WO2019137380A1 - 多用途的柔性手术工具系统 - Google Patents

多用途的柔性手术工具系统 Download PDF

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Publication number
WO2019137380A1
WO2019137380A1 PCT/CN2019/070890 CN2019070890W WO2019137380A1 WO 2019137380 A1 WO2019137380 A1 WO 2019137380A1 CN 2019070890 W CN2019070890 W CN 2019070890W WO 2019137380 A1 WO2019137380 A1 WO 2019137380A1
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WO
WIPO (PCT)
Prior art keywords
support plate
distal
surgical tool
plate
fastened
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/070890
Other languages
English (en)
French (fr)
Inventor
徐凯
赵江然
张树桉
朱兢
任义唐
牛林辉
董天来
卢景曦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Surgerii Technology Co Ltd
Original Assignee
Beijing Surgerii Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810023059.0A external-priority patent/CN108245254B/zh
Priority claimed from CN201810022341.7A external-priority patent/CN107997824B/zh
Application filed by Beijing Surgerii Technology Co Ltd filed Critical Beijing Surgerii Technology Co Ltd
Priority to KR1020207022814A priority Critical patent/KR102428622B1/ko
Priority to EP19738935.6A priority patent/EP3738540B1/en
Priority to JP2020557372A priority patent/JP7295139B2/ja
Priority to US16/961,210 priority patent/US12082791B2/en
Priority to CA3088221A priority patent/CA3088221C/en
Publication of WO2019137380A1 publication Critical patent/WO2019137380A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • 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
    • 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
    • A61B2017/00305—Constructional details of the flexible means
    • 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
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • 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
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present application belongs to the field of medical devices, and in particular relates to a multi-purpose flexible surgical tool system.
  • Porous laparoscopic minimally invasive surgery has occupied an important position in surgery due to small wounds and rapid postoperative recovery.
  • the Da Vinci surgical robotic assistant doctor of Intuitive Surgical (American Intuition Surgery Company) has completed the porous laparoscopic minimally invasive surgery and achieved great commercial success.
  • Minimally invasive surgery has developed single-port laparoscopic surgery and non-invasive surgery through natural lumens after porous laparoscopic surgery, which have less trauma to the patient and higher postoperative outcomes.
  • all surgical instruments including the visual illumination module and the surgical operating arm, are accessed through a single channel, which is extremely demanding for the preparation of surgical instruments.
  • the distal structure of the existing surgical instrument is mainly a series hinge of a plurality of rods, which is driven by a wire rope pulling force, so that the surgical instrument can be bent at the hinge joint. Since the wire rope has to be continuously tensioned by the pulley, this driving method is difficult to further miniaturize the surgical instrument, and it is difficult to further improve the exercise performance of the instrument.
  • Intuitive Surgical recently introduced the da Vinci Single-Site surgical robot, which has improved the surgery by transforming the original rigid surgical instrument into a semi-rigid surgical instrument and adding pre-bent casing. The athletic performance of the device.
  • the present application discloses a versatile flexible surgical tool system comprising a flexible surgical tool; the flexible surgical tool comprising a flexible continuum structure and a drive drive unit, the flexible continuum structure comprising a distal structure, a proximal structure And a connector, the distal structure comprising a first distal section and a second distal section; the transmission drive unit being associated with the first distal section to drive the first distal configuration a bending motion, the second distal end portion being associated with the proximal structure by the connector, the transmission drive unit further associated with the proximal structure to drive the proximal structure
  • the body performs a bending motion to indirectly drive the second distal end section to perform a bending motion.
  • FIG. 1 is a schematic view showing the overall structure of a flexible surgical tool according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a flexible surgical tool after omitting a housing according to an embodiment of the invention
  • FIG. 3 is a schematic structural view of a distal structure according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a proximal structure according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of a transmission driving unit according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a connecting body (a second guiding passage is not shown) according to an embodiment of the present invention
  • FIG. 7 is a schematic structural view of a flexible surgical tool after mounting a housing, a cover, and a sheath according to an embodiment of the present invention
  • Figure 8 is a schematic view showing the structure of a flexible sheath according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural view of a transmission drive unit according to another embodiment of the present invention.
  • FIG. 10 is a schematic structural view of a distal end of a distal structure connected to a visual illumination module according to another embodiment of the present invention.
  • FIG. 11 is a schematic diagram showing a connection relationship between a linear module and a motor unit unit according to another embodiment of the present invention.
  • FIG. 12 is a schematic structural view of a motor unit unit when a cover plate is omitted according to another embodiment of the present invention.
  • Figure 13 is a schematic view showing the structure of a sterile barrier according to another embodiment of the present invention.
  • FIG. 14 is a schematic structural view of a sterile barrier at another viewing angle according to another embodiment of the present invention.
  • FIG. 15 is a schematic structural view of a rear end of a flexible surgical tool in accordance with another embodiment of the present invention.
  • the present invention includes a flexible surgical tool 10, a sterile barrier 50, a motor unit unit 60, and a linear module 70.
  • the flexible surgical tool 10 includes a flexible continuum structure and a drive drive unit 20.
  • the flexible continuum structure includes a distal structure 11, a proximal structure 12, and a connector 13.
  • the distal structure 11 includes a first distal section 14 and a second distal section 15.
  • the drive drive unit 20 is associated with the first distal end section 14 to drive the first distal end section 14 for a bending motion.
  • the second distal section 15 is associated with the proximal structure 12 by a connector 13.
  • the drive drive unit 20 is also associated with the proximal structure 12 to drive the proximal structure 12 to make a bending motion, thereby indirectly driving the second distal section 15 for a bending motion.
  • the motor unit unit 60 is coupled to the flexible surgical tool 10 through a sterile barrier 50 to provide a driving force to the drive drive unit 20.
  • the output of the linear module 70 is coupled to the motor unit 60 for driving the motor unit 60 and the flexible surgical tool 10 to effect linear feed motion.
  • the first distal section 14 includes a first distal spacer disk 141, a first distal fixation disk 142, and a first distal structural bone 143.
  • One end of the first distal structural bone 143 is connected to the transmission drive unit 20, and the other end is sequentially fastened through the connecting body 13 and the first distal spacer disk 141 to be fastened to the first distal fixed disk 142.
  • the second distal section 15 includes a second distal spacer disk 151, a second distal fixation disk 152, and a second distal structural bone 153.
  • the proximal structure 12 includes a proximal spacer disk 121, a proximal fixation disk 122, and a proximal structural bone 123.
  • the second distal structural bone 153 is rigidly connected to the proximal structural bone 123 in one-to-one correspondence or is the same structural bone, and one end of the structural bone is fastened to the proximal fixation plate 122, and the other end is sequentially passed through the proximal end interval.
  • the disk 121, the connecting body 13, the first distal spacer disk 141, the first distal fixed disk 142, and the second distal spacer disk 151 are then fastened to the second distal fixed disk 152.
  • the transmission drive unit 20 includes a base frame 21 and a linear motion mechanism 22 disposed in the base frame 21 for converting the rotational motion input into a linear motion output. There may be a plurality of linear motion mechanisms 22. The output end of a portion of the linear motion mechanism 22 is coupled to the first distal structural bone 143, and the output end of the other linear motion mechanism 22 is coupled to one end of the drive bone 124. The other end of the drive bone 124 is sequentially fastened to the proximal fixation disk 122 after passing through the proximal spacer disk 121.
  • the base frame 21 includes a first support plate 211 and a second support plate 212 which are spaced apart.
  • the linear motion mechanism 22 includes a double-headed screw 221 that is rotatably coupled to the first support plate 211 and the second support plate 212.
  • a threaded slider 222 is respectively coupled to the two thread segments of the double-headed screw 221.
  • the threaded slider 222 is slidably coupled to a guide rod 223 fixedly disposed between the first support plate 211 and the second support plate 212.
  • the threaded slider 222 is configured as the output end of the linear motion mechanism 22.
  • the threads on the two thread segments of the double-headed screw 221 are oppositely rotated.
  • the two threaded sliders 222 located on the double-headed screw 221 are reversely linearly moved at the same speed.
  • the two threaded sliders 222 respectively drive the first distal structural bone 143 and the driving bone 124 to linearly move in the opposite direction along the guiding rod 223 at the same speed, so that the first distal structural bone 143 and the driving bone 124 are pushed or Pulling, thereby causing the first distal section 14 and the proximal structure 12 to bend in any direction.
  • the linear motion mechanism 22 includes an active screw 221a and a driven screw 221b that are rotatably coupled between the first support plate 211 and the second support plate 212.
  • a threaded slider 222 is respectively coupled to the driving screw 221a and the driven screw 221b by a threaded engagement.
  • the threaded slider 222 is slidably coupled to a guide rod 223 fixedly disposed between the first support plate 211 and the second support plate 212.
  • a timing pulley 231 is respectively fastened on the driving screw 221a and the driven screw 221b. The two timing pulleys 231 are connected by a timing belt 232.
  • the driving screw 221a is opposite to the screwing direction of the driven screw 221b.
  • the driving screw 221a is rotated, the threaded slider 222 on the driving screw 221a and the threaded slider 222 on the driven screw 221b are linearly moved in the opposite direction at the same speed.
  • the output ends of the two linear motion mechanisms 22 are coupled to the first distal structural bone 143 such that the degree of freedom of bending of the first distal articulation 14 in both directions can be achieved;
  • the output end of the linear motion mechanism 22 is coupled to the drive bone 124 so that the degree of freedom of bending of the proximal structure body 12 in both directions can be achieved.
  • first support plate 211 and the second support plate 212 are fixedly connected by a support rod.
  • a connecting plate 213 is disposed between the first supporting plate 211 and the second supporting plate 212, and the connecting plate 213 is also fixedly connected by the supporting rod.
  • a set sleeve 214 is sleeved on the support rod to position the connecting plate 213, the first support plate 211 and the second support plate 212.
  • the double-headed screw 221 passes through the connecting plate 213 and leaves a gap with the connecting plate 213, and the connecting plate 213 separates the two thread segments of the double-headed screw 221 .
  • first support plate 211 and the second support plate 212 may also be fixedly connected by a threaded support rod. At this time, the positioning between the first support plate 211, the second support plate 212, and the connecting plate 213 can be achieved by locking with a positioning nut connected to the support rod, that is, replacing the positioning sleeve 214 with a positioning nut.
  • the connecting body 13 includes a channel connecting plate 131, a channel supporting plate 132, a distal fixing plate 133, a proximal structural body fixing plate 134, a first guiding channel 135 and a second guiding channel. 136.
  • the passage connecting plate 131 is fastened to the first support plate 211.
  • the channel support plate 132 is tightly coupled to the second support plate 212.
  • the proximal structural body fixing plate 134 is fastened to the channel support plate 132 by a connecting post 137.
  • first guiding channel 135 is fastened to the proximal structure fixing plate 134, and the other end is sequentially fastened through the channel supporting plate 132 and the channel connecting plate 131, and is fastened to the distal fixing plate 133; the second distal structural bone 153 and proximal structural bone 123 pass through the first guide channel 135.
  • the second guide channel 136 is disposed between the distal fixation plate 133 and the channel connection plate 131, and the first distal structural bone 143 passes through the second guide channel 136.
  • the channel support plate 132 and the connecting post 137 may also be omitted.
  • the proximal structural body fixing plate 134 may be directly connected to the second support plate 212.
  • a surgical actuator 30 is provided at the end of the second distal end section 15.
  • An actuator drive mechanism is provided in the base frame 21, and the output of the actuator drive mechanism is coupled to the surgical actuator 30 via a surgical actuator control line 301.
  • the actuator driving mechanism includes a screw 303 which is rotatably disposed in the base frame 21, and a screw 304 is coupled to the slider 303.
  • the slider 304 slides with the guide rod 305 fixedly disposed in the base frame 21. connection.
  • the slider 304 is securely coupled to the surgical actuator control line 301 as an output of the actuator drive mechanism.
  • the screw 303 is rotated in different directions, the slider 304 on the screw 303 can linearly move up and down along the guide rod 305, so that the surgical actuator control line 301 can be pushed and pulled to realize the opening and closing drive of the surgical actuator 30.
  • the surgical actuator 30 at the end of the second distal section 15 as shown in Figure 3 can be replaced with other functional actuators, such as the visual illumination module 90 shown in Figure 10.
  • a visual processing unit and a lighting control unit may be disposed in the base frame 21, and the visual processing unit and the lighting control unit and the visual illumination module 90 may be connected by a composite wire.
  • the pose of the visual illumination module 90 can be adjusted to obtain a real-time image of the field of view of the work site.
  • the flexible surgical tool 10 of the present invention further includes an elastic attachment mechanism 40.
  • the elastic coupling mechanism 40 includes a coupling head 401, a coupling male 402, a third support plate 403, a fourth support plate 404, and a spring 405.
  • the third support plate 403 is fixedly coupled to the second support plate 212 by a support rod 406.
  • the fourth support plate 404 is fixedly coupled to the third support plate 403 via the support rod 407.
  • the connector 401 is slidably coupled to the third support plate 403.
  • the linear motion mechanism 22 shown in Fig. 5 is employed, the double-headed screw 221 or the screw 303 is slidably and non-rotatably connected to one end of the joint 401.
  • the driving screw 221a or the screw 303 is slidably and non-rotatably connected to one end of the coupling head 401.
  • the other end of the connector 401 is coupled to one end of the coupling male 402.
  • the coupling male 402 is slidably and rotatably mounted to the fourth support plate 404.
  • the spring 405 is sleeved on the coupling male 402. One end of the spring 405 abuts against the third support plate 403, and the other end is fixedly coupled to the coupling male 402.
  • the coupling female 503 When the coupling male 402 and the coupling female 503 (which will be described later in detail, the coupling female 503 is fixedly coupled to the rotating shaft of the driving motor) are axially approached but not aligned, the coupling female The head 503 will urge the coupling male 402 to move axially and compress the spring 405. At this time, since the coupling female head 503 is rotated in the axial direction, when rotated to align with the coupling male 402, the spring 405 springs the coupling male 402 back to the position, thereby realizing the coupling male and female heads. The connection is made and the rotary motion can be transmitted to the screw 303 and the double-head screw 221 or the driving screw 221a.
  • a housing 230 is provided outside the transmission drive unit 20 and the elastic connection mechanism 40.
  • the first support plate 211 and the second support plate 212 are both fastened to the housing 230.
  • a cover 119 is disposed outside the distal structure 11 to improve the smoothness of the distal structure 11 into the natural lumen or surgical incision of the human body.
  • An outer sleeve 120 and a sheath 125 may also be provided on the outside of the cover 119. As shown in Figure 7, in one application, the sheath 125 is secured to a single incision in the abdominal cavity.
  • the distal structure 11 together with the cover 119 and the surgical actuator 30 can freely pass through the through hole of the sheath 125 for the surgical tool to reach the surgical site. As shown in Fig.
  • the sheath 125 can also be provided with a flexible sheath to more easily extend into various natural passages of the human body and adaptively change shape as the shape of the passage.
  • One end of the flexible sheath is fixed at the entrance of the tunnel, and the distal structure 11 together with the cover 119 and the surgical actuator 30 can freely pass through the through-hole of the flexible sheath for the surgical tool to reach the surgical site.
  • the motor unit unit 60 includes a motor block housing 601.
  • the motor fixing plate 602 is rotatably connected to the front end of the motor unit casing 601.
  • a cover plate 603 is fastened to the front side of the motor fixing plate 602.
  • a plurality of first motors 605, a second motor 606, and a third motor 607 are fastened to the rear side of the motor fixing plate 602.
  • the output shaft of the first motor 605 passes through the cover plate 603 and is securely coupled to the second coupling male 609.
  • the output shaft of the second motor 606 passes through the cover plate 603 and is securely coupled to the connection block 610.
  • a gear 612 is fastened to the output shaft of the third motor 607. Gear 612 meshes with an inner ring gear 613.
  • the ring gear 613 is fastened to the motor unit housing 601.
  • the sterile barrier 50 includes a sterile barrier housing 501, a sterile barrier support plate 502, and a coupling female 503.
  • the coupling female 503 is rotatably disposed on the sterile barrier support plate 502 for coupling the coupling male 402 and the second coupling male 609.
  • the sterile barrier housing 501 is rotatably coupled to the outer periphery of the sterile barrier support plate 502.
  • a locating pin hole 505 is provided on the front side of the sterile barrier support plate 502.
  • a positioning pin body 411 for mating connection with the positioning pin hole 505 is provided on the rear side of the fourth support plate 404 of the flexible surgical tool 10.
  • a connection pin seat 508 is provided on the rear side of the sterile barrier support plate 502.
  • a second connecting pin holder (not shown) for connecting to the connecting pin holder 508 is provided on the front side of the cover plate 603 of the motor unit unit 60.
  • a quick locking device is also provided on the sterile barrier support plate 502.
  • the quick locking device includes a quick locking body 521 and a locking pin 522.
  • the quick-locking body 521 is rotatably coupled to the sterile barrier support plate 502.
  • One end of the quick-locking body 521 is a thin-walled structure, and the other end is provided with two circular holes 523 in the axial direction.
  • the circular hole 523 is for connecting with a protruding pin (not shown) provided on the connecting block 610 to transmit rotational power.
  • the locking pins 522 are arranged along the circumferential direction of the inner wall of the thin-walled structure.
  • a spiral feature 415 is disposed on the rear side of the fourth support plate 404.
  • the spiral feature 415 is three lateral wedge-shaped projections at 120° intervals in the circumferential direction of the cylinder in the middle of the rear side of the fourth support plate 404.
  • the locating pin holes 505 When the locating pin holes 505 are aligned with the locating pin body 411, the position of the coupling male 402 on the flexible surgical tool 10 and the coupling female 503 of the sterile barrier 50 in the circumference is completely corresponding.
  • Contact pins 505 and locating pin bodies 411 are provided with contacts for detecting whether the sterile barrier 50 is in locking engagement with the flexible surgical tool 10.
  • the quick locking device is used to achieve a quick locking connection of the flexible surgical tool 10 to the sterile barrier 50.
  • the locating pin body 411 of the flexible surgical tool 10 is aligned with the locating pin aperture 505 in the sterile barrier 50 to ensure the coupling of the flexible surgical tool 10
  • the head 402 is aligned with the position of the coupling female 503 of the sterile barrier 50.
  • the second motor 606 is activated, the power is transmitted to the quick-locking body 521 through the connecting block 610 to rotate, and the locking pin 522 embedded in the inner wall of the quick-locking body 521 moves along the spiral feature 415 of the flexible surgical tool 10.
  • rotation of the quick-locking body 521 causes the flexible surgical tool 10 and the sterile barrier 50 to produce axially axially taut movements, and the contacts on the locating pin body 411 and the contacts on the locating pin holes 505 are brought closer together. .
  • the contact of the locating pin body 411 is in contact with the contact of the locating pin hole 505
  • a quick locking connection of the flexible surgical tool 10 to the sterile barrier 50 is achieved and the second motor 606 stops rotating.
  • the first motor 605 is activated and the coupling female 503 that drives the sterile barrier 50 is rotated until it is aligned with the coupling male 402 of the flexible surgical tool 10.
  • the resilient coupling mechanism 40 ejects the coupling male 402 to effect the coupling of the coupling male 402 to the coupling female 503.
  • a sterile membrane (not shown) is attached to the sterile barrier housing 501, which can sterilize the flexible surgical tool 10 and the like before the sterile barrier 50 with the motor unit 60 and the linear module 70.
  • the unsterile portions located behind the sterile barrier 50 are isolated to ensure the feasibility of clinical procedures.
  • the third motor 607 When the third motor 607 is activated, its output shaft rotates and drives the gear 612 to rotate.
  • the gear 612 will rotate along the circumferential direction of the ring gear 613, thereby driving the portion of the motor unit 60 other than the motor casing 601 and the ring gear 613 to rotate integrally about its own axis, thereby driving the flexible surgical tool 10 around its axis.
  • the overall rotation ultimately results in a roll angle control of the surgical actuator 30.
  • the linear module 70 includes a bracket body 701 with a chute.
  • a lead screw 702 is disposed on the bracket body 701.
  • a slider 703 is sleeved on the lead screw 702 as an output end of the linear module 70.
  • the slider 703 is threadedly engaged with the lead screw 702 and slidably disposed in the chute.
  • a fourth motor 705 is disposed at one end of the bracket body 701.
  • the output shaft of the fourth motor 705 is fastened to the lead screw 702 by a coupling 706.
  • the motor unit housing 601 is fastened to the slider 703. When the output shaft of the fourth motor 705 is rotated, the slider 703 will drive the motor unit housing 601 to move linearly along the chute, thereby achieving linear feed motion of the flexible surgical tool 10.

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  • Health & Medical Sciences (AREA)
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Abstract

一种多用途的柔性手术工具系统，包括柔性手术工具（10）；柔性手术工具（10）包括柔性连续体结构和传动驱动单元（20）。柔性连续体结构包括远端结构体（11）、近端结构体（12）和连接体（13）；远端结构体（11）包括第一远端构节（14）和第二远端构节（15）；传动驱动单元（20）与第一远端构节（14）关联，以驱动第一远端构节（14）进行弯转运动；第二远端构节（15）通过连接体（13）与近端结构体（12）关联，传动驱动单元（20）还与近端结构体（12）关联，以驱动近端结构体（12）进行弯转运动，从而间接驱动第二远端构节（15）进行弯转运动。

Description

多用途的柔性手术工具系统
相关申请的交叉引用
本专利申请要求于2018年1月10日提交的、申请号为2018100230590、发明名称为“一种多用途的柔性手术工具系统”的中国专利申请及于2018年1月10日提交的、申请号为2018100223417、发明名称为“一种可混合驱动远端结构体的柔性手术工具系统”的中国专利申请的优先权，该申请的全文以引用的方式并入本文中。
技术领域
本申请属于医疗器械领域，具体涉及一种多用途的柔性手术工具系统。
背景技术
多孔腹腔镜微创手术因创口小、术后恢复快，已经在外科手术中占据了重要的地位。现有Intuitive Surgical公司(美国直觉外科公司)的da Vinci(达芬奇)手术机器人辅助医生完成多孔腹腔镜微创手术，取得了商业上的巨大成功。
微创术式在多孔腹腔镜手术之后又发展出单孔腹腔镜手术和经自然腔道的无创手术，它们对病人创伤更小、术后产出更高。但在单孔腹腔镜手术和经自然腔道的无创手术中，包括视觉照明模块和手术操作臂在内的所有手术器械均通过单一通道达到术部，这对手术器械的制备要求极为苛刻。现有手术器械的远端结构主要为多杆件的串联铰接，采用钢丝绳拉力驱动，使手术器械在铰接关节处实现弯转。由于钢丝绳须通过滑轮保持持续的张紧状态，这一驱动方式难以实现手术器械的进一步小型化，亦难以进一步提升器械的运动性能。
Intuitive Surgical公司近期推出了da Vinci Single-Site(SS型达芬奇)手术机器人，通过将原有的刚性手术器械改造为半刚性手术器械，并增加了预弯曲套管，一定程度上提升了手术器械的运动性能。
发明内容
本申请公开了一种多用途的柔性手术工具系统，包括柔性手术工具；所述柔性手术工具包括柔性连续体结构和传动驱动单元，所述柔性连续体结构包括远端结构体、近端 结构体和连接体，所述远端结构体包括第一远端构节和第二远端构节；所述传动驱动单元与所述第一远端构节关联，以驱动所述第一远端构节进行弯转运动，所述第二远端构节通过所述连接体与所述近端结构体关联，所述传动驱动单元还与所述近端结构体关联，以驱动所述近端结构体进行弯转运动，从而间接驱动所述第二远端构节进行弯转运动。
附图说明
图1是根据本发明一实施例的柔性手术工具的整体结构示意图；
图2是根据本发明一实施例的柔性手术工具省略壳体后的结构示意图；
图3是根据本发明一实施例的远端结构体的结构示意图；
图4是根据本发明一实施例的近端结构体的结构示意图；
图5是根据本发明一实施例的传动驱动单元的结构示意图；
图6是根据本发明一实施例的连接体(未示出第二引导通道)的结构示意图；
图7是根据本发明一实施例的柔性手术工具安装壳体、封皮和鞘套后的结构示意图；
图8是根据本发明一实施例的柔性鞘套的结构示意图；
图9是根据本发明另一实施例的传动驱动单元的结构示意图；
图10是根据本发明另一实施例的远端结构体的末端与视觉照明模块连接时的结构示意图；
图11是根据本发明另一实施例的线性模组与电机组单元的连接关系示意图；
图12是根据本发明另一实施例的电机组单元在省略盖板时的结构示意图；
图13是根据本发明另一实施例的无菌屏障的结构示意图；
图14是根据本发明另一实施例的无菌屏障在另一视角下的结构示意图；
图15是根据本发明另一实施例的柔性手术工具后端的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基 于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1-4所示，本发明包括柔性手术工具10、无菌屏障50、电机组单元60和线性模组70。柔性手术工具10包括柔性连续体结构和传动驱动单元20。柔性连续体结构包括远端结构体11、近端结构体12和连接体13。远端结构体11包括第一远端构节14和第二远端构节15。传动驱动单元20与第一远端构节14关联，以驱动第一远端构节14进行弯转运动。第二远端构节15通过连接体13与近端结构体12关联。传动驱动单元20还与近端结构体12关联，以驱动近端结构体12进行弯转运动，从而间接驱动第二远端构节15进行弯转运动。电机组单元60通过无菌屏障50与柔性手术工具10连接，为传动驱动单元20提供驱动力。线性模组70的输出端与电机组单元60连接，用于驱动电机组单元60和柔性手术工具10实现线性进给运动。
进一步地，第一远端构节14包括第一远端间隔盘141、第一远端固定盘142和第一远端结构骨143。第一远端结构骨143的一端与传动驱动单元20连接，另一端依次穿过连接体13及第一远端间隔盘141后与第一远端固定盘142紧固连接。第二远端构节15包括第二远端间隔盘151、第二远端固定盘152和第二远端结构骨153。近端结构体12包括近端间隔盘121、近端固定盘122和近端结构骨123。第二远端结构骨153与近端结构骨123一一对应紧固连接或为同一根结构骨，并且该结构骨的一端与近端固定盘122紧固连接，另一端依次穿过近端间隔盘121、连接体13、第一远端间隔盘141、第一远端固定盘142、第二远端间隔盘151后与第二远端固定盘152紧固连接。
传动驱动单元20包括基础框架21和设置在基础框架21中的用于将旋转运动输入转换为直线运动输出的直线运动机构22。直线运动机构22可为多个。其中，一部分直线运动机构22的输出端与第一远端结构骨143连接，另一部分直线运动机构22的输出端与驱动骨124的一端连接。驱动骨124的另一端依次穿过近端间隔盘121后与近端固定盘122紧固连接。
如图5所示，基础框架21包括间隔布置的第一支撑板211和第二支撑板212。直线运动机构22包括与第一支撑板211、第二支撑板212转动连接的双头螺杆221。在双头螺杆221的两个螺纹段上分别配合连接一个螺纹滑块222。螺纹滑块222与固定设置在第一支撑板211和第二支撑板212之间的导杆223滑动连接。这样，螺纹滑块222构成为直线运动机构22的输出端。双头螺杆221的两个螺纹段上的螺纹旋向相反。这样，当双头螺杆221旋转时，位于该双头螺杆221上的两个螺纹滑块222以相同的速度反向 进行直线运动。从而，两个螺纹滑块222分别带动第一远端结构骨143和驱动骨124沿导杆223以相同的速度反向进行直线运动，使得第一远端结构骨143和驱动骨124受推或受拉，从而实现第一远端构节14和近端结构体12向任意方向发生弯转。
如图9所示，本发明的另一实施例还提供了一种直线运动机构22。具体地，该直线运动机构22包括转动连接在第一支撑板211和第二支撑板212之间的主动螺杆221a与从动螺杆221b。在主动螺杆221a和从动螺杆221b上分别通过螺纹配合连接一个螺纹滑块222。螺纹滑块222与固定设置在第一支撑板211和第二支撑板212之间的导杆223滑动连接。在主动螺杆221a和从动螺杆221b上分别紧固套设一同步带轮231。两个同步带轮231之间通过同步带232连接。主动螺杆221a与从动螺杆221b的螺纹旋向相反。当主动螺杆221a旋转时，位于主动螺杆221a上的螺纹滑块222与位于从动螺杆221b上的螺纹滑块222以相同的速度反向进行直线运动。
在一个优选的实施例中，两个直线运动机构22的输出端与第一远端结构骨143连接，从而可以实现第一远端构节14在两个方向上的弯转自由度；另外两个直线运动机构22的输出端与驱动骨124连接，从而可以实现近端结构体12在两个方向上的弯转自由度。当近端结构体12向某个方向弯转时，第二远端构节15将以一定的比例关系(由近端结构骨123与第二远端结构骨153的分布半径共同决定)向相反的方向进行弯转。
进一步地，第一支撑板211与第二支撑板212通过支撑杆固定连接。在第一支撑板211与第二支撑板212之间设置有连接板213，连接板213亦通过支撑杆固定连接。在支撑杆上套设定位套筒214，对连接板213、第一支撑板211和第二支撑板212进行定位。双头螺杆221从连接板213上穿过且与连接板213之间留有间隙，连接板213将双头螺杆221的两个螺纹段隔开。
在另一实施例中，第一支撑板211与第二支撑板212也可以通过带有螺纹的支撑杆固定连接。此时，第一支撑板211、第二支撑板212以及连接板213之间的定位可以通过配合连接在支撑杆上的定位螺母锁紧来实现，即用定位螺母代替定位套筒214。
进一步地，如图5、图6所示，连接体13包括通道连接板131、通道支撑板132、远端固定板133、近端结构体固定板134、第一引导通道135和第二引导通道136。通道连接板131与第一支撑板211紧固连接。通道支撑板132与第二支撑板212紧固连接。近端结构体固定板134通过连接柱137与通道支撑板132紧固连接。第一引导通道135的一端与近端结构体固定板134紧固连接，另一端依次穿过通道支撑板132、通道连接板131后与远端固定板133紧固连接；第二远端结构骨153以及近端结构骨123从第一 引导通道135中穿过。第二引导通道136设置在远端固定板133与通道连接板131之间，第一远端结构骨143从第二引导通道136中穿过。在一个可替代的方案中，也可省去通道支撑板132和连接柱137，此时，可将近端结构体固定板134直接与第二支撑板212紧固连接。
进一步地，如图3所示，在第二远端构节15的末端设置手术执行器30。在基础框架21中设置执行器驱动机构，执行器驱动机构的输出端通过手术执行器控线301与手术执行器30连接。如图5所示，执行器驱动机构包括一根转动设置在基础框架中21的螺杆303，螺杆303上配合连接一个滑块304，滑块304与固定设置在基础框架21中的导杆305滑动连接。滑块304作为执行器驱动机构的输出端与手术执行器控线301紧固连接。当螺杆303沿不同的方向转动时，螺杆303上的滑块304可以沿导杆305上下直线运动，进而可以推拉手术执行器控线301以实现手术执行器30的开合驱动。
如图3所示位于第二远端构节15末端的手术执行器30，可以替换为其它功能性执行端，例如图10所示的视觉照明模块90。此时，在基础框架21中可设置视觉处理单元和照明控制单元，视觉处理单元和照明控制单元与视觉照明模块90可通过复合导线连接。在远端结构体11的驱动下，可以调整视觉照明模块90的位姿以获取工作部位视野的实时图像。
进一步地，如图5所示，本发明的柔性手术工具10还包括弹性连接机构40。弹性连接机构40包括连接头401、联轴器公头402、第三支撑板403、第四支撑板404和弹簧405。第三支撑板403通过支撑杆406与第二支撑板212固定连接。第四支撑板404通过支撑杆407与第三支撑板403固定连接。连接头401滑动连接在第三支撑板403上。当采用图5所示的直线运动机构22时，双头螺杆221或螺杆303与连接头401的一端可滑动不可转动地连接。当采用图9所示的直线运动机构22时，主动螺杆221a或螺杆303与连接头401的一端可滑动不可转动地连接。连接头401的另一端与联轴器公头402的一端连接。联轴器公头402可滑动且可转动地安装于第四支撑板404上。弹簧405套接在联轴器公头402上。弹簧405的一端抵在第三支撑板403上，另一端与联轴器公头402固定连接。当联轴器公头402与联轴器母头503(将在下文中详述，该联轴器母头503与驱动电机的转轴固定连接)沿轴向方向靠近但没有对准时，联轴器母头503将推动联轴器公头402沿轴向运动，并压缩弹簧405。此时，由于联轴器母头503在沿轴向旋转，当旋转到与联轴器公头402对准时，弹簧405将联轴器公头402弹回复位，从而实现联轴器公母头的连接，并可将旋转运动传递给螺杆303及双头螺杆221或主动螺杆 221a。
进一步地，在传动驱动单元20及弹性连接机构40的外部设置壳体230。第一支撑板211、第二支撑板212均与壳体230紧固连接。在远端结构体11的外部设置有封皮119，以改善远端结构体11进入人体自然腔道或手术切口的顺畅性。在封皮119的外部还可以设置外套管120和鞘套125。如图7所示，在一种应用中，鞘套125固定于腹腔的单一切口处。远端结构体11连同封皮119、手术执行器30可以自由穿过鞘套125上供手术工具通过的通孔到达术部。如图8所示，鞘套125也可以采用柔性鞘套，以更容易地伸入人体的各类自然腔道并随着腔道的形状而自适应改变外形。柔性鞘套的一端固定于腔道入口处，远端结构体11连同封皮119、手术执行器30同样可以自由穿过柔性鞘套上供手术工具通过的通孔到达术部。
进一步地，如图11-15所示，电机组单元60包括电机组外壳601。在电机组外壳601的前端转动连接电机固定板602。在电机固定板602的前侧紧固连接有盖板603。在电机固定板602的后侧紧固连接多个第一电机605、一个第二电机606和一个第三电机607。第一电机605的输出轴穿过盖板603且与第二联轴器公头609紧固连接。第二电机606的输出轴穿过盖板603且与连接块610紧固连接。在第三电机607的输出轴上紧固连接有齿轮612。齿轮612与一内齿圈613啮合。内齿圈613与电机组外壳601紧固连接。
无菌屏障50包括无菌屏障外罩501、无菌屏障支撑板502和联轴器母头503。联轴器母头503转动设置在无菌屏障支撑板502上，用于连接联轴器公头402与第二联轴器公头609。无菌屏障外罩501转动连接在无菌屏障支撑板502的外周。在无菌屏障支撑板502的前侧设置有定位销孔505。在柔性手术工具10的第四支撑板404的后侧设置用于与定位销孔505配合连接的定位销体411。在无菌屏障支撑板502的后侧设置有连接销座508。在电机组单元60的盖板603的前侧设置有用于与连接销座508连接的第二连接销座(图中未示出)。在无菌屏障支撑板502上还设置有快速锁紧装置。快速锁紧装置包括快速锁紧体521和锁紧销522。快速锁紧体521与无菌屏障支撑板502转动连接。快速锁紧体521的一端为薄壁结构，另一端在轴向上设置有两个圆孔523。圆孔523用于与设置在连接块610上的突出的销(图中未示出)连接以传递旋转动力。锁紧销522沿薄壁结构的内壁的周向布置。在第四支撑板404的后侧设置有螺旋特征415，在一实施例中，螺旋特征415为第四支撑板404后侧中部的圆柱体的周向上呈120°间隔的三个侧向楔形凸起。当快速锁紧体521旋转从而带动锁紧销522在螺旋特征415上运动时，无菌屏障支撑板502将与第四支撑板404拉紧或推离。当定位销孔505与定位销体411 对齐连接时，柔性手术工具10上的联轴器公头402与无菌屏障50的联轴器母头503在圆周上的位置是完全对应的。定位销孔505和定位销体411上设置有触点，用于检测无菌屏障50与柔性手术工具10是否锁紧连接。快速锁紧装置用于实现柔性手术工具10与无菌屏障50的快速锁紧连接。当柔性手术工具10与无菌屏障50进行连接时，将柔性手术工具10的定位销体411与无菌屏障50中的定位销孔505对准连接，从而保证柔性手术工具10的联轴器公头402与无菌屏障50的联轴器母头503的位置对齐。
启动第二电机606，动力通过连接块610传递到快速锁紧体521使其转动，嵌在快速锁紧体521内壁上的锁紧销522沿着柔性手术工具10的螺旋特征415运动。这样，快速锁紧体521的旋转使得柔性手术工具10与无菌屏障50产生沿轴向的相向拉紧运动，并使得定位销体411上的触点和定位销孔505上的触点逐渐靠近。当定位销体411的触点和定位销孔505的触点接触时，实现了柔性手术工具10与无菌屏障50的快速锁紧连接，第二电机606停止转动。启动第一电机605，驱动无菌屏障50的联轴器母头503旋转，直至其与柔性手术工具10的联轴器公头402对准。在联轴器母头503与联轴器公头402对准时，弹性连接机构40将联轴器公头402弹出，实现联轴器公头402与联轴器母头503的连接。在无菌屏障外罩501上连接有无菌膜(图中未示出)，其可将柔性手术工具10等位于无菌屏障50之前的已消毒的部分与电机组单元60和线性模组70等位于无菌屏障50之后的未消毒的部分隔离开来，保证临床手术的可实施性。当启动第三电机607后，其输出轴旋转并带动齿轮612旋转。齿轮612将沿内齿圈613的周向转动行走，从而带动电机组单元60中除电机组外壳601和内齿圈613以外的部分绕自身轴线进行整体旋转，进而驱动柔性手术工具10绕自身轴线整体旋转，最终实现对手术执行器30的横滚角度控制。
进一步地，线性模组70包括带有滑槽的支架体701。在支架体701上转动设置有丝杠702。在丝杠702上套设有滑块703作为线性模组70的输出端。滑块703与丝杠702通过螺纹配合，且滑动设置在滑槽中。在支架体701的一端设置有第四电机705。第四电机705的输出轴与丝杠702通过联轴器706紧固连接。电机组外壳601与滑块703紧固连接。当第四电机705的输出轴转动时，滑块703将带动电机组外壳601沿滑槽做线性运动，从而实现柔性手术工具10的线性进给运动。
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。

Claims (17)

  1. 一种多用途的柔性手术工具系统，包括柔性手术工具，所述柔性手术工具包括：
    柔性连续体结构，包括：
    远端结构体，包括第一远端构节和第二远端构节；
    连接体；和
    近端结构体，所述近端结构体通过所述连接体与所述第二远端构节关联；
    传动驱动单元，其
    与所述第一远端构节关联，以驱动所述第一远端构节进行弯转运动，
    还与所述近端结构体关联，以驱动所述近端结构体进行弯转运动，从而间接驱动所述第二远端构节进行弯转运动。
  2. 如权利要求1所述的柔性手术工具系统，
    所述第一远端构节包括第一远端间隔盘、第一远端固定盘和第一远端结构骨，
    所述第一远端结构骨的一端与所述传动驱动单元连接，另一端依次穿过第一远端间隔盘后与所述第一远端固定盘紧固连接；
    所述第二远端构节包括第二远端间隔盘、第二远端固定盘和第二远端结构骨；
    所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；
    所述第二远端结构骨与所述近端结构骨一一对应紧固连接或为同一根结构骨，并依次穿过所述近端间隔盘、所述连接体、所述第一远端间隔盘、所述第一远端固定盘和所述第二远端间隔盘，所述近端结构骨的另一端与所述近端固定盘紧固连接，所述第二远端结构骨的另一端与所述第二远端固定盘紧固连接。
  3. 如权利要求2所述的柔性手术工具系统，所述传动驱动单元包括：
    基础框架；
    驱动骨，所述驱动骨的一端穿过所述近端间隔盘且与所述近端固定盘紧固连接；和
    设置在所述基础框架中的用于将旋转运动输入转换为直线运动输出的多个直线运动机构，至少一个所述直线运动机构的输出端与所述第一远端结构骨连接，至少一个所述直线运动机构的输出端与所述驱动骨的另一端连接。
  4. 如权利要求3所述的柔性手术工具系统，
    所述基础框架包括间隔布置的第一支撑板和第二支撑板，在所述第一支撑板和第二支撑板之间固定设置有第一导杆；
    所述直线运动机构包括与所述第一支撑板、所述第二支撑板转动连接的双头螺杆，在所述双头螺杆的两个螺纹段上分别配合连接一个第一螺纹滑块，所述第一螺纹滑块与 所述第一导杆滑动连接。
  5. 如权利要求3所述的柔性手术工具系统，
    所述基础框架包括间隔布置的第一支撑板和第二支撑板，在所述第一支撑板和第二支撑板之间固定设置有第一导杆；
    所述直线运动机构包括转动连接在所述第一支撑板和第二支撑板之间的主动螺杆和从动螺杆，
    在所述主动螺杆和所述从动螺杆上分别通过螺纹配合连接一个第二螺纹滑块，所述第二螺纹滑块与所述第一导杆滑动连接，
    在所述主动螺杆和所述从动螺杆上分别紧固套设同步带轮，两个所述同步带轮之间通过同步带连接。
  6. 如权利要求4所述的柔性手术工具系统，
    所述第一支撑板与所述第二支撑板通过第一支撑杆固定连接，
    在所述第一支撑板与所述第二支撑板之间设置有将所述双头螺杆的两个螺纹段隔开的连接板，所述连接板亦通过所述第一支撑杆固定连接，
    在所述第一支撑杆上套设定位套筒，对所述连接板、所述第一支撑板和所述第二支撑板进行定位；
    所述双头螺杆从所述连接板上穿过且与所述连接板之间留有间隙。
  7. 如权利要求4或5所述的柔性手术工具系统，所述连接体包括：
    通道连接板，与所述第一支撑板紧固连接；
    通道支撑板，与所述第二支撑板紧固连接；
    远端固定板；
    近端结构体固定板，通过连接柱与所述通道支撑板紧固连接；
    第一引导通道，一端与所述近端结构体固定板紧固连接，另一端依次穿过所述通道支撑板、所述通道连接板后与所述远端固定板紧固连接，所述第二远端结构骨与所述近端结构骨从所述第一引导通道中穿过；
    第二引导通道，设置在所述远端固定板与所述通道连接板之间，所述第一远端结构骨从所述第二引导通道中穿过。
  8. 如权利要求3所述的柔性手术工具系统，还包括：
    设置在所述第二远端构节的末端的手术执行器，和
    设置在所述基础框架中的执行器驱动机构，所述执行器驱动机构的输出端通过手术执行器控线与所述手术执行器连接。
  9. 如权利要求8所述的柔性手术工具系统，所述执行器驱动机构包括：
    一根转动设置在所述基础框架中的螺杆，和
    与所述螺杆配合连接的一个滑块，所述滑块与固定设置在所述基础框架中的第二导杆滑动连接，所述滑块与所述手术执行器控线紧固连接。
  10. 如权利要求4所述的柔性手术工具系统，还包括弹性连接机构，所述弹性连接机构包括；
    第三支撑板，通过第二支撑杆与所述第二支撑板固定连接；
    第四支撑板，通过所述第二支撑杆与所述第三支撑板固定连接；
    连接头，滑动连接在所述第三支撑板上，所述双头螺杆与所述连接头的一端可滑动不可转动地连接，
    第一联轴器公头，一端可滑动且可转动地安装于所述第四支撑板上，另一端与所述连接头的另一端连接；
    弹簧，套接在所述第一联轴器公头上，所述弹簧的一端抵在所述第三支撑板上，另一端与所述第一联轴器公头固定连接。
  11. 如权利要求5所述的柔性手术工具系统，还包括弹性连接机构，所述弹性连接机构包括；
    第三支撑板，通过第二支撑杆与所述第二支撑板固定连接；
    第四支撑板，通过所述第二支撑杆与所述第三支撑板固定连接；
    连接头，滑动连接在所述第三支撑板上，所述主动螺杆与所述连接头的一端可滑动不可转动地连接，
    第一联轴器公头，一端可滑动且可转动地安装于所述第四支撑板上，另一端与所述连接头的另一端连接；
    弹簧，套接在所述第一联轴器公头上，所述弹簧的一端抵在所述第三支撑板上，另一端与所述第一联轴器公头固定连接。
  12. 如权利要求3所述的柔性手术工具系统，还包括：
    设置在所述第二远端构节的末端的视觉照明模块，
    设置在所述基础框架中的视觉处理单元和照明控制单元，所述视觉处理单元和所述照明控制单元与所述视觉照明模块通过复合导线连接。
  13. 如权利要求1所述的柔性手术工具系统，还包括：
    无菌屏障；
    电机组单元，通过所述无菌屏障与所述柔性手术工具连接，为所述传动驱动单元提 供驱动力；
    线性模组，输出端与所述电机组单元连接，用于驱动所述电机组单元及所述柔性手术工具实现线性进给运动。
  14. 如权利要求13所述的柔性手术工具系统，还包括弹性连接机构，所述弹性连接机构包括第一联轴器公头与第四支撑板；
    所述电机组单元包括
    电机组外壳；
    电机固定板，其转动连接在所述电机组外壳的前端；
    盖板，其紧固连接在所述电机固定板的前侧；
    多个第一电机、一个第二电机和一个第三电机，其紧固连接在所述电机固定板的后侧；
    第二联轴器公头；
    连接块；
    齿轮，其紧固连接在所述第三电机的输出轴上；及
    内齿圈，其与所述齿轮啮合且与所述电机组外壳紧固连接；
    其中，所述第一电机的输出轴穿过所述盖板且与所述第二联轴器公头紧固连接，所述第二电机的输出轴穿过所述盖板且与所述连接块紧固连接。
  15. 如权利要求14所述的柔性手术工具系统，
    所述无菌屏障包括无菌屏障外罩、无菌屏障支撑板和联轴器母头；
    所述联轴器母头转动设置在所述无菌屏障支撑板上，用于连接所述第一联轴器公头与所述第二联轴器公头；
    所述无菌屏障外罩转动连接在所述无菌屏障支撑板的外周；
    在所述无菌屏障支撑板的前侧设置有定位销孔；
    在所述第四支撑板的后侧设置有用于与所述定位销孔配合连接的定位销体；
    在所述无菌屏障支撑板的后侧设置有连接销座，在所述电机组单元的所述盖板的前侧设置有用于与所述连接销座连接的第二连接销座。
  16. 如权利要求15所述的柔性手术工具系统，
    所述无菌屏障支撑板上还设置有快速锁紧装置，
    所述快速锁紧装置包括快速锁紧体和锁紧销，
    所述快速锁紧体与所述无菌屏障支撑板转动连接，
    所述快速锁紧体的一端为薄壁结构，另一端在轴向上设置有两个圆孔，
    所述圆孔用于与设置在所述连接块上的突出的销连接以传递旋转动力；
    所述锁紧销沿所述薄壁结构的内壁的周向布置；
    在所述第四支撑板的后侧设置有螺旋特征，
    当所述快速锁紧体旋转从而带动所述锁紧销在所述螺旋特征上运动时，所述无菌屏障支撑板将与所述第四支撑板拉紧或推离。
  17. 如权利要求14所述的柔性手术工具系统，
    所述线性模组包括带有滑槽的支架体，
    在所述支架体上转动设置有丝杠，
    在所述丝杠上套设有与所述丝杠通过螺纹配合且滑动设置在所述滑槽中的滑块，
    在所述支架体的一端设置有第四电机，
    所述第四电机的输出轴与所述丝杠通过联轴器紧固连接；
    所述电机组外壳与所述滑块紧固连接。
PCT/CN2019/070890 2018-01-10 2019-01-08 多用途的柔性手术工具系统 Ceased WO2019137380A1 (zh)

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