Continuum instrument and surgical robot
AssigneeBeijing Surgerii Robotics Company Limited
InventorsKai Xu, Xu Liu
Life of this patent
Estimating the term…
Abstract
A continuum instrument includes: at least one proximal continuum, at least one distal continuum, a drive connection part, and a drive transmission mechanism. The drive connection part is connected to a proximal stop disk of the proximal continuum, and includes an input end located at a proximal side of the proximal stop disk. An output end of the drive transmission mechanism is connected to the input end of the drive connection part, and the output end is configured to drive the input end such that the proximal stop disk turns to drive the distal continuum to bend by means of proximal structural backbones of the proximal continuum and distal structural backbones of the distal continuum.
Claims18
A continuum instrument, comprising:
- at least one proximal continuum comprising a proximal stop disk, a proximal base disk and a plurality of proximal structural backbones, proximal ends of the plurality of proximal structural backbones passing through the proximal base disk and being fixedly connected to the proximal stop disk;
- at least one distal continuum comprising a distal stop disk and a plurality of distal structural backbones, distal ends of the plurality of distal structural backbones being fixedly connected to the distal stop disk, and the plurality of distal structural backbones being fixedly connected to or integrally formed with the plurality of proximal structural backbones;
- a drive connection part comprising a distal drive connection structure located at a distal side of the proximal stop disk and a proximal drive connection structure located at a proximal side of the proximal stop disk, a distal end of the distal drive connection structure being connected to the proximal base disk, a proximal end of the distal drive connection structure being connected to a distal end of the proximal drive connection structure to form a rod-shaped connection node;
- the rod-shaped connection node passing through the proximal stop disk, being located inside and on both side of the proximal stop disk, and being movably connected to the proximal stop disk to form a cylindrical pair or a moving pair;
- and
- a drive transmission mechanism located outside the proximal continuum, an output end of the drive transmission mechanism being connected to a proximal end of the proximal drive connection structure located at the proximal side of the proximal stop disk to output a single planar motion, the output end of the drive transmission mechanism being configured to drive the rod-shaped connection node to move by means of the proximal drive connection structure so as to turn the proximal stop disk by means of the cylindrical pair or the moving pair, thereby driving the distal continuum to bend by means of the proximal structural backbones and the distal structural backbones.
Dependencies are inferred from the claim text.