A flexible surgical tool system with drive input front

Abstract

The invention relates to a flexible operation tooling system with a preposed driving input. The flexible operation tooling system comprises a flexible continuum structure and a driving unit; the flexible continuum structure comprises a far-end structural body, a near-end structural body and a middle part connector; the far-end structural body comprises at least one far-end structural section, and the structural section comprises a far-end distance plate, a far-end fixing plate and a structural bone; the near-end structural body comprises near-end structural sections the number of which is equal to the number of the far-end structural sections, wherein the near-end structural section comprises a near-end distance plate, a near-end fixing plate and a structural bone; the middle part connector comprises two channel fixing plates and a structural bone guiding channel which is arranged between the two channel fixing plates; the driving unit comprises a driving unit fixing plate which is arranged in front of the middle part connector, multiple straight-line motion mechanisms are arranged between the driving unit fixing plate and the channel fixing plates, and the straight-line motion mechanisms are used for converting a revolving input of the motor to a straight-line motion output, output ends of the straight-line motion mechanisms are connected with one end of a driving bone, the driving bone penetrates through the near-end distance plate and the other end of the driving bone is fixedly connected with the near-end fixing plate.

Description

technical field [0001] The invention relates to a flexible surgical tool system with front drive input, 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 operation arm, reach th...

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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