CN110074844B - 用于机器人手术系统的腕组件及钳夹组件 - Google Patents

用于机器人手术系统的腕组件及钳夹组件 Download PDF

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CN110074844B
CN110074844B CN201910322870.3A CN201910322870A CN110074844B CN 110074844 B CN110074844 B CN 110074844B CN 201910322870 A CN201910322870 A CN 201910322870A CN 110074844 B CN110074844 B CN 110074844B
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end effector
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jaw
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布赖恩·罗克罗尔
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2934—Transmission of forces to jaw members camming or guiding means arcuate shaped guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling

Abstract

一种用于使用并连接机器人手术系统的机器人手臂的末端执行器，其中从机器人手术系统的控制装置的相应的马达延伸的至少一根线缆控制和/或关节式运动该末端执行器。该末端执行器包括腕组件以及钳夹组件。该钳夹组件包括被可旋转地支撑在钳夹组件的至少一个支撑板上的凸轮滑轮，其中凸轮滑轮与钳夹组件的每个钳夹的近侧端可操作地连接，使得凸轮滑轮的旋转造成钳夹组件的打开和闭合之一。

Description

用于机器人手术系统的腕组件及钳夹组件
本申请是申请号为201480067721.2(国际申请号为PCT/US2014/061329)、申请日为2014年10月20日、发明名称为“用于机器人手术系统的腕组件及钳夹组件”的专利申请的分案申请。
技术领域
相关申请的引用
本申请要求于2013年12月11日提交的美国临时专利申请第61/914,632号的优先权和权益，其全部的公开内容通过引用合并于此。
背景技术
机器人手术系统被用于微创医疗过程中。一些机器人手术系统包括支撑机器人手臂的操作台、以及至少一个通过腕组件安装在机器人手臂上的末端执行器，例如手术钳或抓取工具。在医疗过程中，末端执行器与腕组件插入到病人的小切口(通过插管)或自然孔中，以使末端执行器定位于病人体内的工作部位。
从机器人操作台延伸的线缆，穿过机器人手臂，与腕组件和/或末端执行器连接。在一些情况下，外科医生或临床医生通过包括用户界面的处理系统控制马达，来致动线缆使其控制包括机器人手臂、腕组件和/末端执行器在内的机械人手术系统。
在一些情况下，通过使用三根线缆或线缆对，腕组件为末端执行器的运动提供三个维度的自由度，每根线缆或线缆对提供一个维度的自由度。例如，腕组件通过允许抓取或切割末端执行器在俯仰、横摆、以及打开与闭合之间变化，为其提供三个维度的自由度。
由于对更小的手术工具的需求增加，装置生产商开发出具有更小的截面面积的手术工具，例如抓取或切割工具。这些更小的截面面积降低可以施加至工具末端的两钳夹之间的总力。另外，使用三根线缆或线缆对提供三个维度的运动需要最小截面面积来实施，并限制了进一步降低这些工具的截面面积的能力。最终，所施加的力不能被定制，来提供钳夹打开与闭合时依据钳夹的相互位置关系而变化的力。
存在对如下具有小截面面积的手术工具的需求：其能够在末端执行器的钳夹之间提供大力，包括依据钳夹的相互位置关系而变化的定制力。
发明内容
手术机器人工具末端的钳夹，例如手术钳或剪子切割工具，可以被线缆及包括至少一个凸轮的滑轮系统所驱动。在一些情况下，线缆及滑轮系统可以被直接驱动，所以至少一根线缆控制俯仰、至少一根线缆控制横摆、至少一根线缆打开或闭合钳夹。在另外的情况下，线缆及滑轮系统可以被差动地驱动，以便两根线缆的末端可以用于控制俯仰、横摆、以及打开或闭合钳夹。使用差动驱动设计可以去掉对一根线缆的需求，因为只需要两根线缆就可以提供三个维度的自由度(俯仰、横摆、以及打开或闭合钳夹)。去掉一根线缆可以因此降低需要容纳线缆的工具的总体的截面面积。
在一些情况下，至少一个滑轮可以包括从滑轮的旋转中心偏移的凸轮轮廓。力可以通过至少部分地围绕滑轮缠绕的线缆施加至凸轮。施加的力可以使滑轮运动并改变凸轮轮廓的位置。销或从动件可以穿过凸轮轮廓并可以将两钳夹以如下方式联结至凸轮轮廓：随着凸轮轮廓位置的改变以及从动件跟随凸轮轮廓，使钳夹先打开后闭合。
将凸轮轮廓从滑轮的旋转中心偏移可以增加钳夹打开与闭合时施加至钳夹的总体的力。随着从滑轮旋转中心的距离增加，施加至钳夹的额外力的量也增加。这无需对工具的总体的截面面积进行本质的增加，就允许更高的力施加至钳夹。另外，改变凸轮轮廓的形状与位置可能造成：依据凸轮轮廓中从动件的当前位置，而改变施加至钳夹的力的量。通过定制凸轮轮廓，用户可以选择在钳夹打开与闭合的不同阶段施加至钳夹的力。
末端执行器，包括腕组件与钳夹组件，可以与机器人手术系统一起使用并由机器人手术系统致动。在一些情况下，通过至少一根从机器人手术系统的控制装置的相应的马达延伸的线缆可以控制和/或关节式运动末端执行器。末端执行器可以包括腕组件，该腕组件包括限定纵向轴线的近侧毂。末端执行器也可以包括与近侧毂可枢转地连接的远侧毂。远侧毂可以限定纵向轴线，并且近侧毂与远侧毂可以关于第一枢转轴线枢转，该第一枢转轴线横向于近侧毂的纵向轴线定向。末端执行器可以进一步包括钳夹组件。钳夹组件可以包括至少一个与腕组件的远侧毂可枢转地连接的支撑板。至少一个支撑板可以关于第二枢转轴线枢转，该第二枢转轴线是横向于腕组件的远侧毂的纵向轴线定向。一对钳夹可以可枢转地被支撑在至少一个支撑板上。每个钳夹可以包括连接至少一个支撑板的枢转点。每个钳夹的近侧部可以向枢转点的近侧延伸，而远侧部可以向枢转点的远侧延伸。钳夹组件可以进一步包括凸轮滑轮，其可旋转地被支撑在至少一个支撑板上。凸轮滑轮可以与每个钳夹的近侧端可操作地连接，使得所述凸轮滑轮的旋转可以造成钳夹组件的打开与闭合。
凸轮滑轮可以在第二枢转轴线上被可枢转地支撑在至少一个支撑板上。凸轮滑轮可以限定至少一个形成在其表面上的弧形槽。每个弧形槽可以包括：与凸轮滑轮的枢转轴线间隔有第一径向距离的第一端；以及与凸轮滑轮的枢转轴线间隔有第二径向距离的第二端。每个钳夹的近侧部可以滑动地且进行凸轮运动地与凸轮滑轮的相应的弧形槽连接。
钳夹组件的一对钳夹可以共享公共的枢转点。
一对钳夹中的每一个钳夹的枢转点可以与第二枢转轴线间隔有侧向距离。
至少一根线缆在从第二枢转轴线偏离径向距离的位置处与凸轮滑轮连接。至少一根线缆在从第二枢转轴线偏离径向距离的位置处与至少一个支撑板连接。至少一根线缆可以在从第一枢转轴线偏离径向距离的位置处与腕组件的远侧毂连接。
在本公开的一方面中，至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与凸轮滑轮连接。至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与至少一个支撑板连接。至少一根线缆可以在从第一枢转轴线偏离径向距离的位置处与腕组件的远侧毂连接。
在本公开的另一方面中，至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与凸轮滑轮连接。至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与至少一个支撑板连接。至少一根线缆可以在从第一枢转轴线偏离径向距离的位置处与腕组件的远侧毂连接。
凸轮滑轮可以限定形成于其中的单个的弧形槽。每个钳夹的近侧端可以限定形成于其中的倾斜槽，其中倾斜槽可以在近侧方向上彼此分离。钳夹组件可以包括凸轮销，其可滑动地布置在凸轮滑轮的弧形槽及每个钳夹的倾斜槽中。
至少一个支撑板可以限定形成于其中的轴向延伸槽，并且其中凸轮销可以可滑动地布置在形成在至少一个支撑板上的轴向延伸槽中。
至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与凸轮滑轮连接。至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与至少一个支撑板连接。至少一根线缆可以在从第一枢转轴线偏离径向距离的位置处与腕组件的远侧毂连接。
钳夹组件的凸轮滑轮可以包括至少一个凸轮板，并且其中钳夹组件进一步包括凸轮连杆，所述凸轮连杆与相应的凸轮板及相应的支撑板可枢转地连接。
相应的支撑板可以限定形成于其中的纵向延伸槽。凸轮连杆可以包括与相应的一个凸轮板可枢转地连接的第一端，以及与形成于相应的一个支撑板中的纵向延伸槽可枢转地且可滑动地连接的第二端。
每个钳夹的近侧端可以限定形成于其中的倾斜槽，其中倾斜槽在近侧方向上彼此分离。钳夹组件可以包括凸轮销，其可滑动地布置在每个支撑板的轴向槽及每个钳夹的倾斜槽中。
至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与至少一个凸轮板连接。至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与至少一个支撑板连接。至少一根线缆可以在从第一枢转轴线偏离径向距离的位置处与腕组件的远侧毂连接。
钳夹组件的凸轮滑轮可以包括至少一个凸轮板。钳夹组件可以进一步包括至少一个凸轮连接件，所述至少一个凸轮连接件与相应的一个凸轮板及钳夹组件相应的钳夹的相应的近侧部可枢转地连接。
凸轮滑轮可以包括沿着第二枢转轴线布置的枢转销。枢转销可以非旋转地支撑凸轮板。至少一个凸轮连接件可以包括第一凸轮连接件，所述第一凸轮连接件具有从凸轮滑轮的枢转销非旋转地延伸的近侧连杆、以及可枢转地相互连接第一凸轮连接件的近侧连杆与钳夹组件的第一钳夹的近侧部的远侧连杆。第二凸轮连接件可以具有从凸轮滑轮的枢转销非旋转地延伸的近侧连杆，以及可枢转地相互连第二凸轮连接件的近侧连杆与钳夹组件的第二钳夹的近侧部的远侧连杆。第二凸轮连接件的近侧连杆可以径向偏离第一凸轮连接件的近侧连杆。
至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与凸轮板连接。至少一根线缆可以在从第二枢转轴线偏离径向距离的位置处与至少一个支撑板连接。至少一根线缆可以在从第一枢转轴线偏离径向距离的位置处与腕组件的远侧毂连接。
根据本公开的另一方面，提供了一种致动机器人手术系统的末端执行器的方法。该方法包括，提供包括有末端执行器的手术工具。末端执行器包括一对关于第一轴线枢转的钳夹；关于与第一轴线平行的第二轴线可旋转并与所述一对钳夹联结的第一及第二凸轮滑轮；以及将第一及第二滑轮联结至所述一对钳夹中每一个的凸轮从动件。该方法进一步包括，旋转第一凸轮滑轮从而关于第一轴线打开或闭合所述一对钳夹；将力施加至第二凸轮滑轮从而关于第二轴线旋转所述一对钳夹。
第一凸轮滑轮可以在一对钳夹旋转过程中倍增其闭合力。
所述一对钳夹可以关于公共的第一轴线枢转。
所述一对钳夹的每一个钳夹可以关于相应的第一轴线枢转，其中每个第一轴线可以彼此偏离。
本公开更多的细节及优选实施例的方面将参照所附附图作进一步描述。
附图说明
此处参照所附附图对本公开的实施例进行描述，其中：
图1A是示出了根据本公开的医疗工作站与操作台的示意图；
图1B是示出了图1A中医疗工作站的控制装置的马达的示意性立体图；
图2是示出了根据本公开的实施例的、用于图1A中医疗工作站的末端执行器的立体图，示出了其钳夹组件处于闭合状态；
图3是图2中末端执行器的立体图，示出了其钳夹组件处于打开状态；
图4是图2中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态；
图5是图2中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态，且示出了其腕组件处于关节式运动状态；
图6是图2中末端执行器的部件分解的立体图；
图7是图2中末端执行器的沿图2中的截面线7-7的截面图；
图8是图2中末端执行器的沿图2中的截面线7-7的截面图，示出了钳夹组件处于关节式运动状态；
图9是图2中末端执行器的沿图2中的截面线9-9的截面图，示出了钳夹组件处于闭合状态；
图10是图9中细节指示区域的放大图；
图11是图2中末端执行器的沿图2中的截面线9-9的截面图，示出了钳夹组件处于打开状态；
图12是图11中细节指示区域的放大图；
图13是图2中末端执行器的平面图，示出了钳夹组件处于非关节式运动且打开状态；
图14是图2中末端执行器的平面图，示出了钳夹组件处于关节式运动且打开状态；
图15是根据本公开另一个实施例的、用于图1A中医疗工作站的末端执行器的立体图，示出了其钳夹组件处于闭合状态；
图16是图15中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态，并示出了其腕组件处于关节式运动状态；
图17是示出了图15中末端执行器的钳夹组件的立体图；
图18是示出了图15中末端执行器的腕组件的近侧毂的立体图；
图19是示出了图15中末端执行器的腕组件的远侧毂的立体图；
图20是示出了图15中末端执行器的钳夹组件的凸轮滑轮的立体图；
图21及22是示出了图15中末端执行器的钳夹组件的第一钳夹与第二钳夹的立体图；
图23是根据本公开再另一个实施例的、用于图1A中医疗工作站的末端执行器的立体图，示出了其钳夹组件处于闭合状态；
图24是图23中末端执行器的立体图，示出了其钳夹组件处于打开状态；
图25是图23中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态；
图26是图23中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态，并示出了其腕组件处于关节运动状态；
图27是图23中末端执行器的部件分解的立体图；
图28是图23中末端执行器的后部立体图，示出了其钳夹组件处于闭合且非关节式运动状态，并示出了其腕组件处于非关节式运动状态；
图29是图28中末端执行器的沿图28中的截面线29-29的截面图
图30是图28中末端执行器的沿图28中的截面线29-29的截面图，示出了钳夹组件处于关节式运动状态；
图31是图23中末端执行器的沿图29中的截面线31-31的截面图，示出了钳夹组件处于闭合的状态；
图32是图31中细节指示区域的放大图；
图33是图23中末端执行器的沿图29中的截面线31-31的截面图，示出了钳夹组件处于打开状态；
图34是图33中细节指示区域的放大图；
图35是图23中末端执行器的沿图29中的截面线35-35的截面图，示出了钳夹组件处于闭合且非关节式运动状态；
图36是图35中细节指示区域的放大图；
图37是图23中末端执行器的沿图29中的截面线35-35的截面图，示出了钳夹组件处于闭合且关节式运动状态；
图38是图37中细节指示区域的放大图；
图39是根据本公开又另一个实施例的、用于图1A中医疗工作站的末端执行器的立体图，示出了其钳夹组件处于闭合状态；
图40是图39中末端执行器的立体图，示出了其钳夹组件处于打开状态；
图41是图39中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态；
图42是图39中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态，并示出了其腕组件处于关节式运动状态；
图43是图39中末端执行器的部件分解的立体图；
图44是图39中末端执行器的后部立体图，示出了其钳夹组件处于闭合且非关节式运动状态，并示出了其腕组件处于非关节式运动状态；
图45是图44中末端执行器的沿图44中的截面线45-45的截面图；
图46是图44中末端执行器的沿图44中的截面线45-45的截面图，示出了钳夹组件处于关节式运动状态；
图47是图39中末端执行器的立体图，示出了其钳夹组件处于闭合状态；
图48是图47中钳夹组件的侧视图；
图49是图39中末端执行器的钳夹组件的后部立体图，示出了钳夹组件处于打开状态；
图50是图49中钳夹组件的侧视图；
图51是根据本公开进一步的实施例的、用于图1A中医疗工作站的末端执行器的立体图，示出了其钳夹组件处于闭合状态；
图52是图51中末端执行器的立体图，示出了其钳夹组件处于打开状态；
图53是图51中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态；
图54是图51中末端执行器的立体图，示出了其钳夹组件处于打开且关节式运动状态，并示出了其腕组件处于关节式运动状态；
图55是图51的末端执行器的部件分解的立体图；
图56是图51中末端执行器的钳夹组件的后部立体图，示出了其钳夹组件处于闭合状态；
图57是从图51中末端执行器中的钳夹组件的去除一钳夹的立体图；
图58是图51中末端执行器的沿图51中的截面线58-58的截面图，示出了末端执行器处于非关节式运动状态；
图59是图51中末端执行器的沿图53中的截面线59-59的截面图，示出了末端执行器处于关节式运动状态；
图60是图51中末端执行器的沿图51中的截面线60-60的截面图，示出了钳夹组件处于闭合状态；
图61是图52中末端执行器的沿图52中的截面线61-61的截面图，示出了钳夹组件处于打开状态；及
图62是图51中末端执行器的钳夹组件处于打开状态的立体图。
具体实施例
参照附图对本公开的钳夹组件和/或腕组件的实施例进行详细描述，其中给几个视图中相同或相应的构件指定相似的参照数字。此处所用的术语“远侧”指钳夹组件和/或腕组件较远离用户的部分，而术语“近侧”指钳夹组件和/或腕组件较靠近用户的部分。
首先参照图1A及1B，显示了通常作为工作站1的医疗工作站，通常包括：多个机器人手臂2、3；控制装置4；以及与控制装置4联结的操作台5。操作台5包括显示装置6，其特别地设置为可以显示三维图像；以及手工输入装置7、8，通过手工输入装置7、8，人员(未图示，例如外科医生)，可以在第一操作模式下远程操作机器人手臂2、3，该原理对本领域的技术人员是已知的。
每个机器人手臂2、3包括通过接头连接的多个构件以及附接装置9、11，例如支撑着根据此处公开的几个实施例中的任一个的末端执行器100的手术工具“ST”可以附接至附接装置9、11，如将会在下文中作更详细的描述的那样。
与控制装置4连接的电动驱动器(未图示)可以驱动机器人手臂2、3。控制装置4(例如，计算机)特别是由计算机程序以如下方式设置来激活驱动器：机器人手臂2、3及其附接装置9、11以及手术工具(包括末端执行器100)根据人工输入装置7、8限定的运动来执行所期望的运动。控制装置4也可以如下方式设置：其调节机器人手臂2、3的运动和/或驱动器。
医疗工作站1配置为由末端执行器100以微创的手段治疗躺在病人台12上的病人13。医疗工作站1也可以包括多于两个的机器人手臂2、3，额外的机器人手臂相似地与控制装置4连接并通过操作台5的手段被远程操作。医疗仪器或手术工具(包括末端执行器100)也可以附接至额外的机器人手臂。
可以参照2011年11月3日提交的美国专利公开第2012/0116416号，其名称是“医疗工作站”，其全部内容附通过引用合并于此，以便详细地讨论医疗工作站1的结构以及操作。
控制装置4可以控制多个马达(马达1……n)，每个马达配置为卷入或放出一定长度的线缆“C”(图1B)，其延伸穿过每个机器人手臂至手术工具的末端执行器100。在使用中，线缆“C”被卷起或放出，线缆“C”实现手术工具的每个末端执行器100的操作和/或运动。可预期的是，控制装置4协调多种马达(马达1……n)的激活来协调相应的线缆“C”卷起或放出一定长度，从而协调相应的末端执行器的操作和/或运动。尽管图1B显示了通过单个的马达卷起或放出的单个的线缆“C”，但是在一些情况下，通过单个的马达可以卷起或放出两根或以上的线缆或单个线缆的两端。举例讲，在一些情况下，两根线缆或两个线缆的末端可以在相反的方向上联结单个的马达，这样马达在第一方向被激活，一根线缆卷起而另外一根线缆放出。其他的线缆结构也可以用于不同的实施例。
现在转向图2至14，用于连接机器人手臂2、3的、用于通过装置4操作的末端执行器，通常地指定为100。末端执行器100包括腕组件110、以及与腕组件110可枢转地连接的钳夹组件150。腕组件110包括近侧毂112，其形式为向远侧延伸的U形夹，限定第一纵向轴线“X1-X1”。近侧毂112限定第一枢转轴线“A-A”，其定向为与第一纵向轴线“X1-X1”垂直。在实施例中，第一枢转轴线“A-A”可以延伸穿过第一纵向轴线“X1-X1”。近侧毂112，其形式为U形夹，包括一对间隔开且相对的直立支撑部112a、112b,第一枢转轴线“A-A”延伸穿过直立支撑部112a、112b。
腕组件110进一步包括远侧毂114,其可枢转地连接近侧毂112的直立支撑部112a、112b。远侧毂114的形式可以是向远侧延伸的U形夹，其限定第二纵向轴线“X2-X2”。远侧毂114限定第二枢转轴线“B-B”，其与第一枢转轴线“A-A”垂直定向并与第一纵向轴线“X1-X1”垂直。在实施例中，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行(即，末端执行器100处于轴向对齐方向)时，第二枢转轴线“B-B”可以延伸穿过第一纵向轴线“X1-X1”。远侧毂114，其形式为U形夹,包括一对间隔开且相对的直立支撑部114a、114b,第二枢转轴线“B-B”延伸穿过所述直立支撑部114a、114b。
现在转回图2至14，末端执行器100包括钳夹组件150，其具有一对间隔开的支撑板或凸轮板或凸轮滑轮152、154，其与腕组件110的远侧毂114的相应的直立支撑部114a、114b可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。
参照图2至8、13以及14，单个的第一线缆122至少部分地缠绕凸轮板152并固定于其中至少一点，或者单个的第一线缆122可以以绞盘的方式围绕凸轮板152缠绕至少一圈。单个的第一线缆122可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。尽管显示了并描述了单个的第一线缆122，可预期的是，包括相应的远侧端的第一对线缆(未图示)可以固定在凸轮板152的相对侧，或围绕凸轮板152缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。
单个的第二线缆124至少部分地缠绕凸轮板154并固定于其中至少一点，或者单个的第二线缆124可以以绞盘的方式围绕凸轮板154缠绕至少一圈。单个的线缆124可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。尽管显示了并描述了单个的第二线缆124，可预期的是，包括相应的远侧端的第一对线缆(未图示)可以固定在凸轮板154的相对侧，或围绕凸轮板154缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。
钳夹组件150进一步包括凸轮滑轮160，其也与腕组件110的远侧毂114的直立支撑部114a、114b可枢转地连接，具体地，在直立支撑部114a、114b之间，从而可以关于第二枢转轴线“B-B”枢转。凸轮滑轮160基本上是盘形的且限定了一对形成于其中的相对的弧形凸轮槽162、164。每个弧形凸轮槽162、164包括相应的与第二枢转轴线“B-B”间隔有第一径向距离的第一端162a、164a，以及相应的与第二枢转轴线“B-B”间隔有第二径向距离的第二端162b、164b，其中第二径向距离大于第一径向距离。每个凸轮槽162、164的形状或结构可以修改或选择从而变化或变更钳夹组件150的打开/闭合特性，举例讲，随着钳夹组件150达到完全闭合的状态，增加钳夹组件150的夹紧力(即，作为力倍数)。
钳夹组件150还包括一对钳夹172、174，其分别且独立地与支撑板152、154可枢转地连接。具体地，每个钳夹172、174包括枢转点172c、174c，每个钳夹172、174可以关于枢转点172c、174c枢转。当末端执行器100处于轴向对齐方向时(即，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行时)，枢转点172c、174c彼此间隔开，并与第一纵向轴线“X1-X1”间隔有垂直距离。每个枢转点172c、174c限定与远侧毂114的第二枢转轴线“B-B”平行的枢转轴线。
每个钳夹172、174包括相应的近侧端172a、174a，以及相应的远侧端172b、174b。每个近侧端172a、174a从相应的枢转点172c、174c向近侧延伸，而每个远侧端172b、174b从相应的枢转点172c、174c向远侧延伸。
如图6、10以及12所示，销或类似物172d、174d将钳夹172、174每个相应的近侧端172a、174a与形成于凸轮滑轮160中的相应的凸轮槽162、164分别可枢转地且可滑动地连接。在使用中，如下文中将要详细描述的那样，由于凸轮滑轮160在顺时针或逆时针方向都可以旋转，所以会使钳夹172、174相应地打开或闭合。
钳夹172、174的每个远侧端172b、174b限定彼此并列放置的夹持或带齿部。
参照图6，单个的第三线缆126至少部分地围绕凸轮滑轮160缠绕并固定于其中至少一点，或者单个的第三线缆126可以以绞盘的方式围绕凸轮滑轮160缠绕至少一圈。单个的第三线缆126可以包括近侧端126a、126b，其延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(马达5)和第六马达(马达6)可操作地关联。尽管显示了并描述了单个的第三线缆126，可预期的是，包括相应的远侧端的第三对线缆(未图示)可以固定在凸轮滑轮160的相对侧，或围绕凸轮滑轮160缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(马达5)和第六马达(马达6)可操作地关联。
在操作中，如图7和8所示，为了使末端执行器100关于腕组件110的第一枢转轴线“A-A”枢转，可预期的是，来自控制装置4激活第一马达(未图示)的输入造成第一线缆122的近侧端在近侧方向上被拉拽，并选择性地激活第二马达(未图示)使第二线缆124的近侧端放出，反之亦然。依据第一线缆122或第二线缆124的哪个近侧端在近侧方向上被拉拽，确定关于第一枢转轴线“A-A”得到哪个枢转方向。
另外，在操作中，如图13和14所示，为了使末端执行器100的钳夹172、174关于钳夹组件150的第二枢转轴线“B-B”枢转，可预期的是，来自控制装置4激活第三马达(未图示)的输入造成第一线缆122的一个近侧端以及第二线缆124相应的一个近侧端在近侧方向上被拉拽，并选择性地激活第四马达(未图示)使第一线缆122另外的近侧端以及第二线缆124相应的另外的近侧端放出，反之亦然。依据第一线缆122或第二线缆124的哪一个近侧端在近侧方向上被拉拽，确定关于第二枢转轴线“B-B”哪个枢转方向被传递至支撑板152和154并因此枢转钳夹172、174。
仍然是在操作中，为了关于钳夹172、174相应的枢转点172c、174c打开或闭合末端执行器100的钳夹172、174，可预期的是，来自控制装置4激活第五马达(马达5)的输入造成第三线缆126的一个近侧端126a或126b(图6)在近侧方向上被拉拽，并选择性地激活第六马达(马达6)使第三线缆126的另一个近侧端126a或126b放出。依据第三线缆126的近侧端126a或126b中哪一个在近侧方向上被拉拽，确定凸轮滑轮160向哪个方向旋转(关于枢转轴线/旋转轴“B-B”)并因此确定钳夹172、174是打开还是闭合。具体地，随着凸轮滑轮160在第一方向旋转，将钳夹172、174与凸轮滑轮160连接的销穿过相应的凸轮槽162、164滑动或进行凸轮运动，并径向向内拉拽从而打开钳夹172、174。相似的，随着凸轮滑轮160在第二方向旋转，将钳夹172、174与凸轮滑轮160连接的销穿过相应的凸轮槽162、164滑动或进行凸轮运动，并径向向外推动从而闭合钳夹172、174。
现在转向图15至22，根据本公开的另一实施例的用于连接机器人手臂2、3并通过控制装置4操作的末端执行器，通常地指定为200。末端执行器200基本上与末端执行器100相似，所以此处所详细描述的，仅仅是描述其与末端执行器100在结构和/或操作上的区别所必需的。
末端执行器200包括腕组件210、以及与腕组件210可枢转地连接的钳夹组件250。腕组件210包括近侧毂212，其限定第一纵向轴线“X1-X1”和第一枢转轴线“A-A”，第一枢转轴线“A-A”定向为与第一纵向轴线“X1-X1”垂直。腕组件210进一步包括与近侧毂212可枢转地连接的远侧毂214。远侧毂214限定第二纵向轴线“X2-X2”和第二枢转轴线“B-B”，第二枢转轴线“B-B”与第一枢转轴线“A”垂直定向并与第一纵向轴线“X1-X1”垂直。在实施例中，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行(即，末端执行器200处于轴向对齐方向)时，第二枢转轴线“B-B”可以延伸穿过第一纵向轴线“X1-X1”。
单个的第一线缆(未图示)可以围绕远侧毂214至少部分地缠绕并固定于其中至少一点，或者单个的第一线缆可以以绞盘的方式围绕远侧毂214缠绕至少一圈。单个的第一线缆可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。尽管描述了单个的第一线缆，可预期的是，包括相应的远侧端的第一对线缆(未图示)可以固定在远侧毂214的相对侧，或围绕远侧毂214缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。
继续参照图17至22，末端执行器200包括钳夹组件250，其具有一对间隔开的支撑板或凸轮板或凸轮滑轮252、254，其与腕组件210的远侧毂214可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。
钳夹组件250进一步包括凸轮滑轮260，其也与腕组件210的远侧毂214的直立支撑部可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。凸轮滑轮260基本上是盘形的且限定了形成于其中的一对相对的弧形凸轮槽262、264。每个凸轮槽262、264包括与第二枢转轴线“B-B”间隔有第一径向距离的相应的第一端262a、264a，以及与第二枢转轴线“B-B”间隔有第二径向距离的相应的第二端262b、264b，其中第二径向距离大于第一径向距离。每个凸轮槽262、264的形状或结构可以修改或选择从而变化或变更钳夹组件250的打开/闭合特性，举例讲，随着钳夹组件250达到完全闭合的状态，增加钳夹组件250的夹紧力(即，作为力倍数)。
钳夹组件250还包括一对钳夹272、274，在公共的枢转点276处与支撑板252、254可枢转地连接,每个钳夹272、274关于公共的枢转点276枢转。当末端执行器200处于轴向对齐方向时(即，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行时)，枢转点276与第二枢转轴线“B-B”间隔有轴向距离。枢转点276限定与远侧毂214的第二枢转轴线“B-B”平行的枢转轴线。
每个钳夹272、274包括相应的近侧端272a、274a，以及相应的远侧端272b、274b。每个近侧端272a、274a从枢转点276向近侧延伸，而每个远侧端272b、274b从枢转点276向远侧延伸。
如图21和22所示，销或类似物272d、274d将相应钳夹272、274各近侧端272a、274a与形成于凸轮滑轮260中的相应的凸轮槽262、264可枢转地且可滑动地连接。在使用中，如下文中将要详细描述的那样，由于凸轮滑轮260在顺时针或逆时针方向都可以旋转，所以会使钳夹272、274相应地打开或闭合。
单个的第二线缆(未图示)至少部分地围绕凸轮滑轮260缠绕并固定于其中至少一点，或者单个的第二线缆可以以绞盘的方式围绕凸轮滑轮260缠绕至少一圈。单个的第二线缆可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。尽管描述了单个的第二线缆，可预期的是，包括相应的远侧端的第二对线缆(未图示)可以固定在凸轮滑轮260的相对侧，或围绕凸轮滑轮260缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。
在操作中，为了使末端执行器200关于腕组件210的第一枢转轴线“A-A”枢转，可预期的是，来自控制装置4的输入造成第一对线缆中的一根(未图示)在近侧方向上被拉拽。依据第一对线缆中的哪一根在近侧方向上被拉拽，确定关于第一枢转轴线“A-A”得到哪个枢转方向。
另外，在操作中，为了使末端执行器200的钳夹272、274关于钳夹组件250的第二枢转轴线“B-B”枢转，可预期的是，来自控制装置4的输入造成第二对线缆中的一根(未图示)在近侧方向上被拉拽。依据第二对线缆中的哪一根在近侧方向上被拉拽，确定关于第二枢转轴线“B-B”得到哪个枢转方向。
仍然是在操作中，为了关于钳夹272、274的枢转轴线点276打开或闭合末端执行器200的钳夹272、274，可预期的是，来自控制装置4的输入造成第二对线缆中的一根在近侧方向上被拉拽。依据第二对线缆中的哪一根在近侧方向上被拉拽，确定凸轮滑轮260向哪个方向旋转(关于枢转轴线/旋转轴“B-B”)并因此确定钳夹272、274是打开还是闭合。具体地，随着凸轮滑轮260在第一方向旋转，将钳夹272、274与凸轮滑轮260连接的销272d、274d穿过相应的凸轮槽262、264滑动或进行凸轮运动，并径向向内拉拽从而打开钳夹272、274。相似的，随着凸轮滑轮260在第二方向旋转，将钳夹272、274与凸轮滑轮260连接的销272d、274d穿过相应的凸轮槽262、264滑动或进行凸轮运动，并径向向外推动从而闭合钳夹272、274。
现在转向图23至38，根据本公开的再另一实施例的用于连接于机器人手臂2、3并通过控制装置4操作的末端执行器，通常地指定为300。末端执行器300基本上与末端执行器100及200相似，所以此处所详细描述的，仅仅是描述其与末端执行器100与200在结构和/或操作上的区别所必需的。
末端执行器300包括腕组件310、以及与腕组件310可枢转地连接的钳夹组件350。腕组件310包括近侧毂312，其限定第一纵向轴线“X1-X1”和第一枢转轴线“A-A”，第一枢转轴线“A-A”定向为与第一纵向轴线“X1-X1”垂直。腕组件310进一步包括与近侧毂312可枢转地连接的远侧毂314。远侧毂314限定第二纵向轴线“X2-X2”和第二枢转轴线“B-B”，第二枢转轴线“B-B”与第一枢转轴线“A-A”垂直定向并与第一纵向轴线“X1-X1”垂直。在实施例中，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行(即，末端执行器300处于轴向对齐方向)时，第二枢转轴线“B-B”可以延伸穿过第一纵向轴线“X1-X1”。
参照图29和30，单个的第一线缆122围绕支撑在远侧毂314中的凸轮板314c至少部分地缠绕并固定于其中至少一点，或者单个的第一线缆122可以以绞盘的方式围绕远侧毂314c缠绕至少一圈。单个的第一线缆122可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。尽管显示了并描述了单个的第一线缆122，可预期的是，包括相应的远侧端的第一对线缆(未图示)可以固定在凸轮板314c的相对侧，或围绕凸轮板314c缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。
继续参照图23至38，末端执行器300包括钳夹组件350，其具有一对间隔开的支撑板或凸轮板或凸轮滑轮352、354，其与腕组件310的远侧毂314可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。每个支撑板352、354分别限定形成于其中的轴向延伸槽352a、352b。
钳夹组件350进一步包括凸轮滑轮360，其也与腕组件310的远侧毂314的直立支撑部可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。凸轮滑轮360基本上是盘形的且限定了形成于其中的弧形凸轮槽362。凸轮槽362包括与第二枢转轴线“B-B”间隔有第一径向距离的第一端362a，以及与第二枢转轴线“B”间隔有第二径向距离的第二端362b，其中第二径向距离大于第一径向距离。凸轮槽362的形状或结构可以修改或选择从而变化或变更钳夹组件350的打开/闭合特性，举例讲，随着钳夹组件350达到完全闭合的状态，增加钳夹组件350的夹紧力(即，作为力倍数)。
钳夹组件350进一步包括第二凸轮滑轮361，其也与腕组件310的远侧毂314的直立支撑部可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。凸轮滑轮361基本上是盘形的且限定了形成于其中的径向延伸槽361a。
钳夹组件350还包括一对钳夹372、374，在公共的枢转点376处与支撑板352、354可枢转地连接,每个钳夹372、374关于公共的枢转点376枢转。当末端执行器300处于轴向对齐方向时(即，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行时)，枢转点376与第二枢转轴线“B-B”的远侧间隔有轴向距离。
每个钳夹372、374包括相应的近侧端372a、374a，以及相应的远侧端372b、374b。枢转点376限定枢转轴线，其与远侧毂314的第二枢转轴线“B-B”平行。每个近侧端372a、374a从枢转点376向近侧延伸，而每个远侧端372b、374b从枢转点376向远侧延伸。每个近侧端372a、374a限定形成于其中的相应的倾斜凸轮槽372c、374c。具体地，每个倾斜凸轮槽372c、374c可以包括与枢转轴线点376轴向对齐或基本上轴向对齐的远侧端，以及彼此向相反方向倾斜的近侧端。
销或类似物356将相应钳夹372、374相应的近侧端372a、374a的倾斜凸轮槽372c、374c与形成于凸轮滑轮360中的凸轮槽362以及凸轮滑轮361的槽361a可枢转地且可滑动地连接。销356也可滑动地布置在形成于支撑板352、354中的轴向延伸槽352a、354a中。在使用中，如下文中将要详细描述的那样，由于凸轮滑轮360、361在顺时针和/或逆时针方向都可以旋转，所以会使钳夹372、374相应地打开、闭合、和/或枢转。
单个的第二线缆124至少部分地围绕凸轮滑轮360缠绕并固定于其中至少一点，或者单个的第二线缆124可以以绞盘的方式围绕凸轮滑轮360缠绕至少一圈。单个的第二线缆124可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。尽管显示了并描述了单个的第二线缆124，可预期的是，包括相应的远侧端的第二对线缆(未图示)可以固定在凸轮滑轮360的相对侧，或围绕凸轮滑轮360缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。
进一步，单个的第三线缆126可以至少部分地围绕凸轮滑轮361缠绕并固定于其中至少一点，或者单个的第三线缆126可以以绞盘的方式围绕凸轮滑轮361缠绕至少一圈。单个的第三线缆126可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(未图示)和第六马达(未图示)可操作地关联。尽管描述了单个的第三线缆126，可预期的是，包括相应的远侧端的第三对线缆(未图示)可以固定在凸轮滑轮361的相对侧，或围绕凸轮滑轮361缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(未图示)和第六马达(未图示)可操作地关联。
在操作中，为了使末端执行器300关于腕组件310的第一枢转轴线“A-A”枢转，可预期的是，来自控制装置4激活第一马达(未图示)的输入造成第一线缆122的一个近侧端在近侧方向上被拉拽，并选择性地激活第二马达(未图示)使第一线缆122的另一个近侧端放出。依据第一线缆122的哪一个近侧端在近侧方向上被拉拽，确定关于第一枢转轴线“A-A”得到哪个枢转方向。
另外，在操作中，为了使末端执行器300的钳夹372、374关于钳夹组件350的第二枢转轴线“B-B”枢转，可预期的是，来自控制装置4激活第三马达(未图示)的输入造成第三线缆126的一个近侧端在近侧方向上被拉拽，并选择性地激活第四马达(未图示)使第三线缆126的另一个近侧端放出。依据第三线缆126的哪一个近侧端在近侧方向上被拉拽，确定关于第二枢转轴线“B-B”哪个枢转方向被传递至凸轮滑轮361并因此枢转钳夹272、274。
仍然是在操作中，为了关于钳夹372、374的枢转点376打开或闭合末端执行器300的钳夹372、374，可预期的是，来自控制装置4激活第三马达或第五马达(未图示)的输入造成第二线缆124的一个近侧端在近侧方向上被拉拽，并选择性地激活第四马达或第六马达(未图示)使第二线缆124的另一个近侧端放出。依据第二线缆124的哪一个近侧端在近侧方向上被拉拽，确定凸轮滑轮360(关于枢转轴线/旋转轴“B-B”)向哪个方向旋转，并因此确定钳夹372、374是打开还是闭合。具体地，凸轮滑轮361保持静止，随着凸轮滑轮360在第一方向旋转，将钳夹372、374的倾斜凸轮槽372c、374c与凸轮滑轮360的凸轮槽362连接的销356穿过钳夹372、374的凸轮槽372c、374c向近侧滑动或进行凸轮运动，并穿过凸轮滑轮360的凸轮槽362被径向向内拉拽，并且穿过支撑板352、354的轴向槽352a、354a向近侧推动或进行凸轮运动，由此打开钳夹372、374。相似的，凸轮滑轮361保持静止，随着凸轮滑轮360在第二方向旋转，将钳夹372、374的弧形凸轮槽372c、374c与凸轮滑轮360的凸轮槽362连接的销356穿过钳夹372、374的凸轮槽372c、374c向远侧滑动或进行凸轮运动，并穿过凸轮滑轮360的凸轮槽362被径向向外推动，并且穿过支撑板352、354的轴向槽352a、354a向远侧推动或进行凸轮运动，由此闭合钳夹372、374。
现在转向图39至50，根据本公开的又另一实施例的用于连接于机器人手臂2、3并通过控制装置4操作的末端执行器，通常地指定为400。末端执行器400基本上与末端执行器100至300相似，所以此处所详细描述的，仅仅是描述其与末端执行器100至300在结构和/或操作上的区别所必需的。
末端执行器400包括腕组件410、以及与腕组件410可枢转地连接的钳夹组件450。腕组件410包括近侧毂412，其限定第一纵向轴线“X1-X1”和第一枢转轴线“A-A”，第一枢转轴线“A-A”定向为与第一纵向轴线“X1-X1”垂直。腕组件410进一步包括与近侧毂412可枢转地连接的远侧毂414。远侧毂414限定第二纵向轴线“X2-X2”和第二枢转轴线“B-B”，第二枢转轴线“B-B”与第一枢转轴线“A-A”垂直定向并与第一纵向轴线“X1-X1”垂直。在实施例中，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行(即，末端执行器400处于轴向对齐方向)时，第二枢转轴线“B-B”可以延伸穿过第一纵向轴线“X1-X1”。
参照图45和46，单个的第一线缆122至少部分地围绕远侧毂414的凸轮滑轮414c缠绕并固定于其中至少一点，或者单个的第一线缆122可以以绞盘的方式围绕凸轮滑轮414c缠绕至少一圈。单个的第一线缆122可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。尽管显示了并描述了单个的第一线缆122，可预期的是，包括相应的远侧端的第一对线缆(未图示)可以固定在凸轮滑轮414c的相对侧，或围绕凸轮滑轮414c缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。
继续参照图39至50，末端执行器400包括钳夹组件450，其具有一对间隔开的支撑板或凸轮板或凸轮滑轮452、454，其与腕组件410的远侧毂414相应的间隔开的直立支撑部414a、414b可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。每个支撑板452、454在第二枢转轴线“B-B”的近侧位置限定形成于其中的相应的纵向延伸槽452a、454a。
钳夹组件450进一步包括：一对凸轮滑轮组件460a、460b，每个凸轮滑轮组件460a、460b具有凸轮板462a、462b，其沿第二枢转轴线“B-B”被可枢转地支撑在远侧毂414的间隔开的直立支撑部414a、414b上；以及相应的凸轮连杆464a、464b，凸轮连杆464a、464b将每个凸轮板462a、462b与相应的支撑板452、454可枢转地相互连接。具体地，每个凸轮连杆464a、464b的远侧端与相应的凸轮板462a、462b可枢转地连接，而每个凸轮连杆464a、464b的近侧端通过凸轮销466与支撑板452、454的槽452a、454a可枢转地且可滑动地连接。每个凸轮连杆464a、464b的长度可以修改或选择从而变化或变更钳夹组件450的打开/闭合特性，举例讲，随着钳夹组件450达到完全闭合的状态，增加钳夹组件450的夹紧力(即，作为力倍数)。
钳夹组件450还包括一对钳夹472、474，其在公共的枢转点476处与支撑板452、454及远侧毂414的直立支撑部414a、414b可枢转地连接,每个钳夹472、474关于公共的枢转点476枢转。枢转点476与第二枢转轴线“B-B”同轴。
每个钳夹472、474包括相应的近侧端472a、474a，以及相应的远侧端472b、474b。每个近侧端472a、474a从枢转点476向近侧延伸，而每个远侧端472b、474b从枢转点476向远侧延伸。每个近侧端472a、474a限定形成于其内的相应的倾斜凸轮槽472c、474c。具体地，每个倾斜凸轮槽472c、474c可以包括与枢转轴线点476轴向对齐或基本上轴向对齐的远侧端，以及彼此向相反方向倾斜的近侧端。
如上文描述，销或类似物466可枢转地且可滑动地连接相应的钳夹472、474的相应的近侧端472a、474a的每个倾斜凸轮槽472c、474c与支撑板452、454的槽452a、454a。在使用中，如下文中将要详细描述的那样，由于凸轮板462a、462b在顺时针或逆时针方向都可以旋转，所以会使钳夹472、474相应地打开或闭合。
如图39至46所示，单个的第二线缆124可以至少部分地围绕凸轮板462a缠绕并固定于其中至少一点，或者单个的第二线缆可以以绞盘的方式围绕凸轮滑轮462a缠绕至少一圈。单个的第二线缆124可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。尽管描述了单个的第二线缆124，可预期的是，包括相应的远侧端的第二对线缆(未图示)可以固定在凸轮板462a的相对侧，或围绕凸轮板462a缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。
单个的第三线缆126可以至少部分地围绕凸轮板462b缠绕并固定于其中至少一点，或者单个的第三线缆126可以以绞盘的方式围绕凸轮板462b缠绕至少一圈。单个的第三线缆126可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(未图示)和第六马达(未图示)可操作地关联。尽管描述了单个的第三线缆126，可预期的是，包括相应的远侧端的第三对线缆(未图示)可以固定在凸轮板462b的相对侧，或围绕凸轮板462b缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(未图示)和第六马达(未图示)可操作地关联。
在操作中，如图45和46所示，为了使末端执行器400关于腕组件410的第一枢转轴线“A-A”枢转，可预期的是，来自控制装置4激活第一马达(未图示)的输入造成第一线缆122的一个近侧端在近侧方向上被拉拽，并选择性地激活第二马达(未图示)使第一线缆122的另一个近侧端放出。依据第一线缆122的哪一个近侧端在近侧方向上被拉拽，确定关于第一枢转轴线“A-A”得到哪个枢转方向。
另外，在操作中，为了使末端执行器400的钳夹472、474关于钳夹组件450的第二枢转轴线“B-B”枢转，可预期的是，来自控制装置4激活第三马达或第五马达(未图示)的输入造成第二线缆124的一个近侧端以及第三线缆126的一个近侧端在近侧方向上被拉拽，并选择性地激活第四马达或第六马达(未图示)使第二线缆124或第三线缆126的另一个近侧端放出。依据第二线缆124和第三线缆126的哪一个近侧端在近侧方向上被拉拽，确定关于第二枢转轴线“B-B”哪个枢转方向被传递至支撑板452或454并因此枢转钳夹472、474。
仍然在操作中，为了关于钳夹472、474的枢转点476打开或闭合末端执行器400的钳夹472、474，可预期的是，来自控制装置4激活第三马达或第五马达(未图示)的输入造成第二线缆124及第三线缆126的一个近侧端在近侧方向上被拉拽，并选择性地激活第四马达或第六马达(未图示)使第二线缆124或第三线缆126的另一个近侧端放出。依据第二线缆124或第三线缆126的哪一个近侧端在近侧方向上被拉拽，确定凸轮滑轮组件460a、460b的凸轮板462a、462b相较另一个(关于枢转轴线/旋转轴“B-B”)向哪个方向旋转并因此确定钳夹472、474是打开还是闭合。具体地，随着凸轮板462b的凸轮板462a在第一方向旋转，通过相应的凸轮连杆464a、464b与凸轮板462a、462b相互连接的凸轮销466(布置在钳夹472、474的倾斜凸轮槽472c、474c与支撑板452、454的槽452a、454a中)，通过钳夹472、474的倾斜凸轮槽472c、474c向远侧滑动或进行凸轮运动，并通过支撑板452、454的槽452a、454a被凸轮连杆464a、464b向远侧拉拽，因此打开钳夹472、474。
相似地，随着凸轮板462a或凸轮板462b在第二方向旋转，凸轮销466通过钳夹472、474的倾斜凸轮槽472c、474c向近侧滑动或进行凸轮运动，并通过支撑板452、454的槽452a、454a被凸轮连杆464a、464b向近侧推动，因此闭合钳夹472、474。
现在转向图51至62，根据本公开的又另一实施例的用于连接于机器人手臂2、3并通过控制装置4操作的末端执行器，通常地指定为500。末端执行器500基本上与末端执行器400相似，所以此处所详细描述的，仅仅是描述其与末端执行器400在结构和/或操作上的区别所必需的。
末端执行器500包括腕组件510、以及与腕组件510可枢转地连接的钳夹组件550。腕组件510包括近侧毂512，其限定第一纵向轴线“X1-X1”和第一枢转轴线“A-A”，第一枢转轴线“A-A”定向为与第一纵向轴线“X1-X1”垂直。腕组件510进一步包括与近侧毂512可枢转地连接的远侧毂514。远侧毂514限定第二纵向轴线“X2-X2”和第二枢转轴线“B-B”，第二枢转轴线“B-B”与第一枢转轴线“A-A”垂直定向并与第一纵向轴线“X1-X1”垂直。在实施例中，当第一纵向轴线“X1-X1”与第二纵向轴线“X2-X2”平行(即，末端执行器500处于轴向对齐方向)时，第二枢转轴线“B-B”可以延伸穿过第一纵向轴线“X1-X1”。
参照图58和59，单个的第一线缆122至少部分地围绕远侧毂514的凸轮板514c缠绕并固定于其中至少一点，或者单个的第一线缆122可以以绞盘的方式围绕凸轮板514c缠绕至少一圈。单个的第一线缆122可以包括近侧端，其延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。尽管显示了并描述了单个的第一线缆122，可预期的是，包括相应的远侧端的第一对线缆(未图示)可以固定在凸轮板514c的相对侧，或围绕凸轮板514c缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第一马达和第二马达(未图示)可操作地关联。
继续参照图51至62，末端执行器500包括钳夹组件550，其具有一对间隔开的支撑板或凸轮板或凸轮滑轮552、554，其与腕组件510的远侧毂514相应的间隔开的直立支撑部514a、514b可枢转地连接，从而可以关于第二枢转轴线“B-B”枢转。每个支撑板552、554从枢转销566向远侧延伸，枢转销566限定第二枢转轴线“B-B”。
钳夹组件550还包括一对钳夹572、574，在公共的枢转点576处与支撑板552、554及远侧毂514的直立支撑部514a、514b可枢转地连接,每个钳夹572、574关于枢转点576枢转。枢转点576位于第二枢转轴线“B-B”的远侧。每个钳夹572、574包括相应的近侧端572a、574a，以及相应的远侧端572b、574b。每个近侧端572a、574a从枢转点576向近侧延伸，而每个远侧端572b、574b从枢转点576向远侧延伸。
钳夹组件550进一步包括至少一个凸轮滑轮组件560，凸轮滑轮组件560具有凸轮板562a，其被非旋转地支撑在枢转销562b上，枢转销562b在远侧毂514的间隔开的直立支撑部514a、514b之间延伸，其中第二枢转轴线“B-B”沿枢转销562b延伸。凸轮滑轮组件560进一步包括相互连接枢转销562b与钳夹572、574的近侧端572a、574a的一对凸轮连接件564、566。具体地，凸轮连接件564包括具有连接(例如，固定地，非旋转地，有键的，等等)至枢转销562b的第一端的近侧连杆564a，以及将近侧连杆564a的第二端与钳夹574的近侧端574a可枢转地相互连接的远侧连杆564b。相似地，凸轮连接件566包括具有连接(例如，固定地，非旋转地，有键的，等等)至枢转销562b的第一端的近侧连杆566a，以及将近侧连杆566a的第二端与钳夹572的近侧端572a可枢转地相互连接的远侧连杆566b。在使用中，如下文中将要详细描述的那样，由于凸轮板562在顺时针或逆时针方向都可以旋转，所以会通过第一及第二连接件564、566使钳夹572、574打开或闭合。凸轮连接件564、566的长度可以修改或选择从而变化或变更钳夹组件550的打开/闭合特性，举例讲，随着钳夹组件550达到完全闭合的状态，增加钳夹组件550的夹紧力(即，作为力倍数)。
如图55所示，单个的第二线缆124可以至少部分地围绕支撑板552、554缠绕并固定于其中至少一点，或者单个的第二线缆124可以以绞盘的方式围绕支撑板552、554缠绕至少一圈。单个的第二线缆124可以包括近侧端(未图示)，其延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。尽管描述了单个的第二线缆124，可预期的是，包括相应的远侧端的第二对线缆(未图示)可以固定在支撑板552、554的相对侧，或围绕支撑板552、554缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第三马达和第四马达(未图示)可操作地关联。
另外，单个的第三线缆126可以至少部分地围绕凸轮板562a缠绕并固定于其中至少一点，或者单个的第三线缆126可以以绞盘的方式围绕凸轮板562a缠绕至少一圈。单个的第三线缆126可以包括近侧端(未图示)，其延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(未图示)和第六马达(未图示)可操作地关联。尽管描述了单个的第三线缆126，可预期的是，包括相应的远侧端的第三对线缆(未图示)可以固定在凸轮板562a的相对侧，或围绕凸轮板562a缠绕至少180°并固定于其上，并包括相应的近侧端，该近侧端延伸穿过机器人手臂2或3并与控制装置4的相应的第五马达(未图示)和第六马达(未图示)可操作地关联。
在操作中，为了使末端执行器500关于腕组件510的第一枢转轴线“A-A”枢转，可预期的是，来自控制装置4激活第一马达(未图示)的输入造成第一线缆122的一个近侧端在近侧方向上被拉拽，并选择性地激活第二马达(未图示)使第一线缆122的另一个近侧端放出。依据第一线缆122的哪一个近侧端在近侧方向上被拉拽，确定关于第一枢转轴线“A-A”得到哪个枢转方向。
另外，在操作中，为了使末端执行器500的钳夹572、574关于钳夹组件550的第二枢转轴线“B-B”枢转，可预期的是，来自控制装置4激活第三马达(未图示)的输入造成第二线缆124的一个近侧端在近侧方向上被拉拽，并选择性地激活第四马达(未图示)使第二线缆的另一个近侧端放出。依据第二线缆的哪一个近侧端在近侧方向上被拉拽，确定关于第二枢转轴线“B-B”哪个枢转方向被传递至支撑板552或554并因此枢转钳夹572、574。
仍然在操作中，为了关于钳夹572、574的枢转点576打开或闭合末端执行器500的钳夹572、574，可预期的是，来自控制装置4激活第五马达(未图示)的输入造成第三线缆126的一个近侧端在近侧方向上被拉拽，并选择性地激活第六马达(未图示)使第三线缆的另一个近侧端放出。依据三线缆的哪一个近侧端在近侧方向上被拉拽，确定连接件组件562的板562a(关于枢转轴线/旋转轴“B-B”)向哪个方向旋转并因此确定钳夹572、574是打开还是闭合。具体地，随着板562a在第一方向旋转，枢转销562b因此在第一方向旋转，造成连接件564、566的近侧连杆564a、564a关于第二枢转轴线“B-B”在第一方向旋转因而径向向内拉拽连接件564、566的远侧连杆564b、564b并因此径向向内拉拽钳夹572、574的近侧端572a、574a，从而闭合钳夹572、574。
相似地，随着板562a在第二方向旋转，枢转销562b在第二方向旋转，造成连接件564、566的近侧连杆564a、566a关于第二枢转轴线“B-B”在第二方向上旋转因而径向向外推动连接件564、566的远侧连杆564b、566b，并因此径向向外推动钳夹572、574的近侧端572a、574a从而打开钳夹572、574。
可以理解的是，可以对此处公开的实施例进行多种修改。举例讲，尽管此处公开的凸轮滑轮已显示并描述为与钳夹的近侧端连接，可预期并包括在本公开范围内的是，凸轮滑轮也可以与钳夹的远侧部可操作地连接。因此，上文的描述不应解释为限制，而仅仅是作为多种实施例的举例。本领域技术人员能够联想到其他的、属于所附权利要求的范围与构思范围内的修改。

Claims (24)

1.一种用于使用并连接机器人手术系统的机器人手臂的末端执行器，其中，所述机器人手术系统控制和/或关节式运动所述末端执行器，所述末端执行器包括：
钳夹组件，包括：
至少一个支撑板；
一对钳夹，其可枢转地被支撑在所述至少一个支撑板上，其中每个钳夹包括：
枢转点，其与所述至少一个支撑板连接；
近侧部，其从其所述枢转点向近侧延伸；及
远侧部，其从其所述枢转点向远侧延伸；及
凸轮滑轮，被可旋转地支撑在所述至少一个支撑板上，其中所述凸轮滑轮与每个所述钳夹的近侧端可操作地连接，使得所述凸轮滑轮能够在顺时针和逆时针方向上旋转，以造成所述钳夹组件的打开和闭合其中之一；及
腕组件，其支撑所述钳夹组件，所述腕组件包括：
近侧毂，其限定纵向轴线；及
远侧毂，其与所述近侧毂可枢转地连接，其中所述远侧毂限定纵向轴线，并且其中所述近侧毂与所述远侧毂均能够关于第一枢转轴线枢转，所述第一枢转轴线横向于所述近侧毂的纵向轴线定向，
其中，所述钳夹组件与所述腕组件的所述远侧毂可枢转地连接，其中所述至少一个支撑板关于第二枢转轴线枢转，所述第二枢转轴线横向于所述腕组件的所述远侧毂的纵向轴线定向，并且其中所述钳夹组件的所述凸轮滑轮包括至少一个凸轮板。
2.根据权利要求1所述的末端执行器，其中，从所述机器人手术系统的控制装置的相应的马达延伸的至少一根线缆控制和/或关节式运动所述末端执行器。
3.根据权利要求1所述的末端执行器，其中，所述凸轮滑轮在所述第二枢转轴线上被可枢转地支撑在所述至少一个支撑板上，所述凸轮滑轮限定至少一个形成于其表面的弧形槽，每个弧形槽包括：
第一端，其与所述凸轮滑轮的枢转轴线间隔有第一径向距离；及
第二端，其与所述凸轮滑轮的枢转轴线间隔有第二径向距离，及其中，每个钳夹的近侧部与所述凸轮滑轮的相应的弧形槽滑动地且进行凸轮运动地连接。
4.根据权利要求3所述的末端执行器，其中，所述钳夹组件的一对钳夹共享公共的枢转点。
5.根据权利要求3所述的末端执行器，其中，所述一对钳夹中的每个的枢转点与所述第二枢转轴线间隔有侧向距离。
6.根据权利要求1所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述凸轮滑轮连接。
7.根据权利要求6所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述至少一个凸轮板连接。
8.根据权利要求4所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述凸轮滑轮连接。
9.根据权利要求8所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述至少一个凸轮板连接。
10.根据权利要求5所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述凸轮滑轮连接。
11.根据权利要求10所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述至少一个凸轮板连接。
12.根据权利要求4所述的末端执行器，其中，所述凸轮滑轮限定形成于其中的单个的弧形槽，并且其中每个钳夹的所述近侧端限定形成于其中的倾斜槽，其中所述倾斜槽在近侧方向上彼此分离，并且其中所述钳夹组件包括凸轮销，所述凸轮销可滑动地布置在所述凸轮滑轮的所述弧形槽和每个钳夹的所述倾斜槽中。
13.根据权利要求12所述的末端执行器，其中，所述至少一个凸轮板限定形成于其中的轴向延伸槽，并且其中所述凸轮销可滑动地布置在形成于所述至少一个凸轮板的所述轴向延伸槽中。
14.根据权利要求12所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述凸轮滑轮连接。
15.根据权利要求14所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述至少一个凸轮板连接。
16.根据权利要求1所述的末端执行器，其中，所述钳夹组件进一步包括凸轮连杆，所述凸轮连杆与相应的一个凸轮板及相应的一个支撑板可枢转地连接。
17.根据权利要求16所述的末端执行器，其中，所述相应的一个支撑板限定形成于其中的纵向延伸槽，并且其中所述凸轮连杆包括与相应的一个凸轮板可枢转地连接的第一端，及与形成于所述相应的一个支撑板中的纵向延伸槽可枢转地且可滑动地连接的第二端。
18.根据权利要求17所述的末端执行器，其中，每个钳夹的所述近侧端限定形成于其中的倾斜槽，其中所述倾斜槽在近侧方向上彼此分离，并且其中所述钳夹组件包括凸轮销，所述凸轮销可滑动地布置在每个凸轮板的轴向延伸槽和每个钳夹的所述倾斜槽中。
19.根据权利要求18所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述凸轮滑轮连接。
20.根据权利要求19所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述至少一个凸轮板连接。
21.根据权利要求1所述的末端执行器，其中，所述钳夹组件进一步包括至少一个凸轮连接件，所述至少一个凸轮连接件与相应的一个凸轮板及所述钳夹组件的相应钳夹的相应的近侧部可枢转地连接。
22.根据权利要求21所述的末端执行器，其中，所述凸轮滑轮包括沿所述第二枢转轴线布置的枢转销，并且其中所述枢转销非旋转地支撑所述凸轮板，并且其中所述至少一个凸轮连接件包括：
第一凸轮连接件，其具有从所述凸轮滑轮的枢转销非旋转地延伸的近侧连杆，及将所述第一凸轮连接件的近侧连杆与所述钳夹组件的第一钳夹的近侧部可枢转地相互连接的远侧连杆；及
第二凸轮连接件，其具有从所述凸轮滑轮的枢转销非旋转地延伸的近侧连杆，及将所述第二凸轮连接件的近侧连杆与所述钳夹组件的第二钳夹的近侧部可枢转地相互连接的远侧连杆，其中所述第二凸轮连接件的近侧连杆径向偏离所述第一凸轮连接件的近侧连杆。
23.根据权利要求22所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述凸轮滑轮连接。
24.根据权利要求23所述的末端执行器，其中，至少一根线缆在从所述第二枢转轴线偏离径向距离的位置处与所述至少一个凸轮板连接。
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