CN108567489B - Operation arm, slave operation device and surgical robot - Google Patents
Operation arm, slave operation device and surgical robot Download PDFInfo
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- CN108567489B CN108567489B CN201810244041.3A CN201810244041A CN108567489B CN 108567489 B CN108567489 B CN 108567489B CN 201810244041 A CN201810244041 A CN 201810244041A CN 108567489 B CN108567489 B CN 108567489B
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- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 240000007643 Phytolacca americana Species 0.000 claims 3
- 208000014674 injury Diseases 0.000 abstract description 2
- 230000008733 trauma Effects 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 description 20
- 238000000429 assembly Methods 0.000 description 20
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
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- Surgical Instruments (AREA)
Abstract
The present invention relates to an operation arm with less surgical trauma, a slave operation device using the operation arm, and a surgical robot. The operation arm includes: the driving mechanism is provided with a shell; the connecting rod is including the first connecting rod, the second connecting rod that connect gradually, first connecting rod set up in on the casing, it is a plurality of the operating arm the second connecting rod closes on the setting, and stretches into internally from an incision.
Description
Technical Field
The invention relates to the field of minimally invasive surgery, in particular to an operating arm, slave operating equipment applying the operating arm and a surgical robot.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.
With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operating platform and a slave operating device, and a doctor controls the slave operating device to perform corresponding surgery operation by operating the main operating platform. The slave operation device generally includes a mechanical arm and an operation arm disposed on the mechanical arm, the mechanical arm is used to adjust a position of the operation arm, and the operation arm is used to extend into a body and perform an operation. At present, only one operation arm is usually arranged on a mechanical arm of a slave operation device, when a surgical robot performs a surgery, a plurality of operation arms enter a human body from a plurality of incisions on the human body respectively, and the surgery wound is still relatively large.
Disclosure of Invention
Accordingly, there is a need for an operation arm with less surgical trauma, a slave operation device using the operation arm, and a surgical robot.
An operating arm comprising:
a drive mechanism having a housing;
the connecting rod, including first connecting rod, the second connecting rod that connects gradually, first connecting rod set up in on the casing, it is a plurality of the operating arm the second connecting rod closes on the setting, and stretches into internally from an incision.
In one embodiment, the first link is rotatably disposed on the driving mechanism, and the second link is inserted into a sleeve or a poking card of the slave operating device, so that the second link rotates along with the first link along a fixed rotating shaft.
In one embodiment, the first link is a flexible rod.
In one embodiment, the operating arm further comprises a flexible connecting assembly, and the first connecting rod and the second connecting rod are connected through the flexible connecting assembly.
In one embodiment, the second link is tangent to a side of the housing.
In one embodiment, the housing has a first side surface and a second side surface adjacent to each other, and the first side surface and the second side surface are used for abutting against the first side surface or the second side surface of the adjacent operating arm or are used for being arranged close to and spaced from the first side surface or the second side surface of the adjacent operating arm, so that the operating arms are distributed around a central shaft.
In one embodiment, the first side surface forms an included angle with the second side surface.
In one embodiment, the edge of the first side surface extends to the edge of the second side surface so as to connect the two side surfaces, and the connecting area is a curved surface.
In one embodiment, the second link is tangent to the curved surface.
In one embodiment, the radius of curvature of the curved surface is substantially the same as the radius of the second link.
In one embodiment, the operating arm is connected with a power mechanism through the driving mechanism, and the driving mechanism is connected with the surface of the power mechanism, which is opposite to the surface provided with the connecting rod.
In one embodiment, the operating arm is connected with a power mechanism through the driving mechanism, and the driving mechanism is connected with the surface of the power mechanism, namely the surface on which the connecting rod is arranged.
In one embodiment, the operating arm is connected with a power mechanism through the driving mechanism, and the driving mechanism is connected with the surface of the power mechanism and is adjacent to the surface where the connecting rod is arranged.
In one embodiment, the first link is disposed at a middle region of a surface of the housing.
A slave manipulator comprises the manipulator arm, the manipulator arm is in a plurality, the connecting rods of the manipulator arms are arranged adjacently, and can extend into the body through an incision.
In one embodiment, the slave operation device further includes a poking card for passing through a notch, and the second links of the plurality of operation arms each pass through the poking card.
In one embodiment, the slave operation device further includes a sleeve that houses the second links of the plurality of operation arms.
In one embodiment, the slave operation device further includes:
the power mechanism is connected with the operating arm and used for driving the driving mechanism of the operating arm;
and the mechanical arm is connected with the power mechanism and used for adjusting the position of the operating arm.
A surgical robot, comprising: the master operating platform and the slave operating device,
the main operating platform is used for sending a control command to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment, and the slave operating equipment is used for responding to the control command sent by the main operating platform and carrying out corresponding operation.
Drawings
FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;
FIG. 2 is a partial schematic view of an embodiment of a slave manipulator apparatus in a surgical robot;
FIG. 3 is a partial schematic view of an embodiment of a slave manipulator apparatus in a surgical robot;
FIG. 4 is a schematic view of an embodiment of a manipulator arm of a surgical robot;
FIG. 5 is a top view of a plurality of the manipulator arms of FIG. 4;
FIG. 6 is a schematic view of an embodiment of a manipulator arm of a surgical robot;
FIG. 7 is a schematic view of an embodiment of a manipulator arm of a surgical robot;
FIG. 8 is a schematic view of an embodiment of a manipulator arm of a surgical robot;
FIG. 9 is a schematic view of an embodiment of a manipulator arm of a surgical robot;
FIG. 10 is an enlarged partial view of the operating arm of FIG. 9;
FIG. 11 is a schematic view of an embodiment of a manipulator arm of a surgical robot;
FIG. 12 is a schematic view of an embodiment of a manipulator arm of the surgical robot;
FIG. 13 is a partial schematic view of an embodiment of a surgical robotic manipulator arm;
fig. 14 is a schematic structural diagram of an embodiment of a manipulator arm of a surgical robot.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 to 3 are schematic structural diagrams of an embodiment of a surgical robot according to the present invention, and partial schematic diagrams of different embodiments of a slave operation device, respectively.
The surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operating device 2 according to a doctor's operation to control the slave operating device 2, and is configured to display an image acquired by the slave operating device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.
The slave manipulator 2 includes a robot arm 10, a power mechanism 20 provided on the robot arm 10, a manipulator arm 30 provided on the power mechanism 20, and a sleeve 40 fitted over the manipulator arm 30. The robot arm 10 is used to adjust the position of the operation arm 30; the power mechanism 20 is used for driving the operating arm 30 to perform corresponding operations; manipulator arm 30 is configured to extend into the body and perform surgical procedures and/or acquire in vivo images with its distally located end instrument 400. Specifically, as shown in fig. 2 and 3, the operation arm 30 is inserted through the sleeve 40, and the distal instrument 400 thereof extends out of the sleeve 40 and is driven to perform an operation by the power mechanism 20. In fig. 2, the region of the operating arm 30 located within the sleeve 40 is a rigid region; in fig. 3, the region of the operating arm 30 within the sleeve 40 is a flexible region, and the sleeve bends with the flexible region. In other embodiments, the sleeve 4 may be omitted, in which case the sleeve is not required.
In one embodiment, a plurality of operation arms 30 are disposed on the same power mechanism 20, and the distal ends of the plurality of operation arms 30 extend into the body through an incision on the body, so that the distal end instrument 400 is moved to the vicinity of the lesion 3 for performing the surgical operation. Specifically, the power mechanism is provided with a plurality of power parts, and each power part is correspondingly connected with one operation arm. In other embodiments, there are a plurality of power mechanisms, each power mechanism 20 is provided with one operating arm 30, and the plurality of operating arms extend into the body from one notch, and at this time, the plurality of power mechanisms 20 may be disposed on one mechanical arm 10, or may be disposed on a plurality of mechanical arms 10. It should be noted that a plurality of manipulation arms 30 may also extend into the body from a plurality of incisions, e.g., two manipulation arms in each incision, and e.g., one manipulation arm in each incision.
In one embodiment, the slave operating device 2 further includes a poking card (not shown) for penetrating through an incision on the human body and being fixedly disposed in the incision area, and the operating arm extends into the human body through the poking card.
Fig. 4 and 5 are a schematic structural diagram of an embodiment of the operation arm 30 of the present invention, and a top view of a plurality of operation arms, respectively.
The operation arm 30 comprises a driving mechanism 100, a connecting rod 200, a connecting assembly 300 and a terminal instrument 400 which are sequentially connected, wherein the driving mechanism 100 is provided with a shell 110, and a power mechanism is connected with the driving mechanism 100 to provide power for the driving mechanism; the link 200 is disposed on the housing 110 and is tangent to the side 111 of the housing 110 in the extending direction thereof such that the links 200 of the plurality of manipulation arms 30 are inserted into the body through one cut. The side surface 111 of the housing 110 is connected to the bottom surface 112, and the bottom surface 112 is a surface facing the human body during surgery. The tip instrument 400 and/or the connecting assembly 300 may also be omitted, as desired.
In this embodiment, the link 200 is a substantially rigid link 200, and is directly mounted on the power mechanism 20 without bending the link 200 when the operating arm 30 is mounted. In other embodiments, the connecting rod 200 may be a flexible connecting rod, or the connecting rod 200 may be omitted, and the connecting assembly 300 is directly connected to the driving mechanism 100.
The operation arms 30 are tangent to the housing 110, so that the connection rods 200 of the operation arms 30 can extend into the body through one incision on the human body, and the distance between the driving mechanisms 100 of the operation arms 30 can be reduced, so that the operation arms 30 are more compact, and the volume of the area where the power mechanism 20 is installed on the operation arms 30 is reduced. Further, since the connecting rod 200 is a rigid connecting rod 200, the operation is more stable.
The housing 110 has a first side surface 111A and a second side surface 111B adjacent to each other, and each of the first side surface 111A and the second side surface 111B is used for abutting against the first side surface 111A or the second side surface 111B of the adjacent operation arm 30, so that the plurality of operation arms 30 are distributed around a central axis; or the first side surface 111A and the second side surface 111B are used to be disposed adjacent to and spaced apart from the first side surface 111A or the second side surface 111B of the adjacent operating arm 30, so that the operating arms 30 are distributed around a central axis, for example, the first side surface 111A of one housing 110 of the two adjacent housings 110 is disposed opposite to the first side surface 111A or the second side surface 111B of the other housing 110, and a gap is formed between the opposite surfaces. The first side surface 111A and the second side surface 111B form an acute angle. In other embodiments, the first side surface 111A and the second side surface 111B may form a right angle or an obtuse angle.
Further, the edge of the first side surface 111A extends to the edge of the second side surface 111B, so that the two side surfaces 111 are connected, and the connection area is a curved surface. Wherein the connecting rod 200 is tangent to the curved surface, in one embodiment, the radius of curvature of the curved surface is substantially the same as the radius of the connecting rod 200. In other embodiments, the curvature radii of the curved surfaces may also be different.
In this embodiment, the surface of the housing 110 for connecting the power mechanism is opposite to the surface where the connecting rod 200 is disposed. Specifically, the connecting rod 200 is disposed on the bottom surface 112 of the housing 110 and adjacent to an edge region of the bottom surface 112, and a surface of the housing 110 opposite to the bottom surface 112 is used for connecting the actuating mechanism. In other embodiments, as shown in fig. 6, a surface of the housing 110 for connecting the power mechanism and a surface of the connecting rod 200 are the same surface, specifically, the bottom surface 112 of the housing 110 has a connecting plate 120 for connecting the power mechanism, and the connecting rod 200 is disposed on the bottom surface 112 of the housing 110. Alternatively, as shown in fig. 7, a surface of the housing 110 for connecting the power mechanism may be disposed adjacent to a surface where the connecting rod 200 is disposed, that is, one side 111 of the housing 110 for connecting the power mechanism is disposed, and the connecting plate 120 is disposed thereon. In this case, the surface of the housing 110 for connecting the power mechanism may be one of the side surfaces 111, the bottom surface 112, or a surface opposite to the bottom surface 112.
In this embodiment, the connecting rod 200 is a straight rod, and the connecting rod 200 is rotatably disposed on the housing 110 of the driving mechanism 100, and the driving mechanism 100 drives the connecting rod 200 to rotate along the axis thereof. In other embodiments, the connecting rod 200 may also be a non-straight rod structure. Alternatively, the link 200 may be fixedly disposed on the housing 110.
As shown in fig. 8, in an embodiment, the connecting rod 200 includes a first connecting rod 210 and a second connecting rod 220 connected in sequence, wherein the first connecting rod 210 is disposed on the housing 110 and is fixedly connected to the second connecting rod 220, and the first connecting rod 210 and the second connecting rod 220 form an included angle, which is a non-straight angle. In this embodiment, the second connecting rod 220 is tangent to the side 111 of the housing 110, and the connecting rod 200 is fixedly disposed on the housing 110. At this time, the distal end instrument 400 connected to the link rod 200 can be relatively rotated, thereby securing the degree of freedom of the manipulation arm 30. In other embodiments, the second link may be non-tangential to the housing, so long as the second links of the plurality of operating arms are secured in the body through a single incision.
The first link may also be rotatably disposed on the housing. For example, the first connecting rod is a soft rod or a flexible pipe, or the first connecting rod is connected with the second connecting rod through a flexible joint component, so that the position between the first connecting rod and the second connecting rod can be adjusted; the second connecting rod penetrates through the poking card or the sleeve to limit the position of the second connecting rod relative to a human body, and the first connecting rod drives the second connecting rod to rotate around the fixed rotating shaft, namely the rotating shaft of the second connecting rod cannot change along with the bending of the first connecting rod. For another example, the second connecting rod is fixed relative to the first connecting rod, and at this time, the first connecting rod is connected with the second connecting rod through the transmission mechanism, so that when the first connecting rod rotates, the second connecting rod is driven to rotate around the fixed rotating shaft. When the first link is rotatably disposed on the housing, the first link may be located at a middle region of the surface of the housing.
It should be noted that, when the first connecting rod is a soft rod or a flexible tube, or the first connecting rod is connected to the second connecting rod through a flexible joint assembly, the first connecting rod may also be fixedly connected to the housing, and at this time, the end device connected to the connecting rod may be rotated relatively.
As shown in fig. 9, in one embodiment, the connecting rod 200 includes a first connecting rod 210 and a second connecting rod 220, and the connecting assembly 300 includes a first connecting assembly 310 and a second connecting assembly 320. The first link 210 is disposed on the driving mechanism 100 and is connected to the second link 220 through the first connecting component 310 in a swinging manner, the second link 220 is used for connecting the distal end instrument 400 or the second connecting component 320, wherein when the second link 220 is connected to the second connecting component 320, the distal end instrument 400 is connected to the distal end of the second connecting component 320. The first connection assembly 310 is located outside the body and the second connection assembly 320 is located inside the body during surgery. In this embodiment, the second link 220 is tangent to the side 111 of the housing 110. In other embodiments, the second link 220 may not be tangent to the housing 110, but may have other positions.
The operation arm 30 drives the connection assembly 300 through the driving mechanism 100, so that the second link 220 swings relative to the first link 210, and further the positions of the second link 220 and the terminal instrument 400 connected with the second link 220 are adjusted, the space between the driving mechanism 100 of the operation arm 30 and the human body is fully utilized, and the flexibility of the operation arm 30 is improved.
In one embodiment, the number of the first links 210 is plural, the plural first links 210 are sequentially connected via the first connecting component 310 in a swinging manner, the first link 210 located at the proximal end is connected to the driving mechanism 100, and the first link 210 located at the distal end is connected to the second link 220 via the first connecting component 310. This further increases the flexibility of the operating arm 30.
Further, at least two of the plurality of link assemblies 300 are coupled to each other, and the coupled link assemblies 300 are rotated accordingly according to the coupling relationship. Specifically, in an embodiment, at least two first connection assemblies 310 are coupled to each other, and when the coupled first connection assemblies 310 rotate, the posture of the link to which the first connection assembly 310 at the distal end is connected is maintained, that is, the posture of the first link 210 or the second link 220 to which the first connection assembly 310 is connected is maintained. For example, the number of the first links 210 is plural, the first link 210 at the distal end is connected to the second link 220 and another first link 210 through two coupled first connecting elements 310, and when the coupled first connecting elements 310 rotate, the second link 220 is parallel to another first link 210 connected to the first link 210 at the distal end. In other embodiments, the first connecting member 310 is coupled to the second connecting member 320, and the distal end of the second connecting member 320 maintains the same posture when the coupled connecting member 300 rotates. In the above embodiment, the sum of the rotation angles in all directions of the coupled connecting assemblies is substantially the same when the coupled connecting assemblies rotate, and in other embodiments, the coupled connecting assemblies 300 may rotate in the same direction, for example, the rotation angles of the coupled connecting assemblies 300 are proportional.
As shown in fig. 10, which is a partially enlarged schematic view of the operation arm shown in fig. 9.
The coupling assembly 300 comprises a plurality of coupling units 301 connected in series, wherein at least two coupling units 301 form a rotatable joint assembly 302. For example, the plurality of link units 301 are sequentially connected by link portions formed thereon, so that the plurality of link units 301 form a rotatable joint assembly 302. For another example, the connecting assembly 300 further includes a driving wire by which the plurality of connecting units 301 are sequentially connected such that the plurality of connecting units 301 form a rotatable joint assembly 302, in which case the driving wire is used for both driving and connecting the connecting units.
In this embodiment, the sum of the rotation angles in all directions when each joint component in the coupled connection component rotates is substantially the same, so as to ensure that the posture of the connection unit located at the far end is kept unchanged when the coupled connection component bends and swings. Wherein, in the coupled connecting components, each joint component is correspondingly coupled. For example, two first link assemblies are coupled, wherein each first link assembly has a joint assembly, and the rotation directions of the joint assemblies are opposite and the rotation angles of the joint assemblies are the same. For another example, two first linkage assemblies are coupled, each including two joint assemblies, wherein two joint assemblies of one linkage assembly are each correspondingly coupled to two joint assemblies of the other linkage assembly. For another example, each joint assembly of the coupled joint assemblies may rotate in the same direction and at a proportional angle. The joint assembly may be an active joint assembly or a slave joint assembly. The driving joint component is a joint component which rotates under the control of a driving mechanism, and the following joint component is a joint component which rotates along with the rotation of the driving switching rotation.
Please refer to fig. 11, which is a schematic structural diagram of an embodiment of a manipulator of a surgical robot.
In one embodiment, the operation arm 30 includes a driving mechanism, a connecting rod, a connecting assembly and a distal end instrument, which are connected in sequence, wherein the joint assembly 302 includes a first driving joint assembly 302A and a following joint assembly 302B, which are coupled, and when the first driving joint assembly 302A bends, the following joint assembly 302B bends correspondingly according to the coupling relationship, wherein the first driving joint assembly 302A is located inside the housing 110 of the driving mechanism 100, and the first following connecting assembly 302B is located outside the housing 110 of the driving mechanism 100 and is connected to the distal end of the connecting rod 200, that is, the connecting rod 200 is located between the first driving joint assembly 302A and the following joint assembly 302B.
The operation arm 30 enables the first active joint component inside the driving mechanism 100 to drive the following joint component outside the driving mechanism 100, so that the control is more precise.
The driving mechanism 100 further includes a driving part 130 disposed in the housing 110 for driving the connection assembly 300. The connection assembly 300 further includes a drive wire including a master drive wire 303 and a slave drive wire 304. One end of the main driving wire 303 is disposed on the driving portion 130, and the other end is disposed on the joint component 302A to drive the main driving wire to rotate. For example, one end of the main drive wire is disposed on the connection unit of the joint assembly that it drives; for another example, the primary drive wire may be disposed on a linkage unit distal to the joint assembly that it drives, wherein the primary joint assembly moves independently of the remaining joint assemblies disposed between the joint assembly that drives its primary drive wire and the proximal joint assembly. One end of the slave driving wire 304 is disposed on the slave joint element 302B, and the other end is disposed on the first master joint element 302A, which drives the slave joint element 302B to rotate, so that when the first master joint element 302A rotates, the slave joint element 302B rotates with the slave joint element. It should be noted that the slave drive wire 304 may also be disposed on other joint components 302, for example, the distal end of the slave drive wire 304 is disposed on the joint component 302 at the distal end of the follower joint component 302B.
In this embodiment, the first main driving wire 303A driving the first main joint component 302A is located in the housing 110 and connected to the connecting unit 301 of the first main joint component 302A from the outside, but it can also be understood that the first main driving wire 303A of the first main joint component 302A is not inserted into other connecting units, but is only disposed on the connecting unit driven thereby, and drives the first main joint component 302A from the outside of the connecting assembly.
Further, the connecting units 301 in the first active joint assembly 302A are all driven by the first main driving wire 303A, i.e. each connecting unit 301 in the first active joint assembly 302A is connected with the first main driving wire 303A. In this embodiment, the first driving joint assembly 302A is driven by two first driving wires 303A, and the two first driving wires 303A are connected to the connecting unit 301 in the first driving joint assembly 302A from two opposite sides to drive the first driving joint assembly 302A to rotate clockwise or counterclockwise. The two first main driving wires 303A may be located on the same connecting unit of the first active joint component, or may be located on two connecting units of the joint component.
It should be noted that the fixed connection unit 301 in the first active joint component 302A does not need to be provided with the driving wire 303, and when the first active joint component 302A with the fixed connection unit 301 is driven to rotate, only the other fixed connection unit 301 in the first active joint component 302A needs to be driven. Wherein the fixed connection unit will be described below.
In other embodiments, the link structure may be substituted for the first main driving wire. For example, the driving mechanism includes a driving rod driven by a driving part, and the driving rod is connected with at least one connecting unit in the first active joint assembly to drive the active joint assembly to rotate. In this case, only one driving rod may be provided on each connection unit. For example, the driving portion and the driving rod form a cam mechanism, specifically, the driving portion is connected with the cam so that the cam rotates along with the driving portion, and the driving rod abuts against the curved surface of the cam and moves along a straight line so as to drive the connecting unit connected with the driving rod. For another example, the driving portion and the driving rod form a rack-and-pinion mechanism, specifically, the driving portion is connected with a gear to rotate the gear with the driving portion, and the driving rod has a rack engaged with the gear to drive a connecting unit connected thereto.
As shown in fig. 12, in an embodiment, a first main driving wire 303A driving a first active joint component 302A is inserted into the first active joint component 302A and connected to a connecting unit 301 of the first active joint component 302A driven by the first main driving wire. It can also be understood that the first main driving wire is inserted into each connecting unit between the driving part and the first active joint component driven by the driving part, and drives the first active joint component from the inside of the connecting component.
Fig. 13 and 14 are schematic structural diagrams of different embodiments of the operation arm 30 according to the present invention, wherein the first master driving wire 303A and the slave driving wire 304 are omitted.
In addition to the above structure, the connecting assembly 300 of the driving mechanism 30 further includes a second driving joint assembly 302C located outside the driving mechanism 100 and driven by a second main driving wire 303B. For example, as shown in fig. 13, a second master drive wire 303B passes through the first master joint component 302A and extends to a second master joint component 302C driven thereby. For another example, as shown in fig. 14, the second master drive wire 303B is located outside the first master joint component 302A, i.e., the movement of the first master joint component 302A does not affect the second master drive wire 303B.
The second active joint component 302C may be located at the proximal end of the following joint component 302B, or may be located at the distal end of the first following joint component 302B; alternatively, when there are a plurality of the follower joint elements 302B and/or the second active joint elements 302C, they are arranged in a crossing manner.
Specifically, the follower joint assembly 302 is coupled at a distal end to the second active joint assembly 302C and at a proximal end to the linkage rod 200. In other embodiments, the proximal end of the second active joint element 302C may be connected to the connecting rod 200, and the distal end thereof may be connected to the follower joint element 302A, at this time, the second active joint element 302C and the first active joint element 302A are both coupled to the follower joint element 302B, i.e., the second active joint element 302C drives the follower joint element 302B to move correspondingly.
It should be noted that the connecting assembly may include a plurality of sets of joint assemblies, and the rotation axes of the joint assemblies in each set are different, so that the connecting assembly has a plurality of degrees of freedom, for example, the first driving joint assembly includes two sets, the rotation axes of the two sets of first driving joint assemblies are orthogonal, and at this time, the following joint assembly is correspondingly disposed corresponding to the first connecting assembly. Each joint assembly 302 may also have at least two degrees of freedom to make it more flexible.
As shown in fig. 11 to 14, the connecting rod 200 is communicated with the distal end of the first active joint component 302A, so that the connecting rod 200 is inserted through the two ends of the driving wire 304, and is connected with the first active joint component 302A and the following joint component 302B which are located at the two ends of the connecting rod 200 and coupled with each other, at this time, the distal end of the first active joint component 302A is fixed on the housing, that is, the connecting unit of the distal end is a fixed connecting unit, and the proximal end of the first active joint component is a free end and is not connected with other components.
In other embodiments, the connecting rod 200 may be spaced apart from the first active joint component 302A, and the proximal end of the first active joint component is fixedly disposed in the housing 110, the proximal connecting unit is a fixed connecting unit, and the distal end of the first active joint component is a free end and is spaced apart from the connecting rod. A secondary drive wire 304 extends from the first active joint component into the linkage rod 200 and is disposed on the joint component 302 that it drives.
As shown in fig. 13 and 14, when the connecting assembly includes the second driving joint assembly, the second driving wire 303B for driving the second driving joint assembly to rotate passes through the connecting rod 200 and extends to the driven joint assembly. In fig. 13, the second master drive wire 303B is threaded through the link 200 in the same region of the link 200 as the slave drive wire 304. In fig. 14, the second master drive wire 303B and the slave drive wire 304 are inserted through the link 200 in different regions of the link 200.
In one embodiment, the link rod 200 is fixedly disposed on the housing 110 of the driving mechanism 100, and at this time, the first active joint component 302A is fixedly connected to the link rod 200. In other embodiments, the connecting rod may also be rotatably disposed on the driving mechanism 100 along the axial direction thereof, at this time, the first driving joint component 302A is fixedly disposed on the housing 110, the connecting rod 200 penetrates through the housing 110 and is communicated with the first driving joint component 302A, that is, at this time, the first driving joint component 302 does not rotate along with the connecting rod 200.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (16)
1. An operating arm, comprising:
a drive mechanism having a housing;
the connecting rod, including first connecting rod, the second connecting rod that connects gradually, first connecting rod set up in on the casing, the second connecting rod on its extending direction with the side of casing is tangent, so that it is a plurality of the operating arm the second connecting rod closes on the setting, and stretches into internally from an incision to and
the connecting assembly comprises a plurality of connecting units which are connected in sequence, at least two connecting units form a rotatable joint assembly, the joint assembly comprises a first driving joint assembly, a follow-up joint assembly and a second driving joint assembly, the first driving joint assembly is positioned in the driving mechanism, the follow-up joint assembly is positioned outside the driving mechanism, one end of the follow-up joint assembly is connected with the far end of the second connecting rod, and the other end of the follow-up joint assembly is connected with a terminal instrument; the second driving joint component is located outside the driving mechanism, the first connecting rod is connected with the second connecting rod through the second driving joint component, the first driving joint component is driven through a first main driving wire, the second driving joint component is driven through a second main driving wire, the follow-up joint component is driven through a slave driving wire, and the first driving joint component and the second driving joint component are both coupled with the follow-up joint component to drive the follow-up joint component to move correspondingly.
2. The arm as claimed in claim 1, wherein the first link is rotatably mounted to the driving mechanism, and the second link is inserted into a bushing or a poke card of the slave device, such that the second link rotates with the first link along a fixed rotation axis.
3. The arm of claim 1, wherein said housing has adjacent first and second sides, each for abutting against or being spaced proximally from said first or second side of an adjacent said arm, such that a plurality of said arms are distributed about a central axis.
4. The operating arm of claim 3, wherein said first side surface forms an angle with said second side surface.
5. The arm as claimed in claim 3, wherein the edge of the first side surface extends to the edge of the second side surface to connect the two side surfaces, and the connecting region is a curved surface.
6. The manipulator arm according to claim 5, wherein the second link is tangent to the curved surface.
7. The manipulator arm according to claim 5, wherein the curved surface has a radius of curvature substantially the same as a radius of the second link.
8. The arm of claim 1, wherein the arm is coupled to a power mechanism via the drive mechanism, the drive mechanism being coupled to a surface of the power mechanism opposite the surface on which the linkage is disposed.
9. The arm as claimed in claim 1, wherein the arm is connected to the power mechanism through the driving mechanism, and the driving mechanism is connected to a surface of the power mechanism, which is a surface on which the connecting rod is disposed.
10. The operating arm of claim 1 wherein said operating arm is coupled to a power mechanism through said drive mechanism, said drive mechanism being coupled to a surface of the power mechanism adjacent to a surface on which said connecting rod is disposed.
11. The arm as claimed in claim 1, wherein said first link is disposed in a central region of a surface of said housing.
12. A slave manipulator comprising a plurality of manipulator arms according to any one of claims 1 to 11, wherein the second links of the plurality of manipulator arms are adjacently disposed and are capable of extending into the body through the same incision.
13. The slave manipulator according to claim 12, further comprising a poke card for passing a notch, the second links of the plurality of manipulator arms each passing the poke card.
14. The slave operating device of claim 12, further comprising a sleeve that sleeves the second links of the plurality of operating arms.
15. The slave operation device according to claim 12, characterized in that the slave operation device further comprises:
the power mechanism is connected with the operating arm and used for driving the driving mechanism of the operating arm;
and the mechanical arm is connected with the power mechanism and used for adjusting the position of the operating arm.
16. A surgical robot, comprising: a master console and a slave console device as claimed in claim 12,
the main operating platform is used for sending a control command to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment, and the slave operating equipment is used for responding to the control command sent by the main operating platform and carrying out corresponding operation.
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| CN109431602A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of porous minimally invasive robot system and its application method based on flexible surgical arm |
| CN109431603A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | Flexible robot's surgery systems and its application method for endoscope treatment art formula |
| KR102116119B1 (en) * | 2018-10-22 | 2020-05-27 | (주)미래컴퍼니 | Master robot and control method thereof |
| CN114948229B (en) * | 2022-06-29 | 2024-08-23 | 山东大学 | Five-degree-of-freedom flexible operation arm of surgical robot |
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Address after: 518000 2b1901, phase II, smart home, 76 Baohe Avenue, Baolong community, Baolong street, Longgang District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Jingfeng Medical Technology Co.,Ltd. Address before: Room 404, block B, building 2, Tianan Digital Innovation Park, No. 441, Huangge Road, Longcheng street, Longgang District, Shenzhen, Guangdong 518172 Applicant before: SHENZHEN JINGFENG MEDICAL TECHNOLOGY Co.,Ltd. |
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