Continuum Surgical Instrument With Simplified Multi-Backbone Bending Drive

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Solution Overview

Problem

Existing continuum structures in surgical instruments face challenges with high precision, fast response, and flexibility due to complex drive mechanisms and limited kinematic performance, especially when multiple drive wires are used, hindering further miniaturization and improvement.

Innovation Solution

A continuum instrument design incorporating a proximal and distal continuum with structural backbones, a drive connection part, and a drive transmission mechanism that utilizes universal coupling joints, spherical hinge joints, or hinge joints to achieve bending through a drive connection part driven by a drive transmission mechanism, allowing for precise control of bending directions and angles.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple drive wires are used to achieve bending in any direction, then the continuum structure can achieve high flexibility, but the number of drive mechanisms increases accordingly making the structure complex

Engineering Contradiction:

Improvebending flexibilityVSAvoidstructure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines multiple drive functions into a single drive mechanism. The drive mechanism includes a drive shaft with multiple drive sections that can independently deflect to control multiple structural backbones simultaneously. This merging approach maintains the ability to achieve bending in any direction while significantly reducing the number of separate drive mechanisms needed.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The drive shaft is segmented into multiple drive sections, each capable of independent deflection. Each drive section controls specific structural backbones, allowing for localized control while maintaining overall system simplicity. This segmentation enables complex bending patterns without requiring multiple complete drive mechanisms.

Inventive Principle:

Principle #1Segmentation

2Device complexity

If a traditional rigid kinematic chain is used to achieve bending motion, then the structure is simple, but the kinematic performance is limited and miniaturization is hindered

Engineering Contradiction:

Improvestructure simplicityVSAvoidkinematic performance

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The patent replaces the traditional rigid kinematic chain with a flexible continuum structure. The structural backbones are flexible elements that can bend continuously, eliminating the need for discrete rigid links and joints. This flexible approach enables miniaturization while improving kinematic performance through continuous deformation capability.

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The continuum structure allows for dynamic bending through continuous deformation of the structural backbones. The drive mechanism dynamically controls the deflection of drive sections, enabling adaptive bending motion that outperforms static rigid joint systems while maintaining structural simplicity.

Inventive Principle:

Principle #15Dynamics

3Ease of manufacture

If existing drive structures are used to push and pull drive wires, then the implementation is straightforward, but the response speed and precision deteriorate under stricter requirements

Engineering Contradiction:

Improvedrive implementation easeVSAvoidbending precision

Core Design Contradiction:

Ease of manufactureVSManufacturing precision

Solution Approach 1:

The patent replaces the traditional wire-pulling mechanical system with a direct drive mechanism that acts on structural backbones. The drive sections of the drive shaft directly deflect to control the bending of structural backbones, eliminating the intermediate wire transmission stage. This substitution improves response speed and bending precision while maintaining ease of implementation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentEP4173588B1Continuum instrument and surgical robot

Publication Date: 2025.08.13 BEIJING SURGERII ROBOTICS CO LTD

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AI summary

The present disclosure relates to the field of medical instruments, and discloses a continuum instrument, comprising at least one proximal continuum, at least one distal continuum, a drive connection part and a drive transmission mechanism. The proximal continuum comprises a proximal base disk, a first proximal stop disk, a second proximal stop disk, a plurality of proximal structural backbones, and drive backbones, the drive backbones being separately fixedly connected to the second proximal stop disk and the proximal base disk. The distal continuum comprises a distal stop disk and a plurality of distal structural backbones, the distal structural backbones being connected to or integrally formed with the proximal structural backbones. An output end of the drive transmission mechanism is connected to an input end of the drive connection part, and is used for driving the input end such that the second proximal stop disk and the first proximal stop disk turn to drive the distal continuum to bend by means of the proximal and distal structural backbones. Thus, the structural backbones can be prevented from being directly pushed and pulled, such that a large number of structural backbones can be driven without being limited by the number of drive mechanisms. In addition, the continuum instrument has a compact structure, is simple in principle, is easy to implement, and has high reliability and flexibility.