CN113855110A

CN113855110A - Surgical tool drive system and surgical robot

Info

Publication number: CN113855110A
Application number: CN202010623370.6A
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 present invention relates to a surgical tool drive system and a surgical robot. The actuating system includes flexible continuum structure and drive transmission mechanism, and flexible continuum structure includes: a proximal continuum 1, a first structural bone 13, a second structural bone 12, a distal continuum 3; the drive transmission mechanism 14 includes: the slewing mechanism comprises a first rotatable part and a second rotatable part, wherein the rotation center of the second rotatable part is coaxial with the rotation center of the first rotatable part, and a second sliding guide part is arranged on the slewing mechanism; a connection transmission mechanism, which comprises a moving element, can rotate along with the rotation of the first rotatable element, the rotation center is not coincident with the rotation center of the first rotatable element, and a first sliding guide part is arranged; and the sliding assembly is connected with the first sliding guide part and the second sliding guide part in a sliding manner and can be movably connected with the near-end continuum. The flexible continuous body structure can be driven to bend and deform in space efficiently and flexibly, and is compact in structure, simple in principle, easy to realize and high in reliability.

Description

Surgical tool drive system and surgical robot

Technical Field

The invention relates to the technical field of surgical tools, in particular to a surgical tool driving system and a surgical robot.

Background

Minimally invasive surgery has become an important place in surgical procedures because of its less trauma to patients and higher postoperative yield. Surgical tools used in minimally invasive surgery, including surgical instruments including a visual illumination module and a surgical operation arm, 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 tensioning 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 main structure body of the flexible continuum structure becomes a driving transmission structure at the same time, so that 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 transmission structure can not meet the requirements of the existing driving mode gradually, and the existing driving modes are all directly pushing and pulling the driving wire 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, the present invention is directed to a surgical tool driving system and a surgical robot, which are used to drive a proximal continuum structure to move integrally, so as to bend and deform a distal continuum structure, thereby driving components such as surgical tools to move reliably and flexibly.

The invention firstly provides a surgical tool driving system, which comprises a flexible continuum structure and a driving transmission mechanism, wherein the driving transmission mechanism drives the flexible continuum structure to move,

the flexible continuum structure comprises:

the proximal end continuum comprises a proximal end basal disc, a first proximal end stop disc and a second proximal end stop disc which are arranged at intervals;

a plurality of first structural bones, wherein the proximal ends of the first structural bones are fixedly connected with a second proximal stopping disc, and the distal ends of the first structural bones penetrate through the first proximal stopping disc and are fixedly connected with the proximal basal disc;

the far-end continuous body comprises a far-end base disc and a far-end stop disc which are arranged at intervals, and the far-end base disc is adjacent to the near-end base disc;

a plurality of second structural bones, wherein the proximal ends of the second structural bones are fixedly connected with the first proximal end stopping disc, and the distal ends of the second structural bones penetrate through the proximal end basal disc and the distal end basal disc and are fixedly connected with the distal end stopping disc;

the drive transmission mechanism includes:

a slewing mechanism comprises

A first rotatable member configured to be rotatable about its rotation center;

a second rotatable member disposed to overlap the first rotatable member and configured to be rotatable about a rotation center thereof, the rotation center of the second rotatable member being coaxial with the rotation center of the first rotatable member, the second rotatable member being provided with a second slide guide portion;

a connection transfer mechanism comprising

A moving member provided to be rotatable with rotation of the first rotatable member, a rotation center of the moving member not coinciding with a rotation center of the first rotatable member, the moving member being provided with a first slide guide portion;

a slide assembly simultaneously slidably coupled to the first and second slide guides for simultaneous sliding along the first and second slide guides, the slide assembly configured to be movably coupled to the second proximal end stop so that the slide assembly and the second proximal end stop can slide and/or rotate relative to each other axially.

According to an embodiment of the present invention, the second rotatable member is arranged overlapping above the first rotatable member; the first rotatable member is arranged to be driven by the first drive member to rotate, and the second rotatable member is arranged to be driven by the second drive member to rotate; the moving member is further provided with an engaging portion configured to be engageable with the first rotatable member.

According to an embodiment of the present invention, the first rotatable member is a first driven gear, the second rotatable member is a second driven gear, the moving member is a link, the engaging portion is a tooth provided on an outer peripheral surface of the link, and the first driven gear engages with the tooth on the outer peripheral surface of the link so that the link rotates in accordance with rotation of the first driven gear.

According to an embodiment of the present invention, the first slide guide portion is a first slide groove, and the second slide guide portion is a second slide groove extending perpendicularly to a rotation axis of the second rotatable member; the sliding assembly comprises a sliding pin, one end of the sliding pin is movably arranged in the first sliding groove of the connecting rod in a penetrating mode, the other end of the sliding pin is movably arranged in the second sliding groove of the second driven gear in a penetrating mode, and the sliding pin is used for being connected with the flexible continuum structure.

According to an embodiment of the present invention, the connection transmission mechanism further includes a rotating shaft, one end of which is fixedly connected to the connecting rod, and the other end of which is rotatably connected to the second driven gear.

According to one embodiment of the present invention, the first slide guide is a first slide rail, and the second slide guide is a second slide rail;

the sliding assembly comprises a first sliding block, a second sliding block and a connecting pin, the first sliding block is arranged on the first sliding rail in a sliding mode, the second sliding block is arranged on the second sliding rail in a sliding mode, one of the first sliding block and the second sliding block is arranged to be movably connected with the connecting pin, and the other of the first sliding block and the second sliding block is arranged to be fixedly connected with the connecting pin.

According to one embodiment of the invention, the inner circumferential surface of the first driven gear is provided with inner ring teeth, and the teeth of the outer circumferential surface of the connecting rod are meshed with the inner ring teeth of the first driven gear; and the diameter position of the second driven gear along the disk surface is provided with the second sliding chute.

According to an embodiment of the present invention, the sliding assembly further includes a sliding rail and a sliding block, the sliding rail is fixedly disposed on the second driven gear and is parallel to the second sliding groove, the sliding block is fixedly connected to the sliding pin, and the sliding block is slidably disposed on the sliding rail.

According to one embodiment of the invention, the proximal continuum further comprises a proximal retention disc disposed between the proximal base disc and the proximal stop disc, the structural bone passing through the proximal retention disc.

Preferably, the distal continuum further comprises a distal retention disc disposed between the distal base disc and the distal stop disc, the structural bone passing through the distal retention disc.

Preferably, the flexible continuous body structure further comprises a catheter bundle, one end of the catheter bundle is fixed on the proximal base plate, the other end of the catheter bundle is fixed on the distal base plate, and the structural bone penetrates through the interior of the catheter bundle.

Preferably, the conduit bundle is a steel tube bundle.

Preferably, the structural bone is a circumferentially disposed set of elastic rods or tubes.

The invention also provides a surgical robot, which comprises at least one surgical tool driving system.

According to one embodiment of the present invention, the surgical robot employs two of the surgical tool drive systems in series or in parallel;

preferably, the two surgical tool driving transmission systems are arranged on a bracket up and down, the proximal end base discs of the two flexible continuous body structures are respectively and fixedly connected with the bracket, or the proximal end base discs directly form a part of the bracket; the proximal end of the catheter bundle of the surgical tool driving system at the lower layer is fixedly connected with the proximal end base disc of the proximal end continuum at the lower layer, the distal end of the catheter bundle circumferentially and integrally penetrates through the support, the distal end of the proximal end base disc and the catheter bundle of the surgical tool driving system at the upper layer in sequence, and is fixed at the distal end base disc and bundled into a cluster, the distal end base discs are respectively and fixedly connected with the support, or the distal end base disc directly forms a part of the support.

Preferably, the two surgical tool drive systems are of the same or different lengths.

The invention can drive the first rotatable part and/or the second rotatable part through the driving element such as a motor, the first rotatable part can drive the movable part to move, the movable part can drive the sliding assembly to move, the sliding assembly can be limited to move in a space jointly limited by the first sliding guide part and the second sliding guide part, and due to the arrangement of the first rotatable part and the second rotatable part, the mechanism can realize various movement modes, so that the sliding assembly can realize various movement tracks, and the flexible continuum structure is driven to realize different movement requirements.

The flexible continuous body structure can be driven to move by the surgical tool driving system so as to drive the surgical tool to perform required actions.

Furthermore, the surgical tool driving system can drive the near-end continuum of the flexible continuum structure to do coupled bending motion, so that the far-end continuum is driven to bend, and a specific motion track is realized.

According to the embodiment of the invention, only one driving mechanism is needed to drive one near-end stopping disc to move, so that the near-end continuum is driven to bend, and then the other near-end stopping disc of the near-end continuum is driven to overturn so as to indirectly push and pull the structural bone, and finally the far-end continuum is driven to bend randomly in space, so that the driving wire is prevented from being directly pushed and pulled.

Drawings

FIG. 1 is a schematic representation of the construction of a surgical tool drive system (distal continuum not shown) in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of a distal continuum in accordance with an embodiment of the invention;

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

FIG. 4 is a partial schematic view of a drive train in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of another embodiment of the driving mechanism;

FIG. 6 is a schematic structural diagram of a slider assembly according to an embodiment of the present invention;

FIG. 7 is a schematic view of a series configuration of surgical tool drive systems according to one embodiment of the present invention;

FIG. 8 is a schematic view of another embodiment of a series-connected surgical tool drive system;

FIG. 9 is a schematic view of a linear feed assembly according to an embodiment of the present invention;

reference numerals:

1 proximal continuum, 2 catheter bundles, 3 distal continuum, 4 proximal basal discs, 7 first proximal end stop discs, 8 second proximal end stop discs, 9 distal basal discs, 10 holding discs, 11 distal end stop discs, 12 structural bones, 13 structural bones, 14 driving transmission mechanisms, 141 first driving gears, 142 first driven gears, 143 second driving gears, 144 second driven gears, 1441 second chutes, 145 sliding pins, 146 connecting rods, 1461 first chutes, 1462 peripheral surfaces, 147 sliders, 148 sliding rails, 149 rotating shafts, 15 supports, 16 linear feeding assemblies, 161 guide rods,

lead screws

162, 163 sliders and 164 lead screw nuts.

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.

The invention aims to drive the rigid part of the near-end continuum of the flexible continuum structure to turn over through the driving transmission mechanism so as to drive the near-end continuum to be integrally bent, avoid direct push-pull on structural bones, and finally drive the far-end continuum to be randomly bent in space when a large number of structural bones are driven without being limited by the number of the driving mechanisms, thereby driving a surgical tool connected with the far-end continuum to be flexibly operated.

As shown in FIG. 1, the driving system for surgical tools of the present invention mainly comprises a flexible continuous body structure and a driving transmission mechanism, wherein the driving transmission mechanism 14 at the lower end drives the flexible continuous body structure at the upper part to move.

Wherein, this flexible continuum structure includes: the proximal continuum 1 comprises a proximal basal disc 4, a first proximal stop disc 7 and a second proximal stop disc 8 which are arranged at intervals; a first structural bone 13, wherein the proximal ends of the first structural bones 13 are fixedly connected with the second proximal stopping disc 8, and the distal ends of the first structural bones 13 penetrate through the first proximal stopping disc 7 and are fixedly connected with the proximal basal disc 4; the far-end continuous body 3 comprises a far-end base disc 9 and a far-end stop disc 11 which are arranged at intervals, and the far-end base disc 9 is adjacent to the near-end base disc 4; and a second structural bone 12, wherein the proximal ends of the second structural bones 12 are fixedly connected with the first proximal end stop disc 7, and the distal ends of the second structural bones 12 penetrate through the proximal end basal disc 4 and the distal end basal disc 9 and are fixedly connected with the distal end stop disc 11.

The driving mechanism drives the near-end continuum 1 to generate bending motion, and further drives the far-end continuum 3 to generate bending motion opposite to that of the near-end continuum 1 in the bending state of the near-end continuum 1, so as to drive the surgical tool to move.

In order to achieve the above technical object, as shown in fig. 1, 3, 4, 5 and 6, according to an embodiment of the present invention, a drive transmission mechanism 14 includes: the rotary mechanism comprises a first rotatable part which can rotate around the rotation center of the first rotatable part. And the second rotatable part is overlapped with the first rotatable part and can rotate around the rotation center of the second rotatable part, the rotation center of the second rotatable part is coaxial with the rotation center of the first rotatable part, and the second rotatable part is provided with a second sliding guide part. And the connection transmission mechanism comprises a moving part, the moving part is arranged to rotate along with the rotation of the first rotatable part, the rotation center of the moving part is not coincident with the rotation center of the first rotatable part, and the moving part is provided with a first sliding guide part. And the sliding assembly is simultaneously connected with the first sliding guide part and the second sliding guide part in a sliding manner so as to simultaneously slide along the first sliding guide part and the second sliding guide part, and the sliding assembly can be connected with the flexible continuum structure. The second rotatable member is arranged above the first rotatable member in an overlapping manner, the first rotatable member is configured to be rotatable by the drive of the first drive member, the second rotatable member is configured to be rotatable by the drive of the second drive member, and the movable member is further provided with an engaging portion configured to be engageable with the first rotatable member.

Specifically, the first driving member and the first rotatable member may be a first driving gear 141 and a first driven gear 142, respectively, and the second driving member and the second rotatable member may be a second driving gear 143 and a second driven gear 144, respectively. The second driven gear 144 is disposed to overlap the first driven gear 142, and the second slide guide portion may provide a second slide groove 1441 for the second driven gear 144 extending perpendicular to the rotation axis of the second driven gear 144. It should be understood that the first and second driving members may also be directly motors or motors, which can directly drive the first and second driven

gears

142 and 144 to move. It should also be understood that the first rotatable member and the second rotatable member may be other rotatable members other than gears.

The moving member may be a link 146, one end of which may be provided with a first sliding slot 1461, that is, the first sliding guide portion is a first sliding slot 1461, and the outer circumferential surface 1462 of the other end is engaged with the first driven gear 142. Specifically, the inner circumferential surface of the first driven gear 142 may be provided with inner ring teeth, the teeth of the outer circumferential surface 1462 of the connecting rod 146 are engaged with the inner ring teeth of the first driven gear 142, and the second driven gear 144 may be provided with second sliding grooves 1441 at diametrical positions along the disk surface. In other embodiments, another gear (not shown) may be disposed in the first driven gear 142, and the another gear rotates coaxially and synchronously with the first driven gear 142, and the teeth of the outer circumferential surface 1462 of the link 146 are engaged with the another gear, so that the link 146 rotates along with the rotation of the first driven gear 142.

It is to be understood that the first slide guide may also be a first slide rail extending perpendicular to the rotation axis of the second driven gear 144, and the second slide guide may be a second slide rail provided on the link 146. In this embodiment, the sliding assembly may include a first sliding block, a second sliding block, and a connecting pin, the first sliding block being slidably disposed on the first slide rail, the second sliding block being slidably disposed on the second slide rail, one of the first sliding block and the second sliding block being disposed to be movably connected to the connecting pin, and the other of the first sliding block and the second sliding block being disposed to be fixedly connected to the connecting pin, so that the sliding assembly slides along the first slide rail and the second slide rail simultaneously. Although this embodiment is not shown, a person skilled in the art will understand the embodiment by referring to another embodiment based on the description. It will also be appreciated that it is also possible to provide that one of the first and second slide guides is a slide rail and the slide assembly comprises a corresponding slide block that mates with the slide rail.

According to an embodiment of the present invention, as shown in the figure, the connection transmission mechanism further includes a rotating shaft 149, one end of which is fixedly connected to the connecting rod 146, and the other end of which is movably inserted into the second driven gear 144 and is offset from the rotation center of the second driven gear 144, so that the rotating shaft 149 can rotate relative to the second driven gear 144.

According to an embodiment of the present invention, as shown in the figure, the sliding assembly includes a sliding pin 145, one end of the sliding pin 145 is movably inserted into the first sliding slot 1461 of the connecting rod 146, and the other end is movably inserted into the second sliding slot 1441 of the second driven gear 144, and the sliding pin 145 is used for connecting the flexible continuous body structure.

Of course, the sliding pin 145 may be provided as other structural members, such as a ring shape, and may be sleeved on the outer periphery of the second proximal end stop 8. In the illustrated embodiment, the distal end of the slide pin 145 is provided with an annular groove that matches the circular outer periphery of the second proximal end stop disk 8, such that the second proximal end stop disk 8 can be coupled to the slide pin 145 by being received in the groove to accommodate relative axial sliding and rotational movement of the second proximal end stop disk 8. It should be understood that the distal end of the sliding pin 145 may be provided with a rectangular groove, a square groove, a regular polygonal groove, or any other groove, and the outer peripheral shape of the second proximal end stop disk 8 matches the inner peripheral shape of the groove on the sliding pin 145, so that the second proximal end stop disk 8 can be slidably connected with the sliding pin 145 by being accommodated in the groove to satisfy the sliding movement of the second proximal end stop disk 8 relative to the axial direction.

The first driving gear 141 and the second driving gear 143 are not necessarily required in the above embodiment, and the first driven gear 142 and the second driven gear 144 may be directly used as driving gears to be driven.

The rotation shaft 149 of the above-described embodiment may have another structure, and the link 146 may be arranged to be rotatable around its own rotation center, and the rotation center of the link 146 may pass through the eccentric position of the second driven gear 144.

According to the technical scheme, when the first driving gear 141 is driven to operate by a driving element such as a motor, the first driving gear 141 drives the first driven gear 142 to operate, the first driven gear 142 can drive the connecting rod 146 to move, the connecting rod 146 can drive the sliding pin 145 to move, and the sliding pin 145 can be limited to move in a space jointly limited by the first sliding chute 1461 and the second sliding chute 1441.

In order to make the sliding pin realize a specific operation track, for example, to make the first driven gear 142 and the second driven gear 144 operate at the same direction and speed, so that the sliding pin 145 can realize circular motion, thereby changing the direction of the bending plane of the flexible continuum structure, according to an embodiment of the present invention, the second driven gear 144 and the first driven gear 142 are coaxially arranged, and are engaged with the inner ring teeth of the first driven gear 142 at the outer circumferential surface 1462 of the connecting rod 146, one end of the rotating shaft 149 is fixed with the connecting rod 146, and the other end movably penetrates through the eccentric position of the second driven gear 144. The pivot shaft 149 may be separate or integral with the link 146.

In order to make it possible to change the bending angle of the flexible continuum structure in a certain plane by operating the first driven gear 142 without operating the second driven gear 144, according to an embodiment of the present invention, the second chute 1441 intersects the first chute 1461 because the rotating shaft 149 is eccentrically disposed, and the sliding pin 145 is located at the intersection point of the two, and makes the sliding pin 145 move linearly along the second chute 1441 by the limit fit of the two, regardless of the rotation of the gears in any direction.

According to one embodiment of the present invention, the second driven gear 144 is provided with a second chute 1441 at a diametrical position along the disk surface.

In order to guide and limit the movement of the sliding pin 145 with a certain degree of freedom, according to an embodiment of the present invention, the sliding assembly further includes a sliding rail 148 and a sliding block 147, the sliding rail 148 is disposed in parallel with the second sliding groove 1441, the sliding block 147 is connected to the sliding pin 145, and the sliding block 147 is slidably disposed on the sliding rail 148. For example, the slider 147 and the slide rail 148 may be in a slot-type fit.

Preferably, the proximal continuum 1 further comprises a proximal retention disc (not shown) that may be disposed between the proximal base disc 4 and the proximal stop disc 7 or the proximal stop disc 8, through which the structural bone 12 passes.

Preferably, the distal continuum 3 further comprises a distal holding disk 10, the distal holding disk 10 being arranged between the distal base disk 9 and the distal stop disk 11, the structural bone 12 passing through the distal holding disk 10.

The retaining disc is used for guiding and supporting the structural bone to a certain degree and preventing the structural bone from being unstable during bending movement.

For example, one or more proximal and distal retaining discs 10 may be distributed in the proximal and

distal continuations

1, 3 for radially supporting the structural bones 12 from the structural bones 12 so that the structural bones 12 remain parallel during the bending deformation.

Preferably, the flexible continuous body structure further comprises a catheter bundle 2, the catheter bundle 2 being fixed at one end to the proximal base plate 4 and at the other end to the distal base plate 9, the structural bone 12 being movable through the interior of the catheter bundle. The guide tube bundle is used for guiding the structural bone in a required direction.

Preferably, the material of the tube bundle 2 is steel. But may be other metals of harder materials.

Preferably, the

structural bones

12, 13 are a set of elastic rods or thin tubes arranged in the circumferential direction.

Preferably, the

structural bones

12, 13 are made of a superelastic material, which can be made of a high strength, high toughness, elastic metallic material such as nitinol.

Preferably, through holes for the structural bones to slide through are uniformly distributed on each holding disc, locking holes for fixing the end parts of the structural bones are arranged on the base disc and the stop disc, and the specific hole positions and the number of the through holes and the locking holes on different discs depend on the number of the structural bones 12.

The arrangement pattern of the

structural bones

12, 13 on each disc can be set as desired, such as circumferentially distributed, rectangularly circumferentially arranged, and the like. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the

structural bones

12 and 13 on each disc of the proximal continuum and the distal continuum, respectively, when the

structural bones

12 and 13 are distributed in a circle, the distribution radius refers to the radius of the circle, and the distribution radius of the

structural bones

12 and 13 in the proximal continuum and the distal continuum can be adjusted during application to meet the actual bending ratio requirement.

Preferably, between each proximal and distal holding discs 10, or between different discs, a resilient unit (e.g. a spring, a resilient tube, etc., not shown) is mounted to space the discs apart.

According to one embodiment of the present invention, as shown in fig. 1 and 2, the flexible continuum structure includes: the catheter comprises a proximal continuum 1, a catheter bundle 2, a distal continuum 3 and a driving mechanism 14, wherein the proximal continuum 1 comprises a proximal basal disc 4, a proximal end stop disc 7, a proximal end stop disc 8 and a structural bone 13; the distal continuum 3 includes a distal base disc 9, a distal holding disc 10, a distal stop disc 11 and structural bone 12. One end of each structural bone 13 is fixed with the proximal basal disc 4 and penetrates through the proximal end stop disc 7, and the other end is fixed with the proximal end stop disc 8. One end of the catheter bundle 2 is fixed on the near-end base plate 4, the other end of the catheter bundle is fixed on the far-end base plate 9, one end of each structural bone 12 is fixed with the near-end stop plate 7 and sequentially penetrates through the near-end base plate 4, the catheter bundle 2, the far-end base plate 9 and the far-end retaining plate 10, and the other end of each structural bone is fixed with the far-end stop plate 11. The near-end stopping disc 8 is connected with the driving mechanism 14, the driving mechanism 14 drives the near-end stopping disc 8 to move, so that the near-end stopping disc 7 is driven to move and turn over, the structural bone 12 is pushed and pulled, and the bending of the far-end continuum 3 in different directions in space is realized.

The drive transmission mechanism 14 in the present embodiment is a gear slide mechanism. As shown, a gear-and-runner mechanism is located below the proximal continuum 1 for driving the proximal continuum 1.

According to an embodiment of the present invention, as shown in the drawings, a gear-and-chute mechanism includes: a first driving gear 141, a first driven gear 142, a second driving gear 143, a second driven gear 144, a sliding pin 145, a link 146, and a slider 147. The first driven gear 142 and the second driven gear 144 are coaxially disposed and are rotatable relative to each other. The first driving gear 141 is engaged with the first driven gear 142. The link 146 has a first slot 1461 at one end and a toothed outer peripheral surface 1462 at the other end for meshing with the inner ring teeth of the first driven gear 142. A rotating shaft 149 fixedly connected with the connecting rod 146 is movably inserted through an eccentric position of the second driven gear 144. The second driven gear 144 is provided with a second sliding groove 1441 and a sliding rail 148 parallel to the second sliding groove 1441 along a diameter center line of the disk surface, the sliding block 147 is slidably disposed on the sliding rail 148, a lower portion of the sliding pin 145 is slidably disposed in the first sliding groove 1461, and an upper portion thereof passes through the first sliding groove 1461 and the sliding block 147 and is fixedly connected to the sliding block 147.

The slide pin 145 is connected with the proximal end stop disk 8 by a cylindrical pair, i.e. the proximal end stop disk 8 can slide up and down along the slide pin 145 and rotate, so that the proximal end base disk 4 and the proximal end stop disk 8 are misaligned, and the axes of the two do not coincide. The two ends of the structural bone 13 are respectively fixed with the proximal basal disc 4 and the proximal stopping disc 8 to generate forced bending, the proximal continuum 1 generates dual bending, and the proximal stopping disc 7 generates cooperative turnover along with the dual bending, thereby generating push-pull on the structural bones 12 which are fixed on the proximal stopping disc 7 at the ends. Each structural bone 12 fixed to the proximal end stop disk 7 is uniformly distributed, one side is pulled so as to increase the length of the corresponding structural bone 12 in the proximal continuum 1, and the other side is pressed so as to decrease the length of the corresponding structural bone 12 in the proximal continuum 1. Because the overall length of each structural bone 12 is constant, the length of each structural bone 12 in the distal continuum 3 is correspondingly varied, thereby driving the distal continuum 3 to bend in a direction opposite to the superior segment of the proximal continuum 1.

The sliding distance of the slider 147 on the slide rail 148 can be adjusted by the link 146, thereby adjusting the degree of bending of the proximal continuum 1.

When the first driving gear 141 drives the first driven gear 142 to rotate and the second driven gear 144 remains stationary, the connecting rod 146 engaged with the first driven gear 142 correspondingly rotates to drive the sliding pin 145 to slide in the first sliding slot 1461, and the sliding block 147 fixedly connected with the sliding pin 145 moves on the sliding rail 148 of the second driven gear 144, and the sliding pin 145 is simultaneously limited to slide in the second sliding slot 1441, so as to drive the driving proximal tray 8 to move, and thus drive the proximal tray 7 to move and flip.

Thereby, by driving the proximal end stop 8 in motion, a bending of the distal continuum 3 in a specific plane in space is achieved. The distribution radius of the structural bone in the two can be adjusted during application so as to meet the requirement of actual bending proportion.

The sliding pin 145 of the gear sliding groove mechanism is connected with the near-end stopping disc 8 through a cylindrical pair, so that the near-end stopping disc 8 and the gear sliding groove mechanism can slide up and down or rotate, the parasitic motion of the near-end stopping disc 8 sliding along the axis direction in the bending process of the near-end continuum 1 and the bending motion towards any direction are met, the parasitic motion can avoid the phenomenon that the far-end continuum 3 generates the telescopic motion along the axial direction in the bending process, and the telescopic motion can cause the cover strip at the periphery of the far-end continuum 3 to wrinkle or excessively stretch, so that the service life of the cover strip is influenced.

When the second driving gear 143 drives the second driven gear 144 to rotate, the first driving gear 141 drives the first driven gear 142 to rotate, and the second driven gear 144 and the first driven gear 142 simultaneously rotate in the same direction and at the same speed, the position of the slider 147 relative to the second driven gear 144 is not changed, but the azimuth angle of the translation direction of the slider 147 is changed (i.e., the circumferential angle relative to the initial position is changed), that is, the slider 147 makes a circular motion, so as to change the bending direction of the proximal continuum 1 in different planes. After the proximal continuum 1 is bent, the push-pull on the structural bone is transmitted to the distal continuum 3, so that the distal continuum 3 is bent in different directions in space.

The above-described arrangement makes it possible to adjust the degree of bending of the proximal continuum 1 and the degree of bending in different planes by cooperatively driving the second driven gear 144 and the first driven gear 142. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the radius of distribution of the corresponding

structural bones

12, 13 in both. Thereby, by driving the proximal end stop 8 in motion, bending of the distal continuum 3 in space in different directions is achieved. The distribution radius of the structural bone in the two can be adjusted during application so as to meet the requirement of actual bending proportion.

Of course, the first rotatable member and the second rotatable member may be driven cooperatively according to different operation requirements of the surgical tool, so as to realize different motion modes of the driving transmission system.

The invention also provides a surgical robot comprising one or more surgical tool drive systems.

Preferably, the surgical robot employs two surgical tool drive systems in series or in parallel. When two surgical tool drive systems are employed, the two surgical tool drive systems may be the same or different in length, preferably the two surgical tool drive systems are different in length.

According to an embodiment of the present invention, as shown in fig. 7 and 8, two of the above-mentioned surgical tool driving systems are connected in series, for example, two surgical tool driving systems are disposed on the support 15, the upper and lower proximal base plates 4 are fixedly connected to the support, respectively, or the proximal base plates 4 directly form a part of the support 15, one end of the lower catheter bundle 2 is fixedly connected to the proximal base plate 4 of the lower proximal continuum 1, the other end of the lower catheter bundle sequentially passes through the periphery of the support 15 and the periphery of the upper proximal base plate 4, the other end of the lower catheter bundle 2 and the upper catheter bundle 2 are fixed at the distal stop plate 9 and bundled into a ring, the distal stop plates 9 are fixedly connected to the support 15, respectively, or the distal stop plate 9 directly forms a part of the support 15. The lower catheter bundle 2 forms a larger cavity, so that the proximal continuum of the upper layer is entirely located in the cavity of the lower catheter bundle 2, thereby ensuring that the proximal continuum of the upper layer does not interfere with the lower catheter bundle 2 during bending deformation. The lengths of the distal continuations 3 of the upper and lower layers may be the same or different, and preferably, the lengths of the distal continuations 3 of the two layers are different. The respective near-end stopping discs 8 are driven to move by the respective driving mechanisms 14 of the upper layer and the lower layer, the near-end continuum 1 is driven to move respectively, and the near-end stopping discs 7 are driven to turn over, so that the respective bending of the far-end continuum 3 is realized, the degree of freedom of the far end is increased, and the flexibility of the surgical robot is increased.

According to an embodiment of the present invention, as shown in fig. 8 and 9, the surgical robot further includes a linear feeding assembly 16, the linear feeding assembly 16 is disposed in parallel with the proximal continuum of the surgical tool driving system, the linear feeding assembly 16 includes a linear feeding driving module and an elastic member, the driving module drives the elastic member to move up and down, one end of the elastic member is connected with the driving module, and the other end of the elastic member reaches the distal continuum and is fixed with the surgical actuator for driving the surgical actuator.

Preferably, the linear feeding assembly 16 includes a guide rod 161, a lead screw 162, a sliding block 163 and a lead screw nut 164, the guide rod 161 is fixedly disposed, the sliding block 163 is slidably disposed on the guide rod 161, the lead screw nut 164 is engaged with the lead screw 162, and the lead screw nut 164 is fixedly connected with the sliding block 163.

According to one embodiment of the invention, the linear advancement assembly 16 is juxtaposed with the proximal continuum 1 of the lower or upper tier.

The linear feeding assembly 16 comprises a guide rod 161, a screw 162, a sliding block 163 and a screw nut 164, the guide rod 161 is fixedly arranged on the support 15, the sliding block 163 is arranged on the guide rod 161 and the screw 162 in a penetrating mode in a sliding mode, the screw nut 164 is meshed with the screw 162, the sliding block 163 cannot rotate due to the limiting effect of the guide rod 161, the screw nut 164 is fixedly connected with the sliding block 163, therefore, the screw nut 164 cannot rotate, when the screw 162 rotates, the screw nut 164 is driven to move up and down, the sliding block 163 is driven to move up and down along the guide rod, and one end of the elastic piece 17 is fixed to the sliding block 163, so that the elastic piece 17 is driven to move up and down. The elastic member 17 is pushed and pulled by the linear feeding assembly 16, one end of the elastic member 17 is fixed with the sliding block 163, passes through the protection tube 18, reaches the distal end continuum 3, and the other end is fixed with the surgical actuator for driving the surgical actuator (such as a clamp, a needle holder, etc.). The protective tube 18 can be used for supplying power to the surgical actuator via a wire, in addition to the guidance of the elastic element 17 for driving the surgical actuator.

The elastic member 17 may be an elastic thin rod or tube, and may be made of the same material as the structural bone.

The surgical tool driving system and the robot provided by the invention only need to drive the near-end stop disk 8 to move through the driving mechanism 14, so that the near-end continuum 1 is driven to bend, the near-end stop disk 7 of the near-end continuum 1 is driven to turn over so as to indirectly push and pull the structural bone 12, and finally the far-end continuum 3 is driven to bend randomly in space, so that the driving wire is prevented from being directly pushed and pulled, and when a large number of structural bones are driven, the system is not limited by the number of driving transmission mechanisms, and meanwhile, the system is compact in structure, simple in principle and easy to realize, so that the system and the robot have high reliability and flexibility.

The driving transmission mechanism is simple to operate and compact in structure, and can realize motion modes in various modes, so that the surgical tool can be operated reasonably and diversely, and the reliability and flexibility of the system are guaranteed.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The present invention defines the end near the operator as the proximal or rear end and the end near the surgical patient as the distal or front end.

The foregoing embodiments are merely illustrative of the present invention, and various components and devices of the embodiments may be changed or eliminated as desired, not all components shown in the drawings are necessarily required, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, and all equivalent changes and modifications based on the technical solutions of the present invention should not be excluded from the scope of the present invention.

Claims

1. A surgical tool drive system comprising a flexible continuous body structure and a drive transmission mechanism (14),

the flexible continuum structure comprises:

the proximal end continuum (1) comprises a proximal end base disc (4), a first proximal end stop disc (7) and a second proximal end stop disc (8), which are arranged at intervals;

a first structural bone (13), wherein the proximal ends of the first structural bones (13) are fixedly connected with the second proximal stopping disc (8), and the distal ends of the first structural bones (13) penetrate through the first proximal stopping disc (7) and are fixedly connected with the proximal basal disc (4);

a distal continuum (3) comprising a distal base plate (9) and a distal stop plate (11) spaced apart and the distal base plate (9) being adjacent to the proximal base plate (4);

a second structural bone (12), wherein the proximal ends of the second structural bones (12) are fixedly connected with the first proximal end stop plate (7), and the distal ends of the second structural bones (12) penetrate through the proximal end base plate (4) and the distal end base plate (9) and are fixedly connected with the distal end stop plate (11);

the drive transmission mechanism (14) includes:

a slewing mechanism comprises

A first rotatable member configured to be rotatable about its rotation center;

a connection transfer mechanism comprising

the sliding assembly is simultaneously connected with the first sliding guide part and the second sliding guide part in a sliding mode so as to simultaneously slide along the first sliding guide part and the second sliding guide part, and the sliding assembly is movably connected with the second near-end stopping disc (8) so that the sliding assembly and the second near-end stopping disc (8) can axially slide and/or rotate relatively.

2. A surgical tool driving system according to claim 1, wherein the second rotatable member is arranged in overlapping relation above the first rotatable member;

the first rotatable member is arranged to be driven by the first drive member to rotate, and the second rotatable member is arranged to be driven by the second drive member to rotate;

the moving member is further provided with an engaging portion configured to be engageable with the first rotatable member.

3. The surgical tool drive system of claim 1,

the first rotatable member is a first driven gear (142), the second rotatable member is a second driven gear (144), the moving member is a connecting rod (146), the engaging portion is a tooth provided on an outer peripheral surface of the connecting rod (146), and the first driven gear (142) engages with the tooth on the outer peripheral surface of the connecting rod (146) so that the connecting rod (146) rotates with the rotation of the first driven gear (142).

4. The flexible continuum drive transmission of claim 3 wherein the first sliding guide is a first runner (1461) and the second sliding guide is a second runner (1441) extending perpendicular to a rotational axis of the second rotatable member;

the sliding assembly comprises a sliding pin (145), one end of the sliding pin (145) is movably arranged in a first sliding chute (1461) of the connecting rod (146) in a penetrating mode, the other end of the sliding pin (145) is movably arranged in a second sliding chute (1441) of the second driven gear (144) in a penetrating mode, and the sliding pin (145) is used for being connected with a flexible continuum structure.

5. The flexible continuum drive transmission of claim 3 wherein the connection transfer mechanism further comprises a rotating shaft (149) having one end fixedly connected to the link (146) and another end rotationally connected relative to the second driven gear (144).

6. The flexible continuum drive transmission of claim 3, wherein the first sliding guide is a first sliding track and the second sliding guide is a second sliding track;

7. The flexible continuum drive transmission of claim 3 wherein the inner peripheral surface of the first driven gear (142) is provided with inner ring teeth, the teeth of the outer peripheral surface (1462) of the connecting rod (146) being meshed with the inner ring teeth of the first driven gear (142); the diameter position of the second driven gear (144) along the disk surface is provided with the second sliding chute (1441).

8. The flexible continuum drive transmission of claim 4, wherein the sliding assembly further comprises a sliding track (148) and a sliding block (147), the sliding track (148) is fixedly disposed on the second driven gear (144) and is disposed in parallel with the second sliding groove (1441), the sliding block (147) is fixedly connected with the sliding pin (145), and the sliding block (147) is slidably disposed on the sliding track (148).

9. The surgical tool drive system of claim 1,

the proximal continuum further comprising a proximal retention disc disposed between the proximal base disc and a proximal stop disc, the structural bone passing through the proximal retention disc;

preferably, the distal continuum further comprises a distal retention disc disposed between the distal base disc and the distal stop disc, the structural bone passing through the distal retention disc;

preferably, the flexible continuous body structure further comprises a catheter bundle, one end of the catheter bundle is fixed on the proximal base plate, the other end of the catheter bundle is fixed on the distal base plate, and the structural bone passes through the interior of the catheter bundle;

preferably, the conduit bundle is a steel tube bundle;

10. A surgical robot, characterized in that the robot comprises at least one surgical tool drive system according to any one of claims 1 to 9.

11. A surgical robot as claimed in claim 10, wherein the surgical robot employs two of the surgical tool drive systems in series or in parallel;

preferably, two surgical tool driving transmission systems are arranged on a bracket (15) up and down, the proximal base discs (4) of the two flexible continuous body structures are respectively and fixedly connected with the bracket (15), or the proximal base discs (4) directly form a part of the bracket (15); the proximal end of the catheter bundle (2) of the surgical tool driving system at the lower layer is fixedly connected with the proximal base plate (4) of the proximal continuum (1) at the lower layer, the distal end of the catheter bundle (2) integrally penetrates through the bracket (15), the distal end of the proximal base plate (4) and the catheter bundle (2) of the surgical tool driving system at the upper layer in sequence along the circumferential direction to be fixed at the distal base plate (9) and bundled into a cluster, the distal base plates (9) are respectively and fixedly connected with the bracket (15), or the distal base plate (9) directly forms a part of the bracket (15);