Double-bending flexible surgical tool system
A double-bending flexible surgical tool system includes a mechanical arm including 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 are 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 form a second dual continuum mechanism. A transmission driving unit associated with the rigid connection segment and the proximal continuum segment, respectively, is configured 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.
1 . 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, wherein the first continuum segment comprises a first continuum fixing disk and a plurality of pairs of direction-controlling continuum structural bones, the rigid connection segment comprises a rigid connection fixing disk, and distal ends of the plurality of pairs of direction-controlling continuum structural bones are connected with the rigid connection fixing disk;
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; and
a transmission driving unit associated with the rigid connection segment and the proximal continuum segment, respectively, and configured 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.
2 . The double-bending flexible surgical tool system of claim 1 , wherein:
the transmission driving unit comprises a plurality of linear motion mechanisms comprising a double-threaded rod, a first sliding block, and a second sliding block; 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.
3 . The double-bending flexible surgical tool system of claim 2 , wherein:
the proximal continuum segment comprises a proximal continuum fixing disk and at least two pairs of proximal continuum structural bones;
distal ends of each pair of the proximal continuum structural bones are connected with the proximal continuum fixing disk; and
proximal ends of each pair of the proximal continuum structural bones are connected with the first sliding block and the second sliding block, respectively.
4 . The double-bending flexible surgical tool system of claim 3 , wherein:
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 a second continuum fixing disk of the second continuum segment, and is connected with the proximal continuum fixing disk.
5 . The double-bending flexible surgical tool system of claim 4 , wherein:
the third continuum segment further comprises a plurality of third continuum spacer disks spaced between a proximal side of the third continuum fixing disk and a distal side of the second continuum connection fixing disk; and
the plurality of second dual continuum structural bones sequentially pass through first continuum spacer disks, rigid connection spacer disks, second continuum spacer disks, and third continuum spacer disks.
6 . The double-bending flexible surgical tool system of claim 4 , further comprising a surgical effector mechanism comprising:
a surgical effector disposed on the third continuum fixing disk; and
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.
7 . The double-bending flexible surgical tool system of claim 3 , wherein the plurality of linear motion mechanisms comprises:
a second pair of the linear motion mechanisms each connected with a pair of the proximal continuum structural bones.
8 . The double-bending flexible surgical tool system of claim 7 , wherein the plurality of linear motion mechanisms comprises:
a third linear motion mechanism connected with a surgical effector control wire to control an action of a surgical effector, a distal end of the surgical effector control wire being connected with the surgical effector disposed on a distal end of the third continuum segment.
9 . The double-bending flexible surgical tool system of claim 2 , wherein the plurality of linear motion mechanisms comprises:
a first pair of the linear motion mechanisms each connected with a pair of the direction-controlling continuum structural bones.
10 . The double-bending flexible surgical tool system of claim 9 , wherein the plurality of linear motion mechanisms comprises:
a third linear motion mechanism connected with a surgical effector control wire to control an action of a surgical effector, a distal end of the surgical effector control wire being connected with the surgical effector disposed on a distal end of the third continuum segment.
11 . The double-bending flexible surgical tool system of claim 1 , wherein:
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;
each of the plurality of pairs of direction-controlling continuum structural bones sequentially passes through the plurality of rigid feed segment spacer disks and the plurality of first continuum spacer disks; and
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 being connected with the second continuum fixing disk, and a proximal end of each first dual continuum structural bone passing through the rigid connection fixing disk and being connected with the first continuum fixing disk.
12 . The double-bending flexible surgical tool system of claim 11 , wherein:
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; and
each of the plurality of first dual continuum structural bones sequentially passes through the plurality of first continuum spacer disks, the plurality of rigid connection spacer disks, and the plurality of second continuum spacer disks.
13 . The double-bending flexible surgical tool system of claim 1 , wherein bending of the first continuum segment is in proportion to bending of the second continuum segment.