Surgical tool drive transmission system and surgical robot comprising same

Abstract

The application discloses a surgical tool driving transmission system and a surgical robot comprising the same, which comprises a flexible continuum structure and a driving transmission mechanism; the flexible continuum structure comprises a proximal continuum, a distal continuum and a driving connecting part, the distal end of the driving connecting part is connected with a proximal base disc, the proximal end of the driving connecting part passes through a second proximal stop disc and is connected with the same, and the part of the driving connecting part on the proximal end side of the second proximal stop disc forms a free end; the driving transmission mechanism comprises a first rotating part, a second rotating part and a driven part; the application drives the driving connecting part to move through a driving mechanism, drives the bending of the proximal continuum, thereby makes the first proximal stop disc produce the cooperative overturning with the proximal continuum, finally drives the arbitrary bending of the distal continuum in space, avoids the direct push and pull to the driving wire, and when a large number of structure bones are driven, is not affected by the number of drivers, meanwhile, the structure is compact, the principle is simple, is easy to realize, has high reliability and flexibility.

Description

Technical Field

[0001] This invention relates to a drive transmission system, and more particularly to a surgical tool drive transmission system based on a rotary drive mechanism and a surgical robot containing the same. 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. The distal structure of existing surgical instruments mainly consists of multi-link series hinges, 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 through mutual rotation at joints, flexible continuum structures achieve bending deformation of the distal structure through deformation of the proximal structure. The main body of the structure simultaneously serves as the transmission structure for the drive, thus enabling extremely high degrees of freedom in configuration within a small spatial area. Therefore, it is 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 endoscopes and flexible robotic arms.

[0004] 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, since existing drive methods all involve directly pushing and pulling the drive wires, the number of drive mechanisms also increases when the number of drive wires is large, 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 a rotary drive mechanism, which can drive the movement of a continuum structure in a non-planar manner, thereby enabling the distal end of the continuum structure to turn in any direction, while avoiding direct push-pull of the drive wires. When driving a large number of drive wires, it is not limited by the number of drive mechanisms, and has a compact structure, simple principle, and is easy to implement, thus possessing 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, comprising a flexible continuum structure and a drive transmission 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 arranged at intervals; a first structural bone, wherein the proximal ends of multiple first structural bones are fixedly connected to the second proximal stop plate, and the distal ends of multiple first structural bones pass through the first proximal stop plate and are fixedly connected to the proximal base plate.

[0009] A distal continuum includes a distal base plate and a distal stop plate arranged at intervals, wherein the distal base plate is adjacent to the proximal base plate; a second structural bone, wherein the proximal ends of a plurality of second structural bones are fixedly connected to the first proximal stop plate, and the distal ends of the plurality of second structural bones sequentially pass through the proximal base plate and the distal base plate and are fixedly connected to the distal stop plate; and

[0010] A drive connection portion, wherein the distal end of the drive connection portion is connected to the proximal base plate, the proximal end of the drive connection portion passes through the second proximal stop plate and is connected to the second proximal stop plate, and the portion of the drive connection portion located on the proximal side of the second proximal stop plate forms a free end;

[0011] The drive transmission mechanism includes: a first rotating component, a second rotating component, and a driven component;

[0012] The first rotating member is hinged to the driven member, forming a first hinge point;

[0013] The second rotating member is hinged to the driven member, forming a second hinge point;

[0014] The first rotating component is hinged to the second rotating component to form a third hinge point, and the rotation axis of the third hinge point coincides with the rotation axis of the first rotating component.

[0015] The rotation axes of the first rotating component and the second rotating component are perpendicular to and intersect each other;

[0016] The driven member is connected to the free end of the drive connection portion;

[0017] In the initial position, the rotation axis of the first hinge point coincides with the rotation axis of the second rotating member, and the rotation axis of the second hinge point coincides with the rotation axis of the first rotating member.

[0018] In some embodiments, the first rotating member is provided with a first connecting rod; the second rotating member is provided with a second connecting rod; one end of the first connecting rod is hinged to the driven member to form a first hinge point; one end of the second connecting rod is hinged to the driven member to form a second hinge point; the other end of the first connecting rod and the other end of the second connecting rod are hinged to form a third hinge point.

[0019] In some embodiments, the first rotating member is configured to rotate under the drive of the first driving member, and the second rotating member is configured to rotate under the drive of the second driving member; the first rotating member is fixedly connected to the first connecting rod; and the second rotating member is fixedly connected to the second connecting rod.

[0020] In some embodiments, the first rotating member is a first worm gear or a first bevel gear, and the first worm gear or the first bevel gear is fixedly connected to the first connecting rod; the second rotating member is a second worm gear or a second bevel gear, and the second worm gear or the second bevel gear is fixedly connected to the second connecting rod.

[0021] In some embodiments, the driven member is hinged to the first rotating member and the second rotating member at the third hinge point.

[0022] In some embodiments, the driven member includes a connecting body connected to the free end of the drive connection portion, and at least two connecting rods extending vertically upward from the connecting body, one connecting rod being hinged to the first rotating member and the other connecting rod being hinged to the second rotating member.

[0023] In some embodiments, the drive connection is a universal joint, the distal end of the universal joint is connected to the proximal base plate, the proximal end of the universal joint passes through the second proximal stop plate and is connected to the second proximal stop plate, and the portion of the universal joint located on the proximal side of the second proximal stop plate forms a free end;

[0024] Alternatively, the drive connection is a ball joint, the distal end of which is connected to the proximal base plate, the proximal end of which passes through the second proximal stop plate and is connected to the second proximal stop plate, and the portion of the ball joint located on the proximal side of the second proximal stop plate forms a free end.

[0025] In some embodiments, the system further includes a structural bone guiding tube bundle connected between the proximal base plate and the distal base plate, wherein the distal ends of a plurality of second structural bones pass sequentially through the proximal base plate, the structural bone guiding tube bundle, and the distal base plate and are fixedly connected to the distal stop plate.

[0026] In some embodiments, the proximal continuum 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 and / or the second proximal retaining disc;

[0027] 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.

[0028] In some embodiments, elastic elements are installed between adjacent disks of the proximal continuum and / or between adjacent disks of the distal continuum.

[0029] In some embodiments, through holes for sliding passage of the first and second structural bones are evenly distributed on the first proximal retaining disc, the first proximal stop disc, the second proximal retaining disc, the proximal base disc, the distal base disc, and the distal retaining disc; locking holes for fixing the end of the first structural bone are evenly distributed on the proximal base disc and the second proximal stop disc; and locking holes for fixing the end of the second structural bone are evenly distributed on the first proximal stop disc and the distal stop disc.

[0030] In some embodiments, both the first and second structural bones are made of elastic rods or tubes made of hyperelastic material; the structural bone guide bundle is made of steel tube bundle.

[0031] Additionally, the present invention also provides a surgical robot comprising at least one surgical tool drive transmission system as described in any of the above embodiments.

[0032] In some embodiments, the surgical robot employs two or more of the surgical tools drive transmission systems connected in series or in parallel.

[0033] The present invention adopts the above technical solution and has the following advantages: The surgical tool drive transmission system provided by the present invention only needs to drive the proximal stop disc to move through a drive transmission mechanism, thereby causing the proximal continuum to bend, thereby driving the first proximal stop disc of the proximal continuum to flip, thereby indirectly pushing and pulling the second structural bone, and finally driving the distal continuum to bend arbitrarily in space. This avoids direct pushing and pulling of the drive wire, i.e., the elastic rod. Moreover, when driving a large number of elastic rods, it is not limited by the number of actuators. At the same time, the structure is compact, the principle is simple, and it is easy to implement, thus having high reliability and flexibility. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the proximal continuum and structural bone guide tube bundle of the surgical tool drive transmission system in Embodiment 1 of the present invention;

[0035] Figure 2 This is a schematic diagram of the distal continuum and structural bone guide tube bundle of the surgical tool drive transmission system in Embodiment 1 of the present invention;

[0036] Figure 3 This is a schematic diagram of the drive transmission mechanism in Embodiment 1 of the present invention;

[0037] Figure 4 This is a schematic diagram of the connection between the free end of the drive transmission mechanism and the drive connection part in Embodiment 1 of the present invention;

[0038] Figure 5 This is a schematic diagram of the driven component in Embodiment 1 of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure in Embodiment 2 of the present invention, where the drive connection part is a universal joint;

[0040] Figure 7 This is a schematic diagram of the structure of the drive connection part being a ball joint in Embodiment 2 of the present invention. 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] Example 1

[0043] This embodiment provides a surgical tool drive transmission system, including a flexible continuum structure 100 and a drive transmission mechanism 200;

[0044] The flexible continuum structure 100 includes:

[0045] like Figure 1 As shown, the proximal continuum 1 includes a proximal base plate 4, a first proximal stop plate 7, a second proximal stop plate 8, and a first structural bone 13. The proximal base plate 4, the first proximal stop plate 7, and the second proximal stop plate 8 are arranged at intervals. The proximal ends of multiple first structural bones 13 are fixedly connected to the second proximal stop plate 8, and the distal ends of multiple first structural bones 13 pass through the first proximal stop plate 7 and are fixedly connected to the proximal base plate 4.

[0046] like Figure 2As shown, the distal continuum 3 includes a distal base plate 9, a distal stop plate 11, and second structural bones 12. The distal base plate 9 and the distal stop plate 11 are arranged at intervals, and the distal base plate 9 is adjacent to the proximal base plate 4. 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 sequentially pass through the proximal base plate 4 and the distal base plate 9 and are fixedly connected to the distal stop plate 11; and

[0047] like Figure 4 As shown, the driving connection part has a distal end connected to the proximal base plate 4, and the proximal end of the driving connection part passes through the second proximal stop plate 8 and is connected to the second proximal stop plate 8. The portion of the driving connection part located on the proximal side of the second proximal stop plate 8 forms a free end.

[0048] The drive transmission mechanism 200 includes: a first rotating member, a second rotating member, and a driven member 1409; the first rotating member and the driven member 1409 are hinged to form a first hinge point; the second rotating member and the driven member 1409 are hinged to form a second hinge point; the first rotating member and the second rotating member are hinged to form a third hinge point; the rotation axes of the first rotating member and the second rotating member are perpendicular and intersecting; in the initial position, the rotation axis of the first hinge point coincides with the rotation axis of the second rotating member, and the rotation axis of the second hinge point coincides with the rotation axis of the first rotating member.

[0049] The working principle of this embodiment is as follows:

[0050] The first and second rotating members together drive the driven member 1409 to rotate in space around the unchanging center point of the driving connection. The driven member 1409 drives the free end of the driving connection to rotate, and the proximal continuum 1 generates a dual bending. At the same time, the first proximal stop 7 generates a coordinated flip, which in turn pushes and pulls each structural bone 12 whose end is fixed on the first proximal stop 7, causing the length of each structural bone 12 in the distal continuum 3 to change accordingly. This drives the distal continuum 3 to bend in the opposite direction to the proximal continuum 1, that is, to realize the bending of the distal continuum 3 in different directions in space.

[0051] In this embodiment, preferably, as follows: Figure 3As shown, the first rotating member is fixedly provided with a first connecting rod 1407; the second rotating member is fixedly provided with a second connecting rod 1408; one end of the first connecting rod 1407 is hinged to the driven member 1409, forming a first hinge point; one end of the second connecting rod 1408 is hinged to the driven member 1409, forming a second hinge point; the other end of the first connecting rod 1407 is hinged to the other end of the second connecting rod 1408, forming a third hinge point, which is located on the rotation axis of the first rotating member. It should be understood that the hinges between the first rotating member, the second rotating member, and the driven member 1409 in this invention can also be achieved using other types of connecting members besides the first connecting rod 1407 and the second connecting rod 1408, as long as each hinge point satisfies the above geometric relationship.

[0052] In this embodiment, the first rotating member is configured to rotate under the drive of the first driving member, and the second rotating member is configured to rotate under the drive of the second driving member.

[0053] In this embodiment, the first driving member and the first rotating member may include a cooperating first driving member and a first driven member, with the first driven member fixedly connected to the first connecting rod 1407; the second driving member and the second rotating member may include a cooperating second driving member and a second driven member, with the second driven member fixedly connected to the second connecting rod 1408. It is understood that the first driving member and the second driving member may also be directly motors or other driving members, directly driving the first rotating member and the second rotating member to rotate.

[0054] In this embodiment, preferably, the first driving member and the first rotating member may include a meshing first worm 1404 and a first worm wheel 1403, or a meshing first driving bevel gear and a first bevel gear, with the first worm wheel 1403 or the first bevel gear fixedly connected to the first connecting rod 1407; the second driving member and the second rotating member may include a second worm 1406 and a second worm wheel 1405, or a meshing second driving bevel gear and a second bevel gear, with the second worm wheel 1405 or the second bevel gear fixedly connected to the second connecting rod 1408. By setting two sets of rotary driving mechanisms, the direction of the driven member 1409 can be changed, and the driving torque can be amplified. It is understood that the first driving member and the second driving member can also be driving members such as motors or electric motors, directly driving the first rotating member and the second rotating member to rotate. It should also be understood that the first rotating member and the second rotating member can also be other rotatable members besides worm wheels or gears.

[0055] In this embodiment, preferably, the follower 1409 is hinged to the first rotating member and the second rotating member at a third hinge point to increase the rigidity of the overall movement.

[0056] like Figure 5As shown, in an embodiment, the follower 1409 includes a connecting body 1409-1 connected to the free end of the drive connection portion, and at least two connecting rods 1409-2 extending vertically upward from the connecting body 1409-1. One of the connecting rods 1409-2 is hinged to the first rotating member, and the other connecting rod 1409-2 is hinged to the second rotating member.

[0057] In this embodiment, preferably, the surgical tool drive transmission system further includes a structural bone guide tube bundle 2, which is connected between the proximal base plate 4 and the distal base plate 9. The distal ends of multiple second structural bones 12 pass through the proximal base plate 4, the structural bone guide tube bundle 2, and the distal base plate 9 in sequence and are fixedly connected to the distal stop plate 11.

[0058] In this embodiment, preferably, 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. Each first structural bone 13 passes through the first proximal retaining disc and / or the second proximal retaining disc. Both the first and second proximal retaining discs are used to radially support the first structural bone 13, thereby ensuring that each first structural bone 13 remains parallel during bending deformation and preventing the first structural bone 13 from becoming unstable during bending motion.

[0059] 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 of the second structural bones 12 passes through the second proximal retaining disc and the distal retaining disc 10 in sequence. The second proximal retaining disc and the distal retaining disc 10 are used to radially support the second structural bones 12, so that each of the first structural bones 12 remains parallel during bending deformation, preventing the second structural bones 12 from becoming unstable during bending motion.

[0060] In this embodiment, preferably, elastic units (such as springs, elastic tubes, etc., not shown in the figure) can be installed between two adjacent disks of the proximal continuum 1 and / or between two adjacent disks of the distal continuum 3 to separate the disks.

[0061] In this embodiment, preferably, through holes for sliding passage of the first structural bone 13 and the second structural bone 12 are evenly distributed on the first proximal retaining plate, the first proximal stop plate 7, the second proximal retaining plate, the proximal base plate 4, the distal base plate 9, and the distal retaining plate 10; locking holes for fixing the end of the first structural bone 13 are evenly distributed on the proximal base plate 4 and the second proximal stop plate 8; and locking holes for fixing the end of the second structural bone 12 are evenly distributed on the first proximal stop plate 7 and the distal stop plate 11. The specific positions and number of through holes and locking holes on different plates depend on their relative relationship with the second structural bone 12 and the first structural bone 13.

[0062] In this embodiment, preferably, both the first structural bone 13 and the second structural bone 12 are made of elastic rods or tubes made of hyperelastic materials, and can generally be made of high-strength, high-toughness, and elastic metal materials such as nickel-titanium alloys. Specifically, both the first structural bone 13 and the second structural bone 12 are arranged circumferentially. For example, the first structural bone 13 and the second structural bone 12 can be distributed circumferentially or arranged circumferentially along a rectangle.

[0063] In this embodiment, preferably, the structural bone guiding tube bundle 2 can be a steel tube bundle.

[0064] Example 2

[0065] Compared with Embodiment 1, the main difference in this embodiment is that there are four kinematic connection nodes between the drive connection part, the proximal continuum 1, and the drive transmission mechanism 200: the first connection node refers to the connection relationship between the proximal base plate 4 and the drive connection part; the second connection node refers to the structure of the drive connection part itself; the third connection node refers to the connection relationship between the drive connection part and the second proximal stop plate 8; and the fourth connection node refers to the connection relationship between the free end of the drive connection part and the drive transmission mechanism 200. The structure of the drive connection part itself includes a revolute joint. The first connection node, the third connection node, and the fourth connection node are combined using several of the following four connection methods: cylindrical joint, sliding joint, revolute joint, and fixed connection. The combination of the four connection nodes is set to satisfy the minimum degree of freedom required for the proximal stop plate 7 of the drive proximal continuum 1 to rotate, so that the proximal continuum 1 produces a dual bending, and the first proximal stop plate 7 rotates in tandem with the proximal continuum 1.

[0066] In this embodiment, preferably, the drive connection part can be a universal joint 131 or a ball joint 132. In this case, there are four kinematic connection nodes between the drive connection part, 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 part; the second connection node refers to the structure of the drive connection part itself; the third connection node refers to the connection between the drive connection part and the second proximal stop plate 8; and the fourth connection node refers to the connection between the free end of the drive connection part and the drive transmission mechanism 200. The first, third, and fourth connection nodes can be combined using several of the following four connection methods: cylindrical joint (can rotate and move), sliding joint (can only move), revolute joint (can only rotate), and fixed connection. The combination is designed to achieve the dual bending of the proximal continuum 1 under the drive of the drive transmission mechanism 200, and the coordinated flipping of the first proximal stop plate 7 with the proximal continuum 1. An example of a combination method that can achieve the kinematic flipping of the first proximal stop plate 7 is given below.

[0067] Example 1

[0068] like Figure 6As shown, in this example, the drive connection uses a universal joint 131. There can be one universal joint 131, which can be understood as a revolute joint consisting of two intersecting axes of rotation. The four connection nodes are combined as follows: the first connection node uses a rotary connection, the second connection node uses a universal joint, the third connection node uses a cylindrical joint connection, and the fourth connection node uses a fixed connection. Specifically, the first connection node refers to one end of the universal joint 131 being rotaryly connected to the proximal base plate 4; the second connection node refers to the structure of the universal joint 131 itself; the other end of the universal joint 131 is the free end of the drive connection; the fourth connection node refers to the free end of the universal joint 131 being fixedly connected to the driven member 1409; and the third connection node refers to the outer circular surface of the free end of the universal joint engaging with the second proximal stop plate 8 using a cylindrical joint. Therefore, the second proximal stop plate 8 can slide and rotate relative to the free end. When the free end moves under the drive of the follower 1409, the center point remains unchanged at the center of the universal joint 131. The follower 1409 rotates around the center of the universal joint 131, causing the proximal base plate 4 and the second proximal stop plate 8 to be misaligned, and their axes no longer coincide. Because the two ends of the first structural bone 13 are fixed to the proximal base plate 4 and the second proximal stop plate 8 respectively, it is forced to bend, and the proximal continuum 1 undergoes a dual bending. At the same time, the first proximal stop plate 7 also undergoes a coordinated flipping, thereby pushing and pulling each of the second structural bones 12 whose ends are fixed on the first proximal stop plate 7. Each of the second structural bones 12 that are evenly fixed on the first proximal stop plate 7 is stretched on one side, thereby increasing the length of the corresponding second structural bone 12 in the proximal continuum 1, and compressed on the other side, thereby decreasing the length of the corresponding second structural bone 12 in the proximal continuum 1. However, the total length of each second structural bone 12 remains unchanged, causing a corresponding change in the length of each second structural bone 12 within the distal continuum 3. 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. 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 bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed circumferentially; however, they can also be distributed in the circumferential direction of a rectangle, and can be uniformly or non-uniformly distributed, which is not limited here). In application, the distribution radius of the second structural bone 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 joint connection between the drive connection part 14 and the second proximal stop 8, the second proximal stop 8 and the drive connection part 14 can slide up and down or rotate. This satisfies the parasitic motion (sliding up and down) in the axial direction and the bending motion (rotation) in any direction generated by the proximal continuous 1 during the dual bending. The parasitic motion can prevent the distal continuous 3 from generating axial stretching motion during the bending process, which would cause the cover covering the periphery of the distal continuous 3 to wrinkle or be overstretched, affecting the service life of the cover.

[0069] Alternatively, the four nodes can be combined as follows: the first connecting node is a rotary joint, the second connecting node is a universal joint, the third connecting node is a rotary joint, and the fourth connecting node is a fixed connection. In this case, the free end of the universal joint 131 can rotate freely under the drive of the driven member 1409, the proximal continuous 1 will bend in pairs, and the first proximal stop 7 will rotate in coordination with the proximal continuous 1, thereby achieving the purpose of bending the distal continuous 3.

[0070] Alternatively, the four nodes can be combined as follows: the first connecting node is a fixed connection, the second connecting node is a universal joint, the third connecting node is a fixed connection, and the fourth connecting node is a sliding joint connection, which can also achieve the purpose.

[0071] In summary, in addition to the above implementation methods, the first, third, and fourth connection nodes can also be combined with several of the above connection methods in other ways, and then combined with the structure of the drive connection part itself to form other connection combinations of the above four connection nodes. The difference between the different combinations lies in the number of degrees of freedom in the various implementation forms. Under the premise of achieving the same function, the more degrees of freedom, the better the compliance and flexibility.

[0072] Example 2

[0073] like Figure 7As shown, in this example, the drive connection uses a ball joint 132. A ball joint can be understood as a revolute joint comprising three 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, the third connection node is a cylindrical joint, and the fourth connection node is a fixed connection. Specifically, the first connection node refers to the fixed connection between the base of the ball joint 132 and the proximal base plate 4; the second connection node refers to the structure of the ball joint 132 itself; the fourth connection node refers to the fixed connection between the other end of the ball joint 132 as a free end and the follower 1409; and the third connection node refers to the cylindrical joint between the outer surface of the other end of the ball joint 132 and the second proximal stop plate 8. Therefore, the second proximal stop plate 8 can slide and rotate relative to the free end. The center point remains constant at the center of the ball joint, and the follower 1409 revolves around the ball joint 132. When the center rotates, the free end rotates under the drive of the follower 1409, causing the proximal continuum 1 to undergo a dual bending. The first proximal stop 7 rotates in tandem with the proximal continuum 1, thereby pushing and pulling each structural bone 12 fixed to the first proximal stop 7. Each second structural bone 12, evenly fixed to the first proximal stop 7, experiences tension on one side, increasing the length of the corresponding second structural bone 12 in the proximal continuum 1, and compression on the other side, decreasing the length of the corresponding second structural bone 12 in the proximal continuum 1. However, the total length of each second structural bone 12 remains unchanged, causing a corresponding change in the length of each second structural bone 12 in the distal continuum 3, thereby driving the distal continuum 3 to undergo a bending in the opposite direction to that of the portion of the proximal continuum 1 near the proximal base plate 4. Through the cooperation of the above four nodes, the second proximal stop 8 can slide up and down or rotate relative to the drive connection or the drive connection relative to the driven member 1409, thereby satisfying the parasitic motion (sliding up and down) along the axial direction and the bending motion (rotation) in any direction generated by the proximal continuous 1 during the bending process. The parasitic motion can prevent the distal continuous 3 from generating axial expansion and contraction motion during the bending process, which would cause the cover covering the periphery of the distal continuous 3 to wrinkle or be overstretched, affecting the service life of the cover.

[0074] Alternatively, the four nodes can be combined as follows: the first connecting node is a revolute joint, the second connecting node is a ball joint, the third connecting node is a prismatic joint, and the fourth connecting node is a fixed connection. That is, the first connecting node refers to the revolute joint between the base of the ball joint 132 and the proximal base plate 4; the second connecting node refers to the structure of the ball joint 132 itself; the fourth connecting node refers to the other end of the ball joint 132 as a free end, which is fixedly connected to the follower 1409; and the third connecting node refers to the outer circular surface of the other end of the ball joint 132 and the second proximal stop plate 8 being fitted by a prismatic joint. In this case, the free end can rotate freely under the drive of the follower 1409, the proximal continuum 1 will bend in pairs, and the first proximal stop plate 7 will rotate in coordination with the proximal continuum 1, so as to ultimately achieve the purpose of bending the distal continuum 3.

[0075] Alternatively, the four nodes can be combined as follows: the first connecting node is a fixed connection, the second connecting node is a ball joint, the third connecting node is a rotary connection, and the fourth connecting node is a sliding joint connection, which can also achieve the purpose.

[0076] In summary, in addition to the above combination methods, the first, third, and fourth connection nodes can also be combined in other ways with the above connection methods, and then combined with the structure of the drive connection part itself to form other connection combinations of the above four connection nodes. Under the premise of achieving the same function, the more degrees of freedom, the better the compliance and flexibility.

[0077] 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 continuous 1 in the flexible continuous structure 100 to generate dual bending through the drive transmission mechanism 200, the first proximal stop plate 7 rotates in coordination with the proximal continuous 1, and finally drives the distal continuous 3 to bend arbitrarily in space, overcoming the direct push and pull of the drive wire in the prior art.

[0078] In addition, based on the surgical tool drive transmission system in the above embodiments, this embodiment provides a surgical robot including at least one of the above surgical tool drive transmission systems.

[0079] In this embodiment, preferably, the surgical robot uses two or more of the above-mentioned surgical tool drive transmission systems connected in series or in parallel, thereby increasing the flexibility of the arm.

[0080] This invention is illustrated only with reference to the above embodiments; the structure, location, and connection of each component can vary. Any improvements or equivalent modifications made to individual components based on the principles of this invention should not be excluded from the scope of protection of this invention.

Claims

1. A surgical tool drive transmission system, characterized in that, It includes a flexible continuum structure (100) and a drive transmission mechanism (200); The flexible continuum structure (100) includes: The proximal continuum (1) includes a proximal base plate (4) arranged at intervals, a first proximal stop plate (7) and a second proximal stop plate (8); a first structural bone (13), the proximal ends of multiple first structural bones (13) are fixedly connected to the second proximal stop plate (8), and the distal ends of multiple first structural bones (13) pass through the first proximal stop plate (7) and are fixedly connected to the proximal base plate (4); The distal continuum (3) includes a distal base plate (9) and a distal stop plate (11) arranged at intervals, wherein the distal base plate (9) is adjacent to the proximal base plate (4); a second structural bone (12), wherein the proximal ends of a 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) sequentially pass through the proximal base plate (4) and the distal base plate (9) and are fixedly connected to the distal stop plate (11); and The driving connection part has a distal end connected to the proximal base plate (4), and the proximal end of the driving connection part passes through the second proximal stop plate (8) and is connected to the second proximal stop plate (8). The portion of the driving connection part located on the proximal side of the second proximal stop plate (8) forms a free end. The drive transmission mechanism (200) includes: a first rotating member, a second rotating member, and a driven member (1409); The first rotating member is hinged to the driven member (1409) to form a first hinge point; The second rotating member is hinged to the driven member (1409) to form a second hinge point; The first rotating component is hinged to the second rotating component to form a third hinge point, and the rotation axis of the third hinge point coincides with the rotation axis of the first rotating component. The rotation axes of the first rotating component and the second rotating component are perpendicular to and intersect each other; The driven member (1409) is connected to the free end of the drive connection portion; In the initial position, the rotation axis of the first hinge point coincides with the rotation axis of the second rotating member, and the rotation axis of the second hinge point coincides with the rotation axis of the first rotating member.

2. The surgical tool drive transmission system as described in claim 1, characterized in that: The first rotating member is provided with a first connecting rod (1407); the second rotating member is provided with a second connecting rod (1408); one end of the first connecting rod (1407) is hinged to the driven member (1409) to form the first hinge point; one end of the second connecting rod (1408) is hinged to the driven member (1409) to form the second hinge point; the other end of the first connecting rod (1407) and the other end of the second connecting rod (1408) are hinged to form the third hinge point.

3. The surgical tool drive transmission system as described in claim 2, characterized in that: The first rotating member is configured to rotate under the drive of the first driving member, and the second rotating member is configured to rotate under the drive of the second driving member; the first rotating member is fixedly connected to the first connecting rod (1407); the second rotating member is fixedly connected to the second connecting rod (1408).

4. A surgical tool drive transmission system as described in claim 2 or 3, characterized in that: The first rotating component is a first worm gear (1403) or a first bevel gear, and the first worm gear (1403) or the first bevel gear is fixedly connected to the first connecting rod (1407); The second rotating component is a second worm gear (1405) or a second bevel gear, and the second worm gear (1405) or the second bevel gear is fixedly connected to the second connecting rod (1408).

5. The surgical tool drive transmission system as described in claim 1, characterized in that: The driven member (1409) is hinged to the first rotating member and the second rotating member at the third hinge point.

6. The surgical tool drive transmission system as described in claim 1, characterized in that: The driven member (1409) includes a connecting body (1409-1) connected to the free end of the drive connecting part, and at least two connecting rods (1409-2) extending vertically upward from the connecting body (1409-1). One of the connecting rods (1409-2) is hinged to the first rotating member, and the other connecting rod (1409-2) is hinged to the second rotating member.

7. The surgical tool drive transmission system as described in claim 1, characterized in that: The drive connection part is a universal joint (131). The far end of the universal joint (131) is connected to the proximal base plate (4). The proximal end of the universal joint (131) passes through the second proximal stop plate (8) and is connected to the second proximal stop plate (8). The portion of the universal joint (131) located on the proximal side of the second proximal stop plate (8) forms a free end. Alternatively, the drive connection is a ball joint (132), the distal end of which is connected to the proximal base plate (4), the proximal end of which passes through the second proximal stop plate (8) and is connected to the second proximal stop plate (8), and the portion of the ball joint (132) located on the proximal side of the second proximal stop plate (8) forms a free end.

8. The surgical tool drive transmission system as described in claim 1, characterized in that: It also includes a structural bone guiding tube bundle (2), which is connected between the proximal base plate (4) and the distal base plate (9). The distal ends of multiple second structural bones (12) pass through the proximal base plate (4), the structural bone guiding tube bundle (2), and the distal base plate (9) in sequence and are fixedly connected to the distal stop plate (11).

9. The surgical tool drive transmission system as described in 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), and each of the first structural bones (13) passes through the first proximal retaining disc and / or the second proximal retaining disc; 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.

10. A surgical tool drive transmission system as described in 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).

11. The surgical tool drive transmission system as described in claim 9, characterized in that: Through holes for sliding passage of the first structural bone (13) and the second structural bone (12) are evenly distributed on 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). Locking holes for fixing the end of the first structural bone (13) are evenly distributed on the proximal base disc (4) and the second proximal stop disc (8). Locking holes for fixing the end of the second structural bone (12) are evenly distributed on the first proximal stop disc (7) and the distal stop disc (11).

12. The surgical tool drive transmission system as described in claim 8, characterized in that: The first structural bone (13) and the second structural bone (12) are both made of elastic rods or tubes made of hyperelastic material; the structural bone guide tube bundle (2) is made of steel tube bundle.

13. 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 12.

14. A surgical robot as described in claim 13, 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.

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