US 11,903,571 B2
Flexible surgical instrument system with prepositioned drive input
Kai Xu, Beijing (CN); Shu'an Zhang, Beijing (CN); Zhengchen Dai, Beijing (CN); Jiangran Zhao, Beijing (CN); Huan Liu, Beijing (CN); Yuyang Chen, Beijing (CN); Zhixiong Yang, Beijing (CN); and Zhijun Zhu, Beijing (CN)
Assigned to BEIJING SURGERII ROBOTICS COMPANY LIMITED, Beijing (CN)
Appl. No. 16/329,723
Filed by Beijing Surgerii Robotics Company Limited, Beijing (CN)
PCT Filed Aug. 30, 2017, PCT No. PCT/CN2017/099754
§ 371(c)(1), (2) Date Feb. 28, 2019,
PCT Pub. No. WO2018/041158, PCT Pub. Date Mar. 8, 2018.
Claims priority of application No. 201610796071.6 (CN), filed on Aug. 31, 2016; and application No. 201610798138.X (CN), filed on Aug. 31, 2016.
Prior Publication US 2019/0231329 A1, Aug. 1, 2019
Int. Cl. A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 17/29 (2006.01)
CPC A61B 17/00234 (2013.01) [A61B 17/00 (2013.01); A61B 34/30 (2016.02); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00336 (2013.01); A61B 2017/2932 (2013.01); A61B 2034/301 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A flexible surgical instrument, comprising:
a distal structural body comprising at least one distal structural segment, the at least one distal structural segment comprising a distal fixing disk and distal structural backbones;
a proximal structural body comprising at least one proximal structural segment, the at least one proximal structural segment comprising a proximal fixing disk, proximal structural backbones, and driving backbones, the distal structural backbones being securely connected in one-to-one correspondence to or the same as corresponding proximal structural backbones, and
a driving unit comprising a linear motion mechanism operable to convert a first rotary motion into linear motions to cooperatively push or pull a pair of driving backbones of the driving backbones to turn the at least one proximal structural segment;
a first end of each of the pair of driving backbones is securely connected to the proximal fixing disk; and
a second end of each of the pair of driving backbones is connected to the linear motion mechanism;
the linear motion mechanism comprises:
a first driving slider and a second driving slider;
a linear motion of the second driving slider is in an opposite direction to a linear motion of the first driving slider;
second ends of the pair of driving backbones are securely connected to the first driving slider and the second driving slider, respectively;
the linear motion mechanism further comprises:
a first threaded rod to receive the first rotary motion;
a first gear coaxially connected to the first threaded rod;
a second gear in a meshing with the first gear; and
a second threaded rod coaxially connected to the second gear;
the first driving slider in a threaded connection with the first threaded rod; and
the second driving slider in a threaded connection with the second threaded rod; or
the linear motion mechanism further comprises:
a double-head threaded rod to receive the first rotary motion;
the first driving slider and the second driving slider in a threaded connection with two threaded sections of the double-head threaded rod, respectively.