CN106308937B - A kind of flexible operation tool system that distal end can be curved to any direction - Google Patents
A kind of flexible operation tool system that distal end can be curved to any direction Download PDFInfo
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- CN106308937B CN106308937B CN201610796100.9A CN201610796100A CN106308937B CN 106308937 B CN106308937 B CN 106308937B CN 201610796100 A CN201610796100 A CN 201610796100A CN 106308937 B CN106308937 B CN 106308937B
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- distal end
- rod
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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
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Abstract
The present invention relates to the flexible operation tool systems that a kind of distal end can be curved to any direction, including flexible operation tool and driving unit；Flexibility operation kit includes far structure body, near structure body and middle connection body；Far structure body includes distal end structure section, and distal end structure section includes distal end space disc, distal end fixed disk and structural bone；Near structure body includes proximal end structure section, and proximal end structure section includes proximal end space disc, proximal end fixed disk and structural bone；Middle connection body includes channel fixed plate and structural bone guiding channel；Driving unit includes motor section, movement converter section and straight-line motion mechanism；Motor section includes the first fixed plate and first motor, moving converter section includes transmission chain, the rotation output of first motor is converted to the linear motion of output rod and passes to the input terminal of straight-line motion mechanism by sterile barrier by transmission chain, 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 connect with proximal end fixed disk.
Description
Technical field
The present invention relates to the flexible operation tool systems that a kind of distal end can be curved to any direction, belong to medical instrument neck
Domain.
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 the flexible operations that a kind of distal end can be curved to any direction
Tool system, the flexibility perform the operation tool system can preferably be applied to through human body natural's cavity or through single operative incision and
Implement the robot system of operation.
To achieve the above object, the invention adopts the following technical scheme: the flexibility that a kind of distal end can be curved to any direction
Operation tool system, it is characterised in that: it includes flexible operation tool and driving unit；The flexible operation kit is included by remote
The flexible Continuum Structure that end structure body, near structure body and middle connection body are constituted；The far structure body includes at least one
A distal end structure section, the distal end structure section include distal end space disc, distal end fixed disk and structural bone；The near structure body includes number
The proximal end structure section equal with the distal end structure joint number is measured, the proximal end structure section includes proximal end space disc, proximal end fixed disk and structure
Bone；The middle connection body includes that two channel fixed plates and the structure bone guided being arranged between the two channel fixed plates are logical
Road；Structural bone one-to-one correspondence in structural bone and the proximal end structure section in the distal end structure section is fastenedly connected or is same root knot
Structure bone, one end of the structural bone are fastenedly connected with the proximal end fixed disk, sequentially pass through the proximal end space disc, the structure
Bone guided channel, the distal end space disc, the other end are fastenedly connected with the distal end fixed disk；The driving unit includes motor
Portion, movement converter section and multiple straight-line motion mechanisms, are provided between the movement converter section and the straight-line motion mechanism
Sterile barrier；The motor section includes the first fixed plate and the first motor that is fastenedly connected in first fixed plate, described
Moving converter section includes multiple transmission chains, and the rotation output of the first motor is converted to two outputs by each transmission chain
The linear motion of bar, the linear motion of the output rod pass to the input of the straight-line motion mechanism by the sterile barrier
Push-pull rod is held, the output end of the straight-line motion mechanism drives one end of bone to be fastenedly connected with one, and the driving bone passes through institute
Proximal end space disc is stated, the other end is fastenedly connected with the proximal end fixed disk.
The straight-line motion mechanism includes the optical axis being fastenedly connected between two channel fixed plates and is slidably connected
Sliding block on the optical axis, the sliding block are fastenedly connected as the output end of the straight-line motion mechanism with the driving bone,
The one end of the sliding block also with the push-pull rod is fastenedly connected, and the other end of the push-pull rod passes through the channel fixed plate and leads to
The sterile barrier is crossed to connect with the output rod.
The sterile barrier includes guide rod base and the guide rod for being slidably disposed through the guide rod base, in the rear end of guide rod
Be provided with the first quick locking head for connecting with the output rod, the front end of the guide rod base be provided with for institute
State the second quick locking head of push-pull rod connection；It is fastenedly connected in the periphery of the sterile barrier for system is sterilizable
The sterile film that part is isolated with the part not sterilized.
The first quick locking head includes screw base, is provided on the screw base for being inserted into the output rod
Jack is additionally provided with the threaded hole communicated with the jack on the screw base, is connected on the threaded hole tight
Determine screw.
The second quick locking head includes two sliding blocks and an elastic ring, and two sliding blocks are entrenched togather in opposite directions, two institutes
It states sliding block and clamps the elastic ring by being located at the flat recess of respective arranged on left and right sides, two sliding blocks are provided with center
Hole, two sliding blocks are provided with crescent protrusion on the respective centre bore, and the two crescent protrusions are in opposite cloth
It sets；The rear end of the push-pull rod is provided with first annular slot.
It is fastenedly connected with sterile barrier shell in the periphery of the guide rod base, the company of rotation in the sterile barrier shell
It is connected to quick locking disk, the quick locking disk is located at the front of the guide rod base, offers on the quick locking disk
Circumferentially distributed arc groove is provided with multipair half-circle projection on the cell wall of the arc groove；When the quick locking disk
When rotation, each pair of half-circle projection is respectively to two cunnings on the second quick locking head protruded into the annular groove
Block applies lateral pressure, is become larger with the hole for driving two crescent being located on the sliding block to convex to form.
It further include flexible operation tool connection shell, the near structure body and middle connection body are respectively positioned on the flexible operation
The inside of tool connection shell；The rear end of the flexible operation tool connection shell is provided with push-pull rod position-arresting disk, the push-pull rod
Position-arresting disk is rotatably connected in the flexible operation tool connection shell, is provided with described in multiple confessions on the push-pull rod position-arresting disk
The limit hole that push-pull rod passes through, the internal diameter of the limit hole are greater than the diameter of the push-pull rod；It is same on each push-pull rod
One axial positions are provided with the second annular groove, and second annular groove is located at the front of the first annular slot.
The movement converter section further include be arranged in the second fixed plate in front of first fixed plate, third fixed plate and
4th fixed plate；Each transmission chain includes that interval is rotatably supported between the third fixed plate and the 4th fixed plate
The first screw rod and the second screw rod, the rear end of first screw rod sequentially passes through the third fixed plate and the second fixed plate and logical
The output axis connection for crossing shaft coupling Yu the first motor, between second fixed plate and the third fixed plate
It is fastenedly connected first gear on first screw rod, the first gear is sequentially connected second gear by idle pulley, and described second
Gear is fastenedly connected on second screw rod；In described between the third fixed plate and the 4th fixed plate
It is respectively cooperating on one screw rod and the second screw rod and is connected with the first nut and the second nut；Two output rods respectively with the first spiral shell
Female and the second nut is fastenedly connected and front end passes through the 4th fixed plate.
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
It is passed through in structural body, the other end and the operation actuator driven mechanism between the two channel fixed plates connect；Operation is held
Row device driving mechanism includes front end and the first operation actuator push rod that the control line is fastenedly connected, the first operation actuator
The rear end perpendicular fastener of push rod is connected to the middle part of the second operation actuator push rod, the both ends of the second operation actuator push rod
It is fastenedly connected one end of the second push-pull rod respectively, the other end of second push-pull rod passes through the channel fixed plate and prolongs backward
It stretches；The second motor is fastenedly connected in first fixed plate, the movement converter section further includes the second transmission chain, and described
The rotation output of second motor is converted to the linear motion of two second output rods by two transmission chains；Second output rod
Linear motion second push-pull rod is passed to by the sterile barrier.
The movement converter section further include be arranged in the second fixed plate in front of first fixed plate, third fixed plate and
4th fixed plate；Second transmission chain includes third screw rod, and the third spiro rod rear end is by being located at the first fixed plate and the
Shaft coupling between two fixed plates is connect with second motor, the third fixed plate and the support of the 4th fixed plate common rotation
The third screw rod is connected on the third screw rod between the third fixed plate and the 4th fixed plate
Three nuts, the third nut are fastenedly connected with two bars, and the front ends of two bars passes through the 4th fixed plate and common
A link block is supported, two second output rods are fastenedly connected on front side of the link block.
It further include driving unit shell, first fixed plate is connect with the driving unit housing into rotation, the driving
The inner wall of unit housings is fastenedly connected with ring gear, and third motor, the third are fastenedly connected in first fixed plate
The output shaft of motor is fastenedly connected with gear, and the gear is engaged with the ring gear.
It further include driving unit shell and linear mould group, the linear mould group includes support body, is fastenedly connected in the branch
The 4th motor on frame body and the Linear feed mechanism being fastenedly connected with the output shaft of the 4th motor, the straight-line feed
The output end of mechanism is fastenedly connected the driving unit shell, and the 4th motor passes through described in Linear feed mechanism driving
Driving unit shell drives the driving unit, sterile barrier and flexible operation tool to move along a straight line.
The Linear feed mechanism includes the lead screw being rotatably connected on the support body, be arranged on the lead screw with
The lead screw passes through the third sliding block being threadedly engaged, and straight, the third sliding block sliding are provided on the support body
It is arranged in the straight；The output shaft of 4th motor is fastenedly connected by shaft coupling and the lead screw.
It is characterized by: first screw rod is different with the hand of spiral of second screw rod, and first screw rod
It is identical as the screw pitch of second screw rod.
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, driving unit of the present invention includes straight-line motion mechanism, electricity
Machine portion and movement converter section, wherein the push-pull rod of straight-line motion mechanism connects near structure body by driving bone, moves converter section
In kinematic chain the output of motor in motor section can be converted to the collaboration linear motion of two output rods, output rod and straight line
The push-pull rod of movement mechanism is attached by sterile barrier, thus effectively by the part that system does not sterilize and the portion sterilized
Divide and be isolated, guarantees the exploitativeness of clinical operation.3, sterile barrier of the present invention includes guide rod, one end of guide rod and kinematic chain
Output rod connected by the first quick locking head, the push-pull rod of the other end and straight-line motion mechanism passes through the second quick locking head
Connection, therefore, enhances the modularization and using flexible of whole system.4, the present invention is provided in the front end of far structure body
Operation actuator, operation actuator control line pass through far structure body, the other end and the operation actuator being located at middle connection body
Driving mechanism connection, and motor section is provided with the motor for driving control line push-and-pull, the output of motor passes through another transmission
Chain reaches operation actuator driven mechanism, to realize the action control to operation actuator.5, the present invention is in driving unit shell
The inner wall of body is provided with ring gear, and motor section is provided with motor, the output end connection of motor and ring gear meshed gears, because
This, can drive the part in addition to driving unit shell, ring gear integrally to be rotated using motor, thus to operation actuator
Roll angle be adjusted.6, the present invention is additionally provided with linear mould group, is attached with driving unit shell, so as to
Driving unit, sterile barrier and flexible operation tool is driven to carry out linear feeding movement by driving unit shell.
Present invention can apply to single hole endoscope-assistant surgery, can also be applied to through natural cavity non-invasive procedures.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of far structure body of the present invention；
Fig. 3 is the structural schematic diagram of flexible operation tool and straight-line motion mechanism of the invention；
Fig. 4 is the structural schematic diagram of near structure body of the present invention；
Fig. 5 is the structural schematic diagram of middle connection body of the present invention；
Fig. 6 is the structural schematic diagram of straight-line motion mechanism of the present invention and the actuator driven mechanism that performs the operation；
Fig. 7 is the motor section of driving unit of the present invention and the structural schematic diagram for moving converter section；
Fig. 8 is the structural schematic diagram of transmission chain of the present invention and the second transmission chain；
Fig. 9 be the present invention removal sterile barrier shell after sterile barrier and quick-locking mechanism structural schematic diagram；
Figure 10 is the attachment structure schematic diagram of sterile barrier and quick-locking mechanism of the present invention；
Figure 11 is structural schematic diagram of the sterile barrier of the present invention under another visual angle；
Figure 12 is the fractionation structural representation of the second quick locking head of the invention；
Figure 13 is structural schematic diagram of the second quick locking head of the invention under another visual angle；
Figure 14 is the structural schematic diagram of part driving unit of the present invention and linear mould group；
Figure 15 is structural schematic diagram when far structure body of the present invention uses flexible sheath.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention includes flexible operation tool 10 and driving unit 20.Flexible operation tool 10 includes by remote
End structure body 101 (as shown in Figure 2), near structure body 102 (as shown in Figure 3) and the composition (as shown in Figure 5) of middle connection body 103
Flexible Continuum Structure.Wherein, far structure body 101 is associated with by middle connection body 103 near structure body 102；Driving
Unit 20 is associated with near structure body 102, when driving unit 20 drives near structure body 102 to curve to any direction, distal end
Structural body 101 correspondingly curves in the opposite direction.
As shown in Fig. 2, far structure body 101 includes the first distal end structure section 104 and the second distal end structure section 105.First distal end
Structure section 104 includes the first distal end space disc 106, the first distal end fixed disk 107 and the first structure section structure bone 108；Second distal end structure
Section 105 includes the second distal end space disc 109, the second distal end fixed disk 110 and the second structure section structure bone 111.Wherein, the first distal end
Space disc 106 and the second distal end space disc 109 are spacedly distributed respectively in the first distal end structure section 104 and the second distal end structure section 105
In, effect is to prevent the first structure section structure bone 108 and the second unstability when being pushed away of structure section structure bone 111.
As shown in Figure 3, Figure 4, near structure body 102 includes the first proximal end structure section 112 and the second proximal end structure section 113.First
Proximal end structure section 112 includes the first proximal end space disc 114, the first proximal end fixed disk 115 and the first structure section structure bone 116；Second is close
Holding structure section 113 includes the second proximal end space disc 117, the second proximal end fixed disk 118 and the second structure section structure bone 119.Wherein, first
Proximal end space disc 114 and the second proximal end space disc 117, which are respectively separated, is distributed in the first proximal end structure section 112 and the second proximal end structure section
In 113, effect is to prevent the first structure section structure bone 116 and the second unstability when being pushed away of structure section structure bone 119.Positioned at the first proximal end
The first structure section structure bone 116 on structure section 112 and the first structure section structure bone 108 1 on the first distal end structure section 104 are a pair of
It should be fastenedly connected or for same root structural bone；The second structure section structure bone 119 on the second proximal end structure section 113 be located at second
The second structure section structure bone 111 one-to-one correspondence on distal end structure section 105 is fastenedly connected or is same root structural bone.For each proximal end
Structure section 112,113 and each distal end structure section 104,105, the quantity of structural bone are three or more.
As shown in figure 5, middle connection body 103 includes two channel fixed plates 120 and is fixedly connected on two channels and fixes
Structural bone guiding channel 121 between plate 120.One end of first structure section structure bone 116 (108) and the first proximal end fixed disk 115
It is fastenedly connected, the other end sequentially passes through the first proximal end space disc 114, structural bone guiding channel 121, the first distal end space disc 106
It is fastenedly connected afterwards with the first distal end fixed disk 107.One end of second structure section structure bone 119 (111) and the second proximal end fixed disk 118
It is fastenedly connected, the other end sequentially passes through the second proximal end space disc 117, structural bone guiding channel 121, the first distal end structure section 104,
It is fastenedly connected after two distal end space discs 109 with the second distal end fixed disk 110.The effect of structural bone guiding channel 121 is to maintain knot
Structure bone is by shape invariance when push and draw force.The outside of middle connection body 103 is provided with flexible operation tool connection shell 30, it is flexible
The middle connection body 103 of operation tool 10 is respectively positioned on the inside that flexible operation tool connects shell 30, and two near structure body 102
A channel fixed plate 120 connect shell 30 with flexible operation tool and is fastenedly connected.
Proximal end structure section included by distal end structure joint number and near structure body 102 included by said distal ends structural body 101
Number is also possible to one or more than two, but proximal end structure joint number must be consistent with distal end structure joint number.In addition, working as distal colorectal
When structure joint number in distal end included by structure body 101 is more than two, connected between each distal end structure section using concatenated mode, i.e., second
Structure section structure bone from the first distal end fixed disk, the first distal end space disc (if the first structure section structure bone uses tubular structure, can also be from
Passed through in first structure section structure) on across；When the proximal end structure joint number included by the near structure body 102 is more than two, each structure
It can be using series connection, parallel setting and nested setting (as shown in Figure 4) etc. between section.
Driving unit 20 include it is multiple be arranged between two channel fixed plates 120 straight-line motion mechanism 201 (such as Fig. 3,
Shown in Fig. 6), each straight-line motion mechanism 201 includes a push-pull rod 205 and a cunning being fastenedly connected with push-pull rod 205
Block 204, sliding block 204 drive one end of bone 202 to be fastenedly connected with one, and the other end of driving bone 202 passes through the first proximal end interval
Be fastenedly connected after disk 114 with the first proximal end fixed disk 115, or pass through the second proximal end space disc 117 after with the second proximal end fixed disk
118 are fastenedly connected.In the present embodiment, driving bone 202 shares eight, and four therein fasten with the first proximal end fixed disk 115
Connection, another four are fastenedly connected with the second proximal end fixed disk 118.Pass through the collaboration of straight-line motion mechanism 201 push-and-pull and the first proximal end
Structure section 112 connect driving bone 202, it can be achieved that the first proximal end structure section 112 in any direction on curve freedom degree, when first closely
End structure section 112 is to some direction when curving, the first distal end structure section 104 will in certain proportion relationship (by the first structure section structure bone
116 and first structure section structure bone 108 distribution radius codetermine) curve in the opposite direction；Similarly, pass through linear motion
The collaboration of mechanism 201 pushes and pulls the driving bone 202 connecting with the second proximal end structure section 113, it can be achieved that the second proximal end structure section 113 is in any side
Upward curves freedom degree, and when the second proximal end structure section 113 is curved to some direction, the second distal end structure section 105 will be with certain
Proportionate relationship (being codetermined from the distribution radius of the second structure section structure bone 119 and the second structure section structure bone 111) is to opposite side
To curving.
As shown in fig. 6, straight-line motion mechanism 201 further includes the optical axis being fixedly connected between two channel fixed plates 120
203；Sliding block 204 is slidably connected on optical axis 203；Push-pull rod 205 passes through channel fixed plate 120 and extends back.
As shown in Figure 7, Figure 8, driving unit 20 further includes motor section 206 and movement converter section 207, and motor section 206 includes
First fixed plate 208 and multiple (the present embodiment is four) are used to be that driving bone 202 mentions with what the first fixed plate 208 was fastenedly connected
For the motor 209 of driving force；Moving converter section 207 includes a plurality of (the present embodiment is four) transmission chain 210, every transmission chain
210 are converted to the rotation output of a motor 209 linear motion of two output rods 222,223, two output rods 222,223
Linear motion finally correspondingly pass to two push-pull rods 205, so that a pair of of driving bone 202 be driven to complete collaboration push-and-pull fortune
It is dynamic.
As shown in Figure 7, Figure 8, movement converter section 207 further includes the second fixed plate that 208 front of the first fixed plate is arranged in
211, third fixed plate 212 and the 4th fixed plate 213.Each transmission chain 210 includes that interval is rotatably supported in third fixed plate 212
The first screw rod 214 and the second screw rod 215 between the 4th fixed plate 213, wherein one end of the first screw rod 214 sequentially passes through
Third fixed plate 212 and the second fixed plate 211 and the output axis connection for passing through shaft coupling 216 and motor 209.It is solid being located at second
First gear 217 is fastenedly connected on the first screw rod 214 between fixed board 211 and third fixed plate 212；First gear 217 passes through
The transmission connection second gear 219 of idle pulley 218, second gear 219 are fastenedly connected on the second screw rod 215, and the one of the second screw rod 215
End is across third fixed plate 212.The hand of spiral of first screw rod 214 and the second screw rod 215 must be different, such as 213 He of the first screw rod
Second screw rod 214 is respectively left-handed screw and right handed screw, it is preferable that the screw pitch phase of the first screw rod 213 and the second screw rod 214
Together.It is respectively cooperating on the first screw rod 214 and the second screw rod 215 between third fixed plate 212 and the 4th fixed plate 213
Be connected with the first nut 220 and the second nut 221, the first nut 220 is fastenedly connected with output rod 222, the second nut 221 with it is defeated
Rod 223 is fastenedly connected.Output rod 222 and output rod 223 pass through the 4th fixed plate 213, the output end as transmission chain 210.
As shown in Fig. 1, Fig. 9~Figure 11, lead between the straight-line motion mechanism 201 and movement converter section 207 of driving unit 20
Sterile barrier 224 is crossed to be attached.Sterile barrier 224 includes sterile barrier shell 225, fastening setting in sterile barrier shell
Guide rod base 226 in 225, the guide rod 227 for being slidably disposed through guide rod base 226, be arranged in 227 rear end of guide rod for
The the first quick locking head 228 and 227 front end of guide rod is set that the output rod 222 or output rod 223 of transmission chain 210 connect
The second quick locking head 229 for being connect with push-pull rod 205.Sterile film (figure is fastenedly connected in the periphery of sterile barrier 224
In be not shown), for by the sterilizable part of system, (such as flexibility operation tool 10, straight-line motion mechanism 201 to be located at sterile screen
Hinder the part before 223) with the part not sterilized (converter section 207, motor section 206, linear mould group 50 are such as moved positioned at sterile
Part after barrier 223) it is isolated, guarantee the clinical exploitativeness of operation.
First quick locking head 228 include screw base 231, be provided on screw base 231 for be inserted into output rod 222 or
The jack of output rod 223 is additionally provided with the threaded hole communicated with jack on screw base 231, is connected on threaded hole
Holding screw 232.The quick of guide rod 227 and output rod 222 or output rod 223 may be implemented by the first quick locking head 228
It connects, in the jack that only corresponding screw base 231 need to be inserted into the front end of output rod 222 or output rod 223 in connection, then
Rotation holding screw 232 makes the head of holding screw 232 hold out against output rod 222 or output rod 223.
As shown in Figure 12 and Figure 13, the second quick locking head 229 includes two sliding blocks 233,234 and an elastic ring 235,
Wherein, two sliding blocks 233,234 structures are identical and are entrenched togather in opposite directions, and two sliding blocks 233,234 are respective by being located at respectively
The flat recess of arranged on left and right sides clamps elastic ring 235.Two sliding blocks 233,234 are provided with centre bore, and two sliding blocks are each
From centre bore on a crescent protrusion 236,237 is set, two crescent protrusions 236,237 are in positioned opposite.The present invention the
The locking state of two quick locking heads 229 is as shown in figure 13, when two sliding blocks 233,234 bear lateral pressure, elastic ring 235
Deformation, so that sliding block 233,234 moves on the direction of respective stress respectively, two crescent protrusions 236,237 are mutually carried on the back at this time
To movement, the center of circle of two crescent protrusions 236,237 tends to be overlapped, and the hole of formation becomes larger, when two crescent protrusions 236,237
Formed closure circular hole when, can make push-pull rod 205 be inserted into the second quick locking head 229 in, after shedding pressure, elastic ring 235 with
It is restored by means of natural resiliency, pushes two sliding blocks 233,234 that two crescent protrusions 236,237 are moved toward one another, and to push-pull rod
205 form chucking power.The rear end of push-pull rod 205 is provided with first annular slot 238, when two crescent protrusions 236,237 are blocked
When in the first annular slot 238 of push-pull rod 205, being fastenedly connected for guide rod 227 and push-pull rod 205 can be realized.Similarly, lead to
Push-pull rod 205 can also easily be extracted by crossing after applying lateral pressure to two sliding blocks 233,234.
In order to realize that each push-pull rod 205 is connected with locking while each guide rod 227 to improve the installation effectiveness of system,
The present invention is additionally provided with for realizing the quick-locking mechanism 239 of each push-pull rod 205 and 227 fast locking of guide rod.Such as Fig. 9, figure
Shown in 11, quick-locking mechanism 239 includes the quick locking disk 240 being rotatably connected in sterile barrier shell 225, in fast lock
Circumferentially distributed arc groove 241 is offered on tight disk 240, each second quick locking head 229 stretches in arc groove 241,
Multipair half-circle projection 242 is provided on the cell wall of arc groove 241, each pair of half-circle projection when quick locking disk 240 rotates
242 respectively the sliding block 233 to the second quick locking head 229 and sliding block 234 apply lateral pressure, drive each second quick locking
The hole that two crescent protrusions 236,237 on first 229 are formed becomes larger, in order to the insertion of each push-pull rod 205.
In above-described embodiment, as shown in Fig. 1, Fig. 9 and Figure 10, it is provided with and pushes away in the rear end of flexible operation tool connection shell 30
Pull rod position-arresting disk 243, push-pull rod position-arresting disk 243 is rotatably connected in flexible operation tool connection shell 30, in push-pull rod position-arresting disk
Multiple limit holes 244 passed through for push-pull rod 205 are provided on 243, the internal diameter of limit hole 244 is greater than the diameter of push-pull rod 205.
Same axial positions on each push-pull rod 205 are provided with the second annular groove 245, and the second annular groove 245 is located at first annular
The front of slot 238.When needing for sterile barrier 224 quickly to connect with each push-pull rod 205, the axis of each push-pull rod 205 is first adjusted
It to position, is aligned the second annular groove 245 with limit hole 244, then rotates push-pull rod position-arresting disk 243, each limit hole 244 is caught in
In second annular groove 245 of corresponding push-pull rod 205, at this point, each push-pull rod 205 is locked in the axial direction, convenient for being inserted into simultaneously
Each second quick locking head 229.
In above-described embodiment, as shown in Figure 10, sliding slot 246 circumferentially is offered on sterile barrier shell 225,
The switch knob 247 being fastenedly connected with quick locking disk 240 is slidably provided in sliding slot 246, it can be more by switch knob 247
Easily driving quick locking disk 240 rotates.Correspondingly, as shown in Figure 1, offering edge on flexible operation tool connection shell 30
The sliding slot 248 of circumferentially extending, is slidably provided with the switch knob being fastenedly connected with push-pull rod position-arresting disk 243 in sliding slot 248
249, push-pull rod position-arresting disk 243 can be driven to rotate more conveniently by switch knob 249.
In above-described embodiment, the front end of far structure body 101 is provided with operation actuator 40 (as shown in Figure 1 and Figure 2),
The control line 401 of operation actuator 40 is passed through from far structure body 101, the other end and the operation being located in channel fixed plate 120
The connection (as shown in Figure 6) of actuator driven mechanism 402, operation actuator driven mechanism 402 are pushed and pulled by the physics to control line 401
Realize the control to operation actuator 40 (such as surgical clamp).It is various that control line 401 can also equally transmit such as electric energy, high-frequency vibration
The energy of form is to realize the particular procedure function of operation actuator 40.Perform the operation actuator driven mechanism 402 include front end with
The first operation actuator push rod 403 (as shown in Figure 6) that control line 401 is fastenedly connected, the rear end of the first operation actuator push rod 403
Perpendicular fastener is connected to the middle part of the second operation actuator push rod 404, and the both ends of the second operation actuator push rod 404 fasten respectively
One end of push-pull rod 405 is connected, the other end of push-pull rod 405 passes through channel fixed plate 120 and extends back.Correspondingly, first
Be fastenedly connected in fixed plate 208 it is useful in providing the motor 406 (as shown in Figure 8) of driving force for push-pull rod 405, motor 406
Output shaft passes through one end of 407 connecting screw 408 of shaft coupling, and the other end of screw rod 408 is rotatably supported in the 4th fixed plate 213
On, nut 409, nut 409 are connected on the screw rod 408 between third fixed plate 212 and the 4th fixed plate 213
It being fastenedly connected with two bars 410, the front end of two bars 410 passes through the 4th fixed plate 213 and supports a link block 411 jointly,
Interval is fastenedly connected two output rods 412 on front side of link block 411, also through above-mentioned between output rod 412 and push-pull rod 405
Guide rod 226 on sterile barrier 224 is attached.
In above-described embodiment, as shown in Fig. 1, Fig. 7 and Figure 14, the invention also includes driving unit shell 50, first is fixed
Plate 208, the second fixed plate 211, third fixed plate 212 and the 4th fixed plate 213 are rotatablely connected with driving unit shell 50, are driven
The inner wall of moving cell shell 50 is fastenedly connected ring gear 501, is fastenedly connected with motor 502, motor in the first fixed plate 208
502 output shaft is fastenedly connected gear 503, and gear 503 is engaged with ring gear 501.When the rotation of the output shaft of motor 502,
Band moving gear 503 rotates, and gear 503 will walk along the circumferential direction of ring gear 501, removes driving unit shell 50 and internal tooth to drive
Entire infrastructure other than circle 501 is rotated around the axis of ring gear 501, is held to realize to far structure body 101 and operation
The angle of row device 40 controls.
In above-described embodiment, as shown in Fig. 1, Figure 14, the invention also includes linear mould groups 60 comprising the branch with sliding slot
Frame body 601, rotation is provided with lead screw 602 on support body 601, is arranged on lead screw 602 with lead screw 602 by being threadedly engaged
And be slidably arranged in the sliding block 603 in sliding slot, one end of support body 601 is provided with motor 604, the output shaft of motor 604 with
Lead screw 602 is fastenedly connected by shaft coupling.Driving unit shell 50 is fastenedly connected with sliding block 603.When the output shaft of motor 604 turns
When dynamic, sliding block 603 will drive driving unit shell 50 to do linear movement along the chute, to realize the feeding of flexible operation tool 10
Movement.
In above-described embodiment, as shown in Figure 1, being provided with strip of paper used for sealing 122 in the outside of far structure body 101, it acts as change
Kind far structure body 101 enters the smoothness of human body natural's cavity or operative incision.In the outside of strip of paper used for sealing 122, sheath can also be set
70 (as shown in Figure 2) are covered, in one application, sheath 70 is fixed on the single incision in abdominal cavity, and far structure body 101 is together with envelope
Skin 122, operation actuator 40 can pass freely through and reach art portion for the through-hole that operation tool passes through in sheath 70.Such as Figure 15 institute
Show, sheath 70 can also more easily can protrude into all kinds of natural cavities of human body and with cavity using flexible sheath
Cavity inlet is fixed in shape and adaptively changing shape, one end of flexible sheath, far structure body 101 together with strip of paper used for sealing 122,
Operation actuator 40 can equally pass freely through flexible sheath and put on the through-hole arrival art portion passed through for operation tool.
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 (13)
1. the flexible operation tool system that a kind of distal end can be curved to any direction, it is characterised in that: it includes flexible operation work
Tool and driving unit；The flexible operation kit include be made of far structure body, near structure body and middle connection body it is soft
Property Continuum Structure；The far structure body includes at least one distal end structure section, and the distal end structure section includes distal end space disc, remote
Hold fixed disk and structural bone；The near structure body includes the quantity proximal end structure section equal with the distal end structure joint number, described close
Holding structure section includes proximal end space disc, proximal end fixed disk and structural bone；The middle connection body includes two channel fixed plates and sets
Set the structural bone guiding channel between the two channel fixed plates；Structural bone and the proximal end structure section in the distal end structure section
In structural bone one-to-one correspondence be fastenedly connected or for same root structural bone, one end of the structural bone and the proximal end fixed disk are tight
Be solidly connected, sequentially pass through the proximal end space disc, the structural bone guiding channel, the distal end space disc, the other end with it is described
Distal end fixed disk is fastenedly connected；
The driving unit includes motor section, movement converter section and multiple straight-line motion mechanisms, in the movement converter section and institute
It states and is provided with sterile barrier between straight-line motion mechanism；The motor section includes the first fixed plate and is fastenedly connected described first
First motor in fixed plate, the movement converter section includes multiple transmission chains, and each transmission chain is by the first motor
Rotation output be converted to the linear motions of two output rods, the linear motion of the output rod is transmitted by the sterile barrier
To the input terminal push-pull rod of the straight-line motion mechanism, the output end of the straight-line motion mechanism drives one end of bone tight with one
It is solidly connected, the driving bone passes through the proximal end space disc, and the other end is fastenedly connected with the proximal end fixed disk；
The sterile barrier includes guide rod base and the guide rod for being slidably disposed through the guide rod base, is arranged in the rear end of guide rod
There is the first quick locking head for connecting with the output rod, is provided in the front end of the guide rod base for being pushed away with described
Second quick locking head of pull rod connection；It is fastenedly connected in the periphery of the sterile barrier for by the sterilizable part of system
The sterile film being isolated with the part not sterilized.
2. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, it is characterised in that:
The straight-line motion mechanism includes the optical axis being fastenedly connected between two channel fixed plates and is slidably connected at the light
Sliding block on axis, the sliding block are fastenedly connected as the output end of the straight-line motion mechanism with the driving bone, the sliding block
One end also with the push-pull rod is fastenedly connected, and the other end of the push-pull rod passes through the channel fixed plate and passes through the nothing
Bacterium barrier is connect with the output rod.
3. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, it is characterised in that:
The first quick locking head includes screw base, and the jack for being inserted into the output rod is provided on the screw base,
It is additionally provided with the threaded hole communicated with the jack on the screw base, is connected with holding screw on the threaded hole.
4. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, it is characterised in that:
The second quick locking head includes two sliding blocks and an elastic ring, and two sliding blocks are entrenched togather in opposite directions, and two sliding blocks are logical
The flat recess crossed positioned at respective arranged on left and right sides clamps the elastic ring, and two sliding blocks are provided with centre bore, described in two
Sliding block is provided with crescent protrusion on the respective centre bore, and the two crescent protrusions are in positioned opposite；Described
The rear end of push-pull rod is provided with first annular slot.
5. the flexible operation tool system that a kind of distal end as claimed in claim 4 can be curved to any direction, it is characterised in that:
It is fastenedly connected with sterile barrier shell in the periphery of the guide rod base, is rotatably connected in the sterile barrier shell quickly
Locking plate, the quick locking disk are located at the front of the guide rod base, offer on the quick locking disk and circumferentially divide
The arc groove of cloth is provided with multipair half-circle projection on the cell wall of the arc groove；When the quick locking disc spins, often
Side is applied to two sliding blocks on the second quick locking head protruded into the annular groove respectively to the half-circle projection
To pressure, become larger with the hole for driving two crescent being located on the sliding block to convex to form.
6. the flexible operation tool system that a kind of distal end as claimed in claim 4 can be curved to any direction, it is characterised in that:
It further include flexible operation tool connection shell, the near structure body is respectively positioned on the flexible operation tool with middle connection body and connects
The inside of shell；The rear end of the flexible operation tool connection shell is provided with push-pull rod position-arresting disk, the push-pull rod position-arresting disk turns
It is dynamic to be connected in the flexible operation tool connection shell, it is provided with multiple confessions push-pull rod on the push-pull rod position-arresting disk and wears
The limit hole crossed, the internal diameter of the limit hole are greater than the diameter of the push-pull rod；Same axial position on each push-pull rod
The place of setting is provided with the second annular groove, and second annular groove is located at the front of the first annular slot.
7. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, it is characterised in that:
The movement converter section further includes that the second fixed plate, the third fixed plate and the 4th being arranged in front of first fixed plate are fixed
Plate；Each transmission chain includes the first spiral shell that interval is rotatably supported between the third fixed plate and the 4th fixed plate
Bar and the second screw rod, the rear end of first screw rod sequentially pass through the third fixed plate and the second fixed plate and pass through shaft coupling
With the output axis connection of the first motor, in described first between second fixed plate and the third fixed plate
First gear is fastenedly connected on screw rod, the first gear passes through idle pulley transmission connection second gear, the second gear fastening
It is connected on second screw rod；Between the third fixed plate and the 4th fixed plate first screw rod and
It is respectively cooperating on second screw rod and is connected with the first nut and the second nut；Two output rods respectively with the first nut and second
Nut is fastenedly connected and front end passes through the 4th fixed plate.
8. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, it is characterised in that:
The front end of the far structure body is provided with operation actuator, the control line of the operation actuator is from the far structure body
It passes through, the other end and the operation actuator driven mechanism between the two channel fixed plates connect；Operation actuator driven
Mechanism include front end and it is described control line be fastenedly connected first operation actuator push rod, it is described first operation actuator push rod after
End perpendicular fastener is connected to the middle part of the second operation actuator push rod, and the both ends of the second operation actuator push rod fasten respectively
One end of the second push-pull rod is connected, the other end of second push-pull rod passes through the channel fixed plate and extends back；
The second motor is fastenedly connected in first fixed plate, the movement converter section further includes the second transmission chain, described
The rotation output of second motor is converted to the linear motion of two second output rods by the second transmission chain；Second output
The linear motion of bar passes to second push-pull rod by the sterile barrier.
9. the flexible operation tool system that a kind of distal end as claimed in claim 8 can be curved to any direction, it is characterised in that:
The movement converter section further includes that the second fixed plate, the third fixed plate and the 4th being arranged in front of first fixed plate are fixed
Plate；Second transmission chain includes third screw rod, and the third spiro rod rear end is by being located at the first fixed plate and the second fixed plate
Between shaft coupling connect with second motor, the third fixed plate and the 4th fixed plate common rotation support the third
Screw rod is connected with third nut on the third screw rod between the third fixed plate and the 4th fixed plate,
The third nut is fastenedly connected with two bars, and the front end of two bars passes through the 4th fixed plate and supports one jointly
Link block is fastenedly connected two second output rods on front side of the link block.
10. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, feature exist
In: it further include driving unit shell, first fixed plate is connect with the driving unit housing into rotation, the driving unit shell
The inner wall of body is fastenedly connected with ring gear, and third motor is fastenedly connected in first fixed plate, the third motor
Output shaft is fastenedly connected with gear, and the gear is engaged with the ring gear.
11. the flexible operation tool system that a kind of distal end as described in claim 1 can be curved to any direction, feature exist
In: it further include driving unit shell and linear mould group, the linear mould group includes support body, is fastenedly connected on the support body
The 4th motor and the Linear feed mechanism that is fastenedly connected with the output shaft of the 4th motor, the Linear feed mechanism
Output end is fastenedly connected the driving unit shell, and the 4th motor drives the driving single by the Linear feed mechanism
First shell drives the driving unit, sterile barrier and flexible operation tool to move along a straight line.
12. the flexible operation tool system that a kind of distal end as claimed in claim 11 can be curved to any direction, feature exist
In: the Linear feed mechanism includes the lead screw being rotatably connected on the support body, be arranged on the lead screw with it is described
Lead screw passes through the sliding block being threadedly engaged, and straight is provided on the support body, and the sliding block is slidably arranged in described straight
In line sliding slot；The output shaft of 4th motor is fastenedly connected by shaft coupling and the lead screw.
13. the flexible operation tool system that a kind of distal end as claimed in claim 7 can be curved to any direction, feature exist
In: it is characterized by: the hand of spiral of first screw rod and second screw rod is different, and first screw rod with it is described
The screw pitch of second screw rod is identical.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796100.9A CN106308937B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system that distal end can be curved to any direction |
| EP17845506.9A EP3539501B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| US16/329,758 US11173002B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| PCT/CN2017/099855 WO2018041204A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| US17/449,246 US11872002B2 (en) | 2016-08-31 | 2021-09-28 | Flexible surgical instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796100.9A CN106308937B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system that distal end can be curved to any direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106308937A CN106308937A (en) | 2017-01-11 |
| CN106308937B true CN106308937B (en) | 2019-01-01 |
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| CN201610796100.9A Active CN106308937B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system that distal end can be curved to any direction |
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| CN (1) | CN106308937B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018041204A1 (en) | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible surgical instrument system |
| CN106974764B (en) * | 2017-03-27 | 2025-03-18 | 上海交通大学医学院附属第九人民医院 | Cochlear implant device |
| 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 |
| CN110575256A (en) * | 2019-08-28 | 2019-12-17 | 哈尔滨理工大学 | A cavity endoscopic surgical robot |
| CN115281588B (en) * | 2022-06-30 | 2023-02-03 | 中国科学院自动化研究所 | Flexible tail end controllable medical instrument motion control system and medical equipment |
| CN117357043A (en) * | 2022-06-30 | 2024-01-09 | 中国科学院自动化研究所 | Flexible end controllable medical instrument motion control system and medical equipment |
| CN119548215B (en) * | 2025-01-26 | 2025-04-11 | 武汉大学中南医院 | Surgical scissors controlled under endoscope |
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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. |