CN110960324B - Rotation control unit for surgical instrument of pediatric surgical robot - Google Patents

Rotation control unit for surgical instrument of pediatric surgical robot Download PDF

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Publication number
CN110960324B
CN110960324B CN201911350253.0A CN201911350253A CN110960324B CN 110960324 B CN110960324 B CN 110960324B CN 201911350253 A CN201911350253 A CN 201911350253A CN 110960324 B CN110960324 B CN 110960324B
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China
Prior art keywords
sliding seat
hinge
sliding
rotating plate
block
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Expired - Fee Related
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CN201911350253.0A
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Chinese (zh)
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CN110960324A (en
Inventor
杨帆
宫春梅
陶娜
其他发明人请求不公开姓名
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First Hospital Jinlin University
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First Hospital Jinlin University
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Priority to CN201911350253.0A priority Critical patent/CN110960324B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a rotation control unit of a pediatric surgical robot surgical instrument, which belongs to the field of pediatric medical instruments and comprises the following components: connecting portion (100), the surgical robot body is connected to connecting portion, be equipped with spout (110) along first direction distribution on the connecting portion, regulating part (200), regulating part directly or indirectly connects and fixes surgical instruments, regulating part is including rotating plate body (230), first connecting piece (210), second connecting piece (220), the one end and the rotating plate body (230) of first connecting piece are articulated in first articulated department, the other end is equipped with first sliding seat (213), first sliding seat is installed in spout (110) in the middle of and can be in the spout along first direction removal, the one end and the rotating plate body (230) of second connecting piece are articulated in second articulated department, the other end is equipped with second sliding seat (224), the second sliding seat is installed in spout (110) in the middle of and can be in the spout along first direction removal.

Description

Rotation control unit for surgical instrument of pediatric surgical robot
Technical Field
The present invention relates to the field of pediatric surgical instruments.
Background
The surgical instruments refer to medical instruments used in clinical operations, and besides conventional surgical instruments, there are some special instruments used in orthopaedics, urology, obstetrics and gynecology, burn department, plastic surgery, brain surgery, cardiothoracic surgery, general surgery, etc.
In the field of minimally invasive surgery, particularly pediatric surgery, the requirement on the precision of a wound is high, and the fact whether a surgical instrument can be freely adjusted according to the position of the wound is crucial to the effect of the surgery.
When the surgical instrument is adjusted, the surgical instrument obtains operations of rotation, translation and the like, but the operations are basically obtained through corresponding movement of the robot arm, and the operation space is large.
Disclosure of Invention
The invention aims to: to the above-mentioned problem that exists, disclose a paediatrics operation robot surgical instruments rotation control unit, include:
a connecting part connected with the surgical robot body and provided with a chute distributed along a first direction
The adjusting part is directly or indirectly connected with and fixes surgical instruments and comprises a rotating plate body, a first connecting piece and a second connecting piece, one end of the first connecting piece is hinged with the rotating plate body at a first hinge position, the other end of the first connecting piece is provided with a first sliding seat, the first sliding seat is installed in the sliding groove and can move in the sliding groove along a first direction, one end of the second connecting piece is hinged with the rotating plate body at a second hinge position, the other end of the second connecting piece is provided with a second sliding seat, and the second sliding seat is installed in the sliding groove and can move in the sliding groove along the first direction;
the distance between the first sliding seat and the first hinged part can be changed, the distance between the second sliding seat and the second hinged part can be changed, when the distance between the first sliding seat and the first hinged part and the distance between the second sliding seat and the second hinged part are changed with displacement, the rotating plate body translates, and when the distance between the first sliding seat and the first hinged part and the distance between the second sliding seat and the second hinged part are changed with different displacement, the rotating plate body rotates to drive the surgical instrument to rotate.
As the improvement, the first articulated shaft is the first articulated shaft, the axial direction of the first articulated shaft is the second direction, the second articulated shaft is the second articulated shaft, the axial direction of the second articulated shaft is the second direction, and the second direction is perpendicular to the first direction.
As an improvement, the first connecting piece comprises a first hinging block, a first connecting rod, a first sliding seat and a first motor, the first hinging block can only rotate relative to the first hinging shaft of the rotating plate body, a hollow channel is arranged in the first hinging block, the first connecting rod penetrates through the middle hole channel and is in threaded connection with the first hinging block, the first motor is arranged on the first sliding seat, and the first motor is connected with the first connecting rod and drives the first connecting rod to rotate.
As an improvement, the second connecting piece include first articulated piece, the second connecting rod the second sliding seat, the second motor, the articulated piece of second only can rotate with the relative second articulated shaft of rotating plate body, be equipped with hollow channel in the articulated piece of second, the second connecting rod passes mesopore passageway and with first articulated piece threaded connection, install the second motor on the second sliding seat, the second motor is connected and drives the second connecting rod and rotate with the second connecting rod.
As the improvement, all be equipped with the convex body on first sliding seat and the second sliding seat, the spout side is equipped with the channel with convex body cooperation, and the cooperation restriction spout of convex body and channel can only slide along first direction.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a first connector;
FIG. 3 is a schematic view of a first slide block;
FIG. 4 is a schematic view of a swivel ring;
FIG. 5 is a schematic view of a swivel ring;
FIG. 6 is a schematic view of a base;
FIG. 7 is a schematic view of the structure within the circle of FIG. 6;
FIG. 8 is a schematic view of a surgical instrument;
FIG. 9 is a schematic view of a swivel;
FIG. 10 is a schematic view of the connection between the first connecting rod and the rotating plate
The labels in the figure are: 100-connecting part, 110-sliding groove, 200-adjusting part, 210-first connecting piece, 211-first hinging block, 212-first connecting rod, 213-first sliding seat, 2131-convex body, 214-first motor, 220-second connecting piece, 221-second hinging block, 222-second connecting rod, 223-second sliding seat, 224-second motor, 230-rotating plate body, 240-connecting column, 250-rotating ring body, 251-ring body seat, 252-toothed ring, 300-base, 310-rotating seat, 320-rotating slider, 321-slider shell, 322-channel, 323-gear, 324-gear shaft, 325-gear motor, 400-surgical instrument, 410-driving component and 420-extending part.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment discloses a rotation control unit for a surgical instrument of a pediatric surgical robot, which includes a connecting portion 100 and an adjusting portion 200, wherein the connecting portion is connected to a surgical robot body and is controlled by the surgical robot, a sliding slot 110 distributed along a first direction (e.g., the X direction in fig. 1) is disposed on the connecting portion, the adjusting portion 200 is directly or indirectly connected to and fixes the surgical instrument, and the surgical instrument can move or rotate correspondingly according to the movement and rotation of the adjusting portion.
Specifically, as shown in fig. 1 and 2, the adjusting portion includes a rotating plate 230, a first connecting member 210, and a second connecting member 220, the first connecting member and the second connecting member are configured as a long shaft, and the axial direction of the long shaft is the Z direction shown in fig. 1. One end of the first link is hinged to the rotation plate 230 at a first hinge, and the other end is provided with a first sliding seat 213, which is installed in the sliding slot 110 and can move in the sliding slot along a first direction (the X direction is perpendicular to the Z direction as shown in fig. 1), and one end of the second link is hinged to the rotation plate 230 at a second hinge, and the other end is provided with a second sliding seat 224, which is installed in the sliding slot 110 and can move in the sliding slot along the first direction.
The distance between the first sliding seat and the first hinge can be changed, the distance between the second sliding seat and the second hinge can be changed, when the distance between the first sliding seat and the first hinge and the distance between the second sliding seat and the second hinge are changed with displacement, the rotating plate body translates, as shown in fig. 1, the rotating plate body translates along the Z direction, wherein the Z direction is vertical to the X direction, and when the distance between the first sliding seat and the first hinge and the distance between the second sliding seat and the second hinge are changed with different displacements, the rotating plate body rotates around a certain shaft to drive the surgical instrument to rotate.
Specifically, as shown in fig. 1, the first hinge axis is a first hinge axis, the Y1 axis of the first hinge axis is shown in fig. 1, the second hinge axis is a second hinge axis, the Y2 axis of the second hinge axis is shown in fig. 2, the Y1 axis and the Y2 axis are parallel to each other and are distributed along the second direction, the second direction is perpendicular to the first direction, the Y1 axis is perpendicular to the Z direction, and the Y2 axis is perpendicular to the Z direction.
The Y2 axis and the Y1 axis are parallel and perpendicular to the X direction, and the plane where the Y2 axis and the Y1 axis are located fixes the rotation plate body, so that the rotation plate body 230 can be kept stable by the first connection member and the second connection member.
As shown in fig. 2, the first connecting member includes a first hinge block 211, a first connecting rod 212, a first sliding seat 213, and a first motor 214, the first hinge block can only rotate with the rotating plate 230 relative to a first hinge shaft (Y1 shaft), a hollow channel is disposed in the first hinge block, the first connecting rod passes through the hollow channel and is in threaded connection with the first hinge block, the first sliding seat is mounted with the first motor, and the first motor and the first connecting rod are connected and drive the first connecting rod to rotate. The second connecting piece includes first articulated piece 221, second connecting rod 222 the second sliding seat 223, second motor 224, the second articulated piece only can rotate with the relative second articulated shaft of rotating plate body 230, be equipped with the cavity passageway in the articulated piece of second, the second connecting rod passes the mesopore passageway and with first articulated piece threaded connection, install the second motor on the second sliding seat, the second motor is connected and drives the second connecting rod and rotate with the second connecting rod.
When the first motor is remotely driven and the second motor does not operate, the first connecting rod 212 is driven to rotate, the first hinge block 211 further drives the rotating plate to rotate along the axial direction of the first connecting rod relative to the first connecting rod, the rotating plate 230 rotates around the axis Y2, the first connecting rod and the first sliding seat are fixed to each other, the first connecting rod can only rotate relative to the first sliding seat, and therefore, when the rotating plate rotates around the axis Y2, the first sliding seat slides along the sliding groove 110 in the first direction. The rotating plate body drives the surgical instrument to rotate in the corresponding direction.
Similarly, when the first motor is not operated, the second motor is operated, the rotating plate rotates around the axis Y1, and when both the first motor and the second motor are operated, the rotating plate rotates around an axis between the axes Y1 and Y2, and possibly beyond, which is always parallel to the axes Y1 and Y2. And the operation conditions of the first motor and the second motor can be adjusted according to the requirement of the rotating shaft of the rotating plate body, so that the rotating shaft can be changed, and the rotating operation space is enlarged.
As shown in fig. 3, each of the first sliding seat 213 and the second sliding seat has a protrusion 2131, and the side of the sliding slot has a groove for engaging with the protrusion, and the engagement between the protrusion and the groove limits the sliding slot to be able to slide only along the first direction. As shown in fig. 10, the first connecting rod 212 is schematically connected to the rotating plate via a first hinge block, wherein the dotted line is a first hinge shaft, and the same second connecting rod and rotating plate may be configured as well. The surface of the rotating plate body is in a groove-shaped structure, so that the first connecting rod can rotate around the first hinge shaft under the condition that the rotating plate body is static.
The embodiment also discloses a polar coordinate positioning assembly for a surgical instrument of a pediatric surgical robot, which, as shown in fig. 4, includes a rotating ring 250, a base 300, and a surgical instrument 400, where the rotating ring 250 is a closed circular ring structure, and the circular ring structure has a circle center and a ring surface, and can be abstractly understood as a circle, where the circle center of the circular ring structure is the circle center, and the ring surface of the circular ring structure is the surface where the circle is located. The swivel ring body is made of a high strength material, in a preferred embodiment, a high strength aluminum alloy material comprising 100 parts aluminum, 0.0.1-0.05 gallium, 0.02 parts lithium, 0.1 parts titanium, 0.002 parts vanadium, 0.002 tungsten and conventional impurities, and having high strength impact and wear resistance, and in still other embodiments, steel, copper alloys and the like.
As shown in fig. 4 and 6, the base 300 includes two rotating sliders 320 and a rotating base 310 located between the two rotating sliders, the two rotating sliders are clamped on the rotating ring, a connecting line between the two rotating sliders always passes through the center of the ring structure, the two rotating sliders can rotate around the rotating ring structure to further rotate the rotating base around the center of the ring structure,
as shown in fig. 8, the surgical instrument 400 includes a drive assembly 410, an extension 420, and an actuating assembly (not shown, being an electrocoagulation forceps head, an application forceps head, a scissors head, etc.) that controls the actuating assembly to perform a surgical operation through the extension, the drive assembly being mounted on a rotary base and being movable relative to the rotary base in a diametrical direction of the ring-like structure.
In a specific embodiment, as shown in fig. 4 and 5, a closed ring gear 252 is disposed on the rotating ring 250, a gear 323 is disposed in the rotating slider 320, the gear is engaged with the ring gear, and is driven to rotate so as to rotate the rotating slider along the rotating ring, the rotating slider 320 further includes a slider housing 321, an arc-shaped channel is disposed inside the slider housing, as shown in fig. 4, the ring gear of the rotating ring passes through the arc-shaped channel, and the gear is disposed in the arc-shaped channel.
As further shown in fig. 7, the rotary slider 320 further includes a gear shaft 324 and a gear motor 325 mounted on the slider housing, wherein the gear motor is connected to the gear shaft, the gear shaft is connected to the gear, and the gear motor drives the gear to rotate through the gear shaft.
As shown in fig. 4 and 7, the rotating ring body includes a ring body seat 251, the ring body seat is connected to a gear ring 252, three connecting posts 249 are disposed on the ring body seat 251, a channel 322 is disposed on the rotating slider 320 so that the rotating slider can pass through the connecting posts of the rotating ring body, the connecting posts connect the rotating ring body to the surgical robot body, in a specific embodiment, the connecting posts connect the rotating ring body to the rotating plate body, so that the rotating ring body and the rotating body form a rigid structure, and the rotating ring body can follow the movement of the rotating plate body and move accordingly.
As shown in fig. 9, the rotary base 310 includes a rotary base body 311, a cavity is provided in the rotary base body, a screw 312 is provided in the cavity, the screw is driven by a moving motor 313, the moving motor is installed on the rotary base body, a moving slider 314 is connected to the screw in a threaded manner, a driving assembly 410 of the surgical instrument is installed on the moving slider, an axial direction of the screw is a diameter direction of a ring structure of the rotary ring, the moving motor drives the screw to rotate so as to drive the moving slider to move along the diameter direction of the rotary ring, an extension portion of the surgical instrument is a straight long axis, and the axial direction of the straight long axis is perpendicular to a ring surface of the rotary.
According to the positioning assembly, the gear motor 325 of the rotary slide block 320 is remotely controlled, so that the two rotary slide blocks rotate along the rotary ring body, the rotary seat 310 passes through a wound (namely, a polar angle of a polar coordinate is determined), the mobile motor is further remotely controlled to enable the mobile slide to be positioned right above the wound, then the operation robot is operated to enable the execution assembly of the surgical instrument to pass through the wound and enter a human body to complete the surgical operation.
The base can freely rotate in the 360-degree direction, so that the angle of the surgical instrument can be adjusted as required only by enabling the rotating plate body and the rotating ring body to have one degree of freedom of rotation through the control unit, and the control is more convenient.

Claims (3)

1. A pediatric surgical robotic surgical instrument rotation control unit, comprising:
a connecting part (100) connected with the operation robot body, and provided with sliding chutes (110) distributed along a first direction
The adjusting part (200) is directly or indirectly connected with and fixes surgical instruments and comprises a rotating plate body (230), a first connecting piece (210) and a second connecting piece (220), one end of the first connecting piece is hinged with the rotating plate body (230) at a first hinged position, the other end of the first connecting piece is provided with a first sliding seat (213), the first sliding seat is installed in the sliding groove (110) and can move in the sliding groove along a first direction, one end of the second connecting piece is hinged with the rotating plate body (230) at a second hinged position, the other end of the second connecting piece is provided with a second sliding seat (224), and the second sliding seat is installed in the sliding groove (110) and can move in the sliding groove along the first direction;
the distance between the first sliding seat and the first hinge can be changed, the distance between the second sliding seat and the second hinge can be changed, when the distance between the first sliding seat and the first hinge and the distance between the second sliding seat and the second hinge are changed in the same displacement manner, the rotating plate body translates, and when the distance between the first sliding seat and the first hinge and the distance between the second sliding seat and the second hinge are changed in different displacement manners, the rotating plate body rotates to drive the surgical instrument to rotate;
the first connecting piece comprises a first hinging block (211), a first connecting rod (212), a first sliding seat (213) and a first motor (214), the first hinging block can only rotate relative to the first hinging shaft with the rotating plate body (230), a hollow channel is arranged in the first hinging block, the first connecting rod penetrates through the middle hole channel and is in threaded connection with the first hinging block, the first motor is arranged on the first sliding seat, and the first motor is connected with the first connecting rod and drives the first connecting rod to rotate;
the rotor plate body is connected with swivel ring body (250) through three spliced pole (240), swivel ring body and rotor form a rigid structure, swivel ring body (250) are closed ring structure, swivel ring body (250) are connected with base (300), base 300 is including two swivel block (320) and roating seat (310) that are located between two swivel block, two swivel block can rotate round swivel ring body and then make the roating seat rotate round ring structure's centre of a circle, be equipped with surgical instruments (400) on roating seat (310), surgical instruments (400) include drive assembly (410), drive assembly installs on the roating seat and can relative roating seat along ring structure's direction of diameter motion.
The articulated shaft of first articulated department is first articulated shaft, and the articulated shaft of second articulated department is the second articulated shaft, and first articulated shaft axial is Y1 axle, and the second articulated shaft is Y2 axle, and Y2 axle and Y1 axle are parallel and all perpendicular with first direction
2. The rotation control unit of pediatric surgical robotic surgical instrument according to claim 1, wherein the second connecting member comprises a first hinge block (221), a second connecting rod (222), a second sliding seat (223), and a second motor (224), the second hinge block can only rotate relative to the second hinge shaft with the rotating plate body (230), a hollow channel is arranged in the second hinge block, the second connecting rod passes through the hollow channel and is in threaded connection with the first hinge block, the second sliding seat is provided with a second motor, and the second motor is connected with the second connecting rod and drives the second connecting rod to rotate.
3. The pediatric surgical robotic surgical instrument rotation control unit according to claim 1, wherein the first sliding block (213) and the second sliding block each have a protrusion (2131) disposed thereon, wherein the sides of the sliding slot have a channel for engaging the protrusion, and wherein the engagement of the protrusion and the channel limits the sliding slot to only being able to slide in a first direction.
CN201911350253.0A 2019-12-24 2019-12-24 Rotation control unit for surgical instrument of pediatric surgical robot Expired - Fee Related CN110960324B (en)

Priority Applications (1)

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CN201911350253.0A CN110960324B (en) 2019-12-24 2019-12-24 Rotation control unit for surgical instrument of pediatric surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911350253.0A CN110960324B (en) 2019-12-24 2019-12-24 Rotation control unit for surgical instrument of pediatric surgical robot

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CN110960324B true CN110960324B (en) 2020-08-04

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Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3984641B2 (en) * 2004-09-01 2007-10-03 松下電器産業株式会社 Joint drive device
EP4059460A1 (en) * 2009-11-13 2022-09-21 Intuitive Surgical Operations, Inc. Surgical tool with a compact wrist
CN107260310B (en) * 2017-07-31 2021-04-13 成都博恩思医学机器人有限公司 Surgical instrument of surgical robot and surgical robot
CN110279470A (en) * 2019-06-14 2019-09-27 北京罗森博特科技有限公司 Dynamic regulation device, dynamic adjusting system and its application method

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Inventor after: Yang Fan

Inventor after: Gong Chunmei

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