WO2024159593A1 - 连续体手术器械 - Google Patents

连续体手术器械 Download PDF

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Publication number
WO2024159593A1
WO2024159593A1 PCT/CN2023/082678 CN2023082678W WO2024159593A1 WO 2024159593 A1 WO2024159593 A1 WO 2024159593A1 CN 2023082678 W CN2023082678 W CN 2023082678W WO 2024159593 A1 WO2024159593 A1 WO 2024159593A1
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WO
WIPO (PCT)
Prior art keywords
module
instrument
continuum
wire
rotating
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2023/082678
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English (en)
French (fr)
Inventor
何玉成
胡颖
廖子豪
张朋
齐晓志
赵保亮
李世博
杨远源
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2024159593A1 publication Critical patent/WO2024159593A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00225—Systems for controlling multiple different instruments, e.g. microsurgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods 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
    • 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
    • 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 present application relates to the technical field of medical equipment, for example, to a continuum surgical instrument.
  • Minimally invasive surgery has gradually become the mainstream development direction of surgical surgery due to its advantages such as less trauma, low risk of infection, fewer complications and fast postoperative recovery.
  • the minimally invasive surgical robot system formed by combining robotic technology with minimally invasive surgical technology can greatly improve the disadvantages of minimally invasive surgery.
  • the multiple end effectors installed in the robotic arm system are the actuators of the entire robot system. They will directly contact the patient's body during the operation. These end effectors are usually referred to as surgical instruments by doctors.
  • the volume of surgical instruments in the robotic surgical system accounts for a small proportion, the performance of surgical instruments directly affects the quality of the operation and is one of the most important parts of the robotic surgical system.
  • the minimally invasive surgical instruments of minimally invasive surgical robots should have higher motion accuracy, greater operating force, sufficient operating space and more operating flexibility.
  • the operating flexibility and rigidity of flexible minimally invasive surgical instruments are still insufficient and cannot meet the needs of various surgeries.
  • the present application provides a continuum surgical instrument, the continuum segment of which adopts a multi-wire parallel drive method, so that the instrument has good bending strength and operating force while meeting the operating space and flexibility required for minimally invasive surgery.
  • the overall diameter of the instrument is small, the rigidity is increased by multi-wire parallel drive, and the operating flexibility is increased by rotational freedom, thereby better meeting various minimally invasive surgical needs.
  • the present application provides a continuum surgical instrument, comprising: an end instrument module, the end instrument module comprising a joint connection, a rotating base and a surgical instrument, the rotating base being rotatably connected to the joint connection, and the surgical instrument being arranged at one end of the rotating base in an opening and closing manner; a continuum module, the continuum module comprising a distal end of a vertebra, a vertebral spacer and a proximal end of a vertebra, the vertebral spacer being multiple and sequentially arranged between the distal end of the vertebra and the proximal end of the vertebra, two adjacent vertebral spacer disks being able to move relative to each other, and the distal end of the vertebra being connected to the joint connection; a rotating module, the rotating module being connected to the proximal end of the vertebra; a driving module, the driving module comprising a driving base and an instrument opening and closing driving module arranged on the driving base, an end instrument self-rotation driving module, a continuum
  • the terminal instrument rotation drive module is connected to the rotating base through the terminal instrument rotation drive wire to drive the rotating base to rotate.
  • the continuum bending drive module drives the continuum module to bend through a plurality of continuum bending drive wires passing through a plurality of vertebral spacers and connected to the distal end of the vertebra.
  • the rotating drive module is connected to the driving module through the rotating drive wire to drive the rotating module to rotate.
  • the rotating base includes: a rotating base, a first support shaft is provided on the rotating base, the surgical instrument is rotatably provided on the first support shaft, the rotating base is provided with a rotating shaft, and the rotating shaft is provided with a first wire groove along its circumference; a rotating wrist, the rotating wrist is plugged into the rotating base and locked by a first fixing pin; wherein: one end of the terminal instrument self-rotation drive wire is wound around a wire wheel of the terminal instrument self-rotation drive module, and the other end passes through the rotation module and the continuum module, is embedded in the first wire groove and circles the rotating shaft once, then passes through the continuum module and the rotation module again and is wound around another wire wheel of the terminal instrument self-rotation drive module.
  • the rotating base also includes two rope-fixing rods and two rope-fixing pulleys, the rope-fixing rods are arranged at intervals inside the joint connecting part and are located on both sides of the rotating axis, and the rope-fixing pulleys are sleeved on the rope-fixing rods; wherein: the end instrument self-rotating drive wire passes around one of the rope-fixing pulleys and is arranged around the rotating axis, and then passes around another rope-fixing pulley after passing through the rotating axis.
  • the surgical instrument includes a first instrument and a second instrument, and the first instrument and the second instrument are both rotatably disposed on the first support shaft, and the first instrument and the second instrument are both provided with an arc groove;
  • the self-rotating base is provided with two spaced-apart mounting portions, and each mounting portion is provided with a guide groove extending along the circumference of the self-rotating base;
  • the terminal instrument module also includes: a second support shaft, the second support shaft is passed through the arc groove on the first instrument and the second instrument, and both ends are respectively engaged in the two guide grooves; a push-pull rod, the push-pull rod is located inside the rotating wrist, and one end of the push-pull rod is sleeved on the second support shaft; wherein: one end of the instrument opening and closing drive wire is connected to the instrument opening and closing drive module, and the other end passes through the rotating module and the continuum module and is connected to the push-pull rod.
  • the end instrument module further includes an elastic member, which is sleeved on the instrument opening and closing drive wire, and one end of the elastic member is connected to the push-pull rod, and the other end is connected to the rotating wrist.
  • one vertebral spacer disc is provided with a protruding rotating portion
  • the other vertebral spacer disc is provided with a recessed connecting portion
  • the protruding rotating portion is matched with the recessed connecting portion, and when the continuum module is bent, the protruding rotating portion can rotate relative to the recessed connecting portion.
  • the intervertebral disc is further provided with a first threading hole, a second threading hole and The third wire threading hole, the first wire threading hole is configured to pass the instrument opening and closing driving wire, the second wire threading hole is configured to pass the end instrument self-rotation driving wire, and the third wire threading hole is multiple and configured to pass the continuum bending driving wire;
  • the continuum module also includes a reinforcement tube, the reinforcement tube is fitted in the first wire threading hole, and the two ends of the reinforcement tube are respectively connected to the distal end of the vertebra and the proximal end of the vertebra.
  • the rotation module includes: a straight arm, one end of which is connected to the proximal end of the vertebra; a rotating straight tube, which is connected to the other end of the straight arm; a mounting bearing, which is sleeved on the rotating straight tube; a sleeve, which is connected to the end of the rotating straight tube away from the straight arm, and the sleeve is provided with a second wire groove extending along its axial direction; wherein: one end of the rotating drive wire is wound around a wire wheel of the rotating drive module, and the other end is embedded in the second wire groove and surrounds the sleeve once before passing through and winding around another wire wheel of the rotating drive module.
  • the driving base includes a base body and a base cover, the base body and the base cover define an installation cavity, and the instrument opening and closing drive module, the end instrument self-rotation drive module, the continuum bending drive module and the rotation drive module are all arranged in the installation cavity;
  • the driving module also includes a guide wheel group, the guide wheel group has a plurality of guide wire grooves, and respectively cooperates with the instrument opening and closing drive wire, the end instrument self-rotation drive wire and the continuum bending drive wire.
  • the instrument opening and closing drive module includes a first driving motor, a first base, a first wire wheel and a first bearing, the motor shaft of the first driving motor cooperates with the first base, the first base is provided with a first wire wheel shaft, and the first wire wheel and the first bearing are both sleeved on the first wire wheel shaft;
  • the terminal instrument self-rotation drive module includes a second driving motor, a second base, a second wire wheel and a second bearing, the motor shaft of the second driving motor cooperates with the second base, the second base is provided with a second wire wheel shaft, and the second wire wheel and the second bearing are both sleeved on the second wire wheel shaft;
  • the continuum bending drive module includes a third driving motor, a third base, a third wire wheel and a third bearing, the motor shaft of the third driving motor cooperates with the third base, the third base is provided with a third wire wheel shaft, and the third wire wheel and the third bearing are both sleeved on the third wire wheel shaft;
  • FIG1 is a schematic structural diagram of a continuum surgical instrument according to an embodiment of the present application.
  • FIG2 is a schematic diagram of the structure of the end instrument module of the continuum surgical instrument according to an embodiment of the present application
  • FIG3 is a schematic structural diagram of a continuum module of a continuum surgical instrument according to an embodiment of the present application
  • FIG4 is a schematic structural diagram of a vertebral spacer disc of a continuum module according to an embodiment of the present application
  • FIG5 is a schematic structural diagram of a rotation module of a continuum surgical instrument according to an embodiment of the present application.
  • FIG6 is a schematic diagram of the coordination structure of the rotation module and the driving module of the continuum surgical instrument according to an embodiment of the present application;
  • FIG7 is an enlarged schematic diagram of the area circled A in FIG6 ;
  • FIG8 is a schematic diagram of a partial structure of a driving module of a continuum surgical instrument according to an embodiment of the present application.
  • FIG9 is another partial structural schematic diagram of the driving module of the continuum surgical instrument according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a continuum bending drive module according to an embodiment of the present application.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral 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, or it can be the internal communication of two components.
  • installed should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral 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, or it can be the internal communication of two components.
  • the present application discloses a continuum surgical instrument, as shown in FIG1 , the continuum surgical instrument comprises an end instrument module 100, a continuum module 200, a rotation module 300 and a drive module 400.
  • the end instrument module 100 comprises a joint connection 113, a rotation base and a surgical instrument, the rotation base is rotatably connected to the joint connection 113, and the surgical instrument is openably arranged at one end of the rotation base.
  • the continuum module 200 comprises a vertebral distal end 201, a vertebral spacer disc 202 and a vertebral proximal end 203
  • the vertebral spacer disc 202 is multiple and sequentially arranged between the vertebral distal end 201 and the vertebral proximal end 203, and two adjacent vertebral spacer discs 202 can move relative to each other
  • the vertebral distal end 201 is connected to the joint connection 113
  • the rotation module 300 is connected to the vertebral proximal end 203.
  • the drive module 400 comprises a drive base and an instrument opening and closing device arranged on the drive base.
  • the instrument opening and closing drive module 405, the end instrument rotation drive module 406, the continuum bending drive module 407 and the rotation drive module 408, the instrument opening and closing drive module 405 is connected to the surgical instrument through the instrument opening and closing drive wire 401 to drive the surgical instrument to open and close
  • the end instrument rotation drive module 406 is connected to the rotating base through the end instrument rotation drive wire 402 to drive the rotating base to rotate
  • the continuum bending drive module 407 drives the continuum module 200 to bend through multiple continuum bending drive wires 403 that pass through multiple vertebral spacer discs 202 and are connected to the distal end of the vertebra 201
  • the rotation drive module 408 is connected to the drive module 400 through the rotation drive wire 404 to drive the rotation module 300 to rotate.
  • the instrument opening and closing driving module 405 is connected to the surgical instrument through the instrument opening and closing driving wire 401 to drive the surgical instrument to open and close, so that the surgical instrument can be directly operated.
  • the end instrument rotation drive module 406 is connected to the rotating base through the end instrument rotation drive wire 402 to drive the rotating base to rotate, so that the surgical instrument can rotate relative to the continuum module 200.
  • the continuum bending drive module 407 drives the continuum module 200 to bend through multiple continuum bending drive wires 403 that pass through multiple vertebral spacer discs 202 and are connected to the distal end of the vertebra 201, so that the surgical instrument can bend relative to the rotation module 300 through the bending movement of the continuum module 200.
  • the rotation drive module 408 is connected to the drive module 400 through the rotation drive wire 404 to drive the rotation module 300 to rotate, which can make the end instrument module 100, the continuum module 200, and the rotation module 300 rotate relative to the drive module 400.
  • the surgical instrument can open and close, rotate relative to the continuum module 200, bend relative to the rotation module 300, and rotate relative to the drive module 400, which effectively increases the flexibility of intraoperative operation and the accessibility of the operating space, and better meets various surgical needs.
  • the material of the instrument opening and closing drive wire 401, the end instrument self-rotation drive wire 402, the continuum bending drive wire 403 and the rotation drive wire 404 is titanium alloy, which has the characteristics of light weight and high strength.
  • the material of the instrument opening and closing drive wire 401, the end instrument self-rotation drive wire 402, the continuum bending drive wire 403 and the rotation drive wire 404 is titanium alloy, which can ensure that the instrument opening and closing drive module 405 stably drives the surgical instrument to open and close, the end instrument self-rotation drive module 406 stably drives the rotating base to rotate, the continuum bending drive module 407 stably drives the continuum module 200 to bend, and the rotation drive module 408 stably drives the rotation module 300 to rotate, thereby ensuring the reliability of the use of the continuum surgical instrument.
  • the material, cross-sectional shape, cross-sectional size and other parameters of the instrument opening and closing drive wire 401, the end instrument self-rotation drive wire 402, the continuum bending drive wire 403 and the rotation drive wire 404 can be adjusted according to actual needs.
  • the vertebral distal end 201 is sleeved with the joint connector 113 and locked by the second fixing pin 108.
  • the connection between the vertebral distal end 201 and the joint connector 113 may also be achieved by other connection methods such as snap connection and threaded connection, and is not limited to the method of locking with the second fixing pin 108 after sleeve connection in the present embodiment.
  • the rotating base includes a rotating base 105 and a rotating wrist 110
  • the rotating base 105 is provided with a first support shaft 103
  • the surgical instrument is rotatably provided on the first support shaft 103
  • the rotating base 105 is provided with a rotating shaft 9001
  • the rotating shaft 9001 is provided with a first wire groove 9002 along its circumference
  • the rotating wrist 110 is plugged into the rotating base 105 and locked by a first fixing pin 106
  • one end of the terminal instrument rotation drive wire 402 is wound around a wire wheel of the terminal instrument rotation drive module 406, and the other end passes through the rotating module 300 and the continuum module 200, is embedded in the first wire groove 9002, and after circling the rotating shaft 9001 for one circle, it passes through the continuum module 200 and the rotating module 300 again and is wound around another wire wheel of the terminal instrument rotation drive module 406.
  • the wire wheel of the end instrument self-rotation driving module 406 rotates, driving the end instrument self-rotation driving wire 402 to move. Since the end instrument self-rotation driving wire 402 is embedded in the first wire groove 9002 and passes through the rotating shaft 9001 once, when the end instrument self-rotation driving wire 402 moves, the rotating shaft 9001 will rotate, thereby causing the self-rotation base 105 to rotate.
  • the surgical instrument is rotatably mounted on the first support shaft 103 and locked on the rotating base 105 by the first fixing pin 106 . During the rotation of the rotating base 105 , the entire surgical instrument can rotate relative to the continuum module 200 .
  • the rotating base further includes two fixed rope rods 111 and two fixed rope pulleys 112.
  • the fixed rope rods 111 are arranged inside the joint connector 113 at intervals and on both sides of the rotating shaft 9001.
  • the fixed rope pulleys 112 are sleeved on the fixed rope rods 111.
  • the end instrument self-rotation drive wire 402 passes through one fixed rope pulley 112 and surrounds the rotating shaft 9001, and then passes through another fixed rope pulley 112 after passing through the rotating shaft 9001.
  • the fixed rope rods 111 and the fixed rope pulleys 112 can guide the end instrument self-rotation drive wire 402 on the one hand, and can ensure that the end instrument self-rotation drive wire 402 can drive the rotating base 105 to rotate when in motion, thereby ensuring that the entire surgical instrument can rotate relative to the continuum module 200.
  • the number, position and arrangement of the rope fixing rods 111 and the rope fixing pulleys 112 can be adjusted according to actual needs and are not limited to the above-mentioned methods.
  • the surgical instrument includes a first instrument 101 and a second instrument 102, both of which are rotatably disposed on a first support shaft 103, and both of which are provided with arc grooves.
  • the first instrument 101 is provided with a first arc groove 114
  • the second instrument 102 is provided with a second arc groove 115.
  • the self-rotating base 105 is provided with two spaced mounting portions 1051, and each mounting portion 1051 is provided with a guide groove 1052 extending along the circumference of the self-rotating base 105.
  • the end instrument module 100 also includes a second support shaft 104 and a push-pull rod 107.
  • the second support shaft 104 is passed through the arc grooves on the first instrument 101 and the second instrument 102, and both ends are respectively engaged in the two guide grooves 1052.
  • the push-pull rod 107 is located inside the rotating wrist 110, and one end of the push-pull rod 107 is sleeved on the second support shaft 104.
  • One end of the instrument opening and closing drive wire 401 is connected to the instrument opening and closing drive module 405, and the other end passes through the rotating module 300 and the continuum module 200 and is connected to the push-pull rod 107.
  • the instrument opening and closing driving wire 401 can drive the push-pull rod 107 to move.
  • the push-pull rod 107 can drive the second support shaft 104 to slide in the arc groove so that the first instrument 101 and the second instrument 102 move towards each other.
  • the added guide groove 1052 can limit the movement direction of the second support shaft 104 to prevent the second support shaft 104 from tilting, resulting in the first instrument 101 and the second instrument 102 not being able to move normally.
  • the first instrument 101 and the second instrument 102 can be rotatably disposed on the first support shaft 103, and arc grooves are provided on the first instrument 101 and the second instrument 102.
  • the second support shaft 104 passes through the arc grooves on the first instrument 101 and the second instrument 102.
  • first instrument 101 and the second instrument 102 can be easily disassembled relative to the second support shaft 104 and the first support shaft 103. Therefore, during actual use, the types of the first instrument 101 and the second instrument 102 can be replaced according to actual surgical requirements, so that the continuum surgical instrument of the embodiment of the present application can meet the needs of various surgeries.
  • the first instrument 101 and the second instrument 102 can form a complete clamp.
  • a complete surgical scissors can be formed, and the types of the first instrument 101 and the second instrument 102 can be adjusted according to actual surgical needs, and no strict restrictions are made on the types of the first instrument 101 and the second instrument 102.
  • the end instrument module 100 further includes an elastic member 109, which is sleeved on the instrument opening and closing drive wire 401, and one end of the elastic member 109 is connected to the push-pull rod 107, and the other end is connected to the rotating wrist 110.
  • An elastic member 109 is provided, and when the wire wheel of the instrument opening and closing drive module 405 rotates in the opposite direction, the push-pull rod 107 can be automatically reset under the action of the elastic member 109, thereby facilitating the reset of the first instrument 101 and the second instrument 102.
  • the elastic member 109 of this embodiment can be a spring or other elastic element.
  • the type of the elastic member 109 can be selected according to actual needs, and the type of the elastic member 109 is not selected here.
  • one vertebral spacer disc 202 is provided with a protruding rotating portion 2024, and the other vertebral spacer disc 202 is provided with a recessed connecting portion 2025, the protruding rotating portion 2024 is matched with the recessed connecting portion 2025, and when the continuum module 200 is bent, the protruding rotating portion 2024 can rotate relative to the recessed connecting portion 2025.
  • the cooperation between the protruding rotating portion 2024 and the recessed connecting portion 2025 improves the rigidity of the entire continuum module 200 while ensuring that the two vertebral spacer discs 202 can rotate relative to each other, thereby facilitating the operation of surgical instruments.
  • the structure of the vertebral spacer 202 can be the following three types: the first type is that the two ends of the vertebral spacer 202 are respectively provided with a protruding rotating portion 2024 and a recessed connecting portion 2025; the second type is that the two ends of the vertebral spacer 202 are provided with a protruding rotating portion 2024; the third type is that the two ends of the vertebral spacer 202 are provided with a recessed connecting portion 2025.
  • the structure of the vertebral spacer 202 can be selected according to actual needs. At the same time, among the multiple vertebral spacer 202, the structures of the multiple vertebral spacer 202 can be different or different.
  • the multiple vertebral spacer 202 When the structures of the multiple vertebral spacer 202 are the same, the multiple vertebral spacer 202 are the first structure mentioned above; when the structures of the multiple vertebral spacer 202 are different, the multiple vertebral spacer 202 are a combination of the first structure and the second structure mentioned above, or a combination of the first structure and the third structure mentioned above, or a combination of the first structure, the second structure and the third structure mentioned above.
  • the intervertebral spacer 202 is further provided with a first threading hole 2021, a second threading hole 2022, and a third threading hole 2023.
  • the first threading hole 2021 is configured to pass through the instrument opening and closing drive wire 401
  • the second threading hole 2022 is configured to pass through the end instrument self-rotation drive wire 402
  • the third threading hole 2023 is multiple and configured to pass through the continuum bending drive wire 403.
  • the continuum module 200 also includes a reinforcing tube 204, which is fitted in the first threading hole 2021, and the two ends of the reinforcing tube 204 are respectively connected to the distal end 201 of the vertebra and the proximal end 203 of the vertebra.
  • the reinforcing tube 204 is mainly configured to increase the rigidity, continuity, and rebound reset force of the continuum module 200, thereby improving the performance of the entire continuum surgical instrument.
  • first threading hole 2021 and the second threading hole 2022 are used for the instrument opening and closing drive wire 401 and the terminal instrument self-rotation drive wire 402 to pass through, so that the instrument opening and closing drive wire 401 and the terminal instrument self-rotation drive wire 402 can be protected inside the continuum module 200, reducing the probability of damage to the instrument opening and closing drive wire 401 and the terminal instrument self-rotation drive wire 402, thereby extending the service life of the entire continuum surgical instrument.
  • the rotation module 300 includes a straight arm 301, a rotation straight tube 302, a mounting bearing 303 and a sleeve 304.
  • One end of the straight arm 301 is connected to the proximal end of the vertebra 203
  • the rotation straight tube 302 is connected to the other end of the straight arm 301
  • the mounting bearing 303 is sleeved on the rotation straight tube 302
  • the sleeve 304 is connected to the end of the rotation straight tube 302 away from the straight arm 301
  • the sleeve 304 is provided with a second wire groove 3041 extending along its axial direction.
  • the straight arm 301 is configured to support the proximal end of the vertebra 203 of the continuum module 200, to ensure the strength of the connection between the continuum module 200 and the rotation module 300, thereby ensuring the operability of the continuum surgical instrument.
  • one end of the straight arm 301 is connected to the proximal end of the vertebra 203 and is locked by the third fixing pin 205.
  • the connection between the straight arm 301 and the proximal end of the vertebra 203 may also be achieved by other connection methods such as snap connection and threaded connection, and is not limited to the method of locking with the third fixing pin 205 after sleeve connection in the present embodiment.
  • the driving base includes a base body 410 and a base cover 409, the base body 410 and the base cover 409 define an installation cavity, and the instrument opening and closing driving module 405, the terminal instrument self-rotation driving module 406, the continuous body bending driving module 407 and the rotation driving module 408 are all arranged in the installation cavity;
  • the driving module 400 also includes a guide wheel group 411, the guide wheel group 411 has a plurality of guide wire grooves, and respectively cooperates with the instrument opening and closing driving wire 401, the terminal instrument self-rotation driving wire 402 and the continuous body bending driving wire 403.
  • the guide wire groove is located on the guide wheel group 411.
  • the instrument opening and closing drive module 405, the terminal instrument self-rotation drive module 406, the continuum bending drive module 407 and the rotation drive module 408 are all arranged in the installation cavity, so that the instrument opening and closing drive module 405, the terminal instrument self-rotation drive module 406, the continuum bending drive module 407 and the rotation drive module 408 are installed in a relatively sealed space to prevent external dirt from entering, thereby ensuring that the wire wheels of the instrument opening and closing drive module 405, the terminal instrument self-rotation drive module 406, the continuum bending drive module 407 and the rotation drive module 408 can rotate stably, and can prevent the instrument opening and closing drive wire 401, the terminal instrument self-rotation drive wire 402, the continuum bending drive wire 403 and the rotation drive wire 404 from being contaminated, thereby ensuring the cleanliness of the continuum surgical instrument and ensuring the safety of the operation.
  • the added guide wheel set 411 can guide the instrument opening and closing drive wire 401, the terminal instrument self-rotation drive wire 402 and the continuum bending drive wire 403 to ensure that the instrument opening and closing drive wire 401, the terminal instrument self-rotation drive wire 402 and the continuum bending drive wire 403 can move stably.
  • the instrument opening and closing drive module 405 includes a first drive The motor 4055, the first base 4051, the first wire wheel 4052 and the first bearing 4053, the motor shaft of the first drive motor 4055 cooperates with the first base 4051, the first base 4051 is provided with a first wire wheel shaft 4054, the first wire wheel 4052 and the first bearing 4053 are both sleeved on the first wire wheel shaft 4054;
  • the end instrument self-rotation drive module 406 includes a second drive motor 4065, a second base 4061, a second wire wheel 4062 and a second bearing 4063, the motor shaft of the second drive motor 4065 cooperates with the second base 4061, the second base 4061 is provided with a second wire wheel shaft 4064, the second wire wheel 4062 and the second bearing 4063 are both sleeved on the second wire wheel shaft 4064;
  • the continuous body bending drive Module 407 includes a third driving motor 4075, a third base 4071, a third
  • the first base 4051 is configured to support the first drive motor 4055, and the first bearing 4053 is configured to limit the position of the first wire wheel 4052 along the circumferential direction to prevent the first wire wheel 4052 from axial movement.
  • the second base 4061 is configured to support the second drive motor 4065, and the second bearing 4063 is configured to limit the position of the second wire wheel 4062 along the circumferential direction to prevent the second wire wheel 4062 from axial movement.
  • the third base 4071 is configured to support the third drive motor 4075, and the third bearing 4073 is configured to limit the position of the third wire wheel 4072 along the circumferential direction to prevent the third wire wheel 4072 from axial movement.
  • the fourth base 4081 is configured to support the fourth drive motor 4085, and the fourth bearing 4083 is configured to limit the position of the fourth wire wheel 4082 along the circumferential direction to prevent the fourth wire wheel 4082 from axial movement.
  • the types of the first drive motor 4055, the second drive motor 4065, the third drive motor 4075 and the fourth drive motor 4085 can be selected according to actual needs. In other embodiments of the present application, the first drive motor 4055, the second drive motor 4065, the third drive motor 4075 and the fourth drive motor 4085 can also be replaced by other rotating drive parts.
  • the continuum surgical instrument of the present embodiment includes an end instrument module 100, a continuum module 200, a rotation module 300 and a driving module 400.
  • the driving module 400 includes a driving base and an instrument opening and closing driving module 405, an end instrument self-rotation driving module 406, a continuum bending driving module 407, a rotation driving module 408 and a guide wheel group 411 arranged on the driving base.
  • the instrument opening and closing driving module 405 is connected to the surgical instrument through the instrument opening and closing driving wire 401 to drive the surgical instrument to open and close
  • the end instrument self-rotation driving module 406 is connected to the rotating base through the end instrument self-rotation driving wire 402 to drive the rotating base to rotate
  • the continuum bending driving module 407 drives the continuum module 200 to bend through a plurality of continuum bending driving wires 403 that pass through a plurality of vertebral spacers 202 and are connected to the distal end of the vertebra 201
  • the rotation driving module 408 drives the continuum module 200 to bend.
  • the module 408 is connected to the driving module 400 via the rotating driving wire 404 to drive the rotating module 300 to rotate.
  • the end instrument module 100 includes a joint connection member 113, a rotating base, a surgical instrument and an elastic member 109.
  • the rotating base includes a self-rotating base 105, a rotating wrist 110, a rope-fixing rod 111 and a rope-fixing pulley 112.
  • the self-rotating base 105 is provided with a first support shaft 103, and the surgical instrument is rotatably arranged on the first support shaft 103.
  • the self-rotating base 105 is provided with a rotating shaft 9001, and the rotating shaft 9001 is provided with a first wire groove 9002 along its circumference.
  • the rotating wrist 110 is plugged into The self-rotating base 105 is locked by the first fixing pin 106.
  • One end of the end instrument self-rotating driving wire 402 is wound around a wire wheel of the end instrument self-rotating driving module 406.
  • the other end passes through the rotating module 300, the continuum module 200, one of the fixed rope pulleys 112, is inserted into the first wire groove 9002, and circles around the rotating shaft 9001 and bypasses another fixed rope pulley 112. Then, it passes through the continuum module 200 and the rotating module 300 and is wound around another wire wheel of the end instrument self-rotating driving module 406.
  • the surgical instrument includes a first instrument 101 and a second instrument 102.
  • the first instrument 101 and the second instrument 102 are both rotatably arranged on the first support shaft 103.
  • the first instrument 101 and the second instrument 102 are both provided with an arc groove.
  • the self-rotating base 105 is provided with two spaced mounting portions 1051. Each mounting portion 1051 is provided with a guide groove 1052 extending along the circumferential direction of the self-rotating base 105.
  • the end instrument module 100 further includes a second support shaft 104 and a push-pull rod 107.
  • the second support shaft 104 is inserted through the arc grooves on the first instrument 101 and the second instrument 102, and the two ends are respectively matched in the two guide grooves 1052.
  • the push-pull rod 107 is located inside the rotating wrist 110, and one end of the push-pull rod 107 is sleeved on the second support shaft 104.
  • One end of the instrument opening and closing driving wire 401 is connected to the instrument opening and closing driving module 405, and the other end passes through the rotating module 300 and the continuum module 200 and is connected to the push-pull rod 107.
  • the elastic member 109 is sleeved on the instrument opening and closing driving wire 401, and one end is connected to the push-pull rod 107, and the other end is connected to the rotating wrist 110.
  • the continuum module 200 includes a distal vertebra 201, a vertebral spacer disc 202, a proximal vertebra 203 and a reinforcement tube 204.
  • the distal vertebra 201 is connected to the joint connector 113 through a second fixing pin 108.
  • the rotation module 300 is connected to the proximal vertebra 203 through a third fixing pin 205.
  • one vertebral spacer disc 202 is provided with a protruding rotating portion 2024, and the other vertebral spacer disc 202 is provided with a recessed connecting portion 2025.
  • the protruding rotating portion 2024 is matched with the recessed connecting portion 2025. When the continuum module 200 is bent, the protruding rotating portion 2024 can rotate relative to the recessed connecting portion 2025.
  • the intervertebral spacer disc 202 is also provided with a first threading hole 2021, a second threading hole 2022 and a third threading hole 2023.
  • the first threading hole 2021 is configured to pass through the instrument opening and closing driving wire 401
  • the second threading hole 2022 is configured to pass through the end instrument rotation driving wire 402
  • the third threading hole 2023 is multiple and configured to pass through the continuous bending driving wire 403.
  • the reinforcement tube 204 is fitted in the first threading hole 2021, and the two ends of the reinforcement tube 204 are respectively connected to the distal end 201 of the vertebra and the proximal end 203 of the vertebra.
  • the rotation module 300 includes a straight arm 301, a rotation straight tube 302, a mounting bearing 303 and a sleeve 304.
  • One end of the straight arm 301 is connected to the proximal end of the vertebra 203, and the rotation straight tube 302 is connected to the straight arm 301.
  • the other end of the rotating straight tube 302 is mounted with a bearing 303, a sleeve 304 is connected to the end of the rotating straight tube 302 away from the straight arm 301, a second wire groove 3041 extending along its axial direction is provided on the sleeve 304, one end of the rotating driving wire 404 is wound around a wheel of the rotating driving module 408, and the other end is embedded in the second wire groove 3041 and surrounds the sleeve 304 for one circle before passing through and winding around another wheel of the rotating driving module 408.
  • the driving base includes a base body 410 and a base cover 409.
  • the base body 410 and the base cover 409 define an installation cavity.
  • the instrument opening and closing drive module 405, the end instrument self-rotation drive module 406, the continuum bending drive module 407 and the rotation drive module 408 are all arranged in the installation cavity.
  • the guide wheel group 411 has a plurality of guide wire grooves, which respectively cooperate with the instrument opening and closing drive wire 401, the end instrument self-rotation drive wire 402 and the continuum bending drive wire 403.
  • the instrument opening and closing driving module 405 includes a first driving motor 4055, a first base 4051, a first wire wheel 4052 and a first bearing 4053.
  • the motor shaft of the first driving motor 4055 cooperates with the first base 4051.
  • the first base 4051 is provided with a first wire wheel shaft 4054.
  • the first wire wheel 4052 and the first bearing 4053 are both sleeved on the first wire wheel shaft 4054.
  • the terminal instrument self-rotation driving module 406 includes a second driving motor 4065, a second base 4061, a second wire wheel 4062 and a second bearing 4063.
  • the motor shaft of the second driving motor 4065 cooperates with the second base 4061.
  • the second base 4061 is provided with a second wire wheel shaft 4064.
  • the second wire wheel 4062 and the second bearing 4063 are both sleeved on the second wire wheel shaft 406 4;
  • the continuum bending drive module 407 includes a third driving motor 4075, a third base 4071, a third wire wheel 4072 and a third bearing 4073, the motor shaft of the third driving motor 4075 cooperates with the third base 4071, the third base 4071 is provided with a third wire wheel shaft 4074, the third wire wheel 4072 and the third bearing 4073 are both sleeved on the third wire wheel shaft 4074;
  • the rotation driving module 408 includes a fourth driving motor 4085, a fourth base 4081, a fourth wire wheel 4082 and a fourth bearing 4083, the motor shaft of the fourth driving motor 4085 cooperates with the fourth base 4081, the fourth base 4081 is provided with a fourth wire wheel shaft 4084, the fourth wire wheel 4082 and the fourth bearing 4083 are both sleeved on the fourth wire wheel shaft 4084.
  • the surgical instrument can be opened and closed, rotated relative to the continuum module 200, bent relative to the rotation module 300, and rotated relative to the drive module 400, which effectively increases the flexibility of intraoperative operation and the accessibility of the operating space, and better meets various surgical needs.
  • the continuum module 200 adopts a multi-wire parallel drive method, so that the continuum surgical instrument has good bending strength and operating force while meeting the operating space and flexibility required for minimally invasive surgery.
  • the continuum module 200 includes a reinforcing tube 204, which can increase the rigidity, continuity and rebound restoring force of the continuum module 200, thereby improving the performance of the entire continuum surgical instrument.

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Abstract

一种连续体手术器械，连续体手术器械包括末端器械模块(100)、连续体模块(200)、旋转模块(300)和驱动模块(400)。末端器械模块(100)包括关节连接件(113)、旋转底座和手术器械，连续体模块(200)包括椎骨远端(201)、椎骨间隔盘(202)和椎骨近端(203)，驱动模块(400)包括驱动底座和设在驱动底座上的器械开合驱动模组(405)、末端器械自转驱动模组(406)、连续体弯曲驱动模组(407)和旋转驱动模组(408)，器械开合驱动模组(405)用于驱动末端器械的张合运动，末端器械自转驱动模组(406)用于驱动旋转底座自转，连续体弯曲驱动模组(407)用于驱动连续体模块(200)弯曲，旋转驱动模组(408)用于驱动旋转模块(300)自转。连续体手术器械的末端器械的灵活性较高，有效增加了术中操作灵活度和操作空间可达性，较好地满足了多种手术需求。

Description

连续体手术器械
本申请要求在2023年02月03日提交中国专利局、申请号为202310053934.0的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗设备技术领域，例如涉及一种连续体手术器械。
背景技术
微创外科手术因其具有创伤小、感染风险低、并发症少及术后恢复快等优点，已逐步成为了外科手术的主流发展方向。将机器人技术与微创手术技术相结合形成的微创手术机器人系统，可以很大程度上改善微创手术的弊端。在微创手术机器人系统中，安装于机械臂系统中的多个末端执行器械是整个机器人系统的执行机构，在手术过程中会直接与患者身体接触，这些末端执行器械通常被医生简称为手术器械。虽然在机器人手术系统中手术器械的体积占比很小，但手术器械的性能直接影响着手术的质量，是机器人手术系统中最重要的部分之一。随着医疗技术的不断发展，对微创手术机器人的系统设计和集成化程度提出了更高的要求，微创手术机器人的微创手术器械应具有更高的运动精度、更大的操作力、足够的操作空间和更多的操作灵活度。柔性微创手术器械的操作灵活性和刚度还存在不足，不能较好地满足多种手术需求。
发明内容
本申请提供一种连续体手术器械，该器械连续体段采用多丝并联驱动的方式，使得器械在满足微创手术需要的操作空间和灵活性的同时具有较好的弯曲强度和操作力，该器械整体直径较小，通过多丝并联驱动增加刚度，通过自转自由度增加操作灵活性，较好地满足了多种微创手术需求。
本申请提供了一种连续体手术器械，包括：末端器械模块，所述末端器械模块包括关节连接件、旋转底座和手术器械，所述旋转底座可转动地连接于所述关节连接件，所述手术器械可开合地设在所述旋转底座的一端；连续体模块，所述连续体模块包括椎骨远端、椎骨间隔盘和椎骨近端，所述椎骨间隔盘为多个且依次排布在所述椎骨远端和所述椎骨近端之间，相邻的两个所述椎骨间隔盘能够相对活动，所述椎骨远端与所述关节连接件相连；旋转模块，所述旋转模块与所述椎骨近端相连；驱动模块，所述驱动模块包括驱动底座和设在驱动底座上的器械开合驱动模组、末端器械自转驱动模组、连续体弯曲驱动模组和 旋转驱动模组，所述器械开合驱动模组通过器械开合驱动丝与所述手术器械传动连接以驱动所述手术器械开合，所述末端器械自转驱动模组通过末端器械自转驱动丝与所述旋转底座传动连接以驱动所述旋转底座自转，所述连续体弯曲驱动模组通过穿过多个所述椎骨间隔盘且与所述椎骨远端相连的多个连续体弯曲驱动丝驱动所述连续体模块弯曲，所述旋转驱动模组通过旋转驱动丝与所述驱动模块传动连接以驱动所述旋转模块自转。
在一些实施例中，所述旋转底座包括：自转基座，所述自转基座上设置有第一支撑轴，所述手术器械可转动地设在所述第一支撑轴上，所述自转基座上设有旋转轴，所述旋转轴上设有沿其周向的第一线槽；旋转腕，所述旋转腕插接于所述自转基座且通过第一固定销锁死；其中：所述末端器械自转驱动丝的一端缠绕于所述末端器械自转驱动模组的一个线轮，另一端穿过所述旋转模块以及所述连续体模块，嵌入所述第一线槽且环绕所述旋转轴一周后再次穿过所述连续体模块以及所述旋转模块缠绕于所述末端器械自转驱动模组的另一个线轮。
在一些实施例中，所述旋转底座还包括两个固绳杆和两个固绳滑轮，所述固绳杆间隔设置于所述关节连接件内部且位于所述旋转轴的两侧，所述固绳滑轮套设于所述固绳杆；其中：所述末端器械自转驱动丝绕过一个所述固绳滑轮环绕所述旋转轴设置，从所述旋转轴绕出后再绕过另一个所述固绳滑轮。
在一些实施例中，所述手术器械包括第一器械和第二器械，所述第一器械和所述第二器械均可转动地设在所述第一支撑轴上，所述第一器械和所述第二器械上均设有弧形槽；所述自转基座上设有两个间隔设置的安装部，每个安装部设有沿所述自转基座的周向延伸的导向槽；所述末端器械模块还包括：第二支撑轴，所述第二支撑轴穿设于所述第一器械和所述第二器械上的所述弧形槽，且两端分别配合在两个所述导向槽内；推拉杆，所述推拉杆位于所述旋转腕内部，且所述推拉杆的一端套设在所述第二支撑轴；其中：所述器械开合驱动丝的一端与所述器械开合驱动模组相连，另一端穿过所述旋转模块、所述连续体模块与所述推拉杆相连。
在一些实施例中，所述末端器械模块还包括弹性件，所述弹性件套设于所述器械开合驱动丝，且一端与所述推拉杆相连，另一端与所述旋转腕相连。
在一些实施例中，相邻的两个所述椎骨间隔盘中，一个所述椎骨间隔盘上设有凸起转动部，另一个所述椎骨间隔盘上设有凹陷连接部，所述凸起转动部配合在所述凹陷连接部，所述连续体模块弯曲时，所述凸起转动部能够相对所述凹陷连接部转动。
在一些实施例中，所述椎骨间隔盘上还设有第一穿丝孔、第二穿丝孔以及 第三穿丝孔，所述第一穿丝孔设置为穿过器械开合驱动丝，所述第二穿丝孔设置为穿过末端器械自转驱动丝，所述第三穿丝孔为多个且设置为穿过连续体弯曲驱动丝；所述连续体模块还包括加强管，所述加强管配合在所述第一穿丝孔内，且所述加强管的两端分别与所述椎骨远端以及椎骨近端相连。
在一些实施例中，所述旋转模块包括：直臂，所述直臂的一端连接于所述椎骨近端；旋转直管，所述旋转直管连接在所述直臂的另一端；安装轴承，所述安装轴承套设在所述旋转直管上；轴套，所述轴套连接于所述旋转直管背离所述直臂的一端，所述轴套上设有沿其轴向延伸的第二线槽；其中：所述旋转驱动丝的一端缠绕于所述旋转驱动模组的一个线轮，另一端嵌入所述第二线槽且环绕所述轴套一周后穿出且缠绕于所述旋转驱动模组的另一个线轮。
在一些实施例中，所述驱动底座包括底座本体和底座盖，所述底座本体和所述底座盖限定出安装腔，所述器械开合驱动模组、所述末端器械自转驱动模组、所述连续体弯曲驱动模组和所述旋转驱动模组均设在所述安装腔内；所述驱动模块还包括导向轮组，所述导向轮组具有多个导向线槽，且分别与所述器械开合驱动丝、所述末端器械自转驱动丝以及所述连续体弯曲驱动丝配合。
在一些实施例中，所述器械开合驱动模组包括第一驱动电机、第一底座、第一线轮以及第一轴承，所述第一驱动电机的电机轴与所述第一底座配合，所述第一底座上设有第一线轮轴，所述第一线轮以及所述第一轴承均套设于所述第一线轮轴；所述末端器械自转驱动模组包括第二驱动电机、第二底座、第二线轮以及第二轴承，所述第二驱动电机的电机轴与所述第二底座配合，所述第二底座上设有第二线轮轴，所述第二线轮以及所述第二轴承均套设于所述第二线轮轴；所述连续体弯曲驱动模组包括第三驱动电机、第三底座、第三线轮以及第三轴承，所述第三驱动电机的电机轴与所述第三底座配合，所述第三底座上设有第三线轮轴，所述第三线轮以及所述第三轴承均套设于所述第三线轮轴；所述旋转驱动模组包括第四驱动电机、第四底座、第四线轮以及第四轴承，所述第四驱动电机的电机轴与所述第四底座配合，所述第四底座上设有第四线轮轴，所述第四线轮以及所述第四轴承均套设于所述第四线轮轴。
附图说明
图1是本申请实施例的连续体手术器械的结构示意图；
图2是本申请实施例的连续体手术器械的末端器械模块的结构示意图；
图3是本申请实施例的连续体手术器械的连续体模块的结构示意图；
图4是本申请实施例的连续体模块的椎骨间隔盘的结构示意图；
图5是本申请实施例的连续体手术器械的旋转模块的结构示意图；
图6是本申请实施例的连续体手术器械的旋转模块与驱动模块的配合结构示意图；
图7是图6圈示A处的放大示意图；
图8是本申请实施例的连续体手术器械的驱动模块的局部结构示意图；
图9是本申请实施例的连续体手术器械的驱动模块的另一个局部结构示意图；
图10是本申请实施例的连续体弯曲驱动模组的结构示意图。
附图标记：
100、末端器械模块；101、第一器械；102、第二器械；103、第一支撑轴；
104、第二支撑轴；105、自转基座；1051、安装部；1052、导向槽；106、第一固定销；107、推拉杆；108、第二固定销；109、弹性件；110、旋转腕；111、固绳杆；112、固绳滑轮；113、关节连接件；114、第一弧形槽；115、第二弧形槽；
200、连续体模块；201、椎骨远端；202、椎骨间隔盘；2021、第一穿丝孔；
2022、第二穿丝孔；2023、第三穿丝孔；2024、凸起转动部；2025、凹陷连接部；203、椎骨近端；204、加强管；205、第三固定销；
300、旋转模块；301、直臂；302、旋转直管；303、轴承；304、轴套；3041、
第二线槽；
400、驱动模块；401、器械开合驱动丝；402、末端器械自转驱动丝；403、
连续体弯曲驱动丝；404、旋转驱动丝；405、器械开合驱动模组；4051、第一底座；4052、第一线轮；4053、第一轴承；4054、第一线轮轴；4055、第一驱动电机；406、末端器械自转驱动模组；4061、第二底座；4062、第二线轮；4063、第二轴承；4064、第二线轮轴；4065、第二驱动电机；407、连续体弯曲驱动模组；4071、第三底座；4072、第三线轮；4073、第三轴承；4074、第三线轮轴；4075、第三驱动电机；408、旋转驱动模组；4081、第四底座；4082、第四线轮；4083、第四轴承；4084、第四线轮轴；4085、第四驱动电机；409、底座盖；410、底座本体；9001、旋转轴；9002、第一线槽。
具体实施方式
下面结合附图并通过实施方式来说明本申请的技术方案。
在本申请的描述中，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”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申请和简化描述，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申请的限制。
此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征，用于区别描述特征，无顺序之分，无轻重之分。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，除非另有规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；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。可以根据实际情况理解上述术语在本申请中的含义。
下面参考图1-图10描述本申请实施例的连续体手术器械的结构。
本申请公开了一种连续体手术器械，如图1所示，该连续体手术器械包括末端器械模块100、连续体模块200、旋转模块300和驱动模块400。如图2所示，末端器械模块100包括关节连接件113、旋转底座和手术器械，旋转底座可转动地连接于关节连接件113，手术器械可开合地设在旋转底座的一端，如图3所示，连续体模块200包括椎骨远端201、椎骨间隔盘202和椎骨近端203，椎骨间隔盘202为多个且依次排布在椎骨远端201和椎骨近端203之间，相邻的两个椎骨间隔盘202能够相对活动，椎骨远端201与关节连接件113相连，旋转模块300与椎骨近端203相连，如图6-图7所示，驱动模块400包括驱动底座和设在驱动底座上的器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407和旋转驱动模组408，器械开合驱动模组405通过器械开合驱动丝401与手术器械传动连接以驱动手术器械开合，末端器械自转驱动模组406通过末端器械自转驱动丝402与旋转底座传动连接以驱动旋转底座自转，连续体弯曲驱动模组407通过穿过多个椎骨间隔盘202且与椎骨远端201相连的多个连续体弯曲驱动丝403驱动连续体模块200弯曲，旋转驱动模组408通过旋转驱动丝404与驱动模块400传动连接以驱动旋转模块300自转。
在实际工作过程中，器械开合驱动模组405通过器械开合驱动丝401与手术器械传动连接以驱动手术器械开合，从而使得手术器械能够被直接操作，末 端器械自转驱动模组406通过末端器械自转驱动丝402与旋转底座传动连接以驱动旋转底座自转，从而实现手术器械能够相对连续体模块200转动，连续体弯曲驱动模组407通过穿过多个椎骨间隔盘202且与椎骨远端201相连的多个连续体弯曲驱动丝403驱动连续体模块200弯曲，从而通过连续体模块200的弯曲运动实现手术器械相对旋转模块300弯曲，旋转驱动模组408通过旋转驱动丝404与驱动模块400传动连接以驱动旋转模块300自转，能够使得末端器械模块100、连续体模块200、旋转模块300相对驱动模块400旋转，由此，手术器械能够开合，相对连续体模块200转动，相对旋转模块300弯曲，相对驱动模块400转动，有效增加了术中操作灵活度和操作空间可达性，较好地满足了多种手术需求。
器械开合驱动丝401、末端器械自转驱动丝402、连续体弯曲驱动丝403以及旋转驱动丝404的材质为钛合金，钛合金具有重量小，强度高的特点，器械开合驱动丝401、末端器械自转驱动丝402、连续体弯曲驱动丝403以及旋转驱动丝404的材质为钛合金能够确保器械开合驱动模组405稳定地驱动手术器械开合，末端器械自转驱动模组406稳定地驱动旋转底座自转，连续体弯曲驱动模组407稳定地驱动连续体模块200弯曲，旋转驱动模组408稳定地驱动旋转模块300自转，从而保证连续体手术器械的使用可靠性。在本申请的其他实施例中，器械开合驱动丝401、末端器械自转驱动丝402、连续体弯曲驱动丝403以及旋转驱动丝404的材质、截面形状以及截面尺寸等参数均可以根据实际需要做出调整。
可选地，椎骨远端201与关节连接件113套接，且通过第二固定销108锁死。在本申请的其他实施例中，椎骨远端201与关节连接件113的连接方式还可以采用卡接、螺纹连接等其他连接方式，并不限于本实施例的套接后采用第二固定销108锁死的方式。
在一些实施例中，如图2所示，旋转底座包括自转基座105和旋转腕110，自转基座105上设置有第一支撑轴103，手术器械可转动地设在第一支撑轴103上，自转基座105上设有旋转轴9001，旋转轴9001上设有沿其周向的第一线槽9002，旋转腕110插接于自转基座105且通过第一固定销106锁死，末端器械自转驱动丝402的一端缠绕于末端器械自转驱动模组406的一个线轮，另一端穿过旋转模块300以及连续体模块200，嵌入第一线槽9002且环绕旋转轴9001一周后再次穿过连续体模块200以及旋转模块300缠绕于末端器械自转驱动模组406的另一个线轮。在实际工作过程中，末端器械自转驱动模组406的线轮转动，带动末端器械自转驱动丝402运动，由于末端器械自转驱动丝402嵌入第一线槽9002且环绕旋转轴9001一周后穿出，当末端器械自转驱动丝402运动时旋转轴9001就会转动，从而使得自转基座105转动，由于旋转腕110插接 于自转基座105且通过第一固定销106锁死，且手术器械可转动地设在第一支撑轴103上，自转基座105转动过程中整个手术器械就能够相对连续体模块200转动。
在一些实施例中，如图2所示，旋转底座还包括两个固绳杆111和两个固绳滑轮112，固绳杆111间隔设置于关节连接件113内部且位于旋转轴9001的两侧，固绳滑轮112套设于固绳杆111。末端器械自转驱动丝402绕过一个固绳滑轮112环绕旋转轴9001设置，从旋转轴9001绕出后再绕过另一个固绳滑轮112。固绳杆111和固绳滑轮112一方面能够起到引导末端器械自转驱动丝402的作用，另一方面能够确保末端器械自转驱动丝402在运动时能够驱动自转基座105转动，从而保证整个手术器械就能够相对连续体模块200转动。
固绳杆111和固绳滑轮112的个数、位置以及排布方式可以根据实际需要进行调整，并不限于上述方式。
在一些实施例中，手术器械包括第一器械101和第二器械102，第一器械101和第二器械102均可转动地设在第一支撑轴103上，第一器械101和第二器械102上均设有弧形槽。示例性的，第一器械101上设有第一弧形槽114和第二器械102上设有第二弧形槽115。自转基座105上设有两个间隔设置的安装部1051，每个安装部1051设有沿自转基座105的周向延伸的导向槽1052。示例性地，末端器械模块100还包括第二支撑轴104和推拉杆107，第二支撑轴104穿设于第一器械101和第二器械102上的弧形槽，且两端分别配合在两个导向槽1052内，推拉杆107位于旋转腕110内部，且推拉杆107的一端套设在第二支撑轴104，器械开合驱动丝401的一端与器械开合驱动模组405相连，另一端穿过旋转模块300、连续体模块200与推拉杆107相连。在实际工作过程中，当器械开合驱动模组405的线轮转动时，器械开合驱动丝401能够驱动推拉杆107运动，推拉杆107在运动的过程中能够驱动第二支撑轴104在弧形槽内滑动从而使得第一器械101和第二器械102朝向靠近彼此的方向运动，增设的导向槽1052能够限制第二支撑轴104的运动方向，避免第二支撑轴104出现歪斜，导致第一器械101和第二器械102不能正常运动的现象发生。此外，第一器械101和第二器械102均可转动地设在第一支撑轴103上，第一器械101和第二器械102上均设有弧形槽，第二支撑轴104穿设于第一器械101和第二器械102上的弧形槽，这样能够使得第一器械101和第二器械102相对第二支撑轴104以及第一支撑轴103方便拆卸，从而在实际使用过程中，可以根据实际的手术要求更换第一器械101和第二器械102的类型，从而使得本申请实施例的连续体手术器械能够满足多种手术的需要。
在本实施例中，第一器械101和第二器械102可以构成一个完整的夹钳也 可以构成一个完整的手术剪，第一器械101和第二器械102的种类可以根据实际手术需要做出调整，在此不对第一器械101和第二器械102的种类做出严格限定。
在一些实施例中，如图2所示，末端器械模块100还包括弹性件109，弹性件109套设于器械开合驱动丝401，且一端与推拉杆107相连，另一端与旋转腕110相连。设置一个弹性件109，在器械开合驱动模组405的线轮反向转动，推拉杆107能够在弹性件109的作用下自动复位，从而方便了第一器械101和第二器械102复位。本实施例的弹性件109可以是弹簧，也可以是其他弹性元件，弹性件109的类型可以根据实际需要选择，在此不对弹性件109的类型做出选择。
在一些实施例中，如图3-图4所示，相邻的两个椎骨间隔盘202中，一个椎骨间隔盘202上设有凸起转动部2024，另一个椎骨间隔盘202上设有凹陷连接部2025，凸起转动部2024配合在凹陷连接部2025，连续体模块200弯曲时，凸起转动部2024能够相对凹陷连接部2025转动。凸起转动部2024和凹陷连接部2025的配合，在确保两个椎骨间隔盘202能够相对转动的过程中提升整个连续体模块200的刚性，从而方便手术器械的操作。
在本实施例中，椎骨间隔盘202的结构可以为以下三种，第一种为椎骨间隔盘202的两端分别设置凸起转动部2024和凹陷连接部2025，第二种为椎骨间隔盘202的两端均设置凸起转动部2024，第三种为椎骨间隔盘202的两端均设置凹陷连接部2025，椎骨间隔盘202的结构可以根据实际需要做出选择。与此同时，在多个椎骨间隔盘202中，多个椎骨间隔盘202的结构可以不同也可以不同，当多个椎骨间隔盘202的结构相同时，多个椎骨间隔盘202为上述第一种结构，当多个椎骨间隔盘202的结构不相同时多个椎骨间隔盘202为上述第一种结构和上述第二种结构的组合，或者上述第一种结构与上述第三种结构的组合，或者上述第一种结构、第二种结构以及第三种结构的组合。
在一些实施例中，如图4所示，椎骨间隔盘202上还设有第一穿丝孔2021、第二穿丝孔2022以及第三穿丝孔2023，第一穿丝孔2021设置为穿过器械开合驱动丝401，第二穿丝孔2022设置为穿过末端器械自转驱动丝402，第三穿丝孔2023为多个且设置为穿过连续体弯曲驱动丝403。连续体模块200还包括加强管204，加强管204配合在第一穿丝孔2021内，且加强管204的两端分别与椎骨远端201以及椎骨近端203相连。加强管204主要设置为增加连续体模块200的刚度、连续性以及回弹复位力，从而提升整个连续体手术器械的性能。第三穿丝孔2023为多个且设置为穿过连续体弯曲驱动丝403，即连续体模块200通过多个连续体弯曲驱动丝403实现弯曲，从而增加连续体模块200的刚度、 连续性以及回弹复位力。此外，第一穿丝孔2021和第二穿丝孔2022供器械开合驱动丝401、末端器械自转驱动丝402穿过，能够使得器械开合驱动丝401、末端器械自转驱动丝402被保护在连续体模块200内部，降低了器械开合驱动丝401、末端器械自转驱动丝402损坏几率，从而延长整个连续体手术器械的使用寿命。
在一些实施例中，如图5所示，旋转模块300包括直臂301、旋转直管302、安装轴承303和轴套304，直臂301的一端连接于椎骨近端203，旋转直管302连接在直臂301的另一端，安装轴承303套设在旋转直管302上，轴套304连接于旋转直管302背离直臂301的一端，轴套304上设有沿其轴向延伸的第二线槽3041，旋转驱动丝404的一端缠绕于旋转驱动模组408的一个线轮，另一端嵌入第二线槽3041且环绕轴套304一周后穿出且缠绕于旋转驱动模组408的另一个线轮。直臂301设置为支撑连续体模块200的椎骨近端203，确保连续体模块200与旋转模块300连接处的强度，从而保证连续体手术器械的可操作性。
可选地，直臂301的一端连接于椎骨近端203，且通过第三固定销205锁死。在本申请的其他实施例中，直臂301与椎骨近端203的连接方式还可以采用卡接、螺纹连接等其他连接方式，并不限于本实施例的套接后采用第三固定销205锁死的方式。
在一些实施例中，如图6及图8所示，驱动底座包括底座本体410和底座盖409，底座本体410和底座盖409限定出安装腔，器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407和旋转驱动模组408均设在安装腔内；驱动模块400还包括导向轮组411，导向轮组411具有多个导向线槽，且分别与器械开合驱动丝401、末端器械自转驱动丝402以及连续体弯曲驱动丝403配合。其中，导向线槽位于导向轮组411上。器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407和旋转驱动模组408均设在安装腔内，由此器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407和旋转驱动模组408安装在一个相对密封的空间，避免了外部污物进入，从而确保器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407和旋转驱动模组408的线轮能够稳定的转动，且能够避免器械开合驱动丝401、末端器械自转驱动丝402、连续体弯曲驱动丝403以及旋转驱动丝404被污染，确保连续体手术器械的洁净程度，确保手术安全进行。与此同时，增设的导向轮组411能够起到导向器械开合驱动丝401、末端器械自转驱动丝402以及连续体弯曲驱动丝403，确保器械开合驱动丝401、末端器械自转驱动丝402以及连续体弯曲驱动丝403能够稳定地运动。
在一些实施例中，如图9-图10所示，器械开合驱动模组405包括第一驱动 电机4055、第一底座4051、第一线轮4052以及第一轴承4053，第一驱动电机4055的电机轴与第一底座4051配合，第一底座4051上设有第一线轮轴4054，第一线轮4052以及第一轴承4053均套设于第一线轮轴4054；末端器械自转驱动模组406包括第二驱动电机4065、第二底座4061、第二线轮4062以及第二轴承4063，第二驱动电机4065的电机轴与第二底座4061配合，第二底座4061上设有第二线轮轴4064，第二线轮4062以及第二轴承4063均套设于第二线轮轴4064；连续体弯曲驱动模组407包括第三驱动电机4075、第三底座4071、第三线轮4072以及第三轴承4073，第三驱动电机4075的电机轴与第三底座4071配合，第三底座4071上设有第三线轮轴4074，第三线轮4072以及第三轴承4073均套设于第三线轮轴4074；旋转驱动模组408包括第四驱动电机4085、第四底座4081、第四线轮4082以及第四轴承4083，第四驱动电机4085的电机轴与第四底座4081配合，第四底座4081上设有第四线轮轴4084，第四线轮4082以及第四轴承4083均套设于第四线轮轴4084。第一底座4051设置为支撑第一驱动电机4055，第一轴承4053设置为沿周向限制第一线轮4052的位置，避免第一线轮4052出现轴向窜动。第二底座4061设置为支撑第二驱动电机4065，第二轴承4063设置为沿周向限制第二线轮4062的位置，避免第二线轮4062出现轴向窜动。第三底座4071设置为支撑第三驱动电机4075，第三轴承4073设置为沿周向限制第三线轮4072的位置，避免第三线轮4072出现轴向窜动。第四底座4081设置为支撑第四驱动电机4085，第四轴承4083设置为沿周向限制第四线轮4082的位置，避免第四线轮4082出现轴向窜动。
在本申请的实施例中，第一驱动电机4055、第二驱动电机4065、第三驱动电机4075以及第四驱动电机4085的类型可以根据实际需要选择，在本申请的其他实施例中，第一驱动电机4055、第二驱动电机4065、第三驱动电机4075和第四驱动电机4085还可以采用其他旋转驱动件代替。
实施例：
下面参考图1-图10，描述本申请一个实施例的连续体手术器械的结构。
如图1及图6所示，本实施例的连续体手术器械包括末端器械模块100、连续体模块200、旋转模块300和驱动模块400。驱动模块400包括驱动底座和设在驱动底座上的器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407、旋转驱动模组408和导向轮组411。器械开合驱动模组405通过器械开合驱动丝401与手术器械传动连接以驱动手术器械开合，末端器械自转驱动模组406通过末端器械自转驱动丝402与旋转底座传动连接以驱动旋转底座自转，连续体弯曲驱动模组407通过穿过多个椎骨间隔盘202且与椎骨远端201相连的多个连续体弯曲驱动丝403驱动连续体模块200弯曲，旋转驱动 模组408通过旋转驱动丝404与驱动模块400传动连接以驱动旋转模块300自转。
如图2所示，末端器械模块100包括关节连接件113、旋转底座、手术器械和弹性件109，旋转底座包括自转基座105、旋转腕110、固绳杆111和固绳滑轮112，自转基座105上设置有第一支撑轴103，手术器械可转动地设在第一支撑轴103上，自转基座105上设有旋转轴9001，旋转轴9001上设有沿其周向的第一线槽9002，旋转腕110插接于自转基座105且通过第一固定销106锁死，末端器械自转驱动丝402的一端缠绕于末端器械自转驱动模组406的一个线轮，另一端穿过旋转模块300、连续体模块200、其中一个固绳滑轮112，嵌入第一线槽9002且环绕旋转轴9001一周且绕过另一个固绳滑轮112后，穿过连续体模块200以及旋转模块300缠绕于末端器械自转驱动模组406的另一个线轮。手术器械包括第一器械101和第二器械102，第一器械101和第二器械102均可转动地设在第一支撑轴103上，第一器械101和第二器械102上均设有弧形槽；自转基座105上设有两个间隔设置的安装部1051，每个安装部1051均设有沿自转基座105的周向延伸的导向槽1052。末端器械模块100还包括第二支撑轴104和推拉杆107，第二支撑轴104穿设于第一器械101和第二器械102上的弧形槽，且两端分别配合在两个导向槽1052内，推拉杆107位于旋转腕110内部，且推拉杆107的一端套设在第二支撑轴104，器械开合驱动丝401的一端与器械开合驱动模组405相连，另一端穿过旋转模块300、连续体模块200与推拉杆107相连。弹性件109套设于器械开合驱动丝401，且一端与推拉杆107相连，另一端与旋转腕110相连。
如图3-图4所示，连续体模块200包括椎骨远端201、椎骨间隔盘202、椎骨近端203和加强管204，椎骨间隔盘202为多个且依次排布在椎骨远端201和椎骨近端203之间，相邻的两个椎骨间隔盘202能够相对活动，椎骨远端201通过第二固定销108与关节连接件113相连，旋转模块300通过第三固定销205与椎骨近端203相连，相邻的两个椎骨间隔盘202中，一个椎骨间隔盘202上设有凸起转动部2024，另一个椎骨间隔盘202上设有凹陷连接部2025，凸起转动部2024配合在凹陷连接部2025，连续体模块200弯曲时，凸起转动部2024能够相对凹陷连接部2025转动。椎骨间隔盘202上还设有第一穿丝孔2021、第二穿丝孔2022以及第三穿丝孔2023，第一穿丝孔2021设置为穿过器械开合驱动丝401，第二穿丝孔2022设置为穿过末端器械自转驱动丝402，第三穿丝孔2023为多个且设置为穿过连续体弯曲驱动丝403，加强管204配合在第一穿丝孔2021内，且加强管204的两端分别与椎骨远端201以及椎骨近端203相连。
如图5所示，旋转模块300包括直臂301、旋转直管302、安装轴承303和轴套304，直臂301的一端连接于椎骨近端203，旋转直管302连接在直臂301 的另一端，安装轴承303套设在旋转直管302上，轴套304连接于旋转直管302背离直臂301的一端，轴套304上设有沿其轴向延伸的第二线槽3041，旋转驱动丝404的一端缠绕于旋转驱动模组408的一个线轮，另一端嵌入第二线槽3041且环绕轴套304一周后穿出且缠绕于旋转驱动模组408的另一个线轮。
如图6-图10所示，驱动底座包括底座本体410和底座盖409，底座本体410和底座盖409限定出安装腔，器械开合驱动模组405、末端器械自转驱动模组406、连续体弯曲驱动模组407和旋转驱动模组408均设在安装腔内，导向轮组411具有多个导向线槽，且分别与器械开合驱动丝401、末端器械自转驱动丝402以及连续体弯曲驱动丝403配合。器械开合驱动模组405包括第一驱动电机4055、第一底座4051、第一线轮4052以及第一轴承4053，第一驱动电机4055的电机轴与第一底座4051配合，第一底座4051上设有第一线轮轴4054，第一线轮4052以及第一轴承4053均套设于第一线轮轴4054；末端器械自转驱动模组406包括第二驱动电机4065、第二底座4061、第二线轮4062以及第二轴承4063，第二驱动电机4065的电机轴与第二底座4061配合，第二底座4061上设有第二线轮轴4064，第二线轮4062以及第二轴承4063均套设于第二线轮轴4064；连续体弯曲驱动模组407包括第三驱动电机4075、第三底座4071、第三线轮4072以及第三轴承4073，第三驱动电机4075的电机轴与第三底座4071配合，第三底座4071上设有第三线轮轴4074，第三线轮4072以及第三轴承4073均套设于第三线轮轴4074；旋转驱动模组408包括第四驱动电机4085、第四底座4081、第四线轮4082以及第四轴承4083，第四驱动电机4085的电机轴与第四底座4081配合，第四底座4081上设有第四线轮轴4084，第四线轮4082以及第四轴承4083均套设于第四线轮轴4084。
本实施例的连续体手术器械的效果如下：
第一：手术器械能够开合，相对连续体模块200转动，相对旋转模块300弯曲，相对驱动模块400转动，有效增加了术中操作灵活度和操作空间可达性，较好地满足了多种手术需求。
第二：连续体模块200采用多丝并联驱动的方式，使得连续体手术器械在满足微创手术需要的操作空间和灵活性同时具有较好的弯曲强度和操作力。
第三：连续体模块200包括加强管204，能够增加连续体模块200的刚度、连续性以及回弹复位力，从而提升整个连续体手术器械的性能。
在本说明书的描述中，参考术语“有些实施例”、“其他实施例”、等的描述意指结合该实施例或示例描述的特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的特征、结构、材料或者特点可以在 任何的一个或多个实施例或示例中以合适的方式结合。
依据本申请的思想，在实施方式及应用范围上均会有改变之处，本说明书内容不应理解为对本申请的限制。

Claims (10)

  1. 一种连续体手术器械，包括：
    末端器械模块(100)，所述末端器械模块(100)包括关节连接件(113)、旋转底座和手术器械，所述旋转底座可转动地连接于所述关节连接件(113)，所述手术器械可开合地设在所述旋转底座的一端；
    连续体模块(200)，所述连续体模块(200)包括椎骨远端(201)、椎骨间隔盘(202)和椎骨近端(203)，所述椎骨间隔盘(202)为多个且依次排布在所述椎骨远端(201)和所述椎骨近端(203)之间，相邻的两个椎骨间隔盘(202)能够相对活动，所述椎骨远端(201)与所述关节连接件(113)相连；
    旋转模块(300)，所述旋转模块(300)与所述椎骨近端(203)相连；
    驱动模块(400)，所述驱动模块(400)包括驱动底座和设在所述驱动底座上的器械开合驱动模组(405)、末端器械自转驱动模组(406)、连续体弯曲驱动模组(407)和旋转驱动模组(408)，所述器械开合驱动模组(405)通过器械开合驱动丝(401)与所述手术器械传动连接以驱动所述手术器械开合，所述末端器械自转驱动模组(406)通过末端器械自转驱动丝(402)与所述旋转底座传动连接以驱动所述旋转底座自转，所述连续体弯曲驱动模组(407)通过穿过多个椎骨间隔盘(202)且与所述椎骨远端(201)相连的多个连续体弯曲驱动丝(403)驱动所述连续体模块(200)弯曲，所述旋转驱动模组(408)通过旋转驱动丝(404)与所述驱动模块(400)传动连接以驱动所述旋转模块(300)自转。
  2. 根据权利要求1所述的连续体手术器械，其中，所述旋转底座包括：
    自转基座(105)，所述自转基座(105)上设置有第一支撑轴(103)，所述手术器械可转动地设在所述第一支撑轴(103)上，所述自转基座(105)上设有旋转轴(9001)，所述旋转轴(9001)上设有沿所述旋转轴(9001)的周向的第一线槽(9002)；
    旋转腕(110)，所述旋转腕(110)插接于所述自转基座(105)且通过第一固定销(106)锁死，其中，所述末端器械自转驱动丝(402)的一端缠绕于所述末端器械自转驱动模组(406)的一个线轮，所述末端器械自转驱动丝(402)的另一端穿过所述旋转模块(300)以及所述连续体模块(200)，嵌入所述第一线槽(9002)且环绕所述旋转轴(9001)一周后再次穿过所述连续体模块(200)以及所述旋转模块(300)缠绕于所述末端器械自转驱动模组(406)的另一个线轮。
  3. 根据权利要求2所述的连续体手术器械，其中，所述旋转底座还包括两个固绳杆(111)和两个固绳滑轮(112)，所述两个固绳杆(111)间隔设置于所述关节连接件(113)内部且位于所述旋转轴(9001)的两侧，所述固绳滑轮(112)套设于所述固绳杆(111)；其中，所述末端器械自转驱动丝(402)绕过一个固绳滑轮(112)环绕所述旋转轴(9001)设置，从所述旋转轴(9001)绕出后再绕过另一个固绳滑轮 (112)。
  4. 根据权利要求2所述的连续体手术器械，其中，所述手术器械包括第一器械(101)和第二器械(102)，所述第一器械(101)和所述第二器械(102)均可转动地设在所述第一支撑轴(103)上，所述第一器械(101)上设有第一弧形槽(114)和所述第二器械(102)上设有第二弧形槽(115)；所述自转基座(105)上设有两个间隔设置的安装部(1051)，每个安装部(1051)设有沿所述自转基座(105)的周向延伸的导向槽(1052)；所述末端器械模块(100)还包括：
    第二支撑轴(104)，所述第二支撑轴(104)穿设于所述第一器械(101)和所述第二器械(102)上的所述第一弧形槽(114)和所述第二弧形槽(115)，且所述第二支撑轴(104)的两端分别配合在两个导向槽(1052)内；
    推拉杆(107)，所述推拉杆(107)位于所述旋转腕(110)内部，且所述推拉杆(107)的一端套设在所述第二支撑轴(104)，其中，
    所述器械开合驱动丝(401)的一端与所述器械开合驱动模组(405)相连，所述器械开合驱动丝(401)的另一端穿过所述旋转模块(300)、所述连续体模块(200)与所述推拉杆(107)相连。
  5. 根据权利要求4所述的连续体手术器械，其中，所述末端器械模块(100)还包括弹性件(109)，所述弹性件(109)套设于所述器械开合驱动丝(401)，且所述弹性件(109)的一端与所述推拉杆(107)相连，所述弹性件(109)的另一端与所述旋转腕(110)相连。
  6. 根据权利要求1-5中任一项所述的连续体手术器械，其中，相邻的两个椎骨间隔盘(202)中，一个椎骨间隔盘(202)上设有凸起转动部(2024)，另一个椎骨间隔盘(202)上设有凹陷连接部(2025)，所述凸起转动部(2024)配合在所述凹陷连接部(2025)，在所述连续体模块(200)弯曲的情况下，所述凸起转动部(2024)能够相对所述凹陷连接部(2025)转动。
  7. 根据权利要求1-5中任一项所述的连续体手术器械，其中，所述椎骨间隔盘(202)上还设有第一穿丝孔(2021)、第二穿丝孔(2022)以及第三穿丝孔(2023)，所述第一穿丝孔(2021)设置为穿过所述器械开合驱动丝(401)，所述第二穿丝孔(2022)设置为穿过所述末端器械自转驱动丝(402)，所述第三穿丝孔(2023)为多个且设置为穿过所述连续体弯曲驱动丝(403)；
    所述连续体模块(200)还包括加强管(204)，所述加强管(204)配合在所述第一穿丝孔(2021)内，且所述加强管(204)的两端分别与所述椎骨远端(201)以及所述椎骨近端(203)相连。
  8. 根据权利要求1-5中任一项所述的连续体手术器械，其中，所述旋转模 块(300)包括：
    直臂(301)，所述直臂(301)的一端连接于所述椎骨近端(203)；
    旋转直管(302)，所述旋转直管(302)连接在所述直臂(301)的另一端；
    安装轴承(303)，所述安装轴承(303)套设在所述旋转直管(302)上；
    轴套(304)，所述轴套(304)连接于所述旋转直管(302)背离所述直臂(301)的一端，所述轴套(304)上设有沿所述轴套(304)的轴向延伸的第二线槽(3041)；其中，
    所述旋转驱动丝(404)的一端缠绕于所述旋转驱动模组(408)的一个线轮，所述旋转驱动丝(404)的另一端嵌入所述第二线槽(3041)且环绕所述轴套(304)一周后穿出且缠绕于所述旋转驱动模组(408)的另一个线轮。
  9. 根据权利要求1-5中任一项所述的连续体手术器械，其中，所述驱动底座包括底座本体(410)和底座盖(409)，所述底座本体(410)和所述底座盖(409)限定出安装腔，所述器械开合驱动模组(405)、所述末端器械自转驱动模组(406)、所述连续体弯曲驱动模组(407)和所述旋转驱动模组(408)均设在所述安装腔内；
    所述驱动模块(400)还包括导向轮组(411)，所述导向轮组(411)具有多个导向线槽，且所述导向轮组(411)与所述器械开合驱动丝(401)、所述末端器械自转驱动丝(402)以及所述多个连续体弯曲驱动丝(403)分别配合。
  10. 根据权利要求1-5中任一项所述的连续体手术器械，其中，所述器械开合驱动模组(405)包括第一驱动电机(4055)、第一底座(4051)、第一线轮(4052)以及第一轴承(4053)，所述第一驱动电机(4055)的电机轴与所述第一底座(4051)配合，所述第一底座(4051)上设有第一线轮轴(4054)，所述第一线轮(4052)以及所述第一轴承(4053)均套设于所述第一线轮轴(4054)；
    所述末端器械自转驱动模组(406)包括第二驱动电机(4065)、第二底座(4061)、第二线轮(4062)以及第二轴承(4063)，所述第二驱动电机(4065)的电机轴与所述第二底座(4061)配合，所述第二底座(4061)上设有第二线轮轴(4064)，所述第二线轮(4062)以及所述第二轴承(4063)均套设于所述第二线轮轴(4064)；
    所述连续体弯曲驱动模组(407)包括第三驱动电机(4075)、第三底座(4071)、第三线轮(4072)以及第三轴承(4073)，所述第三驱动电机(4075)的电机轴与所述第三底座(4071)配合，所述第三底座(4071)上设有第三线轮轴(4074)，所述第三线轮(4072)以及所述第三轴承(4073)均套设于所述第三线轮轴(4074)；
    所述旋转驱动模组(408)包括第四驱动电机(4085)、第四底座(4081)、第四线轮(4082)以及第四轴承(4083)，所述第四驱动电机(4085)的电机轴与所述第四底座(4081)配合，所述第四底座(4081)上设有第四线轮轴(4084)，所述第四线轮(4082) 以及所述第四轴承(4083)均套设于所述第四线轮轴(4084)。
PCT/CN2023/082678 2023-02-03 2023-03-21 连续体手术器械 Ceased WO2024159593A1 (zh)

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