CN106923902A - Operating robot snakelike joint, operating theater instruments and endoscope - Google Patents
Operating robot snakelike joint, operating theater instruments and endoscope Download PDFInfo
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- CN106923902A CN106923902A CN201710203335.7A CN201710203335A CN106923902A CN 106923902 A CN106923902 A CN 106923902A CN 201710203335 A CN201710203335 A CN 201710203335A CN 106923902 A CN106923902 A CN 106923902A
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- Prior art keywords
- joint
- snakelike
- operating robot
- articulated
- groove
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
Abstract
The invention provides a kind of operating robot snakelike joint, operating theater instruments and endoscope, with least one free degree, including：At least one articulated joint pair and flexible structure；Each articulated joint is to including the first articulated joint positioned at lower end and the second joint joint positioned at upper end；First articulated joint includes first substrate, and first raised and the first groove is provided with the first surface of the first substrate；The second joint joint includes second substrate, and second raised and the second groove is provided with the second surface of the second substrate；The first surface and the second surface are oppositely arranged, and described first is raised in second groove, and is rotated relative to second groove, and described second is raised in first groove, and is rotated relative to first groove；The swing of articulated joint pair described in the flexible structural control.Realize plane torsion or space is reversed, reduce the complexity of structure.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of operating robot snakelike joint, operating theater instruments
And endoscope.
Background technology
With the fast development of robot, the various distinctive robots of tool constantly emerge in large numbers, and wherein, for bionical machine
The research of device people then seems prominent all the more, and the research of snake-shaped robot is also more and more.The root that snake-shaped robot is produced and developed
This reason is that it can complete the healthy robot action to be completed.Class in its motion and nature seemingly, can be with
Realize that plane torsion and space are reversed, the avoiding barrier in motion process, for completing people or other machines cannot complete
Task.
In view of this feature, the snake-shaped robot for medical operating is also occurred in that at leisure.Particularly in Micro trauma hand
During art, due to wound very little, to reach more preferably therapeutic effect, for the infringement of its hetero-organization in reduction surgical procedure,
More using the operating theater instruments in snakelike joint, to realize the avoidance in surgical procedure for other organs.This advantage causes snakelike
The operating theater instruments in joint can be very good to apply in surgical field.
However, there is complex structure currently used for the snakelike joint of surgical operating instrument, parts are more, assemble cumbersome lacking
Point.The B2 of patent US 6817974 propose the structure connection for having passed through a species short connecting rod between a kind of snakelike joint, joint, its
The twist motion in space can be realized by different arrangement modes, but during flexion torsion, it is low to there is kinematic accuracy, knot
The complicated shortcoming of structure.
The content of the invention
Snakelike joint is used it is an object of the invention to provide a kind of operating robot, to improve the kinematic accuracy in snakelike joint
Or reduce its structure complexity；The present invention also aims to provide a kind of operating theater instruments and one kind with snakelike joint
Endoscope with snakelike joint.
Based on above-mentioned purpose, the present invention provides a kind of operating robot and uses snakelike joint, and the operating robot is with snakelike
Joint have at least one free degree, and including：At least one articulated joint pair and flexible structure；Wherein,
Each articulated joint is to including the first articulated joint positioned at lower end and the second joint joint positioned at upper end；It is described
First articulated joint includes first substrate, and first raised and the first groove is provided with the first surface of the first substrate；Institute
Stating second joint joint includes second substrate, and second raised and the second groove is provided with the second surface of the second substrate；
When first articulated joint and the second joint joint coordinate, the first surface and the second surface set relatively
Put, described first is raised in second groove, and is rotated relative to second groove, described second is raised positioned at institute
In stating the first groove, and rotated relative to first groove；
The swing of articulated joint pair described in the flexible structural control.
Optionally, in described operating robot with snakelike joint, in the described first raised and described first groove
The first line that heart line is formed, the axis with the first substrate intersects vertically；Described second raised and described second groove
The second line for being formed of the line of centres, the axis with the second substrate intersects vertically；First line and described second
Line is conllinear.
Optionally, in described operating robot with snakelike joint, the described first raised and described second projection is
One central angle is more than 180 ° and the circular arc type convex surface less than 360 °；First groove and second groove are a central angle
Circular arc type concave surface more than 180 ° and less than 360 °.
Optionally, in described operating robot with snakelike joint, the central angle on the circular arc type convex surface is more than described
The central angle of circular arc type concave surface.
Optionally, in described operating robot with snakelike joint, the pendulum angle of the articulated joint pair be more than
0 ° and less than or equal to 80 °.
Optionally, in described operating robot with snakelike joint, the first substrate is provided with first circumferentially
Axially extending bore, the quantity of first axially extending bore is at least 2, and it is axially logical that the flexible structure extends through described first
Hole；The second substrate is provided with the second axially extending bore circumferentially, and the quantity of second axially extending bore is at least 2, institute
State flexible structure and extend through second axially extending bore, at least 2 positions of first axially extending bore and second axle
Position to through hole is corresponding.
Optionally, in described operating robot with snakelike joint, the quantity of first axially extending bore and described
The quantity of two axially extending bores is identical, and the position of first axially extending bore and second axial hole a pair of position 1
Should.
Optionally, in described operating robot with snakelike joint, when the operating robot has n with snakelike joint
During the individual free degree, the flexible structure is at least 2n, and wherein n is the natural number more than or equal to 1.
Optionally, in described operating robot with snakelike joint, the quantity of the articulated joint pair is 1~10
Individual, the articulated joint to abutting successively.
Optionally, in described operating robot with snakelike joint, the first substrate is provided with one with first table
The 3rd relative surface of face, the first engaging support mechanism is provided with the 3rd surface；The second substrate is provided with one with described
The 4th relative surface of two surfaces, the second engaging support mechanism is provided with the 4th surface；By two neighboring articulated joint pair
In the second engaging support mechanism and the first engaging support mechanism interlock and enable to the second joint joint of two neighboring articulated joint centering
Fixed with the first articulated joint.
Optionally, in described operating robot with snakelike joint, first engaging support mechanism includes that multiple first is convex
Platform and multiple first concave stations, the first boss and first concave station are intervally arranged；Second engaging support mechanism includes multiple
Second boss and multiple second concave stations, the second boss and second concave station are intervally arranged；The first boss is located at phase
In second concave station of adjacent articulated joint pair, the second boss is accommodated in the first concave station of adjacent segment joint pair.
Optionally, in described operating robot with snakelike joint, the second joint of two neighboring articulated joint centering
Joint and the first articulated joint are integrally formed.
Optionally, in described operating robot with snakelike joint, the angle between two neighboring articulated joint pair is
More than or equal to 0 ° and less than or equal to 180 °.
The present invention also provides a kind of operating theater instruments, and the operating theater instruments includes instrument end, surgical machine as described above
People is with snakelike joint, tube, flexible piece and controller；Wherein, the instrument end, the operating robot use snakelike pass
Section, the tube and the controller are sequentially connected；Described flexible piece one end connects the controller, and the other end is by described
Tube is connected with the instrument end；The operating robot flexible structure in snakelike joint is proximally through the tubulose
Thing is connected with controller；The controller controls the instrument end to move by the flexible piece, by the surgical machine
People is with the motion in snakelike joint of operating robot described in the flexible structural control in snakelike joint.
The present invention also provides a kind of endoscope, and the endoscope includes that imaging system, operating robot as described above are used
Snakelike joint, tube, flexible piece and controller；Wherein, the imaging system, the operating robot with snakelike joint,
The tube and the controller are sequentially connected；The operating robot flexible structure in snakelike joint is proximally through institute
Tube is stated to be connected with snakelike joint with the operating robot；The controller uses snakelike joint by the operating robot
Flexible structural control described in the snakelike joint motions of operating robot.
In the operating robot for providing of the invention with snakelike joint, the operating robot has at least with snakelike joint
One degree of freedom, and including：At least one articulated joint pair and flexible structure；Wherein, each articulated joint is to including being located at down
First articulated joint and the second joint joint positioned at upper end at end；First articulated joint includes first substrate, described the
First raised and the first groove is provided with the first surface of one substrate；The second joint joint includes second substrate, described
Second raised and the second groove is provided with the second surface of second substrate；When first articulated joint and the second joint
When joint coordinates, the first surface and the second surface are oppositely arranged, and described first is raised in second groove,
And rotated relative to second groove, described second is raised in first groove, and relative to first groove
Rotate；The swing of articulated joint pair described in the flexible structural control.Plane torsion is realized by the swing of articulated joint pair
Or space is reversed, and relative to the snakelike joint of prior art, reduces the complexity of structure.In the surgical device that the present invention is provided
In tool and endoscope, including the operating robot uses snakelike joint such that it is able to so that instrument end or imaging system are arrived
Up to desired position and attitude.
Brief description of the drawings
Fig. 1 is the structural representation of the operating theater instruments of the embodiment of the present invention；
Fig. 2 is the structural representation of the operating theater instruments of the embodiment of the present invention；
Fig. 3 a to Fig. 3 c are the knot of articulated joint pair of the operating robot in snakelike joint of the embodiment of the present invention
Structure schematic diagram；
Fig. 4 a to Fig. 4 c are the two neighboring articulated joint pair of the operating robot in snakelike joint of the embodiment of the present invention
With the view that 90 ° of angles are configured；
Fig. 5 a to Fig. 5 c are the two neighboring articulated joint pair of the operating robot in snakelike joint of the embodiment of the present invention
180 ° of views of angle configuration；
Fig. 6 a to Fig. 6 c are the operating robots of the embodiment of the present invention with four rows of articulated joint pair in snakelike joint
Cloth structural representation.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to operating robot proposed by the present invention with snakelike joint, operating theater instruments and
Endoscope is described in further detail.According to following explanation and claims, advantages and features of the invention will become apparent from.Need
Illustrate, accompanying drawing in the form of simplifying very much and uses non-accurately ratio, be only used to conveniently, lucidly aid in saying
The purpose of the bright embodiment of the present invention.Particularly, each accompanying drawing needs the emphasis of displaying different, often all employs different ratios
Example.
In this application, " near-end " and " distal end ", " lower end " and " upper end " is from the doctor's angle using the medicine equipment
Carry out read fortune for mutual element or the relative bearing of action, relative position, direction, although " near-end " and " distal end ", " lower end "
" upper end " is not restricted, but " near-end ", " lower end " are often referred to the Medical Devices and are close in course of normal operation
One end of doctor, and " distal end ", " upper end " typically refer to initially enter the one end in patient's body.
Fig. 1, Fig. 2 and Fig. 3 a to Fig. 3 c are refer to, wherein, Fig. 1 and Fig. 2 is the structure of the operating theater instruments of the embodiment of the present invention
Schematic diagram, Fig. 3 a to Fig. 3 c are the structure of articulated joint pair of the operating robot in snakelike joint of the embodiment of the present invention
Schematic diagram.Shown in Fig. 3 a to Fig. 3 c, the operating robot uses snakelike joint, with least one free degree, including：At least one
Individual articulated joint is to 10 and flexible structure 20；Wherein, each articulated joint includes being located at lower end (in the embodiment of the present application to 10
Namely near-end) the first articulated joint 11 and the second joint joint positioned at upper end (in the embodiment of the present application namely distal end)
12；First articulated joint 11 includes first substrate 110, and relative matching somebody with somebody is provided with the first surface of the first substrate 110
The first raised 111 and first groove 112 put；The second joint joint 12 includes second substrate 120, the second substrate
The second raised 121 and second groove 122 of relative configuration is provided with 120 second surface；When first articulated joint 11
When coordinating with the second joint joint 12, the first surface and the second surface are oppositely arranged, first projection 111
In second groove 122, and rotated relative to second groove 122, described second raised 121 is located at described first
In groove 112, and rotated relative to first groove 112；The flexible structure 20 control the articulated joint to 10 pendulum
It is dynamic.
It is preferred that, described first raised 111 and first groove 112 be arranged symmetrically in the circumference of the first substrate 110
Edge；Second projection 121 and second groove 122 are arranged symmetrically in the circumferential edge of the second substrate 120.
It is preferred that, described first raised 111 and first groove 112 the first line for being formed of the line of centres, it is and described
The axis of first substrate 110 intersects vertically；Described second raised 121 and second groove 122 the line of centres formed the
Two lines, the axis with the second substrate 120 intersects vertically；First line is conllinear with second line.
Preferably, first projection 111 and second projection 121 include a central angle more than 180 ° and are less than
360 ° of circular arc type convex surface；First groove 112 and second groove 122 include a central angle more than 180 ° and are less than
360 ° of circular arc type concave surface.Thus, it is possible to improve between first articulated joint 11 and the second joint joint 12 mutually
Reliability during rotation.More preferably, the central angle on the circular arc type convex surface is more than the central angle of the circular arc type concave surface, so that can
Further to improve the reliability when articulated joint swings to 10.
In the embodiment of the present application, the articulated joint is more than 0 ° and less than or equal to 80 ° to 10 pendulum angle.To scheme
As a example by 3a, that is to say, that, it is assumed that the transfixion of the first articulated joint 11, the second joint joint 12 toward left pivot movement or
Person turns right when rotating, and the maximum angle to be reached between first surface and second surface is 80 °.The articulated joint
To 10 pendulum angle can by the second surface of the first surface of the first substrate 110 and the second substrate 120 it
Between angle measure.
Then, please continue to refer to Fig. 3 a to Fig. 3 c, in the embodiment of the present application, the first substrate 110 is provided with circumference
First axially extending bore 113 of arrangement, first axially extending bore 113 extends through the flexible structure 20；Second base
Plate 120 is provided with the second axially extending bore 123 circumferentially, and second axially extending bore 123 extends the flexible structure 20
Pass through.It is preferred that, first axially extending bore 113 at least 2, second axially extending bore 123 at least 2, and, at least 2
The position of individual first axially extending bore 113 is corresponding with the position of the second axially extending bore 123.It is preferred that, described first is axially logical
Hole 113, second axially extending bore 123 are arranged circumferentially.It is furthermore preferred that the quantity of first axially extending bore 113 and institute
The quantity for stating the second axially extending bore 123 is equal, and the position of the first axially extending bore 113 and second axially extending bore 123
Position corresponds.Further, first axially extending bore 113, second axially extending bore 123 can be with multigroup form circumferences
It is evenly arranged, wherein every group of axially extending bore group includes at least one axially extending bore.It is preferred that in every group first axial sets of vias the
One axially extending bore 113 is evenly arranged, and the second axially extending bore 123 in every group of second axially extending bore group is evenly arranged.Such as Fig. 3 c institutes
In the embodiment shown, the first substrate 110 includes four group of first axial sets of vias being arranged circumferentially, first described in every group
Axially extending bore group includes two the first axially extending bores.
Incorporated by reference to Fig. 1, Fig. 2 and Fig. 3 a to Fig. 3 c is referred to, in the embodiment of the present application, the flexible structure is wire.
For for chassis (i.e. the first chassis 110, namely the second chassis 120) structure shown in Fig. 3 a to Fig. 3 c, two wires are such as
The swing of an articulated joint pair is controlled, then this two one metal wire is each passed through through hole (the i.e. first axial direction in different groups of through holes
Through hole 113, namely the second axially extending bore 123), and this two groups of through holes should be distributed in the two of the first axle of the articulated joint pair
Side.The control of the swing for an articulated joint pair is realized using more one metal wires, so, the joint can be improved
The reliability of joint pair, is not in one metal wire fracture, causes the articulated joint to failure.In other implementations of the application
In example, the control of the swing for articulated joint pair one by one can also be realized by four, six roots of sensation wire.
Further, the snakelike joint has n (natural numbers of the n more than or equal to 1) individual free degree, i.e., described snakelike joint
In the swaying direction of articulated joint pair when being n kinds, the quantity of the flexible structure is at least 2n.On this basis, it is described
Snakelike joint can increase the quantity of the flexible structure (for example, the articulated joint of same swaying direction is to all by two flexibilities
Structure control pendulum angle) swing to realize articulated joint pair more accurately controls.
Further, control articulated joint, can be in the articulated joint pair to the fixed position of the flexible structure of swaying direction
Second joint joint on, it is also possible on the second joint joint of the articulated joint pair of the distal end of the articulated joint pair (if
Have).Therefore, at least 2 distal ends of flexible structure and articulated joint centering is located at the of an articulated joint centering of distalmost end
Two articulated joints are fixed.It is furthermore preferred that one end of the flexible structure is located at the one of distalmost end with multiple articulated joint centerings
The second joint joint of individual articulated joint centering is fixed.Herein for wire is axially logical to upper first through each articulated joint
The second end face of the second joint joint of an articulated joint centering of distalmost end is fixed on behind hole and the second axially extending bore, so that
Realize being controlled with the bending (motion) in snakelike joint for operating robot by the stretching of steel wire rope.
Further, in an articulated joint to the quantity of upper first axially extending bore 113 and second axially extending bore 123
Can be with identical, it is also possible to differ.Equally, the first axial number of openings in snakelike joint between multiple articulated joints pair can be with
Identical, it is also possible to differ, the second axially extending bore quantity is also in this way, but now requiring that the snakelike joint provides at least two
Passage is extended through for the flexible structure.Specifically, an articulated joint centering at least two described first is axially logical
Hole 113 is corresponding with the position of second axially extending bore 123, and the flexible structure in order to control the articulated joint pair extends logical
Cross, at the same at least the articulated joint to all articulated joints of near-end to being offered to the first axially extending bore on correspondence position
113 extend through with second axially extending bore 123, one passage of formation in order to the flexible structure.That is the articulated joint pair
The position of the second axially extending bore 123 of first axially extending bore 113 articulated joint centering also adjacent with near-end is corresponding, and
Second axially extending bore 123 of the adjacent articulated joint centering of the near-end and the position of the first axially extending bore 113 of articulated joint centering
Correspondence, by that analogy.It is preferred that, the articulated joint is axially logical to being offered to first on correspondence position to the articulated joint of distal end
Hole 113 and second axially extending bore 123, one passage of formation extend through (i.e. now flexible to tie in order to the flexible structure
Structure is fixed on the articulated joint of distal end to upper).
In the embodiment of the present application, the articulated joint to 10 quantity for it is multiple when, such as 2~10, Duo Geguan
Section joint is detachably connected or is fixedly connected successively to 10.Two neighboring articulated joint be to the angle between 10 more than or equal to
0 ° and less than 180 °, namely two neighboring articulated joint connects to the second line of the proximal joint joint pair in 10 with distal joint
Head to the first line between angle be more than or equal to 0 ° and less than 180 °.Further, two neighboring articulated joint is to 10
Swaying direction can be with identical, it is also possible to differ so that the operating robot has multiple frees degree with snakelike joint,
Bigger angle can be swung or realize that more complicated, multidirectional space is reversed.
Please continue to refer to Fig. 3 a to Fig. 3 c, in the embodiment of the present application, the first substrate 110 is provided with one with described first
The 3rd relative surface of surface, on the 3rd surface on be provided with the first engaging support mechanism 114；The second substrate 120 is provided with
One fourth surface relative with the second surface, the second engaging support mechanism 124 is provided with the 4th surface.In multiple joints
Joint is interlocked and made in 10 by two neighboring articulated joint to the second engaging support mechanism 124 and the first engaging support mechanism 114 in 10
Two neighboring articulated joint is obtained to connect the articulated joint 11 of second joint joint 12 and first in 10.
Further, first engaging support mechanism 114 includes multiple first boss and multiple first concave stations, and described first is convex
Platform and first concave station are intervally arranged；Second engaging support mechanism 124 includes multiple second boss and multiple second concave stations, institute
State second boss and second concave station is intervally arranged；The first boss is located at second concave station of adjacent segment joint pair
In, the second boss is accommodated in first concave station of adjacent segment joint pair so that two neighboring articulated joint centering
Second joint joint and the first articulated joint are detachably connected；In the other embodiment of the application, two neighboring articulated joint
The second joint joint and the first articulated joint of centering also can it is integrally-formed so as to realize two neighboring articulated joint to closely,
Firm connection.
Specifically, with reference to Fig. 4 a to Fig. 4 c and Fig. 5 a to Fig. 5 c, the operating robot that it is respectively the embodiment of the present invention is used
The view of the adjacent second joint joint of two neighboring articulated joint centering in snakelike joint and the first articulated joint.
As shown in Fig. 4 a to Fig. 4 c or Fig. 5 a to Fig. 5 c, the second joint joint 12a and distal joint of proximal joint joint centering connect
First articulated joint 11b of head centering just can by the second engaging support mechanism 124a of near-end and the first engaging support mechanism 114b of distal end
It is enough to realize closely, firmly connecting.
Further, Fig. 4 a to Fig. 4 c show the state that the angle between two neighboring articulated joint pair is 90 °；It is i.e. adjacent
The angle of the second line of two proximal joint joints pair of articulated joint centering and the first line of distal joint joint pair is
90°；Namely the angle of the line of centres of the described second raised and described second groove of two neighboring articulated joint centering is
90°；Or two neighboring articulated joint centering, in described the first of articulated joint centering raised and described first groove
Heart line is 90 ° with the angle of the line of centres of the described second raised and described second groove of another articulated joint centering.
And Fig. 5 a to Fig. 5 c angles for showing between two neighboring articulated joint pair are 180 ° of state；I.e. two neighboring articulated joint
The angle of the line of centres of the described first raised and described first groove of centering is 180 °；Namely two neighboring articulated joint pair
In the angle of the line of centres of the described second raised and described second groove be 180 °；Or two neighboring articulated joint pair
In, line of centres for described the first of articulated joint centering the raised and described first groove and another articulated joint centering
The angle of the line of centres of the described second raised and described second groove be 180 °.Preferably, two neighboring articulated joint pair
In the angle of the line of centres of the described first raised and described first groove be more than or equal to 0 ° and less than or equal to 180 °.
Further, with reference to Fig. 6 a to Fig. 6 c, it is the operating robot of the embodiment of the present invention with four in snakelike joint
The arrangement schematic diagram of articulated joint pair.As shown in Fig. 6 a to Fig. 6 c, here, being respectively the first articulated joint pair from bottom to top
10a, second joint joint are to 10b, the 3rd articulated joint to 10c and the 4th articulated joint to 10d；Here, each articulated joint
To maximum rotation angle be 45 °.Specifically, the first articulated joint is to the angle between 10b to 10a and second joint joint
90 °, second joint joint is 0 ° to the angle between 10c to 10b and the 3rd articulated joint, and the 3rd articulated joint is to 10c and
Four articulated joints are 90 ° to the angle between 10d.
Please continue to refer to Fig. 6 a to Fig. 6 c, here, first articulated joint to 10a and the 4th articulated joint to 10d energy
It is enough to be swung along same direction, it is preferable that the full swing angle of each articulated joint pair is 45 °, thus, in the same direction can
Enough accumulative 90 ° of rotations；Likewise, the second joint joint can be along same direction to 10c to 10b and the 3rd articulated joint
Swing, it is preferable that because the maximum rotation angle of each articulated joint pair is 45 °, it is preferable that can add up to rotate in the same direction
90°；Here, first articulated joint to 10a and the 4th articulated joint to the swaying direction and the second joint joint of 10d
Vertical to the swaying direction of 10c to 10b and the 3rd articulated joint, i.e., described operating robot has two freedom with snakelike joint
Degree, can realize spatially two rotations of mutually orthogonal direction, and preferably its maximum rotation angle is 90 °.It can be seen that, it is described
Operating robot can realize that the space of complexity is reversed with snakelike joint by simple structure.
Similar, by adjusting four mounting means of articulated joint pair, as long as making four articulated joint centerings have arbitrarily
Two articulated joints to being swung in direction, two other articulated joint at another vertical square to swing, you can
It is equivalent to four arrangement modes of articulated joint pair shown in Fig. 6 a to Fig. 6 c.
In the other embodiment of the application, the operating robot can be according to the free degree, most put on snakelike joint
The design requirements such as dynamic angle, including more articulated joints are to 10, such as five, six or ten etc..Further, it is adjacent
Two articulated joints to the angle between 10 can for 0 °~180 °, such as 0 °, 30 °, 45 °, 60 °, 90 °, 120 °, 150 ° or
180 ° etc., so as to realize that the space more enriched is reversed.
Incorporated by reference to Fig. 1 and Fig. 2 is referred to, in the embodiment of the present application, the flexible structure is wire.The snakelike joint
Four one metal wires are needed to control four swings of articulated joint pair.That is, the articulated joint of same swaying direction is to that can use two
One metal wire is controlled.On this basis, the quantity of the flexible structure can be increased to realize more accurately controlling joint
The swing of joint pair.For example, using eight one metal wires 20, wherein every two with an articulated joint to being fixedly connected, so may be used
More accurately to control the pendulum angle in snakelike joint.
As fully visible, in operating robot provided in an embodiment of the present invention with snakelike joint, by articulated joint to not
Same configuration, makes operating robot have more than or equal to 1 free degree with snakelike joint, realizes plane torsion or space is turned round
Turn, relative to the snakelike joint of prior art, reduce the complexity of structure.
Present invention also offers a kind of operating theater instruments, can be with continued reference to Fig. 1 and Fig. 2, the operating theater instruments includes apparatus end
End, described operating robot snakelike joint, tube, flexible piece and controller；Wherein, the instrument end, described
Operating robot is sequentially connected with snakelike joint, the tube and the controller；Described flexible piece one end connects the control
Device processed, the other end is connected by the tube with the instrument end；The operating robot is tied with the flexibility in snakelike joint
Structure is connected proximally through the tube with controller；The controller controls the instrument end to transport by the flexible piece
It is dynamic, by the operating robot motion in snakelike joint of operating robot described in the flexible structural control in snakelike joint.
Specifically, the instrument end is mainly including operation works such as the direct scissors being operated in human body, pliers, electric hooks
Tool；Operating robot connects instrument end and tube respectively with snakelike joint two ends, and the tube is hollow and thin-walled pipe, is used
In fixing device end, instrument end is set to stretch into while in human body, and the front end of operating theater instruments is placed in vitro；The control
Device is used for control device end movement and the snakelike joint motions of operating robot；Described flexible piece one end connects controller, one
End is connected by tube with instrument end；The operating robot flexible structure in snakelike joint is proximally through the pipe
Shape thing is connected with controller.Operating theater instruments is by the operating robot control of snakelike joint attitude, making instrument end
Desired position and attitude are reached, is that instrument end realizes the actions such as clamping, cutting by the control to instrument end.
Further, present invention also offers a kind of endoscope, the endoscope includes that imaging system, operating robot are used
Snakelike joint, tube and controller；Wherein, the imaging system, the operating robot snakelike joint, the tubulose
Thing and the controller are sequentially connected；The operating robot flexible structure in snakelike joint is proximally through the tube
It is connected with snakelike joint with the operating robot；The controller is tied by the operating robot with the flexibility in snakelike joint
Structure controls the snakelike joint motions of operating robot.The imaging system includes objective of endoscope group, realizes endoscope
The collection of picture in visual field；The operating robot is used to connect imaging system and tube with snakelike joint, is adjusted to as system
The attitude of system；The tube be hollow and thin-walled pipe, end and head end for supporting endoscope, making the end of endoscope can stretch
Enter while in human body, the head end of endoscope is placed in vitro；Described controller is used to control operating robot to use snakelike joint
Motion；The operating robot is connected proximally through tube with the flexible structure in snakelike joint with controller.Peeped in described
Mirror, to the operating robot control of the attitude in snakelike joint, arrives endoscopic imaging system by controller realization
Up to desired pose.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Scope.
Claims (15)
1. a kind of operating robot uses snakelike joint, it is characterised in that the operating robot has at least one with snakelike joint
The individual free degree, and including：At least one articulated joint pair and flexible structure；Wherein,
Each articulated joint is to including the first articulated joint positioned at lower end and the second joint joint positioned at upper end；Described first
Articulated joint includes first substrate, and first raised and the first groove is provided with the first surface of the first substrate；Described
Two articulated joints include second substrate, and second raised and the second groove is provided with the second surface of the second substrate；Work as institute
When stating the first articulated joint and second joint joint cooperation, the first surface and the second surface are oppositely arranged, institute
State first it is raised be located in second groove, and rotated relative to second groove, described second raised is located at described the
In one groove, and rotated relative to first groove；
The swing of articulated joint pair described in the flexible structural control.
2. operating robot as claimed in claim 1 uses snakelike joint, it is characterised in that described first is raised and described first
The first line that the line of centres of groove is formed, the axis with the first substrate intersects vertically；Described second is raised and described
The second line that the line of centres of the second groove is formed, the axis with the second substrate intersects vertically；First line with
Second line is conllinear.
3. operating robot as claimed in claim 1 uses snakelike joint, it is characterised in that described first is raised and described second
Projection is a central angle more than 180 ° and the circular arc type convex surface less than 360 °；First groove and second groove are
One central angle is more than 180 ° and the circular arc type concave surface less than 360 °.
4. operating robot as claimed in claim 3 uses snakelike joint, it is characterised in that the central angle on the circular arc type convex surface
More than the central angle of the circular arc type concave surface.
5. operating robot as claimed in claim 3 uses snakelike joint, it is characterised in that the angle of oscillation of the articulated joint pair
Degree is more than 0 ° and less than or equal to 80 °.
6. the operating robot as any one of claim 1 to 5 uses snakelike joint, it is characterised in that first base
Plate is provided with the first axially extending bore circumferentially, and the quantity of first axially extending bore is at least 2, and the flexible structure extends
By first axially extending bore；The second substrate is provided with the second axially extending bore circumferentially, second axially extending bore
Quantity be at least 2, the flexible structure extends through second axially extending bore, at least 2 first axially extending bores
Position it is corresponding with the position of second axially extending bore.
7. operating robot as claimed in claim 6 uses snakelike joint, it is characterised in that the quantity of first axially extending bore
Quantity with second axially extending bore is identical, and the position of first axially extending bore and second axial hole position
Correspond.
8. operating robot as claimed in claim 1 uses snakelike joint, it is characterised in that when the operating robot is with snakelike
When joint has the n free degree, the flexible structure is at least 2n, and wherein n is the natural number more than or equal to 1.
9. the operating robot as any one of claim 1 to 5 uses snakelike joint, it is characterised in that the joint connects
Head to quantity be 1~10, the articulated joint to abutting successively.
10. operating robot as claimed in claim 9 uses snakelike joint, it is characterised in that the first substrate be provided with one with
The 3rd relative surface of the first surface, the first engaging support mechanism is provided with the 3rd surface；The second substrate is provided with
One fourth surface relative with the second surface, the second engaging support mechanism is provided with the 4th surface；By two neighboring
Second engaging support mechanism and the first engaging support mechanism of articulated joint centering interlock and enable to the of two neighboring articulated joint centering
Two articulated joints and the first articulated joint are fixed.
11. operating robots as claimed in claim 10 use snakelike joint, it is characterised in that first engaging support mechanism includes
Multiple first boss and multiple first concave stations, the first boss and first concave station are intervally arranged；Described second fastens machine
Structure includes multiple second boss and multiple second concave stations, and the second boss and second concave station are intervally arranged；Described first
Boss is located in the second concave station of adjacent segment joint pair, and the second boss accommodates the first concave station of adjacent segment joint pair
In.
12. operating robots as claimed in claim 9 use snakelike joint, it is characterised in that two neighboring articulated joint centering
Second joint joint and the first articulated joint be integrally formed.
13. operating robots as claimed in claim 9 use snakelike joint, it is characterised in that two neighboring articulated joint is to it
Between angle be more than or equal to 0 ° and less than or equal to 180 °.
14. a kind of operating theater instruments, it is characterised in that the operating theater instruments includes instrument end, any such as in claim 1~13
Operating robot snakelike joint, tube, flexible piece and controller described in；Wherein, the instrument end, the hand
Art robot is sequentially connected with snakelike joint, the tube and the controller；Described flexible piece one end connects the control
Device, the other end is connected by the tube with the instrument end；The operating robot flexible structure in snakelike joint
Be connected with controller proximally through the tube；The controller controls the instrument end to transport by the flexible piece
It is dynamic, by the operating robot motion in snakelike joint of operating robot described in the flexible structural control in snakelike joint.
15. a kind of endoscopes, it is characterised in that the endoscope is including imaging system, such as any one of claim 1~13 institute
The operating robot stated snakelike joint, tube, flexible piece and controller；Wherein, the imaging system, the surgical engine
Device people is sequentially connected with snakelike joint, the tube and the controller；The operating robot flexibility in snakelike joint
Structure is connected proximally through the tube with the operating robot with snakelike joint；The controller is by the operation
Robot operating robot snakelike joint motions described in the flexible structural control in snakelike joint.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710203335.7A CN106923902B (en) | 2017-03-30 | 2017-03-30 | Operating robot snakelike joint, surgical instrument and endoscope |
| PCT/CN2018/076313 WO2018177039A1 (en) | 2017-03-30 | 2018-03-12 | Snake-like joint for surgical robot, surgical instrument, and endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710203335.7A CN106923902B (en) | 2017-03-30 | 2017-03-30 | Operating robot snakelike joint, surgical instrument and endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106923902A true CN106923902A (en) | 2017-07-07 |
| CN106923902B CN106923902B (en) | 2019-04-12 |
Family
ID=59426566
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710203335.7A Active CN106923902B (en) | 2017-03-30 | 2017-03-30 | Operating robot snakelike joint, surgical instrument and endoscope |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106923902B (en) |
| WO (1) | WO2018177039A1 (en) |
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| WO2018177039A1 (en) * | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Snake-like joint for surgical robot, surgical instrument, and endoscope |
| CN108742852A (en) * | 2018-03-12 | 2018-11-06 | 深圳市精锋医疗科技有限公司 | Operating robot from operation equipment and operating robot |
| CN109172130A (en) * | 2018-08-30 | 2019-01-11 | 上海西地众创空间管理有限公司 | Medical robot for operation for myopia |
| CN109464192A (en) * | 2018-12-29 | 2019-03-15 | 浙江量子医疗器械有限公司 | A kind of mechanical arm that three-dimensional control is curved |
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| CN110269688A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Translatable connection component, motion arm and operating robot |
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| WO2019218946A1 (en) * | 2018-05-17 | 2019-11-21 | Huang Qin | Controllable curved tube structure |
| CN110575256A (en) * | 2019-08-28 | 2019-12-17 | 哈尔滨理工大学 | Robot for operation of endoscope in cavity of cavity |
| CN112405508A (en) * | 2020-11-23 | 2021-02-26 | 长沙理工大学 | Wire-driven snakelike arm robot capable of achieving bending motion decoupling |
| CN112545584A (en) * | 2020-12-08 | 2021-03-26 | 中国人民解放军空军军医大学 | Bending device and surgical operation instrument |
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| WO2018177039A1 (en) * | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Snake-like joint for surgical robot, surgical instrument, and endoscope |
| CN109895073B (en) * | 2017-12-08 | 2021-09-14 | 中国科学院沈阳自动化研究所 | Continuous body robot driven by leaf springs |
| CN109895073A (en) * | 2017-12-08 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of non-individual body robot of flat spring driving |
| WO2019170152A1 (en) * | 2018-03-09 | 2019-09-12 | 深圳市精锋医疗科技有限公司 | Connection assembly and slave operation device |
| CN108742852B (en) * | 2018-03-12 | 2020-04-28 | 深圳市精锋医疗科技有限公司 | Slave operation device of surgical robot and surgical robot |
| CN108742852A (en) * | 2018-03-12 | 2018-11-06 | 深圳市精锋医疗科技有限公司 | Operating robot from operation equipment and operating robot |
| CN110269695B (en) * | 2018-03-14 | 2021-07-09 | 深圳市精锋医疗科技有限公司 | Coupling assembling, operation arm and surgical robot |
| CN110269695A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm and operating robot |
| CN110269688A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Translatable connection component, motion arm and operating robot |
| CN110269693A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Drive connection component, motion arm and the operating robot of silk driving |
| CN110269688B (en) * | 2018-03-14 | 2021-03-09 | 深圳市精锋医疗科技有限公司 | Connecting assembly capable of translating, operating arm and surgical robot |
| WO2019218946A1 (en) * | 2018-05-17 | 2019-11-21 | Huang Qin | Controllable curved tube structure |
| CN109172130A (en) * | 2018-08-30 | 2019-01-11 | 上海西地众创空间管理有限公司 | Medical robot for operation for myopia |
| CN109172130B (en) * | 2018-08-30 | 2023-06-13 | 上海西地众创空间管理有限公司 | Medical robot for myopia operation |
| CN109464192A (en) * | 2018-12-29 | 2019-03-15 | 浙江量子医疗器械有限公司 | A kind of mechanical arm that three-dimensional control is curved |
| CN109464192B (en) * | 2018-12-29 | 2023-11-14 | 黄振宇 | Three-dimensional bending control mechanical arm |
| CN110367911A (en) * | 2019-06-18 | 2019-10-25 | 珠海视新医用科技有限公司 | A kind of snake bone and preparation method thereof |
| CN110367911B (en) * | 2019-06-18 | 2021-07-09 | 珠海视新医用科技有限公司 | Snake bone and preparation method thereof |
| CN110575256A (en) * | 2019-08-28 | 2019-12-17 | 哈尔滨理工大学 | Robot for operation of endoscope in cavity of cavity |
| CN112405508A (en) * | 2020-11-23 | 2021-02-26 | 长沙理工大学 | Wire-driven snakelike arm robot capable of achieving bending motion decoupling |
| CN112545584A (en) * | 2020-12-08 | 2021-03-26 | 中国人民解放军空军军医大学 | Bending device and surgical operation instrument |
| CN112545584B (en) * | 2020-12-08 | 2022-02-18 | 中国人民解放军空军军医大学 | Bending device and surgical operation instrument |
| WO2022223045A1 (en) * | 2021-04-23 | 2022-10-27 | 上海微创医疗机器人（集团）股份有限公司 | Serpentine joint, surgical instrument, and endoscope |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018177039A1 (en) | 2018-10-04 |
| CN106923902B (en) | 2019-04-12 |
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Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |