CN113855102A

CN113855102A - Surgical tool driving transmission system based on plane motion mechanism and surgical robot

Info

Publication number: CN113855102A
Application number: CN202010617370.5A
Authority: CN
Inventors: 徐凯; 刘旭
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-12-31

Abstract

The invention relates to a surgical tool driving transmission system based on a plane motion mechanism and a surgical robot, comprising a flexible continuum and a driving mechanism; the flexible continuum includes: a proximal continuum comprising a proximal disc, a proximal end stop and a structural bone; a distal continuum comprising a distal base disc and a distal stop disc; a drive connecting portion, a distal end of which is connected with the proximal end base disc, a proximal end of which passes through the proximal end stop disc and is connected with the proximal end stop disc, and a part of the drive connecting portion, which is located on a proximal end side of the proximal end stop disc, forms a free end; the near ends of the multiple structural bones are fixedly connected with the near end stopping disc, and the far ends of the multiple structural bones sequentially penetrate through the near end basal disc and the far end basal disc and are fixedly connected with the far end stopping disc; the driving mechanism is connected with the free end of the driving connecting part. The invention can avoid directly pushing and pulling the driving wires of the flexible continuous body, is not limited by the number of the driving mechanisms when driving a plurality of driving wires, and has the advantages of compact structure, simple principle, easy realization, high reliability and flexibility.

Description

Surgical tool driving transmission system based on plane motion mechanism and surgical robot

Technical Field

The invention relates to a driving transmission device, in particular to a surgical tool driving transmission system based on a plane motion mechanism and a surgical robot comprising the surgical tool driving transmission system.

Background

Minimally invasive surgery has become an important place in surgical procedures because of its less trauma to patients and higher postoperative yield. The minimally invasive surgery type utilizes surgical tools and surgical instruments including a visual lighting module and a surgical operation arm to enter a human body through an incision or a natural cavity to reach an operation part for surgery. The far end structure of the existing surgical instrument is mainly formed by serially connecting and hinging a plurality of rod pieces, and the surgical instrument is driven by the tensile force of a steel wire rope to realize the bending at a hinged joint. Because the steel wire rope must be kept in a continuous tension state through the pulley, the driving mode is difficult to realize further miniaturization of the surgical instrument and further improve the motion performance of the instrument.

Compared with the traditional rigid kinematic chain which realizes bending motion by mutual rotation at joints, the flexible continuum structure realizes bending deformation of a far-end structure by deformation of a near-end structure thereof, and a structure main body can simultaneously become a driving transmission structure, so extremely high degree of freedom configuration can be realized in a small-size space range, and the flexible continuum structure is widely applied to medical instruments such as a flexible operating arm, an endoscope and a controllable catheter, and research and development of novel special equipment such as an industrial deep cavity detection endoscope and a flexible mechanical arm.

The existing continuum structure generally adopts a driving mechanism to directly push and pull a driving wire in the continuum structure, so that the continuum structure is bent towards any direction, but along with the stricter requirements on the continuum structure, such as high precision, fast response, high bending flexibility, good stability and the like, the existing driving structure can not meet the requirements gradually, and the existing driving modes are that the driving wire is directly pushed and pulled to move, so that when the number of the driving wires is large, the number of the driving mechanism can be correspondingly increased, and the structure is complex.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a driving transmission system for surgical tools based on a planar motion mechanism, so as to avoid directly pushing and pulling the driving wires of a flexible continuous body, and when driving a large number of driving wires, the driving transmission system is not limited by the number of driving mechanisms, and has the advantages of compact structure, simple principle, easy implementation, high reliability and flexibility; it is another object of the present invention to provide a surgical robot incorporating the surgical tool drive transmission system.

In order to achieve the purpose, the invention adopts the following technical scheme: a surgical tool drive transmission system based on a planar motion mechanism comprises a flexible continuum structure and a drive mechanism; the flexible continuum structure comprises: a proximal continuum comprising a proximal disc, a proximal end stop and a structural bone; a distal continuum comprising a distal end base plate, a distal end stop plate, and the structural bone; a drive connection portion, a distal end of which is connected with the proximal base plate, a proximal end of which passes through the proximal end stop plate and is connected with the proximal end stop plate, and a portion of which on a proximal side of the proximal end stop plate forms a free end; the proximal ends of the structural bones are fixedly connected with the proximal end stopping disc, and the distal ends of the structural bones sequentially penetrate through the proximal end basal disc and the distal end basal disc and then are fixedly connected with the distal end stopping disc; the driving mechanism is a plane motion mechanism, and the plane motion mechanism is connected with the free end of the driving connection part.

The surgical tool driving transmission system is preferably a planar motion mechanism which is a planar linkage mechanism.

The surgical tool driving transmission system preferably comprises a planar five-bar mechanism, wherein the planar five-bar mechanism comprises a first connecting bar, a second connecting bar, a third connecting bar, a fourth connecting bar, a fifth connecting bar, an output shaft, a first input shaft and a second input shaft;

the first connecting rod is fixedly arranged, and the first input shaft and the second input shaft are rotatably arranged on the first connecting rod; one end of the second connecting rod is fixedly connected with the first input shaft, and the other end of the second connecting rod is hinged with one end of the third connecting rod; one end of the fifth connecting rod is fixedly connected with the second input shaft, the other end of the fifth connecting rod is hinged with one end of the fourth connecting rod, the other end of the fourth connecting rod is also hinged with the other end of the third connecting rod, the other ends of the third connecting rod and the fourth connecting rod are respectively hinged with the output shaft, and the output shaft is connected with the driving connecting part.

The surgical tool driving transmission system preferably further comprises a structural bone guiding tube bundle connected between the proximal base plate and the distal base plate, and the distal ends of the structural bones sequentially penetrate through the proximal base plate, the structural bone guiding tube bundle and the distal base plate and are fixedly connected with the distal end stop plate.

Preferably, the structural bone is an elastic thin rod or a thin tube made of super-elastic material, and a plurality of the structural bones are distributed along the circumferential direction, and the structural bone guiding tube bundle is a steel tube bundle.

The surgical tool drive transmission system, preferably, the proximal continuum further comprises at least one proximal retention disc disposed between the proximal base disc and the proximal stop disc, each of the structural bones passing through the proximal retention disc in sequence;

also, the distal continuum includes at least one distal retention disc disposed between the distal base disc and the distal stop disc, each of the structural bones passing through the distal retention disc.

The surgical tool drive transmission system is preferably further provided with at least one guide tube bundle holding plate between the proximal base plate and the distal base plate, through which the structural bone guide tube bundle passes.

The surgical tool driving transmission system is preferably characterized in that the driving connection part is one of a universal joint, a spherical hinge joint, a hinge joint or a universal joint-spherical hinge joint combination.

The surgical tool drive transmission system is preferably configured such that the drive connection portion is a double-joint universal joint, the double-joint universal joint is mainly formed by connecting a first universal joint and a second universal joint in series, a distal end of the first universal joint is connected to the proximal base plate, a proximal end of the first universal joint is connected to a distal end of the second universal joint, a proximal end of the second universal joint passes through the proximal end stop plate and is connected to the proximal end stop plate, and a portion of the second universal joint located on a proximal end side of the proximal end stop plate forms a free end;

or the driving connecting part is a double-joint spherical hinge joint which is mainly formed by connecting a first spherical hinge joint and a second spherical hinge joint in series, the far end of the first spherical hinge joint is connected with the near-end base plate, the near end of the first spherical hinge joint is connected with the far end of the second spherical hinge joint through a universal coupling, the near end of the second spherical hinge joint penetrates through the near-end stop disc and is connected with the near-end stop disc, and the part of the second spherical hinge joint, which is positioned at the near-end side of the near-end stop disc, forms a free end;

or the driving connecting part is a four-link hinge joint which is mainly formed by sequentially connecting a first link, a second link, a third link and a fourth link in series, wherein the far end of the first link is connected with the near-end base plate, the near end of the first link is hinged with the far end of the second link, the near end of the second link is connected with the far-end cylindrical pair of the third link, the near end of the third link is hinged with the far end of the fourth link, the near end of the fourth link penetrates through the near-end stop disc and is connected with the near-end stop disc, and the part of the fourth link, which is positioned at the near-end side of the near-end stop disc, forms a free end;

and the driving connecting part is a universal joint-spherical hinge joint, one end of the universal joint-spherical hinge joint is connected with the near-end base plate, the other end of the universal joint-spherical hinge joint penetrates through the near-end stop plate and is connected with the near-end stop plate, and the part of the universal joint-spherical hinge joint, which is positioned at the near-end side of the near-end stop plate, forms a free end.

A surgical robot comprises at least one surgical tool driving transmission system.

The placing operation robot preferably adopts more than two operation tool driving transmission systems which are connected in series or in parallel; preferably, the two surgical tool drive transmission systems are arranged side by side on a support, the two proximal base plates are fixedly connected to the support, respectively, or the proximal base plates directly form a part of the support, one end of the structural bone guide tube bundle is fixedly connected to the proximal base plate of the proximal continuum, the other end of the structural bone guide tube bundle passes through the support and is fixed at the distal end stop plate and is bundled into a cluster, the distal end stop plate is fixedly connected to the support, or the distal end stop plate directly forms a part of the support.

Due to the adoption of the technical scheme, the invention has the following advantages: 1. the surgical tool driving transmission system provided by the invention can realize the push-pull of the structural bone only by driving the near-end stop disc of the near-end continuum to turn through one driving mechanism, so that the near-end continuum is driven to bend, and finally the far-end continuum is driven to bend randomly in space, so that the structural bone is prevented from being directly pushed and pulled. 2. Compared with the traditional rigid kinematic chain which realizes bending motion by mutual rotation at joints, the flexible continuous body structure realizes bending deformation of a far-end structure by the deformation of a near-end structure, and the main structure body of the flexible continuous body structure simultaneously becomes a driving transmission structure, so that extremely high degree of freedom configuration can be realized in a small-size space range, and the flexible continuous body structure can be widely applied to medical instruments such as a flexible operating arm, an endoscope and a controllable catheter, and the research and development of novel special equipment such as an industrial deep cavity detection endoscope and a flexible mechanical arm.

Drawings

FIG. 1 is a schematic view of a surgical tool drive train in accordance with one embodiment of the present invention;

FIG. 2 is a schematic view of the structure of the distal continuum in this embodiment of the invention;

FIG. 3 is a schematic perspective view of a driving mechanism according to an embodiment of the present invention;

FIG. 4 is a partial schematic structural view of a driving mechanism according to the embodiment of the present invention;

FIG. 5 is a top view of the drive mechanism in this embodiment of the invention;

FIG. 6 is a schematic structural view of a second embodiment of the present invention, in which the driving connecting portion is a spherical hinge joint;

FIG. 7 is a schematic structural view of a hinge joint as a driving connecting portion in the third embodiment of the present invention;

fig. 8 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

In the description of the present invention, it is to be understood that the terms "proximal", "distal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention. In the present invention, when referring to "distal or distal end", the term refers to the side or end relatively distant from the operator. When referring to "proximal or proximal end," the term refers to the side or end that is relatively close to the operator.

As shown in fig. 1 and 2, the present embodiment provides a surgical tool drive transmission system including a flexible continuous body structure and a drive mechanism 14.

Wherein, this flexible continuum structure includes: a proximal continuum 1 comprising a proximal base disc 4, a proximal end stop disc 7, and a structural bone 12; a distal continuum 3 comprising a distal base plate 9, a distal end stop plate 11 and a structural bone 12; a drive connection 13, a distal end of the drive connection 13 being connected to the proximal base plate 4, a proximal end of the drive connection 13 passing through the proximal end stop 7 and being connected to the proximal end stop 7, and a portion of the drive connection 13 on a proximal side of the proximal end stop 7 forming a free end. The proximal ends of a plurality of structural bones 12 are fixedly connected with the proximal end stopping disc 7, and the distal ends of the plurality of structural bones 12 sequentially penetrate through the proximal end basal disc 4 and the distal end basal disc 9 and are fixedly connected with the distal end stopping disc 11.

As shown in fig. 3 to 5, the drive mechanism 14 employs a planar five-bar mechanism including a first link 141, a second link 142, a third link 143, a fourth link 144, a fifth link 145, an output shaft 146, a first input shaft 147, and a second input shaft 148. The first link 141 is fixedly arranged, and the first input shaft 147 and the second input shaft 148 are rotatably arranged on the first link 141; one end of the second link 142 is fixedly connected with the first input shaft 147, and the other end of the second link 142 is hinged with one end of the third link 143; one end of the fifth connecting rod 145 is fixedly connected with the second input shaft 148, the other end of the fifth connecting rod 145 is hinged with one end of the fourth connecting rod 144, the other end of the fourth connecting rod 144 is also hinged with the other end of the third connecting rod 143, the other ends of the third connecting rod 143 and the fourth connecting rod 144 are respectively hinged with the output shaft 146, and the output shaft 146 is connected with the driving connecting part 13.

Therefore, when the first input shaft 147 and/or the second input shaft 148 are/is driven to rotate, the output shaft 146 of the planar five-rod mechanism is driven to freely move in a plane, the free end of the driving connecting part 13 is driven to move, the driving connecting part 13 deflects the axis, and the proximal end stop disc 7 is finally driven to move and overturn, so that the structural bones 12 fixed on the proximal end stop disc 7 at the ends are pushed and pulled, at the moment, one side of each structural bone 12 is pulled, so that the length of the corresponding structural bone 12 in the proximal continuum 1 is increased, and the other side of each structural bone is pressed, so that the length of the corresponding structural bone 12 in the proximal continuum 1 is decreased. However, since the overall length of each structural bone 12 is constant, the length of each structural bone 12 in the distal continuum 3 changes accordingly, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1. It should be noted that, the bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding structural bone 12 (in the present embodiment, the structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed along the circumferential direction, which may be distributed on the circumference, or may be distributed on the circumference of a rectangle or other closed shape, and may be uniformly distributed or non-uniformly distributed, which is not limited herein), so that the actual bending ratio requirement can be met by adjusting the distribution radius of the structural bone 12 in the two during application.

In the above embodiment, preferably, as shown in fig. 1, the flexible continuous body structure further comprises a structural bone guiding tube bundle 2, a proximal end of the structural bone guiding tube bundle 2 is connected to the proximal base plate 4, a distal end of the structural bone guiding tube bundle 2 is connected to the distal base plate 9, and distal ends of a plurality of structural bones 12 are fixedly connected to the distal stop plate 11 after sequentially passing through the proximal base plate 4, the structural bone guiding tube bundle 2 and the distal base plate 9. The purpose of the structural bone guiding canal bundle 2 is to guide and constrain the structural bone 12 between the proximal and

distal matrices

4, 9.

In the above embodiment, preferably, the proximal continuum 1 further comprises at least one proximal holding disk 5 disposed between the proximal base disk 4 and the proximal stop disk 7, each structural bone 12 passing through the proximal holding disk 5 in sequence; meanwhile, as shown in fig. 2, the distal continuum 3 further comprises at least one distal retaining disc 10 disposed between the distal basal disc 9 and the distal stop disc 11, each structural bone 12 sequentially passes through the distal retaining disc 10, and the proximal retaining disc 5 and the distal retaining disc 10 are used for radially supporting the structural bones 12 from the structural bones 12, so that the structural bones 12 are still kept in a parallel state during bending deformation, and instability during movement is prevented.

In the above embodiment, preferably, as shown in fig. 1, at least one guiding tube bundle holding disc 21 is further disposed between the proximal base disc 4 and the distal base disc 9, the structural bone guiding tube bundle 2 passes through the guiding tube bundle holding disc 21, and the guiding tube bundle holding disc 21 is used for providing radial support for the structural bone guiding tube bundle 2, so that the structural bone guiding tube bundle 2 still maintains a parallel state during bending deformation, and instability during movement is prevented.

In the above embodiment, the structural bone 12 may be made of elastic thin rod or tube made of super elastic material, and may be made of high strength, high toughness and elastic metal material such as nitinol; the structural bone guiding tube bundle 2 may be a steel tube bundle.

In the above embodiment, the driving connection portion 13 may be one of a universal joint, a spherical hinge joint, a hinge joint or a universal joint-spherical hinge combination, and there are six kinematic connection nodes between the driving connection portion 13, the proximal continuum 1 and the driving mechanism 14, which are as follows: the first connecting node refers to the connecting relation between the near-end base plate 4 and the drive connecting part 13, the second connecting node refers to the first structure of the drive connecting part, the third connecting node refers to the connecting relation between the drive connecting part 13 and the near-end stop plate 7, the fourth connecting node refers to the second structure of the drive connecting part, the fifth connecting node refers to the connecting relation between the first structure and the second structure of the drive connecting part, the sixth connecting node refers to the connecting relation between the free end of the drive connecting part 13 and the drive mechanism 14, and the six connecting nodes can be combined by adopting several of the following five connecting modes: the device comprises a cylindrical pair (which can rotate or move), a moving pair (which can only move) (which can only rotate), a rotating pair, a fixed connection part and a driving connection part structure (a universal joint, a spherical hinge or a connecting rod), and the combination of six connection nodes is set to meet the minimum degree of freedom required by driving the near-end continuum 1 to move. Three examples are used for the description below.

Example one

In the present embodiment, as shown in fig. 4, the drive connection portion 13 is a double-joint universal joint, which is mainly formed by connecting a first universal joint 131 and a second universal joint 132 in series, a distal end of the first universal joint 131 is connected to the proximal base plate 4, a proximal end of the first universal joint 131 is connected to a distal end of the second universal joint 132, a proximal end of the second universal joint 132 passes through the proximal end stop disk 7 and is connected to the proximal end stop disk 7, and a portion of the second universal joint 132 located on the proximal end side of the proximal end stop disk 7 forms a free end. At this time, the six connection nodes may take the following combination: the first connecting node is fixedly connected, the second connecting node is a universal joint, the third connecting node is connected in a cylindrical pair mode, the fourth connecting node is a universal joint, the fifth connecting node is connected in a cylindrical pair mode, and the sixth connecting node is fixedly connected. Namely, the first connection node means that one end of the first universal joint 131 is fixedly connected with the near-end base plate 4, the other end of the second universal joint 132 is a free end, the first structure and the second structure of the driving connection part are respectively the first universal joint 131 and the second universal joint 132, namely, the second connection node and the fourth connection node are respectively the first universal joint 131 and the second universal joint 132, the third connection node means that the outer circular surface of the first universal joint 131 is matched with the near-end stop plate 7 through a cylindrical pair, the fifth connection node means that the first universal joint 131 is connected with the second universal joint 132 through a cylindrical pair, so that the first gimbal 131 and the second gimbal 132 can move closer to or farther from each other in the direction of the cylinder pair axis, and are rotatable about the axes towards each other, and the sixth connection node is a fixed connection between the free end of the second universal joint 132 and the output shaft 146 of the planar five-bar mechanism. Therefore, the free end of the second universal joint 132 is free to move under the driving of the plane five-bar mechanism, and the axial directions of the first universal joint 131 and the second universal joint 132 form a certain included angle with the vertical direction. Because of the scalability of the double-joint universal joint, the free end of the second universal joint 132 has a constant height distance from the proximal base plate 4 during the movement. When the axial directions of the first universal joint 131 and the second universal joint 132 form an included angle with the vertical direction, the proximal end stop disc 7 of the proximal continuum 1 is driven to cooperatively overturn, and the structural bones 12 fixed at the ends on the proximal end stop disc 7 are pushed and pulled, so that the lengths of the elastic thin rods 12 in the distal continuum 3 are correspondingly changed, and the distal continuum 3 is driven to bend in the direction opposite to the direction of the proximal continuum 1. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding structural bone 12 in the two (in the embodiment, the structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed along the circumferential direction, which may be distributed on the circumference or on the circumference of the matrix, which may be uniformly distributed or non-uniformly distributed, but is not limited thereto). The distribution radius of the structural bone 12 in the proximal continuum 1 and the distal continuum 3 can be adjusted to meet actual bending ratio requirements during application. Therefore, the six nodes are mutually matched, so that the proximal end stopping disc 7 can slide up and down or rotate relative to the driving connecting part 13 or the driving connecting part 13 relative to the driving mechanism 14, and accordingly parasitic motion (up and down sliding) of the proximal end continuum 1 sliding along the axial direction and bending motion (rotation) towards any direction are generated in the bending process, and the parasitic motion can avoid the phenomenon that the envelope wrapping the periphery of the distal end continuum 3 is wrinkled or excessively stretched to influence the service life of the envelope in the bending process of the distal end continuum 3.

Alternatively, the six connecting nodes may also adopt the following combination: the first connecting node is fixedly connected, the second connecting node is a universal joint, the third connecting node is connected by a moving pair, the fourth connecting node is a universal joint, the fifth connecting node is connected by a moving pair, and the sixth connecting node is a rotating pair, so that the free end of the connecting part 13 can be driven to move freely under the driving of the driving mechanism 14, and the purpose of bending the far-end continuum 3 is achieved. Still alternatively, the six connection nodes may also adopt the following combination: the first connecting node is connected by adopting a moving pair, the second connecting node is connected by adopting a universal joint, the third connecting node is connected by adopting a moving pair, the fourth connecting node is connected by adopting a universal joint, the fifth connecting node is fixedly connected, and the sixth connecting node is connected by adopting a rotating pair, so that the aim can be fulfilled.

In addition, a universal joint can be replaced by a spherical hinge in the driving connection part 13, and the driving connection part can also be realized. In summary, in addition to the above combination modes, the six connection nodes may also adopt several of the above five connection modes to perform other forms of combination, and on the premise of realizing the same function, the more the degrees of freedom are, the better the flexibility and the flexibility are.

Example two

In this embodiment, as shown in fig. 6, the driving connection portion 13 is a double-joint spherical hinge joint, which is mainly formed by connecting a first spherical hinge joint 133 and a second spherical hinge joint 134 in series, a distal end of the first spherical hinge joint 133 is connected to the proximal base plate 4, a proximal end of the first spherical hinge joint 133 is connected to a distal end of the second spherical hinge joint 134 through a universal joint, a proximal end of the second spherical hinge joint 134 passes through the proximal end stop plate 7 and is connected to the proximal end stop plate 7, and a portion of the second spherical hinge joint 134 located on a proximal end side of the proximal end stop plate 7 forms a free end. At this time, the six connection nodes may take the following combination: the first connecting node is fixedly connected, the second connecting node is in spherical hinge connection, the third connecting node is in cylindrical auxiliary connection, the fourth connecting node is in spherical hinge connection, the fifth connecting node is in cylindrical auxiliary connection, and the sixth connecting node is in fixed connection. That is, the first connection node means that one end of the first spherical hinge joint 133 is fixedly connected with the proximal end base plate 4, the other end of the second spherical hinge joint 134 is a free end, the first structure and the second structure of the driving connection part are respectively the first spherical hinge joint 133 and the second spherical hinge joint 134, that is, the second connection node and the fourth connection node are respectively the first spherical hinge joint 133 and the second spherical hinge joint 134, the third connection node means that the outer circular surface of the first spherical hinge joint 133 is matched with the proximal end stopping plate 7 by a cylindrical pair, the fifth connection node means that the first spherical hinge joint 133 is connected with the second spherical hinge joint 134 by a cylindrical pair, so that the first spherical hinge joint 133 and the second spherical hinge joint 134 can move closer to or farther from each other along the cylinder pair axis direction, and are rotatable about the axes in opposite directions, and the sixth connecting node is fixedly connected to the free end of the second spherical hinge joint 134 and the output shaft 146 of the planar five-bar mechanism. Therefore, the free end of the second spherical hinge joint 134 is free to move under the driving of the planar rodless mechanism, and because the two first spherical hinge joints 133 and the second spherical hinge joint 134 are matched in a cylindrical pair, the first spherical hinge joints 133 and the second spherical hinge joints 134 can approach or separate along the axis direction of the cylindrical pair, so that the relationship that the distance between the free end of the second spherical hinge joint 134 and the proximal base plate 4 is unchanged in the height direction is satisfied in the moving process of the free end of the second spherical hinge joint 134. When the axial direction between the first spherical hinge joint 133 and the second spherical hinge joint 134 forms an included angle with the vertical direction, the proximal end stop disc 7 of the proximal continuum 1 is driven to cooperatively overturn, and each structural bone 12 fixed on the proximal end stop disc 7 at the end is pushed and pulled, so that the distal continuum 3 is driven to bend in the direction opposite to that of the proximal continuum 1, and the bending of the distal continuum 3 in different directions in space is realized.

Alternatively, the six connecting nodes may also adopt the following combination: the first connecting node is fixedly connected, the second connecting node is in a spherical hinge, the third connecting node is in a cylindrical pair connection, the fourth connecting node is in a spherical hinge, the fifth connecting node is in a fixed connection, the sixth connecting node is in a moving pair, and the free end of the connecting part 13 can be driven to move freely under the driving of the driving mechanism, so that the purpose of bending the far-end continuum 3 is achieved. Still alternatively, the six connection nodes may also adopt the following combination: the first connecting node is fixedly connected, the second connecting node is in spherical hinge connection, the third connecting node is in moving pair connection, the fourth connecting node is in spherical hinge connection, the fifth connecting node is in rotating pair connection, and the sixth connecting node is in moving pair connection, so that the purpose can be achieved.

In summary, in addition to the above combination modes, the above six connection nodes may also adopt several of the above five connection modes to perform other forms of combination, and on the premise of realizing the same function, the more the degrees of freedom are, the better the flexibility and the flexibility are.

EXAMPLE III

In this embodiment, as shown in fig. 7, the driving connection portion 13 is a four-bar hinge joint 135, the four-bar hinge joint 135 is mainly formed by sequentially connecting a first bar a, a second bar B, a third bar C and a fourth bar D in series, the distal end of the first bar a is connected to the proximal base plate 4, the proximal end of the first bar a is hinged to the distal end of the second bar B, the proximal end of the second bar B is connected to the distal end cylindrical pair of the third bar C, the proximal end of the third bar C is hinged to the distal end of the fourth bar D, the proximal end of the fourth bar D passes through the proximal end stop plate 7 and is connected to the proximal end stop plate 7, and the portion of the fourth bar D located on the proximal end side of the proximal end stop plate 7 forms a free end. At this time, the six connection nodes take the following combination as an example: the first connecting node adopts a rotating pair, the second connecting node adopts a rotating pair, the third connecting node adopts a cylindrical pair, the fourth connecting node adopts a rotating pair, the fifth connecting node adopts a cylindrical pair, and the sixth connecting node adopts fixed connection. That is, the first structure and the second structure of the driving connection portion are both connecting rods, the first connection node means that one end of the first connection rod a can rotate around the long axis of the first connection rod a in the proximal end base plate 4, the second connection node means that the other end of the first connection rod a is hinged to the second connection rod B, the fifth connection node means that the second connection rod B is matched with the third connection rod C through a cylindrical pair at the other end, the third connection node means that the outer circular surface of the third connection rod C is matched with the proximal end stop plate 7 through a cylindrical pair, the fourth connection node means that the third connection rod C is hinged to the fourth connection rod D at the other end, the other end of the fourth connection rod D is used as a free end, and the sixth connection node means that the free end of the fourth connection rod D is fixedly connected with the output shaft 146 of the planar five-bar mechanism. Therefore, the free end of the fourth connecting rod D is driven to move through the plane five-rod mechanism, and the second connecting rod B and the third connecting rod C can get close to or get away from each other along the axis direction of the cylindrical pair, so that the free end of the fourth connecting rod D is in a constant distance relation with the proximal base plate 4 in the height direction in the moving process. When included angles exist between the axial directions of the connecting rods and the vertical direction, the near-end stopping disc 7 of the near-end continuum 1 is driven to cooperatively overturn, and the structural bones 12 fixed to the near-end stopping disc 7 at the ends are pushed and pulled, so that the far-end continuum 3 is driven to bend in the direction opposite to that of the near-end continuum 1, and the bending of the far-end continuum 3 in different directions in space is realized.

Alternatively, the six connecting nodes may also adopt the following combination: the first connecting node adopts a revolute pair, the second connecting node adopts a revolute pair, the third connecting node adopts a revolute pair, the fourth connecting node adopts a revolute pair, the fifth connecting node adopts a cylindrical pair, and the sixth connecting node adopts a revolute pair, so that the purpose can be achieved.

In summary, in addition to the above combination modes, the six connection nodes may also adopt several of the above five connection modes to perform other forms of combination, and on the premise of realizing the same function, the more the degrees of freedom are, the better the flexibility and the flexibility are.

It should be noted that the above embodiments are not intended to limit the practical limitations of the present invention, and the essence of the present invention is that the driving mechanism 14 drives the proximal end stop disk 7 in the flexible continuum structure to turn over, thereby driving the proximal continuum 1 to bend, and finally driving the distal continuum 3 to bend arbitrarily in space.

Based on the surgical tool driving transmission system provided by the embodiment, the invention also provides a surgical robot, and the surgical robot comprises at least one surgical tool driving transmission system.

In the above embodiment, preferably, the surgical robot adopts two of the above surgical tool driving transmission systems in series or in parallel, so as to increase the flexibility of the arm body. In the present embodiment, as shown in fig. 8, two of the above-mentioned surgical tool driving transmission systems are connected in parallel, for example, two surgical tool driving transmission systems are arranged side by side on the support 15, two proximal base plates 4 are respectively and fixedly connected with the support 15 (or the proximal base plate 4 directly becomes a part of the support 15), one end of the structural bone guiding tube bundle 2 is fixedly connected with the proximal base plate 4 of the proximal continuum 1, the other end of the structural bone guiding tube bundle 2 passes through the support 15 and the guiding tube bundle holding plate 21 in sequence and is fixed at the distal end stop plate 9 and bundled into a ring shape (in the present embodiment, the structural bone guiding tube bundle 2 is bundled into a ring shape, but may be other shapes such as a rectangle, which is not limited), the distal end stop plate 9 is fixedly connected with the support 15, or the distal end stop plate 9 directly becomes a part of the support 15. Therefore, the driving mechanisms 14 on the two sides respectively drive the two driving connecting parts 13 to move, and the near-end continuum 1 on the two sides is respectively driven to move, so that the bending of the far-end continuum 3 is realized, the degree of freedom of the far-end continuum 3 is further increased, and the flexibility of the surgical robot is further increased. In the above embodiment, the length of the distal continuum 3 in the two flexible continuum structures may be the same or different.

In the description of the present invention, it should be understood that the terms "first", "second", "third", etc. are used to define the components, and are used only for the convenience of distinguishing the components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A surgical tool drive transmission system based on a planar motion mechanism, comprising a flexible continuum structure and a drive mechanism (14);

the flexible continuum structure comprises:

a proximal continuum (1) comprising a proximal disc base (4), a proximal disc stop (7) and a structural bone (12);

a distal continuum (3) comprising a distal base plate (9), a distal end stop plate (11) and the structural bone (12);

a drive connection portion (13), a distal end of the drive connection portion (13) being connected to the proximal base plate (4), a proximal end of the drive connection portion (13) passing through the proximal end stop plate (7) and being connected to the proximal end stop plate (7), and a portion of the drive connection portion (13) on a proximal side of the proximal end stop plate (7) forming a free end;

the near ends of the structural bones (12) are fixedly connected with the near end stopping disc (7), and the far ends of the structural bones (12) sequentially penetrate through the near end base disc (4) and the far end base disc (9) and are fixedly connected with the far end stopping disc (11);

the driving mechanism (14) is a plane movement mechanism, and the plane movement mechanism is connected with the free end of the driving connection part (13).

2. A surgical tool drive transmission system as recited in claim 1, wherein the planar motion mechanism is a planar linkage.

3. The surgical tool drive transmission system of claim 2, wherein the planar linkage comprises a planar five bar mechanism comprising a first link (141), a second link (142), a third link (143), a fourth link (144), a fifth link (145), an output shaft (146), a first input shaft (147), and a second input shaft (148);

the first connecting rod (141) is fixedly arranged, and the first input shaft (147) and the second input shaft (148) are rotatably arranged on the first connecting rod (141); one end of the second connecting rod (142) is fixedly connected with the first input shaft (147), and the other end of the second connecting rod (142) is hinged with one end of the third connecting rod (143); one end of the fifth connecting rod (145) is fixedly connected with the second input shaft (148), the other end of the fifth connecting rod (145) is hinged with one end of the fourth connecting rod (144), the other end of the fourth connecting rod (144) is also hinged with the other end of the third connecting rod (143), the other ends of the third connecting rod (143) and the fourth connecting rod (144) are respectively hinged with the output shaft (146), and the output shaft (146) is connected with the driving connecting part (13).

4. A surgical tool drive transmission system according to claim 1, wherein the flexible continuous body structure further comprises a structural bone guiding tube bundle (2) connected between the proximal base plate (4) and the distal base plate (9), and the distal ends of the structural bones (12) pass through the proximal base plate (4), the structural bone guiding tube bundle (2) and the distal base plate (9) in sequence and are fixedly connected to the distal end stop plate (11).

5. The surgical tool drive transmission system according to claim 1, wherein the structural bone (12) is an elastic thin rod or tube made of super elastic material, and a plurality of the structural bones (12) are distributed along a circumferential direction, and the structural bone guiding bundle (2) is a steel tube bundle.

6. A surgical tool drive transmission system according to claim 1, wherein the proximal continuum (1) further comprises at least one proximal retention disc (5) disposed between a proximal base disc (4) and a proximal stop disc (7), each structural bone (12) passing through the proximal retention disc (5) in sequence;

at the same time, the distal continuum (3) further comprises at least one distal retaining disc (10) arranged between the distal base disc (9) and the distal stop disc (11), the structural bones (12) passing through the distal retaining disc (10).

7. A surgical tool drive transmission system according to claim 4, wherein at least one guide bundle retaining disc (21) is further provided between the proximal base disc (4) and the distal base disc (9), the structural bone guide bundle (2) passing through the guide bundle retaining disc (21).

8. A surgical tool drive transmission system according to any one of claims 1 to 7, wherein the drive connection (13) is one of a universal joint, a ball joint, a hinge joint or a combination universal joint and ball joint.

9. The surgical tool drive transmission system according to claim 8, wherein the drive connection portion (13) is a double-joint universal joint which is mainly composed of a first universal joint (131) and a second universal joint (132) connected in series, a distal end of the first universal joint (131) is connected with the proximal base plate (4), a proximal end of the first universal joint (131) is connected with a distal end of the second universal joint (132), a proximal end of the second universal joint (132) passes through the proximal end stop plate (7) and is connected with the proximal end stop plate (7), and a portion of the second universal joint (132) on a proximal end side of the proximal end stop plate (7) forms a free end;

or the driving connecting part (13) is a double-joint spherical hinge joint, the double-joint spherical hinge joint is mainly formed by connecting a first spherical hinge joint (133) and a second spherical hinge joint (134) in series, the far end of the first spherical hinge joint (133) is connected with the near-end base plate (4), the near end of the first spherical hinge joint (133) is connected with the far end of the second spherical hinge joint (134) through a universal coupling, the near end of the second spherical hinge joint (134) penetrates through the near-end stop plate (7) and is connected with the near-end stop plate (7), and the part of the second spherical hinge joint (134) located on the near-end side of the near-end stop plate (7) forms a free end;

or the driving connecting part (13) is a four-bar hinge joint (135), the four-bar hinge joint (135) is mainly formed by sequentially connecting a first connecting bar (A), a second connecting bar (B), a third connecting bar (C) and a fourth connecting bar (D) in series, the far end of the first connecting rod (A) is connected with the near end base plate (4), the near end of the first connecting rod (A) is hinged with the far end of the second connecting rod (B), the near end of the second connecting rod (B) is connected with the far end cylindrical pair of the third connecting rod (C), the proximal end of the third connecting rod (C) is hinged with the distal end of the fourth connecting rod (D), the proximal end of the fourth connecting rod (D) passes through the proximal end stop disc (7) and is connected with the proximal end stop disc (7), the part of the fourth connecting rod (D) positioned at the near end side of the near end stopping disc (7) forms a free end;

or the driving connecting part (13) is a universal joint-spherical hinge joint, one end of the universal joint-spherical hinge joint is connected with the near-end base plate (4), the other end of the universal joint-spherical hinge joint penetrates through the near-end stop plate (7) and is connected with the near-end stop plate (7), and the part of the universal joint-spherical hinge joint, which is positioned on the near-end side of the near-end stop plate (7), forms a free end.

10. A surgical robot comprising at least one surgical tool drive transmission system as claimed in any one of claims 1 to 9;

preferably, the surgical robot adopts more than two surgical tool driving transmission systems which are connected in series or in parallel;

preferably, two of the surgical tool drive transmission systems are arranged side by side on a support (15), two of the proximal base discs (4) are fixedly connected to the support (15) respectively, or the proximal base discs (4) directly form part of the support (15), one end of the structural bone guiding tube bundle (2) is fixedly connected to the proximal base disc (4) of the proximal continuum (1), the other end of the structural bone guiding tube bundle (2) passes through the support (15) and is fixed at the distal end stop disc (9) and is bundled into a cluster, the distal end stop disc (9) is fixedly connected to the support (15), or the distal end stop disc (9) directly form part of the support (15).