CN112370168A - Minimally invasive surgery robot system - Google Patents
Minimally invasive surgery robot system Download PDFInfo
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- CN112370168A CN112370168A CN202011259510.2A CN202011259510A CN112370168A CN 112370168 A CN112370168 A CN 112370168A CN 202011259510 A CN202011259510 A CN 202011259510A CN 112370168 A CN112370168 A CN 112370168A
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims description 96
- 210000000707 wrist Anatomy 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 21
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 210000004907 gland Anatomy 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 210000003811 finger Anatomy 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 208000002847 Surgical Wound Diseases 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000007847 structural defect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
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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
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The invention relates to a minimally invasive surgery robot system, which solves the technical problems that a doctor operating table of the existing minimally invasive surgery robot is not light and convenient to operate by a doctor, low in flexibility and easy to fatigue when in use, a rotary joint of a mechanical arm is large in size, and a joint motion detection device is low in measurement precision, and comprises a doctor operating table and a patient operating table, wherein the doctor operating table comprises a base, a handrail, a display screen, a left upright post, a right upright post, a left connecting seat, a right connecting seat, a left control end operating arm, a right control end operating arm and a touch control screen, the handrail is connected with a lifting mechanism of the base, the touch control screen is connected with the handrail, the left upright post and the right upright post are respectively connected with the base, the display screen is connected with the left upright post through a bracket, the left connecting seat is connected with the lifting mechanism of the left upright post, the right connecting seat is connected with the lifting mechanism of the right upright post, the right control end operating arm is connected with the right connecting seat; the left control end operating arm and the right control end operating arm are symmetrically arranged. The invention is widely applied to the technical field of medical instruments.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgical operation machines, in particular to a minimally invasive surgical robot system.
Background
Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.
Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on an instrument robot arm of a patient console to perform various surgical actions by operating the surgeon console.
Refer to patent No. 201921438964.9, the name is the utility model patent of doctor's operation panel, current doctor's operation panel is when using, and the doctor operates lightly, the flexibility ratio is low, easy tired. In addition, the rotary joint of the mechanical arm is large in size, and the measurement precision of the joint motion detection device is low.
In order to adapt to the actual condition of compact space in an operating room and the uncertainty of the position of a minimally invasive surgery incision, a passive device of a patient operating table connected with a mechanical arm of a patient mostly adopts a serial joint structure so as to realize the large-range adjustment of the space position of a stationary point of the mechanical arm of the patient. Due to structural defects, the conventional passive device of the patient operating table generally has insufficient structural strength and larger locking clearance; the defects of inflexible mechanical arm adjustment and limited motion range are overcome by optimizing the structure of a mounting platform of the mechanical arm of the patient to meet the requirement of modern minimally invasive surgery.
Disclosure of Invention
The invention aims to solve the technical problems that when a doctor operating table of the existing minimally invasive surgery robot is used, the doctor is not light to operate, the flexibility is low, the doctor is easy to fatigue, the rotating joint of a mechanical arm is large in size, the measurement precision of a joint motion detection device is low, the mechanical arm of a patient operating table is not flexible to adjust, and the motion range is limited.
The minimally invasive surgery robot system comprises a doctor operating table and a patient operating table, wherein the doctor operating table comprises a base, a handrail, a display screen, a left upright post, a right upright post, a left connecting seat, a right connecting seat, a left control end operating arm, a right control end operating arm and a touch control screen; the left control end operating arm and the right control end operating arm are symmetrically arranged;
the right control end operating arm and the left control end operating arm respectively comprise a first joint arm, a base, a rotating connecting seat, a second joint arm, a wrist, a first band-type brake, a second band-type brake, a first synchronous belt pulley, a second synchronous belt pulley, a third synchronous belt pulley, a fourth synchronous belt pulley, a fifth synchronous belt pulley, a sixth synchronous belt pulley, a connecting shaft, a first encoder, a second encoder, a third encoder, a second joint shaft, a connecting rod seat and a torsion spring;
the first band-type brake is fixedly connected with the base, the first synchronous belt pulley is fixedly connected with the base, the connecting shaft base is fixedly connected, and the first joint arm is rotatably connected with the connecting shaft through a bearing; the end part of a contracting brake shaft in the first contracting brake is fixedly connected with a first joint arm, and the middle part of the contracting brake shaft is connected with the base through a bearing; the first encoder is fixedly connected with the first joint arm, the second synchronous belt wheel is connected with a rotating shaft of the first encoder, and a synchronous belt is connected between the second synchronous belt wheel and the first synchronous belt wheel;
the second band-type brake is fixedly connected with the rotating connecting seat, the third synchronous belt pulley is fixedly connected with the rotating connecting seat, and the rotating connecting seat is rotatably connected with the first knuckle arm through a bearing; the brake contracting shaft of the second brake is fixedly connected with the first joint arm, and the middle part of the brake contracting shaft of the second brake is connected with the rotating connecting seat through a bearing; the second encoder is fixedly connected with the first joint arm, the fourth synchronous belt wheel is connected with a rotating shaft of the second encoder, and the fourth synchronous belt wheel is connected with the third synchronous belt wheel through a synchronous belt;
the second joint shaft is fixedly connected with the rotary connecting seat, the connecting rod seat is rotatably connected with the second joint shaft through a bearing, the fifth synchronous belt wheel is fixedly connected with the second joint shaft, the third encoder is fixedly connected with the second joint arm, the sixth synchronous belt wheel is connected with a rotating shaft of the third encoder, and the sixth synchronous belt wheel is connected with the fifth synchronous belt wheel through a synchronous belt; the torsion spring is sleeved on the second joint shaft, one end of the torsion spring is connected with the second joint shaft, and the other end of the torsion spring is connected with the connecting rod seat; the second joint arm is fixedly connected with the connecting rod seat;
the front part of the second joint arm bends a certain angle towards the first joint arm, and the wrist is connected with the front part of the second joint arm;
the patient operating table comprises a far-end passive adjusting device, a near-end passive adjusting device and a mechanical arm, wherein the far-end passive adjusting device comprises a base, a lifting upright post, a large rotation and a cross beam, the lifting upright post is connected with the base, and the cross beam is connected with the lifting upright post through the large rotation; the crossbeam comprises a crossbeam fixed end and a crossbeam sliding end, the crossbeam fixed end is connected with the big autorotation and can rotate along with the big autorotation, and the crossbeam sliding end is connected with the crossbeam fixed end through a linear module; the near-end passive adjusting device comprises a small autorotation device, a tail-end lifting device, a left instrument passive arm and an image passive arm, wherein the small autorotation device is connected with the sliding end of the cross beam, and the tail-end lifting device is connected with the small autorotation device; the tail end lifting device comprises a lifting support, and the lifting support is connected with a left lifting device and a middle lifting device; the left instrument passive arm is connected with the left lifting device, and the image passive arm is connected with the middle lifting device; the mechanical arm comprises a left instrument driving arm and an image driving arm, the left instrument driving arm is connected with a left instrument driven arm, and the image driving arm is connected with the image driven arm; the left instrument driving arm is arranged obliquely with respect to the left instrument passive arm, and the image driving arm is arranged obliquely with respect to the image passive arm.
Preferably, the wrist comprises a first L-shaped rod, a second L-shaped rod, a wrist fixing connecting rod, an opening and closing mechanism, a handle, a first bearing, a second bearing, a third bearing, a first motor, a second motor, a third motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first connecting shaft, a second connecting shaft, a fourth bearing and a third connecting shaft;
a third connecting shaft is fixedly connected with an opening and closing mechanism, one end of the third connecting shaft is rotationally connected with a first L-shaped rod through a first bearing, the other end of the third connecting shaft is rotationally connected with a handle through a fourth bearing, the first connecting shaft is fixedly connected with the first L-shaped rod, the first connecting shaft is rotationally connected with a second L-shaped rod through a second bearing, the second connecting shaft is fixedly connected with the second L-shaped rod, the second connecting shaft is rotationally connected with a wrist fixing connecting rod through a third bearing, a first motor is connected with the first L-shaped rod, a first synchronous pulley is fixedly connected with a third connecting shaft, a second synchronous pulley is fixedly connected with an output shaft of the first motor, a synchronous belt is connected between the first synchronous pulley and the second synchronous pulley, the second motor is connected with the second L-shaped rod, a second bevel gear is fixedly connected with an output shaft of the second motor, and a first bevel gear is fixedly connected with the first connecting shaft, the first bevel gear is meshed with the second bevel gear, the third bevel gear is connected with the wrist fixing connecting rod, the fourth bevel gear is fixedly connected with an output shaft of the third motor, the third bevel gear is fixedly connected with the second connecting shaft, and the third bevel gear is meshed with the fourth bevel gear.
The invention has the advantages of ensuring that the operation of doctors is more convenient and flexible, effectively reducing the operation fatigue of the doctors and ensuring the operation quality.
The control end operating arm has the advantages of light and handy structure, easy control, high precision, small volume and low cost, can accurately feed back the motion parameters of the mechanical arm joint in real time, and has the function of locking the joint. The invention is particularly suitable for the use conditions of low speed and light load, such as the rotating joint of the mechanical arm of a doctor of a minimally invasive surgery robot operated in a master-slave following mode.
The mechanical arm of the patient operating table is flexible to adjust and has a large movement range. The passive adjusting device has high strength and small locking clearance.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic structural diagram of a minimally invasive surgical robotic system;
FIG. 2 is a schematic structural view of a doctor's operating table;
FIG. 3 is a schematic structural diagram of a right control end operating arm;
FIG. 4 is a schematic view of the configuration of the joint between the first articulated arm and the base of the configuration of FIG. 3;
FIG. 5 is a schematic view of the structure shown in FIG. 3, wherein the rotation connecting seat is connected to the first joint arm;
FIG. 6 is a schematic view of the connection structure between the second joint arm and the rotary connecting seat in the structure shown in FIG. 3;
FIG. 7 is a schematic view of the structure of the wrist;
FIG. 8 is a cross-sectional view of the structure shown in FIG. 7;
FIG. 9 is a cross-sectional view of the structure shown in FIG. 7;
FIG. 10 is a schematic view of the overall construction of a patient table;
FIG. 11 is an exploded view of the patient table of FIG. 10;
FIG. 12 is a schematic structural view of a support column;
FIG. 13 is a schematic view of the construction of the end effector;
fig. 14 is a schematic view of the left-hand lifter of the end lifter of fig. 13;
fig. 15 is an overall structural schematic diagram of an image passive arm;
FIG. 16 is a schematic view of the patient table in a surgical procedure;
FIG. 17 is a schematic structural view of a small rotation and its braking device;
FIG. 18 is an exploded view of the structure shown in FIG. 17;
FIG. 19 is a cross-sectional view of a small rotation;
FIG. 20 is a schematic structural view of the brake assembly;
FIG. 21 is an exploded view of the brake assembly shown in FIG. 20;
FIG. 22 is a schematic representation of the structure of the left instrument active arm;
FIG. 23 is a schematic view of the support arm of the left instrument active arm;
FIG. 24 is a schematic view of the L-shaped link, first link, and second link of the active arm of the left hand implement in a collapsed configuration;
FIG. 25 is a schematic view of the construction of the instrument lift base;
FIG. 26 is a schematic view of the engagement of the drive gear with the driven gear in the implement elevator platform;
FIG. 27 is a schematic view of the left instrument active arm in a folded configuration with the L-shaped link, the first link, and the second link.
The symbols in the drawings illustrate that:
1. the synchronous belt type mechanical arm comprises a base, 2, a first joint arm, 3, a second joint arm, 4, a wrist, 5, a rotating connecting seat, 6, a first band-type brake, 7, a second band-type brake, 8, a connecting shaft, 9, a first synchronous pulley, 10, a second synchronous pulley, 11, a first encoder, 12, a synchronous belt, 13, a second encoder, 14, a third synchronous pulley, 15, a fourth synchronous pulley, 16, a synchronous belt, 17, a second joint shaft, 18, a connecting rod seat, 19, a torsion spring, 20, a bearing, 21, a fifth synchronous pulley, 22, a sixth synchronous pulley, 23, a third encoder, 24, a synchronous belt, 25, a locking button and 26, and a button frame, wherein the base is fixedly connected with the first joint arm, the second joint; 28. first axis of rotation, 29 second axis of rotation, 30 third axis of rotation.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1, the minimally invasive surgical robot system of the present invention includes a doctor console and a patient console, and is in a master-slave tracking mode in which the doctor operates the doctor console to move an instrument on the patient console by a boom to perform an operation.
As shown in fig. 2, the doctor operating table includes a base 100, an armrest 200, a display screen 300, a left upright 400, a right upright 500, a left connecting seat, a right connecting seat 600, a left control end operating arm 700, a right control end operating arm 800, and a touch control screen 900, wherein the armrest 200 is connected to the lifting mechanism of the base 100, the touch control screen 900 is connected to the armrest 200, the left upright 400 and the right upright 500 are respectively connected to the base 100, and the display screen 300 is connected to the left upright 400 through a bracket. The left connecting seat is connected with the lifting mechanism of the left upright column 400, the right connecting seat 600 is connected with the lifting mechanism of the right upright column 500, the left control end operating arm 700 is connected with the left connecting seat, and the right control end operating arm 800 is connected with the right connecting seat 600. The left control end operating arm 700 and the right control end operating arm 800 are symmetrically arranged so as to adapt to the left hand and the right hand of a doctor.
The left control end operating arm 700 and the right control end operating arm 800 have the same structure.
As shown in fig. 3, in the right control end operation arm, the rear end of the first joint arm 2 is articulated with the base 1, the first joint arm 2 can rotate on the horizontal plane by the first rotation axis 28, the second joint arm 3 is articulated with the rotation joint base 5, the second joint arm 3 can rotate on the vertical plane by the third rotation axis 30, the rotation joint base 5 is articulated with the front end of the first joint arm 2, and the rotation joint base 5 can rotate on the horizontal plane by the second rotation axis 29. The wrist 4 is connected to the second articulated arm 3. The third axis of rotation 30 is perpendicular to the direction of gravity. The first rotating axis 28 and the second rotating axis 29 are perpendicular to the ground, so that the influence of the gravity of the mechanical arm on the arm of a doctor is avoided, the doctor can operate more conveniently and flexibly, the surgical fatigue of the doctor is effectively reduced, and the surgical quality is ensured.
As shown in fig. 4, in the joint structure between the first joint arm and the base, the first band-type brake 6 is fixedly mounted on the base 1 through a screw, the first synchronous pulley 9 is fixedly connected with the base 1, the connecting shaft 8 is fixedly connected with the base 1 through a screw, the first joint arm 2 is rotatably connected with the connecting shaft 8 through a bearing, when the first joint arm 2 rotates, the connecting shaft 8 is not moved, and the first joint arm 2 horizontally rotates around the connecting shaft 8. The end part of a contracting brake shaft 6-1 of the first contracting brake 6 is fixedly connected with the first joint arm 2 through a screw, and the middle part of the contracting brake shaft is connected with the base 1 through a bearing. The first encoder 11 is fixedly arranged on the first joint arm 2, the second synchronous pulley 10 is connected with a rotating shaft of the first encoder 11, and the synchronous belt 12 is connected between the second synchronous pulley 10 and the first synchronous pulley 9. The first band-type brake 6 is provided with a band-type brake block and a shaft hole, the lower part of the band-type brake shaft is arranged in the shaft hole of the band-type brake and is connected with the band-type brake block through a flat key, and in a power-off state, the band-type brake block is tightly held and the band-type brake shaft is locked and cannot rotate; under the power-on state, the band-type brake block is released, and the band-type brake shaft can rotate under the support of the lower bearing. When the first joint arm 2 rotates, the brake shaft rotates, the synchronous belt 12 drives the second synchronous belt pulley 10 to rotate, and the first encoder 11 generates a signal. The main function of the band-type brake is to lock the first articulated arm 2 when the rotation of the first articulated arm 2 is not required.
The connecting shaft 8 may be mounted on some support of the surgical robotic system. The connecting shaft 8 is fixedly connected with the left connecting seat.
As shown in fig. 5, the second band-type brake 7 is fixedly mounted on the rotating connecting base 5 by a screw, the third synchronous pulley 14 is fixedly connected with the rotating connecting base 5, and the rotating connecting base 5 is rotatably connected with the first joint arm 2 by a bearing. The contracting brake shaft of the second contracting brake 7 is fixedly connected with the first joint arm 2 through a screw, and the middle part of the contracting brake shaft is connected with the rotating connecting seat 5 through a bearing. The second encoder 13 is fixedly arranged on the first joint arm 2, the fourth synchronous pulley 15 is connected with a rotating shaft of the second encoder 13, and the synchronous belt 16 is connected between the fourth synchronous pulley 15 and the third synchronous pulley 14. When the first joint arm 2 is still and the rotary connecting base 5 rotates, the second encoder 13 generates a signal.
As shown in fig. 5 and 6, the second joint shaft 17 is fixedly connected with the rotary connecting base 5 through a screw, the connecting rod base 18 is rotatably connected with the second joint shaft 17 through a bearing 20, the fifth synchronous pulley 21 is fixedly connected with the second joint shaft 17, the third encoder 23 is fixedly connected with the second joint arm 3, the sixth synchronous pulley 22 is connected with a rotating shaft of the third encoder 23, and the synchronous belt 14 is connected between the sixth synchronous pulley 22 and the fifth synchronous pulley 21. The torsion spring 19 is sleeved on the second joint shaft 17, one end of the torsion spring 19 is connected with the second joint shaft 17, and the other end of the torsion spring 19 is connected with the connecting rod seat 18. The second articulated arm 3 is fixedly connected with the connecting rod seat 18. The second articulated arm 3 is made to form a balance moment by the torsion spring 19, and the second articulated arm 3 can be kept horizontal in the horizontal direction without an artificial external force.
The second articulated arm 3 is not a linear arm, the front part 3-1 of the second articulated arm 3 is bent to the first articulated arm 2 by a certain angle, and an included angle of 110 and 145 degrees is formed between the front part 3-1 and the back part 3-2 of the second articulated arm 3. The wrist 4 is connected to the anterior portion 3-1 of the second articulated arm 3. The bending of the front portion 3-1 of the second joint arm 3 is mainly to consider the defects of the doctor mechanical arm in the invention application with application publication No. CN110403700A, the second arm rod 604 in the doctor mechanical arm in the prior art is designed in a straight line, when the doctor holds the wrist 4, the hand and the second arm rod 604 are almost in a perpendicular relationship, the hand and the forearm of the doctor are not in the same straight line, so that the hand and the forearm of the doctor are always in a tight state, and the doctor can feel fatigue when operating the device for a long time. In the invention, when a doctor holds the wrist 4, the hand and the forearm of the doctor are in a straight line state, the second joint arm 3 can be easily rotated to rotate along the third rotation axis 30, unnecessary fatigue feeling caused by the angle problem of the hand and the forearm can be avoided, and the safety and the operation accuracy in the operation process can be greatly improved.
The locking button 25 is installed on the first articulated arm 2 through the button frame 26, and the locking button 25 is connected with the main control circuit board, and control arm whole lift when the operator presses the locking button 25 with the finger, and the connecting axle 8 is installed on operation panel stand lift base, and when pressing the locking button 25, the stand integral key shaft band-type brake is loosened, but the holistic high position of manual adjustment arm this moment, when loosening the locking button 25, the band-type brake is closed, and the arm is locked in the vertical direction this moment.
The specific structure of the wrist 4 may be the one disclosed in the prior art, such as the utility model patent No. 201720723942.1 entitled "a master wrist". The wrist 4 may also adopt the following structure:
as shown in fig. 7 to 9, the wrist 4 includes a first L-shaped lever 401, a second L-shaped lever 402, a wrist fixing link 403, an opening and closing mechanism 404, a handle 405, a first bearing 406, a second bearing 407, a third bearing 408, a first motor 409, a second motor 410, a third motor 411, a first synchronous pulley 412, a second synchronous pulley 413, a synchronous belt 414, a tension pulley 415, a first bevel gear 416, a second bevel gear 417, a third bevel gear 418, a fourth bevel gear 419, a first connecting shaft 420, a second connecting shaft 421, a fourth bearing 422, a third connecting shaft 423, and a switching button 424.
A third connecting shaft 423 is fixedly connected with the opening and closing mechanism 404, one end of the third connecting shaft 423 is rotatably connected with the first L-shaped rod 401 through a first bearing 406, the other end of the third connecting shaft 423 is rotatably connected with the handle 405 through a fourth bearing 422, a first connecting shaft 420 is fixedly connected with the first L-shaped rod 401, the first connecting shaft 420 is rotatably connected with the second L-shaped rod 402 through a second bearing 407, a second connecting shaft 421 is fixedly connected with the second L-shaped rod 402, the second connecting shaft 421 is rotatably connected with the wrist fixing connecting rod 403 through a third bearing 408, the first motor 409 is fixedly mounted on the first L-shaped rod 401, the first synchronous pulley 412 is fixedly connected with the third connecting shaft 423, the second synchronous pulley 413 is fixedly connected with an output shaft of the first motor 409, the synchronous belt 414 is connected between the first synchronous pulley 412 and the second synchronous pulley 413, 415 is connected with the first L-shaped rod 401, and the synchronous belt 414 bypasses the tensioning pulley 415; the second motor 410 is fixedly arranged on the second L-shaped rod 402, the second bevel gear 417 is fixedly connected with an output shaft of the second motor 410, the first bevel gear 416 is fixedly connected with a first connecting shaft 420, the first bevel gear 416 is meshed with the second bevel gear 417, the third motor 411 is fixedly arranged on the wrist fixing connecting rod 403, the fourth bevel gear 419 is fixedly connected with an output shaft of the third motor 411, the third bevel gear 418 is fixedly connected with a second connecting shaft 421, and the third bevel gear 418 is meshed with the fourth bevel gear 419. The wrist fixing link 403 is fixedly mounted on the front portion 3-1 of the second articulated arm 3.
The handle 405 is constructed by using the structure of the grip 1412 disclosed in utility model patent No. 201921430578.5. The handle 405 is provided with a push button switch 405-1. The button switch 405-1 is used for controlling the connection relation between a master hand and a slave hand of the minimally invasive surgery robot system, when a doctor holds the handle 405 with his hand and presses the button with the little finger of the ring finger of the middle finger to connect a corresponding circuit, the connection relation between the control end operating arm and the slave mechanical arm of the minimally invasive surgery robot system is established, when the doctor operates the control end operating arm to move, the slave mechanical arm of the patient operating table moves along with the control end operating arm, and when the button switch 405-1 is released, the doctor operates the control end operating arm to move, and the slave mechanical arm (namely the instrument mechanical arm) does not move along with the control end operating arm.
The switching button 424 is connected to an end of the handle 405. The switching button 424 is used for switching two slave mechanical arms with different purposes of the surgical robot, and one hand can control the two slave mechanical arms with different purposes at any time.
The opening and closing mechanism 404 may be constituted by the opening and closing member 150 of the utility model patent No. 201922031109.2.
When a doctor holds the handle 405 with his hand, the thumb and the index finger pinch the two open-close flaps of the open-close mechanism 404, and then the entire open-close mechanism 404 is rotated (the open-close mechanism 404 rotates with the first rotation axis 4011), the third connecting shaft 423 rotates to rotate the output shaft of the first motor 409 through the synchronous belt mechanism, and the first motor 409 generates a signal and feeds the signal back to the control system of the surgical robot.
When the surgeon holds the handle 405 with his hand and rotates the first L-shaped bar 401 about the second axis of rotation 4021, the second motor 410 generates and feeds back signals to the control system of the surgical robot.
When the surgeon grasps the handle 405 and rotates the second L-bar 402 about the third axis of rotation 4031, the third motor 411 generates a signal and feeds it back to the control system of the surgical robot.
The wrist is designed according to the ergonomic concept, the vertical holding mode of 90 degrees in the prior art is changed into the mode of more fitting the motion track of the wrist of the human body at the angle of 145 degrees, so that the operation stagnation feeling fed back to the doctor by the wrist structure can be reduced when the doctor operates, the operation is more flexible and convenient, the comfort is improved, and the operation quality is ensured.
In the operation process, the doctor sits in doctor operation panel the place ahead, wears 3D glasses and watches the display screen, and doctor's arm is placed on the handrail, and the wrist is held to both hands, controls about the arm and carries out various operation operations. The height of the armrest can be independently adjusted by the lifting mechanism (for example, an electric push rod, an air spring and the like are adopted) so as to meet the operation requirements of different doctors. The height of the doctor mechanical arms can be independently adjusted through the corresponding lifting mechanisms so as to meet the operation requirements of different doctors and prevent the interference or the movement range of the two doctor mechanical arms from exceeding the working space in the operation process.
As shown in fig. 10 and 11, in order to adapt to the real situation of the compact environment in the operating room, the whole patient operating table adopts a suspended layout, and the whole structure mainly comprises three parts, namely a far-end passive adjusting device 1, a near-end passive adjusting device 2 and a mechanical arm 3. The mechanical arm 3 is connected with the near-end passive adjusting device 2 and is positioned above an operation area, and a user can flexibly adjust the position of the mechanical arm in a local range according to different operation positions of a patient before an operation. In order to reduce the pollution risk of an operation area and facilitate the installation of a sterile sleeve bag and surgical instruments by a doctor, the distance between the far-end passive adjusting device and the near-end passive adjusting device is far, and the position adjustment and locking of the mechanical arm in a large-range space can be realized under the operation of a user. Before an operation, the determination of the spatial positions of different points of the mechanical arm of a patient can be smoothly realized through the arrangement of the far-end passive adjusting device 1 and the near-end passive adjusting device 2.
The far-end passive adjusting device 1 is formed by connecting a series of moving and rotating joints in series, and the whole structure of the far-end passive adjusting device comprises a base 1.1, a lifting upright post 1.2, a large autorotation post 1.3 and a cross beam 1.4. The base 1.1 can realize the overall movement and position locking of the patient operating table. The lifting upright column 1.2 comprises a support column 1.2.1 and a movable cylinder 1.2.2, wherein the support column 1.2.1 and the base 1.1 are fixedly installed through a fastener and can move together with the base. The structure of the supporting column 1.2.1 is as shown in fig. 12, and mainly comprises three parts, namely an upright post weldment 1.2.1.1, a linear module 1.2.1.2 and a lifting motor 1.2.1.3, wherein the upright post weldment 1.2.1.1 is fixedly connected with the linear module 1.2.1.2 and a base through fasteners, and the lifting motor 1.2.1.3 is connected with a lead screw of the linear module 1.2.1.2 and can drive a sliding block of the linear module to reciprocate along the direction of an axis 1-1. The moving cylinder 1.2.2 is connected with the slide block of the linear module through a fastener and can reciprocate along the axis 1-1 along with the slide block of the linear module under the drive of the lifting motor, so that the overall height of the mechanical arm 3 of the patient operating table and the proximal end passive adjusting device 2 can be adjusted.
The large rotation 1.3 is connected with the cross beam 1.4 through a fastener, the large rotation 1.3 is connected with the top end of the movable cylinder 1.2.2 and can manually realize rotation and locking around the axis I1-1, the structure of the mechanical arm has the advantages of large locking torque and small gap, and the position precision of the mechanical arm in the operation process can be effectively ensured. Large autorotation 1.3 is the joint action.
The beam 1.4 comprises a beam fixed end 1.4.1 and a beam sliding end 1.4.2, wherein the beam fixed end 1.4.1 is fixedly connected with the large rotation 1.3 and can rotate around the axis 1-1 along with the large rotation. The beam fixing end 1.4.1 mainly comprises three parts, namely a beam weldment 1.4.1.1, a linear module 1.4.1.2 and a beam moving motor 1.4.1.3, wherein the beam weldment 1.4.1.1 is fixedly connected with the linear module and the autorotation 3 through fasteners, and the beam moving motor 1.4.1.3 is connected with a lead screw of the linear module 1.4.1.2 and can drive a sliding block of the linear module 1.4.1.2 to reciprocate along the direction of an axis 2-1. The sliding end 1.4.2 of the beam is connected with the slide block of the linear module 1.4.1.2 through a fastener and can reciprocate along the axis 2-1 together with the slide block of the linear module under the drive of the beam moving motor 1.4.1.3, so that the size adjustment of the mechanical arm of the patient operating table and the size adjustment of the proximal passive adjusting device in the horizontal direction can be realized.
The far-end passive adjusting device consisting of the base 1.1, the lifting upright column 1.2, the large rotation 1.3 and the cross beam 1.4 has the advantages of high structural strength, flexible adjustment and large range. The device not only can realize the large-scale movement of the mechanical arm and the near-end passive adjusting device in an operating room, but also can minimize the volume of the equipment by adjusting the positions of all joints, and the center of gravity is reduced to the lowest so as to be convenient for the transportation stability of the equipment.
The proximal end passive adjusting device 2 is also composed of a series of moving and rotating joints, and the whole structure of the proximal end passive adjusting device comprises a small rotation 1.5, a terminal lifting device 1.6, a left side instrument driven arm 1.7, a right side instrument driven arm 1.8 and an image driven arm 1.9, wherein the small rotation 1.5 is fixedly connected with a cross beam sliding end 1.4.2 through a fastener, the terminal lifting device 1.6 is connected with the small rotation 1.5, and the small rotation 1.5 can reciprocate along the axis 2-1 direction along with the cross beam sliding end 1.4.2. The proximal passive adjustment device 2 as a whole can rotate around the axis three 3-1 within a limited angular range and is locked by a small rotation 1.5.
The tail end lifting device 1.6 is formed by connecting three groups of mutually independent lifting devices with a gravity balance function in parallel, namely a left side lifting device 1.6.1, a right side instrument driven arm 1.8 and a middle lifting device 1.6.3, wherein the left side instrument driven arm 1.7 is fixedly connected with a spline shaft of the left side lifting device 1.6.1, the right side instrument driven arm 1.8 is fixedly connected with a spline shaft of the right side lifting device 1.6.2, and an image is fixedly connected with the spline shaft of the middle lifting device 1.6.3 by the movable arm 1.9, so that mutually independent lifting movement perpendicular to the xoy plane of the mechanical arm is realized, and the position of an immobile point is adjusted in the height direction. The three groups of lifting devices, namely the left lifting device 1.6.1, the right instrument driven arm 1.8 and the middle lifting device 1.6.3, have the same structure, the specific structure of each group of lifting devices is shown in fig. 14, and the band-type brake 1.6.12 is fixedly installed with the lifting bracket 1.6.4 through fasteners; spline 1.6.5 includes spline shaft 1.6.5.1 and spline seat 1.6.5.2, spline seat 1.6.5.2 is fixed with lifting bracket 1.6.4 through fasteners, spline shaft 1.6.5.1 can reciprocate along axis four 3-2; the ball screw 1.6.7 includes lead screw nut 1.6.7.1 and screw lever 1.6.7.2, and screw lever 1.6.7.2 is installed with lift support 1.6.4 through angular contact ball bearing 1.6.9 and bearing gland 1.6.10 to be connected with the band-type brake through band-type brake piece 1.6.11, in order to realize rotation and braking function. The lead screw nut 1.6.7.1 is connected with the spline shaft 1.6.5.1 through the connecting seat 1.6.6, and can move on the lead screw rod along with the movement of the spline shaft, so that the rotation of the lead screw rod is realized. Air spring 1.6.8 is installed at the other end of connecting seat 1.6.6, carries out gravity balance to elevating gear, and the output of air spring 1.6.8 is connected with lift support 1.6.4.
The left and right instrument passive arms 1.7, 1.8 may be conventional structures of the prior art, such as the structure disclosed in the utility model with patent number 201922030990.4 entitled translational mechanical arm.
The left instrument driving arm 1.10 and the right instrument driving arm 1.12 are respectively connected with the left instrument driven arm 1.7 and the right instrument driven arm 1.8, so that the mutually independent translational motion of the instrument driving arms parallel to the xoy plane is realized, and the position of the motionless point of the instrument driving arms is further adjusted in the horizontal direction.
The image driven arm 1.9 is positioned in the middle of the left instrument driven arm and the right instrument driven arm and is connected with the image driving arm 1.11. In order to adapt to the narrow space of the minimally invasive surgery operation area and avoid mutual collision of the mechanical arms in the surgery process as much as possible, the image driven arm 1.9 and the spline shaft of the middle lifting device 1.6.3 are fixedly arranged, and only the lifting motion perpendicular to the xoy plane can be realized, but the translation motion parallel to the xoy plane cannot be realized. The overall structure of the image driven arm 1.9 is as shown in fig. 15, the connecting rod 1.9.1 is mounted together with the connecting seat 1.9.2 through fasteners, the connecting seat 1.9.2 is connected with the image driving arm 1.11, the end of the connecting rod 1.9.1 is connected with the spline shaft 1.6.5.1 of the middle lifting device, the direction switch 1.9.3 and the button switch 1.9.4 are mounted on the upper portion and the side face of the connecting rod 1.9.1, wherein the button switch can simultaneously control the brake of the middle lifting device with large rotation 1.3 and 1.6.3 and the electric push rod of the small rotation joint with 1.5, so as to realize the movement and locking of the large rotation joint around the axis line one 1-1, the image driven arm along the axis line four 3-2 and the small rotation joint around the axis line three 3-1. The direction switch controls the forward and reverse rotation of the beam moving motor 1.4.1.3 to realize the reciprocating motion of the sliding end 1.4.2 of the beam along the axis 2-1.
The image driving arm 1.11 is integrally arranged in an inclined mode, and an included angle smaller than 90 degrees is formed between the image driving arm and the image driven arm 1.9. Correspondingly, the left instrument driving arm 1.10 is also arranged obliquely, and an included angle of less than 90 degrees exists between the left instrument driving arm 1.10 and the plane of the left instrument driven arm 1.7. Correspondingly, the right instrument driving arm 1.12 is also obliquely arranged, and an included angle of less than 90 degrees exists between the right instrument driving arm 1.12 and the plane of the right instrument driven arm 1.8.
In the actual use process, in order to avoid the false touch, an operator needs to control the button switch 1.9.4 and the direction switch 1.9.3 at the same time, and assist the manual operation, firstly the motionless point position of the image driving arm 1.11 coincides with the incision position of the patient, and then the motionless point position of the left-side instrument driving arm 1.10 and the motionless point position of the right-side instrument driving arm 1.12 coincide with other incision positions of the patient by manually adjusting the left-side lifting device 1.6.1, the right-side lifting device 1.6.2, the left-side instrument driven arm 1.7 and the right-side instrument driven arm 1.8, so that the spatial positioning of the mechanical arm is rapidly and effectively realized.
Fig. 16 is a schematic view showing a state in which the patient table is used for a surgical operation. Before the operation is started, puncture outfits respectively attached to the left instrument driving arm 1.10, the image driving arm 1.11 and the right instrument driving arm 1.12 are overlapped with the incision part of a patient through manual operation of the far-end passive adjusting device 1 and the near-end passive adjusting device 2, so that the space position of the immobile point of each mechanical arm is determined. In the actual operation process, a certain included angle alpha and a certain included angle gamma are naturally formed between the driving arm of the left/right instrument and the driving arm of the image, so that the requirement of a doctor on operating the mechanical arm to perform minimally invasive operation on a patient is met. Therefore, before the operation is started, the operator needs to adjust the relative positions of all joints of the mechanical arm and determine the initial posture of the mechanical arm, so that the direction of the puncture outfit penetrating into the incision of the patient is at a reasonable angle, and the operation of a doctor is facilitated.
Because the structure of the mechanical arm is limited, the rotation angle of each joint can be limited within a certain range, and in order to meet the requirement of a movement space of a surgical instrument relative to the position (the position of an immobile point) of a surgical incision of a patient in the surgical process, when an operator adjusts the initial posture of the mechanical arm, the locking position of each joint is in the middle position of the rotation range as far as possible. In order to meet the requirement as far as possible, an included angle theta is arranged between the image driving arm and the image driven arm, so that the position of the motionless point of the image driving arm is raised and extends forwards, and included angles theta and beta are also arranged between the left/right instrument driving arm and the image driven arm, so that the position of the motionless point of the instrument driving arm is raised and extends forwards and is close to the motionless point of the image driving arm. Through the design, when each joint of the mechanical arm is in the middle position of the rotation range, the posture and the mutual position of each mechanical arm basically meet the requirements of an operator, so that the joint adjustment amount is reduced, and the aim of expanding the movement range of the mechanical arm relative to the position of the surgical incision of the patient is fulfilled.
As shown in fig. 17-21, the small rotation 1.5 is mounted on the beam sliding end 1.4.2 through four screws 5; the brake component 3 is arranged on the sliding end 1.4.2 of the cross beam through a screw, and the electric push rod component 4 is arranged on the sliding end 1.4.2 of the cross beam through a screw 7. The small rotation 1.5 comprises a supporting seat 8, a rotating shaft 9, a bearing gasket 10, a locking nut 11, a bearing gland 12, a deep groove ball bearing 14 and two tapered roller bearings 13 which are installed in pairs. The supporting seat 8 is fixedly connected with the sliding end 1.4.2 of the cross beam through a screw 5. The deep groove ball bearing 14 is connected with the lower part of the rotating shaft 9, and the outer ring of the deep groove ball bearing 14 is matched with the sliding end 1.4.2 of the cross beam. The two tapered roller bearings 13 are sleeved on the upper portion of the rotating shaft 9, the bearing gasket 10 is located between the two tapered roller bearings 13, and the outer rings of the tapered roller bearings 13 are matched with the inner wall of the supporting seat 8. The bearing gland 12 is fixedly connected with the top of the supporting seat 8 through a screw, and the lower end of the bearing gland 12 presses the outer ring of the tapered roller bearing 13 downwards. The lock nut 11 is connected to the upper end of the rotary shaft 9. The tapered roller bearing outer ring installed inside is axially positioned by the bearing gland 12 and the bearing gasket 10. The rotating shaft 9 is matched with inner rings of a tapered roller bearing 13 and a deep groove ball bearing 14, and is axially positioned through a locking nut 11. Therefore, when the rotating shaft assembly is installed at the sliding end 1.4.2 of the cross beam, the rotating shaft 9 in the rotating shaft assembly can rotate around the axis. The brake assembly 3 includes a base 15, a left brake pad 16, a right brake pad 17, a left push rod 18, a right push rod 19, and a cylindrical pin 20. The left brake piece 16 and the right brake piece 17 are fixedly connected with the base 15 through cylindrical pins. The left push rod 18 is rotatably connected with the left brake block 16 through a cylindrical pin, and the right push rod 19 is rotatably connected with the right brake block 17 through a cylindrical pin 20. The left push rod 18 and the right push rod 19 can rotate freely around the axes 16-1 and 17-1 respectively. The left brake block 16 and the right brake block 17 are made of elastic wear-resistant materials and can be elastically deformed after being subjected to external force, and the external force is removed to restore the original position. The base 15 is provided with a threaded hole and is assembled with the sliding end 1.4.2 of the cross beam through a screw 6. The left and right brake pads 16 and 17 surround the rotating shaft 9. The electric push rod assembly 4 comprises a left electric push rod 21 and a right electric push rod 22, the left electric push rod 21 is over against the left push rod 18, and the right electric push rod 22 is over against the right push rod 19. The rotating shaft 9 is fixedly connected with the lifting bracket 1.6.4, when the rotating shaft 9 needs to be braked, the left electric push rod 21 and the right electric push rod 22 extend out simultaneously to push the rear parts of the left push rod 18 and the right push rod 19 of the brake assembly 3, so that the left brake pad 16 and the right brake pad 17 are elastically deformed and tightly hold the rotating shaft 9, and the rotating shaft 9 is locked (no relative motion exists between the rotating shaft 9 and the two brake pads). The electric push rod has small telescopic stroke and short complete extending time, so that the effective braking of the rotating shaft can be realized in a short time. When the brake needs to be released, the left electric push rod 21 and the right electric push rod 22 are controlled to be retracted simultaneously, the left brake pad 16 and the right brake pad 17 are separated from the rotating shaft under the action of the elasticity of the left brake pad and the right brake pad, and the rotating shaft 9 can rotate freely.
Taking the left instrument driving arm 1.10 as an example, a specific implementation structure of the instrument driving arm is described: as shown in fig. 22-27, the left instrument driving arm 1.10 comprises a supporting arm a3, an L-shaped rod 4, a first connecting rod 5, a second connecting rod 6, an instrument lifting seat 7, a quick-change device 8, a poking card 9 and a puncture outfit 10. The first connecting rod 5 is connected with the lower end of the L-shaped rod 4 through a rotary joint, the second connecting rod 6 is connected with the first connecting rod 5 through a rotary joint, and the instrument lifting seat 7 is connected with the second connecting rod 6 through a rotary joint. The instrument lifting seat 7 is provided with a stop button 7-11 and an indicator light 7-12, the stop button can control the motor brake at each joint, and the position of each joint can be manually moved by pressing the stop button. The indicator lights 7-12 are indicator lights capable of displaying different colors, and an operator can judge the state of the mechanical arm through the indicator lights with different colors. The supporting arm A3 comprises a rotating base A3-1, a rotating driving motor 3-2, a rotating shaft 3-3, a first bevel gear 3-4 and a second bevel gear 3-5, wherein the rotating driving motor 3-2 is fixedly installed on the rotating base A3-1, the rotating shaft 3-3 is rotatably connected with the rotating base A3-1 through a bearing, the first bevel gear 3-4 is fixedly connected with the rotating shaft 3-3, the second bevel gear 3-5 is fixedly connected with an output shaft of the rotating driving motor 3-2, and the second bevel gear 3-5 is meshed with the first bevel gear 3-4. The rotary drive motor 3-2 is operative to drive the rotary shaft 3-3 in rotation about an axis-3-6 direction. The L-shaped rod 4 is fixedly connected with the rotating shaft 3-3. A connecting rod driving motor 4-1 is fixed on the L-shaped rod, a driving wheel 4-2 is fixed on a driving wheel shaft 4-3 through a screw (the driving wheel shaft 4-3 is fixedly connected with an output shaft of the connecting rod driving motor 4-1), a steel wire 4-4 bypasses the driving wheel 4-2 and a driven wheel 4-5, the driven wheel 4-5 is fixed on a driven wheel shaft of a joint through a set screw, and the driven wheel is also fixed at the other end of the driven wheel shaft, so that the connecting rod driving motor 4-1 can drive a first connecting rod 5 to rotate around a shaft axis II 4-6. The second connecting rod 6 is connected with the first connecting rod 5 through the steel wire rope transmission mechanism, and the second connecting rod 6 can rotate around the axis three 5-3. The instrument lifting seat 7 is connected with the second connecting rod 6 through the steel wire rope transmission mechanism, and the instrument lifting seat 7 can rotate around an axis line IV 6-4. The link driving motor 4-1 is operated to rotate the first link 5 around the axis two 4-6, simultaneously rotate the second link 6 around the axis three 5-3, simultaneously rotate the instrument lifting seat 7 around the axis four 6-4 through a transmission mechanism, thereby realizing the extension or folding of the first link 5, the second link 6 and the instrument lifting seat 7, wherein the transmission mechanism can adopt a synchronous belt transmission mechanism shown in figure 17 in the invention patent with the patent number of 201711314225.4. The structure of the instrument lifting seat 7 comprises a slide rail assembly 7-2, a base 7-1, a lead screw 7-3, a bearing, a lead screw nut 7-4, a lead screw 7-3, a support frame, a motor, a driving gear 7-5, a driven gear 7-6, a lead screw 7-3, a driving gear 7-5, a driven gear 7-6 and a quick-change device 8, wherein the slide rail assembly 7-2 is mounted on the base 7-1 through screws, two ends of the lead screw 7-3 are connected with the base 7-1 through the bearing, the lead screw nut 7-4 is connected with a slide block of the slide rail assembly 7-2 through the support frame, the bottom of the instrument lifting seat 7 is fixedly mounted with the motor. The quick-change device 8 is fixedly connected with a screw nut 7-4 of the instrument lifting seat 7 through a support and is used for installing surgical instruments, instrument rods of the surgical instruments penetrate through the puncture outfit 10, the puncture outfit 9 is connected with the instrument lifting seat 7, and the puncture outfit 10 is installed on the puncture outfit 9. The quick-change device 8 can adopt a structure disclosed in a utility model patent with the patent number of 201922031305. X. This surgical instruments arm changes traditional full horizontal foldable design, and apparatus lift seat 7 is leading, and apparatus lift seat 7 is located the inboard of second connecting rod 6, has saved horizontal space, is independent of the quick change joint relatively the arm wholly for when changing surgical instruments in the art, the replacer has more sufficient space to operate, guarantees the convenience of operation, rapidity. Referring to fig. 24 and 27, when the first link 5, the second link 6 and the instrument lift seat 7 are folded, the L-shaped bar 4, the first link 5 and the second link 6 are located in the same plane, the instrument lift seat 7 is not located in the plane, and the instrument lift seat 7 is not parallel to the plane but has a certain angle with the plane. Referring to fig. 22, when the first link 5, the second link 6 and the instrument lift 7 are extended (moved in the lower right direction in fig. 22), the first link 5 rotates clockwise with respect to the L-shaped bar 4, the second link 6 rotates counterclockwise with respect to the first link 5, and the instrument lift 7 rotates clockwise with respect to the second link 6. Conversely, when the first link 5, the second link 6 and the instrument lift seat 7 are folded, the first link 5 rotates counterclockwise with respect to the L-shaped lever 4, the second link 6 rotates clockwise with respect to the first link 5, and the instrument lift seat 7 rotates counterclockwise with respect to the second link 6.
Claims (4)
1. A minimally invasive surgery robot system comprises a doctor operating table and a patient operating table, and is characterized in that the doctor operating table comprises a base, a handrail, a display screen, a left stand column, a right stand column, a left connecting seat, a right connecting seat, a left control end operating arm, a right control end operating arm and a touch control screen, the handrail is connected with a lifting mechanism of the base, the touch control screen is connected with the handrail, the left stand column and the right stand column are respectively connected with the base, the display screen is connected with the left stand column through a support, the left connecting seat is connected with the lifting mechanism of the left stand column, the right connecting seat is connected with the lifting mechanism of the right stand column, the left control end operating arm is connected with the left connecting seat, and the right control end operating arm is connected with the right connecting seat; the left control end operating arm and the right control end operating arm are symmetrically arranged;
the right control end operating arm and the left control end operating arm respectively comprise a first joint arm, a base, a rotating connecting seat, a second joint arm, a wrist, a first band-type brake, a second band-type brake, a first synchronous belt pulley, a second synchronous belt pulley, a third synchronous belt pulley, a fourth synchronous belt pulley, a fifth synchronous belt pulley, a sixth synchronous belt pulley, a connecting shaft, a first encoder, a second encoder, a third encoder, a second joint shaft, a connecting rod seat and a torsion spring;
the first band-type brake is fixedly connected with the base, the first synchronous belt pulley is fixedly connected with the base, the connecting shaft base is fixedly connected, and the first joint arm is rotatably connected with the connecting shaft through a bearing; the end part of a contracting brake shaft in the first contracting brake is fixedly connected with a first joint arm, and the middle part of the contracting brake shaft is connected with the base through a bearing; the first encoder is fixedly connected with the first joint arm, the second synchronous belt wheel is connected with a rotating shaft of the first encoder, and a synchronous belt is connected between the second synchronous belt wheel and the first synchronous belt wheel;
the second band-type brake is fixedly connected with the rotating connecting seat, the third synchronous belt pulley is fixedly connected with the rotating connecting seat, and the rotating connecting seat is rotatably connected with the first joint arm through a bearing; the brake contracting shaft of the second brake is fixedly connected with the first joint arm, and the middle part of the brake contracting shaft of the second brake is connected with the rotating connecting seat through a bearing; the second encoder is fixedly connected with the first joint arm, the fourth synchronous pulley is connected with a rotating shaft of the second encoder, and the fourth synchronous pulley is connected with the third synchronous pulley through a synchronous belt;
the second joint shaft is fixedly connected with the rotary connecting seat, the connecting rod seat is rotatably connected with the second joint shaft through a bearing, the fifth synchronous pulley is fixedly connected with the second joint shaft, the third encoder is fixedly connected with the second joint arm, the sixth synchronous pulley is connected with a rotating shaft of the third encoder, and the sixth synchronous pulley is connected with the fifth synchronous pulley through a synchronous belt; the torsion spring is sleeved on the second joint shaft, one end of the torsion spring is connected with the second joint shaft, and the other end of the torsion spring is connected with the connecting rod seat; the second joint arm is fixedly connected with the connecting rod seat;
the front part of the second joint arm bends a certain angle towards the first joint arm, and the wrist is connected with the front part of the second joint arm;
the patient operating table comprises a far-end passive adjusting device, a near-end passive adjusting device and a mechanical arm, wherein the far-end passive adjusting device comprises a base, a lifting upright post, a large autorotation and a cross beam, the lifting upright post is connected with the base, and the cross beam is connected with the lifting upright post through the large autorotation; the crossbeam comprises a crossbeam fixed end and a crossbeam sliding end, the crossbeam fixed end is connected with the big autorotation and can rotate along with the big autorotation, and the crossbeam sliding end is connected with the crossbeam fixed end through a linear module; the near-end passive adjusting device comprises a small autorotation device, a tail-end lifting device, a left instrument passive arm and an image passive arm, wherein the small autorotation device is connected with the sliding end of the cross beam, and the tail-end lifting device is connected with the small autorotation device; the tail end lifting device comprises a lifting support, and the lifting support is connected with a left lifting device and a middle lifting device; the left instrument passive arm is connected with the left lifting device, and the image passive arm is connected with the middle lifting device; the mechanical arm comprises a left instrument driving arm and an image driving arm, the left instrument driving arm is connected with a left instrument driven arm, and the image driving arm is connected with an image driven arm; the left instrument driving arm is arranged obliquely relative to the left instrument passive arm, and the image driving arm is arranged obliquely relative to the image passive arm.
2. The minimally invasive surgical robotic system according to claim 1, wherein the wrist comprises a first L-shaped rod, a second L-shaped rod, a wrist fixing link, an opening and closing mechanism, a handle, a first bearing, a second bearing, a third bearing, a first motor, a second motor, a third motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first connecting shaft, a second connecting shaft, a fourth bearing and a third connecting shaft;
the third connecting shaft is fixedly connected with the opening and closing mechanism, one end of the third connecting shaft is rotatably connected with the first L-shaped rod through a first bearing, the other end of the third connecting shaft is rotatably connected with the handle through a fourth bearing, the first connecting shaft is fixedly connected with the first L-shaped rod, the first connecting shaft is rotatably connected with the second L-shaped rod through a second bearing, the second connecting shaft is fixedly connected with the second L-shaped rod, the second connecting shaft is rotatably connected with the wrist fixing connecting rod through a third bearing, the first motor is connected with the first L-shaped rod, the first synchronous pulley is fixedly connected with the third connecting shaft, the second synchronous pulley is fixedly connected with an output shaft of the first motor, the synchronous belt is connected between the first synchronous pulley and the second synchronous pulley, the second motor is connected with the second L-shaped rod, and the second bevel gear is fixedly connected with an output shaft of the second motor, the first bevel gear is fixedly connected with the first connecting shaft, the first bevel gear is meshed with the second bevel gear, the third bevel gear is connected with the wrist fixing connecting rod, the fourth bevel gear is fixedly connected with an output shaft of the third motor, the third bevel gear is fixedly connected with the second connecting shaft, and the third bevel gear is meshed with the fourth bevel gear.
3. The minimally invasive surgical robotic system according to claim 1, wherein the patient table further comprises a right instrument driving arm, the tip elevating device further comprises a right elevating device, the right instrument driven arm is connected with the right elevating device, and the right instrument driving arm is connected with the right instrument driven arm.
4. The minimally invasive surgical robot system according to claim 1, wherein the left instrument driving arm comprises a support arm, an L-shaped rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick-change device, a poking card and a puncture outfit, the first connecting rod is connected with the lower end of the L-shaped rod through a rotary joint, the second connecting rod is connected with the first connecting rod through a rotary joint, and the instrument lifting seat is connected with the second connecting rod through a rotary joint; the instrument lifting seat is positioned on the inner side of the second connecting rod;
the supporting arm comprises a rotating base, a rotating driving motor, a rotating shaft, a first bevel gear and a second bevel gear, the rotating driving motor is fixedly connected to the rotating base, the rotating shaft is rotatably connected with the rotating base through a bearing, the first bevel gear is fixedly connected with the rotating shaft, the second bevel gear is fixedly connected with an output shaft of the rotating driving motor, and the second bevel gear is meshed with the first bevel gear;
the L-shaped rod is fixedly connected with the rotating shaft;
the L-shaped rod is connected with a connecting rod driving motor, and the connecting rod driving motor acts to extend or fold the first connecting rod, the second connecting rod and the instrument lifting seat through a transmission mechanism;
the quick-change device is connected with the instrument lifting seat, the stabbing card is connected with the instrument lifting seat, and the puncture outfit is connected with the stabbing card.
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| CN202011259510.2A CN112370168A (en) | 2020-11-12 | 2020-11-12 | Minimally invasive surgery robot system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113081289A (en) * | 2021-04-06 | 2021-07-09 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
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| CN113081289A (en) * | 2021-04-06 | 2021-07-09 | 天津大学医疗机器人与智能系统研究院 | Main operation arm for surgical robot |
| CN113081289B (en) * | 2021-04-06 | 2022-10-25 | 山东威高手术机器人有限公司 | Main operation arm for surgical robot |
| CN114533269A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | RCM positioning mechanism of surgical robot |
| CN114533269B (en) * | 2021-09-13 | 2023-10-31 | 广西大学 | RCM positioning mechanism of surgical robot |
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| CN113786243A (en) * | 2021-11-18 | 2021-12-14 | 青岛大学附属医院 | Main hand transport vehicle of miniaturized remote operation robot |
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| CN116712175A (en) * | 2023-06-15 | 2023-09-08 | 哈尔滨工业大学 | Operation arm facing to otology operation robot |
| CN116712175B (en) * | 2023-06-15 | 2024-03-19 | 哈尔滨工业大学 | Operation arm facing to otology operation robot |
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