A surgical tool drive transmission system and a surgical robot incorporating the same

Abstract

The present application relates to a kind of surgical tool drive transmission system and the surgical robot comprising the system, the system includes flexible continuum structure: proximal continuum, including proximal base disc, first proximal stop disc and second proximal stop disc, three are arranged at intervals;First structural skeleton, the proximal end of first structural skeleton is fixedly connected with second proximal stop disc, the distal end of first structural skeleton passes through first proximal stop disc and is fixedly connected with proximal base disc;Remote continuum, including remote base disc and remote stop disc, two are arranged at intervals;Second structural skeleton, the proximal end of second structural skeleton is fixedly connected with first proximal stop disc, the distal end of second structural skeleton passes through proximal base disc, remote base disc and is fixedly connected with remote stop disc;Drive mechanism: first rotatable member and second rotatable member and sliding member are coaxially arranged and can rotate relative to each other.The system structure is compact, principle is simple, easy to realize, has very high reliability.On the other hand provides a kind of surgical robot, including at least one the system.

Description

Technical Field

[0001] This invention relates to a surgical tool drive transmission system and a surgical robot incorporating the system. Background Technology

[0002] Minimally invasive surgery, which causes less trauma to patients and yields higher postoperative outcomes, has already occupied an important position in surgical procedures. It utilizes 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. The distal structure of existing surgical instruments mainly consists of multiple linked, series-connected components 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 driving method makes it difficult to further miniaturize surgical instruments or improve their motion performance.

[0003] Existing continuum structures generally achieve bending in any direction by directly pushing and pulling the drive wires within 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 transmission structures are gradually failing to meet the requirements of current drive methods. Furthermore, existing drive methods all involve directly pushing and pulling the drive wires for motion. Therefore, when the number of drive wires is large, the number of drive mechanisms will also increase accordingly, making the structure complex. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a surgical tool drive transmission system and a surgical robot incorporating the system. This system can drive the movement of a continuum structure in a plane, thereby enabling the distal end of the continuum structure to turn in any direction, while avoiding direct pushing and pulling of the drive wires. When driving a large number of drive wires, it is not limited by the number of drive mechanisms. Furthermore, it has a compact structure, a simple principle, and is easy to implement, thus possessing high reliability and flexibility.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first aspect of the present invention provides a surgical tool drive transmission system, comprising a flexible continuum structure and a drive mechanism;

[0007] The flexible continuum structure includes:

[0008] The proximal continuum includes a proximal base plate, a first proximal stop plate, and a second proximal stop plate, which are arranged at intervals.

[0009] The first structural bone, the proximal ends of multiple first structural bones are fixedly connected to the second proximal stop disc, and the distal ends of multiple first structural bones pass through the first proximal stop disc and are fixedly connected to the proximal base disc.

[0010] The distal continuum includes a distal base plate and a distal stop plate, which are arranged at intervals, and the distal base plate is adjacent to the proximal base plate.

[0011] The second structural bone has multiple proximal ends that are fixedly connected to the first proximal stop disc, and multiple distal ends that pass through the proximal base disc and the distal base disc and are fixedly connected to the distal stop disc.

[0012] The drive mechanism includes: a first rotatable member and a second rotatable member that are coaxially arranged and rotatable relative to each other, and a sliding member;

[0013] The second rotatable member is provided with a sliding guide portion for guiding the slider to slide linearly relative to the second rotatable member. The slider is configured to move linearly with the rotation of the first rotatable member. The distal end of the slider is movably connected to the second proximal stop plate so that the slider and the second proximal stop plate can slide and / or rotate relative to each other axially.

[0014] In the surgical tool drive transmission system, preferably, the second rotatable component is arranged overlapping the distal side of the first rotatable component;

[0015] 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.

[0016] The sliding member includes a sliding portion and an engaging portion connected to each other. The sliding portion is slidably configured to be guided by the sliding guide portion to slide linearly relative to the second rotatable member and is movably connected to the second proximal stop plate. The engaging portion is configured to engage with the first rotatable member.

[0017] In the surgical tool drive transmission system, preferably, the first rotatable component includes a pinion and a rotating disk that are coaxially and fixedly connected to each other, the pinion is located on the far side of the rotating disk, and the meshing part is a rack that meshes with the pinion.

[0018] Preferably, in the surgical tool drive transmission system, the sliding part is a slider, the rack is disposed at the proximal end of the slider, the sliding guide part is a groove on the second rotatable member, and the proximal side of the slider passes through the groove and is fixedly connected to the rack. The slider is movably connected to the second proximal stop plate so that the slider and the second proximal stop plate can slide and / or rotate relative to each other axially.

[0019] Preferably, the surgical tool drive transmission system further includes a structural bone guide tube, the proximal end of which is connected to the proximal base plate, and the distal end of which is connected to the distal base plate.

[0020] 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.

[0021] Preferably, in the surgical tool drive transmission system, the distal continuum further 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 sequentially through the second proximal retaining disc and the distal retaining disc.

[0022] Preferably, the surgical tool drive transmission system has through holes evenly distributed on the first proximal retaining plate, the first proximal stop plate, the second proximal retaining plate, the proximal base plate, the distal base plate, and the distal retaining plate for sliding passage of the first and second structural bones; locking holes evenly distributed on the proximal base plate and the second proximal stop plate for fixing the end of the first structural bone; and locking holes evenly distributed on the first proximal stop plate and the distal stop plate for fixing the end of the second structural bone.

[0023] Preferably, in the surgical tool drive transmission system, an elastic unit is installed between two adjacent discs of the proximal continuum and / or between two adjacent discs of the distal continuum.

[0024] A second aspect of the present invention provides a surgical robot comprising at least one surgical tool drive transmission system as described in the first aspect of the present invention.

[0025] Preferably, the surgical robot employs two or more surgical tool drive transmission systems connected in series or in parallel.

[0026] Preferably, two or more surgical tool drive transmission systems are arranged vertically on the support, and the proximal base plates of the two or more flexible continuum structures are respectively fixedly connected to the support, or the proximal base plates directly form part of the support; the proximal end of the lower structural bone guide tube bundle is fixedly connected to the proximal base plate of the lower proximal continuum, and the distal end of the structural bone guide tube bundle passes through the support, the upper second proximal stop plate, the first proximal stop plate, the distal end of the proximal base plate, and the upper structural bone guide tube bundle together at the distal base plate and is fixed and bundled into a cluster, and the distal base plates are respectively fixedly connected to the support, or the distal base plates directly form part of the support;

[0027] Preferably, the lengths of the distal continuums in two or more of the flexible continuum structures are the same or different.

[0028] The present invention has the following advantages due to the adoption of the above technical solutions:

[0029] 1. This invention provides a surgical tool drive transmission system. It only requires a planar mechanism to drive the drive connection part of the invention to move, which can drive the first proximal stop plate to generate dual bending of the proximal continuum when it is flipped, and indirectly push and pull the second structural bone in the distal continuum. Finally, it drives the distal continuum to bend in different directions in space, avoiding direct pushing and pulling of the structural bone. Moreover, when driving a large number of structural bones, it is not limited by the number of drive mechanisms. At the same time, the structure is compact, the principle is simple, and it is easy to implement, thus having high reliability.

[0030] 2. Compared with the traditional rigid kinematic chain that achieves bending motion by rotating at the joints, the transmission system of the present invention uses a flexible continuum structure to achieve bending deformation of the distal structure through the deformation of its proximal structure. Its main body also serves as the transmission structure for drive. Therefore, it can achieve extremely high degree of freedom configuration within a small space. Thus, it can be 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 probe endoscopes and flexible robotic arms. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a surgical tool drive transmission system in one embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the distal continuum in this embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of an overall structure of the drive transmission mechanism in one embodiment of the present invention;

[0034] Figure 4 This is another overall structural schematic diagram of the drive transmission mechanism in this embodiment of the present invention;

[0035] Figure 5 This is a partial structural diagram of the drive transmission mechanism in this embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of another partial structure of the drive transmission mechanism in this embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of the second rotatable component in the drive transmission mechanism of this embodiment of the invention;

[0038] Figure 8 This is a schematic diagram of the structure of a surgical robot in one embodiment of the present invention;

[0039] The attached figures are labeled as follows:

[0040] 1-Proximal continuum; 2-Structural bone guiding tube bundle; 3-Distal continuum; 4-Proximal base plate; 5-Through hole; 6-Locking hole; 7-First proximal stop plate; 8-Second proximal stop plate; 9-Distal base plate; 10-Distal retaining plate; 11-Distal stop plate; 12-Second structural bone; 13-First structural bone; 14-Drive mechanism; 141-First driving gear; 142-Rotating disk; 143-Pin gear; 144-Second driving gear; 145-Second rotatable component; 146-Rack; 147-Slider; 15-Bracket. Detailed Implementation

[0041] 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.

[0042] In the description of this invention, it should be understood that the terms "proximal end", "distal end", "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0043] 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.

[0044] In this specification, when "distal or distal" is mentioned, the term refers to the side or end relatively away from the operator. When "proximal or proximal" is mentioned, the term refers to the side or end relatively close to the operator.

[0045] like Figures 1 to 7 As shown, the surgical tool drive transmission system provided in this embodiment includes a flexible continuum structure and a drive mechanism 14;

[0046] The flexible continuum structure includes: a proximal continuum 1, comprising 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; a distal continuum 3, comprising 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; and 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.

[0047] like Figure 3-7 As shown, the drive mechanism 14 is a planar drive mechanism, preferably a gear and rack mechanism, which is located below the proximal continuum 1 to drive the proximal continuum 1.

[0048] Specifically, the drive mechanism 14 includes: a first rotatable member and a second rotatable member 145 coaxially arranged and rotatable relative to each other, and a sliding member. The second rotatable member 145 is provided with a sliding guide portion for guiding the sliding member to slide linearly relative to the second rotatable member 145. The sliding member is configured to move linearly with the rotation of the first rotatable member. The distal end of the sliding member is movably connected to the second proximal stop plate 8 so that the sliding member and the second proximal stop plate 8 can slide and / or rotate relative to each other axially.

[0049] The second rotatable member 145 is arranged overlapping the first rotatable member on the far side. The first rotatable member is configured to rotate under the drive of the first driving member, and the second rotatable member 145 is configured to rotate under the drive of the second driving member.

[0050] The sliding member includes a sliding portion and an engaging portion connected to each other. The sliding portion is slidably configured to be guided by a sliding guide portion to slide linearly relative to the second rotatable member 145 and is movably connected to the second proximal stop plate 8. The engaging portion is configured to engage with the first rotatable member.

[0051] The first rotatable component includes a pinion 143 and a rotating disk 142 coaxially and fixedly connected. The pinion 143 is located on the far side of the rotating disk 142, and the meshing part is a rack 146 that meshes with the pinion 143. The sliding part is a slider 147, and the rack 146 is disposed at the proximal end of the slider 147. The sliding guide part is a groove on the second rotatable component 145, and the proximal side of the slider 147 passes through the groove and is fixedly connected to the rack 146. The slider 147 is movably connected to the second proximal stop 8 so that the slider 147 and the second proximal stop 8 can slide and / or rotate relative to each other axially. It is understood that the sliding guide part on the second rotatable component 145 can also be a slide rod, along which the slider 147 can slide.

[0052] In this embodiment, the first driving member is a first drive gear 141, which meshes with the rotating disk 142. The second driving member is a second drive gear 144. The second rotatable member 145 is a gear, which meshes with the second drive gear 144 and the second rotatable member 145. A pinion 143 is fixedly connected to the rotating disk 142 and meshes with a rack 146. It should be understood that the rack 146 can be a spur rack and the pinion 143 can be a spur pinion. Alternatively, the rack 146 can be a helical rack and the pinion 143 can be a helical pinion. However, it should be understood that the first and second rotatable members can also be driven to rotate by other driving mechanisms consistent with the art.

[0053] In this embodiment, preferably, the slider 147 and the second proximal stop plate 8 are fitted with a cylindrical pair.

[0054] Therefore, by driving the proximal continuous 1 through the drive mechanism 14, the distal continuous 3 can generate a bending motion opposite to that of the proximal continuous 1 when the proximal continuous 1 is in a bending state.

[0055] In this embodiment, preferably, the second proximal stop 8 and the drive mechanism 14 are connected by a cylindrical pair, meaning that the drive mechanism 14 and the second proximal stop 8 can slide and rotate relative to each other axially. More preferably, the distal end of the slider 147 is provided with an annular groove that matches the circular outer periphery of the second proximal stop 8, so that the second proximal stop 8 can be connected to the slider 147 by being accommodated in the groove, thereby satisfying the relative axial sliding and rotational movement of the second proximal stop 8. However, it should be understood that the distal end of the slider 147 can also be provided with a rectangular groove, a square groove, a regular polygonal groove, or any other shape of groove, and the outer periphery shape of the second proximal stop 8 matches the inner periphery shape of the groove on the slider 147, so that the second proximal stop 8 can be slidably connected to the slider 147 by being accommodated in the groove, thereby satisfying the relative axial sliding movement of the second proximal stop 8. It should be noted that a sliding hole can be provided on the second proximal stop 8, and a sliding rod adapted to the sliding hole is provided at the distal end of the slider, which can also realize the relative axial sliding and / or rotation of the second proximal stop 8.

[0056] In this embodiment, preferably, the flexible continuum structure further includes a structural bone guide tube 2, the proximal end of which is connected to a proximal base plate 4, and the distal end of which is connected to a distal base plate 9.

[0057] When the aforementioned surgical tool drive transmission system is working, when the first drive gear 141 drives the rotating disk 142 to rotate while the second rotatable component 145 remains stationary, the pinion 143, fixedly connected to the rotating disk 142, will rotate accordingly under the drive of the rotating disk 142. This pinion 143 then drives the rack 146 to move. The slider 147, fixedly connected to the rack 146, moves within the groove of the second rotatable component 145 under the drive of the rack 146. This causes the second proximal stop plate 8 of the proximal continuum 1 to translate in a plane via the slider 147, thereby driving the first proximal stop plate 7 to rotate. Thus, by driving the second proximal stop plate 8, the distal continuum 3 is bent within a specific plane in space. In application, the distribution radius of the structural bone in the proximal continuum 1 and the distal continuum 3 can be adjusted to meet the actual bending ratio requirements.

[0058] Because the second proximal stop plate 8 can slide and rotate axially along the annular groove located at the distal end of the slider 147, the proximal base plate 4 and the second proximal stop plate 8 are misaligned, and their axes no longer coincide. Since the two ends of the first structural bone 13 are fixedly connected to the proximal base plate 4 and the second proximal stop plate 8 respectively, a forced bending occurs, causing the proximal continuum 1 to undergo a dual bending (dual bending can refer to the movement between the proximal continuum 1 and the distal continuum 3 being dual; in this application, it can also refer to the movement between the proximal and distal ends of the proximal continuum 1 itself being dual). Simultaneously, the first proximal stop plate 7 undergoes a coordinated flipping, thereby pushing and pulling each of the second structural bones 12 whose ends are fixed to the first proximal stop plate 7. Each of the second structural bones 12, evenly arranged and fixed to the first proximal stop plate 7, experiences tension on one side, increasing the length of the corresponding second structural bone 12 within the proximal continuum 1, and compression on the other side, decreasing the length of the corresponding second structural bone 12 within the proximal continuum 1. Because the total length of each second structural bone 12 remains unchanged, the length of each second structural bone 12 within the distal continuum 3 changes accordingly. This drives the distal continuum 3 to bend in the opposite direction to the portion of the proximal continuum 1 near the proximal base plate 4. By adjusting the sliding distance of the slider 147 in the groove, the degree of bending of the proximal continuum 1 is adjusted, thereby adjusting the degree of reverse bending of the distal continuum 3. The second proximal stop plate 8 and the slider 147 can slide and rotate along the axis, thus satisfying the parasitic movement of the second proximal stop plate 8 sliding along the axial direction during the bending process of the proximal continuum 1, as well as the bending movement in any direction. The parasitic movement can prevent the distal continuum 3 from generating axial expansion and contraction movements during the bending process. Expansion and contraction movements can cause the cover covering the periphery of the distal continuum 3 to wrinkle or be overstretched, affecting the service life of the cover.

[0059] When the aforementioned surgical tool drive transmission system is working, when the second drive gear 144 drives the second rotatable component 145 to rotate, and the first drive gear 141 drives the rotating disk 142 to rotate, and the second rotatable component 145 and the rotating disk 142 rotate simultaneously in the same direction and at the same speed, the position of the slider 147 on the second rotatable component 145 does not change, but the azimuth angle of the translation direction of the slider 147 changes (that is, the circumferential angle relative to the initial position changes), so that the slider 147 makes circular motion in the plane, thereby driving the proximal continuum 1 to bend in different planes. After the proximal continuum 1 bends, it will generate a pushing and pulling force on the second structural bone 12. The pushing and pulling force is transmitted to the distal continuum 3 through the structural bone guide bundle 2, thereby realizing the bending of the distal continuum 3 in space along different directions. By coordinating the driving of the second rotatable component 145 and the rotating disk 142, the degree of bending of the proximal continuum 1 and its bending in different planes can be adjusted. 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 each continuum (in this embodiment, the second structural bone 12 in the proximal continuum 1 and the distal continuum 3 is distributed circumferentially; it can be distributed on the circumference of the proximal continuum 1 and the distal continuum 3 or in the circumferential direction of other closed shapes, and can be uniformly or non-uniformly distributed, which is not limited here). Therefore, by driving the second proximal stop disc 8 to move in the plane (this invention avoids directly pushing and pulling the drive wire, but drives the entire disc, allowing the distal end of the flexible continuum to turn in any direction), the distal continuum 3 can be bent in different directions in space. In application, the distribution radius of the second structural bone 12 in both continuums can be adjusted to meet the actual bending ratio requirements.

[0060] In this embodiment, the working states of the above two surgical tool drive transmission systems are as follows: when the first drive gear 141 drives the rotating disk 142 to rotate while the second rotatable component 145 remains stationary, and when the second rotatable component 145 and the rotating disk 142 rotate simultaneously in the same direction at the same speed, these two situations are two extreme cases when the device of the present invention moves. Under normal circumstances, through the coordinated control of the second rotatable component 145 and the rotating disk 142, it is possible to drive the proximal continuous body 1 to bend in any direction, and then drive the distal continuous body 3 to bend in the opposite direction.

[0061] In this embodiment, preferably, the proximal continuum 1 further includes at least one first proximal retaining disc disposed between the proximal base disc 4 and the first proximal stop disc 7 and the second proximal stop disc 8, and / or at least one second proximal retaining disc 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 instability of the first structural bone 13 during bending motion. In the illustrated embodiment, each first structural bone 13 is circumferentially distributed along the proximal base disc 4, the first proximal stop disc 7, and the second proximal stop disc 8.

[0062] In this embodiment, preferably, 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 sequentially through the second proximal retaining disc and the distal retaining disc 10. The distal retaining disc 10 is used to radially support the second structural bones 12, thereby ensuring that each second structural bone 12 remains parallel during bending deformation and preventing instability of the second structural bones 12 during bending motion. In the illustrated embodiment, each second structural bone 12 is circumferentially distributed along the distal base disc 9 and the distal stop disc 11.

[0063] In this embodiment, preferably, the first proximal retaining disc, the first proximal stop disc 7, the second proximal retaining disc, the proximal base disc 4, the distal base disc 9, and the distal retaining disc 10 are all provided with through holes 5 for the sliding passage of the first structural bone 13 and the second structural bone 12. The proximal base disc 4 and the second proximal stop disc 8 are all provided with locking holes 6 for fixing the end of the first structural bone 13. The first proximal stop disc 7 and the distal stop disc 11 are all provided with locking holes 6 for fixing the end of the second structural bone 12. The specific positions and number of through holes 5 and locking holes 6 on different discs depend on the distribution position and number of the first structural bone 13 and the second structural bone 12.

[0064] In this embodiment, preferably, elastic units (such as springs, elastic tubes, etc., not shown in the figure) can be installed between adjacent disks of the proximal continuum 1 and / or between adjacent disks of the distal continuum 3 to separate the disks.

[0065] In this embodiment, preferably, the second structural bone 12 and the first structural bone 13 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 alloy; the structural bone guide tube bundle 2 can be made of steel tube bundle.

[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 this embodiment, preferably, the surgical robot employs two of the above-described surgical tool drive transmission systems connected in series or parallel, thereby increasing the flexibility of the arm. For example, two of the above-described surgical tool drive transmission systems are connected in series, such as... Figure 8 As shown, when the drive mechanism 14 adopts a planar drive mechanism, i.e., a gear and rack mechanism, the two surgical tool drive transmission systems are arranged vertically on the support 15. The upper and lower proximal base plates 4 are respectively fixedly connected to the support 15, or the proximal base plates 4 directly form part of the support 15. One end of the lower structural bone guide tube bundle 2 is fixedly connected to the proximal base plate 4 of the lower proximal continuum 1. The other end of the structural bone guide tube bundle 2 passes through the support 15 in sequence. The other end of the upper second proximal stop plate 8, the first proximal stop plate 7, and the upper proximal base plate 4 are fixed together with the upper structural bone guide tube bundle 2 at the distal base plate 9 and bundled into a cluster (ring, matrix, or any other shape). The distal base plates 9 are respectively fixedly connected to the support 15, or the distal base plates 9 directly form part of the support 15. The upper proximal continuum 1 has a large cavity to ensure that it does not interfere with the structural bone guide tube bundle 2 corresponding to the lower proximal continuum 1 during bending deformation. The lengths of the distal continuum 3 of the upper and lower layers can be the same or different. They are driven by their respective drive mechanisms 14 to move their respective second proximal stop discs 8, which in turn drive the proximal continuum 1 to move and cause the first proximal stop disc 7 to flip, thereby realizing the bending of their respective distal continuum 3. When the lengths of the distal continuum 3 of the two layers are different, the degree of freedom of the distal end is increased, thereby increasing the flexibility of the surgical robot.

[0068] 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, characterized in that, Including flexible continuum structure and drive mechanism (14); The flexible continuum structure includes: The proximal continuum (1) includes a proximal base plate (4), a first proximal stop plate (7), and a second proximal stop plate (8), which are arranged at intervals. First structural bone (13), the proximal ends of multiple first structural bones (13) are fixedly connected to a second proximal stop disc (8), and the distal ends of multiple first structural bones (13) pass through the first proximal stop disc (7) and are fixedly connected to the proximal base disc (4). The distal continuum (3) includes a distal base plate (9) and a distal stop plate (11) arranged at intervals, and the distal base plate (9) is adjacent to the proximal base plate (4); Second structural bone (12), the proximal ends of multiple second structural bones (12) are fixedly connected to the first proximal stop plate (7), and the distal ends of multiple second structural bones (12) pass through the proximal base plate (4) and the distal base plate (9) and are fixedly connected to the distal stop plate (11). The drive mechanism (14) includes: a first rotatable member and a second rotatable member (145) that are coaxially arranged and rotatable relative to each other, and a sliding member; The second rotatable member (145) is provided with a sliding guide portion for guiding the sliding member to slide linearly relative to the second rotatable member (145). The sliding member is configured to move linearly with the rotation of the first rotatable member. The distal end of the sliding member is movably connected to the second proximal stop plate (8) so that the sliding member and the second proximal stop plate (8) can slide and / or rotate relative to each other axially.

2. The surgical tool drive transmission system according to claim 1, characterized in that, The second rotatable member (145) is arranged overlapping the first rotatable member on the far side; The first rotatable member is configured to rotate under the drive of the first driving member, and the second rotatable member (145) is configured to rotate under the drive of the second driving member; The sliding member includes a sliding portion and an engaging portion connected to each other. The sliding portion is slidably configured to be guided by the sliding guide portion to slide linearly relative to the second rotatable member (145) and is movably connected to the second proximal stop (8). The engaging portion is configured to engage with the first rotatable member.

3. The surgical tool drive transmission system according to claim 2, characterized in that, The first rotatable component includes a pinion (143) and a rotating disk (142) that are coaxially and fixedly connected to each other. The pinion (143) is located on the far side of the rotating disk (142), and the meshing part is a rack (146) that meshes with the pinion (143).

4. The surgical tool drive transmission system according to claim 3, characterized in that, The sliding part is a slider (147), the rack (146) is disposed at the proximal end of the slider (147), the sliding guide is a groove on the second rotatable member (145), and the proximal side of the slider (147) passes through the groove and is fixedly connected to the rack (146). The slider (147) is movably connected to the second proximal stop (8) so that the slider (147) and the second proximal stop (8) can slide and / or rotate relative to each other axially.

5. The surgical tool drive transmission system according to claim 1, characterized in that, It also includes a structural bone guiding tube bundle (2), the proximal end of which is connected to the proximal base plate (4), and the distal end of which is connected to the distal base plate (9).

6. The surgical tool drive transmission system according to claim 1, characterized in that, The proximal continuum (1) further includes at least one first proximal retaining disc disposed between the first proximal stop disc (7) and the second proximal stop disc (8) and / or at least one second proximal retaining disc disposed between the proximal base disc (4) and the first proximal stop disc (7), with each of the first structural bones (13) passing through the first proximal retaining disc.

7. The surgical tool drive transmission system according to claim 6, characterized in that, 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), with each of the second structural bones (12) passing through the second proximal retaining disc and the distal retaining disc (10) in sequence.

8. The surgical tool drive transmission system according to claim 7, characterized in that, The first proximal retaining disc, the first proximal stop disc (7), the second proximal retaining disc, the proximal base disc (4), the distal base disc (9), and the distal retaining disc (10) are all provided with through holes (5) for the sliding passage of the first structural bone (13) and the second structural bone (12). The proximal base disc (4) and the second proximal stop disc (8) are all provided with locking holes (6) for fixing the end of the first structural bone (13). The first proximal stop disc (7) and the distal stop disc (11) are all provided with the locking holes (6) for fixing the end of the second structural bone (12).

9. The surgical tool drive transmission system according to claim 1, characterized in that, Elastic units are installed between adjacent disks of the proximal continuum (1) and / or between adjacent disks of the distal continuum (3).

10. A surgical robot, characterized in that, It includes at least one surgical tool drive transmission system as described in any one of claims 1 to 9.

11. The surgical robot according to claim 10, characterized in that, The surgical robot uses two or more of the aforementioned surgical tools to drive the transmission system in series or in parallel.

12. The surgical robot according to claim 10, characterized in that, Two or more surgical tool drive transmission systems are mounted on the support (15) one above the other. Two or more proximal base plates (4) of the flexible continuum structure are fixedly connected to the support (15) respectively, or the proximal base plate (4) directly forms part of the support (15). The proximal end of the lower structural bone guide tube bundle (2) is fixedly connected to the proximal base plate (4) of the lower proximal continuum (1). The distal end of the structural bone guide tube bundle (2) passes through the support (15), the upper second proximal stop plate (8), the first proximal stop plate (7), the distal end of the proximal base plate (4), and the upper structural bone guide tube bundle (2) together are fixed at the distal base plate (9) and bundled into a cluster. The distal base plate (9) is fixedly connected to the support (15) respectively, or the distal base plate (9) directly forms part of the support (15).

13. The surgical robot according to claim 10, characterized in that, The lengths of the distal continuums (3) in two or more of the aforementioned flexible continuum structures are the same or different.

Images