A kind of flexible operation tool system for secondary combination driving of doing more physical exercisesTechnical field
The present invention relates to a kind of medical instruments, and in particular to a kind of flexible operation tool system for secondary combination driving of doing more physical exercisesSystem.
Background technique
Porous laparoscopic minimally invasive surgery occupies in surgical operation important because its wound is small, post-operative recovery is fastStatus.Da Vinci (Leonardo da Vinci) operating robot of existing Intuitive Surgical company (intuition surgery company, the U.S.)It assists doctor to complete porous laparoscopic minimally invasive surgery, achieves commercial immense success.
Invasive surgery formula develops single-hole laparoscopic surgery and through the noninvasive of natural cavity again after porous laparoscopic surgeryOperation, their smaller to patient trauma, postoperative outputs are higher.But in single-hole laparoscopic surgery and through the non-invasive procedures of natural cavityIn, all surgical instruments including visual illumination module and surgical procedure arm pass through single channel and reach art portion, this is rightThe preparation of surgical instrument requires extremely harsh.The distal structure of existing surgical instrument is mainly the hinged in series of more rod pieces, is usedLineoutofservice signal pull driving, realizes surgical instrument at articulation joint and curves.Since wirerope must keep lasting by pulleyTensioning state, this driving method are difficult to realize miniaturising for surgical instrument, are also difficult to further promote the fortune of instrumentDynamic performance.
Although Intuitive Surgical company is proposed da Vinci Single-Site (SS type Leonardo da Vinci) in the recent periodOperating robot transform original rigid surgical instrument as semi-rigid surgical instrument, and increases prebuckling casing, centainlyThe movenent performance of surgical instrument is improved in degree, but still can not fundamentally solve traditional operation instrument problem encountered.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of flexible operation tool system of movement secondary combination driving,Flexibility operation tool system can preferably be applied to through human body natural's cavity or through single operative incision and implement to perform the operationSurgical robot system.
To achieve the above object, the invention adopts the following technical scheme: a kind of flexible operation for secondary combination driving of doing more physical exercisesTool system, the flexibility including being mainly made of the associated far structure body of sequence, middle connection body and near structure body are continuousBody structure, the far structure body proximal end are associated with through the middle connection body with the near structure body, are distally executed for operationEnd；The far structure body is made of at least one distal end structure section, and each distal end structure section includes distal end fixed disk and structureBone；The near structure body includes the proximal end structure section equal with the distal end structure joint number amount, and each proximal end structure section includes closeHold fixed disk and structural bone, which is characterized in that the system further includes and the associated gear drive unit of the near structure body；InstituteStating gear drive unit includes multiple transmission mechanisms for respectively corresponding and driving the proximal end structure section, and the transmission mechanism can be by oneThe Rotary motion input parallel to axis is converted into the rotary motion output that a pair of of axis intersects vertically, wherein defeated with rotary motionEnter the parallel rotary motion output of axis to be directed toward for controlling the plane that curves of the proximal end structure section, another is transported with rotationThe vertical rotary motion output of driven input shaft line curves angle curving in plane for controlling the proximal end structure section, with drivingProximal end structure section in the near structure body is curved to any direction, and then is driven in the far structure body being associatedDistal end structure section curves in the opposite direction.
In a preferred embodiment, the middle connection body include flexible operation distal tool end plate, channel support plate,It transmission mechanism substrate and is fixedly connected between the flexible operation distal tool end plate and transmission mechanism substrate and passes through describedThe structural bone guiding channel of channel support plate；The structural bone in structural bone and the proximal end structure section on the distal end structure section is one by oneCorrespondence is fastenedly connected or is same root structural bone, and one end of structural bone is fastenedly connected with the proximal end fixed disk, and the other end passes throughIt is fastenedly connected after the structural bone guiding channel with the distal end fixed disk.
In a preferred embodiment, the transmission mechanism is cam drive, and the cam drive includesIt is fastenedly connected two driving gears in two drive shaft one end respectively, the drive shaft other end and first shaft coupling male connector are sameAxis is fastenedly connected；Each driving gear engages with the first driven gear ring and the second driven gear ring respectively and drives its rotation；The first driven gear ring is fastenedly connected with cam, and the cam and transmission mechanism substrate rotation connect；Simultaneously described theTwo driven gear rings are integrally fastenedly connected with transmission shaft, rotate driving plate and support plate, the support plate and the transmission mechanism basePlate rotation connection, the cam and rotate driving plate rotation connect；The cam drive further includes one end and sliding blockThe planar linkage mechanism being fastenedly connected, the sliding block and the transmission shaft slide axially the rotation that connect and can transmit circumferentiallyTranshipment is dynamic；Several rollers are fastenedly connected on the sliding block, the roller matches with cam path spiral yarn shaped on the cam,The push-pull effort along the drive shaft axis direction can be generated；The planar linkage mechanism other end and proximal end fixed disk driving plateIt is slidably connected, while the proximal end fixed disk is fastenedly connected with the proximal end fixed disk driving plate.
In a preferred embodiment, the planar linkage mechanism is mainly made of push rod, connecting rod and rocking bar, described to push awayBar is slidably connected in the support plate, and one end is fastenedly connected with the sliding block, the other end pass through the support plate with it is describedOne end of connecting rod rotates connection, and the rocking bar rotation that the connecting rod other end and rotation are fixed on the transmission shaft connects,The rocking bar is slidably connected with the proximal end fixed disk driving plate.
In a preferred embodiment, the gear drive unit further includes operation actuator driven mechanism, whileThe distal end of the far structure body is provided with operation actuator；The operation actuator driven mechanism includes: flexible operation toolBottom plate, screw rod of the rotational support between the channel support plate and flexible operation tool bottom plate, is fastenedly connected the screw rod oneThe first shaft coupling male connector at end is fastenedly connected by being threadedly engaged in the nut on the screw rod in the transmission mechanism substrateThe guide rod being slidably connected between the channel support plate and with the nut and one end and operation actuator fastening connectIt connects, the operation actuator control line that the other end is passed through from the far structure body and is fastenedly connected with the nut.
In a preferred embodiment, which further includes and the associated motor driven list of the flexible operation toolMember, the electric-motor drive unit include: to be fastenedly connected in multiple first motors on motor fixing plate, and rotation is connected to the electricityThe electric-motor drive unit shell of machine fixed plate periphery, is fastenedly connected in the ring gear of electric-motor drive unit shell end face, tightlyBe connected the gear being connected on one of them described first motor output shaft, and is fastenedly connected and exports in remaining first motorSecond shaft coupling male connector on axis；The first motor driving gear rotation being connect with the gear, and drive the motorEntire infrastructure in driving unit in addition to the electric-motor drive unit shell and ring gear is whole around the axis of the ring gearRotation controls the roll angle of far structure body to realize.
In a preferred embodiment, the flexible operation tool and electric-motor drive unit are connected by sterile barrierIt connects, the sterile barrier includes sterile barrier outer cover and sterile barrier support plate, rotary setting in the sterile barrier support plateThere are multiple shaft coupling females that can be connect respectively with the first shaft coupling male connector and second shaft coupling male connector quick-fit；?It is provided with electric-motor drive unit attachment screw in the sterile barrier support plate, is correspondingly arranged on the motor fixing plateThere is sterile barrier attachment base, the sterile barrier attachment base is connect with the electric-motor drive unit attachment screw, so that the nothingBacterium barrier is fixedly connected with the motor fixing plate, and can transmit mass motion；In addition, being fastened on the sterile barrier outer coverIt is connected with for by can the sterile film be isolated with the part not sterilized of sterilization section.
In a preferred embodiment, which further includes linear mould group, and the linear mould group includes: sliding with straight lineThe support body of slot is rotatably dispose in the lead screw of the support body, by being threadedly engaged on the lead screw and being slideably positioned in instituteThe sliding block in straight is stated, and is fastenedly connected the second motor in the support body；The sliding block and the motor drivenUnit housings are fastenedly connected, and second motor output shaft is fastenedly connected with the lead screw.
In a preferred embodiment, the distal end structure section further includes being spaced apart in multiple distal end intervals thereinThe structural bone of disk, the more distal end structure sections is passed through from the structural bone through hole being distributed on each distal end space disc, endIt is fixed in the distal end fixed disk；Similar, the proximal end structure section further includes being spaced apart in multiple proximal end intervals thereinDisk, structural bone one end of the more proximal end structure sections are fixed in the proximal end fixed disk, and the other end is successively from each proximal endIn the structural bone through hole being distributed on space disc pass through afterwards on the distal end structure section structural bone one-to-one correspondence be fastenedly connected orFor same root structural bone.
In a preferred embodiment, the structural bone of the distal end structure section and/or the structural bone of the proximal end structure section areThin elastic rod or tubule, material are Nitinol or stainless steel；Using multiple distal end structure sections or proximal end structure section,If the structural bone of the previous distal end structure section or proximal end structure section uses elastic tubule, the latter distal end structure section or proximal end structure sectionStructural bone can pass through the elastic tubule, or pass through directly through the structural bone on the distal end space disc or proximal end space discHole；In addition, structural bone quantity therein is three or more for each distal end structure section or proximal end structure section.
In a preferred embodiment, the outside of the far structure body is coated with strip of paper used for sealing, and outside the strip of paper used for sealingIt is additionally provided with outer tube and sheath.
The invention adopts the above technical scheme, which has the following advantages: 1, it includes near structure body that the present invention, which uses,Based on the flexible Continuum Structure of middle connection body and far structure body, and cooperate with gear drive unit, wherein distal colorectalStructure body is associated with by middle connection body near structure body, and gear drive unit is associated with near structure body, when transmission driving is singleWhen each proximal end structure section is curved to any direction in member driving near structure body, far structure body is correspondingly curved in the opposite directionTurn, thus can realize the flexible surgical arm being made of far structure body and strip of paper used for sealing it is any to curve movement.2, the present invention existsIn near structure body, middle connection body and far structure body, using the structural bone arrangement (being greater than three) of redundancy, flexibility is improvedSafety, reliability and the load capacity of operation tool system.3, sterile barrier one end of the invention can quickly connect flexible handArt tool, the other end can quickly connect electric-motor drive unit, thus the flexible operation tool for effectively having sterilized system and itsThe part of Yu Wei disinfection keeps apart, and guarantees the exploitativeness of clinical operation.4, the present invention is provided in flexible operation toolCam drive, the cam drive can convert the parallel Rotary motion input of a pair of of axis to the vertical phase of a pair of of axisThe rotary motion of friendship exports, wherein a rotary motion parallel with Rotary motion input axis exports (by the first drive modeRealize) it is directed toward for controlling the plane that curves of proximal end structure section, another rotary motion vertical with Rotary motion input axis is defeatedIt (is realized out by the second drive mode) and is curving the angle that curves in plane for controlling proximal end structure section, it finally can be in smaller spaceThe proximal end structure section inside passed through 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 actuator, and operation actuator control line passes through flexible Continuum Structure, flexible with being located atOperation actuator driven mechanism connection in operation tool, to realize the action control to operation actuator.6, the present invention is gone backIt is provided with electric-motor drive unit shell, is fixedly connected with ring gear, electric-motor drive unit in the end face of electric-motor drive unit shellIt can relative rotation between remaining interior structure and electric-motor drive unit shell, wherein motor output shaft is fixedly connected with gear, gearIt is engaged with ring gear, therefore, it is whole that the motor can drive the part in addition to electric-motor drive unit shell and ring gear to carry outRotation so that flexible surgical arm, which has, rotates integrally freedom degree, and realizes the adjusting to operation actuator roll angle.7,The present invention is additionally provided with linear mould group, is fixedly connected with electric-motor drive unit shell and can drive electric-motor drive unit, nothingBacterium barrier and flexible operation tool carry out linear movement, therefore flexible surgical arm also has linear feeding freedom degree.8, of the inventionIt can be applied to single hole endoscope-assistant surgery, can also be applied to through natural cavity non-invasive procedures.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of far structure body of the present invention；
Fig. 3 is the structural schematic diagram of structure section in proximal end of the present invention；
Fig. 4 is the structural schematic diagram of middle connection body of the present invention；
Fig. 5 is the structural schematic diagram of gear drive unit of the present invention；
Fig. 6 is the structural schematic diagram of cam drive of the present invention and the actuator driven mechanism that performs the operation；
Fig. 7 is the cross-sectional view of cam drive of the present invention；
Fig. 8 is the structural schematic diagram of electric-motor drive unit of the present invention；
Fig. 9 is that the present invention loads onto the structural schematic diagram after sterile barrier, electric-motor drive unit and linear mould group；
Figure 10 is the structural schematic diagram of sterile barrier of the present invention；
Figure 11 is structural schematic diagram of the far structure body of the present invention using flexible sheath.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understandObjects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it isIllustrate the connotation of technical solution of the present invention.
Fig. 1 is illustrated according to flexible tool system 10 of performing the operation provided in this embodiment comprising mainly by far structure body11, the flexible Continuum Structure that near structure body 16 and middle connection body 15 are constituted, and it is associated with flexible Continuum StructureGear drive unit 21.Wherein, far structure body 11 is associated with proximally by middle connection body 15 near structure body 16, is distallyOperation actuating station.Gear drive unit 21 is associated with near structure body 16, when gear drive unit 21 drives near structure body 16When curving to any direction, far structure body 11 correspondingly curves in the opposite direction.
As shown in Fig. 2, far structure body 11 includes operation actuator 101, the first distal end structure section 12 and the second distal end structure section13.Wherein, the first distal end structure section 12 includes the first distal end space disc 121, the first distal end fixed disk 122 and the first structure section structure bone123.Several first distal ends space disc 121 is spaced apart in the first distal end structure section 12, is acted on to prevent the first structure section structure bone123 unstabilitys when being pushed away.The structural bone through hole that more first structure section structure bones 123 are distributed from each first distal end space disc 121In pass through, end is fixed in the first distal end fixed disk 122.Similar, the second distal end structure section 13 includes the second distal end space disc131, the second distal end fixed disk 132 and the second structure section structure bone 133.Several second distal ends space disc 131 is spaced apart in secondIn distal end structure section 13, unstability when to prevent the second structure section structure bone 133 from being pushed away is acted on.More second structure section structure bones 133 are from eachIt is passed through in the structural bone through hole being distributed on second distal end space disc 131, end is fixed in the second distal end fixed disk 132.It needsIt should be noted that the first structure section structure bone 123 and the second structure section structure bone 133 should be respectively three or more.
As shown in Figure 1, Figure 3, near structure body 16 includes the first completely the same proximal end structure section 17 and second of two structuresProximal end structure section 18.First proximal end structure section 17 includes the first proximal end space disc 171, the first proximal end fixed disk 172 and the first structure noduleStructure bone 173, several first proximal ends space disc 171, which is respectively separated, to be distributed in the first proximal end structure section 17, and effect is to prevent the first structureThe unstability when being pushed away of section structure bone 173.Similar, the second proximal end structure section 18 is solid including the second proximal end space disc 181, the second proximal endPrice fixing 182 and the second structure section structure bone 183, several second proximal ends space disc 181, which is respectively separated, is distributed in the second proximal end structure section 18In, effect is to prevent the second unstability when being pushed away of structure section structure bone 183.The first structure section structure on the first proximal end structure section 17Bone 173 is fastenedly connected with the first structure section structure bone 123 one-to-one correspondence being located on the first distal end structure section 12 or is same root structureBone；The second structure section structure bone 183 on the second proximal end structure section 18 and the second structure nodule on the second distal end structure section 13The one-to-one correspondence of structure bone 133 is fastenedly connected or is same root structural bone.It should be noted that the first structure section structure bone 173 and second183 quantity of structure section structure bone should be consistent with the first structure section structure bone 123 and 133 quantity of the second structure section structure bone respectively.
As shown in figure 4, middle connection body 15 includes successively spaced flexible operation distal tool end plate 107, channel branchFagging 152 and cam drive substrate 236 and both ends are fixedly connected on flexible operation distal tool end plate 107 and cam passesStructural bone guiding channel 151 between motivation structure substrate 236 and across channel support plate 152.It should be noted that channel supportPlate 152 and cam drive substrate 236 can be one group, or the multiple groups (such as being two groups in Fig. 5) being alternately arranged,22 numbers of 236 groups of numbers of channel support plate 152 and cam drive substrate and cam drive are consistent.First structure noduleOne end of structure bone 173 (123) is fastenedly connected with the first proximal end fixed disk 172, and the other end sequentially passes through the first proximal end space disc171, it is fastenedly connected after structural bone guiding channel 151, the first distal end space disc 121 with the first distal end fixed disk 122.Second structure sectionOne end of structural bone 183 (133) is fastenedly connected with the second proximal end fixed disk 182, and the other end sequentially passes through the second proximal end space disc181, tight with the second distal end fixed disk 132 after structural bone guiding channel 151, the first distal end structure section 12, the second distal end space disc 131It is solidly connected.The effect of structural bone guiding channel 151 is to maintain structural bone by shape invariance when push and draw force.It is preferred real at oneIt applies in example, the structural bone in structural bone and/or near structure body 16 in said distal ends structural body 11 can be thin elastic rod or thinPipe, material can be Nitinol or stainless steel etc..Meanwhile the joint number of distal end structure section and proximal end knot in said distal ends structural body 11The joint number of proximal end structure section is also possible to one or more than two in structure body 16, but in far structure body 11 distal end structure section sectionNumber should the joint number always with proximal end structure section near structure body 16 be consistent.Using multiple distal end structure sections or proximal end structure section feelingsUnder condition, if the structural bone of previous distal end structure section or proximal end structure section uses elastic tubule, latter distal end structure section or proximal end structure sectionStructural bone may pass through the elastic tubule, or directly through the structural bone through hole on distal end space disc or proximal end space disc, this canFurther micromation is realized while not changing relative motion relation in far structure body 11 or near structure body 16.In addition,Each proximal end structure section is positioned opposite for series connection, nested setting or independent arrangement (as shown in Figure 1) near structure body 12Deng.
As shown in Fig. 5~Fig. 7, gear drive unit 21 includes two cam drives 22 (only as example, and unlimitedIn this), respectively correspond the first proximal end structure section 17 of driving and the second proximal end structure section 18.Cam drive 22 includes that fastening respectively connectsBe connected to two driving gears 221 of two 213 one end of drive shaft, two drive shafts, 213 other end respectively with two shaft coupling male connectors 212Coaxially it is fastenedly connected.Each driving gear 221 engages with the first driven gear ring 222, the second driven gear ring 223 respectively and drives itRotation.First driven gear ring 222 is fastenedly connected with cam 229, and cam 229 and the rotation of cam drive substrate 236 connect；TogetherWhen the second driven gear ring 223, transmission shaft 226, rotate driving plate 224 be integrally fastenedly connected with support plate 225, support plate 225 withThe rotation connection of cam drive substrate 236, cam 229 and the rotation of rotate driving plate 224 connect.Sliding block 227 and push rod 232 are tightIt is solidly connected, and slides axially the rotary motion that connect and can transmit circumferentially with transmission shaft 226；Preferably, sliding block 227 and biographyMoving axis 226 can be connected by ball spline.Several rollers 228, spiral on roller 228 and cam 229 are fastenedly connected on sliding block 227Linear cam path 231 matches, and can generate the push-pull effort along 226 axis direction of transmission shaft.Push rod 232 is slidably connected at branchOn fagging 225 and one end rotation connection of the support plate 225 with connecting rod 234 is passed through, the other end of connecting rod 234 and rotation are fixed on biographyRocking bar 233 on moving axis 226 rotates connection；Rocking bar 233 is slidably connected with proximal end fixed disk driving plate 235, while the first proximal endFixed disk 172, the second proximal end fixed disk 182 are fastenedly connected with a proximal end fixed disk driving plate 235.
When driving gear 221 drives the rotation of the first driven gear ring 222, the cam 229 being fastenedly connected therewith is driven to rotate,So that roller 228 slides in cam path 231；Spiral yarn shaped cam path 231 makes roller 228 and fixes with roller 228 to connectThe sliding block 227 connect, push rod 232 are slided along transmission shaft 226, and push rod 232 passes through 233 drive rocker 234 of connecting rod in a certain rangeIt swings, rocking bar 233 and the opposite sliding of proximal end fixed disk driving plate 235, driving proximal end fixed disk driving plate 237 curves, thus directlyIt connects the first proximal end structure section 17 of control and the second proximal end structure section 18 and curves angle in specific curve in plane, it is close without changing firstThe length for holding structure section 17 and the second proximal end structure section 18, so that the meandering shape of the first proximal end structure section 17 and the second proximal end structure section 18 isIt is generally radiused；When the rotation of the second driven gear ring 223, the rotate driving plate 224 being fastenedly connected therewith, transmission shaft 226 are drivenIt with support plate 225, and is made rotating motion jointly with movable slider 227 by transmission shaft 226, by push rod 232, connecting rod 233 and rocking barThe planar linkage mechanisms of 234 compositions rotate with, and final to change curving for the first proximal end structure section 17 and the second proximal end structure section 18 flatIt is directed toward in face.Under the first drive mode, when the first driven gear ring 222 of driving and the second driven gear ring 223 are same with same angular velocityOpposing stationary between sliding block 227 and cam 229 to rotation, roller 228 slides in cam path 231 without opposite, therefore sliding block227 and push rod 232 in axial positive motion, the first proximal end structure section 17 and the second proximal end structure section 18 are accordingly curving plane at this timeIn to curve angle constant, only curve plane direction and change；Under the second drive mode, the first driven gear ring 222 is drivenAnd it is remain stationary the second driven gear ring 223, it is relatively rotated between cam 229 and sliding block 227 at this time, transmission shaft 226 keeps quietOnly and limits sliding block and rotate, the sliding axially back and forth along transmission shaft 226 in cam path 231 of roller 228, therefore sliding block227 drive the push rod 232 that is fastenedly connected therewith to slide axially, and the first proximal end structure section 17 and the second proximal end structure section 18 is curved at this timeTurn plane and be directed toward constant, only curves the angle that curves in plane and change at this.In conjunction with first drive mode and secondDrive mode can be realized and be directed toward to the plane that curves of the first proximal end structure section 17 and the second proximal end structure section 18 and curve plane at thisIn the Collaborative Control for curving angle.When the first proximal end structure section 17 is curved to some direction, the first distal end structure section 12 will be with oneFixed proportionate relationship (being codetermined by the distribution radius of the first structure section structure bone 123 (173)) curves in the opposite direction；It is similarGround, when the second proximal end structure section 18 is curved to some direction, the second distal end structure section 13 will in certain proportion relationship (by the second structureThe distribution radius of section structure bone 133 (183) codetermines) it curves in the opposite direction.
In a preferred embodiment, the distal end of far structure body 11 is provided with operation actuator 101 (such as Fig. 1, figureShown in 2), operation 102 one end of actuator control line is fastenedly connected with operation actuator 101, and the other end is worn from far structure body 11It crosses, is connect with the operation actuator driven mechanism 25 (as shown in Figure 5, Figure 6) for being located at 21 end of gear drive unit, operation executesDevice driving mechanism 25 is realized by the physics push-and-pull to operation actuator control line 102 to mechanical 101 (such as hand of operation actuatorArt pincers etc.) action control.It will be appreciated by persons skilled in the art that operation actuator control line 102 can also equally transmitSuch as electric energy, ultrasonic vibration energy to electrosurgery formula operation actuator 101 (such as electric knife, ultrasound knife), to realize handThe particular procedure function of art actuator 101.The actuator driven mechanism 25 that performs the operation includes screw rod 251 and nut 252.Wherein, screw rodFor 251 rotational supports between channel support plate 152 and flexible operation tool bottom plate 106,251 one end of screw rod and another shaft coupling are publicFirst 212 are coaxially fastenedly connected, and with nut 252 by being threadedly engaged, guide rod 253 is fastenedly connected in cam drive screw rod 251Between substrate 236 and channel support plate 152, it is slidably connected with nut 252.Shaft coupling male connector 212 is driven to drive 251 turns of screw rodIt is dynamic, move the tandem under the guidance of guide rod 253 of nut 252, push-and-pull one end is executed with the operation that nut 252 is fastenedly connectedDevice control line 102, the final action control realized to operation actuator 101.
In a preferred embodiment, as shown in Figure 8, Figure 9, the invention also includes associated with flexible operation tool 10Electric-motor drive unit 40, electric-motor drive unit 40 include electric-motor drive unit shell 401, motor fixing plate 402,421 and of gearRing gear 422.Wherein, electric-motor drive unit shell 401 is located at the periphery of motor fixing plate 402, electric-motor drive unit shell 401End face be fastenedly connected ring gear 422, motor fixing plate 402 and electric-motor drive unit shell 401 are rotatablely connected.It is fixed in motorMultiple motors (being 6 motors in the present embodiment) is fastenedly connected on plate 402, the output shaft of one of motor is fastenedly connected toothWheel 421, the output shaft of remaining motor is fastenedly connected shaft coupling male connector 403, and gear 421 is engaged with ring gear 422.With gear 421The motor of connection can drive gear 421 to rotate, and drive in electric-motor drive unit 40 except electric-motor drive unit shell 401 and internal toothEntire infrastructure other than circle 422 is rotated integrally around the axis of ring gear 422, is executed to realize to far structure body 11 and operationThe roll angle of device 101 controls.
In a preferred embodiment, as shown in Figures 9 and 10, flexible operation tool 10 and electric-motor drive unit 40 can lead toIt crosses sterile barrier 30 quickly to connect, sterile barrier 30 includes sterile barrier outer cover 301 and sterile barrier support plate 302, sterile screenRotary setting has multiple shaft coupling females that can be connect respectively with shaft coupling male connector 212,403 quick-fits in barrier support plate 302303.Electric-motor drive unit attachment screw 304 is provided in sterile barrier support plate 302, correspondingly in motor fixing plateSterile barrier attachment base 404 (as shown in Figure 8) is provided on 402, sterile barrier attachment base 404 connect spiral shell with electric-motor drive unitNail 304 can be connected quickly, so that sterile barrier 30 is fixedly connected with motor fixing plate 402, and can transmit mass motion.SterileIt is fastenedly connected on barrier outer cover 301 whether there is or not mycoderm (not shown), being used for can sterilization section (such as flexible operation tool 10Part before sterile barrier 30) with do not sterilize part (such as electric-motor drive unit 40, linear mould group 50 be located at it is sterilePart after barrier 30) it is isolated, guarantee the clinical exploitativeness of operation.
In a preferred embodiment, as shown in figure 9, (linear mould group 50 is also led to the invention also includes linear mould group 50Sterile film is crossed to keep apart with sterilization section) comprising the support body 501 with straight is rotated on support body 501 and is setIt is equipped with lead screw 503, is arranged on lead screw 503 with lead screw 503 by being threadedly engaged and being slidably arranged in the cunning in straightBlock 502 is provided with motor 504 in one end of support body 501, and the output shaft and lead screw 503 of motor 504 are fastened by shaft coupling to be connectedIt connects.Electric-motor drive unit shell 401 is fastenedly connected with sliding block 502.When the rotation of the output shaft of motor 504, sliding block 502 will be drivenElectric-motor drive unit shell 401 does linear movement along straight, to realize the feed motion of flexible operation tool 10.
In a preferred embodiment, as shown in Figure 1, shown in Figure 11, the outside of far structure body 11 is provided with strip of paper used for sealing103, it acts as improve smoothness of the far structure body 11 into human body natural's cavity or operative incision.In the outer of strip of paper used for sealing 103Outer tube 104 and sheath 60 can also be arranged in portion.As shown in Figure 1, in one application, sheath 60, which is fixed on the single of abdominal cavity, cutsAt mouthful, far structure body 11 can pass freely through and pass through in sheath 60 for operation tool together with strip of paper used for sealing 103, operation actuator 101Through-hole reach art portion.As shown in figure 11, in another kind application, sheath 60 can also more can be held using flexible sheathChange places protrude into all kinds of natural cavities of human body and with the shape of cavity and adaptively changing shape, one end of flexible sheath are fixedIn cavity inlet, far structure body 11 can equally pass freely through flexible sheath and put on together with strip of paper used for sealing 103, operation actuator 101Art portion is reached for the through-hole that operation tool passes through.
The present invention is only illustrated with above-described embodiment, and structure, setting position and its connection of each component are all can haveChanged.Based on the technical solution of the present invention, the improvement or equivalent that all principles according to the present invention carry out individual partTransformation, should not exclude except protection scope of the present invention.