FLEXIBLE SURGICAL INSTRUMENT SYSTEM BASED ON CONTINUOUS BODY STRUCTURE

摘要

Disclosed is a flexible surgical instrument system based on a continuous body structure, the flexible surgical instrument system comprising a flexible surgical instrument and a driving unit. The flexible surgical instrument comprises a flexible continuous body structure composed of a distal structural body, a proximal structural body and a middle connecting body. The distal structural body comprises a distal structural segment, the distal structural segment comprising a distal spacing disk, a distal fixing disk and structural backbones. The proximal structural body comprises a proximal structural segment, the proximal structural segment comprising a proximal spacing disk, a proximal fixing disk and structural backbones. The middle connecting body comprises channel fixing plates and a structural backbone guide channel. The driving unit comprises a motor part, a motion conversion part and a plurality of linear motion mechanisms. The motor part comprises a first fixing plate and a first motor. The motion conversion part comprises a plurality of transmission chains, each of the transmission chains converts rotary output of the first motor into a linear motion of two output rods and the linear motion is transferred to an input end of the linear motion mechanism through a sterile barrier, an output end of the linear motion mechanism is connected to one end of one driving backbone, and the driving backbone passes through the proximal spacing disk and the other end is connected to the proximal fixing disk.