CN107334530A - A kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot - Google Patents
A kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot Download PDFInfo
- Publication number
- CN107334530A CN107334530A CN201710641680.9A CN201710641680A CN107334530A CN 107334530 A CN107334530 A CN 107334530A CN 201710641680 A CN201710641680 A CN 201710641680A CN 107334530 A CN107334530 A CN 107334530A
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- China
- Prior art keywords
- sleeve
- motor
- wrist unit
- operating theater
- theater instruments
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Classifications
-
- 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
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
The invention discloses a kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot；The operating theater instruments includes the front-end driven part, guide rod part, end executable portion being sequentially connected, and the end executable portion includes wrist unit and the end performs device being sequentially connected.The front-end driven part includes yaw drive.The front-end driven part also includes folding driving mechanism and rotating driving device.Wherein, the yaw drive is used for the deflection angle for driving the wrist unit, and the folding driving mechanism is used for the opening degree for driving the end performs device.The wrist unit of the micro-wound operation robot can realize the deflection of the free degree of one side, and the deflection can drive the deflection of end performs device, but not influence the opening degree of end performs device again, so as to significantly increase the flexibility of robotic surgery operation.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of operating theater instruments for micro-wound operation robot and
Micro-wound operation robot.
Background technology
In micro-wound surgical operation, it is often necessary to which doctor carries out cutting, stripping, suture of tissue etc. manually, for some
For complicated surgical operation, it is necessary to which doctor stands for a long time and handhold mini-size operating theater instruments is performed the operation, doctor is easy to fatigue, from
And influence the quality of operation.Meanwhile conventional Minimally Invasive Surgery apparatus is the simple imitation to conventional open operating theater instruments, freely
Degree is less, flexibility is low and apparatus internal friction is big, can cause decay and the doctor's fatigue of driving force, it is difficult to avoid the hand of doctor
Quiver, the reduction of the accuracy of operation caused by fatigue, be not easy to the smooth development of operation.
At present, the human-aided micro-wound surgical operation of machine is progressively applied in actual clinic, these robot assisteds
The free degree that has of surgical operation it is relatively low, such as when carrying out more complicated Minimally Invasive Surgery, can not meet that doctor is being performed the operation
When to the free degree of operating theater instruments, flexibility and the requirement of sensitivity, therefore in the prior art robotic surgery operation exist not
Flexible technical problem.
The content of the invention
The embodiment of the present invention by providing a kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot,
Inflexible technical problem be present for solving robotic surgery operation in the prior art.
In a first aspect, one embodiment of the invention provides a kind of operating theater instruments for micro-wound operation robot, including：
The front-end driven part that is sequentially connected, guide rod part, end executable portion, the end executable portion are included successively
The wrist unit and end performs device of connection；
The front-end driven part includes yaw drive, and the yaw drive includes the first motor, the first biography
Moving axis, the first sliding block and clutch shaft bearing, first motor with described first transmission axis connection, first power transmission shaft with it is described
First sliding block connects；
The guide rod part includes screw mandrel, the first sleeve being set on the leading screw, and is set in first sleeve
Second sleeve pipe；
The first end of second sleeve pipe is connected with the first end of the wrist unit, the first end of second sleeve pipe with
The junction of the first end of the wrist unit is the first link position；
First sliding block is connected with the outer ring of the clutch shaft bearing, the inner ring of the clutch shaft bearing and the first sleeve
One end connection, the first sleeve is connected by first connecting rod with the first end of the wrist unit, the first connecting rod and
The junction of the first end of the wrist unit is the second link position, wherein, first link position connects with described second
Connect position difference；
First motor drives first sliding block axial past along the described first transmission by the first power transmission shaft
Multiple motion；First sliding block draws axial reciprocal fortune of the first sleeve along the first sleeve by clutch shaft bearing
Dynamic, the first sleeve drives the wrist unit centered on first link position described by the first connecting rod
The side of the axially-extending line of first sleeve carries out yaw motion；
The first fastener that the first end of second sleeve pipe has, first fastener are used to limit the wrist dress
Put the maximum deflection angle during side progress yaw motion of the axially-extending line to the first sleeve, first fastener
It is additionally operable to limit the wrist unit not deflect to the opposite side of the axially-extending line of the first sleeve..
Optionally, the wrist unit includes cavity structure, and the end performs device includes the plane four being sequentially connected
Linkage and end effector, the four-bar linkage are located in the cavity structure；
The first end of the screw mandrel includes the flexible portion penetrated inside the cavity structure, the flexible portion and institute
State the second connecting rod connection set inside cavity structure, the first attachment structure of the second connecting rod and the four-bar linkage
Connection；
The four-bar linkage is connected the wrist unit with the junction of the end effector.
Optionally, the front-end driven part also includes folding driving mechanism, and the folding driving mechanism includes the second electricity
Machine, second driving shaft, the second sliding block and second bearing, second motor are connected with the second driving shaft, and described second passes
Moving axis is connected with second sliding block；
Second sliding block is connected with the outer ring of the second bearing, and the of the inner ring of the second bearing and the screw mandrel
Two ends connect；
Second motor drives second sliding block along the axial past of the second driving shaft by second driving shaft
Multiple motion；Second sliding block draws axial reciprocating motion of the screw mandrel along the first sleeve by second bearing；
The flexible portion draws the open and close movement of the end effector by the four-bar linkage.
Optionally, the end at the second end of the screw mandrel is ball head structure, and the ball head structure passes through the first attachment means
It is fixed on the inner ring of the second bearing.
Optionally, the front-end driven part also includes rotating driving device, and the rotating driving device includes the 3rd electricity
Machine, the 3rd power transmission shaft, driving gear, driven gear, 3rd bearing and fourth bearing, the 3rd motor pass through the 3rd power transmission shaft
It is connected with the driving gear, the driven gear is connected with the second end of second sleeve pipe；
3rd motor drives the driving gear by the 3rd power transmission shaft, the driving gear with it is described driven
Gear connects, and the driven gear drives second sleeve rotating, and second sleeve pipe draws the end executable portion rotation
Turn.
Optionally, first motor includes the first lockable mechanism, and first lockable mechanism is used to keep the wrist
The deflection angle of device.
Optionally, second motor includes the second lockable mechanism, and second lockable mechanism is used to keep the end
The opening degree of performs device.
Optionally, the 3rd motor includes the 3rd lockable mechanism, and the 3rd lockable mechanism is used to keep the end
The location of rotation of performs device.
Optionally, the second end of the screw mandrel is connected with energy conditioner, and the energy conditioner is used to adjust institute
State the size for the energy that end executable portion obtains.
Second aspect, one embodiment of the invention provide a kind of micro-wound operation robot, it is characterised in that including such as first
Operating theater instruments described in aspect embodiment.
The one or more technical schemes provided in the embodiment of the present invention, have at least the following technical effects or advantages：
A kind of operating theater instruments for micro-wound operation robot is proposed, the wrist unit of the micro-wound operation robot can
The deflection of the unilateral free degree is realized, the deflection can drive the deflection of end performs device, but not influence end execution again
The opening degree of device, and deflection of the wrist unit to opposite side is prevented, so as to significantly increase the spirit of robotic surgery operation
Activity.
Brief description of the drawings
Figure 1A is the schematic elevation view (A-A faces) for the operating theater instruments for being used for micro-wound operation robot in the embodiment of the present invention；
Figure 1B is the schematic top plan view (B-B faces) for the operating theater instruments for being used for micro-wound operation robot in the embodiment of the present invention；
Fig. 2A is the vertical view signal of the front-end driven part (not including motor part) of operating theater instruments in the embodiment of the present invention
Figure；
Fig. 2 B are that the A-A faces of the front-end driven part (not including motor part) of operating theater instruments in the embodiment of the present invention are cutd open
Face schematic diagram；
Fig. 2 C are the schematic diagram of the motor part of the front-end driven part of operating theater instruments in the embodiment of the present invention；
Fig. 2 D are the section signal in the A-A faces of the partial enlargement of the front-end driven part of operating theater instruments in the embodiment of the present invention
Figure；
Fig. 3 A are the guide rod part of operating theater instruments and the schematic diagram of end executable portion in the embodiment of the present invention；
Fig. 3 B are the partial schematic diagram of the second cannula tip of operating theater instruments in the embodiment of the present invention；
First diagrammatic cross-section in B-B faces when Fig. 3 C are the wrist unit deflection of operating theater instruments in the embodiment of the present invention；
Fig. 4 A are the diagrammatic cross-section in the A-A faces of the end executable portion of operating theater instruments in the embodiment of the present invention；
Fig. 4 B are the section in the guide rod part of operating theater instruments and the B-B faces of end executable portion signal in the embodiment of the present invention
Figure.
Embodiment
In order to solve the above-mentioned technical problem, the general thought of the technical scheme in the embodiment of the present invention is as follows：Referring to Figure 1A,
Figure 1B and Fig. 2A-Fig. 2 D, a kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot, including：
The front-end driven part 1 that is sequentially connected, guide rod part 2, end executable portion 3, end executable portion 3 are included successively
The wrist unit 31 and end performs device 32 of connection；
Front-end driven part 1 includes yaw drive, and the yaw drive passes including the first motor 111, first
Moving axis 112, the first sliding block 113 and clutch shaft bearing 114, first motor 111 is connected with first power transmission shaft 112, described
First power transmission shaft 112 is connected with first sliding block 113；
The guide rod part 2 includes screw mandrel 20, the first sleeve 21 being set on the leading screw, and is set in described first
The second sleeve pipe 22 on sleeve pipe 21；The first end 221 of second sleeve pipe 22 and the first end 311 of the wrist unit 31 connect
Connect, the junction of the first end 221 of second sleeve pipe 22 and the first end 311 of the wrist unit 31 is the first connection position
Put；
First sliding block 113 is connected with the outer ring of the clutch shaft bearing (114), the inner ring of the clutch shaft bearing (114)
Be connected with one end of the first sleeve 21, the first sleeve 21 pass through first connecting rod 4 and the wrist unit 31 first
End connection, the first connecting rod 4 and the junction of the first end of the wrist unit 31 are the second link position 410, wherein, institute
It is different from second link position 410 to state the first link position 310；
First motor 111 drives first sliding block 113 along first power transmission shaft by the first power transmission shaft 112
112 axial reciprocating motion；First sliding block 113 draws the first sleeve 21 along described by clutch shaft bearing 114
The axial reciprocating motion of sleeve 21, the first sleeve 21 by the first connecting rod 4 drive the wrist unit 31 with
The side of axially-extending line centered on first link position 310 in the first sleeve 21 carries out yaw motion；
The first fastener 2211 that the first end of second sleeve pipe 22 has, first fastener 2211 are used to limit
Side from the wrist unit to the axially-extending line of the first sleeve carry out yaw motion when maximum deflection angle, it is described
First fastener 2211 be additionally operable to limit the wrist unit 31 not to the first sleeve axially-extending line another lateral deviation
Turn.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
Technical scheme is stated to be described in detail.
The embodiment of the present invention one provides a kind of operating theater instruments for micro-wound operation robot；
Referring to Figure 1A and Figure 1B, Figure 1A is the schematic elevation view of the operating theater instruments, by the plane where the schematic elevation view
A-A faces are defined as, Figure 1B is the schematic top plan view of the operating theater instruments, is B-B faces by the plane definition where schematic top plan view, should
Operating theater instruments includes the front-end driven part 1, guide rod part 2, end executable portion 3 being sequentially connected, the end executable portion 3
Including the wrist unit 31 being sequentially connected and end performs device 32.
The front-end driven part 1 includes yaw drive.The front-end driven part also includes folding driving mechanism
And rotating driving device.Wherein, the yaw drive is used for the deflection angle for driving the wrist unit 31, the folding
Drive device is used for the opening degree for driving the end performs device 32.The rotating driving device is used to drive the wrist to fill
Put 31 and the end performs device 32 along itself axial direction rotary motion.
Referring to Fig. 2A-Fig. 2 D, wherein, Fig. 2A is the vertical view of the front-end driven part (not including motor part) of operating theater instruments
Schematic diagram；Fig. 2 B are the diagrammatic cross-section in the A-A faces of the front-end driven part (not including motor part) of operating theater instruments；Fig. 2 C are
The schematic diagram of the motor part of the front-end driven part of operating theater instruments；Fig. 2 D are that the part of the front-end driven part of operating theater instruments is put
The diagrammatic cross-section in big A-A faces；The yaw drive includes the first motor 111, the first power transmission shaft 112, the first sliding block
113 and clutch shaft bearing 114, first motor 111 be connected with first power transmission shaft 112, first power transmission shaft 112 and institute
The first sliding block 113 is stated to connect.Wherein, the first motor 11 and first power transmission shaft 112 can by snapping connection, fixed connect
Connect or other modes connection, the first power transmission shaft 112 threadedly can be connected with first sliding block 113, herein not
It is specifically limited.
The guide rod part 2 includes screw mandrel 20, the first sleeve 21 being set on the leading screw, and is set in described first
The second sleeve pipe 22 on sleeve pipe 21；
First sliding block 113 is connected with the outer ring of the clutch shaft bearing 114, the inner ring of the clutch shaft bearing 114 and institute
State one end connection of first sleeve 21；
First motor 111 drives first sliding block 113 along first power transmission shaft by the first power transmission shaft 112
112 axial reciprocating motion；First sliding block 113 draws the first sleeve 21 along described by clutch shaft bearing 114
The axial reciprocating motion of sleeve 21.
The folding driving mechanism includes the second motor 211, second driving shaft 212, the second sliding block 213 and second bearing
214, second motor 211 is connected with the second driving shaft 212, the second driving shaft 212 and second sliding block 213
Connection；Second driving shaft 212 threadedly can be connected with second sliding block 213；
Second sliding block 213 is connected with the outer ring of the second bearing 214, the inner ring of the second bearing 214 and institute
State the second end connection of screw mandrel 20；Second motor 211 drives second sliding block 213 along institute by second driving shaft 212
State the axial reciprocating motion of second driving shaft 212；Second sliding block logical 213 crosses second bearing 214 and draws the screw mandrel 20
Along the axial reciprocating motion of the first sleeve 21.Wherein the second motor 21 and the second driving shaft 212 can pass through card
Button connection, is either fixedly connected or connects by other means, be not specifically limited herein.
The rotating driving device includes the 3rd motor 311, the 3rd power transmission shaft 312, driving gear 313, driven gear
314th, 3rd bearing 315 and fourth bearing 316, the 3rd motor 311 pass through the 3rd power transmission shaft 312 and the driving gear
313 connections, the driven gear 314 are connected with the second end of second sleeve pipe 22；The driven gear 314 and described second
Connection between second end of sleeve pipe 22 can be relatively fixed connection, and specifically, the both ends of the driven gear 314 can be divided
Be not fixedly connected with the inner ring of the 3rd bearing 315 and the inner ring of fourth bearing 316, the inner ring of the 3rd bearing 315 and
Diverse location of the inner ring of the fourth bearing 316 respectively with the second end of second sleeve pipe 22 is connected；The 3rd bearing
315 outer ring is fixedly connected with the baffle plate on the base of the front-end driven part, the outer ring of the fourth bearing 316 and institute
Another baffle plate stated on the base of front-end driven part is fixedly connected.
3rd motor 311 drives the driving gear 313, the driving gear by the 3rd power transmission shaft 312
313 are connected (driving gear 313 and driven gear 314 are rotated by gear engaging), institute with the driven gear 314
Stating driven gear 314 drives second sleeve pipe 22 to rotate, and second sleeve pipe 22 draws the end executable portion rotation.Its
In the 3rd motor 31 and the 3rd power transmission shaft 312 can be either fixedly connected or by other means by snapping connection
Connection, is not specifically limited herein.
Referring to Fig. 2 C, the first motor 111, the second motor 112 and the 3rd motor 113 therein can be specifically stepping electricity
The micromachines such as machine, brshless DC motor, the electric power that the motor uses can be obtained by carrying out AC-DC conversion to civil power
, it can also be obtained by energy storage device.
First motor 111 includes the first lockable mechanism, and first lockable mechanism is used to keep the wrist unit
31 deflection angle；Second motor 211 includes the second lockable mechanism, and second lockable mechanism is used to keep the end
The opening degree of performs device 32；Second end of the screw mandrel 20 is connected with energy conditioner, and the energy conditioner is used for
Adjust the size for the energy that the end executable portion obtains.
Referring to Fig. 2 D, the end at the second end of the screw mandrel 20 is ball head structure 202, and the ball head structure 202 passes through
One attachment means are fixed on the inner ring of the second bearing 214, and when the first motor 111 starts, clutch shaft bearing 114 can drive
The screw mandrel 20 moves reciprocatingly.There is gap, screw mandrel 20 can't when moving reciprocatingly between screw mandrel 20 and first sleeve 21
Influence first sleeve 21.
The end of first sleeve 21 is fixedly connected with second bearing 214 by attachment means, when the second motor 211 starts
When, second bearing 214 can drive first sleeve 21 to move reciprocatingly.Similarly, since have between screw mandrel 20 and first sleeve 21
There is gap, screw mandrel 20 can't be influenceed when first sleeve 21 moves reciprocatingly.
The end of second sleeve pipe 22 is fixedly connected with the inner ring of the inner ring of 3rd bearing 315 and fourth bearing 316, when the 3rd
Motor 311 drives driving gear 313 successively when starting and driven gear 314 carries out rotating operation, the traction of driven gear 314 second
Sleeve pipe 22 rotates.
Referring to Fig. 3 A, Fig. 3 A are schematic diagram of the guide rod part with end executable portion of operating theater instruments；Second sleeve pipe
22 first end 221 is connected with the first end of the wrist unit 31, first end 221 and the wrist of second sleeve pipe 22
The junction of the first end of device 31 is the first link position 310, wherein, the first end of second sleeve pipe 22 have first
Fastener 2211, first fastener 2211 are used to limit axially-extending line of the wrist unit to the first sleeve
Side carries out maximum deflection angle during yaw motion, and first fastener 2211 is additionally operable to limit the wrist unit 31 not
Deflected to the opposite side of the axially-extending line of the first sleeve.It is the end of the second sleeve pipe 22 referring to Fig. 2 B, Fig. 3 B and Fig. 3 C, Fig. 3 B
The partial schematic diagram in portion, first diagrammatic cross-section in B-B faces when Fig. 3 C are the wrist unit deflection of operating theater instruments；Described first
Sliding block 113 is connected with the outer ring of the clutch shaft bearing 114, the inner ring of the clutch shaft bearing 114 and the one of the first sleeve 21
End connection, the first sleeve 21 are connected by first connecting rod 4 with the first end of the wrist unit 31, the first connecting rod 4
Junction with the first end of the wrist unit 31 is the second link position 410, wherein, first link position 310 with
Second link position 410 is different.Wherein, the connected mode between first sleeve 21 and first connecting rod 4 is to be fixedly connected, the
Connection between one connecting rod 4 and wrist unit 31 is be hinged.
Referring to Fig. 3 A- Fig. 3 C, the yaw motion of the wrist unit 31 is achieved in that：First motor 111 is logical
Cross the first power transmission shaft 112 and drive axial reciprocating motion of first sliding block 113 along first power transmission shaft 112；Described
One sliding block 113 draws axial reciprocating motion of the first sleeve 21 along the first sleeve 21, institute by clutch shaft bearing 114
State first sleeve 21 by the first connecting rod 4 drive the wrist unit 31 centered on first link position 310
The side of the axially-extending line of the first sleeve 21 carries out yaw motion.
Specifically, by taking Fig. 3 C as an example, it is assumed that the initial deflection angle of the wrist unit is that 0 (wrist unit and guide rod exist
In same horizontal line), when the first motor 111 drives the terminad executable portion horizontal movement of first sleeve 21 through the above way
When, wrist unit 31 can move closer to the axially-extending line of first sleeve 21 centered on the first link position 310, so as to wrist
The deflection angle of device 31 can progressively diminish, or the opposite side of the deflection axially-extending line.
The horizontal fortune in direction where the first motor 111 drives the forward end drive part of first sleeve 21 through the above way
When dynamic, wrist unit 31 can be gradually deviated from the axially-extending line of first sleeve 21 centered on the first link position 310, so as to wrist
The deflection angle of part device 31 can progressively become big.
In addition, referring to the first fastener 2211 in Fig. 3 A and Fig. 3 B, the first end of second sleeve pipe 22 have
One fastener 2211, first fastener 2211 are used to limit axially-extending line of the wrist unit to the first sleeve
Side carry out yaw motion when maximum deflection angle (part that the first fastener is located on L2 straight lines in Fig. 3 B can limit wrist
The deflection angle of part device 31, can prevent that the deflection angle of wrist unit 31 is excessive), first fastener 2211 is additionally operable to
Limiting the wrist unit 31, (first does not engage position to the opposite side deflection to the axially-extending line of the first sleeve in Fig. 3 B
The deflection to opposite side of wrist unit 31 can be limited in the part on L1 straight lines).
According to being actually needed, the first fastener positions and dimensions can be designed, so as to prevent the inclined of wrist unit
Gyration is excessive and prevents wrist unit from being deflected to opposite side, such as using the first fastener by the maximum deflection of wrist unit 31
Angle is defined to 45 degree, can also be defined to 30 degree etc. according to being actually needed.
Referring to the diagrammatic cross-section in the A-A faces for the end executable portion that Fig. 4 A- Fig. 4 B, Fig. 4 A are the operating theater instruments, Fig. 4 B
The diagrammatic cross-section in the B-B faces of guide rod part and end executable portion for the operating theater instruments.
The wrist unit 31 includes a cavity structure, and the end performs device 32 includes the bar of plane four being sequentially connected
Mechanism 321 and end effector 322, the four-bar linkage 321 are located in the cavity structure；
The first end of the screw mandrel 20 includes the flexible portion 201 penetrated inside the cavity structure and (not shown in Fig. 4 B
Go out), the second connecting rod 5 set inside the flexible portion 201 and the cavity structure is connected, the second connecting rod 5 with it is described
First attachment structure 3211 of four-bar linkage 321 connects；
The four-bar linkage 321 is connected the wrist unit 31 with the junction of the end effector 322；
When second motor 211 drives second sliding block 213 along the second driving shaft by second driving shaft 212
212 axial reciprocating motion；Second sliding block logical 213 crosses second bearing 214 and draws the screw mandrel 20 along the first set
During the axial reciprocating motion of pipe 21, the flexible portion 321 draws described folding by the four-bar linkage 321 and transported
It is dynamic.
Assuming that the original state of end effector 322 is closed (folding angle is 0), when the second motor drives described first
Sleeve pipe 21 is to during direction horizontal movement where the end effector, and the traction plane four-bar mechanism 321 of first sleeve 21 is to institute
The direction motion where end effector is stated, then the opening degree of the end effector 322 gradually increases, and becomes such as institute in Fig. 4 B
The open mode shown.
If the original state of the end effector 322 is the open mode (folding angle be more than 0 degree) in Fig. 4 B, when the
Two motors drive the first sleeve 21 to the direction where the front-end driven part move when, the traction plane of first sleeve 21
Four-bar mechanism 321 to the direction horizontal movement where the front-end driven part, then the opening degree of the end effector 322 by
It is decrescence small, until becoming closed.
While the second motor 211 driving end effector 322 carries out open and close movement, the first motor 111 can also lead to
Cross the yaw motion that first connecting rod 4 drives wrist unit, at the same the 3rd motor 311 can also be driven by the second sleeve pipe 22 it is described
Wrist unit 31 and end effector 32 rotate along the axial direction of guide rod, and the rotary motion can also be counterclockwise
Clockwise.That is, the operating theater instruments can realize three degree of freedom (deflection, folding and the rotation of end effector 322
Turn) linkage
Second connecting rod 5 and the first attachment structure 3211 of the junction of four-bar linkage 321 are articulated structure；
The first end of the screw mandrel 20 includes the flexible portion 201 penetrated inside the cavity structure, the flexible part
201 are divided to be connected with the second connecting rods 5 set inside the cavity structure,
The four-bar linkage 321 is connected the wrist unit 31 with the junction of the end effector 322；The company
The second attachment structure 3212 for meeting place is articulated structure；
Connection between first sleeve 21 and first connecting rod 4 can be hinged, be fixedly connected with (integral type or split type fixation
Connection) etc..
The operating theater instruments can be energy instrument or non-energy apparatus, when the operating theater instruments is energy instrument, screw mandrel 20
The second end (be located at one end in front-end driven part) be connected with energy conditioner, the energy conditioner and energy input
Source connects, and the energy conditioner is used for the size for adjusting the energy that the end executable portion obtains.
In order to ensure the insulation of energy instrument, it is provided with the outer cover of the flexible portion 201 of the screw mandrel 20 of the energy instrument
Flexible insulating sleeve 2011 (referring to Fig. 4 A)；The other parts in addition to flexible portion 201 of screw mandrel 20 are coated with insulation figure layer,
So as to ensure the insulation of screw mandrel 20.
Can be specifically the scissors of operation, needle holder, tweezers, pliers, crochet hook etc. for end effector 322.Assuming that
End effector is crochet hook, because crochet hook need not do open and close movement, then can include deflection driven in front-end driven part and fill
Put and can be carried out performing the operation with rotating driving device.Assuming that end effector is needle holder, then front-end driven part is included partially
Rotary driving device, folding driving mechanism and rotating driving device, then the operating theater instruments there is Three Degree Of Freedom, these three frees degree
Linkage can enable needle holder to realize the operations such as the tissue suture of Three Degree Of Freedom.In addition, in the guide rod part
Screw mandrel connect a power supply when, electric current is reached the end executable portion by the screw mandrel so that the end executable portion energy
Enough performed the operation as a charged electrode.
The embodiment of the present invention two provides a kind of micro-wound operation robot, it is characterised in that including as described in embodiment one
Operating theater instruments.
Technical scheme in the embodiments of the present invention, at least has the following technical effect that or advantage：
A kind of operating theater instruments for micro-wound operation robot is proposed, the wrist unit of the micro-wound operation robot can
The deflection of the unilateral free degree is realized, the deflection can drive the deflection of end performs device, but not influence end execution again
The opening degree of device, and deflection of the wrist unit to opposite side is prevented, so as to significantly increase the spirit of robotic surgery operation
Activity.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
- A kind of 1. operating theater instruments for micro-wound operation robot, it is characterised in that including：The front-end driven part (1) that is sequentially connected, guide rod part (2), end executable portion (3), the end enforcement division subpackage Include wrist unit (31 and the end performs device (32) being sequentially connected；The front-end driven part (1) includes yaw drive, and the yaw drive includes the first motor (111), the One power transmission shaft (112), the first sliding block (113) and clutch shaft bearing (114), first motor (111) and first power transmission shaft (112) connect, first power transmission shaft (112) is connected with first sliding block (113)；The guide rod part (2) includes screw mandrel (20), the first sleeve (21) being set on the leading screw, and is set in described The second sleeve pipe (22) on sleeve (21)；The first end (221) of second sleeve pipe (22) is connected with the first end (311) of the wrist unit (31), and described second The junction of the first end (221) of sleeve pipe (22) and the first end (311) of the wrist unit (31) is the first link position (310)；First sliding block (113) is connected with the outer ring of the clutch shaft bearing (114), the inner ring of the clutch shaft bearing (114) with One end connection of the first sleeve (21), the first sleeve (21) pass through first connecting rod (4) and the wrist unit (31) First end connection, the junction of the first end of the first connecting rod (4) and the wrist unit (31) is the second link position (410), wherein, first link position (310) is different from second link position (410)；First motor (111) drives first sliding block (113) along first power transmission shaft by the first power transmission shaft (112) (112) axial reciprocating motion；First sliding block (113) draws the first sleeve (21) by clutch shaft bearing (114) Along the axial reciprocating motion of the first sleeve (21), the first sleeve (21) drives institute by the first connecting rod (4) State wrist unit (31) centered on first link position (310) the first sleeve (21) axially-extending line one Side carries out yaw motion；The first fastener (2211) that the first end of second sleeve pipe (22) has, first fastener (2211) are used to limit The fixed wrist unit to the side of the axially-extending line of the first sleeve carry out yaw motion when maximum deflection angle, institute State the first fastener (2211) be additionally operable to limit the wrist unit not to the first sleeve axially-extending line opposite side Deflection.
- 2. operating theater instruments as claimed in claim 1, it is characterised in that：The wrist unit (31) includes cavity structure, and the end performs device (32) includes the bar machine of plane four being sequentially connected Structure (321) and end effector (322), the four-bar linkage (321) are located in the cavity structure；The first end of the screw mandrel (20) includes the flexible portion (201) penetrated inside the cavity structure, the flexible part (201) are divided to be connected with the second connecting rod (5) set inside the cavity structure, second connecting rod (5 and the bar machine of plane four The first attachment structure (3211) connection of structure (321)；The four-bar linkage (321) is connected the wrist unit with the junction (3212) of the end effector (322) (31)。
- 3. operating theater instruments as claimed in claim 2, it is characterised in that：The front-end driven part also includes folding driving mechanism, and the folding driving mechanism includes the second motor (211), second Power transmission shaft (212), the second sliding block (213) and second bearing (214, second motor (211) and the second driving shaft (212) connect, the second driving shaft (212) is connected with second sliding block (213)；Second sliding block (213) is connected with the outer ring of the second bearing (214), the inner ring of the second bearing (214) with The second end connection of the screw mandrel (20)；Second motor (211) drives second sliding block by second driving shaft (212) (213) along the axial reciprocating motion of the second driving shaft (212)；Second sliding block (213) passes through second bearing (214) Draw axial reciprocating motion of the screw mandrel (20) along the first sleeve (21)；The flexible portion (201) passes through the four-bar linkage and draws the end effector (322)) open and close movement.
- 4. operating theater instruments as claimed in claim 3, it is characterised in that：The end at the second end of the screw mandrel (20) is ball head structure (202), and the ball head structure (202) is filled by the first connection Put the inner ring for being fixed on the second bearing (214).
- 5. operating theater instruments as claimed in claim 1, it is characterised in that：The front-end driven part also includes rotating driving device, and the rotating driving device includes the 3rd motor (311), the 3rd Power transmission shaft (312), driving gear (313), driven gear (314), 3rd bearing (315 and fourth bearing (316, it is described 3rd electricity Machine (311) is connected by the 3rd power transmission shaft (312) with the driving gear (313), the driven gear (314) and described second The second end connection of sleeve pipe (22)；3rd motor (311) drives the driving gear (313), the driving tooth by the 3rd power transmission shaft (312) Wheel (313) is connected with the driven gear (314), and the driven gear (314) drives the second sleeve pipe (22) rotation, described Second sleeve pipe (22) draws the end executable portion rotation.
- 6. operating theater instruments as claimed in claim 1, it is characterised in that：First motor (111) includes the first lockable mechanism, and first lockable mechanism is used to keep the wrist unit (31) deflection angle.
- 7. operating theater instruments as claimed in claim 3, it is characterised in that：Second motor (211) includes the second lockable mechanism, and second lockable mechanism is used to keep the end to perform dress Put the opening degree of (32).
- 8. operating theater instruments as claimed in claim 5, it is characterised in that：3rd motor (311) includes the 3rd lockable mechanism, and the 3rd lockable mechanism is used to keep the end to perform dress Put the location of the rotation of (32).
- 9. a kind of micro-wound operation robot, it is characterised in that including the operating theater instruments as described in any one of claim 1~8.
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| CN201710641680.9A CN107334530B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
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| CN201710641680.9A CN107334530B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
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| CN107334530B CN107334530B (en) | 2021-04-16 |
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| CN111096802A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
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| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096801A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN113197670A (en) * | 2021-06-17 | 2021-08-03 | 瑞龙诺赋(上海)医疗科技有限公司 | Wrist rotating mechanism and surgical robot |
| CN114052916A (en) * | 2021-11-15 | 2022-02-18 | 山东大学 | Handheld surgical robot based on rod transmission |
| WO2023103986A1 (en) * | 2021-12-06 | 2023-06-15 | 深圳市精锋医疗科技股份有限公司 | Sleeve structure, surgical instrument and surgical robot |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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