CN111214291A - Operation arm and operation robot - Google Patents

Operation arm and operation robot Download PDF

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Publication number
CN111214291A
CN111214291A CN202010076420.3A CN202010076420A CN111214291A CN 111214291 A CN111214291 A CN 111214291A CN 202010076420 A CN202010076420 A CN 202010076420A CN 111214291 A CN111214291 A CN 111214291A
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China
Prior art keywords
platform
movable platform
surgical
telescopic
assembly
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Pending
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CN202010076420.3A
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Chinese (zh)
Inventor
黄善灯
柳建飞
柏龙
陈晓红
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Noahtron Intelligence Medtech Hangzhou Co Ltd
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Noahtron Intelligence Medtech Hangzhou Co Ltd
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Application filed by Noahtron Intelligence Medtech Hangzhou Co Ltd filed Critical Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority to CN202010076420.3A priority Critical patent/CN111214291A/en
Publication of CN111214291A publication Critical patent/CN111214291A/en
Priority to EP20916040.7A priority patent/EP4094708A4/en
Priority to US17/794,951 priority patent/US20230079591A1/en
Priority to PCT/CN2020/101998 priority patent/WO2021147267A1/en
Priority to CN202022335559.3U priority patent/CN215130047U/en
Priority to CN202022333866.8U priority patent/CN214434492U/en
Priority to CN202022335533.9U priority patent/CN214342597U/en
Priority to CN202022332280.XU priority patent/CN215458618U/en
Priority to CN202022335582.2U priority patent/CN214434493U/en
Priority to CN202022333709.7U priority patent/CN214342596U/en
Priority to CN202022333165.4U priority patent/CN214434491U/en
Priority to CN202110077174.8A priority patent/CN112754670B/en
Priority to CN202310320442.3A priority patent/CN116370099A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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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)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

The invention provides a surgical mechanical arm which comprises a preoperative positioning component, a telecentric operation and control component and an execution component, wherein the telecentric operation and control component comprises a static platform, a first movable platform and a plurality of first telescopic elements arranged between the static platform and the first movable platform; the execution assembly is provided with a preset telecentric motionless point, the coordinated stretching among the first stretching elements can control the first movable platform to move relative to the static platform and drive the execution assembly to stretch and swing, the swing center of the execution assembly is the telecentric motionless point, and the stretching path of the execution assembly passes through the telecentric motionless point. The surgical mechanical arm provided by the invention forms a parallel mechanism by the first movable platform, the static platform and the plurality of first telescopic elements positioned between the first movable platform and the static platform, and improves the motion precision of the tail end execution assembly by utilizing the error non-accumulative characteristic of the parallel mechanism; while ensuring that the performance assembly performs the surgical procedure under greater loads.

Description

Operation arm and operation robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical mechanical arm and a surgical robot.
Background
The birth of the minimally invasive surgery overcomes the defects of large incision, large bleeding amount, more complications, high surgery risk and the like of the traditional surgery to a great extent. Minimally invasive surgery is becoming an emerging field of medical research and clinical application due to the recent rapid development and gaining favor of medical staff and patients.
The minimally invasive surgery can be more sensitive and accurate by assisting the doctor with the surgical robot. Taking the da vinci surgical robot as an example, the da vinci surgical robot can enlarge the visual field of a doctor by ten times, effectively filters the hand vibration of the doctor, and has wide clinical application in the field of minimally invasive surgery.
The surgical mechanical arm suitable for the surgical robot needs to drive a surgical instrument to perform surgical operation, and the surgical instrument needs to reach the inside of a patient body by stretching into a tiny wound formed on the surface of the skin when in use. This requires the surgical instrument to perform the surgical operation with the tiny wound made on the skin surface as a telecentric motionless point in a stable, vibration-free state. The current surgical mechanical arm suitable for the surgical robot cannot completely meet the use requirement on clinical performance. The current surgical mechanical arm is weak in the loading capacity and the execution precision of a surgical instrument. The weakness of surgical robotic arms in load capacity and execution accuracy limits the clinical application of surgical robots.
Disclosure of Invention
In view of the above, there is a need for an improved surgical robot arm and a surgical robot, which have improved loading capacity and execution accuracy, and the surgical robot using the surgical robot arm has a wider clinical application prospect.
The invention provides a surgical mechanical arm which comprises a preoperative positioning component, a telecentric operation and control component and an execution component, wherein the telecentric operation and control component comprises a static platform, a first movable platform and a plurality of first telescopic elements arranged between the static platform and the first movable platform, one side of the static platform, which is relatively far away from the first movable platform, is fixedly connected to the preoperative positioning component, one side of the first movable platform, which is relatively far away from the static platform, is fixedly connected to the execution component, and two ends of each first telescopic element are respectively and rotatably connected to the static platform and the first movable platform;
the executive component is provided with a preset telecentric motionless point, and is multiple in that the coordination stretching between the first telescopic elements can control the first movable platform to move relatively to the static platform and drive the executive component to stretch and swing, the swing center of the executive component is the telecentric motionless point, and the telescopic path of the executive component passes the telecentric motionless point.
The surgical mechanical arm provided by the invention forms a parallel mechanism by the first movable platform, the static platform and the plurality of first telescopic elements positioned between the first movable platform and the static platform, and improves the motion precision of the tail end execution assembly by utilizing the error non-accumulative characteristic of the parallel mechanism; meanwhile, the independent driving modes among the first telescopic elements improve the loading capacity, and the operation of the executing assembly under larger load can be ensured.
In order to improve the flexibility of the surgical manipulator, in one embodiment of the invention, the swinging limit angle of the executing assembly relative to the telecentric motionless point is set to be +/-20 degrees, and the executing assembly can swing in a conical space which takes the telescopic path of the executing assembly as an axis and has a vertex angle of 40 degrees.
So set up, the executive component is more nimble, can move in great scope, can assist the doctor to realize comparatively complicated operation.
In order to improve the stability of the surgical mechanical arm, a plurality of rotation connecting points between each first telescopic element and the first movable platform are arranged in a same circle, and rotation connecting points between each first telescopic element and the static platform are arranged in a same circle; the diameter of the circle formed by the enclosing of the rotating connecting points on the first movable platform is 1 to 2 times that of the circle formed by the enclosing of the rotating connecting points on the static platform.
So set up, first move the platform and have less vibrations at the in-process of quiet platform motion relatively, the error total amount between each first telescopic element can compensate each other to make the stability of operation arm promote.
In order to further improve the stability of the surgical mechanical arm, the diameter of the circle formed by the enclosing of the rotating connecting point on the first movable platform is 1.7 times that of the circle formed by the enclosing of the rotating connecting point on the static platform.
So set up, first movable platform has minimum shake in the relative quiet platform motion's of in-process, can compress the first space volume that moves platform and quiet platform and occupy relatively simultaneously, has the most balanced associativity between structure lightweight and high performance.
In order to realize the rotary connection between the first telescopic element and the first movable platform and the static platform, two ends of the first telescopic element are respectively provided with a ball hinge joint and a hooke hinge joint; the first telescopic element is connected to one of the static platform and the first movable platform through the ball joint and is connected to the other of the static platform and the first movable platform through the Hooke hinge joint.
So set up, the both ends of first telescopic element can realize rotating with first movable platform and quiet platform respectively and be connected, and the connection performance of first telescopic element is preferred.
In order to realize the cost consideration on the basis of realizing the rotary connection between the first telescopic element and the first movable platform and the static platform, the surgical manipulator further comprises a cylinder sleeve, and the cylinder sleeve is sleeved and rotatably connected with the first telescopic element; the cylinder sleeve is arranged at one end, relatively far away from the first telescopic element, of the cylinder sleeve and one end, relatively far away from the cylinder sleeve, of the first telescopic element, and a Hooke hinge joint is respectively arranged at one end, relatively far away from the cylinder sleeve, of the first telescopic element; one of the cylinder sleeve and the first telescopic element is connected to the first movable platform through the corresponding Hooke hinge joint; the other one of the cylinder sleeve and the first telescopic element is connected to the static platform through the corresponding Hooke hinge joint.
So set up, first telescopic element can just realize the power transmission between first movable platform and the quiet platform through making lower, the low cost's of the degree of difficulty hooke hinge joint, need not to set up the ball joint that the cost is high, easy damage, has the cost performance advantage of preferred.
In order to improve the motion stability of the surgical mechanical arm, the number of the first telescopic elements is six, and all rotation connecting points between the first telescopic elements and the first movable platform are arranged at intervals; and the rotating connection points between the first telescopic element and the static platform are also arranged at intervals.
So set up, through the distribution form that adopts the rotation connecting point of spaced formula, reduced the interference of quivering between each first telescopic element, can further promote surgical manipulator's motion stability.
In order to improve the motion stability of the surgical mechanical arm, the first telescopic element and each rotating connection point of the first movable platform are paired in pairs in a nearby mode, a first included angle is correspondingly formed between each group of two rotating connection points of the same pair and the center of the first movable platform, and the first included angles are equal in size.
So set up, first telescopic element will set up with two liang of mode of pairing combination at the rotation connecting point on first movable platform, and the motion stability of operation arm promotes, is convenient for realize the kinematics simultaneously and resolves.
in order to further improve the motion stability of the surgical robotic arm, the first included angle α is in the range of 15 ° to 60 °.
So set up, the contained angle scope department between each rotation tie point is in the interval of preferred, not only is favorable to guaranteeing the motion stability, also can be convenient for realize the flexible volume motion analysis to each first telescopic element through the contained angle scope that suits relatively.
In order to further improve the motion stability of the surgical mechanical arm, the first telescopic element and each rotating connection point between the static platforms are paired in pairs in a nearby mode, a second included angle is correspondingly formed between each group of two rotating connection points in the same pair and the center of the static platform, and the second included angles are equal in size.
So set up, the rotation connecting point of first telescopic element on quiet platform will set up with two liang of modes of pairing combination, and the motion stability of operation arm promotes, is convenient for simultaneously realize the kinematics and resolves.
To further improve the motion stability of the surgical robotic arm, the second included angle ranges from 60 ° to 105 °.
So set up, the contained angle scope department between each rotation tie point is in the interval of preferred, not only is favorable to guaranteeing the motion stability, also can be convenient for realize the flexible volume motion analysis to each first telescopic element through the contained angle scope that suits relatively.
So set up, the contained angle scope department between each rotation tie point is in the interval of preferred, not only is favorable to guaranteeing the motion stability, also can be convenient for realize the flexible volume motion analysis to each first telescopic element through the contained angle scope that suits relatively.
In order to avoid the winding of a transmission cable when the surgical instrument rotates, the execution assembly comprises an execution rod and the surgical instrument arranged at one end of the first movable platform far away from the execution rod relatively, a rotary driving piece is arranged on the first movable platform, and the rotary driving piece is connected to the execution rod and can drive the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod.
So set up, surgical instrument will rotate with the actuating lever synchronization to avoid the intertwine of transmission cable when relative actuating lever rotates.
In order to make the movement of the surgical instrument more flexible and accurate, the first movable platform is further provided with a first deflection driving piece, a second deflection driving piece and an opening and closing driving piece, the execution rod is hollow and accommodates a transmission cable, and the surgical instrument is connected to the first deflection driving piece, the second deflection driving piece and the opening and closing driving piece through the transmission cable;
the first deflection driving piece and the second deflection driving piece can respectively drive the surgical instrument to deflect towards two staggered different directions through the transmission cable, and the opening and closing driving piece can drive the surgical instrument to open and close through the transmission cable.
So set up, surgical instrument can deflect and open and shut in a flexible way under the synergism of first deflection driving piece, second deflection driving piece and the driving piece that opens and shuts, and displacement error and time delay error when a plurality of driving pieces simultaneous driving can reduce the drive.
In order to realize more complex surgical contents, the telecentric operating assembly comprises a plurality of stages of parallel platforms which are connected with each other, each stage of the parallel platforms comprises two opposite platforms and a telescopic element positioned between the two platforms;
the parallel platform that is close to relatively among the parallel platform before the art positioning subassembly is the parallel platform of first order, the parallel platform of first order includes quiet platform, first move the platform and set up in quiet platform with first a plurality of first telescopic element between the platform.
According to the arrangement, the multi-level parallel platform can be used for enlarging the moving range of the surgical instrument in a superposed manner so as to assist doctors to realize more complex surgical contents.
In order to compromise the complexity of operation content and the accurate degree of control, the progression of parallelly connected platform is the two-stage, the telecentric control subassembly still including connect in the parallelly connected platform of second level of the parallelly connected platform of first level, the parallelly connected platform of second level include the second move the platform and set up in first move the platform with the second moves a plurality of second telescopic element between the platform, the second moves the platform and keeps away from relatively one side fixed connection of quiet platform in the execution component, every the both ends of second telescopic element are equallyd divide do not rotate connect in first move the platform with the second moves the platform.
So set up, the second moves the platform and can use first platform of moving to carry out the displacement activity as the basis, and the structural design of the parallelly connected platform of doublestage has compromise the satisfaction of operation complexity simultaneously and has had an equal consideration to the assurance of control accuracy, has avoided the excessive superimposed condition of control error that brings of progression too big.
In order to reduce motion errors and facilitate kinematic analysis, the arrangement mode of each rotating connection point between the second telescopic elements and the first movable platform on the first movable platform is the same as the arrangement mode of each rotating connection point between the first telescopic elements and the static platform on the static platform; and/or the presence of a catalyst in the reaction mixture,
the arrangement mode of each rotating connection point between the second telescopic elements and the second movable platform on the second movable platform is the same as the arrangement mode of each rotating connection point between the first telescopic elements and the first movable platform on the first movable platform.
By the arrangement, the kinematic analysis step between the first movable platform and the second movable platform can be simplified, and the motion error of the second movable platform can be reduced; and the processing is convenient, and the processing precision can be ensured.
In order to further reduce the motion error and simplify the kinematic analysis step, each first telescopic element and the corresponding second telescopic element are arranged in parallel with each other in a state that the axial directions of the first movable platform, the second movable platform and the static platform are overlapped.
Therefore, the kinematics analysis step between the first movable platform and the second movable platform can be further simplified, and the motion error of the second movable platform is reduced.
In order to realize the wide-range position setting of the execution assembly, the preoperative position setting assembly comprises a moving arm and a telescopic arm, and the telescopic arm is arranged between the moving arm and the static platform and is rotationally connected with the moving arm.
So set up, the execution component can realize position control on a large scale under the drive of preoperative positioning component to utilize telecentric control subassembly and swing subassembly to realize the doublestage adjustment to the execution component, be favorable to position control's high efficiency and become more meticulous.
In order to realize the detection of the mechanical information, a sensor is also arranged on the first movable platform; the sensor is connected to the actuating rod and is used for detecting the environmental force and/or the environmental moment to which the surgical instrument is subjected.
So set up, operation arm can be so that the connecting cable that is located the inside of actuating lever will move with holistic mode owing to set up actuating lever and operation utensil into synchronous rotation, has avoided the connecting cable winding to lead to the drawback that can't realize reliable mechanical sensor in traditional structure to make the sensor can realize the accurate measurement to the environmental force and/or the environmental moment that operation utensil received.
In order to improve the detection precision, the sensor is arranged in a device which is arranged at the front end of the first movable platform or the surgical mechanical arm relatively.
So set up, the sensor relative surgical instruments can not receive the flexible orbital motion interference of first telescopic element, and the accuracy when measuring has had very big improvement.
In order to further improve the detection precision, the sensor is mounted on the rotary driving element, and the rotary driving element can drive the sensor, the actuating rod and the surgical instrument to synchronously rotate along the axial direction of the actuating rod.
So set up, rotate the driving piece and select to install on first moving the platform with the sensor, can provide very big facility for the installation of rotating the driving piece and sensor, compare in the scheme that the sensor was installed and is located the device of first moving the platform front end relatively in operation arm, had very big reduction in the installation accuracy. The invention also provides a surgical robot which comprises a surgical mechanical arm, wherein the surgical mechanical arm is any one of the surgical mechanical arms.
The surgical robot provided by the invention improves the self motion precision and the load capacity by applying the surgical mechanical arm, can realize clinical surgery with higher precision and higher strength, and has wider application prospect.
Drawings
FIG. 1 is a schematic view of a surgical robotic arm according to a first embodiment of the present invention;
FIG. 2 is a schematic view of the telecentric manipulation assembly of FIG. 1;
FIG. 3 is a schematic top view of the telecentric manipulation assembly of FIG. 2;
FIG. 4 is a schematic view of a surgical robotic arm according to a second embodiment of the present invention;
fig. 5 is a schematic view of the telecentric manipulation assembly of fig. 4.
100. A surgical manipulator; 10. a preoperative positioning assembly; 20. a telecentric manipulation assembly; 30. an execution component; 11. a moving arm; 12. a telescopic arm; 21. a static platform; 22. a first movable platform; 23. a first telescopic element; 24. a rotating connection point; 25. a second movable platform; 26. a second telescoping member; 27. rotating the driving member; 31. an actuating lever; 32. a surgical instrument; 241. a hooke hinge joint; 242. and (5) cylinder liners.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
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 "or/and" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a surgical robot arm 100 according to a first embodiment of the present invention; fig. 2 is a schematic view of the telecentric manipulating assembly 20 shown in fig. 1.
The present invention provides a surgical robotic arm 100 for use in a da vinci surgical robot. In this embodiment, the surgical robotic arm 100 is used to assist a surgeon in performing complex surgical procedures by minimally invasive means. It is understood that in other embodiments, the surgical robotic arm 100 may also be used in other medical instruments to assist a surgeon in performing a surgical procedure.
The da vinci surgical robot generally comprises an operation table, an image processing device and a surgical manipulator 100, wherein the operation table is used for a doctor to perform simulation control operation, and is coupled with the surgical manipulator 100 and capable of transmitting the simulation control operation to the surgical manipulator 100; the image processing equipment can present the peeping picture of the endoscope in real time and can amplify the peeping picture of the endoscope, so that the operation visual field of a doctor is clearer; the surgical robot 100 is used for performing minimally invasive surgery on a patient, and the motion trail and the surgical process of the surgical robot 100 can be transmitted to the image processing device through the endoscope.
The operation table generally includes a main controller and a foot pedal controller, the main controller is coupled to the surgical robot 100 and moves synchronously with the surgical robot 100, and the doctor controls the surgical robot 100 to perform positioning through the main controller and opens and closes the operating state of the surgical robot 100 through the foot pedal controller. The main controller can not only filter the micro-vibration of the hands of the doctor, but also reduce the moving distance of the hands of the doctor in a same ratio, and can greatly improve the degree of coordination of the eyes and the hands of the doctor by matching with the amplified endoscope picture in the image processing equipment, thereby ensuring the accuracy of the operation.
The image processing equipment is coupled with the endoscope, can present the picture that the endoscope was peered in real time to the picture that the endoscope was peered can be enlarged if necessary, and the magnification can be adjusted according to different operation demands. It can be understood that, after the amplification factor of the endoscope is adjusted, the doctor can synchronously adjust the times of the hands moving distance of the doctor in the main controller when the hands moving distance is reduced at the same ratio, so that the amplification factor of the endoscope is matched with the times when the hands moving distance of the doctor is reduced at the same ratio in the main controller, the degree of eye-hand coordination of the doctor is ensured to the maximum degree, and the precision of the operation is improved.
The endoscope has at least an illumination function and an image acquisition function. The endoscope is a three-dimensional lens and basically consistent with a picture when the human eyes directly see. The image shot by the endoscope has high definition and can be used for subsequent amplification processing by image processing equipment.
The surgical manipulator 100 provided by the invention comprises a preoperative positioning component 10, a telecentric operation and control component 20 and an execution component 30, wherein the preoperative positioning component 10, the telecentric operation and control component 20 and the execution component 30 are sequentially connected. The preoperative positioning assembly 10 is used to move the performance assembly 30 to a position generally adjacent the lesion; the telecentric operating assembly 20 is used for controlling the actuating assembly 30 to move within a small amplitude range; the performance assembly 30 is used to perform surgical procedures.
Specifically, the preoperative positioning assembly 10 is capable of driving the effector assembly 30 through a wide range of positional adjustments. The preoperative positioning assembly 10 comprises at least one moving arm 11 and/or at least one telescopic arm 12, wherein the moving arm 11 has two degrees of freedom and can drive the execution assembly 30 to translate and rotate; the telescopic arm 12 has a degree of freedom that enables the actuator assembly 30 to translate.
The telecentric control assembly 20 can drive the actuator assembly 30 to perform fine position adjustment with the telecentric motionless point as the center of oscillation. Generally, the telecentric manipulating assembly 20 has multiple degrees of freedom simultaneously, which enables the actuating assembly 30 to be driven for flexible surgical procedures.
The actuating assembly 30 includes a surgical instrument 32, the surgical instrument 32 is located at an end of the actuating assembly 30, and the surgical instrument 32 can perform a micro-movement by swinging, rotating, etc. to perform a surgical operation. The surgical instrument 32 may be an electric knife, forceps, clip, or hook, or other surgical instruments, which are not described in detail herein. The surgical instrument 32 is typically removably mounted to the end of the effector assembly 30, and different surgical instruments 32 can be replaced to perform different surgical procedures, as desired for different surgical needs, or as desired for different surgical stages of the same procedure.
At present, the surgical mechanical arm for executing surgical actions of the da vinci surgical robot adopts a serial mechanism, so that the requirements of terminal motion precision, load and telecentric motionless point are met, the requirements of the manufacturing process of the surgical mechanical arm, such as materials and processing precision, are very high, and the manufacturing cost is extremely high; the characteristics of the serial mechanism enable the mechanical arm structure to be long, and the normal operation of the operation can be influenced when a plurality of mechanical arms are interfered and collided in the operation. In addition, the material structure and the control mode of the surgical instrument installed at the tail end of the surgical instrument have strict requirements, for example, the motions of the surgical instrument such as rotating, swinging, clamping and the like are all driven by steel cables, the rotation of the instrument can cause the driving steel cables of the swinging, clamping and the like to generate twisting deformation, the service life times of the surgical instrument are strictly limited, and the use cost is high; meanwhile, the accurate detection of the end force of the appliance is influenced, and the contact force feedback function is difficult to realize.
In the surgical manipulator 100 provided by the invention, the telecentric operating assembly 20 comprises a static platform 21, a first movable platform 22 and a plurality of first telescopic elements 23 arranged between the static platform 21 and the first movable platform 22, one side of the static platform 21 relatively far away from the first movable platform 22 is fixedly connected to the preoperative positioning assembly 10, one side of the first movable platform 22 relatively far away from the static platform 21 is fixedly connected to the executing assembly 30, and two ends of each first telescopic element 23 are respectively and rotatably connected to the static platform 21 and the first movable platform 22; the actuating assembly 30 has a preset telecentric motionless point, the coordinated extension and retraction among the plurality of first telescopic elements 23 can control the first movable platform 22 to move relative to the static platform 21 and drive the actuating assembly 30 to extend and retract and swing, the swing center of the actuating assembly 30 is the telecentric motionless point, and the extension and retraction path of the actuating assembly 30 passes through the telecentric motionless point.
So configured, the preoperative swing assembly 10 need only assume the function of substantially moving the actuator 30, while the telecentric controls assembly 20 provides precise control of the actuator 30. The number of positioning units in the preoperative swing assembly 10 can be correspondingly reduced, thereby reducing the accumulation of multiple positioning unit errors and response time periods to improve the accuracy of the surgery. Secondly, the plurality of first telescopic elements 23 in the telecentric operating assembly 20 are arranged in parallel rather than in series, and errors of the plurality of first telescopic elements 23 cannot be accumulated and transmitted, and can be cancelled out. In addition, because each of the first telescoping members 23 is independently driven, the response time periods for the plurality of first telescoping members 23 are not cumulatively transferred. Precise control of the effector assembly 30 by the telecentric manipulation assembly 20 can reduce intra-operative displacement errors and shorten response times. On the other hand, due to the improvement of the control precision of the actuating assembly 30 by the telecentric operating assembly 20, the actuating assembly 30 can bear larger load under the condition of the same precision as that of the existing da vinci surgical robot, so that more complex operations can be completed. In addition, when the executive component 30 is operated, the executive component can swing by taking a telecentric fixed point as a swing center, so that only a tiny wound needs to be formed on the surface of the skin of a patient for the executive component 30 to pass through, the wound of the patient is small, and the postoperative recovery is fast.
In particular, the first telescopic element 23 is preferably an electric cylinder. Preferably, in order to miniaturize the surgical robot arm 100, the electric cylinder is a small-sized electric cylinder as long as the load motion during the operation can be carried.
It should be noted that the telecentric motionless point referred to herein is a fixed motionless point selected along the length of the actuating assembly 30, and the movement performed by the actuating assembly 30 under the control of the telecentric control assembly 20 has a regularity of swinging around the fixed motionless point, and the fixed motionless point is not displaced. Specifically, the swing of the surgical instrument 32 takes the telecentric motionless point as a swing center, and the front-back telescopic motion of the actuator rod 31 moves along the telecentric motionless point.
In the specific operation process, the position of the telecentric motionless point is the position of a wound on the surface of the human skin in the operation; the movement of the actuator 30 has regularity relative to the telecentric motionless point, which is a prerequisite for minimally invasive surgery, and ensures that the area of the wound of the human body is not enlarged by the movement of the instrument during the movement of the actuator 30.
It is additionally emphasized that the position of the telecentric stop is not necessarily fixed throughout the performance of the entire procedure, and is selected during a single procedure and is variable during different procedures. For example, the doctor performs the operation on the wounds at different positions, the operation performed on the two wounds enables the control device to select the telecentric motionless point at different positions in different time periods according to the parameters such as the length of the actual executing rod 31, and the like, as long as the movement under the single operation is ensured to form the regular movement of the relatively telecentric motionless point. In order to improve the flexibility of the surgical robot arm 100, in one embodiment of the present invention, the swing limit angle of the actuator assembly 30 with respect to the telecentric motionless point is set to ± 20 °, and the actuator assembly 30 can swing in a conical space having a vertex angle of 40 ° and an axis of the telescopic path of the actuator assembly 30.
With such an arrangement, the executing assembly 30 is flexible, can move in a large range, and can assist a doctor in realizing a complicated operation.
In order to improve the stability of the surgical robot arm 100, in one embodiment of the present invention, the plurality of rotational connection points 24 between each first telescopic element 23 and the first movable platform 22 are arranged in a common circle, and the rotational connection points 24 between each first telescopic element 23 and the stationary platform 21 are arranged in a common circle; the diameter of the circle formed by the enclosing of the rotating connecting point 24 on the first movable platform 22 is 1 to 2 times of the diameter of the circle formed by the enclosing of the rotating connecting point 24 on the static platform 21.
With the arrangement, the first movable platform 22 has small vibration in the process of moving relative to the static platform 21, and the total amount of errors between the first telescopic elements 23 can be mutually compensated, so that the stability of the surgical manipulator 100 is improved.
It should be understood that the cross-section of the stationary platform 21 and the first movable platform 22 along the radial direction may be circular, polygonal, or other irregular shapes, as long as the plurality of rotation connection points 24 of the first telescopic elements 23 are arranged on the stationary platform 21 and the first movable platform 22 in a concentric manner.
To further improve the stability of the surgical robotic arm 100, in one embodiment of the present invention, the diameter of the circle defined by the pivotal connection point 24 on the first movable platform 22 is 1.7 times the diameter of the circle defined by the pivotal connection point 24 on the stationary platform 21.
With the arrangement, the first movable platform 22 has the minimum vibration in the process of moving relative to the static platform 21, and meanwhile, the space volume occupied by the first movable platform 22 and the static platform 21 can be relatively compressed, and the most balanced combination property is provided between the light structure and the high performance.
In order to realize the rotational connection between the first telescopic element 23 and the first movable platform 22 and the stationary platform 21, in an embodiment of the present invention, a ball joint and a hooke joint 241 are respectively disposed at two ends of the first telescopic element 23; the first telescopic element 23 is connected to one of the stationary platform 21 and the first movable platform 22 by a ball joint and to the other of the stationary platform 21 and the first movable platform 22 by a hooke hinge joint 241.
With such an arrangement, two ends of the first telescopic element 23 can be respectively rotatably connected with the first movable platform 22 and the stationary platform 21, and the connection performance of the first telescopic element 23 is better. The action principle is as follows: the ball joint has three degrees of freedom, the hooke joint 241 has two degrees of freedom, and the ball joint and the hooke joint 241 are respectively disposed at both ends of the first telescopic element 23, so that the first movable platform 22 can realize six degrees of freedom of movement.
In order to achieve the cost consideration on the basis of realizing the rotary connection between the first telescopic element 23 of the first 23 and the first movable platform 22 and the static platform 21, in an embodiment of the present invention, the surgical robot arm 100 further includes a cylinder sleeve 242, and the cylinder sleeve 242 is sleeved on and rotatably connected to the first telescopic element 23; the cylinder sleeve 242 is provided with a hooke hinge joint 241 at one end relatively far away from the first telescopic element 23 and the first telescopic element 23 is provided with one end relatively far away from the cylinder sleeve 242; one of the cylinder sleeve 242 and the first telescopic element 23 is connected to the first moving platform 22 by a corresponding hooke hinge joint 241; the other of the cylinder sleeve 242 and the first telescopic element 23 is connected to the stationary platform 21 by a corresponding hooke hinge joint 241.
With such an arrangement, the first telescopic element 23 can realize power transmission between the first movable platform 22 and the stationary platform 21 through the hooke hinge joint 241 with low manufacturing difficulty and low cost, and does not need to provide a ball joint with high cost and easy damage, thereby having a better cost performance advantage. The action principle is as follows: the hooke hinge joints 241 at both ends of the first telescopic element 23 have two degrees of freedom, and the cylinder sleeve 242 has one degree of freedom, so that the telescopic movement of the first telescopic element 23 in the axial direction can be realized, and the first movable platform 22 can realize the movement with six degrees of freedom.
It is understood that in other embodiments, other joints may be adopted to connect the first telescopic element 23 with the first movable platform 22 and the stationary platform 21, as long as the first movable platform 22 has a certain degree of freedom and can drive the executing assembly 30 to complete the surgical operation.
In order to improve the motion stability of the surgical robot arm 100, in one embodiment of the present invention, the number of the first telescopic elements 23 is six, and each of the rotational connection points 24 between the first telescopic elements 23 and the first movable platform 22 is disposed at an interval; and the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are also arranged at intervals.
With such an arrangement, the distribution of the spaced rotation connection points 24 reduces the vibration interference between the first telescopic elements 23, and can further improve the motion stability of the surgical robot arm 100. In addition, when the six first telescopic elements 23 drive the first movable platform 22 to move, not only can the multi-directional comprehensive movement of the first movable platform 22 be realized, but also the slow calculation speed due to the excessively redundant kinematics analysis cannot be generated.
It is understood that in other embodiments, the number of the first telescopic elements 23 may be three, four, five, or even more, as long as the first movable platform 22 can bring the executing assembly 30 to complete the surgical operation.
referring to fig. 3, fig. 3 is a schematic structural diagram of the telecentric operating assembly 20 shown in fig. 2 from a top view, in order to further improve the motion stability of the surgical robotic arm 100 and facilitate the kinematic analysis, in an embodiment of the present invention, two rotation connection points 24 between the first telescopic element 23 and the first movable platform 22 are paired in a nearby manner, and a first included angle α is formed between each two rotation connection points 24 of the same pair and the center of the first movable platform 22, and the sizes of the first included angles α are all equal.
There are six rotational connection points 24, respectively designated M, between the first telescopic element 23 and the first mobile platform 221To M6(ii) a The six pivotal connection points 24 are grouped together in a nearby manner, i.e. the two pivotal connection points 24 that are closest together form a pair, forming M1And M2、M3And M4、M5And M6each of the two pairs of the rotating joints 24 forms a first included angle α with the center of the first movable platform 22, and the three first included angles α are equal to each other.
At this time, the first telescopic elements 23 will form a symmetrical distribution on the first movable platform 22, which is beneficial to improving the motion stability of the surgical robot arm 100.
preferably, the angle range of the first included angle α is 15 ° to 60 °, and the included angle range between the first telescopic element 23 and each rotation connection point 24 of the first movable platform 22 is in a preferred interval, which is not only beneficial to ensuring the motion stability, but also convenient for realizing the motion analysis of the telescopic amount of each first telescopic element 23 through a relatively suitable included angle range.
in order to further improve the motion stability of the surgical robot arm 100, the first telescopic element 23 and each rotation connection point 24 between the static platform 21 are paired in pairs in a nearby manner, a second included angle β is correspondingly formed between the two rotation connection points 24 of the same pair and the center of the static platform 21, and the magnitude of each second included angle β is equal.
There are six rotational connection points 24, respectively designated S, between the first telescopic element 23 and the stationary platform 211To S6(ii) a The six pivotal connection points 24 are grouped in such a way that they are close together, i.e. two pivotal connection points 24 that are closest together are paired to form S1And S2、S3And S4、S5And S6each of the two pairs, that is, each of the two pivotal connection points 24 forms a second included angle β with the center of the stationary platform 21, and the angles of the three second included angles β are equal to each other.
At this time, the first telescopic elements 23 will form a symmetrical distribution on the static platform 21, which is beneficial to improving the motion stability of the surgical robot arm 100.
preferably, the second angle β is in the range of 60 ° to 105 °.
At this time, the included angle range between the first telescopic element 23 and each of the rotation connection points 24 of the stationary platform 21 is in a preferred interval, which is not only beneficial to ensuring the motion stability, but also convenient for realizing the motion analysis of the telescopic amount of each of the first telescopic elements 23 through a relatively suitable included angle range.
Preferably, the pairs of the respective pivot points 24 of the first telescopic element 23 on the stationary platform 21 are offset from the pairs of the respective pivot points 24 of the corresponding first telescopic element 23 on the first movable platform 22, i.e. the same pair of pivot points 24 of the first telescopic element 23 on the stationary platform 21 is not paired with the two pivot points 24 of the corresponding first telescopic element 23 on the first movable platform 22.
In the existing DaVinci surgical robot, a driving motor drives a surgical instrument to rotate through a driving transmission cable, but the transmission cable can be wound inside an execution rod in the rotating process, so that the surgical precision is influenced.
In order to avoid the winding of the transmission cable when the surgical instrument 32 rotates, in one embodiment of the present invention, the actuating assembly 30 includes an actuating rod 31 and the surgical instrument 32 disposed at one end of the actuating rod 31 relatively far away from the first movable platform 22, the first movable platform 22 is disposed with a rotary driving member 27, and the rotary driving member 27 is connected to the actuating rod 31 and can drive the actuating rod 31 and the surgical instrument 32 to rotate synchronously along the axial direction of the actuating rod 31.
So configured, the surgical instrument 32 will rotate in synchronization with the actuation lever 31, thereby avoiding entanglement of the drive cables as they rotate relative to the actuation lever 31.
Specifically, the rotary driving member 27 is installed on a side of the first movable platform 22 close to the actuating assembly 30, and the rotary driving member 27 is directly connected to the actuating rod 31 and can drive the actuating rod 31 to rotate synchronously with the surgical instrument 32. The rotary drive 27 is preferably an electric motor.
In order to make the movement of the surgical instrument 32 more flexible and precise, in an embodiment of the present invention, the first movable platform 22 is further provided with a first deflection driving element (not numbered), a second deflection driving element (not numbered) and an opening and closing driving element (not numbered), the actuating rod 31 is hollow and accommodates a transmission cable, and the surgical instrument 32 is connected to the first deflection driving element, the second deflection driving element and the opening and closing driving element through the transmission cable;
the first deflection driving component and the second deflection driving component can respectively drive the surgical instrument 32 to deflect towards two different staggered directions through the transmission cable, and the opening and closing driving component can drive the surgical instrument 32 to open and close through the transmission cable.
So set up, surgical instrument 32 can deflect and open and shut in a flexible way under the synergism of first deflection driving piece, second deflection driving piece and the driving piece that opens and shuts, and displacement error and time delay error when a plurality of driving pieces drive simultaneously can reduce the drive.
Specifically, the first deflection driving member, the second deflection driving member and the opening/closing driving member are all installed on the first movable platform 22.
Preferably, in order to miniaturize the telecentric operating module 20, the first deflection driving element, the second deflection driving element and the opening and closing driving element are all installed on one side of the first movable platform 22 away from the actuating assembly 30, and are located in the middle of the first movable platform 22, so as not to affect the arrangement of the first telescopic element 23. It is understood that in other embodiments, the first deflection driver, the second deflection driver, and the opening and closing driver may be mounted at other locations as long as the surgical machine can be controlled by the transmission cable.
Specifically, the first deflection driving member, the second deflection driving member and the opening and closing driving member are preferably three motors.
Referring to fig. 4 and 5, fig. 4 is a schematic structural diagram of a surgical robot arm 100 according to a second embodiment of the present invention; fig. 5 is a schematic view of the telecentric manipulating assembly 20 shown in fig. 4.
In order to realize more complicated surgical contents, in an embodiment of the present invention, the telecentric operating system 20 further includes a second movable platform 25 and a plurality of second telescopic elements 26 disposed between the first movable platform 22 and the second movable platform 25, one side of the second movable platform 25 relatively far away from the static platform 21 is fixedly connected to the executing assembly 30, and two ends of each second telescopic element 26 are respectively and rotatably connected to the first movable platform 22 and the second movable platform 25.
So configured, the second movable platform 25 can perform displacement movement based on the first movable platform 22, which increases the range of movement of the surgical instrument 32 to assist the surgeon in achieving more complex surgical content.
In this embodiment, the telecentric control assembly 20 forms two stages of parallel platforms connected to each other, which are a first stage parallel platform and a second stage parallel platform, where the first stage parallel platform includes the above-mentioned static platform 21, the first movable platform 22 and the first telescopic element 25 located between the static platform 21 and the first movable platform 22, and the second stage parallel platform includes the second movable platform 25 and the second telescopic element 26 located between the first movable platform 22 and the second movable platform 25.
It should be additionally noted that each stage of parallel stages may include two stages and a telescopic element between the two stages. For example, the first stage parallel platform includes two platforms, namely a first movable platform 22 and a static platform 21; the second stage parallel platform may also include two platforms, a second movable platform 25 and a mounting platform (not shown) fixed to the first movable platform.
Of course, besides the first stage parallel platform requiring two platforms, the second stage parallel platform and the larger stage parallel platform may also omit the corresponding mounting platform and be supported by a certain platform in the previous stage parallel platform. For example, the second stage parallel platform includes two platforms, which are the second movable platform 25 and the first movable platform 22 in the first stage parallel platform, respectively, that is, the first movable platform 22 is shared by the two stages of parallel platforms.
In summary, the term "each stage of said parallel platforms comprises two opposite platforms and a telescopic element between the two said platforms" used herein has two cases, one is that each stage of parallel platforms has two platforms, and the two platforms are not shared between the different stages of parallel platforms; one is that each stage of parallel platform shares the platform of the adjacent stage to realize the relative motion between the two platforms.
Specifically, the rotary driving member 27 is installed on a side of the second movable platform 25 close to the actuating assembly 30, and the rotary driving member 27 is directly connected to the actuating rod 31 and can drive the actuating rod 31 to rotate synchronously with the surgical instrument 32. The first deflection driving member, the second deflection driving member and the opening and closing driving member are all installed on one side of the second movable platform 25 far away from the executing component 30 and located in the middle of the second movable platform 25, and the arrangement of the second telescopic elements 26 is not affected.
In order to reduce the motion error, in one embodiment of the present invention, and at the same time, facilitate the implementation of kinematic analysis, the arrangement of the respective rotational connection points 24 between the plurality of second telescopic elements 26 and the first movable platform 22 on the first movable platform 22 is the same as the arrangement of the respective rotational connection points 24 between the plurality of first telescopic elements 23 and the stationary platform 21 on the stationary platform 21; and/or the presence of a catalyst in the reaction mixture,
the arrangement of the rotational connection points 24 between the second plurality of telescopic elements 26 and the second movable platform 25 on the second movable platform 25 is the same as the arrangement of the rotational connection points 24 between the first plurality of telescopic elements 23 and the first movable platform 22 on the first movable platform 22.
With such an arrangement, not only can the kinematic analysis step between the first movable platform 22 and the second movable platform 25 be simplified, but also the kinematic error of the second movable platform 25 can be reduced; and the processing is convenient, and the processing precision can be ensured.
It is understood that in other embodiments, the rotational connection points 24 may be arranged in other ways as long as the flexible movement of the first movable platform 22 and the second movable platform 25 can be realized.
In order to further reduce the kinematic error and simplify the kinematic analysis step, in one embodiment of the present invention, the first telescopic elements 23 and the corresponding second telescopic elements 26 are disposed in parallel with each other in a state where the respective axial directions of the first movable platform 22, the second movable platform 25, and the stationary platform 21 are aligned.
With this arrangement, the kinematic analysis step between the first movable stage 22 and the second movable stage 25 can be further simplified, and the motion error of the second movable stage 25 can be reduced.
It is understood that in other embodiments, other arrangements between each first telescopic element 23 and the corresponding second telescopic element 26 may be adopted, as long as the flexible movement of the first movable platform 22 and the second movable platform 25 can be realized.
To achieve a wide range of positioning of the actuating assembly 30, in one embodiment of the present invention, the preoperative positioning assembly 10 includes a mobile arm 11 and a telescopic arm 12, the telescopic arm 12 is disposed between the mobile arm 11 and the stationary platform 21 and is rotatably connected to the mobile arm 11.
With such an arrangement, the actuating assembly 30 can realize position adjustment in a large range under the driving of the preoperative positioning assembly 10, so that the telecentric operation and control assembly 20 and the preoperative positioning assembly 10 are utilized to realize double-stage adjustment of the actuating assembly 30, and the high efficiency and the refinement of the position adjustment are facilitated.
In one embodiment, the telescopic arm 12 is extended and contracted by providing a telescopic electric cylinder, and the movable arm 11 is moved and rotated by providing a rotary joint. The telescopic electric cylinder has one degree of freedom, and the rotary joint has at least one degree of freedom, and the two are used together, so that the preoperative positioning assembly 10 has at least two degrees of freedom, and can move in a large range and quickly reach the position close to a focus of a patient.
The surgical mechanical arm suitable for the surgical robot needs to drive a surgical instrument to perform surgical operation, and the surgical instrument needs to reach the inside of a patient body by stretching into a tiny wound formed on the surface of the skin when in use. This requires the surgical instrument to perform the surgical operation in a stable, vibration-free state with a minute wound opened on the skin surface as a fixed point. However, the current surgical mechanical arm suitable for a surgical robot cannot completely meet the use requirements in clinical performance, and particularly, a doctor cannot acquire mechanical feedback of a pathological tissue to the surgical instrument under the surgical operation because of lack of mechanical detection of the surgical operation performed by the surgical instrument, so that the accuracy of the doctor in the surgical operation is reduced due to lack of mechanical information.
The surgical manipulator 100 provided by the invention avoids the winding of steel belts in the surgical manipulator by arranging the execution assembly 30 which integrally and synchronously rotates, and can realize the accurate measurement of mechanical information on the surgical instrument 32.
Specifically, the surgical robotic arm 100 further comprises a sensor (not shown) connected to the actuating rod 31 and configured to detect an environmental force and/or an environmental torque applied to the surgical tool 32.
It should be additionally noted that the mutual connection between the sensor and the actuating rod 31 may be a direct contact between the two, that is, the actuating rod 31 directly contacts the measuring surface of the sensor; it is also possible for there to be an indirect contact between the sensor 42 and the actuating rod 31, i.e. the actuating rod 31 is connected to an intermediate transition element which in turn directly contacts the measuring surface of the sensor, so that the actuating rod 31 is connected to the sensor.
It should also be understood that the environmental forces and/or moments experienced by the surgical tool 32 are referred to herein as forces and/or moments exerted on the surgical tool 32 by the external environment, such as the reaction forces provided by the tissue when the surgical tool 32 is clamped; when there are multiple forces coupled to the surgical instrument 32 and creating a moment of action, the surgical instrument 32 will be subjected to both the environmental force and the environmental moment.
In the present embodiment, the sensor is a six-axis force and torque sensor, and in this case, the sensor can synchronously sense the environmental force and/or the environmental torque received by the surgical instrument 32 located on the measurement surface of the sensor. It will be appreciated that when it is only necessary to measure the environmental force to which the surgical tool 32 is subjected, the sensor may be selected to be a force sensor; the sensor may alternatively be a torque sensor when only the ambient torque to which the surgical tool 32 is subjected needs to be measured.
Due to the synchronous rotation of the actuating rod 31 and the surgical instrument 32, the connecting cable (not shown) inside the actuating rod 31 moves in an integral manner, so that the defect that a reliable mechanical sensor cannot be realized due to the winding of the connecting cable in the conventional structure is avoided, and the sensor can accurately measure the environmental force and/or the environmental torque applied to the surgical instrument 32.
The sensor in this embodiment is mounted on the first movable platform 22 or in a device in the surgical robot arm 100 that is located relatively at the front end of the first movable platform 22.
It should be noted that the sensor is mounted in the device of the surgical robot arm 100 relatively located at the front end of the first movable platform 22, which means that the mounting position of the sensor is located at the side of the first movable platform 22 relatively far from the preoperative positioning assembly 10, that is, the sensor may be mounted on the rod body of the actuating rod 42 or directly on the surgical instrument 32.
The sensor is not disturbed by the rotation of the first telescopic element 23 when the first telescopic element 23 is telescopic relative to the surgical instrument 32, and the accuracy of measurement is greatly improved.
The rotary driving member 27 is mounted on the first movable platform 22, and the sensor is mounted on the rotary driving member 27, so that the rotary driving member 27 can drive the sensor, the actuating rod 31 and the surgical instrument 32 to synchronously rotate along the axial direction of the actuating rod 31 relative to the first movable platform 22.
The rotary driving member 27 and the sensor are selectively installed on the first movable platform 22, which can provide great convenience for the installation of the rotary driving member 27 and the sensor, and compared with the scheme that the sensor is installed on a device in the surgical robot arm 100 relatively located at the front end of the first movable platform 22, the installation accuracy is greatly reduced.
The surgical mechanical arm 100 provided by the invention forms a parallel mechanism by the first movable platform 22, the static platform 21 and the plurality of first telescopic elements 23 positioned between the first movable platform 22 and the static platform 21, and improves the motion precision of the tail end execution assembly 30 by utilizing the error non-accumulative characteristic of the parallel mechanism; meanwhile, the independent driving mode among the first telescopic elements 23 improves the loading capacity, and can ensure that the executing assembly 30 can perform the operation under larger load. Meanwhile, compared with a serial mechanism, the parallel mechanism has the characteristics of high precision, high rigidity and large load, and the mechanical manufacturing process requirement is relatively low for the same load and precision requirement, so that the manufacturing cost of the surgical manipulator 100 can be greatly reduced; the structural characteristics of the surgical mechanical arm 100 enable the rotation and other movements of the surgical instrument to be driven without using a steel cable, and the phenomena of steel cable distortion and the like are avoided, so that the service life times of the surgical instrument are greatly prolonged, and the use cost of the surgical instrument is reduced; meanwhile, accurate detection of force is easily achieved.
The invention also provides a surgical robot, which comprises the surgical mechanical arm 100, wherein the surgical mechanical arm 100 is any one of the surgical mechanical arms 100.
The surgical robot provided by the invention improves the self motion precision and the load capacity by applying the surgical mechanical arm 100, can realize clinical surgery with higher precision and higher strength, and has wider application prospect.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims (22)

1. A surgical manipulator (100) is characterized by comprising a preoperative positioning assembly (10), a telecentric operation assembly (20) and an execution assembly (30), wherein the telecentric operation assembly (20) comprises a static platform (21), a first movable platform (22) and a plurality of first telescopic elements (23) arranged between the static platform (21) and the first movable platform (22), one side, relatively far away from the first movable platform (22), of the static platform (21) is connected to the preoperative positioning assembly (10), one side, relatively far away from the static platform (21), of the first movable platform (22) is connected to the execution assembly (30), and two ends of each first telescopic element (23) are respectively and rotatably connected to the static platform (21) and the first movable platform (22);
execution module (30) have predetermined heart motionless point far away, and is a plurality of coordinated flexible between first telescopic element (23) can be controlled first movable platform (22) is relative quiet platform (21) moves and drives execution module (30) is flexible and the swing, the center of swing of execution module (30) does heart motionless point far away, just the flexible route of execution module (30) passes heart motionless point far away.
2. The surgical robot arm (100) of claim 1, wherein the oscillation limit angle of the actuating assembly (30) with respect to the telecentric motionless point is set to ± 20 °, and the actuating assembly (30) can oscillate in a conical space having an axis of the telescopic path of the actuating assembly (30) and a vertex angle of 40 °.
3. The surgical robot arm (100) of claim 1, wherein a plurality of rotational connection points (24) between each of said first telescopic elements (23) and said first movable platform (22) are arranged in a common circle, and wherein rotational connection points (24) between each of said first telescopic elements (23) and said stationary platform (21) are arranged in a common circle; the diameter of a circle formed by the enclosing of the rotating connecting points (24) on the first movable platform (22) is 1 to 2 times of the diameter of a circle formed by the enclosing of the rotating connecting points (24) on the static platform (21).
4. The surgical robot arm (100) of claim 3, wherein the diameter of the circle defined by the pivot connection point (24) on the first movable platform (22) is 1.7 times the diameter of the circle defined by the pivot connection point (24) on the stationary platform (21).
5. The surgical robot arm (100) according to claim 1, wherein the first telescopic element (23) is provided at its two ends with a ball joint and a hooke joint (241), respectively; the first telescopic element (23) is connected to one of the static platform (21) and the first moving platform (22) by means of the ball joint and to the other of the static platform (21) and the first moving platform (22) by means of the Hooke hinge joint (241).
6. The surgical robot (100) of claim 1, wherein said surgical robot (100) further comprises a cylinder (242), said cylinder (242) being rotatably connected to said first telescoping member (23); the cylinder sleeve (242) is provided with a Hooke hinge joint (241) at one end relatively far away from the first telescopic element (23) and one end relatively far away from the cylinder sleeve (242) of the first telescopic element (23); one of the cylinder liner (242) and the first telescopic element (23) is connected to the first moving platform (22) by means of the corresponding Hooke's hinge joint (241); the other of the cylinder liner (242) and the first telescopic element (23) is connected to the static platform (21) by means of the corresponding Hooke hinge joint (241).
7. The surgical robot arm (100) according to claim 1, characterized in that said first telescopic elements (23) are six in number, and each rotation connection point (24) between said first telescopic elements (23) and said first movable platform (22) is arranged at a distance from each other; and the rotating connection points (24) between the first telescopic element (23) and the static platform (21) are also arranged at intervals.
8. the surgical robot arm (100) according to claim 7, wherein said first telescopic element (23) and said first movable platform (22) are paired in pairs in a nearby manner, and a first included angle (α) is formed between each set of two rotating connection points (24) of the same pair and the center of said first movable platform (22), and the sizes of said first included angles (α) are equal.
9. the surgical robot arm (100) according to claim 8, characterized in that said first angle (α) ranges from 15 ° to 60 °.
10. the surgical robot arm (100) according to claim 9, wherein the rotational connection points (24) between the first telescopic element (23) and the stationary platform (21) are paired in pairs in a nearby manner, and a second included angle (β) is formed between each group of two rotational connection points (24) of the same pair and the center of the stationary platform (21), and the second included angles (β) are equal in size.
11. the surgical robot arm (100) of claim 10, wherein the second included angle (β) ranges from 60 ° to 105 °.
12. The surgical robot arm (100) according to claim 1, wherein the actuating assembly (30) comprises an actuating rod (31) and a surgical instrument (32) disposed at an end of the actuating rod (31) relatively far from the first movable platform (22), a rotary driving member (27) is disposed on the first movable platform (22), and the rotary driving member (27) is connected to the actuating rod (31) and can drive the actuating rod (31) and the surgical instrument (32) to synchronously rotate along an axial direction of the actuating rod (31).
13. The surgical robotic arm (100) of claim 12, wherein the first movable platform (22) further comprises a first deflection driving member, a second deflection driving member and an opening and closing driving member, the actuating rod (31) is hollow and accommodates a transmission cable, and the surgical instrument (32) is connected to the first deflection driving member, the second deflection driving member and the opening and closing driving member through the transmission cable;
the first deflection driving piece and the second deflection driving piece can respectively drive the surgical instrument (32) to deflect towards two staggered different directions through the transmission cable, and the opening and closing driving piece can drive the surgical instrument (32) to open and close through the transmission cable.
14. The surgical robotic arm (100) of claim 1, wherein the telecentric manipulation assembly (20) comprises a plurality of interconnected parallel stages, each stage comprising two opposing stages and a telescoping member between the two stages;
the parallel platform which is relatively close to the preoperative positioning assembly (10) in the multiple stages of parallel platforms is a first-stage parallel platform, and the first-stage parallel platform comprises the static platform (21), the first movable platform (22) and a plurality of first telescopic elements (23) arranged between the static platform (21) and the first movable platform (22).
15. The surgical robotic arm (100) of claim 14, wherein the number of stages of the parallel platform is two, the telecentric manipulation assembly (20) further comprises a second stage parallel platform connected to the first stage parallel platform, the second stage parallel platform comprises a second movable platform (25) and a plurality of second telescopic elements (26) disposed between the first movable platform (22) and the second movable platform (25), a side of the second movable platform (25) relatively far from the stationary platform (21) is fixedly connected to the execution assembly (30), and both ends of each second telescopic element (26) are respectively rotatably connected to the first movable platform (22) and the second movable platform (25).
16. The surgical robot arm (100) according to claim 15, characterized in that the arrangement of the respective rotation connection points (24) between the plurality of second telescopic elements (26) and the first mobile platform (22) on the first mobile platform (22) is identical to the arrangement of the respective rotation connection points (24) between the plurality of first telescopic elements (23) and the stationary platform (21) on the stationary platform (21); and/or the presence of a catalyst in the reaction mixture,
the arrangement mode of each rotating connection point (24) between the second telescopic elements (26) and the second movable platform (25) on the second movable platform (25) is the same as the arrangement mode of each rotating connection point (24) between the first telescopic elements (23) and the first movable platform (22) on the first movable platform (22).
17. The surgical robot arm (100) according to claim 15, wherein each of the first telescopic elements (23) and the corresponding second telescopic elements (26) are arranged in parallel with each other in a state where respective axial directions of the first movable platform (22), the second movable platform (25) and the stationary platform (21) are coincident.
18. The surgical robotic arm (100) of claim 1, wherein the preoperative positioning assembly (10) comprises a moving arm (11) and a telescopic arm (12), the telescopic arm (12) being disposed between the moving arm (11) and the stationary platform (21) and being rotatably connected to the moving arm (11).
19. The surgical robotic arm (100) of claim 12, wherein a sensor (42) is further disposed on the first movable platform (22); the sensor (42) is connected to the actuating rod (31) and is used for detecting an environmental force and/or an environmental torque to which the surgical tool (32) is subjected.
20. The surgical robotic arm (100) according to claim 19, wherein the sensor (42) is mounted in the first movable platform (22) or a device in the surgical robotic arm (100) relatively located at a front end of the first movable platform (22).
21. The surgical robot arm (100) of claim 20, wherein the sensor (42) is mounted on the rotary drive member (27), and the rotary drive member (27) is capable of driving the sensor (42), the actuating rod (31), and the surgical instrument (32) to rotate synchronously in the axial direction of the actuating rod (31).
22. A surgical robot comprising a surgical robot arm (100), characterized in that the surgical robot arm is a surgical robot arm (100) according to any one of claims 1 to 21.
CN202010076420.3A 2020-01-23 2020-01-23 Operation arm and operation robot Pending CN111214291A (en)

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CN202010076420.3A CN111214291A (en) 2020-01-23 2020-01-23 Operation arm and operation robot
EP20916040.7A EP4094708A4 (en) 2020-01-23 2020-07-15 Surgical robotic arm and surgical robot
US17/794,951 US20230079591A1 (en) 2020-01-23 2020-07-15 Surgical robotic arm and surgical robot
PCT/CN2020/101998 WO2021147267A1 (en) 2020-01-23 2020-07-15 Surgical robotic arm and surgical robot
CN202022333165.4U CN214434491U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202022335533.9U CN214342597U (en) 2020-01-23 2020-10-19 Telescopic unit for driving movable platform, telecentric control mechanism and surgical robot
CN202022333866.8U CN214434492U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202022335559.3U CN215130047U (en) 2020-01-23 2020-10-19 Driving piece support, drive assembly, telecentric control mechanism and surgical robot
CN202022332280.XU CN215458618U (en) 2020-01-23 2020-10-19 Operation robot rotates coupling assembling, telecentric control mechanism and operation robot
CN202022335582.2U CN214434493U (en) 2020-01-23 2020-10-19 Operation robot rotates coupling assembling, telecentric control mechanism and operation robot
CN202022333709.7U CN214342596U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202110077174.8A CN112754670B (en) 2020-01-23 2021-01-20 Operation arm and operation robot
CN202310320442.3A CN116370099A (en) 2020-01-23 2021-01-20 Surgical mechanical arm and surgical robot

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CN202022335559.3U Active CN215130047U (en) 2020-01-23 2020-10-19 Driving piece support, drive assembly, telecentric control mechanism and surgical robot
CN202022333866.8U Active CN214434492U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202022333709.7U Active CN214342596U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202022332280.XU Active CN215458618U (en) 2020-01-23 2020-10-19 Operation robot rotates coupling assembling, telecentric control mechanism and operation robot
CN202022333165.4U Active CN214434491U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202022335533.9U Active CN214342597U (en) 2020-01-23 2020-10-19 Telescopic unit for driving movable platform, telecentric control mechanism and surgical robot
CN202310320442.3A Pending CN116370099A (en) 2020-01-23 2021-01-20 Surgical mechanical arm and surgical robot
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CN202022333866.8U Active CN214434492U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
CN202022333709.7U Active CN214342596U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
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CN202022333165.4U Active CN214434491U (en) 2020-01-23 2020-10-19 Flexible arm of operation robot, preoperative positioning mechanism and operation robot
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