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

Abstract

The application relates to a rotary-linear driving surgical tool driving transmission system and a surgical robot, which comprises a flexible continuum structure and a driving transmission mechanism; the flexible continuum structure comprises a proximal continuum and a distal continuum which are connected with each other and a driving connection part which is connected with the proximal continuum; the driving transmission mechanism comprises a first rotatable part and a second rotatable part which are coaxially arranged and can rotate with each other; a rotary-linear motion mechanism which can rotate with the first rotatable part; a vertical guide part which is used for converting rotary motion into linear motion output; and a connecting part which is hingedly connected with an output end of the rotary-linear motion mechanism at one end and hingedly connected with the driving connection part at the other end. The application can avoid directly pushing and pulling the driving wire, can not be limited by the number of driving mechanisms, can meet the bending performance of the flexible continuum structure, and has the advantages of compact structure, simple principle, easy realization and high reliability.

Description

Technical Field

[0001] This invention relates to a drive transmission mechanism, specifically to a surgical tool drive transmission system based on rotary-linear drive and a surgical robot incorporating the surgical tool drive transmission system. Background Technology

[0002] Minimally invasive surgical techniques, which result in less trauma to patients and higher postoperative outcomes, have already occupied an important position in surgical procedures. These techniques utilize surgical instruments, including visual illumination modules and surgical arms, which are inserted into the body through incisions or natural cavities to reach the surgical site. Current surgical instruments primarily employ a series of hinged multi-link structures, driven by steel cable tension, allowing the instruments to bend at the hinge joints. Because the steel cable must be kept continuously tensioned via pulleys, this drive method makes it difficult to further miniaturize surgical instruments or improve their motion performance.

[0003] Compared to traditional rigid kinematic chains that achieve bending motion by rotating at joints, flexible continuum structures achieve bending deformation of the distal structure through deformation of the proximal structure. The main body of the structure can also serve as the transmission structure for drive, thus enabling extremely high degrees of freedom configuration within a small space. As a result, flexible continuum structures are widely used in the research and development of medical devices such as flexible manipulators, endoscopes, and controllable catheters, as well as new special equipment such as industrial deep cavity exploration endoscopes and flexible robotic arms.

[0004] Existing continuum structures generally achieve bending in any direction by directly pushing and pulling the drive wires in the continuum structure through a drive mechanism. However, with the increasing demands for higher precision, faster response, greater bending flexibility, and better stability in continuum structures, existing drive structures are gradually failing to meet these requirements. Furthermore, since existing drive methods all involve directly pushing and pulling the drive wires, the number of drive mechanisms also increases when there are many drive wires, making the structure more complex. Summary of the Invention

[0005] To address the aforementioned problems, one objective of this invention is to provide a surgical tool drive transmission system based on rotary-linear drive, which avoids direct pushing and pulling of the drive wires of a flexible continuum. When driving a large number of drive wires, it is not limited by the number of drive mechanisms. At the same time, it has a compact structure, simple principle, is easy to implement, and has high reliability and flexibility. Another objective of this invention is to provide a surgical robot incorporating this surgical tool drive transmission system.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a surgical tool drive transmission system based on rotary-linear drive, comprising a flexible continuum structure and a drive transmission mechanism; the flexible continuum structure includes a proximal continuum, a distal continuum, and a drive connecting part; the proximal continuum includes: a proximal base plate, a first proximal stop plate, and a second proximal stop plate, arranged at intervals; a first structural bone, the proximal ends of multiple first structural bones are fixedly connected to the second proximal stop plate, and the distal ends of multiple first structural bones pass through the first proximal stop plate and are fixedly connected to the proximal base plate; the distal connecting part... The continuation body includes: a distal base plate and a distal stop plate, which are arranged at intervals, with the distal base plate adjacent to the proximal base plate; a second structural bone, the proximal ends of multiple second structural bones being fixedly connected to the first proximal stop plate, and the distal ends of multiple second structural bones passing through the proximal base plate and the distal base plate and being fixedly connected to the distal stop plate; one end of the driving connection portion is movably connected to the second proximal stop plate, so that the driving connection portion and the second proximal stop plate can slide and / or rotate relative to each other axially, and the portion of the driving connection portion located on the proximal side of the second proximal stop plate forms a free end;

[0007] The drive transmission mechanism includes: a first rotatable member and a second rotatable member, which are coaxially arranged and can rotate relative to each other; a rotary-linear motion mechanism, which is configured to rotate with the first rotatable member; a vertical guide member, through which the rotary-linear motion mechanism converts rotational motion into linear motion output; and a connecting member, one end of which is hinged to the output end of the rotary-linear motion mechanism, and the other end of which is hinged to the free end of the drive connection portion.

[0008] Preferably, in the surgical tool drive transmission system, the second rotatable component is arranged overlapping above the first rotatable component; the first rotatable component is configured to rotate under the drive of the first drive component, and the second rotatable component is configured to rotate under the drive of the second drive component; the rotary-linear motion mechanism includes a rotary component and a moving component that can move linearly relative to the rotary component, one end of the rotary component is fixedly connected to the first rotatable component, and the moving component moves along the axial direction of the vertical guide under the guidance of the vertical guide.

[0009] Preferably, the drive transmission system for the surgical tool further includes a barrel-shaped component sleeved on the outside of the moving component, one end of which is fixedly connected to the second rotatable component; one end of the rotating component passes through the second rotatable component and is fixedly connected to the first rotatable component; the vertical guide is a guide rod, one end of which is fixedly connected to the second rotatable component and the other end of which is fixedly connected to the barrel-shaped component, and the moving component slides along the guide rod.

[0010] Preferably, the drive transmission system for the surgical tool further includes a barrel-shaped component sleeved on the outside of the moving component, one end of which is fixedly connected to the second rotatable component; one end of the rotating component passes through the second rotatable component and is fixedly connected to the first rotatable component; the vertical guide includes a guide and a guide groove that cooperate with each other, the guide being slidably disposed in the guide groove; the guide groove is fixedly disposed on the barrel-shaped component along the axial direction, and the guide is fixedly disposed on the moving component along the axial direction.

[0011] In the surgical tool drive transmission system, preferably, the first rotatable component is a first driven gear, and the second rotatable component is a second driven gear.

[0012] Preferably, the rotary-linear motion mechanism of the surgical tool drive transmission system includes a lead screw forming the rotary component, and a lead screw nut and a slider fixedly connected to the moving component, wherein the lead screw nut is rotatably connected to the lead screw.

[0013] Preferably, in the surgical tool drive transmission system, the connecting member is an arc-shaped connecting rod, and the slider includes an upper hinge portion and a lower cylindrical portion. The upper hinge portion is used to hinge with one end of the arc-shaped connecting rod, and the shape of the lower cylindrical portion is adapted to the lead screw nut and is fixedly sleeved on the lead screw nut.

[0014] Preferably, in the surgical tool drive transmission system, the drive connection part is a universal joint, the distal end of the universal joint is connected to the proximal base plate, and the proximal end of the universal joint passes through a guide hole provided on the second proximal stop plate and is connected to the cylindrical pair of the second proximal stop plate, so that the proximal end of the universal joint can slide and rotate axially relative to the second proximal stop plate; the portion of the universal joint located on the proximal side of the second proximal stop plate forms a free end, which is hinged to the connector, and the hinge axis is perpendicular to the axial direction of the universal joint;

[0015] Alternatively, the drive connection is a ball joint, the distal end of which is connected to the proximal base plate, and the proximal end of which passes through a guide hole provided on the second proximal stop plate and is connected to the cylindrical pair of the second proximal stop plate, so that the proximal end of the ball joint can slide and rotate axially relative to the second proximal stop plate; the portion of the ball joint located on the proximal side of the second proximal stop plate forms a free end, which is hinged to the connector, and the hinge axis is perpendicular to the axial direction of the ball joint;

[0016] Alternatively, the drive connection is a hinge joint formed by hinged connections of at least two links. The distal end of the hinge joint is connected to the proximal base plate, and the proximal end of the hinge joint passes through a guide hole provided on the second proximal stop plate and is connected to the cylindrical pair of the second proximal stop plate, so that the proximal end of the hinge joint can slide and rotate axially relative to the second proximal stop plate. The portion of the hinge joint located on the proximal side of the second proximal stop plate forms a free end, which is hinged to the connector, and the hinge axis is perpendicular to the axial direction of the hinge joint.

[0017] Preferably, in the surgical tool drive transmission system, the flexible continuum structure further includes a structural bone guide tube bundle connected between the proximal base plate and the distal base plate, wherein the distal ends of multiple second structural bones pass sequentially through the proximal base plate, the structural bone guide tube bundle and the distal base plate and are fixedly connected to the distal stop plate.

[0018] Preferably, the surgical tool drive transmission system further includes at least one first proximal retaining disc disposed between the first proximal stop disc and the second proximal stop disc and / or at least one second proximal retaining disc disposed between the proximal base disc and the first proximal stop disc, with each of the first structural bones passing through the first proximal retaining disc;

[0019] Meanwhile, the distal continuum also includes at least one distal retaining disc disposed between the distal base disc and the distal stop disc, with each of the second structural bones passing through the second proximal retaining disc and the distal retaining disc.

[0020] Preferably, in the surgical tool drive transmission system, the first and second structural bones are made of elastic rods or tubes made of hyperelastic material, and the structural bone guide bundle is made of steel tube bundle.

[0021] A surgical robot comprising at least one of the above-described surgical tool drive transmission systems.

[0022] Preferably, the surgical robot employs two or more surgical tool drive transmission systems connected in series or in parallel.

[0023] The present invention, by adopting the above technical solutions, has the following advantages: 1. The surgical tool drive transmission system provided by the present invention only needs to be connected to a drive transmission through a drive connection part. The drive transmission mechanism drives the drive connection part to move, drives the proximal stop plate of the proximal continuum to flip, realizes the push and pull of the structural bone, thereby driving the proximal continuum to bend, and finally drives the distal continuum to bend arbitrarily in space, avoiding direct push and pull 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, the structure is compact, the principle is simple, and it is easy to implement, thus having high reliability. 2. Compared with the traditional rigid kinematic chain that achieves bending motion by rotating at the joint, the flexible continuum structure achieves bending deformation of the distal structure through the deformation of its proximal structure. Its main body also becomes the drive transmission structure. Therefore, it can achieve extremely high degree of freedom 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 probe endoscopes and flexible robotic arms. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the proximal continuum in one embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the distal continuum in this embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the overall structure of the drive transmission mechanism in one embodiment of the present invention;

[0027] Figure 4 This is a cross-sectional view of the drive transmission mechanism in this embodiment of the present invention;

[0028] Figure 5 This is a partial structural diagram of the drive transmission mechanism in this embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of another partial structure of the drive transmission mechanism in this embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the slider structure in this embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of the present invention, in which the drive connection part is a universal joint;

[0032] Figure 9 This is a schematic diagram of the structure of the drive connection part of the present invention being a ball joint;

[0033] Figure 10 This is a schematic diagram of the structure of the drive connection part of the present invention being a hinge joint. Detailed Implementation

[0034] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are only for illustrating the essential spirit of the technical solution of the present invention.

[0035] In the description of this invention, it should be understood that the terms "proximal," "distal," "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and 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, and therefore should not be construed as a limitation on the scope of protection of this invention. In this invention, when referring to "distal side or distal end," the term refers to the side or end relatively away from the operator. When referring to "proximal side or proximal end," the term refers to the side or end relatively close to the operator.

[0036] 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 transmission mechanism.

[0037] The flexible continuum structure includes a proximal continuum 1, a distal continuum 3, and a drive connection portion 14. The proximal continuum 1 includes a proximal base plate 4, a first proximal stop plate 7, and a second proximal stop plate 8, arranged at intervals; a first structural bone 13, with the proximal ends of multiple first structural bones 13 fixedly connected to the second proximal stop plate 8, and the distal ends of multiple first structural bones 13 passing through the first proximal stop plate 7 and fixedly connected to the proximal base plate 4. The distal continuum 3 includes a distal base plate 9 and a distal stop plate 11, arranged at intervals, with the distal base plate 9 adjacent to the proximal base plate 4; a second structural bone 12, with the proximal ends of multiple second structural bones 12 fixedly connected to the first proximal stop plate 7, and the distal ends of multiple second structural bones 12 passing through the proximal base plate 4 and the distal base plate 9 and fixedly connected to the distal stop plate 11. One end of the drive connection 14 is movably connected to the second proximal stop 8 so that the drive connection 14 and the second proximal stop 8 can slide and / or rotate relative to each other axially, and the portion of the drive connection 14 located on the proximal side of the second proximal stop 8 forms a free end.

[0038] like Figures 3 to 6As shown, the drive transmission mechanism includes: a first rotatable member and a second rotatable member, which are coaxially arranged and can rotate relative to each other; a rotary-linear motion mechanism, which is configured to rotate with the first rotatable member; a vertical guide member, through which the rotary-linear motion mechanism converts the rotational motion into linear motion output; and a connecting member, one end of which is hinged to the output end of the rotary-linear motion mechanism, and the other end of which is hinged to the free end of the drive connection part 13.

[0039] In the above embodiments, preferably, the second rotatable member overlaps and is arranged above the first rotatable member; the first rotatable member is configured to rotate under the drive of the first driving member, and the second rotatable member is configured to rotate under the drive of the second driving member; the rotary-linear motion mechanism includes a rotary member and a moving member that can move linearly relative to the rotary member, one end of the rotary member is fixedly connected to the first rotatable member, and the moving member moves along the axis of the vertical guide member under the guidance of the vertical guide member. In the specific embodiment shown in the figure, the drive transmission mechanism may include: a first driving gear 141, a first driven gear 142, a second driving gear 143, a second driven gear 144, a lead screw 145, a guide rod 146, a lead screw nut 147, a slider 148, a barrel-shaped member 149, and an arc-shaped connecting rod 150. The first driving gear 141 meshes with the first driven gear 142, the second driving gear 143 meshes with the second driven gear 144, and the second driven gear 144 overlaps and is arranged above the first driving gear 141. One end of the lead screw 145 passes through the second driven gear 144 and is coaxially and fixedly connected to the first driven gear 142. The lead screw nut 147 is rotatably connected to the lead screw 145, and the slider 148 is fixedly connected to the lead screw nut 147. A barrel-shaped component 149 is sleeved on the outside of the slider 148, and the other end of the barrel-shaped component 149 is fixedly connected to the second driven gear 144. One end of the guide rod 146 is fixedly connected to the second driven gear 144, and the other end of the guide rod 146 is fixedly connected to the barrel-shaped component 149. The lead screw nut 147 slides through the guide rod 146. One end of the arc-shaped connecting rod 150 is hinged to the slider 148, and the other end of the arc-shaped connecting rod 150 is hinged to the free end of the drive connection part 14.

[0040] It should be noted that in this embodiment, the vertical guide is a guide rod 146. In another embodiment, the vertical guide may also include a cooperating guide and a guide groove. The guide groove is fixedly mounted on the barrel-shaped member 149 along the axial direction, and the guide is fixedly mounted on the moving member along the axial direction and slidably mounted in the guide groove. The guide can move along the axial direction of the guide groove, thus converting the rotational motion of the rotating member into linear motion output. It should be understood that the vertical guide can also be configured in other forms, as long as the lead screw nut 147 is configured to slide only axially and not rotate circumferentially.

[0041] Similarly, in this embodiment, the first driving member and the first driven member are respectively a first driving gear 141 and a first driven gear 142 meshing with each other, and the second driving member and the second driven member are respectively a second driving gear 143 and a second driven gear 144 meshing with each other. However, those skilled in the art will understand that the first driving member and the second driving member can also be directly a motor or electric motor, in which case the first driving gear 141 and the first driven gear 142 are directly driven to rotate.

[0042] Therefore, when the first driving gear 141 drives the first driven gear 142 to rotate while the second driven gear 144 remains stationary, the lead screw 145 fixed to the first driven gear 142 will rotate accordingly. Due to the limiting effect of the guide rod 146, the slider 148 and the lead screw nut 147 cannot rotate, thereby driving the lead screw nut 147 and the slider 148 to move up and down in the barrel-shaped part 149, and driving the drive connection part 14 to rotate through the arc-shaped connecting rod 150, thereby driving the second proximal stop plate 8 to move. Because the two ends of each first structural bone 13 are fixed to the proximal base plate 4 and the second proximal stop plate 8 respectively, they are forced to bend, and the proximal continuous body 1 bends. At the same time, the first proximal stop plate 7 is also rotated in coordination, thereby pushing and pulling each of the second structural bones 12 whose ends are fixed to the first proximal stop plate 7, thereby realizing the bending of the distal continuous body 3 in space along different directions, and the degree of bending of the proximal continuous body 1 can be adjusted by adjusting the rotation angle of the arc-shaped connecting rod 150.

[0043] When the second driving gear 143 drives the second driven gear 144 to rotate, and the first driving gear 141 drives the first driven gear 142 to rotate, and the second driven gear 144 and the first driven gear 142 rotate simultaneously in the same direction at the same speed, the upper and lower positions of the slider 148 in the barrel-shaped part 149 do not change, but the rotation plane azimuth angle of the arc-shaped connecting rod 150 changes. When the proximal continuous body 1 bends, the push and pull generated on each of the second structural bones 12 are transmitted to the distal continuous body 3 through the structural bone guide tube bundle 2, so as to realize the bending of the distal continuous body 3 in different directions in space. The degree of bending of the proximal continuous body 1 and the bending in different planes can be adjusted by driving the second driven gear 144 and the first driven gear 142. It should be noted that the bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding second structural bone 12 in both (in this embodiment, the second structural bone 12 in the proximal continuum 1 and the distal continuum 3 is distributed circumferentially, and it can be distributed on the circumference or on the circumference of a rectangle, and can be uniformly or non-uniformly distributed, which is not limited here). Therefore, in application, the distribution radius of the second structural bone 12 in both can be adjusted to meet the actual bending ratio requirements.

[0044] In the above embodiments, preferably, as follows: Figure 7As shown, the slider 148 includes an upper hinge portion and a lower cylindrical portion. The upper hinge portion is used to hinge with one end of the arc-shaped connecting rod 150. The shape of the lower cylindrical portion is adapted to the lead screw nut 147 and is fixedly sleeved on the lead screw nut 147.

[0045] It should be noted that in this embodiment, the rotary-linear motion mechanism in the drive transmission mechanism 200 is implemented using a lead screw and nut structure. However, it should be understood that other known structures in the art, such as a ball screw mechanism, can also be used. Furthermore, the transmission method can also be replaced by a belt pulley or sprocket drive instead of a gear drive.

[0046] In the above embodiments, preferably, as follows: Figure 8 As shown, the drive connection 14 can be a universal joint 131, which can be understood as including two revolute joints with two intersecting axes of rotation. The distal end of the universal joint 131 is connected to the proximal base plate 4, and the proximal end of the universal joint 131 passes through a guide hole provided on the second proximal stop plate 8 and is connected to the cylindrical joint of the second proximal stop plate 8, so that the proximal end of the universal joint 131 can slide and rotate axially relative to the second proximal stop plate 8. The portion of the universal joint 131 located on the proximal side of the second proximal stop plate 8 forms a free end, which is hinged to the arc-shaped connecting rod 150, and the hinge axis is perpendicular to the axial direction of the universal joint 131.

[0047] Or, such as Figure 9 As shown, the drive connection 14 can be a ball joint 132, which can be understood as including a revolute joint with three intersecting axes. The distal end of the ball joint 132 is connected to the proximal base plate 4, and the proximal end of the ball joint 132 passes through a guide hole provided on the second proximal stop plate 8 and is connected to the cylindrical joint of the second proximal stop plate 8, so that the proximal end of the ball joint 132 can slide and rotate axially relative to the second proximal stop plate 8. The portion of the ball joint 132 located on the proximal side of the second proximal stop plate 8 forms a free end, which is hinged to the arc-shaped connecting rod 150, and the hinge axis is perpendicular to the axial direction of the ball joint 132.

[0048] Or, as Figure 10 As shown, the drive connection 14 can be a hinge joint 133 formed by hinged connections of at least two links. The distal end of the hinge joint 133 is connected to the proximal base plate 4, and the proximal end of the hinge joint 133 passes through a guide hole provided on the second proximal stop plate 8 and is connected to the cylindrical joint of the second proximal stop plate 8, allowing the proximal end of the hinge joint 133 to slide and rotate axially relative to the second proximal stop plate 8. The portion of the hinge joint 133 located on the proximal side of the second proximal stop plate 8 forms a free end, which is hinged to the arc-shaped link 150, with the hinge axis perpendicular to the axial direction of the hinge joint 133.

[0049] In the above embodiments, preferably, as follows: Figure 1, Figure 2 As shown, the flexible continuum structure also includes a structural bone guiding bundle 2. The proximal end of the structural bone guiding bundle 2 is connected to the proximal base plate 4, and the distal end of the structural bone guiding bundle 2 is connected to the distal base plate 9. The distal ends of multiple second structural bones 12 sequentially pass through the proximal base plate 4, the structural bone guiding bundle 2, and the distal base plate 9, and are then fixedly connected to the distal stop plate 11. The function of the structural bone guiding bundle 2 is to guide and constrain the second structural bones 12 located between the proximal base plate 4 and the distal base plate 9.

[0050] In the above embodiments, preferably, the proximal continuum 1 further includes at least one first proximal retaining disc (not shown in the figure) disposed between the first proximal stop disc 7 and the second proximal stop disc 8 and / or at least one second proximal retaining disc (not shown in the figure) disposed between the proximal base disc 4 and the first proximal stop disc 7. Each first structural bone 13 passes through the first proximal retaining disc, which is used to radially support the first structural bone 13, thereby ensuring that each first structural bone 13 remains parallel during bending deformation and preventing the first structural bone 13 from becoming unstable during bending movement. Simultaneously, the distal continuum 3 further includes at least one distal retaining disc 10 disposed between the distal base disc 9 and the distal stop disc 11. Each second structural bone 12 passes through the second proximal retaining disc and the distal retaining disc 10, which are used to radially support the second structural bone 12, thereby ensuring that each second structural bone 12 remains parallel during bending deformation and preventing the second structural bone 12 from becoming unstable during bending movement.

[0051] In the above embodiments, preferably, the first structural bone 13 and the second structural bone 12 can be made of elastic rods or tubes made of superelastic materials, and can generally be made of high-strength, high-toughness, and elastic metal materials such as nickel-titanium alloys; the structural bone guide tube bundle 2 can be made of steel tube bundle.

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

[0053] In the above embodiments, preferably, the surgical robot uses two of the above-mentioned surgical tool drive transmission systems connected in series or in parallel, thereby increasing the flexibility of the arm.

[0054] In the description of this invention, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the aforementioned components. Unless otherwise stated, the aforementioned terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; 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; and these 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.

Claims

1. A surgical tool drive transmission system based on rotary-linear drive, characterized by, The flexible continuum structure and a driving transmission mechanism are included; The flexible continuum structure includes a proximal continuum (1), a distal continuum (3) and a driving connection part (14); the proximal continuum (1) includes: A proximal base disc (4), a first proximal stop disc (7) and a second proximal stop disc (8) are arranged at intervals; A first structural bone (13), the proximal ends of a plurality of the first structural bones (13) are fixedly connected with the second proximal stop disc (8), and the distal ends of the plurality of the first structural bones (13) pass through the first proximal stop disc (7) and are fixedly connected with the proximal base disc (4); The distal continuum (3) includes: A distal base disc (9) and a distal stop disc (11) are arranged at intervals, and the distal base disc (9) is adjacent to the proximal base disc (4); A second structural bone (12), the proximal ends of a plurality of the second structural bones (12) are fixedly connected with the first proximal stop disc (7), and the distal ends of the plurality of the second structural bones (12) pass through the proximal base disc (4) and the distal base disc (9) and are fixedly connected with the distal stop disc (11); The distal end of the driving connection part (14) is connected with the proximal base disc (4), the proximal end of the driving connection part (14) is movably connected with the second proximal stop disc (8), so that the driving connection part (14) and the second proximal stop disc (8) can relatively axially slide and / or rotate, and the part of the driving connection part (14) located in the proximal side segment of the second proximal stop disc (8) forms a free end; the driving connection part (14) further includes at least one rotation pair on the driving connection part body; The driving transmission mechanism includes: A first rotatable member and a second rotatable member are coaxially arranged and can rotate relative to each other; A rotary-linear motion mechanism is arranged to rotate with the first rotatable member; A vertical guide, the rotary-linear motion mechanism converts rotary motion into linear motion output through the vertical guide; A connecting member, one end of the connecting member is hinged to the output end of the rotary-linear motion mechanism, and the other end of the connecting member is hinged to the free end of the driving connection part (14).

2. A surgical tool drive transmission system as claimed in claim 1, characterised in that, The second rotatable member is arranged above the first rotatable member in an overlapping manner; The first rotatable member is arranged to be driven to rotate by a first driving member, and the second rotatable member is arranged to be driven to rotate by a second driving member; The rotary-linear motion mechanism includes a rotary member and a motion member linearly movable relative to the rotary member, one end of the rotary member is fixedly connected with the first rotatable member, and the motion member moves along the axial direction of the vertical guide under the guidance of the vertical guide.

3. A surgical tool drive transmission system according to claim 2, wherein, The driving transmission mechanism further includes a barrel-shaped member (149) sleeved outside the motion member, one end of the barrel-shaped member (149) is fixedly connected with the second rotatable member; One end of the rotary member passes through the second rotatable member and is fixedly connected with the first rotatable member; The vertical guide is a guide rod (146), one end of the guide rod (146) is fixedly connected with the second rotatable member, the other end is fixedly connected with the barrel-shaped member (149), and the moving member slides through the guide rod (146).

4. The surgical tool drive transmission system according to claim 2, wherein, The driving transmission mechanism further comprises a barrel-shaped member (149) sleeved outside the moving member, one end of the barrel-shaped member (149) is fixedly connected with the second rotatable member; One end of the rotating member penetrates through the second rotatable member and is fixedly connected with the first rotatable member; The vertical guide comprises a guide and a guide slot matched with each other, the guide is slidably arranged in the guide slot, the guide slot is fixedly arranged on the barrel-shaped member (149) in the axial direction, and the guide is fixedly arranged on the moving member in the axial direction.

5. The surgical tool drive transmission system according to claim 2, wherein, The first rotatable member is a first driven gear (142), and the second rotatable member is a second driven gear (144).

6. The surgical tool drive transmission system according to claim 2, wherein, The rotating-linear motion mechanism comprises a lead screw (145) forming the rotating member and a fixedly connected lead screw nut (147) and a slider (148) forming the moving member, the lead screw nut (147) is rotationally connected on the lead screw (145).

7. A surgical tool drive transmission system according to claim 6, wherein, The connecting member is an arc-shaped connecting rod (150), the slider (148) comprises an upper layer hinged part and a lower layer cylindrical part, the upper layer hinged part is used for being hinged with one end of the arc-shaped connecting rod (150), and the lower layer cylindrical part is matched with the shape of the lead screw nut (147) and is fixedly sleeved on the lead screw nut (147).

8. A surgical tool drive transmission system according to any one of claims 1 to 7, characterised in that, The driving connection part (14) is a universal joint (131), the distal end of the universal joint (131) is connected with the proximal base disc (4), the proximal end of the universal joint (131) penetrates through a guide hole arranged on the second proximal end stop disc (8) and is connected with the second proximal end stop disc (8) in a cylindrical pair, so that the proximal end of the universal joint (131) can axially slide and rotate relative to the second proximal end stop disc (8); the part of the universal joint (131) located on the proximal end side of the second proximal end stop disc (8) forms a free end, the free end is hinged with the connecting member, and the hinging axis is perpendicular to the axial direction of the universal joint (131); Alternatively, the driving connection part (14) is a spherical hinge joint (132), the distal end of the spherical hinge joint (132) is connected with the proximal base disc (4), the proximal end of the spherical hinge joint (132) penetrates through a guide hole arranged on the second proximal end stop disc (8) and is connected with the second proximal end stop disc (8) in a cylindrical pair, so that the proximal end of the spherical hinge joint (132) can axially slide and rotate relative to the second proximal end stop disc (8); the part of the spherical hinge joint (132) located on the proximal end side of the second proximal end stop disc (8) forms a free end, the free end is hinged with the connecting member, and the hinging axis is perpendicular to the axial direction of the spherical hinge joint (132); Alternatively, the driving connection part (14) is a hinge joint (133) formed by at least two links hingedly connected to each other, the distal end of the hinge joint (133) is connected with the proximal base disc (4), the proximal end of the hinge joint (133) passes through a guide hole provided on the second proximal stop disc (8) and is connected with the second proximal stop disc (8) in a cylindrical pair, so that the proximal end of the hinge joint (133) can axially slide and rotate relative to the second proximal stop disc (8); the part of the hinge joint (133) located on the proximal side of the second proximal stop disc (8) forms a free end, the free end is hingedly connected with the connecting piece, and the hinge axis is perpendicular to the axial direction of the hinge joint (133).

9. A surgical tool drive transmission system according to any one of claims 1 to 7, wherein, The flexible continuum structure further comprises a structural bone guide tube bundle (2) connected between the proximal base disc (4) and the distal base disc (9), the distal ends of a plurality of the second structural bones (12) sequentially pass through the proximal base disc (4), the structural bone guide tube bundle (2) and the distal base disc (9) and are fixedly connected with the distal stop disc (11).

10. A surgical tool drive transmission system according to claim 9, wherein, The proximal continuum (1) further comprises at least one first proximal retaining disc provided between the first proximal stop disc (7) and the second proximal stop disc (8) and / or at least one second proximal retaining disc provided between the proximal base disc (4) and the first proximal stop disc (7), each of the first structural bones (13) passes through the first proximal retaining disc. Meanwhile, the distal continuum (3) further comprises at least one distal retaining disc (10) provided between the distal base disc (9) and the distal stop disc (11), each of the second structural bones (12) passes through the second proximal retaining disc and the distal retaining disc (10).

11. The surgical tool drive transmission system according to claim 9, wherein, The first structural bones (13) and the second structural bones (12) are elastic rods or tubes made of super-elastic material, and the structural bone guide tube bundle (2) is a steel tube bundle.

12. A surgical robot, characterized in that, The surgical robot comprises at least one surgical tool driving transmission system as claimed in any one of claims 1 to 11.

13. The surgical robot of claim 12, wherein, The surgical robot comprises two or more surgical tool driving transmission systems connected in series or in parallel. The surgical robot comprises at least one surgical tool driving transmission system as claimed in any one of claims 1 to 11.

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