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, has a compact structure, a simple principle, is easy to realize and has 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 comprises: a proximal continuum, including a proximal base plate, a proximal stop plate, and structural bone; a distal continuum, including a distal base plate, a distal stop plate, and the structural bone; a drive connecting 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 which is 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 the multiple structural bones sequentially pass through the proximal base plate and the distal base plate and are fixedly connected to the distal stop plate;

[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 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 structural bones pass sequentially through the proximal base plate, the structural bone guide tube bundle and the distal base plate and are then fixedly connected to the distal stop plate.

[0015] Preferably, in the surgical tool drive transmission system, the proximal continuum further includes at least one proximal retaining disc disposed between the proximal base disc and the proximal stop disc, with each of the structural bones passing through the proximal retaining disc in sequence;

[0016] Meanwhile, the distal continuum also includes at least one distal retaining disc disposed between the distal base disc and the distal stop disc, and each of the structural bones passes through the distal retaining disc in sequence.

[0017] Preferably, in the surgical tool drive transmission system, the structural bone is made of an elastic rod or tube made of a superelastic material, and the structural bone guide tube bundle is made of a steel tube bundle.

[0018] Preferably, in the surgical tool drive transmission system, the drive connection part is a universal joint, one end of the universal joint is connected to the proximal base plate, the other end of the universal joint passes through the proximal stop plate and is connected to the proximal stop plate, and the portion of the universal joint located on the proximal side of the proximal stop plate forms a free end;

[0019] Alternatively, the drive connection may employ a ball joint, with one end of the ball joint connected to the proximal base plate, the other end of the ball joint passing through and connected to the proximal stop plate, and the portion of the ball joint located proximal to the proximal end of the proximal stop plate forming a free end;

[0020] Alternatively, the drive connection may employ a hinge joint, with one end of the hinge joint connected to the proximal base plate, the other end of the hinge joint passing through and connected to the proximal stop plate, and the portion of the hinge joint located proximal to the proximal end of the proximal stop plate forming a free end.

[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] Preferably, in the surgical robot, two or more drive transmission mechanisms are arranged side by side on the support, and the proximal base plates of two or more flexible continuum structures are respectively fixedly connected to the support. One end of the structural bone guide tube bundle is fixedly connected to the proximal base plate of the proximal continuum, and the other end of the structural bone guide tube bundle passes through the support and the guide tube bundle retaining plate in sequence and is fixedly connected to the distal stop plate.

[0024] Preferably, in the surgical robot described above, the distal continuums in two or more of the flexible continuum structures have the same or different lengths.

[0025] 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

[0026] Figure 1 This is a schematic diagram of the structure of a surgical tool drive transmission system in one embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the flexible continuum structure in this embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the distal continuum in this embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the overall structure of the drive transmission mechanism in one embodiment of the present invention;

[0030] Figure 5 This is a cross-sectional view of the drive transmission mechanism in this embodiment of the present invention;

[0031] Figure 6 This is a partial structural diagram of the drive transmission mechanism in this embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of another partial structure of the drive transmission mechanism in this embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the slider structure in this embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure in Embodiment 1 of the present invention, where the drive connection part is a universal joint;

[0035] Figure 10This is a schematic diagram of the structure of the drive connection part being a ball joint in Embodiment 2 of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure in Embodiment 3 of the present invention where the driving connection part is a hinge joint;

[0037] Figure 12 This is a schematic diagram of the structure of a surgical robot in one embodiment of the present invention. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] like Figures 1 to 3 As shown, the surgical tool drive transmission system provided in this embodiment includes a flexible continuum structure 100 and a drive transmission mechanism 200.

[0041] The flexible continuum structure 100 includes: 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 driving connection portion 13, the distal end of which is connected to the proximal base plate 4, the proximal end of which passes through and is connected to the proximal stop plate 7, and the portion of the driving connection portion 13 located on the proximal side of the proximal stop plate 7 forming 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.

[0042] like Figures 4 to 7As shown, the drive transmission mechanism 200 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.

[0043] 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 200 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 13.

[0044] 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.

[0045] 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.

[0046] Therefore, when the first driving gear 141 drives the first driven gear 142 to rotate while the upper 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 arc-shaped connecting rod 150 to rotate. The arc-shaped connecting rod 150 drives the free end of the drive connection part 13 to move. Because the proximal stop plate 7 can slide and rotate along the drive connection part 13, the proximal base plate 4 and the proximal stop plate 7 are misaligned, and their axes no longer coincide. The proximal stop plate 7 then rotates in tandem, thereby pushing and pulling each structural bone 12 fixed to the proximal stop plate 7. In this way, each structural bone 12 evenly distributed and fixed to the proximal stop plate 7 is stretched on one side, increasing the length of the corresponding structural bone 12 in the proximal continuum 1, and compressed on the other side, decreasing the length of the corresponding structural bone 12 in the proximal continuum 1. However, since the total length of each structural bone 12 remains unchanged, the length of each structural bone 12 in the distal continuum 3 changes accordingly, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1. The degree of bending of the proximal continuum 1 can be adjusted by adjusting the rotation angle of the arc-shaped connecting rod 150. 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 the structural bone 12 is 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 structural bone 12 in each of them (in this embodiment, the structural bone 12 in the proximal continuum 1 and the distal continuum 3 is distributed circumferentially, which can be distributed on the circumference, or on the circumference of a rectangle or other closed shape, and can be distributed uniformly or non-uniformly, which is not limited here). Therefore, in application, the distribution radius of the structural bone 12 in each of them can be adjusted to meet the actual bending ratio requirements.

[0047] In the above embodiments, preferably, as follows: Figure 8 As 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.

[0048] 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 achieved by using a belt pulley or sprocket drive instead of a gear drive.

[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 structural bones 12 pass sequentially 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 structural bones 12 located between the proximal base plate 4 and the distal base plate 9.

[0050] In the above embodiments, preferably, as follows: Figure 2 , Figure 3 As shown, the proximal continuum 1 also includes at least one proximal retaining disc 5 disposed between the proximal base disc 4 and the proximal stop disc 7, with each structural bone 12 passing through the proximal retaining disc 5 in sequence; meanwhile, the distal continuum 3 also includes at least one distal retaining disc 10 disposed between the distal base disc 9 and the distal stop disc 11, with each structural bone 12 also passing through the distal retaining disc 10 in sequence. The proximal retaining disc 5 and the distal retaining disc 10 are used to radially support the structural bone 12, thereby ensuring that each structural bone 12 remains parallel during bending deformation and preventing the structural bone 12 from becoming unstable during bending motion.

[0051] In the above embodiments, preferably, the 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 bundles.

[0052] In the above embodiments, preferably, the drive connection 13 can be one of a universal joint, a ball joint, or a hinge joint. In this case, there are four kinematic connection nodes between the drive connection 13, the proximal continuum 1, and the drive transmission mechanism 200, as follows: the first connection node refers to the connection between the proximal base plate 4 and the drive connection 13; the second connection node refers to the structure of the drive connection 13 itself; the third connection node refers to the connection between the drive connection 13 and the proximal stop plate 7; and the fourth connection node refers to the connection between the free end of the drive connection 13 and the drive transmission mechanism 200. The above four connection nodes can be combined using several of the following five connection methods: cylindrical joint (can rotate and move), prismatic joint (can only move), revolute joint (can only rotate), fixed connection, and the structure of the drive connection itself (universal joint, ball joint, or connecting rod), so that the four connection nodes meet the minimum degrees of freedom required to drive the proximal continuum 1. Three embodiments are described below.

[0053] Example 1

[0054] In this embodiment, as Figure 9 As shown, the drive connection part 13 adopts a universal joint 131, which can be understood as including two revolute joints with two intersecting rotation axes. The four connection nodes can be combined as follows: the first connection node uses a revolute joint, the second connection node uses the universal joint 131, the third connection node uses a cylindrical joint, and the fourth connection node uses a revolute joint. Specifically, the first connection node refers to one end of the universal joint 131 being rotatably connected to the proximal base plate 4, while the other end of the universal joint 131 is a free end. The second connection node refers to the structure of the universal joint 131 itself. The fourth connection node refers to the free end of the universal joint 131 being connected to the arc-shaped connecting rod 150 in the drive transmission mechanism 200 using a revolute joint. The third connection node refers to the outer circular surface of the free end of the universal joint 131 being fitted with the proximal stop plate 7 using a cylindrical joint, thus allowing the proximal stop plate 7 to slide and rotate relative to the outer circular surface of the free end. At this time, the free end of the universal joint 131 is driven by the arc-shaped connecting rod 150 of the drive transmission mechanism 200, which in turn drives the proximal stop plate 7 to rotate in tandem, thereby achieving the bending of the proximal continuous body 1. This, in turn, pushes and pulls the structural bones 12 fixed to the proximal stop plate 7, thereby driving the distal continuous body 3 to bend in the opposite direction to the proximal continuous body 1. Thus, through the cooperation of the above four connecting 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 relative to the arc-shaped connecting rod 150. This satisfies the parasitic motion (sliding up and down) along the axial direction and the bending motion (rotation) in any direction generated by the proximal continuous body 1 during the bending process. The parasitic motion can prevent the distal continuous body 3 from generating axial stretching motion during the bending process, which would cause the cover (not shown in the figure) covering the periphery of the distal continuous body 3 to wrinkle or be overstretch, affecting the service life of the cover.

[0055] Alternatively, the four connecting nodes can be combined as follows: the first connecting node uses a revolute joint, the second connecting node uses a universal joint 131, the third connecting node uses a revolute joint, and the fourth connecting node uses a revolute joint. In this case, the free end of the universal joint 131 can rotate freely under the drive of the arc-shaped connecting rod 150, thereby causing the proximal stop plate 7 to rotate and achieve the purpose of bending the distal continuous body 3. Alternatively, the four connecting nodes can be combined as follows: the first connecting node uses a cylindrical joint, the second connecting node uses a universal joint 131, the third connecting node uses a prismatic joint, and the fourth connecting node uses a revolute joint, which can also achieve the purpose.

[0056] In summary, in addition to the above combinations, the four connection nodes can also be combined in other ways using several of the above connection methods. Under the premise of achieving the same function, the more degrees of freedom, the better the compliance and flexibility.

[0057] Example 2

[0058] In this embodiment, as Figure 10 As shown, the drive connection 13 adopts a ball joint 132, which can be understood as including three revolute joints with intersecting axes. The four connection nodes can be combined as follows: the first connection node is a fixed connection, the second connection node is a ball joint 132, the third connection node is a cylindrical joint connection, and the fourth connection node is a revolute joint connection. Specifically, the first connection node refers to the base of the ball joint 132 being fixedly fixed to the proximal base plate 4, with the other end of the ball joint 132 being a free end; the second connection node refers to the structure of the ball joint 132 itself; the fourth connection node refers to the free end of the ball joint 132 being connected to the arc-shaped connecting rod 150 in the drive transmission mechanism 200 via a revolute joint; and the third connection node refers to the outer circular surface of the free end of the ball joint 132 being engaged with the proximal stop plate 7 via a cylindrical joint, thus allowing the proximal stop plate 7 to slide and rotate relative to the outer circular surface of the free end. At this time, the free end of the ball joint 132 is driven by the arc-shaped connecting rod 150 of the drive transmission mechanism 200, which will cause the proximal stop plate 7 to rotate in coordination, thereby achieving the bending of the proximal continuum 1. This will push and pull each structural bone 12 fixed on the proximal stop plate 7, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1.

[0059] Alternatively, the four connecting nodes can be combined as follows: the first connecting node uses a revolute joint, the second connecting node uses a ball joint 132, the third connecting node uses a prismatic joint, and the fourth connecting node uses a fixed connection. In this case, the free end of the ball joint 132 can rotate freely under the drive of the arc-shaped connecting rod 150, thereby causing the proximal stop plate 7 to rotate and achieve the purpose of bending the distal continuum 3. Alternatively, the four connecting nodes can also be combined as follows: the first connecting node uses a revolute joint, the second connecting node uses a ball joint 132, the third connecting node uses a revolute connection, and the fourth connecting node uses a revolute joint, which can also achieve the same purpose.

[0060] In summary, in addition to the above combinations, the four connection nodes can also be combined in other ways using several of the five connection methods mentioned above. Under the premise of achieving the same function, the more degrees of freedom there are, the better the compliance and flexibility will be.

[0061] Example 3

[0062] In this embodiment, as Figure 11 As shown, the drive connection part 13 adopts a hinge joint 133 mainly composed of the first link 1331 and the second link 1332. At this time, the four connection nodes can be combined as follows: the first connection node adopts a rotary joint, the second connection node adopts a rotary joint, the third connection node adopts a cylindrical joint, and the fourth connection node adopts a rotary joint. The first connection node refers to the fact that one end of the first link 1331 can rotate around its own long axis in the proximal base plate 4. The second connection node refers to the fact that the other end of the first link 1331 is hinged to the second link 1332. At this time, the structure of the drive connection part itself is the first link 1331 and the second link 1332, with the other end of the second link 1332 serving as a free end. The third connection node refers to the fact that the outer circular surface of the free end of the second link 1332 is engaged with the proximal stop plate 7 by a cylindrical pair. This proximal stop plate 7 can slide and rotate relative to the free end of the second link 1332. The fourth connection node refers to the fact that the free end of the second link 1332 is hinged to the arc-shaped link 150 in the drive transmission mechanism 200. At this time, the free end of the second link 1332 is driven by the arc-shaped link 150 of the drive transmission mechanism 200, which will cause the proximal stop plate 7 to rotate in coordination, thereby achieving the bending of the proximal continuum 1. This pushes and pulls the structural bone 12, which is transmitted to the distal continuum 3 through the structural bone guide tube bundle 2, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1.

[0063] Alternatively, the four connecting nodes can be combined as follows: the first connecting node is a cylindrical joint, the second connecting node is a revolute joint, the third connecting node is a revolute joint, and the fourth connecting node is a revolute joint. In this case, the free end of the connecting part 13 can be driven to rotate freely under the drive of the arc-shaped connecting rod 150, thereby causing the proximal stop plate 7 to rotate and achieve the purpose of bending the distal continuous body 3. Alternatively, the four connecting nodes can be combined as follows: the first connecting node is a cylindrical joint, the second connecting node is a revolute joint, the third connecting node is a cylindrical joint, and the fourth connecting node is a fixed connection, which can also achieve the purpose.

[0064] In summary, in addition to the above combinations, the four connection nodes can also be combined in other ways using several of the five connection methods mentioned above. Under the premise of achieving the same function, the more degrees of freedom there are, the better the compliance and flexibility will be.

[0065] It should be noted that the above embodiments are not intended to limit the implementation of the present invention. The essence of the present invention is to drive the proximal stop 7 in the flexible continuum structure 100 to rotate through the drive transmission mechanism 200, thereby causing the proximal continuum 1 to bend, and ultimately driving the distal continuum 3 to bend arbitrarily in space.

[0066] 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.

[0067] In the above embodiments, preferably, the surgical robot employs two of the aforementioned surgical tool drive transmission systems connected in series or parallel, thereby increasing the flexibility of the arm. In this embodiment, as... Figure 12 As shown, taking the parallel connection of two surgical tool drive transmission systems as an example, the two drive transmission mechanisms 200 are arranged side by side on the support 15. The two proximal base plates 4 are fixedly connected to the support 15 respectively. One end of the structural bone guide tube bundle 2 is fixedly connected to the proximal base plate 4 of the proximal continuum 1. The other end of the structural bone guide tube bundle 2 passes through the support 15 and the guide tube bundle holding plate 21 in sequence and is fixed at the distal stop plate 9 and bound into a ring shape (in this embodiment, the structural bone guide tube bundle 2 is bound into a ring shape at the proximal and distal ends, but it can also be other shapes, which are not limited here). Thus, the two drive connection parts 13 are driven to move by the drive transmission mechanisms 200 on both sides, which in turn drive the proximal continuum 1 on both sides to move, realizing the bending of the distal continuum 3, thereby increasing the degree of freedom of the distal continuum 3 and thus increasing the flexibility of the surgical robot.

[0068] In the above embodiments, preferably, the lengths of the distal continuums 3 in the two flexible continuum structures 100 can be the same or different.

[0069] In the description of this invention, it should be understood that the use of terms such as "first," "second," and "third" to define components is merely for the purpose of distinguishing the aforementioned components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0070] 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 (100) and a driving transmission mechanism (200) are included. The flexible continuum structure (100) includes: a proximal continuum (1) including a proximal base disc (4), a proximal stop disc (7) and a structural bone (12); a distal continuum (3) including a distal base disc (9), a distal stop disc (11) and the structural bone (12); a driving connection part (13), a distal end of the driving connection part (13) is connected with the proximal base disc (4) to form a first connection node, a proximal end of the driving connection part (13) passes through the proximal stop disc (7) and is connected with the proximal stop disc (7) to form a third connection node, and a part of the driving connection part (13) on a proximal side of the proximal stop disc (7) forms a free end; the driving connection part (13) further includes a second connection node on a driving connection part body; proximal ends of a plurality of the structural bones (12) are fixedly connected with the proximal stop disc (7), and distal ends of the plurality of the structural bones (12) pass through the proximal base disc (4) and the distal base disc (9) in sequence and are fixedly connected with the distal stop disc (11); the driving transmission mechanism (200) is located on a proximal side of the proximal stop disc (7); the driving transmission mechanism (200) includes: a first rotatable member and a second rotatable member, which are coaxially arranged and rotatable relative to each other; a rotary-linear motion mechanism arranged to rotate with the first rotatable member; a vertical guide through which the rotary-linear motion mechanism converts rotary motion into linear motion output; a connecting member, one end of the connecting member is hinged to an 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 (13) to form a fourth connection node; the first connection node, the second connection node, the third connection node and the fourth connection node adopt any combination of cylindrical pair, moving pair, rotary pair and fixed connection.

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 rotatable under the drive of a first driving member, and the second rotatable member is arranged to be rotatable under the drive of a second driving member; the rotary-linear motion mechanism includes a rotary member and a moving member linearly movable relative to the rotary member, one end of the rotary member is fixedly connected with the first rotatable member, and the moving member moves along an 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 (200) further includes 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 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 is slidably arranged on the guide rod (146).

4. The surgical tool drive transmission system according to claim 2, wherein, The driving transmission mechanism (200) further comprises a barrel-shaped member (149) sleeved outside the moving member, one end of the barrel-shaped member (149) being 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 being slidably arranged in the guide slot; the guide slot is fixedly arranged on the barrel-shaped member (149) along the axial direction, and the guide is fixedly arranged on the moving member along 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) being rotationally connected with 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 being used for being hinged with one end of the arc-shaped connecting rod (150), and the lower layer cylindrical part being shaped to be matched with the lead screw nut (147) and 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 flexible continuum structure (100) further comprises a structure bone guide tube bundle (2) connected between the proximal end base disc (4) and the distal end base disc (9), and the distal ends of the plurality of structure bones (12) sequentially penetrate through the proximal end base disc (4), the structure bone guide tube bundle (2) and the distal end base disc (9) and are fixedly connected with the distal end stop disc (11).

9. A surgical tool drive transmission system according to claim 8, wherein, The proximal end continuum (1) further comprises at least one proximal end retaining disc (5) arranged between the proximal end base disc (4) and the proximal end stop disc (7), and each structure bone (12) sequentially penetrates through the proximal end retaining disc (5). Meanwhile, the distal end continuum (3) further comprises at least one distal end retaining disc (10) arranged between the distal end base disc (9) and the distal end stop disc (11), and each structure bone (12) also sequentially penetrates through the distal end retaining disc (10).

10. The surgical tool drive transmission system according to claim 8, wherein, The structure bone (12) is an elastic rod or a thin tube made of super-elastic material, and the structure bone guide tube bundle (2) is a steel tube bundle.

11. A surgical tool drive transmission system according to any one of claims 1 to 7, 9, 10, wherein, The driving connection part (13) adopts a universal joint (131), one end of the universal joint (131) being connected with the proximal end base disc (4), the other end of the universal joint (131) penetrating through the proximal end stop disc (7) and being connected with the proximal end stop disc (7), and the part of the universal joint (131) located at the proximal end side of the proximal end stop disc (7) forms a free end; Alternatively, the driving connection part (13) adopts a spherical hinge joint (132), one end of the spherical hinge joint (132) being connected with the proximal end base disc (4), the other end of the spherical hinge joint (132) penetrating through the proximal end stop disc (7) and being connected with the proximal end stop disc (7), and the part of the spherical hinge joint (132) located at the proximal end side of the proximal end stop disc (7) forms a free end; Alternatively, the driving connection part (13) adopts a hinge joint (133), one end of the hinge joint (133) is connected with the proximal base disc (4), the other end of the hinge joint (133) passes through the proximal stop disc (7) and is connected with the proximal stop disc (7), and the part of the hinge joint (133) located at the proximal end of the proximal stop disc (7) forms a free end.

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.

14. The surgical robot of claim 13, wherein, Two or more driving transmission mechanisms (200) are arranged side by side on a support (15), the proximal base discs (4) of the two or more flexible continuum structures (100) are respectively fixedly connected with the support (15), one end of the structural skeleton guide tube bundle (2) is fixedly connected with the proximal base disc (4) of the proximal continuum (1), and the other end of the structural skeleton guide tube bundle (2) sequentially passes through the support (15) and the guide tube bundle retaining disc (21) and is fixedly connected with the distal stop disc (11).

15. The surgical robot of claim 14, wherein, The lengths of the distal continua (3) in the two or more flexible continuum structures (100) are the same or different.

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