CN111227940B - Operation arm and operation robot - Google Patents
Operation arm and operation robot Download PDFInfo
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- CN111227940B CN111227940B CN202010076414.8A CN202010076414A CN111227940B CN 111227940 B CN111227940 B CN 111227940B CN 202010076414 A CN202010076414 A CN 202010076414A CN 111227940 B CN111227940 B CN 111227940B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Abstract
The invention provides a surgical manipulator which comprises a preoperative positioning component, an execution component and a telecentric operation and control component, wherein the execution component comprises an execution rod and a surgical instrument arranged at one end of the execution rod, which is relatively far away from the telecentric operation and control component; the telecentric control assembly is provided with a rotary driving piece and a sensor, the rotary driving piece is connected to one end of the executing rod, which is relatively close to the telecentric control assembly, and can drive the executing rod and the surgical instrument to synchronously rotate along the axial direction of the executing rod; the sensor is connected to the actuating rod and is used for detecting the environmental force and/or the environmental moment to which the surgical instrument is subjected. According to the surgical mechanical arm provided by the invention, the execution rod and the surgical instrument are synchronously rotated, so that the connecting cable positioned in the execution rod can move in an integral manner, the defect that a reliable mechanical sensor cannot be realized due to winding of the connecting cable in a traditional structure is avoided, and the sensor can realize accurate measurement on the environmental force and/or the environmental torque of the surgical instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical mechanical arm and a surgical robot.
Background
The birth of the minimally invasive surgery overcomes the defects of large incision, large bleeding amount, more complications, high surgery risk and the like of the traditional surgery to a great extent. Minimally invasive surgery is becoming an emerging field of medical research and clinical application due to the recent rapid development and gaining favor of medical staff and patients.
The minimally invasive surgery can be more sensitive and accurate by assisting the doctor with the surgical robot. Taking the da vinci surgical robot as an example, the da vinci surgical robot can enlarge the visual field of a doctor by ten times, effectively filters the hand vibration of the doctor, and has wide clinical application in the field of minimally invasive surgery.
The surgical mechanical arm suitable for the surgical robot needs to drive a surgical instrument to perform surgical operation, and the surgical instrument needs to reach the inside of a patient body by stretching into a tiny wound formed on the surface of the skin when in use. This requires the surgical instrument to perform the surgical operation in a stable, vibration-free state with a minute wound opened on the skin surface as a fixed point. However, the current surgical mechanical arm suitable for a surgical robot cannot completely meet the use requirements in clinical performance, and particularly, a doctor cannot acquire mechanical feedback of a pathological tissue to the surgical instrument under the surgical operation because of lack of mechanical detection of the surgical operation performed by the surgical instrument, so that the accuracy of the doctor in the surgical operation is reduced due to lack of mechanical information.
Disclosure of Invention
In view of the above, there is a need for an improved surgical manipulator and a surgical robot, which can detect the mechanical feedback of the surgical tool acting on the human tissue, improve the interaction between the surgeon and the human tissue, and improve the precision of the surgeon during the surgical operation.
The invention provides a surgical manipulator which comprises a preoperative positioning component, an execution component and a telecentric operation and control component arranged between the positioning component and the execution component, wherein the execution component comprises an execution rod and a surgical instrument arranged at one end of the execution rod, which is relatively far away from the telecentric operation and control component;
the telecentric control assembly is provided with a rotary driving piece and a sensor, the rotary driving piece is connected to one end of the executing rod, which is relatively close to the telecentric control assembly, and can drive the executing rod and the surgical instrument to synchronously rotate along the axial direction of the executing rod; the sensor is connected to the actuating rod and is used for detecting the environmental force and/or the environmental moment to which the surgical instrument is subjected.
Further, the telecentric operating assembly comprises a static platform and a first movable platform which is connected with the static platform and can move relative to the static platform; the static platform is connected to the preoperative positioning assembly, and the first movable platform is connected to the execution rod;
the sensor is arranged in a device which is arranged at the front end of the first movable platform or the surgical mechanical arm and is relatively positioned in the first movable platform.
Furthermore, the rotary driving part is installed on the first movable platform, the sensor is installed on the rotary driving part, and the rotary driving part can drive the sensor, the execution rod and the surgical instrument to synchronously rotate along the axial direction of the execution rod.
Further, the surgical manipulator further comprises a control driving member for driving the surgical instrument to move, the actuating rod is mounted on the control driving member, and the control driving member is mounted on the sensor; the rotary driving piece can drive the sensor, the control driving piece, the execution rod and the surgical instrument to synchronously rotate along the axial direction of the execution rod;
the sensor obtains the environmental force and/or the environmental torque of the surgical instrument by detecting the overall stress state of the actuating rod and the control driving piece.
Furthermore, the surgical manipulator further comprises a mounting platform connected to the rotary driving member, the control driving member is connected to the sensor, and the sensor is mounted on the mounting platform; the rotary driving part drives the mounting platform to rotate so as to drive the sensor, the control driving part, the executing rod and the surgical instrument to synchronously rotate along the axial direction of the executing rod.
Furthermore, the rotary driving piece and the mounting platform are respectively positioned at two sides of the first movable platform; the first movable platform is provided with a dodging hole; the rotary driving piece extends into the avoiding hole and is connected to the mounting platform.
Furthermore, a plurality of first telescopic elements are arranged between the first movable platform and the static platform, and two ends of each first telescopic element are respectively and rotatably connected to the static platform and the first movable platform; the rotating connection points between the first telescopic element and the first movable platform are arranged at intervals; and the rotating connection points between the first telescopic element and the static platform are also arranged at intervals.
Furthermore, the first telescopic element and each rotating connection point of the first movable platform are paired in pairs in a nearby manner, a first included angle is correspondingly formed between each group of two rotating connection points in the same pair and the center of the first movable platform, and the first included angles are equal in size.
Further, the first included angle is in the range of 15 ° to 60 °.
Furthermore, the first telescopic element and each rotating connection point between the static platforms are paired in pairs in a nearby mode, a second included angle is correspondingly formed between each two rotating connection points of each group of same pairs and the center of the static platform, and the second included angles are equal in size.
Further, the second included angle is in the range of 60 ° to 105 °.
Further, the number of the control driving pieces is at least three; the two control driving members are used for controlling the surgical instrument to swing towards two staggered different directions, and the rest control driving member is used for controlling the surgical instrument to open and close.
Furthermore, an equilateral triangle is formed by enclosing the centers of the three control driving pieces, and the axial direction of the actuating rod penetrates through the center of the equilateral triangle.
According to the surgical mechanical arm provided by the invention, the execution rod and the surgical instrument are synchronously rotated, so that the connecting cable positioned in the execution rod can move in an integral manner, the defect that a reliable mechanical sensor cannot be realized due to winding of the connecting cable in a traditional structure is avoided, and the sensor can realize accurate measurement on the environmental force and/or the environmental torque of the surgical instrument.
The invention also provides a surgical robot which comprises a surgical mechanical arm, wherein the surgical mechanical arm is any one of the surgical mechanical arms.
The surgical robot provided by the invention can realize the detection of mechanical feedback of the surgical instrument acting on the human tissue by adopting the surgical mechanical arm, and provides feedback of mechanical data for the surgical operation of a doctor, so that the information interaction between the doctor and the human tissue is increased, and the surgical robot provided by the invention has wide application prospect.
Drawings
Fig. 1 is a schematic structural view of a surgical robot arm according to a first embodiment of the present invention.
Fig. 2 is a schematic structural view of the telecentric manipulating assembly shown in fig. 1.
Fig. 3 is a block diagram of some components of the surgical robotic arm shown in fig. 1.
Fig. 4 is a schematic view of the telecentric manipulation assembly of fig. 1 from a top view.
100. A surgical manipulator; 10. a preoperative positioning assembly; 20. a telecentric manipulation assembly; 30. an execution component; 11. a moving arm; 12. a telescopic arm; 21. a static platform; 22. a first movable platform; 23. a first telescopic element; 24. a rotating connection point; 31. an actuating lever; 32. a surgical instrument; 41. rotating the driving member; 42. a sensor; 43. controlling the driving member; 50. mounting a platform; 241. a hooke hinge joint; 242. and (5) cylinder liners.
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 will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a surgical robot arm 100 according to a first embodiment of the present invention.
The present invention provides a surgical robotic arm 100 for use in a da vinci surgical robot. In this embodiment, the surgical robotic arm 100 is used to assist a surgeon in performing complex surgical procedures by minimally invasive means. It is understood that in other embodiments, the surgical robotic arm 100 may also be used in other medical instruments to assist a surgeon in performing a surgical procedure.
The da vinci surgical robot generally comprises an operating component (not shown) for a doctor to perform active control operation, a surgical robot arm 100 and an image processing device (not shown), wherein the operating component is coupled to the surgical robot arm 100 and can transmit the active control operation of the doctor to the surgical robot arm 100; the surgical manipulator 100 can respond to the control operation of a doctor on the operation assembly and correspondingly execute the follow-up operation action so as to perform minimally invasive surgery on a patient, and the motion trail and the surgical process of the surgical manipulator 100 can be transmitted to the image processing equipment through the endoscope; the image processing equipment can present the peeping picture of the endoscope in real time and can amplify the peeping picture of the endoscope, so that the operation vision of a doctor is clearer.
The operation assembly generally includes a main controller (not shown) and a foot pedal controller (not shown), the main controller is coupled to the surgical robot 100 and moves synchronously with the surgical robot 100, and the doctor controls the surgical robot 100 to perform positioning through the main controller and opens and closes the operation state of the surgical robot 100 through the foot pedal controller. The main controller can not only filter the micro-vibration of the hands of the doctor, but also reduce the moving distance of the hands of the doctor in a same ratio, and can greatly improve the degree of coordination of the eyes and the hands of the doctor by matching with the amplified endoscope picture in the image processing equipment, thereby ensuring the accuracy of the operation.
The image processing equipment is coupled with the endoscope, can present the picture that the endoscope was peered in real time to the picture that the endoscope was peered can be enlarged if necessary, and the magnification can be adjusted according to different operation demands. It can be understood that, after the amplification factor of the endoscope is adjusted, the doctor can synchronously adjust the times of the hands moving distance of the doctor in the main controller when the hands moving distance is reduced at the same ratio, so that the amplification factor of the endoscope is matched with the times when the hands moving distance of the doctor is reduced at the same ratio in the main controller, the degree of eye-hand coordination of the doctor is ensured to the maximum degree, and the precision of the operation is improved.
The endoscope has at least an illumination function and an image acquisition function. The endoscope can be a three-dimensional lens so as to keep basically consistent with a picture when the human eyes directly see; meanwhile, the image shot by the three-dimensional lens selected by the endoscope has high definition, and can be used for subsequent amplification processing of image processing equipment.
The surgical manipulator 100 provided by the invention comprises a preoperative positioning component 10, a telecentric operation and control component 20 and an execution component 30, wherein the telecentric operation and control component 20 is arranged between the preoperative positioning component 10 and the execution component 30; the preoperative positioning assembly 10 is used to move the performance assembly 30 to a position generally adjacent the lesion; the telecentric operating assembly 20 is used for controlling the actuating assembly 30 to move within a small amplitude range; the performance assembly 30 is used to perform surgical procedures.
Specifically, the preoperative positioning assembly 10 is capable of driving the effector assembly 30 through a wide range of positional adjustments. The preoperative positioning assembly 10 comprises at least one moving arm 11 and/or at least one telescopic arm 12, wherein the moving arm 11 has two degrees of freedom and can drive the execution assembly 30 to translate and rotate; the telescopic arm 12 has a degree of freedom that enables the actuator assembly 30 to translate.
The telecentric control assembly 20 can drive the actuator assembly 30 to perform fine position adjustment with the telecentric motionless point as the center of oscillation. Generally, the telecentric manipulating assembly 20 has multiple degrees of freedom simultaneously, which enables the actuating assembly 30 to be driven for flexible surgical procedures.
The actuating assembly 30 includes a surgical instrument 32, the surgical instrument 32 is located at an end of the actuating assembly 30, and the surgical instrument 32 can perform a micro-movement by swinging, rotating, etc. to perform a surgical operation. The surgical instrument 32 may be an electric knife, forceps, clip, or hook, or other surgical instruments, which are not described in detail herein. The surgical instrument 32 is typically removably mounted to the end of the effector assembly 30, and different surgical instruments 32 can be replaced to perform different surgical procedures, as desired for different surgical needs, or as desired for different surgical stages of the same procedure.
The surgical mechanical arm suitable for the surgical robot needs to drive a surgical instrument to perform surgical operation, and the surgical instrument needs to reach the body of a patient through stretching into a tiny wound formed on the surface of the skin when in use. This requires the surgical instrument to perform the surgical operation in a stable, vibration-free state with a minute wound opened on the skin surface as a fixed point. However, the current surgical mechanical arm suitable for a surgical robot cannot completely meet the use requirements in clinical performance, and particularly, a doctor cannot acquire mechanical feedback of a pathological tissue to the surgical instrument under the surgical operation because of lack of mechanical detection of the surgical operation performed by the surgical instrument, so that the accuracy of the doctor in the surgical operation is reduced due to lack of mechanical information.
The surgical manipulator 100 provided by the invention avoids the winding of steel belts in the surgical manipulator by arranging the execution assembly 30 which integrally and synchronously rotates, and can realize the accurate measurement of mechanical information on the surgical instrument 32.
Specifically, the actuating assembly 30 includes an actuating rod 31, the actuating rod 31 being hollow inside and connected to a surgical instrument 32; a surgical instrument 32 is positioned on an end of the actuating shaft 31 relatively remote from the distal manipulating assembly 20. The surgical robotic arm 100 further includes a rotational drive member 41, the rotational drive member 41 being disposed on the telecentric manipulation assembly 20; the rotary driving member 41 is connected to the actuating rod 31 and can drive the actuating rod 31 and the surgical tool 32 to rotate synchronously along the axial direction of the actuating rod 31 in a form of integral movement.
The surgical robotic arm 100 further comprises a sensor 42, the sensor 42 being connected to the actuating rod 31 and configured to detect an environmental force and/or an environmental torque to which the surgical implement 32 is subjected.
It should be additionally noted that the mutual connection between the sensor 42 and the actuating rod 31 may be a direct contact between the two, that is, the actuating rod 31 directly contacts with the measuring surface of the sensor 42; it is also possible for the sensor 42 to be in indirect contact with the actuating rod 31, i.e. the actuating rod 31 is connected to an intermediate transition element which in turn is in direct contact with the measuring surface of the sensor 42, so that the actuating rod 31 is connected to the sensor 42.
It should also be understood that the environmental forces and/or moments experienced by the surgical tool 32 are referred to herein as forces and/or moments exerted on the surgical tool 32 by the external environment, such as the reaction forces provided by the tissue when the surgical tool 32 is clamped; when there are multiple forces coupled to the surgical instrument 32 and creating a moment of action, the surgical instrument 32 will be subjected to both the environmental force and the environmental moment.
In the present embodiment, the sensor 42 is a six-axis force and torque sensor, and in this case, the sensor 42 can synchronously sense the environmental force and/or the environmental torque received by the surgical instrument 32 located on the measurement surface thereof. It will be appreciated that the sensor 42 may alternatively be a force sensor when it is only necessary to measure the environmental force to which the surgical tool 32 is subjected; sensor 42 may alternatively be a torque sensor when it is desired to measure only the ambient torque to which surgical instrument 32 is subjected.
Due to the synchronous rotation of the actuating rod 31 and the surgical instrument 32, the connecting cable (not shown) inside the actuating rod 31 moves in an integral manner, thereby avoiding the disadvantage that the connecting cable is wound in the conventional structure, which results in the failure to realize a reliable mechanical sensor, and enabling the sensor 42 to realize the accurate measurement of the environmental force and/or the environmental torque applied to the surgical instrument 32.
Referring to fig. 2, fig. 2 is a schematic structural view of the telecentric manipulating assembly 20 shown in fig. 1. The telecentric operating assembly 20 comprises a static platform 21, a first movable platform 22 and a plurality of first telescopic elements 23 arranged between the static platform 21 and the first movable platform 22, one side of the static platform 21 relatively far away from the first movable platform 22 is fixedly connected to the preoperative positioning assembly 10, one side of the first movable platform 22 relatively far away from the static platform 21 is fixedly connected to the executing assembly 30, and two ends of each first telescopic element 23 are respectively and rotatably connected to the static platform 21 and the first movable platform 22; the actuating assembly 30 has a preset telecentric motionless point, the coordinated extension and retraction among the plurality of first telescopic elements 23 can control the first movable platform 22 to move relative to the static platform 21 and drive the actuating assembly 30 to extend and retract and swing, the swing center of the actuating assembly 30 is the telecentric motionless point, and the extension and retraction path of the actuating assembly 30 passes through the telecentric motionless point.
So configured, the preoperative positioning assembly 10 need only assume the function of substantially moving the actuator 30, while the telecentric controls assembly 20 provides precise control of the actuator 30. The number of positioning units in the preoperative positioning assembly 10 can be correspondingly reduced, thereby reducing the accumulation of multiple positioning unit errors and response time periods to improve the accuracy of the procedure.
Secondly, the plurality of first telescopic elements 23 in the telecentric operating assembly 20 are arranged in parallel rather than in series, and errors of the plurality of first telescopic elements 23 cannot be accumulated and transmitted, and can be cancelled out. In addition, because each of the first telescoping members 23 is independently driven, the response time periods for the plurality of first telescoping members 23 are not cumulatively transferred. Precise control of the effector assembly 30 by the telecentric manipulation assembly 20 can reduce intra-operative displacement errors and shorten response times.
On the other hand, due to the improvement of the control precision of the actuating assembly 30 by the telecentric operating assembly 20, the actuating assembly 30 can bear larger load under the condition of the same precision as that of the existing da vinci surgical robot, so that more complex operations can be completed. In addition, when the executive component 30 is operated, the executive component can swing by taking a telecentric fixed point as a swing center, so that only a tiny wound needs to be formed on the surface of the skin of a patient for the executive component 30 to pass through, the wound of the patient is small, and the postoperative recovery is fast.
The first telescopic element 23 is preferably an electric cylinder. Preferably, in order to miniaturize the surgical robot arm 100, the electric cylinder is a small-sized electric cylinder as long as the load motion during the operation can be carried.
The sensor 42 in this embodiment is mounted on the first movable stage 22 or in a device in the surgical robotic arm 100 that is relatively located at the front end of the first movable stage 22.
It should be noted that the sensor 42 is mounted in the surgical robot arm 100 at a position relatively at the front end of the first movable platform 22, which means that the mounting position of the sensor 42 is located at a side of the first movable platform 22 relatively far from the preoperative positioning assembly 10, that is, the sensor 42 may be mounted on the rod body of the actuating rod 31 or directly mounted on the surgical instrument 32.
The sensor 42 is not disturbed by the rotation of the first telescopic element 23 when it is telescopic relative to the surgical instrument 32, and the accuracy of the measurement is greatly improved.
Referring to fig. 3, fig. 3 is a block diagram of some components of the surgical robotic arm 100 shown in fig. 1. The rotary driving member 41 is mounted on the first movable platform 22, and the sensor 42 is mounted on the rotary driving member 41, in this case, the rotary driving member 41 can drive the sensor 42, the actuating rod 31 and the surgical instrument 32 to synchronously rotate along the axial direction of the actuating rod 31 relative to the first movable platform 22.
The rotary driving element 41 and the sensor 42 are selectively mounted on the first movable platform 22, which can provide great convenience for mounting the rotary driving element 41 and the sensor 42, and compared with the scheme that the sensor 42 is mounted on a device in the surgical robot arm 100 relatively located at the front end of the first movable platform 22, the mounting accuracy is greatly reduced.
Further, the surgical robot arm 100 further comprises a control driving member 43 for driving the surgical instrument 32 to move, wherein the control driving member 43 is used for controlling the surgical instrument 32 to perform a swinging or biting motion; the actuating rod 31 is arranged on the control driving piece 43, and the control driving piece 43 is arranged on the sensor 42; when the actuating rod 31 and the surgical instrument 32 are driven to rotate synchronously in the axial direction of the actuating rod 31, the rotary drive unit 41 controls the drive unit 43 to rotate synchronously with the driving of the actuating rod 31 and the surgical instrument 32.
The sensor 42 detects the overall mechanical state of the actuator lever 31 and the control actuator 43, thereby detecting the environmental force and/or the environmental torque applied to the surgical instrument 32.
So set up, the synchronous rotation of control driving piece 43 and sensor 42 will be very big the installation requirement that is favorable to sensor 42, and sensor 42 need not to carry out accurate location, only need guarantee sensor 42 with control driving piece 43 on measure the coupling on the face can, compare sensor 42 with the very big reduction of coupling of actuating lever 31 the required precision to the assembly.
Further, the surgical robot arm 100 further comprises a mounting platform 50, the control driving member 43 is connected to the sensor 42, and the sensor is fixedly mounted on the mounting platform 50; the rotary driving member 41 is connected to the mounting platform 50 and can drive the mounting platform 50 to rotate, so as to drive the mounting sensor 42, the control driving member 43, the actuating rod 31 and the surgical instrument 32 to rotate synchronously along the axial direction of the actuating rod 31 in a manner of integral movement.
In this case, the mounting platform 50 provides great convenience in mounting the sensor 42, which is advantageous for improving convenience in mounting.
Further, the rotary driving member 41 and the mounting platform 50 are respectively located at both sides of the first movable platform 22. The rotary driving member 41 and the mounting platform 50 can be separately disposed on two sides of the first movable platform 22, which is beneficial to maintaining the center of gravity of the first movable platform 22 during the movement process, and greatly improves the movement stability.
Of course, in other embodiments, the rotary driving member 41 may be located on the same side of the first movable platform 22 as the mounting platform 50, that is, the mounting platform 50 is mounted on the rotary driving member 41, and the rotary driving member 41 is mounted on the first movable platform 22.
Further, an avoiding hole (not shown) is formed in the first movable platform 22, the rotating driving member 41 is a motor, and a motor shaft of the rotating driving member 41 extends into the avoiding hole and is connected to the mounting platform 50, so that the rotating driving member 41 drives the mounting platform 50 to rotate.
Further, the number of the control driving members 43 is at least three, and two of the three control driving members 43 are used for controlling the surgical instrument 32 to deflect (swing) towards two different directions which are staggered, that is, the two control driving members 43 are control elements for performing swing motion on the surgical instrument 32; one of the three control drives 43 is used to control the surgical tool 32 to open and close.
Further, the three control driving members 43 are arranged in an equilateral triangle, that is, the centers of the three control driving members 43 are surrounded to form an equilateral triangle, and the axial direction of the actuating rod 31 passes through the centers of the equilateral triangles.
The three control drivers 43 are arranged with the axial direction of the actuating rod 31 as the center, and the distribution of the positions of the three control drivers enables the dynamic balance performance to be maintained during the movement.
In order to improve the stability of the surgical robot arm 100, in one embodiment of the present invention, the plurality of rotational connection points 24 between each first telescopic element 23 and the first movable platform 22 are arranged in a common circle, and the rotational connection points 24 between each first telescopic element 23 and the stationary platform 21 are arranged in a common circle; the diameter of the circle formed by the enclosure of the rotating connecting point 24 on the static platform 21 is 1 to 2 times of the diameter of the circle formed by the enclosure of the rotating connecting point 24 on the first movable platform 22.
With the arrangement, the first movable platform 22 has small vibration in the process of moving relative to the static platform 21, and the total amount of errors between the first telescopic elements 23 can be mutually compensated, so that the stability of the surgical manipulator 100 is improved.
It should be understood that the cross-section of the stationary platform 21 and the first movable platform 22 along the radial direction may be circular, polygonal, or other irregular shapes, as long as the plurality of rotation connection points 24 of the first telescopic elements 23 are arranged on the stationary platform 21 and the first movable platform 22 in a concentric manner.
To further improve the stability of the surgical robotic arm 100, in one embodiment of the present invention, the diameter of the circle defined by the pivotal connection point 24 on the stationary platform 21 is 1.7 times the diameter of the circle defined by the pivotal connection point 24 on the first movable platform 22.
With the arrangement, the first movable platform 22 has the minimum vibration in the process of moving relative to the static platform 21, and meanwhile, the space volume occupied by the first movable platform 22 and the static platform 21 can be relatively compressed, and the most balanced combination property is provided between the light structure and the high performance.
In order to realize the rotational connection between the first telescopic element 23 and the first movable platform 22 and the stationary platform 21, in an embodiment of the present invention, a ball joint and a hooke joint 241 are respectively disposed at two ends of the first telescopic element 23; the first telescopic element 23 is connected to one of the stationary platform 21 and the first movable platform 22 by a ball joint and to the other of the stationary platform 21 and the first movable platform 22 by a hooke hinge joint 241.
With such an arrangement, two ends of the first telescopic element 23 can be respectively rotatably connected with the first movable platform 22 and the stationary platform 21, and the connection performance of the first telescopic element 23 is better. The action principle is as follows: the ball joint has three degrees of freedom, the hooke joint 241 has two degrees of freedom, and the ball joint and the hooke joint 241 are respectively disposed at both ends of the first telescopic element 23, so that the first movable platform 22 can realize six degrees of freedom of movement.
In order to achieve the cost consideration on the basis of realizing the rotational connection between the first telescopic element 23 and the first movable platform 22 and the stationary platform 21, in an embodiment of the present invention, the surgical robot arm 100 further includes a cylinder sleeve 242, and the cylinder sleeve 242 is sleeved on and rotationally connected to the first telescopic element 23; the cylinder sleeve 242 is provided with a hooke hinge joint 241 at one end relatively far away from the first telescopic element 23 and the first telescopic element 23 is provided with one end relatively far away from the cylinder sleeve 242; one of the cylinder sleeve 242 and the first telescopic element 23 is connected to the first moving platform 22 by a corresponding hooke hinge joint 241; the other of the cylinder sleeve 242 and the first telescopic element 23 is connected to the stationary platform 21 by a corresponding hooke hinge joint 241.
With such an arrangement, the first telescopic element 23 can realize power transmission between the first movable platform 22 and the stationary platform 21 through the hooke hinge joint 241 with low manufacturing difficulty and low cost, and does not need to provide a ball joint with high cost and easy damage, thereby having a better cost performance advantage. The action principle is as follows: the hooke hinge joints 241 at both ends of the first telescopic element 23 have two degrees of freedom, and the cylinder sleeve 242 has one degree of freedom, so that the telescopic movement of the first telescopic element 23 in the axial direction can be realized, and the first movable platform 22 can realize the movement with six degrees of freedom.
It is understood that in other embodiments, other joints may be adopted to connect the first telescopic element 23 with the first movable platform 22 and the stationary platform 21, as long as the first movable platform 22 has a certain degree of freedom and can drive the executing assembly 30 to complete the surgical operation.
In order to improve the motion stability of the surgical robot arm 100, in one embodiment of the present invention, the number of the first telescopic elements 23 is six, and each of the rotational connection points 24 between the first telescopic elements 23 and the first movable platform 22 is disposed at an interval; and the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are also arranged at intervals.
With such an arrangement, the distribution of the spaced rotation connection points 24 reduces the vibration interference between the first telescopic elements 23, and can further improve the motion stability of the surgical robot arm 100. In addition, when the six first telescopic elements 23 drive the first movable platform 22 to move, not only can the multi-directional comprehensive movement of the first movable platform 22 be realized, but also the slow calculation speed due to the excessively redundant kinematics analysis cannot be generated.
It is understood that in other embodiments, the number of the first telescopic elements 23 may be three, four, five, or even more, as long as the first movable platform 22 can bring the executing assembly 30 to complete the surgical operation.
Referring to fig. 4, fig. 4 is a schematic top view of the telecentric manipulating assembly 20 shown in fig. 1. In order to further improve the motion stability of the surgical robot arm 100 and at the same time facilitate the kinematic resolution, in one embodiment of the present invention, the first telescopic element 23 and the first movable platform 22 are paired in pairs in a nearby manner between the respective rotation connection points 24; and a first included angle α is correspondingly formed between each group of two same-pair rotating connection points 24 and the center of the first movable platform 22, and the sizes of the first included angles α are equal.
There are six rotational connection points 24, respectively designated M, between the first telescopic element 23 and the first mobile platform 221To M6(ii) a Six of theseThe rotating connection points 24 are combined in a nearby manner, that is, two rotating connection points 24 with the nearest distance are matched with each other to form a pair, so as to form M1And M2、M3And M4、M5And M6The three groups of pairing relationships. Each of the two pairs of the two rotation connection points 24 forms a first included angle α with the center of the first movable platform 22, and the three first included angles α are equal to each other.
At this time, the first telescopic elements 23 will form a symmetrical distribution on the first movable platform 22, which is beneficial to improving the motion stability of the surgical robot arm 100.
Preferably, the first angle α is in the range of 15 ° to 60 °. At this time, the included angle range between the first telescopic element 23 and each of the rotation connection points 24 of the first movable platform 22 is in a preferred range, which is not only beneficial to ensuring the motion stability, but also convenient for realizing the motion analysis of the telescopic amount of each first telescopic element 23 through a relatively suitable included angle range.
In order to further improve the motion stability of the surgical robot arm 100, the first telescopic element 23 and each rotation connection point 24 between the static platform 21 are paired in pairs in a nearby manner; two rotation connection points 24 of the same pair and the center of the static platform 21 correspondingly form a second included angle β, and the magnitude of each second included angle β is equal.
There are six rotational connection points 24, respectively designated S, between the first telescopic element 23 and the stationary platform 211To S6(ii) a The six pivotal connection points 24 are grouped in such a way that they are close together, i.e. two pivotal connection points 24 that are closest together are paired to form S1And S2、S3And S4、S5And S6The three groups of pairing relationships. Each pair of the two rotation connection points 24 forms a second included angle β with the center of the stationary platform 21, and the three second included angles β are equal to each other.
At this time, the first telescopic elements 23 will form a symmetrical distribution on the static platform 21, which is beneficial to improving the motion stability of the surgical robot arm 100.
Preferably, the second angle β is in the range of 60 ° to 105 °.
At this time, the included angle range between the first telescopic element 23 and each of the rotation connection points 24 of the stationary platform 21 is in a preferred interval, which is not only beneficial to ensuring the motion stability, but also convenient for realizing the motion analysis of the telescopic amount of each of the first telescopic elements 23 through a relatively suitable included angle range.
Preferably, the pairs of the respective pivot points 24 of the first telescopic element 23 on the stationary platform 21 are offset from the pairs of the respective pivot points 24 of the corresponding first telescopic element 23 on the first movable platform 22, i.e. the same pair of pivot points 24 of the first telescopic element 23 on the stationary platform 21 is not paired with the two pivot points 24 of the corresponding first telescopic element 23 on the first movable platform 22.
The invention also provides a surgical robot, which comprises the surgical mechanical arm 100. By adopting the surgical mechanical arm 100, the surgical robot provided by the invention can realize detection of mechanical feedback of the surgical tool 32 acting on human tissues, and provide feedback of mechanical data for the surgical operation of a doctor, so that information interaction between the doctor and the human tissues is increased, and the surgical robot provided by the invention has wide application prospect.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (12)
1. A surgical manipulator (100) for a minimally invasive surgical robot is characterized by comprising a preoperative positioning component (10), an executing component (30) and a telecentric operation and control component (20) arranged between the preoperative positioning component (10) and the executing component (30), wherein the executing component (30) has a preset telecentric motionless point, when the executing component (30) performs a surgical operation, the telecentric operation and control component (20) can drive the executing component (30) to swing by taking the telecentric motionless point as a swing center, and a telescopic path of the executing component (30) passes through the telecentric motionless point; the actuating assembly (30) comprises an actuating rod (31) with a hollow interior and a surgical instrument (32) arranged at one end, relatively far away from the telecentric operation assembly (20), of the actuating rod (31), and a connecting cable is arranged inside the actuating rod (31);
a rotary driving part (41) and a sensor (42) are arranged on the telecentric operating and controlling component (20), the rotary driving part (41) is connected to one end of the executing rod (31) which is relatively close to the telecentric operating and controlling component (20) and can drive the executing rod (31) and the surgical instrument (32) to synchronously rotate along the axial direction of the executing rod (31); the sensor (42) is arranged between the actuating rod (31) and the telecentric operating assembly (20) and is used for detecting environmental force and/or environmental moment applied to the surgical instrument (32);
the surgical mechanical arm (100) further comprises a control driving part (43) used for driving the surgical instrument (32) to move, the execution rod (31) is mounted on the control driving part (43), and the control driving part (43) is used for controlling the surgical instrument (32) to carry out occlusion movement;
the surgical robotic arm (100) further comprises a mounting platform (50) connected to the rotational drive (41), the control drive (43) is connected to the sensor (42), and the sensor (42) is mounted on the mounting platform (50);
the rotary driving part (41) drives the mounting platform (50) to rotate so as to drive the sensor (42), the control driving part (43), the execution rod (31) and the surgical instrument (32) to synchronously rotate along the axial direction of the execution rod (31).
2. The surgical robotic arm (100) of claim 1, wherein the telecentric manipulation assembly (20) comprises a stationary platform (21) and a first movable platform (22) connected to the stationary platform (21) and movable relative to the stationary platform (21); the stationary platform (21) is connected to the preoperative positioning assembly (10), and the first movable platform (22) is connected to the actuating rod (31).
3. The surgical robot arm (100) according to claim 2, wherein the rotary drive member (41) is mounted on the first movable platform (22), and the rotary drive member (41) is capable of driving the sensor (42), the actuating rod (31) and the surgical instrument (32) to synchronously rotate along the axial direction of the actuating rod (31).
4. The surgical robot arm (100) of claim 3, wherein the surgical robot arm (100) further comprises a control drive (43) for driving movement of the surgical implement (32), the control drive (43) being mounted on the sensor (42); the rotary driving part (41) can drive the sensor (42), the control driving part (43), the execution rod (31) and the surgical instrument (32) to synchronously rotate along the axial direction of the execution rod (31);
the sensor (42) obtains the environmental force and/or the environmental torque of the surgical instrument (32) by detecting the overall stress state of the actuating lever (31) and the control drive (43).
5. The surgical robot arm (100) of claim 4, wherein said rotary drive (41) and said mounting platform (50) are located on either side of said first movable platform (22); the first movable platform (22) is provided with an avoidance hole; the rotary driving piece (41) extends into the avoiding hole and is connected to the mounting platform (50).
6. The surgical robot arm (100) according to claim 2, characterized in that a plurality of first telescopic elements (23) are arranged between said first mobile platform (22) and said static platform (21), and both ends of each first telescopic element (23) are respectively and rotatably connected to said static platform (21) and said first mobile platform (22); the rotating connection points (24) between the first telescopic element (23) and the first movable platform (22) are arranged at intervals; and the rotating connection points (24) between the first telescopic element (23) and the static platform (21) are also arranged at intervals.
7. The surgical robot arm (100) according to claim 6, wherein said first telescopic element (23) and said first movable platform (22) are paired in pairs in a nearby manner, each set of two rotating connection points (24) of the same pair and the center of said first movable platform (22) form a first included angle (α), and the sizes of said first included angles (α) are equal.
8. The surgical robot arm (100) according to claim 7, characterized in that said first angle (α) ranges from 15 ° to 60 °.
9. The surgical robot arm (100) according to claim 8, wherein the rotating connection points (24) between the first telescopic element (23) and the stationary platform (21) are paired in pairs in a nearby manner, and a second included angle (β) is formed between each two rotating connection points (24) of each same pair and the center of the stationary platform (21), and the second included angles (β) are equal in size.
10. The surgical robot arm (100) of claim 4, wherein the number of control drives (43) is at least three; wherein two of the control driving members (43) are used for controlling the surgical instrument (32) to swing towards two different directions which are staggered, and the other control driving member (43) is used for controlling the surgical instrument (32) to open and close.
11. The surgical robot arm (100) according to claim 10, wherein the centers of the three control driving members (43) are enclosed to form an equilateral triangle, and the axial direction of the actuating rod (31) passes through the centers of the equilateral triangle.
12. A surgical robot comprising a surgical robot arm, characterized in that the surgical robot arm is a surgical robot arm (100) according to any one of claims 1 to 11.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010076414.8A CN111227940B (en) | 2020-01-23 | 2020-01-23 | Operation arm and operation robot |
| PCT/CN2020/102000 WO2021147269A1 (en) | 2020-01-23 | 2020-07-15 | Surgical robotic arm and surgical robot |
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| CN202010076414.8A CN111227940B (en) | 2020-01-23 | 2020-01-23 | Operation arm and operation robot |
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| CN111227940B true CN111227940B (en) | 2021-11-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021147269A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robotic arm and surgical robot |
| WO2021147268A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robot arm and surgical robot |
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