A concentric tube based on pattern etching structure optimization and an interventional surgery robot system thereof

Abstract

This invention discloses a concentric tube based on pattern etching structure optimization and its interventional surgical robot system, belonging to the technical field of medical surgical instruments. It solves the problem of fatigue of nickel-titanium alloy material and curvature degradation caused by existing nickel-titanium alloy pre-bent concentric tubes during use. The inner tube rotation drive group is used to drive the inner tube to rotate in the middle tube, the middle tube rotation drive group is used to drive the middle tube to rotate in the outer tube, the sliding drive group one is used to drive the sliding seat one to slide back and forth along two rows of sliding guide rails, the sliding drive group two is used to drive the sliding seat two to slide back and forth along two rows of sliding guide rails, and the sliding drive group three is used to drive the sliding seat three to slide back and forth along two rows of sliding guide rails. In this invention, the drive platform redesigns the motor arrangement, which gets rid of the current concentric tube laboratory prototype that requires a longer vertical section structure for the concentric tube due to motor space occupation, effectively reducing the torsional error caused by the low stiffness of the concentric tube.

Description

Technical Field

[0001] This invention relates to the technical field of medical surgical instruments, and in particular to a concentric tube based on pattern etching structure optimization and its interventional surgical robot system. Background Technology

[0002] Nested concentric tubes consist of an outer tube, a middle tube, and an inner tube. The mechanism of changing curvature through nesting is the main advantage that allows concentric tubes to exert their flexibility and are suitable for interventional surgery. Existing concentric tube instruments require multiple nested pre-bent concentric tubes for operation. Due to the highly customized size and material of the concentric tubes, the pre-bent concentric tubes made of nickel-titanium alloy are generally manufactured using a combination of molds and heat treatment. After machining the target curvature, heat treatment such as annealing is performed to shape them. During this process, slight differences in processes between different factories may cause errors in the stiffness of individual parts of the nickel-titanium concentric tube. This can cause the nested outer tube to tear when the more rigid inner tube rotates. Summary of the Invention

[0003] To address the problem of fatigue in the nickel-titanium alloy material and curvature degradation during the use of existing nickel-titanium alloy pre-bent concentric tubes, the present invention aims to provide a concentric tube based on pattern etching structure optimization and its interventional surgical robot system.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A concentric tube based on pattern etching structure optimization, comprising: an outer tube 1000, a middle tube 2000, and an inner tube 3000, wherein the outer tube 1000, the middle tube 2000, and the inner tube 3000 are all hollow tubes; the middle tube 2000 is sleeved on the outside of the inner tube 3000, and the outer tube 1000 is sleeved on the outside of the middle tube 2000;

[0006] The inner tube 3000 includes a pre-bent section 3100 and a vertical section 3200. The pre-bent section 3100 is provided with a connecting end 3101 and an end 3107. The connecting end 3101 of the pre-bent section 3100 is connected to the end of the vertical section 3200.

[0007] The convex side of the pre-bending section 3100 is provided with multiple gaps 1 3102 and multiple gaps 2 3103. The multiple gaps 1 3102 and multiple gaps 2 3103 are arranged along the length direction of the pre-bending section 3100. A gap 2 3103 is provided between any two adjacent gaps 1 3102. The distance 3106 between any two adjacent gaps 1 3102 and gaps 2 3103 is the same.

[0008] The stiffness of the convex side of the pre-bent section 3100 is adjusted by adjusting the width 3104, length 3105, and spacing 3106 of the multiple gaps 3102 and the multiple gaps 3103.

[0009] An interventional surgical robot system based on patterned etched structure optimization of concentric tubes, applicable to the aforementioned patterned etched structure optimized concentric tubes, further includes: a drive platform, the drive platform comprising: a main support 1, a sliding guide rail 2, a sliding seat one 3, a sliding seat two 4, a sliding seat three 5, an inner tube rotation drive group 6, a middle tube rotation drive group 7, an outer tube limiting seat 8, a sliding drive group one 9, a sliding drive group two 10, and a sliding drive group three 11, the main support 1... At least two rows of sliding guide rails 2 are installed on the side. Sliding seat 1 3, sliding seat 2 4, and sliding seat 3 5 are all slidably installed on the two rows of sliding guide rails 2 and are arranged in sequence from front to back. The front end of the main support 1 is provided with an outer tube limiting seat 8. The outer tube 1000 passes through the outer tube limiting seat 8. The end of the outer tube 1000 is limited and installed on the top of the sliding seat 1 3. The end of the middle tube 2000 is limited and installed on the top of the sliding seat 2 4. The end of the inner tube 3000 is limited and installed on the top of the sliding seat 3 5.

[0010] The inner tube rotation drive group 6, the middle tube rotation drive group 7, the sliding drive group one 9, the sliding drive group two 10, and the sliding drive group three 11 are all mounted on the main support 1. The inner tube rotation drive group 6 is used to drive the inner tube 3000 to rotate inside the middle tube 2000. The middle tube rotation drive group 7 is used to drive the middle tube 2000 to rotate inside the outer tube 1000. The sliding drive group one 9 is used to drive the sliding seat one 3 to slide back and forth along the two rows of sliding guide rails 2. The sliding drive group two 10 is used to drive the sliding seat two 4 to slide back and forth along the two rows of sliding guide rails 2. The sliding drive group three 11 is used to drive the sliding seat three 5 to slide back and forth along the two rows of sliding guide rails 2.

[0011] The aforementioned interventional surgical robot system further includes five drive components. Each drive component includes a motor 4301, a motor platform fixing bolt 4302, and a motor fixing platform 4303. The motor fixing platform 4303 is installed at the bottom of the main body bracket 1 by the motor platform fixing bolts 4302 at the four corners. The motor fixing platform 4303 is used to install the motor 4301.

[0012] The aforementioned interventional surgical robot system includes an inner tube rotation drive group 6 comprising: a drive shaft 1, a bevel gear 1, a bevel gear 2, a drive shaft 2 601, a gear 1, and a gear 2. The drive shaft 1 is vertically mounted and rotatably installed on the main support 1. The lower end of the drive shaft 1 and the output end of a motor 4301 of a drive component are connected via a coupling. The upper end of the drive shaft 1 is fitted with a bevel gear 1. The drive shaft 2 601 is horizontally mounted and rotatably installed on the main support 1. The end of the drive shaft 2 601 is fitted with a bevel gear 2. The bevel gear 1 and the bevel gear 2 mesh with each other. Both gear 1 and gear 2 are rotatably mounted on a sliding seat 3 5 and mesh with each other. The drive shaft 2 601 is a square shaft. A set of gears is mounted on the drive shaft 2 601. The drive shaft 2 601 drives the gear 1 to rotate. The end of the inner tube 3000 is mounted on the gear 2. The gear 2 drives the inner tube 3000 to rotate within the middle tube 2000.

[0013] The aforementioned interventional surgical robot system includes a central tube rotation drive group 7 comprising: a third drive shaft, a third bevel gear, a fourth bevel gear, a fourth drive shaft 701, a third gear, and a fourth gear. The third drive shaft is vertically mounted and rotatably installed on the main support 1. The lower end of the third drive shaft is connected to the output end of the motor 4301 of another drive component via a coupling. The upper end of the third drive shaft is fitted with a third bevel gear. The fourth drive shaft 701 is horizontally mounted and rotatably installed on the main support 1. The end of the fourth drive shaft 701 is fitted with a fourth bevel gear. The third and fourth bevel gears mesh with each other. Both the third and fourth gears are rotatably mounted on the sliding seat 2 4 and mesh with each other. The fourth drive shaft 701 is a square shaft. The third gear is sleeved on the fourth drive shaft 701 and drives the third gear to rotate via the fourth drive shaft 701. The end of the central tube 2000 is mounted on the fourth gear and drives the central tube 2000 to rotate within the outer tube 1000 via the fourth gear.

[0014] The aforementioned interventional surgical robot system includes a sliding drive assembly 9 comprising: a drive shaft 5, a bevel gear 5, a bevel gear 6, a lead screw 901, and a lead screw nut 902. The drive shaft 5 is vertically mounted and rotatably installed on the main support 1. The lower end of the drive shaft 5 is connected to the output end of a motor 4301 of a drive assembly via a coupling. The upper end of the drive shaft 5 is fitted with a bevel gear 5. The lead screw 901 is horizontally mounted and rotatably installed on the main support 1. The end of the lead screw 901 is fitted with a bevel gear 6. The bevel gear 5 and the bevel gear 6 mesh with each other. The lead screw nut 902 is mounted on the lead screw 901 and rotatably installed on the sliding seat 3.

[0015] The aforementioned interventional surgical robot system includes a sliding drive assembly 2 10 comprising: a drive shaft 7, a bevel gear 7, a bevel gear 8, a lead screw 2 1001, and a lead screw nut 2 1002. The drive shaft 7 is vertically mounted and rotatably installed on the main support 1. The lower end of the drive shaft 7 is connected to the output end of a motor 4301 of a drive assembly via a coupling. The upper end of the drive shaft 7 is equipped with a bevel gear 7. The lead screw 2 1001 is horizontally mounted and rotatably installed on the main support 1. The end of the lead screw 2 1001 is equipped with a bevel gear 8. The bevel gear 7 and the bevel gear 8 mesh with each other. The lead screw nut 2 1002 is assembled on the lead screw 2 1001 and rotatably installed on the sliding seat 2 4.

[0016] The aforementioned interventional surgical robot system includes a sliding drive assembly 311 comprising: a drive shaft 9, a bevel gear 9, a bevel gear 10, a lead screw 3101, and a lead screw nut 3102. The drive shaft 9 is vertically mounted and rotatably installed on the main support 1. The lower end of the drive shaft 9 is connected to the output end of a motor 4301 of a drive assembly via a coupling. The upper end of the drive shaft 9 is equipped with a bevel gear 9. The lead screw 3101 is horizontally mounted and rotatably installed on the main support 1. The end of the lead screw 3101 is equipped with a bevel gear 10. The bevel gear 9 and the bevel gear 10 mesh with each other. The lead screw nut 3102 is mounted on the lead screw 3101 and rotatably installed on the sliding seat 35.

[0017] The aforementioned interventional surgical robot system further includes a clamping mechanism 4401, which comprises a clamping bolt 4404 and a tightening clamp 4405. The tightening clamp 4405 is detachably mounted on the top of the sliding seat 3 via the clamping bolt 4404, and is used to clamp the end of the outer tube 1000.

[0018] The aforementioned interventional surgical robot system further includes: a clamping mechanism 2 4402, which comprises: a clamping seat 4406, a clamping block, and a spur gear platform 4407. The tops of sliding seats 2 4 and 3 5 are each equipped with a spur gear platform 4407. Gear 1 and Gear 2 are rotatably mounted on the spur gear platform 4407 located on sliding seat 3 5. The clamping seat 4406 is connected to Gear 2 and rotates synchronously with Gear 2. The clamping block is detachably mounted on the clamping seat 4406 by screws, and this clamping block is used to clamp the end of the middle tube 2000. Gear 3 and Gear 4 are rotatably mounted on the spur gear platform 4407 located on sliding seat 2 4. The clamping seat 4406 is connected to Gear 4 and rotates synchronously with Gear 4. The clamping block is detachably mounted on the clamping seat 4406 by screws, and this clamping block is used to clamp the end of the inner tube 3000.

[0019] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art:

[0020] (1) The present invention effectively reduces the stiffness of the outer side of the bend by directional cutting on the outer convex side, alleviates the sudden change in stiffness between nested tubes, and avoids tearing and fatigue failure caused by stress concentration.

[0021] (2) In this invention, the concave side remains intact, maintaining the overall rigidity and shape memory performance of the tube, ensuring that the instrument can maintain its pre-bending curvature and working space during long-term use.

[0022] (3) In this invention, the process compatibility is strong and it can be seamlessly connected with existing nickel-titanium tube processing processes such as laser cutting, heat treatment, and polishing, making it suitable for large-scale, highly consistent production.

[0023] (4) In this invention, concentric tubes with various cross-sectional shapes such as circles, ellipses, and polygons are applicable, which enhances design flexibility and meets the structural requirements of different surgical instruments.

[0024] (5) In this invention, the drive platform redesigns the arrangement of the motor, which eliminates the need for a longer vertical section structure of the concentric tube in the current laboratory prototype due to the space occupied by the motor, and effectively reduces the torsional error caused by the low stiffness of the concentric tube.

[0025] (6) In this invention, the drive platform is designed to be small in size, compact in structure, and has extremely high space utilization. It is characterized by miniaturization and high reliability, and is easy to integrate into the surgical execution end. It is also convenient for disassembling and disinfecting the end instruments and maintaining the instruments themselves.

[0026] (7) In this invention, the drive platform has high adaptability and stability to its own rotation. The transmission mechanism is designed to be concentrated below the plane of the concentric tube actuator. Multiple identical platforms can be integrated in a 'side-lying' manner, laying the technical foundation for future multi-arm concentric tube robots. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a concentric tube structure based on pattern etching structure optimization according to the present invention. Figure 2 This is a schematic diagram of the inner tube structure of a concentric tube based on pattern etching structure optimization according to the present invention. Figure 3 This is a schematic diagram of the pre-bending section structure of the inner tube of a concentric tube based on pattern etching structure optimization according to the present invention. Figure 4 This is a schematic diagram of the outer convex side of a concentric tube based on pattern etching structure optimization according to the present invention. Figure 5 yes Figure 4 Enlarged view of point A in the middle. Figure 6 yes Figure 4 A cross-sectional view of a tube with two types of alternating cutting. Figure 7 This is an embodiment of the pre-bent section of the inner tube of a concentric tube based on pattern etching structure optimization according to the present invention. Figure 8yes Figure 7 Cross-sectional view at point A in the middle. Figure 9 This is a schematic diagram of the structure of an interventional surgical robot system based on a concentric tube with optimized pattern etching structure according to the present invention. Figure 10 yes Figure 9 The main view. Figure 11 yes Figure 10 A sectional view. Figure 12 yes Figure 11 Enlarged view of point A in the middle. Figure 13 yes Figure 11 Enlarged view of section B in the middle. Figure 14 yes Figure 11 Enlarged view of point C. Figure 15 yes Figure 9 Rear view. Figure 16 yes Figure 9 Top view. Figure 17 yes Figure 9 A bottom view. Figure 18 This is a schematic diagram of clamping mechanism one and clamping mechanism two of an interventional surgical robot system based on pattern etching structure optimization of concentric tubes according to the present invention. Figure 19 This invention relates to a simulation of the deformation capability of concentric tubes before cutting, based on pattern etching structure optimization. Figure 20 This invention provides a simulation of the deformation capability of concentric tubes after cutting, based on pattern etching structure optimization. Figure 21 This invention relates to a deformation stress of concentric tubes before cutting, based on pattern etching structure optimization. Figure 22 This invention relates to the deformation stress after cutting concentric tubes based on pattern etching structure optimization.

[0028] In the attached diagram: 1000, outer tube; 2000, middle tube; 3000, inner tube; 3100, pre-bent section; 3200, vertical section; 3101, connecting end; 3107, end; 3102, gap one; 3103, gap two; 3104, width; 3105, length; 3106, spacing; 1, main support; 2, sliding guide rail; 3, sliding seat one; 4, sliding seat two; 5, sliding seat three; 6, inner tube rotation drive group; 7, middle tube rotation drive group; 8, outer tube limiting seat; 9, sliding drive group one; 10, sliding drive. Group 2; 11. Sliding drive group 3; 601. Drive shaft 2; 701. Drive shaft 4; 901. Lead screw 1; 902. Lead screw nut 1; 1001. Lead screw 2; 1002. Lead screw nut 2; 1101. Lead screw 3; 1102. Lead screw nut 3; 4301. Motor; 4302. Motor platform fixing bolt; 4303. Motor fixing platform; 4401. Clamping mechanism 1; 4402. Clamping mechanism 2; 4404. Clamping bolt; 4405. Tightening fixture; 4406. Fixture seat; 4407. Spur gear platform. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0030] Please refer to Figures 1 to 22 As shown, a concentric tube based on pattern etching structure optimization and its interventional surgical robot system are illustrated. The inner tube 3000 includes a pre-bent section 3100 and a vertical section 3200. The wall thickness and stiffness of the vertical section 3200 are the same as those of the pre-bent section 3100.

[0031] Furthermore, in a preferred embodiment, the pre-bent section 3100 includes a portion 3101 connected to the vertical section and an end portion 3107, on which staggered cutting gaps 3102 and 3103 are provided. The staggered gaps are spaced 3106 apart, the unit of which can be determined according to the specific processing method and reference coordinate system. The three design parameters—gap width 3104, length 3105, and spacing 3106—affect the stiffness of the convex side of the tube and also increase the processing difficulty.

[0032] Furthermore, in a preferred embodiment, the drive platform for driving the concentric tube robot of the present invention comprises a rotary drive mechanism, a translational feed drive mechanism, a motor link platform, and a concentric tube clamping mechanism. The rotary drive mechanism consists of an inner tube rotary drive group 6 and a middle tube rotary drive group 7; the translational feed drive mechanism consists of a sliding drive group one 9, a sliding drive group two 10, and a sliding drive group three 11; the motor link platform consists of five drive components, which are respectively used to drive the inner tube rotary drive group 6, the middle tube rotary drive group 7, the sliding drive group one 9, the sliding drive group two 10, and the sliding drive group three 11; and the concentric tube clamping mechanism consists of clamping mechanism one 4401 and clamping mechanism two 4402.

[0033] Furthermore, in a preferred embodiment, the drive platform has a motor-linked platform for the power mechanism, connected to the rotational drive mechanism and the translational feed drive mechanism. The rotational drive mechanism and the translational feed drive mechanism have relative movement, and driven by the power mechanism, the rotation and translational movement of the concentric tube can be realized. The instrument fixing seat has three quick-installation clamping devices, which can accommodate the rapid installation and removal of the concentric tube instrument. The platform design also incorporates a targeted layout design for the development prospect of multi-arm collaboration in surgical robots, ensuring that the platform does not lose accuracy after being rotated 90 degrees and laid horizontally. A tensioning mechanism is designed for the transmission method of this device to ensure smooth and precise movement. Mechanical and electrical limit switches are designed for the start and end positions of the concentric tube robot's stroke to ensure safe and reliable operation.

[0034] Furthermore, in a preferred embodiment, the rotating mechanism includes an inner tube rotation drive group 6 and a middle tube rotation drive group 7, both composed of a drive shaft, a bevel gear set, a rotating square lead screw, and a spur gear set. Through the reversal of the bevel gears, the motor 4301 is positioned at the bottom of the drive platform. The rotating mechanism considers the angular accuracy when the motor engages with the concentric tube; therefore, the spur gear set uses a small ratio to allow the motor's rotation to pull a smaller amount of rotation of the concentric tube, achieving higher precision. Both drive shaft two 601 and drive shaft four 701 are rotating square lead screws.

[0035] Furthermore, in a preferred embodiment, the translational feed mechanism includes: a sliding drive group one 9, a sliding drive group two 10, and a sliding drive group three 11, each composed of a drive shaft, a bevel gear set, a lead screw nut, a lead screw, a lead screw track base, a lead screw track, and a lead screw physical limiting mechanism. The two ends of the lead screw are rotatably mounted on the lead screw physical limiting mechanism, which is mounted on the main support 1. The lead screw nut is limited by the lead screw physical limiting mechanisms on both sides. The motor 4301 is positioned at the bottom of the drive platform by the reversing of the bevel gears. Similar to the rotation mechanism, the translational feed mechanism uses a drive shaft to transmit kinetic energy to the bevel gear set to drive the rotation of the lead screw. The rotation of the lead screw drives the lead screw nut to move axially along the lead screw track, pushing the concentric tube axially. The lead screw track base and the lead screw physical limiting mechanism respectively limit interference and collision between the concentric tubes on the same track and the lead screw nut, ensuring the safety of the concentric tube instrument and preventing damage.

[0036] Furthermore, in a preferred embodiment, for the motor drive mechanism, considering the future of multi-arm cooperation, the motor drive mechanism takes into account the connection stability of the motor when the platform rotates, and a fixed platform is made to ensure the reliability of the motor fixation.

[0037] Furthermore, in a preferred embodiment, the clamping and linking mechanism of the platform consists of a pure feed clamping mechanism, a feed clamping mechanism of the rotation and feed module, and a rotation linking mechanism. Clamping mechanism one 4401 is a pure feed clamping mechanism, and clamping mechanism two 4402 consists of a feed clamping mechanism of the rotation and feed module and a rotation linking mechanism. The feed clamping mechanism of the rotation and feed module is connected to a gear through the rotation linking mechanism. Both clamping mechanism one 4401 and clamping mechanism two 4402 adopt an interference fit. The degree of tightening of the clamping bolts on the fixture is used to clamp concentric tubes of different radii.

[0038] Furthermore, in a preferred embodiment, the rotary linking mechanism mainly consists of the feed clamping mechanism of the rotary and feed module and a spur gear platform. The spur gear platform is connected to the lead screw nut and the lead screw nut base, which can carry the spur gear set and the clamping mechanism to translate along the square lead screw and the lead screw track, ensuring that a single parallel tube can achieve the joint movement of translation and rotation.

[0039] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0040] In addition to the above, the present invention also has the following embodiments:

[0041] In a further embodiment of the present invention, based on medical concentric tube flexible instruments and with medical surgery as the background, this invention proposes a method to extend and solve the limitations of nickel-titanium alloy concentric tube surgical instruments in terms of service life and stress fatigue. This not only prevents tearing of the nested tube caused by uneven stiffness during heat treatment, but also optimizes the material properties of the concentric tube, extending its service life while maintaining the factory curvature. This ensures that the original working space size is not distorted. Furthermore, addressing the need for lightweight concentric tube drive systems, a matching concentric tube drive system is proposed. Its compact design and the use of bevel gears to optimize motor wiring avoid interference between the motor, transmission components, and the concentric tube. This serves as a reference drive system prototype for future lightweighting and mass production.

[0042] In a further embodiment of the present invention, unlike conventional overall heat treatment or uniform cutting, the present invention performs directional cutting on the convex side of the pre-bent section, i.e., the outer side of the bending neutral axis, while preserving the structural integrity of the inner side of the neutral axis on the concave side. Therefore, cutting the convex side of the pre-bent section with high stiffness resistance weakens the stress resisted by the inner tube against the outer tube, while preserving the stiffness of the concave side so that it can maintain its original curvature when it stretches again.

[0043] In a further embodiment of the present invention, the method is based on the bending beam theory. The convex side bears tensile stress during bending. Appropriate material removal can reduce the stiffness of this area, making the stress distribution more uniform and avoiding interference and tearing of the tube during nesting due to excessive local stiffness. At the same time, the concave side remains intact, maintaining the overall bending stiffness and shape recovery ability of the tube, ensuring that the instrument can maintain its original working space and curvature accuracy during long-term use. The main design concept of the present invention is a novel pattern etching design, which aims to reduce the overall deformation stress of the pre-bending part of the concentric tube instrument, while maintaining the overall stiffness of the tube to the greatest extent. This structural design is represented by the overall structural diagram after cutting, the unfolded diagram of the cutting process, and the 3D diagram of the cutting process. To test the effectiveness and feasibility of this design, virtual simulation and physical testing were conducted. The virtual simulation mainly tested its internal stress, deformation degree, etc.; the physical testing used tubes with the same inner and outer diameters but without cutting for comparative experiments.

[0044] In a further embodiment of the present invention, directional cutting on the convex side effectively reduces the stiffness of the outer side of the bend, alleviates the sudden change in stiffness between nested tubes, and avoids tearing and fatigue failure caused by stress concentration.

[0045] In a further embodiment of the present invention, the concave side remains intact, maintaining the overall rigidity and shape memory performance of the tube, ensuring that the device can maintain its pre-bending curvature and working space during long-term use.

[0046] In a further embodiment of the present invention, the process compatibility is strong, and it can be seamlessly integrated with existing nickel-titanium tube processing procedures such as laser cutting, heat treatment, and polishing, making it suitable for large-scale, highly consistent production.

[0047] In a further embodiment of the present invention, the invention is applicable to concentric tubes with various cross-sectional shapes such as circles, ellipses, and polygons, thereby enhancing design flexibility and meeting the structural requirements of different surgical instruments.

[0048] In a further embodiment of the present invention, the drive platform redesigns the arrangement of the motors, eliminating the need for a longer vertical section structure in the concentric tube laboratory prototype due to the space occupied by the motors, and effectively reducing the torsional error caused by the low stiffness of the concentric tube.

[0049] In a further embodiment of the present invention, the drive platform is designed to be small in size, compact in structure, and has extremely high space utilization. It is characterized by miniaturization and high reliability, and is easy to integrate into the surgical execution end, facilitating the disassembly and disinfection of the end instruments and the maintenance of the instruments themselves.

[0050] In a further embodiment of the present invention, the drive platform has high adaptability and stability to its own rotation, and the transmission mechanism is designed to be concentrated below the plane of the concentric tube actuator. Multiple identical platforms can be integrated in a 'side-lying' manner, laying the technical groundwork for future multi-arm concentric tube robots.

[0051] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A concentric tube based on patterned etching structure optimization, characterized in that, include: The outer tube (1000), the middle tube (2000), and the inner tube (3000) are all hollow tubes; the middle tube (2000) is sleeved on the outside of the inner tube (3000), and the outer tube (1000) is sleeved on the outside of the middle tube (2000); The inner tube (3000) includes a pre-bent section (3100) and a vertical section (3200). The pre-bent section (3100) is provided with a connecting end (3101) and an end (3107). The connecting end (3101) of the pre-bent section (3100) is connected to the end of the vertical section (3200). The convex side of the pre-bending section (3100) is provided with multiple gap one (3102) and multiple gap two (3103). The multiple gap one (3102) and multiple gap two (3103) are arranged along the length direction of the pre-bending section (3100). A gap two (3103) is provided between any two adjacent gap one (3102). The distance (3106) between any two adjacent gap one (3102) and gap two (3103) is the same. The stiffness of the convex side of the pre-bent section (3100) is adjusted by adjusting the width (3104), length (3105), and spacing (3106) of multiple gaps one (3102) and multiple gaps two (3103).

2. An interventional surgical robot system based on a concentric tube with optimized patterned etching structure, applicable to the concentric tube with optimized patterned etching structure as described in claim 1, characterized in that, Also includes: The drive platform includes: a main support (1), sliding guide rails (2), sliding seat one (3), sliding seat two (4), sliding seat three (5), inner tube rotation drive group (6), middle tube rotation drive group (7), outer tube limiting seat (8), sliding drive group one (9), sliding drive group two (10), and sliding drive group three (11). At least two rows of sliding guide rails (2) are installed on one side of the main support (1), and sliding seat one (3), sliding seat two (4), and sliding seat three (5) are installed on the middle tube rotation drive group (7), outer tube limiting seat (8), sliding drive group one (9), sliding drive group two (10), and sliding drive group three (11). The sliding seat three (5) is slidably installed on two rows of sliding guide rails (2) and arranged sequentially from front to back. The front end of the main support (1) is provided with an outer tube limiting seat (8). The outer tube (1000) is inserted into the outer tube limiting seat (8). The end of the outer tube (1000) is limited and installed on the top of the sliding seat one (3). The end of the middle tube (2000) is limited and installed on the top of the sliding seat two (4). The end of the inner tube (3000) is limited and installed on the top of the sliding seat three (5). The inner tube rotation drive group (6), the middle tube rotation drive group (7), the sliding drive group one (9), the sliding drive group two (10) and the sliding drive group three (11) are all installed on the main support (1). The inner tube rotation drive group (6) is used to drive the inner tube (3000) to rotate inside the middle tube (2000). The middle tube rotation drive group (7) is used to drive the middle tube (2000) to rotate inside the outer tube (1000). The sliding drive group one (9) is used to drive the sliding seat one (3) to slide back and forth along the two rows of sliding guide rails (2). The sliding drive group two (10) is used to drive the sliding seat two (4) to slide back and forth along the two rows of sliding guide rails (2). The sliding drive group three (11) is used to drive the sliding seat three (5) to slide back and forth along the two rows of sliding guide rails (2).

3. The interventional surgical robot system according to claim 2, characterized in that, Also includes: Five drive components, each drive component includes: a motor (4301), a motor platform fixing bolt (4302) and a motor fixing platform (4303). The motor fixing platform (4303) is installed on the bottom of the main body bracket (1) by the motor platform fixing bolts (4302) at the four corners. The motor fixing platform (4303) is used to install the motor (4301).

4. The interventional surgical robot system according to claim 3, characterized in that, The inner tube rotation drive assembly (6) includes: drive shaft one, bevel gear one, bevel gear two, drive shaft two (601), gear one and gear two. Drive shaft one is vertically set and rotatably mounted on the main support (1). The lower end of drive shaft one and the output end of a motor (4301) of a drive assembly are connected by a coupling. Bevel gear one is mounted on the upper end of drive shaft one. Drive shaft two (601) is horizontally set and rotatably mounted on the main support (1). Bevel gear two is mounted on the end of drive shaft two (601). Bevel gear one and bevel gear two mesh with each other. Gear one and gear two are rotatably mounted on sliding seat three (5) and mesh with each other. Drive shaft two (601) is a square shaft. Gear one is set on drive shaft two (601). Drive shaft two (601) drives gear one to rotate. The end of the inner tube (3000) is mounted on gear two. Drive shaft two drives the inner tube (3000) to rotate in the middle tube (2000).

5. The interventional surgical robot system according to claim 4, characterized in that, The central tube rotation drive assembly (7) includes: a third drive shaft, a third bevel gear, a fourth bevel gear, a fourth drive shaft (701), a third gear, and a fourth gear. The third drive shaft is vertically set and rotatably mounted on the main support (1). The lower end of the third drive shaft is connected to the output end of the motor (4301) of another drive assembly via a coupling. The upper end of the third drive shaft is equipped with a third bevel gear. The fourth drive shaft (701) is horizontally set and rotatably mounted on the main support (1). The end of the fourth drive shaft (701) is equipped with a fourth bevel gear. The third bevel gear and the fourth bevel gear mesh with each other. The third gear and the fourth gear are both rotatably mounted on the sliding seat (4) and mesh with each other. The fourth drive shaft (701) is a square shaft. The third gear is sleeved on the fourth drive shaft (701). The fourth drive shaft (701) drives the third gear to rotate. The end of the central tube (2000) is mounted on the fourth gear. The fourth gear drives the central tube (2000) to rotate inside the outer tube (1000).

6. The interventional surgical robot system according to claim 3, characterized in that, The sliding drive assembly 1 (9) includes: drive shaft 5, bevel gear 5, bevel gear 6, lead screw 1 (901) and lead screw nut 1 (902). Drive shaft 5 is vertically arranged and rotatably mounted on the main support (1). The lower end of drive shaft 5 and the output end of a motor (4301) of a drive assembly are connected by a coupling. Bevel gear 5 is mounted on the upper end of drive shaft 5. Lead screw 3 (901) is horizontally arranged and rotatably mounted on the main support (1). Bevel gear 6 is mounted on the end of lead screw 3 (901). Bevel gear 5 and bevel gear 6 mesh with each other. Lead screw nut 1 (902) is assembled on lead screw 3 (901) and rotatably mounted on sliding seat 1 (3).

7. The interventional surgical robot system according to claim 3, characterized in that, The sliding drive assembly 2 (10) includes: a drive shaft 7, a bevel gear 7, a bevel gear 8, a lead screw 2 (1001) and a lead screw nut 2 (1002). The drive shaft 7 is vertically arranged and rotatably mounted on the main support (1). The lower end of the drive shaft 7 and the output end of a motor (4301) of a drive assembly are connected by a coupling. The upper end of the drive shaft 7 is equipped with a bevel gear 7. The lead screw 2 (1001) is horizontally arranged and rotatably mounted on the main support (1). The end of the lead screw 2 (1001) is equipped with a bevel gear 8. The bevel gear 7 and the bevel gear 8 mesh with each other. The lead screw nut 2 (1002) is assembled on the lead screw 2 (1001) and rotatably mounted on the sliding seat 2 (4).

8. The interventional surgical robot system according to claim 3, characterized in that, The sliding drive assembly three (11) includes: a drive shaft nine, a bevel gear nine, a bevel gear ten, a lead screw three (1101) and a lead screw nut three (1102). The drive shaft nine is vertically arranged and rotatably mounted on the main support (1). The lower end of the drive shaft nine and the output end of a motor (4301) of a drive assembly are connected by a coupling. The upper end of the drive shaft nine is equipped with a bevel gear nine. The lead screw three (1101) is horizontally arranged and rotatably mounted on the main support (1). The end of the lead screw three (1101) is equipped with a bevel gear ten. The bevel gear nine and the bevel gear ten mesh with each other. The lead screw nut three (1102) is assembled on the lead screw three (1101) and rotatably mounted on the sliding seat three (5).

9. The interventional surgical robot system according to claim 3, characterized in that, Also includes: Clamping mechanism one (4401) includes: clamping bolt (4404) and tightening clamp (4405). The tightening clamp (4405) is detachably mounted on the top of sliding seat one (3) via the clamping bolt (4404). The tightening clamp (4405) is used to clamp the end of the outer tube (1000).

10. The interventional surgical robot system according to claim 5, characterized in that, Also includes: Clamping mechanism two (4402) includes: a clamping seat (4406), a clamping block, and a spur gear platform (4407). Spur gear platforms (4407) are mounted on the tops of sliding seats two (4) and three (5). Gear one and gear two are rotatably mounted on the spur gear platform (4407) located on sliding seat three (5). The clamping seat (4406) is connected to gear two and rotates synchronously with gear two. The clamp block is detachably mounted on the clamp seat (4406) by screws. The clamp block is used to clamp the end of the middle tube (2000). Gear three and gear four are rotatably mounted on the spur gear platform (4407) located on the sliding seat two (4). The clamp seat (4406) and gear four are connected and rotate synchronously with gear four. The clamp block is detachably mounted on the clamp seat (4406) by screws. The clamp block is used to clamp the end of the inner tube (3000).

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