A flexible surgical tool system

Abstract

The invention relates to a flexible surgical tool system, comprising: a mechanical arm, the mechanical arm includes a first continuum segment, a rigid connecting segment and a second continuum segment, the first continuum segment, the rigid connecting segment and a second continuum segment The two continuum segments are sequentially associated to form a dual continuum mechanism; the surgical actuator is connected to the distal end of the second continuum segment; the transmission drive unit is respectively associated with the rigid connection segment and the surgical actuator, and is used to drive the second continuum segment. A continuum member bends in any direction, and then couples to drive the second continuum member to complete the bending in the opposite direction, and is used to drive the surgical implement to complete the rotational movement in the first plane and / or in the second plane. The opening and closing movement in the plane. The flexible surgical tool system provided by the present invention can be preferably applied to perform surgery through the natural orifice of the human body or through a single surgical incision.

Description

technical field [0001] The invention relates to a medical device, in particular to a flexible surgical tool system based on a dual continuum mechanism. 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 l...

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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