Modular surgical robot

Abstract

The application belongs to the technical field of medical devices, and discloses a modular surgical robot, which comprises a continuum, an actuator and a first driving mechanism, the continuum comprises a body and a first interface assembly, the first interface assembly comprises a first connecting shaft; the actuator comprises an execution assembly, a transmission assembly and a second interface assembly, the first interface assembly and the second interface assembly are detachably connected; the second interface assembly comprises a second connecting shaft, the second connecting shaft and the first connecting shaft are docked and circumferentially limited, the transmission assembly connects the execution assembly and the second connecting shaft; the first driving mechanism comprises a first flexible shaft and a first driving assembly, the first flexible shaft is arranged in the body, connects the first driving assembly and the first connecting shaft, and the first driving assembly drives the first flexible shaft to move and rotate; the first flexible shaft moves and drives the body to bend; the first flexible shaft rotates and drives the first connecting shaft and the second connecting shaft to rotate, the second connecting shaft drives the execution assembly to move through the transmission assembly, and the requirement of quickly replacing the actuator is met.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a modular surgical robot. Background Technology

[0002] High-degree-of-freedom modular surgical robots are the core foundation for ensuring the successful implementation of minimally invasive surgery, especially single-port minimally invasive surgery. They have irreplaceable application value in complex clinical environments such as unstructured body cavities and narrow operating spaces. A high-degree-of-freedom modular surgical robot consists of a continuum and actuators connected to the front end of the continuum. Due to its flexible posture changes and compact structure, the continuum can enter the body through a single channel and reconstruct the operating triangle, improving the operator's hand-eye spatial coordination. This has become an important development direction for minimally invasive surgical instruments.

[0003] However, the bending motion of the continuum and the opening, deflection, and rotation of the actuator are each driven by independent mechanisms, resulting in a complex overall structure. Modular surgical robots are extremely inconvenient to assemble, sterilize, maintain, and replace functions, making it difficult to meet the clinical needs of minimally invasive surgery for miniaturized and rapidly replaceable modular surgical robots. Summary of the Invention

[0004] The purpose of this invention is to provide a modular surgical robot that simplifies the structure and meets the clinical needs for miniaturization and quick actuator replacement.

[0005] To achieve this objective, the present invention adopts the following technical solution: A modular surgical robot, comprising: A continuum includes a body and a first interface component disposed at one end of the body, the first interface component including a first connecting shaft; An actuator includes an execution component, a transmission component, and a second interface component, wherein the first interface component and the second interface component are detachably connected; the second interface component includes a second connecting shaft, one end of which is connected to the input end of the transmission component, and the other end of which is axially connected to the first connecting shaft and the two are circumferentially limited; the output end of the transmission component is connected to the execution component. The first drive mechanism includes a first flexible shaft and a first drive assembly. The first flexible shaft passes through the body, with one end connected to the output end of the first drive assembly and the other end extending to the first interface assembly and connected to the first connecting shaft. The first drive assembly drives the first flexible shaft to move and rotate. The first flexible shaft moves and causes the body to bend. The first flexible shaft rotates and causes the first connecting shaft and the second connecting shaft to rotate. The second connecting shaft drives the execution assembly to move through the transmission assembly.

[0006] In some embodiments, the actuation component includes a base, a wrist joint, and a clamping jaw. The wrist joint is rotatably mounted on the base, and the clamping jaw is mounted on the wrist joint. The transmission component includes a rope, a second interface component is connected to the base, one end of the second connecting shaft is configured as a winding rod, the winding rod extends into the base, and the rope is wound around the winding rod. The first flexible shaft rotates and drives the rope to wind and unwind through the winding rod, causing the rope to generate reciprocating traction displacement, pulling and driving the wrist joint to perform pitch and / or radial and ulnar deflection movements and / or driving the clamping jaw to perform opening and closing actions.

[0007] In some embodiments, the first drive mechanism includes three first flexible shafts and three first drive components, with the three first drive components corresponding one-to-one with the three first flexible shafts; the first interface component includes three first connecting shafts, the second interface component includes three second connecting shafts, with the three first connecting shafts and the three second connecting shafts corresponding one-to-one, and the three first flexible shafts and the three first connecting shafts corresponding one-to-one; the transmission component includes three ropes, with the three second connecting shafts and the three ropes corresponding one-to-one.

[0008] In some embodiments, the first interface component further includes a first base and an elastic buckle disposed on the first base, the first connecting shaft is embedded and rotatably connected to the first base, and the first base is connected to the body; the second interface component further includes a second base, the second connecting shaft is embedded in the second base, the second base is connected to the base, the second base is provided with a slot, and the elastic buckle engages with the slot.

[0009] In some embodiments, the first base body is provided with a first limiting groove and a communicating groove that are interconnected. The first limiting groove extends along the axial direction of the continuous body, and the hook of the elastic buckle passes through the communicating groove. The second interface assembly further includes a mounting shaft. One end of the mounting shaft is connected to the second base body and the base, and the other end is provided with the slot. The mounting shaft extends into and is radially limited in the first limiting groove, and the hook is engaged with the first limiting groove.

[0010] In some embodiments, the communicating groove extends inward from the outer periphery of the first seat, and the elastic buckle further includes an elastic arm connected to the hook. The elastic buckle is located on the outer periphery of the first seat, with one end away from the hook connected to the first seat. The first seat has a relief groove, and the elastic arm has a pressing part. The pressing part is correspondingly arranged with the relief groove, and the pressing part can be pressed into the relief groove so that the hook rotates outward from the first limiting groove.

[0011] In some embodiments, the first base is provided with a second limiting groove extending along the axial direction of the continuous body, and the end of the first connecting shaft is provided with a slot, the slot and the second limiting groove are connected; the other end of the second connecting shaft is provided as a plug-in end, the second connecting shaft extends into and is radially limited in the second limiting groove, the plug-in end is plugged into the slot and both are circumferentially limited.

[0012] In some embodiments, the slot is a polygonal slot, and the plug end is provided with a polygonal boss that matches the shape of the polygonal slot. The polygonal boss is placed inside the polygonal slot for circumferential positioning.

[0013] In some embodiments, the body is divided into a first flexible segment and a second flexible segment along the axial direction, and the first interface component, the first flexible segment, the second flexible segment and the first driving component are arranged sequentially along the axial direction of the continuum, and the first flexible shaft passes through the first flexible segment and the second flexible segment; the first flexible shaft moves and causes the first flexible segment to bend; The modular surgical robot also includes a second drive mechanism, which includes a second flexible shaft and a second drive assembly. The first flexible shaft and the second flexible shaft are arranged in parallel and spaced apart. The second flexible shaft passes through the second flexible segment. The second drive assembly drives the second flexible shaft to move and causes the second flexible segment to bend.

[0014] In some embodiments, the system further includes a base assembly comprising a first base and a second base, the first base and the second base being spaced apart along the axial direction of the continuum; the first drive assembly comprising a first linear drive and a rotary drive, the first linear drive, the rotary drive and the first flexible shaft being connected in sequence; the second drive assembly comprising a second linear drive and a segmented shaft, the second linear drive, the segmented shaft and the second flexible shaft being connected in sequence; the first linear drive and the second linear drive are arranged in parallel and are both fixed to the first base, and the rotary drive and the segmented shaft are arranged in parallel and are both slidably connected to the second base.

[0015] The beneficial effects of this invention are: This invention provides a modular surgical robot. A first interface component is located at one end of a continuum, and a second interface component is located at the other end of an actuator. The first and second interface components are connected, thus connecting the actuator to the continuum. The body bending mechanism handles global path navigation and attitude positioning, while the actuator's movement handles precise local surgical operations. Together, they complete minimally invasive surgery. On one hand, the modular design of the continuum and actuator, with the first and second interface components detachably connected, allows for a detachable connection between one end of the continuum and the actuator. This enables the continuum to be reused and the actuator to be selected, facilitating rapid intraoperative actuator replacement. This design offers high flexibility, ease of use, and low cost. On the other hand, a first drive component drives a first flexible shaft that can both move and rotate. Employing a coaxial transmission method, both tension and torque can be transmitted simultaneously on the same first flexible shaft. As the first flexible shaft passes through the body, the tension force of the first flexible shaft causes the body to bend, achieving attitude adjustment control of the continuum. This allows the continuum to flexibly change its attitude to avoid obstacles in space, adapting to the navigation and positioning requirements of unstructured body cavities and narrow operating spaces. The first flexible shaft, the first connecting shaft, the second connecting shaft, and the actuator's transmission assembly are connected sequentially. When the first drive assembly drives the first rotating shaft to rotate, the torsional power of the first flexible shaft is transmitted sequentially through the body to the first connecting shaft, the second connecting shaft, and the actuator's transmission assembly. This transmission assembly then drives the actuator's movement, simplifying the drive mechanism and improving integration. Through these two aspects, a simplified structure is achieved, meeting the clinical needs of miniaturized modular surgical robots and enabling rapid actuator replacement. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a modular surgical robot provided in a specific embodiment of the present invention; Figure 2 yes Figure 1 Sectional view at point AA; Figure 3 This is a partial schematic diagram of a modular surgical robot provided in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the first driving mechanism and the second driving mechanism provided in a specific embodiment of the present invention; Figure 5 This is a schematic diagram of the connection between the continuum and the actuator provided in a specific embodiment of the present invention; Figure 6 yes Figure 5 A magnified view of a portion at point M; Figure 7 This is a cross-sectional view of the continuum and the actuator axis provided in a specific embodiment of the present invention; Figure 8 yes Figure 7 A magnified view of N local points; Figure 9 This is a schematic diagram of the end of the second interface component provided in a specific embodiment of the present invention; Figure 10 yes Figure 9 Sectional view at BB; Figure 11 This is a schematic diagram of an actuator provided in a specific embodiment of the present invention.

[0017] In the picture: 1. Continuous body; 11. Body; 101. Connecting disc; 1011. First end disc; 1012. Middle disc; 1013. Spacer disc; 1014. Second end disc; 111. First flexible segment; 112. Second flexible segment; 12. First interface assembly; 121. First connecting shaft; 1211. Slot; 122. First base; 1221. First limiting groove; 1222. Connecting groove; 1223. Clearance groove; 1224. Second limiting groove; 123. Elastic buckle; 1231. Hook; 1232. Elastic arm; 12321. Pressing part; 124. Screw; 125. Pin; 126. Locking element; 2. Actuator; 21. Actuation component; 211. Base; 2111. Wire hole; 212. Wrist joint; 2121. Guide groove; 213. Gripping jaw; 2131. Finger gripper; 214. Guide pulley; 23. Second interface component; 231. Second connecting shaft; 2311. Winding rod; 23111. First limiting platform; 23112. Second limiting platform; 23113. Third limiting platform; 2312. Plug-in end; 23121. Polygonal boss; 232. Second seat; 233. Mounting shaft; 2331. Slot; 2332. Limiting flange; 3. First drive mechanism; 31. First flexible shaft; 32. First drive assembly; 321. First linear drive component; 322. Rotary drive component; 323. Adapter component; 4. Second drive mechanism; 41. Second flexible shaft; 42. Second drive assembly; 421. Second linear drive component; 422. Segmented shaft; 5. Base assembly; 51. First base; 52. Second base; 53. Third base; 54. Sleeve; 55. Extension tube; 56. Fixing plate; 6. Locking head; 7. Robotic arm; 8. Worktable. Detailed Implementation

[0018] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] like Figures 1-11As shown, this embodiment provides a modular surgical robot, which includes a continuum 1, an actuator 2, and a first drive mechanism 3. The continuum 1 includes a body 11 and a first interface component 12 disposed at one end of the body 11. The first interface component 12 includes a first connecting shaft 121. The actuator 2 includes an execution component 21, a transmission component, and a second interface component 23. The first interface component 12 and the second interface component 23 are detachably connected. The second interface component 23 includes a second connecting shaft 231, one end of which is connected to the input end of the transmission component, and the other end is axially connected to the first connecting shaft 121. The circumferential limit is provided, and the output end of the transmission component is connected to the execution component 21; the first drive mechanism 3 includes a first flexible shaft 31 and a first drive component 32. The first flexible shaft 31 passes through the body 11, one end is connected to the output end of the first drive component 32, and the other end extends to the first interface component 12 and is connected to the first connecting shaft 121. The first drive component 32 drives the first flexible shaft 31 to move and rotate; the first flexible shaft 31 moves and causes the body 11 to bend; the first flexible shaft 31 rotates and causes the first connecting shaft 121 and the second connecting shaft 231 to rotate. The second connecting shaft 231 drives the execution component 21 to move through the transmission component.

[0022] By setting a first interface component 12 at one end of the continuum 1 and a second interface component 23 at the other end of the actuator 2, the first interface component 12 and the second interface component 23 are connected, thereby connecting the actuator 2 to the continuum 1. The bending of the body 11 is responsible for global path navigation and attitude positioning, while the movement of the actuator 2 is responsible for local fine surgical operations. The two work together to complete the minimally invasive surgery.

[0023] On the one hand, by modularly designing the continuum 1 and actuator 2, the first interface component 12 and the second interface component 23 can be detachably connected, thereby achieving a detachable connection between one end of the continuum 1 and the actuator 2. Compared to a one-piece connection between the continuum 1 and the actuator 2, this solution allows for the reuse of the continuum 1 and the optional attachment of the actuator 2, such as a needle holder, clamp, or scissors, thus enabling rapid intraoperative replacement of the actuator 2. This approach offers high flexibility, ease of use, and low cost.

[0024] On the other hand, the first flexible shaft 31, driven by the first drive assembly 32, can both move and rotate. By adopting a coaxial transmission method of tension and torque on the same first flexible shaft 31, tension and torque can be transmitted simultaneously. Specifically, the first flexible shaft 31 passes through the body 11. When the first drive assembly 32 drives the first flexible shaft 31 to move, the tension force of the first flexible shaft 31 causes the body 11 to bend, thereby realizing the attitude adjustment control of the continuous body 1. Thus, the continuous body 1 can avoid obstacles in space by flexibly changing its attitude, thereby adapting to the navigation and positioning requirements of unstructured body cavities and narrow operating spaces. Furthermore, the first flexible shaft 31, the first connecting shaft 121, the second connecting shaft 231, and the transmission assembly of the actuator 2 are connected in sequence. When the first drive assembly 32 drives the first rotating shaft to rotate, the torsional power of the first flexible shaft 31 is transmitted through the body 11 to the first connecting shaft 121, the second connecting shaft 231, and the transmission assembly of the actuator 2 in sequence. Thus, the actuator 21 is driven to move through the transmission assembly. For example, the actuator 2 can perform fine end operations such as clamping, cutting, suturing, peeling, puncturing, and drug administration, which simplifies the drive mechanism and improves the integration.

[0025] By simplifying the structure in the above two aspects, the clinical needs for miniaturization of modular surgical robots and quick-change actuators are met.

[0026] like Figure 3 and Figure 4 As shown, the main body 11 is divided into a first flexible segment 111 and a second flexible segment 112 along the axial direction. The first interface component 12, the first flexible segment 111, the second flexible segment 112 and the first drive component 32 are arranged sequentially along the axial direction of the continuous body 1. The first flexible shaft 31 passes through the first flexible segment 111 and the second flexible segment 112. The first flexible shaft 31 moves and causes the first flexible segment 111 to bend. The modular surgical robot also includes a second drive mechanism 4. The second drive mechanism 4 includes a second flexible shaft 41 and a second drive component 42. The first flexible shaft 31 and the second flexible shaft 41 are arranged in parallel and spaced apart. The second flexible shaft 41 passes through the second flexible segment 112. The second drive component 42 drives the second flexible shaft 41 to move and causes the second flexible segment 112 to bend.

[0027] When the pose change of the continuum 1 only requires the bending of the first flexible segment 111, the first drive component 32 drives the first flexible shaft 31 to perform a pulling motion; when the pose change of the continuum 1 only requires the bending of the second flexible segment 112, the second drive component 42 drives the second flexible shaft 41 to perform a pulling motion. The deformation of the first flexible segment 111 and the deformation of the second flexible segment 112 are independently controlled and do not affect or interfere with each other. Specifically, a third flexible segment is also connected to the second flexible segment 112. The modular surgical robot also includes a third drive mechanism, which only drives the bending of the third flexible segment. The design is based on the second flexible segment 112 and the second drive mechanism 4, and will not be elaborated further. The flexible segments and the drive mechanisms that drive the corresponding flexible segments are set according to the requirements. By setting multiple flexible segments in the continuum 1, the flexibility of the deformation and posture adjustment of the continuum 1 is improved by relying on the flexible segment deformation and multi-directional bending, thereby further adapting to the narrow unstructured internal space.

[0028] Optionally, the first drive assembly 32 includes a first linear drive 321 and a rotary drive 322, which are sequentially connected to each other. The first linear drive 321 can drive the rotary drive 322 and the first flexible shaft 31 to move, and the rotary drive 322 drives the first flexible shaft 31 to rotate. For example, the first linear drive 321 is a linear drive motor or a linear actuator, and the rotary drive 322 includes a rotary drive motor. Further, the rotary drive 322 also includes an adapter 323, through which the linear drive motor and the rotary drive motor are connected, improving connection reliability.

[0029] Optionally, the second drive assembly 42 includes a second linear drive member 421, the second linear drive member 421, the segmented shaft 422, and the second flexible shaft 41 are connected in sequence, and the second linear drive member 421 drives the second flexible shaft 41 to move. Exemplarily, the second linear drive member 421 is a linear drive motor or a linear driver, and may have the same structure as or a different structure from the first linear drive member 321, without limitation.

[0030] Optionally, the modular surgical robot also includes a base assembly 5, which includes a first base 51 and a second base 52, the first base 51 and the second base 52 being spaced apart along the axial direction of the continuum 1; a first linear drive 321 and a second linear drive 421 are arranged in parallel and both are fixed to the first base 51.

[0031] Optionally, the second drive assembly 42 further includes a segmented shaft 422. The second linear drive member 421 is connected to the second flexible shaft 41 via the segmented shaft 422. The rotary drive member 322 and the segmented shaft 422 are arranged in parallel and are both slidably connected to the second base 52. By setting the segmented shaft 422, it maintains the same structural form as the rotary drive member 322, facilitating simultaneous slidable connection to the second base 52, improving the assembly consistency of the first drive assembly 32 and the second drive assembly 42, and enhancing assembly stability. Specifically, the rotary drive motor is installed in the slot of the adapter 323. The first linear drive member 321 drives the adapter 323 to slide on the second base 52. The connection between the first flexible shaft 31 and the rotary drive motor passes through the adapter 323, such as the output shaft of the rotary drive motor passing through the adapter 323 to connect with the first flexible shaft 31.

[0032] Furthermore, the modular surgical robot also includes locking heads 6. One end of each locking head 6 is fixed to the output shaft of the rotary drive motor and the segmented shaft 422, respectively, and the other end is fixed to the first flexible shaft 31 and the second flexible shaft 41, respectively. By setting the locking heads 6, the ends of the first flexible shaft 31 and the second flexible shaft 41 are fixed and locked to prevent the first flexible shaft 31 and the second flexible shaft 41 from loosening and slipping, and to reliably transmit traction driving force. The locking heads 6 are conventional standard structures in the field, and their specific construction and locking methods are existing technologies and will not be described in detail here.

[0033] Optionally, the base assembly 5 further includes a third base 53, a sleeve 54, an extension tube 55, and a fixing plate 56. The third base 53, the first base 51, the second base 52, and the fixing plate 56 are arranged sequentially. One end of the first linear drive member 321 and the second linear drive member 421 are both fixed to the third base 53, thereby fixing the first base 51 and the third base 53 to both ends of the first linear drive member 321 and the second linear drive member 421. The third base 53 is used for docking and installation with an external structure such as the robotic arm 7. The first flexible shaft 31 and the second flexible shaft 41 both pass through the fixing plate 56 and slide or rotate relative to each other along the fixing plate 56. The fixing plate 56 serves to constrain the first flexible shaft 31 and the second flexible shaft 41 to prevent deformation. The sleeve 54 is connected to the third base 53. The first base 51, the second base 52, and the fixing plate 56 are all fixed inside the sleeve 54. The sleeve 54 serves as an integral connection, further improving the overall structural reliability and protecting the internal first drive assembly 32 and second drive assembly 42. The extension tube 55 is connected to the end of the sleeve 54 and extends to the end of the body 11 opposite to the first interface assembly 12. The extension tube 55 is sleeved outside the first flexible shaft 31 and the second flexible shaft 41, providing constraint and protection for the first flexible shaft 31 and the second flexible shaft 41.

[0034] Optionally, the body 11 includes a plurality of spaced-apart connecting discs 101 connected by elastic supports, maintaining a coaxial distance between the connecting discs 101 and allowing for relative flexible deflection. A first flexible shaft 31 and a second flexible shaft 41 pass through the connecting discs 101 and are used to traction drive the body 11 to bend. The plurality of connecting discs 101 include a first end disc 1011, a middle disc 1012, and a second end disc 1014 arranged axially, and also include a plurality of spacer discs 1013. A portion of the spacer discs 1013 are disposed between the first end disc 1011 and the middle disc 1012, and another portion of the spacer discs 1013 are disposed between the middle disc 1012 and the second end disc 1014. The middle disc 1012 divides the body 11 into two segments: the first end disc 1011 to the middle disc 1012 forms a second flexible segment 112, and the middle disc 1012 to the second end disc 1014 forms a first flexible segment 111.

[0035] Each connecting disc 101 is provided with axial wire-passing holes evenly distributed around its circumference; the first flexible shaft 31 and the second flexible shaft 41 are both inserted into the wire-passing holes of each connecting disc 101. The connection method between the flexible shaft and the connecting disc 101 is existing technology and will not be described in detail here.

[0036] In one embodiment, the first driving mechanism 3 includes three first flexible shafts 31 and three first driving components 32, with each of the three first driving components 32 corresponding to one of the three first flexible shafts 31. Each of the three first flexible shafts 31 passes through multiple connecting discs 101 and is evenly distributed along the circumference of the connecting discs 101. The first interface component 12 includes three first connecting shafts 121, and the second interface component 23 includes three second connecting shafts 231, with each of the three first connecting shafts 121 and 231 corresponding to one of the other three. By setting three first flexible shafts 31 with different tension ratios, the first flexible segment 111 can be bent and deflected in any direction to adjust its posture. Specifically, the first flexible shaft 31 is axially fixed and circumferentially rotatably connected to the second end disk 1014 only at its distal end. The first flexible shaft 31 and the other connecting disks 101 are all slidably clearance-fitted. By pulling different first flexible shafts 31, the second end disk 1014 at the traction end is swayed, thereby causing multiple connecting disks 101 to bend in sequence, realizing multi-directional flexible deformation of the first flexible segment 111.

[0037] The second flexible shaft 41 passes through multiple connecting discs 101 of the second flexible segment 112, namely the first end disc 1011, the middle disc 1012, and multiple spacer discs 1013 between them. Further, the second drive mechanism 4 includes three second flexible shafts 41 and three second drive components 42. The three second drive components 42 are arranged one-to-one with the three second flexible shafts 41. Each of the three second flexible shafts 41 passes through multiple connecting discs 101 and is evenly distributed circumferentially along the connecting discs 101. By setting three second flexible shafts 41 with different tension ratios, the second flexible segment 112 can be bent and deflected in any direction to adjust its posture, thereby improving the overall flexibility and posture adjustment of the body 11. Specifically, the second flexible shaft 41 is fixedly connected to the middle disk 1012 only at its far end. The second flexible shaft 41 and other connecting disks 101 are in sliding clearance fit. By pulling different second flexible shafts 41, the middle disk 1012 is pulled to swing, thereby causing multiple connecting disks 101 to bend in sequence, realizing the multi-directional flexible deformation of the second flexible segment 112.

[0038] In one embodiment, such as Figure 2 As shown, three first flexible shafts 31 and three second flexible shafts 41 are evenly spaced along the circumference, and the first flexible shafts 31 and the second flexible shafts 41 are alternately arranged.

[0039] like Figures 7-11 As shown, in one embodiment, the execution component 21 includes a base 211, a wrist joint 212, and a clamping claw 213. The wrist joint 212 is rotatably mounted on the base 211, and the clamping claw 213 is mounted on the wrist joint 212. The transmission component includes a rope (not shown in the figure), a second interface component 23 is connected to the base 211, and one end of the second connecting shaft 231 is configured as a winding rod 2311. The winding rod 2311 extends into the base 211, and the rope is wound around the winding rod 2311. The first flexible shaft 31 rotates and drives the rope to wind and unwind through the winding rod 2311, causing the rope to generate reciprocating traction displacement, pulling and driving the wrist joint 212 to perform pitch and / or radial and ulnar deflection movements and / or driving the clamping claw 213 to perform opening and closing actions.

[0040] Optionally, the transmission assembly includes three ropes, three second connecting shafts 231, and three ropes arranged in a one-to-one correspondence. By setting up three sets of first flexible shafts 31, first connecting shafts 121, second connecting shafts 231, and ropes, the three first drive assemblies 32 transmit power sequentially to the first connecting shafts 121, second connecting shafts 231, and ropes via the first flexible shafts 31. The rotation of the first flexible shafts 31 pulls the corresponding ropes to control the actuators 2 to perform wrist-like pitch, ulnar and radial deflection, and finger opening and closing movements.

[0041] In one embodiment, the base 211 has six threading holes 2111. The rope is wound around the winding rod 2311 at the middle position, and its two ends extend from two of the threading holes 2111 respectively. The three ropes have six ends, which extend from the six threading holes 2111 in a corresponding manner. All three ropes are closed traction ropes that can be pulled and driven at both ends. The wrist joint 212 is rotatably connected to the base 211, and the two gripping fingers 2131 of the gripping claw 213 are rotatably connected to the wrist joint 212. The wrist joint 212 has a guide groove 2121 and two guide pulleys 214 for guiding and changing the direction of the rope and adapting to the needs of wrist movement and gripper drive. For ease of description, the three ropes are named the first rope, the second rope, and the third rope, respectively. The clamping and opening / closing action of the gripper 213 is achieved through the cooperation of a first rope, a second rope, and two guide pulleys 214. The first rope is fixed at both ends to the sides of the first gripper finger 2131, with one guide pulley 214 winding around its middle section. The second rope is fixed at both ends to the sides of the second gripper finger 2131, with the other guide pulley 214 winding around its middle section. Both ropes run close to the surface of the wrist joint 212 without interference. Pulling the middle section or one end of the two ropes drives the gripper finger 2131 to rotate inward to clamp, while releasing it in the opposite direction utilizes the closed-loop constraint of the ropes to rotate the gripper finger 2131 outward to open. Adjusting the pulling stroke and tension controls the opening / closing angle and clamping force. The pitch and radial / ulnar deflection movements of the wrist joint 212 are achieved through the cooperation of a third rope and two guide pulleys 214. The wrist joint 212 has mutually orthogonal horizontal and vertical axes. The two ends of the third rope are fixed to the force points corresponding to the two movements on the outer periphery of the wrist joint 212. The middle section is arranged with two guide pulleys 214 to form a closed loop. The two pulleys are responsible for the reversal of the tension force for the two movements. Pulling the corresponding section of the third rope can generate a torque through the reversal of the pulleys, driving the wrist joint 212 to pitch up and down around the horizontal axis (pulling different ends to achieve pitch and ulnar deflection) and to ulnar / ulnar deflection left and right around the vertical axis (pulling different ends to achieve radial and ulnar deflection). Adjusting the traction stroke and tension ratio can achieve compound posture adjustment.

[0042] like Figures 5-10 As shown, the first interface assembly 12 further includes a first base 122 and an elastic buckle 123 disposed on the first base 122. A first connecting shaft 121 is embedded in and rotatably connected to the first base 122, and the first base 122 is connected to the body 11. The second interface assembly 23 further includes a second base 232, a second connecting shaft 231 is embedded in the second base 232, and the second base 232 is connected to the base 211. The second base 232 is provided with a slot 2331, and the elastic buckle 123 and the slot 2331 engage, thereby realizing the engagement connection between the second interface assembly 23 and the first interface assembly 12, which is convenient for disassembly and assembly. Specifically, the first base 122 is connected to the second end disc 1014 by fasteners such as screws 124.

[0043] For example, the second end disc 1014 is provided with a locking member 126, and the first flexible shaft 31 is connected to the locking member 126, and the two are axially fixed and circumferentially rotatably connected. If the locking member 126 is a bushing or a bearing, the first flexible shaft 31 is rotatably connected to the second end disc 1014 through the bushing or bearing. One end of the first flexible shaft 31 is provided with a protrusion to restrict the locking member 126, and the other end is fixedly connected to the first connecting shaft 121. The first connecting shaft 121 is axially fixed to the first seat 122, thereby indirectly achieving axial fixation between the first flexible shaft 31 and the second end disc 1014.

[0044] In one embodiment, the first base 122 is provided with a first limiting groove 1221 and a connecting groove 1222 that are interconnected. The first limiting groove 1221 extends along the axial direction of the continuous body 1, and the hook 1231 of the elastic buckle 123 passes through the connecting groove 1222. The second interface assembly 23 also includes a mounting shaft 233. One end of the mounting shaft 233 is connected to the second base 232 and the base 211, and the other end is provided with a groove 2331. The mounting shaft 233 extends into and is radially limited in the first limiting groove 1221, and the hook 1231 is engaged with the first limiting groove 1221. For example, one end of the mounting shaft 233 is configured as a pin, which is sequentially connected to the base 211 and the second seat 232. The other end is provided with an annular groove 2331 along the circumference. The mounting shaft 233 extends into the first limiting groove 1221, and the mounting shaft 233 is radially limited by the lower limiting groove to ensure installation accuracy. The hook 1231 engages with the groove 2331 to achieve engagement, and the groove 2331 is annular, making the cooperation between the mounting shaft 233 and the hook 1231 more flexible. By setting the mounting shaft 233, the fixed connection between the base 211 and the second seat 232 and the detachable connection with the first interface assembly 12 are achieved.

[0045] Optionally, such as Figure 10 As shown, a limiting flange 2332 is provided on the outer periphery of the mounting shaft 233. The limiting flange 2332 and the second seat 232 are axially limited to ensure the distance between the slot 2331 and the end face of the second seat 232, thereby ensuring the fitting accuracy with the elastic buckle 123.

[0046] Optionally, three mounting shafts 233 are provided circumferentially, and three elastic clips 123 are provided. The three elastic clips 123 and the three mounting shafts 233 are provided in a one-to-one correspondence, thereby improving the connection reliability.

[0047] The connecting groove 1222 extends inward from the outer periphery of the first base 122. The elastic buckle 123 also includes an elastic arm 1232 connected to the hook 1231. The elastic buckle 123 is located on the outer periphery of the first base 122, with one end away from the hook 1231 connected to the first base 122. For example, the elastic arm 1232 is connected to the first base 122 by a pin 125. The first base 122 is provided with a relief groove 1223, and the elastic arm 1232 is provided with a pressing part 12321. The pressing part 12321 is correspondingly provided with the relief groove 1223. The pressing part 12321 can be pressed into the relief groove 1223 so that the hook 1231 rotates outward from the first limiting groove 1221. In the initial state, the hook 1231 is engaged with the slot 2331, connecting the first interface component 12 and the second interface component 23. When the pressing part 12321 is pressed, the hook 1231 rotates outward from the first limiting groove 1221. If the hook 1231 disengages from the slot 2331, the first interface component 12 and the second interface component 23 can be disassembled. Alternatively, before installing the first interface component 12 and the second interface component 23, the pressing part 12321 is pressed, causing the hook 1231 to rotate outward so that the mounting shaft 233 can be inserted into the first limiting groove 1221, preventing the hook 1231 from interfering. When the mounting shaft 233 is inserted into place, the pressing part 12321 is released, and the hook 1231 resets and engages with the slot 2331. By placing the elastic buckle 123 on the outer periphery of the first base 122 and providing a pressing part 12321 to control the rotation of the hook 1231, it is convenient to repeatedly disassemble and assemble the first interface assembly 12 and the second interface assembly 23.

[0048] The first base 122 is provided with a second limiting groove 1224 extending axially along the continuous body 1. The end of the first connecting shaft 121 is provided with a slot 1211, which communicates with the second limiting groove 1224. The other end of the second connecting shaft 231 is provided as a plug-in end 2312. The second connecting shaft 231 extends into and is radially limited in the second limiting groove 1224, and the plug-in end 2312 is plugged into the slot 1211, with both being circumferentially limited. By inserting the second connecting shaft 231 into the first base 122, the second connecting shaft 231 and the first interface assembly 12 are radially limited. The second connecting shaft 231 and the second limiting groove 1224 are radially limited to ensure installation accuracy, and the plug-in end 2312 and the slot 1211 are circumferentially limited to ensure the transmission of torque between them. Optionally, the second connecting shaft 231 includes two parts: a winding rod 2311 and a plug end 2312, with the plug end 2312 fixed to one end of the winding rod 2311.

[0049] Furthermore, the slot 1211 is a polygonal slot, and the insertion end 2312 is provided with a polygonal boss 23121 that matches the shape of the polygonal slot. The polygonal boss 23121 is placed inside the polygonal slot for circumferential limiting. The polygon can be a regular shape or an irregular shape such as a rectangle, triangle, semicircle, or cross, and is not limited, as long as it can achieve circumferential limiting of the polygonal slot and the polygonal boss 23121. The cross-sectional area of ​​the insertion end 2312 is larger than the cross-sectional area of ​​the polygonal boss 23121, so that the insertion end 2312 can abut against the end of the first connecting shaft 121 to achieve axial limiting.

[0050] Optionally, when three first flexible shafts 31, three first connecting shafts 121, and three second connecting shafts 231 are provided, the slots 1211 of the three first connecting shafts 121 have different cross-sectional shapes, and the polygonal bosses 23121 of the three second connecting shafts 231 have different shapes. The three polygonal bosses 23121 and the three slots 1211 are matched one-to-one to distinguish the corresponding first connecting shafts 121 and second connecting shafts 231, and thus distinguish the corresponding ropes. This ensures that the relevant structure of the actuator 21 corresponds one-to-one with the power of the first flexible shafts 31, preventing errors when controlling the actuator 2 to move.

[0051] like Figure 6 and Figure 8 As shown, optionally, the winding rod 2311 is provided with a first limiting platform 23111, a second limiting platform 23112 and a third limiting platform 23113. The first limiting platform 23111 abuts against the end face of the base 211 and cooperates with the groove of the second seat 232 to achieve axial limiting, thereby ensuring the axial position accuracy of the insertion end 2312 and improving the cooperation accuracy with the slot 1211.

[0052] like Figure 1 As shown, optionally, the modular surgical robot also includes a robotic arm 7, with the continuum 1 mounted at the end of the robotic arm 7. The robotic arm 7 can adopt a multi-degree-of-freedom robotic arm structure such as a four-axis robotic arm or a six-axis robotic arm to improve the overall motion adjustment and operational flexibility. Four-axis robotic arms and six-axis robotic arms are conventional configurations in the field and will not be described in detail here.

[0053] Optionally, the modular surgical robot is also equipped with a worktable 8, on which the robotic arm 7 is fixed. The worktable 8 adopts a conventional support structure in the field, which will not be described in detail here.

[0054] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0055] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A modular surgical robot, characterized in that, include: The continuum (1) includes a body (11) and a first interface component (12) disposed at one end of the body (11), the first interface component (12) including a first connecting shaft (121); The actuator (2) includes an execution component (21), a transmission component, and a second interface component (23). The first interface component (12) and the second interface component (23) are detachably connected. The second interface component (23) includes a second connecting shaft (231). One end of the second connecting shaft (231) is connected to the input end of the transmission component, and the other end is axially connected to the first connecting shaft (121) and the two are circumferentially limited. The output end of the transmission component is connected to the execution component (21). The first drive mechanism (3) includes a first flexible shaft (31) and a first drive assembly (32). The first flexible shaft (31) passes through the body (11), with one end connected to the output end of the first drive assembly (32) and the other end extending to the first interface assembly (12) and connected to the first connecting shaft (121). The first drive assembly (32) drives the first flexible shaft (31) to move and rotate. The first flexible shaft (31) moves and causes the body (11) to bend. The first flexible shaft (31) rotates and causes the first connecting shaft (121) and the second connecting shaft (231) to rotate. The second connecting shaft (231) drives the execution assembly (21) to move through the transmission assembly.

2. The modular surgical robot according to claim 1, characterized in that, The execution component (21) includes a base (211), a wrist joint (212), and a clamping claw (213). The wrist joint (212) is rotatably mounted on the base (211), and the clamping claw (213) is mounted on the wrist joint (212). The transmission component includes a rope. The second interface component (23) is connected to the base (211). One end of the second connecting shaft (231) is configured as a winding rod (2311). The winding rod (2311) extends into the base (211), and the rope is wound around the winding rod (2311). The first flexible shaft (31) rotates and drives the rope to wind and unwind through the winding rod (2311), causing the rope to generate reciprocating traction displacement, pulling and driving the wrist joint (212) to perform pitch and / or radial and ulnar deflection movements and / or driving the clamping claw (213) to perform opening and closing actions.

3. The modular surgical robot according to claim 2, characterized in that, The first drive mechanism (3) includes three first flexible shafts (31) and three first drive components (32), with the three first drive components (32) corresponding to the three first flexible shafts (31); the first interface component (12) includes three first connecting shafts (121), the second interface component (23) includes three second connecting shafts (231), with the three first connecting shafts (121) and the three second connecting shafts (231) corresponding to each other, and the three first flexible shafts (31) and the three first connecting shafts (121) corresponding to each other; the transmission component includes three ropes, with the three second connecting shafts (231) and the three ropes corresponding to each other.

4. The modular surgical robot according to claim 2, characterized in that, The first interface component (12) further includes a first base (122) and an elastic buckle (123) disposed on the first base (122). The first connecting shaft (121) is embedded and rotatably connected to the first base (122), and the first base (122) is connected to the body (11). The second interface component (23) further includes a second base (232). The second connecting shaft (231) is embedded in the second base (232), and the second base (232) is connected to the base (211). The second base (232) is provided with a slot (2331), and the elastic buckle (123) and the slot (2331) are engaged.

5. The modular surgical robot according to claim 4, characterized in that, The first base (122) is provided with a first limiting groove (1221) and a connecting groove (1222) that are interconnected. The first limiting groove (1221) extends along the axial direction of the continuous body (1). The hook (1231) of the elastic buckle (123) passes through the connecting groove (1222). The second interface assembly (23) also includes a mounting shaft (233). One end of the mounting shaft (233) is connected to the second base (232) and the base (211), and the other end is provided with the groove (2331). The mounting shaft (233) extends into and is radially limited in the first limiting groove (1221). The hook (1231) is engaged with the first limiting groove (1221).

6. The modular surgical robot according to claim 5, characterized in that, The connecting groove (1222) extends inward from the outer periphery of the first seat (122). The elastic buckle (123) also includes an elastic arm (1232) connected to the hook (1231). The elastic buckle (123) is located on the outer periphery of the first seat (122), with one end away from the hook (1231) connected to the first seat (122). The first seat (122) is provided with a relief groove (1223). The elastic arm (1232) is provided with a pressing part (12321). The pressing part (12321) is correspondingly provided with the relief groove (1223). The pressing part (12321) can be pressed into the relief groove (1223) so that the hook (1231) rotates outward from the first limiting groove (1221).

7. The modular surgical robot according to claim 4, characterized in that, The first base (122) is provided with a second limiting groove (1224) extending along the axial direction of the continuous body (1), and the end of the first connecting shaft (121) is provided with a slot (1211), the slot (1211) and the second limiting groove (1224) are connected; the other end of the second connecting shaft (231) is provided as a plug-in end (2312), the second connecting shaft (231) extends into and is radially limited in the second limiting groove (1224), and the plug-in end (2312) is plugged into the slot (1211) and the two are circumferentially limited.

8. The modular surgical robot according to claim 7, characterized in that, The slot (1211) is a polygonal slot, and the plug end (2312) is provided with a polygonal boss (23121) that matches the shape of the polygonal slot. The polygonal boss (23121) is placed in the polygonal slot for circumferential positioning.

9. The modular surgical robot according to claim 1, characterized in that, The body (11) is divided into a first flexible segment (111) and a second flexible segment (112) along the axial direction. The first interface component (12), the first flexible segment (111), the second flexible segment (112) and the first drive component (32) are arranged sequentially along the axial direction of the continuum (1). The first flexible shaft (31) passes through the first flexible segment (111) and the second flexible segment (112). The first flexible shaft (31) moves and drives the first flexible segment (111) to bend. The modular surgical robot also includes a second drive mechanism (4), which includes a second flexible shaft (41) and a second drive assembly (42). The first flexible shaft (31) and the second flexible shaft (41) are arranged in parallel and spaced apart. The second flexible shaft (41) passes through the second flexible segment (112). The second drive assembly (42) drives the second flexible shaft (41) to move and causes the second flexible segment (112) to bend.

10. The modular surgical robot according to claim 9, characterized in that, It also includes a base assembly (5), which includes a first base (51) and a second base (52), the first base (51) and the second base (52) being spaced apart along the axial direction of the continuum (1); the first drive assembly (32) includes a first linear drive member (321) and a rotary drive member (322), the first linear drive member (321), the rotary drive member (322) and the first flexible shaft (31) being connected in sequence; the second drive assembly (42) includes a second linear drive member (421) and a segmented shaft (422), the second linear drive member (421), the segmented shaft (422) and the second flexible shaft (41) being connected in sequence; the first linear drive member (321) and the second linear drive member (421) are arranged in parallel and are both fixed to the first base (51), the rotary drive member (322) and the segmented shaft (422) are arranged in parallel and are both slidably connected to the second base (52).

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