Surgical robot system and flexible surgical instrument

Abstract

A surgical robot system and a flexible surgical instrument are provided, the flexible surgical instrument including a flexible instrument and an instrument drive device that outputs a driving force to the flexible instrument, the instrument transport means of the flexible instrument includes a housing and an instrument storage device, the outer surface of the instrument storage device is provided with a spiral storage groove for winding and storing the flexible body of the actuator means, and is rotatable and axially movable relative to the housing of the flexible instrument, the transmission means includes a transmission board that is connected to the instrument drive device for transmission, and the transmission board is connected to the instrument storage device of the instrument transport means to rotate and axially move the instrument storage device relative to the housing. By optimizing the layout, efficient driving of the flexible instrument can be achieved, cross-infection can be effectively avoided, and the operating needs of different application scenarios can be met.

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application filed with the China Patent Office on September 14, 2022, bearing application number 202211117679.3 and entitled "Surgical robot system and flexible surgical instrument," the entire contents of which are incorporated herein by reference.

[0002] This application relates to the field of medical instruments, and more particularly to surgical robotic systems and flexible surgical instruments. [Background technology]

[0003] Diseases of natural lumen such as the digestive system, urinary system, and respiratory system are common major chronic diseases, and diseases such as stomach cancer, esophageal cancer, colon cancer, bladder cancer, and lung cancer have high morbidity and mortality rates, posing a threat to human health. The use of flexible endoscopes in combination with relevant surgical instruments for diagnosis and treatment has become a mainstream treatment method, with the advantages of minimal invasiveness, low blood loss, and low complication rates.

[0004] As is well known, unlike conventional large-incision surgery, the operating space for interventional surgery through the human body's lumens is generally narrow, requiring the use of flexible instruments for diagnostic and therapeutic procedures. A wide variety of conventional flexible instruments, including but not limited to clamps, electrocoagulators, injection devices, and guides, can meet various operating needs in confined environments. Current surgical instruments are generally designed for manual operation. To meet the needs of luminal interventions, conventional flexible instruments are designed as flexible, thin instruments, which require the cooperation of medical professionals and are complex to operate. Furthermore, flexible, thin instruments are prone to contact with contaminated materials, which poses a risk of contamination and cross-infection during the retraction process. Summary of the Invention [Problem to be solved by the invention]

[0005] In view of this, there is a need to optimize the design of flexible surgical instruments to overcome the above deficiencies.

[0006] The present application aims to provide a surgical robot system and a flexible surgical instrument, which can realize the storage of the actuator means body of the flexible instrument through optimization of the layout, and meet the operation needs of different application scenarios based on the functional requirement of effectively avoiding contamination or cross-infection. [Means for solving the problem]

[0007] An embodiment of the present application provides a flexible surgical instrument comprising a flexible instrument and an instrument driving device that outputs driving force to the flexible instrument, the flexible instrument comprising an instrument transport means, an actuator means and a transmission means, the instrument transport means comprising a housing and an instrument storage device, the housing having an internal storage space with an instrument outlet opened in its side wall, the outer peripheral surface of the instrument storage device being provided with a spiral storage groove for winding and storing the flexible body of the actuator means, at least a portion of the instrument storage device being built into the housing and being rotatable and axially movable relative to the housing, the actuator means comprising an actuator and a flexible body, the flexible body comprising a drive wire fitted inside and outside and a sheath, the actuator being provided at the distal end of the drive wire, the transmission means comprising a transmission board connected to transmit power to the instrument driving device, the transmission board being connected to the instrument storage device of the instrument transport means and allowing the instrument storage device to rotate and axially move relative to the housing.

[0008] Preferably, the transmission means further includes an effective transmission unit and a rotary transmission unit provided on the transmission base, the effective transmission unit being arranged to push or pull back the drive wire when driven by the tool drive device, and the rotary transmission unit being arranged to twist the drive wire when driven by the tool drive device.

[0009] Preferably, the executive transmission unit includes a pulling element and a first drive shaft, the first drive shaft is inserted into the transmission base and connected to a tool driving device for transmission, the pulling element is connected to the first drive shaft, a proximal end of the drive wire is connected to the pulling element, the drive wire is pushed out or pulled back along a predetermined trajectory by the driving of the pulling element, and the drive wire is arranged to have a degree of rotational freedom relative to the pulling element; the rotary transmission unit includes a rotation shaft, a second terminal, a bevel gear group, and a second drive shaft, the second drive shaft is inserted into the transmission base and connected to a tool driving device for transmission, an active wheel of the bevel gear group is connected to the second drive shaft, the rotation shaft is connected to a passive wheel of the bevel gear group, the drive wire is fixed to the second terminal, and the second terminal is mounted on the rotation shaft, the second terminal is rotatable by the driving of the rotation shaft, and is arranged to have a degree of freedom to slide relative to the rotation shaft along the pulling direction of the drive wire.

[0010] Preferably, the device further includes a connecting means for connecting an external device, the connecting means including an electrical connection port, a water connection port and a guide tube, the electrical connection port and the water connection port being provided on a housing top portion of the device carrier means, the guide tube being fixedly disposed within the housing, and a cable and a waterway connection tube being introduced into the actuator means via the electrical connection port, the water connection port and the guide tube, respectively.

[0011] Preferably, the instrument driving device includes a first driving part, an output shaft and a driving base, the driving base is engaged with the transmission base of the transmission means, the first driving part includes an output end capable of outputting a rotational driving force, the output shaft is connected to transmit power to the output end of the first driving part, the driving base is coupled to the output shaft, two power transmission paths are included between the output end of the first driving part and the output shaft, and the output shaft is arranged to rotate and move axially to drive the flexible instrument by the driving base to perform a conveying operation.

[0012] Preferably, a screw rod nut transmission mechanism and a belt pulley transmission mechanism are provided between the output end of the first driving component and the output shaft, and a power transmission path for rotating the output shaft is constructed and formed from the belt pulley transmission mechanism, and a power transmission path for moving the output shaft along the axial direction is constructed and formed from the screw rod nut transmission mechanism.

[0013] Preferably, the tool driving device further includes a second driving component, a third driving component, a first active transmission disc, and a second active transmission disc, wherein the first active transmission disc is connected to the output end of the second driving component for transmission, and the second active transmission disc is connected to the output end of the second driving component for transmission, and the driving base has a first through hole and a second through hole, the first through hole is arranged to correspond to the first active transmission disc, and the second through hole is arranged to correspond to the second active transmission disc, and the corresponding active transmission disc drives the executive transmission unit and the rotary transmission unit respectively through the through holes.

[0014] Preferably, the first active transmission disc and the second active transmission disc are fixed to two slide holders, respectively, each slide holder being axially displaceable relative to a corresponding fixedly arranged slide rail, and an elastic reset part is provided between each slide holder and a fixed structure, and the elastic reset part is arranged to generate deformation when the slide holder is displaced towards the tool drive device, thereby providing a reset action force to the corresponding slide holder.

[0015] Preferably, the first active transmission disc and the second driving component are connected by a first flange, the second active transmission disc and the third driving component are connected by a second flange, and the first flange and the second flange are fixed to the corresponding slide holder, respectively.

[0016] Preferably, a buckle is provided on the driving base plate, a locking groove is provided on the transmission base plate, the buckle is provided in the locking groove to form a pair of circumferential rotation position limiting members, and the rotational driving force is transmitted to the appliance side by the engaged buckle and locking groove.

[0017] Preferably, the buckle includes a hook portion extending outward from the main body, and a locking opening for engaging with the hook portion is provided on the side wall of the tool storage device, and the buckle slides relative to the drive base and is switched between an extension work position and a retrieval work position, and when in the extension work position, the hook portion of the buckle is inserted into the locking opening, and when in the retrieval work position, the hook portion of the buckle escapes from the locking opening.

[0018] Preferably, a slide groove is formed in the drive base, the buckle includes a slide portion formed extending downward from the main body, the slide portion slides along the slide groove to engage, and the slide switches between the extension operation position and the pull-down operation position, and the groove wall of the locking groove and the groove wall of the slide groove both extend radially.

[0019] Preferably, the buckle further includes a button and a reset spring, the button being provided at the outer end of the buckle, and the reset spring being pre-compressed and disposed between the inner end of the buckle and the slide groove of the driving board.

[0020] The present application further provides a surgical robotic system, including a torso and a flexible surgical instrument mounted on the torso, employing the flexible surgical instrument described above for the flexible surgical instrument.

[0021] Preferably, the device further includes a man-machine interaction system and an electrical system, the man-machine interaction system including a touch panel device, a mechanical handle and a display device, the touch panel and the mechanical handle are provided on the top of the body, the tilt angle of the display component of the touch panel device is adjustable, and the display device is connected to the body by a multi-joint arm holder.

[0022] Preferably, the touch panel device further includes a wireless handle and a mechanical button provided on the top of the body, and the wireless handle includes an operating handle and a charging stand.

[0023] Preferably, the body includes a housing device, a lifting device, and a caster movement device, the housing device includes an upper housing at the top and a lower housing at the bottom, the lifting device is provided in the lower housing and includes a liftable lifting disk, and the upper housing is provided on the lifting disk of the lifting device.

[0024] Preferably, the lifting device includes a lifting drive part, a lifting screw rod, a motor fixing disk and a load-bearing chassis, the lifting screw rod is arranged between the lifting disk and the motor fixing disk, the load-bearing chassis is fixedly arranged below the motor fixing disk, and the motor is arranged below the load-bearing chassis and is connected to the lifting screw rod so as to transmit power.

[0025] Preferably, the housing device further includes an intermediate housing between the upper housing and the lower housing, the upper housing is inserted into the intermediate housing and is fitted therebetween, the upper housing rotates around a central axis relative to the intermediate housing, a circumferential position limiting pair is provided between the lower part of the intermediate housing and the upper part of the lower housing, and heat dissipation holes are provided in the lower housing.

[0026] Preferably, a lower portion of the intermediate housing is provided with teeth extending along the axial direction, and an upper portion of the lower housing is provided with grooves extending along the axial direction, the teeth and the grooves engaging with each other to form the circumferential position limiting pair.

[0027] Preferably, the caster movement device includes a caster and a caster locking device, the caster locking device is provided on the caster, an opening is opened in the bottom plate of the lower housing so as to correspond to the caster, and a portion of the wheel of the caster is built into the lower housing.

[0028] Preferably, the caster includes a self-locking electrical feedback connection for outputting a caster status signal to a controller of the electrical system, the controller restricting output of an activation command to the implement driver when the caster status signal indicates that the caster is in an unlocked state.

[0029] Preferably, the control device of the electrical system is mounted on the bottom plate of the lower housing by a fixing device, which includes a plurality of fixed claws and a rotating claw on one side, and the rotating claw is rotatably connected to the fixed claw by a rotation axis. [Effects of the Invention]

[0030] Compared with the prior art, the present invention provides a novel solution for implementing a flexible surgical instrument in which the instrument side and the drive side are assembled separately, thereby meeting the needs of instrument storage in various application scenarios. The flexible surgical instrument includes a flexible instrument and an instrument drive device that outputs a driving force to the flexible instrument. Specifically, the housing of the instrument transport means of the flexible instrument has an internal storage space, its side wall is opened with an instrument outlet, and the outer surface of the instrument storage device is provided with a spiral storage groove for winding and storing the flexible body of the actuator means, so that the instrument storage device can rotate and move axially relative to the housing. Furthermore, the transmission means of the flexible instrument includes a transmission board that is connected to the instrument drive device for transmission, and the transmission board is connected to the instrument storage device of the instrument transport means, thereby allowing the instrument storage device to rotate and move axially relative to the housing. Applying this solution provides the following beneficial technical effects:

[0031] First, based on the independent arrangement of the flexible instrument and the instrument driver, the functional flexible instrument can be arranged according to different needs, for example, but not limited to, a functional flexible instrument that can be matched to multiple dimensions, which effectively solves the current problems of difficulty in cooperation between medical and caregivers and shortage of medical resources, and has good adaptability.

[0032] As the instrument storage device rotates, the flexible body, which is stored in a spirally wound manner in the storage groove, is continuously transported by the instrument outlet. During the actuator transport process, the elastic deformation energy stored due to the spiral winding deformation is released, effectively overcoming the resistance formed when the actuator enters the flexible endoscope and providing excellent transport capability. When the instrument storage device moves in the opposite direction, the flexible body is pulled back into the housing and spirally wound around the instrument storage device. In contrast to flexible bodies that do not have high rigidity, this solution allows the flexible bodies to be regularly arranged due to structural constraints, avoiding mutual pressing and destruction between the bodies. Meanwhile, the retraction and storage of the actuator means does not occupy radial space, resulting in a compact and rational structure that is conducive to clinical use.

[0033] Third, in a preferred solution of the present invention, the transmission means further includes an active transmission unit and a rotary transmission unit mounted on the transmission base, the active transmission unit being arranged to push or pull the drive wire when driven by the tool drive device, and the rotary transmission unit being arranged to twist the drive wire when driven by the tool drive device, i.e., the transmission means is provided with a drive active connection port that engages with the tool drive device, which can realize, for example, but not limited to, pulling and twisting operations of the drive wire.

[0034] Fourth, in another preferred solution of the present invention, the flexible device includes a function for connecting to an external device. Specifically, the abutting means includes an electrical connection port and a water connection port provided on the top part of the housing, and further includes a guide tube fixedly arranged within the housing, through which a cable and a water connection tube are respectively introduced to the actuator means via the electrical connection port, the water connection port, and the guide tube. In this way, the flexible device provides communication functions such as a power source, a signal source, and a water channel, and further improves adaptability in different application scenarios.

[0035] Fifth, the surgical robot system provided by the present invention includes a man-machine interaction system and an electrical system. The man-machine interaction system includes a touch panel device, a mechanical handle, and a display device, which can output commands to operate instruments and simultaneously display relevant information during surgery, such as, but not limited to, the current state of the robot and information about interaction with tissue. The touch panel and mechanical handle are located on the top of the body, and the tilt angle of the display component of the touch panel device is adjustable. In practice, the tilt angle is adjusted by an internal angle adjustment device, for example, but not limited to, within a range of 10° to 60°. The angle adjustment is synchronized with the elevation and lowering of the entire body to suit the angle of touch control operation by the operator.

[0036] Sixth, in another preferred solution of the present invention, the housing device of the body includes an upper housing at the top and a lower housing at the bottom, and the lifting device is provided in the lower housing and includes a liftable lifting disk, and the upper housing provided thereon can lift and lower the flexible surgical instruments and touch panel device provided thereon to meet different usage needs.

[0037] Seventh, in another preferred solution of the present invention, the caster is equipped with a self-locking electrical feedback port, which outputs a caster status signal to the control device of the electrical system. When the caster status signal indicates that the caster is in an unlocked state, the control device restricts outputting a start command to the implement driver. That is, the implement driver system can only be started when the caster is locked, providing good safety and reliability. [Brief explanation of the drawings]

[0038] [Figure 1] 1 is a schematic diagram of the overall structure of a flexible surgical instrument according to an embodiment of the present application. [Figure 2] 1 is a schematic diagram of a flexible instrument according to an embodiment of the present application. [Figure 3] FIG. 3 is an exploded view of the flexible device of FIG. 2; [Figure 4] 3 is a schematic diagram of the flexible device of FIG. 2 being locally cut to form a flexible device; FIG. [Figure 5] 1 is a schematic diagram of an actuator means provided by an embodiment of the present application; [Figure 6] 3 is a cross-sectional view taken along the line AA in FIG. 2. [Figure 7] 1 is a schematic diagram of the overall structure of a transmission means provided by an embodiment of the present application; [Figure 8] 1 is a schematic diagram illustrating the mounting relationship between the transmission means and the tool storage device according to an embodiment of the present application; [Figure 9] FIG. 10 is a schematic view of the mounting relationship between the transmission means and the tool storage device, taken from another viewing angle. [Figure 10]2 is a schematic diagram of the mounting relationship of the execution transmission unit described in the embodiment of the present application; FIG. [Figure 11] FIG. 7 is an enlarged schematic view of part I in FIG. 6. [Figure 12] FIG. 10 is a schematic diagram of another execution transmission unit provided by an embodiment of the present application; [Figure 13] 1 is a schematic diagram illustrating the mounting relationship of a rotary transmission unit according to an embodiment of the present application; [Figure 14] FIG. 7 is an enlarged schematic view of part II in FIG. 6. [Figure 15] 2 is a schematic diagram of the introduction paths of the power supply and the signal source according to the embodiment of the present application. FIG. [Figure 16] 1 is a schematic diagram of the internal structure of an instrument driving device according to an embodiment of the present application; [Figure 17] FIG. 17 is a schematic diagram of the connection mechanism on the tool driver side of FIG. 16. [Figure 18] FIG. 1 is a schematic diagram of an assembly relationship between a driving substrate and an instrument storage device according to an embodiment of the present application. [Figure 19] FIG. 18 is a BB local cross-sectional view of FIG. [Figure 20] 2 is a schematic diagram illustrating the assembly relationship between the first active transmission disc and the second active transmission disc according to the embodiment of the present application; FIG. [Figure 21] 2 is a schematic diagram illustrating an assembly relationship between a transmission board and a transmission means according to an embodiment of the present application; FIG. [Figure 22] 3 is a schematic diagram of a transmission relationship of a first driving member described in the embodiment of the present application. FIG. [Figure 23] FIG. 17 is an axial cross-sectional view of FIG. 16. [Figure 24] FIG. 2 is a schematic diagram illustrating the connection relationship of a force sensor according to an embodiment of the present application. [Figure 25] 10A and 10B are schematic diagrams of other combined use states of the flexible device according to an embodiment of the present application. [Figure 26] 1 is a schematic diagram of the overall structure of a surgical robot system described in an embodiment of the present application. [Figure 27] 1 is a structural schematic diagram of a touch panel device according to an embodiment of the present application; [Figure 28]1 is a structural schematic diagram of a mechanical handle according to an embodiment of the present application; FIG. [Figure 29] 1 is a structural schematic diagram of a wireless handle according to an embodiment of the present application; [Figure 30] FIG. 2 is an exploded view of the fuselage mounting according to an embodiment of the present application. [Figure 31] 1 is a structural schematic diagram of a lifting device according to an embodiment of the present application; [Figure 32] 2 is a schematic diagram illustrating an assembly relationship between an electrical system, a lifting device, and a lower housing according to an embodiment of the present application; FIG. [Figure 33] 1 is a schematic diagram illustrating the mounting relationship of a caster movement device described in an embodiment of the present application. [Figure 34] FIG. 1 is a schematic diagram of a state after the surgical robot system described in an embodiment of the present application has started up. [Figure 35] This is a scenario diagram of a doctor standing and using a robot. [Figure 36] FIG. 1 is a schematic diagram of a state after the surgical robot system described in an embodiment of the present application has been lowered. [Figure 37] This is a scenario diagram of a doctor sitting and using a robot. DETAILED DESCRIPTION OF THE INVENTION

[0039] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail hereinafter in combination with drawings and specific embodiments.

[0040] Without loss of generality, this embodiment provides a flexible surgical instrument, which effectively solves the problems of long and thin flexible instruments being complicated to operate, difficult to store, and prone to contamination. Please refer to Figure 1, which is a schematic diagram of the overall structure of a flexible surgical instrument according to an embodiment of the present application.

[0041] The flexible surgical instrument 100 includes a flexible instrument 10 and an instrument driving device 20. The flexible instrument 10 is provided with an actuator means 12 for diagnosis, treatment, and diagnostic and treatment assistance. The instrument driving device 20 provides driving force to the actuator means 12 to realize operations such as transporting the flexible instrument and rotating or opening and closing the actuator.

[0042] 2 and 3, FIG. 2 is a schematic diagram of a flexible device according to an embodiment of the present application, and FIG. 3 is an exploded view of the flexible device 10 of FIG. 2 in a mounted state.

[0043] The flexible instrument 10 includes an instrument carrying means 11, an actuator means 12 housed in the instrument carrying means 11, and a transmission means 13 for transmitting a motion drive force to the actuator.

[0044] The instrument transport means 11 includes a housing 111 and an instrument storage device 112. Driven by the transmission means 13, the instrument storage device 112 can rotate relative to the housing 111, and after assembly is completed, the housing 111 is held in a relatively fixed state.

[0045] The flexible body (drive wire 121 and sheath 123) of the actuator means 12 is wound around the outer periphery of the instrument storage device 112 and extends through an instrument outlet 1111 opened in the side wall of the housing 111, where a protective tube 113 is provided on the outside of the instrument outlet 1111 and fixed to the housing 111, thereby allowing the actuator means 12 extending from the housing 111 to maintain a stable posture. As the instrument storage device 112 rotates, the flexible body of the actuator means 12 is continuously transported through the instrument outlet 1111, and similarly, when the instrument storage device 112 moves in the opposite direction, the flexible body is pulled back into the housing and wound around the instrument storage device 112, thereby achieving the retraction and storage of the actuator means 12. Specifically, when not in use, the housing 111 and the instrument storage device 112 form a relatively closed space which is used to store the flexible instrument body.

[0046] In order to arrange the flexible body of the actuator means 12 in a regular winding manner, a spiral accommodation groove 1121 is provided on the outer circumferential surface of the tool storage device 112. Please also refer to Figure 4, which is a schematic diagram of the flexible device of Figure 2 that is locally cut. The flexible body of the actuator means 12 that is pulled back into the housing is placed in the spiral accommodation groove 1121 of the tool storage device 112, thereby preventing the wiring from becoming tangled or entangled.

[0047] Driven by the transmission means 13, the instrument storage device 112 can further move axially relative to the housing 111. That is, when the instrument storage device 112 rotates, it moves axially synchronously, and thus the part of the flexible body of the actuator means 12 that has left the helical receiving groove 1121 is held approximately centered on the instrument outlet 1111 in two dimensions, and the storage operation is carried out smoothly.

[0048] In a specific implementation, the actuator means 12 may be selected based on a specific application, and may include, but is not limited to, clamps, electrocautery instruments, baskets, injection instruments, guides, sensors, and other flexible instruments. Clamp-type flexible instruments include tissue clamping devices with one clamping degree of freedom and hemostatic devices with a clamping rotation degree of freedom. Electrocautery-type flexible instruments include a clamping degree of freedom for electrocautery coagulation of tissue and a push-pull degree of freedom for a snare instrument. Basket-type flexible instruments include a push degree of freedom for pushing and retracting the basket. Injection-type flexible instruments include a push degree of freedom for pushing and retracting the injection needle. Guides are used to guide coaxial instruments and have no degrees of freedom. Sensor-type flexible instruments include image sensor instruments, position sensor instruments, or shape sensor instruments.

[0049] Based on the above functional needs of the actuator means 12, this is achieved by pulling or twisting the proximal end of the driving wire 121 of the actuator means 12. Please refer to Figure 5, which is a schematic diagram of the actuator means 12 provided by an embodiment of the present application.

[0050] Specifically, pulling the drive wire 121 moves the actuator 122 at the distal end, for example, but not limited to, opening, closing, and pushing the actuator; similarly, twisting the drive wire 121 can achieve rotational movement of the actuator 122 at the distal end.

[0051] The orientation terms "proximal end" and "distal end" used in this specification are defined according to the viewing angle of the operator of the surgical instrument, i.e., one end of the drive wire 121 closer to the operator is the "proximal end", and correspondingly, the other end closer to the patient is the "distal end". Here, the above orientation terms are not a substantial limitation on the flexible surgical instrument claimed for protection in this application, but are used simply to clearly describe the technical solution.

[0052] The pulling and twisting of the driving wire 121 of the actuator means 12 is realized based on the driving force output from the tool driving device 20, and specifically, the driving force is transmitted via the executive transmission unit 131 and the rotary transmission unit 132 of the transmission means 13. Please refer to Figures 2, 3, 6 and 7 together, Figure 6 is a cross-sectional view taken along line AA in Figure 2, and Figure 7 is a schematic diagram of the overall structure of the transmission means provided by an embodiment of the present application.

[0053] As shown in Figure 3, the transmission means 13 includes a transmission board 133, on which an active transmission unit 131 and a rotary transmission unit 132 are mounted, and which is fixed to the tool storage device 112 of the tool conveying means 11 by the transmission board 133. Please refer to Figures 8 and 9 together, which show the mounting relationship between the transmission means and the tool storage device from different viewing angles. The overall structure is compact and has good engineering properties for assembly.

[0054] As shown in FIG. 6, the driving transmission unit 131 includes a first terminal 1312 , a pulling member 1313 and a first driving shaft 1311 .

[0055] The pulling part 1313 is connected to the first driving shaft 1311, which is inserted into the transmission board 133 and rotates under the driving force of the tool driving device 20, causing the pulling part 1313 to swing around its rotation center.

[0056] The first terminal 1312 is fixed to the pulling part 1313 and follows when the pulling part 1313 rotates. The proximal end of the drive wire 121 is connected to the first terminal 1312, and the drive wire 121 is arranged so that it can be pushed or pulled back along a predetermined trajectory when driven by the first terminal 1312 and can rotate relative to the first terminal 1312. Here, the pulling stroke requirement of the first terminal 1312, i.e., the required amount of push-out or pull-back displacement of the actuator 122 at the distal end, must be satisfied within the range of the swing width of the pulling part 1313.

[0057] 10 and 11, FIG. 10 is a schematic view of the mounting relationship of the execution transmission unit described in the embodiment of the present application, and FIG. 11 is an enlarged schematic view of part I in FIG.

[0058] The first terminal 1312 is fitted into the pulling part 1313. Specifically, the outer surface of the pulling part 1313 has a mounting groove 13131 that is fitted with the first terminal 1312, and the outer surface is an arc-shaped surface. In other specific implementations, depending on the design requirements of the actual product, the outer surface of the pulling part 1313 is not limited to the arc-shaped surface shown in the drawing, and the fixed terminal may not be partially fitted into the outer surface of the pulling part 1313 (not shown), but may be entirely located inside the pulling part.

[0059] In this embodiment, the driving wire 121 is inserted through the fourth through-hole 13121 of the first terminal 1312, and the body of the driving wire 121 is provided with two limiting blocks 1211, one located on each end of the fourth through-hole 13121, with the size of the limiting blocks 1211 being larger than the size of the fourth through-hole 13121. When the pulling element 1313 rotates forward or backward, the driving wire 121 can be pushed out or pulled back according to the position limiting relationship between the first terminal 1312 and the corresponding limiting block 1211, which meets the specific operational requirements during surgery.

[0060] In addition, there is a radial gap between the driving wire 121 and the fourth through hole 13121 of the first terminal 1312, that is, the driving wire 121 has a degree of freedom of rotation relative to the fixed terminal, and when the driving wire rotates due to the driving of the rotary transmission unit 132, it can rotate relative to the fourth through hole 13121 without interfering with the fixed terminal side.

[0061] A first restriction part 1315 is fixedly disposed on the transmission board 133 as a base member connected to the driving side for transmission, and a restriction chamber 13151 is opened in the first restriction part 1315, and the driving wire 121 is disposed in the restriction chamber 13151. When the first terminal 1312 is driven, the driving wire 121 is pushed out or pulled back from the restriction chamber 13151 along a predetermined trajectory established therein.

[0062] In order to fully utilize the internal space of the housing, the first restriction part 1315 and the open restriction chamber 13151 are generally arc-shaped. The first restriction part 1315 further includes a guide segment C and a holding segment D, which are connected in sequence. As shown in FIG. 6 , the guide segment C has an arc-shaped inner wall that engages with the arc-shaped outer circumferential surface of the pulling part 1313. The restriction chamber 13151 in the inner wall of the guide segment C is an open lumen, and the restriction chamber 13151 in the holding segment D is a closed lumen. In this way, the arc-shaped inner wall establishes a displacement guide for the pulling part 1313, while the open lumen in the guide segment C and the closed lumen in the holding segment D jointly establish a predetermined trajectory for guiding the driving wire 121.

[0063] Of course, in other specific implementations, the first terminal 1312a, the meshing bevel gear group 1311a, and the screw rod 1313a realize the pushing or retracting of the driving wire 121. Please refer to Fig. 12, which is a schematic diagram of another implementation transmission unit provided by an embodiment of the present application. The same reference numerals are used for the same functional components or structures to clearly show the differences and relationships with the implementation solution described in Fig. 6.

[0064] 12, when the first drive shaft 1311 is driven, the active gear of the bevel gear group 1311a can rotate the passive gear, and the screw rod 1313a and the passive gear rotate coaxially. At the same time, one end of the first terminal 1312a clamps and fixes the proximal end of the drive wire 121, and the other end is provided with a nut (not shown) that engages with the screw rod 1313a. Here, the nut is fixed to the first terminal 1312a and moves along the axial direction as the screw rod 1313a rotates, and the first terminal 1312a drives the drive wire 121 to achieve pushing or pulling back. Here, the implementation solution shown in FIG. 12 may also be configured with a restriction chamber to create a predetermined trajectory.

[0065] 3 and 6, in this embodiment, the rotary transmission unit 132 includes a rotary shaft 1321, a second terminal 1322, a bevel gear set 1323, and a second driving shaft 1324.

[0066] The active wheel of the bevel gear group 1323 is connected to the second driving shaft 1324, and the second driving shaft 1324 is inserted into the transmission base plate 133 and rotates under the driving force of the tool driving device 20, causing the bevel gear group 1323 to rotate the rotating shaft 1321 around its rotation center.

[0067] The second terminal 1322 is mounted on the rotary shaft 1321, and the driving wire 121 is fixed by the second terminal 1322 and rotates when the rotary shaft 1321 rotates. The second terminal 1322 rotates when the rotary shaft 1321 is driven, and is arranged to be able to slide relative to the rotary shaft 1321 in the pulling direction of the driving wire 121. The sliding stroke of the second terminal 1322 must also meet the pulling stroke requirements of the first terminal 1312.

[0068] Referring to Figures 13 and 14 together, Figure 13 is a schematic diagram of the mounting relationship of the rotary transmission unit described in an embodiment of the present application, which is a diagram formed after cutting radially from the position where the second terminal 1322 is located, and Figure 14 is an enlarged schematic diagram of part II of Figure 6.

[0069] The second terminal 1322 is fitted to the rotary shaft 1321. Specifically, a mounting hole 13211 is drilled in the middle of the rotary shaft 1321, and the driving wire 121 extends through the mounting hole 13211 to the restriction chamber of the first restriction component. In this embodiment, the second terminal 1322, which is fixedly connected to the driving wire 121, is inserted into the mounting hole 13211, and the two have matching rectangular cross sections. In this way, when the rotary shaft 1321 rotates, the second terminal 1322 rotates synchronously to twist the driving wire 121. The second terminal 1322 has a sliding degree of freedom relative to the rotary shaft 1321, that is, the second terminal 1322 can move axially relative to the rotary shaft 1321. When the driving wire is pulled by the driving transmission unit 131, it can rotate relative to the mounting hole 13211 without interfering with the rotary shaft.

[0070] In other specific implementations, other structures may be adopted for the cross-sectional shape of the second terminal 1322 and the mounting hole 13211, such as, but not limited to, other polygonal shapes or shapes with circumferential position limiting planes. As long as the functional requirement of the second terminal sliding within the mounting hole and rotating synchronously with the rotation axis is met, any of these fall within the scope of protection claimed by this application.

[0071] A second restricting part 1325 is fixed to the transmission board 133, and as shown in FIGS. 6 and 7, one end of the second restricting part 1325 faces the end of the holding segment D of the first restricting part 1315 along the axial direction of the rotating shaft 1321. The second restricting part 1325 and the first restricting part 1315 respectively provide axial end support, thereby establishing a reliable pivotal engagement relationship between the ends of the rotating shaft 1321 and meeting the functional needs of relative rotation.

[0072] Here, a third through-hole 13251 is opened in the second restricting part 1325, and a corresponding passage hole 1122 is opened in the instrument storage device 112 of the instrument transport means 11, and the passage hole 1122 is opened obliquely, so that the flexible body of the actuator means 12 extends and moves to the spiral accommodating groove 1121 on its outer surface. In order to securely fix the tubular end of the sheath 123, the hole diameter of the third through-hole 13251 is matched to the size of the flexible body sheath 123 of the actuator means 12.

[0073] 2 and 4, an electric connection port 141 and a water connection port 142 that communicate with the interior are provided at the tip of the housing 111, and a guide tube 15 extending in the axial direction is fixedly disposed on the housing 111. The electric connection port 141 introduces the electric power and signal source into the interior of the instrument, and the water connection port 142 introduces the external water source into the interior of the instrument, which then enters the actuator means 12 through the guide tube 15 in the middle of the housing 111 and is further connected to the distal end actuator.

[0074] For the introduction of the power supply and the signal source, please refer to FIG. 7 and FIG. 15 together. FIG. 15 is a schematic diagram of the introduction paths of the power supply and the signal source.

[0075] The first constraint part 1315 has a first internal passage 13152 which communicates with the mounting hole 13211 of the rotating shaft. A cable introduced from the electrical connection port 141 moves downward through the guide tube, enters the mounting hole 13211 of the rotating shaft through the first internal passage 13152 of the first constraint part 1315, and is connected to the actuator at the distal end by the sheath 123 of the actuator means 12. For example, power supply to the distal end actuator and signal interaction and transmission to and from the distal end actuator may be realized, but this is not limited to these.

[0076] The second restriction part 1325 is further provided with a second internal passage 13252, which communicates with the third through-hole 13251. Similarly, the water channel connecting tube introduced from the water connection port 142 moves downward through the guide tube, enters the third through-hole 13251 via the second internal passage 13252 of the second restriction part 1325, and is connected to the actuator at the distal end by the sheath 123 of the actuator means 12. For example, injection of a cleaning solution may be realized, but is not limited to this.

[0077] In order to facilitate the quick assembly of the whole machine, in this embodiment solution, a detachable connection mechanism is provided between the flexible tool 10 and the tool driving device 20, specifically including the detachable connection between the tool storage device 112, the transmission means 13 (executive transmission unit 131, rotary transmission unit 132) and the tool driving device 20, which meets the functional needs of transmitting corresponding driving force while being quickly assembled and operated.

[0078] 16 and 17, FIG. 16 is a schematic diagram of the internal structure of the tool driving device 20 according to the embodiment of the present application, and FIG. 17 is a schematic diagram of the connection mechanism on the tool driving device side of FIG.

[0079] As shown in the drawings, a power output connection port part 24 is provided on the top part of the tool driving device 20, and the driving board 241 is a connection port connecting part that outputs the driving force of the first driving part 21 and transmits the power to the tool storage device 112, the first active transmission disk 242 is a connection port connecting part that outputs the driving force of the second driving part 22 and transmits the power to the first driving shaft 1311 to pull the driving wire, and the second active transmission disk 243 is a connection port connecting part that outputs the driving force of the third driving part 23 and transmits the power to the second driving shaft 1324 to twist the driving wire.

[0080] 8, 9 and 18, FIG. 18 is a schematic diagram of the assembly relationship between the driving board and the tool storage device 112.

[0081] The driving board 241 and the transmission board 133 are arranged opposite to each other, the driving board 241 is provided with a buckle 244, the transmission board 133 is provided with a corresponding locking groove 1331, after assembly, the buckle 244 is placed in the locking groove 1331 to form a circumferential rotation position limiting pair. When the driving board 241 is rotated by the driving of the first driving part 21, it synchronously rotates the transmission board 133 based on the circumferential rotation position limiting pair, and further rotates the tool storage device 112 fixed to the transmission board 133 to transport the actuator means 12.

[0082] In this embodiment, two sets of engaging buckles 244 and locking grooves 1331 are arranged symmetrically to receive a uniform force, but in other specific implementations, they may be arranged in multiple sets spaced apart in the circumferential direction.

[0083] Furthermore, the buckle 244 moves along the radial direction relative to the drive board 241, i.e., the buckle 244 can further slide into the locking groove 1331, and the buckle 244 has a hook portion 2441 formed to protrude from the main body, and correspondingly, a locking hole 1123 that engages with the hook portion 2441 is provided on the side wall of the tool storage device 112. In this way, when the buckle 244 is in the protruding operation position, the hook portion 2441 is inserted into the locking hole 1123, preventing the tool storage device 112 from being released.

[0084] Thus, when the tool storage device 112 is driven to rotate, the axial extension or retraction is synchronously driven by the engaging buckle 244 and the locking groove 1331. In other specific implementations, other structural forms may be used to achieve the functional need for synchronous axial movement.

[0085] To improve operability, a button 245 is provided on the outside of the buckle 244, and a reset spring 246 is provided on the inside of the buckle 244, which is pre-compressed between the buckle 244 and the driving board 241, thereby securely holding the buckle 244 in the extended working position. Please also refer to Figure 19, which is a local cross-sectional view taken along the line BB in Figure 17.

[0086] When removing, the operator applies force to the button 245, the buckle 244 slides inward along the locking groove 1331, the reset spring 246 is further deformed, and the hook portion 2441 escapes from the locking opening 1123, and then the flexible instrument 10 is removed.

[0087] The top of the protruding end of the hook portion 2441 is provided with a guide surface 2442, which extends downward. During actual assembly, the lower edge of the tool storage device 112 presses against the guide surface 2442 of the hook portion 2441 in the axial direction, generating a radially inward component of force acting on the buckle 244. The buckle 244 slides inward due to this acting force. At the same time, the reset spring 246 is pressed and further deformed, moving axially along with the tool storage device 112. When the upper latch 1123 is centered on the hook portion 2441, the reset spring 246 releases elastic deformation energy and presses the hook portion 2441 into the latch 1123, quickly completing the assembly operation between the two.

[0088] Here, in other specific implementations, the reset spring may be realized in other structural forms, such as, but not limited to, a reset part manufactured based on the properties of a rubber material, or a reset part adopting a leaf spring structure.

[0089] Furthermore, in order to avoid possible effects caused by exposure of the locking structure, in this embodiment, a sleeve 247 is provided on the outer periphery of the driving board 241, and the sleeve 247 includes a shielding segment 2471 extending upward in the axial direction. The driving board 241 and the buckle 244 thereon are housed in a cavity formed to be surrounded by the shielding segment 2471, and the shielding segment 2471 is provided with two drilled holes 2472 disposed radially opposite the two buttons 245, respectively, so that the push rods of the buttons 245 are fixedly connected to the body of the buckle 244 through the drilled holes 2472. In order to effectively shield the locking structure, the operability of the buttons is also taken into consideration.

[0090] Here, the drive board 241 is drivingly connected to the first drive component 21 by a sleeve 247 and a connecting sleeve 248. Of course, in other implementations, the drive board 241 may be drivingly connected to the first drive component 21 directly, or may be drivingly connected to the first drive component 21 by the sleeve 247.

[0091] An electronic recognition unit for recognizing the type of instrument currently connected to the system may be disposed between the flexible instrument 10 and the instrument driving device 20. As shown in Fig. 17, the electronic recognition unit includes a signal generator 161 disposed on the flexible instrument side and a signal receiver 162 disposed on the instrument driving device side, specifically, the signal generator 161 is disposed on the outer circumferential surface of the instrument storage device 112, and the signal receiver 162 is correspondingly disposed on the inner wall (not shown) of the sleeve 247, and performs recognition by radio frequency signals.

[0092] In addition, in order to monitor the attachment status in real time, an attachment detection unit 17 is disposed on the side of the tool driving device. As shown in Figures 16 and 17, a micro-motion switch is used for the attachment detection unit 17 and is disposed on the ceiling surface of the buckle 244. When the flexible tool is attached to the driving device, pressing the micro-motion switch generates a signal, thereby detecting the attachment status.

[0093] Here, other device forms may be adopted for the electronic recognition unit and the attached detection unit, and specifically, the device types and placement positions are not limited to those shown in the drawings, but may be selected according to the design requirements of the actual product.

[0094] 9, 17, 18, 20 and 21 together, FIG. 20 is a schematic diagram of the assembly relationship between the first active transmission disc 242 and the second active transmission disc 243, and FIG. 21 is a schematic diagram of the assembly relationship between the transmission board and the transmission means.

[0095] In this embodiment, two sets of active and passive transmission discs are arranged for transmission connection, and a first passive transmission disc 134 and a second passive transmission disc 135 are provided at the bottom of the transmission base 133. The first passive transmission disc 134 is fixedly connected to the end of the first driving shaft 1311 and engaged with the first active transmission disc 242, and the second passive transmission disc 135 is fixedly connected to the end of the second driving shaft 1324 and engaged with the second active transmission disc 243.

[0096] Correspondingly, the driving board 241 is provided with a first through-hole 2411 and a second through-hole 2412, so that the first active transmission disc 242 and the second active transmission disc 243 are respectively engaged with the corresponding passive transmission discs through the two through-holes. In addition, the second driving element 22 is fixedly disposed on the first flange 251, and its output shaft is connected to the first active transmission disc 242 through the first flange 251, and the third driving element 23 is fixedly disposed on the second flange 252, and its output shaft is connected to the second active transmission disc 243 through the second flange 252. As a whole, they are arranged sequentially along the axial direction, which can reduce the radial space occupied.

[0097] In order to adapt to the axial butting strokes of different butting sides, the detachable connection mechanism of this embodiment solution further has axial adaptability. The first flange 251 and the second flange 252 are fixed to corresponding slide holders 253, respectively, and the two slide holders 253 are displaced axially relative to the fixedly arranged slide rails 254. Here, for simplicity of illustration, Fig. 20 only shows the slide holder 253 and the slide rail 254 engaged with the first flange 251. That is, the slide holder 253 has a degree of freedom to be displaced axially relative to the slide rail 254, thereby appropriately adjusting the relative axial position.

[0098] Correspondingly, an elastic reset element 255 is disposed at the bottom of each slide holder 253 to provide a reset force to the slide holder 253 and establish a secure connection between the corresponding active transmission disc and the passive transmission disc. Here, the slide rail 254 is a relatively fixed structural element, and specifically, a corresponding fixed connection manner is set according to the internal space, for example, as shown in the drawing, it may be fixedly disposed on the connection sleeve 248, but is not limited thereto.

[0099] 9, the first passive transmission disc 134 has a first recess 1341, and the second passive transmission disc 135 has a second recess 1351. As shown in FIGS. 17 and 18, the first active transmission disc 242 has a first protrusion 2421, and the second active transmission disc 243 has a second protrusion 2431, which are respectively engaged with the recesses on the corresponding passive transmission discs to establish and form a circumferential position limiting pair. In this way, when the second driving element 22 and the third driving element 23 are activated, they cooperate with the active transmission disc and the passive transmission disc to transmit power to the drive shaft of the transmission means, thereby realizing the traction and twisting operation of the actuator means.

[0100] In this embodiment, the outer diameters of the mating active and passive transmission discs are approximately the same, the recesses are formed radially inward from the outer periphery of the passive transmission disc, and the protrusions are formed axially extending from the top surface of the active transmission disc. After assembly, the protrusions on the active transmission disc are fitted into the recesses on the passive transmission disc. This has the advantages of a compact structure and high connection reliability. In other specific implementations, the number of mating protrusions and recesses on each transmission path is not limited to two pairs as shown in the drawings, and can be determined according to the overall design requirements of the product.

[0101] In addition, the rotation and axial displacement of the tool storage device 112 of this embodiment solution are realized by two power transmission paths, with the driving force provided by the first driving element 21. Please refer to Figures 16, 22 and 23 together, Figure 22 is a schematic diagram of the transmission relationship of the first driving element, and Figure 23 is an axial cross-sectional view of Figure 16, specifically, the cutting position passes through the center line of the first driving element and the output shaft.

[0102] The output shaft of the first driving component 21 is coaxially fixed to a screw rod 261, which serves as the basic power transmission member for the two power transmission paths. As shown in the drawing, an active pulley 263 and a nut 262 are arranged on the screw rod 261 at an interval.

[0103] The driven pulley 263 is fixed to the screw rod 261 and transmits rotational driving force to the driven pulley 264 via a belt, and the driven pulley 264 is disposed on the output shaft 265. Specifically, the driven pulley 264 is fixed to a first shaft sleeve 266, which is pivotally mounted to a fixed structure by a bearing 269. The outer surface of the output shaft 265 has a key 2651 disposed in the axial direction, and the inner surface of the first shaft sleeve 266 has a key groove 2661 that engages with the key. Based on the pulley transmission mechanism, the output shaft 265 rotates synchronously when the first shaft sleeve 266 is driven, and the output shaft 265 and the first shaft sleeve 266 can move relative to each other in the axial direction.

[0104] The nut 262 and the screw rod 261 are threadedly engaged and connected to the output shaft 265 by a connecting part 267. The nut 262 is fixedly disposed on one end of the connecting part 267, and the output shaft 265 is pivotally mounted on the other end of the connecting part 267, with an axial position limit therebetween. Specifically, a thrust bearing 2681 is provided at the axial end of the output shaft 265, and a bearing fixing base 268 is fixedly disposed on the connecting part 267, with the axial positions of the bearing fixing base 268 and the thrust bearing 2681 being limited. Based on the engagement between the screw rod and the nut, the output shaft 265 is driven to reciprocate in the axial direction.

[0105] In this way, the driving force output from the output shaft of the first driving component 21 synchronously rotates and moves the output shaft 265 in the axial direction through two transmission paths, and rotates and moves the driving base 241 in the axial direction through the connecting sleeve 248 fixed to the output shaft 265. In this compound motion, the rotational motion is the main motion for transporting the flexible instrument, and the axial motion is an auxiliary motion to ensure that the flexible body of the actuator means 12 and the passage opening 1122 of the instrument storage device 112 are kept aligned.

[0106] Here, the fixing structure pivotally engaged with the first shaft sleeve 266 and the associated structure for holding the housing 111 relatively fixed may be realized in different ways. In this embodiment solution, the fixing structure is arranged integrally in the enclosure 27 of the instrument driver 20, and the side wall 271 of the enclosure 27 extends upward to the side of the housing 111 of the flexible instrument 10.

[0107] 1 and 16 for the fixing of the housing 111 of the flexible instrument 10. An insertion hole 1112 is provided on the outer periphery of the housing 111, and the housing 111 is fitted into the side wall 271 through the insertion hole 1112. The housing 111 is fixed to the side wall 271 using screw fasteners based on different assembly dimensions.

[0108] As shown in Figures 16 and 23, the fixed disc 272 pivotally engages with the first shaft sleeve 266, and is fixed to the side wall 271 to form a fixed second shaft sleeve 273 for mounting the bearing 269. Of course, in other specific implementations, the second shaft sleeve 273 and the fixed disc 272 may be integrally formed.

[0109] Furthermore, in order to improve the stability of axial movement, a guide sleeve 274 is provided on the outer periphery of the connecting sleeve 248, and the guide sleeve 274 is fixed to the side wall 271, forming an axial movement engagement pair between the connecting sleeve 248 and the guide sleeve 274, which provides guiding support within the stroke range of the axial movement of the connecting sleeve 248, and ensures that the related structure has good operating performance.

[0110] To further improve the accuracy of the drive control, sensors may be additionally provided. For example, a force sensor 281 may be provided on the drive wire 121 between the first constraining part 1315 and the second constraining part 1325, but this is not limiting; see also FIG. 24. Also, a position sensor 282 may be provided on the second drive part 22; see also FIG. 21. During the operation, the traction force and the drive output rotation amount are fed back to the controller, thereby enabling accurate adjustment and control.

[0111] In addition to the above-mentioned assembly relationship between the flexible instrument and the instrument driver, in other application scenarios, the flexible instrument and the instrument driver provided in this embodiment may also be used in combination. Please refer to FIG. 25, which is a schematic diagram of another combined use state of the flexible instrument described in the embodiment of the present application.

[0112] In the two flexible instruments shown in the drawings, the first flexible instrument 10a is assembled to an instrument drive device to establish a power transmission relationship, and the second flexible instrument 10b provides an actuator for treating the lesion. The first actuator means 12a of the first flexible instrument 10a is connected to the abutment means 14 of the second flexible instrument 10b, and is connected to the second actuator means 12b by the internal passage of the second flexible instrument 10b, and the two cooperate together to achieve the purpose of coaxial transport of the flexible instruments.

[0113] In addition to the flexible surgical instruments, this embodiment also provides a surgical robot system. Please refer to FIG. 26, which is a schematic diagram of the overall structure of a bedside technician robot capable of performing the surgical treatment described in the embodiments of the present application.

[0114] The surgical robot system includes a man-machine interaction system 200, a body 300, and an electrical system 400, and the body 300 is provided with the flexible surgical instrument 100 described above. The man-machine interaction system 200 includes a touch panel device 210, a mechanical handle 220, a wireless handle 230, mechanical buttons 240, and a multi-degree-of-freedom display device 250. Please refer to Figures 27, 28, and 29 together. Figure 27 is a structural schematic diagram of the touch panel device described in the embodiment of the present application, Figure 28 is a structural schematic diagram of the mechanical handle described in the embodiment of the present application, and Figure 29 is a structural schematic diagram of the wireless handle described in the embodiment of the present application.

[0115] 27 , the touch panel device 210 is divided into a receiving body 2101, a display component 2102, a touch control component 2103, and a stand 2104. The receiving body 2101 is mounted on the body 300 by the stand 2104 and can rotate relative to the stand 2104. The display component 2102 and the touch control component 2103 are mounted on the inclined ceiling surface of the receiving body 2101. The specific inclination angle can be adjusted by an internal angle adjustment device, for example, but not limited to, within a range of 10° to 60°. The angle adjustment is adjusted in accordance with the elevation of the entire body to suit the operator's touch control operation angle. The display component 2102 displays the current robot status and interaction information with the system. The touch control component 2103 inputs operation commands to adjust the robot status. The touch control buttons distributed horizontally control operations such as locking the casters, elevating the robot, adjusting the angle of the touch device, rotating the touch device, and rotating the upper housing.

[0116] 28, the mechanical handle 220 includes a handle rocker lever 2201 and a handle button 2202. The handle rocker lever 2201 controls the delivery of the instrument, i.e., controls the first drive element 21 of the flexible surgical instrument 100, and the handle button 2202 controls the function of the instrument, i.e., controls the second drive element 22 and the third drive element 23 of the flexible surgical instrument 100.

[0117] 29, the wireless handle 230 includes an operating handle 2301 and a charging stand 2302. The operating handle 2301 is wirelessly connected to a control system to realize the operation and control of the tool. Here, the wireless handle 230 can be redundant to the mechanical handle 220 and can be installed according to the specific design needs of the product. In this embodiment, the charging stand 2302 can be a wireless charging stand, which is arranged on the operating plane of the upper body housing by magnetic attraction, thereby allowing its charging position to move within a certain range, thereby avoiding interference with the operator's arm in some operating postures of the robot.

[0118] There are two mechanical buttons 240, which act as functionally redundant operation ports to respectively control two functions of the instrument, that is, to pull or twist the driving wire 121 of the actuator means 12, and realize the operation functions of rotating or opening or closing the actuator.

[0119] The display device 250 is connected to the body 300 by a multi-joint arm holder 2501, and the display angle of the display can be adjusted to any combination of distance and angle within the holder-defined space.

[0120] In this embodiment, the body 300 includes a housing device 310, a lifting device 320, and a caster movement device 330. Please refer to Figures 26, 30, 31, 32, and 33 together, Figure 30 is an exploded view of the body according to the embodiment of the present application, Figure 31 is a structural schematic view of the lifting device according to the embodiment of the present application, Figure 32 is a schematic view of the assembly relationship between the electrical system, the lifting device, and the lower housing according to the embodiment of the present application, and Figure 33 is a schematic view of the installation relationship between the caster movement device according to the embodiment of the present application.

[0121] As a basic structure, the housing device 310 is provided with a lifting device 320 and a caster movement device 330, and an electrical system 400 is also provided therein, thereby forming an integrated skeleton system.

[0122] 30, the housing device 310 includes three parts: an upper housing 3101, a middle housing 3102, and a lower housing 3103. The upper housing 3101 is inserted into the middle housing 3102, and the two are fitted together. The upper housing 3101 is placed on the lifting disc of the lifting device 320, so that it can move up and down. The upper housing also rotates around its central axis.

[0123] Here, the top of the upper housing 3101 is an operating surface for accommodating the man-machine interaction system 200, and a wiring through-hole is arranged at the bottom of the upper housing, thereby realizing electrical and signal connections between the man-machine interaction system 200 and the electrical system 400. In this embodiment, the lower part of the middle housing 3102 has a tooth portion 3105 extending along the axial direction, and the upper part of the lower housing 3103 has a groove portion 3106 extending along the axial direction. The middle and lower housings are engaged by the tooth and groove, which facilitates assembly and inspection / maintenance. When the upper housing rotates around the central axis, the middle and lower housings are relatively fixed based on the circumferential position limiting pair formed by the engaged tooth portion and groove portion. In other specific implementations, the circumferential position limiting pair between the middle housing 3102 and the lower housing 3103 may be constructed in other structural forms. Of course, the middle housing 3102 and the lower housing 3103 may be of an integral structure.

[0124] 31, the lifting device 320 includes a lifting drive part 3201, a lifting screw rod 3202, a lifting disk 3203, a motor fixing disk 3204, and a load-bearing chassis 3205. Each lifting screw rod 3202 is disposed between the lifting disk 3203 and the motor fixing disk 3204, and there is a predetermined pitch between the motor fixing disk 3204 and the load-bearing chassis 3205, thereby forming an installation space for the lifting drive part 3201.

[0125] Correspondingly, the lifting drive part 3201 is disposed below the motor fixed disk 3204 and drives the screw rod inside the lifting screw rod 3202 to move the lifting disk 3203 at its top up and down, thereby correspondingly moving the flexible surgical instrument 100 and the touch panel device 210 mounted thereon by the upper housing 3101. Here, one lifting drive part 3201 is disposed for each lifting screw rod 3202. In other specific applications, one lifting drive part 3201 synchronously drives the screw rods (not shown) inside the lifting screw rods 3202. Here, the power transmission relationship between the lifting drive part (drive motor) and the screw rods may be realized using conventional technology, and therefore will not be described in detail in this specification.

[0126] In use, the operator outputs a command using the button on the touch control part 2103 of the touch panel device 210 to control the lifting drive part 3201 to rotate and drive the screw rod inside the lifting screw rod 3202, thereby causing the supported lifting disk 3203 to perform lifting operations. For example, to ensure that the robot is maintained in a reliable use state during surgery, a position limiting mechanism (not shown) may be provided when the lifting device reaches a lifting distance threshold, but is not limited thereto.

[0127] 32, the electrical system 400 in this embodiment is fixed in a lower housing 3103, which has heat dissipation holes 3104, and functions as an electrical cabinet for an industrial computer. Specifically, the lower part of the lower housing 3103 is disk-shaped, and the load-bearing chassis 3205 of the lifting device 320 is fitted and fixed to its side wall, and the caster movement device 330 is fixed to the load-bearing chassis 3205.

[0128] 33, the caster movement device 330 includes casters 3301 and caster lock devices 3302. The bottom plate of the lower housing 3103 has openings 3107 formed therein corresponding to the casters 3301, and some of the wheels of the casters 3301 are built into the lower housing 3103, for example, most of the casters are shielded by the bottom plate of the lower housing 3103. In this way, the dimensions of the openings 3107 at the bottom of the lower housing are slightly smaller than the wheel diameter of the casters 3301, providing dust and sound insulation. This arrangement effectively blocks out noise from inside the robot and from the movement of the casters, while preventing dust from entering the robot.

[0129] In use, the operator outputs a command via the touch control element 2103 of the touch panel device 210 to control the caster locking device 3302 to lock the caster 3301, and the caster 3301 is equipped with a self-locking electrical feedback port that outputs a caster status signal to the control device 410 of the electrical system 400. When the caster status signal indicates that the caster 3301 is in an unlocked state, the control device 410 restricts output of an activation command to the tool driver 20. In this way, when the caster 3301 is locked and not self-locking, the tool driver cannot be activated; that is, the tool driver can only be activated when the caster 3301 is locked.

[0130] 32, the electrical system 400 includes a control device 410, a fixing device 420, and a heat dissipation fan 430. The fixing device 420 fixes the control device 410, i.e., the electronic control system device of the industrial computer, and as shown in the drawing, the fixing device 420 includes a plurality of fixing claws 4201 and a rotating claw 4202 on one side, and the rotating claw 4202 is connected to the fixing claw 4201 by a damping rotating shaft 4203 so as to be rotatable.

[0131] The lower end of the fixed claw 4201 is fixed to the load-bearing chassis 3205 in the body 300, and based on the rotating pair formed from the damping rotation shaft 322, the rotating claw 4202 rotates around the damping rotation shaft 322, and when the rotating claw is fixed, the electrical system 400 is completely fixed. When the upward rotation angle of the rotating claw 4202 is 90° or more, one degree of freedom of the industrial computer on the side where the rotating claw is located is released, so that the electrical system 400 can be attached and detached.

[0132] The heat dissipation fan 430 is positioned above the control device 410, and in addition to the heat dissipation holes 3104 opened in the lower housing 3103, the airflow created when the heat dissipation fan 430 is activated circulates the hot air above the control device 410 through the surrounding heat dissipation holes 3104, thereby dissipating heat to the outside.

[0133] Based on the flexible surgical instrument 100 provided in this embodiment, the surgical robot system realizes the combination of multiple devices, and further realizes the functions of coaxial transport of the flexible instrument and the operations of actuator rotation, opening and closing, etc. During actual operation, the man-machine interaction system of the surgical robot system realizes the integration of functions and simplification of operation, so that the entire operation can be completed by one person without the assistance of other medical or caregivers.

[0134] In actual use, the tilt of the touch panel and the overall lifting and lowering function can be controlled in coordination to accommodate different operators' usage habits within the adjustable height range of the robot, achieving comfortable and stable operation. Furthermore, the control system stores the adjustment parameters based on the ID used, thereby saving the operator time for adjustment each time.

[0135] 34 and 35, where Fig. 34 is a schematic diagram of the surgical robot system according to an embodiment of the present application after it has been raised, and Fig. 35 is a scenario diagram of a doctor using the robot while standing. Fig. 36 and 37, where Fig. 36 is a schematic diagram of the surgical robot system according to an embodiment of the present application after it has been lowered, and Fig. 37 is a scenario diagram of a doctor using the robot while sitting. The surgical robot system provided by this embodiment allows a single person to complete the entire procedure without the need for assistance from other medical or caregivers, thereby resolving the current practical problems of the difficulty of single-person operation and the high communication costs involved in collaborative operation during the diagnosis and treatment of interventional surgery that passes through natural lumens.

[0136] Here, other functional components of the surgical robot system, such as the electrical system and the heat dissipation fan, may be realized using conventional technology, and therefore will not be described in detail in this specification.

[0137] The ordinal numbers "first" and "second" used in this specification are merely used to describe the configuration or structure of the same function of the technical solution, and the use of the ordinal numbers "first" and "second" does not constitute any understanding limitation on the technical solution claimed for protection by this application.

[0138] The above is only a preferred embodiment of the present invention, and those skilled in the art may make some improvements and modifications thereto without departing from the principles of the present invention, and these improvements and modifications also belong to the protection scope of the present invention. [Explanation of symbols]

[0139] 10...flexible instruments; 10a...first flexible instrument; 10b...Second flexible instrument; 11 ···Instrument transport means; 111 ···Housing; 1111...equipment outlet; 1112 ···insertion slot; 112 ···Instrument storage device; 1121 ···Spiral receiving groove; 1122 ··· Passing port; 1123 ···Latching port; 113 ···Protective tube; 12 ···Actuator means; 12a ···first actuator means; 12b... second actuator means; 21 ···Drive wire; 1211 ···Position restriction block; 122 ···Actuator; 123 ···Sheath; 13 ···Transmission means; 131 ···Executive transmission unit; 1311 ···First drive shaft; 1312...1st terminal; 13121 ···Fourth through hole; 1313 ···Tensile parts; 13131 ···Mounting groove; 1315 ···First constraint part; 13151 ···Restriction room; 13152 · 1st internal passage; 1311a ···Bevel gear group; 1312a...1st terminal; 1313a ···Screw rod; 132 ···Rotary transmission unit; 1321 ···axis of rotation; 13211 ···Mounting hole; 1322...2nd terminal; 1323 ···Bevel gear group; 1324 ···Second drive shaft; 1325 ···Second constraint part; 13251 ···Third through hole; 13252 ···Second internal passage; 133 ···Transmission board; 1331 ···Latching groove; 134 ···First passive transmission disc; 1341 ···First recess; 135 ···Second passive transmission disc; 1351 ···Second recess; 14 ···Means of matching; 141 ···Electrical connection port; 142 ···Water connection port; 15 ···Guide tube; 161 ···Signal generator; 162 ···Signal receiver; 17 ···Installation detection unit; 20 ···Implement drive; 21 ···First driving part; 22 ···Second driving part; 23 ···Third driving part; 24 ···Connection port parts; 241 ···Drive board; 2411 ···First through hole; 2412 ···Second through hole; 242 ···First active transmission disc; 2421 ···First convex part; 243 ···Second active transmission disc; 2431 ···Second convex part; 244 ···Buckle; 2441 ···Hook part; 2442 ···Guide surface; 245 ···button; 246 ···Reset spring; 247 ···Sleeve; 2471 ···Occluded segment; 2472 ...Drilling hole; 248 ···Connecting sleeve; 251 ···First flange; 252 ···Second flange; 253 ···Slide holder; 254 ···Slide rail; 255 ···Reset parts; 261 ···Screw rod; 262 ···Nut; 263 ···Active pulley; 264 ···Driven pulley; 265 ···Output shaft; 2651 ···key; 266 ···First shaft sleeve; 2661 ···Keyway; 267 ···Connecting parts; 268 ···Bearing fixing base; 2681 ···Thrust bearing; 269 ​​···Bearings; 27 ···Enclosure; 271...side wall; 272 ···Fixed disk; 273 ···Second shaft sleeve; 274 ···Guide sleeve; 281 ···Force sensor; 282 ···Position sensor; 100...Flexible surgical instruments; 200 ···Man-machine interaction system; 210 ···Touch panel device; 2101 ···Receiver body; 2102 ···Display parts; 2103 ···Touch control parts; 2104 ···Stand; 220 ···Mechanical handle; 2201 ···Handle rocker lever; 2202 ···Handle button; 230 ···Wireless handle; 2301 ···Operating handle; 2302 ···Charging station; 240 ···Mechanical buttons; 250 ···Display device; 2501 ···Multi-section arm holder; 300 ···torso; 310 ···Housing device; 3101 ···Upper housing; 3102 ···Intermediate housing; 3103 ···Lower housing; 3104...Radiation hole; 3105 ···Tooth part; 3106 ···Groove section; 3107...Aperture; 320 ···Lifting device; 3201 ···Lifting drive parts; 3202 ···Lifting screw rod; 3203 ···Lifting disc; 3204 ···Motor fixed disk; 3205 ···Load-bearing chassis; 330 ···Caster moving device; 3301 ···Caster; 3302 ···Caster locking device; 400 ···Electrical system; 410 ···Control device; 420...Fixing device; 4201 ···Fixed claw; 4202 ···Pivoting claw; 4203 ···Damping rotation axis; 430 ···Heat dissipation fan.

Claims

1. A flexible surgical instrument, comprising: a flexible instrument; and an instrument driver that outputs a driving force to the flexible instrument, the flexible instrument comprising an instrument transport means, an actuator means, and a transmission means; the instrument transport means includes a housing and an instrument storage device, the housing having an internal storage space and a side wall having an instrument outlet, the outer peripheral surface of the instrument storage device being provided with a spiral storage groove for winding and storing the flexible body of the actuator means, at least a part of the instrument storage device being built into the housing and being rotatable and axially movable relative to the housing, the actuator means including an actuator and a flexible body, the flexible body including a drive wire and a sheath fitted inside and outside the flexible body, the actuator being provided at the distal end of the drive wire, the transmission means includes a transmission board that is drivingly connected to the tool drive device, the transmission board being coupled to a tool storage device of the tool transport means to rotate and axially move the tool storage device relative to the housing; The flexible surgical instrument, characterized in that the transmission means further includes an effective transmission unit and a rotational transmission unit provided on the transmission base, the effective transmission unit being arranged to push or pull back the drive wire when driven by the instrument drive device, and the rotational transmission unit being arranged to twist the drive wire when driven by the instrument drive device.

2. 2. The flexible surgical instrument according to claim 1, further comprising a connecting means for connecting an external device, the connecting means including an electrical connection port, a water connection port, and a guide tube, the electrical connection port and the water connection port being provided on a housing top portion of the instrument transport means, and the guide tube being fixedly disposed within the housing, and allowing a cable and a water connection tube to be introduced into the actuator means via the electrical connection port, the water connection port, and the guide tube, respectively.

3. 3. The flexible surgical instrument according to claim 1, wherein the instrument driving device includes a first driving part, an output shaft, and a driving base, the drive base being engaged with the transmission base of the transmission means, the first driving part including an output end capable of outputting a rotational driving force, the output shaft being connected to transmit power to the output end of the first driving part, the drive base being coupled to the output shaft, and two power transmission paths being included between the output end of the first driving part and the output shaft, which are respectively arranged to rotate and move the output shaft in an axial direction to drive the flexible instrument by the drive base to perform a conveying operation.

4. 4. The flexible surgical instrument according to claim 3, wherein the instrument driving device further comprises a second driving component, a third driving component, a first active transmission disc, and a second active transmission disc, wherein the first active transmission disc is connected to the output end of the second driving component for transmission, and the second active transmission disc is connected to the output end of the second driving component for transmission, and the driving board has a first through hole and a second through hole, the first through hole is arranged to correspond to the first active transmission disc, and the second through hole is arranged to correspond to the second active transmission disc, and the corresponding active transmission disc drives the executive transmission unit and the rotary transmission unit, respectively, through the through hole.

5. 5. The flexible surgical instrument according to claim 4, wherein the first active transmission disc and the second active transmission disc are fixed to two slide holders, respectively, each slide holder is axially displaceable relative to a corresponding fixedly arranged slide rail, and an elastic reset element is provided between each slide holder and a fixed structure, and the elastic reset element is arranged to generate deformation when the slide holder is displaced toward the instrument driving device, thereby providing a reset action force to the corresponding slide holder.

6. 4. The flexible surgical instrument according to claim 3, wherein the driving base plate is provided with a buckle, the transmission base plate is provided with a locking groove, the buckle is provided in the locking groove to form a circumferential rotation position limiting pair, and the rotational driving force is transmitted to the instrument side by the engaged buckle and locking groove.

7. 7. The flexible surgical instrument according to claim 6, wherein the buckle includes a hook portion extending outward from the main body, a locking opening for engaging with the hook portion is provided on the side wall of the instrument storage device, the buckle slides relative to the drive base and is switched between an extension work position and a retrieval work position, and when in the extension work position, the hook portion of the buckle is inserted into the locking opening, and when in the retrieval work position, the hook portion of the buckle escapes from the locking opening.

8. A surgical robot system comprising a torso and a flexible surgical instrument provided on the torso, wherein the flexible surgical instrument is a flexible surgical instrument according to any one of claims 1 to 7.

9. 9. The surgical robot system of claim 8, further comprising a man-machine interaction system and an electrical system, wherein the man-machine interaction system comprises a touch panel device, a mechanical handle, and a display device, the touch panel device and the mechanical handle are mounted on the top of the body, the tilt angle of a display component of the touch panel device is adjustable, and the display device is connected to the body by a multi-joint arm holder.

10. The surgical robot system of claim 9 , wherein the touch panel device further comprises a wireless handle and a mechanical button provided on the top of the body, and the wireless handle comprises an operating handle and a charging stand.

11. 11. The surgical robot system of claim 10, wherein the torso includes a housing device, an elevating device, and a caster movement device, the housing device including an upper housing at the top and a lower housing at the bottom, the elevating device is provided within the lower housing and includes a liftable elevating disk, and the upper housing is provided on the elevating disk of the elevating device.

12. 12. The surgical robot system of claim 11, wherein the lifting device includes a lifting drive part, a lifting screw rod, a motor fixing disk, and a load-bearing chassis, the lifting screw rod is arranged between the lifting disk and the motor fixing disk, the load-bearing chassis is fixedly arranged below the motor fixing disk, and the motor is arranged below the load-bearing chassis and is connected to the lifting screw rod so as to transmit power thereto.

13. 12. The surgical robot system of claim 11, wherein the housing device further includes an intermediate housing between the upper housing and the lower housing, the upper housing being inserted into the intermediate housing and fitted therebetween, the upper housing being rotatable about a central axis relative to the intermediate housing, a pair of circumferential position limiting members being provided between the lower portion of the intermediate housing and the upper portion of the lower housing, and a heat dissipation hole being provided in the lower housing.

14. 14. The surgical robot system according to claim 13, wherein a lower portion of the intermediate housing is provided with teeth extending along the axial direction, and an upper portion of the lower housing is provided with grooves extending along the axial direction, the teeth and the grooves engaging with each other to form the circumferential position limiting pair.

15. The surgical robot system of any one of claims 11 to 14, characterized in that the caster movement device includes a caster and a caster locking device, the caster locking device is provided on the caster, an opening is formed in the bottom plate of the lower housing so as to correspond to the caster, and a portion of the wheel of the caster is built into the lower housing.

16. 16. The surgical robot system of claim 15, wherein the caster has a self-locking electrical feedback connection port and outputs a caster status signal to a control device of the electrical system, and when the caster status signal indicates that the caster is in an unlocked state, the control device restricts output of an activation command to the instrument driver.

17. The surgical robot system according to any one of claims 11 to 14, characterized in that the control device of the electrical system is attached to the bottom plate of the lower housing by a fixing device, the fixing device includes a plurality of fixed claws and a rotating claw on one side, and the rotating claw is rotatably connected to the fixed claw by a rotation axis.

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