CN109091238B - Split type minimally invasive surgical instrument auxiliary system - Google Patents

Split type minimally invasive surgical instrument auxiliary system Download PDF

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Publication number
CN109091238B
CN109091238B CN201711314232.4A CN201711314232A CN109091238B CN 109091238 B CN109091238 B CN 109091238B CN 201711314232 A CN201711314232 A CN 201711314232A CN 109091238 B CN109091238 B CN 109091238B
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China
Prior art keywords
rod
slave
hand
seat
main
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CN201711314232.4A
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CN109091238A (en
Inventor
李建民
孔康
张淮锋
杨英侃
王炳强
孙之建
王树新
于纪团
江万里
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Shandong Weigao Operation Robot Co ltd
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Shandong Weigao Operation Robot Co ltd
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Priority to CN201710473899 priority Critical
Priority to CN2017104738992 priority
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Publication of CN109091238A publication Critical patent/CN109091238A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/302Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Abstract

The invention relates to a split type minimally invasive surgical instrument auxiliary system, which solves the technical problems that in the operation process of the existing minimally invasive surgery, operation tools are complex to operate and low in flexibility, eye and hand movement of doctors is not coordinated during operation, and the hand shaking of the doctors can influence the operation quality. The invention is widely applied to the technical field of medical instruments.

Description

Split type minimally invasive surgical instrument auxiliary system
Technical Field
The invention relates to medical equipment in the technical field of medical instruments, in particular to a split type minimally invasive surgical instrument auxiliary system which can clamp surgical tools to assist doctors in performing minimally invasive surgery.
Background
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 minimally invasive surgery operation refers to operation performed by a doctor who uses a slender surgical tool to probe into a human body through a tiny incision on the surface of the human body. 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: 1) 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; 2) the operation direction of the doctor is opposite to the expected direction, the movement of eyes and hands is not coordinated, and the fatigue is easy to occur; 3) 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; 4) the shaking of the hands of the surgeon may be amplified by the elongated surgical tools, which may adversely affect the procedure; 5) 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 an auxiliary device to extend the ability of the surgeon to overcome the above-mentioned disadvantages and enable the surgeon to more easily perform minimally invasive surgical procedures.
Disclosure of Invention
The invention provides the split type minimally invasive surgery instrument auxiliary system which is simple to operate, high in flexibility and not easy to cause the fatigue of doctors, and aims to solve the technical problems that operation tools are complex to operate and low in flexibility in the existing minimally invasive surgery operation process, eye and hand motions are not coordinated when doctors operate, and the operation quality is affected by hand shaking of the doctors.
The invention provides a split type minimally invasive surgical instrument auxiliary system which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the motion information of hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright, a display and a lifting base, wherein the main lifting upright is connected with the base, the lifting base is connected with the main lifting upright, and the display is connected with the main lifting upright; the lifting base is connected with two main hand translation passive arms, and each main hand translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; two slave end sliding rods are connected to the lifting seat, and each slave end sliding rod is connected with an instrument operating arm;
the main hand translation driven arm comprises a main end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of a driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the main end sliding rod end is fixedly connected with the lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the main end connecting rod is rotatably connected with a passive connecting rod II, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the first motor of the master hand is connected to the driven connecting rod II, and the output shaft of the first motor of the master hand is connected with the connecting rod at the main end; the wrist sliding seat is connected with a linear module, a primary hand wrist is connected with the linear module, a primary hand second motor is connected to the primary end connecting rod, an output shaft of the primary hand second motor is connected with the wrist sliding seat through a transmission mechanism, and an output shaft of a primary hand third motor is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, wherein the connecting rod seat is rotationally connected with the slave end base; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; the slave end base is fixedly connected with the slave end sliding rod 7.
Preferably, the slave hand driving synchronous transmission mechanism is a synchronous transmission mechanism which comprises a slave hand driving pulley, a slave hand driving synchronous belt and a slave hand first rotating pulley, wherein the slave hand driving pulley is connected with an output shaft of the connecting rod driving motor, the slave hand first rotating pulley is connected to a slave hand first fixing shaft through a bearing, and the bottom of the slave end connecting rod I is fixedly connected with the slave hand first rotating pulley;
the first slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a second slave hand rotating belt wheel, a first slave hand fixing belt wheel and a first slave hand synchronous belt, wherein the second slave hand rotating belt wheel is connected with a second slave hand fixing shaft through a bearing, and the first slave hand fixing belt wheel is fixedly connected to the first slave hand fixing shaft;
the second slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a third slave hand rotating belt wheel, a second slave hand fixing belt wheel and a second slave hand synchronous belt, the second slave hand fixing belt wheel is fixedly connected to the second slave hand fixing shaft, and the middle adapter is fixedly connected with the third slave hand rotating belt wheel;
the connecting rod seat structure is in an inverted L shape.
Preferably, the instrument lifting seat is parallel to the slave end connecting rod I, and the slave end connecting rod II is parallel to the rotating axis direction of the connecting rod seat;
the first motor of the main hand, the second motor of the main hand and the third motor of the main hand are respectively connected with an encoder.
Preferably, the linear lifting module comprises an instrument driving screw rod and an instrument driving seat, two ends of the instrument driving screw rod are connected to the instrument lifting seat through bearings, the instrument driving seat is fixedly connected with a nut on the instrument driving screw rod, the instrument seat is fixedly connected with the instrument driving seat, and an instrument lifting motor is connected with the instrument driving screw rod.
Preferably, the linear module on the wrist sliding seat comprises a main hand screw rod and a wrist seat, the wrist seat is connected with a nut on the main hand screw rod, the main hand wrist is fixedly connected with the wrist seat, and a third main hand motor is connected with the main hand screw rod.
Preferably, the main wrist comprises an L-shaped wrist fixing connecting rod and an L-shaped wrist connecting rod I, L-shaped wrist connecting rod II, the L-shaped wrist connecting rod I is connected with the bottom of the L-shaped wrist fixing connecting rod through a bearing, and the L-shaped wrist connecting rod II is connected with the L-shaped wrist connecting rod I through a bearing; one end of the L-shaped wrist connecting rod II is connected with an operating handle, and the other end of the L-shaped wrist connecting rod II is connected with an opening and closing seat through a bearing; the bottom of the L-shaped wrist fixing connecting rod is connected with a first wrist motor, the side surface of the L-shaped wrist connecting rod I is connected with a second wrist motor, and the bottom of the L-shaped wrist connecting rod II is connected with a third wrist motor; an output shaft of the first wrist motor is connected with an L-shaped wrist connecting rod I through a bevel gear, a second wrist motor is connected with an L-shaped wrist connecting rod II through a bevel gear, and a third wrist motor is connected with the opening and closing seat through a bevel gear; the L-shaped wrist fixing connecting rod is fixedly connected with the wrist seat;
the first wrist motor, the second wrist motor and the third wrist motor are respectively connected with an encoder.
Preferably, the output shaft of the first motor from the hand is connected with the rotary connecting shaft through a bevel gear pair.
Preferably, a slave end translation driven arm is arranged between the instrument operation arm and the slave end slide bar, and comprises a slave end slide bar end, a driven connecting bar I, a driven connecting bar II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt, a second synchronous toothed belt and a slave end base driving motor; one end of the driven connecting rod I is connected with the end of the driven end sliding rod through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of a driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the slave end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the passive connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the driven end base driving motor is connected with the second rotating belt wheel, and an output shaft of the driven end base driving motor is fixedly connected with the driven end base; the end of the slave end sliding rod is fixedly connected with the lifting base.
Preferably, a slave end translation driven arm is arranged between the instrument operation arm and the slave end sliding rod and comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral tail end seat, a first driven connecting rod, a second driven connecting rod, a third driven connecting rod and a fourth driven connecting rod, the lengths of the first driven connecting rod and the second driven connecting rod are equal, and the lengths of the third driven connecting rod and the fourth driven connecting rod are equal; one end of the first driven connecting rod and one end of the second driven connecting rod are respectively and rotatably connected to the quadrilateral fixed seat, and the other ends of the first driven connecting rod and the second driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat; one end of the third driven connecting rod and one end of the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat, and the other ends of the third driven connecting rod and the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral end seat; a quadrilateral first band-type brake is connected to the quadrilateral fixed seat, and a quadrilateral second band-type brake is connected to the quadrilateral middle seat; the quadrilateral fixed seat is fixedly connected with the slave end sliding rod, and the quadrilateral tail end seat is fixedly connected with the slave end seat.
The invention also provides a split type minimally invasive surgical instrument auxiliary system which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the movement information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright, a display and a lifting base, wherein the main lifting upright is connected with the base, the lifting base is connected with the main lifting upright, and the display is connected with the main lifting upright; the lifting base is connected with two main hand translation passive arms, and each main hand translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; two slave end sliding rods are connected to the lifting seat, and each slave end sliding rod is connected with an instrument operating arm;
the master hand translation passive arm comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral end seat, a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod, wherein the first passive connecting rod and the second passive connecting rod are equal in length, and the third passive connecting rod and the fourth passive connecting rod are equal in length; one end of the first driven connecting rod and one end of the second driven connecting rod are respectively and rotatably connected to the quadrilateral fixed seat, and the other ends of the first driven connecting rod and the second driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat; one end of the third driven connecting rod and one end of the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat, and the other ends of the third driven connecting rod and the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral end seat; a quadrilateral first band-type brake is connected to the quadrilateral fixed seat, and a quadrilateral second band-type brake is connected to the quadrilateral middle seat; the quadrilateral fixing seat is fixedly connected with the lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the main hand first motor is connected to the quadrilateral tail end seat, and an output shaft of the main hand first motor is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, a primary hand wrist is connected with the linear module, a primary hand second motor is connected to the primary end connecting rod, an output shaft of the primary hand second motor is connected with the wrist sliding seat through a transmission mechanism, and an output shaft of a primary hand third motor is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, wherein the connecting rod seat is rotationally connected with the slave end base; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; the slave end base is fixedly connected with the slave end sliding rod.
Preferably, the slave hand driving synchronous transmission mechanism is a synchronous transmission mechanism which comprises a slave hand driving pulley, a slave hand driving synchronous belt and a slave hand first rotating pulley, wherein the slave hand driving pulley is connected with an output shaft of the connecting rod driving motor, the slave hand first rotating pulley is connected to a slave hand first fixing shaft through a bearing, and the bottom of the slave end connecting rod I is fixedly connected with the slave hand first rotating pulley;
the first slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a second slave hand rotating belt wheel, a first slave hand fixing belt wheel and a first slave hand synchronous belt, wherein the second slave hand rotating belt wheel is connected with a second slave hand fixing shaft through a bearing, and the first slave hand fixing belt wheel is fixedly connected to the first slave hand fixing shaft;
the second slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a third slave hand rotating belt wheel, a second slave hand fixing belt wheel and a second slave hand synchronous belt, the second slave hand fixing belt wheel is fixedly connected to the second slave hand fixing shaft, and the middle adapter is fixedly connected with the third slave hand rotating belt wheel;
the connecting rod seat structure is in an inverted L shape.
The invention also provides a split type minimally invasive surgical instrument auxiliary system which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the movement information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright, a display and a lifting base, wherein the main lifting upright is connected with the base, the lifting base is connected with the main lifting upright, and the display is connected with the main lifting upright; the lifting base is connected with two main hand translation passive arms, and each main hand translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; two slave end sliding rods are connected to the lifting seat, and each slave end sliding rod is connected with an instrument operating arm;
the main hand translation driven arm comprises a main end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of a driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the main end sliding rod end is fixedly connected with the lifting base;
the doctor operating arm comprises a driven connecting rod II, a main end connecting rod, a deflection connecting rod, a first coupling connecting rod, a second coupling connecting rod, a main hand first motor, a main hand second motor, a main hand lifting power-assisted motor, an upper coupling wheel, a lower coupling wheel and a main hand wrist, wherein the main end connecting rod is rotationally connected with the driven connecting rod II, the deflection connecting rod is rotationally connected with the main end connecting rod, the first coupling connecting rod is rotationally connected with the lower part of the deflection connecting rod, the second coupling connecting rod is rotationally connected with the lower end of the first coupling connecting rod, the main hand wrist is fixedly connected with the second coupling connecting rod, the main hand first motor is connected onto the driven connecting rod II, and an output shaft of the main hand first motor is connected with the main end connecting rod; the main hand second motor is connected to the main end connecting rod, and an output shaft of the main hand second motor is connected with a rotating part between the deflection connecting rod and the main end connecting rod through a transmission mechanism; the main hand lifting power-assisted motor is connected to the deflection connecting rod, and an output shaft of the main hand lifting power-assisted motor is connected with a rotating part between the first coupling connecting rod and the deflection connecting rod; the upper coupling wheel is fixedly connected to the lower part of the deflection connecting rod; the lower coupling wheel is fixedly connected to the second coupling connecting rod and is rotationally connected to the lower end of the first coupling connecting rod together with the second coupling connecting rod through a bearing, and the upper coupling wheel and the lower coupling wheel are connected through a coupling synchronization device;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, wherein the connecting rod seat is rotationally connected with the slave end base; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; the slave end base is fixedly connected with the slave end sliding rod.
Preferably, the slave hand driving synchronous transmission mechanism is a synchronous transmission mechanism which comprises a slave hand driving pulley, a slave hand driving synchronous belt and a slave hand first rotating pulley, wherein the slave hand driving pulley is connected with an output shaft of the connecting rod driving motor, the slave hand first rotating pulley is connected to a slave hand first fixing shaft through a bearing, and the bottom of the slave end connecting rod I is fixedly connected with the slave hand first rotating pulley;
the first slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a second slave hand rotating belt wheel, a first slave hand fixing belt wheel and a first slave hand synchronous belt, wherein the second slave hand rotating belt wheel is connected with a second slave hand fixing shaft through a bearing, and the first slave hand fixing belt wheel is fixedly connected to the first slave hand fixing shaft;
the second slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a third slave hand rotating belt wheel, a second slave hand fixing belt wheel and a second slave hand synchronous belt, the second slave hand fixing belt wheel is fixedly connected to the second slave hand fixing shaft, and the middle adapter is fixedly connected with the third slave hand rotating belt wheel;
the connecting rod seat structure is in an inverted L shape;
the upper coupling wheel is a large coupling belt wheel, the lower coupling wheel is a small coupling belt wheel, and the large coupling belt wheel is connected with the small coupling belt wheel through a coupling synchronous belt;
the transmission ratio between the large coupling belt wheel and the small coupling belt wheel is 2, and the lengths of the first coupling connecting rod and the second coupling connecting rod are equal.
Preferably, the two instrument manipulation arms are symmetrically arranged.
The invention also provides a split type minimally invasive surgical instrument auxiliary system which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the movement information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright post, a display, a left lifting base and a right lifting base, the main lifting upright post is connected with the base, the left lifting base and the right lifting base are respectively connected with the main lifting upright post, and the display is connected with the main lifting upright post; the left lifting base and the right lifting base are respectively connected with a master translation passive arm, and each master translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; two slave end sliding rods are connected to the lifting seat, and each slave end sliding rod is connected with an instrument operating arm;
the main hand translation driven arm comprises a main end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of a driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the main end sliding rod end is fixedly connected with the left lifting base or the right lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the main end connecting rod is rotatably connected with a passive connecting rod II, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the first motor of the master hand is connected to the driven connecting rod II, and the output shaft of the first motor of the master hand is connected with the connecting rod at the main end; the wrist sliding seat is connected with a linear module, a primary hand wrist is connected with the linear module, a primary hand second motor is connected to the primary end connecting rod, an output shaft of the primary hand second motor is connected with the wrist sliding seat through a transmission mechanism, and an output shaft of a primary hand third motor is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, wherein the connecting rod seat is rotationally connected with the slave end base; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; the slave end base is fixedly connected with the slave end sliding rod.
The invention also provides a split type minimally invasive surgical instrument auxiliary system which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the movement information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright post, a display, a left lifting base and a right lifting base, the main lifting upright post is connected with the base, the left lifting base and the right lifting base are respectively connected with the main lifting upright post, and the display is connected with the main lifting upright post; the left lifting base and the right lifting base are respectively connected with a master translation passive arm, and each master translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; two slave end sliding rods are connected to the lifting seat, and each slave end sliding rod is connected with an instrument operating arm;
the master hand translation passive arm comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral end seat, a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod, wherein the first passive connecting rod and the second passive connecting rod are equal in length, and the third passive connecting rod and the fourth passive connecting rod are equal in length; one end of the first driven connecting rod and one end of the second driven connecting rod are respectively and rotatably connected to the quadrilateral fixed seat, and the other ends of the first driven connecting rod and the second driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat; one end of the third driven connecting rod and one end of the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat, and the other ends of the third driven connecting rod and the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral end seat; a quadrilateral first band-type brake is connected to the quadrilateral fixed seat, and a quadrilateral second band-type brake is connected to the quadrilateral middle seat; the quadrilateral fixing seat is fixedly connected with the left lifting base or the right lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the main hand first motor is connected to the quadrilateral tail end seat, and an output shaft of the main hand first motor is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, a primary hand wrist is connected with the linear module, a primary hand second motor is connected to the primary end connecting rod, an output shaft of the primary hand second motor is connected with the wrist sliding seat through a transmission mechanism, and an output shaft of a primary hand third motor is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, wherein the connecting rod seat is rotationally connected with the slave end base; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; the slave end base is fixedly connected with the slave end sliding rod.
Compared with the prior art, the split type minimally invasive surgical instrument auxiliary system disclosed by the invention has the following beneficial effects:
(1) the auxiliary system of the minimally invasive surgical instrument is simple to operate and high in flexibility, and can overcome the problem of inconsistent eye and hand movement in the prior minimally invasive technology, further reduce the surgical fatigue of doctors and ensure the surgical quality.
(2) The condition that the shaking of the hands of the doctor is amplified by a slender surgical tool can not occur, and the stability of the surgical process is ensured.
(3) Compared with the minimally invasive surgery robot technology, the minimally invasive surgery instrument auxiliary system has the advantages of small volume, light weight, easiness in use and the like, can be used with conventional minimally invasive surgery instruments/equipment, and reduces surgery cost.
(4) The minimally invasive surgical instrument auxiliary system adopts a modular design, can be provided with various types of high-flexibility surgical instruments, and simplifies complex surgical operation under the condition of minimally invasive constraint.
(5) The master operation table is a motion input device of the system, the slave operation device is an execution mechanism, namely, a doctor controls the slave operation device to execute minimally invasive surgery operation by operating the master operation table, namely, the doctor controls two surgical instruments to act by using the left hand and the right hand respectively. The main console and the slave console may be connected by a cable, a wireless information transmission device, or the like. The invention has the function of remote and teleoperation type minimally invasive surgery.
(6) The slave manipulator may be placed in an operating room and the master console in a single room isolated from the operating room. In this way, the doctor is isolated from the patient.
(6) The operation device can be folded together, and the folding type folding table is small in size and small in occupied space.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic diagram of the general layout of a split minimally invasive surgical instrument assistance system of the present invention;
FIG. 2 is a schematic view of the slave operation device;
FIG. 3 is a schematic view of a locking structure of the rotary motion of a cross beam in the split type minimally invasive surgical instrument auxiliary system;
FIG. 4 is a schematic view of a connection structure between a cross beam and a telescopic rod in the split type minimally invasive surgical instrument auxiliary system;
FIG. 5 is a schematic view of a connection structure of a first slave end slide bar or a second slave end slide bar and a lifting seat in the split type minimally invasive surgical instrument auxiliary system;
fig. 6 is a schematic structural view of an alternative of a lifting structure between a first slave end slide bar or a second slave end slide bar and a lifting seat on the slave operation device, wherein (a) shows a structure for providing power for a belt transmission mechanism, and (b) shows a structure for realizing lifting in a counterweight manner;
FIG. 7 is a schematic diagram of an embodiment of a slave operating device based on a pure translational passive arm with synchronous belt drive;
FIG. 8 is a schematic diagram of the locking mechanism of the passive link II for pure translation of the passive arm based on synchronous belt drive;
FIG. 9 is a schematic view of the overall rotational configuration of the instrument manipulation arm;
FIG. 10 is a schematic illustration of a collapsible and extendable configuration in the instrument manipulation arm;
FIG. 11 is a schematic view of the instrument manipulation arm meeting the requirements of a minimally invasive surgical procedure;
FIG. 12 is a schematic view of the instrument arm in a folded state;
FIG. 13 is a schematic structural view of an embodiment of a linkage-based transmission employed by the instrument manipulation arm;
FIG. 14 is a schematic view of a multiple degree of freedom surgical instrument employed by the minimally invasive surgical instrument assistance system;
FIG. 15 is a schematic view of the structure of the slave operation device;
FIG. 16 is a schematic diagram of a pure translational passive arm based on a synchronous belt drive on the main operating table;
FIG. 17 is a schematic view of the locking mechanism of the passive linkage II of FIG. 16;
FIG. 18 is a schematic structural view of one embodiment of a physician's manipulation arm;
FIG. 19 is a schematic view showing the structure of the wrist part of the main hand, (a) is a view showing a front view angle, and (b) is a view showing a rear view angle;
FIG. 20 is a schematic structural view of a split minimally invasive surgical instrument assistance system in the form of a pure translational passive arm linkage;
FIG. 21 is a schematic view of the structure of FIG. 20 satisfying translational movement;
FIG. 22 is a structural diagram of a coupling link form of a doctor operating arm in the split type minimally invasive surgical instrument auxiliary system;
FIG. 23 is a schematic view of the constraint condition of FIG. 22 in which two rotating links achieve pure linear motion;
fig. 24 is a kinematic exploded view of the structure shown in fig. 22.
FIG. 25 is a schematic view of a split-type minimally invasive surgical instrument auxiliary system and an existing minimally invasive instrument combined auxiliary operation layout;
FIG. 26 is a schematic view of a surgeon performing a surgical procedure using a split minimally invasive surgical instrument assistance system.
The symbols in the drawings illustrate that:
100. the system comprises a main operating platform, a slave operating device, a base, a handrail beam, a main lifting column, a display, a lifting base and a lifting base, wherein the main operating platform comprises 200, the slave operating device comprises 110, the base, 120, the handrail beam, 130, the main lifting column, 150, the display, 160, the lifting base, 170, a first main hand translation driven arm and 180, a second main hand translation driven arm; 1. the base, 2, the upright post, 3, the beam, 4, the telescopic rod, 5, the lifting seat, 6, the first slave end slide bar, 7, the second slave end slide bar, 2100, the first instrument operating arm, 2200, the second instrument operating arm, 21, the beam brake, 30, the guide rail, 31, the guide rail slide block, 32, the rack, 33, the gear, 51, the booster motor seat, 52, the booster motor, 53, the brake, 54, the ball screw seat, 55, the ball screw, 56, the ball screw nut, 57, the spline seat, 501, the booster motor, 502, the synchronous pulley, 503, the synchronous pulley, 504, the brake, 505, the synchronous belt, 506, the connecting piece, 507, the chain, 508, the chain wheel, 509, the counterweight, 101, the passive connecting rod I, 102, the passive connecting rod II, 103, the main end connecting rod, 104, the wrist slide seat, 105, the main wrist, 201, the slave end base, 202, the connecting rod seat, 203, the slave end connecting rod I, 204, the slave end connecting rod II, 205. the instrument base, 206, the instrument lifting base, 207, the surgical instrument, 208, the long shaft, 209, the instrument lifting base, 1010, a main end sliding rod end, 1011, a first band brake, 1012, a first synchronous cog belt, 1013, a first fixed pulley, 1014, a first rotating pulley, 1015, a hollow shaft, 1016, a connecting shaft, 1021, a second band brake, 1022, a second synchronous cog belt, 1023, a second fixed pulley, 1024, a second rotating pulley, 90, a main hand first motor, 91, a main hand connecting rod flange, 1031, a main hand synchronous belt, 1032, a main hand second motor, 1041, a main hand lead screw, 1042, a main hand guide rail, 1043, a wrist base, 1051, a wrist fixed connecting rod, 1052, a wrist connecting rod I, 1053, a wrist connecting rod II, 1054, an opening and closing base, 1055, an operating handle, 1056, a wrist first motor, 1057, a wrist second motor, 1058, a wrist third motor, 1059, a bevel gear, 1061, a bevel gear, 1060, 1062. a groove-shaped connecting surface, 90-1, a slave end base driving motor, 80, a new master end sliding rod end, 81, a quadrilateral fixed base, 82, a quadrilateral middle base, 83, a quadrilateral end base, 84, a first passive connecting rod, 85, a second passive connecting rod, 86, a third passive connecting rod, 87, a fourth passive connecting rod, 88, a quadrilateral first band-type brake, 89, a quadrilateral second band-type brake, 140, a deflection connecting rod, 141, a first coupling connecting rod, 142, a second coupling connecting rod, 143, a master hand lifting power-assisted motor, 144, a rotating axis, 145, a straight line, 146, a straight line, 147, a large coupling belt pulley, 148, a small coupling belt pulley, 149, a coupling synchronous belt, 2011, a slave hand first motor, 2012, a small bevel gear, 2013, a rotating connecting shaft, 2014, a large bevel gear, 2020, a slave hand driving belt, 2021.2021, a connecting rod driving motor, 2022, a connecting rod driving belt, 2023, a slave hand driving synchronous belt, 2024. the surgical instrument comprises a connecting rod pulley, 2025, a first connecting rod, 2026, a second connecting rod, 2027, a third connecting rod, 2028, a fourth connecting rod, 2029, a slave hand first rotating pulley, 2030, a slave hand first fixed shaft, 2031, a slave hand first synchronous belt, 2032, a slave hand second rotating pulley, 2033, a slave hand second fixed shaft, 2034, a slave hand first fixed pulley, 2041, a slave hand second synchronous belt, 2042, a slave hand second fixed pulley, 2043, a slave hand third rotating pulley, 2044, an intermediate adaptor, 2060, a linear module, 2061, an instrument driving screw rod, 2062, an instrument driving seat, 2063, an instrument lifting spline, 2064, an instrument lifting motor, 280, a fixed point, 290, a boundary, 11, a bed, 12, a patient, 13, an endoscope, 14, an endoscope puncture point, 15, a first auxiliary system puncture point, 16, a second auxiliary system puncture point, 18 and a surgeon.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1, the split-type minimally invasive surgical instrument auxiliary system includes a master console 100 and a slave operating device 200, and the master console 100 and the slave operating device 200 can be connected by a cable or a wireless information transmission device.
As shown in fig. 2, the slave operation device 200 includes a base 1, a column 2 which is liftable on the base 1, a beam 3 which is rotatably connected to the column 2, a telescopic bar 4 which is horizontally movable on the beam 3, a lifting base 5 which is rotatably mounted to an end of the telescopic bar 4 through a rotary joint, and a first slave end slide bar 6 and a second slave end slide bar 7 which are movable up and down on the lifting base 5. A first instrument manipulation arm 2100 is connected to the end of the first slave link 6 and a second instrument manipulation arm 2200 is connected to the end of the second slave link 7, the first and second instrument manipulation arms 2100 and 2200 being symmetrically arranged. The second instrument manipulation arm 2200 is identical in structure to the first instrument manipulation arm 2100.
The lifting motion of the upright post 2 on the base 1 is active motion, and the embodiments of a screw-guide rail, a screw-spline, a gear-rack and the like under the drive of hydraulic pressure or a motor can be adopted. The rotary motion of the beam 3 relative to the upright post 2 is driven motion which can be driven by hand in a reverse direction, one specific structure is shown in fig. 3, the beam band-type brake 21 arranged in the upright post 2 can lock the rotary motion of the beam 3 relative to the upright post 2, and a doctor triggers the beam band-type brake 21 through a button and the like in the using process to electrically release the beam band-type brake 21, so that the beam 3 can be freely rotated manually relative to the upright post 2. The horizontal movement of the telescopic rod 4 on the cross beam 3 is a driven movement which can be driven by manual reverse driving, one specific structure is shown in fig. 4, a rack 32 is fixedly connected to the bottom side inside the cross beam 3, a guide rail 30 is fixedly connected to the top side inside the cross beam 3, the telescopic rod 4 is fixedly connected to a guide rail sliding block 31 which can slide on the guide rail 30, a gear 33 is rotatably installed at one end of the telescopic rod 4 and is meshed with the rack 32, the rotation of the gear 33 can be locked by a band-type brake fixed in the telescopic rod, a doctor triggers in the using process through a button and the like to release the band-type brake for locking the gear 33, and the telescopic rod 4 can move linearly under the constraint of the guide; in addition to the embodiment shown in fig. 4, the horizontal movement of the telescopic rod 4 on the cross beam 3 can also adopt the embodiments of a screw-guide rail, a screw-spline, a gear-rack and the like under the drive of hydraulic pressure or a motor; the rotary movement of the lifting base 5 relative to the telescopic bar 4 is also a passive movement that can be driven in a manually reversible manner, and its embodiment can be implemented in a similar manner to the rotary movement of the cross beam 3 relative to the upright 2.
The ascending and descending movement of the first slave end slide bar 6 or the second slave end slide bar 7 relative to the ascending and descending seat 5 is also a passive movement which can be driven by manual reverse driving, which is realized by the following steps (the part indicated by the reference numeral 6(7) in fig. 5) is the first slave end slide bar 6 or the second slave end slide bar 7), the first slave end slide bar 6 and the second slave end slide bar 7 both adopt spline structures, a spline seat 57 is fixedly installed on the ascending and descending seat 5, the top of the first slave end slide bar 6 or the second slave end slide bar 7 is fixedly connected with a ball screw nut 56 through a connecting piece, a ball screw seat 54 is fixedly connected to the upper part of the ascending and descending seat 5, the top of a ball screw 55 is rotatably installed in a central hole of the ball screw seat 54 through a bearing, and a band-type brake 53 fixedly installed on the end surface of the ball screw seat 54 can lock. The booster motor 52 is arranged on the upper part of the lifting seat 5 through a booster motor seat 51, and the top end of the ball screw 55 is connected with an output shaft of the booster motor 52 through a coupler; when the electric bicycle is used, a doctor electrically releases the band-type brake 53 through external excitation, the ball screw 55 can rotate, and meanwhile, the power-assisted motor 52 is electrically powered to output constant torque which is converted into upward lifting force of the ball screw nut 56 through the ball screw 55; for the instrument manipulation end, the lifting force provided by the ball screw nut 56 is equal to the weight force formed by the second slave end slide bar 7 and the second instrument manipulation arm 2200 (similarly, the lifting force provided by the ball screw nut 56 is equal to the weight force formed by the first slave end slide bar 6 and the first instrument manipulation arm 2100); thus, when the surgeon manually operates the first instrument operation arm 2100 or the second instrument operation arm 2200, the surgeon does not feel the influence of gravity, and the lightness of the manual operation is ensured.
In addition to the screw-spline structure shown in fig. 5, the lifting movement of the first slave end slide bar 6 or the second slave end slide bar 7 relative to the lifting seat 5 can also be realized by two embodiments shown in fig. 6, as shown in fig. 6(a) (the reference number 6(7) in fig. 6) indicates that the first slave end slide bar 6 or the second slave end slide bar 7, the synchronous pulley 502 and the synchronous pulley 503 are rotatably mounted on the lifting seat 5, the synchronous pulley 502 can be driven by the assist motor 501, the synchronous pulley 503 can be locked by the band-type brake 504, the first slave end slide bar 6 and the second slave end slide bar 7 both adopt the spline structure, the spline seat 57 is fixedly mounted on the lifting seat 5, and the top of the first slave end slide bar 6 or the second slave end slide bar 7 is fixedly connected with the linear motion part of the synchronous belt 505 through an intermediate connection member; thus, in use, the doctor electrically releases the internal contracting brake 504 through external excitation, and the power-assisted motor 501 outputs a constant torque through the power-assisted motor, and the torque is converted into a lifting force equivalent to the gravity of the first slave end slide bar 6 or the second slave end slide bar 7 and the corresponding tail end load through the synchronous pulley 502. As shown in fig. 6(b), the first slave end slide bar 6 and the second slave end slide bar 7 both adopt spline structures, the spline seat 57 is fixedly installed on the lifting seat 5, the chain wheel 508 is rotatably installed on the top of the lifting seat 5, one end of the chain 507 is connected with the top of the first slave end slide bar 6 or the second slave end slide bar 7 through the connecting piece 506, the other end is fixedly connected with the top of the counterweight 509 after being guided by the chain wheel 508, and the chain wheel 508 can be locked by a band-type brake; thus, in use, when the doctor electrically releases the band brake for the locking sprocket 508 by external excitation, the weight 509 is equivalent to the weight of the first or second slave end slide 6 or 7 and its corresponding end load, so that the doctor does not feel the influence of the weight when manually operating the first or second instrument operation arm 2100 or 2200, thereby ensuring the lightness of manual operation. Besides the specific structures shown in fig. 5 and 6, the tail end lifting of the invention can also adopt a gear-rack or hydraulic structure, and the detailed structure thereof is not repeated herein.
As shown in fig. 2 and fig. 1, the second instrument operation arm 2200 is integrally and fixedly installed at the bottom of the second slave-end slide bar 7, and the second instrument operation arm 2200 includes a passive link I101, a passive link II102, a slave-end base seat 201, a link seat 202, a slave-end link I203, a slave-end link II204, an instrument seat 205, an instrument lifting seat 206 and a surgical instrument 207. One end of the passive connecting rod I101 is rotatably arranged at the bottom end of the second slave end sliding rod 7, and the rotating axis of the passive connecting rod I is consistent with the gravity direction; one end of the driven connecting rod II102 is rotatably arranged at the other end of the driven connecting rod I101, and the rotating axis of the driven connecting rod II is consistent with the gravity direction; the other end of the driven connecting rod II102 is rotatably arranged at one end of the end base 201; the upper part of the connecting rod seat 202 is rotatably arranged at the other end of the slave end seat 201, and the rotating axis of the connecting rod seat is consistent with the gravity direction; one end of a slave end connecting rod I203 is rotatably arranged at the bottom of the lower part of the connecting rod seat 202, one end of a slave end connecting rod II204 is arranged at the other end of the slave end connecting rod I203, an instrument lifting seat 206 is arranged at the other end of the slave end connecting rod II204, an instrument seat 205 is slidably arranged on the instrument lifting seat 206, and a surgical instrument 207 can be arranged at the top of the instrument seat 205.
FIG. 7 shows an embodiment of a split minimally invasive surgical instrument auxiliary system based on pure translational passive arms driven by a synchronous belt drive, in which a second slave end slide bar end 1010-1 is fixedly connected to the bottom of a second slave end slide bar 7, a bearing is sleeved on the lower portion of the second slave end slide bar end 1010-1, and then the bottom of the second slave end slide bar end 1010-1 is fixedly connected with a first fixed pulley 1013; one end of the driven connecting rod I101 is rotatably installed on a bearing at the lower part of the second slave end slide rod end 1010-1, the first band-type brake 1011 is connected between the driven connecting rod I101 and the second slave end slide rod end 1010-1, and the first band-type brake 1011 can lock the relative rotation of the driven connecting rod I101 and the second slave end slide rod end 1010-1. At the other end of the driven link I101, there is a hollow shaft 1015 rotatably mounted on the driven link I101 through a bearing, as shown in fig. 8, a second fixed pulley 1023 is fixedly mounted at the top of the hollow shaft 1015, a first rotating pulley 1014 is fixedly mounted at the bottom, and the first rotating pulley 1014 is connected with the first fixed pulley 1013 through a first timing belt 1012, as shown in fig. 7, so that the movement of the hollow shaft 1015 relative to the second slave-end slide bar end 1010-1 is pure translation. A connecting shaft 1016 which is rotatably installed through a bearing is arranged inside the hollow shaft 1015, one end of the driven connecting rod II102 is fixedly connected to the top of the connecting shaft 1016 through a screw, and the rotating motion of the connecting shaft 1016 relative to the hollow shaft 1015 can be locked through a second internal contracting brake 1021 which is installed on the driven connecting rod I101; the second rotating belt wheel 1024 is mounted at the other end of the driven link II102 through a bearing, the second rotating belt wheel 1024 is connected with the second fixed belt wheel 1023 through a second synchronous cog belt 1022, so that the movement of the second rotating belt wheel 1024 relative to the second fixed belt wheel 1023 is pure translation, and then it can be obtained that: the movement of the second rotating pulley 1024 relative to the primary end ram end 1010 is a pure translation. A secondary base driving motor 90-1 is fixedly arranged on the second rotating belt wheel 1024, the output shaft of the secondary base driving motor 90-1 is connected with a driving shaft which is rotatably arranged in the second rotating belt wheel 1024 through a bearing through a coupling, and the bottom of the driving shaft is fixedly connected with the secondary base 201 through a main hand connecting rod flange 91. Thus, when the motor 90-1 is maintained in a certain position from the end base, there are: 1) when the first band-type brake 1011 and the second band-type brake 1021 are locked, the passive connecting rod I101, the passive connecting rod II102, the first rotating belt wheel 1014 and the second rotating belt wheel 1024 are all locked, and the slave terminal base 201 cannot move; 2) when the first band-type brake 1011 and the second band-type brake 1021 are loosened, the driven connecting rod I101, the driven connecting rod II102, the first rotating belt wheel 1014 and the second rotating belt wheel 1024 are all loosened, and the slave end base 201 makes pure translation relative to the second slave end slide rod end 1010-1 along with the movement of the driven connecting rod I101 and the driven connecting rod II 102; when the first band-type brake 1011 and the second band-type brake 1021 are locked and the motor 90-1 is driven to rotate from the end base, the end base 201 will rotate relative to the second rotating pulley 1024 in a direction perpendicular to the ground.
Fig. 9 shows an embodiment of rotation of the link base 202, the rotation connecting shaft 2013 is vertically and rotationally mounted on the slave base 201 through a bearing, the slave hand first motor 2011 is mounted on the slave base 201, the bevel pinion 2012 is connected with an output shaft of the slave hand first motor 2011, the slave hand first motor 2011 can drive the bevel pinion 2012 to rotate, the bevel pinion 2014 fixedly connected with the rotation connecting shaft 2013 is meshed with the bevel pinion 2012, and the slave hand first motor 2011 can drive the rotation connecting shaft 2013 to rotate. The top end of the connecting rod seat 202 is fixedly connected with the rotating connecting shaft 2013.
Fig. 10 shows an embodiment of the second instrument handling arm 2200 based on a synchronous belt drive, the instrument handling arm being arranged in a vertical orientation, i.e.: the top end of the connecting rod seat 202 is fixedly connected with a rotating connecting shaft 2013, and when the first slave hand motor 2011 rotates, the mechanical operating arm can be driven to rotate along a rotating axis vertical to the ground, namely the connecting rod seat 202, the slave end connecting rod I203, the slave end connecting rod II204, the instrument lifting seat 206 and the surgical instrument 207 move together; the link base 202 is of an inverted L-shaped structure, a link driving motor 2021 is installed at the top of the link base, the link driving motor 2021 is installed on a slave hand driving pulley 2020 of the link base 202 in a driving and rotating manner, a slave hand first fixing shaft 2030 is fixedly installed at the bottom of the link base 202, a slave hand first rotating pulley 2029 is installed on the slave hand first fixing shaft 2030 in a rotating manner through a bearing, a slave hand driving belt 2023 is connected between the slave hand driving pulley 2020 and the slave hand first rotating pulley 2029 through a slave hand driving belt 2023, and the transmission ratio between the two is 1: 1; one end of the slave end link I203 is fixedly mounted on the slave hand first rotating pulley 2029, and the slave end link I203 can rotate under the driving of the link driving motor 2021 along with the slave hand first rotating pulley 2029; the slave hand first fixed shaft 2030 passes through the slave end connecting rod I203 without contacting with the same; inside the slave end link I203, the slave hand first fixed pulley 2034 is fixedly attached to the slave hand first fixed shaft 2030 through a square shaft-square hole fitting, inside the other end of the slave end link I203, the slave hand second fixed shaft 2033 is fixedly attached, the slave hand second rotating pulley 2032 is rotatably attached to the slave hand second fixed shaft 2033 through a bearing, the slave hand first fixed pulley 2034 and the slave hand second rotating pulley 2032 are connected by the slave hand first synchronizing belt 2031, and the transmission ratio therebetween is 1: 1; one end of the slave end link II204 is fixedly mounted on the slave hand second rotating pulley 2032, and the slave hand second fixing shaft 2033 passes through the slave end link II204 without contacting therewith; on the inner side of the slave end link II204, the slave hand second fixed pulley 2042 is fixedly mounted on the slave hand second fixed shaft 2033 through a square shaft-square hole fit, the slave hand third rotating pulley 2043 is rotatably mounted on the other end of the inner side of the slave end link II204 through a bearing, the slave hand second fixed pulley 2042 and the slave hand third rotating pulley 2043 are connected through a slave hand second timing belt 2041, and the transmission ratio between the two is 1: 1; the instrument lift 206 is fixedly mounted on the slave hand third rotating pulley 2043 via an intermediate adaptor 2044; two ends of the instrument driving screw 2061 are rotatably mounted on the instrument lifting seat 206 through bearings, two ends of an instrument lifting spline 2063 parallel to the axis of the instrument driving screw 2061 are fixedly mounted on the instrument lifting seat 206, the instrument driving seat 2062 is fixedly connected with a slide block of the instrument lifting spline 2063 and a nut of the instrument driving screw 2061, and the instrument seat 205 is fixedly mounted on the instrument driving seat 2062; thus, when the instrument driving screw 2061 is driven by the instrument lift motor 2064 mounted on the bottom of the instrument lift base 206 to move, the instrument driving base 2062 linearly slides together with the instrument base 205 under the constraint of the instrument lift spline 2063, and the surgical instrument 207 further mounted on the instrument base 205 linearly slides together therewith.
During initial assembly, the axis of the surgical instrument 207 in the length direction is ensured to intersect with the rotation axis of the rotation connecting shaft 2013, the direction of the rotation axis of the slave end connecting rod II204 is parallel to the direction of the rotation axis of the connecting rod seat 202, and the instrument lifting seat 206 is parallel to the slave end connecting rod I203; in this way, since the slave hand first fixed pulley 2034 is fixed relative to the link base 202, when the slave end link I203 is driven to rotate, the slave hand second rotating pulley 2032 will make a pure translational motion relative to the link base 202 together with the slave end link II204 fixed thereto, under the constraint of the slave hand first timing belt 2031; further, since the second fixed pulley 2042 of the slave hand is fixed relative to the slave end connecting rod I203, when the slave end connecting rod II204 moves, the instrument lifting seat 206 will be always parallel to the slave end connecting rod I203 due to the constraint of the second synchronous belt 2041 of the slave hand; such constraint conditions enable the instrument rod to always pass through a fixed point in space during the movement of the instrument operation arm, such as the fixed point 280 shown in fig. 11, that is, when the link driving motor 2021 rotates, under the constraint of each synchronous belt inside the instrument operation arm, the slave end link I203, the slave end link II204 and the instrument lifting seat 206 will move under the constraint of the mechanism of the present invention, and the instrument rod always passes through the fixed point 280 no matter the instrument lifting seat 206 moves to the boundary a or the boundary c or any intermediate position b; the fixing point 280 is designed and initially assembled to be arranged on the rotating connecting shaft 2013, so that when the first motor 2011 drives the rotating connecting shaft 2013 to rotate, and further drives the whole instrument operating arm to move along the rotating connecting shaft 2013 in the direction perpendicular to the paper surface, the axis direction of the instrument rod still passes through the fixing point 280 all the time; finally, the raising and lowering motion of the implement base 205 is also arranged so that the implement shaft always passes through the fixed point 280 when it is driven by the implement lift motor 2064. The instrument operation arm adopts a vertical layout mode, namely the axis of the rotating connecting shaft 2013 is vertical to the ground, the layout mode can ensure that the abduction space of the instrument operation arm is minimum, the boundary of the abduction space is a boundary 290 shown in fig. 11, and the radius size of the boundary is the distance from the fixed point 280 to the top of the instrument lifting seat 206; the invention also has the advantage that the instrument operation arm has a foldable characteristic, as shown in fig. 12, and has small volume and small occupied space after being folded, thereby saving the space of an operating room and being convenient for transportation.
In addition to the above-mentioned embodiments of the instrument operation arm based on the synchronous belt transmission, the instrument operation arm may also adopt the embodiments based on the link transmission as shown in fig. 13, wherein one end of the first link 2025 is rotatably mounted at a position lower than the middle of the link base 202 through a bearing and is connected to the link pulley 2024, and the link pulley 2024 can be driven by the link driving motor 2021 through the slave hand-driven synchronous belt 2023 and the link driving pulley 2022, so as to drive the first link 2025 to rotate; one end of the second link 2026 is rotatably mounted at the lower part of the link base 202 through a bearing, the other end is rotatably connected with the middle upper position of the third link 2027 through a bearing, the top of the third link 2027 is rotatably connected with the middle right position of the first link 2025 through a bearing, and the link base 202, the first link 2025, the second link 2026 and the third link 2027 form a first parallelogram a through mutually connected rotary joints, as shown in fig. 13; the right end of the first link 2025 is rotatably connected to the top end of the fourth link 2028, the bottom end of the third link 2027 is rotatably connected to one end of the protruding structure of the instrument lift base 209 through a rotary joint, the bottom end of the fourth link 2028 is rotatably connected to the other end of the protruding structure of the instrument lift base 209 through a rotary joint, and the first link 2025, the third link 2027, the fourth link 2028 and the instrument lift base 209 form a second parallelogram B through the mutually connected rotary joints, as shown in fig. 13; under such constraint, the position of the fixed point 280 is located at the intersection point of the extension lines of the two rotary joints on the connecting rod base 202 and the extension lines of the two rotary joints on the instrument lift base 209, and the sliding of the instrument base 205 on the instrument lift base 209 is configured so that the axis of the instrument rod passes through the fixed point 280. A linear module 2060 mounted on the instrument lift mount 209 enables linear movement of the instrument mount 205.
FIG. 14 shows a multi-degree-of-freedom surgical instrument according to the present invention, which may be embodied in the form of a published patent (application No. 201510669801.1), and the detailed structure thereof is not included in the scope of the present invention and will not be described herein.
It should be noted that the slave end base 201 may also be directly fixedly mounted on the lower end of the second slave end slide bar 7.
The first instrument manipulation arm 2100 and the second instrument manipulation arm 2200 have the same structure, and are symmetrically arranged, specifically, the symmetrical arrangement means that the components on the first instrument manipulation arm 2100 and the corresponding components on the second instrument manipulation arm 2200 are symmetrically arranged. The first instrument manipulation arm 2100 also includes a passive link I, a passive link II, a slave end mount, a link mount, a slave end link I, a slave end link II, an instrument mount, an instrument lift mount, and a surgical instrument.
As shown in fig. 15, the main operating console 100 includes a base 110, an armrest beam 120, a main lifting column 130, a display 150, a lifting base 160, a first main-hand translation driven arm 170, a second main-hand translation driven arm 180, a first doctor operating arm 1100, and a second doctor operating arm 1200, wherein the main lifting column 130 is vertically installed at a rear middle position of the base 110, and the armrest beam 120 is vertically installed at a front position of the base 110. The elevating base 160 is connected to the main elevating column 130 through a linear module, and the elevating base 160 can move up and down on the main elevating column 130 in a vertical direction. The display 150 is mounted on the main elevation column 130 via a bracket having two-degree-of-freedom adjustment capabilities of elevation and tilt. The armrest beam 120 is used for supporting the elbow of the doctor, so as to improve the comfort of the doctor. The main operating platform 100 is used for acquiring the hand actions of a doctor and controlling the actions of the slave operating device, and the doctor operating arm is fixedly hung at the tail end of the translation driven arm of the main hand.
A first master hand translation driven arm 170 is mounted on one side of the lift base 160 and a second master hand translation driven arm 180 is mounted on the other side of the lift base 160. The first doctor manipulating arm 1100 is connected to the first master hand translational driven arm 170, and the second doctor manipulating arm 1200 is connected to the second master hand translational driven arm 180. The lifting base 160 drives the first master translation driven arm 170 and the second master translation driven arm 180 to move up and down, so that the first master translation driven arm 170 drives the first doctor operating arm 1100 to move up and down, and the second master translation driven arm 180 drives the second doctor operating arm 1200 to move up and down.
The first and second master-hand translational driven arms 170 and 180 have the same structure.
The first physician operating arm 1100 and the second physician operating arm 1200 have the same structure, and may be symmetrically disposed, specifically, the components of the first physician operating arm 1100 are symmetrically disposed with the corresponding components of the second instrument operating arm 2200.
It should be noted that the lifting base 160 can be replaced by two independent left lifting bases and right lifting bases, the left lifting base is connected with the main lifting column 130 through a left linear module, and the left lifting base can move up and down on the main lifting column 130 along the vertical direction; the right lifting base is connected with the main lifting upright column 130 through a right linear module, and can move up and down on the main lifting upright column 130 along the vertical direction; a first master hand translation passive arm 170 is connected to the left lift base and a second master hand translation passive arm 180 is connected to the right lift base. In this way, the left and right elevation bases can be vertically and independently moved up and down on the main elevation column 130, respectively, so that the first and second master translational passive arms 170 and 180 are independently and upwardly moved, respectively, and the first and second surgeon manipulation arms 1100 and 1200 are independently and upwardly moved, respectively.
The first master hand translational driven arm 170 can adopt a pure translational driven arm embodiment based on synchronous belt transmission, as shown in fig. 16, a master end slide rod end 1010 is fixedly connected to the bottom of the lifting base 160, a bearing is sleeved on the lower portion of the master end slide rod end 1010, and then the bottom of the master end slide rod end 1010 is fixedly connected with a first fixed pulley 1013; one end of the passive link I101 is rotatably mounted on a bearing at the lower part of the main end slide rod end 1010, and the first internal contracting brake 1011 can lock the relative rotation of the passive link I101 and the main end slide rod end 1010. At the other end of the driven link I101, there is a hollow shaft 1015 rotatably mounted on the driven link I101 through a bearing, as shown in fig. 17, a second fixed pulley 1023 is fixedly mounted at the top of the hollow shaft 1015, a first rotating pulley 1014 is fixedly mounted at the bottom, the first rotating pulley 1014 is connected with the first fixed pulley 1013 through a first timing belt 1012, as shown in fig. 17, so that the movement of the hollow shaft 1015 relative to the main end slide bar end 1010 is pure translation. A connecting shaft 1016 which is rotatably installed through a bearing is arranged inside the hollow shaft 1015, one end of the driven connecting rod II102 is fixedly connected to the top of the connecting shaft 1016 through a screw, and the rotating motion of the connecting shaft 1016 relative to the hollow shaft 1015 can be locked through a second internal contracting brake 1021 which is installed on the driven connecting rod I101; the second rotating belt wheel 1024 is mounted at the other end of the driven link II102 through a bearing, the second rotating belt wheel 1024 is connected with the second fixed belt wheel 1023 through a second synchronous cog belt 1022, so that the movement of the second rotating belt wheel 1024 relative to the second fixed belt wheel 1023 is pure translation, and then it can be obtained that: the movement of the second rotating pulley 1024 relative to the primary end ram end 1010 is a pure translation. A first motor 90 for the master hand is fixedly mounted on the second rotating pulley 1024, an output shaft of the first motor 90 for the master hand is connected to a driving shaft rotatably mounted in the second rotating pulley 1024 through a bearing by a coupling, and the bottom of the driving shaft is fixedly connected to the main end link 103 through a link flange 91 for the master hand. Thus, when the primary hand first motor 90 maintains a certain position, there are: 1) when the first band-type brake 1011 and the second band-type brake 1021 are locked, the passive connecting rod I101, the passive connecting rod II102, the first rotating belt wheel 1014 and the second rotating belt wheel 1024 are all locked, and the main end connecting rod 103 cannot move; 2) when the first band-type brake 1011 and the second band-type brake 1021 are released, the passive connecting rod I101, the passive connecting rod II102, the first rotating belt wheel 1014 and the second rotating belt wheel 1024 are released, and along with the movement of the passive connecting rod I101 and the passive connecting rod II102, the main end connecting rod 103 will make pure translation relative to the main end sliding rod end 1010; when the first band-type brake 1011 and the second band-type brake 1021 are locked and the first master hand motor 90 rotates, the master end link 103 will rotate in a direction perpendicular to the ground with respect to the second rotating pulley 1024. When the operator holds the wrist 105 of the main hand to rotate the main end link 103 relative to the passive link II102, the first motor 90 of the main hand generates a motion signal.
Fig. 18 shows an embodiment of the doctor's manipulating arm according to the present invention, specifically taking the first doctor's manipulating arm 1100 as an example, the main end link 103 is rotatably mounted on the other end of the passive link II102, and its rotation axis coincides with the direction of gravity; the wrist sliding seat 104 is rotatably arranged at the lower part of the main end connecting rod 103, and the rotating axis of the wrist sliding seat is vertical to the gravity direction; the primary wrist 105 is slidably mounted on the wrist slide 104. A wrist slide 104 is rotatably installed at a lower portion of the main end link 103, and the wrist slide 104 can be driven by a main hand second motor 1032 installed at an upper portion of the main end link 103 through a main hand timing belt 1031; that is, when wrist slide 104 is actively rotated, master second motor 1032 generates a corresponding signal. A main hand screw 1041 and a main hand guide rail 1042 are parallelly installed in the wrist sliding seat 104, and a wrist seat 1043 is fixedly connected with a slider of the main hand guide rail 1042 and fixedly connected with a nut of the main hand screw 1041; thus, when the master lead screw 1041 is driven by the output shaft of the third motor of the master hand to move, the wrist base 1043 will slide linearly under the constraint of the master hand guide rail 1042, and the master wrist 105 fixedly mounted on the wrist base 1043 will also slide linearly. When the operator holds the wrist 105 of the master hand to move the wrist seat 1043 linearly, the third motor of the master hand generates a motion signal. The primary hand second motor 1032 generates a motion signal when the operator grasps the primary hand wrist 105 to rotate the wrist slide 104 relative to the lower portion of the primary end link 103.
During auxiliary operation, a doctor can hold the relevant structure of the main wrist 105 to input motion to the doctor operating arm, and meanwhile, the instrument operating arm can track the motion of the doctor operating arm in real time under the control of the external controller; features of the present invention include the surgeon's ability to slide the wrist 105 on the wrist slide 104 in a direction that is parallel to the direction of the instrument holder 205 on the instrument lift 206 throughout the movement.
FIGS. 19(a), (b) show an embodiment of a main wrist 105 according to the present invention, wherein a wrist fixing link 1051 having an L-shape is fixedly connected to a wrist seat 1043 via a slot-shaped connecting surface 1062 at an upper portion thereof, one end of a wrist link I1052 having an L-shape is rotatably mounted on a bottom portion of the wrist fixing link 1051 via a bearing, and the wrist link I1052 is driven by a first wrist motor 1056 mounted on a bottom surface of the wrist fixing link 1051 via a bevel gear 1060; one end of wrist link II1053 having an L shape is rotatably mounted on the upper portion of wrist link I1052 by a bearing, and wrist link II1053 is driven by wrist second motor 1057 mounted on the side of wrist link I1052 by bevel gear 1059; the opening and closing seat 1054 is rotatably arranged at the other end of the wrist connecting rod II1053 through a bearing, and the opening and closing seat 1054 can be driven by a wrist third motor 1058 arranged at the bottom surface of the wrist connecting rod II1053 through a bevel gear 1061; the opening and closing angle of the opening and closing seat 1054 can be measured by a sensor installed inside thereof. An operating handle 1055 is fixedly arranged at the driven end of the wrist connecting rod II1053, an operator can operate the whole main operating table 100 by holding the operating handle 1055, a doctor holds the operating handle 1055 to rotate the wrist connecting rod I1052, and the first wrist motor 1056 can generate a motion signal; the doctor holds the operating handle 1055 to rotate the wrist connecting rod II1053, and the second wrist motor 1057 generates a motion signal; when the doctor holds the operating handle 1055 and rotates the opening and closing base 1054 with the fingers, the wrist third motor 1058 generates a motion signal. The L-shaped wrist fixing link 1051 is provided with a mounting groove 1063 for fixedly connecting with the second coupling link 142 of fig. 13.
The first main hand motor 90, the second main hand motor 1032, the third main hand motor connected to the main hand screw 1041, the first wrist motor 1056, the second wrist motor 1057 and the third wrist motor 1058 are all provided with encoders for feeding back the motion angles of the motors; the doctor operating arm is a motion input device, a doctor can operate by holding the operating handle 1055, each motor encoder records motion information of the hand of the doctor, and the external controller realizes motion control according to the motion information. The first surgeon operating arm 1100 controls the movement of the first instrument operating arm 2100 and the second surgeon operating arm 1200 controls the movement of the second instrument operating arm 2200.
In addition to the embodiment based on the synchronous belt drive shown in fig. 16, the translational driven arm may also adopt the embodiment shown in fig. 20, the new main end slide rod end 80 may be fixedly installed on the lifting base 160, the quadrilateral fixing seat 81 is fixedly connected to the new main end slide rod end 80, the first driven link 84 and the second driven link 85 with the same length are respectively and rotatably installed on the quadrilateral fixing seat 81, the other ends of the first driven link 84 and the second driven link 85 are respectively and rotatably installed on the quadrilateral middle seat 82, and the quadrilateral fixing seat 81, the first driven link 84, the second driven link 85 and the quadrilateral middle seat 82 form a parallelogram. A quadrilateral first internal contracting brake 88 capable of locking the second passive connecting rod 85 is arranged on the quadrilateral fixed seat 81, when the quadrilateral first internal contracting brake 88 is locked, the second passive connecting rod 85 and the quadrilateral fixed seat 81 do not move relatively, and the position of the quadrilateral middle seat 82 is fixed; when the quadrilateral first band-type brake 88 is released, the second driven link 85 can rotate relative to the quadrilateral fixed seat 81, and the quadrilateral middle seat 82 can make pure translation relative to the quadrilateral fixed seat 81 under the constraint of the formed quadrilateral. A third passive link 86 and a fourth passive link 87 having the same length are rotatably mounted on the other end of the quadrangular intermediate seat 82, the other ends of the third passive link 86 and the fourth passive link 87 are rotatably connected to the quadrangular end seat 83, and the quadrangular intermediate seat 82, the third passive link 86, the fourth passive link 87, and the quadrangular end seat 83 form a parallelogram. A quadrilateral second band-type brake 89 capable of locking the third driven connecting rod 86 is arranged on the quadrilateral middle seat 82, when the quadrilateral second band-type brake 89 is locked, the third driven connecting rod 86 and the quadrilateral middle seat 82 do not move relatively, and the position of the quadrilateral end seat 83 is fixed; when the quadrilateral second band-type brake 89 is released, the third driven link 86 can rotate relative to the quadrilateral middle seat 82, and the quadrilateral end seat 83 can make pure translation relative to the quadrilateral middle seat 82 under the constraint of the formed quadrilateral; when the quadrilateral first band-type brake 88 and the quadrilateral second band-type brake 89 are locked simultaneously, the position of the quadrilateral end seat 83 cannot be moved; when the first and second brakes 88 and 89 are released simultaneously, the quadrangular end seat 83 can make a pure translational motion relative to the quadrangular fixed seat 81, as shown in fig. 21, and when the quadrangular end seat 83 moves from the m position to the n position, the quadrangular end seat 83 does not have any rotational motion relative to the quadrangular fixed seat 81 due to the constraint of the parallelogram, and only has a translational motion. A first master hand motor 90, which can drive a master end link 103 via a master hand link flange 91, can be fastened to the square end mount 83. When the main end link 103 rotates, the primary hand first motor 90 generates a signal that is responsive to the movement of the main end link 103 and that can be output by a corresponding encoder.
When the arrangement shown in fig. 20 is applied to a slave manipulator, the new master end slide bar end 80 is fixedly mounted on the first slave end slide bar 6 or the second slave end slide bar 7, and the slave end base 201 is fixedly mounted on the quadrangular end base 83.
In addition to the embodiment of the surgeon's manipulation arm shown in fig. 18, the surgeon's manipulation arm may also take the form as shown in fig. 22, with the deflection link 140 rotatably mounted on the lower portion of the main end link 103 through a bearing (144 indicates the axis of rotation of the deflection link 140 relative to the main end link 103) and may be driven by the main hand second motor 1032 and the main hand timing belt 1031 through a pulley fixed thereto; one end of the first coupling link 141 is rotatably installed at the lower portion of the deflection link 140 and can be driven by a master lift assist motor 143 installed at the deflection link 140, the lower end of the first coupling link 141 is rotatably connected with one end of the second coupling link 142 through a bearing, and the other end of the second coupling link 142 is fixedly installed with the master wrist 105; the first coupling link 141 and the second coupling link 142 pass a specific constraint condition such that the primary wrist 105 makes a linear motion when the first coupling link 141 and the second coupling link 142 move, the constraint condition is as shown in fig. 23, the large coupling pulley 147 is fixedly installed at the lower part of the deflection link 140, the small coupling pulley 148 is fixedly connected to the second coupling link 142 and is installed at one end of the first coupling link 141 by a bearing together with the second coupling link 142, the large coupling pulley 147 and the small coupling pulley 148 are connected by a coupling timing belt 149, the transmission ratio between the large coupling pulley 147 and the small coupling pulley 148 is 2, and the lengths of the first coupling link 141 and the second coupling link 142 are equal; under such constraint conditions, the movement that the doctor can operate the arm is shown in fig. 24, when the master hand lifting assisting motor 143 is kept still and the master hand second motor 1032 is movable, the first coupling link 141 cannot rotate relative to the deflecting link 140, and the second coupling link 142 cannot rotate relative to the first coupling link 141, at this time, the master hand wrist 105 only swings with the deflecting link 140, as shown in fig. 24 (a); when the master lift assist motor 143 is movable and the master second motor 1032 is stationary, the swing link 140 is stationary, the first coupling link 141 is rotatable with respect to the swing link 140, and the second coupling link 142 is also rotatable with respect to the first coupling link 141, and due to the constraint effects of the large coupling pulley 147, the small coupling pulley 148, and the coupling timing belt 149, the master wrist 105 can only reciprocate linearly along the straight line 146 shown in fig. 24 (b). This feature allows the mechanism shown in fig. 22 to have equivalent function and performance to the mechanism shown in fig. 18. That is, the motion signal generated by the master lift assist motor 143 reflects the linear motion of the master wrist 105, which is equivalent to the motion signal generated by the master third motor in FIG. 18.
The master lift assist motor 143 is provided with an encoder for feeding back the movement angle of the motor.
Fig. 25 and 26 show an exemplary endoscopic surgery using the split minimally invasive surgical instrument support system, in which the patient 12 is fixed on the operating bed 11 before the surgery, and the doctor 18 selects the instrument puncture points on the body surface of the patient 12 according to the surgery requirements, namely the endoscope puncture point 14 of the endoscope 13, and the first support system puncture point 15 and the second support system puncture point 16 used in the system; since the patient 12 is fixed in position, the spatial location of these puncture points is also fixed; the surgical instrument 207 and the surgical instrument 207-1 are respectively mounted on the second instrument operation arm 2200 and the first instrument operation arm 2100 of the present invention, and a space fixing point 280 which enables the surgical instrument 207 to pass through all the time during the movement is present on the second instrument operation arm 2200, and a space fixing point is also present when the first instrument operation arm 2100 moves. Before operation, the spatial fixing points of the first and second instrument operation arms 2100 and 2200 respectively coincide with the fixed first and second auxiliary system puncture points 15 and 16 on the body surface of the patient 12, so as to avoid additional damage to the patient 12 caused by the movement of the surgical instrument 207-1 and the surgical instrument 207 during the operation; the process of making the space fixed point and the puncture point of the auxiliary system coincide with each other is as follows: the position of the operation device 200, which is moved to the side of the operating bed 11, is locked, and the movement amount of the upright post 2 relative to the base 1 is independently and rapidly adjusted, so that the cross beam 3 reaches a certain height; after that, the doctor simultaneously releases the band brake of the locking beam 3, the band brake of the locking gear 33, the band brake of the locking lifting seat 5 and the band brake of the locking slave end slide bar 7 by external excitation. Subsequently, the positions of the two instrument operation arms are manually adjusted, and the specific procedure of the adjustment is described by taking the second instrument operation arm 2200 as an example as follows: the surgeon can hold the slave end mount 201, carefully and slowly move the second instrument handling arm 2200 so that the space fixing point 280 on the second instrument handling arm 2200 coincides with the second auxiliary system puncture point 16 on the patient 12, and then lock the aforementioned respective internal contracting brakes so that the cross member 3, the telescopic rod 4, the lifting base 5 and the second slave end slide bar 7 can no longer be moved until the second instrument handling arm 2200 with the surgical instrument mounted thereon is in place. In the same way, the first instrument manipulation arm 2100 is adjusted into position.
Subsequently, the doctor sits on the main operation table 100, adjusts the lifting base 160 to enable the wrist of the master hand to reach a height position suitable for the doctor to operate through external excitation, and then, the doctor synchronously releases the first band-type brake 1011 and the second band-type brake 1021 through the external excitation, manually adjusts the first master hand translational passive arm 170 and the second master hand translational passive arm 180, so that the wrists of the first doctor operation arm 1100 and the second doctor operation arm 1200 are respectively adjusted to comfortable positions for the doctor to hold and operate (one wrist of the master hand matches with the left hand of the doctor, and the other wrist of the master hand matches with the right hand of the doctor), locks the corresponding band-type brakes, and enables the first master hand translational passive arm 170 and the second master hand translational passive arm 180 not to be moved any more. The doctor 18 can then observe the display 150 for displaying the focus image collected by the endoscope 13, and operate the two doctor operating arms by holding the two master wrists with the left hand and the right hand respectively, so as to perform the operation, and the endoscope 13 can be held by a doctor holding the endoscope or supported by a known multi-degree-of-freedom support. In the operation process, the included angle between the wrist sliding seat 104 and the horizontal plane is always consistent with the included angle between the instrument lifting seat 206 and the horizontal plane, and the amount of exercise of the surgical instrument 207-1 on the instrument lifting seat 206 is equal to the amount of exercise of the wrist 105 of the main hand on the wrist sliding seat 104; this process is achieved by the way that when the doctor operates the master wrist 105 to move, the master link 103 rotates relative to the second rotating pulley 1024, the wrist slide 104 rotates relative to the master link 103, and the master wrist 105 moves relative to the wrist slide 104, and synchronously the motor in the instrument operation arm rotates the driving link base 202 relative to the slave base 201 by the amount of rotation equal to that of the master link 103, rotates the slave link I203 relative to the link base 202 by the amount of movement equal to that of the wrist slide 104, and moves the instrument base 205 relative to the instrument lifting base 206 by the amount of movement equal to that of the master wrist 105; in the same manner, the surgeon utilizes each joint in the primary wrist 105 to accomplish control of each joint in the surgical instrument 207.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.

Claims (16)

1. The split type minimally invasive surgical instrument auxiliary system is characterized by comprising a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the motion information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright, a display and a lifting base, wherein the main lifting upright is connected with the base, the lifting base is connected with the main lifting upright, and the display is connected with the main lifting upright; the lifting base is connected with two main hand translation passive arms, and each main hand translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; the lifting seat is connected with two slave end sliding rods, and each slave end sliding rod is connected with an instrument operating arm;
the main manual translation driven arm comprises a main end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of the driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the main end sliding rod end is fixedly connected with the lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the main end connecting rod is rotatably connected with the driven connecting rod II, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the first motor of the main hand is connected to the driven connecting rod II, and the output shaft of the first motor of the main hand is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, the wrist of the master hand is connected with the linear module, the second motor of the master hand is connected with the connecting rod at the main end, the output shaft of the second motor of the master hand is connected with the wrist sliding seat through a transmission mechanism, and the output shaft of the third motor of the master hand is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, the connecting rod seat is rotationally connected with the slave end seat, one end of the slave end connecting rod I is rotationally connected with the connecting rod seat, one end of the slave end connecting rod II is rotationally connected with the other end of the slave end connecting rod I, the instrument lifting seat is rotationally connected with the other end of the slave end connecting rod II, the instrument seat is slidably connected with the instrument lifting seat, the first slave hand motor is connected to the slave end base, an output shaft of the first slave hand motor is connected with a rotary connecting shaft through a transmission mechanism, and the rotary connecting shaft is connected with the top of the connecting rod seat; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; and the slave end base is fixedly connected with the slave end sliding rod.
2. The split type minimally invasive surgical instrument auxiliary system according to claim 1, wherein the slave hand driving synchronous transmission mechanism is a synchronous transmission mechanism which comprises a slave hand driving pulley, a slave hand driving synchronous belt and a slave hand first rotating pulley, the slave hand driving pulley is connected with an output shaft of the connecting rod driving motor, the slave hand first rotating pulley is connected to a slave hand first fixing shaft through a bearing, and the bottom of the slave end connecting rod I is fixedly connected with the slave hand first rotating pulley;
the first slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a second slave hand rotating belt wheel, a first slave hand fixing belt wheel and a first slave hand synchronous belt, wherein the second slave hand rotating belt wheel is connected with a second slave hand fixing shaft through a bearing, and the first slave hand fixing belt wheel is fixedly connected to the first slave hand fixing shaft;
the second slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a third slave hand rotating belt wheel, a second slave hand fixing belt wheel and a second slave hand synchronous belt, the second slave hand fixing belt wheel is fixedly connected to the second slave hand fixing shaft, and the middle adapter is fixedly connected with the third slave hand rotating belt wheel;
the connecting rod seat structure is in an inverted L shape.
3. The split minimally invasive surgical instrument auxiliary system according to claim 2, wherein the instrument lifting seat is parallel to a slave end connecting rod I, and the slave end connecting rod II is parallel to the direction of the rotation axis of the connecting rod seat;
the first motor of the main hand, the second motor of the main hand and the third motor of the main hand are respectively connected with an encoder.
4. The split minimally invasive surgery instrument auxiliary system according to claim 3, wherein the lifting linear module comprises an instrument driving screw rod and an instrument driving seat, two ends of the instrument driving screw rod are connected to the instrument lifting seat through bearings, the instrument driving seat is fixedly connected with a nut on the instrument driving screw rod, the instrument seat is fixedly connected with the instrument driving seat, and the instrument lifting motor is connected with the instrument driving screw rod.
5. The split minimally invasive surgical instrument auxiliary system according to claim 3, wherein the linear module on the wrist sliding seat comprises a main hand screw and a wrist seat, the wrist seat is connected with a nut on the main hand screw, the main hand wrist is fixedly connected with the wrist seat, and the main hand third motor is connected with the main hand screw.
6. The split minimally invasive surgical instrument auxiliary system according to claim 1, wherein the main wrist comprises an L-shaped wrist fixing connecting rod and an L-shaped wrist connecting rod I, L-shaped wrist connecting rod II, the L-shaped wrist connecting rod I is connected with the bottom of the L-shaped wrist fixing connecting rod through a bearing, and the L-shaped wrist connecting rod II is connected with the L-shaped wrist connecting rod I through a bearing; one end of the L-shaped wrist connecting rod II is connected with an operating handle, and the other end of the L-shaped wrist connecting rod II is connected with an opening and closing seat through a bearing; the bottom of the L-shaped wrist fixing connecting rod is connected with a first wrist motor, the side surface of the L-shaped wrist connecting rod I is connected with a second wrist motor, and the bottom of the L-shaped wrist connecting rod II is connected with a third wrist motor; an output shaft of the first wrist motor is connected with an L-shaped wrist connecting rod I through a bevel gear, the second wrist motor is connected with an L-shaped wrist connecting rod II through a bevel gear, and the third wrist motor is connected with the opening and closing seat through a bevel gear; the L-shaped wrist fixing connecting rod is fixedly connected with the wrist seat;
the first wrist motor, the second wrist motor and the third wrist motor are respectively connected with an encoder.
7. The split minimally invasive surgical instrument assistance system according to claim 1, wherein an output shaft of the first slave hand motor is connected with the rotary connecting shaft through a bevel gear pair.
8. The split minimally invasive surgical instrument assisting system according to claim 2, wherein a slave end translation driven arm is arranged between the instrument operating arm and the slave end sliding rod, and comprises a slave end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt, a second synchronous toothed belt and a slave end base driving motor; one end of the driven connecting rod I is connected with the end of the driven end sliding rod through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of the driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the slave end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the driven end base driving motor is connected with the second rotating belt wheel, and an output shaft of the driven end base driving motor is fixedly connected with the driven end base; and the end of the slave end sliding rod is fixedly connected with the lifting base.
9. The split minimally invasive surgical instrument auxiliary system according to claim 2, wherein a slave end translation passive arm is arranged between the instrument operation arm and the slave end sliding rod, the slave end translation passive arm comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral tail end seat, a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod, the first passive connecting rod and the second passive connecting rod are equal in length, and the third passive connecting rod and the fourth passive connecting rod are equal in length; one end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral fixed seat, and the other end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat; one end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat, and the other end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral tail end seat; the quadrilateral fixed seat is connected with a quadrilateral first internal contracting brake, and the quadrilateral middle seat is connected with a quadrilateral second internal contracting brake; the quadrilateral fixed seat is fixedly connected with the slave end sliding rod, and the quadrilateral tail end seat is fixedly connected with the slave end seat.
10. The split type minimally invasive surgical instrument auxiliary system is characterized by comprising a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the motion information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright, a display and a lifting base, wherein the main lifting upright is connected with the base, the lifting base is connected with the main lifting upright, and the display is connected with the main lifting upright; the lifting base is connected with two main hand translation passive arms, and each main hand translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; the lifting seat is connected with two slave end sliding rods, and each slave end sliding rod is connected with an instrument operating arm;
the master hand translation passive arm comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral end seat, a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod, wherein the first passive connecting rod and the second passive connecting rod are equal in length, and the third passive connecting rod and the fourth passive connecting rod are equal in length; one end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral fixed seat, and the other end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat; one end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat, and the other end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral tail end seat; the quadrilateral fixed seat is connected with a quadrilateral first internal contracting brake, and the quadrilateral middle seat is connected with a quadrilateral second internal contracting brake; the quadrilateral fixing seat is fixedly connected with the lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the main hand first motor is connected to the quadrilateral tail end seat, and an output shaft of the main hand first motor is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, the wrist of the master hand is connected with the linear module, the second motor of the master hand is connected with the connecting rod at the main end, the output shaft of the second motor of the master hand is connected with the wrist sliding seat through a transmission mechanism, and the output shaft of the third motor of the master hand is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, the connecting rod seat is rotationally connected with the slave end seat, one end of the slave end connecting rod I is rotationally connected with the connecting rod seat, one end of the slave end connecting rod II is rotationally connected with the other end of the slave end connecting rod I, the instrument lifting seat is rotationally connected with the other end of the slave end connecting rod II, the instrument seat is slidably connected with the instrument lifting seat, the first slave hand motor is connected to the slave end base, an output shaft of the first slave hand motor is connected with a rotary connecting shaft through a transmission mechanism, and the rotary connecting shaft is connected with the top of the connecting rod seat; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; and the slave end base is fixedly connected with the slave end sliding rod.
11. The split minimally invasive surgical instrument auxiliary system according to claim 10, wherein the slave-hand driving synchronous transmission mechanism is a synchronous transmission mechanism which comprises a slave-hand driving pulley, a slave-hand driving synchronous belt and a slave-hand first rotating pulley, the slave-hand driving pulley is connected with an output shaft of the connecting rod driving motor, the slave-hand first rotating pulley is connected to a slave-hand first fixing shaft through a bearing, and the bottom of the slave-end connecting rod I is fixedly connected with the slave-hand first rotating pulley;
the first slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a second slave hand rotating belt wheel, a first slave hand fixing belt wheel and a first slave hand synchronous belt, wherein the second slave hand rotating belt wheel is connected with a second slave hand fixing shaft through a bearing, and the first slave hand fixing belt wheel is fixedly connected to the first slave hand fixing shaft;
the second slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a third slave hand rotating belt wheel, a second slave hand fixing belt wheel and a second slave hand synchronous belt, the second slave hand fixing belt wheel is fixedly connected to the second slave hand fixing shaft, and the middle adapter is fixedly connected with the third slave hand rotating belt wheel;
the connecting rod seat structure is in an inverted L shape.
12. The split type minimally invasive surgical instrument auxiliary system is characterized by comprising a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the motion information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright, a display and a lifting base, wherein the main lifting upright is connected with the base, the lifting base is connected with the main lifting upright, and the display is connected with the main lifting upright; the lifting base is connected with two main hand translation passive arms, and each main hand translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; the lifting seat is connected with two slave end sliding rods, and each slave end sliding rod is connected with an instrument operating arm;
the main manual translation driven arm comprises a main end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of the driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the main end sliding rod end is fixedly connected with the lifting base;
the doctor operating arm comprises a driven connecting rod II, a main end connecting rod, a deflection connecting rod, a first coupling connecting rod, a second coupling connecting rod, a main hand first motor, a main hand second motor, a main hand lifting power-assisted motor, an upper coupling wheel, a lower coupling wheel and a main hand wrist, wherein the main end connecting rod is rotationally connected with the driven connecting rod II, the deflection connecting rod is rotationally connected with the main end connecting rod, the first coupling connecting rod is rotationally connected with the lower part of the deflection connecting rod, the second coupling connecting rod is rotationally connected with the lower end of the first coupling connecting rod, the main hand wrist is fixedly connected with the second coupling connecting rod, the main hand first motor is connected onto the driven connecting rod II, and an output shaft of the main hand first motor is connected with the main end connecting rod; the output shaft of the second main hand motor is connected with a rotating part between the deflection connecting rod and the main end connecting rod through a transmission mechanism; the main hand lifting power-assisted motor is connected to the deflection connecting rod, and an output shaft of the main hand lifting power-assisted motor is connected with a rotating part between the first coupling connecting rod and the deflection connecting rod; the upper coupling wheel is fixedly connected to the lower part of the deflection connecting rod; the lower coupling wheel is fixedly connected to the second coupling connecting rod and is rotationally connected to the lower end of the first coupling connecting rod together with the second coupling connecting rod through a bearing, and the upper coupling wheel and the lower coupling wheel are connected through a coupling synchronization device;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, the connecting rod seat is rotationally connected with the slave end seat, one end of the slave end connecting rod I is rotationally connected with the connecting rod seat, one end of the slave end connecting rod II is rotationally connected with the other end of the slave end connecting rod I, the instrument lifting seat is rotationally connected with the other end of the slave end connecting rod II, the instrument seat is slidably connected with the instrument lifting seat, the first slave hand motor is connected to the slave end base, an output shaft of the first slave hand motor is connected with a rotary connecting shaft through a transmission mechanism, and the rotary connecting shaft is connected with the top of the connecting rod seat; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; and the slave end base is fixedly connected with the slave end sliding rod.
13. The split minimally invasive surgical instrument auxiliary system according to claim 12, wherein the slave-hand driving synchronous transmission mechanism is a synchronous transmission mechanism which comprises a slave-hand driving pulley, a slave-hand driving synchronous belt and a slave-hand first rotating pulley, the slave-hand driving pulley is connected with an output shaft of the connecting rod driving motor, the slave-hand first rotating pulley is connected to a slave-hand first fixing shaft through a bearing, and the bottom of the slave-end connecting rod I is fixedly connected with the slave-hand first rotating pulley;
the first slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a second slave hand rotating belt wheel, a first slave hand fixing belt wheel and a first slave hand synchronous belt, wherein the second slave hand rotating belt wheel is connected with a second slave hand fixing shaft through a bearing, and the first slave hand fixing belt wheel is fixedly connected to the first slave hand fixing shaft;
the second slave hand synchronous transmission mechanism is a synchronous belt transmission mechanism and comprises a third slave hand rotating belt wheel, a second slave hand fixing belt wheel and a second slave hand synchronous belt, the second slave hand fixing belt wheel is fixedly connected to the second slave hand fixing shaft, and the middle adapter is fixedly connected with the third slave hand rotating belt wheel;
the connecting rod seat structure is in an inverted L shape;
the upper coupling wheel is a large coupling belt wheel, the lower coupling wheel is a small coupling belt wheel, and the large coupling belt wheel is connected with the small coupling belt wheel through a coupling synchronous belt;
the transmission ratio between the large coupling belt wheel and the small coupling belt wheel is 2, and the lengths of the first coupling connecting rod and the second coupling connecting rod are equal.
14. The split minimally invasive surgical instrument assistance system according to claim 2, 11 or 13, wherein the two instrument manipulation arms are symmetrically arranged.
15. The split type minimally invasive surgical instrument auxiliary system is characterized by comprising a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the motion information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright post, a display, a left lifting base and a right lifting base, the main lifting upright post is connected with the base, the left lifting base and the right lifting base are respectively connected with the main lifting upright post, and the display is connected with the main lifting upright post; the left lifting base and the right lifting base are respectively connected with a master translation passive arm, and each master translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; the lifting seat is connected with two slave end sliding rods, and each slave end sliding rod is connected with an instrument operating arm;
the main manual translation driven arm comprises a main end sliding rod end, a driven connecting rod I, a driven connecting rod II, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of the driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake; the main end sliding rod end is fixedly connected with the left lifting base or the right lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the main end connecting rod is rotatably connected with the driven connecting rod II, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the first motor of the main hand is connected to the driven connecting rod II, and the output shaft of the first motor of the main hand is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, the wrist of the master hand is connected with the linear module, the second motor of the master hand is connected with the connecting rod at the main end, the output shaft of the second motor of the master hand is connected with the wrist sliding seat through a transmission mechanism, and the output shaft of the third motor of the master hand is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, the connecting rod seat is rotationally connected with the slave end seat, one end of the slave end connecting rod I is rotationally connected with the connecting rod seat, one end of the slave end connecting rod II is rotationally connected with the other end of the slave end connecting rod I, the instrument lifting seat is rotationally connected with the other end of the slave end connecting rod II, the instrument seat is slidably connected with the instrument lifting seat, the first slave hand motor is connected to the slave end base, an output shaft of the first slave hand motor is connected with a rotary connecting shaft through a transmission mechanism, and the rotary connecting shaft is connected with the top of the connecting rod seat; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; and the slave end base is fixedly connected with the slave end sliding rod.
16. The split type minimally invasive surgical instrument auxiliary system is characterized by comprising a main operating platform and a slave operating device, wherein the main operating platform is used for collecting the motion information of the hands of a doctor and controlling the action of the slave operating device; the main operating platform comprises a base, a main lifting upright post, a display, a left lifting base and a right lifting base, the main lifting upright post is connected with the base, the left lifting base and the right lifting base are respectively connected with the main lifting upright post, and the display is connected with the main lifting upright post; the left lifting base and the right lifting base are respectively connected with a master translation passive arm, and each master translation passive arm is connected with a doctor operating arm;
the slave operation device comprises a base, an upright post capable of lifting on the base, a cross beam connected with the upright post in a rotating way, a telescopic rod capable of horizontally moving on the cross beam, and a lifting seat rotationally connected to the tail end of the telescopic rod through a rotary joint; the lifting seat is connected with two slave end sliding rods, and each slave end sliding rod is connected with an instrument operating arm;
the master hand translation passive arm comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral end seat, a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod, wherein the first passive connecting rod and the second passive connecting rod are equal in length, and the third passive connecting rod and the fourth passive connecting rod are equal in length; one end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral fixed seat, and the other end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat; one end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat, and the other end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral tail end seat; the quadrilateral fixed seat is connected with a quadrilateral first internal contracting brake, and the quadrilateral middle seat is connected with a quadrilateral second internal contracting brake; the quadrilateral fixing seat is fixedly connected with the left lifting base or the right lifting base;
the doctor operating arm comprises a main end connecting rod, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the main hand first motor is connected to the quadrilateral tail end seat, and an output shaft of the main hand first motor is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, the wrist of the master hand is connected with the linear module, the second motor of the master hand is connected with the connecting rod at the main end, the output shaft of the second motor of the master hand is connected with the wrist sliding seat through a transmission mechanism, and the output shaft of the third motor of the master hand is connected with the linear module;
the instrument operation arm comprises a slave end base, a connecting rod seat, a slave end connecting rod I, a slave end connecting rod II, an instrument lifting seat, an instrument seat, a slave hand first motor, a connecting rod driving motor, an instrument lifting motor, a slave hand driving synchronous transmission mechanism, a slave hand first fixed shaft, a slave hand first synchronous transmission mechanism, a slave hand second fixed shaft and a slave hand second synchronous transmission mechanism, the connecting rod seat is rotationally connected with the slave end seat, one end of the slave end connecting rod I is rotationally connected with the connecting rod seat, one end of the slave end connecting rod II is rotationally connected with the other end of the slave end connecting rod I, the instrument lifting seat is rotationally connected with the other end of the slave end connecting rod II, the instrument seat is slidably connected with the instrument lifting seat, the first slave hand motor is connected to the slave end base, an output shaft of the first slave hand motor is connected with a rotary connecting shaft through a transmission mechanism, and the rotary connecting shaft is connected with the top of the connecting rod seat; the connecting rod driving motor is connected to the top of the connecting rod seat, the first fixing shaft of the slave hand is connected to the bottom of the connecting rod seat and penetrates through the slave end connecting rod I; the upper end of the slave hand driving synchronous transmission mechanism is connected with an output shaft of the connecting rod driving motor, and the lower end of the slave hand driving synchronous transmission mechanism is connected with a first fixed shaft of the slave hand; the bottom of the slave end connecting rod I is fixedly connected with the lower end of the slave hand driving synchronous transmission mechanism; the second slave hand fixing shaft is connected to the top of the slave end connecting rod I and penetrates through the slave end connecting rod II, the upper end of the first slave hand synchronous transmission mechanism is connected with the second slave hand fixing shaft, and the lower end of the first slave hand synchronous transmission mechanism is connected with the first slave hand fixing shaft; the upper end of the second synchronous transmission mechanism of the slave hand is connected with a second fixed shaft of the slave hand, and the lower end of the second synchronous transmission mechanism of the slave hand is connected with the instrument lifting seat through a middle adapter; the top of the slave end connecting rod II is fixedly connected with the upper end of the slave hand first synchronous transmission mechanism; the instrument lifting seat is connected with a lifting linear module, the instrument seat is connected with the lifting linear module, and the instrument lifting motor is connected with the lifting linear module; and the slave end base is fixedly connected with the slave end sliding rod.
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