接。应当理解，连接节点还可采取以上五种连接方式中的几种进行其他形式的组合，在实现类似功能(驱动近端连续体111弯转)的前提下，自由度数越多，柔性连续体结构110的柔顺性和灵活性会更好。
如图4(a)、图4(b)和图12所示，在一些实施例中，驱动传动机构采用基于蜗轮蜗杆的非平面驱动传动机构230，驱动连接部220可以包括球铰关节221。连接节点可以采取如下组合：第一连接节点A采用固定连接，第二连接节点B采用球铰2211，第三连接节点C采用圆柱副连接，第四连接节点D采用固定连接。例如，驱动连接部220包括连杆2212a-b和位于连杆2212a-b之间的球铰2211。第一连接节点A可以指球铰2211远侧端的连杆2212a的远端与近端基盘1111固定连接，第二连接节点B可以指球铰关节221本身结构，球铰2211 近侧端的连杆2212b的近端为驱动连接部220的输入端，第三连接节点C可以指连杆2212b的外圆面与近端止盘1112之间以圆柱副相配合，第四连接节点D可以指连杆2212b的输入端与从动件233固定连接。因此，近端止盘1112可相对输入端滑动和旋转。驱动连接部220的不变中心点为球铰2211的中心，从动件233绕着球铰2211的中心旋转，从而带动输入端在从动件233的驱动下旋转运动，以带动近端止盘1112产生协同翻转，进而对端部固定在近端止盘1112上的多根近端结构骨1113产生推拉，从而实现近端连续体111的弯转，进而驱动远端连续体112产生与近端连续体111相对应(例如相反方向)的弯转。通过以上连接节点相互配合，使得近端止盘1112可相对于驱动连接部220或者驱动连接部220相对于从动件233可上下滑移或旋转，从而满足近端连续体111在弯转过程中产生沿着轴线方向滑动的寄生运动(上下滑移)，以及向任意方向的弯转运动(旋转)。
在一些实施例中，驱动传动机构采用基于蜗轮蜗杆的非平面驱动传动机构230，驱动连接部220可以包括球铰关节221。连接节点还可以采取如下组合：第一连接节点A采用旋转副连接，第二连接节点B采用球铰2211，第三连接节点C采用移动副连接，第四连接节点D采用固定连接。这样，也可以实现在驱动传动机构230的驱动下，带动从动件233旋转，以驱动输入端旋转，从而带动近端止盘1112运动翻转，以实现远端连续体112的弯转。在一些实施例中，连接节点还可以采取如下组合：第一连接节点A采用固定连接，第二连接节点B采用球铰2211，第三连接节点C采用旋转连接，第四连接节点D采用移动副连接。
如图1所示，在一些实施例中，近端连续体111还可以包括设置在近端基盘1111和近端止盘1112之间的至少一片近端保持盘1114，多根近端结构骨1113 依次穿过至少一片近端保持盘1114。如图1所示，在一些实施例中，远端连续体112还可以包括设置在远端基盘1121和远端止盘1122之间的至少一片远端保持盘1124，多根远端结构骨1123亦依次穿过至少一片远端保持盘1124，近端保持盘1114和远端保持盘1124用于分别从近端结构骨1113和远端结构骨1123的径向支撑结构骨，从而使得近端结构骨1113和远端结构骨1123在弯转变形的过程中仍然保持平行状态，可以防止近端结构骨1113和远端结构骨1123在弯转运动时失稳。在一些实施例中，结构骨引导管束113上设置有至少一片管束保持盘1131(可参考图17)，结构骨引导管束113的近端与近端基盘1111固定连接，结构骨引导管束113的远端穿过至少一片管束保持盘1131，与远端基盘1121固定连接。
在一些实施例中，近端结构骨1113和远端结构骨1123可以包括由超弹性材料制成的弹性丝或管，例如可以采用镍钛合金等高强度、高韧性、具有弹性的金属材料制造。结构骨引导管束113可以包括由钢材料制成的多根细管，以形成钢管束。
在一些实施例中，连续体器械40可以包括至少两个如上述实施例中的连续体器械10(或者20、30)。在一些实施例中，连续体器械40包括至少两个连续体器械10(或者20、30)串联或者并联。
图17和图18分别示出根据本公开一些实施例的连续体器械40和连续体器械50的部分结构示意图。如图17所示，在一些实施例中，连续体器械40(或连续体器械50)还包括支架140。至少两个柔性连续体结构110的近端基盘1111分别与支架140固定连接或一体成型，至少两个结构骨引导管束113的近端分别与近端连续体111的近端基盘1111固定连接，至少两个结构骨引导管束113的远端分别依次穿过支架140，并在远端基盘1121处汇合成一束，例如两个结 构骨引导管束113的远端在远端基盘1121处沿圆周分布成一束或者分布在圆形内。应当理解，两个结构骨引导管束113的远端还可以在远端基盘1121处沿矩形的四周分布成一束或者分布在矩形内。在一些实施例中，近端基盘1111或远端基盘1121可以直接成为支架140的一部分。在一些实施例中，如图17所示，至少两个驱动传动机构130呈并排布置在支架140上，每一驱动传动机构130的输出端分别与至少一个驱动连接部120(或220、320)的输入端连接。至少两个驱动传动机构130通过至少两个输入端分别驱动至少两个柔性连续体结构110的近端止盘1112翻转运动，实现对至少两个柔性连续体结构110的近端结构骨1113的推拉，从而实现至少两个远端连续体112在空间中沿着不同方向的弯转。在一些实施例中，如图18所示，至少两个驱动传动机构230呈并排布置在支架140上，每一驱动传动机构230的输出端分别与至少两个驱动连接部120(或220)的输入端连接，通过至少两个输入端分别驱动两个柔性连续体结构110的近端止盘1112翻转运动，实现对至少两个柔性连续体结构110的近端结构骨1113的推拉，从而实现至少两个远端连续体112在空间中沿着不同方向的弯转。
在一些实施例中，连续体器械40(或连续体器械50)的至少两个柔性连续体结构110中的远端连续体112的长度可以相同或者不同。应当理解，至少两个结构骨引导管束113的远端在远端基盘1121汇合。至少两个远端连续体112可以串联。例如，第一远端连续体的近端从远端基盘1121处向远端延伸，并且与远端止盘1122固定连接，第二远端连续体的远端基盘与第一远端连续体的远端止盘1122连接或者相同，并且第二远端连续体的远端可以与远端止盘1122固定连接。由此，通过至少两个的驱动传动机构130(或230)分别驱动至少两个驱动连接部120(或220)运动，分别带动至少两个近端连续体111运动，实 现远端连续体112的弯转，进而增加远端连续体112的自由度，从而增加连续体器械的灵活性。
在一些实施例中，本公开还提供一种手术机器人，该手术机器人包括至少一个如上述实施例中的连续体器械10(或20、30、40、50)。图19示出根据本公开一些实施例的手术机器人1的结构示意图。如图19所示，在一些实施例中，手术机器人1还可以包括至少一个手术台车2、至少一个定位臂3和至少一个手术器械4。至少一个定位臂3可活动设置在至少一个手术台车2上，至少一个手术器械4分别设置在至少一个定位臂3的远端。手术器械4包括连续体器械10(或连续体器械20、30、40、50)以及设置在连续体器械10的远端的末端装置5。应当理解，末端装置5可以包括末端手术执行器或内窥镜。通过调节定位臂3可以调整连续体器械的位置，通过连续体器械可以调整末端装置5的位姿。连续体器械结构紧凑，具有高的可靠性和灵活性，从而可以提高手术机器人的安全性。
注意，上述仅为本公开的示例性实施例及所运用技术原理。本领域技术人员会理解，本公开不限于这里的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本公开的保护范围。因此，虽然通过以上实施例对本公开进行了较为详细的说明，但是本公开不仅仅限于以上实施例，在不脱离本公开构思的情况下，还可以包括更多其他等效实施例，而本公开的范围由所附的权利要求范围决定。

Claims (20)

  1. 一种连续体器械，包括：
    至少一个近端连续体，包括近端止盘和多根近端结构骨，所述多根近端结构骨的近端与所述近端止盘固定连接；
    至少一个远端连续体，包括远端止盘和多根远端结构骨，所述多根远端结构骨的远端与所述远端止盘固定连接，所述多根远端结构骨与所述多根近端结构骨固定连接或一体成型；
    驱动连接部，与所述近端止盘连接，所述驱动连接部包括位于所述近端止盘近端侧的输入端，所述输入端用于驱动所述近端止盘翻转，以通过所述近端结构骨和远端结构骨，驱动所述远端连续体弯转。
  2. 根据权利要求1所述的连续体器械，其特征在于，所述近端连续体还包括近端基盘，所述多根近端结构骨穿过所述近端基盘，所述驱动连接部的远端与所述近端基盘连接，所述驱动连接部的近端穿过所述近端止盘。
  3. 根据权利要求2所述的连续体器械，其特征在于，
    所述近端止盘经由所述驱动连接部通过轴线彼此相交的至少两个旋转副与所述近端基盘连接，其中所述驱动连接部包括至少一个径向轴线的旋转副。
  4. 根据权利要求3所述的连续体器械，其特征在于，所述驱动连接部与所述近端止盘的连接或所述驱动连接部与所述近端基盘的连接包括以下中的至少一个：圆柱副、移动副、旋转副、或固定连接。
  5. 根据权利要求3所述的连续体器械，其特征在于，所述驱动连接部包括至少一个万向节关节，所述万向节关节包括万向节和至少一根连杆，所述至少一个万向节关节的远端与所述近端基盘连接，近端穿过所述近端止盘并与所述近端止盘连接，且所述至少一个万向节关节包括位于所述近端止盘近端侧的所 述输入端；或者
    所述驱动连接部包括至少一个球铰关节，所述球铰关节包括球铰和至少一根连杆，所述至少一个球铰关节的远端与所述近端基盘连接，近端穿过所述近端止盘并与所述近端止盘连接，且所述至少一个球铰关节包括位于所述近端止盘近端侧的所述输入端；或者
    所述驱动连接部包括至少一个铰链关节，所述铰链关节包括：
    远端连杆，所述远端连杆的远端与所述近端基盘连接；
    近端连杆，所述近端连杆的远端与所述远端连杆铰接，且所述铰接轴线与所述远端连杆和近端连杆的轴线方向垂直，所述近端连杆的近端贯穿所述近端止盘并与所述近端止盘连接，且所述近端连杆包括位于所述近端止盘近端侧的所述输入端。
  6. 根据权利要求1所述的连续体器械，其特征在于，还包括：驱动传动机构，所述驱动传动机构的输出端与所述驱动连接部的所述输入端连接并输出非平面运动。
  7. 根据权利要求6所述的连续体器械，其特征在于，所述驱动传动机构包括：
    第一可转动件，用于在第一驱动件的驱动下转动；
    第二可转动件，与所述第一可转动件同轴设置，用于在第二驱动件的驱动下相对于第一可转动件转动；
    回转-直线运动机构，与所述第一可转动件连接，用于将所述第一可转动件的旋转运动转换为直线运动输出；
    连接件，一端与所述回转-直线运动机构的输出端铰接，所述连接件的另一端与所述驱动连接部的输入端铰接。
  8. 根据权利要求7所述的连续体器械，其特征在于，所述回转-直线运动机构包括：
    引导件，近端与所述第二可转动件固定连接；
    回转件，近端穿过所述第二可转动件并与所述第一可转动件固定连接；
    运动件，与所述回转件转动连接，且所述运动件用于在所述引导件的引导下沿所述引导件的轴线方向线性移动。
  9. 根据权利要求8所述的连续体器械，其特征在于，所述驱动传动机构还包括套设在所述运动件外部的桶形件，所述桶形件的近端与所述第二可转动件固定连接；
    所述引导件的近端与所述第二可转动件固定连接，所述引导件的远端与所述桶形件固定连接，所述运动件滑动穿设在所述引导件上。
  10. 根据权利要求8所述的连续体器械，其特征在于，所述驱动传动机构还包括套设在所述运动件外部的桶形件，所述桶形件的近端与所述第二可转动件固定连接；
    所述引导件包括相互配合的导杆和引导槽，所述引导槽沿所述桶形件的轴向固定设置在所述桶形件上，所述导杆可滑动地设置在所述引导槽中，所述导杆与所述运动件固定连接。
  11. 根据权利要求8所述的连续体器械，其特征在于，所述回转件包括丝杠，所述运动件包括螺母和滑块，所述螺母与所述丝杠转动连接。
  12. 根据权利要求11所述的连续体器械，其特征在于，所述连接件包括弧形连杆，所述滑块包括固定连接或一体成型的上层铰接部和下层筒形部，所述上层铰接部用于与所述弧形连杆的一端铰接，所述下层筒形部固定套设在所述螺母外部。
  13. 根据权利要求6所述的连续体器械，其特征在于，所述驱动传动机构包括：
    第一旋转件，用于在第一驱动件的驱动下转动；
    第二旋转件，用于在第二驱动件的驱动下转动，所述第二旋转件与所述第一旋转件的旋转轴线垂直且相交；
    从动件，与所述第一旋转件在第一铰接点处铰接并且与所述第二旋转件在第二铰接点处铰接，所述第一旋转件与所述第二旋转件在第三铰接点处铰接，所述第三铰接点的旋转轴线与所述第一旋转件的旋转轴线重合，所述从动件与所述驱动连接部的输入端连接；
    在初始位置处，所述第一铰接点的旋转轴线与所述第二旋转件的旋转轴线重合，所述第二铰接点的旋转轴线与所述第一旋转件的旋转轴线重合。
  14. 根据权利要求13所述的连续体器械，其特征在于，所述第一旋转件上固定设有第一连接杆件，所述第二旋转件上固定设有第二连接杆件；
    所述第一连接杆件一端与所述从动件在所述第一铰接点处铰接，所述第二连接杆件的一端与所述从动件在所述第二铰接点处铰接，所述第一连接杆件的另一端和所述第二连接杆件的另一端在所述第三铰接点处铰接。
  15. 根据权利要求14所述的连续体器械，其特征在于，所述从动件与所述第一旋转件和第二旋转件在所述第三铰接点处铰接。
  16. 根据权利要求14所述的连续体器械，其特征在于，所述从动件包括与所述驱动连接部的输入端连接的连接体，以及与所述连接体连接并向远端延伸的至少两根连接杆，一根所述连接杆与所述第一旋转件铰接，另一根所述连接杆与所述第二旋转件铰接。
  17. 根据权利要求2所述的连续体器械，其特征在于，所述远端连续体还包 括远端基盘，所述多根远端结构骨穿过所述远端基盘，并且所述连续体器械还包括至少一个结构骨引导管束，连接在所述近端基盘和所述远端基盘之间，所述多根近端结构骨穿过所述近端基盘、所述至少一个结构骨引导管束，与所述多根远端结构骨固定连接或一体成型。
  18. 根据权利要求17所述的连续体器械，其特征在于，包括：
    至少两个近端连续体、至少两个远端连续体、至少两个结构骨引导管束、至少两个驱动连接部和至少两个驱动传动机构；
    所述至少两个近端连续体串联或者并联。
  19. 根据权利要求18所述的连续体器械，其特征在于，还包括：支架；
    所述至少两个近端连续体的近端基盘分别与所述支架固定连接或一体成型，所述至少两个结构骨引导管束的近端分别与所述近端连续体的近端基盘固定连接，所述至少两个结构骨引导管束的远端穿过所述支架，并在同一远端基盘处汇成一束；
    所述至少两个驱动传动机构呈并排布置在所述支架上，每一所述驱动传动机构的输出端分别与相应的所述驱动连接部的输入端连接，以驱动相应的所述近端连续体的近端止盘翻转，从而驱动相应的所述远端连续体弯转。
  20. 一种手术机器人，包括至少一个手术台车、至少一个定位臂和至少一个手术器械；
    所述至少一个手术器械包括至少一个如权利要求1所述的连续体器械以及设置在所述连续体器械远端的末端装置；
    所述至少一个定位臂可活动设置在至少一个手术台车上，所述至少一个手术器械分别设置在所述至少一个定位臂的远端。
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