CN111568552A - Endoscope operation robot through natural cavity - Google Patents
Endoscope operation robot through natural cavity Download PDFInfo
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- CN111568552A CN111568552A CN202010289763.8A CN202010289763A CN111568552A CN 111568552 A CN111568552 A CN 111568552A CN 202010289763 A CN202010289763 A CN 202010289763A CN 111568552 A CN111568552 A CN 111568552A
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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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention discloses a natural orifice-passing endoscope surgical robot, which comprises a bracket, a position adjusting mechanism, a pitching mechanism, a feeding mechanism, a rotating mechanism, a driving mechanism and a quick-change mechanism, wherein the bracket is arranged on the bracket; the position adjusting mechanism is arranged on the bracket and connected with the pitching mechanism; the feeding mechanism comprises two sets which are symmetrically arranged on the pitching mechanism, and drives the wire sheath tube to move relatively along the wire sheath catheter, so that the flexible arm and the surgical instrument have front and back feeding freedom degrees relative to the endoscope; the rotating mechanism is mounted on the pitching mechanism and is configured to enable the actuating mechanism to have a rotating freedom degree around the axis of the wire sheath; the driving mechanism and the quick-change mechanism are both arranged on the pitching mechanism, and the driving mechanism can be connected with the quick-change mechanism; the driving mechanism is provided with a plurality of driving wires, part of the driving wires are used for driving the first section of linear driving flexible arm, part of the driving wires are used for driving the second section of flexible arm, and the rest of the driving wires can drive the surgical instrument.
Description
Technical Field
The invention relates to the field of medical surgical robots, in particular to a natural orifice endoscopic surgical robot system.
Background
An endoscopic operation through a natural orifice refers to a surgical operation performed by entering an abdominal cavity or a thoracic cavity through a natural orifice (oral cavity, anus, vaginal orifice, urethral orifice, etc.). The natural orifice-passing endoscopic surgery is a further extension of the concept of minimally invasive surgery, has obvious advantages compared with the traditional open surgery and minimally invasive surgery, has no incision on the appearance of a patient, has lighter pain after surgery, faster recovery, more attractive appearance and shorter hospitalization time, and can effectively reduce the probability of postoperative infection. The iatrogenic trauma can be reduced to the maximum extent while the operation is completed.
The existing natural orifice surgery adopts the following two schemes: the first is to use a traditional hand-held endoscope to enter a lesion site, then send a manual surgical instrument to the surgical site through an endoscope biopsy channel, and perform the operation by adopting a hand-held mirror and a hand-held surgical instrument. The surgical instruments are simple in structure and poor in flexibility, operations such as sleeving, clamping and marking can be completed only under the operation of a single surgical instrument, the flexibility of the operation is greatly restricted, and doctors need to hold the endoscope for a long time in the operation process, so that the fatigue of the doctors is easily caused, and the operation risk is brought. The second mode is that the existing minimally invasive surgery robot is used for performing transluminal endoscopic surgery, the minimally invasive surgery robot uses a rigid surgical rod, so that a plurality of lesion parts cannot reach through natural orifices, the application range of the surgical robot is greatly restricted, and the risk of damage to other tissues is increased.
At present, a surgical robot system special for a speculum through a natural cavity is still in a laboratory stage, the Japan Olympus company can realize the speculum operation of the natural cavity by depending on an EndoSAMURAI system designed by the existing endoscope in a manual operation mode, but an operation executor of the Japan Olympus company is fixed at the tail end of the speculum and cannot be replaced in the operation process, so that the difficulty in endoscope entering is caused; and the flexibility of the operation is restricted by the mode of direct manual wire adding conduction. The ViaCath system developed by endo viamedical is still in the laboratory principle verification stage at present due to its large outer diameter. The Anubis project developed by KarlStorz is a perfect natural cavity endoscope operation robot system at present, can only drive a single-section flexible arm, is in an experimental stage at present, and is not clinically applied.
Disclosure of Invention
The invention provides a natural cavity endoscopic surgery robot for overcoming the defects of the prior art, which adopts a mechanical arm to hold a endoscope, has a flexible endoscope holding posture adjusting mechanism and can lock a joint under the condition of artificial or accidental power failure; the surgical instrument is convenient and rapid to replace and design; an electric teleoperation double-section wire-driven operation arm and a surgical instrument. The robot can greatly improve the precision and the flexibility of the operation and reduce the labor intensity of doctors during the operation.
The invention adopts the following technical scheme:
the invention provides a natural orifice-passing endoscope surgical robot, which comprises a bracket, a position adjusting mechanism, a pitching mechanism, a feeding mechanism, a rotating mechanism, a driving mechanism and a quick-change mechanism, wherein the bracket is arranged on the bracket;
the position adjusting mechanism is arranged on the bracket, is used for integrally adjusting the position of the pitching mechanism and is connected with the pitching mechanism; the feeding mechanism comprises two sets which are symmetrically arranged on the pitching mechanism, and drives the wire sheath tube to move relatively along the wire sheath catheter, so that the flexible arm and the surgical instrument have front and back feeding freedom degrees relative to the endoscope; the rotating mechanism is arranged on the pitching mechanism and is configured to enable the driving mechanism and the quick-change mechanism to have the rotation freedom degree around the axis of the wire sheath; the driving mechanism and the quick-change mechanism are both arranged on the pitching mechanism, and the driving mechanism can be connected with the quick-change mechanism; the quick-change mechanism is internally provided with a plurality of driving wires, the driving mechanism is provided with a plurality of traction driving wires, part of the driving wires are used for driving the first section of wire to drive the flexible arm, part of the driving wires are used for driving the second section of flexible arm, and the rest of the driving wires can drive the surgical instrument.
As a further technical scheme, the position adjusting mechanism sequentially passes through a first adjusting arm, a second adjusting arm, a third adjusting arm and a fourth adjusting arm which are connected through joints; the first adjusting arm is also connected with the bracket through a joint, and joint axes between the first adjusting arm and the bracket and between the first adjusting arm and the second adjusting arm are vertical lines; the joint axes between the second adjusting arm and the third adjusting arm and between the third adjusting arm and the fourth adjusting arm are horizontal lines.
As a further technical scheme, the pitching mechanism comprises a coupling, a sliding block, a connecting plate, a lead screw, an adjusting arm and a motor; the motor install on position adjustment mechanism's last section adjusting arm, motor drive the lead screw, slider and lead screw cooperation, the back of adjusting arm is equipped with the otic placode, the one end of otic placode pass through the connecting plate with the slider articulated, the other end of otic placode is articulated with the connecting plate of fixing on the adjusting arm.
As a further technical scheme, the feeding mechanism comprises a motor and a screw rod; the motor is fixed on the pitching mechanism and drives the actuating mechanism arranged on the screw rod sliding block to move up and down through the screw rod.
As a further technical scheme, the rotating mechanism comprises a motor, a transmission gear and a driving gear, the motor is fixed on the pitching mechanism, the motor drives the driving gear to rotate through the pair of transmission gears, and the driving gear driving execution mechanism has the rotation freedom degree of the wire winding sheath tube axis.
As a further technical scheme, the driving mechanism comprises a motor, a shell, a connecting buckle, a back plate, a guide hole, a quick-change mistake-proofing hole and a quick-change shifting piece; the motors comprise a plurality of motors which are arranged on the shell at equal intervals in a circumferential array; the connecting buckle is arranged on a motor shaft of the motor in an interference fit mode, the back plate is fixed on the shell of the driving mechanism, and the back plate fixes the tail of the motor of the driving mechanism; 2 quick-change shifting pieces are fixed on the back plate of the driving mechanism in a mode of encircling the circle center of the back plate of the driving mechanism; the guide hole is a tubular structure with two open ends designed on the central axis of the shell; the quick-change mistake-proofing hole is 3 asymmetric concave round holes arranged on the circumference of the driving mechanism shell.
As a further technical scheme, the quick-change mechanism comprises a wire sheath tube connecting cover, a bearing seat, a shell, a bearing, a reel, a pressing sheet spring, a pressing sheet, a driving wire, a quick-change mistake proofing column, a quick-change fastening rod and a reversing wheel; the bearing seat is fixed in the shell, a plurality of bearings are arranged on the bearing seat at equal intervals in a circumferential array, each bearing is concentric with the corresponding reel, and a plurality of reels are arranged on the shell and the pressing sheet at equal intervals in a circumferential array; the pressing piece is positioned in the shell, one end of a pressing piece spring is connected with the pressing piece, the other end of the pressing piece spring is connected with the bearing seat, a driving wire is wound on the winding wheel, and a motor of the driving mechanism drives the winding wheel to rotate; the sheath tube connecting cover is fixed at the center of the bottom of the shell; the quick-change fastening rod is arranged on a central axis of the top of the shell, and the quick-change mistake proofing column is arranged in the circumferential direction of the shell.
As a further technical scheme, the reversing wheel is circumferentially and uniformly distributed on a fixed reversing wheel support, the reversing wheel support is fixed on a quick-change mechanism pressing sheet, the driving wire is wound on the reel, and the direction of the rotation tangent of the driving wire is switched to be perpendicular to the direction of the rotation tangent of the reel after the driving wire passes through the reversing wheel. The sheath pipe is fixed on the sheath pipe connecting cover, the plurality of driving wires are concentrated to the sheath pipe after passing through the reversing wheel, and the plurality of driving wires transmit power to the flexible arm and the surgical instrument through the sheath pipe.
As a further technical scheme, the quick-change mechanism fastening rod is inserted through a guide hole of the driving mechanism, and the quick-change mistake proofing column is aligned with a quick-change mistake proofing hole of the driving mechanism.
As a further technical proposal, the bottom end of the reel can be matched with a corresponding bearing after passing through the pressing sheet; the top end of the reel passes through the top of the housing.
The invention has the advantages that:
1. the mode of holding the mirror by the mechanical arm is used, so that the labor intensity of holding the mirror for a long time in the operation process of medical workers is reduced; the position adjusting mechanism can provide multi-directional angle adjustment in the horizontal direction, the vertical direction, the pitching angle and the like, is convenient for patients to perform operations in various postures, and expands the operation postures of the endoscopic operations.
2. The operation triangle is unfolded by using the continuum flexible arm, is provided with 8 driving motors, can drive two sections of continuum mechanical arm mechanisms, and has front and back freedom degrees and rotation freedom degrees. The endoscope is matched with the existing double-channel endoscope, so that two surgical instruments can perform surgical operation simultaneously; the flexibility of the operation is increased, and the operation quality is improved.
3. The surgical instrument uses quick change mechanism, can be at operation in-process quick replacement surgical instrument, has richened the surgical instrument of endoscopic surgery. The quick-change mechanism is provided with a guide mechanism and a mistake-proofing mechanism, so that the quick-change mechanism can be replaced more quickly, and the replacement of the quick-change mechanism is prevented from being mistaken.
4. The quick-change mechanism of the surgical instrument has the tripping locking function, and when the driver is not matched with the quick-change mechanism, the reel can be locked and can not rotate, so that the surgical error caused by the misoperation of the reel when the quick-change mechanism is tripped can be prevented.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the power layout of the position adjustment mechanism of the present invention.
FIG. 3 is a schematic view of a position adjustment mechanism joint of the present invention.
FIG. 4 is a schematic diagram of the degree of freedom of the actuator for forward and backward feed.
Fig. 5 is a schematic view of the rotational degree of freedom of the actuator of the present invention.
Fig. 6 is a schematic view of the actuator drive structure of the present invention.
Fig. 7 is a schematic view of the quick-change actuator of the present invention.
Fig. 8(a), 8(b) are schematic structural views of a flexible arm portion of the present invention;
FIG. 9 is a schematic view of a structure of a vertebra;
wherein, 1, a base, 2, a column, 3, a supporting arm, 4, a first adjusting arm, 5, a second adjusting arm, 6, a pitch mechanism coupling, 7, a pitch mechanism sliding block, 8, a pitch mechanism connecting plate, 9, a third adjusting arm, 10, a pitch mechanism screw rod, 11, a fourth adjusting arm, 12, an executing mechanism back plate, 13, a pitch mechanism bearing seat, 14, a pitch mechanism adjusting arm, 15, a pitch mechanism motor, 16, a pitch mechanism motor seat, 17, a driving mechanism upper support, 18, a driving mechanism rotating gear, 19, a driving mechanism, 20, a driving mechanism lower support, 21, a quick-change mechanism, 22, a wire sheath guide pipe, 23, an endoscope clamping seat, 24, an endoscope, 25, an endoscope host machine connecting cable, 26, a flexible arm, 27, a surgical instrument, 28, an executing mechanism moving plate, 29, a feeding mechanism motor, 30, a feeding mechanism coupling, 31. the device comprises a feeding mechanism screw rod, a 32-wire sheath tube, a 33-needle bearing, a 34-driving mechanism rotating driving wheel, a 35-driving mechanism rotating driving wheel, a 36-driving mechanism rotating motor, a 37-pitching adjusting arm lug plate and a 38-supporting plate; vertebra 39, drive wire fenestration 39-1, drive wire fenestration 39-2;
3-1, a first adjusting arm motor, 3-2, a first adjusting arm power-off brake, 3-3, a first adjusting arm rotary bearing, 3-4, a joint connector, 4-1, a second adjusting arm motor, 5-1, a third adjusting arm motor, 9-1, a fourth adjusting arm motor, 19-1, a driving mechanism shell, 19-2, a driving mechanism motor, 19-3, a quick-change shifting piece, 19-4, a driving mechanism back plate, 19-5, a driving mechanism connecting buckle, 19-6, a driving mechanism guide hole, 19-7, a quick-change error-proof hole, 21-1, a quick-change mechanism shell, 21-2, a wire sheath pipe connecting cover, 21-3, a quick-change mechanism bearing seat, 21-4, a quick-change mechanism bearing, 21-5, a tablet spring, 21-6, a quick-change mechanism tablet, 21-7 parts of driving wires, 21-8 parts of reels, 21-9 parts of quick-change mistake proofing columns, 21-10 parts of quick-change fastening rods, 21-11 parts of reversing wheels, 21-12 parts of reversing wheel supports, 28-1 parts of actuating mechanism fixing plates and 28-2 parts of actuating mechanism moving sliding blocks.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background, the prior art has shortcomings, and in order to solve the technical problems, the invention provides a natural cavity endoscopic surgical robot.
In a typical embodiment of the present invention, as shown in fig. 1, the present invention is a schematic structural diagram of an entire structure of a natural orifice endoscopic surgical robot, which is composed of a support, a position adjusting mechanism, a pitching mechanism, a feeding mechanism, a rotating mechanism, a driving mechanism, a quick-change mechanism, and an endoscope.
The support comprises a base 1, a column 2 and a support arm 3. The upright post 2 is connected through a bolt, and the top end of the upright post 2 is fixed with the supporting arm 3 through a bolt.
The working principle of the position adjusting mechanism is explained with reference to fig. 1, fig. 2 and fig. 3, in order to clearly express the relation of the components, fig. 2 is provided with the parts which are not related to the description of the parts removed, and is expressed by using a perspective view. A first adjusting arm motor 3-1 is arranged in a motor mounting chamber of the fixed supporting arm 3, and the first adjusting arm 3 can rotate around the axis of the first adjusting arm motor 3-1; a second adjusting arm motor 4-1 is arranged in a motor installation chamber of the first adjusting arm 4, and a second adjusting arm 5 can rotate around the axis of the second adjusting arm motor 4-1; a third adjusting arm motor 5-1 is arranged in a motor installation chamber of the second adjusting arm 5, and a third adjusting arm 9 can rotate around the axis of the third adjusting arm motor 5-1; the fourth adjusting arm motor 9-1 is arranged in a motor chamber of the third adjusting arm 9, and the fourth adjusting arm 11 can rotate around the axis of the fourth adjusting arm motor 9-1. However, the output shaft axes of the first and second arm motors 3-1 and 4-1 are vertically arranged, and the output shaft axes of the third and fourth arm motors 5-1 and 9-1 are horizontally arranged.
The mechanical connection structures of the joints are the same, only the first adjusting joint is described in detail with reference to fig. 3, in order to clearly illustrate the structural principle, the fixed support arm 3 is partially planed, the first adjusting arm motor 3-1 is installed in a motor installation chamber of the fixed support arm 3, the shaft of the first adjusting arm motor 3-1 penetrates through the inner hole of the first adjusting arm power-off brake 3-2, the outer frame of the first adjusting arm power-off brake 3-2 is fixedly connected with the first adjusting arm motor 3-1, the inner hole of the power-off brake 3-2 is connected with the inner ring of the first adjusting arm slewing bearing 3-3 through the joint connecting piece 3-4, the inner ring of the first adjusting arm slewing bearing 3-3 is simultaneously connected with the second adjusting arm, and the outer ring of the first adjusting arm slewing bearing 3-3 is connected with the fixed support arm 3. The power-off brake can lock the rotating shaft under the action of the spring under the manual control or power-off, so that the joint is locked; when the joint angle is adjusted through the joint motor, the power-off brake is in an unlocking state through electromagnetic action. The adjusting arm driving motors are all servo motors, the first adjusting arm 4, the second adjusting arm 5, the third adjusting arm 9 and the fourth adjusting arm 11 can complete adjustment of height and swing angle under the driving of the motors, the power-off brake can lock joint angles after the target position is reached, the position stability in the operation process is ensured, and the posture can still be ensured not to change under the condition of sudden power failure.
To explain the working principle of the pitch mechanism with reference to fig. 1, a pitch mechanism motor 15 is fixed on the side of the fourth adjusting arm 11 through a pitch mechanism motor base 16, one end of a pitch mechanism lead screw 10 is connected with the pitch mechanism motor 15 through a pitch mechanism coupling 6, and the other end is fixed on the fourth adjusting arm through a bearing matching with a pitch mechanism bearing base 13. The ear plate of the fourth adjusting arm 11 is connected with the lower end hole of the ear plate of the pitching adjusting arm 14 through a shaft pin, the pitching mechanism sliding block 7 can move up and down under the driving of the pitching mechanism screw rod 10, the pitching mechanism sliding block 7 is connected with the pitching mechanism connecting plate 8 through the shaft pin, the pitching mechanism connecting plate 8 is connected with the upper end hole of the ear plate 37 of the pitching adjusting arm through the shaft pin, and the lower end hole of the ear plate 37 of the pitching adjusting arm is hinged with the supporting plate 38 arranged on the fourth adjusting arm 11; by the movement of the pitch mechanism slider 7, the angle of the pitch adjustment arm 14 can be adjusted.
The working principle of the feeding mechanism is explained by using fig. 4 and fig. 5, two sets of feeding mechanisms are symmetrical structures, only a single feeding rotating mechanism is explained, as shown in fig. 4, the actuator back plate 12 is fixed on the pitch adjusting arm 14 through a bolt, the feeding mechanism motor 29 is fixed on the actuator back plate 12 through a motor base, the feeding mechanism screw rod 31 is connected with the feeding mechanism motor 29 through the feeding mechanism coupling 30, and the other end of the feeding mechanism screw rod 31 is fixed on the actuator back plate 12 through a bearing. The driving mechanism 19 is connected with the driving mechanism upper support 17 and the driving mechanism lower support 20 through needle bearings 33, the driving mechanism upper support 17 and the driving mechanism lower support 20 are fixed on the actuating mechanism fixing plate 28-1 through bolts, the actuating mechanism moving slide block 28-2 can move along the feeding mechanism screw rod 31 in the feeding mechanism motor 29, the actuating mechanism is driven to move back and forth along the feeding mechanism screw rod 31, the wire sheath tube 32 is further enabled to move relatively along the wire sheath guide tube 22, and the flexible arm 26 and the surgical instrument 27 have the freedom degree of forward and backward feeding relative to the endoscope 24. The actuator comprises a driving mechanism 19 and a quick-change mechanism 21 which are described below.
The working principle of the rotating mechanism is explained by fig. 4 and fig. 5, two sets of feeding rotating mechanisms are symmetrical structures, only one of the feeding rotating mechanisms is explained, and irrelevant structures are removed here for clearly explaining the working principle. The driving mechanism rotating gear 18 is fixed on the actuating mechanism 19 through threads; a rotating motor 36 of the driving mechanism is fixed on the back of the execution mechanism fixing plate 28-1 through a motor base, a driving gear 34 of the driving mechanism is fixed on a rotating motor 36 shaft of the driving mechanism through threads, the driving gear 34 is meshed with a transmission gear 35, the transmission gear 35 is in gear meshing with the rotating gear 18, the driving force of the rotating motor 36 of the driving mechanism drives the transmission gear 35 through the driving gear 34, the transmission gear 35 drives the rotating gear 18, the rotating gear 18 is fixed on a driving mechanism shell 19-1 of the driving mechanism 19, and finally the driving force of the rotating motor 36 of the driving mechanism enables the driving mechanism 19 to rotate; further, the actuator has a degree of freedom of rotation about the axis of the sheath 32.
The principle of operation of the drive mechanism 19 is illustrated by fig. 6, where extraneous mechanisms are removed and the upper half of the drive mechanism housing 19-1 is planed out along a plane of symmetry for clarity in explaining the drive mechanism principle of operation. The driving mechanism motor 19-2 is totally 8 and is arranged on a motor base of the driving mechanism shell 19-1 at equal intervals in a circumferential array, the driving mechanism connecting buckle 19-5 is arranged on a motor shaft of the driving mechanism motor 19-2 in an interference fit mode, the driving mechanism back plate 19-4 is fixed on the driving mechanism shell 19-1 through threads, and the driving mechanism back plate 19-4 fixes the tail of the driving mechanism motor 19-2. The 2 quick-change shifting pieces 19-3 are fixed on the back plate 19-4 of the driving mechanism through bolts.
The quick-change principle of the quick-change mechanism 21 and the drive mechanism 19 is illustrated by means of fig. 5, 6 and 7, where parts of the mechanism are hidden and the upper half of the drive mechanism housing 19-1, the quick-change mechanism housing 21-1 and the reverser wheel support 21-12 is planed along a plane of symmetry for the sake of clarity in explaining the working principle. The quick-change mechanism fastening rod 21-10 can be inserted through the driving mechanism guide hole 19-6, and the quick-change mistake-proofing column 21-9 must be aligned with the quick-change mistake-proofing hole 19-7 to enable the quick-change mechanism to be matched with the driving mechanism. The quick-change mistake-proofing columns 21-9 and the quick-change mistake-proofing holes 19-7 can prevent an angle error from being generated when the quick-change mechanism is matched. The quick-change shifting piece 19-3 is fixed on the driving mechanism back plate 19-4 through a bolt, and when the quick-change mechanism 21 is matched with the driving mechanism 19 in place, the quick-change shifting piece 19-3 can pin and fix the quick-change mechanism 21 through a notch on the quick-change mechanism fastening rod 21-10 under the action of a spring. The quick-change mechanism 21 can be unlocked by pulling the quick-change shifting piece 19-3, so that the quick change of the quick-change mechanism is realized.
The working principle of the quick-change mechanism 21 is explained by means of fig. 6 and 7, and for the sake of clarity of explanation of the working principle, parts of the mechanism are hidden here and the drive mechanism housing 19-1, the quick-change mechanism housing 21-1 and the reversing wheel support 21-12 are planed along the upper half of the plane of symmetry. The quick-change mechanism bearing seat 21-3 is fixed on the quick-change mechanism shell 21-1 through threads, 8 quick-change mechanism bearings 21-4 are arranged on the quick-change mechanism bearing seat 21-3 in a circumferential array at equal intervals, and the quick-change mechanism bearings 21-4 are respectively concentric with the corresponding reel 21-8. The 8 reels 21-8 are arranged on the quick-change mechanism shell 21-1 and the quick-change mechanism pressing sheet 21-6 in a circumferential array at equal intervals; the quick-change mechanism pressing sheet 21-6 is arranged in the quick-change mechanism shell 21-1 and is not fixed in a suspension manner; a hole corresponding to the bottom of the reel 21-8 is formed in the quick-change mechanism pressing piece 21-6, and the bottom end of the reel can penetrate through the quick-change mechanism pressing piece 21-6 to be matched with a corresponding bearing; the top end of the reel penetrates through the top of the shell and can be connected with a motor of the driving mechanism.
When the quick-change mechanism 21 is not matched with the driving mechanism 19, the bearing seat 21-3 of the quick-change mechanism pushes the pressing piece 21-6 of the quick-change mechanism through the pressing piece spring 21-5, and then pushes the apron board of the reel 21-8 to be tightly pressed on the shell 21-1 of the quick-change mechanism, so that the reel cannot rotate, and the reel is locked. When the quick-change mechanism 21 is matched with the driving mechanism 19, the driving mechanism connecting buckle 19-5 presses the reel 21-8, so that the apron board of the reel 21-8 is separated from the quick-change mechanism shell 21-1, and the reel 21-8 is unlocked. The driving mechanism connecting buckle 19-5 is tightly combined with the reel 21-8, and the rotation torque of the driving mechanism motor 19-2 can drive the reel 21-8 to rotate through the driving mechanism connecting buckle 19-5.
The working principle of the arrangement of the driving wires of the quick-change mechanism 21 is illustrated by fig. 7, and for the sake of clarity of the explanation of the working principle, part of the mechanism is hidden here and the housing 21-1 of the quick-change mechanism and the support 21-12 of the reversing wheel are planed off along the upper half of the plane of symmetry. 8 reversing wheels 21-11 are circumferentially and equidistantly fixed on reversing wheel supports 21-12, the reversing wheel supports 21-12 are fixed on quick-change mechanism pressing sheets 21-6 through bolts, and when the reel 21-8 pushes the quick-change mechanism pressing sheets 21-6 to move downwards, the reversing wheel supports 21-12 simultaneously move downwards, so that the distance between the line slots of the reversing wheels 21-12 and the line slots of the reel 21-8 can be kept unchanged. One end of the driving wire 21-7 is fixed on the winding wheel 21-8, and after the driving wire 21-7 passes through the reversing wheel 21-11, the driving wire is converted from the horizontal direction to the vertical direction. The sheath tube connecting cover 21-2 is connected with the quick-change mechanism shell 21-1 through threads, the sheath tube 32 is fixed on the sheath tube connecting cover 21-2, 8 driving wires 21-7 are concentrated to the sheath tube 32 after passing through the reversing wheel 21-11, and the 8 driving wires 21-7 transmit power to the flexible arm 26 and the surgical instrument 27 through the sheath tube 32;
the driving mechanism is provided with 8 motors for drawing 8 driving wires, wherein 3 driving wires are used for driving the first section of flexible arm, 3 driving wires are used for driving the second section of flexible arm, and the rest two driving wires can drive surgical instruments such as surgical clamps, surgical scissors and the like. When the surgical instrument at the tail end of the flexible arm is a surgical electric knife, a surgical injector and other surgical instruments, the redundant two driving wires can be used as a redundant design of the flexible arm drive.
As shown in fig. 8(a), 8(b), 9, the flexible arms are composed of vertebrae 39, which are coupled together by drive wires 21-7, the first segment of flexible arms referring to the anterior half of the vertebrae (in this illustration, the anterior six vertebrae) and the second segment of flexible arms referring to the posterior half of the vertebrae (in this illustration, the posterior seven vertebrae); three driving wires 21-7 of the first section of flexible arm are distributed at equal intervals in the circumference and pass through the driving wire through holes 39-1, and are fixed on the last section of vertebra of the first flexible arm;
the three drive wires 21-7 of the second segment of flexible arm pass through the drive wire perforations 39-1 of the first segment of flexible arm, and the three drive wires 21-7 of the second segment of flexible arm continue to pass through the drive wire perforations 39-1 of the second segment of flexible arm vertebra and are fixed at the last segment of the second flexible arm vertebra.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A natural orifice-passing endoscope surgical robot is characterized by comprising a bracket, a position adjusting mechanism, a pitching mechanism, a feeding mechanism, a rotating mechanism, a driving mechanism and a quick-change mechanism;
the position adjusting mechanism is arranged on the bracket, is used for integrally adjusting the position of the pitching mechanism and is connected with the pitching mechanism; the feeding mechanism comprises two sets which are symmetrically arranged on the pitching mechanism, and drives the wire sheath tube to move relatively along the wire sheath catheter, so that the flexible arm and the surgical instrument have front and back feeding freedom degrees relative to the endoscope; the rotating mechanism is arranged on the pitching mechanism and is configured to enable the driving mechanism and the quick-change mechanism to have the rotation freedom degree around the axis of the wire sheath; the driving mechanism and the quick-change mechanism are both arranged on the pitching mechanism, and the driving mechanism can be connected with the quick-change mechanism; the quick-change mechanism is internally provided with a plurality of driving wires, the driving mechanism is provided with a plurality of traction driving wires, part of the driving wires are used for driving the first section of wire to drive the flexible arm, part of the driving wires are used for driving the second section of flexible arm, and the rest of the driving wires can drive the surgical instrument.
2. A natural orifice endoscopic surgical robot as defined in claim 1, wherein said position adjusting mechanism is constituted by a first adjusting arm, a second adjusting arm, a third adjusting arm and a fourth adjusting arm which are connected in sequence via a joint; the first adjusting arm is also connected with the bracket through a joint, and joint axes between the first adjusting arm and the bracket and between the first adjusting arm and the second adjusting arm are vertical lines; the joint axes between the second adjusting arm and the third adjusting arm and between the third adjusting arm and the fourth adjusting arm are horizontal lines.
3. A natural orifice translumenal endoscopic surgical robot as defined in claim 1, wherein said pitch mechanism includes a coupling, a slider, a connecting plate, a lead screw, an adjustment arm, and a motor; the motor install on position adjustment mechanism's last section adjusting arm, motor drive the lead screw, slider and lead screw cooperation, the back of adjusting arm is equipped with the otic placode, the one end of otic placode pass through the connecting plate with the slider articulated, the other end of otic placode is articulated with the connecting plate of fixing on the adjusting arm.
4. A natural orifice transluminal endoscopic surgical robot as defined in claim 1, wherein said feed mechanism includes a motor and a lead screw; the motor is fixed on the pitching mechanism and drives the actuating mechanism arranged on the screw rod sliding block to move up and down through the screw rod.
5. A natural orifice transluminal endoscopic surgical robot as defined in claim 1, wherein said rotation mechanism includes a motor, a transmission gear and a drive gear, said motor being fixed to said tilting mechanism, said motor driving said drive gear to rotate through a pair of transmission gears, said drive gear driving said actuator having rotational freedom about the sheath axis.
6. A natural orifice transluminal endoscopic surgical robot as defined in claim 1, wherein said driving mechanism includes a motor, a housing, a connector link, a back plate, a guide hole, a quick-change mistake-proofing hole and a quick-change pick; the motors comprise a plurality of motors which are arranged on the shell at equal intervals in a circumferential array; the connecting buckle is arranged on a motor shaft of the motor in an interference fit mode, the back plate is fixed on the shell of the driving mechanism, and the back plate fixes the tail of the motor of the driving mechanism; 2 quick-change shifting pieces are fixed on the back plate of the driving mechanism in a mode of encircling the circle center of the back plate of the driving mechanism; the guide hole is a tubular structure with two open ends designed on the central axis of the shell; the quick-change mistake-proofing hole is 3 asymmetric concave round holes arranged on the circumference of the driving mechanism shell.
7. A natural orifice-traversing endoscope surgical robot according to claim 1, wherein the quick-change mechanism comprises a sheath tube connecting cover, a bearing seat, a housing, a bearing, a reel, a tabletting spring, a tabletting, a driving wire, a quick-change mistake-proofing column, a quick-change fastening rod and a reversing wheel; the bearing seat is fixed in the shell, a plurality of bearings are arranged on the bearing seat at equal intervals in a circumferential array, each bearing is concentric with the corresponding reel, and a plurality of reels are arranged on the shell and the pressing sheet at equal intervals in a circumferential array; the pressing piece is positioned in the shell, one end of a pressing piece spring is connected with the pressing piece, the other end of the pressing piece spring is connected with the bearing seat, a driving wire is wound on the winding wheel, and a motor of the driving mechanism drives the winding wheel to rotate; the sheath tube connecting cover is fixed at the center of the bottom of the shell; the quick-change fastening rod is arranged on a central axis of the top of the shell, and the quick-change mistake proofing column is arranged in the circumferential direction of the shell.
8. A natural orifice endoscopic surgical robot according to claim 7, wherein said reversing wheel is circumferentially and uniformly fixed to a reversing wheel holder fixed to a quick-change mechanism presser, said driving wire is wound around a reel, and the direction of the driving wire passing through the reversing wheel is switched from a tangential direction of rotation of the reel to a direction perpendicular to the tangential direction of rotation of the reel. The sheath pipe is fixed on the sheath pipe connecting cover, the plurality of driving wires are concentrated to the sheath pipe after passing through the reversing wheel, and the plurality of driving wires transmit power to the flexible arm and the surgical instrument through the sheath pipe.
9. A natural orifice translumenal endoscopic surgical robot as defined in claim 7, wherein said quick-change mechanism fastening rod is inserted through a guide hole of the driving mechanism, and the quick-change mistake-proofing post is aligned with a quick-change mistake-proofing hole of the driving mechanism.
10. A natural orifice transluminal endoscopic surgical robot as defined in claim 7, wherein said reel has a bottom end engageable with a corresponding bearing through said pressing plate; the top end of the reel passes through the top of the housing.
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| CN202010289763.8A CN111568552B (en) | 2020-04-14 | 2020-04-14 | Endoscope operation robot through natural cavity |
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| CN202010289763.8A CN111568552B (en) | 2020-04-14 | 2020-04-14 | Endoscope operation robot through natural cavity |
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| CN111568552B CN111568552B (en) | 2021-04-13 |
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| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN113040918A (en) * | 2021-03-17 | 2021-06-29 | 山东大学 | Surgical robot for removing limited space bone lesion area |
| CN113040917A (en) * | 2021-03-16 | 2021-06-29 | 山东大学 | Concentric tube surgical robot for natural orifice |
| CN113081279A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | Multi-arm concentric tube robot for minimally invasive surgery |
| CN113331952A (en) * | 2021-06-28 | 2021-09-03 | 上海交通大学 | Surgical robot based on fiber choledochoscope |
| CN114098994A (en) * | 2021-11-29 | 2022-03-01 | 天津大学医疗机器人与智能系统研究院 | Instrument driving device, instrument arm, slave hand end and robot-assisted surgery system |
| CN114305704A (en) * | 2022-03-11 | 2022-04-12 | 极限人工智能(北京)有限公司 | Multifunctional channel device and minimally invasive surgery robot |
| CN114947966A (en) * | 2022-08-01 | 2022-08-30 | 中国科学院自动化研究所 | Flexible medical device |
| CN115715702A (en) * | 2023-01-09 | 2023-02-28 | 北京云力境安科技有限公司 | Flexible endoscope operation robot system |
| CN114668432B (en) * | 2022-03-29 | 2024-06-07 | 吉林大学 | Integrated surgical robot for diagnosis and treatment through natural cavity |
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| CN114668432B (en) * | 2022-03-29 | 2024-06-07 | 吉林大学 | Integrated surgical robot for diagnosis and treatment through natural cavity |
| CN114947966B (en) * | 2022-08-01 | 2022-10-28 | 中国科学院自动化研究所 | Flexible medical device |
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| CN115715702A (en) * | 2023-01-09 | 2023-02-28 | 北京云力境安科技有限公司 | Flexible endoscope operation robot system |
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