Flexible operation tool system adopting redundant structural bone arrangement

Abstract

The invention relates to a flexible operation tool system adopting redundant structural bone arrangement. The system comprises a flexible continuum structure, wherein the flexible continuum structure comprises a far-end structural body, a middle connecting body and a near-end structural body; the far-end structural body comprises at least one far-end structural section, the at least one far-end structural section comprises far-end spacer plates, a far-end fixing plate and structural bone; the near-end structural body comprises at least one near-end structural section, and the number of the near-end structural sections is equal to that of the far-end structural sections; each near-end structural section comprises near-end spacer plates, a near-end fixing plate and structural bone; each near-end structural section is associated with the corresponding far-end structural section through the middle connecting body; the system further comprises a transmission unit, the transmission unit comprises a transmission mechanism fixing plate arranged in front of the middle connecting body as well as a pulley transmission mechanism arranged on the transmission mechanism fixing plate, an output end of the pulley transmission mechanism is a slider moving in a straight line path, the slider is fastened and connected with the middle of the steering structural bone, two ends of the steering structure bone penetrate through the transmission mechanism fixing plate to extend backwards and are fastened and connected with one end of one piece of drive bone through a straight-line motion mechanism, and the other end of the drive bone penetrates through the near-end spacer plates to be fastened and connected with the near-end fixing plate.

Description

technical field [0001] The invention relates to a flexible surgical tool system with structural bone redundant arrangement, which belongs to the field of medical instruments. Background technique [0002] Porous laparoscopic minimally invasive surgery has occupied an important position in surgical operations because of its small incision and fast postoperative recovery. The existing Intuitive Surgical company's da Vinci surgical robot assists doctors to complete multi-hole laparoscopic minimally invasive surgery, which has achieved great commercial success. [0003] After multi-port laparoscopic surgery, minimally invasive surgery has developed single-port laparoscopic surgery and non-invasive surgery through natural orifice, which are less invasive to patients and have higher postoperative output. However, in single-port laparoscopic surgery and non-invasive surgery through the natural orifice, all surgical instruments, including the visual lighting module and surgical ope...

AI Technical Summary

Problems solved by technology

Since the wire rope must be kept in a continuous tension state through the pulley, this driving method is difficult to achieve further miniaturization of surgical instruments, and it is also difficult to further improve the movement performance of the instruments

[0004] Although Intuitive Surgical recently launched the da Vinci Single-Site surgical robot, which transforms the original rigid surgical instrument into a semi-rigid surgical instrument, and adds a pre-bent sleeve, which improves the movement performance of the surgical instrument to a certain extent, but Still unable to fundamentally solve the problems faced by traditional microsurgical instruments

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