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

Abstract

The present invention relates to a surgical tool drive transmission system and a surgical robot based on a planar motion mechanism, comprising a flexible continuum structure and a drive mechanism; wherein the flexible continuum structure comprises a proximal continuum and a distal continuum that are interconnected, and the drive mechanism is a planar motion mechanism having an output portion that can slide up and down and / or rotate relative to at least a portion of the proximal continuum; the proximal continuum is configured to generate a bending motion when the output portion of the planar motion mechanism slides up and down and / or rotates, while the distal continuum is configured to generate a bending motion in the opposite direction of the proximal continuum when the proximal continuum is bent. The present invention can avoid directly pushing and pulling the drive wire of the flexible continuum, and when driving a large number of drive wires, it is not limited by the number of drive mechanisms. At the same time, it has a compact structure, a simple principle, is easy to implement, and has high reliability and flexibility.

Description

Technical Field

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

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

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

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

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

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a surgical tool drive transmission system based on a planar motion mechanism, comprising a flexible continuum structure and a drive mechanism; wherein the flexible continuum structure comprises a proximal continuum and a distal continuum that are associated with each other, and the drive mechanism is a planar motion mechanism, and the planar motion mechanism has an output part that can slide up and down and / or rotate relative to at least a part of the proximal continuum; the proximal continuum is configured to generate a bending motion when the output part of the planar motion mechanism slides up and down and / or rotates; the distal continuum is configured to generate a bending motion in the opposite direction of the proximal continuum when the proximal continuum is in a bent state.

[0007] The surgical tool drive transmission system, preferably, the proximal continuum includes: a proximal base plate, a first proximal stop plate and a second proximal stop plate, the three being arranged at intervals; a first structural bone, the proximal ends of a plurality of the first structural bones being fixedly connected to the second proximal stop plate, the distal ends of a plurality of the first structural bones passing through the first proximal stop plate and fixedly connected to the proximal base plate; the output part of the planar motion mechanism and the second proximal stop plate being able to slide up and down and rotate relative to each other, the planar motion mechanism drives the second proximal stop plate to move and flip, so that each of the first structural bones fixed between the proximal base plate and the second proximal stop plate is forced to bend, so that the proximal continuum produces a dual bending.

[0008] The surgical tool driving transmission system, preferably, the distal continuum includes: a distal base plate and a distal stop plate, which are arranged at an interval, and the distal base plate is adjacent to the proximal base plate; a second structural bone, the proximal ends of a plurality of the second structural bones are fixedly connected to the first proximal stop plate, and the distal ends of a plurality of the second structural bones pass through the proximal base plate and the distal base plate and are fixedly connected to the distal stop plate; when the second proximal stop plate flips, the first proximal stop plate also produces a coordinated flipping, thereby realizing the pushing and pulling of each of the second structural bones whose ends are fixed on the first proximal stop plate, thereby realizing the reverse bending of the distal continuum and the part of the proximal continuum close to the proximal base plate.

[0009] In the surgical tool drive transmission system, preferably, the planar motion mechanism is a planar connecting rod mechanism.

[0010] The surgical tool driving transmission system, preferably, the planar linkage mechanism includes a planar five-bar mechanism, and the planar five-bar mechanism includes a first link, a second link, a third link, a fourth link, a fifth link, a first input shaft and a second input shaft; the first link is fixedly arranged, and the first input shaft and the second input shaft are rotatably arranged on the first link; one end of the second link is fixedly connected to the first input shaft, and the other end of the second link is hinged to one end of the third link; one end of the fifth link is fixedly connected to the second input shaft, and the other end of the fifth link is hinged to one end of the fourth link, and the other end of the fourth link is also hinged to the other end of the third link, and the other end of the third link or the fourth link forms the output part of the planar five-bar mechanism, and the output part is movably connected to the second proximal stop disk so that the output part and the second proximal stop disk can slide up and down and / or rotate relative to each other.

[0011] The surgical tool driving transmission system preferably has the other end of the fourth connecting rod and the other end of the third connecting rod forming a ring-shaped rotating shaft and being sleeved on the outer periphery of the second proximal stop disk, and the rotating shaft and the second proximal stop disk being able to slide up and down and / or rotate relative to each other.

[0012] In the surgical tool drive transmission system, preferably, the first connecting rod is an annular base, and the third connecting rod is confined within the annular base to constrain the motion trajectory of the third connecting rod.

[0013] The surgical tool drive transmission system, preferably, the flexible continuum structure also includes a structural bone guide bundle connected between the proximal base plate and the distal base plate, and the distal ends of multiple second structural bones pass through the proximal base plate, the structural bone guide bundle and the distal base plate in sequence and are fixedly connected to the distal stop plate.

[0014] Preferably, the first structural bone and the second structural bone are elastic thin rods or thin tubes made of superelastic material, and the structural bone guide bundle is a steel bundle.

[0015] In the surgical tool drive transmission system, preferably, the distal continuum further comprises at least one distal retaining disk disposed between the distal base disk and the distal stop disk, and each of the second structural bones passes through the distal retaining disk.

[0016] A surgical robot comprises at least one of the above-mentioned surgical tool drive transmission systems.

[0017] Preferably, the surgical robot uses two or more of the surgical tool drive transmission systems connected in series or in parallel;

[0018] Preferably, two or more surgical tool drive transmission systems are arranged above and below on the bracket, and the proximal base plates of two or more flexible continuum structures are respectively fixedly connected to the bracket, or the proximal base plates directly form a part of the bracket; the proximal end of the structural bone guide tube bundle of the lower layer is fixedly connected to the proximal base plate of the proximal continuum of the lower layer, and the distal end of the structural bone guide tube bundle as a whole passes through the bracket, the second proximal stop plate of the upper layer, the first proximal stop plate, the distal end of the proximal base plate and the structural bone guide tube bundle of the upper layer are fixed at the distal base plate and bundled into a cluster, and the distal base plate is fixedly connected to the bracket, or the distal base plate directly forms a part of the bracket.

[0019] The present invention, by adopting the above technical solution, has the following advantages: 1. The surgical tool drive transmission system provided by the present invention only needs to drive the proximal stop plate of the proximal continuum to flip through a single drive mechanism to achieve pushing and pulling of the structural bone, thereby driving the proximal continuum to bend, and ultimately driving the distal continuum to bend arbitrarily in space, avoiding direct pushing and pulling of the structural bone. Moreover, when driving a large number of structural bones, it is not limited by the number of drive transmission mechanisms. At the same time, it has a compact structure, a simple principle, and is easy to implement, thus having high reliability. 2. Compared with the traditional rigid kinematic chain that achieves bending motion by rotating at joints, the flexible continuum structure of the present invention achieves bending and deformation of the distal structure by deforming its proximal structure. The main structure of the flexible continuum also serves as the drive transmission structure, thus achieving extremely high degree of freedom of configuration within a small space. Therefore, it can be widely used in the research and development of medical devices such as flexible operating arms, endoscopes, and controllable catheters, as well as new special equipment such as industrial deep cavity detection endoscopes and flexible robotic arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a surgical tool drive transmission system according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic structural diagram of the distal continuum in this embodiment of the present invention;

[0022] Figure 3 Schematic diagram of the three-dimensional structure of the driving mechanism in one embodiment of the present invention;

[0023] Figure 4 is a top view of the driving mechanism in this embodiment of the present invention;

[0024] Figure 5 is a schematic structural diagram of the third connecting rod in this embodiment of the present invention;

[0025] Figure 6 Schematic diagram of the structure of the fourth connecting rod in this embodiment of the present invention;

[0026] Figure 7 This is a schematic structural diagram of a surgical robot in one embodiment of the present invention;

[0027] Figure 8 Schematic diagram of the structure of the linear feed assembly in this embodiment of the present invention. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "proximal," "distal," "upper," "lower," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the scope of protection of the present invention. In the present invention, when referring to the "distal side or distal end," the term refers to the side or end relatively far away from the operator. When referring to the "proximal side or proximal end," the term refers to the side or end relatively close to the operator.

[0030] like Figure 1 、 Figure 2 As shown, the surgical tool drive transmission system provided in this embodiment includes a flexible continuum structure and a drive mechanism 14.

[0031] The flexible continuum structure includes a proximal continuum 1 and a distal continuum 3 that are interconnected. The drive mechanism 14 is a planar motion mechanism having an output portion that can slide up and down and / or rotate relative to at least a portion of the proximal continuum 1. The proximal continuum 1 is configured to generate bending motion when the output portion of the planar motion mechanism slides up and down and / or rotates, while the distal continuum 3 is configured to generate bending motion in the opposite direction to the proximal continuum 1 when the proximal continuum 1 is bent.

[0032] In the above embodiment, the proximal continuum 1 preferably includes: a proximal base plate 4, a first proximal stop plate 7, and a second proximal stop plate 8, which are arranged in an alternating pattern; and first structural bones 13, wherein the proximal ends of a plurality of first structural bones 13 are fixedly connected to the second proximal stop plate 8, and the distal ends of a plurality of first structural bones 13 pass through the first proximal stop plate 7 and are fixedly connected to the proximal base plate 4. The output portion of the planar motion mechanism and the second proximal stop plate 8 are capable of relative vertical sliding and rotation. In this embodiment, the plurality of first structural bones 13 are distributed circumferentially relative to the proximal base plate 4, the first proximal stop plate 7, and the second proximal stop plate 8.

[0033] In the above embodiment, the distal continuum 3 preferably includes: a distal base plate 9 and a distal stop plate 11, which are spaced apart, with the distal base plate 9 adjacent to the proximal base plate 4; and second structural bones 12, wherein the proximal ends of the plurality of second structural bones 12 are fixedly connected to the first proximal stop plate 7, and the distal ends of the plurality of 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. In this embodiment, the plurality of second structural bones 12 are distributed circumferentially relative to the distal base plate 9 and the distal stop plate 11.

[0034] like Figure 3 、 Figure 4 As shown, the driving mechanism 14 adopts a planar five-bar mechanism, which includes a first connecting rod 141 , a second connecting rod 142 , a third connecting rod 143 , a fourth connecting rod 144 , a fifth connecting rod 145 and a first input shaft 146 and a second input shaft 147 . The first connecting rod 141 is fixedly arranged, and the first input shaft 146 and the second input shaft 147 are rotatably arranged on the first connecting rod 141; one end of the second connecting rod 142 is fixedly connected to the first input shaft 146, and the other end of the second connecting rod 142 is hinged to one end of the third connecting rod 143; one end of the fifth connecting rod 145 is fixedly connected to the second input shaft 147, and the other end of the fifth connecting rod 145 is hinged to one end of the fourth connecting rod 144, and the other end of the fourth connecting rod 144 is also hinged to one end of the third connecting rod 143. The other end of the third connecting rod 143 or the fourth connecting rod 144 forms the output part of the planar five-bar mechanism, and the output part is connected to the second proximal stop disk 8 by a cylindrical pair, so that the output part and the second proximal stop disk 8 can slide up and down and / or rotate relative to each other.

[0035] Thus, when the first input shaft 146 and / or the second input shaft 147 are driven to rotate, the connecting portion of the planar five-bar mechanism moves freely within the plane, thereby driving the second proximal stop plate 8 to move, causing the proximal base plate 4 and the second proximal stop plate 8 to misalign, so that their axes no longer coincide. Because each first structural bone 13 is fixed at both ends to the proximal base plate 4 and the second proximal stop plate 8, each first structural bone 13 is forced to bend, resulting in dual bending between the proximal and distal ends of the proximal continuum 1. Simultaneously, the first proximal stop plate 7 rotates in tandem, pushing and pulling on each second structural bone 12 whose ends are fixed to the first proximal stop plate 7. Each second structural bone 12 uniformly 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, while experiencing compression on the other side, decreasing the length of the corresponding second structural bone 12 within the proximal continuum 1. However, the total length of each second structural bone 12 remains unchanged, and the length of each second structural bone 12 within the structural bone guide bundle 2 remains unchanged, resulting in a corresponding change in the length of each second structural bone 12 within the distal continuum 1, thereby driving the distal continuum 3 to produce a reverse bend relative to the portion of the proximal continuum 1 near the proximal base plate 4. 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 bones 12 in the two respectively (in this embodiment, the second structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed along the circumference, which can be distributed on the circumference or on the circumference of other closed shapes, and can be uniformly distributed or non-uniformly distributed, which is not limited here). During application, the distribution radius of the second structural bones 12 in the proximal continuum 1 and the distal continuum 3 can be adjusted to meet the actual bending ratio requirements. Therefore, by using a cylindrical pair to connect the third link 143 of the planar five-bar mechanism and the second proximal stop plate 8, the second proximal stop plate 8 and the third link 143 of the planar five-bar mechanism can slide up and down and rotate, thereby satisfying the parasitic movement (up and down sliding) in the axial direction and the bending movement (rotation) in any direction generated by the proximal continuum 1 during dual bending. The parasitic movement can prevent the distal continuum 3 from generating axial telescopic movement during the bending process, causing the cover covering the outer periphery of the distal continuum 3 to wrinkle or over-stretch, affecting the service life of the cover.

[0036] In the above embodiment, preferably, Figure 5 、 Figure 6 As shown, the other end of the fourth connecting rod 144 and the other end of the third connecting rod 143 form an annular rotating shaft and are sleeved on the outer periphery of the second proximal stop plate 8, and the rotating shaft and the second proximal stop plate 8 can slide up and down and / or rotate relative to each other.

[0037] In the above embodiment, preferably, Figure 3 、 Figure 4As shown, the first connecting rod 141 can be an annular base, and the third connecting rod 143 is confined within the annular base to constrain the motion trajectory of the third connecting rod 143.

[0038] In the above embodiment, preferably, Figure 1 、 Figure 2 As shown, the flexible continuum structure also includes a structural bone guide 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. The distal ends of multiple second structural bones 12 sequentially pass through the proximal base plate 4, the structural bone guide bundle 2, and the distal base plate 9, and are fixedly connected to the distal stop plate 11. The function of the structural bone guide bundle 2 is to guide and constrain the second structural bones 12 located between the proximal base plate 4 and the distal base plate 9.

[0039] In the above embodiment, preferably, the distal continuum 3 also includes at least one distal retaining plate 10 arranged between the distal base plate 9 and the distal stop plate 11, and each second structural bone 12 passes through the distal retaining plate 10. The distal retaining plate 10 is used to support the second structural bone 12 from the radial direction of the second structural bone 12, so that each second structural bone 12 remains in a parallel state during the bending deformation process, preventing the second structural bone 12 from becoming unstable during the bending movement.

[0040] In the above embodiment, preferably, the first structural bone 13 and the second structural bone 12 can be made of elastic thin rods or thin tubes made of superelastic material, which can generally be made of high-strength, high-toughness, and elastic metal materials such as nickel-titanium alloy; the structural bone guide bundle 2 can be made of a steel bundle.

[0041] Based on the surgical tool drive transmission system provided in the above embodiments, the present invention further provides a surgical robot, which includes at least one of the above surgical tool drive transmission systems.

[0042] In the above embodiment, preferably, the surgical robot uses two of the above surgical tool drive transmission systems in series or in parallel to increase the flexibility of the arm. Figure 7As shown, taking two of the aforementioned surgical tool drive transmission systems connected in series as an example, the two surgical tool drive transmission systems are arranged one above the other. The upper and lower first connecting rods 141 and the proximal base plate 4 are connected by a connecting rod to form an integral support 15. One end of the lower structural bone guide bundle 2 is fixedly connected to the lower proximal base plate 4, while the other end sequentially passes through the upper first connecting rod 141, the second proximal stop plate 8, the first proximal stop plate 7, and the proximal base plate 4, and together with the upper structural bone guide bundle 2, is fixedly connected to the distal stop plate 9. The distal stop plate 9 is fixedly connected to the support 15, or the distal stop plate 9 directly forms part of the support 15. Thus, the respective second proximal stop plates 8 are driven by their respective drive mechanisms 14 to move, thereby driving the respective proximal continuums 1 to move, achieving bending of the respective distal continuums 3, thereby increasing the degrees of freedom of the distal continuum 3 and thus the flexibility of the surgical robot.

[0043] In the above embodiment, preferably, the lengths of the distal continuum 3 in the two flexible continuum structures may be the same or different.

[0044] In the above embodiment, preferably, Figure 7 、 Figure 8 As shown, the surgical robot also includes a linear feed assembly 16 arranged in parallel with the proximal continuum 1, and the linear feed assembly 16 includes a guide rod 161, a screw rod 162, a slider 163, and a screw nut 164. The guide rod 161 is fixedly connected to the bracket 15, the screw rod 162 is rotatably connected to the bracket 15, the screw nut 164 is rotatably connected to the screw rod 162, and the slider 163 is fixedly connected to the screw nut 164. At the same time, the slider 163 is slidably inserted into the guide rod 161. Due to the limiting effect of the guide rod 161, the slider 163 cannot rotate, and therefore the screw nut 164 cannot rotate either. When the screw rod 162 rotates, it drives the screw nut 164 to move up and down, thereby driving the slider 163 to move up and down along the guide rod 161. Since one end of the elastic drive thin rod 17 is fixed to the slider 163, it drives the elastic drive thin rod 17 to move up and down. A linear feed assembly 16 pushes and pulls a thin elastic drive rod 17. One end of the rod is secured to a slider 163, passing through a protective tube 18 to reach the distal continuum 3. The other end is secured to a surgical actuator to drive the actuator (e.g., a clamp or needle holder). In addition to guiding the rod 17, the protective tube 18 also provides power to the actuator via a wire.

[0045] In the description of the present invention, it should be understood that the use of terms such as "first" and "second" to define components is merely for the convenience of distinguishing the above components. Unless otherwise stated, the above terms have no special meanings and therefore cannot be understood as limiting the scope of protection of the present invention.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A surgical tool drive transmission system based on a planar motion mechanism, characterized in that: including a flexible continuum structure and a driving mechanism (14); The flexible continuum structure comprises a proximal continuum (1) and a distal continuum (3) that are associated with each other, and the driving mechanism (14) is a planar motion mechanism having an output portion that can slide up and down and / or rotate relative to at least a portion of the proximal continuum (1); The proximal continuum (1) is configured to generate bending motion when the output portion of the planar motion mechanism slides up and down and / or rotates; The distal continuum (3) is configured to generate a bending motion in a direction opposite to that of the proximal continuum (1) when the proximal continuum (1) is in a bent state; The proximal continuum (1) comprises a proximal base disc (4), a first proximal stop disc (7) and a second proximal stop disc (8), which are arranged at intervals; The planar motion mechanism is a planar linkage mechanism, the output portion of which is connected to the second proximal stop disk (8). The output portion of the planar linkage mechanism moves within a plane to drive the second proximal stop disk (8) to move, so that the proximal continuum (1) generates a bending motion.

2. The surgical tool drive transmission system according to claim 1, wherein: The proximal continuum (1) further comprises: a first structural bone (13), wherein the proximal ends of the plurality of first structural bones (13) are fixedly connected to the second proximal stop disk (8), and the distal ends of the plurality of first structural bones (13) pass through the first proximal stop disk (7) and are fixedly connected to the proximal base disk (4); The output portion of the planar linkage mechanism and the second proximal stop disk (8) can slide and rotate relative to each other up and down, and the planar linkage mechanism drives the second proximal stop disk (8) to move and flip, so that each of the first structural bones (13) fixed between the proximal base disk (4) and the second proximal stop disk (8) is forced to bend, so that the proximal continuum (1) produces dual bending.

3. The surgical tool drive transmission system according to claim 2, wherein: The distal continuum (3) comprises: A distal base plate (9) and a distal stop plate (11) are arranged at intervals, and the distal base plate (9) is adjacent to the proximal base plate (4); a second structural bone (12), wherein the proximal ends of the plurality of second structural bones (12) are fixedly connected to the first proximal stop disk (7), and the distal ends of the plurality of second structural bones (12) pass through the proximal base disk (4) and the distal base disk (9) and are fixedly connected to the distal stop disk (11); When the second proximal stop plate (8) flips over, the first proximal stop plate (7) flips over in coordination therewith, thereby pushing and pulling each of the second structural bones (12) whose ends are fixed on the first proximal stop plate (7), thereby achieving the reverse bending of the distal continuum (3) and the portion of the proximal continuum (1) close to the proximal base plate (4).

4. The surgical tool drive transmission system according to claim 1, wherein: The planar linkage mechanism comprises a planar five-bar mechanism, and the planar five-bar mechanism comprises a first connecting rod (141), a second connecting rod (142), a third connecting rod (143), a fourth connecting rod (144), a fifth connecting rod (145), a first input shaft (146), and a second input shaft (147); The first connecting rod (141) is fixedly arranged, and the first input shaft (146) and the second input shaft (147) are rotatably arranged on the first connecting rod (141); one end of the second connecting rod (142) is fixedly connected to the first input shaft (146), and the other end of the second connecting rod (142) is hinged to one end of the third connecting rod (143); one end of the fifth connecting rod (145) is fixedly connected to the second input shaft (147), and the other end of the fifth connecting rod (145) is hinged to one end of the fourth connecting rod (144), and the other end of the fourth connecting rod (144) is also hinged to one end of the third connecting rod (143), and the other end of the third connecting rod (143) or the fourth connecting rod (144) forms the output part of the planar five-bar mechanism, and the output part is movably connected to the second proximal stop disk (8) so that the output part and the second proximal stop disk (8) can slide up and down and / or rotate relative to each other.

5. The surgical tool drive transmission system according to claim 4, wherein: The other end of the fourth connecting rod (144) and the other end of the third connecting rod (143) form an annular rotating shaft and are sleeved on the outer periphery of the second proximal stop disk (8), and the rotating shaft and the second proximal stop disk (8) can slide up and down and / or rotate relative to each other.

6. The surgical tool drive transmission system according to claim 4, wherein: The first connecting rod (141) is an annular base, and the third connecting rod (143) is confined within the annular base to constrain the motion trajectory of the third connecting rod (143).

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

8. The surgical tool drive transmission system according to claim 7, wherein: The first structural bone (13) and the second structural bone (12) are made of elastic thin rods or thin tubes made of superelastic material, and the structural bone guide tube bundle (2) is made of a steel tube bundle.

9. The surgical tool drive transmission system according to claim 3, wherein: The distal continuum (3) further comprises at least one distal retaining disc (10) arranged between the distal base disc (9) and the distal stop disc (11), and each of the second structural bones (12) passes through the distal retaining disc (10).

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

11. The surgical robot according to claim 10, characterized in that: The surgical robot uses two or more surgical tool drive transmission systems connected in series or in parallel.

12. The surgical robot according to claim 11, characterized in that: Two or more surgical tool drive transmission systems are arranged on the upper and lower sides of the bracket (15); the proximal base plates (4) of the two or more flexible continuum structures are respectively fixedly connected to the bracket (15), or the proximal base plates (4) directly form a part of the bracket (15); the proximal end of the structural bone guide bundle (2) of the lower layer is fixedly connected to the proximal base plate (4) of the proximal continuum (1) of the lower layer, and the distal end of the structural bone guide bundle (2) passes through the bracket (15), the second proximal stop plate (8) of the upper layer, the first proximal stop plate (7), the distal end of the proximal base plate (4) and the structural bone guide bundle (2) of the upper layer are fixed at the distal base plate (9) of the distal continuum (3) and are bundled into a cluster; the distal base plate (9) is fixedly connected to the bracket (15), or the distal base plate (9) directly forms a part of the bracket (15).

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