CN106236270B - A kind of flexible operation tool system of structural bone redundant arrangement - Google Patents
A kind of flexible operation tool system of structural bone redundant arrangement Download PDFInfo
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- CN106236270B CN106236270B CN201610796089.6A CN201610796089A CN106236270B CN 106236270 B CN106236270 B CN 106236270B CN 201610796089 A CN201610796089 A CN 201610796089A CN 106236270 B CN106236270 B CN 106236270B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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Abstract
The present invention relates to a kind of flexible operation tool systems of structural bone redundant arrangement, including flexible Continuum Structure, flexible Continuum Structure include far structure body, middle connection body and near structure body；Far structure body includes at least one distal end structure section, and distal end structure section includes distal end space disc, distal end fixed disk and structural bone；Near structure body includes the proximal end structure section equal with distal end structure joint number amount, and proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；Proximal end structure section is associated with by middle connection body with distal end structure section；It further include gear unit, gear unit includes the transmission mechanism fixed plate being arranged in front of middle connection body and the pulley drive mechanism being arranged in transmission mechanism fixed plate, the output end of pulley drive mechanism is the sliding block that movement routine is straight line, it is fastenedly connected in the middle part of sliding block and steering structure bone, the both ends of steering structure bone pass through transmission mechanism fixed plate and extend back and drive one end of bone to be fastenedly connected with one by a straight-line motion mechanism respectively, are fastenedly connected after driving the other end of bone to pass through proximal end space disc with proximal end fixed disk.
Description
Technical field
The present invention relates to a kind of flexible operation tool systems of structural bone redundant arrangement, belong to medical instruments field.
Background technique
Porous laparoscopic minimally invasive surgery occupies in surgical operation important because its wound is small, post-operative recovery is fast
Status.It is minimally invasive that the da Vinci operating robot auxiliary doctor of existing Intuitive Surgical company completes porous laparoscope
Operation, achieves commercial immense success.
Invasive surgery formula develops single-hole laparoscopic surgery and through the noninvasive of natural cavity again after porous laparoscopic surgery
Operation, their smaller to patient trauma, postoperative outputs are higher.But in single-hole laparoscopic surgery and through the non-invasive procedures of natural cavity
In, all surgical instruments including visual illumination module and surgical procedure arm pass through single channel and reach art portion, this is right
The preparation of surgical instrument requires extremely harsh.The distal structure of existing surgical instrument is mainly the hinged in series of more rod pieces, is used
Lineoutofservice signal pull driving, realizes surgical instrument at articulation joint and curves.Since wirerope must keep lasting by pulley
Tensioning state, this driving method are difficult to realize miniaturising for surgical instrument, are also difficult to further promote the fortune of instrument
Dynamic performance.
Although Intuitive Surgical company is proposed da Vinci Single-Site operating robot in the recent period,
It transform original rigid surgical instrument as semi-rigid surgical instrument, and increases prebuckling casing, improve to a certain extent
The movenent performance of surgical instrument, but still can not fundamentally solve traditional micro-surgical instrument problem encountered.
Summary of the invention
In view of the above-mentioned problems, it is an object of the present invention to provide a kind of flexible operation tool system based on Continuum Structure
System, flexibility operation tool system can preferably be applied to through human body natural's cavity or through single operative incision and implement hand
The robot system of art.
To achieve the above object, the invention adopts the following technical scheme: a kind of flexible operation work of structural bone redundant arrangement
Tool system, including flexible Continuum Structure, the flexibility Continuum Structure include far structure body, middle connection body and proximal end knot
Structure body；The far structure body includes at least one distal end structure section, and the distal end structure section includes distal end space disc, distal end fixed disk
And structural bone；The near structure body includes the proximal end structure section equal with the distal end structure joint number amount, and the proximal end structure section includes
Proximal end space disc, proximal end fixed disk and structural bone；The proximal end structure section is closed by the middle connection body and the distal end structure section
Connection；It is characterized by also including gear unit, the gear unit includes the driver being arranged in front of the middle connection body
Structure fixed plate is provided with the cunning for Rotary motion input to be converted to linear motion output in the transmission mechanism fixed plate
The output end of wheel drive mechanism, the pulley drive mechanism is fastenedly connected by one end of straight-line motion mechanism and driving bone, institute
The other end for stating driving bone is fastenedly connected after the proximal end space disc with proximal end fixed disk.
The middle connection body includes two channel fixed plates and the structural bone that is arranged between the two channel fixed plates
Guiding channel；Structural bone one-to-one correspondence in structural bone and the proximal end structure section in the distal end structure section is fastenedly connected or is same
A piece structural bone, one end of the structural bone are fastenedly connected with the proximal end fixed disk, sequentially pass through the proximal end space disc, institute
Structural bone guiding channel, the distal end space disc are stated, the other end is fastenedly connected with the distal end fixed disk.
The pulley drive mechanism includes driving pulley, follow-up pulley, hawser, sliding block, guide rod, guide rod base and turns to knot
Structure bone；The follow-up pulley is two, is rotatably arranged in the transmission mechanism fixed plate respectively；Distinguish at the both ends of the hawser
It is fastenedly connected around after the follow-up pulley with the driving pulley；In the hawser being located between two follow-up pulleies
On be fastenedly connected the sliding block, the sliding block is slidably connected on the guide rod, and the guide rod is supported by the guide rod base
In the transmission mechanism fixed plate；It is fastenedly connected in the middle part of the sliding block and the steering structure bone, the steering structure bone
Both ends pass through the transmission mechanism fixed plate extend back and connect respectively with a straight-line motion mechanism；The driving pulley
Fastening is set in a drive shaft, and the rear end thereof of the drive shaft, which is supported on, is set to the soft of the near structure body rear
On property operation tool end plate and it is fastenedly connected with shaft coupling male connector.
The middle connection body includes two channel fixed plates；The straight-line motion mechanism includes being fastenedly connected in two institutes
The adapter stating guide rod between the fixed plate of channel and being slidably connected on the guide rod, the front end of the adapter with described turn
It is fastenedly connected to structural bone, rear end is fastenedly connected with the driving bone.
The middle connection body includes two channel fixed plates and the structural bone that is arranged between the two channel fixed plates
Guiding channel；Each steering structure bone is passed through from two steering structure bone guided channels, the steering structure bone guided
The one end in channel is fastenedly connected with the channel fixed plate, the other end and the support frame being arranged in the transmission mechanism fixed plate
It is fastenedly connected.
The front end of the far structure body is provided with operation actuator, the control line of the operation actuator is from the distal end
It is passed through in structural body, the other end is connect with the actuator driven mechanism, and the operation actuator driven mechanism passes through to described
Control action control of the physics push-and-pull realization to the operation actuator of line.
The operation actuator driven mechanism includes screw rod, nut, guide sleeve pedestal, guide sleeve, push-pull rod and shaft coupling
Male connector；The screw rod be rotatably connected on the flexible operation tool ends end plate for being placed in the near structure body rear and rear end with it is described
Shaft coupling male connector is fastenedly connected；The nut is threadedly attached on the screw rod；The front end of the guide sleeve pedestal fastens
The guide sleeve is connected, rear end is fastenedly connected on the flexible operation tool ends end plate；The inner hole of the guide sleeve is limitation institute
It states nut and is only capable of the square hole slided in inner hole without being able to rotate；The rear end of the push rod is fastenedly connected with the nut, front end
It is fastenedly connected with the control line.
Further include flexible operation tool outer casing, the transmission mechanism fixed plate and it is flexible perform the operation tool ends end plate with it is described soft
Property operation tool shell is fastenedly connected.
It further include electric-motor drive unit, the electric-motor drive unit is connected by sterile barrier and the flexible operation tool
It connects；The electric-motor drive unit includes electric-motor drive unit shell, motor fixing plate and multiple is fastenedly connected in the motor
Motor in fixed plate, the output shaft of each motor are fastenedly connected with second shaft coupling male connector；The sterile barrier includes
Sterile barrier support plate, sterile barrier outer cover and multiple shaft coupling females being rotatably connected in the sterile barrier support plate；
The sterile barrier outer cover and operation tool shell use detachable connection method；The front end of the shaft coupling female and described
The connection of axis device male connector, rear end is connect with the second shaft coupling male connector；It is fastenedly connected that whether there is or not mycoderms on sterile barrier outer cover.
The front end of the motor fixing plate is provided with the first connection key seat, is set in the rear end of the sterile barrier support plate
It is equipped with the second connection key seat, the first connection key seat connect key seat with described second and connects by pin hole.
It further include electric-motor drive unit, the electric-motor drive unit is connected by sterile barrier and the flexible operation tool
It connects；The electric-motor drive unit includes electric-motor drive unit shell, motor fixing plate and is fastenedly connected in the motor fixing plate
On the second motor, the motor fixing plate is connect with the electric-motor drive unit housing into rotation, in the electric-motor drive unit
The inner wall of shell is fastenedly connected with ring gear, and the output shaft of second motor is fastenedly connected with gear, the gear with it is described
Ring gear engagement.
It further include electric-motor drive unit shell and linear mould group, the electric-motor drive unit shell and the flexible work of performing the operation
Has shell direct or indirect connection；The linear mould group includes support body, the third motor being fastenedly connected on the support body
And the Linear feed mechanism being fastenedly connected with the output shaft of the third motor, the output end fastening of the Linear feed mechanism
The electric-motor drive unit shell is connected, the third motor drives the electric-motor drive unit by the Linear feed mechanism
Shell drives the electric-motor drive unit, sterile barrier and flexible operation tool to move along a straight line.
The Linear feed mechanism includes the lead screw being rotatably connected on the support body, be arranged on the lead screw with
The lead screw passes through the second sliding block being threadedly engaged, and straight, the second sliding block sliding are provided on the support body
It is arranged in the straight；The output shaft of the third motor is fastenedly connected by shaft coupling and the lead screw.
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention using include near structure body,
Based on the flexible Continuum Structure of middle connection body and far structure body, and cooperate with gear unit, wherein far structure body
It is associated with by middle connection body near structure body, gear unit is associated with near structure body, when electric-motor drive unit driving is close
When end structure body is curved to any direction, far structure body correspondingly curves in the opposite direction, therefore can realize by distal colorectal
The flexible surgical arm that structure body and strip of paper used for sealing are constituted it is any to curve movement.2, the present invention is near structure body, middle connection body
In far structure body, using the structural bone arrangement (structural bone quantity is greater than three) of redundancy, flexible operation tool system can be improved
Safety, reliability and the load capacity of system.3, between the flexible operation tool of the present invention and electric-motor drive unit by band whether there is or not
The sterile barrier of mycoderm connects, so that effectively the part that system does not sterilize be isolated with the part sterilized, guarantees to face
The exploitativeness of bed operation.4, the present invention is provided with multiple groups pulley drive mechanism in flexible operation tool, the pulley drive machine
Structure can convert drive shaft Rotary motion input to linear motion output, and the lesser steering structure bone fixation of one more rigidity connects
Be connected in one group of pulley drive mechanism, the achievable wide-angle space of this strand of steering structure bone curve and transmit it is described linear motion it is defeated
Out, the both ends of the steering structure bone can be fixedly connected with rigidity biggish different driving bone one end respectively, drive the bone other end
It is fixedly connected in proximal structure body, can finally be tied in smaller space by multiple groups pulley drive mechanism coordinated drive proximal end
Structure body is curved to any direction.5, the present invention is provided with operation actuator in the front end of far structure body, the control for actuator of performing the operation
Line passes through far structure body, and the other end is connect with the operation actuator driven mechanism being located at middle connection body, thus realization pair
The action control of operation actuator.6, the present invention is provided with ring gear in the inner wall fastening of electric-motor drive unit shell, in motor
It is provided with the motor for driving the part in addition to shell, ring gear to be rotated in fixed plate, therefore, can be driven using motor
The dynamic part in addition to electric-motor drive unit shell, ring gear is integrally rotated, thus to the roll angle of operation actuator
It is adjusted.7, the present invention is additionally provided with linear mould group, is attached with housing parts and shell can be driven to carry out linearly
Movement, therefore, flexible surgical arm also has linear feeding freedom degree.
Present invention can apply to single hole endoscope-assistant surgery, can also be applied to through natural cavity non-invasive procedures.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of far structure body of the present invention；
Fig. 3 is the structural schematic diagram of near structure body of the present invention；
Fig. 4 is the structural schematic diagram of middle connection body of the present invention；
Fig. 5 is the structural schematic diagram of gear unit of the present invention；
Fig. 6 is the structural schematic diagram of pulley drive mechanism of the present invention；
Fig. 7 is the structural schematic diagram of present invention operation actuator driven mechanism；
Fig. 8 is the structural schematic diagram of electric-motor drive unit of the present invention；
Fig. 9 is that the present invention loads onto the structural schematic diagram after flexible operation tool outer casing, sterile barrier and linear mould group；
Figure 10 is the structural schematic diagram of sterile barrier of the present invention；
Structural schematic diagram when Figure 11 far structure body of the present invention is using flexible sheath.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention includes flexible operation tool 10, flexible operation tool 10 includes by far structure body 11
The flexible non-individual body of (as shown in Figure 2), near structure body 16 (as shown in Figure 3) and the composition (as shown in Figure 5) of middle connection body 15
Structure and gear unit 21.Wherein, far structure body 11 is associated with by middle connection body 15 near structure body 16；Gear unit
21 are associated with near structure body 16, when gear unit 21 drives near structure body 16 to curve to any direction, far structure body
11 correspondingly curve in the opposite direction.
As shown in Fig. 2, far structure body 11 includes the first distal end structure section 12 and the second distal end structure section 13, the first distal end structure section
12 include the first distal end space disc 121, the first distal end fixed disk 122 and the first structure section structure bone 123；Second distal end structure section 13 packet
Include the second distal end space disc 131, the second distal end fixed disk 132 and the second structure section structure bone 133.Wherein, the first distal end space disc
121 and second distal end space disc 131 be respectively separated and be distributed in the first distal end structure section 12 and the second distal end structure section 13, effect is anti-
Only the first structure section structure bone 123 and the second unstability when being pushed away of structure section structure bone 133.
As shown in figure 3, near structure body 16 includes the first proximal end structure section 17 and the second proximal end structure section 18, the first proximal end structure section
17 include the first proximal end space disc 171, the first proximal end fixed disk 172 and the first structure section structure bone 173；Second proximal end structure section 18 packet
Include the second proximal end space disc 181, the second proximal end fixed disk 182 and the second structure section structure bone 183；Wherein, the first proximal end space disc
171 and second proximal end space disc 181 be respectively separated and be distributed in the first proximal end structure section 17 and the second proximal end structure section 18, effect is anti-
Only the first structure section structure bone 173 and the second unstability when being pushed away of structure section structure bone 183.First on the first proximal end structure section 17
Structure section structure bone 173 is fastenedly connected with the first structure section structure bone 123 one-to-one correspondence being located on the first distal end structure section 12 or is same
A piece structural bone；The second structure section structure bone 183 on the second proximal end structure section 18 be located on the second distal end structure section 13 the
Two structure section structure bones 133 one-to-one correspondence is fastenedly connected or is same root structural bone.For each proximal end structure section 17,18 and each remote
Structure section 12,13 is held, the quantity of structural bone is three or more.
As shown in figure 4, middle connection body 15 includes two channel fixed plates 152 and is fixedly connected on two channel fixed plates
Structural bone guiding channel 151 between 152.One end of first structure section structure bone 173 (123) and the first proximal end fixed disk 172 are tight
It is solidly connected, after the other end sequentially passes through the first proximal end space disc 171, structural bone guiding channel 151, the first distal end space disc 121
It is fastenedly connected with the first distal end fixed disk 122.One end of second structure section structure bone 183 (133) and the second proximal end fixed disk 182 are tight
It is solidly connected, the other end sequentially passes through the second proximal end space disc 181, structural bone guiding channel 151, the first distal end structure section 12, second
It is fastenedly connected after distal end space disc 131 with the second distal end fixed disk 132.The effect of structural bone guiding channel 151 is to maintain structure
Bone is by shape invariance when push and draw force.
Proximal end structure joint number included by distal end structure joint number and near structure body 16 included by said distal ends structural body 11
It is also possible to one or more than two, but proximal end structure joint number must be consistent with distal end structure joint number.In addition, working as distal structure
When structure joint number in distal end included by body 11 is more than two, connected between each distal end structure section using concatenated mode, i.e. the second structure
Section structure bone from the first distal end fixed disk, the first distal end space disc (if the first structure section structure bone uses tubular structure, can also be from the
Passed through in one structure section structure bone) on across；When the proximal end structure joint number included by the near structure body 16 is more than two, each structure section
Between can be using being connected in series, be independently arranged or nested setting (as shown in Figure 3) etc..
As shown in Figure 1, shown in Figure 5, gear unit 21 includes the transmission mechanism fixed plate 24 that 15 front of middle connection body is arranged in
And the pulley drive mechanism 22 in transmission mechanism fixed plate 24 is set, pulley drive mechanism 22 is used for Rotary motion input
Linear motion output is converted to, the output end of pulley drive mechanism 22 passes through be arranged between two channel fixed plates 152 two
A straight-line motion mechanism 23 drives one end of bone 211 to be fastenedly connected respectively with two, and the other end of two driving bones 211 is worn respectively
Be fastenedly connected after crossing the first proximal end space disc 171 with the first proximal end fixed disk 172, or pass through the second proximal end space disc 181 after with
Second proximal end fixed disk 182 is fastenedly connected.As a result, by a pulley drive mechanism 22, a pair of driving bone 211 can be carried out
Collaboration push-and-pull, to realize curving for the first proximal end structure section 17 or the second proximal end structure section 18.When the first proximal end structure section 17 to some
When direction curves, the first distal end structure section 12 will in certain proportion relationship (by the first structure section structure bone 173 and the first structure section structure
The distribution radius of bone 123 codetermines) it curves in the opposite direction；When the second proximal end structure section 18 is curved to some direction, the
Two distal end structure sections 13 will in certain proportion relationship (by the distribution half of the second structure section structure bone 183 and the second structure section structure bone 133
Diameter codetermines) it curves in the opposite direction.In the present embodiment, the quantity for driving bone 211 is eight, wherein four and first
Proximal end fixed disk 172 is fastenedly connected, and another four are fastenedly connected with the second proximal end fixed disk 182.Due to each pulley drive machine
Structure 22 can cooperate with a pair of of driving bone 211 of push-and-pull by two straight-line motion mechanisms 23, therefore, in the present embodiment altogether there are four
Pulley drive mechanism 22 and eight straight-line motion mechanisms 23, four pulley drive mechanisms 22 are distributed in two transmission mechanism fixed plates
On 24.
As shown in Figure 5, Figure 6, pulley drive mechanism 22 includes driving pulley 221, follow-up pulley 222, hawser 223, sliding block
225, guide rod 224, guide rod base 227 and steering structure bone 226, wherein follow-up pulley 222 is two, is rotatably arranged on respectively
In transmission mechanism fixed plate 24, the both ends of hawser 223 are fastenedly connected after bypassing follow-up pulley 222 respectively with driving pulley 221, main
The fastening of movable pulley 221 is set in drive shaft 213, and it is solid that the rear end of drive shaft 213 sequentially passes through transmission mechanism fixed plate 24, channel
Fixed board 152 and the flexible operation tool ends end plate 106 at 16 rear of near structure body is set and is fastened with shaft coupling male connector 212 connects
It connects, meanwhile, it is rotation connection between drive shaft 213 and flexible operation tool ends end plate 106.Be located at two follow-up pulleies 222 it
Between hawser 223 on be fastenedly connected sliding block 225, sliding block 225 is slidably connected on guide rod 224, and guide rod 224 passes through guide rod base
227 are fixedly supported in transmission mechanism fixed plate 24.Sliding block 225 and the middle part of a branch of steering structure bone 226 are fastenedly connected, the beam
The both ends of steering structure bone 226 pass through transmission mechanism fixed plate 24 and extend back, and connect respectively with straight-line motion mechanism 23.
Straight-line motion mechanism 23 includes the guide rod 231 being fastenedly connected between two channel fixed plates 152 and is slidably connected at guide rod 231
On adapter 232, front end and the steering structure bone 226 of adapter 232 be fastenedly connected, and rear end is fastenedly connected with driving bone 211.
In above-described embodiment, each steering structure bone 226 is passed through from two steering structure bone guided channels 228,
The one end in steering structure bone guided channel is fastenedly connected with channel fixed plate 152, and the other end is consolidated with transmission mechanism is fixed at
The support frame 229 of 24 front side of fixed board is fastenedly connected, and the effect in steering structure bone guided channel 228 is to maintain steering structure bone 226
By shape invariance when push and draw force.
In above-described embodiment, the front end of far structure body 11 is provided with operation actuator 101 (as shown in Figure 2), operation
The control line 102 of actuator 101 is passed through from far structure body 11, and the other end is connect with operation actuator driven mechanism 25.Operation
Actuator driven mechanism 25 realizes the control to operation actuator 101 (such as surgical clamp) by the physics push-and-pull to control line 102.Control
Line 102 can also equally transmit such as various forms of energy of electric energy, high-frequency vibration to realize the specific of operation actuator 101
Surgical functions.As shown in Figure 5, Figure 7, operation actuator driven mechanism 25 include screw rod 251, nut 252, guide sleeve pedestal 253,
Guide sleeve 254, push-pull rod 255 and shaft coupling male connector 256, wherein screw rod 251 is rotatably connected on flexible operation tool ends end plate 106
Center and rear end be fastenedly connected with shaft coupling male connector 256, nut 252 is threadedly attached on screw rod 251；Guide sleeve pedestal
253 front end is fastenedly connected guide sleeve 254, and rear end is fastenedly connected on flexibility operation tool ends end plate 106；Guide sleeve 254 it is interior
Hole is square hole and forms limitation to nut 252, and nut 252 is made to be only capable of sliding in the inner hole of guide sleeve 254 without being able to rotate；It pushes away
The rear end of pull rod 255 is fastenedly connected with nut 252, and front end is fastenedly connected with control line 102.
In above-described embodiment, as shown in Figure 8, Figure 9, the invention also includes electric-motor drive unit 40, electric-motor drive units 40
It is connect by sterile barrier 30 with flexible operation tool 10.Flexible operation tool 10 further includes flexible operation tool outer casing 107, is led to
Road fixed plate 152, transmission mechanism fixed plate 24 and flexible operation tool ends end plate 106 are fastened with flexibility operation tool outer casing 107
Connection.Electric-motor drive unit 40 includes electric-motor drive unit shell 401, motor fixing plate 402 and multiple is fastenedly connected in electricity
First motor (not shown) in machine fixed plate 402, the output shaft of each first motor are fastenedly connected a shaft coupling
Device male connector 403.As shown in Figure 10, sterile barrier 30 includes sterile barrier support plate 301, sterile barrier outer cover 302 and multiple
The shaft coupling female 303 being rotatably connected in sterile barrier support plate 301, the rear end of shaft coupling female 303 and shaft coupling male connector
403 connections, front end is connect with shaft coupling male connector 212 or shaft coupling male connector 256.The front side of motor fixing plate 402 is provided with company
Outbound seat 404 is correspondingly arranged on connection key seat 304 in the rear side of sterile barrier support plate 301, connects key seat 404 and connecting pin
Seat 304 can quickly be connected by pin hole；Sterile barrier outer cover 302 and operation tool shell 107 use detachable connection method.?
It is fastenedly connected on sterile barrier outer cover 302 whether there is or not mycoderm (not shown), is used for sterilizable part (such as flexible operation work
Tool 10 is equal be located at sterile barrier 30 before part) (such as electric-motor drive unit 40 is located at sterile barrier with the part that does not sterilize
Part later) it is isolated, guarantee the clinical exploitativeness of operation.
It is rotation connection between motor fixing plate 402 and electric-motor drive unit shell 401, in motor in above-described embodiment
The inner wall of driving unit shell 401 is fastenedly connected with ring gear 422, and the second electricity is also fastenedly connected on motor fixing plate 402
Machine (not shown), the output shaft of the second motor are fastenedly connected with gear 421, and gear 421 is engaged with ring gear 422.When
It when the output shaft rotation of two motors, will be rotated with moving gear 421, gear 421 will be along the circumferential walking of ring gear 422, thus band
The dynamic entire infrastructure in addition to electric-motor drive unit shell 401 and ring gear 422 is rotated around the axis of ring gear 422, from
And realize the integral-rotation of flexible operation tool 10, and realize the roll angle to far structure body 101 and operation actuator 30
Control.
In above-described embodiment, as shown in figure 9, (linear mould group 50 is also through sterile film the invention also includes linear mould group 50
230 keep apart with sterilization section) comprising the support body 501 with sliding slot, rotation is provided with lead screw on support body 501
502, it is arranged on lead screw 502 with lead screw 502 by being threadedly engaged and being slidably arranged in the sliding block 503 in sliding slot, in bracket
One end of body 501 is provided with motor 504, and output shaft and the lead screw 502 of motor 504 are fastenedly connected by shaft coupling.Motor driven
Unit housings 401 are fastenedly connected with sliding block 503.When the rotation of the output shaft of motor 504, sliding block 503 will drive motor driven list
First shell 401 does linear movement along the chute, to realize the feed motion of flexible operation tool 10.
In above-described embodiment, as shown in Figure 1, being provided with strip of paper used for sealing 103 in the outside of far structure body 11, it acts as improvement
Far structure body 11 enters the smoothness of human body natural's cavity or operative incision.In the outside of strip of paper used for sealing 103, sheath can also be set
60 (as shown in Figure 2), in one application, sheath 60 are fixed on the single incision in abdominal cavity, and far structure body 11 is together with strip of paper used for sealing
103, operation actuator 101 can pass freely through and reach art portion for the through-hole that operation tool passes through in sheath 60.As shown in figure 11,
Sheath 60 can also more easily can protrude into all kinds of natural cavities of human body and the shape with cavity using flexible sheath
And cavity inlet is fixed in adaptively changing shape, one end of flexible sheath, far structure body 11 is together with strip of paper used for sealing 103, operation
Actuator 101 can equally pass freely through flexible sheath and put on the through-hole arrival art portion passed through for operation tool.
The present invention is only illustrated with above-described embodiment, and structure, setting position and its connection of each component are all can have
Changed.Based on the technical solution of the present invention, the improvement or equivalent that all principles according to the present invention carry out individual part
Transformation, should not exclude except protection scope of the present invention.
Claims (13)
1. a kind of flexible operation tool system of structural bone redundant arrangement, including flexible Continuum Structure, the flexibility non-individual body
Structure includes far structure body, middle connection body and near structure body；The far structure body includes at least one distal end structure section,
The distal end structure section includes distal end space disc, distal end fixed disk and structural bone；The near structure body includes and the distal end structure
The equal proximal end structure section of joint number amount, the proximal end structure section include proximal end space disc, proximal end fixed disk and structural bone；The proximal end structure
Section is associated with by the middle connection body with the distal end structure section；
It is characterized by also including gear unit, the gear unit includes the transmission being arranged in front of the middle connection body
Mechanism fixed plate and straight-line motion mechanism are provided in the transmission mechanism fixed plate for converting Rotary motion input
Output end for the pulley drive mechanism of linear motion output, the pulley drive mechanism passes through straight-line motion mechanism and driving bone
One end be fastenedly connected, it is described driving bone the other end pass through the proximal end space disc after be fastenedly connected with proximal end fixed disk；
The pulley drive mechanism further includes steering structure bone, the output end of the pulley drive mechanism and the steering structure bone
Middle part be fastenedly connected, the both ends of the steering structure bone pass through the transmission mechanism fixed plate extend back and respectively with one
Straight-line motion mechanism connection；The one end of the rear end of two straight-line motion mechanisms respectively with a pair of of driving bone is fastenedly connected, right
The driving bone carries out collaboration push-and-pull.
2. a kind of flexible operation tool system of structural bone redundant arrangement as described in claim 1, it is characterised in that: in described
Portion's connector includes two channel fixed plates and the structural bone guiding channel that is arranged between the two channel fixed plates；It is described remote
Structural bone in the structure section of end and the structural bone one-to-one correspondence in the proximal end structure section are fastenedly connected or are same root structural bone, described
One end of structural bone is fastenedly connected with the proximal end fixed disk, and it is logical to sequentially pass through the proximal end space disc, the structure bone guided
Road, the distal end space disc, the other end are fastenedly connected with the distal end fixed disk.
3. a kind of flexible operation tool system of structural bone redundant arrangement as described in claim 1, it is characterised in that: the cunning
Wheel drive mechanism includes driving pulley, follow-up pulley, hawser, guide rod, guide rod base；The output end of the pulley drive mechanism is
Sliding block, the follow-up pulley are two, are rotatably arranged in the transmission mechanism fixed plate respectively；Distinguish at the both ends of the hawser
It is fastenedly connected around after the follow-up pulley with the driving pulley；In the hawser being located between two follow-up pulleies
On be fastenedly connected the sliding block, the sliding block is slidably connected on the guide rod, and the guide rod is supported by the guide rod base
In the transmission mechanism fixed plate；The driving pulley fastening is set in a drive shaft, and the rear end of the drive shaft turns
It is dynamic to be supported on the flexible operation tool ends end plate for being set to the near structure body rear and be fastenedly connected with shaft coupling male connector.
4. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 3, it is characterised in that: in described
Portion's connector includes two channel fixed plates；The straight-line motion mechanism include be fastenedly connected two channel fixed plates it
Between guide rod and the adapter that is slidably connected on the guide rod, the front end of the adapter and steering structure bone fastening connect
It connects, rear end is fastenedly connected with the driving bone.
5. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 3, it is characterised in that: in described
Portion's connector includes two channel fixed plates and the structural bone guiding channel that is arranged between the two channel fixed plates；Each
Steering structure bone is passed through from two steering structure bone guided channels, the one end in steering structure bone guided channel with it is described
Channel fixed plate is fastenedly connected, and the other end is fastenedly connected with the support frame being arranged in the transmission mechanism fixed plate.
6. a kind of flexible operation tool system of structural bone redundant arrangement as described in claim 1, it is characterised in that: described
The front end of far structure body is provided with operation actuator, and the control line of the operation actuator is passed through from the far structure body,
The other end is connect with operation actuator driven mechanism, and the operation actuator driven mechanism is pushed and pulled by the physics to the control line
Realize the action control to the operation actuator.
7. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 6, it is characterised in that: the hand
Art actuator driven mechanism includes screw rod, nut, guide sleeve pedestal, guide sleeve, push-pull rod and shaft coupling male connector；The screw rod turns
It moves on the flexible operation tool ends end plate for being connected to and being placed in the near structure body rear and rear end and the shaft coupling male connector fastens
Connection；The nut is threadedly attached on the screw rod；The front end of the guide sleeve pedestal is fastenedly connected the guide sleeve,
Rear end is fastenedly connected on the flexible operation tool ends end plate；The inner hole of the guide sleeve is to limit the nut to be only capable of in inner hole
The middle square hole slided without being able to rotate；The rear end of the push-pull rod is fastenedly connected with the nut, and front end and the control line fasten
Connection.
8. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 3, it is characterised in that: further include
Flexibility operation tool outer casing, the transmission mechanism fixed plate and flexible operation tool ends end plate with the flexible tool outer casing of performing the operation
It is fastenedly connected.
9. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 8, it is characterised in that: further include
Electric-motor drive unit, the electric-motor drive unit are connect by sterile barrier with the flexible Continuum Structure；The motor drives
Moving cell includes electric-motor drive unit shell, motor fixing plate and multiple electricity being fastenedly connected on the motor fixing plate
Machine, the output shaft of each motor are fastenedly connected with second shaft coupling male connector；The sterile barrier includes sterile barrier support
Plate, sterile barrier outer cover and multiple shaft coupling females being rotatably connected in the sterile barrier support plate；The sterile barrier
Outer cover and operation tool shell use detachable connection method；The front end of the shaft coupling female and the shaft coupling male connector connect
It connects, rear end is connect with the second shaft coupling male connector；It is fastenedly connected that whether there is or not mycoderms on sterile barrier outer cover.
10. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 9, it is characterised in that: in institute
The front end for stating motor fixing plate is provided with the first connection key seat, and the rear end of the sterile barrier support plate is provided with the second connection
Key seat, the first connection key seat connect key seat with described second and are connected by pin hole.
11. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 8, it is characterised in that: also wrap
Electric-motor drive unit is included, the electric-motor drive unit is connect by sterile barrier with the flexible Continuum Structure；The motor
Driving unit includes electric-motor drive unit shell, motor fixing plate and the second electricity being fastenedly connected on the motor fixing plate
Machine, the motor fixing plate are connect with the electric-motor drive unit housing into rotation, in the inner wall of the electric-motor drive unit shell
It is fastenedly connected with ring gear, the output shaft of second motor is fastenedly connected with gear, and the gear is engaged with the ring gear.
12. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 11, it is characterised in that: also wrap
Include electric-motor drive unit shell and linear mould group, the electric-motor drive unit shell and the flexible operation tool outer casing directly or
It is indirectly connected with；The linear mould group includes support body, the third motor being fastenedly connected on the support body and with described
The Linear feed mechanism that the output shaft of three motors is fastenedly connected, the output end of the Linear feed mechanism are fastenedly connected the motor
Driving unit shell, the third motor are driven described in the electric-motor drive unit shell drive by the Linear feed mechanism
Electric-motor drive unit, sterile barrier and flexible Continuum Structure move along a straight line.
13. a kind of flexible operation tool system of structural bone redundant arrangement as claimed in claim 12, it is characterised in that: described
Linear feed mechanism includes the lead screw being rotatably connected on the support body, is arranged on the lead screw and passes through with the lead screw
The second sliding block being threadedly engaged, is provided with straight on the support body, and second sliding block is slidably arranged in described straight
In line sliding slot；The output shaft of the third motor is fastenedly connected by shaft coupling and the lead screw.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796089.6A CN106236270B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system of structural bone redundant arrangement |
| EP17845507.7A EP3508152A4 (en) | 2016-08-31 | 2017-08-31 | Sterilizable flexible surgical instrument system |
| PCT/CN2017/099856 WO2018041205A1 (en) | 2016-08-31 | 2017-08-31 | Sterilizable flexible surgical instrument system |
| US16/329,745 US11684432B2 (en) | 2016-08-31 | 2017-08-31 | Sterilizable flexible surgical instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796089.6A CN106236270B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system of structural bone redundant arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106236270A CN106236270A (en) | 2016-12-21 |
| CN106236270B true CN106236270B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610796089.6A Active CN106236270B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system of structural bone redundant arrangement |
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| Country | Link |
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| CN (1) | CN106236270B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3508152A4 (en) * | 2016-08-31 | 2020-06-24 | Beijing Surgerii Technology Co., Ltd. | Sterilizable flexible surgical instrument system |
| CN109352679B (en) * | 2018-09-27 | 2021-07-09 | 上海工程技术大学 | Steel wire locking device of wire transmission driven snake-shaped arm |
| CN115551436A (en) * | 2020-06-30 | 2022-12-30 | 北京术锐技术有限公司 | Continuum instrument and surgical robot |
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2016
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| CN106236270A (en) | 2016-12-21 |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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