A continuum end-soft-tissue plowing actuator and surgical robotic system based on compliant transmission

Abstract

This invention relates to a continuous-body soft tissue insertion actuator and surgical robot system based on flexible transmission, belonging to the field of medical device technology. The insertion actuator includes a base with a first through hole at its center; an insertion plate rotatably connected to the base; a drive rod passing through the first through hole and slidably connected to the base, one end of which is connected to a drive unit; a pull rod connected to the drive rod; and a transmission link, both ends of which are rotatably connected to the insertion plate and the pull rod, respectively. The drive unit drives the drive rod to move. When the pull rod moves away from the base, it drives the transmission link, causing the insertion plate to close inward, forming a conical structure. When the drive rod moves the pull rod closer to the base, the insertion plate opens under the push of the transmission link. This actuator utilizes a hyperelastic rod to transmit push and pull forces within a curved channel, combined with an offset crank-slider mechanism, to achieve powerful soft tissue insertion and separation.

Description

Technical Field

[0001] This invention relates to a continuous end-effector soft tissue insertion actuator and surgical robot system based on flexible transmission, belonging to the field of medical device technology. Background Technology

[0002] Areas such as the deep orbit, cervical lymph nodes, breast tissue, and deep brain tissue lack natural cavities due to being surrounded by solid soft tissues like fat, making minimally invasive surgery difficult. This typically requires surgeons to create a surgical pathway to the lesion, which is often more invasive and carries greater risk and difficulty for the patient. Surgery in the deep posterior orbit is a typical example. Inflammation, tumors, and trauma frequently occur within the orbit, leading to protruding eyeballs and decreased vision, severely impacting quality of life and even threatening life.

[0003] Surgical treatment is an effective method for most diseases, including deep orbital tumors. However, due to the lack of natural cavities in the orbital soft tissue, which is filled with substantial fatty tissue, and the limited space caused by the eyeball and the surrounding bone wall, current clinical practice only allows for open orbital surgery. This involves using a rigid brain retractor to compress the delicate tissues and organs such as the eyeball to create a surgical pathway to the deep orbital lesion. Prolonged compression and surgical errors can lead to serious complications. Therefore, current orbital surgery is characterized by high surgical risk and high operational difficulty.

[0004] To address these issues, various surgical robots have been developed. Robotics technology offers flexible end effectors while ensuring high stability and motion accuracy, leading to its increasingly widespread clinical application. Continuous robots, with their advantages of small size, high flexibility, and distal wire actuation, are increasingly used in multi-port and single-port laparoscopic surgeries, as well as surgeries accessing natural cavities such as through the mouth and ear. However, because the orbital space is filled with solid soft tissue such as fat and lacks natural cavities, it cannot be inflated like the abdominal cavity to create an operating space. Therefore, it is necessary to install a soft tissue guide actuator at the end effector of the continuous robot to establish a surgical channel to the lesion for minimally invasive surgery.

[0005] Existing continuum robots typically employ wire-driven mechanisms, and to avoid affecting the bending motion of the continuum, current end effectors also generally use wire-driven mechanisms. However, existing end effectors suffer from the following drawbacks: First, limited driving force: traditional wire drives can only transmit tensile force, relying on spring return for reset, making it difficult to generate significant spreading force. Second, rigid rod limitations: traditional linkage mechanisms rely on rigid push rods, which cannot follow the robot's bending or experience significant friction and jamming during bending. Third, limited functionality: existing tools are typically either sharp puncture needles that easily damage blood vessels or blunt-tipped dissecting forceps that cannot penetrate dense tissue; there is a lack of a composite tool that integrates "insertion" and "spreading."

[0006] Therefore, there is an urgent need for a push-in actuator that can integrate insertion and spreading. Summary of the Invention

[0007] To address the aforementioned issues, this invention provides a continuous end-effector soft tissue insertion actuator and surgical robot system based on flexible transmission, overcoming the limitations of existing technologies where traditional line-driven mechanisms cannot transmit thrust and rigid drive rods cannot adapt to flexible bending paths, thereby achieving precise insertion and blunt separation of deep lesions.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a continuous end-effector soft tissue advance actuator based on flexible transmission, comprising: The base has a first through hole at its center; A push-in tab, which is rotatably connected to the base; A drive rod, which passes through the first through hole and is slidably connected to the base, with one end of the drive rod connected to the drive unit; A pull rod, which is connected to the drive rod; A transmission link, the two ends of which are rotatably connected to the advance plate and the pull rod, respectively; When the drive unit drives the drive rod to move, causing the pull rod to move away from the base, the pull rod drives the transmission link to move, causing the push plate to close inward and form a conical structure; when the drive rod drives the pull rod to move closer to the base, the push plate opens under the push of the transmission link.

[0009] In one embodiment of the present invention, at least one push-in tab is provided, and the push-in tabs are evenly distributed along the circumference of the base. The outer surface of the push-in tab is a smooth curved surface, and when closed, the sides of the push-in tabs are in contact with each other. When the push-in tab is in the open state, the outer surface of the push-in tab is used to apply a blunt compressive force to the soft tissue to achieve expansion and separation of the tissue.

[0010] In one embodiment of the present invention, a first pin is included, and the push-in piece is provided with a second through hole. The first pin passes through the second through hole, so that the push-in piece is rotatably connected to the base.

[0011] In one embodiment of the present invention, the base includes a first groove and a first protrusion, the first protrusion being disposed in the first groove, and the push-in piece being provided with a second groove, the second groove cooperating with the first protrusion.

[0012] In one embodiment of the present invention, a second pin is included, the pull rod includes a fourth groove and a fourth through hole, one end of the transmission link is embedded in the fourth groove, the second pin passes through the fourth through hole and the through hole of the transmission link, so that the transmission link is radially connected to the push plate, and the number of the transmission link is the same as the number of the push plate.

[0013] In one embodiment of the present invention, a third pin is included, and the feed piece includes a third through hole, which is parallel to the second through hole. The third pin passes through the third through hole and the through hole of the transmission link, so that the transmission link is rotatably connected to the feed piece. The distances between each pair of the first pin, the second pin, and the third pin must satisfy: AB≤minC, A+B≥maxC.

[0014] In one embodiment of the present invention, the base, the push plate, the transmission link, the pull rod and the drive rod form a slider linkage mechanism, wherein the drive rod can drive the push plate to rotate around the first pin shaft to realize the closing or opening of the push plate; The push-in plate has three pieces, and the three push-in plates are connected to the pull rod through the transmission link. The drive rod can drive the three push-in plates to move simultaneously through the pull rod.

[0015] In one embodiment of the present invention, the drive rod is a superelastic nickel-titanium alloy tube with a diameter ranging from Φ0.5mm to 1.0mm and a slenderness ratio greater than 100. The angle between the transmission link and the central axis of the drive rod is an acute angle, and the opening angle of the push-in plate ranges from 0° to 90°. The acute angle between the axis of the transmission link along its length and the central axis of the drive rod provides a self-locking tendency or improves the closing stiffness between the push-in plates. The opening angle of the push-in plate can be adjusted by adjusting the distance the drive rod pushes.

[0016] In one embodiment of the present invention, a first fixing hole, a reuse hole, and a second fixing hole are included, wherein the first fixing hole, the reuse hole, and the second fixing hole penetrate the base.

[0017] Secondly, this invention provides a surgical robot system using a continuous end-effector soft tissue advance actuator based on flexible transmission. It also includes an instrument channel and a drive unit. The drive rod passes through the instrument channel and connects to the drive unit. The advance actuator is connected to the surgical robot system via the base. It can be fixed by welding, adhesive application, or other methods. It also includes a controller and a force feedback module. The force feedback module is a tension / compression sensor, installed between the drive rod and the drive unit, and connected to the controller. The force feedback module detects the axial reaction force on the drive rod. The controller can determine whether the advance probe has contacted high-hardness tissue or blood vessels based on the data fed back by the force feedback module, and adjust the advance speed of the drive rod accordingly.

[0018] The beneficial effects of this invention are: The present invention provides a continuous end-effector soft tissue insertion actuator and surgical robot system based on flexible transmission, which has the following advantages: 1. The flexible transmission-based continuous end soft tissue push-in actuator provided by this invention sets the base, pull rod, transmission link, push-in plate, and drive rod as a slider-linkage mechanism. By driving the drive rod to move, the pull rod and transmission link are driven to move in sequence, and the push-in plate rotates around the first pin shaft to realize the closing or opening of the push-in plate. The flexible drive rod is combined with the offset crank-slider mechanism. The flexible drive rod can flexibly adapt to the bending path inside the human body and smoothly reach the deep lesion area. At the same time, relying on its structural characteristics, it realizes stable axial reciprocating thrust and pull force transmission. With the help of the linkage mechanism, the linear motion of the drive rod is efficiently converted into the opening and closing motion of the push-in plate. It successfully takes into account both the flexibility and the stability of power transmission, and completely solves the technical problem that traditional drive mechanisms cannot take into account both thrust transmission and flexible path adaptation.

[0019] 2. This flexible transmission-based continuous-body soft tissue insertion actuator achieves precision and safety in deep lesion procedures, improving the reliability and convenience of clinical operations. This actuator achieves dual functions through the opening and closing motion of the paddle. When the flexible drive rod is pushed distally, the paddle closes to form a regular bullet-shaped puncture head. This structural design effectively reduces resistance during puncture, avoiding tearing damage to surrounding normal tissues and ensuring precise insertion into deep lesions, guaranteeing accurate puncture location. When the drive rod is pulled proximally, the paddle opens outwards, enabling gentle blunt dissection of the puncture path and surrounding soft tissue, replacing traditional sharp dissection methods. This significantly reduces the risk of damage to important tissues such as blood vessels and nerves during dissection, reducing intraoperative bleeding and complications, and providing safer technical support for clinical surgical procedures. Meanwhile, the entire movement process is smooth and responsive through the coordinated operation of the flexible drive rod and linkage mechanism, which can achieve precise control over the opening and closing angle and movement speed of the paddle, adapting to the operational needs of different lesion sizes and soft tissue thicknesses, and improving the flexibility and convenience of operation.

[0020] 3. This continuous end-effector soft tissue insertion actuator based on flexible transmission has a simple and reasonable structural design, strong practicality, and is easy to promote and apply. The actuator mainly consists of a base, pull rod, transmission link, lever, and flexible drive rod. The number of parts is moderate, the structure is compact, facilitating processing, manufacturing, and assembly, and effectively controlling production costs. At the same time, the reliable connection of each component, and the coordination between hinge connections and link transmission, ensure the stability and durability of the mechanism's movement, meeting the needs of long-term clinical use and reducing equipment maintenance costs.

[0021] 4. The drive rod of this flexible transmission-based continuous end-effector soft tissue insertion actuator uses a highly elastic nickel-titanium alloy tube, which can transmit axial push-pull force while bending and deforming with the surgical robot body. It maintains high axial rigidity even under large-angle bending, thus transmitting thrust and solving the problem of traditional rigid surgical instruments being unable to turn. By utilizing the drive rod to transmit push-pull force within the curved channel, combined with an offset crank-slider mechanism, it achieves powerful soft tissue insertion and separation. Insertion and separation are integrated into a single device, connected to multiple linkages via a pull rod, allowing simultaneous pulling of multiple insertion plates to flip outwards or close, maximizing the efficiency of the insertion force transmission and ensuring consistent insertion motion. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a perspective view of the continuous end soft tissue push-in actuator based on flexible transmission provided by the present invention.

[0024] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle.

[0025] Figure 3 This is a front view of the continuous end soft tissue advance actuator based on flexible transmission provided by the present invention.

[0026] Figure 4 This is a cross-sectional view of the continuous end soft tissue advance actuator based on flexible transmission provided by the present invention.

[0027] Figure 5 This is another perspective view of the continuous end soft tissue push-in actuator based on flexible transmission provided by the present invention.

[0028] Figure 6 yes Figure 5 A magnified view of a section at point B.

[0029] Figure 7 This is a front view of the closed state of the continuous end soft tissue push-in actuator based on flexible transmission provided by the present invention.

[0030] Figure 8 This is a perspective view of the closed state of the continuous end soft tissue push-in actuator based on flexible transmission provided by the present invention.

[0031] Figure 9 This is a perspective view of the surgical robot system provided by the present invention.

[0032] In the diagram: 1. Base; 11. First through hole; 12. First groove; 13. First protrusion; 2. Push-in piece; 21. Second groove; 22. Third groove; 23. Second through hole; 24. Third through hole; 3. First pin; 4. Drive rod; 5. Pull rod; 51. Fourth groove; 52. Fourth through hole; 6. Transmission connecting rod; 7. Second pin; 8. Third pin; 9. First fixing hole; 10. Reusable hole; 11. Second fixing hole. Detailed Implementation

[0033] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0036] like Figures 1 to 9 As shown, this invention provides a continuous end-effector soft tissue insertion actuator based on flexible transmission. This actuator overcomes the problems of traditional line-driven mechanisms being unable to transmit thrust and rigid drive rods being unable to adapt to flexible bending paths in existing technologies, achieving precise insertion and blunt separation of deep lesions. The actuator includes a base 1, which can be triangular or other structures, and its specific shape can be adapted to the installation requirements of the surgical robot system. A first through hole 11 is provided at the center of the base 1. An insertion piece 2 is provided on the base 1. The insertion piece 2 is a valve-like sheet structure, evenly distributed on the base 1. One end of the insertion piece 2 is hinged to the distal end of the base 1 via a first pin 3. A first groove 12 is provided at the distal end of the base 1 for placing the insertion piece 2. A first protrusion 13 is provided in the middle of the first groove 12. The insertion piece 2 is sleeved on the outside of the first protrusion 13, hinged to the first protrusion 13 via the first pin 3, and can rotate within the first groove 12.

[0037] In some embodiments, at least one push-in piece 2 is provided. A second groove 21 is formed at the middle of one end of the push-in piece 2. The second groove 21 cooperates with the first protrusion 13, allowing the push-in piece 2 to be fitted onto the outer periphery of the first protrusion 13. A second through hole 23 and a third through hole 24, which are parallel to each other and spaced apart, are formed on the push-in piece 2 in a direction perpendicular to the second groove 21. A through hole is also formed on the first protrusion 13. The central axis of the second through hole 23 is coaxial with the central axis of the through hole on the first protrusion 13, ensuring that the first pin 3 can be inserted into the second through hole 23 and the through hole on the first protrusion 13, so that the push-in piece 2 is hinged to the base 1. A third groove 22 is provided on the inner side of the push-in piece 2, which can prevent interference with other structures when the push-in piece 2 is closed. The outer surface of the push-in piece 2 is a smooth curved surface. When the push-in piece 2 is in the open state, the outer surface of the push-in piece 2 is used to apply a blunt compressive force to the soft tissue to achieve tissue expansion and separation. When the inserting piece 2 is in the closed state, the sides of the three inserting pieces 2 fit together to form a cone-shaped structure with a sharp tip, which is used to penetrate soft tissue.

[0038] In some embodiments, the advance actuator further includes a drive rod 4 and a pull rod 5. The drive rod 4 is a flexible drive rod that slidably passes through the first through hole 11 of the base 1. The drive rod 4 is made of a highly elastic metal alloy. One end of the drive rod 4 passing through the first through hole 11 is connected to the pull rod 5, and the other end away from the pull rod 5 is connected to the drive unit. The drive rod 4 and the pull rod 5 are fixedly connected and can be connected by welding.

[0039] In some embodiments, the pull rod 5 is provided with a plurality of fourth grooves 51 and a plurality of fourth through holes 52. The fourth through holes 52 are perpendicular to the fourth grooves 51 and penetrate through the fourth grooves 51. The number of fourth grooves 51 is the same as the number of push-in pieces 2. A transmission connecting rod 6 is embedded in the fourth groove 51, and the transmission connecting rod 6 is hinged to the pull rod 5 through a second pin 7. Both ends of the transmission connecting rod 6 are provided with through holes, and the second pin 7 passes through the fourth through holes 52 and the through holes on the transmission connecting rod 6, so that the transmission connecting rod 6 is rotatably connected to the pull rod 5.

[0040] In some embodiments, the side of the transmission link 6 opposite to the pull rod 5 is hinged to the feed piece 2 via a third pin 8. The third pin 8 passes through the third through hole 24 and the through hole of the transmission link 6, allowing the transmission link 6 to be rotatably connected to the feed piece 2. The drive rod 4, pull rod 5, transmission link 6, feed piece 2, and base 1 together constitute an offset crank-slider mechanism. The drive rod 4 is configured to drive the feed piece 2 to rotate around the first pin 3 to a closed state under axial thrust, or to drive the feed piece 2 to rotate around the first pin 3 to an open state under axial tension.

[0041] Specifically, in this embodiment, the drive rod 4, pull rod 5, transmission link 6, advance plate 2, and base 1 together constitute a crank-slider mechanism. The pull rod 5 can be considered as a slider, and the advance plate 2 can be considered as a crank or rocker arm rotating around a fixed point. The distance between the first pin 3 and the third pin 8 is A, the distance between the third pin 8 and the second pin 7 is B, and the straight-line distance between the first pin 3 and the second pin 7 is C. The crank-slider mechanism needs to satisfy the following conditions: AB≤minC, A+B≥maxC. When the advance actuator needs to insert, the control motor pushes the flexible drive rod 4 to move, providing thrust to the pull rod 5. The pull rod 5 is pushed upward, that is, the pull rod 5 moves away from the base 1, and drives the transmission link 6 to move upward together. Under the pull of the transmission link 6, the advance plate 2 rotates clockwise and retracts inward. When the three advance plates 2 are completely closed, an acute-angled cone is formed. At this time, the entire flexible surgical robot, such as the continuum, is axially fed to complete the insertion. During the insertion process, the control motor pulls the drive rod 4 in the opposite direction, pulling the pull rod 5 towards the base 1, and driving the connecting rod 6 to move. The connecting rod 6 pushes the insertion plate 2 to rotate counterclockwise, causing the insertion plate 2 to open outward. At this time, the outer surface of the insertion plate 2 exerts a lateral compressive force on the tissue. Since the drive rod 4 can withstand the tension and the linkage mechanism has a force amplification effect, it can generate a large opening force to separate the adhered tissue. Moreover, even if the flexible drive rod 4 is located inside a curved continuum robot (e.g., bent into an S-shape), it will not undergo plastic deformation due to its superelasticity and can smoothly transmit push and pull movements, solving the problem that traditional rigid surgical instruments cannot turn.

[0042] Optionally, in this embodiment, the base 1 has a triangular structure, with its three sides formed by three circular arcs. Each side has a first groove 12 and a first protrusion 13. Three push-in tabs 2 are also provided, evenly distributed along the circumference of the base 1. The number of push-in tabs 2 can be adapted to the number of first grooves 12 on the base 1. The number of transmission links 6 is matched to the number of push-in tabs 2, and three transmission links 6 are also provided. The three transmission links 6 are radially connected to the pull rod 5 and their respective push-in tabs 2.

[0043] In some embodiments, in the closed state, the axis of the transmission link 6 along its length makes an acute angle with the central axis of the drive rod 4 to provide a self-locking tendency or increase the closing stiffness between the push-in plates 2. In the open state, the opening angle of the push-in plates 2 ranges from 0 to 90°. The opening angle of the push-in plates 2 can be adjusted by adjusting the distance pushed by the drive rod 4.

[0044] In some embodiments, the base 1 has three holes of different sizes: a first fixing hole 9, a reuse hole 10, and a second fixing hole 11. The first fixing hole 9 can be used to install an endoscope, the reuse hole 10 can be used as a suction or irrigation hole, and the second fixing hole 11 can be used to install an electromagnetic coil. The size of the three holes can be set according to actual usage requirements. By installing the electromagnetic coil, endoscope, suction tube, etc., and planning the surgical path based on preoperative images, global navigation information can be provided by the electromagnetic navigation system during the operation. Intraoperative ultrasound can provide real-time position and interaction information of tissues and organs, and the endoscope can observe the interaction between the insertion mechanism and soft tissue in real time, facilitating the doctor to make adjustments and controls at any time, ensuring safety during the operation.

[0045] Optionally, the drive rod 4 is made of a superelastic nickel-titanium alloy with a slenderness ratio greater than 100, and is configured to transmit axial thrust and tension even when bent. The inner wall of the first through hole 11 of the base 1 is coated with a lubricating layer to reduce friction during the movement of the flexible drive rod 4, making it smoother during pushing. The diameter of the drive rod 4 ranges from Φ0.5mm to 1.0mm. Preferably, the drive rod 4 is a superelastic nickel-titanium alloy tube.

[0046] Furthermore, this invention also provides a surgical robot system, including the aforementioned flexible transmission-based continuous end-effector soft tissue push-in actuator. This surgical robot system also includes an instrument channel, a drive unit, and other structures, disposed at one end of the flexible continuous arm. The push-in actuator is mounted on the end of the flexible surgical robot (such as the continuous arm) away from the drive unit via a base 1, and can be fixed by welding, adhesive application, or other methods. The drive rod 4 passes through the instrument channel of the flexible surgical robot (such as the continuous arm) and connects to the drive unit. The drive unit can be one of the following structures capable of providing power: a motor, pump, cylinder, hydraulic motor, etc., without specific limitations. A force feedback module is provided on the drive unit to detect the axial reaction force on the drive rod 4. The side of the drive rod 4 away from the pull rod 5 is fixed to a pre-made tension / compression sensor. The sensor is fixed to a lead screw nut by bolts. The drive unit drives the lead screw to move, thereby moving the drive rod 4, causing the drive rod 4 to provide a pushing or pulling force to the push-in plate 2. It also includes a controller, which is connected to a force feedback module. The controller can determine whether the push-in piece 2 is in contact with high-hardness tissue or blood vessels based on the data fed back by the force feedback module, and adjust the pushing speed of the drive rod 4 accordingly.

[0047] The working principle of the continuous end soft tissue push-in actuator based on flexible transmission provided by the present invention is as follows: The push-in actuator includes a base 1, a push-in plate 2, a drive rod 4, a pull rod 5, and a transmission link 6. The push-in plate 2 is hinged to the base 1 through a first pin 3 and connected to the transmission link 6 through a third pin 8. The transmission link 6 is hinged to the pull rod 5 through a second pin 7. The pull rod 5 is fixedly connected to the drive rod 4. The drive rod 4 passes through the first through hole 11 of the base 1 and is slidably connected to the base 1.

[0048] When the actuator needs to insert, the control motor pushes the flexible drive rod 4 to move, providing thrust to the pull rod 5. The pull rod 5 is pushed upward, causing the transmission link 6 to move upward as well. Under the pull of the transmission link 6, the inserting plate 2 rotates clockwise and retracts inward. When the three inserting plates 2 are fully closed, they form an acute-angled cone, i.e., a bullet-shaped puncture head. At this time, the entire flexible surgical robot, including the continuum, advances axially to complete the insertion.

[0049] During the insertion process, the control motor pulls the drive rod 4 in the opposite direction, pulling the pull rod 5 towards the base 1 and driving the connecting rod 6 to move. The connecting rod 6 pushes the insertion piece 2 to rotate counterclockwise, causing the insertion piece 2 to open outward. At this time, the outer surface of the insertion piece 2 exerts lateral pressure on the tissue, expanding and supporting the soft tissue. Since the drive rod 4 can withstand tension and the linkage mechanism has a force amplification effect, it can generate a large opening force to separate adhered tissue. Moreover, even if the flexible drive rod 4 is located inside a curved continuous robot (e.g., bent into an S-shape), it will not undergo plastic deformation due to its hyperelasticity. It can maintain high axial stiffness even under large-angle bending, thus transmitting thrust and solving the problem that traditional rigid surgical instruments cannot turn. By using the drive rod 4 to transmit push and pull forces within the curved channel, combined with the offset crank-slider mechanism, powerful soft tissue insertion and separation are achieved. Insertion and separation are integrated into one device. By pulling the insertion piece outward through the connecting rod, the efficiency of the opening force transmission is maximized. The smooth curved surface of the insert compresses the surrounding tissue, achieving blunt dissection and protecting blood vessels.

[0050] This advance actuator uses a single drive rod 4 to control the opening and closing of the advance plates 2, enabling both pulling and pushing. Connected to the transmission linkage 6 via a pull rod 5, it allows for the simultaneous opening and closing of all three advance plates 2, increasing the driving efficiency of the advance. Furthermore, the simultaneous driving of all three advance plates 2 ensures the consistency of the advance movement at the mechanical level. This advance actuator not only provides protection but also actively creates space within soft tissue through closing, insertion, and opening, facilitating surgery.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A continuous end-effector soft tissue advance actuator based on flexible transmission, characterized in that, include: The base (1) has a first through hole (11) at its center; A push-in piece (2) is rotatably connected to the base (1); The drive rod (4) passes through the first through hole (11) and is slidably connected to the base (1). One end of the drive rod (4) is connected to the drive unit. A pull rod (5) is connected to the drive rod (4); The transmission link (6) is rotatably connected at both ends to the push plate (2) and the pull rod (5), respectively. When the drive rod (4) is driven to move by the drive unit, and the pull rod (5) moves away from the base (1), the pull rod (5) drives the transmission link (6) to move, causing the push-in piece (2) to close inward and form a conical structure; when the drive rod (4) drives the pull rod (5) to move towards the base (1), the push-in piece (2) opens under the push of the transmission link (6).

2. The continuous end-effector soft tissue advance actuator based on flexible transmission according to claim 1, characterized in that, At least one push-in piece (2) is provided. The push-in pieces (2) are evenly distributed along the circumference of the base (1). The outer surface of the push-in piece (2) is a smooth curved surface. When closed, the sides of the push-in pieces (2) fit together.

3. The continuous end soft tissue advance actuator based on flexible transmission according to claim 2, characterized in that, Includes a first pin (3), the push-in piece (2) is provided with a second through hole (23), the first pin (3) passes through the second through hole (23), so that the push-in piece (2) is rotatably connected to the base (1).

4. The continuous end soft tissue advance actuator based on flexible transmission according to claim 3, characterized in that, The base (1) includes a first groove (12) and a first protrusion (13), the first protrusion (13) being disposed in the first groove (12), and the push-in piece (2) being provided with a second groove (21), the second groove (21) cooperating with the first protrusion (13).

5. The continuous end soft tissue advance actuator based on flexible transmission according to claim 4, characterized in that, The pull rod (5) includes a second pin (7), a fourth groove (51) and a fourth through hole (52), one end of the transmission link (6) is embedded in the fourth groove (51), and the second pin (7) passes through the fourth through hole (52) and the through hole of the transmission link (6), so that the transmission link (6) is radially connected to the push plate (2), and the number of transmission links (6) is the same as the number of push plates (2).

6. The continuous end soft tissue advance actuator based on flexible transmission according to claim 5, characterized in that, The third pin (8) is included. The push-in piece (2) includes a third through hole (24). The third through hole (24) is parallel to the second through hole (23). The third pin (8) passes through the third through hole (24) and the through hole of the transmission link (6), so that the transmission link (6) is rotatably connected to the push-in piece (2). The distance between each pair of the first pin (3), the second pin (7) and the third pin (8) must satisfy: AB≤minC, A+B≥maxC.

7. The continuous end soft tissue advance actuator based on flexible transmission according to claim 6, characterized in that, The base (1), the push plate (2), the transmission link (6), the pull rod (5) and the drive rod (4) form a slider linkage mechanism. The drive rod (4) can drive the push plate (2) to rotate around the first pin (3) to realize the closing or opening of the push plate (2). There are three push-in pieces (2), and the three push-in pieces (2) are connected to the pull rod (5) through the transmission link (6). The drive rod (4) can drive the three push-in pieces (2) to move simultaneously through the pull rod (5).

8. The continuous end soft tissue advance actuator based on flexible transmission according to claim 7, characterized in that, The drive rod (4) is a super-elastic nickel-titanium alloy tube with a diameter range of Φ0.5mm-1.0mm and a slenderness ratio greater than 100. The transmission connecting rod (6) and the drive rod (4) have an acute angle between their central axes. The opening angle of the push plate (2) is 0°~90°.

9. The continuous end-effector soft tissue advance actuator based on flexible transmission according to claim 8, characterized in that, It includes a first fixing hole (9), a reuse hole (10), and a second fixing hole (11), which penetrate the base (1).

10. A surgical robot system, characterized in that, The continuous end-effector soft tissue insertion actuator based on flexible transmission as described in any one of claims 1-9 includes an instrument channel and a drive unit, wherein the drive rod (4) passes through the instrument channel and is connected to the drive unit, and the insertion actuator is connected to the surgical robot system through the base (1); It also includes a controller and a force feedback module, wherein the force feedback module is a tension / compression sensor, which is installed between the drive rod (4) and the drive unit and connected to the controller.

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