CN113081279A - Multi-arm concentric tube robot for minimally invasive surgery - Google Patents
Multi-arm concentric tube robot for minimally invasive surgery Download PDFInfo
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- CN113081279A CN113081279A CN202110382612.1A CN202110382612A CN113081279A CN 113081279 A CN113081279 A CN 113081279A CN 202110382612 A CN202110382612 A CN 202110382612A CN 113081279 A CN113081279 A CN 113081279A
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 20
- 239000000725 suspension Substances 0.000 claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 239000000956 alloy Substances 0.000 claims description 22
- 229910045601 alloy Inorganic materials 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000004677 Nylon Substances 0.000 description 9
- 229920001778 nylon Polymers 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 239000002184 metal Substances 0.000 description 8
- 210000000078 claw Anatomy 0.000 description 5
- 239000012636 effector Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001835 viscera 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Engineering & Computer Science (AREA)
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- Biomedical Technology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention provides a multi-arm concentric tube robot for minimally invasive surgery, which comprises a rack module, a single tube driving module and a flexible arm module, wherein the single tube driving module is installed on the rack module and connected with the flexible arm module, the single tube driving module comprises a suspension support plate module, a translation driving module and a rotation driving module, the translation driving module and the rotation driving module are respectively installed on the suspension support plate module, the suspension support plate module is installed on the rack module, the flexible arm module is fixed on the suspension support plate module, and the rotation driving module is connected with the flexible arm module. The invention has the beneficial effects that: the overall dimension is small, the defect that the movement of each arm of the traditional concentric tube robot is limited mutually is overcome, the operation implementation precision is high, and the adaptability to complex operation tasks is strong.
Description
Technical Field
The invention relates to a medical instrument, in particular to a multi-arm concentric tube robot for minimally invasive surgery.
Background
With the rapid development of the technology in the related field of medical treatment, the minimally invasive surgery becomes an important development stage in the clinical surgery, and the surgical robot is increasingly applied to the minimally invasive surgery of the cavity and the viscera of the human body. Most of traditional surgical robots are rigid structures, have large body sizes, cannot track the position of a nonlinear focus, and are easy to damage when contacting with body cavities, organs, blood vessels and sensitive tissues. Compared with the traditional rigid surgical instrument and surgical robot, the flexible surgical robot is increasingly applied to minimally invasive surgery because of the characteristics of compact size, flexibility, active control and the like. Concentric tube robots are typical representatives of flexible surgical robots.
A concentric tube robot is generally made up of a set of pre-bent concentric tubes of superelastic alloy nested within each other, each having two degrees of freedom for translation and rotation. The concentric tubes nested together can form different constant curvature curve segments due to different amounts of translation and rotation, and the hollow interior can guide surgical instruments. The concentric tube robot can complete the tracking task of three-dimensional curves in the organs of the cavity and has active control and certain deformation capacity.
However, the movement of the arms of the traditional concentric tube robot is mutually limited, and the operation implementation precision is low.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a multi-arm concentric tube robot for minimally invasive surgery.
The invention provides a multi-arm concentric tube robot for minimally invasive surgery, which comprises a rack module, a single tube driving module and a flexible arm module, wherein the single tube driving module is installed on the rack module and connected with the flexible arm module, the single tube driving module comprises a suspension support plate module, a translation driving module and a rotation driving module, the translation driving module and the rotation driving module are respectively installed on the suspension support plate module, the suspension support plate module is installed on the rack module, the flexible arm module is fixed on the suspension support plate module, the rotation driving module is connected with the flexible arm module, the translation driving module drives the suspension support plate module to perform front-back translation motion on the rack module, and the flexible arm module performs synchronous front-back translation motion along with the suspension support plate module, the rotation driving module drives the flexible arm module to rotate, and the front and back translational motions of different suspension carrier plate modules are independent and do not interfere with each other.
As a further improvement of the present invention, the flexible arm module is a mechanical arm formed by nesting at least two superelastic alloy concentric tubes, the tail end of the mechanical arm is used for mounting a surgical implement, the rear ends of the superelastic alloy concentric tubes are fixed on the suspension carrier plate module, the superelastic alloy concentric tubes correspond to the suspension carrier plate modules one to one, different superelastic alloy concentric tubes are correspondingly mounted on different suspension carrier plate modules, each suspension carrier plate module is mounted with a translation driving module and a rotation driving module, and different superelastic alloy concentric tubes are driven by different translation driving modules and different rotation driving modules.
As a further improvement of the present invention, the superelastic alloy concentric tubes are made of a superelastic alloy and are pre-bent, the lengths are sequentially longer from the outermost tube to the innermost tube, and the rigidities are sequentially smaller from the outermost tube to the innermost tube.
As a further improvement of the invention, a single flexible arm module comprises a plurality of the super-elastic alloy concentric tubes, namely an outer tube of the concentric tubes, a plurality of middle tubes of the concentric tubes and an inner tube of the concentric tubes, which are nested with each other, the shape of the flexible arm module is determined by the mutual matching of the nested concentric tube groups, and the flexible arm can be expressed as a segmented constant-curvature arc line with any shape according to the different extending lengths of the concentric tubes.
As a further improvement of the present invention, the rotation driving module comprises a rotation driving servo motor and a set of reduction gear sets for transmitting motor torque, the reduction gear sets are mounted on the suspension carrier plate module through shafts and bearings, the input ends of the reduction gear sets are connected with the rotation driving servo motor, and the output ends of the reduction gear sets are connected with the superelastic alloy concentric tubes.
As a further improvement of the invention, the reduction gear is a multi-stage reduction gear transmission mechanism which performs speed reduction and then speed increase.
As a further improvement of the present invention, the rack module includes a rear support plate, a bottom plate, a front support plate, a screw rod and an optical axis, the front support plate and the rear support plate are respectively and fixedly mounted on the bottom plate, the screw rod and the optical axis are fixed between the front support plate and the rear support plate, the optical axis, the screw rod and the bottom plate are parallel to each other and perpendicular to the rear support plate and the front support plate, the screw rod is connected with the hanging carrier plate module through a screw rod nut, the optical axis and the hanging carrier plate module form a moving pair, the screw rod is used for driving the hanging carrier plate module to move back and forth, and the optical axis is used for guiding the hanging carrier plate module to move back and forth.
As a further improvement of the invention, a circular projection area between the front support plate and the rear support plate is equally divided into a plurality of non-overlapping sectors, each sector area is provided with a screw rod, an optical axis and a group of suspension support plate modules, at least 3 suspension support plate modules are arranged, and each suspension support plate module is provided with a translation driving module and a rotation driving module.
As a further improvement of the present invention, the flexible arm modules are respectively installed on the suspension carrier plate modules in different fan-shaped regions, and the linear motions between any two flexible arm modules are independent from each other, so that independent translation and rotation of multiple arms can be realized, and the multiple arms can accurately reach points in space according to a specific track. .
As a further improvement of the present invention, the multi-arm concentric tube robot further comprises a motor driver, a driver control board and a control system, wherein the control system is connected with the driver control board, the driver control board is connected with the motor driver, and the motor driver is respectively connected with the motors on the translation driving module and the rotation driving module.
As a further improvement of the invention, the suspension carrier plate modules are all provided with a concentric tube thin-wall fixing seat, a linear bearing, a limit switch fixing seat, a translational driving servo motor notch and mounting hole, a rotational driving servo motor notch and mounting hole, a bearing notch, a concentric tube through hole and a fixed claw mounting hole; the super-elastic alloy concentric tube penetrates through the carrier plate to be fixedly connected with the transmission structure and is fixed through the fixing claw, the linear bearing is installed on the optical axis, the limit switch is installed on the limit switch fixing seat, and the limit switch limits the safe movement range of the suspension carrier plate module.
As a further improvement of the present invention, the translation driving module is mounted on the suspension carrier module, the translation driving module includes a linear driving servo motor, a driving synchronous wheel, a synchronous belt, a driven synchronous wheel, a screw nut, a bearing and a hole clamp spring, an output end of the translation driving servo motor is connected to the driving synchronous wheel, the synchronous belt and the driven synchronous wheel form a belt transmission mechanism, the hole clamp spring is used to fixedly mount the bearing on a bearing notch of the suspension carrier module, a boss of the driven synchronous wheel is mounted in a matching manner with the bearing, the driven synchronous wheel is connected to the screw nut, the nut is mounted in a matching manner with the screw, and the translation driving servo motor is mounted on a mounting hole of the translation driving servo motor.
The invention has the beneficial effects that: the multi-arm concentric tube robot provided by the invention is small in overall dimension, overcomes the defect that the movement of each arm of the traditional concentric tube robot is limited mutually, and is higher in operation implementation precision and stronger in adaptability to complex operation tasks.
Drawings
FIG. 1 is a block diagram of a multi-arm concentric tube robot in one embodiment of the present invention.
Fig. 2 is a schematic three-dimensional structure of a rack module according to an embodiment of the present invention.
Fig. 3 is a schematic illustration of a flexible arm module reaching a state of maximum elongation in one embodiment of the present invention.
Fig. 4 is a schematic three-dimensional structure diagram of a translation driving module according to an embodiment of the present invention.
Fig. 5 is a schematic three-dimensional structure diagram of a rotation driving module according to an embodiment of the present invention.
Fig. 6 is a schematic three-dimensional structure of a suspended carrier board module according to an embodiment of the present invention.
Fig. 7 is a schematic three-dimensional structure diagram of a single tube driving module according to an embodiment of the present invention.
FIG. 8 is a system schematic of a multi-arm concentric tube robot in an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
The invention provides a multi-arm concentric tube robot for minimally invasive surgery, and FIG. 1 is a structural diagram of the concentric tube robot in one embodiment of the invention, and the robot comprises a rack module 100, a single tube driving module 200 and a flexible arm module 300.
Fig. 2 is a schematic three-dimensional structure of a rack module 100 according to an embodiment of the present invention, and the rack module includes a rear support plate 101, a bottom plate 102, a front support plate 103, a horizontal shaft clamp 104, a ball screw 105, and an optical axis 106. A rear support plate 101 and a front support plate 103 are arranged on the bottom plate 102, a ball screw 105 and an optical axis 106 are fixed between the rear support plate 101 and the front support plate 103, two ends of the ball screw 105 are fixed by a horizontal shaft clamp 104, and two ends of the optical axis 106 are restrained by a thrust shaft collar to move axially; the ball screw 105 is installed to cooperate with the ball screw nut 226, so that the single-tube driving module 200 performs a back-and-forth motion under the driving of the translation driving module 220, and the optical axis 106 plays a role of fixing and guiding the single-tube driving module 200 to move back and forth.
Fig. 3 is a schematic diagram of the flexible arm module 300 including an inner tube 301, an outer tube 302, and a middle tube 303, which is a mechanical arm formed by three nested concentric tubes of superelastic alloy, according to an embodiment of the present invention, to reach a maximum elongation state. The distal end of the inner tube 301 is typically provided with surgical implements that can be inserted directly from the distal end of the flexible arm for teleoperation by the operator. The inner tube 301, the outer tube 302 and the middle tube 303 are all made of pre-bent super-elastic alloy tubes, and a flexible mechanical arm with constant sectional curvature and meeting the requirement of an operation space can be obtained through interaction among concentric tubes with different curvatures. In the initial state, the inner tube and the middle tube are both retracted into the outer tube, and then the inner tube and the middle tube are controlled to extend out for a certain distance according to actual requirements, so that the end effector can reach a designated position to perform surgery.
Fig. 4 is a schematic three-dimensional structure diagram of a translation driving module in an embodiment of the present invention, and the translation driving module 220 includes a stepping motor 221, a small synchronous pulley 222, a large synchronous pulley 223, a bearing 224, a hole clamp spring 225, and a ball screw nut 226. The small synchronous pulley 222 is mounted on the shaft of the stepping motor 221 through a fastening bolt, the large synchronous pulley 223 is nested in the bearing 224, the ball screw nut 226 is nested in a hole of the large synchronous pulley 224, and a shaft system consisting of the large synchronous pulley 223, the bearing 224 and the ball screw nut 226 is axially fixed through the matching of a flange of the ball screw nut 226, the left side of an inner ring of the bearing 224, the left side of an outer ring of the bearing 224, the hole clamp spring 225, the right side of the inner ring of the bearing 224 and the fastening bolt mounted on the large synchronous pulley 223.
Fig. 5 is a schematic three-dimensional structure of a rotary drive module 230 according to an embodiment of the present invention, wherein the rotary drive module comprises a stepping motor 231, a gear 232, a gear 233, a gear 235, a gear 236, a gear mounting shaft 234, a gear mounting shaft 237, a flange bearing 238, and a bearing 239. Gear 232 is used for inputting the torque of the stepping motor, gear 233 is used for reducing speed, gear 235 is used for accelerating, gear 236 is located at the tail end of the gear set and is used for outputting the torque to the concentric tube; a flange bearing 238 and a bearing 239 are used to secure the gear mounting shaft 234, the gear mounting shaft 237.
Fig. 6 is a schematic three-dimensional structure of a suspension carrier board module according to an embodiment of the present invention, and the suspension carrier board module 210 includes a nylon carrier board 211, a metal pad 212, a metal fixing claw 213, a linear bearing 214, a limit switch mounting seat 215, and a limit switch 216. A metal backing plate 212 and metal locking claws 213 are mounted on the nylon carrier plate 211 for restraining the back and forth movement of the endmost gear 236 of the gear set. The tail end of each concentric tube in the flexible arm module sequentially passes through the metal backing plate 212, the nylon carrier plate 211, the metal backing plate 212, the gear 236 at the tail end of the gear set and the metal fixing claw 213, and radial fixing is realized through holes in the metal backing plate 212; the linear bearing 214 is mounted on the nylon backing plate 211 and is matched with the optical axis 106 to guide the front-back movement of the suspension carrier plate module 210; the limit switch 216 is mounted on the limit switch mounting base 215, the limit switch mounting base 215 is mounted on the nylon carrier plate 211, and the limit switch 216 is connected with the control system and used for limiting the front and back movement of the suspension carrier plate module 210 and preventing the suspension carrier plate module from colliding with other modules.
Fig. 7 is a schematic three-dimensional structure diagram of a single-tube driving module in an embodiment of the present invention, and the single-tube driving module 200 is composed of a suspension carrier module 210, a translation driving module 220, and a rotation driving module 230. For the translation driving module 220, the stepping motor 221 is fixed on the nylon carrier plate 211, the bearing 224 is installed in the groove of the nylon carrier plate 211 and is axially fixed by a hole through the snap spring 225; for the rotational driving module 230, the stepping motor 231 is fixed on the nylon carrier plate 211, the gear installation shaft 234 and the gear installation shaft 237 for supporting the gear train are fixed by the rib bearing 238 and the bearing 239, and the rib bearing 238 and the bearing 239 are installed in the groove of the nylon carrier plate 211.
Fig. 8 is a system schematic of a multi-arm concentric tube robot in an embodiment of the invention that includes a motor drive 400, a motor drive control board 500, and a control device 600 in addition to the multi-arm concentric tube robot body. The motor driver 400 is used for driving the stepping motors in the translation driving module 220 and the rotation driving module 230 and receiving feedback information of the motor encoders; the motor driver control board 500 is used to send a pulse control signal to the motor driver 400; the control device 600 is composed of a control board, a human-computer interaction interface and an input/output device.
The multi-arm concentric tube robot provided by the invention is small in overall dimension, overcomes the defect that the movement of each arm of the traditional concentric tube robot is limited, the movement of the three arms is independent, the rotation angle of the single arm is not limited, the replaceability of the end effector and the flexible arm module is strong, the distance between the arms is small, the concentricity of the concentric tubes is good, the concentric tubes do not need to be bent, the friction force between the tubes is effectively reduced, the operation implementation precision is higher, and the adaptability to complex operation tasks is stronger.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A multi-arm concentric tube robot for minimally invasive surgery, characterized by: the single-tube driving module is installed on the rack module and connected with the flexible arm module, the single-tube driving module comprises a suspension support plate module, a translation driving module and a rotation driving module, the translation driving module and the rotation driving module are respectively installed on the suspension support plate module, the suspension support plate module is installed on the rack module, the flexible arm module is fixed on the suspension support plate module, the rotation driving module is connected with the flexible arm module, the translation driving module drives the suspension support plate module to perform front-back translation motion on the rack module, the flexible arm module follows the suspension support plate module to perform synchronous front-back translation motion, and the rotation driving module drives the flexible arm module to perform rotation motion, the front and back translational motions of different suspension carrier plate modules are independent and do not interfere with each other.
2. The multi-arm concentric tube robot for minimally invasive surgery of claim 1, wherein: the flexible arm module is a mechanical arm formed by nesting at least two superelastic alloy concentric tubes, the tail end of the mechanical arm is used for mounting an operation implement, the rear ends of the superelastic alloy concentric tubes are fixed on the suspension carrier plate modules, the superelastic alloy concentric tubes correspond to the suspension carrier plate modules one by one, different superelastic alloy concentric tubes are correspondingly mounted on different suspension carrier plate modules, each suspension carrier plate module is provided with a translation driving module and a rotation driving module, and different superelastic alloy concentric tubes are driven by different translation driving modules and different rotation driving modules.
3. The multi-arm concentric tube robot for minimally invasive surgery of claim 2, wherein: the superelastic alloy concentric tubes are made of a superelastic alloy and are pre-bent, with lengths sequentially increasing from the outermost tube to the innermost tube and rigidities sequentially decreasing from the outermost tube to the innermost tube.
4. The multi-arm concentric tube robot for minimally invasive surgery of claim 2, wherein: the single flexible arm module comprises a plurality of the super-elastic alloy concentric tubes which are respectively an outer tube of the concentric tubes, a plurality of middle tubes of the concentric tubes and an inner tube of the concentric tubes, wherein the outer tube, the middle tube and the inner tube are nested with each other, and the shape of the flexible arm module is determined by the mutual matching of the nested concentric tube groups.
5. The multi-arm concentric tube robot for minimally invasive surgery of claim 2, wherein: the rotary driving module comprises a rotary driving servo motor and a group of speed reduction gear sets used for transmitting motor torque, the speed reduction gear sets are installed on the suspension carrier plate module through shafts and bearings, the input ends of the speed reduction gear sets are connected with the rotary driving servo motor, and the output ends of the speed reduction gear sets are connected with the superelastic alloy concentric tubes.
6. The multi-arm concentric tube robot for minimally invasive surgery of claim 5, wherein: the reduction gear is a multi-stage reduction gear transmission mechanism which performs speed reduction and then speed increase.
7. The multi-arm concentric tube robot for minimally invasive surgery of claim 1, wherein: the frame module includes back backup pad, bottom plate, preceding backup pad, lead screw and optical axis, preceding backup pad and back backup pad fixed mounting respectively are in on the bottom plate, lead screw, optical axis are fixed in between preceding backup pad and the back backup pad, optical axis, lead screw and bottom plate are parallel to each other, and all be the bracing plate and preceding backup pad behind the perpendicular to, the lead screw pass through lead screw nut with the hanging support plate module is connected, the optical axis with the hanging support plate module constitutes the sliding pair, the lead screw is used for the drive hang the seesaw of support plate module, the optical axis is used for the guide hang the seesaw of support plate module.
8. The multi-arm concentric tube robot for minimally invasive surgery of claim 8, wherein: will circular projection area between preceding backup pad and the back backup pad equallys divide into a plurality of fan-shaped that do not overlap each other, and lead screw, optical axis and a set of support plate module that hangs are installed to every fan-shaped region, just hang the support plate module and have 3 at least, all install translation drive module and rotation drive module on every support plate module that hangs.
9. The multi-arm concentric tube robot for minimally invasive surgery of claim 9, wherein: the flexible arm modules are respectively installed on the suspension support plate modules in different fan-shaped areas, and the linear motion between any two flexible arm modules is independent.
10. The multi-arm concentric tube robot for minimally invasive surgery of claim 1, wherein: the multi-arm concentric tube robot further comprises a motor driver, a driver control plate and a control system, wherein the control system is connected with the driver control plate, the driver control plate is connected with the motor driver, and the motor driver is respectively connected with motors on the translation driving module and the rotation driving module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110382612.1A CN113081279A (en) | 2021-04-09 | 2021-04-09 | Multi-arm concentric tube robot for minimally invasive surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110382612.1A CN113081279A (en) | 2021-04-09 | 2021-04-09 | Multi-arm concentric tube robot for minimally invasive surgery |
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| CN113081279A true CN113081279A (en) | 2021-07-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114587600A (en) * | 2022-02-22 | 2022-06-07 | 哈尔滨工业大学（深圳） | Robot for minimally invasive surgery |
| CN117838316A (en) * | 2024-01-14 | 2024-04-09 | 哈尔滨理工大学 | Concentric tube robot for natural cavity tract operation |
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Application publication date: 20210709 |