Driving unit used for driving flexible continuum structure

Abstract

The invention relates to a driving unit used for driving a flexible continuum structure. The driving unit comprises a driving segment fixing disc, a driving segment base plate, driving segments, driving segment structural bones and structural bone driving mechanisms, wherein the driving segment fixing disc is arranged on a near-end fixing disc of a near-end structural body in the flexible continuum structure in a sleeving mode and is related to the near-end fixing disc, the driving segment base plate is arranged on a near-end base disc of the near-end structural body in a sleeving mode and is related to the near-end base disc, the driving segments are connected between the driving segment fixing disc and the driving segment base plate and arranged on the near-end structural body in a sleeving mode, the two ends of the driving segment structural bones penetrate through the driving segment base plate and then are fixed to the driving segment fixing disc, the middle sections of the driving segment structural bones can penetrate through the structural bone driving mechanisms, and the number of the structural bone driving mechanisms is kept consistent with that of the driving segment structural bones. The structural bone driving mechanisms push and pull the driving segment structural bones cooperatively to enable the driving segments to turn in any direction, and thus the near-end structural body can turn in the same direction.

Description

technical field [0001] The invention relates to a driving mechanism of a medical device, in particular to a driving unit for driving a flexible continuum structure. 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 da Vinci (Da Vinci) surgical robot of the existing Intuitive Surgical Company (American Intuitive Surgical Company) assists doctors in completing multi-hole laparoscopic minimally invasive surgery, and 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...

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

For surgical instruments based on flexible continuum structures, there is currently no modular drive unit that can be quickly connected to flexible continuum structures

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