CN111134851A - Drive box, operation arm and surgical robot - Google Patents
Drive box, operation arm and surgical robot Download PDFInfo
- Publication number
- CN111134851A CN111134851A CN202010085537.8A CN202010085537A CN111134851A CN 111134851 A CN111134851 A CN 111134851A CN 202010085537 A CN202010085537 A CN 202010085537A CN 111134851 A CN111134851 A CN 111134851A
- Authority
- CN
- China
- Prior art keywords
- group
- drive
- driving
- wheels
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000149 penetrating effect Effects 0.000 claims abstract description 5
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 6
- 230000000670 limiting effect Effects 0.000 claims description 4
- 230000002441 reversible effect Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Images
Classifications
-
- 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
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a driving box, an operating arm and a surgical robot, wherein the driving box is connected with a tail end instrument through a connecting rod and a driving wire penetrating through the connecting rod, the driving box comprises a base connected with the connecting rod, a driving shaft assembly arranged on the base and a shell arranged on the base and used for accommodating the driving shaft assembly, and the driving shaft assembly comprises a driving shaft wound with the driving wire and an adjusting part connected with the driving shaft through the driving wire; the adjusting portion is connected with the shell in a sliding mode and used for moving to a preset position along the shell to tension or loosen the driving wire, and the driving shaft is used for driving the terminal instrument to move in the direction of the corresponding degree of freedom through the driving wire when rotating. The invention can flexibly adjust the tension degree of the driving wire.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a driving box, an operating arm and a surgical robot.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.
With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.
The slave operation device generally includes a mechanical arm, a power mechanism disposed on the mechanical arm, and an operation arm, the mechanical arm is used to adjust a position of the operation arm, the operation arm is used to extend into a body and perform a surgical operation, and the power mechanism is used to drive a distal end instrument of the operation arm to perform a corresponding operation. However, the driving wire of the existing operating arm cannot be flexibly adjusted after being fixed, which causes various problems, such as: when the operation is performed, the phenomenon that the driving wire of the operation arm is loosened or slipped off may occur, which causes the problem of low operation precision; or, the drive wire is over-tensioned, resulting in a problem of inflexible operation. Therefore, it is an urgent problem to be solved in the industry to flexibly adjust the tension of the driving wire.
Disclosure of Invention
The invention mainly aims to provide a driving box, an operating arm and a surgical robot, aiming at flexibly adjusting the tension degree of a driving wire.
In order to achieve the above object, the present invention provides a drive cassette, which is connected to a distal end instrument via a connecting rod and a drive wire penetrating through the connecting rod, the drive cassette including a base connected to the connecting rod, a drive shaft assembly provided on the base, and a housing provided on the base and accommodating the drive shaft assembly, the drive shaft assembly including a drive shaft wound with the drive wire, and an adjustment portion connected to the drive shaft via the drive wire; the adjusting portion is connected with the shell in a sliding mode and used for moving to a preset position along the shell to tension or loosen the driving wire, and the driving shaft is used for driving the terminal instrument to move in the direction of the corresponding degree of freedom through the driving wire when rotating.
Preferably, a sliding groove is formed in the housing, the adjusting portion comprises a sliding block connected with the sliding groove in a sliding mode and an adjusting wheel fixed on the sliding block, and the adjusting wheel is abutted to the driving wire so that the driving wire can be tensioned or loosened when the sliding block moves to the preset position; the shell is further provided with an adjusting piece which is used for abutting against the sliding block and is fastened on the shell when the sliding block moves to the preset position, and the adjusting piece is used for limiting the sliding block to move in the sliding groove.
Preferably, a sliding groove is formed in the shell, the adjusting portion comprises a sliding block tightly connected with the sliding groove and an adjusting wheel fixed on the sliding block, and the adjusting wheel is abutted to the driving wire so as to tension or loosen the driving wire when the sliding block moves to the preset position.
Preferably, the drive shaft assembly is including locating first pivot on the base and locate in the first pivot and with the coaxial rotatory second pivot of first pivot, the winding has the opposite first group drive silk of winding direction in the first pivot, the winding has the opposite second group drive silk of winding direction in the second pivot.
Preferably, the driving shaft assembly further comprises a first set of reversing wheels located between the first rotating shaft and the axis of the connecting rod and connected with the first rotating shaft through the first set of driving wires, and a second set of reversing wheels located between the second rotating shaft and the axis of the connecting rod and connected with the second rotating shaft through the second set of driving wires; the regulating wheel includes respectively through first group drive silk with the first group regulating wheel that first group reverse wheel is connected, and through the second group drive silk with the second group regulating wheel that the second group reverse wheel is connected, first group drive silk warp behind the tensioning effect of first group regulating wheel, pass the connecting rod with terminal apparatus is connected, second group drive silk warp behind the tensioning effect of second group regulating wheel, pass the connecting rod with terminal apparatus is connected.
Preferably, the first group of reversing wheels and the first group of adjusting wheels are oppositely positioned on two sides of the first group of driving wires, and the part of the first group of driving wires between the first group of reversing wheels and the first group of adjusting wheels is in a linear state; and/or the second group of reversing wheels and the second group of adjusting wheels are relatively positioned on two sides of the second group of driving wires, and the part of the second group of driving wires between the second group of reversing wheels and the second group of adjusting wheels is in a linear state.
Preferably, the driving shaft assembly further comprises a third group of reversing wheels which are positioned above the connecting rod and are respectively connected with the first group of adjusting wheels, the first group of reversing wheels and the first rotating shaft sequentially through the first group of driving wires, so that the first group of driving wires tensioned by the first group of adjusting wheels penetrate through the connecting rod and are connected with the tail end instrument; and the fourth group of reversing wheels are positioned above the connecting rod and are respectively connected with the second group of adjusting wheels, the second group of reversing wheels and the second rotating shaft sequentially through the second group of driving wires, so that the second group of driving wires tensioned by the second group of adjusting wheels penetrate through the connecting rod and are connected with the tail end instrument.
Preferably, the direction of extension of the first group of drive wires after the third group of reversing wheels is parallel to the direction of extension of the portion of the first group of drive wires between the first group of adjusting wheels and the third group of reversing wheels; the extending direction of the second group of driving wires after passing through the fourth group of reversing wheels is parallel to the extending direction of the part of the second group of driving wires between the second group of adjusting wheels and the fourth group of reversing wheels.
In order to achieve the above object, the present invention further provides an operation arm, wherein the operation arm includes the driving box, the connecting rod, and the end instrument, which are sequentially connected, and the operation arm further includes a driving wire penetrating through the connecting rod and respectively connected to the end instrument and the driving box.
To achieve the above object, the present invention also provides a surgical robot including the operating arm as described above.
According to the driving box, the operating arm and the surgical robot, the driving shaft wound with the driving wire and the adjusting part connected with the driving shaft through the driving wire are arranged, the adjusting part is connected with the shell in a sliding mode and used for moving to the preset position along the shell to tension or loosen the driving wire, and the driving wire can drive the terminal instrument to realize accurate movement in the direction corresponding to the pitch angle or the swing angle when the driving shaft rotates by means of the tensioning or loosening adjusting effect of the adjusting part, so that the operation accuracy and the flexibility of the operating arm during operation are improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;
FIG. 2 is a schematic structural view of an embodiment of the pitch angle drive shaft assembly or the roll angle drive shaft assembly of FIG. 1;
FIG. 3 is a schematic structural view of an embodiment of the drive shaft of FIG. 2;
FIG. 4 is a schematic structural diagram of an embodiment of the second body in FIG. 3;
FIG. 5 is a schematic structural view of an embodiment of the pitch angle drive shaft assembly, roll angle drive shaft assembly, spin drive shaft assembly, and end opening and closing drive shaft assembly of FIG. 1;
FIG. 6 is an assembled view of one embodiment of the slave drive shaft and connecting rod of FIG. 1;
FIG. 7 is an assembled view of one embodiment of the connecting rod and connecting member of FIG. 1;
FIG. 8 is a schematic structural view of an embodiment of the housing of FIG. 1;
FIG. 9 is a schematic structural view of an embodiment of the housing and the adjustment portion of FIG. 1;
fig. 10 is an enlarged view of a portion a of fig. 9.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a surgical robot, which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending a control command to the slave operating device according to the operation of a doctor so as to control the slave operating device; the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation. The slave operation equipment comprises a mechanical arm, a power mechanism arranged on the mechanical arm and an operation arm, wherein the operation arm is used for extending into a body to execute corresponding operation under the driving action of the power mechanism.
As shown in fig. 1, the operation arm 1 includes a driving box 10, a connecting rod 20, and a distal end instrument 30, which are connected in sequence, and the operation arm 1 further includes a driving wire penetrating through the connecting rod 20 and respectively connected to the distal end instrument 30 and the driving box 10.
As shown in fig. 1, the drive cassette 10 is connected to a distal instrument 30 via a linkage 20 and a drive wire extending through the linkage 20. The drive box 10 includes a base 11 connected to the connecting rod 20, a pitch angle drive shaft assembly 12 provided on the base 11, a roll angle drive shaft assembly 15, a rotation drive shaft assembly 17, a tip opening/closing drive shaft assembly 18, and a housing 19 provided on the base 11 and accommodating each drive shaft assembly. The pitch angle driving shaft assembly 12 and the roll angle driving shaft assembly 15 are arranged on the base 11 in an opposite manner, and the rotation driving shaft assembly 17 and the end opening and closing driving shaft assembly 18 are arranged on the base 11 in an opposite manner. Of course, in other embodiments, the pitch angle drive shaft assembly 12 and the roll angle drive shaft assembly 15 are disposed adjacent to each other on the base 11, and similarly, the rotation drive shaft assembly 17 and the open-close end drive shaft assembly 18 may be disposed adjacent to each other on the base 11. The relative position of each driving shaft assembly on the base 11 can be reasonably set according to actual needs.
The pitch angle drive shaft assembly 12 and the roll angle drive shaft assembly 15 have the same configuration, and the pitch angle drive shaft assembly 12 will be described as an example. As shown in fig. 1, the pitch angle drive shaft assembly 12 specifically includes a drive shaft 121 around which a drive wire is wound, and an adjustment portion 122 connected to the drive shaft 121 via the drive wire; the adjusting portion 122 is slidably connected to the housing 19, the adjusting portion 122 is configured to move to a predetermined position along the housing 19 to tension or relax the driving wire, and the driving shaft 121 is configured to drive the distal end instrument 30 to move in a direction corresponding to the degree of freedom by the driving wire when rotating. It is to be understood that the predetermined positions may include a first position and a second position, and that the drive wire may be tensioned when the adjustment portion is moved to the first position along the housing; the drive wire may be relaxed when the adjustment portion moves to the second position along the housing.
In one embodiment, as shown in fig. 1, the adjusting portion 122 includes a sliding block 1221 slidably connected to the sliding groove, and an adjusting wheel 1222 fixed to the sliding block 1221. As shown in fig. 10, a sliding groove 190 is provided on the housing 19, and the adjusting wheel 1222 abuts against the driving wire to tension or relax the driving wire when the slider 1221 moves to the predetermined position in the sliding groove 190. The housing 19 is further provided with an adjusting member 14 fastened to the housing 19 when the sliding block 1221 is abutted to move to the predetermined position, and the adjusting member 14 is used for limiting the movement of the sliding block 1221 in the sliding slot 190.
In another embodiment, as shown in fig. 1, the adjusting portion 122 includes a sliding block 1221 slidably connected to the sliding groove 190 and an adjusting wheel 1222 fixed to the sliding block 1221. As shown in fig. 10, a sliding groove 190 is provided on the housing 19, and the adjusting wheel 1222 abuts against the driving wire to tension or relax the driving wire when the slider 1221 moves to the predetermined position in the sliding groove 190.
As shown in fig. 2, the pitch angle driving shaft assembly 12 includes a first rotating shaft 123 provided on the base 11, and a second rotating shaft 124 provided on the first rotating shaft 123 and rotating coaxially with the first rotating shaft 123. The second rotating shaft 124 is rotatably adjustable relative to the first rotating shaft 123 to adjust the posture of the distal end instrument 30 to the initial state. The first rotating shaft 123 is wound with a first group of driving wires 125 in opposite winding directions, and the second rotating shaft 124 is wound with a second group of driving wires 126 in opposite winding directions. The first set of driving wires 125 includes a first driving wire 1251 near the side of the base 11 and a second driving wire 1252 far from the side of the base 11, and the length of the first driving wire 1251 that is tightened/loosened and the length of the second driving wire 1252 that is loosened/tightened are correspondingly equal. The second set of drive wires 126 includes a third drive wire 1261 adjacent the side of the base 11 and a fourth drive wire 1262 remote from the side of the base 11, the length of the third drive wire 1261 that is tightened/loosened and the length of the fourth drive wire 1262 that is loosened/tightened being correspondingly equal. It is understood that the positions of the first driving wire 1251 and the second driving wire 1252 can be replaced, and the specific positions of the two driving wires relative to the base 11 can be set according to actual requirements. Similarly, the positions of the third driving wire 1261 and the fourth driving wire 1262 can be replaced, and the specific positions of the third driving wire 1261 and the fourth driving wire 1262 relative to the base 11 can be set reasonably according to actual needs. In this embodiment, the diameter L1 of the first rotating shaft 123 is greater than the diameter L2 of the second rotating shaft 124. L1/L2 is a/b (a and b each indicate the distance the corresponding drive wire moves on one side). In other embodiments, the diameter of the first shaft 123 is equal to the diameter of the second shaft 124.
Specifically, as shown in fig. 3 and 4, the second rotating shaft 124 has a shaft body 1240, and the first rotating shaft 123 includes a first body 1231 configured to penetrate through the shaft body 1240, a fastening member 1232 fastened to the first body 1231, and a bolt member configured to fasten the first body 1231 and the fastening member 1232 and fix the second rotating shaft 124 to the shaft body 1240. The bolt members include a first bolt 12331, a second bolt (not shown), a third bolt (not shown), a fourth bolt 12333, and a fifth bolt (not shown).
Further, the first body 1231 is provided with a first winding groove 12311 for accommodating the first group of driving wires 125, the two ends of the fastening member 1232 are provided with a first through hole 12321 and a second through hole 12322, which are oppositely disposed, the first body 1231 is provided with a third through hole (not shown) and a fourth through hole 12313 at positions corresponding to the first through hole 12321 and the second through hole 12322, a fifth through hole 12314 is provided at a side corresponding to the second through hole 12322 and the fourth through hole 12313, and a sixth through hole 12315 is provided at a side corresponding to the first through hole 12321 and the third through hole. The first bolt 12331 is used for fixing the first driving wire 1251 to the first through hole 12321 of the fastener 1232 when passing through the first through hole 12321 and the third through hole in sequence; the second bolt is used for fastening the first body 1231 and the fastening member 1232 when passing through the second through hole 12322 and the fourth through hole 12313 in sequence, and fixing the second rotating shaft 124 on the shaft body 1240; the third bolt is used to fix the second driving wire 1252 at the fifth through hole 12314 of the first body 1231 when passing through the fifth through hole 12314. The sixth through hole 12315 is used for a rotating rod to pass through, so as to adjust the angle of the first rotating shaft 123 on the shaft body 1240 relative to the second rotating shaft 124.
It can be understood that, when the posture of the distal end instrument 30 needs to be adjusted to the initial state, the distal end instrument 30 may be clamped by a zero position tool adjusting member (not shown in the figure) to keep the linear state; at this time, if the posture of the distal end instrument 30 is not yet set to the initial state, the position of the first rotating shaft 123 with respect to the second rotating shaft 124 may be further adjusted by the rotating lever, so that the distal end instrument 30 may be further set to the initial state.
The second rotating shaft 124 further includes a second body 1241 fixed on the shaft body 1240, a second winding slot 12410 for accommodating the second set of driving wires 126 is disposed on the second body 1241, and a seventh through hole 12411 and an eighth through hole 12412, which are disposed oppositely, are respectively and correspondingly disposed at two sides of the second body 1241 close to the base 11 and two sides of the second body 1241 far away from the base 11. The fourth bolt 12333 is used to fix the third driving wire 1261 to the seventh through hole 12411 when passing through the seventh through hole 12411, and the fifth bolt is used to fix the fourth driving wire 1262 to the eighth through hole 12412 when passing through the eighth through hole 12412.
As shown in fig. 2, the pitch angle drive shaft assembly 12 further includes a first set of reverser wheels 1213 located between the first shaft 123 and the axis of the linkage 20 and connected to the first shaft 123 by the first set of drive wires 125, and a second set of reverser wheels 1214 located between the second shaft 124 and the axis of the linkage 20 and connected to the second shaft 124 by the second set of drive wires 126. It will be appreciated that the first set of deflecting rollers 1213 serve to guide the first set of driving wires 125 extending from the first shaft 123 while preventing the first set of driving wires 125 from slipping off the first winding grooves 12311. Similarly, the second group of deflecting rollers 1214 serves to guide the second group of driving wires 126 extending from the second rotating shaft 124, and at the same time, prevent the second group of driving wires 126 from slipping off the second winding grooves 12410.
Further, the adjustment wheel 1222 includes a first set of adjustment wheels 1226 connected to the first set of steering wheels 1213 via the first set of driving wires 125, and a second set of adjustment wheels 1227 connected to the second set of steering wheels 1214 via the second set of driving wires 126, respectively, the first set of driving wires 125 passes through the connecting rod 20 to be connected to the distal instrument 30 after being tensioned by the first set of adjustment wheels 1226, and the second set of driving wires 126 passes through the connecting rod 20 to be connected to the distal instrument 30 after being tensioned by the second set of adjustment wheels 1227.
The first group of reversing wheels 1213 and the first group of adjusting wheels 1226 are located on both sides of the first group of driving wires 125, and the portion of the first group of driving wires 125 located between the first group of reversing wheels 1213 and the first group of adjusting wheels 1226 is in a straight line state, so that the force loss generated when the first group of driving wires 125 pass through the first group of reversing wheels 1213 and the first group of adjusting wheels 1226 can be reduced; and/or the second group of reversing wheels 1214 and the second group of adjusting wheels 1227 are located on two sides of the second group of driving wires 126 opposite to each other, and the portion of the second group of driving wires 126 located between the second group of reversing wheels 1214 and the second group of adjusting wheels 1227 is in a straight state, so that the force loss generated when the second group of driving wires 126 pass through the second group of reversing wheels 1214 and the second group of adjusting wheels 1227 can be reduced.
The pitch angle drive shaft assembly 12 further includes a third set of reverser wheels 1215 positioned above the linkage 20 and sequentially connected to the first set of adjustment wheels 1226, the first set of reverser wheels 1213, and the first pivot shaft 123 via the first set of drive wires 125, respectively, to guide the first set of drive wires 125 tensioned via the first set of adjustment wheels 1226 through the linkage 20 and connected to the end instrument 30; and a fourth set of reversing wheels 1216 which are positioned above the connecting rod 20 and are respectively connected with the second set of adjusting wheels 1227, the second set of reversing wheels 1214 and the second rotating shaft 124 sequentially through the second set of driving wires 126, so as to guide the second set of driving wires 126 tensioned by the second set of adjusting wheels 1227 to penetrate through the connecting rod 20 and be connected with the terminal instrument 30. The direction of extension of the first set of drive wires 125 after being reversed by the third set of reversing wheels 1215 is parallel to the direction of extension of the portion of the first set of drive wires 125 between the first set of adjustment wheels 1226 and the third set of reversing wheels 1215; the direction of extension of the second set of drive wires 126 after reversing over the fourth set of reversing wheels 1216 is parallel to the direction of extension of the portion of the second set of drive wires 126 between the second set of adjustment wheels 1227 and the fourth set of reversing wheels 1216.
The pitch angle driving shaft assembly 12 or the roll angle driving shaft assembly 15 provided by the invention is provided with a driving shaft 121 wound with a driving wire and an adjusting part 122 connected with the driving shaft 121 through the driving wire, the adjusting part 122 is connected with the shell 19 in a sliding way, the adjusting part 122 is used for moving to a preset position along the shell 19 so as to tension or loosen the driving wire, and the driving wire can drive the terminal device 30 to realize accurate movement corresponding to the pitch angle or the roll angle direction through the driving wire when the driving shaft 121 rotates by utilizing the tensioning effect of the adjusting part 122, so that the operation accuracy of the operating arm 1 in the operation is improved.
As shown in fig. 5, the rotation driving shaft assembly 17 includes a rotation driving shaft 171 provided on the base 11 and wound with a third group of driving wires 170 in opposite winding directions, a driven shaft 172 connected to the rotation driving shaft 171 through the third group of driving wires 170, and a guide wheel 173 located between the rotation driving shaft 171 and the driven shaft 172 and connected to the rotation driving shaft 171 and the driven shaft 172 through the rotation driving wires, respectively. In this embodiment, the guide wheel 173 is provided to prevent the rotation driving wire from interfering with other driving wires, and the space of the driving box is fully utilized, so that the driving box is more compact. Wherein the driven shaft 172 is rotatably connected to the connecting rod 20.
Specifically, as shown in fig. 6, a first projection 174 is projected from a distal end of the drive shaft 172 near one end of the link 20 in a direction of the link 20 along an axial direction thereof. The connecting rod 20 includes an inner tube 21 extending into the driven shaft 172 and connected to the driven shaft 172, and an outer tube 22 fixedly connected to the inner tube 21, wherein the outer tube 22 is provided with a notch 175 corresponding to the first protrusion 174 at a side close to the driven shaft 172. The notch 175 has a sidewall (not shown) abutting against the first protrusion 174. The notch 175 is used for accommodating the first protrusion 174, and is abutted by the first protrusion 174 and the side wall of the notch 175, so that when the driven shaft 172 rotates, the first protrusion 174 drives the outer tube 22 to rotate, and the connecting rod 20 is driven to rotate.
The end of the driven shaft 172 on the side close to the connecting rod 20 is further provided with a limit block 176 in a protruding manner along the periphery of the driven shaft 172, and one surface of the limit block 176 facing the base 11 is in abutting connection with one surface of the base 11 facing the connecting rod 20. In this way, the slave drive shaft 172 can be restricted from moving in the drive cartridge 10 in a direction away from the base 11.
Further, as shown in fig. 7, the inner tube 21 is recessed with a receiving slot 210 at an end away from the driving shaft 172, the distal instrument 30 has a connecting member 31, the connecting member 31 has a second protrusion 310 extending axially at an end near one side of the inner tube 21, and the second protrusion 310 is used for connecting with the receiving slot 210 of the inner tube 21 after entering the outer tube 22.
As shown in fig. 5, the end opening/closing driving shaft assembly 18 includes an end opening/closing driving shaft 182, which is disposed on the base 11 and is wound with a fourth group of driving wires 181 in opposite winding directions, a fifth group of reversing wheels 183 disposed between the end opening/closing driving shaft 182 and the axis of the connecting rod 20, and a sixth group of reversing wheels 184 disposed above the connecting rod 20, wherein the fourth group of driving wires 181 sequentially pass through the connecting rod 20 after reversing by the fourth group of reversing wheels 1216 and the fifth group of reversing wheels 183, and are connected to the end instrument 30.
As shown in fig. 8, the base 11 is provided with a first mounting hole 111 and a second mounting hole 112 which are arranged opposite to each other in a diagonal direction, a third mounting hole 113 and a fourth mounting hole 114 which are arranged opposite to each other in the diagonal direction, and a fifth mounting hole 115 which is located at the center of the base 11 and surrounded by the first mounting hole 111, the second mounting hole 112, the third mounting hole 113 and the fourth mounting hole 114. The housing 19 includes a first bracket 191 coupled to the base 11 and engaged with the base 11, the first bracket 191 and the base 11 form an accommodating space 192, and the first mounting hole 111, the second mounting hole 112, the third mounting hole 113, the fourth mounting hole 114, and the fifth mounting hole 115 are used to guide the pitch angle driving shaft, the roll angle driving shaft, the rotation driving shaft 171, the end opening/closing driving shaft 182, and the slave driving shaft 172 to be accommodated in the accommodating space 192.
Specifically, the first bracket 191 includes a post 1910 extending from the base 11 in a direction away from the end device 30, and a cover 1930 connected to the post 1910 and extending in a direction parallel to the base 11. The cover 1930 includes a first cover 1931 corresponding to the position of the first mounting hole 111, a second cover 1932 corresponding to the position of the second mounting hole 112, a third cover 1933 corresponding to the position of the third mounting hole 113, a fourth cover 1934 corresponding to the position of the fourth mounting hole 114, and a fifth cover 1935 corresponding to the position of the fifth mounting hole 115. The first cover 1931, the second cover 1932, the third cover 1933, the fourth cover 1934, and the fifth cover 1935 respectively enclose the upright 1910 and the base 11 to form a first accommodating space 1936, a second accommodating space 1937, a third accommodating space 1938, a fourth accommodating space 1939, and a fifth accommodating space 1940 having openings. The first cover 1931, the second cover 1932, the third cover 1933, the fourth cover 1934 and the fifth cover 1935 are respectively provided with a first flange 1941, a second flange 1942, a third flange 1943, a fourth flange (not shown in the figure) and a fifth flange 1945 protruding toward the base 11, and the first flange 1941, the second flange 1942, the third flange 1943, the fourth flange and the fifth flange 1945 are respectively used for limiting the corresponding driving shaft in the corresponding accommodating space, so as to prevent the corresponding driving shaft from sliding out of the accommodating space.
The upright 1910 is provided with a first sliding groove 1946 on a side away from the pitch angle driving shaft, and a second sliding groove (not shown) on a side away from the roll angle driving shaft, so that the sliding block 1221 can slide along a direction perpendicular to the base 11 through the first sliding groove 1946 and the second sliding groove, respectively.
The first bracket 191 is provided with a first mounting portion 1951 at a position between the first cover 1931 and the fifth cover 1935, and a second mounting portion 1952 at a position between the second cover 1932 and the fifth cover 1935. The first mounting portion 1951 is provided with a first screw hole 1953 along the direction of the post 1910, and a second screw hole 1954 along the direction of the post 1910. The first and second threaded holes 1953 and 1954 are used to pass and fasten the adjusting member 14 to the first bracket 191, respectively.
The first mounting portion 1951, the first sliding groove 1946, the base 11, and the post 1910 surround to form a sixth accommodating space 1955, the second mounting portion 1952, the second sliding groove, the base 11, and the post 1910 form a seventh accommodating space (not shown), and the sixth accommodating space 1955 and/or the seventh accommodating space are/is used for accommodating the first set of adjusting wheels 1226 and the second set of adjusting wheels 1227.
As shown in fig. 1 and 8, the first cover 1931 is provided with a first through hole 1961 at a position corresponding to the first mounting hole 111, and a first cover 1962 covering the first through hole 1961 and fixed to the first cover 1931; the second cover 1932 is provided with a second through hole 1963 at a position corresponding to the second mounting hole 112, and a second cover sheet 1964 covering the second through hole 1963 and fixed to the second cover 1932; the third cover 1933 is provided with a third through hole 1965 at a position corresponding to the third mounting hole 113 and a third cover 1966 covering the third through hole 1965 and fixed to the third cover 1933, the fourth cover 1934 is provided with a fourth through hole 1967 at a position corresponding to the fourth mounting hole 114 and a fourth cover 1968 covering the fourth through hole 1967 and fixed to the fourth cover 1934, and the fifth cover 1935 is provided with a fifth through hole 1969 at a position corresponding to the fifth mounting hole 115 and a fifth cover (not shown) covering the fifth through hole 1969 and fixed to the fifth cover 1935. In this embodiment, the first bracket 191 may be reduced in weight by providing the respective through holes, and in addition, in order to prevent the respective driving shafts from being inserted into the corresponding mounting holes and then being perforated by the corresponding respective through holes, the respective driving shafts may be prevented from slipping out of the corresponding through holes by providing the respective cover sheets. In addition, each cover plate may be made of plastic or the like, thereby reducing the weight of the drive box 10.
As shown in fig. 9, the housing 19 further includes a second bracket 198 mounted on the first bracket 191, the second bracket 198 is provided with an eighth accommodating space 1981 facing away from the first bracket 191 at a position corresponding to the fifth accommodating space, and the eighth accommodating space 1981 is used for accommodating a third set of direction-changing wheels 1215 and a fourth set of direction-changing wheels 1216 corresponding to the driving shaft assembly; the second bracket 198 and the first bracket 191 enclose a ninth accommodating space 1982 at a position corresponding to the fifth accommodating space, and the ninth accommodating space 1982 is used for accommodating the sixth group of steering wheels 184. It is understood that the accommodating spaces include the above-described respective accommodating spaces.
The second bracket 198 is provided with a third threaded hole (not shown) at a position corresponding to the first threaded hole 1953, so that the adjusting member 14 can be sequentially inserted through the third threaded hole and the first threaded hole 1953 to be fastened to the first bracket 191 and the second bracket 198; the second bracket 198 is provided with a fourth threaded hole 1984 at a position corresponding to the first threaded hole 1953, so that the adjuster 14 is fastened to the first and second brackets 191 and 198 through the fourth threaded hole 1984 and the second threaded hole 1954 in sequence.
The second bracket includes a bracket body 1980 located above the first bracket, and a first group of support legs 1985 and a second group of support legs 1986 extending from the bracket body in the direction of the base on the pitch angle drive shaft side and the roll angle drive shaft side, respectively. It will be appreciated that the first and second sets of support legs each have two legs which are located opposite each other on either side of the stand body. The upright column where the first sliding groove is located divides the first group of supporting legs into two first installation spaces (not shown in the figure) so as to accommodate the reversing wheels corresponding to the pitching angle driving shafts. Specifically, the reversing wheels corresponding to the pitch angle driving shaft are a first group of reversing wheels and a second group of reversing wheels, the first group of reversing wheels includes two first wheels close to the base and two second wheels far away from the base, and in this embodiment, the height of the second wheels relative to the base is higher than the height of the first wheels relative to the base. That is, the first installation space away from the distal opening and closing drive shaft 182 is used to accommodate one of the first wheels and one of the second wheels. Likewise, another first installation space near the distal opening and closing drive shaft 182 is used to accommodate another first wheel and another second wheel. The upright column where the second sliding groove is located divides the second group of supporting legs into two second mounting spaces (not shown in the figure) so as to accommodate the reversing wheels corresponding to the swing angle driving shafts. The detailed description of the embodiments is omitted here.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A drive box is connected with a tail end instrument through a connecting rod and a drive wire penetrating through the connecting rod, and is characterized by comprising a base connected with the connecting rod, a drive shaft assembly arranged on the base and a shell arranged on the base and used for accommodating the drive shaft assembly, wherein the drive shaft assembly comprises a drive shaft wound with the drive wire and an adjusting part connected with the drive shaft through the drive wire; the adjusting portion is connected with the shell in a sliding mode and used for moving to a preset position along the shell to tension or loosen the driving wire, and the driving shaft is used for driving the terminal instrument to move in the direction of the corresponding degree of freedom through the driving wire when rotating.
2. The drive cassette according to claim 1, wherein a slide groove is provided on the housing, the adjusting portion includes a slider slidably connected to the slide groove and an adjusting wheel fixed to the slider, the adjusting wheel abuts against the drive wire to tension or relax the drive wire when the slider moves to the predetermined position; the shell is further provided with an adjusting piece which is used for abutting against the sliding block and is fastened on the shell when the sliding block moves to the preset position, and the adjusting piece is used for limiting the sliding block to move in the sliding groove.
3. The drive cassette according to claim 1, wherein a slide groove is provided on the housing, the adjusting portion includes a slider tightly connected to the slide groove, and an adjusting wheel fixed to the slider, the adjusting wheel abutting against the drive wire to tension or relax the drive wire when the slider moves to the predetermined position.
4. The drive cartridge according to claim 2 or 3, wherein the drive shaft assembly includes a first rotating shaft disposed on the base and a second rotating shaft disposed on the first rotating shaft and rotating coaxially with the first rotating shaft, the first rotating shaft being wound with a first set of drive wires wound in opposite directions, and the second rotating shaft being wound with a second set of drive wires wound in opposite directions.
5. The drive cartridge of claim 4, wherein the drive shaft assembly further comprises:
the first group of reversing wheels are positioned between the first rotating shaft and the axis of the connecting rod and connected with the first rotating shaft through the first group of driving wires, and the second group of reversing wheels are positioned between the second rotating shaft and the axis of the connecting rod and connected with the second rotating shaft through the second group of driving wires;
the regulating wheel includes respectively through first group drive silk with the first group regulating wheel that first group reverse wheel is connected, and through the second group drive silk with the second group regulating wheel that the second group reverse wheel is connected, first group drive silk warp behind the tensioning effect of first group regulating wheel, pass the connecting rod with terminal apparatus is connected, second group drive silk warp behind the tensioning effect of second group regulating wheel, pass the connecting rod with terminal apparatus is connected.
6. The drive cassette of claim 5, wherein the first set of reversing wheels is positioned on opposite sides of the first set of drive wires from the first set of adjustment wheels, and wherein a portion of the first set of drive wires between the first set of reversing wheels and the first set of adjustment wheels is in a straight line; and/or the second group of reversing wheels and the second group of adjusting wheels are relatively positioned on two sides of the second group of driving wires, and the part of the second group of driving wires between the second group of reversing wheels and the second group of adjusting wheels is in a linear state.
7. The drive cartridge of claim 5 or 6, wherein the drive shaft assembly further comprises:
the third group of reversing wheels are positioned above the connecting rod and are respectively connected with the first group of adjusting wheels, the first group of reversing wheels and the first rotating shaft sequentially through the first group of driving wires, so that the first group of driving wires tensioned by the first group of adjusting wheels penetrate through the connecting rod and are connected with the tail end instrument; and
and the fourth group of reversing wheels are positioned above the connecting rod and are respectively connected with the second group of adjusting wheels, the second group of reversing wheels and the second rotating shaft sequentially through the second group of driving wires so as to guide the second group of driving wires tensioned by the second group of adjusting wheels to penetrate through the connecting rod and be connected with the tail end instrument.
8. The drive cassette of claim 7, wherein a direction of extension of the first set of drive wires rearward of the third set of reversing wheels is parallel to a direction of extension of a portion of the first set of drive wires between the first set of adjustment wheels and the third set of reversing wheels; the extending direction of the second group of driving wires after passing through the fourth group of reversing wheels is parallel to the extending direction of the part of the second group of driving wires between the second group of adjusting wheels and the fourth group of reversing wheels.
9. An operating arm, characterized in that it comprises a drive cassette according to any one of claims 1 to 8, a connecting rod and a tip instrument connected in series, said operating arm further comprising a drive wire passing through said connecting rod and connected to said tip instrument and to said drive cassette, respectively.
10. A surgical robot, characterized in that it comprises an operating arm according to claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010085537.8A CN111134851A (en) | 2020-02-09 | 2020-02-09 | Drive box, operation arm and surgical robot |
| PCT/CN2020/133287 WO2021155708A1 (en) | 2020-02-09 | 2020-12-02 | Driving box, operation arm, and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010085537.8A CN111134851A (en) | 2020-02-09 | 2020-02-09 | Drive box, operation arm and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111134851A true CN111134851A (en) | 2020-05-12 |
Family
ID=70527277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010085537.8A Pending CN111134851A (en) | 2020-02-09 | 2020-02-09 | Drive box, operation arm and surgical robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111134851A (en) |
| WO (1) | WO2021155708A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112370167A (en) * | 2020-11-10 | 2021-02-19 | 北京邮电大学 | Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers |
| WO2021155708A1 (en) * | 2020-02-09 | 2021-08-12 | 深圳市精锋医疗科技有限公司 | Driving box, operation arm, and surgical robot |
| WO2022127002A1 (en) * | 2020-12-19 | 2022-06-23 | 深圳市精锋医疗科技有限公司 | Surgical instrument, slave operating device and surgical robot |
| WO2022253065A1 (en) * | 2021-06-02 | 2022-12-08 | 上海生知医疗科技有限公司 | Portable manual surgical robot |
| CN116035708A (en) * | 2023-02-28 | 2023-05-02 | 北京云力境安科技有限公司 | Surgical instrument |
| CN117042715A (en) * | 2021-02-17 | 2023-11-10 | 奥瑞斯健康公司 | Instrument shaft tensioning system and method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9788910B2 (en) * | 2014-07-01 | 2017-10-17 | Auris Surgical Robotics, Inc. | Instrument-mounted tension sensing mechanism for robotically-driven medical instruments |
| WO2018094191A1 (en) * | 2016-11-21 | 2018-05-24 | Intuitive Surgical Operations, Inc. | Cable length conserving medical instrument |
| CN207077456U (en) * | 2017-08-09 | 2018-03-09 | 深圳市罗伯医疗机器人研究所 | One kind driving rope control device |
| US10786320B2 (en) * | 2017-10-26 | 2020-09-29 | Ethicon Llc | Cable driven motion systems for robotic surgical tools |
| CN109717913A (en) * | 2019-01-30 | 2019-05-07 | 深圳市罗伯医疗科技有限公司 | Lift operating system |
| CN111134851A (en) * | 2020-02-09 | 2020-05-12 | 深圳市精锋医疗科技有限公司 | Drive box, operation arm and surgical robot |
| CN211750045U (en) * | 2020-02-09 | 2020-10-27 | 深圳市精锋医疗科技有限公司 | Drive box, operation arm and surgical robot |
-
2020
- 2020-02-09 CN CN202010085537.8A patent/CN111134851A/en active Pending
- 2020-12-02 WO PCT/CN2020/133287 patent/WO2021155708A1/en active Application Filing
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021155708A1 (en) * | 2020-02-09 | 2021-08-12 | 深圳市精锋医疗科技有限公司 | Driving box, operation arm, and surgical robot |
| CN112370167A (en) * | 2020-11-10 | 2021-02-19 | 北京邮电大学 | Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers |
| CN112370167B (en) * | 2020-11-10 | 2022-03-29 | 北京邮电大学 | Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers |
| WO2022127002A1 (en) * | 2020-12-19 | 2022-06-23 | 深圳市精锋医疗科技有限公司 | Surgical instrument, slave operating device and surgical robot |
| CN117042715A (en) * | 2021-02-17 | 2023-11-10 | 奥瑞斯健康公司 | Instrument shaft tensioning system and method |
| WO2022253065A1 (en) * | 2021-06-02 | 2022-12-08 | 上海生知医疗科技有限公司 | Portable manual surgical robot |
| CN116035708A (en) * | 2023-02-28 | 2023-05-02 | 北京云力境安科技有限公司 | Surgical instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021155708A1 (en) | 2021-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111134851A (en) | Drive box, operation arm and surgical robot | |
| US8151661B2 (en) | Compact capstan | |
| CN211750045U (en) | Drive box, operation arm and surgical robot | |
| US20210307773A1 (en) | Instrument for surgical assistance robot | |
| US7736254B2 (en) | Compact cable tension tender device | |
| EP1197240A2 (en) | Rotatable control mechanism for steerable catheter | |
| WO2003028544A3 (en) | Cycling suturing and knot-tying device | |
| CN111134850A (en) | Drive box, operation arm and surgical robot | |
| CN211750044U (en) | Drive box, operation arm and surgical robot | |
| CN112690907A (en) | Laparoscope holding device for minimally invasive surgery | |
| CN211723423U (en) | Drive box, operation arm and surgical robot | |
| CN112022238B (en) | Surgical instrument for minimally invasive surgery robot | |
| CN115802979A (en) | Medical arm device | |
| CN211911796U (en) | Operation arm and surgical robot | |
| CN113040943A (en) | Flexible laparoscope actuator based on serial elastic element and continuum configuration | |
| CN111529064A (en) | Linear driving device of surgical robot and surgical robot | |
| WO2019244799A1 (en) | Surgical tool | |
| CN117045296A (en) | Suture device and suture assembly | |
| CN113693729B (en) | Instrument driving box and minimally invasive surgery robot | |
| CN112155613B (en) | Minimally invasive medical operation equipment | |
| CN114948120A (en) | Flexible needle puncture device with flexible cable parallel platform for adjusting needle inserting angle | |
| JP2000126190A (en) | Tool for fitting and supporting surgical instrument | |
| CN115227182A (en) | Controllable bending medical instrument | |
| CN113288440A (en) | Minimally invasive interventional operation robot based on multi-segment continuum series structure | |
| CN219089639U (en) | Telecentric mechanism and surgical robot equipped with same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518000 2b1901, phase II, smart home, 76 Baohe Avenue, Baolong community, Baolong street, Longgang District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Jingfeng Medical Technology Co.,Ltd. Address before: 518000 301, building 39, Dayun software Town, 8288 Longgang Avenue, heao community, Yuanshan street, Longgang District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN JINGFENG MEDICAL TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information |