Surgical tool drive transmission system and surgical robot based on planar motion mechanism

Abstract

The present invention relates to a surgical tool drive transmission system and a surgical robot based on a planar motion mechanism, comprising a flexible continuum and a drive mechanism; the flexible continuum comprises: a proximal continuum comprising a proximal base plate, a proximal stop plate, and a structural bone; a distal continuum comprising a distal base plate and a distal stop plate; a drive connection portion, the distal end of which is connected to the proximal base plate, the proximal end of which passes through and is connected to the proximal stop plate, and the portion of the drive connection portion located on the proximal side of the proximal stop plate forms a free end; the proximal ends of a plurality of structural bones are fixedly connected to the proximal stop plate, the distal ends of which sequentially pass through the proximal base plate and the distal base plate and are fixedly connected to the distal stop plate; and the drive mechanism is connected to the free end of the drive connection portion. The present invention can avoid direct pushing and pulling of the drive wire of the flexible continuum, and when driving a large number of drive wires, it is not limited by the number of drive mechanisms. At the same time, the structure is compact, the principle is simple, it is easy to implement, and it has high reliability and flexibility.

Description

Technical Field

[0001] The present invention relates to a drive transmission device, in particular to a surgical tool drive transmission system based on a planar motion mechanism and a surgical robot comprising the surgical tool drive transmission system. Background Art

[0002] Minimally invasive procedures cause less trauma to patients and have higher postoperative outcomes, and have already occupied an important position in surgical procedures. Minimally invasive procedures utilize surgical tools and surgical instruments, including visual lighting modules and surgical manipulators, to enter the human body through incisions or natural cavities to reach the surgical site for surgery. The distal structure of existing surgical instruments is mainly a series hinge of multiple rods, driven by wire rope tension to achieve bending and rotation of the surgical instruments at the hinge joint. Because the wire rope must be kept in a continuous tension state through a pulley, this drive method makes it difficult to achieve further miniaturization of the surgical instrument, nor is it difficult to further improve the movement performance of the instrument.

[0003] Compared with the traditional rigid motion chain that achieves bending motion by rotating with each other at the joints, the flexible continuum structure achieves bending and deformation of the distal structure through deformation of its proximal structure. Its main body can also become a drive transmission structure, so it can achieve extremely high degrees of freedom configuration within a small space. Therefore, the flexible continuum structure is widely used in medical devices such as flexible operating arms, endoscopes, and controllable catheters, as well as the research and development of new special equipment such as industrial deep cavity detection endoscopes and flexible robotic arms.

[0004] Existing continuum structures generally use a driving mechanism to directly push and pull the driving wire in the continuum structure, thereby realizing the bending of the continuum structure in any direction. However, with the more stringent requirements for continuum structures such as high precision, fast response, high bending flexibility, and good stability, the existing driving structure has gradually failed to meet the above requirements. In addition, the existing driving methods all directly push and pull the driving wire to move. Therefore, when the number of driving wires is large, the number of driving mechanisms will also increase accordingly, making the structure complex. Summary of the Invention

[0005] In response to the above problems, one of the objects of the present invention is to provide a surgical tool drive transmission system based on a planar motion mechanism to avoid direct pushing and pulling of the driving wire of the flexible continuum. When driving a large number of driving wires, it is not limited by the number of driving mechanisms. At the same time, it has a compact structure, simple principle, easy implementation, and high reliability and flexibility. Another object of the present invention is to provide a surgical robot that includes the surgical tool drive transmission system.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a surgical tool drive transmission system based on a planar motion mechanism, comprising a flexible continuum structure and a drive mechanism; the flexible continuum structure comprises: a proximal continuum, comprising a proximal base plate, a proximal stop plate and a structural bone; a distal continuum, comprising a distal base plate, a distal stop plate and the structural bone; a drive connection part, the distal end of the drive connection part is connected to the proximal base plate, the proximal end of the drive connection part passes through the proximal stop plate and is connected to the proximal stop plate, and the part of the drive connection part located on the proximal side of the proximal stop plate forms a free end; the proximal ends of multiple structural bones are fixedly connected to the proximal stop plate, and the distal ends of multiple structural bones pass through the proximal base plate and the distal base plate in turn and are fixedly connected to the distal stop plate; the drive mechanism is a planar motion mechanism, and the planar motion mechanism is connected to the free end of the drive connection part.

[0007] In the surgical tool drive transmission system, preferably, the planar motion mechanism is a planar connecting rod mechanism.

[0008] In the surgical tool drive transmission system, preferably, the planar linkage mechanism comprises a planar five-bar mechanism, and the planar five-bar mechanism comprises a first link, a second link, a third link, a fourth link, a fifth link, an output shaft, a first input shaft, and a second input shaft;

[0009] The first connecting rod is fixedly arranged, and the first input shaft and the second input shaft are rotatably arranged on the first connecting rod; one end of the second connecting rod is fixedly connected to the first input shaft, and the other end of the second connecting rod is hinged to one end of the third connecting rod; one end of the fifth connecting rod is fixedly connected to the second input shaft, and the other end of the fifth connecting rod is hinged to one end of the fourth connecting rod, and the other end of the fourth connecting rod is also hinged to the other end of the third connecting rod, and the other ends of the third connecting rod and the fourth connecting rod are respectively hinged to the output shaft, and the output shaft is connected to the drive connection part.

[0010] The surgical tool drive transmission system, preferably, the flexible continuum structure also includes a structural bone guide bundle connected between the proximal base plate and the distal base plate, and the distal ends of multiple structural bones pass through the proximal base plate, the structural bone guide bundle and the distal base plate in sequence and are fixedly connected to the distal stop plate.

[0011] In the surgical tool drive transmission system, preferably, the structural bones are elastic thin rods or thin tubes made of superelastic material, and multiple structural bones are distributed along the circumference, and the structural bone guide bundle is a steel tube bundle.

[0012] In the surgical tool drive transmission system, preferably, the proximal continuum further comprises at least one proximal retaining disk disposed between the proximal base disk and the proximal stop disk, and each of the structural bones passes through the proximal retaining disk in sequence;

[0013] At the same time, the distal continuum further includes at least one distal retaining plate arranged between the distal base plate and the distal stop plate, and each of the structural bones passes through the distal retaining plate.

[0014] The surgical tool drive transmission system is preferably provided with at least one guide tube bundle retaining plate between the proximal base plate and the distal base plate, and the structural bone guide tube bundle passes through the guide tube bundle retaining plate.

[0015] In the surgical tool drive transmission system, preferably, the drive connection part is one of a universal joint, a ball joint, a hinge joint or a universal joint-ball joint combination.

[0016] In the surgical tool drive transmission system, preferably, the drive connection portion is a double-section universal joint, which is mainly composed of a first universal joint and a second universal joint connected in series, the distal end of the first universal joint is connected to the proximal base plate, the proximal end of the first universal joint is connected to the distal end of the second universal joint, the proximal end of the second universal joint passes through the proximal stop plate and is connected to the proximal stop plate, and the portion of the second universal joint located on the proximal side of the proximal stop plate forms a free end;

[0017] Alternatively, the drive connection portion is a double-jointed ball joint, which is mainly composed of a first ball joint and a second ball joint connected in series, wherein the distal end of the first ball joint is connected to the proximal base plate, the proximal end of the first ball joint is connected to the distal end of the second ball joint via a universal coupling, the proximal end of the second ball joint passes through the proximal stop plate and is connected to the proximal stop plate, and the portion of the second ball joint located on the proximal side of the proximal stop plate forms a free end;

[0018] Alternatively, the drive connection portion is a four-bar hinge joint, which is mainly composed of a first link, a second link, a third link and a fourth link connected in series in sequence, the distal end of the first link is connected to the proximal base plate, the proximal end of the first link is hinged to the distal end of the second link, the proximal end of the second link is connected to the distal cylindrical pair of the third link, the proximal end of the third link is hinged to the distal end of the fourth link, the proximal end of the fourth link passes through the proximal stop disk and is connected to the proximal stop disk, and the portion of the fourth link located on the proximal side of the proximal stop disk forms a free end;

[0019] Alternatively, the drive connection part is a universal joint-ball joint, one end of the universal joint-ball joint is connected to the proximal base plate, the other end of the universal joint-ball joint passes through the proximal stop plate and is connected to the proximal stop plate, and the part of the universal joint-ball joint located on the proximal side of the proximal stop plate forms a free end.

[0020] A surgical robot comprises at least one of the above-mentioned surgical tool drive transmission systems.

[0021] The surgical robot preferably adopts two or more surgical tool drive transmission systems connected in series or in parallel; preferably, the two surgical tool drive transmission systems are arranged side by side on the bracket, the two proximal bases are respectively fixedly connected to the bracket, or the proximal base directly becomes a part of the bracket, one end of the structural bone guide tube bundle is fixedly connected to the proximal base of the proximal continuum, the other end of the structural bone guide tube bundle passes through the bracket and is fixed at the distal base and is bundled into a cluster, the distal base is fixedly connected to the bracket, or the distal base directly becomes a part of the bracket.

[0022] Due to the above technical solution, the present invention has the following advantages: 1. The surgical tool drive transmission system provided by the present invention only needs to use a single drive mechanism to drive the proximal stop plate of the proximal continuum to flip, thereby achieving the pushing and pulling of the structural bone, thereby driving the proximal continuum to bend, and ultimately driving the distal continuum to bend arbitrarily in space, avoiding direct pushing and pulling of the structural bone. Moreover, when driving a large number of structural bones, it is not limited by the number of drive mechanisms. At the same time, it has a compact structure, a simple principle, and is easy to implement, thus having high reliability. 2. Compared with the traditional rigid kinematic chain that achieves bending motion by rotating at joints, the flexible continuum structure of the present invention achieves bending and deformation of the distal structure by deforming its proximal structure. The main structure of the flexible continuum also serves as the drive transmission structure, thus achieving extremely high degrees of freedom of configuration within a small space. Therefore, it can be widely used in the research and development of medical devices such as flexible operating arms, endoscopes, and controllable catheters, as well as new special equipment such as industrial deep cavity detection endoscopes and flexible robotic arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic structural diagram of a surgical tool drive transmission system according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic structural diagram of the distal continuum in this embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the three-dimensional structure of the driving mechanism in one embodiment of the present invention;

[0026] Figure 4 Schematic diagram of the partial structure of the driving mechanism in this embodiment of the present invention;

[0027] Figure 5 is a top view of the driving mechanism in this embodiment of the present invention;

[0028] Figure 6 This is a structural diagram of a ball joint as a driving connection portion in the second embodiment of the present invention;

[0029] Figure 7 This is a schematic structural diagram of a third embodiment of the present invention in which the driving connection portion is a hinge joint;

[0030] Figure 8 Schematic diagram of the structure of a surgical robot in one embodiment of the present invention. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solutions of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "proximal," "distal," "upper," "lower," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the scope of protection of the present invention. In the present invention, when referring to the "distal side or distal end," the term refers to the side or end relatively far away from the operator. When referring to the "proximal side or proximal end," the term refers to the side or end relatively close to the operator.

[0033] like Figure 1 、 Figure 2 As shown, the surgical tool drive transmission system provided in this embodiment includes a flexible continuum structure and a drive mechanism 14.

[0034] The flexible continuum structure comprises a proximal continuum 1, comprising a proximal base plate 4, a proximal stop plate 7, and structural bones 12; a distal continuum 3, comprising a distal base plate 9, a distal stop plate 11, and structural bones 12; and a drive connection 13, the distal end of which is connected to the proximal base plate 4, the proximal end of which passes through the proximal stop plate 7 and is connected to the proximal stop plate 7, and the portion of the drive connection 13 proximal to the proximal stop plate 7 forms a free end. The proximal ends of multiple structural bones 12 are fixedly connected to the proximal stop plate 7, and the distal ends of the multiple structural bones 12 sequentially pass through the proximal base plate 4 and the distal base plate 9 and are fixedly connected to the distal stop plate 11.

[0035] like Figures 3 to 5 As shown, the drive mechanism 14 adopts a planar five-bar mechanism, which includes a first connecting rod 141, a second connecting rod 142, a third connecting rod 143, a fourth connecting rod 144, a fifth connecting rod 145, an output shaft 146, a first input shaft 147, and a second input shaft 148. The first connecting rod 141 is fixedly arranged, and the first input shaft 147 and the second input shaft 148 are rotatably arranged on the first connecting rod 141; one end of the second connecting rod 142 is fixedly connected to the first input shaft 147, and the other end of the second connecting rod 142 is hinged to one end of the third connecting rod 143; one end of the fifth connecting rod 145 is fixedly connected to the second input shaft 148, and the other end of the fifth connecting rod 145 is hinged to one end of the fourth connecting rod 144, and the other end of the fourth connecting rod 144 is also hinged to the other end of the third connecting rod 143. The other ends of the third connecting rod 143 and the fourth connecting rod 144 are respectively hinged to the output shaft 146, and the output shaft 146 is connected to the drive connection portion 13.

[0036] Therefore, when the first input shaft 147 and / or the second input shaft 148 are driven to rotate, the output shaft 146 of the planar five-bar mechanism is driven to move freely within the plane, driving the free end of the drive connection portion 13 to move, thereby causing the drive connection portion 13 to deflect about its axis, and ultimately driving the proximal stop plate 7 to move and flip, thereby pushing and pulling each structural bone 12 whose end is fixed to the proximal stop plate 7. At this time, one side of each structural bone 12 is subjected to tension, thereby increasing the length of the corresponding structural bone 12 within the proximal continuum 1, while the other side is subjected to compression, thereby decreasing the length of the corresponding structural bone 12 within the proximal continuum 1. However, since the total length of each structural bone 12 remains unchanged, the length of each structural bone 12 within the distal continuum 3 changes accordingly, driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1. It should be noted that the bending ratios of the proximal continuum 1 and the distal continuum 3 are inversely proportional to the distribution radius of the corresponding structural bones 12 in the two continuums (in this embodiment, the structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed along the circumference, and can be distributed on the circumference, or on the circumference of a rectangle or other closed shape, and can be uniformly distributed or non-uniformly distributed, which is not limited here). Therefore, during application, the distribution radius of the structural bones 12 in the two continuums can be adjusted to meet the actual bending ratio requirements.

[0037] In the above embodiment, preferably, Figure 1As shown, the flexible continuum structure also includes a structural bone guide bundle 2. The proximal end of the structural bone guide bundle 2 is connected to the proximal base plate 4, and the distal end of the structural bone guide bundle 2 is connected to the distal base plate 9. The distal ends of multiple structural bones 12 pass through the proximal base plate 4, the structural bone guide bundle 2, and the distal base plate 9 in sequence, and are fixedly connected to the distal stop plate 11. The structural bone guide bundle 2 serves to guide and constrain the structural bones 12 located between the proximal base plate 4 and the distal base plate 9.

[0038] In the above embodiment, preferably, the proximal continuum 1 further includes at least one proximal retaining plate 5 disposed between the proximal base plate 4 and the proximal stop plate 7, and each structural bone 12 passes through the proximal retaining plate 5 in sequence; Figure 2 As shown, the distal continuum 3 also includes at least one distal retaining plate 10 arranged between the distal base plate 9 and the distal stop plate 11, and each structural bone 12 also passes through the distal retaining plate 10 in sequence. The proximal retaining plate 5 and the distal retaining plate 10 are used to support the structural bones 12 from the radial direction of the structural bones 12, so that each structural bone 12 can remain parallel during the bending deformation process to prevent instability during movement.

[0039] In the above embodiment, preferably, Figure 1 As shown, at least one guide tube bundle retaining plate 21 is provided between the proximal base plate 4 and the distal base plate 9. The structural bone guide tube bundle 2 passes through the guide tube bundle retaining plate 21. The guide tube bundle retaining plate 21 is used to provide radial support for the structural bone guide tube bundle 2, so that the structural bone guide tube bundle 2 remains in a parallel state during bending and deformation, thereby preventing instability during movement.

[0040] In the above embodiment, preferably, the structural bone 12 can be made of an elastic thin rod or tube made of a superelastic material, generally made of a high-strength, high-toughness, elastic metal material such as nickel-titanium alloy; the structural bone guide bundle 2 can be made of a steel bundle.

[0041] In the above embodiment, the drive connection portion 13 can preferably be a universal joint, a ball joint, a hinge joint, or a universal joint-ball joint combination. In this case, there are six kinematic connection nodes between the drive connection portion 13, the proximal continuum 1, and the drive mechanism 14. Specifically, the first connection node refers to the connection between the proximal base plate 4 and the drive connection portion 13; the second connection node refers to the first structure of the drive connection portion itself; the third connection node refers to the connection between the drive connection portion 13 and the proximal stop plate 7; the fourth connection node refers to the second structure of the drive connection portion itself; the fifth connection node refers to the connection between the first structure and the second structure of the drive connection portion itself; and the sixth connection node refers to the connection between the free end of the drive connection portion 13 and the drive mechanism 14. These six connection nodes can be combined using any of the following five connection methods: cylindrical pair (rotatable and movable), translation pair (movable only) (rotatable only), rotation pair, fixed connection, and the drive connection portion structure itself (universal joint, ball joint, or connecting rod). The combination of the six connection nodes is configured to meet the minimum degrees of freedom required to drive the proximal continuum 1. The following three embodiments are used to illustrate each of these. Example 1

[0042] In this embodiment, if Figure 4As shown, the drive connection portion 13 utilizes a double-joint universal joint, primarily composed of a first universal joint 131 and a second universal joint 132 connected in series. The distal end of the first universal joint 131 is connected to the proximal base plate 4, the proximal end of the first universal joint 131 is connected to the distal end of the second universal joint 132, and the proximal end of the second universal joint 132 passes through and connects to the proximal stop plate 7. The portion of the second universal joint 132 located proximal to the proximal stop plate 7 forms a free end. In this case, the six connection nodes can be combined as follows: the first connection node utilizes a fixed connection, the second connection node utilizes a universal joint, the third connection node utilizes a cylindrical joint, the fourth connection node utilizes a universal joint, the fifth connection node utilizes a cylindrical joint, and the sixth connection node utilizes a fixed connection. That is, the first connection node refers to one end of the first universal joint 131 fixedly connected to the proximal base plate 4, and the other end of the second universal joint 132 is a free end. The first structure and the second structure of the drive connection part itself are respectively the first universal joint 131 and the second universal joint 132, that is, the second connection node and the fourth connection node are respectively the first universal joint 131 and the second universal joint 132. The third connection node refers to the outer cylindrical surface of the first universal joint 131 and the proximal stop plate 7 matched with a cylindrical pair. The fifth connection node refers to the first universal joint 131 and the second universal joint 132 connected by a cylindrical pair, so that the first universal joint 131 and the second universal joint 132 can approach or move away along the axis of the cylindrical pair, and can rotate towards each other around the axis. The sixth connection node refers to the free end of the second universal joint 132 fixedly connected to the output shaft 146 of the planar five-bar mechanism. As a result, driven by the planar five-bar mechanism, the free end of the second universal joint 132 moves freely, and the axes of the first and second universal joints 131, 132 form a certain angle with the vertical direction. Due to the scalability of the double-joint universal joint, the free end of the second universal joint 132 maintains a constant height distance from the proximal base plate 4 during movement. When the axes of the first and second universal joints 131, 132 form an angle with the vertical direction, this drives the proximal stop plate 7 of the proximal continuum 1 to rotate in a coordinated manner, pushing and pulling the structural bones 12 whose ends are fixed to the proximal stop plate 7, causing the length of each elastic rod 12 within the distal continuum 3 to change accordingly, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1. The curvature ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding structural bones 12 in each continuum (in this embodiment, the structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed circumferentially, and can be distributed along the circumference or along the circumference of the matrix, and can be uniformly or non-uniformly distributed, without limitation herein). During application, the distribution radius of the structural bones 12 in the proximal continuum 1 and the distal continuum 3 can be adjusted to meet actual curvature ratio requirements.Therefore, through the mutual cooperation of the above six nodes, the proximal stop plate 7 can slide up and down or rotate relative to the drive connection part 13 or the drive connection part 13 can slide up and down or rotate relative to the drive mechanism 14, thereby satisfying the parasitic motion (up and down sliding) of the proximal continuum 1 along the axial direction during the bending process, as well as the bending motion (rotation) in any direction. The parasitic motion can prevent the distal continuum 3 from generating axial telescopic motion during the bending process, causing the cover covering the outer periphery of the distal continuum 3 to wrinkle or over-stretch, affecting the service life of the cover.

[0043] Alternatively, the six connection nodes may be combined as follows: the first connection node is fixedly connected, the second connection node is a universal joint, the third connection node is connected by a sliding joint, the fourth connection node is a universal joint, the fifth connection node is connected by a sliding joint, and the sixth connection node is connected by a revolute joint. In this case, the free end of the connection portion 13 can be driven to move freely under the drive of the drive mechanism 14, thereby achieving the purpose of bending the distal continuum 3. Alternatively, the six connection nodes may be combined as follows: the first connection node is connected by a sliding joint, the second connection node is a universal joint, the third connection node is connected by a sliding joint, the fourth connection node is a universal joint, the fifth connection node is fixedly connected, and the sixth connection node is connected by a revolute joint. This purpose can also be achieved.

[0044] In addition, the universal joint in the drive connection part 13 can also be replaced with a ball joint. In summary, in addition to the above combination methods, the six connection nodes can also adopt other forms of combination of several of the above five connection methods. Under the premise of achieving the same function, the more degrees of freedom, the better the compliance and flexibility. Example 2

[0045] In this embodiment, if Figure 6As shown, the drive connection portion 13 utilizes a double-jointed ball joint, primarily consisting of a first ball joint 133 and a second ball joint 134 connected in series. The distal end of the first ball joint 133 is connected to the proximal base plate 4, the proximal end of the first ball joint 133 is connected to the distal end of the second ball joint 134 via a universal coupling, the proximal end of the second ball joint 134 passes through and is connected to the proximal stop plate 7, and the portion of the second ball joint 134 proximal to the proximal stop plate 7 forms a free end. In this case, the six connection nodes can be combined as follows: the first connection node utilizes a fixed connection, the second connection node utilizes a ball joint, the third connection node utilizes a cylindrical pair connection, the fourth connection node utilizes a ball joint, the fifth connection node utilizes a cylindrical pair connection, and the sixth connection node utilizes a fixed connection. That is, the first connection node refers to one end of the first ball joint 133 fixedly connected to the proximal base plate 4, and the other end of the second ball joint 134 is a free end. The first structure and the second structure of the driving connection part itself are the first ball joint 133 and the second ball joint 134 respectively, that is, the second connection node and the fourth connection node are the first ball joint 133 and the second ball joint 134 respectively. The third connection node refers to the outer circular surface of the first ball joint 133 and the proximal stop plate 7 matched with a cylindrical pair. The fifth connection node refers to the first ball joint 133 and the second ball joint 134 connected by a cylindrical pair, so that the first ball joint 133 and the second ball joint 134 can approach or move away along the axis of the cylindrical pair, and can rotate towards each other around the axis. The sixth connection node refers to the free end of the second ball joint 134 and the output shaft 146 of the planar five-bar mechanism fixedly connected. Thus, driven by the planar rodless mechanism, the free end of the second ball joint 134 moves freely. Because the two first ball joints 133 and the second ball joint 134 are matched by a cylindrical pair, the first ball joint 133 and the second ball joint 134 can move closer or farther away along the axis of the cylindrical pair, so that during the movement of the free end of the second ball joint 134, the distance between the free end and the proximal base plate 4 in the height direction remains constant. When the axis direction between the first ball joint 133 and the second ball joint 134 is at an angle to the vertical direction, the proximal stop plate 7 of the proximal continuum 1 is driven to produce a coordinated flip, pushing and pulling the structural bones 12 whose ends are fixed to the proximal stop plate 7, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1, thereby achieving bending of the distal continuum 3 in different directions in space.

[0046] Alternatively, the six connection nodes may be combined as follows: the first connection node is fixed, the second connection node is a spherical joint, the third connection node is a cylindrical joint, the fourth connection node is a spherical joint, the fifth connection node is fixed, and the sixth connection node is a sliding joint. In this case, the free end of the connection portion 13 can be driven to move freely under the drive mechanism, thereby achieving the purpose of bending the distal continuum 3. Alternatively, the six connection nodes may be combined as follows: the first connection node is fixed, the second connection node is a spherical joint, the third connection node is a sliding joint, the fourth connection node is a spherical joint, the fifth connection node is a revolute joint, and the sixth connection node is a sliding joint. This can also achieve the purpose.

[0047] In summary, in addition to the above combination methods, the above six connection nodes can also adopt other forms of combination of several of the above five connection methods. On the premise of achieving the same function, the more degrees of freedom, the better the flexibility and compliance. Example 3

[0048] In this embodiment, if Figure 7As shown, the drive connection portion 13 adopts a four-link hinge joint 135, which is mainly composed of a first link A, a second link B, a third link C, and a fourth link D connected in series. The distal end of the first link A is connected to the proximal base plate 4, the proximal end of the first link A is hinged to the distal end of the second link B, the proximal end of the second link B is connected to the distal cylindrical pair of the third link C, the proximal end of the third link C is hinged to the distal end of the fourth link D, the proximal end of the fourth link D passes through the proximal stop plate 7 and is connected to the proximal stop plate 7, and the portion of the fourth link D located on the proximal side of the proximal stop plate 7 forms a free end. In this case, the six connection nodes are taken as an example of the following combination: the first connection node adopts a revolute pair, the second connection node adopts a revolute pair, the third connection node adopts a cylindrical pair, the fourth connection node adopts a revolute pair, the fifth connection node adopts a cylindrical pair, and the sixth node adopts a fixed connection. That is, the first and second structures of the drive connection portion itself are both connecting rods. The first connection node refers to one end of the first connecting rod A, which can rotate about its own long axis in the proximal base plate 4. The second connection node refers to the other end of the first connecting rod A being hinged to the second connecting rod B. The fifth connection node refers to the other end of the second connecting rod B being matched with the third connecting rod C using a cylindrical pair. The third connection node refers to the outer surface of the third connecting rod C being matched with the proximal stop plate 7 using a cylindrical pair. The fourth connection node refers to the other end of the third connecting rod C being hinged to the fourth connecting rod D, with the other end of the fourth connecting rod D serving as a free end. The sixth connection node refers to the free end of the fourth connecting rod D being fixedly connected to the output shaft 146 of the planar five-bar mechanism. Thus, the free end of the fourth connecting rod D is driven to move by the planar five-bar mechanism. Because the second connecting rod B and the third connecting rod C can move closer to or farther away from each other along the axis of the cylindrical pair, the free end of the fourth connecting rod D maintains a constant height distance from the proximal base plate 4 during movement. When there is an angle between the axial direction of each connecting rod and the vertical direction, the proximal stop plate 7 of the proximal continuum 1 is driven to produce a coordinated flip, pushing and pulling the structural bones 12 whose ends are fixed on the proximal stop plate 7, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1, thereby realizing the bending of the distal continuum 3 along different directions in space.

[0049] Alternatively, the six connection nodes can also be combined as follows: the first connection node adopts a rotation pair, the second connection node adopts a rotation pair, the third connection node adopts a translation pair, the fourth connection node adopts a rotation pair, the fifth connection node adopts a cylindrical pair, and the sixth connection node adopts a rotation pair, which can also achieve the purpose.

[0050] In summary, in addition to the above combination methods, the six connection nodes can also adopt other forms of combination of several of the above five connection methods. On the premise of achieving the same function, the more degrees of freedom, the better the flexibility and compliance.

[0051] It should be noted that the above embodiments are not intended to limit the conditions under which the present invention can be implemented. The essence of the present invention lies in driving the proximal stop disc 7 in the flexible continuum structure to flip through the driving mechanism 14, thereby driving the proximal continuum 1 to bend, and ultimately driving the distal continuum 3 to bend arbitrarily in space.

[0052] Based on the surgical tool drive transmission system provided in the above embodiments, the present invention further provides a surgical robot, which includes at least one of the above surgical tool drive transmission systems.

[0053] In the above embodiment, preferably, the surgical robot uses two of the above surgical tool drive transmission systems in series or in parallel to increase the flexibility of the arm. Figure 8 As shown, taking the example of two surgical tool drive transmission systems connected in parallel, the two surgical tool drive transmission systems are arranged side by side on a support 15. The two proximal base plates 4 are respectively fixedly connected to the support 15 (or the proximal base plates 4 are directly part of the support 15). One end of the structural bone guide bundle 2 is fixedly connected to the proximal base plate 4 of the proximal continuum 1. The other end of the structural bone guide bundle 2 passes through the support 15 and the guide bundle retaining plate 21 in sequence, and is fixed to the distal base plate 9 and bundled into a ring shape (in this embodiment, the structural bone guide bundle 2 is bundled into a circular ring shape, but other shapes such as a rectangle are also possible and are not limited here). The distal base plate 9 is fixedly connected to the support 15, or the distal base plate 9 is directly part of the support 15. Thus, the two drive connecting portions 13 are driven by the drive mechanisms 14 on both sides to move, respectively driving the proximal continuum 1 on both sides to move, achieving bending of the distal continuum 3, thereby increasing the degrees of freedom of the distal continuum 3 and thus enhancing the flexibility of the surgical robot. In the above embodiment, preferably, the lengths of the distal continuum 3 in the two flexible continuum structures may be the same or different.

[0054] In the description of the present invention, it should be understood that the use of terms such as "first", "second", and "third" to limit components is only for the convenience of distinguishing the above components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A surgical tool drive transmission system based on a planar motion mechanism, characterized in that: including a flexible continuum structure and a driving mechanism (14); The flexible continuum structure comprises: The proximal continuum (1), including the proximal base plate (4), the proximal insertion plate (7), and the structural bone (12); A distal continuum (3) comprising a distal base plate (9), a distal stop plate (11) and the structural bone (12); a drive connection portion (13), wherein the distal end of the drive connection portion (13) is connected to the proximal base disc (4), the proximal end of the drive connection portion (13) passes through the proximal stop disc (7) and is connected to the proximal stop disc (7), and the portion of the drive connection portion (13) located on the proximal side of the proximal stop disc (7) forms a free end; The proximal ends of the plurality of structural bones (12) are fixedly connected to the proximal stop disk (7), and the distal ends of the plurality of structural bones (12) sequentially pass through the proximal base disk (4) and the distal base disk (9) and are fixedly connected to the distal stop disk (11); The driving mechanism (14) is a planar motion mechanism, and the planar motion mechanism is connected to the free end of the driving connection portion (13); The planar motion mechanism is a planar linkage mechanism, wherein the output shaft (146) of the planar linkage mechanism is connected to the drive connection part (13), and the output shaft (146) of the planar linkage mechanism moves within a plane to drive the free end of the drive connection part (13) to move, thereby driving the proximal continuum (1) to bend and driving the distal continuum (3) to bend.

2. The surgical tool drive transmission system according to claim 1, wherein: The planar linkage mechanism comprises a planar five-bar mechanism, and the planar five-bar mechanism comprises a first connecting rod (141), a second connecting rod (142), a third connecting rod (143), a fourth connecting rod (144), a fifth connecting rod (145), an output shaft (146), a first input shaft (147), and a second input shaft (148); The first connecting rod (141) is fixedly arranged, and the first input shaft (147) and the second input shaft (148) are rotatably arranged on the first connecting rod (141); one end of the second connecting rod (142) is fixedly connected to the first input shaft (147), and the other end of the second connecting rod (142) is hinged to one end of the third connecting rod (143); one end of the fifth connecting rod (145) is fixedly connected to the second input shaft (148), and the other end of the fifth connecting rod (145) is hinged to one end of the fourth connecting rod (144), and the other end of the fourth connecting rod (144) is also hinged to the other end of the third connecting rod (143); the other ends of the third connecting rod (143) and the fourth connecting rod (144) are respectively hinged to the output shaft (146), and the output shaft (146) is connected to the driving connection part (13).

3. The surgical tool drive transmission system according to claim 1, wherein: The flexible continuum structure further includes a structural bone guide bundle (2) connected between the proximal base plate (4) and the distal base plate (9), and the distal ends of the plurality of structural bones (12) sequentially pass through the proximal base plate (4), the structural bone guide bundle (2) and the distal base plate (9) and are fixedly connected to the distal stop plate (11).

4. The surgical tool drive transmission system according to claim 3, wherein: The structural bone (12) is an elastic thin rod or thin tube made of a superelastic material, and a plurality of the structural bones (12) are distributed along the circumference, and the structural bone guide tube bundle (2) is a steel tube bundle.

5. The surgical tool drive transmission system according to claim 1, wherein: The proximal continuum (1) further comprises at least one proximal retaining disc (5) arranged between the proximal base disc (4) and the proximal stop disc (7), and each of the structural bones (12) passes through the proximal retaining disc (5) in sequence; At the same time, the distal continuum (3) further comprises at least one distal retaining disc (10) arranged between the distal base disc (9) and the distal stop disc (11), and each of the structural bones (12) passes through the distal retaining disc (10).

6. The surgical tool drive transmission system according to claim 3, wherein: At least one guide tube bundle retaining disc (21) is further provided between the proximal base disc (4) and the distal base disc (9), and the structural bone guide tube bundle (2) passes through the guide tube bundle retaining disc (21).

7. The surgical tool drive transmission system according to any one of claims 1 to 6, characterized in that: The driving connection part (13) is one of a universal joint, a ball joint, a hinge joint or a universal joint-ball joint combination.

8. The surgical tool drive transmission system according to claim 7, wherein: The driving connection part (13) is a double-joint universal joint, which is mainly composed of a first universal joint (131) and a second universal joint (132) connected in series, the distal end of the first universal joint (131) is connected to the proximal base plate (4), the proximal end of the first universal joint (131) is connected to the distal end of the second universal joint (132), the proximal end of the second universal joint (132) passes through the proximal stop plate (7) and is connected to the proximal stop plate (7), and the part of the second universal joint (132) located on the proximal side of the proximal stop plate (7) forms a free end; Alternatively, the drive connection portion (13) is a double-jointed ball joint, which is mainly composed of a first ball joint (133) and a second ball joint (134) connected in series, the distal end of the first ball joint (133) is connected to the proximal base plate (4), the proximal end of the first ball joint (133) is connected to the distal end of the second ball joint (134) via a universal coupling, the proximal end of the second ball joint (134) passes through the proximal stop plate (7) and is connected to the proximal stop plate (7), and the portion of the second ball joint (134) located on the proximal side of the proximal stop plate (7) forms a free end; Alternatively, the driving connection portion (13) is a four-link hinge joint (135), and the four-link hinge joint (135) is mainly composed of a first link A, a second link B, a third link C and a fourth link D connected in series in sequence, the distal end of the first link A is connected to the proximal base plate (4), the proximal end of the first link A is hinged to the distal end of the second link B, the proximal end of the second link B is connected to the distal cylindrical pair of the third link C, the proximal end of the third link C is hinged to the distal end of the fourth link D, the proximal end of the fourth link D passes through the proximal stop disk (7) and is connected to the proximal stop disk (7), and the portion of the fourth link D located on the proximal side of the proximal stop disk (7) forms a free end; Alternatively, the drive connection portion (13) is a universal joint-ball joint, one end of the universal joint-ball joint is connected to the proximal base plate (4), the other end of the universal joint-ball joint passes through the proximal stop plate (7) and is connected to the proximal stop plate (7), and the portion of the universal joint-ball joint located on the proximal side of the proximal stop plate (7) forms a free end.

9. A surgical robot, characterized in that: The invention comprises at least one surgical tool drive transmission system according to any one of claims 1 to 8.

10. The surgical robot according to claim 9, wherein the surgical robot uses two or more surgical tool drive transmission systems connected in series or in parallel.

11. The surgical robot according to claim 9, wherein the surgical robot adopts two surgical tool drive transmission systems connected in series or in parallel, and the two surgical tool drive transmission systems are arranged side by side on the bracket (15), and the two proximal base plates (4) are respectively fixedly connected to the bracket (15), or the proximal base plates (4) directly become a part of the bracket (15), one end of the structural bone guide tube bundle (2) is fixedly connected to the proximal base plate (4) of the proximal continuum (1), and the other end of the structural bone guide tube bundle (2) passes through the bracket (15) and is fixed at the distal base plate (9) and is bundled into a cluster, and the distal base plate (9) is fixedly connected to the bracket (15), or the distal base plate (9) directly becomes a part of the bracket (15).

Images