CN112702972A - 外科机器人系统 - Google Patents
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Abstract
本发明提供了一种外科机器人系统,该外科机器人系统包括:细长滑动件;用于支撑器械驱动单元的滑架;驱动马达,该驱动马达可操作地联接到滑架并被构造成驱动滑架相对于滑动件的移动;以及马达释放机构,该马达释放机构被构造成选择性地使驱动马达从滑架脱开,以允许滑架沿滑动件的手动移动。
Description
背景技术
外科机器人系统已用于微创医疗手术中。一些外科机器人系统包括控制台和外科器械,控制台支撑外科机器人臂,外科器械具有安装到机器人臂的至少一个端部执行器(例如,夹钳或抓持工具)。机器人臂向外科器械提供机械动力以用于其操作和移动。
手动操作的外科器械通常包括用于致动外科器械的功能的柄部组件。然而,当使用机器人外科系统时,通常没有柄部组件来致动端部执行器的功能。因此,为了将每个独特的外科器械与机器人外科系统一起使用,使用器械驱动单元与所选的外科器械进行交互以驱动外科器械的操作。
器械驱动单元通常经由滑动件联接到机器人臂。滑动件允许器械驱动单元和所附接的外科器械沿滑动件的轴线移动,从而提供用于调整外科器械的端部执行器相对于患者的轴向位置的方式。
发明内容
根据本公开的一个方面,提供了一种外科机器人系统,该外科机器人系统包括限定纵向轴线的细长滑动件、用于支撑器械驱动单元的滑架、驱动马达以及马达释放机构。滑架联接到滑动件并能够沿纵向轴线相对于滑动件移动。驱动马达可操作地联接到滑架并被构造成驱动滑架相对于滑动件的移动。马达释放机构被构造成选择性地使驱动马达从滑架脱开,以允许滑架沿滑动件的手动移动。
在各个方面,该系统还可包括可操作地联接驱动马达和滑架的滑轮。马达释放机构的启动可使滑轮从驱动马达脱开。
在某些方面,该系统还可包括能够由驱动马达旋转的马达输出构件。马达释放机构的启动可使滑轮相对于马达输出构件从第一位置滑动到第二位置。在第一位置,滑轮和马达输出构件能够相互旋转,并且在第二位置,滑轮能够相对于马达输出构件独立地旋转。
该系统还可包括将滑轮与马达输出构件不可旋转地联接的扭矩传递销。滑轮可被构造成沿扭矩传递销在第一位置与第二位置之间滑动。
在各个方面,该系统还可包括设置在滑轮与马达输出构件之间的单向轴承。单向轴承可被构造成允许滑轮相对于马达输出构件在第一方向上的旋转并阻止滑轮相对于马达输出构件在第二方向上的旋转。
单向轴承可设置在滑轮内,并且马达输出构件可延伸穿过单向轴承和滑轮。
在某些方面,单向轴承可非旋转地固定到马达输出构件。
在各个方面,马达释放机构可包括通过滑轮轴向保持并通过螺纹联接到马达输出构件的毂部。毂部的旋转可使滑轮相对于马达输出构件在第一位置与第二位置之间移动。
马达释放机构还可包括被构造成滑入和滑出与毂部的不可旋转接合的旋钮。
在各个方面,该系统还包括可操作地联接到滑轮并固定到滑架的皮带,使得皮带的移动驱动滑架沿侧面的移动。
该系统还可包括机器人臂,该机器人臂具有联接到其上的滑动件。
在本公开的另一方面,一种外科机器人系统包括机器人臂、联接到机器人臂的端部部分的细长滑动件、驱动马达、滑轮以及马达释放机构。滑轮可操作地联接到驱动马达并被构造成驱动器械驱动单元沿滑动件的移动。马达释放机构被构造成选择性地使滑轮从驱动马达脱开,以允许滑轮相对于驱动马达的手动旋转。
该系统还可包括可操作地联接到滑轮并固定地联接到器械驱动单元的皮带,使得皮带的移动驱动器械驱动单元沿侧面的移动。
下文将参照附图更详细描述本公开的示例性实施方案的更多细节和方面。
如本文所用,术语平行和垂直应理解为包括基本上平行和基本上垂直的相对构型,其相对于真平行和真垂直相差最多约+10度或-10度。
附图说明
本文结合附图描述了本公开的实施方案,其中:
图1是根据本公开的外科机器人系统的示意图,该外科机器人系统包括联接到滑动件的器械驱动单元;
图2是器械驱动单元以及联接到滑动件的示例性实施方案的相关联外科器械的前视图;
图3是联接到图2的滑动件的滑架的侧视图,其中零件被移除;
图4是联接到滑动件的滑架的前视图,其中零件被移除;
图5是滑动件的侧视图,其中滑动件的外轴以虚线示出,示出了滑动件的内轴;
图6是滑动件的侧视图,示出了外科机器人系统的皮带和滑轮系统;
图7是联接到滑动件的滑架的侧透视图,其中零件被移除,示出了处于延伸构型的滑动件以及处于上升位置的滑架;
图8是联接到机器人臂的一部分的滑动件的透视图,示出了与图6的皮带和滑轮系统一起使用的马达释放机构;
图9是沿图8中的线9-9截取的图8中的马达释放机构以及图6中的皮带和滑轮系统的部件的剖视图;
图10A是图8中的马达释放机构以及图6中的皮带和滑轮系统的部件的剖视图,示出了处于停用状态的马达释放机构;并且
图10B是图8中的马达释放机构以及图6中的皮带和滑轮系统的部件的剖视图,示出了处于启动状态的马达释放机构。
具体实施方式
参考附图详细描述了本发明所公开的外科机器人系统及其使用方法的实施方案,其中若干视图的每个视图中类似的附图标记代表相同或对应的要素。如本文所用,术语“近侧”是指外科机器人系统或其部件的最靠近临床医生的部分,而术语“远侧”是指外科机器人系统或其部件的远离临床医生的部分。
如下文将详述,提供了一种外科机器人系统,该外科机器人系统包括:机器人臂;联接到机器人臂的细长滑动件或导轨;用于驱动器械驱动单元沿滑动件的移动的皮带和滑轮系统;以及用于选择性地使皮带和滑轮系统从驱动马达脱开的马达释放机构。在紧急情况(例如,断电)期间,马达释放机构可启动,以允许器械驱动单元沿滑动件的手动移动。马达释放机构包括单向轴承,该单向轴承允许器械驱动单元在远离患者的方向上的手动移动并阻止器械驱动单元在朝向患者的方向上的手动移动。
首先参见图1,外科系统诸如例如外科机器人系统1通常包括:多个外科机器人臂2、3,该多个外科机器人臂具有器械驱动单元20和可移除地附接到其上的机电器械10;控制装置4;以及与控制装置4联接的操作控制台5。操作控制台5包括:显示装置6,该显示装置被特别设置为显示三维图像;以及手动输入装置7、8,通过手动输入装置,人(未示出)例如外科医生能够以第一操作模式远程操纵机器人臂2、3,如本领域技术人员原则上已知的那样。
机器人臂2、3中的每个机器人臂可由通过接头连接的多个构件构成。机器人臂2、3可由连接到控制装置4的电驱动器(未示出)驱动。控制装置4(例如,计算机)可被设置为启动驱动器,具体地讲是通过计算机程序来启动,使得机器人臂2、3、所附接的器械驱动单元20以及因此机电器械10根据通过手动输入装置7、8定义的移动来执行期望的移动。控制装置4也可以使得其调节机器人臂2、3和/或驱动器的移动的方式进行设置。
外科机器人系统1被构造用于躺在手术台“ST”上的患者“P”,该患者通过,例如机电器械10的外科器械以微创方式进行治疗。外科机器人系统1也可包括两个以上机器人臂2、3,这些额外的机器人臂同样连接到控制装置4并可通过操作控制台5进行远程操纵。外科器械例如机电外科器械10(包括机电端部执行器(未示出))也可附接到额外的机器人臂。
控制装置4可控制多个马达,例如马达(马达1…n),其中每个马达被构造成驱动机器人臂2、3在多个方向上的移动。此外,控制装置4可控制器械驱动单元20的多个马达(未明确示出)以驱动外科器械10的各种操作。器械驱动单元20将功率和致动力从其马达传递到机电器械10的从动构件(未示出),以最终驱动机电器械10的端部执行器(未示出)的部件的移动,例如刀片(未示出)的移动和/或端部执行器的钳口构件(未示出)的开合。
为了更详细地描述示例性机器人外科系统的部件的构造和操作,可参考名称为“Medical Workstation”的美国专利号8828023(下文称为“'023专利”)以及2017年5月23日提交的名称为“Robotic Surgical Assemblies”的国际专利公布WO2017/205308A1(下文称为“‘308公布”),每项专利的全部内容以引用方式并入本文。
参考图2至图7,外科机器人系统1包括:滑架30,其上支撑或承载器械驱动单元20;和滑动件100,其支撑滑架30。滑架30被构造成将器械驱动单元20固定到其上,使得滑架30沿滑动件100并相对于该滑动件的移动致使器械驱动单元20与该滑架一起移动。滑架30可滑动地联接到线性轨道102,该线性轨道沿滑动件100的外套筒106纵向限定,如下文将述。
滑动件100可具有大致矩形的形状,并且由内轴104和围绕内轴104设置的外套筒或护套106构造。在实施方案中,滑动件100可呈现任何合适的形状,诸如例如管状或圆柱形。内轴104以固定方式或可旋转方式联接到机器人臂2(图1)的端部。内轴104具有底端部分140a和顶端部分104b,并且在它们之间限定纵向轴线“X”。内轴104可具有约等于常规滑动件的一半长度的总长度。
滑动件100的外套筒106围绕内轴104设置并且可伸缩地联接到其上。这样,外套筒106能够沿内轴104的纵向轴线“X”并相对于其在如图3所示的回缩位置与如图7所示的延伸位置之间滑动。当外套筒106处于回缩位置时,滑动件具有基本上等于常规滑动件(例如,如'023专利和'308公布所示和所述)的约一半长度的第一长度“L1”(图3),并且当外套筒处于延伸位置时,滑动件100具有基本上等于常规滑动件的约全长的第二长度“L2”(图7)。
滑动件100的外套筒106限定纵向延伸轨道102。外套筒106的轨道102可以是单条导轨或一对平行导轨。如上所述,滑架30可滑动地联接到外套筒106的轨道102。更具体地讲,滑架30具有从其后侧延伸并穿过外套筒106的细长狭槽108的联接构件或凸缘32。滑架30的联接构件32被接纳在外套筒106的内腔110(图7)中,并且固定到滑动件100的皮带和滑轮系统114的皮带或缆线112,用于驱动滑架30在上升位置与下降位置之间移动,对此将进行详述。
细长狭槽108沿外套筒106的长度限定,并且与轨道102平行地在外套筒106的底端部分106a与外套筒106的顶端部分106b之间延展。外套筒106的细长狭槽108具有限定表面特征部116的上限,该表面特征部阻止滑架30上升超过该上限。在实施方案中,表面特征部116可以是从外套筒106的顶端部分106b向外延伸的突出部。在滑架30的联接构件32接触表面特征部116时,在向上方向上对滑架30施加的阈值力致使外套筒106相对于内轴104升高。
顶端部分106b还可包括锁定特征部118,诸如例如辊扣件、磁闩锁等。锁定特征部118被构造成当滑架30进入上升位置时,选择性地将滑架30锁定到外套筒106的顶端部分106b。这样,在外套筒106相对于内轴104处于延伸位置的情况下,如图7所示,经由皮带112对滑架30施加的向下力致使外套筒106与滑架30一起向下移动,这是由于锁定特征部118将外套筒106和滑架30彼此锁定。在外套筒106的底端部分106a在内轴104的底端部分104a上触底时,锁定特征部118释放滑架30,以允许滑架30沿外套筒106的轨道102下降。
参考图5至图7,示出了滑动件100的皮带和滑轮系统114或动力传动系统。动力传动系统114可操作地联接到设置在内轴104的底端部分104a中的驱动马达120。动力传动系统114包括联接到外轴106的一对第一滑轮114a和第二滑轮114b以及联接到内轴104的第三滑轮114c。第一滑轮H4a轴向固定并可旋转地联接到滑动件100的外套筒106的顶端部分106b,并且第二滑轮H4b轴向固定并可旋转地联接到外套筒106的底端部分1Oba。这样,随着外套筒106相对于内轴104朝延伸位置移动,第一滑轮H4a和第二滑轮H4b随之移动。第三滑轮H4c轴向固定并可旋转地联接到内轴104的顶端部分104b。
第二滑轮114b设置在第一滑轮114a与第三滑轮114c之间,并且沿外套筒106的长度与第一滑轮H4a纵向间隔开。如图5所示,当外套筒106处于回缩位置时,第一滑轮114a和第三滑轮114c彼此相邻地设置,其中第二滑轮114b与第三滑轮H4c纵向间隔开。如图7所示,当外套筒106处于延伸位置时,第一滑轮H4a和第三滑轮H4c彼此纵向间隔开,其中第二滑轮114b和第三滑轮114c彼此接近。
具体参考图6,第二滑轮H4b相对于第一滑轮114a和第三滑轮114c定位,使得在图6中的箭头“A”所示的方向上对外套筒106施加向下合力。具体地讲,第二滑轮114b具有竖直轴线“Y”,该竖直轴线延伸穿过其中心点并与内轴104的纵向轴线“X”(图2)平行。第一滑轮H4a被设置成在横向方向上与竖直轴线“Y”相距第一距离“d1”,并且第三滑轮H4c被设置成在横向方向上与竖直轴线“Y”相距小于第一距离“d1”的第二距离“d2”。因此,皮带112的第一部分“P1”以一定角度从第二滑轮114b延伸至第一滑轮114a,该角度大于皮带112的第二部分“P2”从第二滑轮114b延伸至第三滑轮114c的角度。由于这些角度的差异,第一滑轮H4a对外套筒106施加的向下力大于第三滑轮114c对外套筒106施加的向上力,由此外套筒106具有对其施加的恒定向下合力。换句话说,由于皮带112的第一部分“P1”和第二部分“P2”的倾斜角,作用于皮带112的第一部分“P1”和皮带112的第二部分“P2”的力的所有Y分量的总和使得对外套筒106施加的向下合力恒定。
经由主滑轮123(图9)以及第一滑轮、第二滑轮和第三滑轮H4a至H4c中的每个滑轮,皮带112可操作地联接到驱动马达120。皮带112缠绕在第一滑轮114a上、第二滑轮114b下和第三滑轮114c上。皮带112由马达120驱动并固定到滑架30的联接构件32,使得马达120的启动致使皮带112围绕滑轮H4a至H4c移动,并且使所附接的滑架30沿外套筒106朝上升位置或下降位置移动。
在操作中,在进行外科手术之前,器械驱动单元20可附接到滑架30,并且机电器械10可附接到器械驱动单元20。在器械驱动单元20和相关联的机电器械10附接到滑架30的情况下,可调整滑架30沿纵向轴线“X”的纵向位置(例如,高度)。例如,为了升高滑架30,启动滑动件100的马达120,以使皮带112相对于滑动件100的外套筒106向上移动。滑架30升高到上升位置并且接触外套筒106的顶端部分106b的锁定特征部118和/或表面特征部116。在滑架30固定到外套筒106的顶端部分106b的情况下,马达120的启动致使滑架30对外套筒106施加向上力,以使外套筒106相对于内轴104向上移动。随着外套筒106移动,第一滑轮H4a和第二滑轮H4b随之移动并相对于第三滑轮H4c移动。在完全延伸位置,如图7所示,滑动件100呈现基本上等于常规滑动件长度的长度。
为了从延伸位置降低滑架30,启动马达120以在相反方向上驱动皮带112。在锁定特征部118将滑架30固定到滑动件100的外套筒106的顶端部分106b的实施方案中,经由皮带112对滑架30施加的向下力致使外套筒106相对于内轴104回缩。外套筒106可回缩,直到外套筒106的底端部分106a在内轴104的底端部分104a上触底。此时,为了进一步降低滑架30,皮带112经由马达120施加足够大的力以将滑架30从外套筒106的顶端部分106a解锁,由此滑架30沿外套筒106的轨道102朝下降位置下降,如图3至图5所示。
参考图8至图10B,滑动件100还可包括马达释放机构200,该马达释放机构用于手动地使皮带和滑轮系统114(图5)的主滑轮123从驱动马达120脱开,以允许临床医生在紧急情况(例如,断电)期间,手动地将滑架30以及相关联的器械驱动单元20和外科器械10移动到远离该位置的安全位置。
马达释放机构200通常包括毂部202和旋钮204。毂部202通过螺纹联接到马达输出构件132的螺纹外表面130,并且旋钮204可滑动地联接到毂部202。旋钮204从滑动件100向外突出以能够触及旋钮204。为了启动马达释放机构200,在图9中箭头“B”所示的方向上向内推动旋钮204,这通过摩擦配件接合将旋钮204非旋转地固定到毂部202。在旋钮204非旋转地固定到毂部202的情况下,旋钮204的旋转使毂部202相对于马达输出构件132旋转。随着马达释放机构200旋转,在箭头“C”所示的方向上,沿马达输出构件132牵拉马达释放机构200。在实施方案中,旋钮204可以永久性不可旋转地联接到毂部202,从而移除在启动马达释放机构200之前推动旋钮204与毂部202接合的安全步骤。
马达释放机构200的毂部202轴向保持在滑轮123的近侧端部123a内,同时还能够相对于滑轮123旋转。可提供止推轴承133以有利于毂部202在滑轮132内并相对于该滑轮的旋转。由于毂部202轴向保持在滑轮123内,因此随着马达释放机构200的毂部202在方向“C”上移动,滑轮123也如此移动。
皮带和滑轮系统114的马达输出构件132包括壳体132a和从壳体132a开始延伸的轴132b。轴132b非旋转地固定到驱动马达120的马达齿轮箱输出轴125并轴向延伸穿过滑轮123。一对扭矩传递销134a、134b固定到壳体132a并延伸穿过对应的孔127a、127b,这些孔被限定为穿过滑轮123的远侧端部123b。在实施方案中,可存在多于或少于两个销134a、134b。扭矩传递销134a、134b将滑轮123驱动地联接到马达输出构件132,使得滑轮123响应于驱动马达120的启动而与马达输出构件132一起旋转。
滑轮123能够相对于并沿销134a、134b滑动,以调整滑轮123相对于马达输出构件132的轴向位置。具体地讲,响应于马达释放机构200的启动,滑轮123能够沿扭矩传递销134a、134b在如图10A所示的第一轴向位置与如图10B所示的第二轴向位置之间轴向移动。在第一轴向位置,扭矩传递销134a、134b延伸穿过滑轮123的孔127a、127b,从而将滑轮123与马达输出构件132非旋转地固定在一起。在第二轴向位置,滑轮123从扭矩传递销134a、134b脱开,由此滑轮123与马达输出构件123脱离并且能够相对于马达输出构件132独立地旋转。滑动件100可包括将滑轮123朝第一位置弹性偏置的弹簧135(例如,波形弹簧)。可提供止推轴承137以有利于滑轮123相对于弹簧135的旋转。
滑动件100还包括单向轴承138,该单向轴承设置在滑轮123内并被捕捉在滑轮123与马达输出构件132的轴132b之间。轴承138可以非旋转地固定到马达输出构件132的轴132b。轴承138可以是任何合适的单向轴承或离合器,诸如例如具有滚柱、撑柱或弹簧元件的单向轴承。轴承138被构造成阻止滑轮123相对于马达输出构件132在对应于滑架30/器械驱动单元20沿滑动件100在向下方向上的移动的方向上的旋转,如下所述。
在操作中,当滑轮123处于第一或操作位置时,如图10A所示,驱动马达120的启动使马达输出构件132、轴承138和滑轮123在任一旋转方向(即,顺时针或逆时针)上作为一个整体单元旋转。如上所述,滑轮123的旋转导致外科器械10沿滑动件100在选定方向上的移动。例如,滑轮123的顺时针旋转可导致外科器械10沿滑动件100的向上移动,而滑轮123的逆时针旋转可导致外科器械10沿滑动件的向下移动。
在紧急情况(例如,断电)期间,临床医生可能希望将外科器械10从患者体内移出并远离患者。然而,在断电期间,驱动马达120将被锁定并阻止外科器械10沿滑动件100的手动移动。因此,为了移动外科器械10/滑架30/器械驱动单元20,滑架30可能需要从驱动马达120可操作地脱开。
为了使驱动马达120从滑架20脱开,可通过将其旋钮204推动成与其毂部202非旋转接合来致动马达释放机构200。在马达释放机构200的旋钮204和毂部202非旋转地彼此联接的情况下,旋钮204和毂部202围绕马达输出构件132一起旋转,以朝第二位置远离马达输出构件132的壳体132a拉动滑轮123,由此皮带和滑轮系统114(图5)从驱动马达120脱开。
当滑轮123处于第二或安全位置时,如图10B所示,轴承138允许滑轮123相对于其并相对于马达输出构件132在对应于滑架30/器械驱动单元20/外科器械10沿滑动件100在向上方向上的移动的方向上的旋转。因此,沿滑动件100,可手动地向上移动外科器械10并将其从患者体内移出至选定位置。反之,由于单向轴承138阻止滑轮123相对于轴承138在相应旋转方向上的旋转,因此在向下方向上移动滑架30/器械驱动单元20/外科器械10的尝试受挫。此外,由于驱动马达120处于锁定状态(例如,由于断电),因此驱动马达120阻止轴承138和马达输出构件132被施加在滑架30/器械驱动单元20/外科器械10上的力旋转。
应当理解,可对本发明所公开的实施方案作出各种修改。因此,以上说明不应理解为限制性的,而是仅作为各种实施方案的例示。本领域的技术人员能够设想在本文所附权利要求书的范围和实质内的其它修改。
Claims (20)
1.一种外科机器人系统,所述外科机器人系统包括:
细长滑动件,所述细长滑动件限定纵向轴线;
滑架,所述滑架用于支撑器械驱动单元,其中所述滑架联接到所述滑动件并能够沿所述纵向轴线相对于所述滑动件移动;
驱动马达,所述驱动马达能够操作地联接到所述滑架并被构造成驱动所述滑架相对于所述滑动件的移动;和
马达释放机构,所述马达释放机构被构造成选择性地使所述驱动马达从所述滑架脱开,以允许所述滑架沿所述滑动件的手动移动。
2.根据权利要求1所述的外科机器人系统,所述外科机器人系统还包括能够操作地联接所述驱动马达和所述滑架的滑轮,其中所述马达释放机构的启动使所述滑轮从所述驱动马达脱开。
3.根据权利要求2所述的外科机器人系统,所述外科机器人系统还包括能够由所述驱动马达旋转的马达输出构件,其中所述马达释放机构的启动使所述滑轮相对于所述马达输出构件从第一位置滑动到第二位置,在所述第一位置,所述滑轮和所述马达输出构件能够相互旋转,在所述第二位置,所述滑轮能够相对于所述马达输出构件独立地旋转。
4.根据权利要求3所述的外科机器人系统,所述外科机器人系统还包括将所述滑轮与所述马达输出构件不可旋转地联接的至少一个扭矩传递销,其中所述滑轮被构造成沿所述至少一个扭矩传递销在所述第一位置与所述第二位置之间滑动。
5.根据权利要求3所述的外科机器人系统,所述外科机器人系统还包括设置在所述滑轮与所述马达输出构件之间的单向轴承,其中所述单向轴承被构造成允许所述滑轮相对于所述马达输出构件在第一方向上的旋转并阻止所述滑轮相对于所述马达输出构件在第二方向上的旋转。
6.根据权利要求5所述的外科机器人系统,其中所述单向轴承设置在所述滑轮内,并且所述马达输出构件延伸穿过所述单向轴承和所述滑轮。
7.根据权利要求5所述的外科机器人系统,其中所述单向轴承非旋转地固定到所述马达输出构件。
8.根据权利要求3所述的外科机器人系统,其中所述马达释放机构包括通过所述滑轮轴向保持并通过螺纹联接到所述马达输出构件的毂部,使得所述毂部的旋转使所述滑轮相对于所述马达输出构件在所述第一位置与所述第二位置之间移动。
9.根据权利要求8所述的外科机器人系统,其中所述马达释放机构还包括被构造成滑入和滑出与所述毂部的不可旋转接合的旋钮。
10.根据权利要求2所述的外科机器人系统,所述外科机器人系统还包括能够操作地联接到所述滑轮并固定到所述滑架的皮带,使得所述皮带的移动驱动所述滑架沿侧面的移动。
11.根据权利要求1所述的外科机器人系统,所述外科机器人系统还包括机器人臂,所述机器人臂具有联接到其上的所述滑动件。
12.一种外科机器人系统,所述外科机器人系统包括:
机器人臂;
细长滑动件,所述细长滑动件联接到所述机器人臂的端部部分;
驱动马达;
滑轮,所述滑轮能够操作地联接到所述驱动马达并被构造成驱动器械驱动单元沿所述滑动件的移动;和
马达释放机构,所述马达释放机构被构造成选择性地使所述滑轮从所述驱动马达脱开,以允许所述滑轮相对于所述驱动马达的手动旋转。
13.根据权利要求12所述的外科机器人系统,所述外科机器人系统还包括能够由所述驱动马达旋转的马达输出构件,其中所述马达释放机构的启动使所述滑轮相对于所述马达输出构件从第一位置滑动到第二位置,在所述第一位置,所述滑轮和所述马达输出构件能够相互旋转,在所述第二位置,所述滑轮能够相对于所述马达输出构件独立地旋转。
14.根据权利要求13所述的外科机器人系统,所述外科机器人系统还包括将所述滑轮与所述马达输出构件不可旋转地联接的至少一个扭矩传递销,其中所述滑轮被构造成沿所述至少一个扭矩传递销在所述第一位置与所述第二位置之间滑动。
15.根据权利要求13所述的外科机器人系统,所述外科机器人系统还包括设置在所述滑轮与所述马达输出构件之间的单向轴承,其中所述单向轴承被构造成允许所述滑轮相对于所述马达输出构件在第一方向上的旋转并阻止所述滑轮相对于所述马达输出构件在第二方向上的旋转。
16.根据权利要求15所述的外科机器人系统,其中所述单向轴承设置在所述滑轮内,并且所述马达输出构件延伸穿过所述单向轴承和所述滑轮。
17.根据权利要求15所述的外科机器人系统,其中所述单向轴承非旋转地固定到所述马达输出构件。
18.根据权利要求13所述的外科机器人系统,其中所述马达释放机构包括通过所述滑轮轴向保持并通过螺纹联接到所述马达输出构件的毂部,使得所述毂部的旋转使所述滑轮相对于所述马达输出构件在所述第一位置与所述第二位置之间移动。
19.根据权利要求18所述的外科机器人系统,其中所述马达释放机构还包括被构造成滑入和滑出与所述毂部的不可旋转接合的旋钮。
20.根据权利要求12所述的外科机器人系统,所述外科机器人系统还包括能够操作地联接到所述滑轮并固定地联接到器械驱动单元的皮带,使得所述皮带的移动驱动器械驱动单元沿所述侧面的移动。
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Also Published As
Publication number | Publication date |
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EP3826566A4 (en) | 2022-08-10 |
US12029507B2 (en) | 2024-07-09 |
EP3826566A1 (en) | 2021-06-02 |
WO2020023255A1 (en) | 2020-01-30 |
US20210169591A1 (en) | 2021-06-10 |
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