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.

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 semirigid 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 system driven by a doubleheaded screw rod, belonging to the field of medical instruments. The document <CIT> relates to a medical device, and more particularly to a modular, flexible surgical tool system that drives an input front. The article by <NPL>" discloses a single-port laparoscopy minimally invasive surgery robot system. The document <CIT> relates to a surgical robot. The document <CIT> relates in general to surgical instruments, and more particularly to manually-operated surgical instruments that are intended for use in minimally invasive surgery or other forms of surgical procedures or techniques. The document <CIT> relates in general to surgical instruments, and more particularly to manually operated surgical instruments that are intended for use in minimally invasive surgery.

In view of the above problems, an objective of the present disclosure is to provide a 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 flexible surgical tool system comprising: a mechanical arm comprising a first continuum segment, a rigid connection segment, and a second continuum segment, the first continuum segment and the second continuum segment being sequentially associated to form a dual continuum mechanism; a surgical effector connected at distal end of the second continuum segment; a transmission driving unit associated with the rigid connection segment and with a surgical effector, 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 surgical effector to rotate in a first plane and/or open and close in a second plane.

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

In the flexible surgical tool system, preferably, the surgical effector comprises: a surgical effector base connected at distal end of the second continuum segment via a surgical effector connection block; a wrist rotation mechanism mounted on the surgical effector base and associated with the linear motion mechanism and driven by the linear motion mechanism to perform a rotational motion in the first plane; a forceps effector mounted on the wrist rotation mechanism and associated with the linear motion mechanism, forceps effector being capable of synchronously rotating along with the wrist rotation mechanism and driven by the linear motion mechanism to perform opening or closing motion in the second plane.

In the flexible surgical tool system, preferably, the wrist rotation mechanism comprises: a wrist rotator rotatably connected with the surgical effector base; surgical effector housings symmetrically mounted on both sides of the wrist rotator; a pair of wrist structural bones, wherein a first end of one of the wrist structural bones is connected with the first sliding block, a second end sequentially passes through the first continuum segment, the rigid connection segment and the second continuum segment and is connected with a side of the wrist rotator, a first end of the other wrist structural bone is connected with the second sliding block, and a second end of the other wrist structural bone sequentially passes through the first continuum segment, the rigid connection segment and the second continuum segment and is connected with another side of the wrist rotator.

In the flexible surgical tool system, preferably, the forceps effector comprises: forceps rotators, two forceps rotators being rotatably connected between the two surgical effector housings; effector jaws, two effector jaws being integrally connected with the two forceps rotators, respectively; steering pulleys, multiple sets of the steering pulleys being rotatably connected between the two surgical effector housings; forceps structural bones comprising two pairs of forceps structural bones, wherein a first end of one forceps structural bone of each pair is connected with the first sliding block, a second end sequentially passes through the first continuum segment, the rigid connection segment and the second continuum segment, is wound around a first set of steering pulleys and connected with a side of a corresponding forceps rotator, and wherein a first end of the other forceps structural bone is connected with the second sliding block, and a second end sequentially passes through the first continuum segment, the rigid connection segment and the second continuum segment, is wound around a second set of steering pulleys and is connected with another side of the corresponding forceps rotator.

In the 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 proximal side of the first continuum fixing plate; 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, the wrist structural bone and the forceps structural bone sequentially pass through the rigid feed segment spacer disks and the first continuum spacer disks.

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

In the flexible surgical tool system, preferably, the linear motion mechanisms comprises five linear motion mechanisms: a first pair of the linear motion mechanisms connected with two pairs of the direction-controlling continuum structural bones, respectively, to achieve bending degrees of freedom in two directions for the first continuum segment; a second pair of the linear motion mechanisms connected with two pairs of the forceps structural bones, respectively, to achieve a rotational degree of freedom for two forceps rotators of the surgical effector; and a linear motion mechanism connected with a pair of the wrist structural bones to achieve a rotational degree of freedom for the wrist rotators of the surgical effector.

In the flexible surgical tool system, preferably, the direction-controlling continuum structural bone, the wrist structural bone, and the forceps structural bone pass through a guide disk via guide channels and are connected with the first sliding block and the second sliding block, respectively; a wrist structural bone guide hole and a forceps structural bone guide hole are respectively formed in the surgical effector base at two sides of the wrist rotator, and the wrist structural bone and the forceps structural bone pass through the wrist structural bone guide hole and the forceps structural bone guide hole, respectively.

The embodiments of present disclosure include the following advantages: <NUM>. the disclosure provides a mechanical and a surgical effector arm based on a dual continuum mechanism. The dual continuum mechanism includes a first continuum segment, a rigid connection segment, and a second continuum segment in sequential association, and cooperates with a transmission driving unit. The transmission driving unit is associated with the rigid connection segment. The transmission driving unit is also associated with the surgical effector. Thus, the transmission driving unit can drive the dual continuum mechanism to bend in any direction and drive the surgical effector to rotate in a first plane and/or open or close in a second plane. The two ends of the dual continuum structural bone in the dual continuum mechanism of the present disclosure are fixedly connected to the proximal end of the first continuum segment and the distal end of the second continuum segment. A length of the dual continuum structural bone remains unchanged in the driving process, so that 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. The disclosure provides a surgical effector at the end of the dual continuum mechanism. One end of the control wire of the surgical effector is connected with the wrist rotator and/or the forceps rotator, and the other end is connected with the transmission driving unit through steering pulleys. Therefore, the control of the wrist rotator and/or the forceps rotator of the surgical effector can be realized. The transmission driving unit includes 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 move linearly in opposite directions at the same speed, so as to drive the direction-controlling continuum structural bone, wrist structural bone or forceps structural bone connected with the sliding blocks to be pushed or pulled, so that the dual continuum mechanism can be bent towards any direction and the wrist rotator and/or forceps rotator of the surgical effector can rotate around the joint axis.

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 embodiments of the present disclosure.

As shown in <FIG> and <FIG>, the present embodiment provides a flexible surgical tool system including a mechanical arm <NUM>. The mechanical arm <NUM> includes a first continuum segment <NUM>, a rigid connection segment <NUM>, and a second 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 dual continuum mechanism. The flexible surgical tool system includes a surgical effector <NUM> connected at distal end of the second continuum segment <NUM> and a transmission driving unit <NUM>. The transmission driving unit <NUM> is associated with the rigid connection segment <NUM> and the surgical effector <NUM>, respectively, and operable to drive the first continuum segment <NUM> to bend in any direction to further drive the second continuum segment <NUM> to bend in an opposite direction, and to drive the surgical effector <NUM> to rotate in a first plane and/or open and close in a second plane.

In the above 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 above 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 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 dual continuum structural bones <NUM>. A distal end of each of the 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 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.

In addition, the proportional relationship above is based on distribution radii of the dual continuum structural bones <NUM> in the first continuum segment <NUM> and the second 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 above embodiment, preferably, as shown in <FIG>, the surgical effector <NUM> includes: a surgical effector base <NUM> connected with distal end of the second continuum segment <NUM> via a surgical effector connection block <NUM>; a wrist rotation mechanism <NUM> disposed on the surgical effector base <NUM> and associated with the linear motion mechanism <NUM> to perform a rotational motion in the first plane under the driving of the linear motion mechanism <NUM>; a forceps effector <NUM> disposed on the wrist rotation mechanism <NUM> and associated with the linear motion mechanism <NUM>. The forceps effector <NUM> can synchronously rotate with the wrist rotation mechanism <NUM> and perform opening and closing motions in the second plane under the driving of the linear motion mechanism <NUM>.

In the above embodiment, preferably, as shown in <FIG>, the wrist rotation mechanism <NUM> includes: a wrist rotator <NUM> rotatably connected with the surgical effector base <NUM>; surgical effector housings <NUM> symmetrically mounted on both sides of the wrist rotator <NUM>; a pair of wrist structural bones <NUM>. A first end of one of the wrist structural bones <NUM> is connected with the first sliding block <NUM>, and a second end sequentially passes through the first continuum segment <NUM>, the rigid connection segment <NUM> and the second continuum segment <NUM> and is connected with a side of the wrist rotator <NUM>. A first end of the other wrist structural bone <NUM> is connected to the second sliding block <NUM>, and a second end sequentially passes through the first continuum segment <NUM>, the rigid connection segment <NUM> and the second continuum segment <NUM> and is connected with another side of the wrist rotator <NUM>. The first sliding block <NUM> and the second sliding block <NUM> which perform opposite linear motions push and pull the wrist structural bones <NUM> connected with the two sides of the wrist rotator <NUM> to drive the wrist rotator <NUM> to rotate forwards and backwards, so that the surgical effector housings <NUM> are driven to rotate in a first plane perpendicular to a rotation axis of the wrist rotator <NUM>.

In the above embodiment, preferably, as shown in <FIG>, <FIG>, the forceps effector <NUM> includes: forceps rotators <NUM> rotatably connected between two surgical effector housings <NUM>; effector jaws <NUM> integrally connected with the two forceps rotators <NUM>, respectively; steering pulleys <NUM>, multiple sets of steering pulleys <NUM> being rotatably connected between the two surgical effector housings <NUM>; forceps structural bones <NUM>. Two pairs of forceps structural bones <NUM> are provided. A first end of one forceps structural bone <NUM> of each pair is connected to the first sliding block <NUM>, and a second end sequentially passes through the first continuum segment <NUM>, the rigid connection segment <NUM> and the second continuum segment <NUM>, is wound around a first set of steering pulleys <NUM> and connected with a side of the corresponding forceps rotator <NUM>. A first end of the other forceps structural bone <NUM> is connected to the second sliding block <NUM>, and a second end sequentially passes through the first continuum segment <NUM>, the rigid connection segment <NUM> and the second continuum segment <NUM>, is wound around the second set of steering pulleys <NUM> and connected with another side of the forceps rotator <NUM>. The first sliding block <NUM> and the second sliding block <NUM> which move in opposite linear directions push and pull the forceps structural bones <NUM> connected with both sides of the forceps rotator <NUM>, and with the steering of the steering pulleys <NUM>, drive the two forceps rotator <NUM> to rotate forward and backward in opposite directions, so that the two effector jaws <NUM> are driven to perform opening and closing motion in a second plane perpendicular to a rotation axis of the forceps rotator <NUM>.

In the above embodiment, preferably, as shown in <FIG>, 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 a 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>, the wrist structural bone <NUM> and the forceps 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>, the wrist structural bone <NUM> and the forceps 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 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 dual continuum structural bone <NUM>.

In the above 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>. 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.

In above 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 above embodiment, preferably, a positioning sleeve <NUM> can be disposed over the first guide rod <NUM> and/or the second guide rod <NUM> to position the connection plate <NUM> and/or 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 above embodiment, preferably, there are five linear motion mechanisms <NUM>. A first pair of linear motion mechanisms <NUM> are connected with two pairs of direction-controlling continuum structural bones <NUM>, respectively, to achieve the bending degrees of freedom in two directions for the first continuum segment <NUM>. A second pair of linear motion mechanisms <NUM> are connected with two pairs of the forceps structural bones <NUM>, respectively, to achieve rotational degree of freedom of the two forceps rotators <NUM> of the surgical effector <NUM>. And a linear motion mechanism <NUM> is connected with a pair of wrist structural bones <NUM> to achieve rotational degree of freedom of a wrist rotator <NUM> of the surgical effector <NUM>.

In the above embodiment, preferably, as shown in <FIG>, the direction-controlling continuum structural bone <NUM>, the wrist structural bone <NUM>, and the forceps structural bone <NUM> pass through a guide plate <NUM> via guide channel <NUM> and are connected with the first sliding block <NUM> and the second sliding block <NUM>, respectively. As shown in <FIG>, a wrist structural bone guide hole <NUM> and a forceps structural bone guide hole <NUM> are respectively formed in the surgical effector base <NUM> at two sides of the wrist rotator <NUM>. The wrist structural bone <NUM> and the forceps structural bone <NUM> respectively pass through the wrist structural bone guide hole <NUM> and the forceps structural bone guide hole <NUM>.

In the above embodiment, preferably, as shown in <FIG>, 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 the above 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 flexible surgical tool system comprising:
a mechanical arm (<NUM>) disposed at distal side of the flexible surgical tool system, and comprising a first continuum segment (<NUM>), a rigid connection segment (<NUM>), and a second continuum segment (<NUM>), the first continuum segment (<NUM>) and the second continuum segment (<NUM>) being sequentially associated to form a dual continuum mechanism;
a surgical effector (<NUM>) connected at distal end of the second continuum segment (<NUM>); and
a transmission driving unit (<NUM>) associated with the rigid connection segment (<NUM>) and with a surgical effector (<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 surgical effector (<NUM>) to rotate in a first plane and/or open and close in a second plane;
wherein 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>); and
distal ends of each pair of direction-controlling continuum structural bones (<NUM>) are connected with the 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>);
wherein the second continuum segment (<NUM>) comprises a second continuum fixing disk (<NUM>) and a plurality of dual continuum structural bones (<NUM>); and characterized in that the
distal end of each dual continuum structural bone (<NUM>) is connected with the second continuum fixing disk (<NUM>), and the proximal end of each dual continuum structural bone (<NUM>) passes through the rigid connection fixing disk (<NUM>) and is connected with the first continuum fixing disk (<NUM>).