CN116712113A - A four-degree-of-freedom flexible surgical instrument based on conical continuum - Google Patents

Abstract

The invention relates to the technical field of medical instruments, and provides a four-degree-of-freedom flexible surgical instrument based on a conical continuum, which comprises the conical continuum and a driving mechanism; the conical flexible body is in a truncated cone shape and comprises a deformable connecting piece, a rigid sleeve, a proximal clamping piece and a distal clamping piece, wherein two ends of the deformable connecting piece are respectively connected with the proximal clamping piece and the distal clamping piece, the proximal clamping piece is connected with the rigid sleeve, and the distal clamping piece extends out freely; the driving mechanism comprises a rotation driving component, a translation driving component and a traction component; the rotary driving assembly is in transmission connection with the rigid sleeve so as to drive the conical flexible body to rotate; the traction component is connected with the far-end clamping piece and is connected with the translation driving component through the near-end clamping piece and the rigid sleeve. The conical flexible body with higher flexibility and higher rigidity is arranged, so that larger action moment can be borne, the application range of the instrument is improved, the whole instrument is centrosymmetric, the convenience and applicability of clinical application are improved, and the operability of minimally invasive surgery is improved.

Description

A four-degree-of-freedom flexible surgical instrument based on conical continuum

Technical field

The invention relates to the technical field of medical instruments, and in particular to a four-degree-of-freedom flexible surgical instrument based on a conical continuum.

Background technique

Minimally invasive surgery is widely used due to its advantages of less trauma, high installability, fast recovery, and little damage to normal tissue. In clinical practice, due to the complex environment and organ distribution in the human body, rigid surgical instruments cannot meet the requirements of minimally invasive surgery, so flexible surgical instruments are needed for processing.

At present, conventional surgical instruments are based on cylindrical flexible bodies. Although this type of flexible surgical instrument is flexible and can be moved to reach the lesion, its structural rigidity is low and the bearing capacity of the end is small, making it difficult to meet the requirements of the end execution component. The requirement for larger force makes it more limited in clinical application.

Contents of the invention

The present invention provides a four-degree-of-freedom flexible surgical instrument based on a cone-shaped continuum, which is used to solve the shortcomings of the prior art minimally invasive surgical instruments with cylindrical flexible bodies, such as low structural rigidity and poor end-end bearing capacity.

The invention provides a four-degree-of-freedom flexible surgical instrument based on a cone-shaped continuum, including: a cone-shaped flexible body and a driving mechanism;

The tapered flexible body is in the shape of a truncated cone and includes a deformable connector, a rigid sleeve, a proximal clamp and a distal clamp. The two ends of the deformable connector are connected to the proximal clamp and the distal clamp respectively. The distal clamp is connected, the proximal clamp is connected to the rigid sleeve, and the distal clamp extends freely;

The driving mechanism includes a rotational driving assembly, a translational driving assembly and a traction assembly; the rotational driving assembly is drivingly connected to the rigid sleeve to drive the cone-shaped flexible body to rotate; the traction assembly is connected to the distal card The components are connected and connected to the translation drive component via the proximal clamping component and the rigid sleeve, so as to drive the traction component to move through the translation drive component, thereby controlling the bending deformation of the cone-shaped flexible body;

Wherein, the traction components are configured in three groups, and the three groups of traction components are respectively provided in three different movement directions of the cone-shaped flexible body, and each of the traction components is connected to the translation drive component, so as to The traction components are driven to move by the respective connected translation driving components, thereby controlling the cone-shaped flexible body to be able to bend and deform in three different directions.

According to a four-degree-of-freedom flexible surgical instrument based on a tapered continuum provided by the present invention, the distal clamping member has a connection socket on the outer wall, and the connection socket allows one end of the traction component to extend in and It is fixedly connected with it; the outer wall of the proximal clamping member is provided with a limiting slot that penetrates along the axial direction, and the limiting slot allows the traction assembly to pass through.

According to a four-degree-of-freedom flexible surgical instrument based on a conical continuum provided by the present invention, the deformable connector includes a conical coil spring, and the conical coil spring is configured with a small diameter end and a large diameter end. The conical coil spring The small diameter end of the conical coil spring is connected to the distal clamping piece, and the large diameter end of the conical coil spring is connected to the proximal clamping piece.

According to the four-degree-of-freedom flexible surgical instrument based on a tapered continuum provided by the present invention, the traction component includes a traction beam, and the traction beam includes one or more metal wires.

According to a four-degree-of-freedom flexible surgical instrument based on a conical continuum provided by the present invention, the rotation drive assembly includes a motor, a coupling, a synchronization wheel and a bearing;

The coupling is connected to the output end of the motor;

The synchronizing wheel includes a first synchronizing wheel and a second synchronizing wheel, and the first synchronizing wheel and the second synchronizing wheel are drivingly connected;

Wherein, the first synchronizing wheel is connected to the coupling, the second synchronizing wheel is connected to the bearing, and the bearing is connected to the rigid sleeve.

A four-degree-of-freedom flexible surgical instrument based on a cone-shaped continuum provided according to the present invention also includes a base and a support component, and the support component is provided on the base;

Wherein, the support component has a fixed part and a rotating part, the rotation drive component is provided on the fixed part of the support component, the translation drive component and the traction component are provided on the rotation part of the support component, The rotation drive component is connected to the rotation part of the support component, so that the rotation part of the support component rotates to drive the translation drive component and the traction component to rotate simultaneously.

According to a four-degree-of-freedom flexible surgical instrument based on a conical continuum provided by the present invention, the support assembly includes a first rotating bracket and a second rotating bracket, and the first rotating bracket and the second rotating bracket are respectively A rotating disk is provided, and an accommodation cavity capable of accommodating the translation drive assembly and the traction assembly is constructed between the first rotation bracket and the second rotation bracket to drive the translation drive through the rotation disk. assembly and the traction assembly rotates.

According to a four-degree-of-freedom flexible surgical instrument based on a cone-shaped continuum provided by the present invention, the translation driving assembly includes a driving part and a translation actuator;

The output end of the driving part is connected to the translation actuator, and the translation actuator is connected to the traction component to drive the translation actuator to move through the driving part, thereby driving the traction component to move.

According to a four-degree-of-freedom flexible surgical instrument based on a tapered continuum provided by the present invention, the translation actuator includes a connecting plate, a lead screw and a fixing member provided on the connecting plate;

The fixing piece is fixedly connected to the traction assembly;

The screw is connected to the driving part so as to drive the screw to rotate through the driving part, thereby enabling the fixing member to move.

According to a four-degree-of-freedom flexible surgical instrument based on a tapered continuum provided by the present invention, the translation actuator also includes a guide optical axis, a linear displacement sensor and a tension and pressure sensor provided on the connecting plate. The displacement sensor is fixedly connected to the connecting plate, the tension and pressure sensor is provided between the connecting plate and the fixing member, and the guide optical axis penetrates the connecting plate so that the connecting plate can move along the connecting plate. The guide optical axis moves.

According to any of the above embodiments, the present invention has at least the following beneficial effects:

The invention provides a four-degree-of-freedom flexible surgical instrument based on a conical continuum. By configuring the flexible body in the flexible surgical instrument into a conical flexible body with a truncated cone-shaped structure, the proximal and distal ends of the conical flexible body are The proximal and distal clamps are respectively connected to each end, and the proximal and distal clamps are connected through a deformable connector, which provides structural support for the entire cone-shaped flexible body and ensures the entire flexibility. The structural rigidity of the body; while the flexible body controls the traction through three sets of traction components, allowing it to perform bending movements along three degrees of freedom, ensuring its flexibility. Furthermore, the cone-shaped flexible body is also connected to the rotational driving assembly, so that the cone-shaped flexible body can perform rotational movement, thereby realizing four degrees of freedom movement.

It can be seen from the above that the four-degree-of-freedom flexible surgical instrument based on a conical continuum provided by the present invention can improve the structural stiffness of the flexible body, making it have both flexibility and greater structural stiffness, and have greater controllability. The range can meet different actual surgical needs and enrich the application scenarios of minimally invasive surgical instruments.

Description of the drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are of the present invention. For some embodiments of the invention, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic three-dimensional structural diagram of a four-degree-of-freedom flexible surgical instrument provided by the present invention;

Figure 2 is a schematic structural diagram of the connection of the translation drive assembly provided by the present invention;

Figure 3 is a schematic structural diagram of the specific connection of the translation driving assembly provided by the present invention;

Figure 4 is a schematic diagram of the specific structure of the cone-shaped flexible body provided by the present invention;

Figure 5 is a schematic structural diagram of the connection between the fixing member and the traction assembly provided by the present invention;

Figure 6 is a schematic diagram of the specific structure of the distal clamp provided by the present invention;

Figure 7 is a schematic structural diagram of the proximal clamp provided by the present invention.

Reference signs:

100: Tapered flexible body; 110: Rigid sleeve; 120: Proximal clamp; 1201: Limiting slot; 130: Deformable connector; 140: Distal clamp; 1401: Connection jack;

200: Driving mechanism; 210: Translational drive assembly; 211: Connecting plate; 212: Linear displacement sensor; 213: Guide optical axis; 214: Lead screw; 215: Tension pressure sensor; 216: Fixture; 220: Rotary drive assembly; 221: Motor; 222: Coupling; 223: First synchronous wheel; 224: Second synchronous wheel; 225: Stabilizing bracket; 230: Traction assembly;

300: base; 400: support component; 410: first rotating bracket; 4101: first rotating plate; 420: second rotating bracket; 4201: second rotating plate.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

In the description of this specification, reference to the description of the terms "particular embodiments," "some embodiments," "specific examples," etc., means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included herein. In at least one embodiment or example of an embodiment of the invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

A four-degree-of-freedom flexible surgical instrument based on a conical continuum of the present invention is described below with reference to FIGS. 1-4 . The four-degree-of-freedom flexible surgical instrument is configured to be used in minimally invasive surgeries, and is especially suitable for applications with larger needs. Minimally invasive surgical application of terminal force. It includes a conical flexible body 100 and a driving mechanism 200; the conical flexible body 100 is in the shape of a truncated cone and includes a deformable connector 130, a rigid sleeve 110, a proximal clamp 120 and a distal clamp 140. The deformable connector 130 The two ends are respectively connected to the proximal clamp 120 and the distal clamp 140. The proximal clamp 120 is connected to the rigid sleeve 110, and the distal clamp 140 extends freely.

The driving mechanism 200 includes a rotational driving assembly 220, a translational driving assembly 210 and a traction assembly 230; the rotational driving assembly 220 is transmission connected to the rigid sleeve 110 to drive the cone-shaped flexible body 100 to rotate; the traction assembly 230 is connected to the distal clamp 140 and The proximal clamp 120 and the rigid sleeve are connected to the translation drive assembly 210 to drive the traction assembly 230 to move through the translation drive assembly 210, thereby controlling the bending deformation of the cone-shaped flexible body 100.

Among them, as shown in Figure 2, the traction components 230 are configured in three groups. The three groups of traction components 230 are respectively provided in three different movement directions of the cone-shaped flexible body 100, and each traction component 230 is connected to a translation drive component 210. The traction component 230 is driven to move through the respective connected translation drive components 210, thereby controlling the cone-shaped flexible body 100 to bend and deform in three different directions.

In the present invention, the proximal end refers to the end close to the connection with the driving mechanism 200 , and the distal end refers to the end freely extending away from the driving mechanism 200 . Therefore, in the above embodiment, the tapered flexible body 100 has a proximal end and a freely protruding distal end. The proximal end is provided with a proximal clamp 120, and the distal end is provided with a distal clamp 140. The proximal clamp 120 It is connected to the distal clamping member 140 through a deformable connecting member 130 to form a truncated cone-shaped cone-shaped flexible body 100 .

It will be appreciated that, as shown in Figure 4, the distal diameter of the tapered flexible body 100 is smaller than the proximal diameter of the tapered body. Specifically, the proximal end of the tapered flexible body 100 is connected to the rigid sleeve 110, and the distal end extends freely. In this way, the proximal end can provide greater support force, so that the whole body has greater structural rigidity and can bear larger loads. The end end bears a large force, and the distal end has high flexibility, thereby ensuring that the tapered flexible body of the present invention has high structural rigidity while being flexible.

The distal clamp 140 may have a columnar structure, and a connection socket 1401 is provided in the axial direction of the distal clamp 140. The connection socket 1401 can allow the traction assembly 230 to be inserted to realize the connection between the traction assembly 230 and the distal clamp 140. This enables the bending deformation of the cone-shaped flexible body 100 to be achieved through the pulling of the pulling assembly 230 .

The traction assembly 230 may be any structure of an elongated shaft or a traction rope, which is not limited here. As an associated component between the distal clamp 140 and the translational drive assembly 210, the traction assembly 230 can move in the horizontal direction driven by the translational drive assembly 210, thereby driving the cone-shaped flexible body 100 to bend and deform, and through three groups The traction assembly 230 and the translational driving assembly 210 are arranged to achieve bending deformation control with three degrees of freedom.

The translation driving assembly 210 can be any one of a ball screw 214 mechanism, a rack and pinion mechanism, and a hydraulic cylinder, which is not limited here. It is foreseeable that, driven by the translation drive assembly 210, the traction assembly 230 can move in the horizontal direction, and one end of the traction assembly 230 is connected to the distal clamp 140, and the other end of the traction assembly 230 is connected to the translation drive assembly 210 , then under the action of tensile force, the cone-shaped flexible body 100 can bend and deform in the direction with the side of the traction component 230 .

It can be understood that the deformable connector 130 serves as the main support structure of the cone-shaped flexible body 100, and its overall structure is a truncated cone-shaped structure. When the traction assembly 230 moves horizontally, it can drive the deformable connector 130 on the corresponding side to bend and deform. .

As shown in Figure 2, the traction components 230 in the present invention are arranged in three groups, and the three groups of traction components 230 are respectively arranged in three different directions of the conical flexible body 100, so that the conical flexible body 100 has three different directions. The degree of freedom increases the control range of the equipment. Specifically, three sets of traction assemblies 230 are evenly arranged around the circumference of the conical flexible body 100 so that the conical flexible body 100 can bend and deform in three directions to achieve the purpose of flexible control of the conical flexible body 100 .

In some examples, the distal clamp 140 has a connection socket 1401 on the outer wall. The connection socket 1401 allows one end of the traction assembly 230 to extend in and make a fixed connection; The limiting slot 1201 passes through, and the limiting slot 1201 allows the traction assembly 230 to pass through.

As shown in Figure 6, the distal clamp 140 has an annular structure. A plurality of connection jacks 1401 are processed along the axial direction of the distal clamp 140. One end of the traction assembly 230 is inserted into the connection jacks 1401 to achieve connection with the distal end. The fixed connection of the end clamp 140. As shown in Figure 7, the proximal clamp 120 is provided with a limiting slot 1201. The limiting slot 1201 limits the traction assembly 230, so that the traction assembly 230 moves along the extension direction of the limiting slot 1201. The movement ensures the accuracy of the bending deformation direction of the conical flexible body 100 and improves the stable control of the bending deformation of the conical flexible body 100.

As a specific example, the deformable connector 130 includes a conical coil spring. The conical coil spring is configured with a small diameter end and a large diameter end. The small diameter end of the conical coil spring is connected to the distal clamp 140 , and the large diameter end of the conical coil spring is connected to the proximal end. The card 120 is connected.

It can be understood that the conical coil spring has better mechanical stiffness, and the small diameter end of the conical coil spring has better flexibility than the large diameter end, and can occur in each radial direction of the conical coil spring. Bending deformation, so that the deformable connecting member 130 has better rigidity and better flexibility. The large-diameter end can provide better support, making the whole structure stronger and suitable for scenes with large acting moments.

Furthermore, the selection of the conical coil spring enables the structural stiffness of the conical flexible body 100 to be adjusted by adjusting the spring wire diameter, spring pitch, etc., so that the conical flexible body 100 has better structural stiffness and flexibility.

As a specific example, the traction assembly 230 includes a traction beam including one or more wires.

Among them, multiple metal wires represent two or more metal wires, and the metal wires are metal wires made of super elastic material. The traction component 230 is connected to the distal clamp 140, and the bending deformation of the cone-shaped flexible body 100 is achieved through the movement of the traction component 230. Preferably, two super-elastic metal wires are selected as the traction beam, and the super-elastic metal wire is used to pull the cone-shaped flexible body structure, which has both flexibility and rigidity, can achieve four degrees of freedom of movement, and can withstand large torques.

It can be understood that, in this embodiment, the translation driving assembly 210 controls the bending deformation of the cone-shaped flexible body 100 by applying a pulling force. Multiple metal wires can give it greater load-bearing capacity, thereby increasing the scope of the instrument.

Further, when the traction assembly 230 is a traction beam, a conical coil spring is used as the deformable connecting member 130 . It is foreseeable that when a tensile force is applied to the traction beam, the small diameter end of the conical coil spring can deform under the action of the tensile force, thereby achieving control of the operation in each degree of freedom, and when the applied tensile force is removed, the conical coil spring It can reset itself and maintain its initial state, making it easier to control and able to take advantage of its conical spiral.

In some examples, a base 300 and a support assembly 400 are also included. The support assembly 400 is provided on the base 300; wherein, the support assembly 400 has a fixed part and a rotating part, the rotation drive assembly 220 is provided on the fixed part of the support assembly 400, and the translation drive The component 210 and the traction component 230 are arranged on the rotating part of the support component 400. The rotation drive component 220 is connected to the rotating part of the support component 400, so that the rotation part of the support component 400 rotates and drives the translation drive component 210 and the traction component 230 to rotate simultaneously. .

It can be understood that by disposing the translation drive assembly 210 and the traction assembly 230 on the rotating part of the support assembly 400, the translation drive assembly 210 and the traction assembly 230 rotate together during rotation. As can be seen from the above embodiments, the traction assembly 230 Connected with the translation drive assembly 210, this allows the translation drive assembly 210 and the traction assembly 230 to rotate simultaneously during rotation, thereby avoiding mutual entanglement of the traction beams and facilitating accurate execution of the instrument in the rotation direction.

Moreover, the base 300 provides support for the entire instrument, and the support component 400 on the base 300 directly supports the drive mechanism 200 and can realize the rotation of the translation drive component 210 and the traction drive component, making the overall instrument structure compact and reducing the overall structural volume. Small, flexible, stiff and accurate.

As a specific example, the support assembly 400 includes a first rotating bracket 410 and a second rotating bracket 420. The first rotating bracket 410 and the second rotating bracket 420 are respectively provided with rotating disks, and the first rotating bracket 410 and the second rotating bracket are provided with rotating disks. An accommodation cavity capable of accommodating the translation drive assembly 210 and the traction assembly 230 is configured between 420 so as to drive the translation drive assembly 210 and the traction assembly 230 to rotate through the rotating disk.

In the above embodiment, the first rotating bracket 410 and the second rotating bracket 420 are fixedly connected to the base 300 through bolts, and the rotating disks on the first rotating bracket 410 and the second rotating bracket 420 are configured as both sides of the accommodation cavity, A driving assembly is provided on one side of the rotating disk. The driving assembly can achieve horizontal displacement in the accommodation cavity, and can further drive the traction assembly 230 to achieve a predetermined displacement amount in the horizontal direction.

Further, as shown in FIG. 1 , the traction assembly 230 is disposed in the center of the rotating disk, and the three sets of translation drive assemblies 210 are evenly arranged around the traction assembly 230 , so that the whole is centrally symmetrical, which improves the accuracy of clinical application. Convenience and applicability improve the operability of minimally invasive surgery.

As a specific example, the rotation drive assembly 220 in the present invention includes a motor 221, a coupling 222, a synchronizing wheel and a bearing; the coupling 222 is connected to the output end of the motor 221; the synchronizing wheel includes a first synchronizing wheel 223 and a second synchronizing wheel. The first synchronizing wheel 223 and the second synchronizing wheel 224 are connected in transmission; the first synchronizing wheel 223 is connected to the coupling 222 , the second synchronizing wheel 224 is connected to the bearing, and the bearing is connected to the rigid sleeve 110 .

Further, the motor 221 is connected to the bottom of the first rotating bracket 410, and a process hole is constructed on the second rotating bracket 420 corresponding to the motor 221. The electrical connection between the motor 221 and an external controller, power supply equipment, etc. can be realized through the process hole. connect. One end of the coupling 222 is connected to the output shaft of the motor 221, and the other end is connected to the first synchronizing wheel 223.

In a more specific example, the first synchronizing wheel 223 and the second synchronizing wheel 224 are connected through a crawler belt, and one end of the first synchronizing wheel 223 is also rotatably connected to a stabilizing bracket 225. The stabilizing bracket 225 is fixedly connected to the base 300. A rotating bearing is provided on the stabilizing bracket 225, and the rotational connection between the first synchronizing wheel 223 and the stabilizing bracket 225 is achieved through the rotating bearing.

It can be understood that the motor 221 in the above embodiment can be a servo motor, and the servo motor can rotate according to the number of pulses received, which can facilitate the control of rotation parameters and thereby achieve precise driving.

In some examples, the translation driving assembly 210 includes a driving part and a translation actuator; the output end of the driving part is connected to the translation actuator, and the translation actuator is connected to the traction assembly 230 to drive the translation actuator to move through the driving part, thereby driving the traction assembly. 230 mobile.

Specifically, a first rotating disk 4101 is rotatably connected to the first rotating bracket 410 through a bearing, and a second rotating disk 4201 is rotatably connected to the second rotating bracket 420 through a bearing. Among them, the driving part body is connected to the second rotating disk 4201, and the output shaft of the driving part is connected to the translation actuator, so as to realize the translation connection through the action of the driving part output shaft.

In the above embodiment, the driving part may be the motor 221 and the hydraulic cylinder to pull the translation actuator.

Further, as shown in Figures 3 and 5, the translation actuator in the above embodiment includes a connecting plate 211 and a screw and a fixing part 216 provided on the connecting plate 211; the fixing part 216 is fixedly connected to the traction assembly 230; the screw The lever 214 is connected to the driving part so as to drive the screw 214 to rotate through the driving part, thereby enabling the fixing part 216 to move.

In some specific examples, the translation actuator also includes a guide optical axis 213, a linear displacement sensor 212 and a tension pressure sensor 215 provided on the connecting plate 211. The linear displacement sensor 212 is fixedly connected to the connecting plate 211. The pressure sensor 215 is provided between the connecting plate 211 and the fixing member 216 , and the guiding optical axis 213 penetrates the connecting plate 211 so that the connecting plate 211 can move along the guiding optical axis 213 .

Specifically, as shown in Figure 1, the first rotating bracket 410 is provided with a first rotating disk 4101, the second rotating bracket 420 is provided with a second rotating disk 4201, and a positioning shaft is connected to the outer side of the first rotating disk 4101. , the second synchronizing wheel 224 is connected to the positioning shaft, and the rigid sleeve 110 is connected to the first rotating disk 4101 through the positioning shaft. There are three sets of translation actuators between the first rotating disk 4101 and the second rotating disk. The three sets of translation actuators are evenly distributed between the first rotating disk 4101 and the second rotating disk 4201. The respective translation actuators are respectively connected with the traction beam. connect.

Among them, the guide optical axis 213 is provided between the first rotating disk 4101 and the second rotating disk 4201. The connecting plate 211 is slidably provided on the guiding optical axis 213. The screw 214 passes through the connecting plate 211 and has one end thereof connected with the driving part. The connecting plate 211 is driven to move along the guide optical axis 213 through the rotation of the screw 214, thereby driving the traction beam to move to achieve conical flexible bending deformation.

It can be understood that in the above embodiments, the driving part can use a servo motor, and the servo motor can rotate according to the number of pulses it receives, so as to control the rotation of the screw 214 and achieve precise movement control.

As shown in Figure 3, in a specific example, the linear displacement sensor 212 is provided at the upper end of the connecting plate 211, the fixing member 216 is provided at the lower end of the connecting plate 211, and the screw 214 is provided on the connecting plate 211 close to the fixing member 216. , the guide optical axis 213 is provided on the plate body of the connecting plate 211 between the linear displacement sensor 212 and the screw 214.

Among them, as shown in FIG. 3 , there are two guide optical axes 213 , and the two guide optical axes 213 are arranged side by side on the plate body of the connecting plate 211 . The arrangement of the two guide optical axes 213 can provide stable stability to the connecting plate 211 . The support and guide make the connecting plate 211 more stable when sliding. One end of the fixing piece 216 is connected to the tension pressure sensor 215, and the other end of the fixing piece 216 extends vertically downward and is fixedly connected to the traction beam. The pulling pressure sensor 215 is fixed on the connecting plate 211, so that when the fixing piece 216 is driven When the traction beam is pulled, the specific pulling pressure can be monitored by the pulling pressure sensor 215, and further this can be achieved by monitoring the pulling pressure.

Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment adopts a cone-shaped flexible body 100 with a truncated conical structure. Through the arrangement of the truncated cone-shaped flexible body 100, it is compared with a cylinder. The shape of the flexible body has higher structural rigidity and can withstand greater moment forces, making it applicable to a wider range of applications. Furthermore, by arranging traction beams in three different directions of the same flexible body, it has an operating space with multiple degrees of freedom, further improving its scope of application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A four-degree-of-freedom flexible surgical instrument based on a tapered continuum, comprising: a conical flexible body and a driving mechanism;

the conical flexible body is in a truncated cone shape and comprises a deformable connecting piece, a rigid sleeve, a proximal clamping piece and a distal clamping piece, wherein two ends of the deformable connecting piece are respectively connected with the proximal clamping piece and the distal clamping piece, the proximal clamping piece is connected with the rigid sleeve, and the distal clamping piece freely stretches out;

the driving mechanism comprises a rotation driving assembly, a translation driving assembly and a traction assembly; the rotary driving assembly is in transmission connection with the rigid sleeve so as to drive the conical flexible body to rotate; the traction component is connected with the far-end clamping piece and is connected with the translation driving component through the near-end clamping piece and the rigid sleeve so as to drive the traction component to move through the translation driving component, and further control the bending deformation of the conical flexible body;

the traction assembly is configured with three groups, the three groups of traction assemblies are respectively arranged in three different action directions of the conical flexible body, each traction assembly is respectively connected with the translation driving assembly, the traction assemblies are driven to move through the translation driving assemblies which are respectively connected, and then the conical flexible body can be controlled to bend and deform along the three different directions.

2. The four-degree-of-freedom flexible surgical instrument of claim 1 wherein the distal clip has a connection socket on an outer sidewall thereof that allows one end of the pulling assembly to extend into and be fixedly connected thereto; and a limit slot hole penetrating axially is formed in one periphery of the outer side wall of the proximal clamping piece, and the limit slot hole allows the traction assembly to pass through.

3. The four degree of freedom flexible surgical instrument of claim 1 wherein the deformable coupling member comprises a conical coil spring configured with a small diameter end and a large diameter end, the small diameter end of the conical coil spring coupled to the distal clamp and the large diameter end of the conical coil spring coupled to the proximal clamp.

4. The four degree of freedom flexible surgical instrument of claim 1 or 3 wherein the pulling assembly comprises a pulling bundle comprising one or more wires.

5. The four degree of freedom flexible surgical instrument of claim 1 wherein the rotary drive assembly includes a motor, a coupling, a synchronizing wheel and a bearing;

the coupler is connected with the output end of the motor;

the synchronous wheels comprise a first synchronous wheel and a second synchronous wheel, and the first synchronous wheel is in transmission connection with the second synchronous wheel;

the first synchronous wheel is connected with the coupler, the second synchronous wheel is connected with the bearing, and the bearing is connected with the rigid sleeve.

6. The four degree of freedom flexible surgical instrument of claim 1 further comprising a base and a support assembly, the support assembly being disposed on the base;

the support assembly is provided with a fixing part and a rotating part, the rotary driving assembly is arranged on the fixing part of the support assembly, the translation driving assembly and the traction assembly are arranged on the rotating part of the support assembly, and the rotary driving assembly is connected with the rotating part of the support assembly so that the rotating part of the support assembly rotates to drive the translation driving assembly and the traction assembly to rotate simultaneously.

7. The four degree of freedom flexible surgical instrument of claim 6 wherein the support assembly includes a first rotating mount and a second rotating mount having a rotating disc disposed thereon, respectively, and wherein a receiving cavity is configured between the first rotating mount and the second rotating mount capable of receiving the translational drive assembly and the traction assembly, the rotating disc being adapted to rotate the translational drive assembly and the traction assembly.

8. The four degree of freedom flexible surgical instrument of claim 6 or 7 wherein the translational drive assembly includes a drive and a translational actuator;

the output end of the driving part is connected with the translation executing mechanism, and the translation executing mechanism is connected with the traction assembly so as to drive the translation executing mechanism to move through the driving part, thereby driving the traction assembly to move.

9. The four-degree-of-freedom flexible surgical instrument based on a tapered continuum of claim 8, wherein the translation actuator comprises a connecting plate and a lead screw and a fixture disposed on the connecting plate;

the fixing piece is fixedly connected with the traction assembly;

the screw rod is connected with the driving part, so that the screw rod is driven to rotate through the driving part, and the fixing piece can be moved.

10. The four-degree-of-freedom flexible surgical instrument of claim 9 wherein the translation actuator further comprises a guide optical axis disposed on the connecting plate, a linear displacement sensor fixedly coupled to the connecting plate, and a pull pressure sensor disposed between the connecting plate and the securing member, the guide optical axis extending through the connecting plate to enable the connecting plate to move along the guide optical axis.