CN106308939A - Driving unit used for driving flexible continuum structure - Google Patents
Driving unit used for driving flexible continuum structure Download PDFInfo
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- CN106308939A CN106308939A CN201610799232.7A CN201610799232A CN106308939A CN 106308939 A CN106308939 A CN 106308939A CN 201610799232 A CN201610799232 A CN 201610799232A CN 106308939 A CN106308939 A CN 106308939A
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- driving
- fixed
- driving structure
- bone
- flexible continuum
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
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Abstract
The invention relates to a driving unit used for driving a flexible continuum structure. The driving unit comprises a driving segment fixing disc, a driving segment base plate, driving segments, driving segment structural bones and structural bone driving mechanisms, wherein the driving segment fixing disc is arranged on a near-end fixing disc of a near-end structural body in the flexible continuum structure in a sleeving mode and is related to the near-end fixing disc, the driving segment base plate is arranged on a near-end base disc of the near-end structural body in a sleeving mode and is related to the near-end base disc, the driving segments are connected between the driving segment fixing disc and the driving segment base plate and arranged on the near-end structural body in a sleeving mode, the two ends of the driving segment structural bones penetrate through the driving segment base plate and then are fixed to the driving segment fixing disc, the middle sections of the driving segment structural bones can penetrate through the structural bone driving mechanisms, and the number of the structural bone driving mechanisms is kept consistent with that of the driving segment structural bones. The structural bone driving mechanisms push and pull the driving segment structural bones cooperatively to enable the driving segments to turn in any direction, and thus the near-end structural body can turn in the same direction.
Description
Technical field
The present invention relates to the drive mechanism of a kind of medical apparatus and instruments, be specifically related to a kind of for driving flexible Continuum Structure
Driver element.
Background technology
Porous peritoneoscope Minimally Invasive Surgery, because its wound is little, post-operative recovery fast, has occupied important in surgical operation
Status.Da Vinci (Leonardo da Vinci) operating robot of existing Intuitive Surgical company (intuition surgery company of the U.S.)
Auxiliary doctor completes porous peritoneoscope Minimally Invasive Surgery, achieves coml immense success.
Invasive surgery formula develops again single-hole laparoscopic surgery and the noinvasive through natural tract after porous laparoscopic surgery
Operation, they outputs less to patient trauma, postoperative are higher.But at single-hole laparoscopic surgery with through the non-invasive procedures of natural tract
In, all operating theater instruments including visual illumination module and operation technique arm all reach art portion by single channel, and this is right
The preparation of operating theater instruments requires extremely harsh.The distal structure of existing operating theater instruments is mainly the hinged in series of many rod members, uses
Lineoutofservice signal pull drives, and makes operating theater instruments realize curving at articulation joint.Owing to steel wire rope must keep lasting by pulley
Tensioning state, this type of drive is difficult to the further miniaturization of operating theater instruments, is also difficult to promote further the fortune of apparatus
Dynamic performance.And for operating theater instruments based on flexible Continuum Structure, there is no at present and quickly can be connected with flexible Continuum Structure
Modular event driven unit.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of driver element for driving flexible Continuum Structure.
For achieving the above object, the present invention is by the following technical solutions: a kind of for driving driving of flexible Continuum Structure
Moving cell, it is characterised in that this driver element includes: be coated at the near-end of near structure body in described flexible Continuum Structure solid
On price fixing and be mutually related driving structure joint fixed disk, be coated on the proximal base dish of described near structure body and interrelated
Driving structure joint base plate, be connected to described driving structure joint fixed disk and drive structure joint base plate between and be coated at described near-end
Driving structure joint on structure, two ends are each passed through after described driving structure saves base plate and are fixed on described driving structure joint fixed disk
On driving structure nodule llex cornuta, and make the structural bone drive mechanism that described driving structure nodule llex cornuta stage casing passes therethrough, and
Described structural bone drive mechanism quantity keeps consistent with described driving structure nodule llex cornuta quantity；Described structural bone drive mechanism is passed through
Drive structure nodule llex cornuta to realize described driving structure joint to the motion that curves of any direction described in collaborative push-and-pull, thus realize described closely
End structure body curves motion to equidirectional.
In a preferred embodiment, described driver element also includes: is coated at the first of described middle connection body and consolidates
On the plate of fixed end and second fixed charge method end plate that is mutually related, the feedback knot that more than two and a part are arranged in described driving structure joint
Llex cornuta, and the potentiometer equal with described feedback arrangement bone quantity；Wherein, described structural bone drive mechanism is fixed on described
On two fixed charge method end plates, described driving structure nodule llex cornuta two ends pass from described first structural bone guiding channel respectively；Described feedback
Structural bone two ends are separately fixed on the slide block in described driving structure joint fixed disk and potentiometer.
In a preferred embodiment, described driver element also includes that the operation being arranged in described middle connection body is held
Row device control line transmission mechanism, described operation executor is controlled line transmission mechanism and is included: be fixed on the guiding on described proximal base dish
Block and space disc, run through the centre bore of described bootstrap block, and the connection that can seesaw in the centre bore of described bootstrap block
Block, two ends are individually fixed in the control line guiding channel on described first fixed charge method end plate and space disc, and one end sequentially passes through described control
Being fixed on after the centre bore of line guiding channel and space disc on described contiguous block, the other end is solid from the first of described middle connection body
Determining end plate central to pass, stretch in the far structure body of described flexible Continuum Structure and extend therewith, final end is solid
Operation executor on the operation executor of described flexible Continuum Structure far-end controls line, and is fixed on described contiguous block
On the first Magnet.
In a preferred embodiment, described operation actuator driven mechanism includes: motor drive component, with described electricity
Machine drives the bevel gear box that the outfan of assembly connects, the chute overcoat being installed on described bevel gear box, is positioned at described chute
In overcoat and is connected Linear transmission assembly with the outfan of described bevel gear box, is arranged at intervals at described chute overcoat interior and can
Two sliding shoes of slide anteroposterior, and wherein sliding shoe described in is connected with the movable end of described Linear transmission assembly, is installed on another
The second Magnet on sliding shoe described in, and two ends fix, with sliding shoe described in two, the spring being connected；Described motor driving group
Power is transferred to described Linear transmission assembly by described bevel gear box by part, and described Linear transmission Component driver is attached thereto
Described sliding shoe is slide anteroposterior under the lateral slot of described chute overcoat guides；In described operation actuator driven mechanism second
Magnet is controlled the first Magnet in line transmission mechanism with described operation executor and is coupled transmission push-and-pull campaign, thus realizes described operation
The motor control of executor；It is steady that described spring makes described nut, in limited slip stroke, described operation executor be controlled line output
Fixed controlled push and draw force, prevents described operation executor from producing excessive gmatjpdumamics.
In a preferred embodiment, described motor drive component includes: for installing the connection of described bevel gear box
Framework, is installed on the motor fixing plate on described connection framework and gripper shoe, and the operation being installed on described motor fixing plate is held
Row device drives motor, and the travelling gear pair that rotary setting is in described gripper shoe；Wherein, described travelling gear centering is defeated
Enter gear coaxially connected with the output shaft of described operation actuator driven motor by shaft coupling, the output of described travelling gear pair
Gear is coaxially connected with the input of described bevel gear box.
In a preferred embodiment, described Linear transmission assembly includes: be positioned at described chute overcoat and with described
The screw rod that the outfan of bevel gear box is coaxially connected, and by threaded engagement nut on described screw rod；Described nut is
The movable end of described Linear transmission assembly, it turns slide block by resistance and is fastenedly connected with wherein sliding shoe described in.
In a preferred embodiment, described structural bone drive mechanism includes: interval arranges and passes through support column successively
Two driving gripper shoe and the motor fixing plates linked into an integrated entity, the structural bone being installed on described motor fixing plate drives motor,
Rotary setting drives the driving gear set between gripper shoe and assembly pulley in described two, is driven with described structural bone by shaft coupling
The driving gear that motor is connected, and one end and described driving structure joint base plate fix be connected, the other end is fastenedly connected in described
Structural bone guiding channel on support column；Described driving gear set and assembly pulley respectively constitute some pulley teeth wheels, often in group
Pulley and gear are fixedly and coaxially connected, and engage each other between each described gear；Described driving structure nodule llex cornuta is through described structural bone
Guiding channel stretches into described in each group between the pulley of pulley teeth wheels, described driving gear and pulley teeth wheels described in one of which
In gear engagement transmission driving force, described driving gear set and assembly pulley rotate together about respective axis, and then by friction
Power realizes the push-and-pull to described driving structure nodule llex cornuta.
Due to the fact that and take above technical scheme, the driver element that it has the advantage that 1, the present invention provides drives
Dynamic structure joint associates with the near structure body of flexible Continuum Structure, and driver element can make driving structure joint together with near structure body to appointing
Meaning direction curves, and makes the far structure body associated with near structure body curve to correspondingly rightabout simultaneously, therefore can realize
The flexible surgical arm being made up of far structure body any to curving motion.2, the driver element of the present invention include assembly pulley and
It is close to the driving structure nodule llex cornuta on assembly pulley surface, drives structure nodule llex cornuta to produce local deformation in assembly pulley, therefore, logical
Assembly pulley of overdriving rotates and i.e. can realize the push-and-pull driving structure nodule llex cornuta with very-close-coupled structure.3, the operation of the present invention is held
Row device control line arrives middle connection body through far structure body, is provided with for driving operation executor's control in middle connection body
Line carries out the operation executor of linear movement and controls line transmission mechanism, and operation actuator driven unit can drive it linearly to transport
Dynamic, it is achieved the action control to operation executor；Operation actuator driven unit is provided with flexible member, prevents there is being restricted driving
In journey, operation executor is controlled line and apply excessive push-pull effort.4, the driving structure joint of the present invention can quickly connect with near structure body
Connecing, meanwhile, operation executor controls line transmission mechanism and operation actuator driven unit can quickly connect, it is preferable that this quickly connects
Connection function can use Magnet；By quick linkage function, flexible Continuum Structure and operation executor control line transmission mechanism group
The flexible operation tool become can fast quick-detach or replacing from Modular Flexible operation tool system.5, the potentiometer of the present invention with
Drive structure joint association, can Real-time Feedback drive structure joint attitude, when the system failure, can process auxiliary drive structure joint be back to initial appearance
State, therefore, can make flexible surgical arm be back to initial attitude.
Accompanying drawing explanation
Fig. 1 is the scheme of installation that the present invention is connected to flexible Continuum Structure；
Fig. 2 is that the present invention executor that performs the operation controls the structural representation of line transmission mechanism
Fig. 3 is present invention structural representation of driver element in addition to operation executor controls line transmission mechanism；
Fig. 4 A is the structural representation of present configuration bone drive mechanism；
Fig. 4 B is the partial schematic diagram of present configuration bone drive mechanism；
Fig. 5 is that the present invention performs the operation the structural representation of actuator driven mechanism.
Detailed description of the invention
Below with reference to accompanying drawing, presently preferred embodiments of the present invention is described in detail, in order to become apparent from understanding the present invention's
Objects, features and advantages.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and be simply
The connotation of explanation technical solution of the present invention.
As shown in FIG. 1 to 3, the driver element 30 that the present invention the provides executor that includes performing the operation controls line transmission mechanism 202, near
End structure body drive mechanism 30 and operation actuator driven mechanism 311.
As shown in Figure 1, 2, operation executor is controlled line transmission mechanism 202 and is arranged in the middle part connection of flexible Continuum Structure 10
In body 12, it includes space disc 203, bootstrap block 204, contiguous block 205, Magnet 206, operation executor controls line 207 and control line draws
Pathway 208.Two space discs 203 and bootstrap block 204 are fixed near structure body in flexible Continuum Structure 10 by support column
On the proximal base dish 134 of 13, contiguous block 205 runs through the centre bore of bootstrap block 204, it is possible at the centre bore of bootstrap block 204
In seesaw.Control line guiding channel 208 two ends are individually fixed in fixed charge method end plate 121 and the space disc 203 of middle connection body 12
On, operation executor controls line 207 one end through after control line guiding channel 208, is then passed through the centre bore of space disc 203 and is fixed on even
Connecing on block 205, the executor that prevents from performing the operation is controlled line 207 and is pushed away unstability for the acting as of space disc 203.It is another that operation executor controls line 207
One end passes from fixed charge method end plate 121 center of middle connection body 12, stretches in far structure body 11 and extends therewith, finally
End is fixed on the operation executor 201 of flexible Continuum Structure 10 far-end.Magnet 206 is fixed on contiguous block 205, passes through
Push-and-pull contiguous block 205 can realize controlling the push-and-pull of line 207 for operation executor, and then realizes mechanical operation executor
The action control of 201 (such as operating forcepies etc.).It will be understood by those skilled in the art that operation executor is controlled line 207 and equally may be used
Transmit such as electric energy, the operation executor 201 (such as electric knife, ultrasound knife etc.) of supersonic vibration homenergic to electrosurgery formula, to implement
Electrosurgery.
As it is shown on figure 3, near structure body drive mechanism 30 includes driving structure joint 301, driving structure joint fixed disk 302, driving
Structure septa intersegmental dish 303, driving structure joint base plate 304, driving structure nodule llex cornuta 305, structural bone guiding channel 306, feedback arrangement
Bone 307, potentiometer 308, fixed charge method end plate 309 and structural bone drive mechanism 310.Driving structure joint 301 is from driving structure joint fixed disk
302 to the tubbiness circulus driving structure to save base plate 304, the structure joint number amount of driving structure joint 301 and length and near structure body
Near-end structure joint number amount in 13 keeps consistent.Drive structure joint 301 to be enclosed within outside near structure body 13, and drive structure joint fixed disk 302
It is enclosed within outward on the near-end fixed disk of near structure body 13 and can mutually connect by Quick fastening；Similar, drive structure joint base plate 304
It is enclosed within outward on the proximal base dish 134 of near structure body 13 and can mutually connect by Quick fastening.Structural bone drive mechanism 310 and electricity
Position meter 308 is fixed on fixed charge method end plate 309, is enclosed within the fixed charge method end plate 121 of middle connection body 12 and can phase outside fixed charge method end plate 309
Quick fastening connects mutually, and structural bone drive mechanism 310 quantity keeps consistent with driving structure nodule llex cornuta 305 quantity, potentiometer 308
Quantity then with the quantity of feedback arrangement bone 307 keep consistent.Structural bone guiding channel 306 one end and structural bone drive mechanism
310 fixing connections, the other end is fixing with driving structure joint base plate 304 to be connected.Drive structure septa intersegmental dish 303 spaced apart in driving
Between structure joint base plate 304 and driving structure joint fixed disk 302, drive structure nodule llex cornuta 305 stage casing from structural bone drive mechanism 310
Passing, two ends are respectively by sequentially passing through driving structure joint base plate 304 and driving structure septa intersegmental dish after structural bone guiding channel 306
303, and be individually fixed on driving structure joint fixed disk 302, driving structure nodule llex cornuta 305 quantity in each driving structure joint 301
Must be more than two (being two in the present embodiment), drive structure septa intersegmental dish 303 act as prevent drive structure nodule llex cornuta
305 unstabilitys when being pushed away.Structural bone drive mechanism 310 by collaborative push-and-pull drive structure nodule llex cornuta 305 realize drive structure joint 301 to
Any direction curve motion, thus realize near structure body 13 and curve motion to equidirectional, final realize flexible continuously
The far structure body 11 of body structure 10 round about curve motion.A part for feedback arrangement bone 307 is arranged on driving structure
In joint 301, and its quantity in each driving structure joint 301 must be more than two (preferably two), feedback arrangement bone 307
Quantity must keep consistent with potentiometer 308, and feedback arrangement bone 307 two ends are separately fixed at driving structure joint fixed disk 302 and current potential
On slide block in meter 308, drive structure joint 301 curves the portion that feedback arrangement bone 307 will be caused to be positioned in driving structure joint 301 that moves
Point length change, the change of this length by cause feedback arrangement bone 307 to the push-and-pull of slide block in potentiometer 308 so that this is long
Degree change is by potentiometer 308 record.Owing to driving the length of structure joint 301 can keep constant, whole feedback arrangement bones 307 are driving
The length combination of the part in structure joint 301 will uniquely determine that the plane that curves driving structure joint is pointed to and curved in this curves plane
Gyration, therefore can obtain when front wheel driving structure saves the absolute meandering shape of 301 by potentiometer 308 and feedback arrangement bone 307, with
Realize further to the closed loop control driving structure joint.
As shown in Fig. 4 A, Fig. 4 B, structural bone drive mechanism 310 includes that structural bone drives motor 3101, shaft coupling 3102, drives
Moving gear 3103, driving gear set 3104, assembly pulley 3105, driving gripper shoe 3106, motor fixing plate 3107 and support column
3108.Wherein, two gripper shoe 3106 and a motor fixing plate 3107 is driven to be spaced setting successively and are connected by support column 3108
Integral, driving gear set 3104 and assembly pulley 3105 rotary setting drive between gripper shoe 3106 in two, and if respectively constituting
Dry pulley teeth wheels, often group middle pulley and the fixing connection of gear, engage each other between each gear.Gear 3103 is driven to pass through shaft coupling
Device 3102 drives motor 3101 to be connected with structural bone, drives gear 3103 to engage biography with the gear in one of which pulley teeth wheels
Pass driving force, drive gear set 3104 and assembly pulley 3105 to rotate together about respective axis, and then realized driving by frictional force
The push-and-pull of dynamic structure nodule llex cornuta 305.Structural bone guiding channel 306 one end is fixing with support column 3108 to be connected, and drives structure nodule structure
Bone 305 stretches between the pulley of each group of pulley teeth wheels through structural bone guiding channel 306, and produces under the squeezing action of pulley
Local deformation, is thus producing bigger frictional force on the contact surface of pulley.It should be noted that the number of pulley teeth wheels
Amount, size and position distribution can be adjusted according to the size driving structure nodule llex cornuta 305 to move required driving force, to protect
Card drives in structure nodule llex cornuta 305 motor process and will not relatively skid by assembly pulley 3105.
As shown in Figure 1, shown in Figure 5, operation actuator driven mechanism 311 includes connecting framework 3111, operation actuator driven electricity
Machine 3112, motor fixing plate 3113, shaft coupling 3114, gripper shoe 3115, travelling gear to 3116, bevel gear box 3117, screw rod
3118, nut 3119, sliding shoe 3120, spring 3121, resistance turn slide block 3122, chute overcoat 3123 and Magnet 3124.Wherein, electricity
Machine fixed plate 3113, gripper shoe 3115 and bevel gear box 3117 are each attached to connect on framework 3111, perform for fixing operation
Device drives motor 3112 and supports gear shaft, and the input gear in 3116 is coaxially fixed by travelling gear with shaft coupling 3114, biography
The output gear of 3116 is coaxially fixed by moving gear with the input of bevel gear box 3117.Operation actuator driven motor 3112 leads to
Cross shaft coupling 3114, travelling gear and 3116 and bevel gear box 3117 are realized the rotation of screw rod 3118.Chute overcoat 3123 is fixed
On bevel gear box 3117, screw rod 3118 is positioned at chute overcoat 3123 and the outfan with bevel gear box 3117 is coaxially fixed,
Nut 3119 and screw rod 3118 pass through threaded engagement.Sliding shoe 3120 is spaced two and can be in chute overcoat 3123
Slide anteroposterior, nut 3119 turns slide block 3122 by resistance and is connected with wherein a sliding shoe 3120 is fixing, turns slide block 3122 in resistance
Under effect, screw rod 3118 rotates before and after driving nut 3119 and sliding shoe 3120 under the lateral slot of chute overcoat 3123 guides sliding
Dynamic.Magnet 3124 is fixed on another sliding shoe 3120 end, can control the Magnet 206 in line transmission mechanism 202 with operation executor
Coupling transmission push-and-pull campaign, thus realize the motor control of operation executor 201.The two ends of spring 3121 respectively with two sliding shoes
3120 fixing connect, can make nut 3119 in limited slip stroke, operation executor is controlled line 207 output stablize controlled push away,
Pulling force, and prevent operation executor 201 (such as operating forceps etc.) from producing excessive gmatjpdumamics.
The present invention provide driver element 30 in use, when the structural bone drive mechanism 310 in driver element 30 drives
The near structure body 13 of flexible Continuum Structure 10 is when any direction curves, and far structure body 11 is the most in the opposite direction
Curving, the operation actuator driven mechanism 311 in driver element 30 can drive the operation executor of far structure body 11 end
201, it is achieved the action control of operation executor 201.
The present invention only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all to have
Changed.On the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention or equivalent
Conversion, the most should not get rid of outside protection scope of the present invention.
Claims (7)
1. the driver element being used for driving flexible Continuum Structure, it is characterised in that this driver element includes:
It is coated in described flexible Continuum Structure on the near-end fixed disk of near structure body and the driving structure joint that is mutually related is solid
Price fixing,
Be coated on the proximal base dish of described near structure body and be mutually related driving structure joint base plate,
It is connected to described driving structure joint fixed disk and drives between structure joint base plate and be coated at driving in described near structure body
Dynamic structure joint,
Two ends are each passed through after described driving structure saves base plate and are fixed on the driving structure nodule on described driving structure joint fixed disk
Llex cornuta, and
Make the structural bone drive mechanism that described driving structure nodule llex cornuta stage casing passes therethrough, and described structural bone drive mechanism number
Measure and keep consistent with described driving structure nodule llex cornuta quantity；
Described structural bone drive mechanism realizes described driving structure joint to arbitrarily side by driving structure nodule llex cornuta described in collaborative push-and-pull
To curve motion, thus realize described near structure body and curve motion to equidirectional.
A kind of for driving the driver element of flexible Continuum Structure, it is characterised in that described in drive
Moving cell also includes:
Be coated on the first fixed charge method end plate of described middle connection body and be mutually related the second fixed charge method end plate,
More than two and a part are arranged at the feedback arrangement bone in described driving structure joint, and
The potentiometer equal with described feedback arrangement bone quantity；
Wherein, described structural bone drive mechanism is fixed on described second fixed charge method end plate, and described driving structure nodule llex cornuta two ends are divided
Do not pass from described first structural bone guiding channel；Described feedback arrangement bone two ends are separately fixed at described driving structure joint fixed disk
With on the slide block in potentiometer.
A kind of for driving the driver element of flexible Continuum Structure, it is characterised in that described in drive
Moving cell also includes that the operation executor being arranged in described middle connection body controls line transmission mechanism, and described operation executor controls line
Drive mechanism includes:
It is fixed on the bootstrap block on described proximal base dish and space disc,
Run through the centre bore of described bootstrap block, and the contiguous block that can seesaw in the centre bore of described bootstrap block,
Two ends are individually fixed in the control line guiding channel on described first fixed charge method end plate and space disc,
One end is fixed on described contiguous block after sequentially passing through the centre bore of described control line guiding channel and space disc, the other end from
First fixed charge method end plate center of described middle connection body passes, stretch in the far structure body of described flexible Continuum Structure and with
Extend together, final end is fixed on the operation executor control on the operation executor of described flexible Continuum Structure far-end
Line, and
The first Magnet being fixed on described contiguous block.
A kind of for driving the driver element of flexible Continuum Structure, it is characterised in that described hands
Art actuator driven mechanism includes:
Motor drive component,
The bevel gear box being connected with the outfan of described motor drive component,
The chute overcoat being installed on described bevel gear box,
It is positioned at described chute overcoat and the outfan with described bevel gear box is connected Linear transmission assembly,
Be arranged at intervals in described chute overcoat and can two sliding shoes of slide anteroposterior, and wherein sliding shoe described in described
The movable end of Linear transmission assembly connects,
It is installed on the second Magnet on another described sliding shoe, and
The spring being connected is fixed, with sliding shoe described in two, in two ends；
Power is transferred to described Linear transmission assembly, described Linear transmission by described bevel gear box by described motor drive component
The described sliding shoe that Component driver is attached thereto is slide anteroposterior under the lateral slot of described chute overcoat guides；Described operation performs
The second Magnet in device drive mechanism is controlled the first Magnet in line transmission mechanism with described operation executor and is coupled transmission push-and-pull fortune
Dynamic, thus realize the motor control of described operation executor；Described spring makes described nut to described in limited slip stroke
Operation executor is controlled line output and is stablized controlled push and draw force, prevents described operation executor from producing excessive gmatjpdumamics.
A kind of for driving the driver element of flexible Continuum Structure, it is characterised in that described electricity
Machine drives assembly to include:
For installing the connection framework of described bevel gear box,
It is installed on the motor fixing plate on described connection framework and gripper shoe,
The operation actuator driven motor being installed on described motor fixing plate, and
Rotary setting travelling gear pair in described gripper shoe；
Wherein, the input gear of described travelling gear centering is by the output shaft of shaft coupling with described operation actuator driven motor
Coaxially connected, the output gear of described travelling gear pair is coaxially connected with the input of described bevel gear box.
A kind of for driving the driver element of flexible Continuum Structure, it is characterised in that described directly
Line transmission component includes:
It is positioned at described chute overcoat and the screw rod coaxially connected with the outfan of described bevel gear box, and
By threaded engagement nut on described screw rod；
Described nut is the movable end of described Linear transmission assembly, and it turns slide block with wherein sliding shoe fastening described in even by resistance
Connect.
A kind of for driving the driver element of flexible Continuum Structure, it is characterised in that described knot
Llex cornuta drive mechanism includes:
Two driving gripper shoe and the motor fixing plates that interval is arranged and linked into an integrated entity by support column successively,
The structural bone being installed on described motor fixing plate drives motor,
Rotary setting drives the driving gear set between gripper shoe and assembly pulley in described two,
The driving gear being connected with described structural bone driving motor by shaft coupling, and
One end and described driving structure joint base plate fix is connected, structural bone guiding that the other end is fastenedly connected on described support column
Passage；
Described driving gear set and assembly pulley respectively constitute some pulley teeth wheels, and often group middle pulley and gear are coaxially fixing connects
Connect, engage each other between each described gear；Described driving structure nodule llex cornuta stretches into described in each group through described structural bone guiding channel
Between the pulley of pulley teeth wheels, described driving gear engages transmission and drives with the gear in pulley teeth wheels described in one of which
Power, described driving gear set and assembly pulley rotate together about respective axis, and then realize saving described driving structure by frictional force
The push-and-pull of structural bone.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799232.7A CN106308939B (en) | 2016-08-31 | 2016-08-31 | It is a kind of for driving the driving unit of flexible Continuum Structure |
| EP17845533.3A EP3508166B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument and driving unit thereof |
| US16/329,752 US11642112B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument and driving unit thereof |
| PCT/CN2017/100021 WO2018041231A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument and driving unit thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799232.7A CN106308939B (en) | 2016-08-31 | 2016-08-31 | It is a kind of for driving the driving unit of flexible Continuum Structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106308939A true CN106308939A (en) | 2017-01-11 |
| CN106308939B CN106308939B (en) | 2019-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610799232.7A Active CN106308939B (en) | 2016-08-31 | 2016-08-31 | It is a kind of for driving the driving unit of flexible Continuum Structure |
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|---|---|
| CN (1) | CN106308939B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110507416A (en) * | 2019-07-12 | 2019-11-29 | 南京航空航天大学 | Using the minimally invasive surgery system and its control method for self-deploying flexible fine motion arm |
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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. |