Integrated double-stroke sliding table applied to continuum flexible instrument

Abstract

The invention relates to the technical field of medical operation auxiliary instruments, and discloses an integrated double-stroke sliding table applied to a continuum flexible instrument. The integrated double-stroke sliding table comprises a primary sliding table and a secondary sliding table, the primary sliding table comprises a driver, a first synchronous belt mechanism, a synchronous belt fixing seat, a bottom plate and a moving part, the bottom plate is detachably arranged on a base, the first synchronous belt mechanism is arranged at the bottom plate, the driver is used for driving a first synchronous belt of the first synchronous belt mechanism to rotate, and the moving part is used for driving a second synchronous belt of the first synchronous belt mechanism to rotate. The mechanical fixing seat is detachably arranged at the front end of the sliding plate, the upper pressing plate is arranged below the rear end of the sliding plate, the upper pressing plate and the sliding plate clamp the upper edge of the rear side of a second synchronous belt of the second synchronous belt mechanism, and the moving part is detachably connected to the rear end of the bottom face of the middle plate. And the synchronous belt fixing seat clamps the lower edge of the front end of the second synchronous belt.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical auxiliary instruments, and in particular to an integrated double-range slide table applied to a continuous flexible instrument. Background Art

[0002] In medical operations, continuous flexible instruments are required to complete the operation. The use of continuous flexible instruments plays an important role in the smooth completion of the operation.

[0003] However, due to the limitations of the application of flexible surgical instruments, they are only suitable for facial and neck tumor resection surgery. In addition, the working space of continuum surgical instruments is limited. During the operation, the space on the operating table is small, and its working space cannot be expanded quickly and effectively. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an integrated double-range slide for continuous flexible equipment, comprising: a base, a mechanical fixing seat, a primary slide and a secondary slide.

[0005] The primary slide is arranged on the base, the secondary slide is arranged on the primary slide, the mechanical fixing seat is arranged on the secondary slide, and the continuum flexible device is detachably arranged at the front end of the mechanical fixing seat;

[0006] The main stage slide comprises a driver, a first synchronous belt mechanism, a synchronous belt fixing seat, a bottom plate and a moving member, wherein the bottom plate is detachably arranged on the base, the first synchronous belt mechanism is arranged at the bottom plate, the driver is used to drive the first synchronous belt of the first synchronous belt mechanism to rotate, and the moving member is fixed to the rear bottom edge of the first synchronous belt through the moving member, so that the moving member moves forward and backward along the bottom plate, and the synchronous belt fixing seat is fixedly arranged at the front end of the bottom plate;

[0007] The secondary slide comprises a second synchronous belt mechanism, an intermediate plate, a sliding plate and an upper pressing plate, wherein the second synchronous belt mechanism is arranged at the intermediate plate, and the sliding plate is arranged above the second synchronous belt mechanism.

[0008] The mechanical fixing seat is detachably arranged at the front end of the sliding plate, the upper pressure plate is arranged below the rear end of the sliding plate, the upper pressure plate and the sliding plate clamp the upper rear side of the second synchronous belt of the second synchronous belt mechanism, the moving part is detachably connected to the rear end of the bottom surface of the intermediate plate, and the synchronous belt fixing seat clamps the lower front end of the second synchronous belt.

[0009] Further, the bottom plate is provided with two parallel long strip through holes, the two long strip through holes extend along the front-back direction, the moving member comprises two vertical plates, a horizontal plate and a lower pressure plate, the two vertical plates are respectively inserted into the corresponding long strip through holes, the horizontal plate is located below the bottom plate, and the horizontal plate connects the bottom ends of the two vertical plates,

[0010] The first synchronous belt is sleeved outside the base plate, and the first front wheel and the first rear wheel of the first synchronous belt mechanism are respectively arranged at the front and rear ends of the base plate, the first front wheel and the first rear wheel are sleeved in the first synchronous belt and meshed with the first synchronous belt, the first rear wheel is connected to the driver by transmission, the first synchronous belt is placed between the two vertical plates, and the lower pressure plate and the horizontal plate clamp the rear bottom edge of the first synchronous belt.

[0011] Furthermore, the bottom plate is provided with two lower guide rails, and the two lower guide rails are respectively arranged on the outsides of the two long holes, and the lower guide rails are arranged parallel to the long through holes. A lower slider is fixed to each of the vertical plates, and each lower slider cooperates with a lower guide rail to make the lower slider move forward and backward along the lower guide rail.

[0012] Furthermore, the driver includes: a motor fixing seat, a driving motor, a bearing seat, a bearing, a pin shaft and a bearing pressure cover, the motor fixing seat and the bearing seat are fixed at the rear end of the base plate, the driving motor is fixed on the motor seat, the bearing is fixed on the bearing seat through the bearing pressure plate, the first rear wheel is fixed on the output shaft of the driving motor, and the two ends of the pin shaft are respectively interference fit with the first rear wheel and the bearing.

[0013] Furthermore, it also includes a first tensioning mechanism, which includes a synchronous belt adjustment seat, a first adjusting bolt and a first short shaft. The synchronous belt adjustment seat is detachably arranged at the front end of the base plate, and the first front wheel is rotatably connected to the front end of the synchronous belt adjustment seat through the first short shaft. The first adjusting bolt passes through the synchronous belt adjustment seat and supports the front end of the base plate. The tension of the first synchronous belt is adjusted by rotating the first adjusting bolt.

[0014] Furthermore, it also includes two sensors and magnets, wherein the magnets are arranged on the horizontal plate, the two sensors are respectively arranged at the two ends of the long strip through hole, and the two sensors are respectively connected to the driving motor control.

[0015] When the magnet approaches the sensor, the driving motor stops driving the first rear wheel to rotate.

[0016] Furthermore, the second front wheel and the second rear wheel of the second synchronous belt mechanism are respectively arranged at the front and rear ends of the middle plate, the middle plate, the second front wheel and the second rear wheel are sleeved in the second synchronous belt, and the second front wheel and the second rear wheel are respectively engaged with the second synchronous belt.

[0017] Furthermore, a rectangular through hole is formed on the surface of the middle plate, and the rectangular through hole extends along the front-to-back direction.

[0018] An upper guide rail is respectively arranged on the left and right sides of the rectangular through hole, and the upper guide rail is arranged in parallel with the lower guide rail. Two clamping arms are arranged at the sliding plate, and the middle plate is arranged between the two clamping arms. The clamping arms are arranged at the rear side of the sliding plate.

[0019] A connecting portion is connected to the bottom of the upper pressure plate, and an upper slider is respectively arranged on the left and right sides of the connecting portion. The two upper sliders are placed between the two upper guide rails. The upper sliders are matched with the upper guide rails in a one-to-one manner so that the upper sliders move forward and backward along the upper guide rails.

[0020] Furthermore, it also includes two second tensioning mechanisms, which are respectively arranged at the front and rear ends of the middle plate.

[0021] The second tensioning mechanism includes a pulley adjustment seat, a second adjustment bolt and a second short shaft.

[0022] The two pulley adjustment seats are detachably arranged at the front and rear ends of the middle plate, respectively, and the second front wheel and the second rear wheel are rotatably connected to the corresponding pulley adjustment seats through the corresponding second short shafts.

[0023] The second adjusting bolt passes through the corresponding pulley adjusting seat and abuts against the front end and the rear end of the intermediate plate. The tension of the second synchronous belt can be adjusted by rotating the second adjusting bolt.

[0024] Furthermore, the synchronous belt fixing seat is arranged between the two long through holes, the synchronous belt fixing seat is a block-shaped structure, a front pressure plate is arranged on the synchronous belt fixing seat, the first synchronous belt is arranged between the front pressure plate and the synchronous belt fixing seat, and the front pressure plate and the synchronous belt fixing seat clamp the first synchronous belt.

[0025] Compared with the prior art, the technical solution of the present invention, when in use, drives the first synchronous belt to rotate through a driver, drives the moving part to move forward, and pushes the middle plate to move forward. At the same time, the lower front end of the second synchronous belt is fixed by the synchronous belt fixing seat, so that the second synchronous belt rotates and moves forward relative to the middle plate. At this time, the sliding plate above the second synchronous belt moves forward, so that the mechanical fixing seat drives the continuum flexible instrument to move forward. In this way, only by driving the first synchronous belt to rotate through a driver, the middle plate and the sliding plate can be driven to move forward relative to the bottom plate, and the forward movement of the middle plate and the sliding plate are superimposed on each other, realizing the double-range movement of the slide as a whole. In this way, the continuum flexible instrument used in medical surgery is cooperated to expand its working space, solve the limitation problem of the application of flexible surgical instruments, and is not only suitable for facial and neck tumor resection surgery, but also suitable for laparoscopic tumor resection surgery, greatly expanding the working space of the continuum surgical instrument, and occupying less space.

[0026] In view of the problem that existing continuum surgical instruments cannot increase the working space by connecting multiple flexible segments in series, the present invention combines a continuum surgical instrument with a limited number of flexible segments, and reaches a deep and closed environment through a bipolar slide. While retaining the rigidity, it can be applied to different indications. At the same time, the quick disassembly part can be used to ensure the normal disinfection and replacement of surgical instruments. The power transmission part adopts the traditional synchronous belt transmission mechanism, which can realize single degree of freedom adjustment.

[0027] In addition, the present invention can maintain a certain rigidity of the continuum robot arm while increasing the working space. It does not rely on multiple sections in series to increase the working space, which reduces the difficulty of modeling in the design process and satisfies the curvature bending assumption of flexible instruments. The compact two-stage slide of the present invention has a small size and high space utilization, and is easy to integrate at the surgical execution end, that is, the execution end of the surgical robot, which is convenient for the disassembly and disinfection of the end instrument and the maintenance of the instrument itself. Moreover, the slide mechanism in the present invention can only be adjusted along the single degree of freedom of the front and back, which can resist the radial force at the execution end to a large extent and maintain the linear output displacement of the slide. In addition, through the transmission of the synchronous belt, the output accuracy can also be guaranteed to avoid slipping and dislocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic structural diagram of an integrated double-range slide according to an embodiment of the present invention;

[0029] Figure 2 Schematic structural diagram of the main stage slide of the integrated double-range slide of an embodiment of the present invention;

[0030] Figure 3 Schematic structural diagram of the bottom plate of the integrated double-range slide according to an embodiment of the present invention;

[0031] Figure 4 Schematic structural diagram of a driver of an integrated double-range slide according to an embodiment of the present invention;

[0032] Figure 5 Schematic structural diagram of the first synchronous belt mechanism of the integrated double-range slide according to an embodiment of the present invention;

[0033] Figure 6 It is a schematic structural diagram of a first tensioning mechanism of an integrated double-range slide according to an embodiment of the present invention;

[0034] Figure 7 A schematic structural diagram of a secondary slide of an integrated double-range slide according to an embodiment of the present invention;

[0035] Figure 8 Another schematic structural diagram of the secondary slide of the integrated double-range slide according to an embodiment of the present invention;

[0036] Fig. 9 Schematic structural diagram of the second tensioning mechanism of the integrated double-range slide according to an embodiment of the present invention;

[0037] Fig.10 Schematic structural diagram of the second synchronous belt mechanism of the integrated double-range slide according to an embodiment of the present invention;

[0038] Fig.11 It is a schematic principle diagram of the integrated double-range slide before being extended according to an embodiment of the present invention;

[0039] Fig.12 It is a schematic principle diagram of the integrated double-range slide after being extended according to an embodiment of the present invention.

[0040] Description of the accompanying drawings: 1000, base; 2000, mechanical fixing seat; 3000, primary slide; 4000, secondary slide; 3200, driver; 3300, first synchronous belt mechanism; 3500, bottom plate; 3101, lower guide rail; 3102, lower slider; 3103, vertical plate; 3104, horizontal plate; 3105, lower pressure plate; 3106, magnet; 3107, sensor; 3108, synchronous belt fixing seat; 3109, front pressure plate; 3201, motor fixing seat; 3202, driving motor; 3203, first rear wheel; 3204, bearing seat; 3205, bearing; 3206, pin shaft; 3207, bearing pressure cover; 3301, first front wheel; 3302, first synchronous belt; 3400, first tensioning mechanism; 3401, synchronous belt adjustment seat; 3402, first adjusting bolt; 3403, first short shaft; 4300, second tensioning mechanism; 4400, middle plate; 4101, upper guide rail; 4102, upper slider; 4103, sliding plate; 4104, upper pressure plate; 4105, clamping arm; 4106, connecting part; 4200, second synchronous belt mechanism; 4201, second front wheel; 4202, second synchronous belt; 4203, second rear wheel; 4301, pulley adjustment seat; 4302, second adjusting bolt; 4303, second short shaft. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] In the description of the present invention, it should be understood that the terms "upper", "lower" and the like indicate positions or location relationships that are based on the positions or location relationships when the product is normally used.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0044] See also Figures 1 to 12 This embodiment provides an integrated double-range slide for continuous flexible devices, including: a base 1000, a mechanical fixing seat 2000, a primary slide 3000 and a secondary slide 4000,

[0045] The primary slide 3000 is arranged on the base 1000, the secondary slide 4000 is arranged on the primary slide 3000, the mechanical fixing seat 2000 is arranged on the secondary slide 4000, and the continuous body flexible device is detachably arranged at the front end of the mechanical fixing seat 2000;

[0046] The main slide 3000 includes a driver 3200, a first synchronous belt 3302 mechanism 3300, a synchronous belt fixing seat 3108, a bottom plate 3500 and a moving part. The bottom plate 3500 is detachably arranged on the base 1000. The first synchronous belt 3302 mechanism 3300 is arranged at the bottom plate 3500. The driver 3200 is used to drive the first synchronous belt 3302 of the first synchronous belt 3302 mechanism 3300 to rotate. The moving part is fixed to the rear bottom edge of the first synchronous belt 3302 so that the moving part moves forward and backward along the bottom plate 3500. The synchronous belt fixing seat 3108 is fixedly arranged at the front end of the bottom plate 3500.

[0047] The secondary slide 4000 includes a second synchronous belt 4202 mechanism 4200, an intermediate plate 4400, a sliding plate 4103 and an upper pressing plate 4104. The second synchronous belt 4202 mechanism 4200 is arranged at the intermediate plate 4400, and the sliding plate 4103 is arranged above the second synchronous belt 4202 mechanism 4200.

[0048] The mechanical fixing seat 2000 is detachably arranged at the front end of the sliding plate 4103, and the upper pressure plate 4104 is arranged below the rear end of the sliding plate 4103. The upper pressure plate 4104 and the sliding plate 4103 clamp the upper rear side of the second synchronous belt 4202 of the second synchronous belt 4200 mechanism 4200, and the movable part is detachably connected to the rear end of the bottom surface of the intermediate plate 4400, and the synchronous belt fixing seat 3108 clamps the lower front end of the second synchronous belt 4202.

[0049] It should be noted that, in the present embodiment, both the first synchronous belt 3302 and the second synchronous belt 4202 cannot realize turnover, which is caused by the limitations of the synchronous belt fixing seat 3108 , the moving part and the upper pressure plate 4104 .

[0050] When in use, the driver 3200 drives the first synchronous belt 3302 to rotate, driving the moving part to move forward, pushing the middle plate 4400 to move forward, and at the same time, the front end of the second synchronous belt 4202 is fixed by the synchronous belt fixing seat 3108, so that the second synchronous belt 4202 rotates and moves forward relative to the middle plate 4400, and the sliding plate 4103 above the second synchronous belt 4202 moves forward, so that the mechanical fixing seat 2000 drives the continuous body flexible device to move forward. In this way, only by driving the first synchronous belt 3302 to rotate by a driver 3200, the middle plate 4400 and the sliding plate 4103 can be driven to move forward relative to the bottom plate 3500, and the forward movement of the middle plate 4400 and the sliding plate 4103 is superimposed on each other, so as to realize the double-range movement of the entire slide. In this way, the continuum flexible instruments used in medical surgery can be used to expand their working space and solve the limitation problem of the application of flexible surgical instruments, making them not only suitable for facial and neck tumor resection surgery, but also for laparoscopic tumor resection surgery, greatly expanding the working space of continuum surgical instruments and taking up less space.

[0051] See also Figures 1 to 12 Further, the bottom plate 3500 is provided with two parallel long strip through holes, the two long strip through holes extend along the front-back direction, the moving part comprises two vertical plates 3103, a horizontal plate 3104 and a lower pressing plate 3105, the two vertical plates 3103 are respectively inserted into the corresponding long strip through holes, the horizontal plate 3104 is located below the bottom plate 3500, and the horizontal plate 3104 connects the bottom ends of the two vertical plates 3103,

[0052] The first synchronous belt 3302 is sleeved on the outside of the base plate 3500, and the first front wheel 3301 and the first rear wheel 3203 of the first synchronous belt 3302 mechanism 3300 are respectively arranged at the front and rear ends of the base plate 3500, the first front wheel 3301 and the first rear wheel 3203 are sleeved in the first synchronous belt 3302 and meshed with the first synchronous belt 3302, the first rear wheel 3203 is connected to the driver 3200 in transmission, the first synchronous belt 3302 is placed between the two vertical plates 3103, and the lower pressure plate 3105 and the horizontal plate 3104 clamp the rear bottom edge of the first synchronous belt 3302.

[0053] See also Figures 1 to 12 Furthermore, the bottom plate 3500 is provided with two lower guide rails 3101, and the two lower guide rails 3101 are respectively arranged on the outsides of the two long holes, and the lower guide rails 3101 are arranged parallel to the long through holes. A lower slider 3102 is fixed to each of the vertical plates 3103, and each of the lower sliders 3102 cooperates with a lower guide rail 3101 to make the lower slider 3102 move forward and backward along the lower guide rail 3101.

[0054] On the one hand, the two lower guide rails 3101 are used to improve the support rigidity of the main slide 3000 during movement. On the other hand, the overall volume of the main slide 3000 is fully reduced through the cooperation between the moving part and the bottom plate 3500, especially the space occupied by the first synchronous belt 3302 mechanism 3300 and the moving part.

[0055] See also Figures 1 to 12 Furthermore, the driver 3200 includes: a motor fixing seat 3201, a driving motor 3202, a bearing 3205 seat 3204, a bearing 3205, a pin 3206 and a bearing 3205 pressure cover, the motor fixing seat 3201 and the bearing 3205 seat 3204 are fixed at the rear end of the base plate 3500, the driving motor 3202 is fixed on the motor seat, the bearing 3205 is fixed on the bearing 3205 seat 3204 through the bearing 3205 pressure plate, the first rear wheel 3203 is fixed on the output shaft of the driving motor 3202, and the two ends of the pin 3206 are respectively interference fit with the first rear wheel 3203 and the bearing 3205.

[0056] The cooperation of the motor fixing seat 3201, the driving motor 3202, the bearing 3205 seat 3204, the bearing 3205, the pin 3206 and the bearing 3205 gland can protect the driving motor 3202 and make its output power more stable, thereby improving the stability of the continuous flexible device during movement.

[0057] See also Figures 1 to 12 , further, it also includes a first tensioning mechanism 3400, the first tensioning mechanism 3400 includes a synchronous belt adjustment seat 3401, a first adjusting bolt 3402 and a first short shaft 3403, the synchronous belt adjustment seat 3401 is detachably arranged at the front end of the base plate 3500, the first front wheel 3301 is rotatably connected to the front end of the synchronous belt adjustment seat 3401 through the first short shaft 3403, the first adjusting bolt 3402 passes through the synchronous belt adjustment seat 3401 and supports the front end of the base plate 3500, and the tension of the first synchronous belt 3302 is adjusted by rotating the first adjusting bolt 3402.

[0058] There may be two first adjusting bolts 3402 , which are respectively arranged on the left and right sides of the synchronous belt adjusting seat 3401 .

[0059] See also Figures 1 to 12, further comprising two sensors 3107 and a magnet 3106, wherein the magnet 3106 is disposed at the horizontal plate 3104, and the two sensors 3107 are disposed at the two ends of the long strip through hole, respectively, and the two sensors 3107 are respectively connected to the driving motor 3202 for control,

[0060] When the magnet 3106 approaches the sensor 3107 , the driving motor 3202 stops driving the first rear wheel 3203 to rotate.

[0061] When the magnet 3106 passes through the sensor 3107, it can be sensed, which plays the role of electrical limiting.

[0062] See also Figures 1 to 12 Furthermore, the second front wheel 4201 and the second rear wheel 4203 of the second synchronous belt 4202 mechanism 4200 are respectively arranged at the front and rear ends of the middle plate 4400, and the middle plate 4400, the second front wheel 4201 and the second rear wheel 4203 are sleeved in the second synchronous belt 4202, and the second front wheel 4201 and the second rear wheel 4203 are respectively engaged with the second synchronous belt 4202.

[0063] See also Figures 1 to 12 Furthermore, the middle plate 4400 has a rectangular through hole on its surface, and the rectangular through hole extends along the front-to-back direction.

[0064] An upper guide rail 4101 is disposed on the left and right sides of the rectangular through hole, respectively. The upper guide rail 4101 is disposed parallel to the lower guide rail 3101. Two clamping arms 4105 are disposed at the sliding plate 4103. The middle plate 4400 is disposed between the two clamping arms 4105. The clamping arms 4105 are disposed at the rear side of the sliding plate 4103.

[0065] The bottom of the upper pressure plate 4104 is connected to a connecting portion 4106, and an upper slider 4102 is respectively provided on the left and right sides of the connecting portion 4106. The two upper sliders 4102 are placed between the two upper guide rails 4101. The upper sliders 4102 are matched with the upper guide rails 4101 in a one-to-one manner, so that the upper sliders 4102 can move forward and backward along the upper guide rails 4101.

[0066] On the one hand, the upper guide rail 4101 is clamped between the clamp arm 4105 and the upper slider 4102 through the cooperation between the clamp arm 4105 and the upper slider 4102, thereby improving the stability of the movement of the secondary slide 4000. On the other hand, through the arrangement of the rectangular through hole, the upper guide rail 4101 and the upper slider 4102 are both arranged on the side, and the space occupied by the guide mechanism is reduced.

[0067] See also Figures 1 to 12 , further comprising two second tensioning mechanisms 4300, the two second tensioning mechanisms 4300 are respectively arranged at the front and rear ends of the middle plate 4400,

[0068] The second tensioning mechanism 4300 includes a pulley adjustment seat 4301, a second adjustment bolt 4302 and a second short shaft 4303.

[0069] The two pulley adjustment seats 4301 are detachably arranged at the front and rear ends of the middle plate 4400, respectively. The second front wheel 4201 and the second rear wheel 4203 are rotatably connected to the corresponding pulley adjustment seats 4301 through the corresponding second short shafts 4303.

[0070] The second adjusting bolt 4302 passes through the corresponding pulley adjusting seat 4301 and presses against the front and rear ends of the middle plate 4400 . The tension of the second synchronous belt 4202 can be adjusted by rotating the second adjusting bolt 4302 .

[0071] There may be two second adjusting bolts 4302 disposed on the left and right sides of the pulley adjusting seat 4301 , respectively.

[0072] On the one hand, it is convenient to install, disassemble and tension the first synchronous belt 3302 and the second synchronous belt 4202, and on the other hand, it ensures the stability of the transmission performance of the first synchronous belt 3302 and the second synchronous belt 4202. When they are loose, by tensioning, the accuracy of the first synchronous belt 3302 and the second synchronous belt 4202 in transmitting the driving force of the driving motor 3202 is maintained. In addition, when the two synchronous belts are loose, the service life of the first synchronous belt 3302 and the second synchronous belt 4202 can still be extended by adjusting the first tensioning mechanism 3400 and the second tensioning mechanism 4300.

[0073] See also Figures 1 to 12 Furthermore, the synchronous belt fixing seat 3108 is arranged between the two long through holes, the synchronous belt fixing seat 3108 is a block-shaped structure, and a front pressure plate 3109 is arranged on the synchronous belt fixing seat 3108. The first synchronous belt 3302 is arranged between the front pressure plate 3109 and the synchronous belt fixing seat 3108, and the front pressure plate 3109 and the synchronous belt fixing seat 3108 clamp the first synchronous belt 3302.

[0074] It should be noted that the synchronous belt fixing seat 3108 may be provided with a mounting through hole, which penetrates the synchronous belt fixing seat 3108 along the front-to-back direction, and the first synchronous belt 3302 passes through the mounting through hole.

[0075] In this way, in order to solve the problem that existing continuum surgical instruments cannot increase the working space by connecting multiple flexible segments in series, this embodiment combines a continuum surgical instrument with a limited number of flexible segments, and reaches a deep and closed environment through a bipolar slide. While retaining the rigidity, it can be suitable for different indications. At the same time, the quick disassembly part can be used to ensure the normal disinfection and replacement of surgical instruments. The power transmission part adopts the traditional synchronous belt transmission mechanism, which can realize single degree of freedom adjustment.

[0076] In addition, this embodiment can keep a certain rigidity of the continuum robot arm while increasing the working space. It does not rely on multiple sections in series to increase the working space, which reduces the difficulty of modeling in the design process and satisfies the curvature bending assumption of flexible instruments.

[0077] The compact two-stage slide of this embodiment has a small size and high space utilization, and can be easily integrated at the surgical execution end, that is, the execution end of the surgical robot, to facilitate the disassembly and disinfection of the end instrument and the maintenance of the instrument itself.

[0078] Moreover, the slide mechanism in this embodiment can only be adjusted along the single degree of freedom of the front and rear, which can largely resist the radial force at the execution end and maintain the linear output displacement of the slide. In addition, through the transmission of the synchronous belt, the output accuracy can also be guaranteed to avoid slipping and misalignment.

[0079] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An integrated double-range slide table for continuous flexible equipment, characterized in that: include: Base, mechanical fixing base, primary slide and secondary slide, The primary slide is arranged on the base, the secondary slide is arranged on the primary slide, the mechanical fixing seat is arranged on the secondary slide, and the continuum flexible device is detachably arranged at the front end of the mechanical fixing seat; The main stage slide comprises a driver, a first synchronous belt mechanism, a synchronous belt fixing seat, a bottom plate and a moving member, wherein the bottom plate is detachably arranged on the base, the first synchronous belt mechanism is arranged at the bottom plate, the driver is used to drive the first synchronous belt of the first synchronous belt mechanism to rotate, and the moving member is fixed to the rear bottom edge of the first synchronous belt through the moving member, so that the moving member moves forward and backward along the bottom plate, and the synchronous belt fixing seat is fixedly arranged at the front end of the bottom plate; The secondary slide comprises a second synchronous belt mechanism, an intermediate plate, a sliding plate and an upper pressing plate, wherein the second synchronous belt mechanism is arranged at the intermediate plate, and the sliding plate is arranged above the second synchronous belt mechanism. The mechanical fixing seat is detachably arranged at the front end of the sliding plate, the upper pressure plate is arranged below the rear end of the sliding plate, the upper pressure plate and the sliding plate clamp the upper rear side of the second synchronous belt of the second synchronous belt mechanism, the moving part is detachably connected to the rear end of the bottom surface of the intermediate plate, and the synchronous belt fixing seat clamps the lower front end of the second synchronous belt.

2. The integrated double-range slide according to claim 1, characterized in that: The bottom plate is provided with two parallel long strip through holes, the two long strip through holes extend along the front-back direction, the moving part comprises two vertical plates, a horizontal plate and a lower pressing plate, the two vertical plates are respectively inserted into the corresponding long strip through holes, the horizontal plate is located below the bottom plate, and the horizontal plate connects the bottom ends of the two vertical plates, The first synchronous belt is sleeved outside the base plate, and the first front wheel and the first rear wheel of the first synchronous belt mechanism are respectively arranged at the front and rear ends of the base plate, the first front wheel and the first rear wheel are sleeved in the first synchronous belt and meshed with the first synchronous belt, the first rear wheel is connected to the driver by transmission, the first synchronous belt is placed between the two vertical plates, and the lower pressure plate and the horizontal plate clamp the rear bottom edge of the first synchronous belt.

3. The integrated double-range slide according to claim 2, characterized in that: The bottom plate is provided with two lower guide rails, which are respectively arranged on the outsides of the two long holes, and the lower guide rails are arranged parallel to the long through holes. A lower slider is fixed to each of the vertical plates, and each of the lower sliders cooperates with a lower guide rail to enable the lower slider to move forward and backward along the lower guide rail.

4. The integrated double-range slide according to claim 3, characterized in that: The driver includes: a motor fixing seat, a driving motor, a bearing seat, a bearing, a pin shaft and a bearing pressure cover, the motor fixing seat and the bearing seat are fixed at the rear end of the base plate, the driving motor is fixed on the motor seat, the bearing is fixed on the bearing seat through the bearing pressure plate, the first rear wheel is fixed on the output shaft of the driving motor, and the two ends of the pin shaft are respectively interference fit with the first rear wheel and the bearing.

5. The integrated double-range slide according to claim 4, characterized in that: It also includes a first tensioning mechanism, which includes a synchronous belt adjustment seat, a first adjusting bolt and a first short shaft. The synchronous belt adjustment seat is detachably arranged at the front end of the base plate, and the first front wheel is rotatably connected to the front end of the synchronous belt adjustment seat through the first short shaft. The first adjusting bolt passes through the synchronous belt adjustment seat and supports the front end of the base plate. The tension of the first synchronous belt can be adjusted by rotating the first adjusting bolt.

6. The integrated double-range slide according to claim 5, characterized in that: It also includes two sensors and magnets, wherein the magnets are arranged on the horizontal plate, the two sensors are arranged at the two ends of the long strip through hole, and the two sensors are respectively connected to the driving motor control. When the magnet approaches the sensor, the driving motor stops driving the first rear wheel to rotate.

7. The integrated double-range slide according to claim 6, characterized in that: The second front wheel and the second rear wheel of the second synchronous belt mechanism are respectively arranged at the front and rear ends of the middle plate, the middle plate, the second front wheel and the second rear wheel are sleeved in the second synchronous belt, and the second front wheel and the second rear wheel are respectively engaged with the second synchronous belt.

8. The integrated double-range slide according to claim 7, characterized in that: The middle plate has a rectangular through hole on its surface, and the rectangular through hole extends in the front-to-back direction. An upper guide rail is respectively arranged on the left and right sides of the rectangular through hole, and the upper guide rail is arranged in parallel with the lower guide rail. Two clamping arms are arranged at the sliding plate, and the middle plate is arranged between the two clamping arms. The clamping arms are arranged at the rear side of the sliding plate. A connecting portion is connected to the bottom of the upper pressure plate, and an upper slider is respectively arranged on the left and right sides of the connecting portion. The two upper sliders are placed between the two upper guide rails. The upper sliders are matched with the upper guide rails in a one-to-one manner so that the upper sliders move forward and backward along the upper guide rails.

9. The integrated double-range slide according to claim 8, characterized in that: It also includes two second tensioning mechanisms, which are respectively arranged at the front and rear ends of the middle plate. The second tensioning mechanism includes a pulley adjustment seat, a second adjustment bolt and a second short shaft. The two pulley adjustment seats are detachably arranged at the front and rear ends of the middle plate, respectively, and the second front wheel and the second rear wheel are rotatably connected to the corresponding pulley adjustment seats through the corresponding second short shafts. The second adjusting bolt passes through the corresponding pulley adjusting seat and abuts against the front end and the rear end of the intermediate plate. The tension of the second synchronous belt can be adjusted by rotating the second adjusting bolt.

10. The integrated double-range slide according to claim 9, characterized in that: The synchronous belt fixing seat is arranged between the two long strip through holes, the synchronous belt fixing seat is a block-shaped structure, a front pressure plate is arranged on the synchronous belt fixing seat, the first synchronous belt is arranged between the front pressure plate and the synchronous belt fixing seat, and the front pressure plate and the synchronous belt fixing seat clamp the first synchronous belt.

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