CN106236272B - A kind of flexible operation tool system using restraining structure bone - Google Patents
A kind of flexible operation tool system using restraining structure bone Download PDFInfo
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- CN106236272B CN106236272B CN201610797612.7A CN201610797612A CN106236272B CN 106236272 B CN106236272 B CN 106236272B CN 201610797612 A CN201610797612 A CN 201610797612A CN 106236272 B CN106236272 B CN 106236272B
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- 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 using restraining structure bone, including flexible operation tool；Flexibility operation kit includes the flexible Continuum Structure being made of far structure body, near structure body and middle connection body；Far structure body includes 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 proximal end structure section, and proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；Middle connection body includes channel fixed plate and structural bone guiding channel；In proximal end, structure section is internally provided with restraining structure bone, and one end of restraining structure bone and the channel fixed plate close to proximal end structure section are fastenedly connected, the other end is directly or indirectly connect with proximal end fixed disk, and length is constant when for keeping proximal end structure section to curve.
Description
Technical field
The present invention relates to a kind of flexible operation tool systems using restraining structure bone, 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 operation 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 systems using restraining structure bone
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 surgical robot system of art.
To achieve the above object, the invention adopts the following technical scheme: a kind of flexible operation work using restraining structure bone
Tool system, it is characterised in that: it includes flexible operation tool；The flexible operation kit is included by far structure body, proximal end knot
The flexible Continuum Structure that structure body and middle connection body are constituted；The far structure body includes at least one distal end structure section, described
Distal end structure section includes distal end space disc, distal end fixed disk and structural bone；The near structure body includes quantity and the distal end structure
The equal proximal end structure section of joint number, the proximal end structure section include proximal end space disc, proximal end fixed disk and structural bone；The middle part connection
Body includes channel fixed plate and the structural bone guiding channel that is arranged between the channel fixed plate；Knot on the distal end structure section
Structural bone one-to-one correspondence on structure bone and the proximal end structure section is fastenedly connected or is same root structural bone, one end of the structural bone
It is fastenedly connected, is sequentially passed through between the proximal end space disc, the structural bone guiding channel, the distal end with the proximal end fixed disk
Every disk, the other end is fastenedly connected with the distal end fixed disk；Restraining structure bone is internally provided in the proximal end structure section, it is described
One end of restraining structure bone and be fastenedly connected close to the channel fixed plate of the proximal end structure section, the other end directly or indirectly with
The proximal end fixed disk connection, length is constant when for keeping proximal end structure section to curve.
It further include driving unit, the driving unit includes driving unit fixed plate, in the institute close to the proximal end structure section
Stating rotational support between channel fixed plate and the driving unit fixed plate has more drive shafts, the front end of each drive shaft
Across the channel fixed plate and one hawser draw-off mechanism of setting, the hawser draw-off mechanism is by passing through the proximal end interval
Disk, the hawser of proximal end fixed disk and hawser fixed block are fastenedly connected, and the hawser fixed block and proximal end fixed disk fastening connect
It connects；When the drive shaft rotates, the length that the hawser is located in the proximal end structure section is changed by the hawser draw-off mechanism.
The hawser draw-off mechanism include bevel gear to, pulley, pulley base and the hawser；The one of the bevel gear centering
A bevel gear is coaxially fastenedly connected with the drive shaft, another bevel gear of the bevel gear centering and the pulley coaxle are tight
It is solidly connected, the bevel gear engagement of two of the bevel gear centering；The pulley rotation is supported on the pulley base, described
Pulley base is fastenedly connected in the channel fixed plate；One end of the hawser is fastenedly connected with the pulley, the hawser
The other end penetrates the proximal end structure section.
The driving unit further includes motor section and motion transmission portion；The motor section include motor fixing plate and it is multiple with
The first motor that the motor fixing plate is fastenedly connected；The motion transmission portion includes multiple is used for a first motor
The rotation output proximal end structure section of rotary motion reversely with each other that is converted to two output shafts curve transmission chain；Two described defeated
The rear end direct or indirect connection of the front end of shaft and a pair of drive shaft, passes to the driving for the rotary motion of itself
Axis.
It includes input gear, output gear, idle pulley and two output shafts that the proximal end structure section, which curves transmission chain, described
Input gear is fastened and inserted on a wherein output shaft, and the output gear is fastened and inserted on another output shaft,
It is sequentially connected between two output shafts by even number idle pulley；The rear end of the output shaft where the input gear passes through
Shaft coupling and the output shaft of the first motor are fastenedly connected.
Sterile barrier, the sterile barrier packet are provided between the motion transmission portion and the driving unit fixed plate
It includes sterile barrier support plate, be fastenedly connected sterile barrier outer cover and the multiple rotation connections in sterile barrier support plate periphery
Shaft coupling female in the sterile barrier support plate；It is fastenedly connected that whether there is or not mycoderms on the sterile barrier outer cover；It is each
The rear end fastening of the drive shaft is socketed with output gear, and the output gear is engaged with input gear, the input gear
Gear shaft passes through the driving unit fixed plate and is fastenedly connected with a first shaft coupling male connector；Before each output shaft
End is fastenedly connected with a second shaft coupling male connector；The second shaft coupling male connector is by being located in the sterile barrier support plate
The shaft coupling female connect with the first shaft coupling male connector.
The front end in the motion transmission portion is provided with cover board, the front end of each output shaft both pass through the cover board and with
The cover board rotation connection, is provided with the first connection key seat on the cover board；It is provided in the sterile barrier support plate
For connecting the second connection key seat that key seat quickly connects with described first.
The front end of the far structure body is provided with operation actuator, the operation that one end is connect with the operation actuator
Actuator control line is passed through from the far structure body, and the other end is connect with operation actuator driven mechanism；The operation executes
Device driving mechanism includes connecting rod, connection frame, screw rod, nut and shaft coupling male connector, and the connection frame is rectangular frame structure, described
Connect the channel fixed plate that frame passes through the close proximal end structure section；The front end of the connecting rod and the operation actuator control
The rear end of line is fastenedly connected, and the rear end of the connecting rod and the front end of the connection frame are fastenedly connected, the rear end of the connection frame
It is fastenedly connected with a screw rod, nut is connected on the screw rod, the nut is rotatably connected on the driving unit
In fixed plate；The driving unit further includes motor section；The motor section include motor fixing plate and with the motor fixing plate
The second motor being fastenedly connected；The output shaft of second motor is fastenedly connected by the rear end of shaft coupling and the second output shaft,
The front end fastening of second output shaft is socketed with input gear, and the input gear is engaged with output gear, the output gear
Wheel is fastenedly connected with third output shaft, the front end of the third output shaft and the nut direct or indirect connection, by itself
Rotary motion passes to nut and is converted to the linear motion of the connection frame.
It further include flexible operation tool outer casing and motor section shell；The near structure body and middle connection body are respectively positioned on institute
It states in flexible operation tool outer casing；The channel fixed plate and driving unit fixed plate are tight with the flexible operation tool outer casing
It is solidly connected；The motor section and motion transmission portion are respectively positioned in motor section shell；It is provided in the front end in the motion transmission portion
Cover board, the cover board are fastenedly connected by sterile barrier and the flexible operation tool outer casing；The cover board and motor fixing plate
It is rotatablely connected with the motor section shell；It is fastenedly connected with ring gear in the inner wall of the motor section shell, in the motor
Third motor is fastenedly connected in fixed plate, the output shaft of the third motor is tight by the rear end of shaft coupling and the 4th output shaft
It is solidly connected, the front end of the 4th output shaft is fastenedly connected with input gear, and the input gear is engaged with the ring gear.
It further include flexible operation tool outer casing, motor section shell and linear mould group；The near structure body is connected with middle part
Body is respectively positioned in the flexible operation tool outer casing；The channel fixed plate and driving unit fixed plate are performed the operation with the flexibility
Tool outer casing is fastenedly connected；The motor section and motion transmission portion are respectively positioned in motor section shell；In the motion transmission portion
Front end is provided with cover board, and the cover board is fastenedly connected by sterile barrier and the flexible operation tool outer casing；The linear mould
Group includes bracket, is fastenedly connected the 4th motor on the bracket and is fastenedly connected with the output shaft of the 4th motor
Linear feed mechanism, the output end of the Linear feed mechanism are fastenedly connected the shell of the motor section, and the 4th motor is logical
Crossing the Linear feed mechanism drives the motor section and motion transmission portion to drive the flexible non-individual body knot by sterile barrier
Structure and driving unit are located at the pervious part of the sterile barrier and move along a straight line.
The Linear feed mechanism includes rotation connection lead screw on the bracket, is arranged on the lead screw and institute
It states lead screw and passes through the sliding block being threadedly engaged, be provided with straight on the bracket, the sliding block is slidably arranged in described straight
In line sliding slot；The output shaft of 4th 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 driving unit, wherein far structure body
It is associated with by middle connection body near structure body, driving unit is associated with near structure body, when driving unit driving proximal end knot
When structure body is curved to any direction, far structure body correspondingly curves in the opposite direction, therefore can realize by far structure body
The flexible surgical arm constituted with strip of paper used for sealing it is any to curving movement.2, far structure body of the present invention, middle connection body and proximal end
The stability and load energy of system can be improved using the structural bone arrangement (quantity of structural bone is greater than three) of redundancy in structural body
Power.3, the present invention is rotatablely connected more drive shafts between driving unit fixed plate and channel fixed plate, in the front end of drive shaft
It is provided with hawser draw-off mechanism, hawser draw-off mechanism passes through hawser and the hawser fixed block for being fixedly connected on the fixed back-end disk in proximal end
Connection can change hawser by hawser draw-off mechanism and be located at the length in the structure section of proximal end, in addition hawser when drive shaft rotation
Fixed block is connect by restraining structure bone with channel fixed plate, to curve fortune for what the drawing of hawser was converted to proximal end structure section
It is dynamic, while the profile that curves of proximal end structure section being made to be generally radiused.4, the operation actuator control line of present invention operation actuator
Operation actuator driven mechanism is reached across far structure body and is fixedly connected with the connecting rod, and connection frame and connecting rod are fixed and connected
It connects, connection frame can be driven by one group of straight-line motion mechanism, realize the motion control to operation actuator.5, the present invention is additionally provided with
Motor section shell uses rotatable connection type, in the inner wall of motor section shell between motor fixing plate and motor section shell
It is fastenedly connected with ring gear, motor section is provided with motor, motor is fastenedly connected on motor fixing plate, and motor passes through shaft coupling
It is connected with output shaft, one end of output shaft is fastenedly connected with input gear, and input gear is engaged with ring gear, therefore, the electricity
Machine can drive system removes motor section shell, ring gear is rotated integrally with outer portion, rotates integrally certainly so that flexible surgical arm has
By spending.6, the present invention is performed the operation due to flexibility and is attached between tool outer casing and motor section, motion transmission portion by sterile barrier,
Effectively by flexible operation tool sterilized etc. be located at the pervious part of sterile barrier with it is other do not sterilize be located at sterile screen
Hinder later part to be isolated, therefore can guarantee the exploitativeness of clinical operation.7, the present invention is additionally provided with linear mould group,
It is attached with motor section casing part and flexible operation tool, driving unit and sterile barrier can be driven linearly to be transported
Dynamic, 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 that the present invention omits the structural schematic diagram after far structure body；
Fig. 4 is the structural schematic diagram of first (the second) proximal end structure section and hawser draw-off mechanism of the invention；
Fig. 5 is the connection schematic diagram of first (the second) proximal end structure section and hawser draw-off mechanism of the invention under another visual angle；
Fig. 6 is the structural schematic diagram in motor section and motion transmission of the present invention portion；
Fig. 7 is the structural schematic diagram that structure section in proximal end of the present invention curves transmission chain；
Fig. 8 is that the present invention loads onto the structure after flexible operation tool outer casing, motor section shell, sterile barrier and linear mould group
Schematic diagram；
Fig. 9 is the structural schematic diagram that sterile barrier of the present invention is connect with cover board；
Figure 10 is structural schematic diagram of the sterile barrier of the present invention under another visual angle；
Figure 11 is that the present invention omits the vertical profile structural schematic diagram after far structure body；
Figure 12 is the structural schematic diagram that the present invention rotates integrally driving mechanism；
Figure 13 is structural schematic diagram of the far structure body of the present invention 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 and driving unit 20.
As shown in Figures 1 to 3, flexible operation tool 10 includes being connected by far structure body 11, near structure body 16 with middle part
The flexible Continuum Structure that body 15 is constituted.
Far structure body 11 includes the first distal end structure section 12 and the second distal end structure section 13, and the first distal end structure section 12 includes 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 includes 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 is remote
End space disc 131, which is respectively separated, to be distributed in the first distal end structure section 12 and the second distal end structure section 13, and effect is to prevent the first structure section
Structural bone 123 and the second unstability when being pushed away of structure section structure bone 133.
Near structure body 16 includes the first proximal end structure section 17 and the second proximal end structure section 18, as shown in figure 4, 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.The first structure section in first proximal end structure section 17
The first structure section structure bone 123 one-to-one correspondence in structural bone 173 and the first distal end structure section 12 is fastenedly connected or is same root structure
Bone；The second structure section structure bone 133 1 in the second structure section structure bone 183 and the second distal end structure section 13 in second proximal end structure section 18
One correspondence is fastenedly connected or is same root structural bone.For each proximal end structure section 17,18 or distal end structure section 12,13, structure
The quantity of bone is three or more.
As shown in figure 3, middle connection body 15 includes channel fixed plate 152 and is fastenedly connected between channel fixed plate 152
Structural bone guiding channel 151.One end of first structure section structure bone 173 (123) is fastenedly connected with the first proximal end fixed disk 172,
The other end sequentially passes through remote with first after the first proximal end space disc 171, structural bone guiding channel 151, the first distal end space disc 121
End fixed disk 122 is fastenedly connected.One end of second structure section structure bone 183 (133) is fastenedly connected with the second proximal end fixed disk 182,
The other end sequentially passes through the second proximal end space disc 181, structural bone guiding channel 151, first the 12, second distal end of distal end structure section interval
It is fastenedly connected after disk 131 with the second distal end fixed disk 132.The effect of structural bone guiding channel 151 is to maintain the first structure therein
Section structure bone 173 (123) and the second structure section structure bone 183 (133) are 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 is consistent with distal end structure joint number always.In addition, working as distal end structure
It when joint number is more than two, is connected between each distal end structure section using concatenated mode, i.e. the second structure section structure bone 133 is remote from first
Hold fixed disk 122, pass through on the first distal end space disc 121 (if the first structure section structure bone 123 uses tubular structure, can also be from the
It is passed through in one structure section structure bone 123).When proximal end structure joint number is more than two, it can use and be connected in series, solely between each structure section
It erects and sets or nested setting etc..In the present embodiment, using mode (such as Fig. 3 being independently arranged between two proximal end structure sections
It is shown), at this point, channel fixed plate 152 is three, the front end of structural bone guiding channel 151 and close 11 side of far structure body
Channel fixed plate 152 be fastenedly connected, structural bone guiding channel 151 divides for two parts, two-part structure bone guided channel 151
Rear end is fastenedly connected with other two channel fixed plate 152 respectively, and is respectively used to the first structure section structure bone 123 (173) of guidance
With the second structure section structure bone 133 (183).
As seen in figures 3-5, driving unit 20 includes driving unit fixed plate 21 and Duo Gen drive shaft 215, a part driving
Axis 215 is rotatably supported between the channel fixed plate 152 of driving unit fixed plate 21 and position rearward, another part drive shaft
215 are rotatably supported between driving unit fixed plate 21 and position channel fixed plate 152 placed in the middle, and before drive shaft 215
End is across corresponding channel fixed plate 152.Drive shaft 215 is eight in the present embodiment, and two channel fixed plates 152 and driving are single
Four drive shafts 215 are respectively arranged between first fixed plate 21.The rear end fastening of every drive shaft 215 is socketed with an output gear
214, output gear 214 is engaged with input gear 216, and the gear shaft of input gear 216 is pierced by driving unit fixed plate 21 backward
Extend.The front end of drive shaft 215 is provided with hawser draw-off mechanism 22, and hawser draw-off mechanism 22 includes bevel gear to (bevel gear
224,225), pulley 221, pulley base 223 and hawser 222, a bevel gear 224 of bevel gear centering and drive shaft 215 it is coaxial
It is fastenedly connected, another bevel gear 225 and the pulley 221 of bevel gear centering are coaxially fastenedly connected, bevel gear 224 and bevel gear
225 engagements, pulley 221 are rotatably supported on pulley base 223, and pulley base 223 is fixedly connected in channel fixed plate 152, hawser
222 one end is fastenedly connected with pulley 221, and the other end of hawser 222 is after channel fixed plate 152 or across the first proximal end
It space disc 171, the first proximal end fixed disk 172 and is fastenedly connected with hawser fixed block 163, or passes through the second proximal end space disc
181, it the second proximal end fixed disk 182 and is fastenedly connected with another hawser fixed block 163.Hawser fixed block 163 is fixedly connected on
The rear end of one proximal end fixed disk 172 or the second proximal end fixed disk 182.By rotating drive shaft 215, hawser 222 can be pulled simultaneously
Adjust its length in the first proximal end structure section 17 or the second proximal end structure section 18.
Restraining structure bone 161, restraining structure are provided at the center of the first proximal end structure section 17 and the second proximal end structure section 18
One end of bone 161 is fastenedly connected with channel fixed plate 152, and the other end is connect with the center fastener of hawser fixed block 163.About binding
Structure bone 161 has elasticity and can curve, so that curved shape of the proximal end structure section 17,18 under 222 coordinated drive of hawser is approximation
It is arc-shaped, and then when first (two) proximal end structure section 17 (18) is curved to a direction, first (two) distal end structure section 12 (13) will
With certain proportion relationship (by the distribution of first (two) structure section structure bone 173 (183) and first (two) structure section structure bone 123 (133)
Radius codetermines) it curves in the opposite direction.
In above-described embodiment, as shown in Figure 6, Figure 7, driving unit 20 further includes motor section 41 and motion transmission portion.Motor
Portion 41 includes motor fixing plate 402 and multiple first motors 411 being fastenedly connected with motor fixing plate 402.Motion transmission portion packet
It includes multiple proximal end structure sections and curves transmission chain 42, each proximal end structure section curves transmission chain 42 and passes through shaft coupling 412 and one first electricity
The output axis connection of machine 411, for the rotation output of a first motor 411 to be decomposed into the mutually reciprocal of two output shafts 405
To rotary motion, thus pass to a pair of of drive shaft 215 with realize to the collaboration of hawser fixed block 163 send pine and tense.Closely
It includes input gear 421, output gear 422, two (being also possible to other even numbers) idle pulleys 423 that end structure section, which curves transmission chain 42,
With two output shafts 405, input gear 421 is fastened and inserted on a wherein output shaft 405, and the rear end of the output shaft 405 passes through
The output shaft of the connection first motor 411 of shaft coupling 412；Output gear 422 is fastened and inserted on another output shaft 405, inputs tooth
It is sequentially connected between wheel 421 and output gear 422 by two (even number) idle pulleys 423.The front end of each output shaft 405 with
The gear shaft direct or indirect connection of one input gear 216 can be exported by the rotation of a first motor 411 drive as a result,
Two drive shafts 215 rotate (rotation reversely with each other of two drive shaft 215), to realize to the first proximal end structure section 17 or the second proximal end
Structure section 18 in a certain direction on curve driving.
In above-described embodiment, as shown in figs. 8-10, nothing is provided between motion transmission portion and driving unit fixed plate 21
Bacterium barrier 30, sterile barrier 30 include sterile barrier support plate 302, are fastenedly connected nothing in 302 periphery of sterile barrier support plate
Bacterium barrier outer cover 301 and multiple shaft coupling females 303 being rotatably connected in sterile barrier support plate 302.In each input tooth
The rear end of the gear shaft of wheel 216 is fastenedly connected a shaft coupling male connector 212 for connecting with shaft coupling female 303 (such as Fig. 3 institute
Show)；A shaft coupling male connector 403 for connecting with shaft coupling female 303 is fastenedly connected (such as in the front end of each output shaft 405
Shown in Fig. 6).The rotary motion of output shaft 405 can pass through shaft coupling male connector 403, shaft coupling female 303, shaft coupling male connector as a result,
212, input gear 216, output gear 214 pass to drive shaft 215.It is fastenedly connected that whether there is or not bacterium on sterile barrier outer cover 301
Film (not shown), can be equal positioned at the pervious part sterilized of sterile barrier 30 and movement biography by flexible operation tool 10
Dynamic portion, motor section 41 etc. are located at the later part not sterilized of sterile barrier 30 and keep apart, and guarantee the implementable of clinical operation
Property.
In above-described embodiment, as shown in Fig. 6, Figure 10, cover board 404, each output shaft 405 are set in the front end in motion transmission portion
Front end pass through cover board 404 and with cover board 404 be rotatablely connected, two groups of connection key seats 406 are provided on cover board 404；Correspondingly,
Also is provided in sterile barrier support plate 302 two groups for the connection key seat 304 that connect key seat 406 and quickly connect.So that
Sterile barrier 30 is fixedly connected with motion transmission portion and can transmit mass motion.
In above-described embodiment, as shown in Fig. 2, Figure 11, Figure 12, the front end of far structure body 11 is provided with operation actuator
101, the operation actuator control line 102 that one end is connect with operation actuator 101 is passed through from far structure body 11, the other end and hand
Art actuator driven mechanism 25 connects.The actuator driven mechanism 25 that performs the operation includes connecting rod 251, connection frame 252,253 and of screw rod
Nut 254, wherein connection frame 252 is the rectangular frame structure of rigidity and passes through two channel fixed plates 152；Before connecting rod 251
It holds and is fastenedly connected with the rear end of operation actuator control line 102, the rear end of connecting rod 251 is fastenedly connected with the front end for connecting frame 252,
The rear end of connection frame 252 is fastenedly connected with a screw rod 253, and nut 254 is connected on screw rod 253, and nut 254 rotates
It is connected in driving unit fixed plate 21.The second motor, the output shaft of the second motor are fastenedly connected on motor fixing plate 402
It being fastenedly connected by shaft coupling 412 and the rear end of output shaft 414, the front end fastening of output shaft 414 is socketed with input gear 441,
Input gear 441 is engaged with output gear 442, and output gear 442 is fastenedly connected with output shaft 415, the front end of output shaft 415 with
The rotation output of second motor is passed to nut 254, to convert by screw rod 253 by 254 direct or indirect connection of nut
To connect the linear motion of frame 252, and then operation actuator control line 102 is pushed or pulled to control 101 (such as hand of actuator of performing the operation
Art pincers) implementation movement.Operation actuator control line 102 can also transmit such as the various forms of energy of electric energy, high-frequency vibration to
Realize the particular procedure function (such as coagulation, cutting) of operation actuator 101.Further, the front end of output shaft 415 is fastenedly connected
There is shaft coupling male connector 416 (as shown in Figure 6), is fastenedly connected with shaft coupling male connector 213, shaft coupling male connector in the rear end of nut 254
416 are connect with shaft coupling male connector 213 by the shaft coupling female 305 (as shown in Figure 9, Figure 10) being located on sterile barrier 30.
In above-described embodiment, as shown in Fig. 8, Figure 12, the invention also includes outside flexibility operation tool outer casing 105 and motor section
Shell 401.Near structure body 16, middle connection body 15, the part in driving unit 20 in addition to motor section 41 and driving driving section
And operation actuator driven mechanism 25 is respectively positioned in flexible operation tool outer casing 105；Channel fixed plate 152 and driving unit are solid
Fixed board 21 is fastenedly connected with flexibility operation tool outer casing 105.Motor section 41 and motion transmission portion are respectively positioned on motor section shell 401
It is interior；The cover board 404 of motion transmission portion front end is fastenedly connected by sterile barrier 30 and flexibility operation tool outer casing 105, makes flexibility
Operation tool 10 can be rotated with motion transmission portion, 41 entirety of motor section.Cover board 404, motor fixing plate 402 are and motor
Portion's shell 401 is rotatablely connected.It is fastenedly connected with ring gear 432 in the inner wall of motor section shell 401, on motor fixing plate 402
It is fastenedly connected with third motor, the output shaft of third motor is connect by shaft coupling with the rear end of output shaft 417, output shaft 417
Front end be fastenedly connected input gear 433, input gear 433 is engaged with ring gear 432.When the output shaft of third motor rotates
When, drive input gear 433 to rotate, input gear 433 will walk along the circumferential direction of ring gear 432, so that the present invention be driven to remove
Part other than motor section shell 401 and ring gear 432 is integrally rotated, and realizes the roll angle to operation actuator 101
Control.
In above-described embodiment, as shown in figure 8, (linear mould group 50 is also through sterile film the invention also includes linear mould group 50
Keep apart with sterilization section) comprising the bracket 501 with sliding slot is provided with lead screw 503, in lead screw on bracket 501
It is arranged on 503 with lead screw 503 by being threadedly engaged and being slidably arranged in the sliding block 502 in sliding slot, is set in one end of bracket 501
It is equipped with motor 504, output shaft and the lead screw 503 of motor 504 are fastenedly connected by shaft coupling.Motor section shell 401 and sliding block 502
It is connected, when the rotation of the output shaft of motor 504, sliding block 502 will drive driving unit 20, sterile barrier 30 and flexible operation tool
10 do linear movement along the chute, to realize the feeding freedom degree of far structure body 11.
In above-described embodiment, as shown in figure 8, 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, rigidity can also be set
Outer tube 104 and sheath 60.In one application, sheath 60 is fixed on the single incision in abdominal cavity, far structure body 11 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 to put list to good use
Hole endoscope-assistant surgery.As shown in figure 13, sheath 60 can also using flexible sheath, can more easily protrude into human body it is all kinds of from
Right cavity and with the shape of cavity and cavity inlet is fixed in adaptively changing shape, one end of flexible sheath, distal colorectal
Structure body 11 can equally pass freely through flexible sheath and put on the through-hole passed through for operation tool together with strip of paper used for sealing 103, operation actuator 101
Art portion is reached to put the non-invasive procedures through natural cavity to good use.
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 (11)
1. a kind of flexible operation tool system using restraining structure bone, it is characterised in that: it includes flexible operation tool；It is described
Flexibility operation kit includes the flexible Continuum Structure being made of far structure body, near structure body and middle connection body；It is described
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 quantity proximal end structure section equal with the distal end structure joint number, and the proximal end structure section includes proximal end interval
Disk, proximal end fixed disk and structural bone；The middle connection body includes channel fixed plate and is arranged between the channel fixed plate
Structural bone guiding channel；The structural bone in structural bone and the proximal end structure section on the distal end structure section corresponds fastening and connects
It connects or for same root structural bone, one end of the structural bone is fastenedly connected with the proximal end fixed disk, sequentially pass through the proximal end
Space disc, the structural bone guiding channel, the distal end space disc, the other end are fastenedly connected with the distal end fixed disk；
Restraining structure bone, one end of the restraining structure bone and the close proximal end structure are provided centrally in the proximal end structure section
The channel fixed plate of section is fastenedly connected, and the other end is directly or indirectly connect with the center of the proximal end fixed disk, for protecting
It is constant to hold length when proximal end structure section curves.
2. a kind of flexible operation tool system using restraining structure bone as described in claim 1, it is characterised in that: further include
Driving unit, the driving unit include driving unit fixed plate, close to the proximal end structure section the channel fixed plate with
Rotational support has more drive shafts between the driving unit fixed plate, and the front end of each drive shaft is solid across the channel
Fixed board and one hawser draw-off mechanism of setting, the hawser draw-off mechanism is by passing through the proximal end space disc, proximal end fixed disk
Hawser is fastenedly connected with hawser fixed block, and the hawser fixed block is fastenedly connected with the proximal end fixed disk；The drive shaft rotation
When turning, the length that the hawser is located in the proximal end structure section is changed by the hawser draw-off mechanism.
3. a kind of flexible operation tool system using restraining structure bone as claimed in claim 2, it is characterised in that: the cable
Rope draw-off mechanism include bevel gear to, pulley, pulley base and the hawser；One bevel gear of the bevel gear centering with it is described
Drive shaft is coaxially fastenedly connected, another bevel gear and the pulley coaxle of the bevel gear centering are fastenedly connected, the cone
Two bevel gear engagements in gear mesh；The pulley rotation is supported on the pulley base, and the pulley base fastening connects
It connects in the channel fixed plate；One end of the hawser is fastenedly connected with the pulley, and the other end of the hawser penetrates institute
State proximal end structure section.
4. a kind of flexible operation tool system using restraining structure bone as claimed in claim 2, it is characterised in that: the drive
Moving cell further includes motor section and motion transmission portion；The motor section includes motor fixing plate and the multiple and motor fixing plate
The first motor being fastenedly connected；The motion transmission portion includes multiple for converting the rotation output of a first motor
Proximal end structure section for the rotary motion reversely with each other of two output shafts curves transmission chain；The front end of two output shafts and one
To the rear end direct or indirect connection of the drive shaft, the rotary motion of itself is passed into the drive shaft.
5. a kind of flexible operation tool system using restraining structure bone as claimed in claim 4, it is characterised in that: described close
It includes input gear, output gear, idle pulley and two output shafts, the input gear adapter sleeve that end structure section, which curves transmission chain,
Connect on an output shaft wherein, the output gear is fastened and inserted on another output shaft, two output shafts it
Between be sequentially connected by even number idle pulley；The rear end of the output shaft where the input gear passes through shaft coupling and described the
The output shaft of one motor is fastenedly connected.
6. a kind of flexible operation tool system using restraining structure bone as claimed in claim 4, it is characterised in that: described
Sterile barrier is provided between motion transmission portion and the driving unit fixed plate, the sterile barrier includes sterile barrier support
Plate, be fastenedly connected sterile barrier support plate periphery sterile barrier outer cover and multiple be rotatably connected on the sterile barrier
Shaft coupling female in support plate；It is fastenedly connected that whether there is or not mycoderms on the sterile barrier outer cover；
The rear end fastening of each drive shaft is socketed with output gear, and the output gear is engaged with input gear, described defeated
The gear shaft for entering gear passes through the driving unit fixed plate and is fastenedly connected with a first shaft coupling male connector；
The front end of each output shaft is fastenedly connected with a second shaft coupling male connector；The second shaft coupling male connector passes through position
It is connect in the shaft coupling female in the sterile barrier support plate with the first shaft coupling male connector.
7. a kind of flexible operation tool system using restraining structure bone as claimed in claim 6, it is characterised in that: described
The front end in motion transmission portion is provided with cover board, and the front end of each output shaft, which both passes through the cover board and rotates with the cover board, to be connected
It connects, the first connection key seat is provided on the cover board；It is provided in the sterile barrier support plate for described first
The second connection key seat that connection key seat quickly connects.
8. a kind of flexible operation tool system using restraining structure bone as claimed in claim 2, it is characterised in that: described
The front end of far structure body is provided with operation actuator, and the operation actuator control line that one end is connect with the operation actuator is from institute
It states in far structure body and passes through, the other end is connect with operation actuator driven mechanism；The operation actuator driven mechanism includes
Connecting rod, connection frame, screw rod, nut and shaft coupling male connector, the connection frame are rectangular frame structure, and the connection frame passes through close
The channel fixed plate of the proximal end structure section；The front end of the connecting rod and the rear end of the operation actuator control line fasten and connect
It connects, the rear end of the connecting rod and the front end of the connection frame are fastenedly connected, and the rear end of the connection frame is fastened with a screw rod
Connection, is connected with nut, the nut is rotatably connected in the driving unit fixed plate on the screw rod；
The driving unit further includes motor section；The motor section includes motor fixing plate and fastens company with the motor fixing plate
The second motor connect；The output shaft of second motor is fastenedly connected by the rear end of shaft coupling and the second output shaft, and described
The front end fastening of two output shafts is socketed with input gear, and the input gear is engaged with output gear, the output gear and the
Three output shafts are fastenedly connected, and the front end of the third output shaft and the nut direct or indirect connection transport the rotation of itself
The dynamic linear motion for passing to nut and being converted to the connection frame.
9. a kind of flexible operation tool system using restraining structure bone as claimed in claim 4, it is characterised in that: further include
Flexibility operation tool outer casing and motor section shell；The near structure body and middle connection body are respectively positioned on the flexible operation tool
In shell；The channel fixed plate and driving unit fixed plate are fastenedly connected with the flexible operation tool outer casing；The electricity
Machine portion and motion transmission portion are respectively positioned in motor section shell；The front end in the motion transmission portion is provided with cover board, the cover board
It is fastenedly connected by sterile barrier and the flexible operation tool outer casing；The cover board and motor fixing plate with the motor section
Shell rotation connection；It is fastenedly connected with ring gear in the inner wall of the motor section shell, tightens and is connected in the motor fixing plate
It is connected to third motor, the output shaft of the third motor is fastenedly connected by the rear end of shaft coupling and the 4th output shaft, and described
The front end of four output shafts is fastenedly connected with input gear, and the input gear is engaged with the ring gear.
10. a kind of flexible operation tool system using restraining structure bone as claimed in claim 4, it is characterised in that: also wrap
Include flexible operation tool outer casing, motor section shell and linear mould group；The near structure body and middle connection body are respectively positioned on described
In flexibility operation tool outer casing；The channel fixed plate and driving unit fixed plate are fastened with the flexible operation tool outer casing
Connection；The motor section and motion transmission portion are respectively positioned in motor section shell；The front end in the motion transmission portion is provided with lid
Plate, the cover board are fastenedly connected by sterile barrier and the flexible operation tool outer casing；The linear mould group includes bracket, tight
The Linear feed mechanism for being solidly connected the 4th motor on the bracket and being fastenedly connected with the output shaft of the 4th motor,
The output end of the Linear feed mechanism is fastenedly connected the shell of the motor section, and the 4th motor passes through the straight-line feed
Mechanism drives the motor section and motion transmission portion to drive the flexible Continuum Structure and driving unit position by sterile barrier
It moves along a straight line in the pervious part of the sterile barrier.
11. a kind of flexible operation tool system using restraining structure bone as claimed in claim 10, it is characterised in that: described
Linear feed mechanism includes the lead screw of rotation connection on the bracket, is arranged on the lead screw and passes through spiral shell with the lead screw
The sliding block of line cooperation, is provided with straight, the sliding block is slidably arranged in the straight on the bracket；It is described
The output shaft of 4th motor is fastenedly connected by shaft coupling and the lead screw.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797612.7A CN106236272B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using restraining structure bone |
| EP17845520.0A EP3508154B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| PCT/CN2017/099918 WO2018041218A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| US16/329,750 US11191425B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797612.7A CN106236272B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using restraining structure bone |
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| Publication Number | Publication Date |
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| CN106236272A CN106236272A (en) | 2016-12-21 |
| CN106236272B true CN106236272B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610797612.7A Active CN106236272B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using restraining structure bone |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018041218A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
| CN109866213A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Flexible bending structure and robot with it |
| CN110236684B (en) * | 2019-07-10 | 2024-02-27 | 北京唯迈医疗设备有限公司 | Slave-end propelling device of interventional operation robot and control method thereof |
| CN110797817B (en) * | 2019-11-29 | 2020-10-20 | 江苏华淼电子科技有限公司 | Spacer disc is laid to stranded cable |
| WO2022001188A1 (en) * | 2020-06-30 | 2022-01-06 | 北京术锐技术有限公司 | Continuum instrument and surgical robot |
| US20230329808A1 (en) * | 2020-06-30 | 2023-10-19 | Beijing Surgerii Technology Co., Ltd. | Continuum instrument and surgical robot |
| CN112998625B (en) * | 2021-02-08 | 2022-12-09 | 首都医科大学附属北京天坛医院 | Endoscope adapting device |
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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. |