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

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...

AI Technical Summary

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 existing drive structure has gradually been unable to meet the above requirements, and the existing drive method is to directly push and pull the drive wire to move, so when the number of drive wires is large, the drive mechanism The number of will increase accordingly, making the structure complex

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