Wire driving module for endoscopic surgery actuator

Abstract

The invention discloses a wire driving module for an endoscopic surgery actuator. The wire driving module comprises a driving mechanism; the driving mechanism is used for driving the first moving part and the second moving part to move close to or away from each other in the first preset direction. The first moving part is matched with the pressure spring type wire control mechanism, and the pressure spring type wire control mechanism installed on the first guide mechanism is driven to move in the first preset direction through movement of the first moving part in the first preset direction; the second moving part is matched with the tension spring type wire control mechanism, and the second moving part moves in the first preset direction to drive the tension spring type wire control mechanism installed on the second guide mechanism to move in the first preset direction. The two sets of fixing seats are synchronously controlled by one motor, synchronous reverse movement of the two pull wires and the two sheathing canals is achieved, the two pull wires and the two sheathing canals are coupled to drive control over the swing freedom degree of the endoscopic surgery actuator, and the efficiency and reliability of actuator movement control are remarkably improved.

Description

Technical Field

[0001] The present invention relates to a wire-driven module, and more particularly to a wire-driven module for torsional degree of freedom of a surgical actuator such as a digestive endoscope clamp actuator in endoscopic surgery (such as endoscopic submucosal dissection: ESD). Background Art

[0002] In the context of the high incidence of digestive tract malignancies, the increasing demand for surgeries, and the uneven distribution of medical resources, the emergence of medical surgical robots has greatly improved the situation in the medical field. For example, in endoscopic surgeries such as ESD, endoscopes and various actuators using wire drives have greatly reduced the operation difficulty and risk of pure manual surgeries due to their small and flexible characteristics. However, how to solve the problems of complex operation, insufficient effectiveness and stability of traditional flexible endoscope actuators has become one of the key technical difficulties in endoscopic surgery.

[0003] The small size and high flexibility requirements of the actuator make the drive scheme mainly rely on the rear wire-driven module, and at the same time, materials such as elastic sheaths are used to constrain the actuator to improve stiffness and stability. However, there are significant limitations in the existing drive methods: some schemes do not use elastic sheaths to enhance stiffness, or although fixed elastic sheaths are used, it is difficult to provide adaptive synchronous stiffness adjustment when the actuator pitches or swings. In addition, the number of motors used in most schemes is relatively large, resulting in insufficient overall stability and reliability of the mechanism. Further considering that the demand for the number of degrees of freedom of different actuators ranges from 1 to 4, the existing drive devices are difficult to be compatible with various mainstream actuator designs, restricting their applicability and popularity. Summary of the Invention

[0004] The present invention provides a wire-driven module for an endoscopic surgery actuator, which realizes single-degree-of-freedom control with adaptive variable stiffness following through single-motor drive; further, the module also reserves modular combination interfaces so as to combine multiple modular designs of the present invention for actuators with different degrees of freedom.

[0005] The technical solution of the present invention is as follows:

[0006] A wire driving module for an endoscopic surgical actuator, comprising a driving mechanism 100, a two-way wire control mechanism 200, a first moving part 102, a second moving part 110, a first guiding mechanism, a second guiding mechanism, a wire pulling guiding mechanism and a frame 112; the two-way wire control mechanism 200 includes a compression spring type wire control mechanism and a tension spring type wire control mechanism; the frame 112 is used for installing the driving mechanism 100, the wire pulling guiding mechanism, the first guiding mechanism and the second guiding mechanism; the driving mechanism 100 is used for driving the first moving part 102 and the second moving part 110 to move closer to or away from each other along a first preset direction; the first moving part 102 cooperates with the compression spring type wire control mechanism, and drives the compression spring type wire control mechanism installed on the first guiding mechanism to move along the first preset direction through the movement of the first moving part 102 along the first preset direction; the second moving part 110 cooperates with the tension spring type wire control mechanism, and drives the tension spring type wire control mechanism installed on the second guiding mechanism to move along the first preset direction through the movement of the second moving part 110 along the first preset direction.

[0007] Further, the driving mechanism 100 includes a double-threaded lead screw 101, a limit ring 106, a motor 107, and a first flange bearing 111; the output shaft of the motor 107 fixed at the rear end of the frame 112 is connected to one end of the double-threaded lead screw 101 through a coupling, the other end of the double-threaded lead screw 101 is limited by the first flange bearing 111 and the limit ring 106 installed on the frame 112, and the first moving part 102 and the second moving part 110 are arranged on the double-threaded lead screw 101 and the second moving part 110 is close to the motor end. The first moving part 102 and the second moving part 110 are engaged with the external threads on the double-threaded lead screw 101, so that the first moving part 102 and the second moving part 110 move closer to or away from each other along the first preset direction.

[0008] Further, the first guiding mechanism and the second guiding mechanism have the same structure. The first guiding mechanism and the second guiding mechanism are distributed on opposite sides of the driving mechanism 100, and both include: an optical axis 103, which is fixed to the frame 112 through a limit ring 106 for installing the two-way wire control mechanism 200; two sets of draw slides, each set of draw slides includes an outer fixed rail 105 and an inner moving rail 104. The outer fixed rail 105 is installed on the frame 112, and the inner moving rail 104 cooperates with the outer fixed rail 105, so that the inner moving rail 104 is movably arranged relative to the outer fixed rail 105 along the first preset direction.

[0009] Further, the compression spring type wire control mechanism includes a left-handed wire pulling slider 201, a compression spring 202, and a left-handed pipe pulling slider 203. The tension spring type wire control mechanism includes a right-handed wire pulling slider 210, a tension spring 212, and a right-handed pipe pulling slider 216. The left-handed wire pulling slider 201 cooperates with the first moving part 102, and the right-handed wire pulling slider 210 cooperates with the second moving part 110, so as to drive the left-handed wire pulling slider 201 and the right-handed wire pulling slider 210 to move closer to or away from each other along the first preset direction through the movement of the first moving part 102 and the second moving part 110 along the first preset direction. The left-handed pipe pulling slider 203 and the right-handed pipe pulling slider 216 are respectively provided with guide holes for the corresponding optical axes 103 in the first guiding mechanism and the second guiding mechanism to pass through, and the left-handed pipe pulling slider 203 and the right-handed pipe pulling slider 216 cooperate with the corresponding pull-out slide rails in the first guiding mechanism and the second guiding mechanism. A compression spring 202 sleeved on the optical axis 103 is arranged between the left-handed wire pulling slider 201 and the left-handed pipe pulling slider 203. The two ends of a tension spring 212 are jointly fastened by the right-handed wire pulling slider 210 and the right-handed pipe pulling slider 216 through bolt pressing.

[0010] Further, the compression spring type wire control mechanism further includes a left-handed pipe fixing seat 204, a left-handed wire fixing seat 208, and a wire slide rail group 209. The tension spring type wire control mechanism further includes a right-handed wire fixing seat 211 and a right-handed pipe fixing seat 215. One end of the left-handed wire fixing seat 208 is fixed on the left-handed wire pulling slider 201, and the other end of the left-handed wire fixing seat 208 cooperates with the wire slide rail group 209 fixed on the right-handed wire pulling slider 210. The right-handed wire fixing seat 211 is fixed on the right-handed wire pulling slider 210. The left-handed pipe fixing seat 204 is installed at one end of the left-handed pipe pulling slider 203 away from the working end of the actuator, and the right-handed pipe fixing seat 215 is installed at one end of the right-handed pipe pulling slider 216 away from the working end of the actuator. The two-way wire control mechanism 200 further includes two first hollow elastic sheath tubes 205, a second hollow elastic sheath tube 214, a first steel wire rope 206, and a second steel wire rope 213. The first hollow elastic sheath tube 205 containing the first steel wire rope 206 is in sequence from one end to the other end: fixed to the other end of the left-handed wire fixing seat 208, fixed to the left-handed pipe fixing seat 204, led out through the left-handed pipe pulling slider 203, and then led out through the wire guiding mechanism. The second hollow elastic sheath tube 214 containing the second steel wire rope 213 is in sequence from one end to the other end: fixed to the right-handed wire fixing seat 211, fixed to the right-handed pipe fixing seat 215, led out through the right-handed pipe pulling slider 216, and then led out through the wire guiding mechanism.

[0011] Further, the wire guiding mechanism includes a sheath tube rolling shaft 217, and the sheath tube rolling shaft 217 is fixed to the front end of the frame 112 through a pair of second flange bearings 218 and a limit ring 106.

[0012] Further, the wire driving module further includes an adapter angle code 108 and a fixing bolt 109 that matches the adapter angle code 108. The adapter angle code 108 is provided with a vertical hole position and a horizontal hole position. The vertical hole position is fixed to the frame 112 through the fixing bolt 109, and a socket is reserved at the horizontal hole position of the frame 112 close to the adapter angle code 108.

[0013] The beneficial effects of the present invention are as follows: The present invention provides synchronous and reverse linear driving forces through the driving mechanism, and realizes the same-direction linear expansion and contraction of a single set of fixed seats under the driving of the lead screw through the adaptive stiffness adjustment of the tension and compression springs in the compression spring type wire control mechanism and the tension spring type wire control mechanism. The two sets of fixed seats are synchronously controlled by one motor to realize the synchronous reverse movement of the two wire ropes and the two sheath tubes, and are coupled to the driving control of the swing degree of freedom of the endoscopic surgical actuator, significantly improving the efficiency and reliability of the actuator motion control. Description of the Drawings

[0014] Figure 1 is a schematic structural diagram of the wire driving module of the present invention Figure 1 ;

[0015] Figure 2 is a schematic structural diagram of the driving mechanism;

[0016] Figure 3 is a schematic structural diagram of the two-way wire control mechanism;

[0017] Figure 4 is a schematic structural diagram of the wire driving module of the present invention Figure 2 ;

[0018] Figure 5 is a schematic diagram of placing the hollow elastic sheath tube into the wire rope of the present invention;

[0019] Figure 6 is a partial assembly schematic diagram of the two-way wire control mechanism of the present invention;

[0020] Figure 7 is a schematic diagram of the socket reserved on the frame;

[0021] The reference numerals in the figure are as follows: driving mechanism 100; double-threaded lead screw 101; first moving part 102; optical axis 103; inner moving rail 104; outer fixed rail 105; limiting ring 106; motor 107; adapter angle code 108; fixing bolt 109; second moving part 110; first flange bearing 111; frame 112; bidirectional wire control mechanism 200; left-handed wire pulling slider 201; compression spring 202; left-handed pipe pulling slider 203; left-handed pipe fixing seat 204; first hollow elastic sheath tube 205; first steel wire rope 206; slider fixing bolt 207; left-handed wire fixing seat 208; wire pulling slide rail group 209; right-handed wire pulling slider 210; right-handed wire fixing seat 211; tension spring 212; second steel wire rope 213; second hollow elastic sheath tube 214; right-handed pipe fixing seat 215; right-handed pipe pulling slider 216; sheath rolling shaft 217; second flange bearing 218. Detailed implementation mode

[0022] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. It should be noted that, without conflict, the embodiments and features in the embodiments of this application can be combined with each other arbitrarily.

[0023] Embodiment 1: As Figures 1 - 7 shown, a wire driving module for an endoscopic surgical actuator includes a driving mechanism 100, a bidirectional wire control mechanism 200, a first moving part 102, a second moving part 110, a first guiding mechanism, a second guiding mechanism, a wire pulling guiding mechanism and a frame 112; the bidirectional wire control mechanism 200 includes a compression spring type wire control mechanism and a tension spring type wire control mechanism; the frame 112 is used for installing the driving mechanism 100, the wire pulling guiding mechanism, the first guiding mechanism and the second guiding mechanism; the driving mechanism 100 is used for driving the first moving part 102 and the second moving part 110 to move closer to or away from each other along a first preset direction; the first moving part 102 cooperates with the compression spring type wire control mechanism, and drives the compression spring type wire control mechanism installed on the first guiding mechanism to move along the first preset direction through the movement of the first moving part 102 along the first preset direction; the second moving part 110 cooperates with the tension spring type wire control mechanism, and drives the tension spring type wire control mechanism installed on the second guiding mechanism to move along the first preset direction through the movement of the second moving part 110 along the first preset direction.

[0024] Furthermore, as Figure 2As shown, the driving mechanism 100 includes a double-threaded screw rod 101, a limit ring 106, a motor 107, and a first flange bearing 111. The output shaft of the motor 107 fixed to the rear end of the frame 112 is connected to one end of the double-threaded screw rod 101 through a coupling. The other end of the double-threaded screw rod 101 is limited by the first flange bearing 111 and the limit ring 106 installed on the frame 112. A first moving part 102 and a second moving part 110 are arranged on the double-threaded screw rod 101, and the second moving part 110 is close to the motor end. The first moving part 102 and the second moving part 110 are engaged with the external threads on the double-threaded screw rod 101, so that the first moving part 102 and the second moving part 110 move closer to or away from each other along a first preset direction. Exemplarily, the first moving part 102 adopts a left-handed nut group, and the second moving part 110 adopts a right-handed nut group.

[0025] Further, as Figure 2 shown, the first guiding mechanism and the second guiding mechanism have the same structure. The first guiding mechanism and the second guiding mechanism are distributed on opposite sides of the driving mechanism 100, and both include:

[0026] An optical axis 103, which is fixed to the frame 112 through the limit ring 106 for installing the bidirectional wire control mechanism 200. The movement of the first moving part 102 and the second moving part 110 along the first preset direction is guided by two optical axes arranged in parallel on the double-threaded screw rod 101. It can also be used to guide the movement of the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 in the bidirectional wire control mechanism 200 along the first preset direction.

[0027] Two groups of draw rails, each group of draw rails including an outer fixed rail 105 and an inner moving rail 104. The outer fixed rail 105 is installed on the frame 112, and the inner moving rail 104 is engaged with the outer fixed rail 105, so that the inner moving rail 104 is movably arranged relative to the outer fixed rail 105 along the first preset direction.

[0028] Further, as Figure 7 shown, the wire driving module further includes two adapter corner brackets 108 and fixing bolts 109 matching the adapter corner brackets 108. Vertical holes and horizontal holes are provided on the adapter corner brackets 108. The vertical holes are fixed to the frame 112 through the fixing bolts 109. A socket is reserved at the position of the frame 112 close to the horizontal holes of the corner brackets 108. The socket serves as the installation space for the endoscopic surgical actuator driving device, and is assembled with the endoscopic surgical actuator driving device through the fixing bolts 109 passing through the horizontal holes of the adapter corner brackets 108. It should be noted that the endoscopic surgical actuator driving device can be used to assemble one or more of the wire driving modules.

[0029] Further, as Figure 1 shown,Figure 3 , Figure 4 , Figure 6 As shown in Figure 3 , Figure 4 , and Figure 6 , the compression spring type wire control mechanism includes a left-handed wire pulling slider 201, a compression spring 202, and a left-handed tube pulling slider 203, and the tension spring type wire control mechanism includes a right-handed wire pulling slider 210, a tension spring 212, and a right-handed tube pulling slider 216;

[0030] The left-handed wire pulling slider 201 cooperates with the first moving part 102, and the right-handed wire pulling slider 210 cooperates with the second moving part 110, so as to drive the left-handed wire pulling slider 201 and the right-handed wire pulling slider 210 to move closer to or away from each other along the first preset direction through the movement of the first moving part 102 and the second moving part 110 along the first preset direction;

[0031] The left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 are respectively provided with guide holes for the corresponding optical axes 103 in the first guiding mechanism and the second guiding mechanism to pass through, and the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 cooperate with the corresponding pull-out slide rails in the first guiding mechanism and the second guiding mechanism; In the above technical solution, by setting the pull-out slide rails and fixing the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 to the inner moving rails in the pull-out slide rails, on the one hand, the rotation / oscillation movement of the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 can be avoided, and on the other hand, the movement of the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 along the first preset direction can be guided.

[0032] A compression spring 202 sleeved on the optical axis 103 is arranged between the left-handed wire pulling slider 201 and the left-handed tube pulling slider 203; the two ends of a tension spring 212 are jointly fastened by the right-handed wire pulling slider 210 and the right-handed tube pulling slider 216 through bolts. Further, the pull-out slide rail for cooperating with the left-handed tube pulling slider 203 is located directly below the compression spring 202, and the pull-out slide rail for cooperating with the right-handed tube pulling slider 216 is located directly below the tension spring 212. Based on this design, the movement of the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 can be made more stable.

[0033] Exemplarily, the left-handed wire pulling slider 201 and the right-handed wire pulling slider 210 are provided with nut grooves, first through holes arranged in communication with the nut grooves, and second through holes located on both sides of the first through holes. The nut grooves on the left-handed wire pulling slider 201 and the right-handed wire pulling slider 210 are used for assembling the first moving part 102 and the second moving part 110, the first through holes are used for the double-threaded lead screw 101 in the driving mechanism 100 to pass through, and the second through holes are used for the optical axis 103 to pass through.

[0034] Further, as Figure 4 , Figure 5 , Figure 6As shown, the compression spring type wire control mechanism further includes a left-handed pull tube fixing seat 204, a left-handed wire fixing seat 208, and a wire slide rail group 209. The tension spring type wire control mechanism further includes a right-handed wire fixing seat 211 and a right-handed pull tube fixing seat 215. One end of the left-handed wire fixing seat 208 is fixed to the left-handed wire slider 201, and the other end of the left-handed wire fixing seat 208 cooperates with the wire slide rail group 209 fixed to the right-handed wire slider 210. The right-handed wire fixing seat 211 is fixed to the right-handed wire slider 210. The left-handed pull tube fixing seat 204 is installed at one end of the left-handed pull tube slider 203 away from the working end of the actuator, and the right-handed pull tube fixing seat 215 is installed at one end of the right-handed pull tube slider 216 away from the working end of the actuator.

[0035] The two-way wire control mechanism 200 further includes two first hollow elastic sheath tubes 205, a second hollow elastic sheath tube 214, a first steel wire rope 206, and a second steel wire rope 213. The first hollow elastic sheath tube 205 containing the first steel wire rope 206 is successively from one end to the other end: fixed to the other end of the left-handed wire fixing seat 208, fixed to the left-handed pull tube fixing seat 204, led out through the left-handed pull tube slider 203, and then led out through the wire guiding mechanism. The second hollow elastic sheath tube 214 containing the second steel wire rope 213 is successively from one end to the other end: fixed to the right-handed wire fixing seat 211, fixed to the right-handed pull tube fixing seat 215, led out through the right-handed pull tube slider 216, and then led out through the wire guiding mechanism. In order to better show the steel wire rope in the hollow elastic sheath tube, the following Figure 5 shown example is given.

[0036] Further, the wire guiding mechanism includes a sheath tube rolling shaft 217, and the sheath tube rolling shaft 217 is fixed to the front end of the frame 112 through a pair of second flange bearings 218 and a limit ring 106.

[0037] The elastic sheath tubes and the other ends of the steel wire ropes led out through the sheath tube rolling shaft 217 in the above-mentioned wire guiding mechanism are respectively fixed to the joint fixing places of the required actuators. The actuator includes but is not limited to a clamp actuator 300.

[0038] Further, the left-handed pull tube fixing seat 204 and the right-handed pull tube fixing seat 215 adopt a clamping structure, including a pull tube and a screw. The pull tube is provided with a notch arranged radially, and the screw cooperates with the notch to fasten the first hollow elastic sheath tube 205 and the second hollow elastic sheath tube 214.

[0039] In the above technical solution, the left-handed tube pulling fixing seat 204 and the right-handed tube pulling fixing seat 215 are installed at one end far from the working end of the actuator. Since the left-handed tube pulling fixing seat 204 and the right-handed tube pulling fixing seat 215 are constantly subjected to the pulling force towards the working end given by the hollow elastic sheath tube they fix, therefore, in the present invention, the left-handed tube pulling fixing seat 204 and the right-handed tube pulling fixing seat 215 are installed at one end of the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 far from the operation, and only need to open a countersunk groove at one end of the left-handed tube pulling slider 203 and the right-handed tube pulling slider 216 far from the operation to achieve this. The limitation of this installation position simplifies the structure. More importantly, for the movement freedom of the sheath tube, the stiffness can be adjusted adaptively with the movement according to the pull compression spring when the actuator is in different movement postures, so that its binding force can be kept uniform.

[0040] Further, the structure of the wire pulling slide rail group 209 is the same as that of the pulling slide rail. The other end of the left-handed wire pulling fixing seat 208 is fixed to the inner moving rail in the wire pulling slide rail group 209 through the slide block fixing bolt 207, and the outer fixing rail in the wire pulling slide rail group 209 is fixed to the right-handed wire pulling slider 210, that is, the left-handed wire pulling fixing seat 208 is placed on the right-handed wire pulling slider 210 through the wire pulling slide rail group 209 to help achieve relative sliding.

[0041] The following is a specific introduction in combination with the application scenario of the present invention:

[0042] First, according to the requirements of the endoscope or digestive endoscope surgery actuator needed, a group of this endoscope surgery actuator wire drive modules is provided for each swing or pitch degree of freedom of the actuator.

[0043] Taking the clamp actuator 300 having two swing degrees of freedom (pitch and swing) and the clamping degrees of freedom of the two clamping parts of the clamp actuator (each of the two clamping parts of the clamp has a swing degree of freedom) as an example, this actuator should prepare 4 groups of the endoscope surgery actuator wire drive modules of the present invention ( Figure 3 Only one group of wire drive modules is shown), and the frame 112 is fixed to the two rectangular fixed side plates of the actuator drive device through the adapter angle code 108 and the angle code fixing bolt 109; finally, the four groups of wire drive modules are fixed on the same actuator drive device frame. For an actuator with a swing degree of freedom requirement of 1, such as a partial electrocautery actuator, only 1 drive module of the present invention is needed.

[0044] Taking the object of action of the present invention as Figure 3The schematic clamp actuator 300 is fixed to the illustrated single-wire drive module. That is, the rear end of the clamp actuator 300 needs to be rigidly connected to the actuator drive device frame through a spring tube. The first wire rope 206, the second wire rope 213, and the hollow elastic sheath tube required to drive the clamp actuator 300 are respectively fixed at the joint fixing positions of the illustrated clamp actuator 300, and then pass through the inside of the spring tube and are fixed on the left-handed pull tube fixing seat 204, the left-handed wire rope fixing seat 208, the right-handed wire rope fixing seat 211, and the right-handed pull tube fixing seat 215 of each wire drive module of the actuator drive device. The two hollow elastic sheath tubes 205 and 214 are respectively fixed by the left-handed pull tube fixing seat 204 and the right-handed pull tube fixing seat 215, and are placed on the surface of the sheath tube rolling shaft 217 located in front of the frame. The two wire ropes 206 and 213 respectively pass through the centers of the hollow elastic sheath tubes 205 and 214 and are fixed at the ends through the left-handed wire rope fixing seat 208 and the right-handed wire rope fixing seat 211. One end of the left-handed wire rope fixing seat 208 is fixed on the left-handed wire rope slider 201, and the other end of the left-handed wire rope fixing seat 208 cooperates with the wire rope slide rail group 209 fixed on the right-handed wire rope slider 210. Based on the above design, the left-handed wire rope fixing seat 208 is to extend the fixed end of this group of wire ropes to the right side of this group of left-handed pull tube fixing seats 204 to ensure the same distribution characteristics as the other group. On this basis, the wire rope slide rail group 209 is placed on the right-handed wire rope slider 210 to improve the stiffness of the fixing seat and assist in realizing relative sliding. The right-handed wire rope fixing seat 211 and the right-handed pull tube fixing seat 215 are respectively fixed on the right-handed wire rope slider 210 and the right-handed pull tube slider 216. The movement directions of the wire rope and the hollow elastic sheath tube are bound to the slider driven by the pull slide rail and the double-threaded lead screw 101. Both the wire rope and the sheath tube are subjected to the pulling forces from the actuator and the four fixing seats. In this way, the fixing directions of the wire rope and the elastic sheath tube are parallel to the pulling force directions they receive, thus improving the smoothness of the pulling movement of the wire rope and the sheath tube. The control of other degrees of freedom of the actuator for endoscopic or digestive endoscopy surgery is omitted in the implementation example of the present invention.

[0045] As Figure 2 shown, the movement characteristics of the single-motor-driven double-threaded lead screw of the wire drive module of the present invention are demonstrated:

[0046] The double-threaded lead screw 101 is at Figure 2The left-handed rotating end on the left side drives the active translation movement of the left-handed cable slider 201 by driving the first moving part 102 inside the left-handed cable slider 201. The driving principle of the right-handed cable slider 210 in the right-handed part is the same. Thus, one motor can drive two active cable sliders in opposite directions simultaneously, and then the left-handed cable fixing seat 208 and the right-handed cable fixing seat 211 fixed to the active cable sliders respectively realize the synchronous reverse drive of the two steel cables, manifested as one extending forward and one retracting. This can be coupled to control the swing of a single swing degree of freedom. The outer wrapped spring tube and the hollow elastic sheath tubes 205 and 214 can also maintain the stiffness of the steel cable in the non-fixed area, achieving effects such as preventing wire entanglement and reducing wear.

[0047] As Figure 3 shown, it demonstrates the adaptive variable stiffness movement characteristics of the hollow elastic sheath tube in the wire drive module of the present invention:

[0048] A compression spring 202 is arranged between the left-handed cable slider 201 and the left-handed tube slider 203. The latter is simultaneously sleeved on the optical axis 103 passed by the left-handed tube slider 203, so as to ensure that the compression spring can maintain the positional relationship between the active and driven sliders even when the force is small or not affected by force. The right-handed cable slider 210 and the right-handed tube slider 216 are bolted together to hold both ends of a tension spring 212. The lower right of the latter is the pull-out slide rail installed by the right-handed tube slider 216. For the driven left-handed tube slider 203 and the right-handed tube slider 216, the primary external forces they receive are the leftward pulling forces provided by each group of elastic sheath tubes. The left-handed tube slider 203 is forced to compress the compression spring 202 and finally achieves balance at a compression distance. When the motor 107 rotates and the left-handed cable slider 201 moves, causing the compression amount of the compression spring 202 to change and the left-handed tube slider 203 to also generate a change in pulling force due to the contraction or expansion of its fixed first hollow elastic sheath tube 205 under the influence of the actuator swing, the driven left-handed tube slider 203 will automatically maintain the original balance state.

[0049] Taking the left-handed cable slider 201 moving to the right as an example, the first hollow elastic sheath tube 205 contracts due to the actuator swinging downward, the restraint pulling force decreases, and the actuator stiffness decreases. At this time, the driven left-handed tube slider 203 will be pushed to the right by the compression spring 202 due to losing the original pulling force balance until it maintains a new balance with restored stiffness in the current actuator posture. Figure 3 The principle of adaptive stiffness adjustment in the upper right part is only different from the principle of adaptive stiffness adjustment in the left part of the lower half in that the driven sliders are realized through the tension spring 212 and the compression spring 202 respectively. The two groups respectively control the extending and contracting parts of the same swing degree of freedom of the actuator, and finally couple to form a drive control with adaptive stiffness constraint for this degree of freedom.

[0050] The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A wire drive module for an endoscopic surgical actuator, characterized in that: It comprises a driving mechanism (100), a bidirectional wire control mechanism (200), a first moving part (102), a second moving part (110), a first guiding mechanism, a second guiding mechanism, a wire pulling guiding mechanism and a frame (112); the bidirectional wire control mechanism (200) comprises a compression spring type wire control mechanism and a tension spring type wire control mechanism; The frame (112) is used to install the driving mechanism (100), the wire guide mechanism, the first guide mechanism, and the second guide mechanism; the driving mechanism (100) is used to drive the first moving part (102) and the second moving part (110) to move closer to or farther from each other along a first preset direction; The first movable part (102) cooperates with the compression spring type wire control mechanism, and the movement of the first movable part (102) along the first preset direction drives the compression spring type wire control mechanism installed on the first guide mechanism to move along the first preset direction; the second movable part (110) cooperates with the tension spring type wire control mechanism, and the movement of the second movable part (110) along the first preset direction drives the tension spring type wire control mechanism installed on the second guide mechanism to move along the first preset direction.

2. The wire drive module for an endoscopic surgery actuator according to claim 1, characterized in that: The driving mechanism (100) comprises a double-threaded screw (101), a limiting ring (106), a motor (107), and a first flange bearing (111); the output shaft of the motor (107) fixed at the rear end of a frame (112) is connected to one end of the double-threaded screw (101) through a coupling, and the other end of the double-threaded screw (101) is limited by the first flange bearing (111) and the limiting ring (106) installed on the frame (112); a first moving part (102) and a second moving part (110) are arranged on the double-threaded screw (101), and the second moving part (110) is close to the motor end; the first moving part (102) and the second moving part (110) cooperate with the external threads on the double-threaded screw (101), so that the first moving part (102) and the second moving part (110) move closer to or farther from each other along a first preset direction.

3. The wire drive module for an endoscopic surgery actuator according to claim 1, characterized in that: The first guide mechanism and the second guide mechanism have the same structure. The first guide mechanism and the second guide mechanism are distributed on two opposite sides of the driving mechanism (100), and both include: An optical axis (103), the optical axis (103) is fixed on the frame (112) through a limit ring (106) for installing a bidirectional line control mechanism (200); Two groups of drawer rails, each group of drawer rails comprises an outer fixed rail (105) and an inner movable rail (104), the outer fixed rail (105) is mounted on a frame (112), and the inner movable rail (104) cooperates with the outer fixed rail (105) so that the inner movable rail (104) is movably arranged relative to the outer fixed rail (105) along a first preset direction.

4. The wire drive module for an endoscopic surgery actuator according to claim 1, characterized in that: The compression spring type wire control mechanism comprises a left-handed wire pull slider (201), a compression spring (202), and a left-handed tube pull slider (203); the tension spring type wire control mechanism comprises a right-handed wire pull slider (210), a tension spring (212), and a right-handed tube pull slider (216); The left-handed wire-pulling slider (201) cooperates with the first moving part (102), and the right-handed wire-pulling slider (210) cooperates with the second moving part (110), so as to drive the left-handed wire-pulling slider (201) and the right-handed wire-pulling slider (210) to move closer to or farther from each other along the first preset direction through the movement of the first moving part (102) and the second moving part (110) along the first preset direction; The left-handed tube-pulling slider (203) and the right-handed tube-pulling slider (216) are respectively provided with guide holes for the corresponding optical axes (103) in the first guide mechanism and the second guide mechanism to pass through, and the left-handed tube-pulling slider (203) and the right-handed tube-pulling slider (216) cooperate with the corresponding drawing rails in the first guide mechanism and the second guide mechanism; A compression spring (202) sleeved on the optical axis (103) is arranged between the left-handed wire-pulling slider (201) and the left-handed tube-pulling slider (203); the right-handed wire-pulling slider (210) and the right-handed tube-pulling slider (216) are tightened by bolts to jointly fasten the two ends of a tension spring (212).

5. The wire drive module for an endoscopic surgery actuator according to claim 4, characterized in that: The compression spring type wire control mechanism further comprises a left-handed pull tube fixing seat (204), a left-handed pull wire fixing seat (208), and a pull wire slide rail group (209); the tension spring type wire control mechanism further comprises a right-handed pull wire fixing seat (211) and a right-handed pull tube fixing seat (215); One end of the left-handed wire pull fixing seat (208) is fixed on the left-handed wire pull slider (201), and the other end of the left-handed wire pull fixing seat (208) cooperates with the wire pull rail group (209) fixed on the right-handed wire pull slider (210); the right-handed wire pull fixing seat (211) is fixed on the right-handed wire pull slider (210); the left-handed tube pull fixing seat (204) is installed on the end of the left-handed tube pull slider (203) away from the actuator working end, and the right-handed tube pull fixing seat (215) is installed on the end of the right-handed tube pull slider (216) away from the actuator working end; The bidirectional wire control mechanism (200) further comprises two first hollow elastic sheath tubes (205), a second hollow elastic sheath tube (214), a first steel wire rope (206), and a second steel wire rope (213); The first hollow elastic sheath tube (205) into which the first steel wire rope (206) is placed is sequentially fixed from one end to the other end: fixed to the other end of the left-handed pull-wire fixing seat (208), fixed to the left-handed pull-tube fixing seat (204), and then led out through the left-handed pull-tube slider (203) and then led out through the pull-wire guiding mechanism; The second hollow elastic sheath tube (214) into which the second steel wire rope (213) is placed is fixed from one end to the other end in sequence: fixed to a right-handed pull-wire fixing seat (211), fixed to a right-handed pull-tube fixing seat (215), and then led out through a right-handed pull-tube slider (216) and then led out through a pull-wire guiding mechanism.

6. The wire drive module for an endoscopic surgery actuator according to claim 1, characterized in that: The wire pulling guide mechanism comprises a sheath tube rolling shaft (217), and the sheath tube rolling shaft (217) is fixed to the front end of the frame (112) via a pair of second flange bearings (218) and a limiting ring (106).

7. The wire drive module for an endoscopic surgery actuator according to claim 1, characterized in that: The line drive module also includes a transfer angle code (108) and a fixing bolt (109) matched with the transfer angle code (108); the transfer angle code (108) is provided with a vertical hole and a horizontal hole; the vertical hole is fixed to the frame (112) by the fixing bolt (109); and a socket is reserved at the frame (112) near the horizontal hole of the transfer angle code (108).

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