CN113197670A - Wrist rotating mechanism and surgical robot - Google Patents
Wrist rotating mechanism and surgical robot Download PDFInfo
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- CN113197670A CN113197670A CN202110670038.XA CN202110670038A CN113197670A CN 113197670 A CN113197670 A CN 113197670A CN 202110670038 A CN202110670038 A CN 202110670038A CN 113197670 A CN113197670 A CN 113197670A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 92
- 210000000707 wrist Anatomy 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 210000004204 blood vessel Anatomy 0.000 description 6
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 230000001954 sterilising effect Effects 0.000 description 5
- 206010011409 Cross infection Diseases 0.000 description 4
- 206010029803 Nosocomial infection Diseases 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000004659 sterilization and disinfection Methods 0.000 description 4
- 238000001746 injection moulding Methods 0.000 description 2
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention provides a wrist rotation mechanism and a surgical robot, wherein the wrist rotation mechanism comprises a support, a tail end tool and a cable; the bracket is provided with at least two pairs of guide grooves, the bracket comprises a first bracket and a second bracket, the near end of the second bracket is rotatably connected with the far end of the first bracket, and the guide grooves of the bracket are arranged on at least one of the first bracket and the second bracket; the tail end tool is rotatably connected to the far end of the second bracket and is provided with a guide groove; the cable is arranged along the guide groove of the bracket and the guide groove of the end tool and is used for driving the end tool to realize pitching motion and yawing motion. Through the design, the rotary freedom degree of the tail end tool relative to the support is increased, so that the tail end tool has an angle adjusting function. Compared with the existing mechanism, the wrist rotation mechanism provided by the invention adopts the guide groove to replace a pulley and other structures, reduces the number of parts, and simplifies the assembly process, thereby greatly reducing the cost and realizing the disposable use of the instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a wrist rotation mechanism and a surgical robot.
Background
In procedures such as laparoscopic surgery, conventional instruments are of a straight tubular shape with a working tool mounted on the distal end of the straight tubular instrument. The tool consists of opposing jaws that can grasp tissue and clamp a blood vessel. The jaws are secured together in some manner to close and open. The end tool and instrument shaft are relatively fixed with the jaws open and closed, and although the operator can manipulate the instrument to move the tool to the desired position, the orientation of the jaws relative to the tissue is difficult to adjust because the shaft of the instrument has only one degree of rotational freedom (e.g., the end tool's degree of rotational freedom about the shaft's own axis). For example, in blood vessel closure, the end tool needs to close the lumen along the transverse direction of the blood vessel, and the traditional endoscopic instrument is difficult to realize flexible adjustment of the angle of the end tool because of the limitation of the access and abdominal cavity operation space.
In order to realize the rotation of the jaw relative to the shaft section of the instrument, the prior art provides a wrist-turning instrument which adopts a structure that a cable is matched with a pulley, and has the problems of complex design, high cost and the like. In order to reduce the cost, the wrist-rotating instrument adopts a design and a use mode of repeated use and multiple cleaning and sterilization, and simultaneously brings additional risk of cross infection.
Disclosure of Invention
It is a primary object of the present invention to overcome at least one of the above-mentioned drawbacks of the prior art and to provide a wrist rotation mechanism with a flexible adjustment of the angle of the end tool, a compact and simple structure, and a low cost.
Another primary object of the present invention is to overcome at least one of the above-mentioned drawbacks of the prior art and to provide a surgical robot having the wrist rotation mechanism.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to one aspect of the present invention, there is provided a wrist rotation mechanism, wherein the wrist rotation mechanism comprises a support, an end tool, and a cable; the bracket is provided with at least two pairs of guide grooves, the bracket comprises a first bracket and a second bracket, the proximal end of the second bracket is rotatably connected with the distal end of the first bracket, and the guide grooves of the bracket are arranged on at least one of the first bracket and the second bracket; the end tool is rotatably connected to the far end of the second bracket and is provided with a guide groove; the cable is arranged along the guide groove of the bracket and the guide groove of the end tool and is used for driving the end tool to realize pitching motion and yawing motion.
According to one embodiment of the present invention, the end tool comprises two sub-portions, each of the two sub-portions being rotatably connected to the distal end of the second support, each of the two sub-portions being provided with a guide groove, and two cables being respectively arranged along the guide grooves of the two sub-portions for driving the two sub-portions to move independently.
According to one embodiment of the present invention, the guide grooves of the bracket are only disposed on the second bracket, the second bracket is provided with at least two pairs of guide grooves, two guide grooves of the second bracket belonging to the same pair are respectively disposed on two sides of the second bracket, and at one side of the second bracket, the extending directions of at least two guide grooves belonging to different pairs are different.
According to one embodiment of the present invention, at least two guide grooves belonging to different pairs form a channel shape of a "Y", "V" or "X" shape together at one side of the second bracket.
According to one embodiment of the present invention, the guiding groove of the proximal end of the second bracket is formed by at least one arc-shaped curved surface, and the axis of the at least one arc-shaped curved surface is parallel to the rotation axis of the second bracket.
According to one embodiment of the invention, the first bracket is provided with at least one pair of guide slots, and the second bracket is provided with at least one pair of guide slots; wherein: the at least one pair of guide grooves of the first bracket is composed of at least one section of arc-shaped curved surface, and the axis of the at least one section of arc-shaped curved surface is parallel to the rotation axis of the second bracket; the at least one pair of guide grooves of the second bracket is formed by at least one section of arc-shaped curved surface, and the extending directions of the at least one pair of guide grooves of the second bracket and the at least one pair of guide grooves of the first bracket are different.
According to one embodiment of the invention, the guide slots of the bracket are provided only on the first bracket, which is provided with at least two pairs of guide slots; wherein: the guide groove at the proximal end of the first bracket is formed by at least one section of arc-shaped curved surface, and the axis of the at least one section of arc-shaped curved surface is parallel to the rotation axis of the second bracket; the guide groove at the far end of the first support is composed of at least one section of arc-shaped curved surface, and the extension directions of the guide groove at the near end of the first support and the guide groove at the far end of the first support are different.
According to one embodiment of the present invention, the first bracket is provided with a pair of guide grooves, the second bracket is provided with two pairs of guide grooves, the two guide grooves of the second bracket belonging to the same pair are respectively provided on both sides of the second bracket, and at least two guide grooves belonging to different pairs have different extending directions on one side of the second bracket.
According to one embodiment of the present invention, the rotational axes of the first and second supports and the rotational axes of the second support and the end tool are in a spatially orthogonal relationship with each other.
According to another aspect of the present invention, there is provided a surgical robot, wherein the surgical robot comprises the wrist rotation mechanism proposed by the present invention and described in the above embodiments.
According to the technical scheme, the wrist rotation mechanism and the surgical robot provided by the invention have the advantages and positive effects that:
the wrist rotation mechanism provided by the invention comprises a support, an end tool and a cable. The support is provided with at least two pairs of guide grooves, and the support contains first support and the second support of rotation connection, and the guide groove of support sets up in at least one of them of first support and second support. The end tool is rotatably connected to the distal end of the second bracket and is provided with a guide groove. The cable is arranged along the guide groove of the bracket and the guide groove of the end tool and is used for driving the end tool to realize pitching motion and yawing motion. Through the design, the rotary freedom degree of the tail end tool relative to the support is increased, so that the tail end tool has an angle adjusting function. Compared with the design that the pulleys and the mooring ropes are matched, the wrist rotation mechanism provided by the invention adopts the guide grooves to replace the pulleys and other structures, reduces the number of parts, and simplifies the assembly process, thereby greatly reducing the cost, realizing the disposable use of the instrument, and avoiding the possibility of repeated cleaning and sterilization and cross infection of the instrument.
Drawings
Various objects, features and advantages of the present invention will become more apparent from the following detailed description of preferred embodiments of the invention, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary of the invention and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:
FIG. 1 is a perspective view of a wrist-rotation mechanism shown in accordance with an exemplary embodiment;
FIG. 2 is a front view of the wrist mechanism shown in FIG. 1;
FIG. 3 is a side view of the wrist mechanism shown in FIG. 1;
FIG. 4 is a schematic structural view of the wrist mechanism shown in FIG. 1 in a pitch state;
FIG. 5 is a schematic structural view of the wrist rotation mechanism shown in FIG. 1 in an open-close state;
FIG. 6 is a schematic structural view of the wrist mechanism shown in FIG. 1 in a deflected state;
FIG. 7 is a perspective view of a wrist-rotation mechanism according to another exemplary embodiment;
FIG. 8 is an exploded schematic view of the wrist mechanism shown in FIG. 7;
FIG. 9 is a perspective view of a first bracket of the wrist mechanism shown in FIG. 7;
FIG. 10 is a cross-sectional view of the first bracket shown in FIG. 9;
FIG. 11 is a perspective view of a first brace of a wrist-translating structure, according to another exemplary embodiment;
FIG. 12 is a perspective view of a wrist rotation mechanism according to another exemplary embodiment;
FIG. 13 is an exploded schematic view of the wrist mechanism shown in FIG. 12;
FIG. 14 is an exploded schematic view of a wrist-rotation mechanism according to another exemplary embodiment;
FIG. 15 is an exploded schematic view of a wrist-rotation mechanism according to another exemplary embodiment.
The reference numerals are explained below:
110. a first bracket;
111. a first rotational connection;
112. an arc-shaped curved surface;
113. an arc-shaped curved surface;
120. a second bracket;
121. a second rotation connecting portion;
1211. a boss portion;
122. a third rotation connecting part;
130. a first rotating shaft;
140. a second rotating shaft;
200. clamping;
210. a clamp arm;
211. a fourth rotation connecting part;
212. a rope fastener;
300. a cable;
400. a shaft section;
g11, G12, G13, G21, G22, G23, G41, G42, G43, G51, G52, G53, G61, G62, G63.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail below. It is to be understood that the invention is capable of other and different embodiments and its several details are capable of modification without departing from the scope of the invention, and that the description and drawings are accordingly to be regarded as illustrative in nature and not as restrictive.
In the following description of various exemplary embodiments of the invention, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the invention may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present invention. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the invention, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples described in the figures. In particular, the descriptions of "proximal" and "distal" in this specification refer to the end near the operative site and the end near the operative site, respectively. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of the invention.
Embodiment of wrist rotation mechanism
Referring to fig. 1, there is representatively illustrated a perspective view of a wrist rotation mechanism in accordance with the present invention. In the exemplary embodiment, the wrist rotation mechanism proposed by the present invention is described by taking a related instrument applied to a laparoscopic surgery as an example. Those skilled in the art will readily appreciate that many modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to utilize the concepts of the present invention in other types of medical devices and still fall within the scope of the principles of the wrist mechanism taught by the present invention.
In this embodiment, as shown in fig. 1, the wrist rotation mechanism of the present invention comprises a support, an end tool, and a cable. Referring to fig. 2-6 in combination, fig. 2 representatively illustrates a front view of a wrist-rotation mechanism which can embody principles of the present invention; representatively illustrated in FIG. 3 is a side elevational view of a wrist-swiveling mechanism which can embody principles of the present invention; fig. 4 to 6 are schematic structural views of a wrist rotation mechanism capable of embodying the principle of the present invention in a pitch state, an open/close state, and a yaw state, respectively. The structure, connection and functional relationship of the main components of the wrist rotation mechanism according to the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, in the present embodiment, the bracket is provided with at least two pairs of guide grooves, the bracket includes a first bracket 110 and a second bracket 120, and a proximal end of the second bracket 120 is rotatably connected to a distal end of the first bracket 110 through a first rotating shaft 130. An end tool is rotatably coupled to the distal end of the second bracket 120, the end tool being provided with a guide groove. The cable is arranged along the guide groove of the bracket and the guide groove of the end tool and is used for driving the end tool to realize pitching motion and yawing motion. Through the design, the rotary freedom degree of the tail end tool relative to the support is increased, so that the tail end tool has an angle adjusting function. Compared with the design that the pulleys and the mooring ropes are matched, the wrist rotation mechanism provided by the invention adopts the guide grooves to replace the pulleys and other structures, reduces the number of parts, and simplifies the assembly process, thereby greatly reducing the cost, realizing the disposable use of the instrument, and avoiding the possibility of repeated cleaning and sterilization and cross infection of the instrument.
Alternatively, as shown in fig. 1 to 6, in the present embodiment, the end tool may include two sub-portions, and the end tool may be, for example, a clamp 200 (or a pair of scissors), and the two sub-portions are two clamp arms 210 of the clamp 200. On this basis, two clamp arms 210 are rotatably connected to the distal end of the second frame 120, each clamp arm 210 is provided with a guide groove G13, and two cables (not shown) are respectively disposed along the guide grooves G13 of the two clamp arms 210 for driving the two clamp arms 210 to move independently. Wherein each cable can individually drive one jawarm 210 such that when a single jawarm 210 is deflected, the other jawarms 210 are not affected. In other embodiments, the end tool may include only one sub-portion (e.g., probe) or more than two sub-portions, and the number of the cables may be the same as the number of the sub-portions, and one cable controls one sub-portion correspondingly, which is not limited to the present embodiment.
Further, as shown in fig. 1 to 6, based on the design that the end tool includes two sub-portions, in the present embodiment, the bracket is provided with three sets of guide grooves, which are a pair of guide grooves G11 provided at the first bracket 110 and two pairs of guide grooves G12 provided at the second bracket 120, respectively. The forceps 200 is rotatably coupled to the distal end of the second bracket 120 by the second rotating shaft 140. Cables are arranged along the guides G11, G12 of the rack and the guide G13 of the end tool for driving the end tool in pitch and yaw movements.
In other embodiments, the guide groove of the bracket may be provided only in the first bracket, may be provided only in the second bracket, or may be provided in each of the first bracket and the second bracket as in this embodiment. And the number of the guide grooves arranged on the bracket can be at least two pairs, and accordingly, the end tool is driven to realize pitching motion and yawing motion through the cooperation of the guide grooves of the at least two pairs of guide grooves and the guide grooves of the end tool and the cable. In other words, in various possible embodiments according to the design concept of the wrist mechanism proposed by the present invention, the bracket is provided with at least two pairs of guide grooves, and the guide grooves of the bracket are provided in at least one of the first bracket and the second bracket.
Further, as shown in fig. 1 to 6, based on the design that the end tool includes two sub-portions, in the present embodiment, two pairs of guide grooves G12 provided in the second bracket 120 respectively correspond to the guide grooves G13 of the two jawarms 210, and two guide grooves G12 belonging to the same pair are respectively provided on both sides of the second bracket 120, that is, on both sides of the second bracket 120 in the direction perpendicular to the axial direction of the second rotation shaft 140. On this basis, the extending directions of the two guide grooves G12 belonging to different pairs may be different at one side of the second bracket 120.
Further, as shown in fig. 1 and 2, based on the design that the extending directions of the two guide grooves G12 on the same side of the second bracket 120 are different, in the present embodiment, on one side of the second bracket 120, two guide grooves G12 belonging to different pairs may form a groove shape of a "Y" shape together. In other embodiments, the two guide grooves G12 belonging to different pairs and located on the same side of the second bracket 120 may form a groove shape with other shapes such as a V shape, an X shape, etc.
Further, as shown in fig. 1 and 2, based on the design that the extending directions of the two guide grooves G12 on the same side of the second bracket 120 are different, in the present embodiment, on one side of the second bracket 120, two guide grooves G12 belonging to different pairs may share a partial groove body. In other embodiments, the two guide grooves G12 belonging to different pairs on the same side of the second bracket 120 may also be relatively independent guide groove structures, and do not share a groove body, which is not limited to this embodiment.
Further, as shown in fig. 1 and 3, based on the design that the end tool includes two sub-portions, in the present embodiment, the distal end of the first bracket 110 may be provided with a pair of guide grooves G11. The pair of guide grooves G11 are arranged at intervals in the direction of the rotational axis of the first bracket 110 and the second bracket 120 (i.e., the axis of the first rotating shaft 130). The guide groove G11 may be formed by an arc-like curved surface of the distal end of the first bracket 110, and the axis of the arc-like curved surface may substantially coincide with the rotational axis of the first bracket 110 and the second bracket 120.
Alternatively, in this embodiment, the cable may be connected to the guide slot of the end tool via a connecting structure, such that the cable and the guide slot (i.e., the end tool) do not move relative to each other, thereby allowing the cable to move along the guide slot and deflect the end tool relative to the second support frame, wherein the deflection angle may be, for example, ± 90 ° or other angular ranges. In other embodiments, the cable may also achieve the above function by the static friction force generated between the cable and the guiding groove of the end tool, and is not limited to this embodiment.
It should be noted that, based on the above-mentioned design that the cable is connected to the end tool without relative movement, for one guide slot of the end tool (e.g. corresponding to one clamp arm 210 of the clamp 200), one cable that bypasses the guide slot in this embodiment may be divided into two cables, and for an end tool that includes two sub-portions, the number of cables may be changed from two to four in this embodiment in the above-mentioned manner (of course, three is also possible, i.e. one cable is divided into two, and the other cable still maintains the design in this embodiment). Specifically, the two cables engaged with the same guide groove have respective one ends connected to the guide groove respectively, and are not displaced relative to the guide groove, and respective other ends of the two cables are respectively arranged in the other guide grooves and finally serve as control ends according to the arrangement of the two ends of one cable in the present embodiment. In this case, the two divided ropes provide substantially the same function as the single rope in the present embodiment.
Further, as shown in fig. 1 to 6, in the present embodiment, a distal end of the first bracket 110 may be provided with a first rotation coupling portion 111, and correspondingly, a proximal end of the second bracket 120 may be provided with a second rotation coupling portion 121. On this basis, the first rotation connecting portion 111 and the second rotation connecting portion 121 can be rotatably connected by the first rotation shaft 130. In the present embodiment, the guide groove G11 of the first bracket 110 may be disposed at the first rotation coupling portion 111, and the guide groove G12 of the second bracket 120 may be disposed at the second rotation coupling portion 121.
Further, as shown in fig. 1 to 6, based on the design of the first rotation connecting portion 111 and the second rotation connecting portion 121, in the present embodiment, the first rotation connecting portion 111 may have a substantially "U" shaped structure, and the second rotation connecting portion 121 may have a substantially "T" shaped structure matching the first rotation connecting portion 111. In other embodiments, the structure of each rotation connecting portion is not limited to the "U" shape or the "T" shape, and may be flexibly adjusted as needed, and is not limited to this embodiment.
Further, as shown in fig. 1 to 6, in the present embodiment, a distal end of the second bracket 110 may be provided with a third rotation coupling portion 122, and correspondingly, a proximal end of the jawarm 210 may be provided with a fourth rotation coupling portion 211. On the basis, the third rotation connecting portion 122 and the fourth rotation connecting portion 211 can be rotatably connected through the second rotation shaft 140. In the present embodiment, the guide groove G12 may penetrate through the second rotation connecting portion 121 and the third rotation connecting portion 122, and the guide groove G13 may be disposed at the fourth rotation connecting portion 211.
Further, as shown in fig. 1 to 6, based on the design of the third rotation connecting portion 122 and the fourth rotation connecting portion 211, in the present embodiment, the third rotation connecting portion 122 may have a substantially U-shaped structure, and the fourth rotation connecting portion 211 may have a substantially matching structure with the third rotation connecting portion 122. In other embodiments, the structure of each rotation connecting portion is not limited to the "U" shape or the "T" shape, and may be flexibly adjusted as needed, and is not limited to this embodiment.
Alternatively, as shown in fig. 1 to 6, in the present embodiment, each guide groove may adopt a groove structure or a combination structure of a recess and a hole. For example, in the present embodiment, the guide groove G13 may be an annular groove structure, and a portion of the groove structure may be a hole structure passing through the forceps arm 210. The guide groove G12 may be a through groove structure penetrating between the second rotation connecting part 121 and the third rotation connecting part 122 of the second bracket 120. The guide groove G11 may be an annular groove structure provided on the first rotation connecting portion 111. In other embodiments, the structure of each guide groove can be flexibly adjusted according to the set position and the connection relationship of each structure, and is not limited to the protrusion, the recess or the channel structure, and the guide groove may be a continuous curved surface, or may be a multi-segment discontinuous curved surface, which is not limited to this embodiment.
Optionally, in this embodiment, the material of the bracket may include plastic, and the bracket may be formed by an injection molding process. In other embodiments, the material of the bracket may also include metal, and the bracket may be formed by a metal injection molding process. Through the design, the wrist rotation mechanism provided by the invention can obviously reduce the raw material cost of the disposable instrument. In addition, as a disposable instrument, the wrist rotation mechanism does not need to consider the requirement of cleaning and sterilizing for multiple times, and the design of the instrument can be greatly simplified.
Alternatively, as shown in fig. 1 to 6, in the present embodiment, the axes of the first rotating shaft 130 (i.e., the rotating axes of the first bracket 110 and the second bracket 120) and the axes of the second rotating shaft 140 (i.e., the rotating axes of the second bracket 120 and the end tool) may be in a mutually orthogonal spatial relationship, i.e., they are spatially included at an angle of 90 °. In other embodiments, the axis of the first shaft 130 and the axis of the second shaft 140 may also have an angle different from 90 ° in space according to different surgical requirements.
Wrist rotation mechanism embodiment two
Based on the above detailed description of the first embodiment of the wrist mechanism according to the present invention, a second embodiment of the wrist mechanism according to the present invention will be described below with reference to fig. 7 to 10. As shown in fig. 7 to 10, fig. 7 representatively illustrates a perspective view of a wrist turn mechanism in a second embodiment in accordance with the present invention; an exploded schematic view of the wrist-turning mechanism in a second embodiment is representatively illustrated in fig. 8; figure 9 representatively shows a perspective view of the first bracket of the wrist-swivel mechanism in a second embodiment; a cross-sectional view of the first bracket shown in fig. 9 is representatively illustrated in fig. 10. The main differences between the second embodiment and the first embodiment of the wrist mechanism according to the present invention will be described with reference to the drawings.
In the present embodiment, the guide grooves of the brackets may be provided on the first bracket 110 and the second bracket 120, respectively, and the first bracket 110 is provided with at least one pair of guide grooves and the second bracket 120 is provided with at least one pair of guide grooves. In addition, at least one pair of the guide grooves of the first bracket 110 may be formed by at least one arc-shaped curved surface, and an axis of the arc-shaped curved surface may be substantially parallel to the rotation axis of the second bracket 120. At least one pair of the guiding grooves of the second bracket 120 may be formed by at least one arc-shaped curved surface, and the extending direction of the guiding groove of the second bracket is different from the extending direction of the guiding groove of the first bracket.
Specifically, as shown in fig. 7 to 10, in the present embodiment, taking the end tool as the clamp 200 including the two clamp arms 210 as an example, the guide grooves of the brackets may be respectively provided on the first bracket 110 and the second bracket 120, and the first bracket 110 is provided with a pair of guide grooves G21, and the second bracket 120 is provided with a pair of guide grooves G22. Specifically, the proximal ends of the two jawarms 210 are respectively provided with a guide groove G23, and two cables 300 are respectively disposed along the two guide grooves G23 and connected to the two jawarms 210 respectively for driving the two jawarms 210 to move independently. Accordingly, the cable 300 is arranged along the guide groove G21, the guide groove G22, and the guide groove G23.
Alternatively, as shown in fig. 7 to 10, in the present embodiment, the proximal end of the first bracket 110 may be provided with an arc-shaped curved surface 112 having an axis substantially parallel to the axis of the first rotating shaft 130 (i.e., the rotating axis of the second bracket 120). In addition, the pair of guide grooves G21 of the first bracket 110 may be formed by both ends of the arcuate curved surface 112 in the axial direction. It should be noted that, in the description of the arc-shaped curved surface 112, the term "the arc-shaped curved surface 112 is disposed at the proximal end of the first bracket 110" also means that the arc-shaped curved surface 112 is disposed at a position other than the distal end of the first bracket 110, i.e. the arc-shaped curved surface 112 is prevented from interfering with the second bracket 120.
Alternatively, as shown in fig. 7 and 8, in the present embodiment, the pair of guide grooves G22 at the proximal end of the second bracket 120 may be formed by at least one arc-shaped curved surface, and the axis of the arc-shaped curved surface is substantially parallel to the axis of the first rotating shaft 130 (i.e., the rotating axis of the second bracket). In addition, the pair of guide grooves G22 of the second bracket 120 may be formed at both ends of the arc-shaped curved surface in the axial direction, respectively. In other embodiments, the proximal end of the second bracket may have other structures, and is not limited to an arc-shaped curved surface, and the distal end of the first bracket 110 may have an arc-shaped curved surface facing the second bracket 120, and the axis of the arc-shaped curved surface is substantially parallel to the axis of the first rotating shaft, which is not limited in this embodiment.
Alternatively, as shown in fig. 8, in the present embodiment, the first rotating shaft 130 may be a rivet. The second shaft 140 may be integrally formed with the distal end of the second bracket 120, and extend along the distal end of the second bracket 120 to both sides, respectively, to be rotatably connected to the two forceps arms 210. In other embodiments, the first rotating shaft 130 and the second rotating shaft 140 may have other structures, and are not limited to rivets, pins, integrated shaft-like structures, and the like.
Optionally, as shown in fig. 8, in this embodiment, the wrist rotation mechanism provided by the present invention may further include a shaft segment 400. Specifically, shaft segment 400 can be a tubular structure, and shaft segment 400 can be removably attached to the proximal end of first stent 110. Based thereon, cable 300 exiting first support 110 may extend along shaft segment 400 to the distal end of shaft segment 400 for operator manipulation.
Alternatively, as shown in fig. 7 and 8, in this embodiment, cable 300 may be connected to jawarms 210 by a connection structure such as a cord lock 212. For example, after the cable 300 is wound around the guide groove G23, the cable 300 may be fastened to the guide groove G23 by the rope fastener 212 and inserted into the mounting hole, and the cable 300 may be fixed to the guide groove G23.
Wrist rotation mechanism embodiment III
Based on the above detailed description of the second embodiment of the wrist mechanism according to the present invention, a third embodiment of the wrist mechanism according to the present invention will be described below with reference to fig. 11. As shown in fig. 11, fig. 11 representatively illustrates a perspective view of the first bracket of the wrist swiveling mechanism in a third embodiment. The main differences between the wrist mechanism according to the third embodiment and the second embodiment will be described below with reference to the drawings.
As shown in fig. 11, in the present embodiment, the guiding groove of the proximal end of the first bracket 110 may be directly formed by a surface with an arc-shaped curve, that is, the surface with the arc-shaped curve 112 may be used to provide guidance for the cable 300. In other embodiments, for example, in the second embodiment, the guide groove G21 at the proximal end of the first bracket 110 may also be formed by a channel structure disposed on the surface of an arc-shaped curved surface, and the present embodiment is not limited thereto. In other words, the guide grooves of the first bracket 110 and the second bracket 120, which are formed by arc-shaped curved surfaces, may be formed directly by the arc-shaped curved surfaces, or may be formed by a channel structure provided on the arc-shaped curved surfaces.
Wrist rotation mechanism fourth embodiment
Based on the above detailed description of the second embodiment of the wrist mechanism according to the present invention, a fourth embodiment of the wrist mechanism according to the present invention will be described below with reference to fig. 12 and 13. As shown in fig. 12 and 13, fig. 12 representatively illustrates a perspective view of a wrist turn mechanism in a fourth embodiment in accordance with the present invention; an exploded schematic view of the wrist mechanism in a fourth embodiment is representatively illustrated in fig. 13. The main differences between the wrist mechanism according to the present invention in the fourth embodiment and the second embodiment will be described with reference to the drawings.
In the present embodiment, the guide groove of the bracket may be provided only to the first bracket 110, and the first bracket 110 may be provided with at least two pairs of guide grooves. In this regard, the guiding groove of the proximal end of the first bracket 110 may be formed by at least one arc-shaped curved surface, and the axis of the arc-shaped curved surface may be substantially parallel to the rotation axis of the second bracket 120. The distal guiding groove of the first bracket 110 may be formed by at least one arc-shaped curved surface, and the extending direction of the proximal guiding groove of the first bracket 110 is different from the extending direction of the distal guiding groove.
Specifically, as shown in fig. 12 to 13, in the present embodiment, taking the end tool as the clamp 200 including the two clamp arms 210 as an example, the guide grooves of the brackets may be provided only on the first bracket 110, and the first bracket 110 is provided with the pair of guide grooves G41 and the pair of guide grooves G42. Specifically, the proximal ends of the two jawarms 210 are respectively provided with a guide groove G43, and two cables 300 are respectively disposed along the two guide grooves G43 and connected to the two jawarms 210 respectively for driving the two jawarms 210 to move independently. Accordingly, the cable 300 is arranged along the guide groove G41, the guide groove G42, and the guide groove G43. Through the design, in the process of realizing the pitching motion of the mechanism by the relative rotation of the first bracket 110 and the second bracket 120, the invention can utilize the guiding function of the arc-shaped curved surface 112 to avoid the problem of control failure caused by the separation of the cable 300 from the guide groove.
Alternatively, as shown in fig. 12 and 13, in the present embodiment, the distal end of the first bracket 110 may be provided with two arc-shaped curved surfaces 113, the axis of the arc-shaped curved surface 113 is substantially parallel to the axis of the first rotating shaft 130 (i.e., the rotating axis of the second bracket 120), the two arc-shaped curved surfaces 113 are arranged at intervals in the axial direction, and the proximal end of the second bracket 120 may be provided between the two arc-shaped curved surfaces 113. In addition, the pair of guide grooves G42 of the first bracket 110 may be respectively formed by two arc-shaped curved surfaces 113. In addition, the curved surface may be one of the distal ends of the first bracket, and on this basis, the pair of guide grooves at the distal end of the first bracket 110 may be formed by two ends of one curved surface along the axial direction, which is not limited in this embodiment.
Fifth embodiment of wrist rotation mechanism
Based on the above detailed description of the second embodiment of the wrist mechanism according to the present invention, a fifth embodiment of the wrist mechanism according to the present invention will be described below with reference to fig. 14. As shown in fig. 14, fig. 14 representatively illustrates an exploded schematic view of a wrist rotation mechanism in a fifth embodiment according to the present invention. The main differences between the fifth embodiment and the second embodiment of the wrist mechanism according to the present invention will be described with reference to the drawings.
In the present embodiment, the at least two pairs of guide grooves of the bracket may be provided only on the second bracket 120, i.e., the second bracket 120 is provided with at least two pairs of guide grooves. The two guide slots of the second bracket 120 belonging to the same pair are respectively disposed at two sides of the second bracket 120, and at one side of the second bracket 120, the extending directions of the two guide slots belonging to different pairs may be different.
Specifically, as shown in fig. 14, in the present embodiment, taking the end tool as the clamp 200 including the two clamp arms 210 as an example, the guide grooves of the holder may be provided only on the second holder 120, and the second holder 120 may be provided with the pair of guide grooves G51. The proximal ends of the two jawarms 210 are respectively provided with a guide groove G53, and two cables 300 are respectively disposed along the two guide grooves G53 and connected to the two jawarms 210 respectively for driving the two jawarms 210 to move independently. Accordingly, the cable 300 is disposed along the guide groove G51 and the guide groove G53. On this basis, the side of the guide groove G51 facing the distal end of the second holder 120 is provided with a protrusion 1211, so that the guide groove G51 forms a channel of a reverse curvature at the position of the protrusion 1211, the channel of the reverse curvature forms another pair of guide grooves G52 of the second holder 120, the function of the guide groove G52 may approximately correspond to the "guide groove G22" in the second embodiment, and the functions of the remaining channels of the guide groove G51 in the present embodiment may approximately correspond to the "guide groove G21" in the second embodiment. In other words, in the present embodiment, the second bracket 120 is provided with two pairs of guide grooves, i.e., the guide groove G51 and the guide groove G52, in which the channels are integrally connected, and the arc directions of the two sets of guide grooves are opposite. Accordingly, in various possible embodiments according to the design concept of the wrist mechanism of the present invention, each guide groove of the bracket may be an independent channel structure, or a continuous channel structure. For example, when the first bracket or the second bracket is disposed in at least two sets of guide grooves of the bracket, the guide grooves may be disposed in independent structures as described in the first to fourth embodiments, or may be in a continuous channel structure as described in this embodiment, which is not limited thereto.
Further, as shown in fig. 14, based on the design that the two guide grooves G51, G52 on the same side of the second bracket 120 have different extending directions, in the present embodiment, on one side of the second bracket 120, the two guide grooves G51, G52 belonging to different pairs may jointly form a groove shape in an inverted "Y" shape. In other embodiments, the two guide grooves G51, G52 located on the same side of the second bracket 120 and belonging to different pairs may form a groove shape with other shapes such as an inverted V shape, an X shape, etc.
Wrist rotation mechanism embodiment six
Based on the above detailed description of the second embodiment of the wrist mechanism according to the present invention, a sixth embodiment of the wrist mechanism according to the present invention will be described below with reference to fig. 15. As shown in fig. 15, fig. 15 representatively illustrates an exploded schematic view of a wrist rotation mechanism in a sixth embodiment according to the present invention. The main differences between the sixth embodiment and the second embodiment of the wrist mechanism according to the present invention will be described below with reference to the drawings.
As shown in fig. 15, in the present embodiment, the first rotation connecting portion 111 of the first bracket 110 is substantially U-shaped, the second rotation connecting portion 121 of the second bracket 120 is substantially T-shaped, the second rotation connecting portion 121 has an arc-shaped curved surface forming the pair of guide grooves G62, the second rotation connecting portion 121 is disposed in the first rotation connecting portion 111, the first rotation shaft 130 is inserted into the first rotation connecting portion 111 and the second rotation connecting portion 121, and the axis of the first rotation shaft 130 coincides with or is parallel to the axis of the second rotation connecting portion 121. The third rotation connecting portion 122 of the second bracket 120 is substantially U-shaped, the fourth rotation connecting portion 211 of the proximal end of the arm 210 of the clip 200 is disposed in the third rotation connecting portion 122, and the second rotation shaft 140 is inserted through the third rotation connecting portion 122 and the fourth rotation connecting portion 211.
In addition, as shown in fig. 15, in the present embodiment, the guide groove arrangement of the brackets is substantially the same as that of the second embodiment, i.e., the proximal end of the first bracket 110 is provided with a pair of guide grooves G61, and the proximal end of the second bracket 120 is provided with a pair of guide grooves G62. On the basis of this, the proximal ends of the two forceps arms 210 are respectively provided with a guide groove G63.
It should be noted herein that the wrist mechanisms illustrated in the drawings and described in the present specification are but a few examples of the wide variety of wrist mechanisms that can employ the principles of the present invention. It should be clearly understood that the principles of the present invention are in no way limited to any of the details or any of the components of the wrist mechanism shown in the drawings or described in this specification.
Surgical robot embodiments
Based on the above detailed description of several exemplary embodiments of the wrist rotation mechanism proposed by the present invention, an exemplary embodiment of the surgical robot proposed by the present invention will be described below.
In this embodiment, the surgical robot proposed by the present invention includes the wrist rotation mechanism proposed by the present invention and described in detail in the above-described embodiment.
It should be noted herein that the surgical robot illustrated in the drawings and described in the present specification is but one example of the wide variety of surgical robots that can employ the principles of the present invention. It should be clearly understood that the principles of the present invention are in no way limited to any details or any components of the surgical robot shown in the drawings or described in this specification.
In summary, the wrist mechanism provided in the present invention includes a support, an end tool, and a cable. The support is provided with at least two pairs of guide grooves, and the support contains first support and the second support of rotation connection, and the guide groove of support sets up in at least one of them of first support and second support. The end tool is rotatably connected to the distal end of the second bracket and is provided with a guide groove. The cable is arranged along the guide groove of the bracket and the guide groove of the end tool and is used for driving the end tool to realize pitching motion and yawing motion. Through the design, the rotary freedom degree of the tail end tool relative to the support is increased, so that the tail end tool has an angle adjusting function. Compared with the design that the pulleys and the mooring ropes are matched, the wrist rotation mechanism provided by the invention adopts the guide grooves to replace the pulleys and other structures, reduces the number of parts, and simplifies the assembly process, thereby greatly reducing the cost, realizing the disposable use of the instrument, and avoiding the possibility of repeated cleaning and sterilization and cross infection of the instrument.
Specifically, taking a laparoscope as an operation example, the wrist rotation mechanism provided by the invention can adjust the jaws to the direction perpendicular to the blood vessel under the condition that the instrument shaft section is kept still, so as to realize the closing operation of the blood vessel. The tool consists of opposing jaws that can grasp tissue and clamp a blood vessel. The two gripper arms of the gripper can be closed and opened relative to each other.
Exemplary embodiments of the wrist rotation mechanism and the surgical robot proposed by the present invention are described and/or illustrated in detail above. Embodiments of the invention are not limited to the specific embodiments described herein, but rather, components and/or steps of each embodiment may be utilized independently and separately from other components and/or steps described herein. Each component and/or step of one embodiment can also be used in combination with other components and/or steps of other embodiments. When introducing elements/components/etc. described and/or illustrated herein, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc. Furthermore, the terms "first" and "second" and the like in the claims and the description are used merely as labels, and are not numerical limitations of their objects.
While the wrist mechanism and surgical robot of the present invention have been described in terms of various specific embodiments, those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the claims.
Claims (10)
1. A wrist rotation mechanism, comprising:
the bracket is provided with at least two pairs of guide grooves, the bracket comprises a first bracket and a second bracket, the proximal end of the second bracket is rotatably connected to the distal end of the first bracket, and the guide grooves of the bracket are arranged on at least one of the first bracket and the second bracket;
a tip tool rotatably connected to a distal end of the second bracket, the tip tool being provided with a guide groove;
and cables arranged along the guide grooves of the bracket and the end tool and used for driving the end tool to realize pitching motion and yawing motion.
2. The wrist mechanism of claim 1, wherein the end tool includes two sub-portions rotatably connected to the distal ends of the second supports, the sub-portions each having a guide slot, and two cables respectively disposed along the guide slots of the two sub-portions for driving the two sub-portions to move independently.
3. The wrist mechanism according to claim 1, wherein the guide grooves of the brackets are provided only to the second bracket, the second bracket is provided with at least two pairs of guide grooves, two guide grooves of the second bracket belonging to the same pair are provided respectively to both sides of the second bracket, and at one side of the second bracket, the extending directions of at least two guide grooves belonging to different pairs are different.
4. The wrist mechanism according to claim 3, wherein at least two guide grooves belonging to different pairs form a channel shape of a "Y", "V" or "X" shape together on one side of the second bracket.
5. The wrist mechanism according to claim 3, wherein the guide groove of the proximal end of the second bracket is formed by at least one curved arc, and an axis of the at least one curved arc is parallel to the rotation axis of the second bracket.
6. The wrist mechanism of claim 1, wherein the first bracket is provided with at least one pair of guide slots and the second bracket is provided with at least one pair of guide slots; wherein:
the at least one pair of guide grooves of the first bracket is composed of at least one section of arc-shaped curved surface, and the axis of the at least one section of arc-shaped curved surface is parallel to the rotation axis of the second bracket;
the at least one pair of guide grooves of the second bracket is formed by at least one section of arc-shaped curved surface, and the extending directions of the at least one pair of guide grooves of the second bracket and the at least one pair of guide grooves of the first bracket are different.
7. The wrist mechanism according to claim 1, wherein the guide grooves of the brackets are provided only to the first bracket, and the first bracket is provided with at least two pairs of guide grooves; wherein:
the guide groove at the proximal end of the first bracket is formed by at least one section of arc-shaped curved surface, and the axis of the at least one section of arc-shaped curved surface is parallel to the rotation axis of the second bracket;
the guide groove at the far end of the first support is composed of at least one section of arc-shaped curved surface, and the extension directions of the guide groove at the near end of the first support and the guide groove at the far end of the first support are different.
8. The wrist mechanism according to claim 1, wherein the first bracket is provided with a pair of guide grooves, the second bracket is provided with two pairs of guide grooves, the two guide grooves of the second bracket belonging to the same pair are respectively provided on both sides of the second bracket, and at least two guide grooves belonging to different pairs have different extending directions on one side of the second bracket.
9. The wrist mechanism according to claim 1, wherein the axes of rotation of the first and second supports and the axes of rotation of the second support and the end tool are in a spatially orthogonal relationship to each other.
10. A surgical robot comprising the wrist rotation mechanism according to any one of claims 1 to 9.
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| CN202110670038.XA CN113197670A (en) | 2021-06-17 | 2021-06-17 | Wrist rotating mechanism and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110670038.XA CN113197670A (en) | 2021-06-17 | 2021-06-17 | Wrist rotating mechanism and surgical robot |
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| CN113197670A true CN113197670A (en) | 2021-08-03 |
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| WO2024022048A1 (en) * | 2022-07-26 | 2024-02-01 | 深圳康诺思腾科技有限公司 | End effector mechanism of surgical instrument, and surgical instrument |
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