CN113331952B - Surgical robot based on fiber choledochoscope - Google Patents
Surgical robot based on fiber choledochoscope Download PDFInfo
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- CN113331952B CN113331952B CN202110720191.9A CN202110720191A CN113331952B CN 113331952 B CN113331952 B CN 113331952B CN 202110720191 A CN202110720191 A CN 202110720191A CN 113331952 B CN113331952 B CN 113331952B
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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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention provides a surgical robot based on a fiber choledochoscope, which comprises: the device comprises a trolley, a linear driving part, a rotary driving part, a pitching driving part and a rotary base; one end of the linear driving part is connected with the trolley in a sliding fit mode and supported by the trolley, the other end of the linear driving part is provided with the rotary driving part, the rotary driving part is connected with one end of the pitching driving part, and the other end of the pitching driving part is provided with the rotary base; and a mechanical interface is arranged on one side of the rotary driving part, and the choledochoscope is installed at one end of the rotary base installed on the pitching driving part. By a master-slave control method, the operation difficulty of the fiber choledochoscope is reduced by utilizing the characteristics of high precision, high stability, simple operation and the like of the surgical robot, the damage of instruments is reduced, and the use cost is further reduced.
Description
Technical Field
The invention relates to the field of medical surgical robots, in particular to a surgical robot based on a fiber choledochoscope.
Background
The surgical robot is one of the research and development hotspots in recent years, and from the first neurosurgical robot surgical experiment in the eighties of the twentieth century, the medical surgical robot technology is continuously developed, and the surgical robot has wide application prospects in the aspects of clinical minimally invasive surgery, battlefield rescue, earthquake and tsunami disaster relief and the like.
The surgical robot serving as innovative medical equipment can complete fine surgical operation in the body cavity, blood vessel and nerve dense area, has the advantages of accurate positioning, small surgical wound, low infection risk, quick postoperative rehabilitation and the like, can meet the requirement of a patient on high-quality medical service, and can help better solve the problems of insufficient medical resources and the like caused by global aging, thereby drawing wide attention in the world. The demands of doctors and patients on surgical robots are quite diverse: part of the surgery requires very fine and stable operation, and the surgical robot can easily realize fine operation which is difficult to be completed by many hands; some patients want to have as little wound as possible in the operation, and the minimally invasive property of the surgical robot can greatly reduce the surgical wound surface, so that the patients can be discharged as soon as possible, and the medical resources are also saved.
The fiber choledochoscope operation robot can realize clear shooting, complete examination and elimination of examination blind areas clinically, can be applied to clinical research for improving liver and gall surgery diagnosis, biopsy, follow-up diagnosis and cytology examination, is suitable for diagnosis and treatment of stones, foreign matters, tumors, obstruction and the like in liver and gall surgery, and has great significance for improving operation and diagnosis processes under an endoscope of the liver and gall surgery. At present, no choledochoscope surgical robot exists in the market. The clinical requirements of simple operation, precise operation, one-person independent operation and the like are met by adopting the robot technology according to the current surgical requirements, such as difficult operation, low precision, assistance of an assistant and the like.
Patent document CN104757931B relates to a choledochoscope for a minimally invasive surgery robot, which is controlled by the minimally invasive surgery robot to realize intrahepatic cholangiopathy exploration and treatment, and comprises a choledochoscope body and accessory equipment, wherein the choledochoscope body comprises a front end assembly, a bending assembly, a rigid connecting rod and a choledochoscope box; one end of the bending component is fixedly connected to the front end component, and the other end of the bending component is fixedly connected to the rigid connecting rod; the other end of the rigid connecting rod is rotatably arranged on the choledochoscope box; the bending component realizes bending movement in one direction; the rigid connecting rod and the choledochoscope box realize the autorotation motion of the rigid connecting rod of the choledochoscope; the choledochoscope box is mainly used for connecting and fixing the choledochoscope and the minimally invasive robot and transmitting driving force for controlling the movement of other components of the choledochoscope.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a surgical robot based on a fiber choledochoscope.
According to the present invention, there is provided a surgical robot based on a fiberscope, comprising: the device comprises a trolley, a linear driving part, a rotary driving part, a pitching driving part and a rotary base;
one end of the linear driving part is connected with the trolley in a sliding fit mode and supported by the trolley, the other end of the linear driving part is provided with the rotary driving part, the rotary driving part is connected with one end of the pitching driving part, and the other end of the pitching driving part is provided with the rotary base;
and a mechanical interface is arranged on one side of the rotary driving part, and the choledochoscope is installed at one end of the rotary base installed on the pitching driving part.
Preferably, the linear driving part includes: the linear driving part is connected with the bracket, the linear driving part fixing frame and the sealing screw rod module;
one end of the trolley is provided with a bottom plate, and one side of the bottom plate extends outwards and perpendicularly to the supporting columns;
the linear driving part fixing frame is arranged on the supporting column along the axial direction of the supporting column;
a stepping motor is arranged at the sealing screw rod module;
the sealing screw rod module is arranged on the linear driving part fixing frame and slides along the axial direction of the supporting column through the linear driving part fixing frame and the stepping motor;
the linear driving part connecting support is arranged on the sealing screw rod module and is perpendicular to the linear driving part fixing frame.
Preferably, the rotation driving part includes: the rotary driving part comprises a rotary driving part base, a connecting shaft, a rotary driving part leading-out shell, a rotary driving part top cover, a second bearing, a top end instrument connecting cover, a second sealing ring and a top end bearing support;
the rotary driving part top cover is arranged on the upper side of the rotary driving part base, a cavity is arranged between the rotary driving part top cover and the rotary driving part base, a flange extends out of the rotary driving part top cover to the side, and a rotary driving part leading-out shell is arranged between the flange and the rotary driving part base;
the top end instrument connecting cover is arranged on the upper side of the flash, and the second sealing ring is arranged between the top end instrument connecting cover and the top cover of the rotary driving part;
the connecting shaft is arranged on one side, facing the rotary driving part base, of the top end instrument connecting cover, and the part of the connecting shaft extends out of the rotary driving part base;
the second bearing is arranged between the connecting shaft and the flash, and the second bearing is installed in the flash through the top end bearing support;
an instrument channel is axially arranged in the connecting shaft and is communicated with the top end instrument connecting cover.
Preferably, the rotation driving part further includes: the device comprises a holder motor, a connecting plate, a rotary driving part driving wheel, a first sleeve, a rotary driving part driven wheel, a first bearing, a rotary driving part partition plate, a first sealing ring and a third bearing;
the cradle head motor is arranged on one side of the cavity, which is not provided with the connecting shaft, the rotary driving part driving wheel is arranged between the cradle head motor and the rotary driving part base, and the cradle head motor is in transmission connection with the rotary driving part driving wheel;
the connecting plate is arranged between the rotary driving part driving wheel and the holder motor, the third bearing is arranged between the rotary driving part driving wheel and the rotary driving part base, and the first sleeve is arranged between the third bearing and the rotary driving part driving wheel;
the rotary driving part driven wheel and the first bearing are sleeved on the side face of the connecting shaft, the rotary driving part driving wheel is in transmission connection with the rotary driving part driven wheel, and the connecting shaft can rotate relative to the rotary driving part base through the first bearing;
a rotary driving part middle partition plate is arranged between the rotary driving part driven wheel and the rotary driving part leading-out shell, and the rotary driving part middle partition plate and the rotary driving part leading-out shell are sealed through the first sealing ring;
the rotation driving part driven wheel, the first bearing, the connecting shaft, the rotation driving part leading-out shell, the second bearing and the top end bearing support are coaxial.
Preferably, the pitch driving part includes: the device comprises a pitching driving part base, a choledochoscope mounting mechanism, a steel wire guide mechanism, a pitching driving motor, a driving wheel limiting mechanism, a circuit and optical fiber support mechanism, an internal instrument channel support, a pitching driving part shell, a third sealing ring, a torque sensor and a pitching driving wheel;
one end of the pitching driving part shell along the axial direction is connected with the rotating driving part, the other end of the pitching driving part shell is provided with the pitching driving part base, and one side of the pitching driving part base is provided with the third sealing ring;
the choledochoscope mounting mechanism is mounted on the other side of the pitching driving part base, the choledochoscope mounting mechanism and the pitching driving part base are coaxial, and the choledochoscope is mounted through the choledochoscope mounting mechanism;
the internal instrument channel support is arranged in the pitching driving part shell along the axial direction, is arranged at the axle center of the pitching driving part shell and is communicated with the choledochoscope installation mechanism and the instrument channel;
said wire guide mechanism and said circuit and fiber optic carriage mechanism are mounted between one side of said internal instrument channel holder and said pitch drive housing, and said torque sensor, said pitch drive motor and said drive wheel limit mechanism are mounted between another side of said internal instrument channel holder and said pitch drive housing;
the pitching driving motor is connected with the pitching driving wheel through a coupling;
the driving wheel limiting mechanism and the circuit and optical fiber support mechanism are connected with the pitching driving part base through screws.
Preferably, the rotating base includes: the rotary base comprises a rotary base body, a second sleeve, a rotary base lower cover plate, a connecting support, a fourth bearing, a fifth bearing, an O-shaped ring and a fourth sealing ring;
the fifth bearing is arranged in one side of the rotating base main body, the connecting support is arranged on the other side of the rotating base main body, and the rotating base main body and the connecting support are sealed through the fourth sealing ring and the O-shaped ring;
the fourth bearing is arranged inside one side, close to the lower cover plate of the rotating base, of the rotating base body, and the second sleeve is arranged on the inner side of the fourth bearing;
the rotating base main body, the second sleeve, the rotating base lower cover plate, the connecting support, the fourth bearing and the fifth bearing are coaxial.
Preferably, the top end of the pitching driving part is connected with the connecting shaft, and the pitching driving part and the connecting shaft are coaxial;
the pitching driving part is connected with the rotating base through the fifth bearing, and the pitching driving part and the rotating base are sealed through the third sealing ring.
Preferably, the pitching driving wheel winds the guiding steel wire, and the choledochoscope body mechanism driving mechanism drives the pitching driving wheel through the pitching driving motor and pulls the guiding steel wire to realize the pitching motion of the front end of the choledochoscope.
Preferably, the wire guide mechanism transmits a traction force to the front end of the choledochoscope by guiding the guide wire.
Preferably, the torque sensor is coaxially connected to the pitch drive motor and measures the torque on the pitch drive wheel.
Compared with the prior art, the invention has the following beneficial effects:
1. by a master-slave control method, the operation difficulty of the fiber choledochoscope is reduced by utilizing the characteristics of high precision, high stability, simple operation and the like of the surgical robot, the damage of instruments is reduced, and the use cost is further reduced;
2. the invention has simple and convenient operation and can flexibly move in the cavity;
3. the invention has the characteristics of high real-time performance and high synchronism.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic perspective view of a choledochoscope surgical robot;
FIG. 2 is a front view of the choledochoscope operation robot;
FIG. 3 is a perspective view of the trolley;
FIG. 4 is a perspective view of the linear driving unit;
FIG. 5 is a schematic view of a rotary driving part;
FIG. 6 is a schematic structural view of a pitch driving unit;
FIG. 7 is a schematic view of a rotary base;
shown in the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
As shown in fig. 1 and 2, a surgical robot based on a fiberscope includes: the device comprises a trolley 1, a linear driving part 2, a rotary driving part 3, a pitching driving part 4 and a rotary base 5; one end of the linear driving part 2 is connected with the trolley 1 in a sliding fit manner and supported by the trolley 1, the other end of the linear driving part 2 is provided with a rotary driving part 3, the rotary driving part 3 is connected with one end of the pitching driving part 4, and the other end of the pitching driving part 4 is provided with a rotary base 5; a mechanical interface is arranged on one side of the rotary driving part 3, and a choledochoscope is arranged at one end of the pitching driving part 4, which is provided with a rotary base 5. The pitch drive unit 4 is connected to the rotation drive unit base 37 by a screw, the pitch drive unit 4 and the rotation drive unit 3 are coaxial, the pitch drive unit 4 is connected to the rotation base 5 by a fifth bearing 56, and the pitch drive unit 4 and the rotation base 5 are sealed by a third seal ring 39. The pitching driving wheel 411 winds the guiding steel wire, and the choledochoscope mechanism driving mechanism drives the pitching driving wheel 411 through the pitching driving motor 44 and pulls the guiding steel wire to realize the pitching motion of the front end of the choledochoscope. The wire guide mechanism 43 guides the guide wire to transmit the traction force to the front end of the choledochoscope. The torque sensor 410 is coaxially connected to the pitch drive motor 44 and measures the torque on the pitch drive wheel 411.
As shown in fig. 3 and 4, the linear drive section 2 includes: the linear driving part connecting bracket 21, the linear driving part fixing bracket 22 and the sealing screw rod module 23; one end of the trolley 1 is provided with a bottom plate, a support column extends outwards perpendicularly on one side of the bottom plate, a linear driving part fixing frame 22 is installed on the support column along the axial direction of the support column, a stepping motor is installed at the position of a sealing screw rod module 23, the sealing screw rod module 23 is installed on the linear driving part fixing frame 22 and slides along the axial direction of the support column through the linear driving part fixing frame 22 and the stepping motor, and a linear driving part connecting support 21 is installed on the sealing screw rod module 23 and is perpendicular to the linear driving part fixing frame 22.
As shown in fig. 5, the rotation driving section 3 includes: a rotation driving part base 37, a connecting shaft 38, a rotation driving part leading-out housing 310, a rotation driving part top cover 311, a second bearing 312, a tip instrument connecting cover 313, a second seal ring 315, a tip bearing bracket 316, a pan/tilt head motor 31, a connecting plate 32, a rotation driving part driving wheel 33, a first sleeve 34, a rotation driving part driven wheel 35, a first bearing 36, a rotation driving part partition plate 39, a first seal ring 314, and a third bearing 317; a rotary driving part top cover 311 is arranged on the upper side of a rotary driving part base 37, a cavity is arranged between the rotary driving part top cover 311 and the rotary driving part base 37, a flange extends out of the rotary driving part top cover 311 towards the side surface, a rotary driving part leading-out shell 310 is arranged between the flange and the rotary driving part base 37, a top end instrument connecting cover 313 is arranged on the upper side of the flange, a second sealing ring 315 is arranged between the top end instrument connecting cover 313 and the rotary driving part top cover 311, a connecting shaft 38 is arranged on one side, facing the rotary driving part base 37, of the top end instrument connecting cover 313, the connecting shaft 38 partially extends out of the rotary driving part base 37, a second bearing 312 is arranged between the connecting shaft 38 and the flange, the second bearing 312 is arranged in the flange through a top end bearing support 316, an instrument channel is axially arranged in the connecting shaft 38, and the instrument channel is communicated with the top end instrument connecting cover 313; the tripod head motor 31 is arranged on the side where the connecting shaft 38 is not arranged in the cavity, the rotary driving part driving wheel 33 is arranged between the tripod head motor 31 and the rotary driving part base 37, the tripod head motor 31 is in transmission connection with the rotary driving part driving wheel 33, the connecting plate 32 is arranged between the rotary driving part driving wheel 33 and the tripod head motor 31, the third bearing 317 is arranged between the rotary driving part driving wheel 33 and the rotary driving part base 37, the first sleeve 34 is arranged between the third bearing 317 and the rotary driving part driving wheel 33, the rotary driving part driven wheel 35 and the first bearing 36 are sleeved on the side surface of the connecting shaft 38, the rotary driving part driven wheel 35 is in transmission connection with the rotary driving part driven wheel 33 through the first bearing 36, the connecting shaft 38 is allowed to rotate relative to the rotary driving part base 37 through the first bearing 36, the rotary driving part partition plate 39 is arranged between the rotary driving part driven wheel 35 and the rotary driving part leading-out shell 310, the rotary driving part partition plate 39 and the rotary driving part leading-out shell 310 are sealed through the first sealing ring 314, the rotary driving part driven wheel 35, the first bearing 36, the connecting shaft 38, the rotary driving part leading-out shell 310, the rotary driving part driven wheel 35, the second bearing 312 and the top bearing 316 are coaxial.
As shown in fig. 6, the pitch drive unit 4 includes: a pitching driving part base 41, a choledochoscope mounting mechanism 42, a steel wire guide mechanism 43, a pitching driving motor 44, a driving wheel limit mechanism 45, a circuit and optical fiber support mechanism 46, an internal instrument channel support 47, a pitching driving part shell 48, a third sealing ring 49, a torque sensor 410 and a pitching driving wheel 411; one end of a pitching driving part shell 48 is connected with a rotating driving part 3 along the axial direction, the other end of the pitching driving part shell 48 is provided with a pitching driving part base 41, one side of the pitching driving part base 41 is provided with a third sealing ring 49, the other side of the pitching driving part base 41 is provided with a choledochoscope mounting mechanism 42, the choledochoscope mounting mechanism 42 and the pitching driving part base 41 are coaxial, the choledochoscope is mounted through the choledochoscope mounting mechanism 42, an internal instrument channel support 47 is axially arranged in the pitching driving part shell 48, the internal instrument channel support 47 is arranged at the axial center of the pitching driving part shell 48 and is communicated with the choledochoscope mounting mechanism 42 and an instrument channel, a steel wire guide mechanism 43 and a circuit and a fiber support mechanism 46 are arranged between one side of the internal instrument channel support 47 and the pitching driving part shell 48, a torque sensor 410, a pitching driving motor 44 and a driving wheel limiting mechanism 45 are arranged between the other side of the internal instrument channel support 47 and the pitching driving part shell 48, the pitching driving motor 44 is connected with the pitching driving wheel 411 through a coupling, and the driving wheel limiting mechanism 45, and the pitching driving wheel supporting mechanism 41 is connected with the pitching driving part base 41 through a screw, and the driving wheel limiting mechanism 45 and the circuit and the fiber support mechanism 46.
As shown in fig. 7, the rotating base 5 includes: a rotating base main body 51, a second sleeve 52, a rotating base lower cover plate 53, a connecting support 54, a fourth bearing 55, a fifth bearing 56, an O-shaped ring 57 and a fourth sealing ring 58; a fifth bearing 56 is installed inside one side of a rotating base main body 51, a connecting support 54 is installed on the other side of the rotating base main body 51, the rotating base main body 51 and the connecting support 54 are sealed through a fourth sealing ring 58 and an O-shaped ring 57, the rotating base main body 51 is close to a fourth bearing 55 installed inside one side of a rotating base lower cover plate 53, a second sleeve 52 is arranged on the inner side of the fourth bearing 55, and the rotating base main body 51, the second sleeve 52, the rotating base lower cover plate 53, the connecting support 54, the fourth bearing 55 and the fifth bearing 56 are coaxial.
Example 2
Example 2 is a preferred example of example 1.
A surgical robot based on a fiberscope, comprising: the device comprises a trolley 1, a linear driving part 2, a rotary driving part 3, a pitching driving part 4 and a rotary base 5.
Trolley 1 is the main part support and the horizontal translation framework of robot, straight line drive division 2 is the realization part of straight line degree of freedom, its direction of motion is perpendicular ground downwards in order to realize advance and retreat of cholangioscope and apparatus in the biliary tract in this system, rotary drive portion 3 is connected at 2 end of straight line drive division, can drive components such as follow-up every single move drive portion 4 and accomplish around the rotation of axis, 3 tops of rotary drive portion set up mechanical interface, be used for being connected with the apparatus part, every single move drive portion 4 installs as a whole in order to accomplish the every single move motion of cholangioscope, furthermore, the convenience is soaked the disinfection to the cholangioscope after the operation, processing such as washing.
The linear driving part 2 drives the seal screw rod module 23 to move up and down along the guide rail by the stepping motor, so that the robot can move up and down with vertical freedom. The rotation driving part 3 drives the driving wheel 33 of the rotation driving part to move by the holder motor 31, so that the steering of the front end of the choledochoscope in a human body can be realized. The pitching driving part 4 and the front end part of the choledochoscope can be mainly divided into a pitching driving motor 44, the choledochoscope and a steel wire guiding mechanism 43; the pitching driving motor 44 drives the pitching driving wheel 411 to pull the guiding steel wire, so that the pitching movement of the front end of the choledochoscope on the human body can be realized. The steel wire guide mechanism 43 guides the guide steel wire, can realize the guide of the movement of the guide steel wire and transmits the traction force to the front end of the choledochoscope. Torque sensor 410 is used to measure the torque on pitch drive wheel 411. The linear driving part 2 is arranged on a vertical supporting column of the trolley 1 through a linear driving part fixing frame 22; the rotary driving part 3 is connected to the tail end of the linear driving part 2 through a linear driving part connecting bracket 21; the pitching driving unit 4 is connected to the bottom of the rotating driving unit 3 and is connected to the rotating base 5.
When the linear driving part 2 is installed, the linear driving part is in surface contact with the vertical supporting column of the connected trolley 1, so that the verticality and reliability of the linear driving part 2 are ensured; the base of the rotary driving part 3 is connected with the tail end of the linear driving part connecting bracket 21 through angle iron. The upper end of the pitching driving part 4 is connected with the rotating driving part base 37 through a screw, and the lower end of the pitching driving part 4 is connected with the rotating base 5 through a fifth bearing 56, so that the coaxiality of the pitching driving part 4 and the rotating driving part 3 is ensured.
Specifically, as shown in fig. 2, the surgical robot based on the fibercholangioscope includes: the device comprises a trolley 1, a linear driving part 2, a rotary driving part 3, a pitching driving part 4 and a rotary base 5; the robot trolley 1 is used as a supporting and translating frame of the whole robot, the linear driving part 2 is connected with the trolley 1 through horizontal and vertical sliding rails, the rotary driving part 3, the pitching driving part 4 and the rotary base 5 are fixedly installed through screws respectively, the rotary driving part 3 and the pitching driving part 4 are coaxial, and the linear driving part 2 is parallel to the rotary base 5. During assembly, the front end of the choledochoscope and the pitching driving part 4 are assembled into a whole, then the choledochoscope penetrates through the rotating base 5 to form the rotating base into a whole, then the top end of the pitching driving part 4 and a connecting shaft 38 extending out of the rotating driving part 3 are connected through screws to complete assembly, and finally the assembled components are fixed on the linear driving part 2.
The linear driving part connecting support 21, the linear driving part fixing frame 22 and the sealing screw rod module 23 are sequentially connected, the linear driving part fixing frame 22 is perpendicular to the sealing screw rod module 23, and the sealing screw rod module 23 is parallel to and coincided with the linear driving part fixing frame 22.
The rotation driving section 3 includes: a rotation driving section base 37, a connecting shaft 38, a rotation driving section lead-out case 310, a rotation driving section top cover 311, a second bearing 312, a tip instrument connecting cover 313, a second seal ring 315, a tip bearing bracket 316, a pan/tilt head motor 31, a connecting plate 32, a rotation driving section driving wheel 33, a first sleeve 34, a rotation driving section driven wheel 35, a first bearing 36, a rotation driving section partition plate 39, a first seal ring 314, and a third bearing 317.
The rotary driving part base 37, the top end instrument connecting cover 313 and the rotary driving part top cover 311 are connected through screws, the holder motor 31 is overlapped with the lower surface of the connecting plate 32 along the projection of the vertical direction at the lower part, the connecting plate 32 is coaxial with the lower surface of the holder motor 31, the rotary driving part driving wheel 33 is coaxial with the connecting plate 32, the first sleeve 34, the third bearing (deep groove ball bearing) 317 and the rotary driving part driving wheel 33 are coaxial, the rotary driving part driven wheel 35, the first bearing (angular contact bearing) 36, the connecting shaft 38, the rotary driving part leading-out shell 310, the second bearing (deep groove ball bearing) 312 and the top end bearing support 316 are coaxial, the first sealing ring 314 is added between the rotary driving part partition plate 39 and the rotary driving part leading-out shell 310, and the second sealing ring 315 is added between the rotary driving part top cover 311 and the top end instrument connecting cover 313.
The pitch drive unit 4 includes: a pitching driving part base 41, a choledochoscope mounting mechanism 42, a steel wire guide mechanism 43, a pitching driving motor 44, a driving wheel limiting mechanism 45, a circuit and optical fiber support mechanism 46, an internal instrument channel support 47, a pitching driving part shell 48 and a third sealing ring 49. The pitching driving part shell 48 is connected with the pitching driving part base 41 through screws, the pitching driving part base 41 and the choledochoscope mounting mechanism 42 are coaxial, the steel wire guide mechanism 43 and the left upper surface of the pitching driving part base 41 are projected and overlapped along the vertical direction, the pitching driving motor 44 and the driving wheel limiting mechanism 45 are projected and overlapped along the vertical direction with the right upper surface of the pitching driving part base 41, the driving wheel limiting mechanism 45 is connected with the pitching driving part base 41 through screws, the circuit is connected with the pitching driving part base 41 through screws with the optical fiber support mechanism 46, the internal instrument channel support 47 and the pitching driving part shell 48 are coaxial, and a third sealing ring 49 is used for sealing between the lower part of the pitching driving part base 41 and the rotating base 5.
The rotating base 5 includes: a rotating base main body 51, a second sleeve 52, a rotating base lower cover plate 53, a connecting support 54, a fourth bearing (tapered roller bearing) 55, a fifth bearing (push-type ball bearing) 56, an O-shaped ring 57 and a fourth sealing ring 58; the rotary base body 51, the second sleeve 52, the rotary base lower cover plate 53, the connecting bracket 54, the fourth bearing 55 and the fifth bearing 56 are all coaxial, the rotary base body 51 is kept horizontal, the fourth bearing 55 is positioned between the second sleeve 52 and the rotary base body 51, the side surfaces of the rotary base body 51 and the connecting bracket 54 are connected through screws, and the rotary base lower cover plate 53 is arranged between the rotary base body 51 and the connecting bracket 54.
The lower cover plate 53 of the swivel base and the swivel base body 51 are sealed by an O-ring 57, and the fourth bearing 55 and the connection bracket 54 are sealed by a fourth seal ring 58.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A surgical robot based on a fiber choledochoscope, characterized by comprising: the device comprises a trolley (1), a linear driving part (2), a rotary driving part (3), a pitching driving part (4) and a rotary base (5);
one end of the linear driving part (2) is connected with the trolley (1) in a sliding fit mode and supported by the trolley (1), the other end of the linear driving part (2) is provided with the rotary driving part (3), the rotary driving part (3) is connected with one end of the pitching driving part (4), and the other end of the pitching driving part (4) is provided with the rotary base (5);
a mechanical interface is arranged on one side of the rotary driving part (3), and a choledochoscope is arranged at one end of the pitching driving part (4) which is provided with the rotary base (5);
the linear drive unit (2) includes: the linear driving part connecting bracket (21), the linear driving part fixing frame (22) and the sealing screw rod module (23);
one end of the trolley (1) is provided with a bottom plate, and one side of the bottom plate extends outwards perpendicularly to a supporting column;
the linear driving part fixing frame (22) is arranged on the supporting column along the axial direction of the supporting column;
a stepping motor is arranged at the position of the sealing screw rod module (23);
the sealing screw rod module (23) is arranged on the linear driving part fixing frame (22) and slides along the axial direction of the supporting column through the linear driving part fixing frame (22) and the stepping motor;
the linear driving part connecting bracket (21) is arranged on the sealing screw rod module (23) and is vertical to the linear driving part fixing frame (22);
the rotation drive unit (3) includes: a rotary driving part base (37), a connecting shaft (38), a rotary driving part leading-out shell (310), a rotary driving part top cover (311), a second bearing (312), a top end instrument connecting cover (313), a second sealing ring (315) and a top end bearing support (316);
the rotary driving part top cover (311) is arranged on the upper side of the rotary driving part base (37), a cavity is arranged between the rotary driving part top cover (311) and the rotary driving part base (37), a flash extends out of the rotary driving part top cover (311) to the side, and the rotary driving part leading-out shell (310) is arranged between the flash and the rotary driving part base (37);
the top end instrument connecting cover (313) is arranged on the upper side of the flash, and the second sealing ring (315) is arranged between the top end instrument connecting cover (313) and the rotary driving part top cover (311);
the top end instrument connecting cover (313) is provided with the connecting shaft (38) towards one side of the rotary driving part base (37), and part of the connecting shaft (38) extends out of the rotary driving part base (37);
the second bearing (312) is arranged between the connecting shaft (38) and the flash, and the second bearing (312) is installed in the flash through the top end bearing support (316);
an instrument channel is axially arranged in the connecting shaft (38) and is communicated with the top end instrument connecting cover (313).
2. The fibercholedochoscope-based surgical robot according to claim 1, wherein the rotary drive section (3) further comprises: the device comprises a holder motor (31), a connecting plate (32), a rotary driving part driving wheel (33), a first sleeve (34), a rotary driving part driven wheel (35), a first bearing (36), a rotary driving part partition plate (39), a first sealing ring (314) and a third bearing (317);
the cradle head motor (31) is installed on one side, where the connecting shaft (38) is not installed, of the cavity, the rotating driving part driving wheel (33) is installed between the cradle head motor (31) and the rotating driving part base (37), and the cradle head motor (31) is in transmission connection with the rotating driving part driving wheel (33);
the connecting plate (32) is arranged between the rotary driving part driving wheel (33) and the holder motor (31), the third bearing (317) is arranged between the rotary driving part driving wheel (33) and the rotary driving part base (37), and the first sleeve (34) is arranged between the third bearing (317) and the rotary driving part driving wheel (33);
the rotary driving part driven wheel (35) and the first bearing (36) are sleeved on the side surface of the connecting shaft (38), the rotary driving part driving wheel (33) is in transmission connection with the rotary driving part driven wheel (35), and the connecting shaft (38) is allowed to rotate relative to the rotary driving part base (37) through the first bearing (36);
a rotary driving part partition plate (39) is arranged between the rotary driving part driven wheel (35) and the rotary driving part leading-out shell (310), and the rotary driving part partition plate (39) and the rotary driving part leading-out shell (310) are sealed through the first sealing ring (314);
the rotation driving part driven wheel (35), the first bearing (36), the connecting shaft (38), the rotation driving part leading-out shell (310), the second bearing (312) and the top end bearing support (316) are coaxial.
3. The fiberscope-based surgical robot according to claim 2, wherein the pitch drive section (4) comprises: a pitching driving part base (41), a choledochoscope mounting mechanism (42), a steel wire guide mechanism (43), a pitching driving motor (44), a driving wheel limiting mechanism (45), a circuit and optical fiber support mechanism (46), an internal instrument channel support (47), a pitching driving part shell (48), a third sealing ring (49), a torque sensor (410) and a pitching driving wheel (411);
one end of the pitching driving part shell (48) in the axial direction is connected with the rotating driving part (3), the other end of the pitching driving part shell (48) is provided with the pitching driving part base (41), and one side of the pitching driving part base (41) is provided with the third sealing ring (49);
the cholangioscope installation mechanism (42) is installed on the other side of the pitching driving part base (41), the cholangioscope installation mechanism (42) and the pitching driving part base (41) are coaxial, and the cholangioscope is installed through the cholangioscope installation mechanism (42);
the internal instrument channel holder (47) is arranged in the pitching driving part shell (48) along the axial direction, and the internal instrument channel holder (47) is arranged at the axis of the pitching driving part shell (48) and communicated with the choledochoscope installation mechanism (42) and the instrument channel;
said wire guide mechanism (43) and said electrical circuit and fiber optic support mechanism (46) are mounted between one side of said internal instrument channel holder (47) and said pitch drive housing (48), and said torque sensor (410), said pitch drive motor (44) and said drive wheel limit mechanism (45) are mounted between the other side of said internal instrument channel holder (47) and said pitch drive housing (48);
the pitch driving motor (44) is connected with the pitch driving wheel (411) through a coupler;
the driving wheel limiting mechanism (45) and the circuit and optical fiber support mechanism (46) are connected with the pitching driving part base (41) through screws.
4. A surgical robot based on a fiberscope according to claim 3, characterized in that said rotating base (5) comprises: the rotary base comprises a rotary base body (51), a second sleeve (52), a rotary base lower cover plate (53), a connecting support (54), a fourth bearing (55), a fifth bearing (56), an O-shaped ring (57) and a fourth sealing ring (58);
the fifth bearing (56) is installed inside one side of the rotating base main body (51), the connecting support (54) is installed on the other side of the rotating base main body (51), and the rotating base main body (51) and the connecting support (54) are sealed through the fourth sealing ring (58) and the O-shaped ring (57);
the fourth bearing (55) is arranged in one side, close to the lower cover plate (53), of the rotating base main body (51), and the second sleeve (52) is arranged on the inner side of the fourth bearing (55);
the rotating base main body (51), the second sleeve (52), the rotating base lower cover plate (53), the connecting support (54), the fourth bearing (55) and the fifth bearing (56) are coaxial.
5. The fiberscope-based surgical robot according to claim 4, wherein: the top end of the pitching driving part (4) is connected with the connecting shaft (38), and the pitching driving part (4) and the connecting shaft (38) are coaxial;
the pitching driving part (4) is connected with the rotating base (5) through the fifth bearing (56), and the space between the pitching driving part (4) and the rotating base (5) is sealed through the third sealing ring (39).
6. A surgical robot based on a fiberscope according to claim 3, characterized in that: the guide steel wire is wound around the pitching driving wheel (411), and the choledochoscope body mechanism driving mechanism drives the pitching driving wheel (411) through the pitching driving motor (44) and pulls the guide steel wire to realize the pitching motion of the front end of the choledochoscope.
7. The fibercholangioscope-based surgical robot of claim 6, wherein: the steel wire guide mechanism (43) guides the guide steel wire to transmit traction force to the front end of the choledochoscope.
8. The fibercholangioscope-based surgical robot of claim 6, wherein: the torque sensor (410) is coaxially connected to the pitch drive motor (44) and measures the torque on the pitch drive wheel (411).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110720191.9A CN113331952B (en) | 2021-06-28 | 2021-06-28 | Surgical robot based on fiber choledochoscope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110720191.9A CN113331952B (en) | 2021-06-28 | 2021-06-28 | Surgical robot based on fiber choledochoscope |
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| CN113331952A CN113331952A (en) | 2021-09-03 |
| CN113331952B true CN113331952B (en) | 2023-02-17 |
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| US9301807B2 (en) * | 2007-06-13 | 2016-04-05 | Intuitive Surgical Operations, Inc. | Surgical system counterbalance |
| KR101075363B1 (en) * | 2008-10-31 | 2011-10-19 | 정창욱 | Surgical Robot System Having Tool for Minimally Invasive Surgery |
| CN207534805U (en) * | 2017-12-12 | 2018-06-26 | 慧灵科技（深圳）有限公司 | A kind of four axis robot of high performance level joint |
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|---|---|---|---|---|
| CN205359582U (en) * | 2016-01-05 | 2016-07-06 | 哈尔滨理工大学 | All -round flexible needle puncture robot |
| CN106002971A (en) * | 2016-06-17 | 2016-10-12 | 江苏大学 | Automatic cleaning mechanical arm for transmission line insulators |
| CN109259865A (en) * | 2018-09-12 | 2019-01-25 | 大连交通大学 | Intelligent minimally invasive spine surgical robot |
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