CN112890955B - Operation arm system of transluminal surgical robot, robot and method - Google Patents

Abstract

The present disclosure provides a transluminal surgical robot manipulator system, robot and method, a drive module and an axial transmission module; the axial transmission module comprises a quick-change mechanism, the quick-change mechanism is provided with a clamping structure and a cavity, a transmission shaft capable of axially moving is arranged in the cavity, and the transmission shaft has radial rotational freedom degree when moving to a set area; the driving module comprises a connecting piece matched with the transmission shaft and a clamping piece matched with the clamping structure, and the transmission shaft is moved to a set area through the connecting piece to realize matching connection for transmission; the clamping piece is matched and connected with the clamping structure, so that the rapid disassembly and assembly are realized; the quick replacement of different devices in the operation process can be realized, and the clamping mechanism is arranged, so that the axial transmission part can be tensioned and cannot be loosened, and the transmission precision is improved; the device has integral moving and rotating freedom degree, has compact structure and is beneficial to reducing the volume of the driving device; the phenomena of loosening, over-tightening and the like in the movement process are prevented.

Description

Operation arm system of transluminal surgical robot, robot and method

Technical Field

The present disclosure relates to a transluminal surgical robot manipulator system, robot and method with a quick-change function.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the development of minimally invasive surgery and the progress of robotics, minimally invasive surgical robots have received close attention from doctors and scholars, and from multi-port laparoscopic surgery to single-port laparoscopic surgery, surgical robots have demonstrated their powerful working ability.

At present, most surgical robot systems with mature technologies are laparoscopic surgical robots, such as the Da Vi nc i surgical robot in the united states, the musician surgical robot at Tianjin university, and the like. The surgical robot for the operation through the natural cavity is slow in development due to the limitation of narrow and tortuous working environment and the like. At present, the research focus of the transluminal surgical robot mainly focuses on the design of a gastroscope platform, the design of an operation arm system, a method for improving the control precision and the like. The design of the operating arm system mainly comprises a continuum structure design, a miniaturization design of a driving device, a quick-change structure design and the like.

In order to improve the working performance of the continuum mechanical arm, students have proposed the configurations of continuum units such as ball-and-socket joints, rolling joints, hinge joints and the like, but still have the defects of low load capacity, low mechanical arm stability and the like, and in order to realize the miniaturization of a driving device, the students have made a lot of work in the aspects of selection of driving motors, arrangement of the motors, driving modes of driving wires and the like, and a linear driving mechanism, a wire spool driving mechanism and the like are proposed; the students also realize the quick replacement of different surgical instruments by matching the quick-change structure with the driving motor, but the current quick-change structure usually adopts a buckle type quick-change mechanism and a gear meshing quick-change mechanism and is limited by the number of driving wires, complex quick-change clamping devices and other factors, and the driving device still has the problems of overlarge volume, insufficient convenience of the quick-change mechanism and the like.

Disclosure of Invention

Aiming at the defects of the existing robot system for the operation through the natural orifice of the human body, the disclosure aims to provide a robot operation arm system for the operation through the cavity, which is suitable for the operation through the cavity, and adopts a compact driving mechanism, so that the volume of a driving device can be reduced to a certain extent; the rapid replacing mechanism is adopted, so that the rapid replacement of different surgical instruments can be realized in the surgical process; the wire transmission mechanism integrated with the sensor is adopted, so that the tension of the driving wire can be sensed in real time in the driving process, and the conditions of looseness, overlarge tension and the like of the driving wire are avoided; by adopting a stable tail end continuum mechanism, the tail end degree of freedom can be ensured, the size of the tail end continuum can be reduced, and the stability of the tail end of the continuum can be improved.

In a first aspect, the present disclosure provides a robotic manipulator system for transluminal surgery, comprising: the driving module and the axial transmission module;

the axial transmission module comprises a quick-change mechanism, the quick-change mechanism is provided with a clamping structure and a cavity, a transmission shaft capable of moving in the radial direction is arranged in the cavity, and the transmission shaft has axial rotation freedom degree when moving to a set area;

the driving module comprises a connecting piece matched with the transmission shaft and a clamping piece matched with the clamping structure, and the transmission shaft is moved to a set area through the connecting piece to realize matching connection for transmission; thereby realize quick assembly disassembly through clamping piece and the cooperation of pressing from both sides tight structure and be connected.

In a second aspect, the present disclosure provides an transluminal surgical robot comprising a transluminal surgical robot manipulator system according to the first aspect.

In a third aspect, the present disclosure provides a method of using the transluminal surgical robotic manipulator system of the first aspect, comprising:

the connection of the transmission structures of the axial transmission module and the driving module is realized through a cavity of the quick-change mechanism;

the axial transmission module is fixedly connected with the driving module through the clamping structure and the clamping piece;

when the quick change is needed, the quick change operation is carried out by disassembling the clamping piece and the clamping structure.

Compared with the prior art, this disclosure possesses following beneficial effect:

1. the novel quick-change mechanism is provided with a clamping structure and a cavity, a transmission shaft capable of moving in the radial direction is arranged in the cavity, and the transmission shaft has axial rotation freedom degree when moving to a set area; the driving module comprises a connecting piece matched with the transmission shaft and a clamping piece matched with the clamping structure, and the transmission shaft is moved to a set area through the connecting piece to realize matching connection for transmission; the clamping piece is matched and connected with the clamping structure, so that the rapid disassembly and assembly are realized; the quick replacement of different devices in the operation process can be realized, and the clamping mechanism is arranged, so that the axial transmission part can be tensioned and cannot be loosened, and the transmission precision is improved;

2. the linear feeding driving motor of the surgical instrument driving module is connected with the gear-rack pair, so that rotary motion is converted into linear motion, integral front and back feeding is realized, and the accuracy of the front and back feeding motion is ensured by the linear guide rail pair; the integral rotation driving motor is connected with the planetary gear pair to realize integral rotation freedom, and the instrument driving motor is connected with the axial transmission part to provide driving force required by the driving wire; the device has integral moving and rotating freedom degree, has compact structure and is beneficial to reducing the volume of the driving device;

3. the winding shaft with the torque sensor is designed, so that the torque can be monitored in real time in the movement process, and the torque is transmitted to a control system of a driving motor, so that the phenomena of loosening, over-tightening and the like in the movement process are prevented;

4. the pressing mechanism of the winding shaft is designed in the disclosure, when the axial transmission mechanism is not connected with the driving device, the winding shaft can be locked through the friction force between the winding shaft and other structures, so that the driving wire is not loosened too much;

5. the flexible quick butt joint mechanism for the winding shaft and the motor is designed, the first clamping part of the winding shaft is matched with the second clamping part of the connecting piece, so that the winding shaft and the connecting piece can be quickly butted in any posture, and relative sliding cannot be generated when the torque is too large;

6. the utility model discloses a novel continuum mechanism, which improves the contact area, so that the precision of the continuum can be improved under the condition of pre-tightening force, and the phenomenon of loosening in the non-bending direction can be prevented by adopting the structure of a double-layer cylindrical surface;

7. the utility model discloses an utilize automatic clamping mechanism that opens and shuts of spring can utilize single silk to realize the control that opens and shuts of clamp, uses the link mechanism of class slider-crank in addition, and compared with traditional hinge four-bar linkage, can be when guaranteeing the function, the assembly process of simplifying miniature apparatus.

Advantages of additional aspects of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic structural view of a robotic manipulator system for transluminal surgery according to the present disclosure;

fig. 2 is a schematic view of a linear movement structure of the driving module of the present disclosure;

FIG. 3 is a sectional view taken along direction A of FIG. 2 of the present disclosure;

fig. 4 is a schematic structural diagram of a driving device of the driving module of the present disclosure;

FIG. 5 is a cross-sectional view taken in the direction B of FIG. 4 of the present disclosure;

fig. 6 is a schematic structural view of a quick-change mechanism of the present disclosure before being connected;

FIG. 7 is a cross-sectional view taken along line C of FIG. 6 of the present disclosure;

fig. 8 is a schematic structural view of the quick-change mechanism of the present disclosure after connection;

FIG. 9 is a cross-sectional view taken in the direction D of FIG. 8 of the present disclosure;

fig. 10 is a schematic view of the structure of the motor connecting sleeve and the winding shaft of the present disclosure;

FIG. 11 is a schematic structural view of a wire sheath drive configuration of the present disclosure;

FIG. 12 illustrates a tip continuum and effector structure of the present disclosure;

fig. 13 is a schematic structural diagram of the terminal continuum base, the terminal continuum base unit, and the terminal continuum head of the present disclosure, in order from left to right.

Wherein, 1, a fixed base, 2, a linear guide rail pair, 3, a rack, 4, a linear motion gear, 5, a linear motion driving motor, 6, a driving device fixing plate, 7, a rear supporting seat, 8, a driving motor mounting plate, 9, a driving motor, 10, a first rolling bearing, 11, a motor connecting sleeve, 12, an integral rotary internal gear, 13, a planetary gear, 14, a winding shaft, 15, a quick-change sleeve, 16, a second rolling bearing, 17, a front pressing plate, 18, a pressing spring, 19, a front end cover, 20, a tensioning plate, 21, a quick-change clamp, 22, a driving wire, 23, a wire sheath, 24, an axial driving pipe, 25, a tail end continuum base, 26, a tail end continuum basic unit, 27, a tail end continuum head, 28, a clamp spring, 29, a clamp connecting piece, 30, a first clamping piece, 31, a clamp movable rod, 32, a clamp fixing rod, 33, a second clamping piece, 34. front support seat, 35, torque sensor, 36, leading wheel.

The specific implementation mode is as follows:

the present disclosure is further described with reference to the following drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure herein. 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 application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Example 1

As shown in fig. 1, a robot manipulator system for translumenal surgery includes: the device comprises a driving module and an axial transmission module;

the axial transmission module comprises a quick-change mechanism, the quick-change mechanism is provided with a clamping structure and a cavity, a transmission shaft capable of axially moving is arranged in the cavity, and the transmission shaft has radial rotational freedom degree when moving to a set area;

the driving module comprises a connecting piece matched with the transmission shaft and a clamping piece matched with the clamping structure, and the transmission shaft is moved to a set area through the connecting piece to realize matching connection for transmission; thereby realize quick assembly disassembly through clamping piece and the cooperation of pressing from both sides tight structure.

The mechanical arm module comprises an execution instrument; the axial transmission module comprises a wire sheath transmission structure, the axial transmission module is connected with the mechanical arm module through the wire sheath transmission structure, and the influence of the movement of the quick-change mechanism on the structural change of the wire sheath is compensated by the wire sheath transmission structure. The wire transmission mechanism comprises a transmission shaft and a front pressing plate, and the transmission shaft is arranged on the front pressing plate; the quick-change mechanism comprises a quick-change sleeve and a compression spring; one end of the front pressure plate is connected with a compression spring, and the transmission shaft is tightly propped against the quick-change sleeve by the compression spring, so that self-locking is realized by friction force; the transmission shaft is a winding shaft; in particular, the influence of the movement of the front pressing plate on the structural change of the wire sheath is compensated by using the wire pin structure.

Furthermore, one end of the transmission shaft is provided with a first clamping part; the connecting piece is provided with a second clamping part matched with the first clamping part; the first clamping part is of a cross structure, a first guide structure is arranged on the top surface of the cross structure, the first guide structure is a V-shaped inclined surface, and the side surface of the cross structure is a vertical plane. The second clamping part is provided with a cross-shaped groove and a second guide structure, the second guide structure is a triangular protrusion and can be matched with the V-shaped inclined plane for guiding, and the cross-shaped structure of the first clamping part is matched with the cross-shaped groove of the second clamping part through guiding; an optional embodiment is that the first engaging portion is a conical male head, and the second engaging portion is a conical counter bore. Specifically, motor adapter sleeve and spool have all adopted innovative connection plane, and is specific, when adopting the inclined plane to eliminate the gesture difference when the two cooperate, adopt partial perpendicular face, have higher stability in comparison with the cooperation of full inclined plane, can not take place relative slip when transmitting big moment of torsion.

Furthermore, the clamping structure is a clamping rod with a groove at one end, and the groove is radially clamped to realize quick installation of the quick-change mechanism.

Furthermore, one end of the transmission shaft is connected with a pressing mechanism which can enable the transmission shaft to return; the pressing mechanism is an elastic piece, the elastic piece can be an elastic sheet, a corrugated pipe, a pressure spring, a flat spiral spring or a spiral spring, and the elastic piece is the pressure spring as one of the preferable real-time modes.

Further, the axial transmission module further comprises a wire sheath transmission structure which is connected with the instrument arm module through a wire transmission mechanism, the wire transmission mechanism comprises a transmission shaft and a front pressing plate, and the transmission shaft is arranged on the front pressing plate; the transmission shaft is a winding shaft, a torque sensor mounting groove is formed in the winding shaft, and a torque sensor is mounted in the torque sensor mounting groove; the winding shaft is provided with a driving wire installation groove, a driving wire is installed in the driving wire installation groove, a guide wheel is further arranged in the cavity, and the driving wire is matched with the guide wheel to adjust the direction of the driving wire; specifically, one end of the driving wire 22 is fixedly connected to the winding shaft 16, the transmission direction is changed through the guide wheel, and the driving wire extends into the wire sheath 23 after passing through the front pressing plate; the movement of the driving wire is converted into the axial stretching movement of the driving wire through the guide wheel mechanism.

Specifically, the wire transmission mechanism comprises a winding shaft 16, a torque sensor 15, a front pressure plate 17, a guide wheel 36, a driving wire 22, a wire sheath 23, an axial transmission pipe 24 and the like. One end of the driving wire 22 is fixed to the spool 16, the direction of transmission is changed by the guide wheel, and the driving wire passes through the front press plate and then extends into the wire sheath 23, one end of the wire sheath is fixed to the front press plate, and then the driving wire and the wire sheath tube are tightly pressed through the axial transmission tube and pass through the rear axial transmission tube 24, so as to be transmitted to the tail end continuum part. The silk sheath structure is selected for use here, can eliminate the change of drive silk length when the distance between preceding clamp plate 17 and the front end housing changes, improve control accuracy, add torque sensor simultaneously on the spool, be for can realize carrying out closed-loop control to the continuum in control process, because the transmission of silk sheath structure has great position transmission loss, this just leads to the condition that actual required drive silk variation volume and kinematics analysis result are inequality to appear easily when controlling, for avoiding this influence, the moment of torsion of real-time measurement spool, carry out real-time feedback, just can prevent that the tension of drive silk is too big or lax, improve control accuracy.

Furthermore, the quick-change mechanism comprises a quick-change sleeve, a compression spring and a front end cover; the quick change sleeve is connected with the front end cover to form a cavity with one open end; the compression spring is arranged at one end in the cavity and is connected with the front end cover; the transmission shaft is arranged on the front pressing plate, and one end of the front pressing plate is connected with the compression spring; the clamping structure is arranged on one side of the quick change sleeve and can be welded or integrally formed; the center of the front end cover is provided with a hole, an axial transmission pipe is arranged at the hole, one end of the axial transmission pipe is connected with the screw pin, the other end of the axial transmission pipe is connected with the instrument arm module, specifically, the axial transmission pipe is connected with a surgical instrument of the instrument arm module, and the surgical instrument can be a clamp.

Furthermore, the clamping structure comprises a clamping rod, one end of the clamping rod, which is far away from the quick change sleeve, is provided with a groove, and the groove is provided with an inclined plane and can be a triangular groove, a V-shaped groove or a trapezoidal groove; through the cooperation of the groove with the inclined plane and the clamping piece, the clamping piece comprises a tensioning plate and a quick-change clamp, and the inclined plane is clamped by the quick-change clamp 21, so that the clamping force of the quick-change clamp can be converted into the force for tensioning the long column, and the locking of the two parts is realized. Specifically, the driving module comprises a motor mounting plate, a long hole matched with the clamping rod is formed in the middle of the motor mounting plate, a tensioning plate is mounted on one side of the motor mounting plate, and a quick-change clamp is mounted on the tensioning plate; when in connection, the long column at the left end of the quick-change sleeve 15 extends into the long hole in the middle of the motor mounting plate 8, and the left side of the point motor mounting plate 8 is provided with a tensioning plate 20 on which a quick-change clamp 21 is arranged; the clamping structure and the clamping piece are matched to form a clamping mechanism, so that the axial transmission part can be tensioned and is not loosened, and the transmission precision is improved.

Furthermore, the connecting piece is a motor connecting sleeve, one end of the winding shaft is connected with the motor through the motor connecting sleeve, one end of the driving wire is fixed on the winding shaft, the movement of the driving wire is converted into the axial stretching movement of the driving wire through the guide wheel mechanism, and the other end of the winding shaft is connected with the pressing mechanism through the bearing. Specifically, motor adapter sleeve and spool connection position adopt the inclined plane to eliminate the gesture difference when the two cooperate, adopt partial perpendicular, compare in the cooperation of full inclined plane and have higher stability, can not take place relative slip when transmitting the big moment of torsion.

Furthermore, the driving module comprises a linear guide rail pair, a gear and rack pair, a linear feeding driving motor, an integral rotating driving motor, a planetary gear pair and an instrument driving motor. The linear feeding driving motor is connected with the gear rack pair, rotary motion is converted into linear motion, integral front-back feeding is achieved, and accuracy of the front-back feeding motion is guaranteed through the linear guide rail pair. The integral rotation driving motor is connected with the planetary gear pair to realize integral rotation freedom, and the instrument driving motor is connected with the axial transmission part to provide driving force required by the driving wire. The linear movement freedom degree is realized by a gear rack pair. The control mode of the driving motor is closed-loop control based on a torque sensor, and the errors of force and position caused by long-distance wire transmission can be compensated.

Specifically, the fixed base 1 is fixed to an external mechanism such as a surgical robot arm, a linear motion driving motor 5 is mounted on the fixed base, an output shaft of the linear motion driving motor is matched with a linear motion gear 4, rotary motion is converted into linear motion through gear and rack pairs (3 and 4), and the linear motion is transmitted to a surgical robot arm system through a driving device mounting plate 8.

Further, the linear guide rail pair is installed between the fixed base 1 and the driving device installation plate 8, and is used for guaranteeing the stability and accuracy of linear motion of the operation arm system and preventing the phenomena of side turning and the like.

As one embodiment, the driving module comprises a driving motor mounting plate 8, a driving motor 9, a first rolling bearing 10, a rear supporting seat 7, a front supporting seat 34 and a planetary gear pair; the drive motor 9 includes three motors for driving the wires and one motor for one rotational degree of freedom as a whole. The rear supporting seat 7 and the front supporting seat 34 are both connected to a driving device fixing plate, a driving motor mounting plate 8 is arranged between the rear supporting seat and the front supporting seat, and a first rolling bearing 10 is arranged between the mounting plate and the supporting seat to play a supporting role; the driving motors 9 are all arranged on the driving motor mounting plate 8 and are arranged in a circumferential manner; the motor output shaft of the driving wire is connected with the motor connecting sleeve 11 so as to transmit the rotary motion to the winding shaft; the planetary gear 13 is connected with an output shaft of a driving motor thereof and is engaged with the internal gear 12, and the rotational motion output by the motor is converted into the rotational motion of the entire surgical robot apparatus by adopting a planetary gear train scheme.

Further, the mechanical arm module is further included, the axial transmission module is connected with the mechanical arm module, and the mechanical arm module is integrated with an execution instrument, including but not limited to a clamp. As one embodiment, the executing apparatus is a clamp, the clamp comprises a clamp piece and a connecting rod mechanism, and the clamp piece converts the back-and-forth movement of the driving wire into the opening-and-closing movement of the clamping piece through the connecting rod mechanism; the performance instrument may be a distal surgical instrument.

Further, the instrument arm module comprises a continuum unit, one end of the continuum unit is connected with the axial transmission pipe, and the other end of the continuum unit is connected with an execution instrument; if a plurality of continuum units are arranged, the continuum units are contacted through double-layer cylindrical surfaces, and the continuum units rotate relatively through double-layer cylindrical sockets.

Further, the continuum unit comprises a base, a continuum base unit and a continuum head; the base is connected with the axial transmission module, in particular to an axial transmission pipe of the axial transmission module; the base is provided with the continuum basic units which are connected with each other through a double-layer cylindrical socket structure, the continuum basic unit at the tail end is connected with one end of the continuum head, and the other end of the connection body head is connected with a surgical instrument.

Furthermore, threading holes are arranged in the continuum basic unit, and the driving wire penetrates through the threading holes in the continuum basic unit to ensure that the tail end of the driving wire is fixed on the continuum head 27; the continuous body basic units rotate relatively through the traction driving wire and the double-layer cylindrical sockets, and the rotation superposition is the bending motion of the whole continuous body unit.

Further, the executing apparatus is exemplified by a clamp, and the continuum unit includes a distal continuum base 25, a distal continuum base unit 26, a distal continuum head 27, a clamp spring 28, a clamp connector 29, a first jaw 30, a second jaw 33, a clamp movable rod 31, a clamp fixing rod 32, and the like. Specifically, the end continuum base 25 is glued to the end of the axial transmission tube, the end continuum basic units 26 are connected with each other through a double-layer cylindrical socket structure, the driving wire passes through a threading hole in the basic units, the end of the driving wire is fixed on the end continuum head 27, further, the driving wire is driven through traction, the units rotate relative to each other through the double-layer cylindrical sockets, and the units rotate in a superposed mode, namely, the whole bending movement is achieved. The surfaces of the basic units which need to be matched with each other adopt double-layer cylindrical sockets, so that the damage of the continuum mechanical arm caused by relative movement among the basic units in a non-bending direction can be prevented. Furthermore, the tail end clamp mechanism is installed on the tail end continuum head 27, the specific structure of the tail end clamp mechanism is a one-rod sliding block mechanism, the clamp fixing rod 32 is installed in a hole in the tail end continuum head, the clamp movable rod 31 is fixedly connected with the clamp connecting piece 29, the two rods respectively penetrate through holes and grooves of the clamping pieces, through drawing the clamp connecting piece 29, the front and back movement of the clamp movable rod can be achieved, the clamping pieces are driven to rotate around the fixing rod, the clamp opening movement is achieved, in addition, the clamp spring 28 is connected between the clamp connecting piece 29 and the tail end continuum head 27, a driving wire of the clamp penetrates through the spring 28 and is fixedly connected to the clamp connecting piece 29, and the passive closing of the clamp is achieved through the spring.

Example 2

The present disclosure also provides a transluminal surgical robot, comprising the operation arm system of the transluminal surgical robot as described in the above embodiments, and performing a transluminal surgery by using the operation arm system of the transluminal surgical robot.

Example 3

The present disclosure also provides a method of using the transluminal surgical robotic manipulator system according to the above embodiments, including:

the connection of the transmission structures of the axial transmission module and the driving module is realized through a cavity of the quick-change mechanism;

the axial transmission module is fixedly connected with the driving module through the clamping structure and the clamping piece;

when the quick change is needed, the quick change operation is carried out by disassembling the clamping piece and the clamping structure.

Further, the fixed base 1 is fixed with external mechanisms such as a surgical robot adjusting arm, a linear motion driving motor 5 is installed on the fixed base, an output shaft of the linear motion driving motor is matched with a linear motion gear 4, rotary motion is converted into linear motion through gear-rack pairs (3 and 4), and the linear motion is transmitted to a surgical robot operating arm system through a driving device installing plate 8. Further, the linear guide rail pair is installed between the fixed base 1 and the driving device installation plate 8, and is used for guaranteeing the stability and accuracy of linear motion of the operation arm system and preventing the phenomena of side turning and the like.

Specifically, when the axial transmission part is disconnected from the driving device, the elastic force of the spring 18 is transmitted through the sequence of the front pressing plate 17, the second rolling bearing 16, the winding shaft 14 and the quick-change sleeve 15, so that a large pressure is generated between the winding shaft 14 and the quick-change sleeve 15, and the sliding between the winding shaft 14 and the quick-change sleeve 15 is prevented through the friction force between the winding shaft and the quick-change sleeve, so that the front end continuum cannot be loosened when the front end continuum is loosened.

When the axial transmission part is connected to the driving device, the motor connecting sleeve 11 and the winding shaft 16 are connected to each other through a special surface, and the winding shaft 16 is jacked up to be separated from the quick-change sleeve 15, thereby being flexibly driven.

Particularly, when in connection, a long column at the left end of the quick-change sleeve 15 extends into a long hole in the middle of the motor mounting plate 8, and a tensioning plate 20 is arranged on the left side of the point motor mounting plate 8 and is provided with a quick-change clamp 21; the tail end of the long column at the left end of the quick change sleeve 15 is provided with an inclined plane, the inclined plane is clamped by the quick change clamp 21, the clamping force of the quick change clamp can be converted into the force for tensioning the clamping rod, so that the locking of the two parts is realized, and the clamping rod can be the long column; the left side (namely the left side in the figure) of the quick change sleeve 15 is provided with a conical male head, the right side of the motor mounting plate 8 is provided with a conical counter bore, the depth of the conical counter bore is larger than the length of the male head, when the axial transmission part and the driving device are locked, the axial transmission part and the driving device can be matched more closely through an inclined plane, the axial transmission part and the driving device belong to flexible connection, and the influence caused by machining errors can be reduced; the connection surface of the motor connecting sleeve 15 and the winding shaft 16 is shown in the figure, if the connection surface has deviation in posture, the connection surface can be automatically screwed to the correct position through the inclined surface at the tail end under the elastic force transmitted by the spring 18, and meanwhile, the matching surface has a vertical part, so that the connection surface and the matching surface can be prevented from sliding relatively when excessive torque is transmitted.

The transmission direction of the driving wire is changed through a guide wheel of the wire transmission mechanism, the driving wire penetrates through the front pressing plate and then extends into the wire sheath 23, one end of the wire sheath is fixed on the front pressing plate, and then the driving wire and the wire sheath tube tightly penetrate through the axial transmission tube and then pass through the rear axial transmission tube 24, so that the driving wire and the wire sheath tube are transmitted to the tail end continuum part.

The silk sheath structure is selected for use here, can eliminate the change of drive silk length when the distance between preceding clamp plate 17 and the front end housing changes, improve control accuracy, add torque sensor simultaneously on the spool, be for can realize carrying out closed-loop control to the continuum in control process, because the transmission of silk sheath structure has great position transmission loss, this just leads to the condition that actual required drive silk variation volume and kinematics analysis result are inequality to appear easily when controlling, for avoiding this influence, the moment of torsion of real-time measurement spool, carry out real-time feedback, just can prevent that the tension of drive silk is too big or lax, improve control accuracy.

The driving wires are pulled, the continuous body basic units rotate relatively through the double-layer cylindrical sockets, and the rotation superposition is the integral bending motion. The surfaces of the continuum basic units which need to be matched with each other adopt double-layer cylindrical sockets, so that the continuum mechanical arm can be prevented from being damaged due to relative movement between the basic units in a non-bending direction.

Furthermore, the tail-end clamp mechanism is arranged on the tail-end continuum head 27, the concrete structure of the tail-end clamp mechanism is a one-rod sliding block mechanism, the clamp fixing rod 32 is arranged in a hole in the tail-end continuum head, the clamp movable rod 31 is fixedly connected with the clamp connecting piece 29, the two rods respectively penetrate through holes and grooves of the clamping pieces, the back and forth movement of the clamp movable rod can be realized by drawing the clamp connecting piece 29, the clamping pieces are driven to rotate around the fixing rod, the clamp opening movement is realized, in addition, the clamp spring 28 is connected between the clamp connecting piece 29 and the tail-end continuum head 27, the driving wire of the clamp penetrates through the spring 28 and is fixedly connected on the clamp connecting piece 29, and the passive closing of the clamp is realized through the spring.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (5)

1. A translumenal surgical robotic manipulator arm system, comprising: the driving module and the axial transmission module;

the axial transmission module comprises a quick-change mechanism and a wire transmission mechanism, the quick-change mechanism is provided with a clamping structure and a cavity, a transmission shaft capable of axially moving is arranged in the cavity, and the transmission shaft has radial rotational freedom degree when moving to a set area; the quick-change mechanism comprises a quick-change sleeve, a compression spring and a front end cover; the quick change sleeve is connected with the front end cover to form a cavity with one open end; the compression spring is arranged at one end in the cavity and is connected with the front end cover; the transmission shaft is arranged on the front pressing plate, and one end of the front pressing plate is connected with the pressing spring; the clamping structure is arranged on one side of the quick change sleeve;

the wire transmission mechanism comprises a transmission shaft, a front pressing plate, a guide wheel, a driving wire and a wire sheath, and the transmission shaft is arranged on the front pressing plate; one end of the front pressure plate is connected with a compression spring, and the transmission shaft is tightly pressed on the quick-change sleeve by the compression spring, so that self-locking is realized by friction force; the center of the front end cover is provided with an opening, an axial transmission pipe is arranged at the opening, one end of a silk sheath is fixed on the front pressing plate, one end of the axial transmission pipe is connected with the other end of a silk pin, the other end of the axial transmission pipe is connected with the mechanical arm module, a driving silk penetrates through the silk sheath, and the change of the length of the driving silk is eliminated when the distance between the front pressing plate and the front end cover is changed;

the transmission shaft is a winding shaft; a torque sensor mounting groove is formed in the winding shaft, and a torque sensor is mounted in the torque sensor mounting groove; the winding shaft is provided with a driving wire mounting groove, a driving wire is mounted in the driving wire mounting groove, a guide wheel is further arranged in the cavity, and the driving wire is matched with the guide wheel to adjust the direction of the driving wire; the control mode is closed-loop control based on a torque sensor, and can compensate errors of force and position caused by long-distance wire transmission;

the driving module comprises a connecting piece matched with the transmission shaft and a clamping piece matched with the clamping structure, and the transmission shaft is moved to a set area through the connecting piece to realize matching connection for transmission; the clamping piece is matched and connected with the clamping structure, so that the rapid disassembly and assembly are realized;

the clamping structure comprises a clamping rod, one end of the clamping rod, which is far away from the quick change sleeve, is provided with a groove, and the groove is provided with an inclined plane; the clamping piece comprises a tensioning plate and a quick-change clamp, the quick-change clamp is used for clamping the inclined plane, and the clamping force of the quick-change clamp is converted into the force for tensioning the clamping rod so as to realize locking;

the manipulator system further comprises a manipulator module, the wire transmission mechanism is connected with the manipulator module, the manipulator module comprises an execution instrument and continuum units, the continuum units comprise a plurality of continuum basic units, the continuum basic units are connected through a double-layer cylindrical socket structure, and relative movement between the continuum basic units in a non-bending direction is prevented.

2. The translumenal surgical robotic manipulator arm system of claim 1, wherein said drive shaft has a first engaging portion at one end; the connecting piece is provided with a second clamping part matched with the first clamping part; the first clamping part is of a cross structure, and the top surface of the cross structure is provided with a first guide structure; the second clamping part is provided with a cross-shaped groove and a second guide structure.

3. The system of claim 2, wherein the first engaging portion is a cross-shaped structure having a first guiding structure on a top surface, the first guiding structure being a V-shaped bevel, and a side surface being a vertical plane; the inclined plane is adopted to eliminate the posture difference during the matching of the two, and meanwhile, the partial vertical plane is adopted, so that the matching has higher stability compared with the full inclined plane, and the relative sliding cannot occur during the transmission of large torque.

4. An transluminal surgical robot comprising a manipulator arm system of a transluminal surgical robot as claimed in any one of claims 1-3.

5. A method of using the transluminal surgical robotic manipulator system of any one of claims 1-3, comprising:

the connection of the transmission structures of the axial transmission module and the driving module is realized through a cavity of the quick-change mechanism;

the axial transmission module is fixedly connected with the driving module through the clamping structure and the clamping piece;

when the quick change is needed, the quick change operation is carried out by disassembling the clamping piece and the clamping structure.

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