Surgical tool drive system and surgical robot

Abstract

The present application relates to a kind of surgical tool driving system and surgical robot. Driving system includes flexible continuum structure and drive transmission mechanism, flexible continuum structure includes: proximal continuum 1, first structural skeleton 13, second structural skeleton 12, distal continuum 3;Drive transmission mechanism 14 includes: slewing gear, including first rotatable member, second rotatable member, the rotation center of second rotatable member and the rotation center of first rotatable member rotatable member coaxial, with second sliding guide part;Connection transmission mechanism, including moving part, can rotate with the rotation of first rotatable member, the rotation center and the rotation center of first rotatable member do not coincide, with first sliding guide part;Sliding assembly, with first sliding guide part and second sliding guide part sliding connection, can be movably connected with proximal continuum.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] The present application relates to the technical field of surgical tools, in particular to a surgical tool driving system and a surgical robot. BACKGROUND

[0002] Minimally invasive surgery has a smaller trauma to patients and a higher postoperative output, and has occupied an important position in surgical operations. The surgical tools used in minimally invasive surgery, including surgical instruments such as visual illumination modules and surgical operation arms, all enter the human body through incisions or natural cavities to reach the operation site for surgery. The distal end structure of the existing surgical instrument is mainly a series of articulated joints of multiple rods, which is driven by steel wire tension to make the surgical instrument bend at the articulated joint. Since the steel wire must be kept in a state of continuous tension by a pulley, this driving method is difficult to further miniaturize the surgical instrument and difficult to further improve the motion performance of the instrument.

[0003] Compared with the traditional rigid kinematic chain which realizes bending motion by rotating at the joint, the flexible continuum structure realizes the bending deformation of the distal end structure by the deformation of the proximal end structure, and the structure main body simultaneously becomes the transmission structure of driving, so it can realize a very high degree of freedom configuration in a small size space, and is widely used in medical instruments such as flexible operation arms, endoscopes, controllable catheters, and new special equipment such as industrial deep cavity detection endoscopes and flexible mechanical arms.

[0004] The existing continuum structure generally directly pushes and pulls the driving wire in the continuum structure through the driving mechanism to realize the bending of the continuum structure in any direction, but as the requirements for the continuum structure become more stringent in terms of high precision, fast response, high bending flexibility and good stability, the existing driving transmission structure has gradually failed to meet the requirements of the existing driving method, and the existing driving method is to directly push and pull the driving wire to move, so when the number of driving wires is large, the number of driving mechanisms will also increase, making the structure complex. SUMMARY

[0005] Therefore, the present application aims to provide a surgical tool driving system and a surgical robot to drive the overall motion of the proximal continuum structure, so that the distal continuum structure bends and deforms, and then drives the reliable and flexible motion of the surgical tool and other components.

[0006] The present application first proposes a surgical tool driving system, which comprises a flexible continuum structure and a driving transmission mechanism, the driving transmission mechanism drives the motion of the flexible continuum structure, wherein,

[0007] The flexible continuum structure comprises:

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

[0009] a first structural bone, a plurality of proximal ends of the first structural bone being fixedly connected with the first proximal end stop disc, and a plurality of distal ends of the first structural bone penetrating through the first proximal end stop disc and being fixedly connected with the proximal base disc;

[0010] a distal continuum comprising a distal base disc and a distal end stop disc, the distal base disc being adjacent to the proximal base disc;

[0011] a second structural bone, a plurality of proximal ends of the second structural bone being fixedly connected with the first proximal end stop disc, and a plurality of distal ends of the second structural bone penetrating through the proximal base disc and the distal base disc and being fixedly connected with the distal end stop disc;

[0012] the driving transmission mechanism comprises:

[0013] a rotation mechanism comprising

[0014] a first rotatable member configured to rotate around its own rotation center;

[0015] a second rotatable member arranged above the first rotatable member and configured to rotate around its own rotation center, the rotation center of the second rotatable member being coaxial with the rotation center of the first rotatable member, and the second rotatable member being provided with a second sliding guide part;

[0016] a connecting transmission mechanism comprising

[0017] a moving member arranged to rotate with the first rotatable member, and the rotation center of the moving member being different from the rotation center of the first rotatable member, and the moving member being provided with a first sliding guide part;

[0018] a sliding assembly, the sliding assembly being in sliding connection with the first sliding guide part and the second sliding guide part to simultaneously slide along the first sliding guide part and the second sliding guide part, and the sliding assembly being arranged to be in movable connection with the second proximal end stop disc to enable the sliding assembly to axially slide and / or rotate relative to the second proximal end stop disc.

[0019] According to an embodiment of the present application, the second rotatable member is arranged above the first rotatable member, the first rotatable member is arranged to rotate under the drive of a first driving member, the second rotatable member is arranged to rotate under the drive of a second driving member, and the moving member is further provided with an engaging part arranged to engage with the first rotatable member.

[0020] According to an embodiment of the present application, 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, and the engaging portion is a tooth provided on the outer circumferential surface of the connecting rod.

[0021] According to an embodiment of the present application, the first sliding guide portion is a first sliding groove, and the second sliding guide portion is a second sliding groove extending perpendicularly to the rotation axis of the second rotatable member; the sliding assembly comprises a sliding pin, one end of the sliding pin movably penetrating the first sliding groove of the connecting rod, and the other end movably penetrating the second sliding groove of the second driven gear, and the sliding pin is used for connecting the flexible continuum structure.

[0022] According to an embodiment of the present application, the connecting transmission mechanism further comprises a rotating shaft, one end of the rotating shaft is fixedly connected with the connecting rod, and the other end of the rotating shaft is rotatably connected with the second driven gear.

[0023] According to an embodiment of the present application, the first sliding guide portion is a first sliding rail, and the second sliding guide portion is a second sliding rail.

[0024] The sliding assembly comprises a first sliding block, a second sliding block and a connecting pin, the first sliding block is slidably arranged on the first sliding rail, the second sliding block is slidably arranged on the second sliding rail, one of the first sliding block and the second sliding block is movably connected with the connecting pin, and the other of the first sliding block and the second sliding block is fixedly connected with the connecting pin.

[0025] According to an embodiment of the present application, the inner circumferential surface of the first driven gear is provided with an inner ring tooth, and the tooth on the outer circumferential surface of the connecting rod is engaged with the inner ring tooth of the first driven gear; the second sliding groove is arranged along the diameter position of the disc surface of the second driven gear.

[0026] According to an embodiment of the present application, the sliding assembly further comprises a sliding rail and a sliding block, the sliding rail is fixedly arranged on the second driven gear and arranged in parallel with the second sliding groove, the sliding block is fixedly connected with the sliding pin, and the sliding block is slidably arranged on the sliding rail.

[0027] According to an embodiment of the present application, the proximal continuum further comprises a proximal holding disc, the proximal holding disc is arranged between the proximal base disc and a proximal stop disc, and the structural bone passes through the proximal holding disc.

[0028] Preferably, the distal continuum further comprises a distal holding disc, the distal holding disc is arranged between the distal base disc and a distal stop disc, and the structural bone passes through the distal holding disc.

[0029] Preferably, the flexible continuum structure further comprises a bundle of conduits, 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 skeleton moves through the interior of the bundle of conduits.

[0030] Preferably, the bundle of conduits is a bundle of steel pipes.

[0031] Preferably, the structural skeleton is a set of elastic rods or pipes arranged in a circumferential direction.

[0032] The present application further provides a surgical robot, which comprises at least one surgical tool driving system.

[0033] According to an embodiment of the present application, the surgical robot adopts two surgical tool driving systems in series or in parallel;

[0034] Preferably, the two surgical tool driving systems are arranged on a support in a top-and-bottom manner, and the proximal base plates of the two flexible continuum structures are fixedly connected to the support respectively or directly form part of the support; the proximal end of the bundle of conduits of the lower surgical tool driving system is fixedly connected to the proximal base plate of the proximal continuum of the lower surgical tool driving system, and the distal end of the bundle of conduits is sequentially arranged in a circumferential direction through the support, the distal end of the proximal base plate and the bundle of conduits of the upper surgical tool driving system together at the distal base plate and is bundled into a cluster, and the distal base plate is fixedly connected to the support respectively or directly forms part of the support.

[0035] Preferably, the lengths of the two surgical tool driving systems are the same or different.

[0036] The present application enables the first rotatable member and / or the second rotatable member to be driven by a driving element such as a motor, the first rotatable member in turn drives the moving member to move, the moving member in turn drives the sliding assembly to move, the sliding assembly in turn is limited to move in the space defined by the first sliding guide part and the second sliding guide part, and the arrangement of the first rotatable member and the second rotatable member enables the mechanism to realize multiple movement modes and enables the sliding assembly to realize various movement trajectories, thereby driving the flexible continuum structure to realize different movement requirements.

[0037] The present application enables the flexible continuum structure to be driven by the surgical tool driving system to move, thereby driving the surgical tool to perform required actions.

[0038] Further, the present application enables the proximal continuum of the flexible continuum structure to be driven by the surgical tool driving system to perform a dual bending movement, thereby driving the distal continuum to bend and realize a specific movement trajectory.

[0039] The embodiment of the present application only needs to drive one proximal end stop disc to move through one driving mechanism, so as to drive the proximal end continuum to bend, and then drive another proximal end stop disc of the proximal end continuum to overturn, so as to indirectly push and pull the structural bones, and finally drive the distal end continuum to bend in space at will, avoiding direct push and pull of the driving wire, and when the number of the structural bones to be driven is large, the number of the driving mechanisms is not limited, and the structure is compact, the principle is simple, and the embodiment is easy to realize, so that the embodiment has high reliability and flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 FIG. 1 is a structural schematic diagram of a surgical tool driving system (without a distal end continuum) in an embodiment of the present application;

[0041] Figure 2 FIG. 2 is a structural schematic diagram of a distal end continuum in an embodiment of the present application;

[0042] Figure 3 FIG. 3 is a structural schematic diagram of a driving transmission mechanism in an embodiment of the present application;

[0043] Figure 4 FIG. 4 is a structural schematic diagram of a driving transmission mechanism in an embodiment of the present application;

[0044] Figure 5 FIG. 5 is another structural schematic diagram of a driving transmission mechanism in an embodiment of the present application;

[0045] Figure 6 FIG. 6 is a structural schematic diagram of a sliding block assembly in an embodiment of the present application;

[0046] Figure 7 FIG. 7 is a structural schematic diagram of a surgical tool driving system in series in an embodiment of the present application;

[0047] Figure 8 FIG. 8 is another structural schematic diagram of a surgical tool driving system in series in an embodiment of the present application;

[0048] Figure 9 FIG. 9 is a structural schematic diagram of a linear feeding assembly in an embodiment of the present application;

[0049] BRIEF DESCRIPTION OF DRAWINGS

[0050] 1 proximal continuum, 2 catheter bundle, 3 distal continuum, 4 proximal base disc, 7 first proximal stop disc, 8 second proximal stop disc, 9 distal base disc, 10 holding disc, 11 distal stop disc, 12 structural bone, 13 structural bone, 14 drive transmission mechanism, 141 first driving gear, 142 first driven gear, 143 second driving gear, 144 second driven gear, 1441 second sliding groove, 145 sliding pin, 146 connecting rod, 1461 first sliding groove, 1462 outer peripheral surface, 147 sliding block, 148 sliding rail, 149 rotating shaft, 15 support, 16 linear feed assembly, 161 guide rod, 162 screw rod, 163 sliding block, 164 screw rod nut. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present application will be described in detail with reference to the drawings, so that the objects, features and advantages of the present application can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present application, but merely to illustrate the essential spirit of the technical solutions of the present application.

[0052] The present application aims to drive the rigid part of the proximal continuum of the flexible continuum structure by the drive transmission mechanism to overturn, so as to drive the whole proximal continuum to bend, avoid direct pushing and pulling of the structural bone, and drive a large number of structural bones without being limited by the number of drive mechanisms, and finally drive the distal continuum to bend in space, so as to drive the surgical tool connected with the distal continuum to operate flexibly.

[0053] As shown in Figure 1 The driving system of the surgical tool of the present application mainly includes a flexible continuum structure and a drive transmission mechanism, and the drive transmission mechanism 14 at the lower end drives the flexible continuum structure at the upper part to move.

[0054] The flexible continuum structure includes: a proximal continuum 1, including a proximal base disc 4, a first proximal stop disc 7 and a second proximal stop disc 8, which are arranged at intervals; a first structural bone 13, the proximal ends of a plurality of first structural bones 13 are fixedly connected with the second proximal stop disc 8, and the distal ends of the plurality of first structural bones 13 pass through the first proximal stop disc 7 and are fixedly connected with the proximal base disc 4; a distal continuum 3, including a distal base disc 9 and a distal stop disc 11, which are arranged at intervals, and the distal base disc 9 is adjacent to the proximal base disc 4; a second structural bone 12, the proximal ends of a plurality of second structural bones 12 are fixedly connected with the first proximal stop disc 7, and the distal ends of the plurality of second structural bones 12 pass through the proximal base disc 4, the distal base disc 9 and are fixedly connected with the distal stop disc 11.

[0055] The drive mechanism drives the proximal continuum 1 to produce bending movement, and further drives the distal continuum 3 to produce bending movement opposite to the proximal continuum 1 in the bending state of the proximal continuum 1, and further drives the surgical tool to move.

[0056] To achieve the above technical purposes, as shown in Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 According to an embodiment of the present application, the driving transmission mechanism 14 comprises a rotating mechanism and a connecting transmission mechanism. The rotating mechanism comprises a first rotatable member which can rotate around its rotation center. A second rotatable member is arranged above the first rotatable member and can rotate around its 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 part. The connecting transmission mechanism comprises a moving member which can rotate with the first rotatable member and whose rotation center is not coincident with the rotation center of the first rotatable member. The moving member is provided with a first sliding guide part. A sliding assembly is in sliding connection with the first sliding guide part and the second sliding guide part to slide along the first sliding guide part and the second sliding guide part simultaneously. The sliding assembly can be connected with a flexible continuum structure. The second rotatable member is arranged above the first rotatable member. The first rotatable member is arranged to be driven to rotate by a first driving member. The second rotatable member is arranged to be driven to rotate by a second driving member. The moving member is further provided with an engaging part which is arranged to engage with the first rotatable member.

[0057] Specifically, the first driving member and the first rotatable member can be a first driving gear 141 and a first driven gear 142 respectively. The second driving member and the second rotatable member can be a second driving gear 143 and a second driven gear 144 respectively. The second driven gear 144 is arranged above the first driven gear 142. The second sliding guide part can be a second sliding groove 1441 which extends perpendicularly to the rotation axis of the second driven gear 144. It should be understood that the first driving member and the second driving member can also be motors or electric machines which can directly drive 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 rotatable members other than gears.

[0058] The moving part can be a connecting rod 146, one end of which can be provided with a first sliding groove 1461, that is, a first sliding guide part is the first sliding groove 1461, and the outer circumferential surface 1462 of the other end is engaged with the first driven gear 142. Specifically, the inner circumferential surface of the first driven gear 142 can be provided with an inner ring tooth, and the teeth of the outer circumferential surface 1462 of the connecting rod 146 are engaged with the inner ring tooth of the first driven gear 142, and the second driven gear 144 can be provided with a second sliding groove 1441 along the diameter position of the disc surface. It should be noted that in other embodiments, an additional gear (not shown in the figure) can be provided in the first driven gear 142, which rotates synchronously with the first driven gear 142 coaxially, and the teeth of the outer circumferential surface 1462 of the connecting rod 146 are engaged with the additional gear, which also enables the connecting rod 146 to rotate with the first driven gear 142.

[0059] It can be understood that the first sliding guide part can also be a first sliding rail extending perpendicular to the rotation axis of the second driven gear 144, and the second sliding guide part can be a second sliding rail provided on the connecting rod 146. In this embodiment, the sliding assembly can include a first sliding block, a second sliding block and a connecting pin, the first sliding block is slidingly arranged on the first sliding rail, the second sliding block is slidingly arranged on the second sliding rail, one of the first sliding block and the second sliding block is arranged in active connection with the connecting pin, and the other of the first sliding block and the second sliding block is arranged in fixed connection with the connecting pin, so that the sliding assembly simultaneously slides along the first sliding rail and the second sliding rail. Although this embodiment is not shown, those skilled in the art should be able to understand its implementation according to the description with reference to other embodiments. It should also be understood that one of the first sliding guide part and the second sliding guide part can also be a sliding rail, and the sliding assembly includes a corresponding sliding block matched with the sliding rail.

[0060] According to an embodiment of the present application, as shown in the figure, the connecting transmission mechanism further includes a rotating shaft 149, one end of which is fixedly connected with the connecting rod 146, and the other end is movably arranged in the second driven gear 144 and is 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.

[0061] According to an embodiment of the present application, as shown in the figure, the sliding assembly includes a sliding pin 145, one end of which is movably arranged in the first sliding groove 1461 of the connecting rod 146, and the other end is movably arranged in the second sliding groove 1441 of the second driven gear 144, and the sliding pin 145 is used to connect the flexible continuum structure.

[0062] Of course, the sliding pin 145 can also be provided in other structures, such as a ring, which can be sleeved on the outer periphery of the second proximal end stop disc 8. In the embodiment shown, the distal end of the sliding pin 145 is provided with a ring-shaped groove which matches the circular outer periphery of the second proximal end stop disc 8, so that the second proximal end stop disc 8 can be connected with the sliding pin 145 by being accommodated in the groove, to meet the relative axial sliding and rotational movement of the second proximal end stop disc 8. However, it should be understood that the distal end of the sliding pin 145 can also be provided with a rectangular groove, a square groove, a regular polygonal groove or any other shaped groove, and the outer periphery shape of the second proximal end stop disc 8 matches the inner periphery shape of the groove on the sliding pin 145, so that the second proximal end stop disc 8 can be slidingly connected with the sliding pin 145 by being accommodated in the groove, to meet the relative axial sliding movement of the second proximal end stop disc 8.

[0063] In the above embodiment, the first driving gear 141 and the second driving gear 143 are not necessary, and the first driven gear 142 and the second driven gear 144 can be directly used as driving gears for driving.

[0064] In the above embodiment, the structure of the rotating shaft 149 can also be other forms, as long as the connecting rod 146 is configured to rotate around its own rotation center, and the rotation center of the connecting rod 146 is at the eccentric position of the second driven gear 144.

[0065] The above technical solution makes it possible to drive the first driving gear 141 to rotate by a driving element such as a motor, and the first driving gear 141 drives the first driven gear 142 to rotate, 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 is limited to move in the space defined by the first sliding groove 1461 and the second sliding groove 1441. Due to the arrangement of the first rotatable member and the second rotatable member, the mechanism can realize various movement modes, such as through the coordinated control of the first driven gear 142 and the second driven gear 144, so that the sliding assembly can realize various movement trajectories, thereby driving the flexible continuum structure to realize different movement requirements.

[0066] In order to make the sliding pin realize a specific operation trajectory, such as making the first driven gear 142 rotate at the same speed and in the same direction as the second driven gear 144, so that the sliding pin 145 can realize circumferential movement, thereby changing the pointing direction of the bending plane of the flexible continuum structure, according to an embodiment of the present application, the second driven gear 144 is coaxially arranged with the first driven gear 142, the outer periphery 1462 of the connecting rod 146 is engaged with the inner ring teeth of the first driven gear 142, one end of the rotating shaft 149 is fixed with the connecting rod 146, and the other end is movably arranged at the eccentric position of the second driven gear 144. The rotating shaft 149 can be a separate part from the connecting rod 146 or an integral part.

[0067] In order to make the first driven gear 142 operate while the second driven gear 144 does not operate, and make the sliding pin 145 realize linear motion, thereby changing the bending angle of the flexible continuum structure in a certain plane, according to an embodiment of the present application, due to the eccentric arrangement of the rotating shaft 149, the second sliding groove 1441 and the first sliding groove 1461 can intersect no matter which direction the gear rotates, and the sliding pin 145 is located at the intersection of the two, and through the limiting cooperation of the two, the sliding pin 145 makes linear motion along the second sliding groove 1441.

[0068] According to an embodiment of the present application, the second driven gear 144 is provided with a second sliding groove 1441 at the diameter position of the disc surface.

[0069] In order to guide and limit the movement of the sliding pin 145 within a certain degree of freedom, according to an embodiment of the present application, the sliding assembly further comprises a sliding rail 148 and a sliding block 147, the sliding rail 148 is arranged in parallel with the second sliding groove 1441, the sliding block 147 is connected with the sliding pin 145, and the sliding block 147 is slidably arranged on the sliding rail 148. For example, the sliding block 147 and the sliding rail 148 can adopt groove type cooperation.

[0070] Preferably, the proximal continuum 1 further comprises a proximal retaining disc (not shown in the figure), which can be arranged between the proximal base disc 4 and the proximal stop disc 7 or the proximal stop disc 8, and the structural bones 12 pass through the proximal retaining disc.

[0071] Preferably, the distal continuum 3 further comprises a distal retaining disc 10, which is arranged between the distal base disc 9 and the distal stop disc 11, and the structural bones 12 pass through the distal retaining disc 10.

[0072] The retaining disc is used for guiding and supporting the structural bones to a certain extent, preventing the structural bones from losing stability during bending movement.

[0073] For example, one or more proximal retaining discs and distal retaining discs 10 can be distributed in the proximal continuum 1 and the distal continuum 3, which are used for supporting the structural bones 12 from the radial direction, so that the structural bones 12 still maintain a parallel state during bending deformation.

[0074] Preferably, the flexible continuum structure further comprises a catheter bundle 2, one end of which is fixed to the proximal base disc 4, and the other end is fixed to the distal base disc 9, and the structural bones 12 pass through the inside of the catheter bundle. The catheter bundle is used for guiding the structural bones to the desired direction.

[0075] Preferably, the material of the catheter bundle 2 is steel. Of course, it can also be other relatively hard metals.

[0076] Preferably, the structural bones 12, 13 are a group of elastic rods or thin tubes arranged in the circumferential direction.

[0077] Preferably, the structural bones 12, 13 are made of super-elastic material, which can be generally made of high-strength, high-toughness, elastic metal material such as nickel-titanium alloy.

[0078] Preferably, each holding disc is provided with through holes for the structural bones to slide through, and the base disc and the stop disc are provided with locking holes for fixing the ends of the structural bones. The specific positions and numbers of the through holes and the locking holes on different discs depend on the number of the structural bones 12.

[0079] The arrangement of the structural bones 12, 13 on each disc can be set as needed, such as circumferential distribution, rectangular circumferential arrangement, etc. 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, 13 on each disc of the proximal and distal continua respectively. When the structural bones 12, 13 are circumferentially distributed, the distribution radius refers to the radius of the circle. In application, the distribution radius of the structural bones 12, 13 in the proximal continuum and the distal continuum can be adjusted to meet the actual bending ratio requirements.

[0080] Preferably, elastic units (such as springs, elastic tubes, etc., not shown in the figure) can be installed between each proximal holding disc and distal holding disc 10, or between different discs, to separate the discs.

[0081] According to an embodiment of the present application, as shown in Figure 1 、 Figure 2 , the flexible continuum structure includes a proximal continuum 1, a catheter bundle 2, a distal continuum 3, and a driving mechanism 14. The proximal continuum 1 includes a proximal base disc 4, a proximal stop disc 7, a proximal stop disc 8, and a structural bone 13. The distal continuum 3 includes a distal base disc 9, a distal holding disc 10, a distal stop disc 11, and a structural bone 12. One end of each structural bone 13 is fixed to the proximal base disc 4, passes through the proximal stop disc 7, and the other end is fixed to the proximal stop disc 8. One end of the catheter bundle 2 is fixed to the proximal base disc 4, and the other end is fixed to the distal base disc 9. One end of each structural bone 12 is fixed to the proximal stop disc 7, sequentially passes through the proximal base disc 4, the catheter bundle 2, the distal base disc 9, the distal holding disc 10, and the other end is fixed to the distal stop disc 11. The proximal stop disc 8 is connected to the driving mechanism 14, and the driving mechanism 14 drives the proximal stop disc 8 to move, thereby driving the proximal stop disc 7 to move and flip, realizing the push-pull of the structural bone 12, and thus realizing the bending of the distal continuum 3 in different directions in space.

[0082] The driving transmission mechanism 14 in this embodiment is a gear sliding groove mechanism. As shown in the figure, the gear sliding groove mechanism is located below the proximal continuum 1 for driving the proximal continuum 1.

[0083] According to an embodiment of the present application, as shown in the figure, the gear sliding slot mechanism comprises: 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, a sliding block 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 is engaged with the first driven gear 142. The connecting rod 146 is provided with a first sliding slot 1461 at one end and a toothed outer circumferential surface 1462 at the other end for engaging with the inner ring teeth of the first driven gear 142. A rotating shaft 149 fixedly connected with the connecting rod 146 movably penetrates the eccentric position of the second driven gear 144. The second driven gear 144 is provided with a second sliding slot 1441 along the diameter center line of the disc surface and a sliding rail 148 parallel to the second sliding slot 1441, and the sliding block 147 is slidably arranged on the sliding rail 148. The lower part of the sliding pin 145 is slidably arranged in the first sliding slot 1461, and the upper part of the sliding pin 145 penetrates the first sliding slot 1461 and is fixedly connected with the sliding block 147.

[0084] The sliding pin 145 is connected with the proximal end stop disc 8 in a cylindrical pair, i.e. the proximal end stop disc 8 can slide up and down and rotate along the sliding pin 145, so that the proximal end base disc 4 and the proximal end stop disc 8 are dislocated and the axes thereof no longer coincide. Since the structural bones 13 are fixed at both ends of the proximal end base disc 4 and the proximal end stop disc 8, respectively, the proximal end continuum 1 is forced to bend, and the proximal end stop disc 7 is simultaneously flipped, thereby pushing and pulling each structural bone 12 fixed at the proximal end stop disc 7. Each structural bone 12 fixed on the proximal end stop disc 7 is pulled on one side so that the length of the corresponding structural bone 12 in the proximal end continuum 1 increases, and is pressed on the other side so that the length of the corresponding structural bone 12 in the proximal end continuum 1 decreases. Since the total length of each structural bone 12 is unchanged, the length of each structural bone 12 in the distal end continuum 3 changes correspondingly, thereby driving the distal end continuum 3 to bend in the opposite direction of the proximal end continuum 1.

[0085] The sliding distance of the sliding block 147 on the sliding rail 148 can be adjusted by the connecting rod 146, thereby adjusting the bending degree of the proximal end continuum 1.

[0086] 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 engaged with the first driven gear 142 will rotate correspondingly, driving the sliding pin 145 to slide in the first sliding slot 1461, driving the sliding block 147 fixedly connected with the sliding pin 145 to move on the sliding rail 148 of the second driven gear 144, and the sliding pin 145 is simultaneously limited to slide in the second sliding slot 1441, thereby driving the proximal end stop disc 8 to move, thereby driving the proximal end stop disc 7 to move and flip.

[0087] Thus, by driving the proximal end stop disc 8 to move, the bending of the distal end continuum 3 in a certain plane in space is realized. In application, the distribution radius of the structural bones in both can be adjusted to meet the actual bending ratio requirement.

[0088] The sliding pin 145 of the gear sliding slot mechanism is connected with the proximal end stop disc 8 in a cylindrical pair, so that the proximal end stop disc 8 and the gear sliding slot mechanism can slide up and down or rotate, thereby meeting the parasitic motion of the proximal end stop disc 8 along the axial direction generated in the bending process of the proximal end continuum 1, and the bending motion in any direction, which can avoid the expansion and contraction motion of the distal end continuum 3 along the axial direction in the bending process, and the expansion and contraction motion will cause the cover wrapped around the outer periphery of the distal end continuum 3 to wrinkle or be excessively stretched, thereby affecting the service life of the cover.

[0089] When the second driving gear 143 drives the second driven gear 144 to rotate, 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 at the same speed in the same direction at the same time, the position of the sliding block 147 relative to the second driven gear 144 does not change, but the direction of the translation of the sliding block 147 changes (that is, the circumferential angle relative to the initial position changes), that is, the sliding block 147 does the circumferential motion, thereby changing the bending direction of the proximal end continuum 1 in different planes. After the proximal end continuum 1 is bent, the push-pull force generated by the structural bones to the proximal end continuum 1 is transmitted to the distal end continuum 3, so that the distal end continuum 3 is bent in different directions in space.

[0090] The above scheme makes it possible to adjust the bending degree of the proximal end continuum 1 and the bending in different planes by driving the second driven gear 144 and the first driven gear 142 together. The bending ratio of the proximal end continuum 1 and the distal end continuum 3 is inversely proportional to the distribution radius of the corresponding structural bones 12, 13 in both. Thus, by driving the proximal end stop disc 8 to move, the bending of the distal end continuum 3 in different directions in space is realized. In application, the distribution radius of the structural bones in both can be adjusted to meet the actual bending ratio requirement.

[0091] Of course, according to different operation requirements of the surgical tool, the first rotatable member and the second rotatable member can be driven together to make the driving transmission system realize different motion modes.

[0092] The application also provides a surgical robot, which comprises one or more surgical tool driving systems.

[0093] Preferably, the surgical robot adopts two surgical tool driving systems in series or in parallel. When two surgical tool driving systems are adopted, the lengths of the two surgical tool driving systems are the same or different, and preferably, the lengths of the two surgical tool driving systems are different.

[0094] According to an embodiment of the present application, as shown in Figure 7 、 Figure 8 for example, two surgical tool driving systems are arranged in series on the support 15, the upper and lower proximal base plates 4 are fixedly connected to the support, or the proximal base plate 4 directly forms part of the support 15, one end of the lower conduit bundle 2 is fixedly connected to the proximal base plate 4 of the lower proximal continuum 1, and the other end passes through the periphery of the support 15 and the periphery of the proximal base plate 4 of the upper proximal continuum 1, and the other end is fixed at the distal stop plate 9 together with the upper conduit bundle 2 and is bundled into a ring, and the distal stop plate 9 is fixedly connected to the support 15, or the distal stop plate 9 directly forms part of the support 15. The lower conduit bundle 2 forms a larger cavity, and the upper proximal continuum is located in the cavity of the lower conduit bundle 2, so as to ensure that the upper proximal continuum does not interfere with the lower conduit bundle 2 during bending and deformation. The lengths of the upper and lower distal continuums 3 can be the same or different, and preferably, the lengths of the distal continuums 3 of the two are different. The respective proximal stop plates 8 are driven to move by the respective driving mechanisms 14 of the upper and lower layers, the proximal continuum 1 is driven to move, the proximal stop plate 7 is flipped, and the bending of the respective distal continuum 3 is realized, so as to increase the freedom of the distal end and the flexibility of the surgical robot.

[0095] According to an embodiment of the present application, as shown in Figure 8 、 Figure 9 , the surgical robot further comprises a linear feed assembly 16, the linear feed assembly 16 is arranged in parallel with the proximal continuum of the surgical tool driving system, the linear feed assembly 16 comprises a linear feed driving module and an elastic member, the driving module drives the elastic member to move up and down, one end of the elastic member is connected to the driving module, and the other end reaches the distal continuum and is fixed with the surgical manipulator, so as to drive the surgical manipulator.

[0096] Preferably, the linear feed assembly 16 comprises a guide rod 161, a lead screw 162, a sliding block 163, and a lead screw nut 164, the guide rod 161 is fixedly arranged, the sliding block 163 is slidably arranged on the guide rod 161, the lead screw nut 164 is engaged with the lead screw 162, and the lead screw nut 164 is fixedly connected with the sliding block 163.

[0097] According to an embodiment of the present application, the linear feed assembly 16 is arranged in parallel with the proximal continuum 1 of the lower layer or the upper layer.

[0098] The linear feed assembly 16 comprises a guide rod 161, a screw rod 162, a sliding block 163 and a screw rod nut 164, the guide rod 161 is fixedly arranged on the support 15, the sliding block 163 is slidably arranged on the guide rod 161 and the screw rod 162, the screw rod nut 164 is engaged with the screw rod 162, the sliding block 163 cannot rotate due to the limiting effect of the guide rod 161, the screw rod nut 164 is fixedly connected with the sliding block 163, so the screw rod nut 164 cannot rotate, when the screw rod 162 rotates, the screw rod nut 164 moves up and down, thereby driving the sliding block 163 to move up and down along the guide rod, since one end of the elastic member 17 is fixed with the sliding block 163, the elastic member 17 moves up and down. The elastic member 17 is pushed and pulled by the linear feed assembly 16, one end of the elastic member 17 is fixed with the sliding block 163, passes through the protection tube 18 and reaches the distal continuum 3, and the other end is fixed with the surgical manipulator, so as to drive the surgical manipulator (such as a clamp, a needle holder, etc.). The protection tube 18 is used for guiding the elastic member 17 for driving the surgical manipulator, and can also be used for passing a wire to supply power to the surgical manipulator.

[0099] The elastic member 17 can be an elastic rod or tube, and the material can be the same as that of the structural bone.

[0100] The surgical tool driving system and the robot provided by the application only need to drive the proximal end stop disc 8 to move through one driving mechanism 14, so as to drive the proximal end continuum 1 to bend, thereby driving the proximal end stop disc 7 of the proximal end continuum 1 to overturn, indirectly pushing and pulling the structural bone 12, and finally driving the distal continuum 3 to bend in space, avoiding direct pushing and pulling of the driving wire, and when a large number of structural bones are driven, the number of driving transmission mechanisms is not limited, the structure is compact, the principle is simple, and the system is easy to realize, so that the system has high reliability and flexibility.

[0101] The driving transmission mechanism of the application is simple to operate, compact in structure, can realize various motion modes, thereby reasonably and diversely operating the surgical tool, and guarantees the reliability and flexibility of the system.

[0102] It is to be noted that, in the present text, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element. The present application defines the end closer to the operator as the proximal or rear end, and the end closer to the surgical patient as the distal or front end.

[0103] The above embodiments are only used to illustrate the present application, wherein each component and device of the embodiments can be changed, each embodiment can be combined or deleted according to the requirement, not all components in the drawings are necessary, and the general principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, and any equivalent transformation and improvement based on the technical solutions of the present application should not be excluded from the protection scope of the present application.

Claims

1. A surgical tool driving system characterized by comprising: comprise a flexible continuum structure and a driving transmission mechanism (14), the flexible continuum structure comprises: a proximal continuum (1) comprising a proximal base disc (4), a first proximal stop disc (7) and a second proximal stop disc (8) arranged in sequence; a first structural bone (13), a plurality of proximal ends of the first structural bone (13) are fixedly connected with the second proximal stop disc (8), and a plurality of distal ends of the first structural bone (13) pass through the first proximal stop disc (7) and are fixedly connected with the proximal base disc (4); a distal continuum (3) comprising a distal base disc (9) and a distal stop disc (11) arranged in sequence, and the distal base disc (9) is adjacent to the proximal base disc (4); a second structural bone (12), a plurality of proximal ends of the second structural bone (12) are fixedly connected with the first proximal stop disc (7), and a plurality of distal ends of the second structural bone (12) pass through the proximal base disc (4) and the distal base disc (9) and are fixedly connected with the distal stop disc (11); the driving transmission mechanism (14) is located at the proximal end of the proximal continuum (1); the driving transmission mechanism (14) comprises: a rotating mechanism comprising a first rotatable member configured to rotate around its own rotation center; a second rotatable member arranged above the first rotatable member, configured to rotate around its own rotation center, the rotation center of the second rotatable member is coaxial with the rotation center of the first rotatable member, and the second rotatable member is provided with a second sliding guide part; a connecting transmission mechanism comprising a moving member arranged to rotate with the first rotatable member, and the rotation center of the moving member is not coincident with the rotation center of the first rotatable member, and the moving member is provided with a first sliding guide part; a sliding assembly, the sliding assembly is in sliding connection with the first sliding guide part and the second sliding guide part to slide along the first sliding guide part and the second sliding guide part, and the sliding assembly is arranged to be movably connected with the second proximal stop disc (8) to enable the sliding assembly to axially slide and / or rotate relative to the second proximal stop disc (8); the first rotatable member and the second rotatable member are used to be cooperatively controlled to move the sliding assembly, and the sliding assembly drives the second proximal stop disc (8) to move, thereby driving the proximal stop disc (7) to move and overturn to push and pull the second structural bone (12) to realize the bending movement of the distal continuum (3).

2. The surgical tool driving system according to claim 1, characterized by, the second rotatable member is arranged above the first rotatable member; the first rotatable member is arranged to rotate under the driving of a first driving member, and the second rotatable member is arranged to rotate under the driving of a second driving member; the moving member is further provided with an engaging part arranged to engage with the first rotatable member.

3. The surgical tool driving system according to claim 2, wherein The first rotatable member is a first driven gear (142), the second rotatable member is a second driven gear (144), the moving member is a connecting rod (146), the engaging part is a tooth provided on the outer circumferential surface of the connecting rod (146), and the first driven gear (142) is engaged with the tooth on the outer circumferential surface of the connecting rod (146) to rotate the connecting rod (146) along with the rotation of the first driven gear (142).

4. The surgical tool driving system according to claim 3, characterized by, The first sliding guide part is a first sliding groove (1461), and the second sliding guide part is a second sliding groove (1441) extending perpendicularly to the rotation axis of the second rotatable member. The sliding assembly comprises a sliding pin (145), one end of the sliding pin (145) is movably arranged in the first sliding groove (1461) of the connecting rod (146), and the other end of the sliding pin (145) is movably arranged in the second sliding groove (1441) of the second driven gear (144), and the sliding pin (145) is used for connecting the flexible continuum structure.

5. The surgical tool driving system according to claim 3, characterized by, The connecting transmission mechanism further comprises a rotating shaft (149), one end of the rotating shaft (149) is fixedly connected with the connecting rod (146), and the other end of the rotating shaft (149) is rotatably connected with the second driven gear (144).

6. The surgical tool driving system according to Claim 3, wherein The first sliding guide part is a first sliding rail, and the second sliding guide part is a second sliding rail. The sliding assembly comprises a first sliding block, a second sliding block and a connecting pin, the first sliding block is slidably arranged on the first sliding rail, the second sliding block is slidably arranged on the second sliding rail, one of the first sliding block and the second sliding block is movably connected with the connecting pin, and the other of the first sliding block and the second sliding block is fixedly connected with the connecting pin.

7. The surgical tool driving system according to claim 4, characterized by, The inner circumferential surface of the first driven gear (142) is provided with an inner ring tooth, the tooth on the outer circumferential surface (1462) of the connecting rod (146) is engaged with the inner ring tooth of the first driven gear (142), and the second sliding groove (1441) is arranged at the diameter position of the disc surface of the second driven gear (144).

8. The surgical tool driving system according to claim 4, characterized by, The sliding assembly further comprises a sliding rail (148) and a sliding block (147), the sliding rail (148) is fixedly arranged on the second driven gear (144) and arranged in parallel with the second sliding groove (1441), the sliding block (147) is fixedly connected with the sliding pin (145), and the sliding block (147) is slidably arranged on the sliding rail (148).

9. The surgical tool driving system according to claim 1, wherein The proximal continuum further comprises a proximal retaining disc, the proximal retaining disc is arranged between the proximal base disc (4) and a proximal stop disc, and the first structural bone (13) passes through the proximal retaining disc.

10. The surgical tool driving system according to Claim 1, wherein The distal continuum further comprises a distal retaining disc (10), the distal retaining disc (10) is arranged between the distal base disc (9) and a distal stop disc (11), and the second structural bone (12) passes through the distal retaining disc (10).

11. The surgical tool driving system according to claim 1, characterized by, The flexible continuum structure further comprises a bundle of conduits (2) fixed at one end to the proximal base disc (4) and at the other end to the distal base disc (9), the second structural backbone (12) being movably passed through the interior of the bundle of conduits (2).

12. The surgical tool drive system according to claim 11, wherein, The bundle of conduits (2) is a bundle of steel pipes.

13. The surgical tool driving system according to claim 1, characterized by, The first structural backbone (13) and / or the second structural backbone (12) is a set of elastic rods or pipes arranged circumferentially.

14. A surgical robot, characterized in that, The robot comprises at least one surgical tool driving system as claimed in any one of claims 1 to 13.

15. The surgical robot of claim 14, wherein, The surgical robot adopts two surgical tool driving systems in series or in parallel.

16. The surgical robot of claim 15, wherein, The two surgical tool driving systems are arranged on a support (15) in an up-down manner, the proximal base discs (4) of the two flexible continuum structures are respectively fixedly connected with the support (15), or the proximal base discs (4) directly form part of the support (15); the proximal end of the bundle of conduits (2) of the lower surgical tool driving system is fixedly connected with the proximal base disc (4) of the proximal continuum (1), the distal end of the bundle of conduits (2) is sequentially passed through the support (15), the distal end of the proximal base disc (4) and the bundle of conduits (2) of the upper surgical tool driving system together at the distal base disc (9) and is bundled into a cluster, the distal base disc (9) is respectively fixedly connected with the support (15), or the distal base disc (9) directly forms part of the support (15).

17. The surgical robot of claim 15, wherein, The lengths of the two surgical tool driving systems are the same or different.

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