Flexible continuum drive transmission, surgical tool drive system, and robot

Abstract

The present application relates to a kind of flexible continuum drive transmission mechanism, surgical tool drive system and robot.The drive transmission mechanism includes rotary mechanism: first rotatable member, can rotate around the rotation center of itself;Second rotatable member, with first rotatable member is overlaid arrangement, can rotate around the rotation center of itself, the rotation center of second rotatable member is coaxial with the rotation center of first rotatable member, is equipped with second sliding guide part;And connection transmission mechanism: moving part, can rotate with the rotation of first rotatable member, the rotation center is not coincident with the rotation center of first rotatable member, is equipped with first sliding guide part;Sliding assembly, simultaneously with first sliding guide part and second sliding guide part sliding connection to simultaneously along first sliding guide part and second sliding guide part sliding, can connect flexible continuum structure.The present application can efficiently and flexibly drive flexible continuum structure to realize bending deformation in space, compact structure, simple principle, easy to realize, high reliability.

Description

Technical Field

[0001] This invention relates to the field of surgical tool technology, specifically to a flexible continuum drive transmission mechanism, a surgical tool drive system, and a robot. 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. The surgical instruments used in minimally invasive procedures, including visual illumination modules and surgical arms, are all 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] Compared to traditional rigid kinematic chains that achieve bending motion by rotating at joints, flexible continuum structures achieve bending deformation of the distal structure through deformation of the proximal structure. The main body of the structure also serves as the transmission structure for the drive, thus enabling extremely high degrees of freedom configuration within a small space. As a result, they are widely used in the research and development of medical devices such as flexible manipulators, endoscopes, and controllable catheters, as well as new special equipment such as industrial deep cavity exploration endoscopes and flexible robotic arms.

[0004] Existing continuum structures generally achieve bending in any direction by directly pushing and pulling the drive wires 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] In view of this, the present invention aims to provide a flexible continuum drive transmission mechanism, a surgical tool drive system and a robot to drive the overall movement of the proximal continuum structure, thereby causing the distal continuum structure to bend and deform, thereby driving the surgical tools and other components to move reliably and flexibly.

[0006] This invention first proposes a flexible continuum drive transmission mechanism, the drive transmission mechanism comprising:

[0007] Slewing mechanism, including

[0008] The first rotatable component is configured to rotate about its own center of rotation;

[0009] The second rotatable member is stacked on top of the first rotatable member and is configured to rotate about its own rotation center. The rotation center of the second rotatable member is coaxial with the rotation center of the first rotatable member. The second rotatable member is provided with a second sliding guide portion.

[0010] Connection and transmission mechanism, including

[0011] A moving part is configured to rotate with the rotation of the first rotatable part, and the rotation center of the moving part does not coincide with the rotation center of the first rotatable part. The moving part is provided with a first sliding guide portion.

[0012] A sliding component, which is slidably connected to both the first sliding guide and the second sliding guide to slide along both the first sliding guide and the second sliding guide simultaneously, is configured to connect a flexible continuous structure.

[0013] According to one embodiment of the present invention, the second rotatable member is arranged overlappingly above the first rotatable member; the first rotatable member is configured to rotate under the drive of the first driving member, and the second rotatable member is configured to rotate under the drive of the second driving member; the moving member is further provided with an engaging portion, the engaging portion being configured to engage with the first rotatable member.

[0014] According to one embodiment of the present invention, the first rotatable member is a first driven gear, the second rotatable member is a second driven gear, the moving member is a connecting rod, the meshing part is a tooth disposed on the outer peripheral surface of the connecting rod, and the first driven gear meshes with the tooth on the outer peripheral surface of the connecting rod so that the connecting rod rotates with the rotation of the first driven gear.

[0015] According to one embodiment of the present invention, the first sliding guide portion is a first slide groove, and the second sliding guide portion is a second slide groove extending perpendicular to the rotation axis of the second rotatable member; the sliding assembly includes a sliding pin, one end of which is movably inserted into the first slide groove of the connecting rod, and the other end of which is movably inserted into the second slide groove of the second driven gear, and the sliding pin is used to connect a flexible continuous structure.

[0016] According to one embodiment of the present invention, the connection and transmission mechanism further includes a rotating shaft, one end of which is fixedly connected to the connecting rod, and the other end of which is rotatably connected relative to the second driven gear.

[0017] According to one embodiment of the present invention, the first sliding guide portion is a first slide rail, and the second sliding guide portion is a second slide rail; the sliding assembly includes a first sliding block, a second sliding block, and a connecting pin, the first sliding block is slidably disposed on the first slide rail, the second sliding block is slidably disposed on the second slide rail, one of the first sliding block and the second sliding block is configured to be movably connected to the connecting pin, and the other of the first sliding block and the second sliding block is configured to be fixedly connected to the connecting pin.

[0018] According to one embodiment of the present invention, the inner circumferential surface of the first driven gear is provided with inner ring teeth, and the teeth on the outer circumferential surface of the connecting rod mesh with the inner ring teeth of the first driven gear; the second driven gear is provided with the second sliding groove along the diameter of the disc surface.

[0019] According to one embodiment of the present invention, the sliding assembly further includes a slide rail and a slider. The slide rail is fixedly disposed on the second driven gear and is arranged parallel to the second slide groove. The slider is fixedly connected to the sliding pin and is slidably disposed on the slide rail.

[0020] The present invention also proposes a surgical tool driving system, including a flexible continuum structure and the driving transmission mechanism, wherein the driving transmission mechanism is configured to drive the flexible continuum structure to move.

[0021] According to one embodiment of the present invention, the flexible continuum structure includes a distal continuum, a proximal continuum, and a driving connection portion connected in sequence. One end of the driving connection portion is connected to the proximal continuum, and the other end is connected to the driving transmission mechanism. The driving transmission mechanism drives the driving connection portion to move, thereby driving the proximal continuum to move. The proximal continuum then drives the distal continuum to bend in space.

[0022] According to one embodiment of the present invention, the proximal continuum includes a proximal base plate and a proximal stop plate spaced apart; the distal continuum includes a distal base plate and a distal stop plate spaced apart; the proximal base plate and the distal base plate are spaced apart, and both the proximal continuum and the distal continuum include structural bone, one end of the structural bone is fixed to the proximal stop plate, passes through the proximal base plate and the distal base plate in sequence, and the other end is fixed to the distal stop plate.

[0023] Preferably, the proximal continuum further includes a proximal retaining disc disposed between the proximal base disc and the proximal stop disc, and the structural bone passes through the proximal retaining disc.

[0024] Preferably, the distal continuum further includes a distal retaining disc disposed between the distal base disc and the distal stop disc, and the structural bone passes through the distal retaining disc.

[0025] Preferably, the flexible continuum structure further includes a duct bundle, one end of which is fixed to the proximal base plate and the other end of which is fixed to the distal base plate, and the structural bone moves through the interior of the duct bundle.

[0026] Preferably, the conduit bundle is a steel tube bundle.

[0027] Preferably, the structural skeleton is a set of elastic rods or tubes arranged circumferentially.

[0028] Preferably, the structural bone is made of a nickel-titanium alloy material.

[0029] According to one embodiment of the present invention, the drive connection part is any one of a universal joint, a ball joint, a hinge joint, or a universal joint-ball joint combination, one end of the drive connection part is connected to the proximal stop plate of the proximal continuum, and the other end is connected to the drive transmission mechanism.

[0030] The present invention also proposes a surgical robot, the robot comprising one or more of the aforementioned surgical tool drive systems. Preferably, the surgical robot employs two surgical tool drive systems connected in series or in parallel. When two surgical tool drive systems are employed, the lengths of the two surgical tool drive systems may be the same or different. Preferably, the lengths of the two surgical tool drive systems are different.

[0031] This invention enables a first rotatable member and / or a second rotatable member to be driven by a driving element such as a motor. The first rotatable member can then drive a moving member to move, which in turn can drive a sliding assembly to move. The sliding assembly can then be confined to a space defined by the first sliding guide and the second sliding guide. Due to the arrangement of the first and second rotatable members, the mechanism can achieve multiple motion modes, allowing the sliding assembly to achieve diverse motion trajectories, thereby enabling the flexible continuous structure to meet different motion requirements.

[0032] This invention can drive the rigid portion of the proximal continuum structure to move, thereby allowing the distal continuum structure to turn in any direction. This avoids direct pushing and pulling of the drive wires, thus eliminating the limitation on the number of drive mechanisms when driving a large number of drive wires. At the same time, this invention has a compact structure, simple principle, and is easy to implement, thus possessing high reliability and flexibility. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a surgical tool driving system in one embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the distal continuum in one embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the overall structure of the drive transmission mechanism in one embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the drive transmission mechanism from another perspective in one embodiment of the present invention;

[0037] Figure 5 This is a partial structural diagram of the drive transmission mechanism in one embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of another partial structure of the drive transmission mechanism in one embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the slider assembly in one embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of a universal joint driven connection in one embodiment of the present invention;

[0041] Figure 9 This is a schematic diagram of a structure in which the driving connection part is a ball joint in one embodiment of the present invention;

[0042] Figure 10 This is a schematic diagram of a structure in which the driving connection part is a hinge joint in one embodiment of the present invention;

[0043] Icon labels:

[0044] 1. Proximal continuum, 2. Duct bundle, 3. Distal continuum, 4. Proximal base plate, 5. Proximal retaining plate, 7. Proximal stop plate, 9. Distal base plate, 10. Distal retaining plate, 11. Distal stop plate, 12. Structural bone, 13. Drive connection, 131. Universal joint, 132. Ball joint, 133. Hinge joint, 14. Drive transmission mechanism, 141. First driving gear, 142. First driven gear, 143. Second driving gear, 144. Second driven gear, 1441. Second slide groove, 145. Sliding pin, 146. Link, 1461. First slide groove, 1462. Outer peripheral surface, 147. Slider, 148. Slide rail, 149. Rotating shaft, A link, B link, C link, D link. Detailed Implementation

[0045] 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.

[0046] The present invention aims to drive the rigid part of the proximal continuum of a flexible continuum structure to rotate by driving the transmission mechanism, thereby causing the entire proximal continuum to bend, avoiding direct pushing and pulling of the structural bone. When driving a large number of structural bones, it is not limited by the number of driving mechanisms, and ultimately drives the distal continuum to bend arbitrarily in space, thereby enabling the surgical tools connected to the distal continuum to operate flexibly.

[0047] like Figure 1 As shown, the drive system of the present invention for surgical tools mainly includes a flexible continuum structure and a drive transmission mechanism, with the lower drive transmission mechanism 14 driving the upper flexible continuum structure to move.

[0048] To achieve the above technical objectives, such as Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, according to one embodiment of the present invention, the drive transmission mechanism proposed by the present invention includes: a rotary mechanism and a connecting transmission mechanism.

[0049] The rotary mechanism includes a first rotatable component that can rotate around its own rotation center; and a second rotatable component that is stacked on top of the first rotatable component and can rotate around its own rotation center. The rotation center of the second rotatable component is coaxial with the rotation center of the first rotatable component, and the second rotatable component is provided with a second sliding guide portion.

[0050] The connecting and transmitting mechanism includes a moving part, which is configured to rotate with the rotation of a first rotatable part, and the rotation center of the moving part does not coincide with the rotation center of the first rotatable part. The moving part is provided with a first sliding guide portion. A sliding assembly is simultaneously slidably connected to the first sliding guide portion and the second sliding guide portion to slide along the first sliding guide portion and the second sliding guide portion at the same time. The sliding assembly can connect a flexible continuous structure.

[0051] The second rotatable member may be arranged overlapping above the first rotatable member. The first rotatable member is configured to rotate under the drive of the first driving member, and the second rotatable member is configured to rotate under the drive of the second driving member. The moving member may also be provided with a meshing part, which is configured to mesh with the first rotatable member.

[0052] Specifically, such as Figure 3 As shown, the first driving member and the first rotatable member can be the first driving gear 141 and the first driven gear 142, respectively. The second driving member and the second rotatable member can be the second driving gear 143 and the second driven gear 144, respectively. The second driven gear 144 is stacked on top of the first driven gear 142. The second sliding guide is a second groove 1441 extending perpendicular to the rotation axis of the second driven gear 144.

[0053] It should be understood that the first driving member and the second driving member can also be directly a motor or electric motor, capable of directly driving the first driven gear 142 and the second driven gear 144 to move. It should also be understood that the first rotatable member and the second rotatable member can also be other rotatable members besides gears.

[0054] According to one embodiment of the present invention, the moving component is a connecting rod 146, one end of which is provided with a first sliding groove 1461, and the outer peripheral surface 1462 of the other end meshes with a first driven gear 142. Specifically, the inner peripheral surface of the first driven gear 142 is provided with inner ring teeth, and the teeth of the outer peripheral surface 1462 of the connecting rod 146 mesh with the inner ring teeth of the first driven gear 142. A second driven gear 144 is provided with a second sliding groove 1441 along the diameter of the disc surface. It should be noted that in other embodiments, the first driven gear 142 may be provided with another gear (not shown in the figure), which rotates coaxially and synchronously with the first driven gear 142, and the teeth of the outer peripheral surface 1462 of the connecting rod 146 mesh with the other gear, so that the connecting rod 146 can also rotate with the rotation of the first driven gear 142.

[0055] It is understood that the first sliding guide portion can be a first slide rail extending perpendicular to the rotation axis of the second driven gear 144, and the second sliding guide portion can be a second slide rail disposed on the connecting rod 146. The sliding assembly may include a first sliding block, a second sliding block, and a connecting pin. The first sliding block is slidably disposed on the first slide rail, and the second sliding block is slidably disposed on the second slide rail. One of the first and second sliding blocks is configured to be movably connected to the connecting pin, and the other of the first and second sliding blocks is configured to be fixedly connected to the connecting pin, thereby allowing the sliding assembly to slide simultaneously along both the first and second slide rails. Although this embodiment is not illustrated, those skilled in the art should be able to understand its implementation based on this description and by referring to other embodiments. It should also be understood that one of the first and second sliding guide portions can be a slide rail, and the sliding assembly may include a corresponding slider that matches the slide rail.

[0056] like Figures 3 to 7 As shown, the sliding assembly may include a sliding pin 145, one end of which movably passes through a first groove 1461 of a connecting rod 146, and the other end of which movably passes through a second groove 1441 of a second driven gear 144. The sliding pin 145 is used to connect a flexible continuous structure. In this embodiment, the first sliding guide portion is the first groove 1461, and the second sliding guide portion is the second groove 1441 extending perpendicular to the rotation axis of the second rotatable member.

[0057] According to one embodiment of the present invention, such as Figure 5 , Figure 6As shown, the connecting transmission mechanism also includes a rotating shaft 149, one end of which is fixedly connected to the connecting rod 146, and the other end is movably inserted in the second driven gear 144 and offset from the rotation center of the second driven gear 144, so that the rotating shaft 149 can rotate relative to the second driven gear 144.

[0058] The above technical solution enables the first driving gear 141 to rotate when driven by a drive element such as a motor. The first driving gear 141 drives the first driven gear 142 to rotate, and the first driven gear 142 drives the connecting rod 146 to move. The connecting rod 146 drives the sliding pin 145 to move, and the sliding pin 145 can be restricted to move within the space jointly defined by the first slide groove 1461 and the second slide groove 1441. Due to the setting of the first rotatable component and the second rotatable component, multiple motion modes can be realized. For example, through the coordinated control of the first rotatable component and the second rotatable component, the sliding pin can realize various motion trajectories, thereby driving the flexible continuous structure to bend in any direction in space.

[0059] To enable the sliding pin to achieve a specific operating trajectory, such as allowing the first driven gear 142 to rotate in the same direction and at the same speed as the second driven gear 144, thereby enabling the sliding pin to achieve circular motion and thus changing the orientation of the bending plane of the flexible continuous structure, according to one embodiment of the present invention, the second driven gear 144 is coaxially arranged with the first driven gear 142, the outer peripheral surface 1462 of the connecting rod 146 meshes with the inner ring teeth of the first driven gear 142, one end of the rotating shaft 149 is fixed to the connecting rod 146, and the other end movably passes through the eccentric position of the second driven gear 144. The rotating shaft 149 can be separate from or integral with the connecting rod 146.

[0060] In order to enable the first driven gear 142 to operate when the second driven gear 144 is not operating, thereby causing the sliding pin to move linearly and thus changing the bending angle of the flexible continuous structure in a certain plane, according to one embodiment of the present invention, since the rotation shaft 149 of the connecting rod 146 is eccentrically set, the second slide groove 1441 and the first slide groove 1461 can intersect no matter which direction the gear rotates, and the sliding pin 145 is located at the intersection of the two. Through the limiting cooperation of the two, the sliding pin 145 moves linearly along the second slide groove 1441.

[0061] According to one embodiment of the present invention, the second driven gear 144 is provided with the second groove 1441 along the diameter of the disk surface.

[0062] In order to guide the movement of the sliding pin 145 and restrict a certain degree of freedom, such as Figure 4 , Figure 5 , Figure 7As shown, according to one embodiment of the present invention, the sliding assembly further includes a slide rail 148 and a slider 147. The slide rail 148 is arranged parallel to the second slide groove 1441, and the slider 147 is connected to the sliding pin 145. The slider 147 is slidably disposed on the slide rail 148. For example, the slider 147 and the slide rail 148 can be in a groove-type fit.

[0063] To utilize the aforementioned drive transmission mechanism to move the proximal continuum structure, thereby enabling the distal continuum structure to turn in any direction, while avoiding direct push-pull of the drive wires, and to avoid being limited by the number of drive mechanisms when driving a large number of drive wires, according to one embodiment of the present invention, such as... Figure 1 , Figure 2 As shown, the flexible continuum structure of the present invention includes a distal continuum 3, a proximal continuum 1 and a driving connection part 13 connected in sequence. One end of the driving connection part 13 is connected to the proximal continuum 1 and the other end is connected to the driving transmission mechanism. The driving transmission mechanism drives the driving connection part 13 to move, thereby driving the proximal continuum 1 to move. The proximal continuum 1 then drives the distal continuum 3 to bend in space.

[0064] According to one embodiment of the present invention, the proximal continuum 1 includes a proximal base plate 4 and a proximal stop plate 7 spaced apart; the distal continuum 3 includes a distal base plate 9 and a distal stop plate 11 spaced apart; the proximal base plate 4 and the distal base plate 9 are spaced apart, and both the proximal continuum 1 and the distal continuum 3 include a structural bone 12, one end of which is fixed to the proximal stop plate 7 and passes through the proximal base plate 4 and the distal base plate 9 in sequence, and the other end is fixed to the distal stop plate 11.

[0065] Preferably, the proximal continuum further includes a proximal retaining disc 5, which is disposed between the proximal base disc 4 and the proximal stop disc 7, and the structural bone 12 passes through the proximal retaining disc 5.

[0066] Preferably, the distal continuum 3 further includes a distal retaining disc 10, which is disposed between the distal base disc 9 and the distal stop disc 11, and the structural bone 12 passes through the distal retaining disc 10.

[0067] The retaining disc is used to guide and support the structural skeleton, preventing it from becoming unstable during bending movements.

[0068] For example, one or more proximal retaining discs 5 and distal retaining discs 10 may be distributed in the proximal continuum 1 and distal continuum 3 to radially support the structural bone 12, so that each structural bone 12 remains parallel during bending deformation.

[0069] Preferably, the flexible continuum structure further includes a duct bundle 2, one end of which is fixed to the proximal base plate 4, and the other end is fixed to the distal base plate 9. The structural bone 12 moves through the interior of the duct bundle 2. The duct bundle 2 is used to guide the structural bone to the desired direction.

[0070] Preferably, the duct bundle 2 is made of steel. Of course, it can also be made of other harder metals.

[0071] Preferably, the structural frame 12 is a set of elastic rods or tubes arranged circumferentially. For example, the structural frame 12 may be distributed circumferentially or arranged circumferentially along a rectangle.

[0072] Preferably, the structural bone 12 is made of a superelastic material, which can generally be made of high-strength, high-toughness, and elastic metal materials such as nickel-titanium alloy.

[0073] Preferably, each retaining plate is provided with through holes for the structural bone 12 to slide through, and the base plate and the stop plate are provided with locking holes for fixing the ends of the structural bone 12. The specific positions and number of through holes and locking holes on different plates depend on the distribution and number of structural bones 12.

[0074] The arrangement of structural bones 12 on each disc can be set as needed, such as circular or square. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the structural bones 12 on each disc of the proximal and distal continuums, respectively. When the structural bones are distributed in a circle, the distribution radius refers to the radius of the circle. In application, the distribution radius of the structural bones in the proximal and distal continuums can be adjusted to meet the actual bending ratio requirements.

[0075] Preferably, elastic units (such as springs, elastic tubes, etc., not shown in the figure) can be installed between each proximal retaining disc 5 and distal retaining disc 10, or between different discs, to separate the discs.

[0076] According to one embodiment of the present invention, such as Figure 1 , Figure 2 As shown, the flexible continuum structure includes: a proximal continuum 1, a duct bundle 2, a distal continuum 3, a drive connection 13, and a drive transmission mechanism 14. The proximal continuum 1 includes a proximal base plate 4, a proximal retaining plate 5, a proximal stop plate 7, and structural bones 12; the distal continuum 3 includes a distal base plate 9, a distal retaining plate 10, and a distal stop plate 11. One end of the duct bundle 2 is fixed to the proximal base plate 4, and the other end is fixed to the distal base plate 9. Each structural bone 12 has one end fixed to the proximal stop plate 7, passes sequentially through the proximal retaining plate 5, the proximal base plate 4, the duct bundle 2, the distal base plate 9, and the distal retaining plate 10, and the other end is fixed to the distal stop plate 11.

[0077] One end of the drive connection part 13 is connected to the proximal base plate 4, and the other end is a free end for connecting to the drive transmission mechanism 14. The drive transmission mechanism 14 drives the drive connection part 13 to move, thereby driving the proximal stop plate 7 to move and flip, realizing the push and pull of the structural bone 12, thereby realizing the bending of the distal continuum 3 in different directions in space.

[0078] In this embodiment, the drive transmission mechanism 14 is a gear slide mechanism. As shown in the figure, the gear slide mechanism is located below the proximal continuous 1 and is used to drive the proximal continuous 1.

[0079] The gear sliding mechanism includes: a first driving gear 141, a first driven gear 142, a second driving gear 143, a second driven gear 144, a sliding pin 145, a connecting rod 146, and a slider 147. The first driven gear 142 and the second driven gear 144 are coaxially arranged and can rotate relative to each other. The first driving gear 141 meshes with the first driven gear 142. One end of the connecting rod 146 has a first sliding groove 1461, and the outer circumferential surface 1462 of the other end is toothed for meshing with the inner ring teeth of the first driven gear 142. A rotating shaft 149 fixedly connected to the connecting rod 146 movably passes through the eccentric position of the second driven gear 144. The second driven gear 144 has a second sliding groove 1441 along the center line of the disc diameter, and a slide rail 148 parallel to the second sliding groove. The slider 147 is slidably arranged on the slide rail 148. The lower part of the sliding pin 145 is slidably arranged in the first sliding groove, and the upper part passes through the first sliding groove and is fixedly connected to the slider 147. The sliding pin 145 passes through the end of the slider 147 for connection with the drive connection portion 13. According to one embodiment of the present invention, the proximal stop 7 of the proximal continuum 1 and the drive connection portion 13 can be fitted with a cylindrical pair, that is, the proximal stop 7 can slide up and down and rotate relative to the drive connection portion 13 to satisfy the sliding and rotational movement of the proximal stop 7 relative to the free end.

[0080] In the above embodiments, the first driving gear and the second driving gear are not necessary. The first driven gear 142 and the second driven gear 144 can be directly used as driving gears for driving.

[0081] Of course, gears can also be set as other rotatable structural components, such as cams or turbines, and correspondingly, the connecting rod is also a driven structure that cooperates with it.

[0082] In the above embodiment, the structure of the rotating shaft 149 can also be of another form. It is only necessary to configure the connecting rod 146 to be able to rotate around its own rotation center, and the rotation center of the connecting rod 146 is through the eccentric position of the second driven gear 144.

[0083] The degree of curvature of the proximal continuum 1 can be adjusted by adjusting the sliding distance of the slider 147 on the slide rail 148 through the connecting rod 146.

[0084] When the first driving gear 141 drives the first driven gear 142 to rotate while the second driven gear 144 remains stationary, the connecting rod 146 meshing with the first driven gear 142 will rotate accordingly, driving the sliding pin 145 to slide in the first slide groove. This drives the slider 147, which is fixedly connected to the sliding pin 145, to move on the slide rail 148 of the second driven gear 144. Simultaneously, the sliding pin 145 is confined to slide in the second slide groove, thereby driving the drive connecting part 13 to move, which in turn drives the proximal stop plate 7 to rotate. Since the proximal stop plate 7 can slide up and down and rotate along the drive connecting part 13, the proximal base plate 4 and the proximal stop plate 7 become misaligned, and their axes no longer coincide. The proximal stop plate 7 then rotates in tandem, thereby pushing and pulling each structural bone 12 whose end is fixed to the proximal stop plate 7. Each structural bone 12, evenly distributed and fixed to the proximal stop plate 7, experiences tension on one side, increasing the length of the corresponding structural bone 12 on the corresponding side of the proximal continuum, and compression on the other side, decreasing the length of the corresponding structural bone 12 on the corresponding side of the proximal continuum 1. Because the total length of each structural bone 12 remains constant, the length of each structural bone 12 within the distal continuum 3 changes accordingly, thereby driving the distal continuum 3 to bend in the opposite direction to the proximal continuum 1.

[0085] When the second driving gear 143 drives the second driven gear 144 to rotate, and the first driving gear 141 drives the first driven gear 142 to rotate, and the second driven gear 144 and the first driven gear 142 rotate simultaneously in the same direction and at the same speed, the position of the slider 147 relative to the second driven gear 144 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), that is, the slider 147 performs circular motion, thereby driving the proximal continuous body 1 to bend in different planes. After the proximal continuous body 1 bends, the push and pull generated on the structural bone 12 is transmitted to the distal continuous body 3, realizing the bending of the distal continuous body 3 in space along different directions.

[0086] The above scheme allows for adjustment of the curvature of the proximal continuum 1 and its bending in different planes by driving the second driven gear 144 and the first driven gear 142 to move in coordination. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding structural bones 12 in each. Thus, by driving the proximal stop 7, bending of the distal continuum 3 in different directions in space is achieved. In application, the distribution radius of the structural bones 12 in both continuums can be adjusted to meet the actual bending ratio requirements.

[0087] Of course, the movement modes of the first and second rotatable components can be adjusted according to different operational needs of the surgical tools, so that the drive transmission system can achieve different movement modes.

[0088] The drive connection 13 can be one of a universal joint, a ball joint, a hinge joint, or a combination of a universal joint and a ball joint. There are six kinematic connection nodes between the drive connection 13, the proximal continuum 1, and the drive transmission mechanism 14, as follows: the first node refers to the connection between the proximal base plate 4 and the drive connection 13; the second node refers to the first structure of the drive connection 13 itself; the third node refers to the connection between the drive connection 13 and the proximal stop plate 7; the fourth node refers to the second structure of the drive connection 13 itself; the fifth node refers to the connection between the first and second structures of the drive connection 13 itself; and the sixth node refers to the connection between the free end of the drive connection 13 and the drive transmission mechanism 14. These six nodes can be combined using several of the following five connection methods: cylindrical joint (can rotate and move), sliding joint (can only move), revolute joint (can only rotate), fixed connection, and the structure itself (universal joint, ball joint, or connecting rod). The combination of these six connection nodes satisfies the minimum degrees of freedom required for the bending of the proximal continuum 1. A universal joint 131 can be understood as including two revolute joints with two intersecting axes of rotation.

[0089] like Figure 8 As shown, this example illustrates the use of a double-joint telescopic universal joint in the drive connection part 13. The double-joint telescopic universal joint consists of two universal joints 131. Taking the following combination of six nodes as an example: the first node is a fixed connection, the second node is a universal joint, the third node is a cylindrical joint connection, the fourth node is a universal joint, the fifth node is a cylindrical joint connection, and the sixth node is a fixed connection. That is, the first and second structures of the drive connection part 13 itself are both universal joints; the second and fourth nodes are both universal joints; and the fifth node refers to the connection between the two universal joints 131 via a cylindrical joint, allowing the two universal joints 131 to move closer or further apart along the axis of the cylindrical joint and to rotate in opposite directions around the axis.

[0090] The first node refers to the fixed connection between one end of the double-joint telescopic universal joint and the proximal base plate 4. The third node refers to the cylindrical fit between the outer circular surface of the double-joint telescopic universal joint and the proximal stop plate 7. The other end of the double-joint telescopic universal joint is the free end. The sixth node refers to the fixed connection between the free end and the slider 147, allowing free movement under the drive of the slider 147. Because of the telescopic nature of the double-joint telescopic universal joint, the distance between the free end and the proximal base plate 4 remains constant in the height direction during movement. When the axis of the double-joint telescopic universal joint forms an angle with the vertical direction, it causes the proximal stop plate 7 of the proximal continuous body 1 to rotate in tandem, pushing and pulling each structural bone 12 fixed to the proximal stop plate 7. This causes a corresponding change in the length of each structural bone 12 in the distal continuous body 3, thereby driving the distal continuous body 3 to bend in the opposite direction to the proximal continuous body 1. The bending ratio of the two is inversely proportional to the distribution radius of the corresponding structural bone 12 in each of the two. In application, the distribution radius of the structural ribs 12 between the two can be adjusted to meet the actual bending ratio requirements. Through the cooperation of the above six nodes, the proximal stop 7 can slide up and down or rotate relative to the drive connection 13 or the drive connection 13 relative to the drive transmission mechanism 14, thereby satisfying the parasitic motion of sliding along the axial direction and bending motion in any direction generated by the proximal continuum 1 during bending. This parasitic motion can prevent the distal continuum 3 from generating axial expansion and contraction motion during bending, which would cause the cover covering the periphery of the distal continuum 3 to wrinkle or be overstretched, affecting the service life of the cover.

[0091] Similarly, when the drive connection 13 uses two universal joints, the six nodes can also be combined as follows: the first node is a fixed connection, the second node is a universal joint, the third node is a sliding joint connection, the fourth node is a universal joint, the fifth node is a sliding joint connection, and the sixth node is a rotary joint. In this case, the free end can move freely under the drive of the slider 147, so as to achieve the purpose of bending the distal continuous body 3.

[0092] Similarly, when the drive connection part 13 uses two universal joints, the six nodes can also be combined as follows: the first node is connected by a sliding joint, the second node is connected by a universal joint, the third node is connected by a sliding joint, the fourth node is connected by a universal joint, the fifth node is connected by a fixed connection, and the sixth node is connected by a rotary joint, which can also achieve the purpose.

[0093] In addition, one of the two universal joints mentioned above can be replaced with a ball joint, which can also achieve the same result.

[0094] In summary, in addition to the above implementation methods, the six nodes can also be combined in other ways using several of the above connection methods. Under the premise of achieving the same function, the more degrees of freedom, the better the compliance and flexibility.

[0095] In addition, such as Figure 9 As shown, the two universal joints in the drive connection 13 can be replaced with two ball joints 132. A ball joint 132 can be understood as a revolute joint comprising three intersecting axes. In this case, the six nodes can be combined as follows: the first node is fixed, the second node is a ball joint, the third node is a cylindrical joint, the fourth node is a ball joint, the fifth node is a cylindrical joint, and the sixth node is fixed. That is, the proximal base plate 4 is fixed to the base of one ball joint 132, the base of the other ball joint 132 serves as the free end, and the two ball joints 132 are coupled by a cylindrical joint, allowing the two ball joints 132 to move closer or further apart along the axis of the cylindrical joint.

[0096] The outer cylindrical surface of the cylindrical joint between the two ball joints 132 is fitted with the proximal stop plate 7 via a cylindrical joint, and the free end is fixedly connected to the slider 147 of the drive transmission mechanism 14. When the free end moves, because the two ball joints 132 can move closer or further away along the axis of the cylindrical joint, the relationship that the distance between the free end and the proximal base plate 4 remains constant in the height direction is satisfied during the movement of the free end of the ball joint 132. When there is an angle between the axis direction between the two ball joints 132 and the vertical direction, the proximal stop plate 7 of the proximal continuum 1 is driven to rotate in a coordinated manner, which pushes and pulls the structural bones 12 fixed to the proximal stop plate 7 at the end, thereby driving the distal continuum 3 to bend in the opposite direction to the part of the proximal continuum 1 that is close to the proximal base plate 4, thereby realizing the bending of the distal continuum 3 in different directions in space.

[0097] Similarly, when the drive connection 13 uses two ball joints 132, the six nodes can also be combined as follows: the first node is a fixed connection, the second node is a ball joint, the third node is a cylindrical joint connection, the fourth node is a ball joint, the fifth node is a fixed connection, and the sixth node is a sliding joint. In this case, the free end can move freely under the drive of the output shaft 146, so as to achieve the purpose of bending the distal continuum 3. Through the cooperation of the above six nodes, the proximal stop 7 can slide up and down or rotate relative to the drive connection 13 or the drive connection 13 relative to the drive transmission mechanism 14. (Sliding up and down) This satisfies the parasitic motion (which can be understood as a small-amplitude following) that the proximal continuum 1 produces along the axial direction during bending, as well as bending motion in any direction. (Rotation) Parasitic motion can prevent the distal continuum 3 from producing axial stretching motion during bending. Stretching motion will cause the cover covering the periphery of the distal continuum 3 to wrinkle or be overstretched, affecting the service life of the cover.

[0098] Similarly, when the drive connection part 13 adopts two ball joints 132, the six nodes can also be combined as follows: the first node adopts a fixed connection, the second node adopts a ball joint, the third node adopts a sliding joint connection, the fourth node adopts a ball joint, the fifth node adopts a rotary joint, and the sixth node adopts a sliding joint, which can also achieve the purpose.

[0099] In summary, in addition to the above implementation methods, the above six nodes can also be combined in other ways using several of the above connection methods.

[0100] Similarly, such as Figure 10As shown, the drive connection 13 can replace the double-section telescopic universal joint or ball joint with a hinge joint 133. In this case, the six nodes can be combined as follows: the first node uses a revolute joint, the second node uses a revolute joint, the third node uses a cylindrical joint, the fourth node uses a revolute joint, the fifth node uses a cylindrical joint, and the sixth node uses a fixed connection. That is, link A can rotate around its own long axis in the proximal base plate 4 and is hinged to link B at the other end. Link B is connected to link C at the other end using a cylindrical joint, and link C is hinged to link D at the other end. The other end of link D is used as the free end, which is fixedly connected to the slider 147. The outer circular surface of link C is connected to the proximal stop plate 7 using a cylindrical joint. By driving the free end of link D, because link C can move closer or further away along the axis of the cylindrical joint, the relationship that the distance between the free end of link D and the proximal base plate 4 remains constant in the height direction is satisfied during the movement of the free end. When the axial direction between the connecting rods forms an angle with the vertical direction, it causes the proximal stop plate 7 of the proximal continuous 1 to rotate in tandem, pushing and pulling each structural bone 12 fixed to the proximal stop plate 7. This drives the distal continuous 3 to bend in the opposite direction to the part of the proximal continuous 1 near the proximal base plate 4, thus enabling the distal continuous 3 to bend in different directions in space. Through the cooperation of the above six nodes, the proximal stop plate 7 can slide up and down or rotate relative to the drive connection part 13 or the drive connection part 13 relative to the drive transmission mechanism 14, thereby satisfying the parasitic motion of the proximal continuous 1 sliding along the axial direction during bending, as well as bending motion in any direction.

[0101] Similarly, when the drive connection part 13 adopts a hinge joint 133, the six nodes can also be combined as follows: the first node is connected by a revolute joint, the second node is connected by a revolute joint, the third node is connected by a cylindrical joint, the fourth node is connected by a revolute joint, the fifth node is connected by a cylindrical joint, and the sixth node is connected by a revolute joint, which can also achieve the purpose. In summary, in addition to the above implementation methods, the above six nodes can also adopt several of the above connection methods in other combinations.

[0102] This invention also proposes a surgical robot, comprising one or more of the aforementioned surgical tool drive systems. Preferably, the surgical robot employs two of the aforementioned surgical tool drive systems connected in series or parallel, thereby increasing the flexibility of the arm. Of course, the surgical tool drive system can be connected to surgical tools, or other instruments that need to be operated.

[0103] Taking two surgical tool drive transmission systems connected in parallel as an example, the two surgical tool drive transmission systems are arranged side by side on the support. Two proximal base plates 4 are fixedly connected to the support. One end of the catheter bundle 2 is fixedly connected to the proximal base plate 7 of the proximal continuum 1, and the other end passes through the support in sequence. This other end is fixed at the distal stop plate 9 and bound into a ring shape. The lengths of the distal continuum 3 of the two systems can be the same or different. Preferably, the lengths of the distal continuum 3 of the two systems are different. The drive transmission mechanism 14 on both sides drives the drive connection part 13 to move, thereby driving the proximal continuum 1 on both sides to move, thereby realizing the bending of the distal continuum 3, thereby increasing the degree of freedom of the distal end, and thus increasing the flexibility of the surgical robot.

[0104] The embodiments of the present invention only require a single driving mechanism to move the driving connection part 13, thereby driving the proximal stop plate 7 of the proximal continuous body 1 to rotate, thereby causing the proximal continuous body 1 to bend, and ultimately driving the distal continuous body 3 to bend arbitrarily in space. This avoids direct pushing and pulling of the driving wire, and is not limited by the number of driving transmission mechanisms when driving a large number of structural bones. At the same time, the structure is compact, the principle is simple, and it is easy to implement, thus having high reliability and flexibility.

[0105] The drive transmission mechanism of this invention is simple to operate and has a compact structure. It can realize multiple motion modes, thereby enabling reasonable and diverse operation of surgical tools and ensuring the reliability and flexibility of the system.

[0106] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] In this invention, the end closer to the operator is defined as the proximal end or the posterior end, and the end closer to the surgical patient is defined as the distal end or the anterior end.

[0108] The above embodiments are only used to illustrate the present invention. The components and devices in these embodiments can be varied, and the implementation methods can be combined or omitted as needed. Not all components in the accompanying drawings are necessary. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not limited to the embodiments described herein. Any equivalent modifications and improvements made based on the technical solutions of this invention should not be excluded from the protection scope of this invention.

Claims

1. A flexible continuous drive transmission mechanism, characterized in that, The drive transmission mechanism includes: Slewing mechanism, including The first rotatable component is configured to rotate about its own center of rotation; A second rotatable member is stacked on top of the first rotatable member and is configured to rotate about its own rotation center. The rotation center of the second rotatable member is coaxial with the rotation center of the first rotatable member. The second rotatable member is provided with a second sliding guide portion. The second sliding guide portion extends along a rotation axis perpendicular to the second rotatable member. Connection and transmission mechanism, including A moving component is configured to rotate with the rotation of the first rotatable component, and the rotation center of the moving component does not coincide with the rotation center of the first rotatable component. The moving component is provided with a first sliding guide portion; the first sliding guide portion extends along a rotation axis perpendicular to the second rotatable component. A sliding component, which is slidably connected to both the first sliding guide and the second sliding guide to slide along both the first sliding guide and the second sliding guide simultaneously, is configured to connect a flexible continuous structure.

2. The flexible continuum drive transmission mechanism according to claim 1, characterized in that, The second rotatable component is arranged overlapping the first rotatable component above it; The first rotatable member is configured to rotate under the drive of the first driving member, and the second rotatable member is configured to rotate under the drive of the second driving member; The moving part is further provided with a meshing part, which is configured to mesh with the first rotatable part.

3. The flexible continuum drive transmission mechanism according to claim 2, characterized in that, The first rotatable component is a first driven gear (142), the second rotatable component is a second driven gear (144), the moving component is a connecting rod (146), and the meshing part is a tooth provided on the outer peripheral surface of the connecting rod (146). The first driven gear (142) meshes with the tooth on the outer peripheral surface of the connecting rod (146) so that the connecting rod (146) rotates with the rotation of the first driven gear (142).

4. The flexible continuum drive transmission mechanism according to claim 3, characterized in that, The first sliding guide is a first slide groove (1461), and the second sliding guide is a second slide groove (1441) extending perpendicular to the rotation axis of the second rotatable member. The sliding assembly includes a sliding pin (145), one end of which is movably inserted into the first groove (1461) of the connecting rod (146), and the other end is movably inserted into the second groove (1441) of the second driven gear (144). The sliding pin (145) is used to connect the flexible continuum structure.

5. The flexible continuum drive transmission mechanism according to claim 3, characterized in that, The connection and transmission mechanism also includes a rotating shaft (149), one end of which is fixedly connected to the connecting rod (146), and the other end is rotatably connected relative to the second driven gear (144).

6. The flexible continuum drive transmission mechanism according to claim 3, characterized in that, The first sliding guide portion is a first slide rail, and the second sliding guide portion is a second slide rail; The sliding assembly includes a first sliding block, a second sliding block, and a connecting pin. The first sliding block is slidably disposed on the first slide rail, and the second sliding block is slidably disposed on the second slide rail. One of the first sliding block and the second sliding block is configured to be movably connected to the connecting pin, and the other of the first sliding block and the second sliding block is configured to be fixedly connected to the connecting pin.

7. The flexible continuum drive transmission mechanism according to claim 4, characterized in that, The inner circumferential surface of the first driven gear (142) is provided with inner ring teeth, and the teeth of the outer circumferential surface (1462) of the connecting rod (146) mesh with the inner ring teeth of the first driven gear (142); the second driven gear (144) is provided with the second sliding groove (1441) along the diameter of the disc surface.

8. The flexible continuum drive transmission mechanism according to claim 4, characterized in that, The sliding assembly further includes a slide rail (148) and a slider (147). The slide rail (148) is fixedly mounted on the second driven gear (144) and is parallel to the second slide groove (1441). The slider (147) is fixedly connected to the sliding pin (145) and is slidably mounted on the slide rail (148).

9. A surgical tool driving system, characterized in that, It includes a flexible continuum structure and a drive transmission mechanism as described in any one of claims 1 to 8, wherein the drive transmission mechanism is configured to drive the flexible continuum structure to move.

10. The surgical tool driving system according to claim 9, characterized in that, The flexible continuum structure includes a distal continuum (3), a proximal continuum (1), and a drive connection part (13) connected in sequence. One end of the drive connection part (13) is connected to the proximal continuum (1), and the other end is connected to the drive transmission mechanism. The drive transmission mechanism drives the drive connection part (13) to move, thereby driving the proximal continuum (1) to move. The proximal continuum (1) in turn drives the distal continuum (3) to bend in space.

11. The surgical tool driving system according to claim 10, characterized in that, The proximal continuum (1) includes a proximal base plate (4) and a proximal stop plate (7) spaced apart; the distal continuum (3) includes a distal base plate (9) and a distal stop plate (11) spaced apart; the proximal base plate (4) and the distal base plate (9) are spaced apart, and both the proximal continuum (1) and the distal continuum (3) include a structural bone (12), one end of which is fixed to the proximal stop plate (7), passes through the proximal base plate (4) and the distal base plate (9) in sequence, and the other end is fixed to the distal stop plate (11).

12. The surgical tool driving system according to claim 11, characterized in that, The proximal continuum (1) further includes a proximal retaining disc (5) disposed between the proximal base disc (4) and the proximal stop disc (7), and the structural bone (12) passes through the proximal retaining disc (5).

13. The surgical tool driving system according to claim 11, characterized in that, The distal continuum (3) further includes a distal retaining disc (10) disposed between the distal base disc (9) and the distal stop disc (11), and the structural bone (12) passes through the distal retaining disc (10).

14. The surgical tool driving system according to claim 11, characterized in that, The flexible continuum structure also includes a duct bundle (2), one end of which is fixed to the proximal base plate (4) and the other end is fixed to the distal base plate (9), and the structural bone (12) moves through the interior of the duct bundle (2).

15. The surgical tool driving system according to claim 14, characterized in that, The duct bundle (2) is a steel tube bundle.

16. The surgical tool driving system according to claim 11, characterized in that, The structural skeleton (12) is a set of elastic rods or tubes arranged circumferentially.

17. The surgical tool driving system according to claim 11, characterized in that, The structural bone (12) is made of nickel-titanium alloy material.

18. The surgical tool driving system according to any one of claims 10 to 17, characterized in that, The drive connection part (13) is any one of a universal joint (131), a ball joint (132), a hinge joint (133), or a universal joint-ball joint combination. One end of the drive connection part (13) is connected to the proximal stop (7) of the proximal continuum (1), and the other end is connected to the drive transmission mechanism.

19. A surgical robot, characterized in that, The robot includes one or more surgical tool drive systems as described in any one of claims 9 to 18.

20. The surgical robot according to claim 19, characterized in that, The surgical robot employs two surgical tool drive systems connected in series or in parallel; when two surgical tool drive systems are employed, the lengths of the two surgical tool drive systems may be the same or different.

21. The surgical robot according to claim 20, characterized in that, The two surgical tool drive systems are of different lengths.

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