CN103006329B - Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof - Google Patents

Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof Download PDF

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Publication number
CN103006329B
CN103006329B CN201210510444.0A CN201210510444A CN103006329B CN 103006329 B CN103006329 B CN 103006329B CN 201210510444 A CN201210510444 A CN 201210510444A CN 103006329 B CN103006329 B CN 103006329B
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steel wire
connection tube
arm
mechanical arm
advanced
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CN103006329A (en
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周航飞
蔡雄风
汤智诚
翟嘉心
付庄
闫维新
赵言正
费健
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Abstract

The invention provides a multi-joint single-wound abdominal cavity minimally-invasive surgery robot and an operating mechanism thereof. The operating mechanism comprises a mechanical arm and a power part. The mechanical arm comprises a connecting rack and two arms with the same structure. Each arm comprises a connecting arm and an advanced manipulator. A cutter head is installed at the end of the advanced manipulator. The two advanced manipulators are respectively and detachably installed at the ends of the two connecting arms. The two connecting arms are respectively installed on the two sides of the connecting rack. The connecting rack is detachably connected with the power part through a connecting pipe. The operating mechanism is installed on a four-freedom robot. The operating mechanism is designed for abdominal cavity surgeries, the effect of a single wound can be realized, the diameter of the wound is 10-20mm and the requirement on the minimal invasiveness of the surgeries is satisfied. Besides, the strength is enough, and the accuracy, the flexibility, the stability and the safety of the operating mechanism during surgeries are guaranteed.

Description

Multi-joint list wound abdominal-cavity minimal-invasion surgery robot and operating mechanism thereof
Technical field
The present invention relates to surgical medical equipment, particularly, relate to a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot and operating mechanism thereof.
Background technology
Along with the develop rapidly of human sciences's technical merit, the improving constantly of living standard, people are to operation safety, accuracy, the requirement of invasive is also more and more higher.Surgical robot system can meet this demand.Compare traditional operation mode, the main advantage of operating robot is:
(1) can provide more comprehensively the visual field, space widely for surgeon;
(2) can improve the accuracy of operation, thereby reduce operation wound and blood loss, accelerate resume speed, reduce postoperative complication and complication;
(3) can get rid of the adverse effect of trembling operation being caused of the possible hands of operating doctor;
(4) place that can cannot touch at traditional operation is carried out safety and precise and is operated;
(5) can, for operating doctor provides comfortable working environment, reduce working strength;
(6) can in major part operation, reduce complexity and the workload of operation, save human resources.
(7) intelligentized surgical robot system can, to the doctor in operation process more to operate reference, improve the reliability of operation.
China has Duo Suo university at present, institute is carrying out the research of operating robot.Minimally Invasive Surgery robotic surgical device " highly skilled man A " system by University Of Tianjin, Nankai University and General Hospital of Tianjin Medical Univ.'s joint research and development was passed through assessment of result in 2010, and had reached international most advanced level; " highly skilled man II " system of a new generation also under study for action at present.Estimate that domestic intelligent operation robot is expected to enter in two years clinical experimental stage.
External main surgical robot system has Leonardo da Vinci's surgery systems, ZEUS robotic surgical system and AESOP robot system.The operating robot of these three systems has all reached the motility that has surmounted even in some respects staff, copy operation doctor's surgical action ideally, and force feedback and stable stereo-picture are provided.Can realize Long-distance Control, intelligent correction etc. in addition.
Yet for the requirement of single wound Minimally Invasive Surgery, current operating robot remains needs improvements.Take Leonardo da Vinci's surgery systems as example, in operation process, generally all need in human abdominal cavity, cut three holes, each aperture, hole is about 10mm, and wherein two holes are for by two working arms, and another is for by holding handel.This patent is designed a kind of novel micro-wound surgical operation mechanical arm, can be at work space under the prerequisite not second to Leonardo da Vinci's operating robot, two working arms and a photographic head are incorporated in the cylindrical region of a 10~20mm, in operation process as long as on abdominal cavity, cut the circular hole of a diameter 10~20mm, just can be used for an operation, thereby further met the needs of people to operation invasive.
Through retrieval, publication number is the Chinese invention patent of 102697564A, this patent discloses a kind of flexible arm robot for single hole abdominal-cavity minimal-invasion surgery, and in the existing endoscope micro-wound of the artificial solution of this machine, patient skin otch is more, the larger problem of volume of operating robot.Compare this patent, the present invention has adopted split-type design, is easy to assembling and dismounting, changes, and makes operation and maintenance more convenient; The mechanism the present invention relates to can be at patient abdominal cavity internal combination, and adopts both arms co-operating, and every arm (containing cutter head) has 3 degree of freedom, makes operation technique more flexibly and accurately.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot and operating mechanism thereof, when guaranteeing operation accuracy, motility, stability and safety, reduce surgical wound quantity as far as possible and reduce wound size, really realize Wicresoft.
The present invention is that the scheme that the above-mentioned object technology problem of solution is taked is:
According to an aspect of the present invention, a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation is provided mechanism, by mechanical arm and power section, formed, described mechanical arm inside is provided with many by pulley and connects steel wire, many driving steel wires and many positioning steel wires, these steel wires are connected to described power section, wherein: described driving steel wire is in order to transmit the driving force from described power section; Described connection steel wire with so that described mechanical arm be closely connected with described power section; Described positioning steel wire is adjusted the attitude of described mechanical arm for perioperatively.
Described mechanical arm comprises two hands arms that link is identical with structure; Every arm comprises a linking arm and a most advanced and sophisticated mechanical hand; Described most advanced and sophisticated arm end is equipped with cutter head; Described most advanced and sophisticated mechanical hand is removably mounted on described linking arm end, can, according to operation needs, select in advance the most advanced and sophisticated mechanical hand of difference in functionality; And described linking arm is arranged on respectively the both sides of described link.
Described mechanical arm link top drilling, described link removably connects by connection tube and described power section, and the steel wire of described mechanical arm inside is through the described power section of the inner connection of connection tube; Described link bottom has shooting hole, for installing and guiding shooting and luminaire.
Before operation, mechanical arm separated with power section (only flexibly connecting by steel wire), enters human abdominal cavity by umbilical notch cut, by positioning steel wire, affect subsequently, carry out pose adjustment, and tighten up by connecting steel wire, realize and being closely connected with power section in abdominal cavity incision; Mechanical arm by driving steel wire to affect, carries out various surgical action by power section; After operation, mechanical arm is departed from power section again, by positioning steel wire, adjust pose and make mechanical arm leave abdominal cavity by abdominal cavity otch.
Preferably, each degree of freedom of whole mechanical arm drives by the steel wire being connected with drive part; Steel wire is realized the rotation in each joint by the pulley of inner each joint of driving mechanical arm.The steel wire one of described mechanical arm inside has 13, and wherein 3 is connection steel wire, and 8 is driving steel wire, and 2 is positioning steel wire.Every described arm has 4 to drive steel wire to drive; Specific to an arm wherein: 2 drive steel wires for driving the actions of most advanced and sophisticated arm end cutter, and 1 drives steel wire for driving the rotation of most advanced and sophisticated mechanical hand, remains 1 for driving linking arm rotation; Another arm situation is identical with it.2 positioning steel wires are directly connected with the cutter head on 2 most advanced and sophisticated mechanical hands respectively after connection tube, and 3 connect steel wire connection tube and mechanical arm link are linked together.
Preferably, the described linking arm of each side and the described most advanced and sophisticated mechanical hand of connection thereof have 4 to drive steel wire to drive, wherein 2 steel wires are for driving the action of described most advanced and sophisticated arm end cutter, 1 drives steel wire for driving the rotation of described most advanced and sophisticated mechanical hand, another 1 for driving the rotation of described linking arm; The driving steel wire deployment scenarios of both sides is identical, and namely 8 is driving steel wire.
Preferably, described connection tube is divided into two parts, the end of the first connected with mechanical arm is connected by being connected steel wire with mechanical arm, the other end is threaded connection second portion, second portion is connected with described power section, described first and described second portion, by thread connection, by regulating the length of threaded engagement between described two parts to realize the flexible of connection tube entire length, drive loosening and tension of steel wire to realize.
Preferably, the second portion end band female thread of described connection tube, the cardinal extremity band external screw thread of first, the thread segment of described second portion has at least 2 pin-and-holes, and along the axial distribution of connection tube; The thread segment of first has a pin-and-hole; The threaded engagement length of two parts of connection tube is turned down, two-part pin-and-hole is overlapped, now connection tube overall length is larger, and driving steel wire is tensioning state; The threaded engagement length of two parts of connection tube is tuned up, and when two-part pin-and-hole overlaps, connection tube entire length is less, and driving steel wire is relaxation state; At pin-and-hole, have while overlapping and insert alignment pin, can avoid there is relative motion between two parts of connection tube, prevent that connection tube length from producing the variation beyond artificial adjusting.
Preferably, handle is equipped with in the described first being connected with mechanical arm, described handle in the part of described connection tube first inside with capstan winch, described connection steel wire be entangled on described capstan winch and stretch out described first after be connected on described link, this handle is for adjusting the degree of tightness that connects steel wire, realizes the disengagement of mechanical arm and connection tube and fastening.
In the present invention, described each most advanced and sophisticated mechanical hand has two orthogonal rotary freedoms; The relative link of linking arm has a rotary freedom, and its direction is identical with the one degree of freedom direction of most advanced and sophisticated mechanical hand;
In the present invention, described power section is a motor housing, and 8 motors and steel wire box are equipped with in inside, realizes the self contained function that respectively drives steel wire;
In the present invention, the concrete arrangement of pulley and driving steel wire can be implemented according to prior art, as long as realize above-mentioned effect and object.Every drives steel wire to move towards formed track in described arm inside, at the pulley place of each its process along this pulley spindle to projection, can can avoid steel wire that length variations occurs when arm moves by the complete envelope of this pulley interior, guarantee to drive accurately and reliably.
According to a further aspect in the invention, provide a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot, comprise above-mentioned operating mechanism.Described operating mechanism is arranged in a robot with 4 degree of freedom, and described in each, most advanced and sophisticated mechanical hand has two orthogonal rotary freedoms; The relatively described link of described linking arm has a rotary freedom, direction is identical with the one degree of freedom direction of described most advanced and sophisticated mechanical hand, thereby make each most advanced and sophisticated mechanical hand always have 7 degree of freedom, to guarantee that its any attitude in assigned work spatial dimension can reach and two most advanced and sophisticated mechanical hands can carry out certain collaborative work.
In the present invention, in the just round scope that whole described mechanical arm cross section is 10~20mm at diameter, can carry out single wound surgical operation, and surgical wound size is within the scope of 10~20mm.Its implementation is:
In the operation preparatory stage, first adjust connection tube length, loosen driving steel wire, and with pin, be fixedly connected with two parts of pipe; Adjust subsequently the handle on connection tube, connection steel wire is loosened to sufficient length, mechanical arm and connection tube are departed from from tightening state; By connecting steel wire and the pose that is connected in the positioning steel wire adjustment mechanical arm on cutter head, mechanical arm is put into human body pneumoperitoneum by the otch on umbilicus, then rotary handle, will connect Wire pulling, and connection tube is closely connected with mechanical arm; Extract the alignment pin between connection tube two parts, be fixedly connected with pipe second portion (upper part), first's (lower part) is dropped to predetermined altitude, then use alignment pin affixed, make to drive steel wire tensioning; Shooting and luminaire can enter through connection tube, and the whole preparatory stage completes.
In the operation execution phase, surgeon can control each motor rotation in motor housing, drives respectively each joint rotation of described driving steel wire and then hitching machinery arm and the folding (each joint motions are independent of each other) of cutter head, to complete needed operation technique.
After operation is carried out and finished, mechanical arm need to be taken out from abdominal cavity opening, be specially: along connection tube, propose shooting and luminaire; Pin on fech connection pipe, adjusts connection tube and loosens driving steel wire, and use finger setting; Adjust the handle of connection tube bottom, loosen connection steel wire, make mechanical arm depart from (only by steel wire, being connected) with connection tube, and by being connected in the positioning steel wire on cutter head, an arm is mentioned, make whole mechanical arm be vertical state, make cutter head arrive abdominal cavity otch and propose, take out immediately whole mechanical arm, complete; Carry out afterwards other follow-up work.
Utilize above-mentioned new structure, can realize robot assisted list wound abdominal-cavity minimal-invasion surgery (such as single wound abdominal cavity gallbladder pancreas Minimally Invasive Surgery).In the operation preparatory stage, mechanical arm is separated with power section, after putting into abdominal cavity, remakes and is fastenedly connected; After operation technique completes, after mechanical arm is separated with power section, take out again; The situation that stretches into inside, abdominal cavity with mechanical arm under the state being connected with power section is compared, and the present invention has avoided opening a plurality of wounds or the excessive risk of wound.
Compared with prior art, the present invention has following beneficial effect:
The present invention adopts split-type design, is convenient to assembling and dismounting, changes; By adjusting flexibly the mode of assembling and dismounting in the mechanical arm of pose and wound, effectively reduce surgical wound quantity, and strictly control the size of wound; Multivariant actuator and both arms Cooperative Mode, guaranteed motility and the reliability of operation technique really to realize the requirement of single wound Minimally Invasive Surgery.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Tu1Wei one embodiment of the invention robot overall structure schematic diagram;
Each label of Fig. 1 is as follows: 1. four-degree-of-freedom robot, 2. motor housing, 3. connection tube, 4. handle, 5. connection tube, 6. mechanical arm.
Fig. 2 is one embodiment of the invention mechanical arm structure chart.
Each label of Fig. 2 is as follows: 7. link, 8. pin, 9. pin, 10. pin, 11. linking arms, 12. pins, 13. most advanced and sophisticated mechanical hands, 14. pins, 15. pins, 16. cutter heads, 17. pins, 18. pins, 19. cutter heads, 20. most advanced and sophisticated mechanical hands, 21. pins, 22. linking arms, 23. pins, 24. pins, 25. pins, 26. pins, 27. pins, 28. pins, 29. pins, 30. pins.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, known this multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism is comprised of mechanical arm and power section, the present embodiment medium power partly adopts motor housing 2 to realize, described mechanical arm 6 comprises a link 7, two linking arms 11,22, two most advanced and sophisticated mechanical hands 13,20 identical with structure that structure is identical, described most advanced and sophisticated arm end is equipped with cutter head, can flexible rotating; Cutter head structure and shears are similar, are divided into two; Described most advanced and sophisticated mechanical hand 13,20 is removably mounted on described linking arm 11,22 ends, can, according to operation needs, select in advance the most advanced and sophisticated mechanical hand of difference in functionality; And described linking arm 11,22 is arranged on respectively the both sides of described link 7.Described link 7 removably connects by connection tube 3,5 and described motor housing 2, and the steel wire of described mechanical arm 6 inside is through the described motor housing 2 of connection tube 3,5 inner connection; Described link 7 bottoms have shooting hole, for installing and guiding shooting and luminaire.
In the present embodiment, it (can be existing product that motor housing 2, connection tube 3,5 and mechanical arm 6 are all arranged on Yi Ge four-degree-of-freedom robot 1, as SCARA robot) last joint on, form a multi-joint list wound abdominal-cavity minimal-invasion surgery robot, each most advanced and sophisticated mechanical hand always has 7 degree of freedom.Wherein: connection tube 3 just end is connected with motor housing 2, and end has female thread, and has two 2 pin-and-holes on thread segment: on pin-and-hole a() and under pin-and-hole b(), and along the axial distribution of connection tube 3; There is external screw thread one end of connection tube 5 contiguous connection tubes 3, can be connected with connection tube 3; The thread segment of connection tube 5 has pin-and-hole c; The threaded engagement length (connection tube 3 is static) that regulates connection tube 3 and connection tube 5, makes pin-and-hole b overlap with pin-and-hole c, and now connection tube overall length is larger, and driving steel wire is tensioning state; When being adjusted to pin-and-hole a and overlapping with pin-and-hole c, connection tube entire length is less, and driving steel wire is relaxation state; At pin-and-hole, there is while coincidence to insert alignment pin, can prevent that connection tube length from producing the artificial variation in addition that regulates.
In the present embodiment, connection tube 5 is provided with handle 4, and handle 4, connects steel wire and is entangled on capstan winch, and stretch out connection tube 5 with capstan winch in the part of connection tube 5 inside, is connected on link 7; Along different directions turning handle 4, can make to connect steel wire and on capstan winch, tighten up or loosen, when tightening up, connection tube 5 fits tightly with link 7, and while loosening, connection tube 5 is separated with link 7.
According to general design, the pulley in mechanical arm divides 3 kinds by function: joint pulley, positioning pulley and leading block.Joint pulley can rotate on the pin of installing in inner each joints axes position of mechanical arm by driving steel wire to drive, and realizes thus joint and rotates; Joint pulley on linking arm and linking arm one, the joint pulley on most advanced and sophisticated mechanical hand and most advanced and sophisticated mechanical hand one, two joint pulleys on cutter head are integral respectively side by side and with two of cutter head; Positioning pulley, for driving the spacing and directed of steel wire, is arranged on the pin of joints axes position, is distributed in the both sides of joint pulley, can freely rotate; Leading block also, for driving the spacing and directed of steel wire, is arranged on the pin of non-joint position; Link is equipped with additional leading block near the position in linking arm joint; Except additional leading block and joint pulley, remaining pulley is all used in pairs, is distributed in the both sides of arm, avoids described driving steel wire to cross one another.Each pulley is a corresponding driving steel wire only, the every only corresponding joint pulley of described driving steel wire, but can be through 0-2 to described positioning pulley and a plurality of leading block; Drive steel wire to be in the key of the inner trend of described arm, move towards formed track, pulley place of its process in described arm at each, can be by the complete envelope of this pulley interior; Can prevent from like this driving steel wire to get loose from pulley, and avoid driving steel wire length to change when traction, guarantee accuracy and the reliability of drive actions.
As shown in Figure 2, concrete, described mechanical arm 6 comprises link 7, linking arm 11, linking arm 22, most advanced and sophisticated mechanical hand 13 and most advanced and sophisticated mechanical hand 20; Pin 8, pin 9, pin 23, pin 24 and pin 25 are contained in linking arm 7; Pin 10, pin 12 and pin 18 are housed in linking arm 11; In most advanced and sophisticated mechanical hand 13, pin 14, pin 17, pin 15 and cutter head 16 are housed; Pin 26, pin 27 and pin 28 are housed in linking arm 22; In most advanced and sophisticated mechanical hand 20, pin 21, pin 29, pin 30 and cutter head 19 are housed; Cutter head 16 is identical with cutter head 19 structures, similar with shears, is all divided into two; The end of cutter head 16 and cutter head 19 has aperture, for adjusting steel wire is installed; 3 additional leading blocks are housed on pin 8, on pin 23 and pin 24, respectively have 8 leading blocks; Pin 9,12,15,25,28,30 is joint, wherein pin 9 connects link 7 and linking arm 11, pin 12 connects linking arm 11 and most advanced and sophisticated mechanical hand 13, pin 15 connects most advanced and sophisticated mechanical hand 13 and cutter head 16, pin 25 connects link 7 and linking arm 22, pin 28 connects linking arm 22 and most advanced and sophisticated mechanical hand 20, and pin 30 connects most advanced and sophisticated mechanical hand 20 and cutter head 19; There is the joint pulley linking arm 11 that is connected at pin 9 places, and separately have 6 positioning pulleys to be distributed on this pulley both sides, joint; The joint pulley at the pin 12 places most advanced and sophisticated mechanical hand 13 that is connected, separately has 4 positioning pulleys to be distributed on this pulley both sides, joint; There are be connected respectively two of cutter head 16 of two joint pulleys at pin 15 places; There is the joint pulley linking arm 22 that is connected at pin 25 places, and separately have 6 positioning pulleys to be distributed on this pulley both sides, joint; There is a joint pulley most advanced and sophisticated mechanical hand 20 that is connected at pin 28 places, and separately have 4 positioning pulleys to be distributed on this pulley both sides, joint; There are be connected two of cutter head 19 of two joint pulleys at pin 30 places; Each pulley is a corresponding driving steel wire only.
The arm being comprised of linking arm 11, most advanced and sophisticated mechanical hand 13, cutter head 16 in the present embodiment is the same with the arm structure being comprised of linking arm 22, most advanced and sophisticated mechanical hand 20, cutter head 19, and the layout of the configuration of pulley and driving steel wire is also identical.The arm being comprised of linking arm 11, most advanced and sophisticated mechanical hand 13, cutter head 16 of take is example:
The driving card clothing that drives linking arm 11 to rotate is set to: one of leading block on one of additional leading block-interior pin 23 of link 7-connection tube 5-connection tube 3-motor housing 2 on one of leading block-interior pin 8 of linking arm 11 joint pulley-link 7 on motor housing 2-connection tube 3-connection tube 5-link 7 interior pins 23;
Drive the steel wire trend of most advanced and sophisticated mechanical hand 13: one of leading block on one of positioning pulley on one of leading block on one of leading block on one of positioning pulley on one of leading block on motor housing 2-connection tube 3-connection tube 5-link 7 interior pins 23-interior pin 9 of link 7-interior pin 18 of linking arm 11-interior pin 10 of most advanced and sophisticated mechanical hand 13 joint pulley-linking arm 11-interior pin 9 of link 7-interior pin 8 of link 7 on one of additional leading block-interior pin 23 of link 7-connection tube 5-connection tube 3-motor housing 2;
Drive the driving card clothing of wherein a slice of cutter head 16 to be set to: one of leading block on one of positioning pulley on one of leading block on one of positioning pulley on one of leading block on one of one of leading block on one of positioning pulley on one of leading block on one of positioning pulley on one of leading block on the interior pin 23 of motor housing 2-tube connector 3-tube connector 5-link 7-interior pin 9 of link 7-interior pin 18 of linking arm 11-interior pin 12 of linking arm 11-interior pin 17 of most advanced and sophisticated manipulator 13-cutter head 16 joint pulley-interior pin 14 of most advanced and sophisticated manipulator 13-interior pin 12 of linking arm 11-interior pin 10 of linking arm 11-interior pin 9 of link 7-interior pin 8 of link 7 on one of additional leading block-interior pin 23 of link 7-tube connector 5-tube connector 3-motor housing 2;
The driving steel wire arrangement of another sheet of driving cutter head 16 is similar to the former.
Article two, arm drives the deployment scenarios of steel wire identical.In driving the layout of steel wire, need to avoid intersecting between the different driving steel wire of the same side as far as possible, and guarantee that every drives the loop of steel wire layout along the projected footprint of pin axis direction, each pulley place in its process, can be by the complete envelope of the pulley at this place interior (being that envelope angle is 360 °), to prevent driving steel wire to get loose from pulley, and avoid driving steel wire length to change when traction, guarantee drive actions accurately and reliably.
In the operation preparatory stage, mechanical arm 6 need to be put into abdominal cavity by abdominal cavity otch.First regulate the screw thread between connection tube 5 and connection tube 3, shorten whole piece connection tube, loosen driving steel wire, with pin, be fixedly connected with pipe 5 and connection tube 3 subsequently, prevent that connection tube total length from changing again; Adjust the handle 4 on connection tube 5, loosen 3 and connect steel wire, make the link 7 in mechanical arm 6 separated with connection tube 5; By being connected in cutter head 16(or cutter head 19) on adjusting steel wire adjust the pose of mechanical arm 6, make it to become vertical state, and make cutter head 19(or cutter head 16) aim at abdominal cavity otch, mechanical arm 6 is put into human body pneumoperitoneum; Then adjust the handle 4 on connection tube 5, tension connects steel wire, and the link 7 on mechanical arm 6 is closely connected with connection tube 5; Extract the alignment pin between connection tube 3 and connection tube 5, regulate threaded engagement length between the two, whole connection tube length is increased, driving steel wire is tightened, then inserted alignment pin, connection tube 3 and connection tube 5 relative positions are fixed, complete operation preparation.
In operation, main surgical action drives steel wire driving mechanical arm 6 to carry out by motor housing 2 by 8, where necessary, also needs the degree of freedom of transferring four-degree-of-freedom robot 1 to coordinate; Drive the multiple electric motors of steel wire in motor housing 2 to drive, by being distributed in the pulley in mechanical arm 6, pass motion to each joint of mechanical arm 6; Can drive and is not subject to the impact of other joint action in each joint; Cutter head 16 and cutter head 19 are end effector, in order to the surgical action such as to clamp, cut off.After operation, mechanical arm 6 need to be taken out through abdominal cavity otch: first connection tube 3 and the pin in connection tube 5 are taken out, regulate threaded engagement length between connection tube 3 and connection tube 5, shorten whole connection tube, loosen driving steel wire, re-use finger setting; Adjust the handle 4 on connection tube 5, loosen connection steel wire, mechanical arm 6 is separated with connection tube 5, by being connected to the positioning steel wire of cutter head 16 or 19, adjust the pose of mechanical arm 6 simultaneously, make one of them cutter head end aim at abdominal cavity otch and 6 one-tenth vertical shapes of whole mechanical arm, then along otch, take out whole piece mechanical arm 6, EO.
The present invention is directed to abdominal operation design, as gallbladder operation on pancreas etc., can realize single wound, and wound diameter is 10~20mm, meet the requirement of operation invasive.The both arms cooperation of high-freedom degree, and can be aided with micro lighting and picture pick-up device complete monitoring, make operation technique accurate, directly perceived and safety flexibly.In addition, this robot arm has enough intensity, guarantees its reliability in operation.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (9)

1. a multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism, by mechanical arm and power section, formed, it is characterized in that: described mechanical arm comprises two arms that link is identical with structure, every described arm comprises a linking arm and a most advanced and sophisticated mechanical hand, described most advanced and sophisticated arm end is equipped with cutter head, described two most advanced and sophisticated mechanical hands are removably mounted on respectively described two linking arm ends, and described two linking arms are arranged on respectively the both sides of described link, described link removably connects by connection tube and described power section; Described mechanical arm inside is provided with many by pulley and connects steel wire, many driving steel wires and many positioning steel wires, these steel wires are connected to described power section, wherein: described driving steel wire is in order to transmit the driving force from described power section, described connection steel wire is with so that described mechanical arm is closely connected with described power section, and described positioning steel wire is adjusted the attitude of described mechanical arm for perioperatively; The steel wire of described mechanical arm inside is through the described power section of the inner connection of connection tube;
Described connection tube is divided into two parts, the end of the first connected with mechanical arm is connected by being connected steel wire with mechanical arm, the other end is threaded connection second portion, second portion is connected with described power section, described first and described second portion pass through thread connection, by regulating the length of threaded engagement between described two parts to realize the flexible of connection tube entire length, to realize, drive loosening and tension of steel wire.
2. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 1 mechanism, is characterized in that: the steel wire one of described mechanical arm inside has 13, and wherein 3 for connecting steel wire, and 8 for driving steel wire, and 2 is positioning steel wire; 2 positioning steel wires are directly connected with the cutter head on 2 most advanced and sophisticated mechanical hands respectively after connection tube, and 3 connect steel wire connection tube and mechanical arm link are linked together; Whole each degree of freedom of described mechanical arm is driven by the driving steel wire being connected with described power section, and each drives steel wire to rotate by driving the pulley of inner each joint of described mechanical arm to realize joint.
3. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 2 mechanism, it is characterized in that: the driving steel wire deployment scenarios of described two arms is identical, every arm has 4 to drive steel wire to drive, be specially: 2 drive steel wire for driving the action of described most advanced and sophisticated arm end cutter, 1 drives steel wire for driving the rotation of described most advanced and sophisticated mechanical hand, another 1 for driving the rotation of described linking arm.
4. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 1 mechanism, it is characterized in that: the second portion end band female thread of described connection tube, the cardinal extremity band external screw thread of first, the thread segment of second portion has at least 2 pin-and-holes, and along the axial distribution of connection tube; The thread segment of first has a pin-and-hole; The threaded engagement length of two parts of connection tube is turned down, two-part pin-and-hole is overlapped, now connection tube overall length is larger, and driving steel wire is tensioning state; The threaded engagement length of two parts of connection tube is tuned up, and when two-part pin-and-hole overlaps, connection tube entire length is less, and drivings steel wire is relaxation state, when pin-and-hole has coincidence, inserts alignment pin, and avoiding has relative motion between two parts of connection tube.
5. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 1 mechanism, it is characterized in that: handle is equipped with in the described first being connected with mechanical arm, described handle in the part of described connection tube first inside with capstan winch, described connection steel wire be entangled on described capstan winch and stretch out described first after be connected on described link, this handle is for adjusting the degree of tightness that connects steel wire, realizes the disengagement of mechanical arm and connection tube and fastening.
6. according to the multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism described in claim 1-5 any one, it is characterized in that: described link bottom has shooting hole, for installing and guiding shooting and luminaire.
7. according to the multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism described in claim 1-5 any one, it is characterized in that: in the just round scope that whole described mechanical arm cross section is 10~20mm at diameter.
8. according to the multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism described in claim 1-5 any one, it is characterized in that: described power section is a motor housing, the motor corresponding with driving steel wire number and steel wire box are equipped with in inside, realize the self contained function that respectively drives steel wire.
9. a multi-joint list wound abdominal-cavity minimal-invasion surgery robot that comprises operating mechanism described in claim 1, it is characterized in that: described robot comprises operating mechanism, described operating mechanism is arranged in a robot with 4 degree of freedom, and described in each, most advanced and sophisticated mechanical hand has two orthogonal rotary freedoms; The relatively described link of described linking arm has a rotary freedom, direction is identical with the one degree of freedom direction of described most advanced and sophisticated mechanical hand, thereby make each most advanced and sophisticated mechanical hand always have 7 degree of freedom, guarantee that its any attitude in assigned work spatial dimension can reach and two most advanced and sophisticated mechanical hands can carry out collaborative work.
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