Patent Description:
Multi-port laparoscopic minimally invasive surgery plays an important role in surgical operations due to small wound and fast postoperative recovery. The conventional da Vinci surgical robot of Intuitive Surgical Inc. assists surgeons in completing the multi-port laparoscopic minimally invasive surgery, and gets great commercial success.

After the multi-port laparoscopic surgery, single-port laparoscopic surgery and non-invasive surgery through natural orifice are developed. They have smaller wound and faster postoperative recovery. But in single-port laparoscopic surgery and non-invasive surgery through the natural orifice, all surgical instruments including visual illumination module and surgical operating arm reach a surgical site through a single channel, which has strict requirements on preparation of surgical instruments. Distal structures of the present surgical instruments are mainly multiple rods hinged in serial and driven by pulling force of steal wires, so that distal instruments can bend at the hinges. Because the steel wire rope needs to be kept in a continuous tensioning state through pulleys, due to this driving manner, further miniaturization of the surgical instrument is difficult to achieve and movement performance of the surgical instrument is difficult to further improve.

Flexibility of existing surgical instruments is limited by the driving manner of the rigid structure and the wire rope, and its volume is relatively large. Although the Intuitive Surgical Inc. recently launched da Vinci Single-site (SS-type da Vinci) surgical robot, the original rigid surgical instrument is changed into a semi-rigid surgical instrument, and a pre-bending sleeve is introduced, which, to a certain extent, improves the movement performance of the surgical instruments, but still cannot fundamentally solve the problems faced by the traditional surgical instruments.

The document <CIT> relates to a flexible surgical tool that is intended for use in minimally invasive surgery.

In view of the above problems, an objective of the present disclosure is to provide a double-bending flexible surgical tool system based on a dual continuum mechanism. The flexible surgical tool system can be applied to a natural orifice or a single surgical incision of a human body and perform operations.

To this end, present disclosure provides a double-bending flexible surgical tool system comprising: a mechanical arm comprising a first continuum segment, a rigid connection segment, a second continuum segment and a third continuum segment, the first continuum segment and the second continuum segment being associated to form a first dual continuum mechanism; a proximal continuum segment disposed at a proximal end of the first continuum segment and associated with the third continuum segment disposed at a distal end of the second continuum segment to form a second dual continuum mechanism; a transmission driving unit associated with the rigid connection segment and the proximal continuum segment, respectively, and operable to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction, and to drive the proximal continuum segment to bend in any direction to drive the third continuum segment to bend in an opposite direction.

A double-bending flexible surgical tool system comprises: a mechanical arm comprising a first continuum segment, a rigid connection segment, a second continuum segment and a third continuum segment, the first continuum segment and the second continuum segment being associated to form a first dual continuum mechanism, and the third continuum segment being disposed at a distal end of the second continuum segment; a transmission driving unit associated with the rigid connection segment and the third continuum segment, respectively, and operable to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction, and to directly drive the third continuum segment to bend in any direction.

In the double-bending flexible surgical tool system, preferably, the transmission driving unit comprises a plurality of linear motion mechanisms consisting essentially of a double-threaded rod, a first sliding block, and a second sliding block; the first continuum segment comprises a first continuum fixing disk and direction-controlling continuum structural bones, and the rigid connection segment comprises a rigid connection fixing disk; the direction-controlling continuum structural bones comprises a plurality of pairs, distal ends of each pair of the direction-controlling continuum structural bones are connected with the rigid connection fixing disk, and proximal ends of each pair of the direction-controlling continuum structural bones pass through the first continuum fixing disk and are connected with the first sliding block and the second sliding block, respectively.

In the double-bending flexible surgical tool system, preferably, the mechanical arm further comprises a rigid feed segment comprising a plurality of rigid feed segment spacer disks spaced at a proximal side of the first continuum fixing disk; the first continuum segment further comprises a plurality of first continuum spacer disks spaced between a distal side of the first continuum fixing disk and a proximal side of the rigid connection fixing disk; the direction-controlling continuum structural bone sequentially passes through the rigid feed segment spacer disk and the first continuum spacer disk; the second continuum segment comprises a second continuum fixing disk and a plurality of first dual continuum structural bones, a distal end of each first dual continuum structural bone is connected with the second continuum fixing disk, and a proximal end of each first dual continuum structural bone passes through the rigid connection fixing disk and is connected with the first continuum fixing disk.

In the double-bending flexible surgical tool system, preferably, the rigid connection segment further comprises a plurality of rigid connection spacer disks spaced at a distal side of the rigid connection fixing disk; the second continuum segment further comprises a plurality of second continuum spacer disks spaced at a proximal side of the second continuum fixing disk; the first dual continuum structural bone sequentially passes through the first continuum spacer disks, rigidly connection spacer disks and second continuum spacer disks.

In the double-bending flexible surgical tool system, preferably, the proximal continuum segment comprises a proximal continuum fixing disk and proximal continuum structural bones, the proximal continuum structural bones comprise at least two pairs, distal ends of each pair of the proximal continuum structural bones is connected with the proximal continuum fixing disk, and proximal ends are directly connected with the first sliding block and second sliding block.

In the double-bending flexible surgical tool system, preferably, the third continuum segment comprises a third continuum fixing disk and a plurality of second dual continuum structural bones, a distal end of each second dual continuum structural bone is connected with the third continuum distal fixing disk, and a proximal end of each second dual continuum structural bone passes through the first continuum fixing disk, the rigid connection fixing disk and the second continuum fixing disk and is connected with the proximal continuum fixing disk.

In the double-bending flexible surgical tool system, preferably, the third continuum segment comprises a third continuum fixing disk and third continuum structural bones, the third continuum structural bones comprises at least two pairs, distal ends of each pair of third continuum structural bones are connected with the third continuum distal fixing disk, and proximal ends of each pair of third continuum structural bones pass through the first continuum fixing disk, the rigid connection fixing disk and the second continuum fixing disk and are connected with the first sliding block and the second sliding block.

The double-bending flexible surgical tool system, preferably, further comprises a surgical effector mechanism comprising: a surgical effector disposed on the third continuum fixing disk; a surgical effector control wire, a distal end of the surgical effector control wire being connected with the surgical effector, and a proximal end of the surgical effector control wire passing through the mechanical arm and being connected with the first sliding block or the second sliding block.

In the double-bending flexible surgical tool system, preferably, the third continuum segment further comprises a plurality of third continuum spacer disks spaced between a distal side of the third continuum fixing disk and a distal side of the second continuum connection fixing disk, the second dual continuum structural bone and the surgical effector control wire sequentially pass through the rigid feed segment spacer disks, the first continuum spacer disks, the rigid connection spacer disks, the second continuum spacer disks and the third continuum spacer disks.

In the double-bending flexible surgical tool system, preferably, the third continuum segment further comprises a plurality of third continuum spacer disks spaced between a distal side of the third continuum fixing disk and a distal side of the second continuum connection fixing disk, the third continuum structural bone and the surgical effector control wire sequentially pass through the rigid feed segment spacer disks, the first continuum spacer disks, the rigid connection spacer disks, the second continuum spacer disks and the third continuum spacer disks.

In the double-bending flexible surgical tool system, preferably, the linear motion mechanisms comprises five linear motion mechanisms: a first pair of the linear motion mechanisms each connected with a pair of the direction-controlling continuum structural bones to achieve bending degrees of freedom in two directions for the first continuum segment; a second pair of the linear motion mechanisms each connected with a pair of the proximal continuum structural bones to achieve bending degrees of freedom in two directions for the third continuum segment; and a linear motion mechanism connected with the surgical effector control wire to control an action of the surgical effector.

In the double-bending flexible surgical tool system, preferably, the linear motion mechanisms comprises five linear motion mechanisms: a first pair of the linear motion mechanisms each connected with a pair of the direction-controlling continuum structural bones to achieve bending degrees of freedom in two directions for the first continuum segment; a second pair of the linear motion mechanisms each connected with a pair of the third continuum structural bones to achieve bending degrees of freedom in two directions for the third continuum segment; and a linear motion mechanism connected with the surgical effector control wire to control an action of the surgical effector.

The embodiments of present disclosure include the following advantages: <NUM>. in the present disclosure, a first continuum segment, a rigid connection segment, and a second continuum segment are sequentially associated to form a first dual continuum mechanism. A third continuum segment is disposed at distal end of the first dual continuum mechanism. Structural bones of the third continuum segment pass through the first dual continuum mechanism and are connected with the proximal continuum segment to form a second dual continuum mechanism. A transmission driving unit is respectively connected with the rigid connection segment and the proximal continuum segment, or the structural bones of the third continuum segment is directly connected with the transmission driving unit, so that the first dual continuum mechanism and the second dual continuum mechanism/the third continuum segment can be driven by the transmission driving unit to bend in any direction. Thus, the first dual continuum mechanism and the second dual continuum mechanism/third continuum segment form a double-bending mechanical arm. The flexibility of surgical tool movement can be increased and the movement space of the surgical tool can be expanded. A mechanical arm external to human body is able to maintain a fixed position. The surgical tool can have sufficient coverage and achieve accurate control of the surgical action. Thus, the movement performance of the surgical tool is more excellent, and the movement performance of the surgical instrument can be improved, realizing miniaturization and lightening of the surgical instrument. In present disclosure, two ends of the structural bone in the first dual continuum mechanism are respectively fixed at the proximal end of the first continuum segment and the distal end of the second continuum segment. The length of the structural bone remains unchanged during the driving process, so that the total length of the first continuum segment, the rigid connection segment and the second continuum segment remains unchanged. When the transmission driving unit drives the first continuum segment to bend towards a certain direction, the coupling motion of the second continuum segment is also uniquely determined. Similarly, the structural bone of the second dual continuum mechanism or the structural bone of the third continuum segment also remains unchanged in length during driving. When the transmission driving unit drives the proximal continuum segment to bend in a certain direction. The coupling motion of the third continuum segment is also uniquely determined. In present disclosure, the transmission driving unit uses a double-threaded rod and a sliding block as a linear motion mechanism. When the double-threaded rod is driven to rotate, two sliding blocks matched with the double-threaded rod preform opposite linear motions at the same speed so as to drive the direction-controlling continuum structural bones or proximal continuum structural bones connected with the sliding blocks to be pushed or pulled, so that the first or second dual continuum mechanism or third continuum segment can be bent in any direction.

In order to make objectives, technical solutions, and advantages of the present disclosure clear, preferred embodiments of the present disclosure will be described in detail with reference to accompanying drawings. It is appreciated that embodiments shown in accompanying drawings are not limitations to the scope of the present disclosure but intended to explain the spirit of embodiments of the present disclosure.

As shown in <FIG> and <FIG>, a double-bending flexible surgical tool system provided by the embodiment of the disclosure includes a mechanical arm <NUM>, a proximal continuum segment <NUM> and a transmission driving unit <NUM>. The mechanical arm <NUM> includes a first continuum segment <NUM>, a rigid connection segment <NUM>, a second continuum segment <NUM>, and a third continuum segment <NUM>. The first continuum segment <NUM>, the rigid connection segment <NUM>, and the second continuum segment <NUM> are sequentially associated to form a first dual continuum mechanism. The third continuum segment <NUM> is disposed at a distal end of the second continuum segment <NUM> and associated with the proximal continuum segment <NUM> disposed in the transmission driving unit <NUM> to form a second dual continuum mechanism. The transmission driving unit <NUM> is associated with the rigid connection segment <NUM> and the proximal continuum segment <NUM>, respectively, to drive the first continuum segment <NUM> to bend towards any direction to further drive the second continuum segment <NUM> to bend towards the opposite direction in a coupling way, and to drive the proximal continuum segment <NUM> to bend towards any direction to further drive the third continuum segment <NUM> to bend towards the opposite direction in a coupling way.

In this embodiment, preferably, as shown in <FIG>, the transmission driving unit <NUM> includes a plurality of linear motion mechanisms <NUM> operable to convert a rotational motion input to a linear motion output. The linear motion mechanism <NUM> includes: a double-threaded rod <NUM> that is rotatable and has two threaded sections thereon with threads in opposite directions; a first sliding block <NUM> and a second sliding block <NUM> respectively rotatably connected with two threaded sections of the double-threaded rod <NUM>. When the double-threaded rod <NUM> rotates, the first sliding block <NUM> and the second sliding block <NUM> perform opposite linear motions along the double-threaded rod <NUM> at the same speed.

In the present embodiment, preferably, as shown in <FIG>, the first continuum segment <NUM> includes a first continuum fixing disk <NUM> and direction-controlling continuum structural bones <NUM>. The rigid connection segment <NUM> includes a rigid connection fixing disk <NUM>, and the second continuum segment <NUM> includes a second continuum fixing disk <NUM> and first dual continuum structural bones <NUM>. Direction-controlling continuum structural bones <NUM> include a plurality of pairs. Distal ends of each pair of direction-controlling continuum structural bones <NUM> are connected with a rigid connection fixing disk <NUM>, and proximal ends of each pair of direction-controlling continuum structural bones <NUM> pass through the first continuum fixing disk <NUM> and then are respectively connected with the first sliding block <NUM> and the second sliding block <NUM>. There are a plurality of first dual continuum structural bones <NUM>. A distal end of each of the first dual continuum structural bones <NUM> is connected with a second continuum fixing disk <NUM>, and a proximal end is connected with the first continuum fixing disk <NUM> after passing through the rigid connection fixing disk <NUM>. Thus, first sliding block <NUM> and second sliding block <NUM> which are in opposite linear motions can push and pull a pair of direction-controlling continuum structural bones <NUM> connected thereto, driving the first continuum segment <NUM> to bend in a certain direction, further driving the second continuum segment <NUM> to bend in opposite direction in a proportional relationship. Because a length of the first dual continuum structural bone <NUM> remains unchanged during driving, a total length of the dual continuum mechanism including the first continuum segment <NUM>, the rigid connection segment <NUM> and the second continuum segment <NUM> maintains unchanged. Thus, the coupling movement of the second continuum segment <NUM> is also uniquely determined.

The proximal continuum segment <NUM> includes a proximal continuum fixing disk <NUM> and proximal continuum structural bones <NUM>. The third continuum segment <NUM> includes a third continuum fixing disk <NUM> and a second dual continuum structural bones <NUM>. Proximal continuum structural bones <NUM> includes at least two pairs. Distal ends of each pair of proximal continuum structural bones <NUM> are connected with the proximal continuum fixing disk <NUM>, and proximal ends are directly connected with the first sliding block <NUM> and the second sliding block <NUM>. There are a plurality of second dual continuum structural bones <NUM>. A distal end of each second dual continuum structural bone <NUM> is connected with a third continuum distal fixing disk <NUM>, and a proximal end passes through the first continuum fixing disk <NUM>, the rigidly connection fixing disk <NUM>, and the second continuum fixing disk <NUM> and then is connected with the proximal continuum fixing disk <NUM>. Thus, the first sliding block <NUM> and the second sliding block <NUM> which move in opposite linear directions can push and pull a pair of proximal continuum structural bones <NUM> connected thereto, driving the proximal continuum segment <NUM> to bend in a certain direction, further driving the third continuum segment <NUM> to bend in opposite directions in a proportional relationship. Because a length of the second dual continuum structural bone <NUM> remains unchanged during driving, a total length of the dual continuum mechanism including the third continuum segment <NUM> and the proximal continuum segment <NUM> also maintains unchanged. Thus, the coupling movement of the third continuum segment <NUM> is also uniquely determined.

In addition, the proportional relationship of the bending of the second continuum segment <NUM> is based on distribution radii of the first dual continuum structural bones <NUM> in the first continuum segment <NUM> and the second continuum segment <NUM>. The proportional relationship of the bending of the third continuum segment <NUM> is based on distribution radii of the second dual continuum structural bones <NUM> in the third continuum segment <NUM> and the proximal continuum segment <NUM>. In a preferred embodiment, the distribution radii of the first continuum segment <NUM> and the second continuum segment <NUM> are equal, so that the first continuum segment <NUM> and the second continuum segment <NUM> bend in an equivalently opposite manner, thereby ensuring that the first continuum fixing disk <NUM> and the second continuum fixing disk <NUM> are always parallel to each other during driving.

In the present embodiment, preferably, as shown in <FIG>, the flexible surgical tool system further includes a surgical effector mechanism <NUM>. Surgical effector mechanism <NUM> includes a surgical effector <NUM> disposed on third continuum fixing plate <NUM> and a surgical effector control wire <NUM>. A distal end of the surgical effector control wire <NUM> is connected with the surgical effector <NUM>, and a proximal end of the surgical effector control wire <NUM> passes through the mechanical arm <NUM> and then is connected with the first sliding block <NUM> or the second sliding block <NUM>, so that opening and closing actions of the surgical effector <NUM> can be controlled under the driving of the linear motion mechanism <NUM>.

In the present embodiment, preferably, the mechanical arm <NUM> further includes a rigid feed segment <NUM>. The rigid feed segment <NUM> includes a rigid feed segment spacer disk <NUM>. A plurality of rigid feed segment spacer disks <NUM> are spaced at the proximal side of the first continuum fixing disk <NUM>. The first continuum segment <NUM> further includes a first continuum spacer disk <NUM>. A plurality of first continuum spacer disks <NUM> are spaced between the distal side of the first continuum fixing disk <NUM> and the proximal side of the rigid connection fixing disk <NUM>. The direction-controlling continuum structural bone <NUM> sequentially passes through the rigid feed segment spacer disks <NUM> and the first continuum spacer disks <NUM> to prevent instability of the direction-controlling continuum structural bone <NUM> when pushed.

The rigid connection segment <NUM> further includes rigid connection spacer disk <NUM>. A plurality of rigid connection spacer disks <NUM> are spaced at distal side of the rigid connection fixing disk <NUM>. The second continuum segment <NUM> further includes second continuum spacer disk <NUM>. A plurality of second continuum spacer disks <NUM> are spaced at proximal side of the second continuum fixing disk <NUM>. The first dual continuum structural bone <NUM> sequentially passes through the first continuum spacer disks <NUM>, the rigid connection spacer disks <NUM>, and the second continuum spacer disks <NUM> to limit the first dual continuum structural bones <NUM>.

The third continuum segment <NUM> further includes a third continuum spacer disk <NUM>. A plurality of third continuum spacer disks <NUM> are spaced between distal side of the third continuum fixing disk <NUM> and distal side of the second continuum connection fixing disk <NUM>. Both the second dual continuum structural bone <NUM> and the surgical effector control wire <NUM> sequentially pass through each rigid feed segment spacer disk <NUM>, the first continuum spacer disk <NUM>, the rigid connection spacer disk <NUM>, the second continuum spacer disk <NUM>, and the third continuum spacer disk <NUM> to limit the second dual continuum structural bones <NUM> and prevent instability of the surgical effector control wire <NUM> when pushed.

In the present embodiment, preferably, as shown in <FIG>, <FIG>, the transmission driving unit <NUM> further includes a base frame <NUM>. The base frame <NUM> includes a first support plate <NUM> and a second support plate <NUM> spaced apart from each other. The double-threaded rod <NUM> is axially rotatably connected with the first support plate <NUM> and the second support plate <NUM>. A first guide rod <NUM> and a second guide rod <NUM> are axially connected between the first support plate <NUM> and the second support plate <NUM>. The first sliding block <NUM> and the second sliding block <NUM> are slidably connected with the first guide rod <NUM> and the second guide rod <NUM>, respectively. The first guide rod <NUM> and the second guide rod <NUM> have limiting and guiding functions to enable the first sliding block <NUM> and the second sliding block <NUM> to smoothly perform opposite linear motions. The base frame <NUM> includes a compression block <NUM>. The direction-controlling continuum structural bones <NUM>, the proximal continuum structural bones <NUM>, and the surgical effector control wire <NUM> are secured, by the compression block <NUM>, with the first sliding block <NUM> and the second sliding block <NUM>.

In this embodiment, preferably, the base frame <NUM> further includes a connection plate <NUM> disposed between the first support plate <NUM> and the second support plate <NUM> and connected with the second guide rod <NUM>. The double-threaded rod <NUM> passes through the connection plate <NUM> and has a gap therebetween. The connection plate <NUM> can separate the two threaded sections of the double-threaded rod <NUM>. the base frame <NUM> further includes a third support plate <NUM> connected with the second support plate <NUM> via a first guide rod <NUM>, so that an arrangement space for other required electrical components is formed between the second support plate <NUM> and the third support plate <NUM>.

In this embodiment, preferably, a positioning sleeve <NUM> can be disposed over the first guide rod <NUM> and the second guide rod <NUM> to position the connection plate <NUM> and the third support plate <NUM>. Alternatively, the first support plate <NUM> and the second support plate <NUM> may be fixedly connected by a threaded support rod, and positioning nuts cooperatively connected with the support rod can position the first support plate <NUM>, the second support plate <NUM> and the connection plate <NUM>. Therefore, the positioning sleeve <NUM> can be replaced with the positioning nuts.

In this embodiment, preferably, there are five linear motion mechanisms <NUM>. The first pair of linear motion mechanisms <NUM> can be each connected with a pair of direction-controlling continuum structural bones <NUM> to achieve the bending degrees of freedom in two directions for first continuum segment <NUM>. A second pair of linear motion mechanisms <NUM> can be each connected with a pair of proximal continuum structural bones <NUM> to achieve the bending degrees of freedom in two directions for the third continuum segment <NUM>. And a linear motion mechanism <NUM> is connected with the surgical effector control wire <NUM> to control the operation of the surgical effector <NUM>.

In this embodiment, preferably, direction-controlling continuum structural bones <NUM> and second dual continuum structural bones <NUM> pass through guide plate <NUM> via guide channels <NUM> and are connected with first sliding block <NUM> and second sliding block <NUM>, respectively. Surgical effector control wire <NUM> passes through guide plate <NUM> via guide channel <NUM> and is also connected with first sliding block <NUM> or second sliding block <NUM>.

In this embodiment, preferably, the double-threaded rod <NUM> is connected with a coupling male connector <NUM> mounted on the third support plate <NUM>, and then, with the driving motor shaft via the coupling female connector.

In this embodiment, preferably, as shown in <FIG>, a housing <NUM> is provided outside the transmission driving unit <NUM>. The first support plate <NUM> and the second support plate <NUM> are both connected with the housing <NUM>, and an envelope <NUM> is provided outside the mechanical arm <NUM> to improve the smoothness of the mechanical arm <NUM> entering a natural orifice or a surgical incision of a human body. In addition, an outer sleeve <NUM> can also be provided outside the envelope <NUM>.

As shown in <FIG> and <FIG>, the embodiment of the disclosure provides a double-bending flexible surgical tool system, including a mechanical arm <NUM> and a transmission driving unit <NUM>. The mechanical arm <NUM> includes a first continuum segment <NUM>, a rigid connection segment <NUM>, a second continuum segment <NUM> and a third continuum segment <NUM>. The first continuum segment <NUM>, the rigid connection segment <NUM> and the second continuum segment <NUM> are sequentially associated to form a first dual continuum mechanism. A third continuum segment <NUM> is disposed at distal end of the second continuum segment <NUM>. The transmission driving unit <NUM> is respectively connected with the rigid connection segment <NUM> and the third continuum segment <NUM> to drive the first continuum segment <NUM> to bend towards any direction to further drive the second continuum segment <NUM> to bend towards the opposite direction, and to directly drive the third continuum segment <NUM> to bend towards any direction.

In the present embodiment, preferably, as shown in <FIG>, the transmission driving unit <NUM> includes a plurality of linear motion mechanisms <NUM> operable to convert a rotational motion input to a linear motion output. The linear motion mechanisms <NUM> including: a double-threaded rod <NUM> rotatable and having two threaded sections thereon with threads in opposite directions, a first sliding block <NUM> and a second sliding block <NUM> rotatably connected with two threaded sections of the double-threaded rod <NUM>, respectively. When the double-threaded rod <NUM> rotates, the first sliding block <NUM> and the second sliding block <NUM> perform opposite linear motions along the double-threaded rod <NUM> at the same speed.

In the present embodiment, preferably, as shown in <FIG>, the first continuum segment <NUM> includes a first continuum fixing disk <NUM> and direction-controlling continuum structural bones <NUM>. The rigid connection segment <NUM> includes a rigid connection fixing disk <NUM>. The second continuum segment <NUM> includes a second continuum fixing disk <NUM> and first dual continuum structural bones <NUM>. Direction-controlling continuum structural bones <NUM> include a plurality of pairs. Distal ends of each pair of direction-controlling continuum structural bones <NUM> are connected with a rigid connection fixing disk <NUM>, and proximal ends of each pair of direction-controlling continuum structural bones <NUM> pass through first continuum fixing disk <NUM> and then is respectively connected with first sliding block <NUM> and second sliding block <NUM>. There are a plurality of first dual continuum structural bones <NUM>. Distal end of each of the first due continuum structural bones <NUM> is connected with a second continuum fixing disk <NUM>, and the proximal end is connected with the first continuum fixing disk <NUM> after passing through the rigid connection fixing disk <NUM>. The first sliding block <NUM> and the second sliding block <NUM> which perform opposite linear motions can push and pull a pair of direction-controlling continuum structural bones <NUM> connected therewith to drive the first continuum structural section <NUM> to bend towards a direction so as to drive the second continuum structural section <NUM> to bend towards the opposite direction in a certain proportional relationship. Because a length of the first dual continuum structural bone <NUM> remains unchanged during driving, a total length of the dual continuum mechanism including the first continuum segment <NUM>, the rigid connection segment <NUM>, and the second continuum segment <NUM> remains unchanged, and the coupling movement of the second continuum segment <NUM> is also uniquely determined.

The third continuum segment <NUM> includes a third continuum fixing disk <NUM> and third continuum structural bones <NUM>. The third continuum structural bones <NUM> includes at least two pairs. Distal ends of each pair of third continuum structural bones <NUM> are connected with a third continuum distal fixing disk <NUM>, and proximal ends are connected with the first sliding block <NUM> and the second sliding block <NUM> after passing through the first continuum fixing plate <NUM>, the rigid connection fixing disk <NUM>, and the second continuum fixing disk <NUM>. The first sliding block <NUM> and the second sliding block <NUM> which move in opposite linear directions can push and pull a pair of third continuum structural bones <NUM> connected therewith to directly drive the third continuum structural section <NUM> to bend in a certain direction. Since a length of the third continuum structural bone <NUM> remains unchanged during driving, the movement of the third continuum structural section <NUM> is uniquely determined.

In the present embodiment, preferably, the flexible surgical tool system further includes a surgical effector mechanism <NUM>. The surgical effector mechanism <NUM> includes a surgical effector <NUM> disposed on the third continuum fixing disk <NUM> and a surgical effector control wire <NUM>. Distal end of the surgical effector control wire <NUM> is connected with the surgical effector <NUM>, and proximal end of the surgical effector control wire <NUM> passes through the mechanical arm <NUM> and then is connected with the first sliding block <NUM> or the second sliding block <NUM>, so that the opening and closing actions of the surgical effector <NUM> can be controlled under the driving of the linear motion mechanism <NUM>.

In the present embodiment, preferably, the mechanical arm <NUM> further includes a rigid feed segment <NUM>. The rigid feed segment <NUM> includes rigid feed segment spacer disks <NUM> spaced on proximal side of the first continuum fixing disk <NUM>. The first continuum segment <NUM> further includes a first continuum spacer disk <NUM>. A plurality of first continuum spacer disks <NUM> are spaced between the distal side of the first continuum fixing disk <NUM> and the proximal side of the rigid connection fixing disk <NUM>. The direction-controlling continuum structural bone <NUM> sequentially passes through the rigid feed segment spacer disks <NUM> and the first continuum spacer disks <NUM> to prevent instability of the direction-controlling continuum structural bone <NUM> when pushed.

The rigid connection segment <NUM> further includes a rigid connection spacer disk <NUM>. A plurality of rigid connection spacer disks <NUM> are spaced at distal side of the rigid connection fixing disk <NUM>. The second continuum segment <NUM> further includes a second continuum spacer disk <NUM>. A plurality of second continuum spacer disks <NUM> are spaced at proximal side of the second continuum fixing disk <NUM>. The first dual continuum structural bone <NUM> sequentially passes through the first continuum spacer disks <NUM>, the rigid connection spacer disks <NUM>, and the second continuum spacer disks <NUM> to limit the first dual continuum structural bones <NUM>.

The third continuum segment <NUM> further includes a third continuum spacer disk <NUM>. A plurality of third continuum spacer disks <NUM> are spaced between distal side of the third continuum fixing disk <NUM> and distal side of the second continuum fixing disk <NUM>. Both the third continuum structural bone <NUM> and the surgical effector control wire <NUM> sequentially pass through the rigid feed segment spacer disks <NUM>, the first continuum spacer disks <NUM>, the rigid connection spacer disks <NUM>, the second continuum spacer disks <NUM>, and the third continuum spacer disks <NUM> to limit the third continuum structural bones <NUM> while preventing instability of the surgical effector control wire <NUM> when pushed.

In the present embodiment, preferably, as shown in <FIG>, the transmission driving unit <NUM> further includes a base frame <NUM>. The base frame <NUM> includes a first support plate <NUM> and a second support plate <NUM> spaced apart from each other. The double-threaded rod <NUM> is axially rotatably connected with the first support plate <NUM> and the second support plate <NUM>. The base frame <NUM> includes a first guide rod <NUM> and a second guide rod <NUM> axially connected between the first support plate <NUM> and the second support plate <NUM>. The first sliding block <NUM> and the second sliding block <NUM> are slidably connected with the first guide rod <NUM> and the second guide rod <NUM> respectively. The first guide rod <NUM> and the second guide rod <NUM> have limiting and guiding functions to enable the first sliding block <NUM> and the second sliding block <NUM> to smoothly perform opposite linear motions. The base frame <NUM> includes a compression block <NUM>. The direction-controlling continuum structural bones <NUM>, the third continuum structural bones <NUM>, and the surgical effector control wire <NUM> are secured, by the compression block <NUM>, with the first sliding block <NUM> and the second sliding block <NUM>.

In this embodiment, preferably, the base frame <NUM> further includes a connection plate <NUM> disposed between the first support plate <NUM> and the second support plate <NUM> and connected with the second guide rod <NUM>. The double-threaded rod <NUM> passes through the connection plate <NUM> and has a gap therebetween. The connection plate <NUM> can separate the two threaded sections of the double-threaded rod <NUM>. The base frame <NUM> further includes a third support plate <NUM> connected with the second support plate <NUM> via a first guide rod <NUM> so that an arrangement space for other required electrical components is formed between the second support plate <NUM> and the third support plate <NUM>.

In this embodiment, preferably, a positioning sleeve <NUM> is provided over the first guide rod <NUM> and the second guide rod <NUM> to position the connection plate <NUM> and the third support plate <NUM>. Alternatively, the first support plate <NUM> and the second support plate <NUM> may be fixedly connected by a threaded support rod. A positioning nut cooperatively connected with the support rod can position the first support plate <NUM>, the second support plate <NUM> and the connection plate <NUM>. Thus, the positioning nut can replace the positioning sleeve <NUM>.

In this embodiment, preferably, there are five linear motion mechanisms <NUM>. A first pair of linear motion mechanisms <NUM> can be each connected with a pair of direction-controlling continuum structural bones <NUM> to achieve the bending degrees of freedom in two directions for the first continuum segment <NUM>. A second pair of linear motion mechanisms <NUM> can be each connected with a pair of third continuum structural bones <NUM> to achieve the bending degrees of freedom in two directions for the third continuum segment <NUM>. A linear motion mechanism <NUM> is connected with the surgical effector control wire <NUM> to control the operation of the surgical effector <NUM>.

In this embodiment, preferably, the direction-controlling continuum structural bone <NUM> and the third continuum structural bone <NUM> are connected with the first sliding block <NUM> and the second sliding block <NUM>, respectively, after passing through guide plate <NUM> via guide channels <NUM>. The surgical effector control wire <NUM> is also connected with the first sliding block <NUM> or the second sliding block <NUM> after passing through the guide plate <NUM> via the guide channel <NUM>.

In this embodiment, preferably, the double-threaded rod <NUM> is connected with a coupling male connector <NUM> mounted on the third support plate <NUM>, and thus, to a driving motor shaft via a coupling female connector.

In this embodiment, preferably, as shown in <FIG>, a housing <NUM> is provided outside the transmission driving unit <NUM>. The first support plate <NUM> and the second support plate <NUM> are both connected with the housing <NUM>. An envelope <NUM> is provided outside the mechanical arm <NUM> to improve the smoothness of the mechanical arm <NUM> entering a natural orifice or a surgical incision of a human body. In addition, an outer sleeve <NUM> can also be provided outside the envelope <NUM>.

Claim 1:
A double-bending flexible surgical tool system comprising:
a mechanical arm (<NUM>) comprising a first continuum segment (<NUM>), a rigid connection segment (<NUM>), a second continuum segment (<NUM>) and a third continuum segment (<NUM>), the first continuum segment (<NUM>) and the second continuum segment (<NUM>) being associated to form a first dual continuum mechanism, and the third continuum segment (<NUM>) being disposed at a distal end of the second continuum segment (<NUM>), the first continuum segment (<NUM>) comprises a first continuum fixing disk (<NUM>) and a plurality of pairs of direction-controlling continuum structural bones (<NUM>), and the rigid connection segment (<NUM>) comprises a rigid connection fixing disk (<NUM>), wherein the distal ends of the plurality of pairs of direction-controlling continuum structural bones (<NUM>) are connected with the rigid connection fixing disk (<NUM>); and
a transmission driving unit (<NUM>) associated with the rigid connection segment (<NUM>) and the third continuum segment (<NUM>), respectively, and operable to drive the first continuum segment (<NUM>) to bend in any direction to drive the second continuum segment (<NUM>) to bend in an opposite direction, and to drive the third continuum segment (<NUM>) to bend in any direction.