Surgical tool driving transmission system based on rotary-linear driving and surgical robot

A technology for driving transmission systems and surgical tools, applied in the field of driving transmission mechanisms, can solve problems such as complex structures, and achieve the effects of simple principles, easy implementation, and high-degree-of-freedom configuration.

Pending Publication Date: 2021-12-31
北京术锐机器人股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The existing continuum structure generally directly pushes and pulls the driving wire in the continuum structure through the driving mechanism, so as to realize the bending of the continuum structure in any direction. High performance, good stability and other more stringent requirements, the

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  • Surgical tool driving transmission system based on rotary-linear driving and surgical robot
  • Surgical tool driving transmission system based on rotary-linear driving and surgical robot
  • Surgical tool driving transmission system based on rotary-linear driving and surgical robot

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Embodiment Construction

[0034] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but only to illustrate the essence of the technical solutions of the present invention.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "proximal", "distal", "upper", "lower", "inner", "outer" etc. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as limit...

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Abstract

The invention relates to a surgical tool driving transmission system based on rotary-linear driving and a surgical robot. The surgical tool driving transmission system comprises a flexible continuous body structure and a driving transmission mechanism, wherein the flexible continuous body structure comprises a near-end continuous body and a far-end continuous body which are associated with each other, and a driving connecting part associated with the near-end continuous body; the driving transmission mechanism comprises a first rotatable part and a second rotatable part which are coaxially arranged and can rotate relative to each other; a rotary-linear motion mechanism arranged to be capable of rotating along with the first rotatable part; a vertical guide piece, wherein rotary motion of the rotary-linear motion mechanism is converted into linear motion through the vertical guide piece and the linear motion is output; and a connecting piece, wherein one end of the connecting piece is hinged to an output end of the rotary-linear motion mechanism, and the other end of the connecting piece is hinged to the driving connecting part. Driving wires can be prevented from being directly pushed and pulled, limitation to the number of driving mechanisms can be avoided, the bending performance of the flexible continuous body structure is met, and meanwhile, the surgical tool driving transmission system is compact in structure, simple in principle, easy to implement and high in reliability.

Description

technical field [0001] The invention relates to a drive transmission mechanism, in particular to a rotary-linear drive-based surgical tool drive transmission system and a surgical robot including the surgical tool drive transmission system. Background technique [0002] Minimally invasive surgery has less trauma to patients and higher postoperative output, and has occupied an important position in surgical operations. Minimally invasive surgery uses surgical tools and surgical instruments including visual lighting modules and surgical manipulation arms to enter the human body through incisions or natural orifices to reach the surgical site for surgery. The distal structure of the existing surgical instrument is mainly a series hinge of multiple rods, which is driven by the tension of the wire rope, so that the surgical instrument can be turned at the hinged joint. Since the wire rope must be kept in a continuous tension state through the pulley, it is difficult to realize f...

Claims

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Application Information

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IPC IPC(8): A61B17/00A61B34/30F16H37/12H02K7/116
CPCA61B17/00234A61B34/30A61B34/70F16H37/12F16H37/124H02K7/116A61B2017/00367A61B2017/00398A61B2034/301
Inventor 徐凯刘旭
Owner 北京术锐机器人股份有限公司
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