CN101637402B - Minimally invasive surgical wire driving and four-freedom surgical tool - Google Patents
Minimally invasive surgical wire driving and four-freedom surgical tool Download PDFInfo
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- CN101637402B CN101637402B CN2009103060535A CN200910306053A CN101637402B CN 101637402 B CN101637402 B CN 101637402B CN 2009103060535 A CN2009103060535 A CN 2009103060535A CN 200910306053 A CN200910306053 A CN 200910306053A CN 101637402 B CN101637402 B CN 101637402B
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Abstract
The invention discloses a minimally invasive surgical wire driving and four-freedom surgical tool which comprises a tool connecting rod, wherein one end of the tool connecting rod is connected with the tail end of the tool, and the tail end of the tool comprises a main tool body; the rear end of the main tool body is connected with a main body driving wheel; the front end of the tool connecting rod is provided with a rear shaft pin; both sides of the rear shaft pin are respectively provided with two rear driving wheels which are connected with the main tool body of the tail end of the tool through the main body driving wheel in the middle of the two rear driving wheels; the middle part of the main tool body is provided with two middle driving shafts with middle driving wheels; the front end of the main tool body is provided with a front shaft pin which is connected with a tool pliers body through two pliers body driving wheels arranged on the tool pliers body; each pliers body driving wheel is fixedly connected with one end of a front wire rope and divides the front wire rope into two parts, and one part is turned for one time, while the other part is turned for two time through the middle wheels. The tool realizes long-distance driving by adopting the wire rope, thereby eliminating return differences and guaranteeing reliable driving.
Description
Technical field
The present invention relates to a kind of minimally invasive surgical operation robot armarium, relate in particular to a kind of minimally invasive surgical operation robot operation tool.
Background technology
Along with the development of medical skill, micro-wound surgical operation is born and promptly promotes and come.It is meant that by advanced person's operating theater instruments and equipment the doctor utilizes elongated operation tool to be insinuated into the operation that undergos surgery in the body by the body surface miniature incision.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is short, and this misery that makes patient suffer significantly reduces, and the risk of bearing in the operation process is minimized; Therefore minimally invasive surgery is widely used in clinical operation.Yet when Minimally Invasive Surgery had brought many interests for patient, but the operation to the doctor had brought a series of difficulties, as: motility reduces greatly; Direction of operating is opposite with desired direction, inaccurate coordination; Can not finish complicated surgical action such as stitching knotting thereby instrument front end degree of freedom is few; Can only obtain surgical scene information by the two dimensional image on the monitor, lack the sensation on the depth direction; Lack force feeling etc.Complexity and chronicity that these problems cause the doctor to train, this has limited Minimally Invasive Surgery such as the utilization in a series of complicated operations such as operation on heart, urology procedure.
Micro-wound operation robot in conjunction with industrial robot technology and Minimally Invasive Surgical Technology under such background arises, and he is meant and replaces the doctor to grasp the robot system that operation tool is finished the Minimally Invasive Surgery operation.In operation, thereby the doctor finishes operation technique indirectly by the surgical robot system that control device operation, control are equipped with operation tool.Micro-wound operation robot with doctor's surgical experience and robot manipulation's highly sensitive, accurate positioning, stable, motility is high, organically combine, overcome the most of problem that exists in the Minimally Invasive Surgery operation, as: the instrument motility, problems such as operation comfort, and have the potentiality that progressively solve other problems.The comfort level of micro-wound operation robot operation raising operation technique has shortened the time that the doctor trains, and operation tool can be competent at the operation technique in complexity more flexibly.Just because of these advantages and progress, the utilization of micro-wound operation robot is the new revolution of surgical operation by rhythm.
The same with common Minimally Invasive Surgery, in the middle of the micro-wound operation robot operation process, robotic surgical tool is as unique part that enters inside of human body, it also is the robot part that directly undergos surgery and operate, therefore the design quality of operation tool has directly determined the win or lose of surgical robot system, the actual characteristic and the performance indications of operating robot operation tool are also directly instructing other parts of operation robot simultaneously, design such as main body system, and then influence passive part and the design of supporting localization part, and the technical specification of front end operation tool has directly determined the design objective and the layout type requirement of main hand operated system.As seen: the operating robot operation tool influences and has determined the design work of entire machine robot system, and the operation tool performance is the key factor of a cover surgical robot system performance level.
Surgical robot system has been obtained significant progress, also is accompanied by the continuous development and progress of operation tool.The micro-wound operation robot operation tool is developed by the Minimally Invasive Surgery instrument, typical Minimally Invasive Surgery instrument adopts the kind of drive of bar transmission, front end has one degree of freedom, but traditional Minimally Invasive Surgery instrument only one degree of freedom design decision its can not finish complicated operation technique, limited the applied environment of Minimally Invasive Surgery, also just to the function of Minimally Invasive Surgery instrument, constantly improving on the performance embodied the continuous development and progress of micro-wound operation robot operation tool.In the world, national government such as the U.S., France, Germany, Britain, Poland, Japan, Korea S and academia have all given very big concern, and dropped into the research that a large amount of funds and resource are carried out minimally invasive surgical operation robot, developed multiple micro-wound operation robot operation tool.And in these minimally-invasive surgery robot systems, only having three cover model machines to reach commercial clinical utilization level, they are respectively ZEUS, DA VINCI, LAPROTEK system.Make a general survey of these operating robot end-of-arm toolings, can find, operating robot end-of-arm tooling development trend is to silk transmission, surgical instrument with degrees of freedom development from traditional rod transmission, lower-mobility instrument.The major reason that a large amount of surgical robot systems fails to reach the clinical application level is that they are bar transmission, lower-mobility operation tool.Therefore the ZEUS system is also purchased by DA VINCI system, and two existing cover commercialization minimally-invasive surgery robot systems all are the four-degree-of-freedom operation tools that adopts the silk transmission.The research of silk transmission, surgical instrument with degrees of freedom has also attracted the increasing strength of academia.And in China, the independent development of operating robot is in the starting stage, and the research of operation tool also is in the level of bar transmission, lower-mobility, is in space state aspect surgical instrument with degrees of freedom.Therefore, the transmission of exploitation silk, surgical instrument with degrees of freedom advances the related-art technology progress significant to filling the domestic gaps.It is of far-reaching significance in science, the technology status in this field to promoting China to study the surgical instrument with degrees of freedom with silk transmission way of realization different with foreign system.
The patent No. be 6394998 the U.S. Patent Publication transmission of a kind of minimally invasive surgery silk, four-degree-of-freedom operation tool, this operation tool structure is that four-degree-of-freedom is arranged, adopts steel wire rope to carry out each degree of freedom motion transmission.This operation tool caliper steel wire rope layout that begins to extend back from the caliper axis, extended two sections steel wire ropes are realized break-in through the drive that once is arranged in the main body side respectively, two sections steel wire ropes after the break-in pass through from the drive both sides that are installed on the pivot pin of instrument rear end respectively, two sections steel wire ropes compensate mutually when motion, have realized closed loop steel wire drive system.The shortcoming of this structure can not be perpendicular to the caliper axis for the caliper shackle line, so caliper is subjected to extra axial force during transmission, has worsened the instrument stressing conditions, has increased a silk gearing friction; The break-in drive that is arranged in the main body side has increased the overall peripheral dimension of instrument, is unfavorable for dwindling of operation tool size; The wrist degree of freedom was influenced by the α angle when the interlaced driving steel wire rope design of wrist degree of freedom made transmission, had increased the silk gearing friction.
The patent No. be 6969385 the U.S. Patent Publication transmission of a kind of minimally invasive surgery silk, four-degree-of-freedom operation tool, this operation tool structure is similarly four-degree-of-freedom and arranges, adopts steel wire rope to carry out each degree of freedom motion transmission.This operation tool caliper steel wire rope layout that begins to extend back from the caliper axis, realize break-in at tool body without drive, two of break-in sections steel wire ropes do not pass through from the middle tangent position of two drives that symmetry is installed on the connecting rod of instrument rear end, be that steel wire rope passes through from wrist degree of freedom axis, realized closed loop steel wire drive system.The shortcoming of this structure can not be perpendicular to the caliper axis for the caliper shackle line, so caliper is subjected to extra axial force during transmission, has worsened the instrument stressing conditions, has increased a silk gearing friction; The steel wire rope that passes through from intermediate line can switch on two drives of symmetric arrangement motor process mutually, influence silk transmission accuracy.
Summary of the invention
The object of the present invention is to provide and a kind ofly under doctor's operation, can realize many handss compounding practice, big power output value and the big deflection angle of each degree of freedom are given in the steel wire rope transmission, can be competent at the transmission of a kind of minimally invasive surgery silk, the four-degree-of-freedom operation tool of operation such as the complicated operation of sewing up knotting.
In order to achieve the above object, a kind of minimally invasive surgery silk of the present invention transmission, the four-degree-of-freedom operation tool, it comprises the instrument connecting rod, described instrument connecting rod one end links to each other with the power interface section, the other end links to each other with tool tip, described tool tip comprises tool body, the main body driving wheel has been permanently connected in the rear end of described tool body, described instrument connecting rod front end is equipped with the rear portion pivot pin, pivot pin both sides, described rear portion be equipped with rotationally respectively two its be provided with whole circle the silk groove the rear portion drive and therebetween the tool body by described main body driving wheel and tool tip be rotatedly connected, two middle power axles are installed at the middle part of described tool body, near the both sides of middle the power axle of described main body driving wheel be separately installed with two that be rotatably assorted with it and its be provided with the first middle drive of a groove of whole circle, away from described main body driving wheel second in the middle of power axle both sides be separately installed with one that be rotatably assorted with it and its be provided with the second middle drive of the silk groove of whole circle, front end at described tool body is equipped with anterior pivot pin, described anterior pivot pin links to each other with the instrument caliper by symmetry two caliper driving wheels mounted thereto, described caliper driving wheel and caliper are fixedly linked, and described caliper driving wheel can rotate around described anterior pivot pin; Described each caliper driving wheel is fixedly linked by an end that is inserted in solid silk knot and a front end steel wire rope on the described caliper driving wheel and described front end steel wire rope is divided into two parts, described a part of front end steel wire rope twines with first motor shaft by described rear portion drive through a break-in of first breast wheel and links to each other, and described another part front end steel wire rope twines with second motor shaft by the rear portion drive through second breast wheel, twice break-in of first breast wheel and links to each other; Described body driving wheel is fixedly linked by an end that is inserted in solid silk knot and a wrist steel wire rope on the described body driving wheel, the other end of described wrist steel wire rope is wrapped in the 3rd motor shaft, instrument rotation driving wire one end is wrapped on the described instrument connecting rod, and the other end twines with the 4th motor shaft and links to each other.Micro-wound surgical operation silk of the present invention transmission, four-degree-of-freedom operation tool compared with prior art have following beneficial effect:
Instrument of the present invention is insinuated into the operation that undergos surgery of inside, abdominal cavity by elongate rod down the auxiliary of robot main body system.Can be on a large scale complete operation.
Instrument of the present invention is the global function micro-operation hand with four degree of freedom, can completing place and attitude adjustment among a small circle independently, finish complicated operation.
Instrument of the present invention all adopts the steel wire rope transmission, realizes remote transmission, eliminates return difference, assurance reliable transmission, efficient.
Tool wire rope winding method of the present invention guarantees that each moving component is not influenced by additional axial force and α angle, guarantees silk drive system stressing conditions optimum, reduces instrument frictional force, helps later stage force feeling function expansion.
The drive that the present invention is used for break-in is arranged in the main body axis, and the drive size does not influence overall peripheral dimension, helps dwindling of operation tool size, probes into a little wound thereby reduce operation tool.
Steel wire rope silk drive system of the present invention has guaranteed that steel wire rope closed loop transmission total length remains unchanged.Thereby guaranteed in the motor process that the transmission steel wire is not elongated and shortens, steel wire rope does not switch on drive mutually, guaranteed drive system reliable with drive caliper accurately.
Silk fixing means of the present invention can provide big power output value, can be competent at major operation power operating physical force operations such as gallbladder, operation on heart.
Apparatus of the present invention application is the Minimally Invasive Surgery towards the splanchnocoel field, has the potentiality to other manual surgical operating instruments and the expansion of other associated mechanical hands fields.
Description of drawings
Fig. 1 is that micro-wound surgical operation silk of the present invention transmission, four-degree-of-freedom operation tool are at the auxiliary operation application drawing down of the robot body system of micro-wound surgical operation;
Fig. 2 is minimally invasive surgery silk of the present invention transmission, four-degree-of-freedom operation tool overall diagram;
Fig. 3 is the wrist pitching action diagram of operation tool shown in Figure 2;
Fig. 4 is the front end deflection action figure of operation tool shown in Figure 2;
Fig. 5 is the front end opening and closing movement figure of operation tool shown in Figure 2;
Fig. 6 is the operation tool front end each several part exploded view of operation tool shown in Figure 2;
Fig. 7 is a main part drives structure exploded view shown in Figure 6;
Fig. 8 is a caliper part drives structure exploded view shown in Figure 6;
Fig. 9 is the silk drive system sketch map of operation tool of the present invention;
Figure 10 is that the pitching degree of freedom silk of operation tool of the present invention drives sketch map;
Figure 11 is that deflection, the folding degree of freedom silk of operation tool of the present invention drives sketch map;
Figure 12 is the left side caliper drive system sketch map of operation tool of the present invention;
Figure 13 is that the left side caliper of operation tool of the present invention drives the constant demonstration graph of steel wire rope closed loop total length;
Figure 14 is the fixing sketch map of silk of operation tool of the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments minimally invasive surgery silk of the present invention transmission, four-degree-of-freedom operation tool are made a detailed description.
As shown in Figure 1: operation tool is at the auxiliary operation technique of carrying out down of Minimally Invasive Surgery main body system 1, main body system has three freedoms of motion, be two respectively and rotate R1, R2 and an one-movement-freedom-degree P1, and the axis of three freedoms of motion meets at a 1-3, for all motion modes of main body system, this point is changeless with respect to the main body system pedestal.When actual operation was operated, this fixing point was exactly that operation tool on the human epidermal 1-1 probes into a 1-3.The instrument that centers on that main body system has probes into these two rotations and the position adjustment operation of operation tool bar on a large scale that moving movement is responsible for finishing being installed on the main body system a little; Four degree of freedom R4 of operation tool, R5, R6, C7 finish the adjustment of position among a small circle, attitude adjustment and the folding operation of the end effector of operation tool end.More than all degree of freedom can adjust the relative position of end-of-arm tooling 2 neatly with respect to human internal organs 1-2, finish the operation technique various actions.
As shown in Figure 2: minimally invasive surgery silk of the present invention transmission, four-degree-of-freedom operation tool have three parts, are respectively tool's power interface sections 3, instrument connecting rod 4 and tool tip 2.Tool's power interface section 3 has and the interface element that is installed in the motor power on the main body system 1, and by 3 degree of freedom of transmission steel wire tractive tool tip, realizes the transmission of each degree of freedom motion.The structure of main body system 1 can adopt the disclosed mechanism of Chinese patent CN101390763, also can adopt other that robot system that probes into a three-degree-of-freedom motion around the human epidermal instrument can be provided.Instrument connecting rod 4 provides being rigidly connected of tool's power interface section 3 and tool tip 2, inner by driving 6 shackle lines of each degree of freedom of front end, the position of instrument connecting rod 4 inner both sides has been installed a silk guide pad 4-1 respectively, on the silk guide pad 4-1 6 holes are arranged respectively, be used for the steel wire rope by operation tool connecting rod inside is led, steel wire rope twines mutually when preventing the operation tool motion.A guide pad also can not installed in the inner front and back end of described instrument connecting rod, but strictness prevents mutual winding between six roots of sensation transmission steel wire when mechanical assembly.
As Fig. 3, Fig. 4, shown in Figure 5: tool tip 2 has three degree of freedom, is respectively the wrist pitching degree of freedom R5 of end-of-arm tooling, the front end deflection degree of freedom R6 of end-of-arm tooling, the folding degree of freedom C7 of end-of-arm tooling.Wrist pitching degree of freedom R5 axis normal provides tool body part 2-1 angular deflection around the R5 axis in instrument rotation degree of freedom R4; Front end deflection degree of freedom R6 axis provides instrument caliper part 2-2 angular deflection around the R6 axis simultaneously perpendicular to instrument rotation degree of freedom R4 and wrist pitching degree of freedom R5 axis; The folding degree of freedom C7 dead in line of end-of-arm tooling provides opening relatively with closed between two instrument caliper 2-11 in front end deflection degree of freedom R6 axis.
As shown in Figure 6: tool tip 2 is by tool tip connecting rod part 2-3, tool body part 2-1, caliper part 2-2 three parts are formed, tool tip connecting rod partially rigid is connected on the connecting rod 4, its front end has been arranged rear portion pivot pin 2-4, and the silk director element of rear portion drive 2-6 as end-of-arm tooling silk drive system has been installed on the pivot pin of rear portion.
Tool body part 2-1 is installed on the pivot pin 2-4 of rear portion, can rotate around rear portion pivot pin 2-4 under the tractive of wrist steel wire rope 2-12.Power axle in the middle of being fixedly coupled the main body driving wheel in the rear end of described tool body and being equipped with two in the middle, near the both sides of middle the power axle of described main body driving wheel be separately installed with two that be rotatably assorted with it and its be provided with the first middle drive 2-7 of a groove of whole circle, away from described main body driving wheel second in the middle of power axle both sides be separately installed with one that be rotatably assorted with it and its be provided with whole circle the silk groove second in the middle of drive 2-7, tool body has partly been arranged thread director element of middle drive as end-of-arm tooling silk drive system.Main part silk tractive principle as shown in Figure 7, main body driving wheel 2-8-2 is riveted together by pin 2-9 and tool body 2-10.Described main body driving wheel and tool body also can connect as one by welding or splicing.As shown in figure 10, main body driving wheel 2-8-2 and wrist steel wire rope 2-12 weld or are glued together by solid knot 2-15 and main body driving wheel, and perhaps described wrist steel wire rope and main body driving wheel fixing means are tied for the solid silk that compresses on steel wire rope or the steel wire rope by the thread pressing block that is fixed on the tool body.Can drive main body driving wheel 2-8-2 when therefore rear end driven by motor wrist steel wire rope 2-12 tractive moves and rotate, drive main part 2-1 then and rotate, finish wrist pitching degree of freedom R5 around rear portion pivot pin 2-4 around rear portion pivot pin 2-4.
Two identical caliper part 2-2 symmetries are installed on the anterior pivot pin 2-5, can rotate around anterior pivot pin 2-5 under the tractive of front end steel wire rope 2-13.The profile of tooth that the occlusal surface of two calipers parts has been processed suitable operation technique is beneficial in the operation process operating theater instruments such as grasping tissue or operation sewing needle effectively.Silk tractive the mode identical and symmetric arrangement of two calipers, single part silk tractive principle as shown in figure 12, caliper driving wheel 2-8-1 by pin 2-9 and instrument caliper 2-11 by welding or splicing is connected one.As shown in figure 10, caliper driving wheel 2-8-1 and front end steel wire rope 2-13 weld or are glued together by solid knot 2-15, and perhaps described front end steel wire rope and caliper driving wheel fixing means are tied for the solid silk that compresses on steel wire rope or the steel wire rope by the thread pressing block that is fixed on the caliper.Can drive caliper driving wheel 2-8-1 when therefore rear end driven by motor front end steel wire rope 2-13 tractive moves and rotate, drive caliper part 2-11 then and rotate around anterior pivot pin 2-5 around anterior pivot pin 2-5.
Motor drives the identical and symmetric arrangement of two structures by transmission front end steel wire rope caliper 2-11 rotates around anterior pivot pin 2-5.Two caliper 2-11 rotate in the same way provides the front end of end-of-arm tooling deflection degree of freedom R6, and two caliper 2-11 backward rotation provide the folding degree of freedom C7 of end-of-arm tooling.
As shown in Figure 9: minimally invasive surgery silk of the present invention transmission, four degree of freedom motions of four-degree-of-freedom operation tool are adopted the steel wire rope transmission fully, and all are the transmissions of closed loop steel wire rope.Wherein instrument rotation degree of freedom R4 transmission steel wire one end is wound on the instrument connecting rod 4, the steel wire rope other end is wound on the motor shaft 2-61, thereby whole rotation steel wire rope 2-14 forms a closed loop, the motion of motor rotation drive rotation steel wire rope 2-14 tractive drives connecting rod 4 then and rotates with respect to tool's power interface section 3 with the tool tip 2 that is fixed thereon, and finishes instrument rotation degree of freedom R4; Wrist pitching degree of freedom R5 wrist steel wire rope 2-12 one end and main body driving wheel are fixed together, the other end is wound on the motor shaft, thereby whole steel wire rope is formed a closed loop, the motion of motor rotation drive wrist steel wire rope 2-12 tractive drives main body driving wheel 2-8-2 then and centers on rear portion pivot pin 2-4 rotation with the tool body part 2-1 that fixes on it, finishes wrist pitching degree of freedom R5; Instrument front end two caliper 2-11 adopt the drive system of identical and symmetrical installation, shackle line for one of them caliper, this front end steel wire rope 2-13 one end and caliper driving wheel are fixed together, the other end finally is wound on the motor shaft through middle drive 2-7, the rear portion drive 2-6 of drive system, thereby whole steel wire rope is formed a closed loop, the motion of motor rotation drive steel wire rope tractive drives caliper driving wheel 2-8-1 then and centers on anterior pivot pin 2-5 rotation with the instrument caliper 2-11 that fixes on it, finishes a caliper degree of freedom and controls.Two instrument caliper 2-11 rotate in the same way provides the front end of end-of-arm tooling deflection degree of freedom R6, and two instrument caliper 2-11 backward rotation provide the folding degree of freedom C7 of end-of-arm tooling.
The drive system of two instrument caliper 2-11 is this minimally invasive surgery silk transmission, four-degree-of-freedom operation tool core, and it adopts the transmission of closed loop steel wire rope, and closed loop steel wire rope drive characteristic requires transmission steel wire total length constant.Wherein left side caliper drive system as shown in figure 12: this caliper is installed on the left-half with respect to tool body axis 2-17, with the solid silk point 2-15 on the fixed caliper driving wheel of the instrument caliper 2-11 2-8-1 front end steel wire rope 2-13 is divided into two parts, the steel wire rope part of the top-left position that is in main body axis 2-17 that wherein caliper driving wheel 2-8-1 draws, it extends back along tool body axis 2-17, once turn to through the second middle drive 2-7, turn to the upper-right position with respect to tool body axis 2-17, this transmission steel wire part is from passing rear portion drive 2-6 and being extended on the motor shaft from upper-right position by its guiding with respect to the upper-right position of tool body axis 2-17; The steel wire rope part of the position, lower-left that is in tool body axis 2-17 that caliper driving wheel 2-8-1 draws, it extends back along tool body axis 2-17, once turn to through the second middle drive 2-7 earlier, turn to position, bottom right with respect to tool body axis 2-17, after once turn to through drive 2-7 in the middle of first once more, thereby turn to the position, lower-left with respect to tool body axis 2-17, this transmission steel wire part is from passing rear portion drive 2-6 and being extended on the motor shaft from the position, lower-left by its guiding with respect to the position, lower-left of tool body axis 2-17.Aforesaid front end steel wire rope 2-13 passes through from the left side and the right side of rear portion driving wheel 2-6 train respectively.
Satisfying under the situation that front end steel wire rope 2-13 passes through from the left side and the right side of rear portion driving wheel 2-6 train respectively, when wrist pitching degree of freedom R5 moves: shown in the left figure of Figure 13, when operation tool main body 2-10 turned over certain angle counterclockwise with respect to connecting rod 2-3, the front end steel wire rope 2-13 that is wound on the drive 2-6 of rear portion had increased the 2-18 section; Shown in the left figure of Figure 13, it is same when operation tool main body 2-10 turns over certain angle counterclockwise with respect to connecting rod 2-3, the front end steel wire rope 2-13 that is wound on the drive 2-6 of rear portion has shortened the 2-19 section, because the radius of rear portion drive 2-6 is identical, therefore the 2-18 section equates with the arc length of 2-19 section, and both cancel out each other, and this front end steel wire rope 2-13 closed loop transmission total length remains unchanged when being wrist pitching degree of freedom R5 motion.Thereby guaranteed in the motor process that the transmission steel wire is not elongated and shortens, guaranteed drive system reliable with drive caliper 2-11 accurately.
Shackle line adopts as shown in figure 14 mode and each driving wheel to fix, be processed with solid silk groove 2-20 on the driving wheel, be used for fixing solid silk knot 2-15, steel wire rope is tied a knot 2-16 later on by soldering liquation or high strength glue coating curing, back finishing shape is processed into solid silk knot 2-15, Gu silk is tied 2-15 and solid silk groove 2-20 welding or is gluedd joint in one, finishes steel wire rope fixing on driving wheel 2-8.
Described wrist, front end caliper shackle line also can adopt respectively and fix by the above canoe of a circle with main body, caliper driving wheel.But adopt the above silk fixed form of twining of a circle can produce the α problem, i.e. can be to producing an extra moment of flexure on the live axle in the steel wire rope transmission engineering, thus the stressing conditions of deterioration driving wheel and actuated element.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those skilled in the relevant art are enlightened by it; do not breaking away under the steel wire rope drive system situation of the invention; adopt other specific constructive form; silk fixed form and silk fixed form of the present invention is used for a transmission machinery people, operating theater instruments association area all should belong to protection scope of the present invention.
The following describes the action implementation process of minimally invasive surgery silk of the present invention transmission, four-degree-of-freedom operation tool.
1. four-degree-of-freedom motion
Operation tool have four degree of freedom with the position among a small circle of the end effector of finishing the operation tool end adjust, attitude adjustment and folding operation.Above-mentioned degree of freedom is respectively: instrument rotation degree of freedom R4; End-of-arm tooling wrist pitching degree of freedom R5; End-of-arm tooling front end deflection degree of freedom R6; End-of-arm tooling folding degree of freedom C7.
Instrument rotation degree of freedom R4 rotation steel wire rope 2-14 one end is wound on the instrument connecting rod 4, the other end is wound on the motor shaft 2-62, thereby whole rotation steel wire rope is formed a closed loop, the motion of motor rotation drive rotation steel wire rope tractive drives instrument connecting rod 4 then and rotates with respect to tool's power interface section 3 with the tool tip 2 that is fixed thereon, and finishes instrument rotation degree of freedom R4;
Wrist pitching degree of freedom R5 wrist steel wire rope 2-12 one end and body driving wheel 2-8-1 are fixed together, the steel wire rope other end is wound on the motor shaft, thereby whole steel wire rope is formed a closed loop, the motion of motor rotation drive steel wire rope tractive drives driving wheel then and partly centers on rear portion pivot pin 2-4 rotation with the tool body of fixing on it, finishes wrist pitching degree of freedom R5;
Instrument front end two caliper 2-11 adopt the drive system of identical and symmetrical installation, grab front end steel wire rope 2-13 one end and caliper driving wheel 2-8-1 is fixed together for the shackle line of one of them caliper, the front end steel wire rope other end finally is wound on motor shaft 2-60 or the 2-61 through centre, rear portion drive 2-7, the 2-6 of drive system, thereby whole steel wire rope is formed a closed loop, the motion of motor rotation drive steel wire rope tractive drives driving wheel then and partly centers on anterior pivot pin 2-5 rotation with the tool body of fixing on it, finishes a caliper degree of freedom and controls.Two instrument caliper 2-11 rotate in the same way provides the front end of end-of-arm tooling deflection degree of freedom R6, and two caliper 2-11 backward rotation provide the folding degree of freedom C7 of end-of-arm tooling.
2. instrument caliper silk drive system
The transmission of instrument caliper silk transmission adopted closed loop steel wire rope, closed loop steel wire rope drive characteristic require transmission steel wire total length constant.Identical and the symmetrical installation of the silk drive system structure of two instrument calipers.Individual tool caliper steel wire rope is respectively from the outer both sides axis of the caliper driving wheel layout that begins to extend back, the solid silk point of the driving wheel of single caliper drive system 2-15 is divided into two parts up and down with front end steel wire rope 2-13, top front end steel wire rope passes through the rear portion drive through a break-in, by the rear portion drive, promptly instrument caliper front end steel wire rope passes through from the left side and the right side of rear portion driving wheel 2-6 train respectively lower part front end steel wire rope through twice break-in.As shown in figure 13, when wrist pitching degree of freedom R5 moves: the top steel wire rope that is wound on the drive 2-6 of rear portion has increased the 2-18 section; The lower part steel wire rope that is wound on the drive 2-6 of rear portion has shortened the 2-19 section, and the 2-18 section equates that with the arc length of 2-19 section both cancel out each other, and this caliper steel wire rope closed loop transmission total length remains unchanged when being wrist pitching degree of freedom R5 motion.Thereby guaranteed in the motor process that the transmission steel wire is not elongated and shortens, guaranteed drive system reliable with drive caliper accurately.
The front end steel wire rope is respectively from the outer both sides axis of the caliper driving wheel layout that begins to extend back, in the decision design process by drive size in the middle of adjusting with the size of drive in the middle of guaranteeing just in time with front end steel wire ropes that two symmetries are installed between distance equate that thereby two parts steel wire rope that assurance caliper driving wheel 2-8-1 draws is parallel to main body axis 2-17, promptly perpendicular to caliper driving wheel 2-8-1 axis, therefore in the steel wire rope traction process under the situation of load, driving wheel does not produce component vertically, not influenced by additional axial force, the non-multi-turn of driving wheel is twined and has been guaranteed not to be subjected to the α angle to influence, more than two aspects guarantee a silk drive system stressing conditions optimum, it is stressed to help reducing a drive system friction.
Also can be by adjusting the radius of described caliper driving wheel and middle drive among the design, thus the steel wire rope that described front end steel wire rope leads to the part of drive in the middle of described first or second at the caliper driving wheel is not parallel to the axis of described tool body.When but steel wire rope is not parallel to main body axis, in transmission process, can produces, thereby increase gearing friction, worsen front end caliper stressing conditions as United States Patent (USP) 6394998, the 6969385 similar generations axial force extra to the front end caliper.
3. driving wheel silk fixed form
Be processed with solid silk groove 2-20 on the driving wheel, be used for fixing solid silk knot 2-15, steel wire rope coats curing by soldering liquation or high strength glue after being knotted into 2-16, back finishing shape is processed into solid silk knot 2-15, Gu silk is tied 2-15 and solid silk groove 2-20 welding or is gluedd joint in one, finishes steel wire rope fixing on driving wheel 2-8.The mode that steel wire rope coats by silk knotting back is made solid silk knot, thereby when driving steel wire rope by solid knot tractive driving wheel, steel wire rope provides driving force with the silk axial tensile force at knotting place two ends, provide the mode of driving force that bigger load capacity can be provided than existing operation tool by silk and solid silk knot frictional force, guarantee the big power output value of operation tool.
Claims (5)
1. minimally invasive surgery silk transmission, the four-degree-of-freedom operation tool, it comprises the instrument connecting rod, described instrument connecting rod one end links to each other with the power interface section, the other end links to each other with tool tip, described tool tip comprises tool body, the main body driving wheel has been permanently connected in the rear end of described tool body, described instrument connecting rod front end is equipped with the rear portion pivot pin, pivot pin both sides, described rear portion be equipped with rotationally respectively two its be provided with whole circle the silk groove the rear portion drive and therebetween the tool body by described main body driving wheel and tool tip be rotatedly connected, it is characterized in that: power axle be equipped with two at the middle part of described tool body in the middle of, near the both sides of middle the power axle of described main body driving wheel be separately installed with two that be rotatably assorted with it and its be provided with the first middle drive of a groove of whole circle, away from described main body driving wheel second in the middle of power axle both sides be separately installed with one that be rotatably assorted with it and its be provided with the second middle drive of the silk groove of whole circle, front end at described tool body is equipped with anterior pivot pin, described anterior pivot pin links to each other with the instrument caliper by symmetry two caliper driving wheels mounted thereto, described caliper driving wheel and caliper are fixedly linked, and described caliper driving wheel can rotate around described anterior pivot pin; Described each caliper driving wheel is fixedly linked by an end that is inserted in solid silk knot and a front end steel wire rope on the described caliper driving wheel and described front end steel wire rope is divided into two parts, described a part of front end steel wire rope twines with first motor shaft by described rear portion drive through a break-in of first breast wheel and links to each other, and described another part front end steel wire rope twines with second motor shaft by the rear portion drive through second breast wheel, twice break-in of first breast wheel and links to each other; Described body driving wheel is fixedly linked by an end that is inserted in solid silk knot and a wrist steel wire rope on the described body driving wheel, the other end of described wrist steel wire rope is wrapped in the 3rd motor shaft, instrument rotation driving wire one end is wrapped on the described instrument connecting rod, and the other end twines with the 4th motor shaft and links to each other.
2. minimally invasive surgery silk according to claim 1 transmission, four-degree-of-freedom operation tool, it is characterized in that: the front and back end is separately installed with the silk guide pad that has six holes on it in described instrument connecting rod, described a part of front end steel wire rope twines with first motor shaft by described rear portion drive and silk guide pad through a break-in of first breast wheel and links to each other, and described another part front end steel wire rope twines with second motor shaft by rear portion drive and silk guide pad through second breast wheel, twice break-in of first breast wheel and links to each other; The other end of described wrist steel wire rope is wrapped on the 3rd motor shaft after by described silk guide pad.
3. minimally invasive surgery silk according to claim 1 transmission, four-degree-of-freedom operation tool, it is characterized in that: from the outer both sides axis of the caliper driving wheel layout that begins to extend back, two parts front end steel wire rope that described caliper driving wheel is drawn is perpendicular to caliper driving wheel axis respectively for described front end steel wire rope.
4. minimally invasive surgery silk according to claim 1 transmission, four-degree-of-freedom operation tool is characterized in that: described wrist and front end steel wire rope snap in described main body, the solid silk of caliper driving wheel groove respectively by solid silk knot and realize steel wire rope fixing on driving wheel.
5. minimally invasive surgery silk according to claim 1 transmission, four-degree-of-freedom operation tool is characterized in that: the solid silk knot of described steel wire rope is inner to be the silk tangled up and knotted, and outside the coating by soldering liquation or high strength glue solidified.
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| CN2009103060535A CN101637402B (en) | 2009-10-23 | 2009-10-23 | Minimally invasive surgical wire driving and four-freedom surgical tool |
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| CN2009103060535A CN101637402B (en) | 2009-10-23 | 2009-10-23 | Minimally invasive surgical wire driving and four-freedom surgical tool |
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| CN101637402B true CN101637402B (en) | 2011-05-18 |
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