CN112022238B - Surgical instrument for minimally invasive surgery robot - Google Patents
Surgical instrument for minimally invasive surgery robotDownload PDFInfo
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- CN112022238B CN112022238BCN202010883538.7ACN202010883538ACN112022238BCN 112022238 BCN112022238 BCN 112022238BCN 202010883538 ACN202010883538 ACN 202010883538ACN 112022238 BCN112022238 BCN 112022238B
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- 208000002847Surgical WoundDiseases0.000description1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- 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
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
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Abstract
Translated fromChinese
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a surgical instrument for a minimally invasive surgical robot.
Background
The minimally invasive surgery refers to a surgery of a tiny wound, and refers to a surgery performed by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. In the application process of modern medical surgical operation treatment, minimally invasive surgery plays an increasingly important role because the requirements of small surgical wound, light pain, quick recovery and the like can be met. Since the last 90 s, robot-assisted minimally invasive surgery has gradually become a significant trend. With the advent of minimally invasive surgical robots, doctors can realize minimally invasive, accurate and efficient stereotactic surgery with the help of the robots. The system integrates a plurality of emerging subjects, and realizes minimally invasive, intelligent and digital surgical operation. For the minimally invasive surgery robot system, a doctor controls the front end surgical instrument to simulate the flexible actions of the arm and the wrist of the doctor through the operating console, so that the minimally invasive surgery robot system has higher design requirements on the surgical instrument for the minimally invasive surgery robot. Compared with the traditional surgical instruments, the surgical instruments used in minimally invasive surgery meet the requirements of miniaturization, light weight, multiple degrees of freedom, flexible operation, convenient installation and the like.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a surgical instrument for a minimally invasive surgical robot, which can be quickly disassembled and assembled during a surgical procedure, can realize a large-range motion with multiple degrees of freedom, is flexible to operate, and is highly integrated, so as to assist a doctor in performing a minimally invasive surgical operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a surgical instrument for a minimally invasive surgery robot comprises a far-end executing mechanism, a flexible section, a rod body, a far-end actuator opening and closing driving mechanism, a flexible section deflection driving mechanism, a rotation driving mechanism, a support and a driving tendon assembly, wherein the far-end executing mechanism, the flexible section, the rod body and the support are sequentially connected, and the far-end actuator opening and closing driving mechanism, the flexible section deflection driving mechanism and the rotation driving mechanism are all arranged on the support;
one end of the driving tendon component is connected with the far-end actuator and the flexible section, and the other end of the driving tendon component is connected with the far-end actuator opening and closing driving mechanism and the flexible section deflection driving mechanism; the far-end actuator opening and closing driving mechanism drives the far-end actuator to perform opening and closing actions through the driving tendon component; the flexible section deflection driving mechanism drives the flexible section to perform bending action through the driving tendon component;
the rotary driving mechanism is used for driving the far-end executing mechanism to rotate.
The driving tendon assembly comprises a far-end actuator opening and closing driving tendon and a plurality of flexible segment deflection driving tendons;
one end of the far-end actuator opening and closing drive tendon is connected with the far-end actuator, and the other end of the far-end actuator opening and closing drive tendon penetrates through the flexible section and the rod body in sequence and is connected with the far-end actuator opening and closing drive mechanism;
one end of each flexible section deflection driving tendon is connected with the initial joint of each section of deformation section in the flexible section, and the other end of each flexible section deflection driving tendon penetrates through the flexible section and the rod body in sequence and then is connected with the flexible section deflection driving mechanism.
The surgical instrument for the minimally invasive surgery robot further comprises a wire separating mechanism arranged on the bracket;
the wire dividing mechanism comprises a wire limiting block, sleeves and a cover plate, wherein the wire limiting block is arranged on the support, a plurality of curve grooves are formed in the wire limiting block, the sleeves are arranged in the curve grooves, and a plurality of flexible section deflection driving tendons respectively penetrate through the sleeves; the cover plate is arranged on the outer side of the sleeve and connected with the wire limiting block.
The support comprises a main body support, a rotary driving support and an intermediate support, wherein the main body support is provided with the flexible section deflection driving mechanism; the middle bracket is arranged at the front end of the main body bracket and is used for mounting the wire separating mechanism; the rotary driving support is arranged on the side part of the main body support and used for mounting the rotary driving mechanism.
The far-end actuator opening and closing driving mechanism comprises a butt joint disc, a nut pressing block and a lead screw, wherein the lead screw is arranged on the bracket along the front-back direction and can rotate; the screw nut is in threaded connection with the screw rod to form a thread pair; the nut pressing block is connected with the nut, and the nut pressing block is connected with the opening and closing driving tendon of the far-end actuator; the butt joint disc is arranged at the end part of the lead screw and is used for being connected with an external rotary driving mechanism.
The flexible section deflection driving mechanism comprises a gland and a plurality of pre-tightening mechanisms, wherein the plurality of pre-tightening mechanisms can be arranged on the bracket in a sliding manner along the front-back direction, and are respectively connected with each flexible section deflection driving tendon; the pressing covers are arranged on the outer sides of the pre-tightening mechanisms and connected with the supports.
The pre-tightening mechanism comprises a sliding block and two hollow jackscrews;
a plurality of sliding grooves are formed in the support along the front-back direction; the sliding block is accommodated in the sliding groove and can slide in the sliding groove;
the two hollow jackscrews are arranged on two sides of the sliding block, the flexible section deflects to drive the tendon to penetrate through one hollow jackscrew, the end part of the flexible section is connected with a chuck, and the chuck is clamped by the two hollow jackscrews.
The gland is provided with a plurality of gland grooves corresponding to the sliding grooves respectively; the sliding blocks respectively extend out of the gland grooves.
The rotary driving mechanism comprises a rotary shaft a, a rotary wheel a, a transmission rope, a rotary wheel b and a rotary shaft b, wherein the rotary shaft a and the rotary shaft b are arranged on the bracket in parallel and can rotate; the rotating wheel a and the rotating wheel b are respectively arranged on the rotating shaft a and the rotating shaft b and are in transmission connection through a transmission rope;
the rotating shaft b is inserted into the rod body and the flexible section, and the tail end of the rotating shaft b is connected with the far-end actuating mechanism.
The front end of the bracket is provided with a driving tendon integrated block, and the driving tendon integrated block is provided with a central hole and a plurality of outer ring holes distributed around the central hole;
the rotating shaft b passes through the central hole; the flexible segment deflection driving tendons respectively penetrate through the outer annular holes;
the rotating wheel b and the rotating shaft b are both of hollow structures, and the far-end actuator opens and closes to drive the tendon to sequentially penetrate through the rotating wheel b and the rotating shaft b.
Compared with the prior art, the invention has the advantages and beneficial effects that:
the driving mechanism of the minimally invasive surgical instrument is symmetrically arranged along the axis direction of the rod body on two sides, the driving mode of the driving tendon adopts the direct push-pull of the sliding block and the rotation and matching of the butt joint disk, and the integration level of the driving part of the instrument is high; the near-end driving mechanism drives the driving tendon in a screw nut mode, instability of the driving tendon is avoided due to the wire separating mechanism, and stability of operation of the driving tendon is guaranteed under the condition of large load.
The minimally invasive surgical instrument provided by the invention has a multi-degree-of-freedom deformation section, the flexibility of surgical actions is increased, the surgical instrument directly drives the driving tendon by using the sliding block and the butt joint disk, the stable running of the driving tendon is ensured, the rapid replacement is convenient, and the miniaturization and the light weight of the surgical instrument are realized.
The minimally invasive surgical instrument has the advantages of being capable of being quickly disassembled and assembled in the surgical process, achieving flexible driving with multiple degrees of freedom, being reasonable in mechanism layout and the like, and better meets the requirements of miniaturization, light weight and the like of the surgical instrument.
Drawings
FIG. 1 is a schematic structural view of a surgical instrument for a minimally invasive surgical robot according to the present invention;
FIG. 2 is a schematic view of the surgical instrument for minimally invasive surgery robot of the present invention with the outer shell removed;
FIG. 3 is an exploded view of the filament separating mechanism of the present invention;
FIG. 4 is a schematic structural view of a stent according to the present invention;
FIG. 5 is a schematic structural diagram of a deformation segment deflection driving mechanism according to the present invention;
FIG. 6 is a schematic structural diagram of a drive tendon integrated block in accordance with the present invention;
FIG. 7 is a schematic view of the rotary drive mechanism of the present invention;
FIG. 8 is a schematic view of the installation of the remote actuator of the present invention;
FIG. 9 is a schematic view of a curved rod according to the present invention.
In the figure: 1 is a far-end actuator, 2 is a flexible section, 3 is a rod body, 4 is a wire separating mechanism, 401 is a wire limiting block, 402 is a curved groove, 403 is a sleeve, 404 is a cover plate, 5 is a far-end actuator opening and closing driving mechanism, 501 is a butt joint disk, 502 is a nut, 503 is a nut pressing block, 504 is a lead screw, 6 is a flexible section deflection driving mechanism, 601 is a gland, 602 is a gland groove, 603 is a sliding block, 604 is a hollow jackscrew, 7 is a rotation driving mechanism, 701 is a rotating shaft a, 702 is a rotating wheel a, 703 is a transmission rope, 704 is a rotating wheel b, 705 is a rotating shaft b, 7051 is a steel pipe, 7052 is a torque sheath pipe, 8 is a bracket, 801 is a main body bracket, 802 is a sliding groove, 803 is a rotation driving bracket, 804 is an intermediate bracket, 9 is a flexible section deflection driving mechanism, 10 is a driving tendon block, 101 is a central hole, 102 is an outer ring hole, 11 is a limiting ring, 12 is a rotating ring, and 13.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the surgical instrument for a minimally invasive surgical robot provided by the present invention comprises a distal end actuator 1, aflexible section 2, arod body 3, a distal end actuator opening andclosing driving mechanism 5, a flexible section deflection driving mechanism 6, arotation driving mechanism 7, asupport 8 and a driving tendon assembly, wherein the distal end actuator 1, theflexible section 2, therod body 3 and thesupport 8 are sequentially connected, and the distal end actuator opening andclosing driving mechanism 5, the flexible section deflection driving mechanism 6 and therotation driving mechanism 7 are all disposed on thesupport 8; one end of the drive tendon component is connected with the far-end actuator 1 and theflexible section 2, and the other end is connected with the far-end actuator opening andclosing drive mechanism 5 and the flexible section deflection drive mechanism 6; the far-end actuator opening andclosing driving mechanism 5 drives the far-end actuator 1 to perform opening and closing actions through a driving tendon component; the flexible section deflection driving mechanism 6 drives theflexible section 2 to perform bending action through a driving tendon component; therotary driving mechanism 7 is used for driving the distal end executing mechanism 1 to rotate.
In an embodiment of the present invention, as shown in fig. 2, the drive tendon assembly includes a distal end actuator opening and closing drive tendon and a plurality of flexible segmentdeflection drive tendons 9; one end of the far-end actuator opening and closing drive tendon is connected with the far-end actuator 1, and the other end of the far-end actuator opening and closing drive tendon sequentially penetrates through theflexible section 2 and therod body 3 and then is connected with the far-end actuator opening andclosing drive mechanism 5; one end of each flexible sectiondeflection driving tendon 9 is respectively connected with the initial joint of each section of deformation section in theflexible section 2, and the other end of each flexible section deflection driving tendon is connected with the flexible section deflection driving mechanism 6 after sequentially penetrating through theflexible section 2 and therod body 3.
Specifically, theflexible section 2 has four degrees of freedom and is composed of a plurality of deformation sections. In this embodiment, theflexible segment 2 includes two deformation segments, and the distal end of each deformation segment has a joint fixedly connected with the flexible segmentdeflection driving tendon 9. Specifically, each joint is connected with four flexible segmentdeflection driving tendons 9, and four-way bending is performed by driving the four flexible segmentdeflection driving tendons 9. The far-end actuator opening and closing drive tendon and the flexible segmentdeflection drive tendon 9 adopt tendon transmission such as ropes, wires and the like, and the achievable degrees of freedom comprise: the rotation of the far-end actuating mechanism 1, the multi-section four-way bending of theflexible section 2 and the opening and closing of the far-end actuating mechanism 1.
On the basis of the above embodiment, the surgical instrument for the minimally invasive surgical robot further compriseswire separating mechanisms 4 arranged on two sides of thebracket 8, and thewire separating mechanisms 4 are used for fixing the flexible sectiondeflection driving tendons 9.
As shown in fig. 3, thewire dividing mechanism 4 includes awire limiting block 401, asleeve 403 and acover plate 404, wherein thewire limiting block 401 is disposed on thesupport 8, thewire limiting block 401 is provided with a plurality ofcurved grooves 402, eachcurved groove 402 is provided with thesleeve 403, and the plurality of flexible segments deflect to drive the tendons to pass through eachsleeve 403; thecover 404 is disposed outside thesleeve 403 and is connected to thewire limiter 401.
In the embodiment of the present invention, as shown in fig. 4, thesupport 8 includes amain body support 801, arotation driving support 803, and anintermediate support 804, wherein themain body support 801 is provided with the flexible segment deflection driving mechanism 6; themiddle bracket 804 is arranged at the front end of themain body bracket 801 and is used for installing thewire separating mechanism 4; therotation driving bracket 803 is provided at a side portion of themain body bracket 801 for mounting therotation driving mechanism 7.
In the embodiment of the present invention, as shown in fig. 2, the opening andclosing driving mechanism 5 of the distal end effector includes adocking tray 501, anut 502, anut pressing block 503 and alead screw 504, wherein thelead screw 504 is disposed on arotary driving bracket 803 of thebracket 8 along the front-back direction and is rotatable; thenut 502 is in threaded connection with thelead screw 504 to form a thread pair; thenut pressing block 503 is connected with thenut 502, and thenut pressing block 503 is connected with the opening and closing driving tendon of the far-end actuator; thedocking plate 501 is disposed at an end of thescrew 504, and is used for connecting with a docking plate of a power device. The motor drives thebutt joint disc 501 to rotate to drive thelead screw 504 to rotate, and thenut 502 is driven to slide back and forth, so that the opening and closing driving of the far-end actuating mechanism 1 is realized by matching with the clamping mechanism.
The nut pressingblock 503 is provided with a groove, the chuck of the far-end actuator opening and closing driving tendon falls into the groove, and the groove is matched to realize the pushing and pulling of the far-end actuator opening and closing driving tendon.
When the minimally invasive surgical instrument is in butt joint with the power device, the limiting pin is inserted into the mechanism to adjust the position of the sliding block so as to fix the position of the sliding block on the same straight line, the tightness of the driving tendon is adjusted by adjusting the pre-tightening mechanism, and meanwhile, the vertical state of the butt joint groove of the butt joint disc is controlled, so that the butt joint of the instrument and the power device is completed.
In the embodiment of the present invention, as shown in fig. 5, the flexible segment deflecting driving mechanism 6 includes apressing cover 601 and a plurality of pre-tightening mechanisms, wherein the plurality of pre-tightening mechanisms are slidably disposed on themain body bracket 801 of thebracket 8 along the front-back direction, and the plurality of pre-tightening mechanisms are respectively connected to the flexible segment deflectingdriving tendons 9; thepressing covers 601 are provided outside the plurality of biasing mechanisms, and are connected to themain body bracket 801.
Specifically, the pre-tightening mechanism comprises a slidingblock 603 and twohollow jackscrews 604; a plurality of slidinggrooves 802 are arranged on themain body bracket 801 along the front-back direction; the slidingblock 603 is accommodated in the slidingslot 802 and can slide in the slidingslot 802; twohollow jackscrews 604 are arranged on both sides of theslide 603, the flexible segment is deflected to drive thetendon 9 through onehollow jackscrew 604, and the end is connected with a collet which is clamped by the twohollow jackscrews 604. A plurality ofgland grooves 602 corresponding to the slidinggrooves 802 are arranged on thegland 601; thesliders 603 respectively protrude from the cappinggrooves 602, and thesliders 603 are connected to an external driving mechanism.
The flexible section deflection driving mechanism 6 directly drives the flexible sectiondeflection driving tendon 9 by adopting the slidingblocks 603, and each sliding block 603 independently drives one flexible sectiondeflection driving tendon 9; after the surgical instrument is in butt joint with the power device, each slidingblock 603 is provided with an independent butt joint driving block, and each slidingblock 603 is driven to complete forward and backward movement, so that the flexible section deflects to drive thetendon 9 to be pushed and pulled; thesliders 603 can be distributed according to the actual number of degrees of freedom and the requirement of integration, and in the embodiment, eightsliders 603 are adopted to drive the corresponding flexible segmentdeflection driving tendons 9.
Specifically, a threaded hole is formed in the slidingblock 603, a chuck is fixed on the flexible sectiondeflection driving tendon 9,hollow jackscrews 604 are screwed inwards from two ends of the threaded hole, a middle hole of eachhollow jackscrew 604 deflects the drivingtendon 9 through the flexible section, and the twohollow jackscrews 604 clamp the chuck fixed on the flexible sectiondeflection driving tendon 9 relatively. The material of the slidingblock 603 and thehollow jackscrew 604 may be a metal material such as stainless steel, aluminum alloy, or other wear-resistant polymer material, and is not particularly limited herein.
In the embodiment of the present invention, as shown in fig. 7, therotation driving mechanism 7 includes a rotation shaft a701, a rotation wheel a702, atransmission rope 703, a rotation wheel b704 and a rotation shaft b705, wherein the rotation shaft a701 and the rotation shaft b705 are disposed in parallel on thebracket 8 and both can rotate; the rotating wheel a702 and the rotating wheel b704 are respectively arranged on a rotating shaft a701 and a rotating shaft b705, and the rotating wheel a702 and the rotating wheel b704 are in transmission connection through atransmission rope 703; the rotating shaft b705 is inserted into therod body 3 and theflexible section 2, and the end of the rotating shaft b705 is connected with the distal actuator 1. Specifically, the outer surface of the rotating wheel b704 is provided with a spiral groove for winding the drivingrope 703.
In operation, the rotation shaft a701 is connected to an external rotation driving mechanism, the external rotation driving mechanism drives the rotation shaft a701 to rotate, the rotation shaft a701 drives the rotation wheel b704 and the rotation shaft b705 to rotate through thetransmission rope 703, and thus, torque is transmitted from the rotation driving mechanism to the distal end actuator 1.
In the embodiment of the present invention, as shown in fig. 2, the front end of thesupport 8 is provided with a driving tendon integratedblock 10, and the driving tendon integratedblock 10 is provided with acentral hole 101 and a plurality of outerannular holes 102 distributed around thecentral hole 101; the rotation axis b705 passes through thecenter hole 101; the flexible segmentdeflection driving tendons 9 respectively penetrate through the outerannular holes 102; the rotating wheel b704 and the rotating shaft b705 are both hollow structures, and the far-end actuator opens and closes to drive the tendon to sequentially pass through the rotating wheel b704 and the rotating shaft b705 and then be connected with the far-end actuator 1.
In this embodiment, the rotating shaft b705 is formed by connecting a plurality ofsteel pipes 7051 and a plurality oftorque sheath pipes 7052, wherein thetorque sheath pipes 7052 are provided withflexible segments 2 and portions having bends. As shown in fig. 8, thetorque sheath 7052 located inside theflexible segment 2 is connected to theactuator fixing base 13, theactuator fixing base 13 is rotatably connected to the starting joint of theflexible segment 2 through therotating ring 12, and the distal end actuator 1 is disposed on theactuator fixing base 13. Specifically, thetorque sheath 7052 is a torque coil that can transmit torque in both directions, such as a torque coil made of a multi-layer steel wire wound tightly.
In the embodiment of the invention, thewire limiting block 401 is a hollow special-shaped structure, the inner space of the wire limiting block can be used for driving the tendon to freely form a smooth bending curve, the friction is reduced, a plurality of nickel-titanium wires concentrated in a thin tube are separately corresponding to different drivers, and after the tendon is freely driven to form a smooth curve, the sleeve outside the tendon is fixed; a groove is formed in thewire limiting block 401 and used for installing an outer sleeve of the driving tendon, the driving tendon runs along the fixed groove and can be used for limiting the movement of the driving tendon and the sleeve thereof, and errors caused by shaking of the driving tendon in the working process are avoided; thewire limiting block 401 may be made of aluminum alloy, ABS or other polymer materials, and the machining form may be 3D printing or machining, which is not limited herein.
In the embodiment of the present invention, therod 3 may be a straight rod or a curved rod. As shown in fig. 9, therod body 3 in the bent shape may be rigid with a fixed bent shape; or therod body 3 can also be flexible and can be bent freely.
The driving mechanism of the surgical instrument is symmetrically arranged along the axis direction of the rod body on two sides, the surgical instrument has six degrees of freedom, and the driving mode of driving the tendon is that the slider is directly pushed and pulled and the butt joint disk is rotated and matched for use, so that the integration of the surgical instrument is higher. The far-end actuator opening andclosing driving mechanism 5 adopts a lead screw nut form to drive the driving tendon, and thewire separating mechanism 4 avoids the instability of the driving tendon and ensures the stable operation of the driving tendon under the condition of large load. The minimally invasive surgical instrument provided by the invention has a multi-degree-of-freedom deformation section, the flexibility of surgical actions is increased, the surgical instrument directly drives the driving tendon by using the sliding block and the butt joint disk, the stable running of the driving tendon is ensured, the rapid replacement is convenient, and the miniaturization and the light weight of the surgical instrument are realized.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. A surgical instrument for a minimally invasive surgery robot is characterized by comprising a far-end executing mechanism (1), a flexible section (2), a rod body (3), a far-end actuator opening and closing driving mechanism (5), a flexible section deflection driving mechanism (6), a rotation driving mechanism (7), a support (8) and a driving tendon assembly, wherein the far-end executing mechanism (1), the flexible section (2), the rod body (3) and the support (8) are sequentially connected, and the far-end actuator opening and closing driving mechanism (5), the flexible section deflection driving mechanism (6) and the rotation driving mechanism (7) are all arranged on the support (8);
one end of the drive tendon component is connected with the far-end actuator (1) and the flexible section (2), and the other end is connected with the far-end actuator opening and closing drive mechanism (5) and the flexible section deflection drive mechanism (6); the far-end actuator opening and closing driving mechanism (5) drives the far-end actuator (1) to perform opening and closing actions through the driving tendon component; the flexible section deflection driving mechanism (6) drives the flexible section (2) to perform bending action through the driving tendon component;
the rotary driving mechanism (7) is used for driving the far-end executing mechanism (1) to rotate;
the driving tendon component comprises a far-end actuator opening and closing driving tendon and a plurality of flexible segment deflection driving tendons (9);
one end of the far-end actuator opening and closing drive tendon is connected with the far-end actuator (1), and the other end of the far-end actuator opening and closing drive tendon penetrates through the flexible section (2) and the rod body (3) in sequence and then is connected with the far-end actuator opening and closing drive mechanism (5);
one end of each flexible section deflection driving tendon (9) is connected with the initial joint of each deformation section in the flexible section (2), and the other end of each flexible section deflection driving tendon passes through the flexible section (2) and the rod body (3) in sequence and then is connected with the flexible section deflection driving mechanism (6);
the flexible section deflection driving mechanism (6) comprises a gland (601) and a plurality of pre-tightening mechanisms, wherein the pre-tightening mechanisms are arranged on the bracket (8) in a sliding manner along the front-back direction, and are respectively connected with each flexible section deflection driving tendon (9); the pressing covers (601) are arranged on the outer sides of the pre-tightening mechanisms and are connected with the support (8).
2. The surgical instrument for minimally invasive surgery robots according to claim 1, further comprising a wire separating mechanism (4) arranged on the bracket (8);
the wire dividing mechanism (4) comprises a wire limiting block (401), sleeves (403) and a cover plate (404), wherein the wire limiting block (401) is arranged on the support (8), a plurality of curve grooves (402) are formed in the wire limiting block (401), the sleeves (403) are arranged in the curve grooves (402), and the flexible sections deflect to drive the tendons to penetrate through the sleeves (403); the cover plate (404) is arranged on the outer side of the sleeve (403) and is connected with the wire limiting block (401).
3. Surgical instrument for minimally invasive surgery robots according to claim 2, characterized in that said carriage (8) comprises a main body carriage (801), a rotation driving carriage (803) and an intermediate carriage (804), wherein said flexible segment deflection driving mechanism (6) is mounted on the main body carriage (801); the middle bracket (804) is arranged at the front end of the main body bracket (801) and is used for mounting the wire separating mechanism (4); the rotation driving bracket (803) is arranged at the side part of the main body bracket (801) and is used for installing the rotation driving mechanism (7).
4. The surgical instrument for minimally invasive surgery robots according to claim 1, wherein the distal end effector opening and closing driving mechanism (5) comprises a docking tray (501), a nut (502), a nut pressing block (503) and a lead screw (504), wherein the lead screw (504) is arranged on the bracket (8) in the front-back direction and can rotate; the screw nut (502) is in threaded connection with the lead screw (504) to form a thread pair; the nut pressing block (503) is connected with the nut (502), and the nut pressing block (503) is connected with the opening and closing driving tendon of the far-end actuator; the butt joint plate (501) is arranged at the end part of the screw rod (504) and is used for being connected with an external rotation driving mechanism.
5. The surgical instrument for minimally invasive surgical robots according to claim 1, wherein the pretensioning mechanism comprises a slider (603) and two hollow jackscrews (604);
a plurality of sliding grooves (802) are formed in the support (8) along the front-back direction; the sliding block (603) is accommodated in the sliding groove (802) and can slide in the sliding groove (802);
two hollow jackscrews (604) are arranged at two sides of the sliding block (603), the flexible section deflects to drive the tendon (9) to pass through one hollow jackscrew (604), and the end part of the flexible section is connected with a clamping head which is clamped by the two hollow jackscrews (604).
6. The surgical instrument for minimally invasive surgery robot according to claim 5, characterized in that a plurality of gland grooves (602) corresponding to the respective sliding grooves (802) are formed on the gland (601); the sliding blocks (603) respectively extend out of the gland grooves (602).
7. The surgical instrument for minimally invasive surgery robots according to claim 1, characterized in that the rotary driving mechanism (7) comprises a rotary shaft a (701), a rotary wheel a (702), a transmission rope (703), a rotary wheel b (704) and a rotary shaft b (705), wherein the rotary shaft a (701) and the rotary shaft b (705) are arranged in parallel on the bracket (8) and can rotate; the rotating wheel a (702) and the rotating wheel b (704) are respectively arranged on a rotating shaft a (701) and a rotating shaft b (705), and the rotating wheel a (702) and the rotating wheel b (704) are in transmission connection through a transmission rope (703);
the rotating shaft b (705) is inserted into the rod body (3) and the flexible section (2), and the tail end of the rotating shaft b (705) is connected with the far-end actuating mechanism (1).
8. The surgical instrument for minimally invasive surgery robots according to claim 7, characterized in that the front end of the bracket (8) is provided with a driving tendon manifold (10), and the driving tendon manifold (10) is provided with a central hole (101) and a plurality of outer ring holes (102) distributed around the central hole (101);
the rotating shaft b (705) passes through the central hole (101); a plurality of flexible segment deflection driving tendons (9) respectively pass through the outer annular holes (102);
the rotating wheel b (704) and the rotating shaft b (705) are both hollow structures, and the far-end actuator opening and closing driving tendon sequentially penetrates through the rotating wheel b (704) and the rotating shaft b (705).
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| CN202010883538.7ACN112022238B (en) | 2020-08-28 | 2020-08-28 | Surgical instrument for minimally invasive surgery robot |
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| CN202010883538.7ACN112022238B (en) | 2020-08-28 | 2020-08-28 | Surgical instrument for minimally invasive surgery robot |
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| CN112022238Btrue CN112022238B (en) | 2021-06-15 |
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| CN113662671A (en)* | 2021-08-11 | 2021-11-19 | 深圳市精锋医疗科技有限公司 | Surgical instrument, slave operation device, and surgical robot |
| CN113729803A (en)* | 2021-10-18 | 2021-12-03 | 天津大学 | Flexible surgical instrument and method for manufacturing metal cutting tube |
| CN115890697B (en)* | 2022-09-19 | 2024-06-21 | 北京理工大学 | Variable stiffness flexible surgical actuator |
| CN118662234B (en)* | 2023-03-17 | 2025-09-16 | 北京术锐机器人股份有限公司 | Compact continuum surgical tool and surgical robotic system |
| CN116269546B (en)* | 2023-05-17 | 2023-08-15 | 中国科学院自动化研究所 | Minimally invasive surgical instrument based on conical flexible body |
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