CN106132322B - 机器人手术系统的腕组件和钳夹组件 - Google Patents

机器人手术系统的腕组件和钳夹组件 Download PDF

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CN106132322B
CN106132322B CN201480077546.5A CN201480077546A CN106132322B CN 106132322 B CN106132322 B CN 106132322B CN 201480077546 A CN201480077546 A CN 201480077546A CN 106132322 B CN106132322 B CN 106132322B
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詹姆斯·麦克雷
路得·贝布比
托马斯·麦加菲根
史蒂夫·伍达德
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Abstract

提供了一种用于使用和连接至机器人手术系统的机器人手臂的末端执行器，其中，所述末端执行器通过从机器人手术系统的控制装置的相应的电动机延伸的至少一个线缆控制和/或进行关节式运动。所述末端执行器包括钳夹组件，所述钳夹组件限定纵向轴线并且包括一对钳夹。每个钳夹包括：近侧部，其可枢转地连接至远侧毂组件；以及远侧部，其在钳夹的近侧部的远侧延伸。末端执行器还包括致动线缆，所述致动线缆具有可操作地连接至一对钳夹的远侧端和可操作地连接至所述至少一个电动机的近侧端。在使用中，致动线缆的轴向平移引起钳夹组件的打开和闭合中的一个。

Description

机器人手术系统的腕组件和钳夹组件
技术领域
本公开涉及在手术中使用的工具、组件和装置。更具体地，本公开涉及一种在机器人手术系统中使用的末端执行器。
背景技术
机器人手术系统已在微创医疗操作中使用。一些机器人手术系统包括：支撑机器人手臂的控制台，以及经由腕组件安装到机器人手臂的至少一个末端执行器，如钳子或抓握工具。在医疗操作期间，末端执行器和腕组件插入患者的小切口(经由插管)或自然孔口以将末端执行器定位在患者身体内的工作部位。
线缆从机器人控制台延伸，通过机器人手臂，并连接至腕组件和/或末端执行器。在一些情况下，线缆通过电动机致动，其中电动机通过包括用户接口的处理系统控制，所述用户接口用于外科医生或临床医生能够控制包括机器人手臂、腕组件和/或末端执行器的机器人手术系统。
在一些情况下，腕组件通过使用三根线缆或线缆对给末端执行器提供三个自由度的运动，其中，三根线缆或线缆对中的一个用于一个自由度。例如，为使末端执行器抓握或切割，腕组件通过允许末端执行器的俯仰、横摆以及打开和闭合来提供三个自由度。
随着对更小的手术工具的需求的增加，装置制造商开发具有较小横截面积的手术工具，例如抓握和切割工具。这些更小的横截面积减少可能施加在工具的端部处的两个钳夹之间的总力。另外，使用三根线缆或线缆对以提供三个自由度的运动需要最小横截面积来实现，并且限制进一步减少这些工具的横截面积的能力。最后，所施加的力不定制来根据钳夹打开和闭合时钳夹相对于彼此的位置来提供各种力。
存在对如下手术工具的需求：具有能够提供末端执行器钳夹之间高的力的相对小的横截面积和相对短的长度。
发明内容
在手术机器人的端部处的工具，如钳子或剪刀切割工具，可通过线缆/管和齿轮系统驱动。在一些情况下，线缆/管和齿轮系统可以直接被驱动，从而至少一个线缆/管控制俯仰，至少一个线缆/管控制横摆，并且至少一个线缆/管打开和闭合钳夹。
包括腕组件和钳夹组件的末端执行器可以与机器人手术系统一起使用并且通过机器人手术系统致动。在一些情况下，可以通过从机器人手术系统的控制装置的相应的电动机延伸的至少一个线缆/管，来控制末端执行器和/或使其进行关节式运动。
根据本公开的一个方案，提供了用于使用和连接至机器人手术系统的机器人手臂的末端执行器，所述末端执行器通过机器人手术系统的控制装置的至少一个电动机来控制和/或进行关节式运动。末端执行器包括限定纵向轴线的腕组件。腕组件包括至少一个支撑件；并且远侧毂组件围绕枢转轴线可枢转地连接至所述至少一个支撑件。
末端执行器还包括钳夹组件，所述钳夹组件限定纵向轴线并且包括一对钳夹。每个钳夹包括：近侧部，其可枢转地连接至远侧毂组件；以及远侧部，其在钳夹的近侧部的远侧延伸。
末端执行器还包括致动线缆，所述致动线缆具有可操作地连接至一对钳夹的远侧端和可操作地连接至所述至少一个电动机的近侧端。在使用中，致动线缆的轴向平移引起钳夹组件的打开和闭合中的一个。
末端执行器还可包括转矩传递管，所述转矩传递管具有可操作地连接至钳夹组件的远侧端和可操作地连接至所述至少一个电动机的相应电动机的近侧端。所述转矩传递管的旋转可引起钳夹组件的围绕其纵向轴线的旋转。
钳夹组件可以包括从每个钳夹延伸的连杆臂。每个连杆臂可连接至致动线缆。
转矩传递管可以限定贯通其的管腔。所述致动线缆可以布置在转矩传递管的管腔中。
远侧毂组件可包括：主体部，其限定远侧凹槽，所述远侧凹槽包括形成在其表面中的一圈齿轮齿；太阳轮，其可旋转地支撑在主体部的远侧凹槽中，其中，太阳轮不可旋转地连接至转矩传递管的远侧端；以及一对行星齿轮，其可旋转地支撑在主体部的远侧凹槽中。所述行星齿轮可以插在主体部的一圈齿轮齿和太阳轮之间并且与主体部的一圈齿轮齿和太阳轮啮合。每个钳夹可以可枢转地连接至相应的行星齿轮。
每个行星齿轮可以支撑在相应的行星齿轮轴上。每个钳夹可以可枢转地连接至相应的行星齿轮轴。
末端执行器还可以包括可操作地连接至远侧毂组件的一对关节式运动线缆。每个关节式运动线缆的远侧端可以从枢转轴线间隔开相反径向距离。
一对钳夹中的每个钳夹可以在其中限定倾斜狭槽。所述致动线缆可以在其远侧端支撑凸轮销，其中，凸轮销可以可滑动地布置在限定于每个钳夹中的倾斜狭槽内。
远侧毂组件可以包括可枢转地连接至所述至少一个支撑件的圆筒形主体。钳夹组件可以支撑在远侧毂组件中以能够围绕圆筒形主体的中心轴线且相对于圆筒形主体旋转。
一对钳夹可以可枢转地支撑在圆筒形主体中，以便朝向彼此靠近和彼此分离。
一对钳夹中的每个钳夹的倾斜狭槽可以沿横向于钳夹组件的纵向轴线的方向延伸。倾斜狭槽可以沿彼此相反方向延伸。
在使用中，致动线缆的旋转可以引起凸轮销的旋转与所述钳夹组件的旋转。同样，在使用中，致动线缆的轴向平移可以引起钳夹组件的一对钳夹的靠近和分离中的一个。
远侧毂组件可以包括可枢转地连接至所述至少一个支撑件的壳体，其中所述壳体可以包括限定了布置为沿着枢转轴线的中心轴线的多个齿轮齿。
末端执行器还可以包括第一转矩传递管，所述第一转矩传递管具有与远侧毂组件的壳体的多个齿轮齿啮合的第一端。在使用中，所述第一转矩传递管的旋转可引起壳体的围绕枢转轴线的枢转。
末端执行器还可以包括：旋转齿轮，其可旋转地支撑在壳体中并且能够围绕枢转轴线枢转；第二转矩传递管，其具有与旋转齿轮啮合的第一端；以及柱杆，其可旋转地支撑在壳体中并且从所述壳体突出，钳夹组件可枢转地连接至柱杆的突出部，柱杆与旋转齿轮啮合；在使用中，所述第二转矩传递管的旋转可以引起钳夹组件的围绕柱杆的纵向轴线的旋转。
第二转矩传递管可以可旋转地布置在第一转矩传递管的管腔内。
致动线缆可以延伸通过第二转矩传递管的管腔，通过壳体，并通过柱杆的管腔。
一对钳夹可以可枢转地支撑在柱杆上以便能够朝向彼此靠近和彼此分离。
一对钳夹中的每个钳夹的倾斜狭槽可以沿横向于钳夹组件的纵向轴线的方向延伸。所述倾斜狭槽可以沿彼此相反的方向延伸。
致动线缆的轴向平移可以引起钳夹组件的一对钳夹的靠近和分离中的一个。
下面参考附图更详细描述本公开的示例性实施例的进一步的细节和方案。
附图说明
将参照附图在本文中描述本公开的实施例，其中：
图1A是根据本公开的医疗工作站和操作控制台的示意图；
图1B是图1A的医疗工作站的控制装置的电动机的示意性立体图；
图2是根据本公开的实施例的用于图1A的医疗工作站中的末端执行器的立体图，描述了其钳夹组件处于关节式运动和打开情形；
图3是根据本公开的另一个实施例的用于图1A的医疗工作站中的末端执行器的立体图，描述了其钳夹组件处于关节式运动和部分闭合情形；
图4是图3的末端执行器的另一个立体图；
图5是根据本公开的又一个实施例的用于图1A的医疗工作站中的末端执行器的立体图，描述了其钳夹组件处于关节式运动和闭合情形；和
图6是图5的末端执行器的部件分开的另一个立体图。
具体实施方式
将参照附图详细说明本公开的钳夹组件和/或腕组件，在附图中，在几幅视图的每个中，相同附图标记指代相同或对应的元件。如本文所用，术语“远侧”指的是钳夹组件和/或腕组件的较远离用户的部分，而术语“近侧”指的是钳夹组件和/或腕组件的较靠近用户的部分。
首先参照图1A和图1B，医疗工作站总体示为工作站1，并且通常包括：多个机器人手臂2、3；控制装置4；以及操作控制台5，其联接至控制装置4。操作控制台5包括：显示装置6，其特别地设置为显示三维图像；以及手动输入装置7、8，例如外科医生的人(未示出)能够借助手动输入装置7、8在第一操作模式下远程操纵机器人手臂2、3，如本领域技术人员基本上已知的。
根据本公开的几个实施例中的任何一个，机器人手臂2、3中的每个都包括：多个构件，其通过接头连接；以及附接装置9、11，例如支撑末端执行器100的手术工具“ST”可附接至附接装置9、11，将在下面更加详细地描述。
机器人手臂2、3可以由连接至控制装置4的电驱动器(未示出)驱动。控制装置4(例如，计算机)设置为特别借助计算机程序以如下方式启动驱动器：机器人手臂2、3、其附接装置9、11以及因此的手术工具(包括末端执行器100)根据借助手动输入装置7、8限定的运动执行所期望的运动。控制装置4也可以以调节机器人手臂2、3和/或驱动器的运动的方式设置。
医疗工作站1配置为用于躺在患者台12上的待以借助末端执行器100用微创方式治疗的患者13。医疗工作站1还可以包括多于两个的机器人手臂2、3，其它机器人手臂同样连接至控制装置4并且能够通过操作控制台5远程操纵。医疗器械或手术工具(包括末端执行器100)也可以连接至其它机器人手臂。医疗工作站1可以包括特别是联接至控制装置4的数据库14，例如来自活体13的术前数据和/或解剖图解集存储在数据库14中。
关于医疗工作站1的结构和操作的详细讨论，可以参考2011年11月3日提交的、名称为“医疗工作站”的美国专利公开第2012/0116416号，上述专利的全部内容通过引用并入本文。
控制装置4可以控制多个电动机(电动机1...n)，其中各电动机配置为卷起或放出延伸通过每个机器人手臂到手术工具的末端执行器100的一段长度的线缆“C”(图1B)，或使齿轮或驱动轴(未示出)旋转。在使用中，随着线缆“C”卷起和放出，线缆“C”、齿轮或驱动轴可能影响手术工具的每个末端执行器的操作和/或运动。可以预期的是，控制装置4与各种电动机(电动机1...n)的启动协作，以协作卷起或放出一段长度的相应的线缆“C”以协作相应的末端执行器的操作和/或运动。虽然图1B示出了通过单个电动机卷起或放出的线缆“C”，在一些情况下，两个或更多的线缆或单个线缆的两个端部可由单个电动机卷起或放出。例如，在一些情况下，两根线缆或线缆端部可以沿相反的方向联接到单个电动机，这样，当电动机沿第一方向启动时，线缆中的一个卷起而使另一个线缆放出。其它的线缆配置可以在不同的实施例中使用。
现在转向图2，用于连接至机器人手臂2、3且用于通过控制装置4操纵的末端执行器总体指定为100。末端执行器100包括腕组件110，以及可枢转地连接至腕组件110的钳夹组件130。腕组件110包括远侧延伸的U形夹的形式且限定了第一纵向轴线“X1-X1”的近侧毂112。近侧毂112限定定向为与第一纵向轴线“X1-X1”正交的第一枢转轴线“Y1-Y1”。在实施例中，第一枢转轴线“Y1-Y1”可以延伸通过第一纵向轴线“X1-X1”。U形夹形式的近侧毂112包括一对间隔开的、相对的直立支撑件112a、112b，其中第一枢转轴线“Y1-Y1”延伸通过直立支撑件112a、112b。
腕组件110还包括可枢转地连接至近侧毂112的直立支撑件112a、112b的远侧毂组件116。远侧毂组件116包括具有一对间隔开的、相对的、近侧延伸的直立支撑件116a和116b的主体部116c。远侧毂组件116的直立支撑件116a、116b通过枢轴销114可枢转地连接至近侧毂112的相应的直立支撑件112a和112b。枢轴销114沿着第一枢转轴线“Y1-Y1”布置。
远侧毂组件116的主体部116c限定远侧孔/凹槽116d，远侧孔/凹槽116d包括形成在其表面上的一圈齿轮齿116e。一圈齿轮齿116e为限定中心轴线的形式的内齿圈。
远侧毂组件116包括以太阳轮的形式且可旋转地支撑在孔116d中的直齿轮118。太阳轮118包括与内齿圈116e的中心轴线同轴的旋转轴线。远侧毂组件116还包括各自为行星齿轮形式且可旋转地支撑在孔116d中的第一直齿轮120和第二直齿轮122。每个行星齿轮120、122包括相对于内齿圈116e的中心轴线平行的旋转轴线。直齿轮118、120和122中的每个都支撑在相应的桥、轴或轴杆118a、120a、122a上。
继续参考图2，如上所述，末端执行器100包括可枢转地支撑在远侧毂组件116上的钳夹组件130。钳夹组件130包括各自可枢转地连接至远侧毂组件116的相应的轴120a、122a的一对钳夹132、134。具体地，每个钳夹132、134包括：相应的近侧端132a、134a，其经由相应的枢轴销132c、134c可枢转地连接至远侧毂组件116的相应的轴120a、122a；以及相应的远侧端132b、134b。
每个钳夹132、134可枢转地支撑从其延伸且朝向彼此延伸的相应的连杆臂132d、134d。连杆臂132d、134d的自由端可枢转地连接至支撑在致动线缆142的远侧端上的连接毂142a。
根据本公开和本实施例，内齿圈116e、太阳轮118和行星齿轮120、122构成齿轮系统，所述齿轮系统构造为并适于将通过控制装置4的电动机(电动机1...n)产生的旋转力转换成钳夹组件130的围绕远侧毂组件116的纵向轴线的旋转或传递通过控制装置4的电动机(电动机1...n)产生的旋转力。
末端执行器100包括如下的转矩传递管、套筒、护套或轴140：其具有不可旋转地连接至太阳轮118的远侧端以及可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，管140的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个从而使得当启动电动机(电动机1...n)中的至少一个时，管140沿其纵向轴线旋转。在操作中，当管140旋转时，所述旋转传递至太阳轮118。管140可以由使得能够传递旋转力的材料(例如，不锈钢等)制造。
继续参考图2，在操作中，当太阳轮118旋转时，由于管140的旋转，所述旋转传递至行星齿轮120、122以引起钳夹组件130围绕远侧毂组件116的纵向轴线顺时针或逆时针旋转。
根据本公开和本实施例，连杆臂132d、134d和致动线缆142构成钳夹打开/闭合系统，所述钳夹打开/闭合系统构造为并适于：由于控制装置4的电动机(电动机1...n)中的至少一个的操作，而将轴向力转换成钳夹组件130的打开/闭合或传递轴向力。
如上，末端执行器100包括如下的力传递致动线缆142：其具有经由毂142a连接至连杆臂132d、134d的远侧端以及可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，线缆142的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当启动电动机(电动机1...n)中的至少一个时，线缆142沿其纵向轴线轴向平移。在操作中，致动线缆142轴向平移，所述轴向平移被传递至连杆臂132d、134d，以打开或闭合钳夹组件130。致动线缆142由使得能够传递轴向压缩力和拉伸力的材料(例如，不锈钢等)制造。
继续参考图2，在操作中，当连杆臂132d、134d致动时，由于致动线缆142的轴向平移，所述致动传递至钳夹132、134，以引起钳夹组件130打开或闭合。
根据本公开和本实施例，末端执行器100包括如下一对关节式运动线缆144、146：其具有连接至远侧毂组件116的相应的远侧端以及可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，关节式运动线缆144、146的远侧端在相对于枢转轴线“Y1-Y1”的相对的径向位置处连接至远侧毂组件116，并且，关节式运动线缆144、146的相应的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)中的至少一个启动时，关节式运动线缆144、146沿相对于彼此相反的方向轴向平移。在操作中，当关节式运动线缆144、146轴向平移时，所述轴向平移传递至远侧毂组件116以使远侧毂组件116沿第一方向或第二方向围绕枢转轴线“Y1-Y1”枢转。每个关节式运动线缆144、146可以由使得能够传递轴向压缩力和拉伸力的材料(例如，不锈钢等)制造。
现在转向图3和图4，按照本公开的另一个实施例的用于连接至机器人手臂2、3且用于通过控制装置4操纵的末端执行器总体指定为200。
末端执行器200包括腕组件210，以及可枢转地连接至腕组件210的钳夹组件230。腕组件210包括远侧延伸的U形夹形式的且限定了第一纵向轴线“X1-X1”的近侧毂212。近侧毂212限定定向为与第一纵向轴线“X1-X1”正交的第一枢转轴线“Y1-Y1”。在实施例中，第一枢转轴线“Y1-Y1”中，可以延伸通过第一纵向轴线“X1-X1”。U形夹形式的近侧毂212包括一对间隔开的、相对的直立支撑件212a、212b，其中第一枢转轴线“Y1-Y1”延伸通过直立支撑件212a、212b。
腕组件210还包括可枢转地连接至近侧毂212的直立支撑件212a、212b的远侧毂组件216。远侧毂组件216为转台设计的形式，包括环形或圆筒形主体216a、可旋转地支撑在圆筒形主体216a的近侧端的近侧板216b、以及可旋转地支撑在圆筒形主体216a的远侧端的远侧板216c。近侧板216b和远侧板216c可以连接至彼此，使得近侧板216b和远侧板216c相对于彼此可旋转。
继续参考图3和图4，如上所述，末端执行器200包括可枢转地支撑在远侧毂组件216上并且限定纵向钳夹轴线“X2-X2”的钳夹组件230。钳夹组件230包括可枢转地连接至远侧毂组件216的圆筒形主体216a的一对钳夹232、234。具体地，每个钳夹232、234包括相应的近侧端232a、234a，所述近侧端232a、234a经由支撑在远侧毂组件216的圆筒形主体216a上的枢轴销216d而可枢转地连接至远侧毂组件216的圆筒形主体216a。
每个钳夹232、234包括在枢轴销216d的远侧延伸的相应的远侧端232b、234b。每个钳夹232、234限定形成在其中的相应的横向凸轮狭槽232c、234c，其中，凸轮狭槽232c、234c彼此重叠。
钳夹组件230包括可滑动地布置在凸轮狭槽232c、234c内的凸轮销236。在操作中，如将在下面详细讨论的，当凸轮销236相对于钳夹组件230的纵向轴线沿远侧或近侧方向轴向平移时，凸轮销236作用在钳夹232、234上以引起钳夹232、234打开或闭合。
末端执行器200包括如下的转矩传递管、套筒、护套或轴240：其具有不可旋转地连接至远侧毂组件216的近侧板216b的远侧端以及可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，管240的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)中的至少一个启动时，管240沿着其纵向轴线旋转。在操作中，当管240旋转时，所述旋转传递至远侧毂组件216的近侧板216b和远侧板216c。当板216b、216c旋转时，所述旋转传递给钳夹232、234从而引起钳夹232、234围绕其纵向轴线旋转。管240可以由使得能够传递旋转力的材料(例如，不锈钢等)制造。
末端执行器200还包括如下的力传递致动线缆242：其具有可旋转地或不可旋转地连接至凸轮销236的远侧端以及延伸通过管240且可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，线缆242的近侧端延伸通过机器人手臂2或3并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)中的至少一个启动时，线缆242沿其纵向轴线轴向平移。在操作中，当致动线缆242轴向平移时，所述轴向平移传递至凸轮销236以打开或闭合钳夹组件230。致动线缆242由使得能够传递轴向压缩力和拉伸力的材料(例如，不锈钢等)制造。
根据本公开和本实施例，末端执行器200包括如下的一对关节式运动线缆244、246：其具有连接至远侧毂组件216的相应的远侧端，以及可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，关节式运动线缆244、246的远侧端在相对于枢转轴线“Y1-Y1”的相对的径向位置处连接至远侧毂组件216的圆筒形主体216a，并且关节式运动线缆244、246的相应的近侧端延伸通过机器人手臂2或3并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)中的至少一个启动时，关节式运动线缆244、246沿相对于彼此相反的方向轴向平移。在操作中，当关节式运动线缆244、246轴向平移时，所述轴向平移传递至远侧毂组件216以使远侧毂组件216围绕枢转轴线“Y1-Y1”沿第一方向或第二方向枢转。每个关节式运动线缆244、246可以由能够传递轴向压缩力和拉伸力的材料(例如，不锈钢等)制造。
现在转向图5和图6，根据本公开的另一个实施例的用于连接至机器人手臂2、3且用于通过控制装置4操纵的末端执行器总体指定为300。
末端执行器300包括腕组件310以及可枢转地连接至腕组件310的钳夹组件330。腕组件310包括远侧延伸U形夹的形式且限定第一纵向轴线“X1-X1”的近侧毂312。近侧毂312限定定向为与第一纵向轴线“X1-X1”轴正交的第一枢转轴线“Y1-Y1”。在实施例中，第一枢转轴线“Y1-Y1”可以延伸通过第一纵向轴线“X1-X1”。U形夹形式的近侧毂312包括一对间隔开的、相对的直立支撑件312a、312b，第一枢转轴线“Y1-Y1”延伸通过直立支撑件312a、312b。
腕组件310还包括可枢转地连接至近侧毂312的直立支撑件312a、312b的远侧毂组件316。具体地，远侧毂组件316包括可枢转地连接至近侧毂312的直立支撑件312a、312b的壳体318。壳体318包括限定与第一枢转轴线“Y1-Y1”一致的中心轴线的近侧延伸的第一齿轮318a(例如，冠轮或锥齿轮)。第一齿轮318a包括基本朝向第一纵向轴线“X1-X1”突出的多个齿318b。
远侧毂组件316包括可旋转地支撑在壳体318内的第二齿轮320(例如，冠轮或锥齿轮)。第二齿轮320限定与第一枢转轴线“Y1-Y1”一致的旋转轴线。
远侧毂组件316还包括可旋转地支撑在壳体318内且从壳体318向远侧延伸的柱杆322。柱杆322包括不可旋转地支撑在其中且在壳体318内的柱杆齿轮322a(例如，冠轮或锥齿轮)。柱杆齿轮322a与第二齿轮320啮合。柱杆322从壳体318向远侧延伸。
继续参考图5和图6，如上所述，末端执行器300包括钳夹组件330，钳夹组件330可枢转地支撑在远侧毂组件316上并限定纵向钳夹轴线“X2-X2”。钳夹组件330包括可枢转地连接至腕组件310的柱杆322的一对钳夹332、334。具体地，每个钳夹332、334包括经由枢轴销322b可枢转地连接至腕组件310的柱杆322的相应的近侧端332a、334a。
每个钳夹332、334包括在枢轴销322b的远侧延伸的相应的远侧端332b、334b。每个钳夹332、334限定形成在其中的相应的横向凸轮狭槽332c、334c，其中，凸轮狭槽332c、334c彼此重叠。
钳夹组件330包括可滑动地布置在凸轮狭槽332c、334c中的凸轮销336。在操作中，如将在下面详细讨论的，当凸轮销336相对于钳夹组件330的纵向轴线沿远侧或近侧方向轴向平移时，凸轮销336作用在钳夹332、334上以引起钳夹332、334打开或闭合。
末端执行器300包括如下的第一转矩传递管、套筒、护套或轴340：其具有不可旋转地支撑与壳体318的第一齿轮318a啮合的齿轮340a的远侧端。第一管340包括可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，第一管340的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)中的至少一个启动时，第一管340沿其纵向轴线旋转。在操作中，当第一管340旋转时，所述旋转经由齿轮340a与齿轮318a的啮合传递至远侧毂组件316的壳体318以使远侧毂组件316和钳夹组件330围绕第一枢转轴线“Y1-Y1”枢转。
末端执行器300还包括如下的第二转矩传递管、套筒、护套或轴342：其具有不可旋转地支撑与远侧毂组件316的第二齿轮320啮合的齿轮342a的远侧端。第二管342包括延伸穿过第一管340并且可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，第二管342的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)中的至少一个启动时，第二管342沿着其纵向轴线旋转。在操作中，当第二管342旋转时，所述旋转被传递至远侧毂组件316的第二齿轮320，然后所述旋转被传递至柱杆322的柱杆齿轮322a。当柱杆322旋转时，所述旋转传递至将旋转传递至钳夹330、332的枢轴销322b。
管340、342可以由使得能够传递旋转力的材料(例如，不锈钢等)制造。
末端执行器200还包括如下的力传递致动线缆344：其具有可旋转地或不可旋转地连接至凸轮销336的远侧端以及延伸通过柱杆322和第二管342且可操作地连接至控制装置4的电动机(电动机1...n)中的至少一个的近侧端(未示出)。具体地，线缆344的近侧端延伸通过机器人手臂2或3，并且可操作地连接至电动机(电动机1...n)中的至少一个，使得当电动机(电动机1...n)的至少一个启动时，线缆344沿着其纵向轴线轴向平移。在操作中，当致动线缆344轴向平移时，所述轴向平移传递至凸轮销336以打开或闭合钳夹组件330。致动线缆344由使得能够传递轴向压缩力和拉伸力的材料(例如，不锈钢等)制造。
依照本公开，设想出且描述了设计紧凑且还可以传递比较大的力或实现比较大的枢转和旋转运动范围的末端执行器。本文所公开的齿轮系使得能够传递相对高的负荷，并且可以以严格的公差完成。此外，实现了末端执行器的运动的控制的比较高的精度。
应理解的是，可以对本文所公开的实施例进行各种修改。例如，尽管本文所公开的凸轮滑轮已经示出和描述为连接至钳夹的近侧端，但是可以设想并且本公开的范围内，凸轮滑轮与钳夹的远侧部可操作地连接。因此，上面的描述不应当解释为限制性的，而仅仅是作为各种实施例的范例。那些本领域的技术人员将在所附的权利要求书的范围和构思内预想其它修改。

Claims (17)

1.一种末端执行器，其用于使用和连接至机器人手术系统的机器人手臂，其中，所述末端执行器通过所述机器人手术系统的控制装置的至少一个电动机来控制和/或进行关节式运动，所述末端执行器包括：
腕组件，其限定纵向轴线，所述腕组件包括：
至少一个支撑件；以及
远侧毂组件，其围绕枢转轴线可枢转地连接至所述至少一个支撑件；
钳夹组件，其限定纵向轴线并且包括一对钳夹，每个钳夹包括：
近侧部，其可枢转地连接至所述远侧毂组件；以及
远侧部，其在所述钳夹的近侧部的远侧延伸；以及
致动线缆，其具有可操作地连接至所述一对钳夹的远侧端和可操作地连接至所述至少一个电动机的近侧端，其中，所述致动线缆的轴向平移引起所述钳夹组件的打开和闭合中的一个，
所述末端执行器还包括转矩传递管，所述转矩传递管具有可操作地连接至所述钳夹组件的远侧端和可操作地连接至所述至少一个电动机的相应电动机的近侧端，其中，所述转矩传递管的旋转引起所述钳夹组件的围绕其纵向轴线的旋转，并且
所述远侧毂组件包括：
主体部，其限定远侧凹槽，所述远侧凹槽包括形成在其表面中的一圈齿轮齿；
太阳轮，其可旋转地支撑在所述主体部的远侧凹槽中，其中，所述太阳轮不可旋转地连接至所述转矩传递管的远侧端；以及
一对行星齿轮，其可旋转地支撑在所述主体部的远侧凹槽中，其中所述行星齿轮插在所述主体部的一圈齿轮齿和所述太阳轮之间并且与所述主体部的一圈齿轮齿和所述太阳轮啮合，其中每个钳夹可枢转地连接至相应的行星齿轮。
2.根据权利要求1所述的末端执行器，其中，所述钳夹组件包括从每个钳夹延伸的连杆臂，并且其中，每个连杆臂连接至所述致动线缆。
3.根据权利要求1所述的末端执行器，其中，所述转矩传递管限定贯通其的管腔，并且其中所述致动线缆布置在所述转矩传递管的管腔中。
4.根据权利要求1所述的末端执行器，其中，每个行星齿轮支撑在相应的行星齿轮轴上，并且其中，每个钳夹可枢转地连接至相应的行星齿轮轴。
5.根据权利要求4所述的末端执行器，还包括可操作地连接至所述远侧毂组件的一对关节式运动线缆，其中，每个关节式运动线缆的远侧端从所述枢转轴线间隔开相反径向距离。
6.一种末端执行器，其用于使用和连接至机器人手术系统的机器人手臂，其中，所述末端执行器通过所述机器人手术系统的控制装置的至少一个电动机来控制和/或进行关节式运动，所述末端执行器包括：
腕组件，其限定纵向轴线，所述腕组件包括：
至少一个支撑件；以及
远侧毂组件，其围绕枢转轴线可枢转地连接至所述至少一个支撑件；
钳夹组件，其限定纵向轴线并且包括一对钳夹，每个钳夹包括：
近侧部，其可枢转地连接至所述远侧毂组件；以及
远侧部，其在所述钳夹的近侧部的远侧延伸；以及
致动线缆，其具有可操作地连接至所述一对钳夹的远侧端和可操作地连接至所述至少一个电动机的近侧端，其中，所述致动线缆的轴向平移引起所述钳夹组件的打开和闭合中的一个，
所述末端执行器还包括转矩传递管，所述转矩传递管具有可操作地连接至所述钳夹组件的远侧端和可操作地连接至所述至少一个电动机的相应电动机的近侧端，其中，所述转矩传递管的旋转引起所述钳夹组件的围绕其纵向轴线的旋转，
其中，所述一对钳夹中的每个钳夹在其中限定倾斜狭槽，并且其中，所述致动线缆在其远侧端支撑凸轮销，所述凸轮销可滑动地布置在限定于每个钳夹中的倾斜狭槽内，并且
所述远侧毂组件包括可枢转地连接至所述至少一个支撑件的壳体，其中，所述壳体包括限定了布置为沿着所述枢转轴线的中心轴线的多个齿轮齿，所述多个齿轮齿为内齿圈的形式。
7.根据权利要求6所述的末端执行器，其中，所述远侧毂组件包括可枢转地连接至所述至少一个支撑件的圆筒形主体，并且其中，所述钳夹组件支撑在所述远侧毂组件中以便能够围绕所述圆筒形主体的中心轴线且相对于所述圆筒形主体旋转。
8.根据权利要求7所述的末端执行器，其中，所述一对钳夹可枢转地支撑在所述圆筒形主体中，以便朝向彼此靠近和彼此分离。
9.根据权利要求6所述的末端执行器，其中，所述一对钳夹中的每个钳夹的倾斜狭槽沿横向于所述钳夹组件的纵向轴线的方向延伸，并且其中，所述倾斜狭槽沿彼此相反方向延伸。
10.根据权利要求6所述的末端执行器，其中，所述致动线缆的旋转引起所述凸轮销的旋转与所述钳夹组件的旋转；并且其中，所述致动线缆的轴向平移引起所述钳夹组件的一对钳夹的靠近和分离中的一个。
11.根据权利要求6所述的末端执行器，还包括第一转矩传递管，所述第一转矩传递管具有与所述远侧毂组件的壳体的多个齿轮齿啮合的第一端，其中，所述第一转矩传递管的旋转引起所述壳体的围绕所述枢转轴线的枢转。
12.根据权利要求11所述的末端执行器，还包括：
旋转齿轮，其可旋转地支撑在所述壳体中并且能够围绕所述枢转轴线枢转；
第二转矩传递管，其具有与所述旋转齿轮啮合的第一端；以及
柱杆，其可旋转地支撑在所述壳体中并且从所述壳体突出，所述钳夹组件可枢转地连接至所述柱杆的突出部，所述柱杆与所述旋转齿轮啮合；
其中，所述第二转矩传递管的旋转引起所述钳夹组件的围绕所述柱杆的纵向轴线的旋转。
13.根据权利要求12所述的末端执行器，其中，所述第二转矩传递管可旋转地布置在所述第一转矩传递管的管腔内。
14.根据权利要求13所述的末端执行器，其中，所述致动线缆延伸通过所述第二转矩传递管的管腔，通过所述壳体，并通过所述柱杆的管腔。
15.根据权利要求12所述的末端执行器，其中，所述一对钳夹可枢转地支撑在所述柱杆上以便能够朝向彼此靠近和彼此分离。
16.根据权利要求15所述的末端执行器，其中，所述一对钳夹中的每个钳夹的倾斜狭槽沿横向于所述钳夹组件的纵向轴线的方向延伸，并且其中，所述倾斜狭槽沿彼此相反的方向延伸。
17.根据权利要求15所述的末端执行器，其中，所述致动线缆的轴向平移引起所述钳夹组件的一对钳夹的靠近和分离中的一个。
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