CN111437036A

CN111437036A - Serpentine surgical robot applied to minimally invasive surgery

Info

Publication number: CN111437036A
Application number: CN202010190432.9A
Authority: CN
Inventors: 赵保亮; 胡颖; 张朋; 王腾; 雷隆
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2020-03-18
Filing date: 2020-03-18
Publication date: 2020-07-24
Anticipated expiration: 2040-03-18
Also published as: WO2021184791A1; CN111437036B

Abstract

The invention provides a snakelike surgical robot applied to minimally invasive surgery, which comprises a sliding table module, a pulley module, a driving module and a mechanical arm, wherein the pulley module is connected to the sliding table module in a sliding manner; the mechanical arm comprises an operation executor, a first joint which is connected with the operation executor and can do bending motion, and a second joint which is connected with the first joint and can do swinging motion, wherein the first joint is of a continuum structure, and the second joint is of a gear meshing structure. The mechanical arm is formed by matching the continuum structure and the gear meshing structure, the rigidity of the mechanical arm can be effectively improved on the premise of ensuring the flexible movement and the deformation capability of the tail end of the mechanical arm, the coupling effect of the mechanical arm of the existing surgical robot can be solved or improved, the movement control precision of the mechanical arm is improved, and compared with the existing surgical robot, the snake-shaped surgical robot has strong operability.

Description

Serpentine surgical robot applied to minimally invasive surgery

Technical Field

The invention belongs to the technical field of surgical operation robots, and particularly relates to a snake-shaped operation robot applied to minimally invasive surgery.

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, a laryngoscope and the like and related equipment, and has the advantages of small wound, less pain, quick healing and the like compared with the traditional surgery. In order to satisfy the flexibility required by the operation and miniaturize the end effector, the robot generally adopts a rope driving mode, a bulky driving part is arranged outside the body, and the end structure inside the body is driven by the rope. When a single-hole minimally invasive surgery and a natural orifice surgery are performed, a plurality of surgical instruments need to enter a body cavity from a single inlet, and doctors operate the instruments with two hands to perform cooperative work on the same target point, so that the surgical instruments need to be unfolded inwards in the body cavity to form a triangular shape. In the existing snake-shaped surgical robot, the mechanical arm comprises two sections of continuous bodies, and the positioning structure of the mechanical arm is a multi-section continuous body, so that the problem of insufficient rigidity during operation exists, and the motion control precision of the mechanical arm is undoubtedly reduced; in addition, between two adjacent continuous bodies, the motion of one continuous body can generate a coupling effect on the driving of the other continuous body, which can also reduce the motion control precision of the mechanical arm.

Disclosure of Invention

The embodiment of the invention aims to provide a snake-shaped surgical robot applied to minimally invasive surgery, and aims to solve the technical problems of insufficient rigidity and low motion control precision of a mechanical arm in the existing surgical robot.

In order to achieve the purpose, the invention adopts the technical scheme that: the snake-shaped surgical robot applied to minimally invasive surgery comprises a sliding table module, a pulley module, a driving module and a mechanical arm, wherein the pulley module is connected to the sliding table module in a sliding mode, the driving module is arranged on the pulley module, the mechanical arm is connected with the pulley module, and the driving module provides power for the mechanical arm through the pulley module;

the mechanical arm comprises a surgical actuator, a first joint which is connected with the surgical actuator and can do bending motion, and a second joint which is connected with the first joint and can do swinging motion, wherein the first joint is a continuous body structure capable of continuously deforming, and the second joint is a gear meshing structure.

Optionally, the first joint comprises a distal vertebra, at least one spacer vertebra and a proximal vertebra, which are rotatably connected in sequence, the distal vertebra being connected to the surgical effector, the proximal vertebra being connected to the second joint;

the first joint further comprises a first driving wire used for providing traction for bending movement of the first joint, one end of the first driving wire is fixedly connected with the far-end vertebra, and one end of the first driving wire, which is far away from the far-end vertebra, penetrates through the spacing vertebra and the near-end vertebra in sequence and then is fixedly connected with the pulley module.

Optionally, the first joint is provided with an elastic supporting member for maintaining the shape of the first joint, and the elastic supporting member is fixedly connected to the distal end vertebra, the spacing vertebra and the proximal end vertebra in sequence.

Optionally, the second joint includes a distal rod, a proximal rod, a first gear pair, and a second gear pair, where the distal rod and the proximal rod are rotatably connected, the first gear pair is fixed to the distal rod, the second gear pair is fixed to the proximal rod, and the first gear pair and the second gear pair are in meshing connection;

the second joint further comprises a second driving wire used for providing traction for the swinging motion of the second joint, one end of the second driving wire is fixedly connected with the far-end rod piece, and one end of the second driving wire, which is far away from the far-end rod piece, penetrates through the near-end rod piece and then is fixedly connected with the pulley module.

Optionally, the mechanical arm further includes a third joint connected to the second joint and capable of performing a swinging motion, and a trunk connected to the third joint and capable of rotating along an axial direction of the trunk, and the trunk is connected to the pulley module.

Optionally, the structure of the second joint is the same as the structure of the third joint.

Optionally, be equipped with on the arm and be used for providing the drive wire of traction force for the motion of arm, the pulley module includes infrabasal plate, a plurality of drive shaft, a plurality of beam splitter axle and a plurality of pulley shaft, and a plurality of drive shaft, a plurality of beam splitter axle and a plurality of pulley shaft are located respectively on the infrabasal plate, the drive wire respectively through corresponding beam splitter axle with behind the pulley shaft fixed connection in the drive shaft that corresponds, the drive module is used for driving a plurality of the drive shaft rotates.

Optionally, the drive shaft includes with the drive main shaft that drive module is connected, rotate the cover and locate the outer reel of drive main shaft and be used for restricting the reel is relative drive main shaft pivoted fastener, the drive wire respectively through corresponding divide spool with fixed connection is in the correspondence behind the pulley shaft on the reel.

Optionally, the driving module includes a plurality of motors, and an output end of each motor is fixedly connected to the corresponding driving shaft through a coupling.

Optionally, the sliding table module is detachably connected with the pulley module; and/or the presence of a gas in the gas,

the driving module is detachably connected with the pulley module; and/or the presence of a gas in the gas,

the pulley module is detachably connected with the mechanical arm.

The snake-shaped surgical robot provided by the invention has the beneficial effects that: the continuous body structure has the advantages of compact structure and easiness in realizing arc-like deformation motion, the gear meshing structure has better deformation resistance and reliable stability, the mechanical arm is formed by matching the continuous body structure and the gear meshing structure, the rigidity of the mechanical arm can be effectively improved on the premise of ensuring the flexible motion and deformation capability of the tail end of the mechanical arm, the coupling effect of the mechanical arm of the existing surgical robot can be solved or improved, the motion control precision of the mechanical arm is improved, and compared with the existing surgical robot, the snake-shaped surgical robot has strong operability and is beneficial to micro-manipulation processing by doctors.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of a snake-shaped surgical robot provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a robotic arm according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a first joint according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a second joint provided in accordance with an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a pulley module according to an embodiment of the present invention;

fig. 6 is a schematic structural wiring diagram of a pulley module according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a second articulation drive shaft provided in accordance with an embodiment of the present invention;

fig. 8 is an assembly structure diagram of the pulley module and the driving module according to the embodiment of the invention.

Wherein, in the figures, the respective reference numerals:

100-a robotic arm; 110-a surgical actuator; 120-a first joint; 121-distal vertebra; 122-spacer vertebrae; 123-proximal vertebra; 124-a resilient support; 130-a second joint; 131-a distal stem; 132-a proximal shaft; 133-a first gear pair; 134-second gear pair; 135-fixed disk; 140-a third joint; 150-torso; 160-a drive line; 161-a first drive line; 162-a second drive line; 163-a third drive line; 164-fourth drive line; 165-a rotation drive line; 200-a pulley module; 210-an upper substrate; 220-a drive shaft; 2201-driving the main shaft; 2202-a reel; 2203-fasteners; 221-a first drive shaft; 222-a second drive shaft; 223-a third drive shaft; 224-a fourth drive shaft; 225-rotating drive shaft; 230-split axis; 231-a first split axis; 232-second part-dividing shaft; 233-third part of thread spool; 240-pulley shaft; 241-a first pulley shaft; 242-a second pulley shaft; 243-third pulley shaft; 250-lower substrate; 300-a drive module; 310-a motor board; 320-a motor; 330-a coupler; 400-slipway module.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1 and 2, an embodiment of the present invention provides a snake-shaped surgical robot for minimally invasive surgery, including a sliding table module 400, a pulley module 200 slidably connected to the sliding table module 400, a driving module 300 disposed on the pulley module 200, and a robot arm 100 connected to the pulley module 200, wherein the driving module 300 provides power to the robot arm 100 through the pulley module 200, and the robot arm 100 is used for performing operations such as clamping, cutting, suturing, etc.;

the robot arm 100 includes a surgical actuator 110, a first joint 120 having one end connected to the surgical actuator 110 and capable of bending motion, and a second joint 130 having one end connected to an end of the first joint 120 away from the surgical actuator 110 and capable of swinging motion, wherein the first joint 120 is a continuously deformable continuous body structure, and the second joint 130 is a gear engagement structure.

When the snake-shaped surgical robot provided by the embodiment of the invention works, the sliding table module 400 slides on the sliding table module 400 and drives the mechanical arm 100 to move together, so that the mechanical arm 100 extends into a natural cavity or an artificial cavity, in the process that the mechanical arm 100 enters the cavity, the driving module 300 drives the first joint 120 and the second joint 130 to deform through the pulley module 200 so as to adapt to the shape of the cavity, and after the mechanical arm reaches a focus position, the driving module 300 drives the surgical actuator 110 through the pulley module 200 to perform surgical operation.

The snake-shaped surgical robot provided by the embodiment of the invention has the beneficial effects that: the continuum structure has the advantages of compact structure and easiness in realizing arc-like deformation motion, the gear meshing structure has better deformation resistance and reliable stability, the mechanical arm 100 is formed by matching the continuum structure and the gear meshing structure, the rigidity of the mechanical arm 100 can be effectively improved on the premise of ensuring the flexible motion and deformation capability of the tail end of the mechanical arm 100, the coupling effect of the mechanical arm 100 of the existing surgical robot can be solved or improved, the motion control precision of the mechanical arm 100 is improved, compared with the existing surgical robot, the snake-shaped surgical robot provided by the embodiment of the invention has strong operability, the requirements of single-hole minimally invasive surgery or natural cavity surgery can be met, and micro-manipulation processing by doctors is facilitated.

Specifically, in an embodiment of the present invention, as shown in fig. 2, in the snake-shaped surgical robot according to the embodiment of the present invention, the robot arm 100 is connected to the pulley module 200 in a rope-driven manner, specifically, a plurality of driving wires 160 for providing traction force for the deformation motion of the robot arm 100 are disposed on the robot arm 100, one end of each driving wire 160 is fixedly connected to a corresponding joint on the robot arm 100, and the other end is fixedly connected to the pulley module 200, and the driving module 300 adjusts the posture of the robot arm 100 by retracting the driving wires 160 through the pulley module 200. The mechanical arm 100 of the embodiment of the invention has a compact structure, and the miniaturization of the mechanical arm 100 is realized, so that the mechanical arm 100 meets the use requirement of minimally invasive surgery.

Alternatively, the driving wire 160 may be a nitinol wire or a steel wire, although other materials may be used for the driving wire 160 according to the choice of the actual situation, as long as the driving wire 160 can be used for providing the traction force, and the invention is not limited thereto.

Specifically, in one embodiment of the present invention, as shown in fig. 3, the first joint 120 includes a distal vertebra 121, at least one spacing vertebra 122, and a proximal vertebra 123, which are rotatably connected in sequence, that is, at least one spacing vertebra 122 is disposed between the distal vertebra 121 and the proximal vertebra 123, the distal vertebra 121, the spacing vertebra 122, and the proximal vertebra 123 can swing relative to each other, one end of the distal vertebra 121 is connected to one end of the surgical actuator 110, one end of the distal vertebra 121, which is away from the surgical actuator 110, is rotatably connected to the spacing vertebra 122, one end of the proximal vertebra 123 is rotatably connected to the spacing vertebra 122, and one end of the proximal vertebra 123, which is away from the spacing vertebra 122, is connected to the second joint 130; the first joint 120 further comprises a first driving line 161 for providing traction for the bending motion of the first joint 120, the first driving line 161 is a driving line 160 corresponding to the first joint 120 of the robot arm 100, one end of the first driving line 161 is fixedly connected with the distal vertebra 121, and one end of the first driving line 161, which is far away from the distal vertebra 121, sequentially passes through the spacer vertebra 122 and the proximal vertebra 123 and then is fixedly connected with the pulley module 200. Through the arrangement, the driving module 300 can receive and release the first driving wire 161 through the pulley module 200, so as to adjust the bending posture of the first joint 120.

Specifically, in one embodiment of the present invention, as shown in fig. 3, an elastic support 124 for maintaining the shape of the first joint 120 is provided on the first joint 120, the elastic support 124 is fixedly connected to the distal vertebra 121, the at least one spacer vertebra 122 and the proximal vertebra 123 in sequence, and by providing the elastic support 124 on the first joint 120, the rigidity of the first joint 120 can be enhanced, so that the robotic arm 100 can have sufficient rigidity during surgery for the physician to manipulate.

Specifically, in the snake-shaped surgical robot according to the embodiment of the present invention, since the robot arm 100 is connected to the pulley module 200 in a rope-driven manner, that is, the robot arm 100 is disposed in a hollow manner, so as to dispose the driving wire 160 inside the robot arm 100, in this embodiment, the elastic support member 124 may be disposed inside the first joint 120, that is, the elastic support member 124 sequentially passes through the distal vertebra 121, the at least one spacing vertebra 122 and the proximal vertebra 123, and the elastic support member 124 is fixedly connected to the distal vertebra 121, the spacing vertebra 122 and the proximal vertebra 123. Of course, the elastic support 124 may be disposed outside the first joint 120 according to the choice of the actual situation, and the invention is not limited thereto.

Specifically, in the serpentine surgical robot according to the embodiment of the present invention, the elastic supporting members 124 are elastic supporting wires, in this embodiment, a plurality of elastic supporting wires are disposed on the first joint 120, and are uniformly disposed in the first joint 120 along the circumferential direction, that is, the plurality of elastic supporting wires are uniformly disposed in the distal vertebra 121, the at least one spacer vertebra 122, and the proximal vertebra 123 along the circumferential direction, so that the components of the first joint 120 can be always kept in contact by the cooperation of the plurality of elastic supporting wires, and the stiffness distribution at the first joint 120 is uniform. It is understood that, according to the choice of actual conditions, the shape of the elastic support 124 may also be adjusted appropriately, for example, the elastic support 124 may also be configured as a tubular structure, and in this structure, the elastic support 124 may be sleeved inside the first joint 120 or sleeved outside the first joint 120.

Alternatively, the elastic supporting wire may be a nitinol wire or a steel wire, and of course, other materials may be used as the elastic supporting wire according to the selection of the actual situation, as long as the elastic supporting wire can improve the rigidity of the first joint 120, and the invention is not limited herein.

Specifically, in one embodiment of the present invention, as shown in fig. 4, the second joint 130 includes a distal rod 131, a proximal rod 132, a first gear pair 133 and a second gear pair 134, wherein one end of the distal rod 131 is fixedly connected to one end of the proximal vertebra 123 far away from the spacer vertebra 122, one end of the distal rod 131 far away from the proximal vertebra 123 is rotatably connected to one end of the proximal rod 132, the first gear pair 133 is fixed to the distal rod 131, the second gear pair 134 is fixed to the proximal rod 132, and the first gear pair 133 is in meshing connection with the second gear pair 134; the second joint 130 further includes a second driving wire 162 for providing a traction force for the swinging motion of the second joint 130, the second driving wire 162 is the driving wire 160 corresponding to the second joint 130 of the robot arm 100, one end of the second driving wire 162 is fixedly connected to the distal rod 131, and one end of the second driving wire 162 far from the distal rod 131 passes through the proximal rod 132 and then is fixedly connected to the pulley module 200. Through the arrangement, the driving module 300 can receive and release the second driving wire 162 through the pulley module 200, so as to adjust the swing posture of the second joint 130.

Specifically, when the second driving wire 162 is pulled, the distal rod 131 and the proximal rod 132 swing relatively, and at this time, the first gear pair 133 on the distal rod 131 and the second gear pair 134 on the proximal rod 132 rotate in a meshing manner, so that the swing posture of the second joint 130 can be precisely adjusted.

Specifically, as shown in fig. 4, the second joint 130 further includes a fixing plate 135 disposed between the distal rod 131 and the proximal rod 132, wherein an end of the distal rod 131 away from the proximal vertebra 123 is rotatably connected to the fixing plate 135, and an end of the proximal rod 132 is rotatably connected to the fixing plate 135, so as to realize the rotatable connection between the distal rod 131 and the proximal rod 132. In this embodiment, one end of the second driving wire 162 is fixedly connected to the distal rod 131, and one end of the second driving wire 162, which is far away from the distal rod 131, sequentially passes through the fixing plate 135 and the proximal rod 132 and is then fixedly connected to the pulley module 200.

Specifically, in an embodiment of the present invention, as shown in fig. 1 and fig. 2, the robot arm 100 further includes a third joint 140 having one end connected to an end of the proximal rod 132 away from the distal rod 131 and capable of swinging, and a trunk 150 having one end connected to an end of the third joint 140 away from the proximal rod 132 and capable of rotating along its own axis, wherein an end of the trunk 150 away from the third joint 140 is connected to the pulley module 200, so as to increase the degree of freedom of the robot arm 100, and facilitate the robot arm 100 to extend into the cavity for performing a surgical operation.

Optionally, with reference to fig. 4 and fig. 6, in the robot arm 100 according to the embodiment of the present invention, the structure of the second joint 130 is the same as that of the third joint 140, and the third joint 140 also includes a corresponding distal rod 131, a fixed disk 135, a proximal rod 132, a first gear pair 133, a second gear pair 134, and a driving wire 160 (a third driving wire 163) for providing a traction force for the swinging motion of the second joint 130, and details of the structure of the third joint 140 are not repeated herein. In this embodiment, the end of the distal link 131 of the third joint 140 distal from the fixed disk 135 of the third joint 140 is fixedly connected to the end of the proximal link 132 of the second joint 130 distal from the fixed disk 135 of the second joint 130, and the end of the proximal link 132 of the third joint 140 proximal from the fixed disk 135 of the third joint 140 is fixedly connected to the end of the torso 150 distal from the pulley module 200. Through the arrangement, the driving module 300 can receive and release the third driving line 163 through the pulley module 200, so as to adjust the swing posture of the third joint 140.

It is understood that more joints capable of swinging or bending may be added between the third joint 140 and the trunk 150, and the added joints may be configured as the first joint 120 or the second joint 130 to realize swinging or bending of the joints, which is not limited herein.

Specifically, in an embodiment of the present invention, as shown in fig. 5 and 8, the pulley module 200 includes an upper substrate 210 and a lower substrate 250 that are oppositely disposed, the lower substrate 250 is slidably connected to the sliding table module 400, the pulley module 200 further includes a plurality of driving shafts 220, a plurality of branch shafts 230 and a plurality of pulley shafts 240, both ends of each of the driving shafts 220 are respectively disposed on the upper substrate 210 and the lower substrate 250, wherein the branch shafts 230 and the pulley shafts 240 are respectively rotatably sleeved with a pulley, the driving wires 160 respectively pass through the pulleys of the corresponding branch shafts 230 and the pulleys of the pulley shafts 240 and then are fixedly connected to the corresponding driving shafts 220, and the driving module 300 is configured to drive the plurality of driving shafts 220 to rotate. In this embodiment, the pulleys corresponding to different driving wires 160 are arranged in a staggered manner in a direction parallel to the branching shaft 230 (or the pulley shaft 240), and no collision or friction is generated between the driving wires 160, so that the driving wires 160 can smoothly transmit traction force, and the motion control accuracy of the robot arm 100 is effectively improved.

Specifically, as shown in fig. 5 and 6, the axial direction of the trunk 150 is defined as a first direction, the plurality of pulley shafts 240 are divided into two sets of pulley shafts 240 arranged oppositely, each set of pulley shafts 240 includes two first pulley shafts 241, a second pulley shaft 242, and a third pulley shaft 243 arranged in sequence in the first direction; the driving shaft 220 includes two first driving shafts 221, second driving shafts 222, and third driving shafts 223 arranged in sequence in the first direction and disposed between the two sets of pulley shafts 240; the plurality of branch shafts 230 are disposed on one side of the third pulley shaft 243, which is far away from the second pulley shaft 242, the branch shafts 230 specifically include two first branch shafts 231 and two second branch shafts 232 which respectively correspond to the two sets of pulley shafts 240, each first driving wire 161 is fixed on the first driving shaft 221 after sequentially passing through the corresponding first branch shaft 231 and first pulley shaft 241, each second driving wire 162 is fixed on the second driving shaft 222 after sequentially passing through the corresponding second branch shaft 232 and second pulley shaft 242, each third driving wire 163 is fixed on the third driving shaft 223 after sequentially passing through the corresponding second branch shaft 232 and third pulley shaft 243, the driving module 300 drives the corresponding driving shaft 220 to rotate to realize the retraction of the driving wire 160, so as to adjust the deformation of the corresponding portion of the robot arm 100. Through the arrangement, collision and friction cannot be generated between the driving wires 160, so that the driving wires 160 can smoothly transmit traction force, and the motion control precision of the mechanical arm 100 is effectively improved.

Optionally, four first driving wires 161 are disposed on the first joint 120, that is, two pairs of first driving wires 161 are disposed on the first joint 120; in each pair of the first driving wires 161, one end of each of the two first driving wires 161 away from the distal vertebra 121 is fixedly connected to the same first driving shaft 221 through the corresponding first dividing shaft 231 and the corresponding first pulley shaft 241, respectively, that is, the two first driving wires 161 in each pair of the first driving wires 161 are arranged on the pulley module 200 in an antagonistic manner, the two first driving wires 161 in each pair of the first driving wires 161 do not collide and rub against each other, and the two pairs of the first driving wires 161 are respectively used for controlling the bending motion of the first joint 120 in different directions, so that the first joint 120 in the embodiment of the present invention has two degrees of freedom. Through the arrangement, the two first driving wires 161 are controlled to be retracted and retracted by the first driving shaft 221, the number of the pulleys, the branching shaft 230 and the driving shaft 220 can be reduced, the pulley module 200 and the driving module 300 are miniaturized, a control algorithm can be simplified, and the motion control precision is effectively improved. It is understood that, according to the choice of the actual situation, the number of the first driving lines 161 on the first joint 120 may be adjusted appropriately in order to adjust the degree of freedom of the first joint 120, and the invention is not limited herein.

Optionally, two second driving wires 162 are disposed on the second joint 130, that is, a pair of second driving wires 162 is disposed on the second joint 130, one ends of the two second driving wires 162 of the second joint 130, which are away from the distal rod 131, are respectively fixedly connected to the same second driving shaft 222 through the corresponding second branch shaft 232 and the second pulley shaft 242, the two second driving wires 162 of the second joint 130 are arranged on the pulley module 200 in an antagonistic manner, the two second driving wires 162 do not collide and rub against each other, and the two second driving wires 162 are used for controlling the swinging motion of the second joint 130 in the same direction, so that the second joint 130 in the embodiment of the present invention has one degree of freedom. Through the arrangement, the two second driving wires 162 are controlled to be retracted and retracted by the second driving shaft 222, so that the number of the pulleys, the branching shafts 230 and the driving shafts 220 can be reduced, the pulley module 200 and the driving module 300 are miniaturized, a control algorithm can be simplified, and the motion control precision is effectively improved. It is understood that, according to the choice of actual conditions, the number of the second driving wires 162 on the second joint 130 can be adjusted appropriately in order to adjust the degree of freedom of the second joint 130, and the invention is not limited herein.

Optionally, two third driving wires 163 are disposed on the third joint 140, that is, a pair of third driving wires 163 is disposed on the third joint 140, one ends of the two third driving wires 163 of the third joint 140, which are away from the distal rod 131, are respectively fixedly connected to the same third driving shaft 223 through the corresponding second branch shaft 232 and the third pulley shaft 243, the two third driving wires 163 of the third joint 140 are arranged on the pulley module 200 in an antagonistic manner, the two third driving wires 163 do not collide and rub against each other, and the two third driving wires 163 are used to control the swinging motion of the third joint 140 in the same direction, so that the third joint 140 in the embodiment of the present invention has one degree of freedom. Through the arrangement, the two third driving wires 163 are controlled to be retracted and extended by the third driving shaft 223, so that the number of the pulleys, the branching shafts 230 and the driving shafts 220 can be reduced, the pulley module 200 and the driving module 300 are miniaturized, a control algorithm can be simplified, and the motion control precision is effectively improved. It is understood that, according to the choice of actual conditions, the number of the third driving lines 163 on the third joint 140 may be properly adjusted in order to adjust the degree of freedom of the third joint 140, and the invention is not limited herein.

Specifically, in an embodiment of the present invention, as shown in fig. 5 and 6, the surgical actuator 110 may be a clamp having an opening and closing function, the clamp includes a fourth driving wire 164 for providing a traction force for an opening and closing movement of the clamp, that is, the clamp has one degree of freedom, the branch spool 230 further includes a third branch spool 233, the driving shaft 220 further includes a fourth driving shaft 224, one end of the fourth driving wire 164 is fixedly connected to the clamp, the other end of the fourth driving wire 164 passes through the corresponding third branch spool 233 and is fixedly connected to the fourth driving shaft 224, and the driving module 300 drives the fourth driving shaft 224 to rotate to release and release the fourth driving wire 164, so as to enable the clamp to perform the opening and closing movement.

Specifically, in an embodiment of the present invention, as shown in fig. 5 and 6, the driving shaft 220 further includes a rotation driving shaft 225, two rotation driving wires 165 are disposed on the trunk 150, one end of each rotation driving wire 165 is fixedly connected to the trunk 150, the other end of each rotation driving wire 165 is directly fixedly connected to the rotation driving shaft 225, and the two rotation driving wires 165 are used for controlling the trunk 150 to rotate, so that the trunk 150 has one degree of freedom. It is understood that other ways such as using bevel gears to drive the body 150 may be used, as the practical matter chooses, and the invention is not limited thereto.

Optionally, the robot arm 100 is provided with a guide channel corresponding to each driving wire 160, each driving wire 160 is fixedly connected to the pulley module 200 through the corresponding guide channel, and there is no collision or friction between the driving wires 160, so that the driving wires 160 can smoothly transmit traction force, and the motion control precision of the robot arm 100 is effectively improved.

Specifically, in an embodiment of the present invention, as shown in fig. 7, the driving shaft 220 includes a driving spindle 2201 connected to the driving module 300, a reel 2202 rotatably sleeved outside the driving spindle 2201, and a fastener 2203 for limiting the rotation of the reel 2202 relative to the driving spindle 2201, the driving wire 160 passes through the corresponding branching shaft 230 and the pulley shaft 240 and is fixedly connected to the corresponding reel 2202, and the driving module 300 is connected to the driving spindle 2201, so that the driving module 300 can drive the driving spindle 2201 to rotate and drive the corresponding reel 2202 to rotate, so as to receive and release the driving wire 160. After the driveline 160 is secured to the reel 2202, the reel 2202 can be made to rotate relative to the drive spindle 2201 until the driveline 160 is fully tensioned, and the reel 2202 is restrained from rotating relative to the drive spindle 2201 by fasteners 2203. In this embodiment, the fastening member 2203 may be a set screw, which is inserted into the driving spindle 2201 after the driving wire 160 is completely tensioned, and the set screw is sequentially threaded through the reel 2202, although the fastening member 2203 may have other structures according to practical situations, and the invention is not limited thereto.

Specifically, in one embodiment of the present invention, as shown in fig. 8, the driving module 300 includes a motor plate 310 fixedly connected to the upper substrate 210 and a plurality of motors 320 fixedly connected to the motor plate 310, and an output end of each motor 320 is fixedly connected to the corresponding driving shaft 220 (driving spindle 2201) through a coupling 330, so that each driving shaft 220 can be driven individually, i.e., the surgical actuator 110, the first joint 120, the second joint 130, the third joint 140 and the trunk 150 can be driven individually. Compared with the existing driving mechanism of the mechanical arm, the number of the pulleys, the branching shaft 230 and the driving shaft 220 is small, and the number of the corresponding motors 320 is also small, so that the driving module 300 is miniaturized.

Optionally, the sliding table module 400 is detachably connected with the pulley module 200; and/or the driving module 300 is detachably connected with the pulley module 200; and/or the pulley module 200 may be removably coupled to the robot arm 100. Through the arrangement, the snake-shaped surgical robot provided by the embodiment of the invention can be disassembled so as to be convenient for maintenance or cleaning and disinfection.

In the snake-shaped surgical robot of the embodiment of the invention, the surgical actuator 110 of the mechanical arm 100 can move in an opening and closing manner, i.e. the surgical actuator 110 has one degree of freedom; the first joint 120 is capable of bending motion in two directions, i.e., the first joint 120 has two degrees of freedom; the second joint 130 and the third joint 140 are capable of performing a rocking motion, i.e., the second joint 130 and the third joint 140 each have one degree of freedom; the trunk 150 can rotate in its axial direction, i.e., the trunk 150 has one degree of freedom; the pulley module 200 is slidably connected to the sliding table module 400, and the pulley module 200 can drive the entire robot arm 100 to move when sliding relative to the sliding table module 400, that is, the robot arm 100 further has one degree of freedom, so that the robot arm 100 of the embodiment of the present invention has seven degrees of freedom, which is convenient for a doctor to operate the robot arm 100 to perform operations such as clamping, cutting, suturing, etc.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A snakelike surgical robot applied to minimally invasive surgery is characterized by comprising a sliding table module, a pulley module, a driving module and a mechanical arm, wherein the pulley module is connected to the sliding table module in a sliding manner;

2. A snake surgical robot for use in minimally invasive surgery as claimed in claim 1, wherein said first joint comprises a distal vertebra, at least one spacer vertebra, and a proximal vertebra rotationally connected in sequence, said distal vertebra being connected to said surgical implement and said proximal vertebra being connected to said second joint;

3. A snake shaped surgical robot according to claim 2, wherein an elastic support is provided on the first joint for maintaining the shape of the first joint, and the elastic support is fixedly connected to the distal vertebra, the spacing vertebra and the proximal vertebra in turn.

4. A snake surgery robot for minimally invasive surgery according to claim 1, wherein said second joint comprises a distal rod, a proximal rod, a first gear pair and a second gear pair, wherein said distal rod and said proximal rod are rotatably connected, said first gear pair is fixed on said distal rod, said second gear pair is fixed on said proximal rod, and said first gear pair and said second gear pair are engaged;

5. A snake shaped surgical robot for minimally invasive surgery as claimed in claim 1, wherein said mechanical arm further comprises a third joint connected with said second joint and capable of swinging motion and a trunk connected with said third joint and capable of rotating along its own axis, said trunk being connected with said pulley module.

6. A snake shaped surgical robot for minimally invasive surgery as claimed in claim 5, wherein the structure of said second joint is the same as the structure of said third joint.

7. A snake-shaped surgical robot as claimed in any of claims 1-6, wherein the robot arm is provided with a driving wire for providing traction for the movement of the robot arm, the pulley module comprises a lower base plate, a plurality of driving shafts, a plurality of branch shafts and a plurality of pulley shafts, the plurality of driving shafts, the plurality of branch shafts and the plurality of pulley shafts are respectively disposed on the lower base plate, the driving wire passes through the corresponding branch shafts and the corresponding pulley shafts and then is fixedly connected to the corresponding driving shafts, and the driving module is configured to drive the plurality of driving shafts to rotate.

8. A snake-shaped surgical robot for minimally invasive surgery according to claim 7, wherein said driving shaft comprises a driving main shaft connected with said driving module, a reel rotatably sleeved outside said driving main shaft, and a fastener for limiting rotation of said reel relative to said driving main shaft, and said driving wire is fixedly connected to the corresponding reel after passing through the corresponding said branch shaft and said pulley shaft, respectively.

9. A snake shaped surgical robot according to claim 7, wherein said driving module comprises a plurality of motors, and the output end of each motor is fixedly connected to the corresponding driving shaft by a coupling.

10. A snake-shaped surgical robot applied to minimally invasive surgery according to any one of claims 1-6, wherein the sliding table module is detachably connected with the pulley module; and/or the presence of a gas in the gas,

the pulley module is detachably connected with the mechanical arm.