An integrated range extender slide for continuum flexible instruments

Abstract

The application relates to the technical field of medical operation auxiliary instruments, and discloses an integrated double-length sliding table applied to a continuum flexible instrument. The integrated double-length sliding table comprises a main-stage sliding table, a driver, a first synchronous belt mechanism, a synchronous belt fixing base, a bottom plate and a moving piece. The bottom plate is detachably arranged on the base, the first synchronous belt mechanism is arranged at the bottom plate, the driver is used for driving the first synchronous belt of the first synchronous belt mechanism to rotate, the mechanical fixing base 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 rear side of the second synchronous belt of the second synchronous belt mechanism, the moving piece is detachably connected to the rear end of the bottom surface of the middle plate, and the synchronous belt fixing base clamps the lower front end of the second synchronous belt.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical operation auxiliary instruments, in particular to an integrated double-length sliding table applied to continuum flexible instruments. BACKGROUND

[0002] In medical operations, continuum flexible instruments are needed to be used to complete the operation, and the use of continuum flexible instruments plays an important role in the smooth completion of the operation.

[0003] However, due to the limitations of flexible surgical instruments, they are only suitable for face and neck tumor resection surgery, and the working space of continuum surgical instruments is limited, and the space of the operating table is small during the operation, and the working space cannot be quickly and effectively expanded. SUMMARY

[0004] To solve the above problems, the present application provides an integrated double-length sliding table applied to continuum flexible instruments, comprising: a base, a mechanical fixing seat, a primary sliding table and a secondary sliding table,

[0005] The primary sliding table is arranged on the base, the secondary sliding table is arranged on the primary sliding table, the mechanical fixing seat is arranged on the secondary sliding table, and the continuum flexible instrument is detachably arranged at the front end of the mechanical fixing seat.

[0006] The primary sliding table comprises a driver, a first synchronous belt mechanism, a synchronous belt fixing seat, a bottom plate and a moving piece, 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, the moving piece is fixed with the rear side bottom edge of the first synchronous belt through the moving piece, so that the moving piece 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 sliding table comprises a second synchronous belt mechanism, an intermediate plate, a sliding plate and an upper pressing plate, the second synchronous belt mechanism is arranged at the intermediate plate, 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 pressing plate is arranged below the rear end of the sliding plate, the upper pressing plate and the sliding plate clamp the rear side upper edge of the second synchronous belt of the second synchronous belt mechanism, the moving piece is detachably connected to the rear end of the bottom surface of the intermediate plate, and the synchronous belt fixing seat clamps the front end lower edge of the second synchronous belt.

[0009] Furthermore, the bottom plate is provided with two parallel long strip through holes, the two long strip through holes extending along the front-back direction, the movable 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 drive 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 outside 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 back and forth 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 interference fit with the first rear wheel and the bearing respectively.

[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, 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 drive 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, the middle plate is provided with a rectangular through hole, and the rectangular through hole extends along the front-to-back direction.

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

[0019] The bottom of the upper pressure plate is connected to a connecting part, and an upper slider is provided on the left and right sides of the connecting part respectively. 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 to enable the upper sliders to 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. 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 presses 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 strip through holes, the synchronous belt fixing seat is a square structure, a front pressure plate is provided 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 the driver, drives the moving part to move forward, and pushes the middle plate to move forward. At the same time, the front end lower edge 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 forward. In this way, only by driving the first synchronous belt to rotate by 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 entire slide. In this way, the continuum flexible instrument used in medical surgery is cooperated with 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 for laparoscopic tumor resection surgery, greatly expanding the working space of the continuum surgical instrument, and taking up little space.

[0026] To address the inability of existing continuum surgical instruments to expand their workspace by connecting multiple flexible segments in series, the present invention combines a continuum surgical instrument with a limited number of flexible segments. Using a bipolar slide, the instrument can reach deep, confined environments while maintaining rigidity and adapting to diverse indications. Furthermore, a quick-release mechanism ensures proper disinfection and replacement of surgical instruments. The power transmission utilizes a traditional synchronous belt drive mechanism, enabling single-degree-of-freedom adjustment.

[0027] In addition, the present invention can maintain a certain rigidity of the continuum robotic 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 a single degree of freedom in 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 diagram of the 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 according to 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 diagram of the structure of the integrated double-range slide drive 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 Schematic structural diagram of the first tensioning mechanism of the integrated double-range slide according to an embodiment of the present invention;

[0034] Figure 7 1 is 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] Figure 9 Schematic structural diagram of the second tensioning mechanism of the integrated double-range slide according to an embodiment of the present invention;

[0037] Figure 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] Figure 11 This is a schematic diagram of the integrated double-range slide before extension according to an embodiment of the present invention;

[0039] Figure 12 This is a schematic diagram of the integrated double-range slide after extension according to an embodiment of the present invention.

[0040] Explanation of reference numerals: 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, drive motor; 3203, first rear wheel; 3204, bearing seat; 3205, bearing; 3206, pin; 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" and "lower" and the like indicate positions or location relationships based on the positions or location relationships during normal use of the product.

[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 specifying the number of technical features indicated. Therefore, 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 base 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 continuum flexible device is detachably arranged at the front end of the mechanical fixing seat 2000;

[0046] The main-stage 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 on 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 back and forth 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 pressure plate 4104. The second synchronous belt 4202 mechanism 4200 is arranged on 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 this 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] During use, the driver 3200 drives the first synchronous belt 3302 to rotate, driving the moving member forward and pushing the intermediate plate 4400 forward. At the same time, the front end of the second synchronous belt 4202 is fixed by the synchronous belt fixing seat 3108, causing the second synchronous belt 4202 to rotate and move forward relative to the intermediate plate 4400. At this time, the sliding plate 4103 above the second synchronous belt 4202 moves forward, causing the mechanical fixing seat 2000 to drive the continuum flexible device forward. In this way, only by driving the first synchronous belt 3302 to rotate by the driver 3200, the intermediate plate 4400 and the sliding plate 4103 can be driven forward relative to the bottom plate 3500. The forward movement of the intermediate plate 4400 and the sliding plate 4103 is superimposed on each other, achieving a 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 limitations 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 Furthermore, the bottom plate 3500 is provided with two parallel long strip through holes, and the two long strip through holes extend along the front-back direction. The movable member includes two vertical plates 3103, a horizontal plate 3104 and a lower pressure 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 engaged with the first synchronous belt 3302, the first rear wheel 3203 is connected to the driver 3200 for 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 outside 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 lower slider 3102 cooperates with a lower guide rail 3101 to make the lower slider 3102 move back and forth along the lower guide rail 3101.

[0054] On the one hand, the two lower guide rails 3101 improve the support rigidity of the main stage slide 3000 during its movement. On the other hand, the cooperation between the moving parts and the base plate 3500 can fully reduce the overall volume of the main stage slide 3000, especially the space occupied by the cooperation between the first synchronous belt 3302 mechanism 3300 and the moving parts.

[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 coordination of the motor mount 3201, the drive motor 3202, the bearing 3205 mount 3204, the bearing 3205, the pin 3206, and the bearing 3205 gland protects the drive motor 3202 and stabilizes its output power, thereby improving the stability of the continuous flexible device during movement.

[0057] See also Figures 1 to 12 Furthermore, it also includes a first tensioning mechanism 3400, which 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, and 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. 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 provided 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 arranged at the horizontal plate 3104, and the two sensors 3107 are respectively arranged at the two ends of the long strip through hole, and the two sensors 3107 are respectively connected to the control of the drive motor 3202,

[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, playing the role of electrical limit.

[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 intermediate plate 4400, and the intermediate 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 formed on its surface, and the rectangular through hole extends along the front-to-back direction.

[0064] An upper guide rail 4101 is provided on the left and right sides of the rectangular through hole, respectively. The upper guide rail 4101 is provided in parallel with the lower guide rail 3101. Two clamping arms 4105 are provided on the sliding plate 4103. The middle plate 4400 is provided between the two clamping arms 4105. The clamping arms 4105 are provided on 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 back and forth along the upper guide rails 4101.

[0066] On the one hand, the upper guide rail 4101 is clamped between the clamping arm 4105 and the upper slider 4102 through the cooperation between them, improving the stability of the movement of the secondary slide 4000. On the other hand, the rectangular through-hole allows the upper guide rail 4101 and the upper slider 4102 to be positioned on the side, thus reducing the space occupied by the guide mechanism.

[0067] See alsoFigures 1 to 12 Further, two second tensioning mechanisms 4300 are arranged at the front and rear ends of the intermediate plate 4400 respectively,

[0068] The second tensioning mechanism 4300 comprises a pulley adjusting seat 4301, a second adjusting bolt 4302 and a second short shaft 4303,

[0069] The two pulley adjusting seats 4301 are respectively detachably arranged at the front and rear ends of the intermediate plate 4400, and the second front wheel 4201 and the second rear wheel 4203 are rotationally connected to the corresponding pulley adjusting seat 4301 through the corresponding second short shaft 4303.

[0070] The second adjusting bolt 4302 penetrates through the corresponding pulley adjusting seat 4301 and abuts against the front end and the rear end of the intermediate plate 4400, and the second adjusting bolt 4302 is rotated to adjust the tensioning degree of the second synchronous belt 4202.

[0071] Here, the second adjusting bolt 4302 can be two and arranged at the left and right sides of the pulley adjusting seat 4301 respectively.

[0072] On the one hand, the installation, disassembly and tensioning of the first synchronous belt 3302 and the second synchronous belt 4202 are facilitated, and on the other hand, the stability of the transmission performance of the first synchronous belt 3302 and the second synchronous belt 4202 is ensured. When the first synchronous belt 3302 and the second synchronous belt 4202 are loose, the accuracy of the driving force transmission of the first synchronous belt 3302 and the second synchronous belt 4202 to the driving motor 3202 is maintained through tensioning. And 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 prolonged through the adjustment of the first tensioning mechanism 3400 and the second tensioning mechanism 4300.

[0073] Referring to Figures 1 to 12 Further, the synchronous belt fixing seat 3108 is arranged between the two long strip-shaped through holes, the synchronous belt fixing seat 3108 is a square structure, the front pressing plate 3109 is arranged on the synchronous belt fixing seat 3108, the first synchronous belt 3302 is arranged between the front pressing plate 3109 and the synchronous belt fixing seat 3108, and the front pressing 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 can be provided with a mounting through hole penetrating the synchronous belt fixing seat 3108 along the front-rear direction, and the first synchronous belt 3302 penetrates the mounting through hole.

[0075] Thus, addressing the inability of existing continuum surgical instruments to increase their workspace by connecting multiple flexible segments in series, this embodiment combines a continuum surgical instrument with a limited number of flexible segments. This instrument, utilizing a bipolar slide, can reach deep, confined environments, maintaining rigidity while being adaptable to a variety of indications. Furthermore, the quick-release feature ensures proper disinfection and replacement of surgical instruments. The power transmission utilizes a traditional synchronous belt drive mechanism, enabling single-degree-of-freedom adjustment.

[0076] Furthermore, this embodiment can maintain a certain rigidity of the continuum manipulator while increasing the workspace. This does not rely on multiple segments connected in series to increase the workspace, which reduces the modeling difficulty during the design process and satisfies the curvature bending assumption of flexible instruments.

[0077] The compact two-stage slide in this embodiment has a small size and high space utilization, and is easy to integrate into 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] Furthermore, the slide mechanism in this embodiment can only be adjusted along a single degree of freedom, front to back, which can largely resist radial forces at the actuator end and maintain the linear output displacement of the slide. Furthermore, the transmission through the synchronous belt can also ensure output accuracy and avoid slippage and misalignment.

[0079] Although the present disclosure is disclosed as above, the protection scope of the present 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 present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An integrated double-range slide for continuous flexible instruments, 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 includes a driver, a first synchronous belt mechanism, a synchronous belt fixing seat, a base plate and a moving member, wherein the base plate is detachably arranged on the base, the first synchronous belt mechanism is arranged on the base 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 back and forth along the base plate, and the synchronous belt fixing seat is fixedly arranged at the front end of the base plate; The secondary slide includes a second synchronous belt mechanism, an intermediate plate, a sliding plate and an upper pressure 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 mounted on the front end of the sliding plate, the upper pressing plate is disposed below the rear end of the sliding plate, the upper pressing plate and the sliding plate clamp the upper rear edge of the second synchronous belt of the second synchronous belt mechanism, the moving member 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; The bottom plate is provided with two parallel long strip through holes, and the two long strip through holes extend along the front-back direction. The moving part includes 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 connects the bottom ends of the two vertical plates. The first synchronous belt is sleeved outside the base plate, 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 transmission-connected to the driver, 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; The bottom plate is provided with two lower guide rails, and the two lower guide rails are respectively arranged on the outside of the two long strip through holes. The lower guide rails are arranged parallel to the long strip through holes. A lower slider is fixed to each of the vertical plates. Each lower slider cooperates with a lower guide rail to make the lower slider move forward and backward along the lower guide rail.

2. The integrated double-range slide according to claim 1, 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 fixing 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 interference fit with the first rear wheel and the bearing respectively.

3. The integrated double-range slide according to claim 2, 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. 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.

4. The integrated double-range slide according to claim 3, characterized in that: It also includes two sensors and magnets, 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 drive motor control. When the magnet approaches the sensor, the driving motor stops driving the first rear wheel to rotate.

5. The integrated double-range slide according to claim 4, 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, and 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.

6. The integrated double-range slide according to claim 5, 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 provided on the left and right sides of the rectangular through hole, respectively. The upper guide rail is provided in parallel with the lower guide rail. Two clamping arms are provided on the sliding plate. The middle plate is provided between the two clamping arms. The clamping arms are provided on the rear side of the sliding plate. The bottom of the upper pressure plate is connected to a connecting part, and an upper slider is provided on the left and right sides of the connecting part respectively. 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 to enable the upper sliders to move forward and backward along the upper guide rails.

7. The integrated double-range slide according to claim 6, 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. 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 presses 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.

8. The integrated double-range slide according to claim 7, characterized in that: The synchronous belt fixing seat is arranged between the two long strip through holes, the synchronous belt fixing seat is a square structure, a front pressure plate is provided 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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