The flexible operation tool system that a kind of secondary combination of doing more physical exercises drivesTechnical field
The present invention relates to a kind of medical apparatus and instruments, be specifically related to the flexible operation tool system that a kind of secondary combination of doing more physical exercises drivesSystem.
Background technology
Porous peritoneoscope Minimally Invasive Surgery, because its wound is little, post-operative recovery fast, has occupied important in surgical operationStatus.Da Vinci (Leonardo da Vinci) operating robot of existing Intuitive Surgical company (intuition surgery company of the U.S.)Auxiliary doctor completes porous peritoneoscope Minimally Invasive Surgery, achieves coml immense success.
Invasive surgery formula develops again single-hole laparoscopic surgery and the noinvasive through natural tract after porous laparoscopic surgeryOperation, they outputs less to patient trauma, postoperative are higher.But at single-hole laparoscopic surgery with through the non-invasive procedures of natural tractIn, all operating theater instruments including visual illumination module and operation technique arm all reach art portion by single channel, and this is rightThe preparation of operating theater instruments requires extremely harsh.The distal structure of existing operating theater instruments is mainly the hinged in series of many rod members, usesLineoutofservice signal pull drives, and makes operating theater instruments realize curving at articulation joint.Owing to steel wire rope must keep lasting by pulleyTensioning state, this type of drive is difficult to the further miniaturization of operating theater instruments, is also difficult to promote further the fortune of apparatusDynamic performance.
Although Intuitive Surgical company is proposed da Vinci Single-Site (SS type Leonardo da Vinci) in the recent periodOperating robot, original rigidity operating theater instruments is transform as semi-rigid operating theater instruments, and adds prebuckling sleeve pipe, necessarily by itImprove the exercise performance of operating theater instruments in degree, but still cannot fundamentally solve traditional operation apparatus problem encountered.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide the flexible operation tool system that the combination of a kind of kinematic pair drives,This flexibility operation tool system can preferably be applied to through human body natural's tract or through single operative incision and implement operationSurgical robot system.
For achieving the above object, the present invention is by the following technical solutions: the flexible operation that a kind of secondary combination of doing more physical exercises drivesTool system, including the flexibility being mainly made up of the far structure body sequentially associated, middle connection body and near structure body continuouslyBody structure, described far structure body near-end associates with described near structure body through described middle connection body, and far-end performs for operationEnd；Described far structure body is made up of at least one far-end structure joint, and each described far-end structure joint includes far-end fixed disk and structureBone；Described near structure body includes the near-end structure joint equal with described far-end structure joint number amount, and each described near-end structure joint includes nearEnd fixed disk and structural bone, it is characterised in that this system also includes the gear drive unit associated with described near structure body；InstituteStating gear drive unit and include that multiple correspondence respectively drives the drive mechanism of described near-end structure joint, described drive mechanism can be by oneThe rotary motion input that axis is parallel is converted into a pair the rotary motion output that axis intersects vertically, wherein defeated with rotary motionEnter a parallel rotary motion output of axis to point to for the plane that curves controlling described near-end structure joint, another and rotation fortuneThe rotary motion output that driven input shaft line is vertical curves angle for controlling described near-end structure joint in curving plane, to driveNear-end structure joint in described near structure body curves to any direction, and then drives in the described far structure body of associatedFar-end structure joint curves in the opposite direction.
In a preferred embodiment, described middle connection body include flexible operation distal tool end plate, channel support plate,Drive mechanism substrate and being fixedly connected between described flexible operation distal tool end plate and drive mechanism substrate and through describedThe structural bone guiding channel of channel support plate；Structural bone on described far-end structure joint is with the structural bone on described near-end structure joint one by oneCorrespondence is fastenedly connected or is same root knot llex cornuta, and one end of structural bone and described near-end fixed disk are fastenedly connected, and the other end passesIt is fastenedly connected with described far-end fixed disk after described structural bone guiding channel.
In a preferred embodiment, described drive mechanism is cam drive, and described cam drive includesIt is fastenedly connected two driving gears in two drive shaft one end, the described drive shaft other end and the first shaft coupling male respectively sameAxle is fastenedly connected；Each described driving gear engages with the first driven gear ring and the second driven gear ring and drives it to rotate respectively；Described first driven gear ring is fastenedly connected with cam, and described cam is rotatably connected with described drive mechanism substrate；The most describedTwo driven gear rings drive plate and gripper shoe to be integrally fastenedly connected with power transmission shaft, rotation, described gripper shoe and described drive mechanism basePlate is rotatably connected, and described cam drives plate to be rotatably connected with described rotation；Described cam drive also includes one end and slide blockThe planar linkage mechanism being fastenedly connected, described slide block slides axially with described power transmission shaft the rotation being connected and can transmit circumferentiallyTranshipment is dynamic；Being fastenedly connected some rollers on described slide block, the described roller cam path spiral yarn shaped with on described cam matches,The push-pull effort along described drive shaft axis direction can be produced；The described planar linkage mechanism other end drives plate with near-end fixed diskBeing slidably connected, the most described near-end fixed disk and described near-end fixed disk drive plate to be fastenedly connected.
In a preferred embodiment, described planar linkage mechanism is mainly made up of push rod, connecting rod and rocking bar, described in push awayBar is slidably connected in described gripper shoe, and its one end is fastenedly connected with described slide block, and the other end passes described gripper shoe with describedOne end of connecting rod is rotatably connected, and the described connecting rod other end is rotatably connected with rotating the described rocking bar being fixed on described power transmission shaft,Described rocking bar and described near-end fixed disk drive plate to be slidably connected.
In a preferred embodiment, described gear drive unit also includes the actuator driven mechanism that performs the operation, and exists simultaneouslyThe far-end of described far structure body is provided with operation executor；Described operation actuator driven mechanism includes: flexible operation toolBase plate, rotational support screw rod between described channel support plate and flexible operation tool base plate, it is fastenedly connected described screw rod oneFirst shaft coupling male of end, by threaded engagement nut on described screw rod, is fastenedly connected in described drive mechanism substrateAnd the guide rod being dynamically connected between described channel support plate and with described slide nut, and one end fastens even with described operation executorConnecing, the operation executor that the other end passes from described far structure body and is fastenedly connected with described nut controls line.
In a preferred embodiment, this system also includes that the motor associated with described flexible operation tool drives singleUnit, described electric-motor drive unit includes: multiple first motors being fastenedly connected on motor fixing plate, is rotatably connected in described electricityThe electric-motor drive unit housing of machine fixed plate periphery, is fastenedly connected in the ring gear of described electric-motor drive unit housing end face, tightlyBe connected the gear being connected on one of them described first motor output shaft, and is fastenedly connected in the first motor output remaining describedThe second shaft coupling male on axle；Described first motor-driven gear being connected with described gear rotates, and drives described motorIn driver element, the entire infrastructure in addition to described electric-motor drive unit housing and ring gear is overall around the axis of described ring gearRotate, thus realize the roll Angle ambiguity to far structure body.
In a preferred embodiment, described flexible operation tool and electric-motor drive unit are carried out even by sterile barrierConnecing, described sterile barrier includes sterile barrier outer housing and sterile barrier gripper shoe, rotary setting in described sterile barrier gripper shoeThere is multiple shaft coupling female that can be connected respectively with described first shaft coupling male and the second shaft coupling male quick-fit；?It is provided with electric-motor drive unit attachment screw in described sterile barrier gripper shoe, arranges on described motor fixing plate accordinglyHaving sterile barrier to connect seat, described sterile barrier connects seat and is connected with described electric-motor drive unit attachment screw so that described nothingBacterium barrier is fixing with described motor fixing plate to be connected, and can transmit mass motion；Additionally, fasten on described sterile barrier outer housingConnect and have for sterilization section and the part do not sterilized the sterile film isolated will can be carried out.
In a preferred embodiment, this system also includes that linear module, described linear module include: sliding with straight lineThe stake body of groove, rotates the leading screw being arranged at described stake body, and is slideably positioned in institute by threaded engagement on described leading screwState the slide block in straight, and be fastenedly connected the second motor in described stake body；Described slide block drives with described motorUnit housings is fastenedly connected, and described second motor output shaft is fastenedly connected with described leading screw.
In a preferred embodiment, described far-end structure joint also includes spaced apart in multiple far-ends therein intervalDish, the structural bone that the structural bone of many described far-end structure joints is distributed from each described far-end space disc passes by hole, endIt is fixed on described far-end fixed disk；Similar, described near-end structure joint also includes spaced apart in multiple near-ends therein intervalDish, structural bone one end of many described near-end structures joint is fixed on described near-end fixed disk, and the other end is successively from each described near-endOn space disc the structural bone of distribution by hole is fastenedly connected through the rear structural bone one_to_one corresponding with described far-end structure on joint orFor same root knot llex cornuta.
In a preferred embodiment, the structural bone of described far-end structure joint and/or the structural bone of described near-end structure joint areThin elastic rod or tubule, material is Nitinol or rustless steel；In the case of using multiple described far-end structures joint or near-end structure joint,If the structural bone of previous described far-end structure joint or near-end structure joint uses elastic tubule, then far-end structure joint described in rear one or near-end structure jointStructural bone can pass this elastic tubule, or pass through directly through the structural bone on described far-end space disc or near-end space discHole；Additionally, for each described far-end structure joint or near-end structure joint, structural bone quantity therein is more than three.
In a preferred embodiment, the outside of described far structure body is coated with strip of paper used for sealing, and outside described strip of paper used for sealingIt is additionally provided with trocar sheath and sheath.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention uses and includes near structure body,The flexible Continuum Structure of middle connection body and far structure body is main body, and coordinates with gear drive unit, wherein, and distal colorectalStructure body is associated with near structure body by middle connection body, and gear drive unit associates with near structure body, when transmission drives singleUnit drives each near-end structure near structure body to save when any direction curves, and far structure body is the most curvedTurn, the flexible surgical arm that therefore can realize being made up of far structure body and strip of paper used for sealing any to curving motion.2, the present invention existsIn near structure body, middle connection body and far structure body, use the structural bone of redundancy to arrange (more than three), improve flexibilityThe safety of operation tool system, reliability and load capacity.3, sterile barrier one end of the present invention can quickly connect flexible handArt instrument, the other end can quickly connect electric-motor drive unit, thus the flexible operation tool effectively system sterilized and itsThe part of Yu Wei sterilization is kept apart, it is ensured that the exploitativeness of clinical operation.4, the present invention is provided with in flexible operation toolCam drive, rotary motion input parallel for a pair axis can be converted into a pair vertical phase of axis by this cam driveThe rotary motion output handed over, wherein parallel with a rotary motion input axis rotary motion exports (by the first drive patternRealize) to point to for controlling the plane that curves of near-end structure joint, another rotary motion inputting axis vertical with rotary motion is defeatedGo out (being realized by the second drive pattern) and in curving plane, curve angle for controlling near-end structure joint, finally can be in less spaceInterior being saved by a near-end structure in one group of cam drive driving near structure body is curved to any direction.5, the present invention existsThe front end of far structure body is provided with operation executor, and operation executor controls line through flexible Continuum Structure, and is positioned at flexibilityOperation actuator driven mechanism in operation tool connects, thus realizes the action control to operation executor.6, the present invention is alsoBeing provided with electric-motor drive unit housing, the end face at electric-motor drive unit housing is fixedly connected with ring gear, electric-motor drive unitIn can rotate against between remaining structure and electric-motor drive unit housing, wherein, motor output shaft is fixedly connected with gear, gearEngaging with ring gear, therefore, described motor can drive the part in addition to electric-motor drive unit housing and ring gear to carry out entiretyRotate, so that flexible surgical arm has integral-rotation degree of freedom, and realize the regulation to operation executor's roll angle.7、The present invention is additionally provided with linear module, and it is fixing with electric-motor drive unit housing is connected and can be with drive motor driver element, nothingBacterium barrier and flexible operation tool carry out linear movement, and therefore flexible surgical arm also has linear feeding degree of freedom.8, the present inventionCan be applicable to single hole endoscope-assistant surgery, it is possible to be applied to through natural tract non-invasive procedures.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of far structure body of the present invention；
Fig. 3 is the structural representation of near-end structure of the present invention joint；
Fig. 4 is the structural representation of middle connection body of the present invention；
Fig. 5 is the structural representation of gear drive unit of the present invention；
Fig. 6 is cam drive of the present invention and the structural representation of operation actuator driven mechanism；
Fig. 7 is the sectional view of cam drive of the present invention；
Fig. 8 is the structural representation of electric-motor drive unit of the present invention；
Fig. 9 is the structural representation after the present invention loads onto sterile barrier, electric-motor drive unit and linear module；
Figure 10 is the structural representation of sterile barrier of the present invention；
Figure 11 is the structural representation that far structure body of the present invention uses flexible sheath.
Detailed description of the invention
Below with reference to accompanying drawing, presently preferred embodiments of the present invention is described in detail, in order to become apparent from understanding the present invention'sObjects, features and advantages.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and be simplyThe connotation of explanation technical solution of the present invention.
Fig. 1 illustrates the flexible operation tool system 10 provided according to the present embodiment, and it includes main by far structure body11, the flexible Continuum Structure that near structure body 16 and middle connection body 15 are constituted, and associate with flexible Continuum StructureGear drive unit 21.Wherein, far structure body 11 associates with near structure body 16 proximally by middle connection body 15, and far-end isOperation actuating station.Gear drive unit 21 associates with near structure body 16, when gear drive unit 21 drives near structure body 16When any direction curves, far structure body 11 curves the most in the opposite direction.
As in figure 2 it is shown, far structure body 11 includes perform the operation executor's the 101, first far-end structure joint 12 and the second far-end structure joint13.Wherein, the first far-end structure joint 12 includes the first far-end space disc the 121, first far-end fixed disk 122 and the first structure nodule llex cornuta123.Some first far-end space discs 121 are spaced apart in the first far-end structure saves 12, act as preventing the first structure nodule llex cornuta123 unstabilitys when being pushed away.The structural bone that many first structure nodule llex cornuta 123 are distributed from each first far-end space disc 121 passes through holeIn pass, end is fixed on the first far-end fixed disk 122.Similar, the second far-end structure joint 13 includes the second far-end space disc131, the second far-end fixed disk 132 and the second structure nodule llex cornuta 133.Some second far-end space discs 131 are spaced apart in secondIn far-end structure joint 13, unstability when acting as preventing the second structure nodule llex cornuta 133 from being pushed away.Many second structure nodule llex cornuta 133 are from respectivelyOn second far-end space disc 131, the structural bone of distribution passes by hole, and end is fixed on the second far-end fixed disk 132.NeedIt should be noted that the first structure nodule llex cornuta 123 and the second structure nodule llex cornuta 133 should be respectively more than three.
As shown in Figure 1, Figure 3, near structure body 16 includes two on all four first near-end structure joints 17 and second of structureNear-end structure joint 18.First near-end structure joint 17 includes the first near-end space disc the 171, first near-end fixed disk 172 and the first structure noduleLlex cornuta 173, some first near-end space discs 171 are respectively separated and are distributed in the first near-end structure joint 17, and effect is to prevent the first structureNodule llex cornuta 173 unstability when being pushed away.Similar, the second near-end structure joint 18 includes that second near-end space disc the 181, second near-end is solidPrice fixing 182 and the second structure nodule llex cornuta 183, some second near-end space discs 181 are respectively separated and are distributed in the second near-end structure joint 18In, effect is to prevent second structure nodule llex cornuta 183 unstability when being pushed away.It is positioned at the first structure nodule structure on the first near-end structure joint 17Bone 173 is fastenedly connected with the first structure nodule llex cornuta 123 one_to_one corresponding being positioned on the first far-end structure joint 12 or is same root architectureBone；The the second structure nodule llex cornuta 183 being positioned on the second near-end structure joint 18 and the second structure nodule being positioned on the second far-end structure joint 13Llex cornuta 133 one_to_one corresponding is fastenedly connected or is same root knot llex cornuta.It should be noted that the first structure nodule llex cornuta 173 and secondStructure nodule llex cornuta 183 quantity should keep consistent with the first structure nodule llex cornuta 123 and the second structure nodule llex cornuta 133 quantity respectively.
As shown in Figure 4, middle connection body 15 includes that the most spaced flexible operation distal tool end plate 107, passage prop upFagging 152 and cam drive substrate 236, and two ends are fixedly connected on flexible operation distal tool end plate 107 and cam passesBetween motivation structure substrate 236 and through the structural bone guiding channel 151 of channel support plate 152.It should be noted that channel supportPlate 152 and cam drive substrate 236 can be one group, it is also possible to for many groups (in such as Fig. 5 being two groups) being alternately arranged,236 groups of numbers of channel support plate 152 and cam drive substrate keep consistent with cam drive 22 number.First structure noduleOne end of llex cornuta 173 (123) is fastenedly connected with the first near-end fixed disk 172, and the other end sequentially passes through the first near-end space disc171, it is fastenedly connected with the first far-end fixed disk 122 after structural bone guiding channel the 151, first far-end space disc 121.Second structure jointOne end of structural bone 183 (133) is fastenedly connected with the second near-end fixed disk 182, and the other end sequentially passes through the second near-end space disc181, tight with the second far-end fixed disk 132 after structural bone guiding channel the 151, first far-end structure joint the 12, second far-end space disc 131It is solidly connected.The effect of structural bone guiding channel 151 is to maintain structural bone by shape invariance during push and draw force.A preferred realityExecuting in example, the structural bone in said distal ends structure 11 and/or the structural bone near structure body 16 can be thin elastic rod or thinPipe, material can be Nitinol or rustless steel etc..Meanwhile, in said distal ends structure 11, joint number and the near-end of far-end structure joint are tiedIn structure body 16, the joint number of near-end structure joint can also be one or more than two, but the joint of far-end structure joint in far structure body 11Number should keep consistent with the joint number of near-end structure joint near structure body 16 all the time.Using multiple far-end structures joint or near-end structure joint feelingsUnder condition, if previous far-end structure saves or the structural bone of near-end structure joint uses elastic tubule, then a rear far-end structure joint or near-end structure saveStructural bone may pass through this elastic tubule, or directly through the structural bone on far-end space disc or near-end space disc by hole, this canMiniaturization further is realized in far structure body 11 or near structure body 16 while relative motion relation not changing.Additionally,In near structure body 12 each near-end structure joint positioned opposite for being connected in series, nested arrange or independent layout (as shown in Figure 1)Deng.
As shown in Fig. 5～Fig. 7, gear drive unit 21 includes that two cam drives 22 (only as example, do not limitIn this), correspondence drives the first near-end structure joint 17 and the second near-end structure joint 18 respectively.Cam drive 22 includes the company of fastening respectivelyBe connected to two driving gears 221 of two drive shaft 213 one end, two drive shaft 213 other ends respectively with two shaft coupling males 212Coaxially it is fastenedly connected.Each driving gear 221 engages with first driven gear ring the 222, second driven gear ring 223 and drives it respectivelyRotate.First driven gear ring 222 is fastenedly connected with cam 229, and cam 229 is rotatably connected with cam drive substrate 236；WithTime the second driven gear ring 223, power transmission shaft 226, rotate and drive plate 224 to be integrally fastenedly connected with gripper shoe 225, gripper shoe 225 andCam drive substrate 236 is rotatably connected, and cam 229 drives plate 224 to be rotatably connected with rotating.Slide block 227 is tight with push rod 232It is solidly connected, and the rotary motion being connected and can transmit circumferentially that slides axially with power transmission shaft 226；Preferably, slide block 227 and biographyMoving axis 226 can be connected by ball spline.Some rollers 228, roller 228 and spiral on cam 229 it is fastenedly connected on slide block 227Linear cam path 231 matches, it is possible to produce the push-pull effort along power transmission shaft 226 axis direction.Push rod 232 is slidably connected at and props upBeing rotatably connected with one end of connecting rod 234 on fagging 225 and through gripper shoe 225, the other end of connecting rod 234 and rotation are fixed on biographyRocking bar 233 on moving axis 226 is rotatably connected；Rocking bar 233 and near-end fixed disk drive plate 235 to be slidably connected, the first near-end simultaneouslyFixed disk the 172, second near-end fixed disk 182 all drives plate 235 to be fastenedly connected with a near-end fixed disk.
When driving gear 221 drives the first driven gear ring 222 to rotate, the cam 229 being fastenedly connected therewith is driven to rotate,Roller 228 is slided in cam path 231；Spiral yarn shaped cam path 231 makes roller 228 and company fixing with roller 228The slide block 227 connect, push rod 232 slides along power transmission shaft 226, and push rod 232 is by connecting rod 233 drive rocker 234 within the specific limitsSwinging, rocking bar 233 and near-end fixed disk drive that plate 235 is relative to slide, and drive near-end fixed disk driving plate 237 to curve, thus directlyConnect control the first near-end structure joint 17 and the second near-end structure joint 18 specific curve in plane curve angle, and it is near not change firstEnd structure joint 17 and the length of the second near-end structure joint 18 so that the meandering shape of the first near-end structure joint 17 and the second near-end structure joint 18 isGenerally radiused；When the second driven gear ring 223 rotates, the rotation being fastenedly connected therewith is driven to drive plate 224, power transmission shaft 226With gripper shoe 225, and jointly rotated, by push rod 232, connecting rod 233 and rocking bar by power transmission shaft 226 band movable slider 227The planar linkage mechanisms of 234 compositions rotate with, and final to change curving of the first near-end structure joint 17 and the second near-end structure joint 18 flatFace is pointed to.Under the first drive pattern, when driving the first driven gear ring 222 and the second driven gear ring 223 same with same angular velocityTo geo-stationary between rotation, slide block 227 and cam 229, roller 228 slides without relative in cam path 231, therefore slide block227 and push rod 232 at axial positive motion, now the first near-end structure joint 17 and the second near-end structure joint 18 are curving plane accordinglyIn to curve angle constant, only curve plane and point to and change；Under the second drive pattern, drive the first driven gear ring 222And make the second driven gear ring 223 keep static, and now relatively rotating between cam 229 and slide block 227, power transmission shaft 226 keeps quietStopping and limit slide block and rotate, roller 228 is sliding axially back and forth along power transmission shaft 226 in cam path 231, therefore slide block227 drive the push rod 232 that is fastenedly connected therewith to slide axially, and now the first near-end structure joint 17 and the second near-end structure joint 18 is curvedTurning plane and point to constant, the only angle that curves in this curves plane changes.In conjunction with described first drive pattern and secondDrive pattern, can realize pointing to the plane that curves of the first near-end structure joint 17 and the second near-end structure joint 18 and curve plane at thisIn the Collaborative Control curving angle.When the first near-end structure joint 17 curves to certain direction, the first far-end structure joint 12 will be with oneFixed proportionate relationship (being together decided on by the distribution radius of the first structure nodule llex cornuta 123 (173)) curves in the opposite direction；SimilarGround, when second near-end structure save 18 curve to certain direction time, second far-end structure joint 13 will in certain proportion relation (by the second structureThe distribution radius of nodule llex cornuta 133 (183) together decides on) curve in the opposite direction.
In a preferred embodiment, the far-end in far structure body 11 is provided with operation executor 101 (such as Fig. 1, figureShown in 2), operation executor is controlled line 102 one end and is fastenedly connected with operation executor 101, and the other end is worn from far structure body 11Crossing, be connected with operation actuator driven mechanism 25 (as shown in Figure 5, Figure 6) being positioned at gear drive unit 21 end, operation performsDevice drive mechanism 25 realizes mechanical operation executor 101 (such as hands by operation executor is controlled the physics push-and-pull of line 102Art pincers etc.) action control.It will be appreciated by persons skilled in the art that operation executor is controlled line 102 and can also be transmitted equallySuch as electric energy, the operation executor 101 (such as electric knife, ultrasound knife etc.) of supersonic vibration homenergic to electrosurgery formula, thus realize handsThe particular procedure function of art executor 101.Operation actuator driven mechanism 25 includes screw rod 251 and nut 252.Wherein, screw rod251 rotational support are between channel support plate 152 and flexible operation tool base plate 106, and screw rod 251 one end is public with another shaft coupling212 are coaxially fastenedly connected, and screw rod 251 and nut 252 are by threaded engagement, and guide rod 253 is fastenedly connected in cam driveBetween substrate 236 and channel support plate 152, it is slidably connected with nut 252.Shaft coupling male 212 is driven to drive screw rod 251 turnsDynamic, make nut 252 tandem motion under the guiding of guide rod 253, the operation that push-and-pull one end and nut 252 are fastenedly connected performsDevice control line 102, the final action control realized operation executor 101.
In a preferred embodiment, as shown in Figure 8, Figure 9, present invention additionally comprises and associate with flexible operation tool 10Electric-motor drive unit 40, electric-motor drive unit 40 includes electric-motor drive unit housing 401, motor fixing plate 402, gear 421 andRing gear 422.Wherein, electric-motor drive unit housing 401 is positioned at the periphery of motor fixing plate 402, electric-motor drive unit housing 401End face be fastenedly connected ring gear 422, motor fixing plate 402 is rotationally connected with electric-motor drive unit housing 401.Fix at motorBeing fastenedly connected with multiple motor (being 6 motors in the present embodiment) on plate 402, the output shaft of one of them motor is fastenedly connected toothWheel 421, the output shaft of remaining motor is fastenedly connected shaft coupling male 403, and gear 421 engages with ring gear 422.With gear 421The motor connected can drive gear 421 to rotate, and except electric-motor drive unit housing 401 and internal tooth in drive motor driver element 40Entire infrastructure beyond circle 422 is around the axis integral-rotation of ring gear 422, thus realizes performing far structure body 11 and operationThe roll Angle ambiguity of device 101.
In a preferred embodiment, such as Fig. 9, shown in 10, flexible operation tool 10 and electric-motor drive unit 40 can lead toCrossing sterile barrier 30 quickly to connect, sterile barrier 30 includes sterile barrier outer housing 301 and sterile barrier gripper shoe 302, sterile screenIn barrier gripper shoe 302, rotary setting has multiple shaft coupling female that can be connected respectively with shaft coupling male 212,403 quick-fit303.Sterile barrier gripper shoe 302 is provided with electric-motor drive unit attachment screw 304, accordingly at motor fixing plateBeing provided with sterile barrier on 402 and connect seat 404 (as shown in Figure 8), sterile barrier connects seat 404 and is connected spiral shell with electric-motor drive unitNail 304 can quickly connect so that sterile barrier 30 is fixing with motor fixing plate 402 to be connected, and can transmit mass motion.AsepticBe fastenedly connected on barrier outer housing 301 with or without Mycoderma (not shown), for can sterilization section (such as flexible operation tool 10 etc.Part before being positioned at sterile barrier 30) with the part do not sterilized (as electric-motor drive unit 40, linear module 50 etc. are positioned at asepticPart after barrier 30) isolate, it is ensured that the clinical exploitativeness of operation.
In a preferred embodiment, as it is shown in figure 9, present invention additionally comprises linear module 50, (linear module 50 also leads toCross sterile film to keep apart with sterilization section), it includes the stake body 501 with straight, rotates and set on stake body 501It is equipped with leading screw 503, leading screw 503 is arranged with and passes through threaded engagement and the cunning being slidably arranged in straight with leading screw 503Block 502, is provided with motor 504 in one end of stake body 501, and the output shaft of motor 504 is with leading screw 503 by shaft coupling fastening evenConnect.Electric-motor drive unit housing 401 is fastenedly connected with slide block 502.When the output shaft rotation of motor 504, slide block 502 will driveElectric-motor drive unit housing 401 linearly chute does linear movement, thus realizes the feed motion of flexible operation tool 10.
In a preferred embodiment, as shown in Figure 1, shown in Figure 11, the outside in far structure body 11 is provided with strip of paper used for sealing103, it act as improving far structure body 11 and enters the smoothness of human body natural's tract or operative incision.Outside strip of paper used for sealing 103Portion can also arrange trocar sheath 104 and sheath 60.As it is shown in figure 1, in one application, sheath 60 is fixed on the single of abdominal cavity cutsAt Kou, far structure body 11 can pass freely through pass through for operation tool in sheath 60 together with strip of paper used for sealing 103, operation executor 101Through hole arrive art portion.As shown in figure 11, in another kind is applied, sheath 60 can also use flexible sheath, and it can more holdChange places stretch into human body all kinds of natural tract and along with the shape of tract adaptively changing profile, one end of flexible sheath is fixedIn tract porch, far structure body 11 equally passes freely through flexible sheath put together with strip of paper used for sealing 103, operation executor 101The through hole passed through for operation tool arrives art portion.
The present invention only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all to haveChanged.On the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention or equivalentConversion, the most should not get rid of outside protection scope of the present invention.