CN106473810B - A kind of transurethral flexible operation tool - Google Patents
A kind of transurethral flexible operation tool Download PDFInfo
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 88
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 7
- 210000000080 chela (arthropods) Anatomy 0.000 claims 1
- 125000006850 spacer group Chemical group 0.000 abstract description 21
- 238000005452 bending Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 7
- 210000003708 urethra Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000001635 urinary tract Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/2841—Handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
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- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
本发明涉及一种经尿道的可弯曲手术工具，包括一柔性连续体机械臂和一驱动单元；柔性连续体机械臂包括第一节连续体和第二节连续体；第一节连续体包括四根等间隔平行设置的第一结构骨、多个等间隔分布的第一间隔盘和一个第一固定片，第一结构骨后端与驱动单元连接，第一结构骨前端依次穿过各第一间隔盘后与第一固定片固定连接；第二节连续体包括四根等间隔平行设置的第二结构骨、多个等间隔分布的第二间隔盘和一个第二固定片，其中，第二结构骨后端与驱动单元连接，第二结构骨前端依次穿过各第一间隔盘、第一固定片和各第二间隔盘后与第二固定片固定连接。
The invention relates to a flexible transurethral surgical tool, which comprises a flexible continuum mechanical arm and a driving unit; the flexible continuum mechanical arm comprises a first segment continuum and a second segment continuum; the first segment continuum comprises four The first structural bones arranged in parallel at equal intervals, a plurality of first spacer discs distributed at equal intervals, and a first fixed piece, the rear ends of the first structural bones are connected to the drive unit, and the front ends of the first structural bones pass through the first The back of the spacer disc is fixedly connected with the first fixation plate; the second segment continuum includes four second structural bones arranged in parallel at equal intervals, a plurality of second spacer discs distributed at equal intervals and a second fixation plate, wherein the second The rear end of the structural bone is connected to the driving unit, and the front end of the second structural bone passes through the first spacers, the first fixing pieces and the second spacers in sequence, and then is fixedly connected to the second fixing piece.
Description
技术领域technical field
本发明涉及一种经尿道的可弯曲手术工具，属于医疗器械领域。The invention relates to a flexible transurethral surgical tool, which belongs to the field of medical instruments.
背景技术Background technique
在现代医疗领域中，微创手术已经在减少病人的术后疼痛和并发症、缩短住院时间、改善术后的疤痕状况等方面取得了成功。在该领域内，目前已成功商业化的IntuitiveSurgical公司所开发的da Vinci多孔腹腔镜手术机器人能够满足多种微创手术的要求。但随着医疗技术的日趋成熟和患者越来越高的要求，出现了经人体自然腔道手术(naturalorifice trans-luminal endoscopic surgery,NOTES)，其特点是不需要任何切口，手术器械需要通过一个狭长复杂的人体腔道之后到达术部进行夹持缝合等手术动作。目前，包括诸如da Vinci在内的大部分现有手术机器人因其刚性结构、外观尺寸和自由度配置等的限制，均难以满足经人体自然腔道手术的技术要求，尤其对于经尿道施展的泌尿外科手术。由于尿道直径通常小于8mm，目前世界范围内尚无公司开发出可经尿道的手术机器人，因此，经尿道施展的泌尿手术作为经人体自然腔道手术的一个重要分支，具有极高的创新性和广泛的社会应用价值。In the modern medical field, minimally invasive surgery has achieved success in reducing patients' postoperative pain and complications, shortening hospital stay, and improving postoperative scar conditions. In this field, the da Vinci porous laparoscopic surgical robot developed by Intuitive Surgical, which has been successfully commercialized, can meet the requirements of various minimally invasive surgeries. However, with the maturity of medical technology and the higher and higher requirements of patients, there has been naturalorifice trans-luminal endoscopic surgery (NOTES), which is characterized by the fact that no incision is required, and surgical instruments need to pass through a long and narrow cavity. The complex human cavity then arrives at the surgery department for operations such as clamping and suturing. At present, most of the existing surgical robots, including da Vinci, are difficult to meet the technical requirements of surgery through the natural orifice of the human body due to the limitations of rigid structure, appearance size, and degree of freedom configuration, especially for urinary tract surgery performed through the urethra. Surgery. Since the diameter of the urethra is usually less than 8mm, no company in the world has developed a surgical robot that can be transurethral. Therefore, as an important branch of surgery through the natural orifice of the human body, the urological surgery performed through the urethra is extremely innovative and innovative. Wide range of social application value.
发明内容Contents of the invention
针对上述问题，本发明的目的是提供一种可经尿道实施手术的经尿道的可弯曲手术工具。In view of the above problems, the purpose of the present invention is to provide a transurethral flexible surgical tool that can perform surgery through the urethra.
为实现上述目的，本发明采用以下技术方案：一种经尿道的可弯曲手术工具，其特征在于：它包括一柔性连续体机械臂和一驱动单元；所述柔性连续体机械臂包括第一节连续体和第二节连续体，所述第一节连续体包括四根等间隔平行设置的第一结构骨、多个等间隔分布的第一间隔盘和一个第一固定片，其中，所述第一结构骨后端与所述驱动单元连接，所述第一结构骨前端依次穿过各所述第一间隔盘后与所述第一固定片固定连接；所述第二节连续体包括四根等间隔平行设置的第二结构骨、多个等间隔分布的第二间隔盘和一个第二固定片，其中，所述第二结构骨后端与所述驱动单元连接，所述第二结构骨前端依次穿过各所述第一间隔盘、所述第一固定片和各所述第二间隔盘后与所述第二固定片固定连接；所述驱动单元包括一壳体和四个位于所述壳体内的结构骨驱动组件；每一所述结构骨驱动组件与穿过所述壳体前端的两根所述第一结构骨或两根所述第二结构骨连接；每一所述结构骨驱动组件包括一第一基座、一第一联轴器公头、一双节万向联轴器、一连杆、两第一压板和两滑块；在所述壳体的前端和后端之间设置有四根导轨，在每一所述导轨上同时滑动连接两个属于不同所述结构骨驱动组件的所述滑块；所述第一基座位于两所述导轨之间且与所述壳体的后端固定连接，所述第一联轴器公头位于所述壳体的后端且与一传动轴的一端固定连接，所述传动轴与所述壳体转动连接，所述传动轴的另一端固定连接所述双节万向联轴器的一端，所述双节万向联轴器的另一端通过另一传动轴固定连接在所述连杆的中部，所述另一传动轴转动支撑在所述第一基座上；所述连杆的两端分别可滑动且可转动地连接一所述第一压板，每一所述第一压板与一所述第一结构骨或一所述第二结构骨后端固定连接；两所述第一压板分别与一所述滑块固定连接。In order to achieve the above object, the present invention adopts the following technical solutions: a flexible transurethral surgical tool, characterized in that: it includes a flexible continuum mechanical arm and a drive unit; the flexible continuum mechanical arm includes a first section A continuum and a second segment continuum, the first segment continuum includes four first structural bones arranged in parallel at equal intervals, a plurality of first spacer discs distributed at equal intervals, and a first fixation plate, wherein the The rear end of the first structural bone is connected to the drive unit, and the front end of the first structural bone passes through each of the first spacer discs in turn and is fixedly connected to the first fixing piece; the second segment continuum includes four A second structural bone arranged in parallel at equal intervals, a plurality of second spacer discs distributed at equal intervals, and a second fixed piece, wherein the rear end of the second structural bone is connected to the drive unit, and the second structural bone The front end of the bone sequentially passes through each of the first spacers, the first fixation plate and each of the second spacers and is fixedly connected to the second spacer; the drive unit includes a housing and four Structural bone driving components in the housing; each of the structural bone driving components is connected with two of the first structural bones or two of the second structural bones passing through the front end of the housing; each of the The structural bone driving assembly includes a first base, a first coupling male head, a double joint universal coupling, a connecting rod, two first pressure plates and two sliders; at the front and rear of the housing Four guide rails are arranged between the ends, and two sliders belonging to different structural bone driving assemblies are slidably connected on each guide rail at the same time; the first base is located between the two guide rails and is connected with the The rear end of the housing is fixedly connected, the male head of the first coupling is located at the rear end of the housing and is fixedly connected to one end of a transmission shaft, and the transmission shaft is rotatably connected to the housing, so The other end of the transmission shaft is fixedly connected to one end of the double-joint universal joint, and the other end of the double-joint universal joint is fixedly connected to the middle part of the connecting rod through another transmission shaft. A transmission shaft is rotatably supported on the first base; both ends of the connecting rod are respectively slidably and rotatably connected to a first pressing plate, and each of the first pressing plates is connected to a first structure The rear end of the bone or a bone of the second structure is fixedly connected; the two first pressure plates are respectively fixedly connected with one of the sliders.
在所述柔性连续体机械臂的前端设置一手术钳，所述手术钳的手术钳控制线的后端依次从中心穿过所述第二固定片、各所述第二间隔盘、所述第一固定片、各所述第一间隔盘后与位于所述驱动单元中的手术钳驱动组件连接。A surgical forceps is arranged at the front end of the flexible continuum mechanical arm, and the rear end of the surgical forceps control line of the surgical forceps passes through the second fixed piece, each of the second spacers, and the second spacer successively from the center. A fixed piece and each of the first spacer discs are connected to the forceps drive assembly located in the drive unit.
所述手术钳驱动组件包括一第二基座、一第一引导套管、一第二联轴器公头、一螺杆、一螺母、一第二压板和一导杆；所述导杆固定连接在所述壳体的前端与后端之间且与所述螺母滑动连接，所述第二基座与所述壳体的前端固定连接，所述第二联轴器公头位于所述壳体的后端且与所述螺杆的一端固定连接，所述螺杆的两端均与所述壳体转动连接，所述螺杆与所述导杆平行，所述螺母与所述螺杆螺纹配合，所述螺母与所述第二压板固定连接，所述第二压板与所述手术钳控制线的后端固定连接；所述第一引导套管设置在所述壳体的前端与所述第二基座之间，所述手术钳控制线从所述第一引导套管中穿过。The operating forceps drive assembly includes a second base, a first guide sleeve, a second coupling male, a screw, a nut, a second pressure plate and a guide rod; the guide rod is fixedly connected Between the front end and the rear end of the housing and slidingly connected with the nut, the second base is fixedly connected to the front end of the housing, and the male head of the second coupling is located in the housing The rear end is fixedly connected with one end of the screw rod, both ends of the screw rod are rotatably connected with the housing, the screw rod is parallel to the guide rod, the nut is threadedly matched with the screw rod, and the The nut is fixedly connected with the second pressure plate, and the second pressure plate is fixedly connected with the rear end of the surgical forceps control wire; the first guide sleeve is arranged between the front end of the housing and the second base Between, the surgical forceps control wire passes through the first guide sleeve.
每一所述结构骨驱动组件还包括一微调机构，所述微调机构包括两螺栓、两柱形螺母和两拉簧；每一所述螺栓穿过所述壳体的前端且栓头位于所述壳体的外部，所述螺栓的后端通过螺纹连接一所述柱形螺母的一端，所述柱形螺母的另一端通过一所述拉簧连接所述连杆的一端。Each of the structural bone driving components also includes a fine-tuning mechanism, the fine-tuning mechanism includes two bolts, two cylindrical nuts and two tension springs; each of the bolts passes through the front end of the housing and the bolt head is located on the Outside the housing, the rear end of the bolt is threaded to one end of a cylindrical nut, and the other end of the cylindrical nut is connected to one end of the connecting rod through a tension spring.
在所述壳体的前端与每一所述第一基座之间设置两第二引导套管，与每一所述结构骨驱动组件连接的两根所述第一结构骨或所述第二结构骨从两所述第二引导套管中穿过。Two second guide sleeves are arranged between the front end of the housing and each of the first bases, and the two first structural bones or the second structural bones connected to each of the structural bone driving components Structural bone passes through the two second guide sleeves.
所述结构骨驱动组件中的所述导轨采用方形导轨。The guide rail in the structural bone driving assembly adopts a square guide rail.
在所述壳体前端的内侧设置有一引导套管集成端，所述第一引导套管的一端固定连接于所述引导套管集成端的垂直通孔中。An integrated end of a guide sleeve is arranged inside the front end of the housing, and one end of the first guide sleeve is fixedly connected to the vertical through hole of the integrated end of the guide sleeve.
在所述壳体前端的内侧设置有一引导套管集成端，各所述第二引导套管的一端均固定连接于所述引导套管集成端的垂直通孔中。An integrated end of a guide sleeve is arranged inside the front end of the housing, and one end of each second guide sleeve is fixedly connected to the vertical through hole of the integrated end of the guide sleeve.
本发明由于采取以上技术方案，其具有以下优点：1、本发明因由柔性连续体机械臂和驱动单元构成，其中，柔性连续体机械臂在驱动单元的驱动下可以实现空间上的四个弯转自由度，本发明在自由度上能够满足经尿道的要求。2、本发明在柔性连续体机械臂的前端设置有手术钳，并且在驱动单元内部设置有一手术钳驱动组件，手术钳与手术钳驱动组件之间通过手术钳控制线连接，因此，本发明在控制柔性连续体机械臂自由弯转的基础上还能控制手术钳的开合。3、本发明在驱动单元内还设置有与每一结构骨驱动组件连接的微调结构，因此，能够保证每一第一结构骨和第二结构骨在没有动力输入的状态下始终位于固定的初始位置。4、本发明在壳体前端内侧设置有一引导套管集成端，多个引导套管一端固定于引导套管集成端，另一端连接在结构骨驱动组件的基座上，每一第一结构骨和第二结构骨均从引导套管中穿过，因此，本发明的第一结构骨和第二结构骨在由结构骨驱动组件驱动而做推拉运动时能够沿固定的空间轨道前进或后退，从而保证运行的稳定性。5、本发明结构骨驱动组件中的轨道采用方形轨道，因此能够防止滑块在做直线运动的过程中产生翻转运动。本发明可广泛应用于经尿道实施的手术。Due to the adoption of the above technical solutions, the present invention has the following advantages: 1. The present invention is composed of a flexible continuum manipulator and a drive unit, wherein the flexible continuum manipulator can realize four turns in space driven by the drive unit Degree of freedom, the present invention can meet the requirement of transurethra in degree of freedom. 2. The present invention is provided with surgical forceps at the front end of the flexible continuum mechanical arm, and a surgical forceps driving assembly is arranged inside the drive unit, and the surgical forceps and surgical forceps driving assembly are connected by surgical forceps control lines. Therefore, the present invention is On the basis of controlling the free bending of the flexible continuum manipulator, it can also control the opening and closing of the surgical forceps. 3. The present invention is also provided with a fine-tuning structure connected to each structural bone driving assembly in the driving unit, so it can ensure that each first structural bone and second structural bone are always at a fixed initial position without power input. Location. 4. In the present invention, a guide sleeve integrated end is provided on the inner side of the front end of the housing. One end of a plurality of guide sleeves is fixed to the guide sleeve integrated end, and the other end is connected to the base of the structural bone drive assembly. Each first structural bone Both the first structural bone and the second structural bone pass through the guide sleeve, so the first structural bone and the second structural bone of the present invention can advance or retreat along a fixed space track when they are driven by the structural bone driving assembly to perform a push-pull movement, Thereby ensuring the stability of operation. 5. The track in the structural bone driving assembly of the present invention adopts a square track, so it can prevent the slider from turning over during the linear motion. The invention can be widely applied to operations performed through the urethra.
附图说明Description of drawings
图1是本发明的整体结构示意图；Fig. 1 is the overall structural representation of the present invention;
图2是图1在另一角度的整体结构示意图；Fig. 2 is a schematic diagram of the overall structure of Fig. 1 at another angle;
图3是本发明柔性连续体机械臂的结构示意图；Fig. 3 is a schematic structural view of the flexible continuum mechanical arm of the present invention;
图4是本发明驱动单元的结构示意图；Fig. 4 is the structural representation of drive unit of the present invention;
图5是本发明结构骨驱动组件的结构示意图；Fig. 5 is a structural schematic diagram of the structural bone driving assembly of the present invention;
图6是图5视角翻转180°的结构示意图；Fig. 6 is a structural schematic diagram of the angle of view flipped 180° in Fig. 5;
图7是本发明手术钳驱动组件的结构示意图。Fig. 7 is a schematic structural view of the driving assembly of the surgical forceps of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明进行详细的描述。The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
如图1、图2所示，本发明包括一柔性连续体机械臂10和一驱动单元20。As shown in FIGS. 1 and 2 , the present invention includes a flexible continuum manipulator 10 and a drive unit 20 .
如图3所示，本发明的柔性连续体机械臂10包括第一节连续体101和第二节连续体102。第一节连续体101包括四根等间隔平行设置的第一结构骨103、多个等间隔分布的第一间隔盘104和一个第一固定片105，其中，第一结构骨103后端与驱动单元20连接(下文将详细说明)，前端依次穿过各第一间隔盘104后与第一固定片105固定连接。第二节连续体102包括四根等间隔平行设置的第二结构骨106、多个等间隔分布的第二间隔盘107和一个第二固定片108，其中，第二结构骨106后端与驱动单元20连接，前端依次穿过各第一间隔盘104、第一固定片105和各第二间隔盘107后与第二固定片108固定连接。该柔性连续体机械臂10可实现空间上四个自由度的弯转运动。其中，在第一节连续体101中，通过协同推拉相隔180°的两根第一结构骨103，可实现在两根第一结构骨103所形成的平面内的一个弯转自由度，因此包含有四根第一结构骨103的第一节连续体101可实现两个弯转自由度；同理，包含有四根第二结构骨106的第二节连续体102可实现两个弯转自由度。因此，柔性连续体机械臂10可实现四个弯转自由度。As shown in FIG. 3 , the flexible continuum manipulator 10 of the present invention includes a first continuum 101 and a second continuum 102 . The first segment continuum 101 includes four first structural bones 103 arranged in parallel at equal intervals, a plurality of first spacer discs 104 distributed at equal intervals, and a first fixed plate 105, wherein the rear end of the first structural bones 103 is connected to the drive The units 20 are connected (details will be described below), and the front ends pass through the first spacers 104 in sequence and then fixedly connected with the first fixing piece 105 . The second segment continuum 102 includes four second structural bones 106 arranged in parallel at equal intervals, a plurality of second spacer discs 107 distributed at equal intervals, and a second fixed plate 108, wherein the rear end of the second structural bones 106 is connected to the drive The units 20 are connected, and the front ends pass through the first spacers 104 , the first fixing pieces 105 and the second spacers 107 in turn, and then are fixedly connected to the second fixing pieces 108 . The flexible continuum manipulator 10 can realize the bending motion of four degrees of freedom in space. Among them, in the first segment continuum 101, by cooperatively pushing and pulling the two first structural bones 103 separated by 180°, a degree of freedom of bending in the plane formed by the two first structural bones 103 can be realized, thus including The first segment continuum 101 with four first structural bones 103 can achieve two degrees of freedom in bending; similarly, the second segment continuum 102 including four second structural bones 106 can achieve two degrees of freedom in bending Spend. Therefore, the flexible continuum manipulator 10 can realize four bending degrees of freedom.
如图1、图2和图4所示，本发明的驱动单元20包括一壳体201和四个位于壳体201内的结构骨驱动组件202。其中，每一结构骨驱动组件202与穿过壳体201前端的两根第一结构骨103或两根第二结构骨106连接。如图5、图6所示，每一结构骨驱动组件202包括一基座203、一联轴器公头204、一双节万向联轴器205、一连杆206、两压板207和两滑块209。在壳体201的前端和后端之间设置有四根导轨208，，在每一根导轨208上同时滑动连接两个属于不同结构骨驱动组件202的滑块209。基座203位于两导轨208之间且与壳体201的后端固定连接，联轴器公头204位于壳体201后端并与一传动轴210固定连接，传动轴210与壳体201转动连接，并固定连接于双节万向联轴器205的一端，双节万向联轴器205的另一端通过另一传动轴固定连接在连杆206的中部，并且，另一传动轴通过一轴承转动支撑在基座203上。连杆206的两端分别可滑动且可转动地连接一压板207，每一压板207与一第一结构骨103或一第二结构骨106后端固定连接。两压板207分别与一滑块209固定连接。As shown in FIG. 1 , FIG. 2 and FIG. 4 , the driving unit 20 of the present invention includes a housing 201 and four structural bone driving components 202 located in the housing 201 . Wherein, each structural bone driving assembly 202 is connected with two first structural bones 103 or two second structural bones 106 passing through the front end of the casing 201 . As shown in Fig. 5 and Fig. 6, each structural bone driving assembly 202 includes a base 203, a coupling male head 204, a double joint universal coupling 205, a connecting rod 206, two pressing plates 207 and two slides. Block 209. Four guide rails 208 are arranged between the front end and the rear end of the housing 201 , and two sliders 209 belonging to bone driving assemblies 202 of different structures are slidably connected to each guide rail 208 at the same time. The base 203 is located between the two guide rails 208 and is fixedly connected to the rear end of the housing 201 , the coupling male 204 is located at the rear end of the housing 201 and is fixedly connected to a transmission shaft 210 , and the transmission shaft 210 is rotationally connected to the housing 201 , and fixedly connected to one end of the double-joint universal joint 205, the other end of the double-joint universal joint 205 is fixedly connected to the middle part of the connecting rod 206 through another transmission shaft, and the other transmission shaft passes through a bearing The rotation is supported on the base 203 . Two ends of the connecting rod 206 are respectively slidably and rotatably connected to a pressing plate 207 , and each pressing plate 207 is fixedly connected to a rear end of a first structural bone 103 or a second structural bone 106 . The two pressing plates 207 are respectively fixedly connected with a sliding block 209 .
本发明的工作原理如下：驱动单元20中的每一联轴器公头204可以连接一动力输出轴(如电机的转轴)，当动力输出轴驱动联轴器公头204旋转时，双节万向联轴器205可以改变旋转运动的传递方向并实现旋转运动的等速传递，从而带动连杆206旋转，因连杆206与压板207为可滑动且可转动连接，而压板207与导轨208上的滑块固定连接，因此，连杆206的旋转可以转化为压板207沿导轨的直线运动，又因为同一连杆206的两端处的压板207分别固定连接一第一结构骨103或第二结构骨106，因此每一连杆206的旋转可以实现第一节连续体101或第二节连续体102在平面内的一个弯转自由度。The working principle of the present invention is as follows: each shaft coupling male 204 in the drive unit 20 can be connected to a power output shaft (such as the rotating shaft of the motor), and when the power output shaft drives the shaft coupling male 204 to rotate, the double joint ten thousand The coupling 205 can change the transmission direction of the rotary motion and realize the constant speed transmission of the rotary motion, thereby driving the connecting rod 206 to rotate, because the connecting rod 206 and the pressure plate 207 are slidably and rotatably connected, and the pressure plate 207 is connected to the guide rail 208 Therefore, the rotation of the connecting rod 206 can be transformed into the linear motion of the pressing plate 207 along the guide rail, and because the pressing plates 207 at both ends of the same connecting rod 206 are respectively fixedly connected to a first structure bone 103 or a second structure The bone 106, so the rotation of each connecting rod 206 can realize a bending degree of freedom in the plane of the first segment continuum 101 or the second segment continuum 102 .
上述实施例中，如图3所示，柔性连续体机械臂10的前端可以设置一手术钳30，相应地，手术钳控制线301后端依次从中心穿过第二固定片108、各第二间隔盘107、第一固定片105、各第一间隔盘104、壳体201前端后与一手术钳驱动组件302连接。如图7所示，手术钳驱动组件302包括一基座303、一引导套管304、一联轴器公头305、一螺杆306、一螺母307、一压板308和一导杆309。其中，导杆309固定连接在壳体201的前端与后端之间且与螺母307滑动连接，基座303与壳体201的前端固定连接，联轴器公头305位于壳体201的后端且与螺杆306的一端固定连接，螺杆306两端与壳体201转动连接，螺杆306与导杆309平行，螺母307与螺杆306螺纹配合，螺母307与压板308固定连接，压板308与手术钳控制线301的后端固定连接。引导套管304设置在壳体201的前端与基座303之间，手术钳控制线301从引导套管304中穿过，引导套管304用于为手术钳控制线301提供固定的空间轨道。当联轴器公头305转动时，可驱动螺杆306转动进而驱动螺母307沿导杆309做直线运动，从而实现对手术钳控制线301的推拉，最终实现手术钳30的开合。In the above-mentioned embodiment, as shown in Figure 3, a surgical forceps 30 can be provided at the front end of the flexible continuum mechanical arm 10, and correspondingly, the rear end of the surgical forceps control line 301 passes through the second fixing piece 108 from the center, each second The spacer disc 107 , the first fixing plate 105 , each of the first spacer discs 104 , and the front end of the housing 201 are connected to a forceps driving assembly 302 . As shown in FIG. 7 , the forceps driving assembly 302 includes a base 303 , a guide sleeve 304 , a coupling male 305 , a screw 306 , a nut 307 , a pressing plate 308 and a guide rod 309 . Wherein, the guide rod 309 is fixedly connected between the front end and the rear end of the housing 201 and is slidably connected with the nut 307, the base 303 is fixedly connected to the front end of the housing 201, and the coupling male head 305 is located at the rear end of the housing 201 And it is fixedly connected with one end of the screw rod 306, the two ends of the screw rod 306 are rotationally connected with the housing 201, the screw rod 306 is parallel to the guide rod 309, the nut 307 is threadedly matched with the screw rod 306, the nut 307 is fixedly connected with the pressing plate 308, and the pressing plate 308 is controlled by the forceps The rear end of the line 301 is fixedly connected. The guide sleeve 304 is disposed between the front end of the housing 201 and the base 303 , the forceps control wire 301 passes through the guide sleeve 304 , and the guide sleeve 304 is used to provide a fixed space track for the surgical forceps control wire 301 . When the coupling male head 305 rotates, it can drive the screw rod 306 to rotate and then drive the nut 307 to move linearly along the guide rod 309 , so as to push and pull the forceps control line 301 , and finally realize the opening and closing of the forceps 30 .
上述实施例中，每一结构骨驱动组件202还包括一微调机构211，如图4、图5所示，微调机构211包括两螺栓212、两柱形螺母213和两拉簧214，其中，每一螺栓212穿过壳体201的前端且栓头位于壳体201的外部，螺栓212的后端通过螺纹连接一柱形螺母213的一端，柱形螺母213的另一端通过一拉簧214连接连杆206的一端。微调机构211的作用是实现每一结构骨驱动组件202所连接的两根第一结构骨103或第二结构骨106在没有动力输入状态下始终保持在固定的初始位置。In the above embodiment, each structural bone driving assembly 202 also includes a fine-tuning mechanism 211, as shown in Figure 4 and Figure 5, the fine-tuning mechanism 211 includes two bolts 212, two cylindrical nuts 213 and two tension springs 214, wherein A bolt 212 passes through the front end of the housing 201 and the bolt head is positioned at the outside of the housing 201. The rear end of the bolt 212 is threaded to one end of a cylindrical nut 213, and the other end of the cylindrical nut 213 is connected by a tension spring 214. One end of the rod 206. The function of the fine-tuning mechanism 211 is to realize that the two first structural bones 103 or the second structural bones 106 connected to each structural bone driving assembly 202 are always kept at a fixed initial position without power input.
上述实施例中，可以在壳体201的前端与每一基座203之间设置两引导套管215，与每一结构骨驱动组件202连接的两根第一结构骨103或第二结构骨106从上述两引导套管215中穿过，引导套管215用于为第一结构骨103或第二结构骨106提供固定的空间轨道。In the above-mentioned embodiment, two guide sleeves 215 can be arranged between the front end of the housing 201 and each base 203, and the two first structural bones 103 or second structural bones 106 connected to each structural bone driving assembly 202 Through the above two guide sleeves 215 , the guide sleeves 215 are used to provide a fixed space track for the first structural bone 103 or the second structural bone 106 .
上述实施例中，结构骨驱动组件202中的轨道208采用方形轨道，以防止滑块209在做直线运动过程中产生翻转运动。In the above embodiments, the track 208 in the structural bone driving assembly 202 adopts a square track to prevent the sliding block 209 from turning over during the linear motion.
上述实施例中，在壳体201前端的内侧设置有一引导套管集成端216，各引导套管215、304的一端均固定连接于引导套管集成端216的垂直通孔中，引导套管集成端216用于保证通过引导套管215、304将第一结构骨103、第二结构骨106和手术钳控制线301顺利引导进入柔性连续体机械臂10中。In the above-mentioned embodiment, a guide sleeve integrated end 216 is provided on the inner side of the front end of the housing 201, and one end of each guide sleeve 215, 304 is fixedly connected to the vertical through hole of the guide sleeve integrated end 216, and the guide sleeve is integrated. The end 216 is used to ensure that the first structural bone 103 , the second structural bone 106 and the forceps control wire 301 are smoothly guided into the flexible continuum manipulator 10 through the guide sleeves 215 and 304 .
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的。在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进或等同变换，均不应排除在本发明的保护范围之外。The present invention is only described with the above-mentioned embodiment, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvement or equivalent transformation of individual components according to the principle of the present invention shall not be excluded from the protection scope of the present invention.
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