Flexible surgical tool system driven by multi-motion deputy combination

Abstract

The invention relates to a flexible surgical tool system driven by multi-motion deputy combination. The flexible surgical tool system comprises a flexible continuum structure which is mainly composed of a far-end structural body, a middle connecting body and a near-end structural body which are connected sequentially, and is characterized by further comprising a transmission driving unit which is connected with the near-end structural body. The transmission driving unit comprises a plurality of transmission mechanisms which respectively drive a corresponding near-end structural joint, and the transmission mechanisms can transform the input of a pair of rotational movements with parallel axes into the output of a pair of rotational movements with axes intersecting vertically, wherein the output of a rotational movement with the axis parallel to the axis of the rotational movement input is used for controlling the direction of the near-end structural joints on the bending plane, the output of the other rotational movement with the axis perpendicular to the axis of the rotational movement is used for controlling the bending angles of the near-end structural joints on the bending plane, so as to drive the near-end structural joints in the near-end structural body to bend to any direction, and then drive the far-end structural joints in the far-end structural body to bend to an opposite direction.

Description

technical field [0001] The invention relates to a medical device, in particular to a flexible surgical tool system driven by multiple motion pairs. Background technique [0002] Porous laparoscopic minimally invasive surgery has occupied an important position in surgical operations because of its small incision and fast postoperative recovery. The da Vinci (Da Vinci) surgical robot of the existing Intuitive Surgical Company (American Intuitive Surgical Company) assists doctors in completing multi-hole laparoscopic minimally invasive surgery, and has achieved great commercial success. [0003] After multi-port laparoscopic surgery, minimally invasive surgery has developed single-port laparoscopic surgery and non-invasive surgery through natural orifice, which are less invasive to patients and have higher postoperative output. However, in single-port laparoscopic surgery and non-invasive surgery through the natural orifice, all surgical instruments, including the visual light...

AI Technical Summary

Problems solved by technology

Since the wire rope must be kept in a continuous tension state through the pulley, this driving method is difficult to achieve further miniaturization of surgical instruments, and it is also difficult to further improve the movement performance of the instruments

[0004] Although Intuitive Surgical recently launched the da Vinci Single-Site (SS Da Vinci) surgical robot, which transforms the original rigid surgical instrument into a semi-rigid surgical instrument and adds a pre-bent sleeve, which improves the surgical robot to a certain extent. The kinematic performance of surgical instruments, but still cannot fundamentally solve the problems faced by traditional surgical instruments

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