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 (10) and a driving unit (20). The flexible surgical instrument (10) comprises a flexible continuous body structure composed of a distal structural body (101), a proximal structural body (102) and a middle connecting body (103). The distal structural body (101) comprises a distal structural segment (104, 105), the distal structural segment (104, 105) comprising a distal spacing disk (106, 109), a distal fixing disk (107, 110) and structural backbones (108, 111). The proximal structural body (102) comprises a proximal structural segment (112, 113), the proximal structural segment (112, 113) comprising a proximal spacing disk (114, 117), a proximal fixing disk (115, 118) and structural backbones (116, 119). The middle connecting body (103) comprises channel fixing plates (120) and a structural backbone guide channel (121). The driving unit (20) comprises a motor part (206), a motion conversion part (207) and a plurality of linear motion mechanisms (201). The motor part (206) comprises a first fixing plate (208) and a first motor (209). The motion conversion part (207) comprises a plurality of transmission chains (210), each of the transmission chains (210) converts a rotary output of the first motor (209) into a linear motion of two output rods (221, 222) and the linear motion is transferred to an input end of the linear motion mechanism (201) through a sterile barrier (223), an output end of the linear motion mechanism (201) is connected to one end of one driving backbone (202), and the driving backbone (202) passes through the proximal spacing disk (114, 117) and the other end is connected to the proximal fixing disk (115, 118).