CN106308935B - A kind of flexible operation tool system using double threaded screw driving - Google Patents
A kind of flexible operation tool system using double threaded screw driving Download PDFInfo
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- CN106308935B CN106308935B CN201610796071.6A CN201610796071A CN106308935B CN 106308935 B CN106308935 B CN 106308935B CN 201610796071 A CN201610796071 A CN 201610796071A CN 106308935 B CN106308935 B CN 106308935B
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 230000004888 barrier function Effects 0.000 claims description 19
- 238000007789 sealing Methods 0.000 claims description 19
- 230000003287 optical effect Effects 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000002357 laparoscopic surgery Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000005239 tubule Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The present invention relates to a kind of flexible operation tool systems using double threaded screw driving, including flexible Continuum Structure and driving unit；Flexible Continuum Structure includes far structure body, near structure body and middle connection body；Far structure body includes at least one distal end structure section, and distal end structure section includes distal end space disc, distal end fixed disk and structural bone；Near structure body includes the quantity proximal end structure section equal with distal end structure joint number, and proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；Middle connection body includes two channel fixed plates and the structural bone guiding channel that is arranged between two channel fixed plates；Driving unit includes the driving unit fixed plate being arranged in front of middle connection body, the straight-line motion mechanism that multiple rotation inputs for by motor are converted to linear motion output is set between driving unit fixed plate and channel fixed plate, the output end of straight-line motion mechanism is connect with one end of driving bone, bone is driven to pass through proximal end space disc, the other end is fastenedly connected with proximal end fixed disk.
Description
Technical field
The present invention relates to a kind of flexible operation tool systems using double threaded screw driving, belong to medical instruments field.
Background technique
Porous laparoscopic minimally invasive surgery occupies in surgical operation important because its wound is small, post-operative recovery is fast
Status.It is minimally invasive that the da Vinci operating robot auxiliary doctor of existing Intuitive Surgical company completes porous laparoscope
Operation, achieves commercial immense success.
Invasive surgery formula develops single-hole laparoscopic surgery and through the noninvasive of natural cavity again after porous laparoscopic surgery
Operation, their smaller to patient trauma, postoperative outputs are higher.But in single-hole laparoscopic surgery and through the non-invasive procedures of natural cavity
In, all surgical instruments including visual illumination module and surgical procedure arm pass through single channel and reach art portion, this is right
The preparation of surgical instrument requires extremely harsh.The distal structure of existing surgical instrument is mainly the hinged in series of more rod pieces, is used
Lineoutofservice signal pull driving, realizes surgical instrument at articulation joint and curves.Since wirerope must keep lasting by pulley
Tensioning state, this driving method are difficult to realize miniaturising for surgical instrument, are also difficult to further promote the fortune of instrument
Dynamic performance.
Although Intuitive Surgical company is proposed da Vinci Single-Site operating robot in the recent period,
It transform original rigid surgical instrument as semi-rigid surgical instrument, and increases prebuckling casing, improve to a certain extent
The movenent performance of surgical instrument, but still can not fundamentally solve traditional micro-surgical instrument problem encountered.
Summary of the invention
In view of the above-mentioned problems, it is an object of the present invention to provide a kind of flexible operation tools driven using double threaded screw
System, flexibility operation tool system can preferably be applied to through human body natural's cavity or through single operative incision and implement
The surgical robot system of operation.
To achieve the above object, the invention adopts the following technical scheme: a kind of performed the operation using the flexible of double threaded screw driving
Tool system, it is characterised in that: it includes flexible Continuum Structure and driving unit；The flexibility Continuum Structure includes distal end
Structural body, near structure body and middle connection body；The far structure body includes at least one distal end structure section, the distal end structure section
Including distal end space disc, distal end fixed disk and structural bone；The near structure body includes close equal with distal end structure joint number of quantity
Structure section is held, the proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；The middle connection body includes two logical
Road fixed plate and the structural bone guiding channel being arranged between the two channel fixed plates；Structural bone on the distal end structure section with
Structural bone one-to-one correspondence on the proximal end structure section is fastenedly connected or for same root structural bone, one end of the structural bone with it is described
Proximal end fixed disk is fastenedly connected, and sequentially passes through the proximal end space disc, the structural bone guiding channel, the distal end space disc,
The other end is fastenedly connected with the distal end fixed disk；The driving unit includes the driving being arranged in front of the middle connection body
Multiple be used for Rotary motion input is arranged in unit fixed plate between the driving unit fixed plate and the channel fixed plate
The straight-line motion mechanism of linear motion output is converted to, the output end of the straight-line motion mechanism is connect with one end of driving bone,
The driving bone passes through the proximal end space disc, and the other end is fastenedly connected with the proximal end fixed disk；The straight-line motion mechanism
It is arranged including the double threaded screw being rotatably arranged between the driving unit fixed plate and the channel fixed plate and fastening in institute
The optical axis between driving unit fixed plate and the channel fixed plate is stated, is led to respectively on two thread segments of the double threaded screw
It crosses and is threadedly engaged one sliding block of connection, each sliding block is slidably connected with an optical axis；A pair of driving bone be located at
Two sliding blocks on the same double threaded screw are fastenedly connected respectively；The double threaded screw pass through the driving unit fixed plate and
Front end is fastenedly connected one for the shaft coupling male connector with the output shaft direct or indirect connection of motor.
Driving bone guided channel is provided between two channel fixed plates, the driving bone draws from the driving bone
It is passed through in pathway.
When the far structure body includes more than two distal end structure sections, on the distal end structure section far from the middle connection body
Structural bone from close to the middle connection body distal end structure section on distal end fixed disk and distal end space disc on pass through, Huo Zhecong
It is passed through inside the structural bone on the distal end structure section of the middle connection body；When the near structure body includes more than two close
Hold structure section when, far from the middle connection body proximal end structure section on structural bone from close to the middle connection body proximal end structure section
On proximal end fixed disk and proximal end space disc on pass through, or from close to the middle connection body proximal end structure section on structural bone
Inside passes through.
It is coated with strip of paper used for sealing in the outside of the far structure body, operation is fastenedly connected in the front end of the strip of paper used for sealing and executes
Device, the rear end of the strip of paper used for sealing are connect with the rotary drive mechanism being arranged in the driving unit.
The rotary drive mechanism includes the revoling tube being rotatably supported on front side of the driving unit fixed plate, the rotation
The front end of pivoted housing pipe is fastenedly connected with the strip of paper used for sealing；It is additionally provided with rotary shaft on front side of the driving unit fixed plate, in institute
It states and a pair of of pitch wheel is set on rotary shaft and the revoling tube, be fastenedly connected in the front end of the rotary shaft useful
In the shaft coupling male connector of the output shaft direct or indirect connection with motor.
The front end of the far structure body is provided with operation actuator, the control line of the operation actuator is from the distal end
Passed through in structural body, the other end be located at the channel fixed plate on for by Rotary motion input be converted to linear motion it is defeated
Operation actuator driven mechanism connection out.
The operation actuator driven mechanism includes the pedestal being fastenedly connected in the channel fixed plate, is turned on the base
Dynamic to be connected with connecting rod, one end of the connecting rod is connected with the first sliding block, first sliding block be arranged on the pedestal the
One optical axis is slidably connected, and the control line of the operation actuator is fastenedly connected with first sliding block；The other end of the connecting rod connects
It is connected to the second sliding block, second sliding block is slidably connected with the second optical axis being arranged in the channel fixed plate；In the drive
Rotational support has driving screw rod in moving cell fixed plate, and the front end of the driving screw rod is provided with for straight with the output shaft of motor
The shaft coupling male connector for connecing or being indirectly connected with is connected with third sliding block by being threadedly engaged on the driving screw rod, and the third is sliding
Block, which is slidably connected at, to be set between the driving unit fixed plate and the channel fixed plate on third optical axis, and the third is sliding
It is connected between block and second sliding block by drive rod.
It further include shell, sterile barrier, motor group and linear mould group；The driving unit fixed plate, the channel are solid
Fixed board is fastenedly connected with the shell, and the near structure body, middle connection body and driving unit are respectively positioned on the shell
It is internal；The front end of the shell is connect by the sterile barrier with the motor group；The linear mould group includes bracket, fastening
Connection motor on the bracket and the Linear feed mechanism being fastenedly connected with the output shaft of the motor, the straight line into
The shell of the motor group is fastenedly connected to the output end of mechanism, the motor drives the electricity by the Linear feed mechanism
Unit drives the flexible Continuum Structure and driving unit to move along a straight line by sterile barrier.
The Linear feed mechanism includes rotation connection lead screw on the bracket, is arranged on the lead screw and institute
It states lead screw and passes through the sliding block being threadedly engaged, be provided with straight on the bracket, the sliding block is slidably arranged in described straight
In line sliding slot；The output shaft of the motor is fastenedly connected by shaft coupling and the lead screw.
It further include shell, the driving unit fixed plate, the channel fixed plate are fastenedly connected with the shell, described
Near structure body, middle connection body and driving unit are respectively positioned on the inside of the shell, and the front end of the shell passes through sterile screen
Barrier is connect with motor group, and the sterile barrier includes cover and the shaft joint female that is rotatably arranged on the cover, described
The rear end of axis device female is connect with the shaft coupling male connector, and the front end of the shaft coupling female passes through another shaft coupling male connector and institute
The motor output shaft connection of motor group is stated, the periphery of the cover is connected with sterile film.
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention using include near structure body,
Based on the flexible Continuum Structure of middle connection body and far structure body, and cooperate with driving unit, wherein far structure body
It is associated with by middle connection body near structure body, driving unit is associated with near structure body, when driving unit driving proximal end knot
When structure body is curved to any direction, far structure body correspondingly curves in the opposite direction, therefore can realize by far structure body
The flexible surgical arm constituted with strip of paper used for sealing it is any to curving movement.2, the present invention is coated with envelope in the outside of far structure body
Therefore the front end connection operation actuator of skin, and mechanism of the rear end connection of strip of paper used for sealing for driving strip of paper used for sealing to rotate, strip of paper used for sealing leads to
The adjusting to operation actuator angle may be implemented in strip of paper used for sealing of overdriving rotation.3, the control line of present invention operation actuator passes through distal end
Structural body reaches middle connection body, executes in the operation that middle connection body position is provided with for driving control line to carry out linear movement
Device driving mechanism, therefore can realize the action control to operation actuator.4, the present invention is sterile since shell and motor group pass through
Barrier is attached, and effectively the motor group not sterilized is isolated with other sterilization sections, therefore can guarantee clinical hand
The exploitativeness of art.5, the present invention is additionally provided with linear mould group, is attached with motor assembly housing part and can drive electricity
Unit, sterile barrier, shell carry out linear movement, and therefore, flexible surgical arm also has linear feeding freedom degree.
Present invention can apply to single-hole laparoscopic surgery, can also be applied to through natural cavity non-invasive procedures.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of far structure body of the present invention；
Fig. 3 is the structural schematic diagram of near structure body and middle connection body of the present invention；
Fig. 4 is the structural schematic diagram of driving unit of the present invention；
Fig. 5 is structural schematic diagram of the driving unit of the present invention under another visual angle；
Fig. 6 is the structural schematic diagram of present invention operation actuator driven mechanism；
Fig. 7 is that the present invention loads onto the structural schematic diagram after shell, sterile barrier, motor group and linear mould group；
Fig. 8 is the connection schematic diagram of sterile barrier and shell of the present invention；
Fig. 9 is structural schematic diagram of the far structure body of the present invention using flexible sheath.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention includes flexible Continuum Structure 10 and driving unit 20.
Flexible Continuum Structure 10 of the invention includes far structure body 101 (as shown in Figure 2), 102 and of near structure body
Middle connection body 103, wherein far structure body 101 is associated with by middle connection body 103 near structure body 102；Driving unit
20 are associated with near structure body 102, when driving unit 20 drives near structure body 102 to curve to any direction, distal structure
Body 101 correspondingly curves in the opposite direction.As shown in Fig. 2, far structure body 101 includes two distal end structure sections 104,105, often
One distal end structure section 104,105 includes distal end space disc 106, distal end fixed disk 107 and structural bone 108.Wherein, distal end space disc
106 are evenly spaced in far structure body 101, act on unstability when to prevent structural bone 108 from being pushed away.As shown in figure 3, proximal end
Structural body 102 includes two proximal end structure sections 109,110, and each proximal end structure section 109,110 is solid including proximal end space disc 111, proximal end
Price fixing 112 and structural bone 108.Wherein, proximal end space disc 111 is evenly spaced near structure body 102, is acted on to prevent
Unstability when structural bone 108 is pushed away.The structural bone in structural bone 108 and the first distal end structure section 104 on first proximal end structure section 109
108 one-to-one correspondence are fastenedly connected or are same root structural bone, structural bone 108 and the second distal end structure on the second proximal end structure section 110
The one-to-one correspondence of structural bone 108 on section 105 is fastenedly connected or is same root structural bone；For each distal end structure section 104,105 or
For proximal end structure section 109,110, the quantity of structural bone 108 is three or more.Distal end structure included by said distal ends structural body 101
Proximal end structure joint number included by joint number and near structure body 102 is also possible to one or more than two, and proximal end structure joint number
Always it is consistent with distal end structure joint number.Middle connection body 103 includes two channel fixed plates 113 and is arranged in channel fixed plate
Structural bone guiding channel 114 between 113.One end of structural bone 108 on first proximal end structure section 109 and the first proximal end structure section
Proximal end fixed disk 112 on 109 is fastenedly connected, and sequentially passes through proximal end space disc 111 on the first proximal end structure section 109, structural bone
Distal end space disc 106 on guiding channel 114, the first distal end structure section 104, the distal end on the other end and the first distal end structure section 104
Fixed disk 107 is fastenedly connected.Proximal end on one end of structural bone 108 on second proximal end structure section 110 and the second proximal end structure section 110
Fixed disk 112 is fastenedly connected, and sequentially passes through proximal end space disc 111 on the second proximal end structure section 110, on the first proximal end structure section 109
Proximal end fixed disk 112, the proximal end space disc 111 on the first proximal end structure section 109, structural bone guiding channel 114, the first distal end structure
Save the distal end space disc 106 on 104, the fixed disk 107 on the first distal end structure section 104, between the distal end on the second distal end structure section 105
Every disk 106, the other end is fastenedly connected with the distal end fixed disk 107 on the second distal end structure section 105.Structural bone guiding channel 114
Effect is to maintain structural bone 108 by shape invariance when push and draw force, can use cannula structure as shown in Figure 3, can also adopt
With it is other it is any be able to maintain that structural bone 108 by thrust, pulling force when indeformable structure type, such as multi-cavity structure.
Wherein, the structural bone 108 on the first distal end structure section 104, the structural bone 108, first on the second distal end structure section 105 are close
The structural bone 108 on structure section 109 and the structural bone 108 on the second proximal end structure section 110 is held to use thin elastic rod or elastic tubule.
When the structural bone 108 in the structural bone 108 and the first proximal end structure section 109 on the first distal end structure section 104 is using elastic tubule, the
Structural bone 108 on two distal end structure sections 105 can also be passed through out of structural bone 108 on the first distal end structure section 104, correspondingly,
Structural bone 108 on second proximal end structure section 110 can also be passed through from the inside of the structural bone 108 on the first proximal end structure section 109.
As shown in figure 4, driving unit 20 includes the driving unit fixed plate 201 that 103 front of middle connection body is arranged in,
Multiple straight-line motion mechanisms 202, straight-line motion mechanism 202 are provided between driving unit fixed plate 201 and channel fixed plate 113
Output end and drive one end of bone 203 to be fastenedly connected, it is logical that driving bone guided is additionally provided between two channel fixed plates 113
Road 204；Driving bone 203 sequentially passes through driving bone guided channel 204, proximal end space disc 111, the other end and proximal end fixed disk 112
It is fastenedly connected.The effect in driving bone guided channel 204 is to maintain driving bone 203 by shape invariance when push and draw force, can use
Cannula structure as shown in Figure 3, can also using it is other it is any be able to maintain that driving bone 203 by thrust, pulling force when it is indeformable
Structure type, such as multi-cavity structure.In the present embodiment, driving bone 203 shares eight, four therein and the first proximal end structure section
Proximal end fixed disk 112 on 109 is fastenedly connected, and another four fasten company with the proximal end fixed disk 112 on the second proximal end structure section 110
It connects.The first proximal end structure section can be realized by the driving bone 203 that the collaboration push-and-pull of driving unit 20 is connected with the first proximal end structure section 109
109 in any direction on curve freedom degree, when the first proximal end structure section 109 is curved to a direction, the first distal end structure section 104
It will (distribution radius by structural bone 108 in the first proximal end structure section 109 and the first distal end structure section 104 be common with certain proportion relationship
Determine) it curves in the opposite direction；Similarly, it is connected by the collaboration push-and-pull of driving unit 20 with the second proximal end structure section 110
Driving bone 203 can realize the second proximal end structure section 110 in any direction on curve freedom degree, when the second proximal end structure section 110 to certain
When one direction curves, the second distal end structure section 105 will be with certain proportion relationship (by the second proximal end structure section 110 and the second distal end structure section
The distribution radius of structural bone 108 codetermines in 105) it curves in the opposite direction.For each proximal end structure section 109,110
It says, the quantity of driving bone 203 is three or more.
In above-described embodiment, as shown in Figure 4, Figure 5, straight-line motion mechanism 202 includes being rotatably arranged on driving unit to fix
Double threaded screw 210 and fastening setting between plate 201 and channel fixed plate 113 are fixed in driving unit fixed plate 201 with channel
Optical axis 206 between plate 113, respectively by being threadedly engaged one sliding block of connection on two thread segments of double threaded screw 210
207, each sliding block 207 is slidably connected with an optical axis 206.A pair drives bone 203 and is located on same double threaded screw 210
Two sliding blocks 207 are fastenedly connected respectively.Double threaded screw 210 passes through driving unit fixed plate 201 and front end is fastenedly connected a connection
Axis device male connector 209.In the present embodiment, there are four double threaded screw 210 is total to, the collaboration of eight driving bones 203 can be driven to push away
Roping is dynamic, and correspondingly, shaft coupling male connector 209 is four.
In above-described embodiment, as shown in Figure 1, shown in Figure 5, it is coated with strip of paper used for sealing 30 in the outside of far structure body 101, strip of paper used for sealing 30
Front end is fixedly connected with operation actuator 40, the rear end of strip of paper used for sealing 30 and the rotation for being rotatably supported in 201 front end of driving unit fixed plate
Pivoted housing pipe 301 is fastenedly connected, and is additionally provided with rotary shaft 302 in the front end of driving unit fixed plate 201, in rotary shaft 302 and rotation
Pivoted housing pipe 301 tighten it is fixed set a pair of of pitch wheel 303, be fastenedly connected a shaft coupling in the front end of rotary shaft 302
Male connector 304.It is rotated by driving rotary shaft 302, revoling tube 301 and strip of paper used for sealing 30 can be driven to rotate, so that band is had an operation
Actuator 40 rotates, and then realizes that the direction to operation actuator 40 around its own axis is adjusted.
In above-described embodiment, as shown in Fig. 2, Fig. 3 and Fig. 6, the control line 401 for actuator 40 of performing the operation is from far structure body 101
In pass through, the other end be located at channel fixed plate 113 on operation actuator driven mechanism 402 connect, operation actuator driven
Mechanism 402 realizes the control to operation actuator 40 (such as surgical clamp) by the physics push-and-pull to control line 401.It is same to control line 401
Such as various forms of energy of electric energy, high-frequency vibration can also be transmitted to realize the particular procedure function of operation actuator 40.
Above-mentioned operation actuator driven mechanism 402 includes being fastenedly connected the pedestal 403 in channel fixed plate 113, is turned on pedestal 403
Dynamic to be provided with connecting rod 404, one end of connecting rod 404 is connected with the first sliding block 405, the first sliding block 405 be arranged on pedestal 403
Primary optic axis 406 is slidably connected, and control line 401 is fastenedly connected with the first sliding block 405；It is sliding that the other end of connecting rod 404 is connected with second
Block 407, the second sliding block 407 are slidably connected with the second optical axis 408 being arranged in channel fixed plate 113.It is fixed in driving unit
Rotational support has driving screw rod 409 on plate 201, and the front end of driving screw rod 409 is provided with shaft coupling male connector 410 (as shown in Figure 5),
It is connected with third sliding block (not shown) by being threadedly engaged on driving screw rod 409, third sliding block is slidably connected to be located at and drive
Between moving cell fixed plate 201 and channel fixed plate 113 in third optical axis (not shown), third sliding block and the second sliding block
It is fastenedly connected between 407 by drive rod 412.When rotate driving screw rod 409 rotates, third sliding block will make line along third optical axis
Property movement, while third sliding block drives the second sliding block 407 to do along the second optical axis 408 by the drive rod 412 that is fastenedly connected with it
Linear movement to drive the first sliding block 405 to do linear movement along primary optic axis 406 by connecting rod 404, and then is realized to control line
401 physics push-and-pull.Further, it is provided with control line guiding sleeve 411 between pedestal 403 and channel fixed plate 113, is used for
Keep control line 401 by shape invariance when push and draw force.
In above-described embodiment, as shown in fig. 7, the invention also includes shells 50；Driving unit fixed plate 201, channel are fixed
Plate 113 is fixedly connected with shell 50；Near structure body 102, middle connection body 103 and driving unit 20 are respectively positioned on shell 50
It is internal.It is connect by sterile barrier 60 with motor group 70 in the front end of shell 50, as shown in figure 8, sterile barrier 60 includes cover
601 and the shaft coupling female 602 that is arranged on cover 601, wherein shell of the cover 601 respectively with shell 50, motor group 70 is adopted
With fast joint structure, so that motor group 70, sterile barrier 60, shell 50 are mutually detachably connected；Shaft coupling female 602
Rear end is connect with shaft coupling male connector 209,304,410, the front end of shaft coupling female 602 by another shaft coupling male connector (in figure not
Show) it is connect with the motor output shaft in motor group 70.The periphery of sterile barrier 60 is connected with sterile film (not shown), uses
Keep apart in the motor group 70 that will do not sterilized and other parts sterilized, guarantees that the clinic of flexible operation tool system is implementable
Property.
In above-described embodiment, as shown in fig. 7, (linear mould group 80 is also through sterile film the invention also includes linear mould group 80
Keep apart with sterilization section) comprising the bracket 801 with sliding slot, rotation is provided with lead screw 802 on bracket 801, in silk
It is arranged on thick stick 802 with lead screw 802 by being threadedly engaged and being slidably arranged in the sliding block 803 in sliding slot, in one end of bracket 801
It is provided with motor 804, output shaft and the lead screw 802 of motor 804 are fastenedly connected by shaft coupling.The shell and sliding block of motor group 70
803 are fastenedly connected.When the rotation of the output shaft of motor 804, sliding block 803 will drive motor group 70, sterile barrier 60,50 edge of shell
Sliding slot does linear movement, to realize the feed motion of flexible Continuum Structure 10.
In above-described embodiment, as shown in Fig. 2, in one application, sheath 90 is fixed on the single incision in abdominal cavity, distal end
Structural body 101 can be passed freely through together with strip of paper used for sealing 30, operation actuator 40 and be reached in sheath 90 for the through-hole that operation tool passes through
Art portion.As shown in figure 9, sheath 90 can also more easily can protrude into all kinds of natural cavities of human body using flexible sheath
And with the shape of cavity and cavity inlet, far structure body 101 are fixed in adaptively changing shape, one end of flexible sheath
Flexible sheath, which can be equally passed freely through, together with strip of paper used for sealing 30, operation actuator 40 puts on the through-hole arrival art passed through for operation tool
Portion.
The present invention is only illustrated with above-described embodiment, and structure, setting position and its connection of each component are all can have
Changed.Based on the technical solution of the present invention, the improvement or equivalent that all principles according to the present invention carry out individual part
Transformation, should not exclude except protection scope of the present invention.
Claims (10)
1. a kind of flexible operation tool system using double threaded screw driving, it includes flexible Continuum Structure and driving unit；
The flexibility Continuum Structure includes far structure body, near structure body and middle connection body；The far structure body includes extremely
A few distal end structure section, the distal end structure section includes distal end space disc, distal end fixed disk and structural bone；The near structure body packet
Proximal end structure section is included, the proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；The middle connection body includes two
A channel fixed plate and the structural bone guiding channel being arranged between the two channel fixed plates；Structure on the distal end structure section
Structural bone one-to-one correspondence on bone and the proximal end structure section is fastenedly connected or for same root structural bone, one end of the structural bone with
The proximal end fixed disk is fastenedly connected, and sequentially passes through the proximal end space disc, the structural bone guiding channel, the distal end interval
Disk, the other end are fastenedly connected with the distal end fixed disk, it is characterised in that:
The quantity of the proximal end structure section is equal with the quantity of the distal end structure section, and the driving unit includes being arranged at the middle part
Multiple use are arranged between the driving unit fixed plate and the channel fixed plate in driving unit fixed plate in front of connector
In the straight-line motion mechanism that Rotary motion input is converted to linear motion output, the output end of the straight-line motion mechanism and drive
One end connection of dynamic bone, the driving bone pass through the proximal end space disc, and the other end is fastenedly connected with the proximal end fixed disk；
The straight-line motion mechanism includes pair being rotatably arranged between the driving unit fixed plate and the channel fixed plate
The optical axis between the driving unit fixed plate and the channel fixed plate is arranged in head screw rod and fastening, in the double threaded screw
Two thread segments on respectively by being threadedly engaged one sliding block of connection, each sliding block is slidably connected with an optical axis；
A pair of driving bone is fastenedly connected respectively with two sliding blocks being located on the same double threaded screw；The double threaded screw passes through
The driving unit fixed plate and front end are fastenedly connected one for the shaft coupling with the output shaft direct or indirect connection of motor
Male connector.
2. a kind of flexible operation tool system using double threaded screw driving as described in claim 1, it is characterised in that: two
Driving bone guided channel is provided between a channel fixed plate, the driving bone is worn from the driving bone guided channel
It crosses.
3. a kind of flexible operation tool system using double threaded screw driving as described in claim 1, it is characterised in that: work as institute
When to state far structure body include more than two distal end structure sections, structural bone on the distal end structure section far from the middle connection body is from leaning on
It is passed through in distal end fixed disk and distal end space disc on the distal end structure section of the nearly middle connection body, or from close to the middle part
It is passed through inside structural bone on the distal end structure section of connector；When the near structure body includes more than two proximal end structure sections, far
The structural bone on the structure section of proximal end from the middle connection body is solid from the proximal end on the proximal end structure section of the middle connection body
It passes through on price fixing and proximal end space disc, or is passed through inside the structural bone on the proximal end structure section of the middle connection body.
4. a kind of flexible operation tool system using double threaded screw driving as described in claim 1, it is characterised in that: in institute
The outside for stating far structure body is coated with strip of paper used for sealing, is fastenedly connected with operation actuator in the front end of the strip of paper used for sealing, the strip of paper used for sealing
Rear end is connect with the rotary drive mechanism being arranged in the driving unit.
5. a kind of flexible operation tool system using double threaded screw driving as claimed in claim 4, it is characterised in that: described
Rotary drive mechanism includes the revoling tube being rotatably supported on front side of the driving unit fixed plate, the front end of the revoling tube
It is fastenedly connected with the strip of paper used for sealing；It is additionally provided with rotary shaft on front side of the driving unit fixed plate, in the rotary shaft and institute
It states and a pair of of pitch wheel is set on revoling tube, be fastenedly connected in the front end of the rotary shaft for defeated with motor
The shaft coupling male connector of shaft direct or indirect connection.
6. a kind of flexible operation tool system using double threaded screw driving as described in claim 1, it is characterised in that: in institute
The front end for stating far structure body is provided with operation actuator, and the control line of the operation actuator is worn from the far structure body
It crosses, the other end is held with the operation for Rotary motion input to be converted to linear motion output being located in the channel fixed plate
The connection of row device driving mechanism.
7. a kind of flexible operation tool system using double threaded screw driving as claimed in claim 6, it is characterised in that: described
The actuator driven mechanism that performs the operation includes the pedestal being fastenedly connected in the channel fixed plate, on the base the company of being rotatably connected to
Bar, one end of the connecting rod are connected with the first sliding block, and first sliding block is slided with the primary optic axis being arranged on the pedestal
The control line of connection, the operation actuator is fastenedly connected with first sliding block；It is sliding that the other end of the connecting rod is connected with second
Block, second sliding block are slidably connected with the second optical axis being arranged in the channel fixed plate；It is fixed in the driving unit
Rotational support has driving screw rod on plate, and the front end of the driving screw rod is provided with directly or indirectly to be connected for the output shaft with motor
The shaft coupling male connector connect is connected with third sliding block by being threadedly engaged on the driving screw rod, and the third sliding block is slidably connected
It is being set between the driving unit fixed plate and the channel fixed plate on third optical axis, the third sliding block and described the
It is connected between two sliding blocks by drive rod.
8. a kind of flexible operation tool system using double threaded screw driving as described in claim 1, it is characterised in that: also wrap
Include shell, sterile barrier, motor group and linear mould group；The driving unit fixed plate, the channel fixed plate with it is described
Shell is fastenedly connected, and the near structure body, middle connection body and driving unit are respectively positioned on the inside of the shell；The shell
Front end connect by the sterile barrier with the motor group；The linear mould group includes bracket, is fastenedly connected in the branch
Motor on frame and the Linear feed mechanism being fastenedly connected with the output shaft of the motor, the output of the Linear feed mechanism
End is fastenedly connected the shell of the motor group, and the motor is passed through sterile by the Linear feed mechanism driving motor group
Barrier drives the flexible Continuum Structure and driving unit to move along a straight line.
9. a kind of flexible operation tool system using double threaded screw driving as claimed in claim 8, it is characterised in that: described
Linear feed mechanism includes the lead screw of rotation connection on the bracket, is arranged on the lead screw and passes through spiral shell with the lead screw
The sliding block of line cooperation, is provided with straight, the sliding block is slidably arranged in the straight on the bracket；It is described
The output shaft of motor is fastenedly connected by shaft coupling and the lead screw.
10. a kind of flexible operation tool system using double threaded screw driving as described in claim 1, it is characterised in that: also
Including shell, the driving unit fixed plate, the channel fixed plate are fastenedly connected with the shell, the proximal structure
Body, middle connection body and driving unit are respectively positioned on the inside of the shell, and the front end of the shell passes through sterile barrier and motor
Group connection, the sterile barrier include cover and the shaft joint female that is rotatably arranged on the cover, the shaft coupling female
Rear end connect with the shaft coupling male connector, the front end of the shaft coupling female passes through another shaft coupling male connector and the motor group
Motor output shaft connection, the periphery of the cover is connected with sterile film.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796071.6A CN106308935B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using double threaded screw driving |
| US16/329,723 US11903571B2 (en) | 2016-08-31 | 2017-08-30 | Flexible surgical instrument system with prepositioned drive input |
| PCT/CN2017/099754 WO2018041158A1 (en) | 2016-08-31 | 2017-08-30 | Flexible surgical instrument system with prepositioned drive input |
| EP17845460.9A EP3508159B1 (en) | 2016-08-31 | 2017-08-30 | Flexible surgical instrument system with prepositioned drive input |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796071.6A CN106308935B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using double threaded screw driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106308935A CN106308935A (en) | 2017-01-11 |
| CN106308935B true CN106308935B (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610796071.6A Active CN106308935B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system using double threaded screw driving |
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| CN (1) | CN106308935B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018041158A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system with prepositioned drive input |
| CN112998862B (en) * | 2018-01-10 | 2023-03-10 | 北京术锐技术有限公司 | Flexible surgical tool and flexible surgical tool system |
| US12082791B2 (en) | 2018-01-10 | 2024-09-10 | Beijing Surgerii Robotics Company Limited | Multi-purpose flexible surgical tool system |
| CN109431604B (en) * | 2018-10-09 | 2021-03-26 | 北京术锐技术有限公司 | Flexible surgical robot for single-hole minimally invasive surgery and use method thereof |
| CN109452976B (en) * | 2018-12-28 | 2021-01-15 | 北京术锐技术有限公司 | Flexible surgical tool system |
| CN113499018A (en) * | 2021-08-23 | 2021-10-15 | 郑州大学 | Endoscope body pushing device and digestive endoscope robot |
| CN114041879B (en) * | 2021-11-15 | 2024-06-07 | 艺柏湾医疗科技(上海)有限公司 | Multi-freedom-degree surgical robot rigid clamp |
| CN120189236A (en) * | 2023-12-23 | 2025-06-24 | 术锐(上海)科技有限公司 | Surgical tool and surgical robot system |
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| CN106308935A (en) | 2017-01-11 |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |