CN107334532B

CN107334532B - Surgical robot

Info

Publication number: CN107334532B
Application number: CN201710642859.6A
Authority: CN
Inventors: 李志强; 其他发明人请求不公开姓名
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2017-07-31
Filing date: 2017-07-31
Publication date: 2021-03-19
Anticipated expiration: 2037-07-31
Also published as: WO2019024794A1; CN107334532A

Abstract

The invention relates to a surgical robot which comprises a base, an upright post, a mechanical arm and a push handle, wherein the push handle is fixedly arranged at the rear part of the upper end of the base; and a mechanical arm connecting device is arranged between the upright post and the mechanical arm. The mechanical arm connecting device not only enables the mechanical arm to obtain larger moving range and space forwards and at the left side and the right side, but also facilitates the positioning of the mechanical arm before operation so as to obtain larger operation space; the mechanical arms can be installed on four sides of the stand column, one mechanical arm can be used independently, two, three or four mechanical arms can be used simultaneously, and the mechanical arms in different positions and various combinations meet the operation requirements of different installation requirements.

Description

Surgical robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a surgical robot capable of obtaining a larger surgical space.

Background

Among the numerous medical instruments, surgical robots for various purposes are being used more and more widely in the medical field. As an important component of the field of medical devices, surgical robots have been widely used in many operating rooms around the world, such as cardiothoracic surgery, urology surgery, gynecology, and abdominal surgery. Meanwhile, with the rapid development of computer and microelectronic technologies and medical science, a large number of medical instruments are popularized and applied. These robots provide powerful assistance for surgery with computer and microelectronics support. In addition, these machines also require the operator to operate them, and are continually expanding into other fields while improving the effectiveness and precision of the surgery.

Most of the existing surgical robots are used for high-precision surgical operations such as abdominal cavities, and all of the existing surgical robots are guided by high-precision equipment such as an endoscope or a microscope, and a surgeon controls the surgical robots to complete various surgical operations.

Minimally invasive surgery represented by laparoscope is known as one of important contributions of medical science in the 20 th century to human civilization, and in the process of minimally invasive surgery, a doctor uses a slender surgical tool to probe into a human body through a tiny incision on the surface of the human body to perform the surgery. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery. However, minimally invasive surgery brings benefits to patients and also brings difficulties to doctors in handling, such as: due to the limitation of small holes on the body surface, the freedom degree of the tool is reduced to four, and the flexibility is greatly reduced; the operation direction of the doctor is opposite to the expected direction, and the coordination is poor; a doctor can only obtain operation scene information through a two-dimensional image on a monitor, and the feeling in the depth direction is lacked; the shaking of the hands of the surgeon may be amplified by the elongated surgical tools, which may adversely affect the procedure; lack of strength sensation. Therefore, the surgeon must be trained for a long period of time to perform minimally invasive surgical procedures, and even then, minimally invasive procedures are currently used only in relatively simple surgical procedures.

Therefore, there is a strong need in the field of minimally invasive surgery for a surgical robot to extend the ability of a surgeon to perform a surgical procedure so as to obtain a larger surgical space and enable the surgeon to more easily perform the minimally invasive surgical procedure.

Disclosure of Invention

In order to solve the problems, the invention provides a surgical robot which can enlarge the moving range and space of a mechanical arm of the surgical robot and obtain larger surgical space.

The invention provides a surgical robot which comprises a base, an upright post, a mechanical arm and a push handle, wherein the push handle is fixedly arranged at the rear part of the upper end of the base; and a mechanical arm connecting device is arranged between the upright post and the mechanical arm.

In one embodiment, the upright is a cylindrical structure with a square cross section, and the mechanical arm can be mounted on four side walls of the upright.

In one embodiment, the flanges on opposite side walls of the column are fitted with robotic arm attachment means.

In one embodiment, the robot arm connecting device includes: the pipeline comprises a first pipe section and a second pipe section which are hollow inside, wherein the central axis of the first pipe section is vertical to the central axis of the second pipe section, one end of the first pipe section is provided with a first flange, the other end of the first pipe section is vertically connected with one end of the second pipe section, and the other end of the second pipe section is provided with a second flange; the first flange plate is connected with an upright post of the surgical robot, and the second flange plate is connected with a mechanical arm of the surgical robot.

In one embodiment, the first flange plate comprises an upper flange plate and a lower flange plate, the upper flange plate and the lower flange plate are symmetrical up and down, two ends of the upper flange plate and two corresponding ends of the lower flange plate form a notch respectively, and the first pipe section is provided with a wire inlet hole respectively at the two notches.

In one embodiment, the first flange is provided with at least one mounting groove for mounting a screw, each mounting groove is provided with a bolt hole, and the second flange is also provided with at least one bolt hole.

In one embodiment, the first tube segment, the second tube segment, the first flange, and the second flange are a unitary structure.

In one embodiment, a vertical lift system is also included, comprising:

each fixed pulley is arranged at the upper end of each side wall of the upright post;

two movable pulleys are arranged below the fixed pulley on the same side wall and are linked with the mechanical arm;

each two rope head seats are arranged on two sides of the fixed pulley on the same side wall;

one ends of the two steel wire ropes are respectively wound on the two movable pulleys through the fixed pulley and finally connected with the rope head seat, and the other ends of the two steel wire ropes are connected with the balance weight inside the upright post.

In one embodiment, a power-off electromagnetic brake is also included and is used to brake the vertical lift system in the event of an unexpected power outage.

In one embodiment, the front wall of the base is provided with a support leg mounting structure for mounting a support leg, and the support leg is in interference fit with a support leg mounting structure shaft hole.

According to the structure, the invention has the advantages that: (1) the mechanical arm connecting device is arranged between the stand column and the mechanical arm, the structural form of the mechanical arm moving range of the surgical robot can be enlarged, in addition, the mechanical arm connecting device is L-shaped, the two ends of the mechanical arm connecting device are respectively provided with the flange plate, one end of the mechanical arm connecting device can be connected with the stand column, and the other end of the mechanical arm connecting device can be connected with the mechanical arm, so that the mechanical arm can be driven to move up and down on the stand column while the connecting strength of the mechanical arm and the stand column is ensured, the mechanical arm can obtain larger moving range and space forwards and on the left side and the right side, and the; (2) the stand is the column structure of transversal personally submitting the square, and the arm all can be installed to its four sides, both can an exclusive use arm, also can use two, three or four simultaneous use, and the operation demand of different installation requirements has been satisfied to the arm of different positions and multiple combination.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

FIG. 1 is a perspective view of a surgical robot according to the present invention;

FIG. 2 is a perspective view of another embodiment of the surgical robot of the present invention;

FIG. 3 is a schematic view of the internal structure of the surgical robot of the present invention;

FIG. 4 is a schematic view of the internal structure of the surgical robot of the present invention from another perspective;

FIG. 5 is a perspective view of the robot arm linkage assembly of the present invention;

fig. 6 is a schematic perspective view of another perspective view of the robot arm connecting device of the present invention.

FIG. 7 is a front cross-sectional view of the surgical robot drive clutch system of the present invention;

FIG. 8 is an enlarged view taken at the circle in FIG. 7;

FIG. 9 is a schematic view of the vertical lift system on a column according to the present invention;

FIG. 10 is a schematic view of a sliding wheel system according to the present invention;

fig. 11 is an enlarged view of fig. 9 at the circle.

In the drawings like parts are provided with the same reference numerals. The figures are not drawn to scale.

Detailed Description

The invention will be further explained with reference to the drawings.

It should be noted that, as used herein, the term "front" refers to a portion of the surgical robot close to the patient, while the term "rear" refers to a portion of the surgical robot far from the patient; as used herein, the term "upper end" is the end of the surgical robot that is remote from the ground, while the term "lower end" is the end that is near the ground.

Fig. 1 and 2 are overall perspective views of the surgical robot of the present invention. Comprises a base 1, a vertical column 2, a mechanical arm 3 and a pushing handle 4. The stand 2 is located the middle part of base 1 upper end, and pushing hands 4 is located the rear portion of base 1 upper end, and arm 3 is located on the lateral wall of stand 1.

Fig. 3 and 4 are schematic views showing the internal structure of the surgical robot of the present invention, and as can be seen from fig. 3 and 4, a robot arm connecting device 7 is disposed between the column 2 and the robot arm 3, wherein, as shown in fig. 5 and 6, the robot arm connecting device 7 includes a first pipe section 71 and a second pipe section 72, the outer walls of the first pipe section 71 and the second pipe section 72 may be circular, square or polygonal, and in this embodiment, the cross-section of the outer diameter of the first pipe section 71 and the outer diameter of the second pipe section 72 are octagonal. However, the first pipe section 71 and the second pipe section 72 are internally penetrated and have a circular hollow shape, the first pipe section 71 is perpendicular to the second pipe section 72, that is, the central axis of the first pipe section 71 is perpendicular to the central axis of the second pipe section 72, a first flange 711 is provided at one end of the first pipe section 71, the other end of the first pipe section 71 is perpendicularly connected to one end of the second pipe section 72, and a second flange 721 is provided at the other end of the second pipe section 72. The first flange 711 and the second flange 721 may be designed separately from the first pipe section 71 and the second pipe section 72, or may be designed integrally, and the first pipe section 71 and the second pipe section 72 may also be designed integrally or separately, and in a preferred embodiment, the first flange 711, the first pipe section 71, the second flange 721, and the second pipe section 72 are designed integrally.

The first flange 711 is connected to the column 2 of the surgical robot, in other words, the first flange 711 is fixedly mounted on the flange plate 68 by bolts (as shown in fig. 8 and 9), and the second flange 721 is connected to the robot arm 3 of the surgical robot.

The first flange 711 includes an upper flange 7111 and a lower flange 7112, the upper flange 7111 and the lower flange 7112 are vertically symmetrical with respect to the cross section of the horizontal shaft of the first pipe segment 71, two ends of the upper flange 7111 and two corresponding ends of the lower flange 7112 form a notch 7113, and the first pipe segment 71 is provided with a wire inlet hole 7114 at each of the two notches 7113. Wire entry hole 7114 is where a control wire for controlling arm 3 passes through wire entry hole 7114 and then enters the interior of first tube segment 71 and second tube segment 72 and is attached to arm 3.

In addition, the first flange 711 is provided with a plurality of mounting grooves 7115 for mounting screws, each mounting groove 7115 is provided with a bolt hole 7116, in this embodiment, the first flange 711 is provided with four mounting grooves 7115, the upper flange 7111 and the lower flange 7112 are respectively two and symmetrical, a flange mounting groove 682 (shown in fig. 8 and 9) is correspondingly arranged on the flange plate 68, the flange mounting groove 682 is circular and has a size corresponding to the size of the first flange 711, bolt holes are also arranged in the flange mounting groove 682 and corresponds to the mounting groove 7115 on the first flange 711, so that the mechanical arm connecting device 7 is fixed on the slide block 67 on the side of the column 2 by the first flange 711 and the flange plate 68 through bolt connection, and the mechanical arm 3 can move up and down on the side of the column 2.

The upper and lower department of second ring flange 721 respectively is equipped with a platform 7211, and the middle part of each platform 7211 all is equipped with recess 7212, is equipped with two screw holes 7213 on each platform 7211 and distributes in the both sides of recess 7212, and the ring diameter that the recess 7212 minimum end formed is greater than the diameter of the external diameter of second pipeline section 72. The second flange 721 is also provided with a plurality of bolt holes 7214.

Wherein, the base 1 is a main structure made of welding materials, the base 1 is movable, the base 1 can be driven by a motor or pushed by manpower, as shown in fig. 3, the rear part of the lower end of the base 1 is provided with two independent driving wheel systems 5, as shown in fig. 4, the front part of the lower end of the base 1 is provided with two passive universal wheels 54, wherein, as shown in fig. 3, 10 and 11, each driving wheel system 5 is provided with a driving motor 51, and the driving motors 51 can be separated from or connected with the wheel axle of the driving wheels 53 through the clutch of the clutch 52; the differential speed control of the driving motor 51 of the two driving wheel systems 5 controls the direction and the rotating speed difference of the driving wheels 53, so that the base 1 can complete the forward movement, the backward movement or the steering movement. When the motor is needed to drive the base 1, the driving motor 51 is connected with the driving wheel shaft into a whole through the clutch 52, so as to provide power for the driving wheel 53; when manual force is required to move the apparatus, the driving motor 51 is disengaged from the clutch 52, so that the driving motor 51 is separated from the driving wheel shaft, and the apparatus can be pushed by the manual force. In addition, in a preferred embodiment, the driving motor 51 may be a motor with a reverse braking function, and during the operation and movement of the base, if an emergency brake is required, a reverse braking current is applied to the driving motor 51, so that the driving motor 51 outputs a zero-rotation-speed signal, and the base 1 stops moving.

In order to be flexibly applied to occasions with different supporting requirements, the invention is provided with a supporting leg mounting structure 55 at the front end of a base 1 (as shown in figures 3 and 4), in a preferred embodiment, the invention is provided with two supporting leg mounting structures 55, namely, a supporting leg mounting structure 55 is respectively arranged at a universal wheel 54 at the front end of the base 1, the supporting leg mounting structures 55 are used for mounting movable supporting legs (not shown in the figures), one end of each supporting leg is provided with a universal wheel (not shown in the figures), the other end of each supporting leg is in interference fit with the supporting leg mounting structure 55 through a shaft hole, so that the sufficient connecting strength between the supporting leg and the base 1 is ensured, as the supporting leg can be fixedly mounted at the front end of the base 1 through the supporting leg mounting structure 55, and the front end of each supporting leg is also provided with a universal wheel, so that the base 1 passes, the supporting distance of the base 1 in the length direction is increased, so that the invention can be flexibly applied to occasions with different supporting requirements.

In addition, as shown in fig. 4 and 10, three supporting feet 56 are further provided at the bottom of the base 1, the three supporting feet 56 are used for stabilizing the base 1, a rubber pad (not shown) is provided at a contact surface of each supporting foot 56, which is in contact with the bottom surface, and is used for increasing the friction force between the base 1 and the contact surface, wherein two of the three supporting feet 56 are located at a universal wheel 54 (shown in fig. 4) at the front part of the lower end of the base, one of the supporting feet 56 is located between two driving wheels 53 (shown in fig. 10) at the rear part of the lower end of the base 1, a braking plate 57 (shown in fig. 1, fig. and fig. 3) is provided at the supporting foot between the driving wheels 53, and the braking; when the base moves to a designated position 1, the brake plate 57 is stepped down, the three supporting legs 56 extend downwards and contact with the ground, and the surgical robot generates a large friction force with the ground through the self weight and the rubber pad, so that the surgical robot is prevented from moving due to other external forces after being parked.

An upright post 2 is fixedly mounted at the upper end of the base 1, the upright post 2 can be a cylindrical structure such as a circle, a square, a rectangle or a polygon, in a preferred embodiment, the upright post 2 is a cylindrical structure with a square cross section, and four side surfaces of the upright post 2 can be used for mounting a mechanical arm 3 (as shown in fig. 1 and 2). Meanwhile, only one mechanical arm 3 can be selected to be installed according to actual requirements in the operation, and two, three or four mechanical arms 3 can be selected to be installed simultaneously. In addition, the robot arm 3 can be moved up and down on the column 2 by the vertical lift system 6.

In a preferred embodiment, the vertical lift system 6 includes a sliding wheel system, a robotic arm guide rail, and a counterweight guide rail.

As shown in fig. 3, 4, 7 and 8, the sliding wheel system has four sets of four directions respectively arranged at the upper end of the upright 2, each set of sliding wheel system has a fixed pulley 61, two movable pulleys 62 and two steel cables 63, the fixed pulley 61 is fixed on the upper end face of the upright 2, the axis of the fixed pulley 61 is parallel to the edge of the upper end face of the upright 2, the two movable pulleys 62 are located on the side face of the upright 2, the axis of the fixed pulley 61 is perpendicular to the axis of the two movable pulleys 62, the fixed pulley 61 is located between the two movable pulleys 62, one end of each of the two steel cables 63 is connected to the inside of the upright 2 together and is provided with a counterweight 64, and the other end of each of the two steel cables 63 is wound around the fixed pulley 61 (the two steel cables 63 are parallel to each other on the fixed pulley 61), then is wound around the corresponding movable pulley 62, and finally fixed on. The rope head bases 65 are fixed on the upper end of the upright post 2 and are respectively arranged at the outer side edges of the corresponding movable pulleys 62.

As shown in fig. 3, 4, 7, 8 and 9, a robot guide rail 66 is respectively arranged on four side walls of the column 2, a sliding block 67 is arranged on the guide rail, a flange plate 68 is fixedly arranged on the outer side surface of the sliding block 67, the flange plate 68 is used for connecting the robot 3, a connecting plate 681 is arranged at the upper end of the flange plate 68, and the connecting plate 681 is respectively fixed on the wheel shafts of the two movable pulleys 62 through two bolts, so that the robot 3 can move up and down on the robot guide rail 66 by means of the flange plate 68 and the sliding block 67. In addition, the invention is also provided with a power-off type electromagnetic brake 69, the power-off type electromagnetic brake 69 and the fixed pulley 61 are coaxially arranged, and the structure can move the mechanical arm 3 upwards in a manual mode when accidental power failure and power-off brake coupling occur, and meanwhile, the downward sliding is prevented. And the mechanical arm 3 can be moved to transfer the patient when accidental power failure occurs in the operation process.

The upright column 2 is a hollow columnar structure, a counterweight guide rail is arranged on the inner side of the upright column 2, the counterweight guide rail is used for moving a counterweight 8 at the center of the upright column 2 up and down (as shown in fig. 7), and the increase and decrease of the counterweight 8 are used for matching with the mechanical arm 3 to move up and down on a mechanical arm guide rail. When the movable pulley 62 drives the mechanical arm 3 on the flange plate 68 to move downwards, the balance weight 8 is reduced; when the movable pulley 62 drives the mechanical arm 3 on the flange plate 68 to move upwards, the counterweight 8 is added.

In a preferred embodiment, the back part of the surgical robot of the invention is provided with a push handle 4, the push handle 4 is positioned at the back part of the upper end of the base 1, the push handle 4 is fixed by a bracket 41 fixed at the back part of the upper end of the base 1, in a preferred embodiment, the push handle 4 is designed by combining a bottom cast aluminum structure and a top injection molding piece, and the force contact point of the push handle 4 is in an arc shape, the structural design of the push handle 4 not only enables the bottom of the push handle 4 to bear enough push force, but also enables the top of the push handle 4 to meet certain modeling design requirements.

Referring to fig. 1 and 2, the column 2 in the embodiment of the present invention is a cylindrical structure with a square cross section, the robot arms 3 are disposed on four sides of the column 2, and the robot arms 3 on four side walls can move up and down on the column 2 by means of a sliding wheel system, wherein, in a preferred embodiment, the robot arm connecting devices 7 are disposed on the flange plates 68 of the opposite left and right side walls of the column 2, while the robot arm connecting devices 7 are not disposed on the opposite two side walls close to and far from the patient, so that the robot arms 3 on the left and right side walls of the column 2 can have a larger range of motion and a larger space in the forward direction and in the left and right sides.

Therefore, as can be seen from the above, the present invention has the following advantages: (1) the mechanical arm connecting device 7 is arranged between the stand column 2 and the mechanical arm 3, the structural form of the movement range of the mechanical arm 3 of the surgical robot can be enlarged, in addition, the mechanical arm connecting device 7 is L-shaped, the two ends of the mechanical arm connecting device are respectively provided with a flange plate, one end of the mechanical arm connecting device can be connected with the stand column 2, and the other end of the mechanical arm connecting device can be connected with the mechanical arm 3, so that the mechanical arm 3 can be driven to move up and down on the stand column 2 while the connection strength of the mechanical arm 3 and the stand column 2 is ensured, the mechanical arm 3 can obtain larger movement range and space forwards and on the left side and the right side, and the mechanical; (2) the stand 2 is the column structure of cross section personally submitting the square, and arm 3 all can be installed to its four sides, both can an exclusive use arm 3, also can use two, three or four simultaneous use, and the operation demand of different installation requirements has been satisfied to the arm 3 of different positions and multiple combination.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A surgical robot is characterized by comprising a base, a stand column, a mechanical arm, a pushing handle and a vertical lifting system, wherein the pushing handle is fixedly arranged at the rear part of the upper end of the base; an arm connecting device is arranged between the upright post and the mechanical arm; the vertical lift system comprises: each fixed pulley is arranged at the upper end of each side wall of the upright post; two movable pulleys are arranged below the fixed pulley on the same side wall and are linked with the mechanical arm; each two rope head seats are arranged on two sides of the fixed pulley on the same side wall; one ends of the two steel wire ropes are respectively wound on the two movable pulleys through the fixed pulley and are finally connected with the rope head seat, and the other ends of the two steel wire ropes are connected with the balance weight inside the upright post;

the arm connecting device includes: the pipeline comprises a first pipe section and a second pipe section which are hollow inside, wherein the central axis of the first pipe section is vertical to the central axis of the second pipe section, one end of the first pipe section is provided with a first flange, the other end of the first pipe section is vertically connected with one end of the second pipe section, and the other end of the second pipe section is provided with a second flange; the first flange plate is connected with an upright post of the surgical robot, and the second flange plate is connected with a mechanical arm of the surgical robot;

and the power-off electromagnetic brake is also used for braking the vertical lifting system when power is unexpectedly cut off.

2. The surgical robot of claim 1, wherein the column has a square cross-section and is cylindrical, and the mechanical arm is mounted on each of four side walls of the column.

3. A surgical robot as claimed in claim 1, wherein arm attachment means are mounted to flanges on opposite side walls of the post.

4. The surgical robot of claim 1, wherein the first flange comprises an upper flange and a lower flange, the upper flange and the lower flange are vertically symmetrical, two ends of the upper flange and two corresponding ends of the lower flange form a notch, and the first tube section is provided with a wire inlet hole at each of the two notches.

5. A surgical robot as claimed in claim 1, wherein the first flange has at least one mounting slot for mounting a screw thereon, each mounting slot having a bolt hole therein, and the second flange has at least one bolt hole therein.

6. A surgical robot as claimed in claim 1, wherein the first tube section, the second tube section, the first flange and the second flange are of unitary construction.

7. A surgical robot as claimed in any of claims 1 to 6, wherein the front wall of the base is provided with a support leg mounting structure for mounting a support leg, the support leg being in interference fit with the support leg mounting structure shaft hole.