CN104758012B - Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees - Google Patents

Abstract

The invention discloses a tail end instrument for a single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees, and relates to a minimally invasive surgery robot. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees solves the problems that an existing tail end instrument for the single port laparoscopy surgery robot is low in overall integration level, simple, and large in overall size, and can not completely achieve the freedom degrees similar to a person. A forth motor achieves axial rotation motion for a wrist pivoting joint through a forth joint drive wire. A fifth motor achieves pitching motion for the wrist pivoting joint through a fifth joint drive wire. A sixth motor achieves opening and closing motion for a first gripping forceps joint through a sixth joint drive wire. A seventh motor achieves opening and closing motion for a second gripping forceps joint through a seventh drive joint drive wire. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees is used in single port laparoscopy minimally invasive surgery.

Description

A terminal instrument for a multi-degree-of-freedom flexible robot for single-port abdominal minimally invasive surgery

technical field

The invention relates to a terminal device for a multi-degree-of-freedom flexible robot used for single-hole abdominal minimally invasive surgery, and belongs to the technical field of surgical robots.

Background technique

At present, the surgical instruments applied to the mainstream minimally invasive surgical robots all require special interface modules, and the overall size of the instrument part is large, and the distance between the pivot joint and the terminal wrist joint and clamping forceps joint is far away, so it cannot be directly applied. into a single-port abdominal minimally invasive surgical robot. At present, most of the single-hole abdominal minimally invasive surgical robots are not yet mature in the design of the terminal surgical instruments. Since the degree of freedom of the axis rotation in the terminal instruments needs to be placed at the end of the instrument, in order to reduce the overall size of the robot and reduce the control of the robot The degree of freedom of the terminal device is severely lacking in complexity, and the device is too simple to achieve a fully anthropomorphic degree of freedom, and the overall size of the terminal device with rich degrees of freedom is relatively large.

Contents of the invention

The purpose of the present invention is to provide a terminal instrument for a single-hole abdominal minimally invasive surgery robot to solve the problem that the overall integration of the existing single-hole abdominal surgery robot is not high, and the instrument part is too simple to fully realize anthropomorphism degrees of freedom, and the overall size of the problem is large.

The technical solution adopted by the present invention to solve the above-mentioned technical problems is: the robot includes a pivoting rotating rod, a pivoting fixed rod, a wrist threading barrel, a wrist shaft, a first clamping tongs guide wheel, a first clamping clamp joint, second clamp guide wheel, second clamp joint and wrist joint,

One end of the flexible arm is fixedly connected to one end of the pivoting fixed rod, the other end of the pivoting fixed rod is rotationally connected to the pivoting rotating rod, the other end of the pivoting rotating rod is fixedly connected to the wrist threading barrel, and the wrist shaft is threaded Through a pair of connecting ears of the wrist threading barrel, one end of the wrist joint is mounted on the wrist shaft, and the other end of the wrist joint is equipped with a first clamping forceps joint and a second clamping forceps joint;

The fourth joint driving wire passes through the flexible arm, then bypasses the second wrist pivot guide wheel, and then circles the second thread groove on the pivot rod to be fixedly connected to the pivot rod;

The fourth joint driving wire 2 passes through the flexible arm, bypasses the first wrist pivot guide wheel, and then revolves around the first threaded groove on the pivot rod to be fixedly connected to the pivot rod;

The driving wire of the fifth joint passes through the flexible arm and the central cavity of the pivoting rod, and then goes around the wire wheel group of the first wrist part and is fixedly connected with the installation ear of the wrist joint;

The driving wire 2 of the fifth joint passes through the flexible arm and passes through the central cavity of the pivoting rod, bypasses the wire wheel group of the second wrist part, and is fixedly connected with the installation ear at the other end of the wrist joint;

After the sixth joint drive wire passes through the flexible arm and passes through the central cavity of the pivoting rod, it goes around the third wrist part line wheel group, and then goes around a first clamping clamp guide wheel, and then connects with the first clamping forceps guide wheel. A mounting ear for clamping the joint of the pliers is fixedly connected,

The sixth joint driving wire 2 passes through the flexible arm and passes through the central cavity of the pivoting rod, bypasses the guide wheel, and then bypasses the remaining first clamp guide wheel, and is jointed with the first clamp The other end of the mounting ear is fixed;

The driving wire of the seventh joint passes through the flexible arm and passes through the central cavity of the pivoting rod, bypasses the guide wheel, and after bypassing a second clamp guide wheel, it is fixed with the installation ear of the second clamp joint. catch,

The seventh joint driving wire 2 passes through the flexible arm and passes through the central cavity of the pivoting rod, bypasses the guide wheel, and then bypasses the remaining guide wheel of the second clamping forceps, and is jointed with the second clamping forceps The other end of the mounting ear is fixed.

The present invention has the following beneficial effects: the present invention is provided with 4 degrees of freedom for terminal operation. The instrument part has 4 fully anthropomorphic degrees of freedom, the maximum outer diameter is 10mm, and enters the human body through a single hole, which reduces the number of wounds and pain of the patient, and enhances the operability and precision of the surgical robot.

Description of drawings

Fig. 1 is a perspective view of the overall structure of the present invention, Fig. 2 is a structural sectional view of a pivot joint, Fig. 3 is a schematic structural view of a wrist threading barrel, and Fig. 4 is a top view of Fig. 3 .

detailed description

Specific Embodiment 1: This embodiment is described with reference to FIGS. 1-4 . The robot of this embodiment includes a pivoting rotating rod 3 , a pivoting fixed rod 4 , a wrist threading barrel 5 , a wrist shaft 6 , and a first gripper. Clamp guiding wheel 7, first clamping clamp joint 8, second clamping clamp guiding wheel 9, second clamping clamp joint 10 and wrist joint 13,

One end of the flexible arm is affixed to one end of the pivoting fixed rod 4, the other end of the pivoting fixed rod 4 is rotationally connected to the pivoting rotating rod 3, and the other end of the pivoting rotating rod 3 is fixedly connected to the wrist threading barrel 5 , the wrist shaft 6 passes through a pair of connecting ears of the wrist threading barrel 5, one end of the wrist joint 13 is mounted on the wrist shaft 6, and the other end of the wrist joint 13 is equipped with a first clamp joint 8 and a second clamp Hold forceps joint 10;

The drive wire of the fourth joint passes through the flexible arm and then bypasses the second wrist rotation guide wheel 2-2, and then rotates around the second thread groove 3-2 on the rotation rod and is fixedly connected with the rotation rod 3 ;

The fourth joint driving wire 2 passes through the flexible arm, bypasses the first wrist pivot guide wheel 2-1, and then revolves around the first threaded groove 3-1 on the pivot rod to be fixedly connected to the pivot rod 3 ;

The fifth joint driving wire passes through the flexible arm and passes through the central cavity of the pivoting rod 3, and then goes around the first wrist part wire wheel group and is fixedly connected with the installation ear of the wrist joint 13;

The driving wire 2 of the fifth joint passes through the flexible arm and passes through the central cavity of the pivoting rod 3, bypasses the wire wheel group of the second wrist part, and is fixedly connected with the other end of the wrist joint 13;

After the sixth joint drive wire passes through the flexible arm and passes through the central cavity of the pivoting rod 3, it goes around the third wrist part wire wheel group, and then goes around a first clamping forceps guide wheel 7-1 , and then fixedly connected with the mounting ear of the first clamp joint 8,

After the sixth joint driving wire 2 passes through the flexible arm and passes through the central cavity of the pivoting rod 3, bypasses the guide wheel, and bypasses the remaining first clamp guide wheel 7-1, and the first The other end of the clamp joint 8 is fixedly connected with an installation ear;

The seventh joint driving wire passes through the flexible arm and passes through the central cavity of the pivoting rod 3, bypasses the guide wheel, and after bypassing a second clamp guide wheel 9-1, it is jointed with the second clamp 10's mounting lugs are fixed,

After the seventh joint driving wire 2 passes through the flexible arm and passes through the central cavity of the shaft rotation bar 3, and walks around the guide wheel, after walking around the remaining second clamping forceps guide wheel 9-1, it is connected with the second The other end of clamping forceps joint 10 is fixedly connected with mounting ears.

Specific Embodiment 2: This embodiment is described with reference to Fig. 1 and Fig. 3. The wrist threading barrel 5 of this embodiment is made of a base 5-1 and two connecting ears 5-2. The base 5-1 is provided with a second One guide wheel fixed post 5-3, the second guide wheel fixed post 5-4, the third guide wheel fixed post 5-5 and the fourth guide wheel fixed post 5-6, the inner wall of the first guide wheel fixed post 5-3 Two guide wheels 1 are provided on the top, and a guide wheel 2 is provided on the inwall of the second guide wheel fixed column 5-4, and the side wall of the second guide fixed column 5-4 is provided with two guide wheels 5, and the third guide wheel The inwall of wheel fixed column 5-5 is provided with two guide wheels three, and the inwall of the 4th guide wheel fixed column 5-6 is provided with a guide wheel four, and the side wall of the 4th guide wheel fixed column 5-6 is provided with Two guide wheels 6 are arranged, and the height of the first guide wheel fixed column 5-3 is 5mm, and the height of the second guide wheel fixed column 5-4 is 10mm, and the height of the third guide wheel fixed column 5-5 is 5mm, and the second guide wheel fixed column 5-4 has a height of 5mm. The height of four guide wheel fixed columns 5-6 is 10mm. The advantage of the above structure is that through the series of guide wheels, the 6 driving wires passing through the center of the wrist threading barrel can respectively be tangent to the wrist joint of the instrument and the winding wheel at the center of each joint of the two clamping forceps , to ensure the smooth passage of the wire during the joint movement. Through this part of the structure, the miniaturization of the terminal device can be realized on the premise of satisfying the degree of freedom of the terminal, and the influence of the front-end shaft-rotating joint on the arrangement of the terminal driving wire can be reduced. Other implementation manners are the same as the specific implementation manner 1.

Specific embodiment three: the pivoting rotating rod 3 of this embodiment, the pivoting fixed rod 4, the threading barrel 5 at the end, the first clamping forceps joint 8, and the second clamping forceps joint 10 are all made of 1Cr18Ni9 material. Advantages of the above-mentioned structure All the above-mentioned parts need to be in contact with human tissue, and the use of such materials meets the requirements of the human body for materials. Other implementation manners are the same as the specific implementation manner 1.

Working principle: the fourth motor drives the wire through the fourth joint to realize the axial rotation of the wrist pivot joint, the fifth motor drives the wire through the fifth joint to realize the pitching motion of the wrist joint, and the sixth motor passes through the sixth joint The driving wire realizes the opening and closing movement of the first clamping forceps joint, and the seventh motor realizes the opening and closing movement of the second clamping forceps joint through the driving wire of the seventh joint.

Claims (2)

1. A terminal device for a multi-degree-of-freedom flexible robot for minimally invasive single-hole abdominal surgery, which includes a pivoting rotating rod (3), a pivoting fixed rod (4), a wrist threading barrel (5), a wrist Shaft (6), the first clamp guide wheel (7), the first clamp joint (8), the second clamp guide wheel (9), the second clamp joint (10) and the wrist joint ( 13), One end of the flexible arm is fixedly connected with one end of the pivoting fixed rod (4), the other end of the pivoting fixed rod (4) is rotationally connected with the pivoting rotating rod (3), and the other end of the pivoting rotating rod (3) Fixedly connected with the wrist threading barrel (5), the wrist shaft (6) passes through a pair of connecting ears of the wrist threading barrel (5), and one end of the wrist joint (13) is contained on the wrist shaft (6), and the wrist The other end of the joint (13) is equipped with a first clamp joint (8) and a second clamp joint (10); As soon as the fourth joint drive wire passes through the flexible arm, it walks around the second wrist rotation guide wheel (2-2), and then rotates around the second threaded groove (3-2) on the rotation rod and the rotation axis. The rod (3) is fixedly connected; The fourth joint driving wire 2 passes through the flexible arm and then walks around the first wrist pivot guide wheel (2-1) and then rotates around the first threaded groove (3-1) on the pivot rod and the pivot rotation The rod (3) is fixedly connected; The fifth joint driving wire passes through the flexible arm and passes through the central cavity of the pivoting rod (3) and then goes around the first wrist part wire wheel group and is fixedly connected with the installation ear of the wrist joint (13); The fifth joint driving wire 2 passes through the flexible arm and passes through the central cavity of the pivoting rod (3), bypassing the second wrist part wire wheel group and affixed to the other end of the wrist joint (13); After the sixth joint drive wire passes through the flexible arm and passes through the central cavity of the shaft rotation bar (3), it goes around the third wrist part wire wheel group, and then goes around a first clamping pincer guide wheel (7 -1), and then fixedly connected with the mounting ear of the first clamp joint (8), After the sixth joint drive wire 2 passes through the flexible arm and passes through the central cavity of the pivoting rod (3), bypasses the guide wheel, and then bypasses the remaining first clamp guide wheel (7-1) , fixedly connected with the other end of the first clamp joint (8) to install the ear; The seventh joint driving wire passes through the flexible arm and passes through the central cavity of the shaft rotation bar (3) to walk around the guide wheel and then walk around a second clamp guide wheel (9-1), and then connect with the second The mounting ears of the clamp joint (10) are firmly connected, After the seventh joint drive wire 2 passes through the flexible arm and passes through the central cavity of the pivoting rod (3) to go around the guide wheel, and then to go around the remaining second clamping tongs guide wheel (9-1) , is fixedly connected with the other end of the second clamp joint (10), and is characterized in that: the wrist threading barrel (5) is made of a base (5-1) and two connecting ears (5-2) In one body, the base (5-1) is provided with the first guide wheel fixed column (5-3), the second guide wheel fixed column (5-4), the third guide wheel fixed column (5-5) and the fourth Guide wheel fixed column (5-6), the inwall of the first guide wheel fixed column (5-3) is provided with two guide wheels one, and the inwall of the second guide wheel fixed column (5-4) is provided with a guide Wheel two, the side wall of the second guide fixed column (5-4) is provided with two guide wheels five, and the inwall of the third guide wheel fixed column (5-5) is provided with two guide wheels three, the fourth guide wheel The inwall of the fixed column (5-6) is provided with a guide wheel four, and the side wall of the fourth guide wheel fixed column (5-6) is provided with two guide wheels six, and the first guide wheel fixed column (5-3 ) is 5mm, the height of the second guide wheel fixed column (5-4) is 10mm, the height of the third guide wheel fixed column (5-5) is 5mm, the fourth guide wheel fixed column (5-6) The height is 10mm. 2. According to claim 1, a terminal device for a multi-degree-of-freedom flexible robot for minimally invasive surgery in the single-hole abdominal cavity is characterized in that the pivoting rotating rod (3), the pivoting fixed rod (4), and the threading barrel at the end (5), the first clamp joint (8) and the second clamp joint (10) are all made of 1Cr18Ni9 material.