CN111012511B

CN111012511B - Surgical instrument control method of laparoscopic surgery robot

Info

Publication number: CN111012511B
Application number: CN201910897225.4A
Authority: CN
Inventors: 李耀; 陈超; 龚俊杰; 凌正刚; 李建辉
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2018-10-09
Filing date: 2019-09-23
Publication date: 2021-06-18
Anticipated expiration: 2039-09-23
Also published as: CN111012511A

Abstract

The invention relates to a surgical instrument control method of a laparoscopic surgery robot, which comprises the steps that monitoring equipment acquires deflection angle information and opening angle information of a control handle and transmits the acquired information to a main control unit; the master control unit analyzes the received information, determines the wrist deflection angle and the finger opening angle of the operator, and outputs corresponding deflection control instructions and opening and closing control instructions to the slave control unit; the second motor is controlled by the second control module of the slave control unit to drive the surgical instrument to deflect according to the received deflection control instruction, and the third motor is controlled by the third control module of the slave control unit to drive the surgical instrument to open and close according to the received opening and closing control instruction; and controlling the sliding of the instrument fixing device mounted with the surgical instrument on the sliding table by controlling the revolution number of the sliding control motor to replace the surgical instrument at the initial position.

Description

Surgical instrument control method of laparoscopic surgery robot

Technical Field

The invention relates to the technical field of robots, in particular to a surgical instrument control method of a laparoscopic surgical robot.

Background

In minimally invasive surgery, medical personnel are often required to manually perform operations such as cutting, dissection, and suturing of tissue. Particularly for complicated surgical operations, medical staff often need to hold surgical instruments for a long time to perform the operation. This is a challenge to both the physician's physical strength and energy, which in turn affects the efficiency of the procedure.

The existing minimally invasive surgical instrument is usually a simple simulation of the traditional open surgical instrument, has less freedom degree and poor flexibility, usually has larger friction force in the instrument, and reduces the precision of the operation on the attenuation of the transmission force and the fatigue of operators, particularly hand tremor caused by the fatigue of the operators.

Disclosure of Invention

In view of the above problems, the present invention provides a method for controlling surgical instruments of a laparoscopic surgical robot, which is used to solve the technical problems in the prior art.

A surgical instrument control method of a laparoscopic surgery robot, wherein the laparoscopic surgery robot comprises a control handle, a monitoring device, a main control unit, a sliding table, an instrument fixing device connected with the sliding table in a sliding manner, a sliding control motor used for controlling the instrument fixing device to slide on the sliding table, and a slave control unit, a second motor and a third motor which are arranged on the instrument fixing device;

the control method comprises the following steps:

collecting deflection angle information corresponding to a control handle when an operator deflects a wrist and opening angle information corresponding to the control handle when the operator opens and closes fingers by using a monitoring device, and transmitting the collected deflection angle information and the collected opening angle information to a main control unit;

the main control unit analyzes the received deflection angle information and the opening angle information, determines the wrist deflection angle and the finger opening angle of an operator, and outputs corresponding deflection control instructions and opening and closing control instructions to the slave control unit;

the second control module of the slave control unit controls a second motor to rotate according to the received deflection control instruction, the surgical instrument is driven to deflect through the rotation of the second motor, the surgical instrument and the wrist of an operator are enabled to deflect synchronously, meanwhile, a third control module of the slave control unit controls a third motor to rotate according to the received opening and closing control instruction, the surgical instrument is driven to open and close through the rotation of the third motor, and the surgical instrument and the finger of the operator are enabled to open and close synchronously;

recording the revolution of the output shaft of the sliding control motor in the process that the instrument fixing device moves from the initial position to the designated position on the sliding table;

when surgical instruments need to be replaced, the sliding control motor is controlled to rotate reversely according to the rotation number so as to drive the instrument fixing device to return to the initial position;

and after the surgical instrument is replaced, controlling the sliding control motor to rotate forwards according to the rotation number so as to drive the instrument fixing device to reach the designated position again.

According to an embodiment of the invention, the instrument fixing device further comprises a fourth coupler, a fifth coupler, a sixth coupler, a first lead screw, a first seat and a push rod which are connected in sequence, wherein the fourth coupler is connected with an output shaft of the second motor so as to convert the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod; a second mathematical model describing the conversion relationship of the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod and further into the deflection motion of the surgical instrument is arranged in the second control module of the slave control unit, and based on the second mathematical model, the second control module of the slave control unit controls the rotation parameters of the second motor according to the received deflection control instruction, so that the surgical instrument and the wrist of an operator synchronously deflect;

the instrument fixing device further comprises a seventh coupler, an eighth coupler, a ninth coupler, a second lead screw, a second seat and a traction rod which are sequentially connected, wherein the seventh coupler is connected with an output shaft of a third motor so as to convert the rotary motion of the output shaft of the third motor into the linear reciprocating motion of the traction rod, the traction rod is arranged in the push rod, the end part of the traction rod penetrates out of the push rod and is provided with a pin shaft for hinging the surgical instrument, and when the traction rod does the linear reciprocating motion, the surgical instrument is driven to open and close through the pin shaft so as to convert the linear reciprocating motion of the traction rod into the opening and closing motion of the surgical instrument; and a third mathematical model for describing the conversion relationship of the rotation motion of the output shaft of the third motor into the linear reciprocating motion of the traction rod and further into the opening and closing motion of the surgical instrument is arranged in a third control module of the slave control unit, and the third control module of the slave control unit controls the rotation parameters of the third motor according to the received opening and closing control command based on the third mathematical model, so that the surgical instrument and the fingers of an operator can be opened and closed synchronously.

According to an embodiment of the invention, the rotation parameters comprise a rotational speed and a number of revolutions.

According to the embodiment of the invention, the main control unit respectively analyzes the received deflection angle information and the opening angle information, and also respectively filters out interference information therein.

According to an embodiment of the present invention, the disturbance information includes disturbance information generated by the operator's wrist shake and finger shake, respectively.

According to the embodiment of the invention, the main control unit analyzes the received deflection angle information and the opening angle information, and further comprises the step of judging whether the deflection angle and/or the opening angle exceed a preset threshold value, if so, judging that the operation is wrong, outputting a locking control instruction to the slave control unit by the main control unit, and stopping controlling the surgical instrument.

According to the embodiment of the invention, the main control unit analyzes the received deflection angle information, and further comprises the step of judging whether the change speed of the deflection angle and/or the opening angle exceeds a preset threshold value, if so, judging that the operation is wrong, outputting a locking control instruction to the slave control unit by the main control unit, and stopping controlling the surgical instrument.

According to an embodiment of the present invention, recording the number of rotations of the output shaft of the slide control motor during the movement of the instrument fixing device from the start position to the specified position on the slide table includes:

controlling an output shaft of the sliding control motor to rotate in the forward direction according to a first control signal, so that the sliding control motor drives the instrument fixing device to move from an initial position along the axial direction of the sliding table through a transmission mechanism;

controlling the sliding control motor to stop working according to a second control signal so as to enable the instrument fixing device to reach the designated position;

reading, as the number of rotations, a reading of an encoder of the number of rotations of the output shaft of the slide control motor during movement of the instrument fixing device from the start position to the designated position.

According to an embodiment of the present invention, controlling the sliding control motor to rotate reversely according to the number of rotations to bring the instrument fixing device back to the initial position includes:

and controlling the output shaft of the sliding control motor to rotate in the reverse direction according to a third control signal, so that the sliding control motor drives the instrument fixing device to return to the initial position along the axial direction of the sliding table through the transmission mechanism.

According to an embodiment of the present invention, controlling the sliding control motor to rotate forward according to the number of rotations to drive the instrument fixing device to reach the designated position again includes:

and controlling the output shaft of the sliding control motor to rotate in the forward direction according to a fourth control signal, so that the sliding control motor drives the instrument fixing device to reach the specified position again along the axial direction of the sliding table through the transmission mechanism.

Compared with the prior art, the invention has the advantages that:

1. the technical scheme provided by the invention can simulate the wrist deflection action and the finger opening and closing action of a person, ensure the synchronous action of the surgical instrument and the wrist and the finger of a medical worker operating the surgical robot, assist the medical worker in carrying out the operation and reduce the difficulty of manual operation of the medical worker in the past.

2. The technical scheme provided by the invention can filter out interference information caused by hand (arm, wrist and finger) vibration of an operator, and has stability and accuracy incomparable with human hands.

3. The technical scheme provided by the invention has an error-proof function, and when the medical staff operating the surgical robot has an operation error, the medical staff automatically sends out a locking control instruction to stop the control of surgical instruments, thereby effectively ensuring the stable operation.

4. The technical scheme provided by the invention can record the revolution of the output shaft of the driving motor in the process of moving the sliding block from the initial position to the designated position by using the encoder, control the driving motor to rotate reversely according to the revolution so as to drive the sliding block and the surgical instrument arranged on the sliding block to be replaced to return to the initial position, and control the driving motor to rotate normally so as to drive the sliding block and the surgical instrument arranged on the sliding block to be replaced to reach the designated position again. The invention can enable medical personnel to quickly and accurately find the operating point before the surgical instrument is replaced after the surgical instrument is replaced, thereby quickly putting the medical personnel into the interrupted surgical operation before the surgical instrument is replaced, effectively improving the surgical efficiency and simultaneously reducing the life risk of patients.

Drawings

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

Fig. 1 is a perspective view illustrating an instrument fixing apparatus of a laparoscopic surgical robot according to an embodiment of the present invention;

FIG. 2 is a perspective view illustrating an instrument fixing apparatus of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings);

FIG. 3 is an elevation view of a first quick release structure in an embodiment of the present invention;

FIG. 4 is an exploded view of the first quick release structure shown in FIG. 3;

FIG. 5 is an exploded view (bottom view) of a second quick release structure in an embodiment of the invention;

FIG. 6 is an exploded view (top view) of a second quick release structure in an embodiment of the invention;

FIG. 7 is an exploded view of an instrument fixing device of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings)

FIG. 8 is a schematic perspective view of a transmission base according to an embodiment of the present invention;

FIG. 9 is a perspective cross-sectional view of the actuator mount shown in FIG. 8;

FIG. 10 is a perspective view of an implement attachment mechanism in an embodiment of the present invention;

FIG. 11 is a schematic perspective view of an instrument connection according to an embodiment of the invention (outer tube not shown);

FIG. 12 is a schematic perspective view of an instrument connection according to an embodiment of the present invention (outer and inner tubes not shown);

fig. 13 is a workflow chart of a surgical instrument control method according to a sixth embodiment of the present invention;

FIG. 14 is a schematic view of the sliding connection of the instrument holding device with the surgical instrument installed thereon and the slide table of the present invention.

In the drawings, like components are denoted by like reference numerals. The figures are not drawn to scale.

Reference numerals:

1-a driving seat; 2-an isolation seat; 3-a transmission seat;

4-an instrument connection mechanism; 5-a drive mechanism; 6-a first quick release structure;

7-a second quick release structure; 11-a base; 12-a fixed seat;

21-a second coupling; 22-a fifth coupling; 23-eighth coupling;

31-a third coupling; 32-main gear; 33-a rotating shaft;

34-a slave gear; 35-a first seat; 36-a second seat;

37-a sixth coupling; 38-ninth coupling; 41-instrument rod;

42-a surgical instrument; 43-threaded sleeve; 44-a first card slot;

45-a second card slot; 46-a push rod; 47-a drawbar;

48-a third card slot; 51-a power source; 52-drive circuit board;

53-first coupling; 54-a fourth coupling; 55-a seventh coupling;

56-a first spring; 57-a second spring; 58-a third spring;

61-a first positioning portion; 62-a first positioning portion; 71-a third location portion;

72-a fourth location portion; 73-a fifth location section; 121-a first aperture;

122-a second aperture; 123-a third aperture; 211-a second recess;

212-a first card strip; 311-a second card strip; 331-positioning protrusions;

351-a first card hole; 352-a first resilient catch; 353-a first pressing part;

354-first lead screw; 355-a first runner; 356-first sliding rail;

357-rear retainer; 358-a first spring retainer;

361-second card hole; 362-a second resilient catch; 363-a second pressing part;

364-second lead screw; 365-a second chute; 366-a second slide rail;

367-a second spring limiting body; 368-circuit board;

411-outer tube; 412-rotating head; 413-a limit clip;

414-inner tube; 415-a trough body; 416-a stop collar;

417-open slots; 421-inclined holes; 461-adapter;

462-a bayonet tube; 463-a swinging lever; 464-connecting plane;

465-a clamping head; 471-fourth spring; 472-pin axis;

511-a first motor; 512-a second motor; 513 — a third motor;

531-first groove; 611-a third slide rail; 612-a third runner;

613-guide inclined plane; 621-a first receiving chamber; 622-a first elastomer;

623-clamping jaw; 624-barbs; 625-a card hole;

626-an arc-shaped guide groove; 627-conducting bar; 628-a guide;

711-a fourth runner; 712-a slider; 721-a fixture block;

722-slot; 723-slotted hole; 731-pressing sheet;

732-a second elastomer; 733-stepped hole; 734-mounting holes;

735-fixing the disc; 736-ear; 737-notch;

738-cover.

Detailed Description

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

The present invention provides a method of controlling a surgical instrument in a surgical robotic device using an instrument fixing device as shown in fig. 1. In order to better describe the method, the components of the instrument holder shown in fig. 1 will first be described in detail.

As shown in fig. 1 and 2, the instrument fixing device according to the present invention mainly includes a driving seat 1, an isolation seat 2 disposed on the driving seat 1, a transmission seat 3 disposed on the isolation seat 2, an instrument connection mechanism 4 mounted on the transmission seat 3, and a driving mechanism 5 fixed on the driving seat 1, wherein the driving mechanism 5 drives the instrument connection mechanism 4 to move through the transmission seat 3, so as to drive a surgical instrument 42 mounted at an end of the instrument connection mechanism 4 to move.

In the embodiment of the present invention, it is preferable that the length direction of the driving base 1 (i.e., the isolation base 2 and the transmission base 3) is taken as an X axis, the width direction of the driving base 1 (i.e., the isolation base 2 and the transmission base 3) is taken as a Y axis, and a direction perpendicular to a plane formed by the X axis and the Y axis is taken as a Z axis, so as to establish a rectangular coordinate system, and the positional connection relationship between the components is described in detail by referring to the coordinate system.

Preferably, the driving seat 3 and the isolation seat 2 are connected in a quick-release manner through a first quick-release structure 6 shown in fig. 3 and 4.

As shown in fig. 3, the first quick release structure 6 includes a first positioning portion 61. The first positioning portion 61 includes third sliding rails 611 disposed on two sides of the transmission seat 3 and third sliding grooves 612 disposed on the isolation seat 2, and the two third sliding rails 611 are disposed in the corresponding third sliding grooves 612, so that the transmission seat 3 can slide along the X-axis direction.

In order to facilitate smooth introduction of the third slide rail 611 into the third slide groove 612, a guide slope 613 inclined downward is provided at an end of the third slide rail 611 to reduce resistance when the third slide rail 611 enters the third slide groove 612, thereby improving assembly efficiency.

The driving seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction and the Z-axis direction by the third slide rail 611 and the third slide groove 612.

Further, the first quick release structure 6 further includes a second positioning portion 62, wherein the second positioning portion 62 includes a first accommodating cavity 621 and a first elastic body 622 disposed in the first accommodating cavity 621. A guide part 628 is arranged at the top end of the first elastic body 622, wherein one end of the guide part 628 is a downward inclined plane, and the other end is a stopping part; after the driving seat 3 is mounted on the isolation seat 2, the end of the driving seat 3 contacts with the end (i.e., the stopping portion) of the guiding portion 628, so that the driving seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

The bottom end of the first elastic body 622 is provided with at least two claws 623. For example, fig. 4 shows four claws 623, which are respectively located at four corners of the elastic seat 622 and are integrally formed with the first elastic body 622. The first receiving chamber 621 is provided therein with chucking holes 625, and the jaws 623 are respectively disposed in the corresponding chucking holes 625. The bottom of the claw 623 is provided with a barb 624, and the barb 624 catches on the bottom of the catching hole 625, so as to limit the maximum displacement amount of the first elastic body 622 when moving in a direction away from the first accommodating chamber 621 (i.e., moving upward in the Z-axis direction).

At least one side wall of the first elastic body 622 is provided with an arc-shaped guide groove 626, for example, four arc-shaped guide grooves 626 are shown in fig. 4 and are respectively located on four side walls of the first elastic body 622; a semi-cylindrical guide bar 627 is disposed on an inner wall of the first receiving cavity 621, and the guide bar 627 is disposed in the arc-shaped guide groove 626 for maintaining the linear movement of the first elastic body 622 in the Z-axis direction.

The initial state of the first elastic body 622 is that the end of the first elastic body 622 is flush with the end of the first receiving cavity 621, and the guide 628 at the top end of the first elastic body 622 is higher than the end of the first receiving cavity 621; the claws 623 of the first elastic body 622 are disposed in the chucking holes 625, and the barbs 624 at the bottoms of the claws 623 snap into the bottoms of the chucking holes 625. That is, the first elastic body 622 can move downward only in the Z-axis direction when it is in the initial state.

A spring is disposed between the first elastic body 622 and the first receiving chamber 621, and the spring is used to restore the first elastic body 622 to an original state.

The transmission seat 3 and the isolation seat 2 are installed in the following way:

the bottom surface of the transmission seat 3 is in contact with the upper surface of the isolation seat 2, the transmission seat 3 is pushed along the X-axis direction, the first end of the transmission seat 3 firstly contacts the first elastic body 622 in the moving process of the transmission seat 3, when the transmission seat 3 continues to move, downward pressure is applied to the first elastic body 622, and the first elastic body 622 is forced to move downward along the Z-axis direction. In this process, the driving seat 3 can be easily moved above the first elastic body 622 by the guide portion 628 at the top end of the first elastic body 622, so that the movement of the driving seat 3 is not hindered.

In the process of continuing to move the transmission seat 3, the third sliding rails 611 on both sides of the transmission seat 3 smoothly enter the third sliding groove 612 through the guiding inclined surface 613, and continue to move along the third sliding groove 612 until the bottom end of the transmission seat 3 completely separates from the first elastic body 622, so that the first elastic body 622 is no longer pressed, and the first elastic body 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the stopping portion of the first elastic body 622 contacts the second end of the transmission seat 3, so that the transmission seat 3 cannot move backward any more.

Thus, the installation of the transmission seat 3 and the isolation seat 2 is completed.

When the transmission seat 3 is detached, the elastic seat 622 is only required to be pressed down, the stopping portion of the first elastic body 622 is not in contact with the end portion of the transmission seat 3, and the transmission seat 3 can be moved in the direction opposite to the above direction, so that the transmission seat 3 is separated from the isolation seat 2.

Because the transmission seat 3 is provided with the instrument connecting mechanism 4, the quick-release structure can be utilized, so that the transmission seat 3 and the instrument connecting mechanism 4 can be conveniently and quickly detached from the isolation seat 2 and installed on the isolation seat 2, and medical workers can conveniently and quickly replace surgical instruments in an operation.

In the embodiment of the present invention, it is preferable that the isolation seat 2 and the driving seat 1 are connected by a second quick release structure 7 as shown in fig. 5 and 6.

As shown in fig. 5 and 6, the second quick release structure 7 includes a third positioning portion 71, wherein the third positioning portion 71 includes a fourth sliding slot 711 disposed at the bottom of the isolation seat 3 and a sliding block 712 disposed on the driving seat 1, and the sliding block 712 is disposed in the fourth sliding slot 711, so that the isolation seat 2 can slide along the X-axis direction. The transmission seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction by the sliding block 712 and the fourth sliding groove 711.

Further, the second quick release structure 7 includes a fourth positioning portion 72, where the fourth positioning portion 72 includes a fastening block 721 disposed at a first end of the isolation seat 3 and a slot 722 disposed at a second end of the isolation seat 3, the slot 722 extends along a length direction of the isolation seat 3, a long hole 723 is disposed on the driving seat 1, after the isolation seat 3 is mounted on the driving seat 1, the fastening block 721 is inserted into the long hole 723, and meanwhile, a rear end of the driving seat 1 is fastened with the slot 722, so that the driving seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

In addition, the front end of the latch 721 is provided with a downward inclined surface to facilitate insertion of the latch 721 into the long hole 723.

Further, the second quick release structure 7 includes a fifth positioning portion 73, the fifth positioning portion 73 includes a pressing piece 731 disposed on the isolation seat 3 and a second elastic body 732 disposed on the driving seat 1, and the second elastic body 732 is disposed in a stepped hole 733 on the isolation seat 3. Specifically, the pressing piece 731 is disposed in a hole with a larger diameter in the stepped hole 733, and the second elastic body 732 is inserted into the hole with a smaller diameter in the stepped hole 733 from the bottom of the stepped hole 733 and then contacts with the bottom of the pressing piece 731, so that the top end of the pressing piece 731 is kept flush with the upper surface of the isolation seat 3, and the transmission seat 3 and the isolation seat 2 are completely positioned in the Z-axis direction.

The pressing piece 731 is a silicone membrane and has a certain elastic deformation capability.

When the pressing piece 731 is pressed, the second elastic body 732 is moved downward in the Z-axis direction, and the second elastic body 732 is separated from the stepped hole 733, thereby releasing the restraint of the spacer 3 and the driver 1 in the Z-axis direction.

In order to improve the response sensitivity of the second elastic body 732, a slope inclined downward is provided on an upper end surface of the second elastic body 732, so that the volume of the second elastic body 732 extending into the stepped hole 733 is reduced, and when the pressing piece 731 presses the second elastic body 732 downward, the elastic body 732 can be rapidly separated from the stepped hole 733.

The driving seat 1 is provided with a mounting hole 734, the mounting hole 734 is provided with a fixing plate 735, and the bottom of the fixing plate 735 is in contact with the bottom end of the driving seat 1. Ear parts 736 are arranged at the bottom of the driving seat 1, notches 737 for accommodating the ear parts 736 are arranged on the fixed disc 735, and the cover body 738 at the bottom end of the fixed disc 734 is fixedly connected with the ear parts 736, so that the fixed disc 735 and the driving seat 1 are fixed.

The second elastic body 732 is provided in the fixed disk 734, and a spring is provided between the second elastic body 732 and the cover 738 to restore the second elastic body 732 to an initial state.

In the initial state of the second elastic body 732, the top end of the second elastic body 732 protrudes outside the fixed plate 735, that is, the top end of the second elastic body 732 is higher than the upper surface of the driving socket 1.

The installation mode of the isolation seat 2 and the driving seat 1 is as follows:

the bottom surface of the isolation seat 2 is in contact with the upper surface of the driving seat 1, the isolation seat 2 is pushed along the length direction (i.e. the X-axis direction) of the driving seat 1, and the fourth sliding groove 711 at the bottom end of the isolation seat 2 is matched with the sliding block 712 in the moving process of the isolation seat 2, so as to guide the movement of the isolation seat 2.

When the isolation seat 2 continues to move, the first end of the isolation seat 2 contacts the second elastic body 732, and when the isolation seat 2 continues to move, downward pressure is applied to the second elastic body 732, and the second elastic body 732 is forced to move downward along the Z-axis direction. In this process, the isolation seat 2 can be easily moved above the second elastic body 732 by the slope of the top end of the second elastic body 732, so that the movement of the isolation seat 2 is not hindered.

Subsequently, the stepped hole 733 at the bottom end of the isolation seat 2 moves to above the second elastic body 732, and at this time, the second elastic body 732 is not pressed any more, and the second elastic body 732 moves upward in the Z-axis direction under the action of the spring to be inserted into the stepped hole 733 and returns to the original state. At this time, the second elastic body 732 and the stepped hole 733 are engaged with each other, so that the spacer 2 cannot move any more.

Thus, the installation of the isolation seat 2 and the driving seat 1 is completed.

When detaching the isolation seat 2, the pressing piece 731 is simply pressed down to separate the second elastic body 732 from the step hole 733, so that the isolation seat 2 is moved in the direction opposite to the above direction, and the isolation seat 2 is separated from the driving seat 1.

The driving seat 1 comprises a base 11 fixedly connected with a sliding table of the trolley and a fixed seat 12 integrally arranged with the base 11. The side wall of the fixing seat 12 is used for fixing a power source 51 in the driving mechanism 5, the base 11 is used for fixing a driving circuit board 52 in the driving mechanism 5, and the driving circuit board 52 is electrically connected with the power source 51 and used for controlling the power source 51 to output power.

The instrument connecting mechanism 4 comprises an instrument rod 41, one end of the instrument rod 41 is used for installing a surgical instrument 42, and the other end of the instrument rod 41 is fixed on the transmission seat 3 after sequentially penetrating through the side wall of the fixed seat 12 of the driving seat 1, the side wall of the isolation seat 2 and the side wall of the transmission seat 3.

In the present invention, the surgical instrument 42 may be, for example, any one of the following: surgical scissors, electric hooks, surgical forceps, ultrasonic knives, needle holders, radio frequency electric wave knives, endoscopes and the like. In particular, surgical instruments can be divided into three types according to the degree of freedom of movement: instruments with one degree of freedom, instruments with two degrees of freedom, and instruments with three degrees of freedom. Such as endoscopes with one degree of freedom, scalpels with two degrees of freedom, and scissors with three degrees of freedom. The specific movement of these three types of surgical instruments will be described in detail below.

Example one

In a first embodiment of the present invention, the surgical instrument 42 has a first degree of freedom (e.g., an endoscope). Here, the first degree of freedom of the surgical instrument 42 means that the surgical instrument 42 can rotate about the axis of the instrument lever 41 of the instrument connection mechanism 4 (i.e., along the X-axis direction). The first degree of freedom of the surgical instrument 42 is capable of mimicking the rotational motion of a human arm.

In the present embodiment, the power source 51 of the driving mechanism 5 includes the first motor 511, and the output shaft of the first motor 511 is disposed in the first hole 121 on the side wall of the fixed base 12 of the driving base 1. In order to improve the space utilization, the axial direction of the instrument lever 41, the axial direction of the first motor 511, and the length direction of the holder 12 are the same.

Specifically, the power transmission manner of the first motor 511 is as follows:

the first motor 511 is disposed on the sidewall of the fixed base 12 of the driving base 1, and the output shaft thereof passes through the first hole 121 and is fixedly connected to the first coupling 53 at the end of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with a second coupler 21 and a third coupler 31, the second coupler 21 is respectively connected with the first coupler 53 and the third coupler 31, and the specific connection mode will be described in detail below.

The side wall of the transmission seat 3 is further provided with a rotating shaft 33, one end of the rotating shaft 33 is provided with a driven gear 34, the end of the third coupler 31 is provided with a main gear 32, and the main gear 32 is meshed with the driven gear 34.

Therefore, when the driving circuit board 52 receives a control command for rotating the surgical instrument around the X axis, the driving circuit board 52 drives the first motor 511 to rotate and output power, and the power is transmitted to the rotating shaft 33 along the output shaft of the first motor 511, the first coupling 53, the second coupling 21, the third coupling 31, the main gear 32, and the secondary gear 34, thereby driving the rotating shaft 33 to rotate. The rotating shaft 33 is a hollow shaft, and the instrument lever 41 is disposed in the rotating shaft 33 to rotate with the rotating shaft 33.

The specific connection mode of the instrument rod 41 and the rotating shaft 33 is as follows:

as shown in fig. 7, a positioning protrusion 331 is disposed at an end of the rotating shaft 33, a first locking groove 44 is disposed on an outer wall of the instrument rod 41, and after the instrument rod 41 is inserted into the rotating shaft 33, the positioning protrusion 331 is engaged with the first locking groove 44, so that the instrument rod 41 and the rotating shaft 33 are positioned in a radial direction.

Further, the rotating shaft 33 is provided with an external thread, the outer wall of the instrument rod 41 is provided with a threaded sleeve 43, and after the instrument rod 41 extends into the rotating shaft 33, the instrument rod 41 is fixedly connected with the rotating shaft 33 through the threaded sleeve 43, so that the instrument rod 41 and the rotating shaft 33 are positioned in the axial direction.

To this end, the shaft 33 and the instrument lever 41 are fixed in both directions, so that when the shaft 33 is rotated, the instrument lever 41 and the surgical instrument 42 are rotated accordingly.

The fixed connection between the instrument lever 41 and the rotation shaft 33 is a fixed point between the instrument lever 41 and the transmission base 3, but because the length of the instrument lever 41 is long, there is instability through single-point fixation. In order to improve the stability of the connection between the instrument rod 41 and the transmission seat 3, it is preferable that a first seat 35 is further provided on the transmission seat 3, and the end of the instrument rod 41 is fixed on the first seat 35, so that the number of fixing points between the instrument rod 41 and the transmission seat 3 is increased to two, and the stability of the connection between the two is improved.

In particular, the fixing between the end of the instrument rod 41 and the first seat 35 is as follows:

as shown in fig. 8 and 9, the first seat 35 is provided with a first locking hole 351 for installing the instrument lever 41, and an axis of the first locking hole 351 coincides with an axis of the rotating shaft 33. A first elastic catching plate 352 is disposed in the first catching hole 351, and the first elastic catching plate 352 is movable in a radial direction of the first catching hole 351 so that a mounting diameter of the first catching hole 351 is reduced (i.e., smaller than an actual diameter of the first catching hole 351) or the mounting diameter of the first catching hole 351 is increased (i.e., equal to the actual diameter of the first catching hole 351).

A first pressing part 353 is arranged at the end of the first seat 35, the first pressing part 353 can be a pressing rod, the first pressing part 353 is connected with the first elastic clamping plate 352, and when the first pressing part 353 is pressed down, the first elastic clamping plate 352 moves downwards to increase the installation diameter of the first clamping hole 351; when the pressure applied to the first pressing part 353 is removed, the first elastic catching plate 352 is sprung upward by the elastic member, so that the installation diameter of the first catching hole 351 is reduced.

A pushing rod 46 is coaxially arranged in the instrument rod 41, and the pushing rod 46 can extend out of the end of the instrument rod 41 and generate relative rotation with the instrument rod 41. Be provided with second draw-in groove 45 on the outer wall of catch bar 46, after catch bar 46 stretched into first card hole 351, the first cardboard 352 of elasticity and second draw-in groove 45 looks block made catch bar 46 fix in first card hole 351 to fix with first seat 35.

When the instrument rod 41 needs to be detached, the first pressing portion 353 is pressed to move the first elastic clamping plate 352 along the radial direction of the first clamping hole 351, so that the installation diameter of the first clamping hole 351 is increased, and the push rod 46 can be taken out of the first clamping hole 351.

Thus, in the present embodiment, the surgical instrument 42 is fixed to the end of the instrument rod 41, and the instrument rod 41 drives the surgical instrument 42 to rotate, so that the surgical instrument 42 can rotate along the axial direction of the instrument rod 41.

The connection of the first coupling 53, the second coupling 21, and the third coupling 31 will be described below.

The end of the first coupler 53 is provided with a first groove 531, the two ends of the second coupler 21 are respectively provided with a second groove 211 and a first clamping strip 212, and the end of the third coupler 31 is provided with a second clamping strip 311, wherein the first clamping strip 212 is arranged in the first groove 531, and the second clamping strip 311 is arranged in the second groove 211, so that the first coupler 53, the second coupler 21 and the third coupler 31 are positioned in the radial direction.

The first coupling 53, the second coupling 21 and the third coupling 31 are positioned in the axial direction by the fixed connection between the transmission base 3, the isolation base 2 and the drive base 1.

Further, as shown in fig. 7, in order to improve the ease of assembly between the first coupling 53, the second coupling 21, and the third coupling 31, the first spring 56 is provided between the first coupling 53 and the first motor 511, and therefore, when the first coupling 53 is connected to the second coupling 21, the alignment of the first click strip 212 and the first groove 531 is no longer a necessary operation, in other words, the first click strip 212 on the end surface of the second coupling 21 can be brought into contact with an arbitrary position of the end surface of the second coupling 21, and when the first click strip 212 is not inserted into the first groove 531, in this case, the first coupling 53 receives the urging force of the second coupling 21, so that the first spring 56 is compressed. When the first motor 511 rotates and drives the first coupling 53 to rotate, since the first coupling 53 is not positioned in the radial direction with the second coupling 21, relative movement is generated between the first coupling 53 and the second coupling, so that the first groove 531 of the first coupling 53 rotates to a position matching with the first locking strip 212 of the second coupling 21 and is engaged with the first locking strip 212 under the pushing of the first spring 56, thereby realizing the radial positioning between the first coupling 53 and the second coupling 21.

Similarly, when the third coupling 31 is connected to the second coupling 21, the alignment of the second locking strip 311 with the second groove 211 is no longer necessary, in other words, the second locking strip 311 on the end surface of the third coupling 31 can contact with any position of the end surface of the second coupling 21, and when the second coupling 21 rotates, the second groove 211 of the second coupling 21 rotates to a position matching the second locking strip 311 of the third coupling 31 and is engaged with the second locking strip 311 under the pushing of the first spring 56, so as to achieve the radial positioning between the second coupling 21 and the third coupling 31.

In summary, in the present embodiment, the rotary motion of the first motor 511 is substantially converted into the rotary motion of the instrument rod 41, so that the surgical instrument 42 is rotated to simulate the real motion of arm rotation of the medical staff.

In fact, when operating a surgical robot, the medical staff manipulates the control handle located at the surgical console. When the medical personnel rotate the arm, the control handle correspondingly rotates, the monitoring equipment acquires the rotation angle information of the control handle and transmits the acquired information to the main control unit. The master control unit processes the received information, filters interference information caused by arm vibration and the like, determines the rotation angle of the arm of the medical staff, and outputs a corresponding rotation control command to a slave control unit (not shown) arranged on the driving circuit board 52. The slave control unit controls the first motor 511 to rotate (including the rotation speed and the rotation number) according to the received rotation control command, and the rotation shaft 33 is driven to rotate through the cooperation of the first coupling 53, the second coupling 21, the third coupling 31, the master gear 32 and the slave gear 34, and since the instrument rod 41 is connected to the rotation shaft 33 (disposed in the rotation shaft 33), the instrument rod 41 rotates along with the rotation shaft 33, so that the surgical instrument 42 fixed to the end of the instrument rod 41 also rotates. That is, the rotational motion of the first motor 511 is converted into the rotational motion of the surgical instrument 42. The slave control unit incorporates a first mathematical model describing a conversion relationship between the rotational motion of the first motor 511 and the rotational motion of the surgical instrument 42, and controls the rotation (including the rotational speed and the number of rotations) of the first motor 511 in accordance with the received rotational control command based on the first mathematical model, thereby ensuring that the surgical instrument 42 and the arm of the medical care worker rotate in unison.

Example two

In a second embodiment of the present invention, the surgical instrument 42 has a second degree of freedom (e.g., a scalpel that only performs a cut at a given location). Here, the second degree of freedom of the surgical instrument 42 means that the surgical instrument 42 can be deflected about the Z-axis as a rotation axis. The second degree of freedom of the surgical instrument 42 is capable of mimicking the deflecting action of the human wrist joint.

In the present embodiment, the power source 51 includes a second motor 512, and the output shaft of the second motor 512 is disposed in the second hole 122 on the side wall of the fixed base 12. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the second motor 512, and the length direction of the fixing base 12 are the same.

In the present embodiment, the power output by the second motor 512 is transmitted to the instrument rod 41 through the first lead screw 354 and the first seat 35 slidably connected to the transmission seat 3, and the specific transmission manner is as follows: the power output by the second motor 512 is transmitted to the first base 35 through the first lead screw 354, so that the first base 35 linearly reciprocates along the X-axis direction, and the instrument rod 41 connected to the first base 35 is driven to linearly reciprocate along the X-axis direction, thereby deflecting the surgical instrument 42 around the Z-axis.

The implementation of the linear reciprocating motion of the first seat 35 along the X-axis direction is described in detail below:

the second motor 512 is disposed on the sidewall of the fixing base 12, and an output shaft thereof passes through the second hole 122 and is fixedly connected to the fourth coupler 54 at an end portion of the output shaft. And a fifth coupler 22 and a sixth coupler 37 are respectively arranged on the side wall of the isolation seat 2 and the side wall of the transmission seat 3, and the fifth coupler 22 is respectively connected with a fourth coupler 54 and the sixth coupler 37.

The sixth coupling 37 is connected to the first threaded spindle 354, wherein the first threaded spindle 354 passes through the first seat 35 and forms a threaded connection with the first seat 35. The first slide groove 355 is disposed at the bottom of the first seat 35, the first slide rail 356 on the transmission seat 3 is disposed in the first slide groove 355, and when the first lead screw 354 rotates, the first seat 35 moves along the axial direction of the first lead screw 354.

Further, the limit position of the rightward movement of the first seat 35 is defined by the first spring stopper 358. As shown in FIG. 8, a first spring retainer 358 is provided on the first lead screw 354 such that it is no longer able to move to the right when the first carriage 35 is moved to the right (toward the proximal end of the surgical instrument 42) and compresses the spring to its maximum compression, thereby preventing the first carriage 35 from colliding with the first spring retainer 358 when it is moved to its extreme position.

Further, the limit position of the leftward movement of the first seat 35 is defined by the rear retainer 357. As shown in fig. 8, the rear retainer 357 is disposed on the first lead screw 354, and when the first holder 35 moves leftward (in a direction away from the surgical instrument 42) and comes into contact with the rear retainer 357, it cannot move leftward any more.

By mechanically limiting the extreme positions of the first seat 35 in both directions, the maximum deflection angle of the surgical instrument 42 can be controlled.

In addition, the instrument lever 41 is fixed to the transmission housing 3 in the following manner:

alternatively, the instrument lever 41 may be fixed to the actuator base 3 in the same manner as in the previous embodiment.

Alternatively, since in this embodiment, instrument lever 41 need not be rotated about the X-axis, instrument lever 41 may also be secured directly to the sidewall of drive socket 3.

Moreover, the fixing manner of the pushing rod 46 and the first seat 35 has been described in detail in the foregoing embodiments, and is not described in detail herein.

Therefore, when the driving circuit board 52 receives a control command of the surgical instrument for deflecting around the Z axis, the driving circuit board 52 drives the second motor 512 to rotate and output power, the power is transmitted to the first seat 35 along the output shaft of the second motor 512, the fourth coupler 54, the fifth coupler 22, the sixth coupler 37 and the first lead screw 354, the rotation motion of the second motor 512 is converted into the linear reciprocating motion of the first seat 35 along the X axis direction, and the instrument rod 41 is further driven to perform the linear reciprocating motion along the X axis direction.

Secondly, since the end of the instrument rod 41 is hinged to the surgical instrument 42, the surgical instrument 42 can be deflected about the Z-axis when the instrument rod 41 is linearly reciprocated in the X-axis direction.

The implementation of the deflection of surgical instrument 42 about the Z-axis is described in detail below:

the inside of the instrument rod 41 is provided with a push rod 46, and the push rod 46 is movable in the instrument rod 41 in the axial direction of the instrument rod 41. The pushing rod 46 is connected to the first seat 35 at one end and to the surgical instrument 42 at the other end, and when the first seat 35 moves, the pushing rod 46 is moved, so as to pull or push the surgical instrument 42, thereby deflecting the surgical instrument 42.

Specifically, as shown in fig. 10 and 11, the instrument rod 41 includes an outer tube 411 and an inner tube 414 coaxially disposed in the outer tube 411, a rotating head 412 is disposed at a first end of the outer tube 411, a limiting head 413 is disposed at a second end of the outer tube, a limiting ring 416 is disposed on an outer wall of the limiting head 413, and the first engaging groove 44 is disposed on the limiting ring 416 and engaged with the positioning protrusion 331 of the rotating shaft 33.

The inner tube 414 is disposed in the outer tube 411, and a first end of the inner tube 414 extends out of the outer tube 411 and enters the rotary head 412 to contact with a collar inside the rotary head 412; the second end of the inner tube 414 is disposed outside the retaining head 413 and contacts the end surface of the retaining ring 416, such that the inner tube 414 is retained between the rotating head 412 and the retaining head 413.

Since the outer diameter of the inner tube 414 is the same as the inner diameter of the outer tube 411, the inner tube 414 and the outer tube 411 are tightly fitted to each other and can rotate together.

Further, the first end of the inner tube 414 is further opened with a groove 415 extending along the axial direction of the inner tube 414, and the groove 415 is to avoid interference with a swinging lever 463 described below.

The push rod 46 is coaxially disposed inside the inner tube 414, and a first end of the push rod 46 is provided with an adapter 461, the adapter 461 being disposed in the inner tube 414.

The end connection of adapter 461 has swinging arms 463, and swinging arms's the other end articulates there is the clamping head 465, and the first end of clamping head 465 is connected with surgical instruments 42, and the second end and the rotating head 412 of clamping head 465 rotate to be connected, consequently when swinging arms 463 receive thrust or tensile effect, clamping head 465 drives surgical instruments 42 around its junction rotation with rotating head 412 to realize surgical instruments 42 around the Z axle deflection.

Specifically, the two sides of the clamping head 465 are respectively provided with a connection plane 464, the upper end of the rotating head 412 is provided with an open slot 417, the end of the clamping head 465 is disposed in the open slot 417, the connection plane 464 is in contact with the inner wall of the open slot 417, and the rotating head 412 is connected with the connection plane 464 through a pin, so that the clamping head 465 can rotate by using the axis of the pin as a rotation axis.

The second end of the pushing rod 46 passes through the inner tube 414 and the limiting head 413 in sequence, and is connected with the clamping tube 262 outside the limiting head 413. Specifically, the second end of the push rod 46 extends into the bayonet tube 462 to contact a collar inside the bayonet tube 462; the second engaging groove 45 is provided on an outer wall of the engaging tube 462, and engages with the first engaging hole 351 of the first seat 35.

Wherein, the inner diameter of the clamping tube 462 is the same as the outer diameter of the pushing rod 46, so when the first seat 35 moves and pulls the clamping tube 462 to move linearly, the pushing rod 46 also moves linearly, that is, the movement of the first seat 35 makes the pushing rod 46 move along the axis thereof, so that the swinging rod 463 receives the pushing or pulling force, and the clamping head 465 drives the surgical instrument 42 to rotate.

In this embodiment, the first end refers to the end near the surgical instrument 42, and the second end refers to the end away from the surgical instrument 42.

It should be noted that the connection manner among the fourth coupling 54, the fifth coupling 22 and the sixth coupling 37 in this embodiment is the same as the connection manner among the first coupling 53, the second coupling 21 and the third coupling 31 in the first embodiment, wherein a second spring 57 is disposed between the fourth coupling 54 and the second motor 512, and similarly, the assembly among the three couplings can be faster by the second spring 57, and therefore, the description is omitted here.

In summary, in the present embodiment, the rotation of the second motor 512 is substantially converted into the linear reciprocating motion of the first seat 35 through the first lead screw 354, the first seat 35 drives the pushing rod 46 in the instrument rod 41 to perform the linear reciprocating motion, and the linear reciprocating motion of the pushing rod 46 is converted into the deflecting motion of the surgical instrument 42, so as to simulate the real movement of wrist deflection of the medical staff.

In fact, when operating a surgical robot, the medical staff manipulates the control handle located at the surgical console. When the wrist joint of the medical staff deflects, the control handle correspondingly deflects, the monitoring equipment acquires information such as the deflection angle of the control handle and transmits the acquired information to the main control unit. The master control unit processes the received information, filters interference information caused by wrist vibration and the like, analyzes the deflection angle of the wrist joint of the medical staff, and outputs a corresponding deflection control instruction to a slave control unit (not shown) arranged on the driving circuit board 52. The slave control unit controls the second motor 512 to rotate (including the rotation speed, the rotation number and the like) according to the received deflection control instruction, and the rotation motion of the second motor 512 is converted into the linear reciprocating motion of the first seat 35 through the cooperation of the fourth coupler 54, the fifth coupler 22, the sixth coupler 37 and the first lead screw 354, so as to drive the pushing rod 46 in the instrument rod 41 to perform the linear reciprocating motion, and further pull or push the surgical instrument 42, so that the surgical instrument 42 deflects, that is, the linear reciprocating motion of the pushing rod 46 is converted into the deflection motion of the surgical instrument 42. Furthermore, the slave control unit is provided with a second mathematical model describing the conversion relationship between the rotational movement of the second motor 512 and the yawing movement of the surgical instrument 42, and the slave control unit controls the second motor 512 to rotate (including the rotational speed and the number of rotations of the rotation) according to the received yawing control command based on the second mathematical model, thereby ensuring that the yawing movement of the surgical instrument 42 is consistent with the yawing movement of the wrist of the surgeon.

EXAMPLE III

In a third embodiment of the present invention, surgical instrument 42 has a third degree of freedom (e.g., a surgical shears that only shears at a given position). Here, the third degree of freedom of the surgical instrument 42 means that the surgical instrument 42 can perform an opening and closing operation. The third degree of freedom of surgical instrument 42 can mimic the closing and opening motion of human fingers.

In the present embodiment, the power source 51 includes a third motor 513, and an output shaft of the third motor 513 is disposed in the third hole 123 on the side wall of the fixing base 12. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the third motor 513, and the length direction of the fixing base 12 are the same.

In the present embodiment, the power output by the third motor 513 is transmitted to the instrument rod 41 through the second lead screw 364 and the second seat 36 slidably connected to the transmission seat 3, as follows: the power output by the third motor 513 is transmitted to the second base 36 through the second lead screw 364, so that the second base 36 linearly reciprocates along the X-axis direction, and the instrument rod 41 connected to the second base 36 is driven to linearly reciprocate along the X-axis direction, thereby implementing the opening and closing motion of the surgical instrument 42.

The implementation of the linear reciprocating motion of the second seat 36 along the X-axis direction is described in detail below:

the third motor 513 is disposed on the side wall of the fixed base 12, and an output shaft thereof passes through the third hole 123 and is fixedly connected to the seventh coupling 55 at an end portion of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with an eighth coupler 23 and a ninth coupler 38, and the eighth coupler 23 is respectively connected with a seventh coupler 55 and the ninth coupler 38.

The ninth coupling 38 is connected to a second threaded shaft 364, wherein the second threaded shaft 364 passes through the second seat 36 and is in threaded connection with the second seat 36. The bottom of the second seat 36 is provided with a second sliding groove 365, and a second sliding rail 366 on the transmission seat 3 is arranged in the second sliding groove 365, so that when the second lead screw 364 rotates, the second seat 36 moves along the axial direction of the second lead screw 364.

Therefore, when the driving circuit board 52 receives a control command for opening and closing the surgical instrument, the driving circuit board 52 drives the third motor 513 to rotate and output power, the power is transmitted to the second base 36 along the output shaft of the third motor 513, the seventh coupler 55, the eighth coupler 23, the ninth coupler 38 and the second lead screw 364, and the rotation motion of the third motor 513 is converted into the linear reciprocating motion of the second base 36 along the X-axis direction.

Further, the limit position of the rightward movement of the second seat 36 is limited by a second spring limiting body 367, as shown in fig. 8, the second spring limiting body 367 is disposed on the second lead screw 364, and when the second seat 36 moves rightward (toward the direction close to the surgical instrument 42) and compresses the spring to the most contracted amount, the second seat 36 cannot move rightward any more, and the spring can avoid the second seat 36 from colliding with the second spring limiting body 367 when moving to the limit position.

Further, the limit position of the leftward movement of the second seat 36 is defined by a circuit board 368, as shown in fig. 8, the circuit board 368 is disposed on the transmission seat 3 and located at the left side of the second seat 36, and when the first seat 35 moves leftward (in the direction away from the surgical instrument 42) to the limit position, the end thereof will not move leftward any more after contacting the end of the rear limit body 357.

By mechanically limiting the extreme positions of the second seat 36 in both directions, the maximum opening angle of the surgical instrument 42 can be controlled.

Further, the fixing between the push rod 46 and the second seat 36 is as follows:

the second seat 36 is provided with a second locking hole 361 for installing the push rod 46, and the axis of the second locking hole 361 coincides with the axis of the rotating shaft 33. A second elastic catch plate 362 is disposed in the second catch hole 361, and the second elastic catch plate 362 can move along the radial direction of the second catch hole 361, so that the installation diameter of the second catch hole 361 is reduced (i.e. smaller than the actual diameter of the second catch hole 361), or the installation diameter of the second catch hole 361 is increased (i.e. equal to the actual diameter of the second catch hole 361).

A second pressing part 363 is arranged at an end of the second seat 36, the second pressing part 363 may be a pressing rod, the second pressing part 363 is connected to the second elastic clamping plate 362, and when the second pressing part 363 is pressed down, the second elastic clamping plate 362 moves downward, so that the installation diameter of the second clamping hole 361 is increased; when the pressure applied to the second pressing part 363 is removed, the second elastic catch plate 362 bounces upward under the action of the elastic member, so that the installation diameter of the second catch hole 361 is reduced.

A pull rod 47 is coaxially provided in the push rod 46, the pull rod 47 extending beyond an end of the push rod 46, the pull rod 47 being capable of moving in the push rod 46 in an axial direction thereof.

The outer wall of the draw bar 47 is provided with a third catch groove 48, and when the draw bar 47 is inserted into the second catch hole 361, the elastic second catch 362 is engaged with the third catch groove 46, so that the draw bar 47 is fixed in the second catch hole 361, and is fixed with the second seat 36.

When the instrument rod 41 needs to be detached, the second pressing portion 363 is pressed down to move the second elastic clamping plate 362 along the radial direction of the second clamping hole 361, so that the installation diameter of the second clamping hole 361 is increased, and the traction rod 47 can be taken out of the second clamping hole 361.

The implementation of the opening and closing movement of the surgical instrument 42 is described in detail below:

as shown in FIG. 12, a first end of the pull rod 47 passes through the push rod 46 and the gripping head 465, in that order, and is connected to the surgical instrument 42. A fourth spring 471 is arranged between the traction rod 47 and the clamping head 465, a first end of the fourth spring 471 is connected with an inner wall of the clamping head 465, and a second end of the fourth spring 471 is connected with an inner wall of the adapter 461, so that the fourth spring 471 is limited between the clamping head 465 and the adapter 461.

The side wall of the surgical instrument 42 is provided with an inclined hole 421, two sides of the first end of the traction rod 47 are provided with a pin 472, the pin 472 is arranged in the inclined hole 421, and when the traction rod 47 is under the action of pulling force or pushing force, the pin 472 is pushed to move in the inclined hole 421, so that the surgical instrument 42 is opened or closed.

The outer wall of the second end of the traction rod 47 is provided with a third clamping groove 48, and the third clamping groove 48 is clamped with a second clamping hole 361 of the second seat 36, so that when the second seat 36 makes a linear reciprocating motion along the X axis, the traction rod 47 is driven to make a linear reciprocating motion along the X axis, and the pin shaft 472 moves in the inclined hole 421, so that the surgical instrument 42 is opened or closed.

It should be noted that the connection manner among the seventh coupling 55, the eighth coupling 23, and the ninth coupling 38 in this embodiment is the same as the connection manner among the first coupling 53, the second coupling 21, and the third coupling 31 in the first embodiment, wherein a third spring 58 is disposed between the seventh coupling 55 and the third motor 513, and similarly, the assembly among the three couplings can be faster by the third spring 58, and therefore, the description thereof is omitted.

In summary, in the present embodiment, the rotation motion of the third motor 513 is substantially converted into the linear reciprocating motion of the second seat 36 through the second lead screw 364, the second seat 36 drives the traction rod 47 in the instrument rod 41 to perform the linear reciprocating motion, and the linear reciprocating motion of the traction rod 47 is converted into the opening and closing motion of the surgical instrument 42, so as to simulate the real action of opening and closing the fingers of the medical staff.

In fact, when operating a surgical robot, the medical staff manipulates the control handle located at the surgical console. When medical personnel's finger is opened and shut, the corresponding opening and shutting of control handle, supervisory equipment gathers information such as the angle that opens of control handle to the information transfer who will gather gives the master control unit. The master control unit processes the received information, filters interference information caused by finger vibration and the like, analyzes the opening angle of the fingers of the medical staff, and outputs a corresponding opening and closing control instruction to a slave control unit (not shown in the figure) arranged on the driving circuit board 52. The slave control unit controls the rotation (including the rotation speed, the rotation number and the like) of the third motor 513 according to the received opening and closing control instruction, and the rotation motion of the third motor 513 is converted into the linear reciprocating motion of the second seat 36 through the matching of the seventh coupler 55, the eighth coupler 23, the ninth coupler 38 and the second lead screw 364, so as to drive the traction rod 47 in the instrument rod 41 to make the linear reciprocating motion, further pull or push the surgical instrument 42, and open or close the surgical instrument 42, that is, the linear reciprocating motion of the traction rod 47 is converted into the opening and closing motion of the surgical instrument 42. The slave control unit incorporates a third mathematical model describing a conversion relationship between the rotational motion of the third motor 513 and the opening/closing motion of the surgical instrument 42, and controls the rotation (including the rotational speed and the number of rotations) of the third motor 513 based on the third mathematical model and the received opening/closing control command, thereby ensuring that the opening/closing of the surgical instrument 42 is consistent with the finger opening/closing operation of the surgeon.

Example four

In a fourth embodiment of the present invention, surgical instrument 42 has a first degree of freedom and a second degree of freedom (e.g., a scalpel).

In the present embodiment, the side wall of the fixed base 12 is provided with a first hole 121 and a second hole 122, the power source 51 includes a first motor 511 and a second motor 512, an output shaft of the first motor 511 is disposed in the first hole 121, and an output shaft of the second motor 512 is disposed in the second hole 122. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the first motor 511 and the second motor 512, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the second motor 512 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to implement both the rotation of the instrument lever 41 around the X-axis and the deflection of the instrument lever 41 around the Z-axis, the instrument lever 41 is connected to the transmission seat 3 through the rotation shaft 33 and the first seat 35, and the connection manner is the same as the transmission manner in the previous embodiment, and will not be described herein again.

Further, a pushing rod 46 is coaxially disposed in the instrument rod 41, and the specific manner of disposing the pushing rod 46 has been described in detail in the foregoing embodiments, and will not be described again.

In summary, in the present embodiment, the rotary motion of the first motor 511 is substantially converted into the rotary motion of the instrument rod 41, and the rotary motion of the second motor 512 is converted into the linear reciprocating motion of the first seat 35 through the first lead screw 354, so as to drive the pushing rod 46 in the instrument rod 41 to perform the linear reciprocating motion, and then the linear reciprocating motion of the instrument rod 41 is converted into the deflecting motion of the surgical instrument 42.

EXAMPLE five

In a fifth embodiment of the present invention, surgical instrument 42 has a first degree of freedom and a third degree of freedom (e.g., a surgical shears that only shears at a given position).

In the present embodiment, the first hole 121 and the third hole 123 are provided on the sidewall of the fixing base 12, the power source 51 includes the first motor 511 and the third motor 513, the output shaft of the first motor 511 is provided in the first hole 121, and the output shaft of the third motor 513 is provided in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the first motor 511 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to implement both the rotation motion of the instrument rod 41 along the X-axis direction and the opening and closing motion of the surgical instrument 42, the instrument rod 41 is connected to the transmission seat 3 through the rotation shaft 33 and the second seat 36, and the connection manner is the same as the transmission manner in the foregoing embodiments, and will not be described again.

Further, a pushing rod 46 is coaxially disposed in the instrument rod 41, a pulling rod 47 is coaxially disposed in the pushing rod 46, and the specific arrangement of the pushing rod 46 and the pulling rod 47 has been described in detail in the foregoing embodiments, and will not be described herein again.

In summary, in the present embodiment, the rotation of the first motor 511 is substantially converted into the rotation of the instrument rod 41, and the rotation of the third motor 513 is converted into the linear reciprocating motion of the second seat 36 through the second lead screw 364, so as to drive the traction rod 47 in the instrument rod 41 to perform the linear reciprocating motion, and then the linear reciprocating motion of the traction rod 47 is converted into the opening and closing motion of the surgical instrument 42.

EXAMPLE six

In a sixth embodiment of the present invention, surgical instrument 42 has a second degree of freedom and a third degree of freedom (e.g., forceps holding a suture needle).

In the present embodiment, the side wall of the fixed base 12 is provided with a second hole 122 and a third hole 123, the power source 51 includes a second motor 512 and a third motor 513, an output shaft of the second motor 512 is disposed in the second hole 122, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the second motor 512 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the second motor 512 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In the present embodiment, a pushing rod 46 is coaxially disposed in the instrument rod 41, a pulling rod 47 is coaxially disposed in the pushing rod 46, and the pushing rod 46 and the pulling rod 47 are respectively connected to the transmission seat 3 through the first seat 35 and the second seat 36, and the detailed connection manner and operation manner thereof have been described in detail in the foregoing embodiments and will not be described herein again (as shown in fig. 13).

EXAMPLE seven

In a seventh embodiment of the present invention, surgical instrument 42 has a first degree of freedom, a second degree of freedom, and a third degree of freedom (e.g., surgical shears).

In this embodiment, the side wall of the fixing base 12 is respectively provided with a first hole 121, a second hole 122 and a third hole 123, and the power source 51 includes a first motor 511, a second motor 512 and a third motor 513; an output shaft of the first motor 511 is disposed in the first hole 121, an output shaft of the second motor 512 is disposed in the second hole 122, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the second motor 512 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511, the second motor 512 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In the present embodiment, on one hand, the instrument rod 41 is connected to the transmission seat 3 through the rotating shaft 33, on the other hand, the pushing rod 46 is coaxially disposed in the instrument rod 41, the pulling rod 47 is coaxially disposed in the pushing rod 46, and the pushing rod 46 and the pulling rod 47 are respectively connected to the transmission seat 3 through the first seat 35 and the second seat 36, and the specific connection manner and operation manner thereof have been described in detail in the foregoing embodiments, and are not described again.

In each of the above embodiments, the main control unit analyzes the received deflection angle information and the opening angle information, and further determines whether the deflection angle and/or the opening angle exceeds a preset threshold, if so, determines that the operation is wrong, and the main control unit outputs a locking control instruction to the slave control unit to stop controlling the surgical instrument.

Further, the main control unit analyzes the received deflection angle information and the received opening angle information respectively, and further judges whether the change speed of the deflection angle and/or the opening angle exceeds a preset threshold value, if so, the operation error is judged, the main control unit outputs a locking control instruction to the slave control unit, and the control of the surgical instrument is stopped.

As shown in fig. 14, the minimally invasive surgical robot provided by the present invention further includes a sliding table 141, and the instrument fixing device 142 slides on the sliding table 141 under the driving of a sliding control motor 143. Specifically, the instrument fixing device 142 may be slidably connected to the sliding table 141 through a sliding block 144, and an output shaft of the sliding control motor 143 is connected to the sliding table 141 through a transmission mechanism 145, so as to drive the sliding movement on the sliding table, thereby driving the instrument fixing device 142 to move along the axial direction of the sliding table.

Accordingly, a control method for controlling a surgical instrument includes the steps of:

Specifically, an output shaft of the sliding control motor is controlled to rotate in the forward direction according to a first control signal, so that the sliding control motor drives the instrument fixing device to move from an initial position along the axial direction of the sliding table through a transmission mechanism; controlling the sliding control motor to stop working according to a second control signal so as to enable the instrument fixing device to reach the designated position; reading, as the number of rotations, a reading of an encoder of the number of rotations of the output shaft of the slide control motor during movement of the instrument fixing device from the start position to the designated position.

And then, controlling the output shaft of the sliding control motor to rotate in the reverse direction for the revolution number according to a third control signal, so that the sliding control motor drives the instrument fixing device to return to the initial position along the axial direction of the sliding table through the transmission mechanism.

And then, controlling the output shaft of the sliding control motor to rotate forwards for the revolution number according to a fourth control signal, so that the sliding control motor drives the instrument fixing device to reach the specified position again along the axial direction of the sliding table through the transmission mechanism.

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

Claims

1. A surgical instrument control method of a laparoscopic surgery robot, wherein the laparoscopic surgery robot comprises a control handle, a monitoring device, a main control unit, a sliding table, an instrument fixing device connected with the sliding table in a sliding manner, a sliding control motor used for controlling the instrument fixing device to slide on the sliding table, and a slave control unit, a second motor and a third motor which are arranged on the instrument fixing device;

the control method comprises the following steps:

2. The control method according to claim 1,

the instrument fixing device further comprises a fourth coupler, a fifth coupler, a sixth coupler, a first lead screw, a first seat and a push rod which are sequentially connected, wherein the fourth coupler is connected with an output shaft of the second motor so as to convert the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod, a swinging rod used for clamping surgical instruments is arranged at the end part of the push rod, and under the pushing or pulling action of the push rod, the swinging rod drives the surgical instruments to deflect, so that the linear reciprocating motion of the push rod is converted into the deflection motion of the surgical instruments; a second mathematical model describing the conversion relationship of the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod and further into the deflection motion of the surgical instrument is arranged in the second control module of the slave control unit, and based on the second mathematical model, the second control module of the slave control unit controls the rotation parameters of the second motor according to the received deflection control instruction, so that the surgical instrument and the wrist of an operator synchronously deflect;

3. The control method of claim 2, wherein the rotation parameters include a rotation speed and a number of rotations.

4. The control method according to claim 1, wherein the main control unit analyzes the received deflection angle information and the opening angle information respectively, and further filters interference information therein respectively.

5. The control method according to claim 4, wherein the disturbance information includes disturbance information generated by operator's wrist shake and finger shake, respectively.

6. The control method according to claim 1, wherein the master control unit analyzes the received deflection angle information and the opening angle information, and further comprises judging whether the deflection angle and/or the opening angle exceeds a preset threshold value, if so, judging that the operation is wrong, the master control unit outputting a locking control command to the slave control unit, and stopping the control of the surgical instrument.

7. The control method according to claim 1, wherein the master control unit analyzes the received deflection angle information, and further comprises determining whether the change speed of the deflection angle and/or the opening angle exceeds a preset threshold, and if so, determining that the operation is wrong, the master control unit outputting a locking control command to the slave control unit, and stopping the control of the surgical instrument.

8. The control method according to claim 1, wherein recording the number of rotations of the output shaft of the slide control motor during the movement of the instrument fixing device from the start position to the specified position on the slide table includes:

9. The method of claim 8, wherein controlling the slip control motor to reverse based on the number of revolutions to bring the instrument fixture back to the starting position comprises:

10. The control method according to claim 9, wherein controlling the sliding control motor to rotate forward according to the number of rotations to drive the instrument fixing device to reach the designated position again comprises: