Patent ID: 11903571
Assignee: BEIJING SURGERII ROBOTICS COMPANY LIMITED
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A flexible surgical instrument, comprising:
a distal structural body comprising at least one distal structural segment, the at least one distal structural segment comprising a distal fixing disk and distal structural backbones;
a proximal structural body comprising at least one proximal structural segment, the at least one proximal structural segment comprising a proximal fixing disk, proximal structural backbones, and driving backbones, the distal structural backbones being securely connected in one-to-one correspondence to or the same as corresponding proximal structural backbones, and
a driving unit comprising a linear motion mechanism operable to convert a first rotary motion into linear motions to cooperatively push or pull a pair of driving backbones of the driving backbones to turn the at least one proximal structural segment;
a first end of each of the pair of driving backbones is securely connected to the proximal fixing disk; and
a second end of each of the pair of driving backbones is connected to the linear motion mechanism;
the linear motion mechanism comprises:
a first driving slider and a second driving slider;
a linear motion of the second driving slider is in an opposite direction to a linear motion of the first driving slider;
second ends of the pair of driving backbones are securely connected to the first driving slider and the second driving slider, respectively;

the linear motion mechanism further comprises:
a first threaded rod to receive the first rotary motion;
a first gear coaxially connected to the first threaded rod;
a second gear in a meshing with the first gear; and
a second threaded rod coaxially connected to the second gear;
the first driving slider in a threaded connection with the first threaded rod; and
the second driving slider in a threaded connection with the second threaded rod; or

the linear motion mechanism further comprises:
a double-head threaded rod to receive the first rotary motion;
the first driving slider and the second driving slider in a threaded connection with two threaded sections of the double-head threaded rod, respectively.