CN113558768A - Operation mechanical arm and operation device - Google Patents
Operation mechanical arm and operation device Download PDFInfo
- Publication number
- CN113558768A CN113558768A CN202110741813.6A CN202110741813A CN113558768A CN 113558768 A CN113558768 A CN 113558768A CN 202110741813 A CN202110741813 A CN 202110741813A CN 113558768 A CN113558768 A CN 113558768A
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- joint
- jaw
- driving
- clamp
- joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/282—Jaws
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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
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/2841—Handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
Abstract
The invention relates to a surgical mechanical arm and a surgical device, which comprise a plurality of joints which are sequentially and rotatably connected, wherein the joints at the tail end are connected with an actuating mechanism, a first driving wire and a second driving wire penetrate through the middle positions of the joints at the front ends of two adjacent joints, the end parts of the first driving wire and the second driving wire are respectively provided with a fork part after penetrating through the joints at the front ends, the two ends of the fork parts are respectively fixed with the edge positions of the two adjacent joints, and the first driving wire and the second driving wire can respectively drive the two adjacent joints to rotate in two opposite directions in the rotating plane of the two adjacent joints through the fork parts.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical mechanical arm and a surgical device.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The existing surgical mechanical arm driven by a driving wire is composed of a plurality of joint pieces, a plurality of driving wires penetrate through the edge positions of the joint pieces, one end of each driving wire is connected with a terminal joint, the other end of each driving wire is connected with a driving mechanism, and the driving wires are driven by the driving mechanisms to move, so that the surgical mechanical arm is bent.
The inventor finds that when the surgical mechanical arm is bent, when a certain power steel wire rope is broken, loosened and the like to fail, other joints cannot work normally, so that the whole surgical instrument breaks down, and surgical risks are caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a surgical mechanical arm, a driving wire is not easy to be blocked, and the smooth operation of a surgery is ensured.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a surgical manipulator, including a plurality of joints that are sequentially and rotatably connected, where a joint at a terminal is connected to an actuator, and in two adjacent joints, a first driving wire and a second driving wire pass through a middle position of a joint located at a front end, and after passing through the joint at the front end, both ends of the first driving wire and the second driving wire are provided with a bifurcated portion, and both ends of the bifurcated portion are respectively fixed to edge positions of two adjacent joints, and the first driving wire and the second driving wire can respectively drive two adjacent joints to rotate in two opposite directions in a rotation plane thereof through the bifurcated portion.
Optionally, the joint includes the joint body, and the joint body side end face that is located head end and terminal joint is equipped with the rotation otic placode, and the joint body both sides terminal surface of all the other joints all is provided with the rotation otic placode, and wherein the axis of the rotation otic placode of one side terminal surface is perpendicular with the axis of the rotation otic placode of the terminal surface of the other side.
Optionally, a through hole for passing the first driving wire and the second driving wire is formed in the middle of the head end joint and the middle joint.
Optionally, in two adjacent joints, the connection positions of one joint and the bifurcate portions of the first driving wire and the second driving wire are respectively located at two ends of the same diameter line of the circumference where the joint is located, and the connection positions of the other joint and the bifurcate portions of the first driving wire and the second driving wire are respectively located at two ends of the same diameter line of the circumference where the joint is located.
Optionally, the surgical mechanical arm includes a head end joint, a middle joint and a tail end joint which are connected in turn in a rotating manner, and a relative rotation plane of the head end joint and the middle joint is perpendicular to a relative rotation plane of the middle joint and the tail end joint.
Optionally, the joint at the end is rotatably connected with an actuator connecting piece, the actuator connecting piece can rotate around the axis of the joint at the end, and the actuator connecting piece is connected with a clamp assembly.
Optionally, the joint at the end is connected with a plurality of limiting members arranged along the radial direction of the joint, and the limiting members are inserted into annular limiting grooves arranged on the surface of the connecting member of the actuating mechanism.
Optionally, the actuating mechanism is a clamp assembly, the clamp assembly includes a first clamp and a second clamp which are arranged in a crossed manner, the first clamp and the second clamp are rotatably connected at a crossed position through a rotating shaft, the rotating shaft is fixed to the actuating mechanism connecting piece, the first clamp and the second clamp are connected to the clamping driving piece, and the clamping driving piece can drive the first clamp and the second clamp to open and close.
Optionally, the first clamp and the second clamp are separated into a clamping part and a driving part by a cross position, the driving parts of the first clamp and the second clamp are respectively provided with an arc-shaped groove, a pushing shaft penetrates through the arc-shaped grooves, the pushing shaft is connected with a clamp driving wire penetrating through all the joints through a fixing part, and the clamp driving wire can drive the first clamp and the second clamp to open and close through the pushing shaft and the arc-shaped grooves along the movement of the clamp driving wire in the axis direction of the clamping connecting piece.
In a second aspect, embodiments of the present invention provide a surgical device provided with a surgical robotic arm according to the first aspect.
The invention has the beneficial effects that:
1. according to the surgical mechanical arm, each two adjacent joints are driven by the two independent first driving wires and the two independent second driving wires in a matched mode, when the first driving wires or the second driving wires are broken, loosened and the like, the rotation of the other adjacent joints is not influenced, the relative rotation of other joints is not influenced, only one group of joints is difficult to control, and other joints can still operate normally, so that the surgical risk caused by instrument faults is reduced.
2. According to the surgical mechanical arm, the first driving wire and the second driving wire penetrate through the joint through the middle part of the joint and share the through hole in the middle part of the joint, and compared with the traditional joint which needs to process one through hole for each driving wire, the surgical mechanical arm is convenient to process and manufacture the joint, and the processing cost of the whole surgical mechanical arm is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a plan view of the whole structure of embodiment 1 of the present invention;
FIG. 3 is a front view of the overall structure of embodiment 1 of the present invention;
FIG. 4 is a side view of the whole structure of embodiment 1 of the present invention;
FIG. 5 is a sectional view of embodiment 1 of the present invention;
FIG. 6 is a schematic view showing a bent state in example 1 of the present invention;
the novel clamp comprises a head end joint 1, a middle joint 2, a tail end joint 3, a first lug plate 4, a second lug plate 5, a third lug plate 6, a fourth lug plate 7, a first driving wire 8, a second driving wire 9, a fork part 10, a rotary connecting part 11, a clamp mounting part 12, a limiting pin shaft 13, a first clamp 14, a second clamp 15, a rotating shaft 16, an arc-shaped groove 17, a pushing shaft 18, a fixing part 19 and a clamp driving wire 20.
Detailed Description
Example 1
In the embodiment, as shown in fig. 1 to 5, the surgical manipulator is formed by rotationally connecting three joints, namely a head joint 1, a middle joint 2 and a tail joint 3 in sequence.
The head end joint includes the joint body, the rear side and the rigid tube welded fastening of joint body for fix whole operation arm, head end joint's preceding terminal surface is provided with two first otic placodes 4, and two first otic placodes setting are at the both ends of the same root diameter line of head end joint place circumference. And a rotating hole which is used for being rotationally connected with the middle joint is formed in the first ear plate.
The middle joint comprises a joint body, the joint body is a circular plate, two second ear plates 5 and two third ear plates 6 are arranged on the end faces of the two sides of the joint body respectively, the two second ear plates are located at the two ends of a first diameter line of the circumference where the joint body is located, the two third ear plates are located at the two ends of a second diameter line of the circumference where the joint body is located, the first diameter line is perpendicular to the second diameter line, and the axis of the second ear plates and the axis of the third ear plates are perpendicular to each other.
The tail end joint comprises a joint body, the rear end face of the joint body is provided with two fourth ear plates 7, and the fourth ear plates are located at two ends of the same diameter line of the circumference where the joint body is located.
The connection mode of the head end joint, the middle joint and the tail end joint is as follows:
two first ear plates of the head end joint are rotatably connected with a second ear plate of the middle joint through a pin shaft, and a third ear plate of the middle joint is rotatably connected with a fourth ear plate of the tail end joint through a pin shaft, so that the relative rotation planes of the head end joint and the middle joint are mutually perpendicular to the relative rotation planes of the tail end joint and the middle joint, and the clamp assembly connected with the tail end joint rotates towards any direction.
In other embodiments, the number of joints may be increased to increase the degree of freedom of the entire surgical robotic arm.
In this embodiment, the joint body center parts of the head end joint and the middle joint are both provided with through holes, and the through holes are used for driving the threads to pass through.
The driving wire is used for driving the two adjacent joints to rotate in a relative rotation plane, and further bending of the surgical manipulator is achieved.
In middle joint and terminal joint, the drive silk includes first drive silk 8 and second drive silk 9, first drive silk and second drive silk pass head end joint and middle joint through the through-hole after, respectively to opposite direction bending 90, form the portion of bending, the tip and the bifurcation portion 10 of the portion of bending are connected, the bifurcation portion both ends of first drive silk and head end joint and middle joint's border position department fixed connection, the bifurcation portion both ends of second drive silk and head end joint and middle joint's border position department fixed connection.
First drive silk and second drive silk all pass the joint through joint middle part, and the through-hole at joint middle part is shared, need compare for a through-hole of every drive silk processing with traditional joint, and joint processing preparation is convenient, has reduced the processing cost of whole operation arm.
Wherein, the forked portion of first drive silk and second drive silk and the hookup location of middle joint are located the both ends of the same root diameter line of middle joint place circumference respectively, and the forked portion hookup location of end joint and first drive silk and second drive silk is located the both ends of the same root diameter line of end joint place circumference respectively.
When the medial and distal joints are coaxial, the bifurcation is in a natural state with some curvature in the direction of the axis of the medial and distal joints.
As shown in fig. 6, when the first driving wire is pulled and the second driving wire is loosened, the first driving wire drives the bifurcation portion to further bend, so that the end joint and the middle joint relatively rotate along the first direction until the bifurcation portion of the second driving wire is straightened, and the bending angle is the largest. When the second drive wire is pulled to loosen the first drive wire, the end joint and the middle joint are caused to rotate in a second direction opposite to the first direction.
Every two adjacent joints of group all form a complete set and utilize two independent first drive silk and the drive of second drive silk, the first drive silk and the second drive silk that every two adjacent joints of group are supporting do not influence each other, when first drive silk or second drive silk break off, when becoming flexible etc. became invalid, the rotation of all the other adjacent joints is not influenced, can not influence the relative rotation of other joints, multiunit joint has and only has a set of joint portion control difficulty, other joints still can normal operating, thereby reduce the operation risk because the apparatus trouble leads to.
The head end joint and the middle joint are also provided with a first driving wire and a second driving wire in a matched mode, the first driving wire and the second driving wire are used for driving the head end joint and the middle joint to rotate relatively, the connection mode of the first driving wire and the second driving wire is the same as that of the tail end joint and the first driving wire and the second driving wire of the middle joint, the difference is that the plane of two bifurcations corresponding to the head end joint and the middle joint is perpendicular to the plane of two bifurcations corresponding to the middle joint and the tail end joint, and then the relative rotation planes of the head end joint, the middle joint and the tail end joint are perpendicular to each other.
The end joint is connected with an actuating mechanism, the actuating mechanism is a clamp assembly, in order to achieve the purpose that the angle of the clamp assembly can be adjusted, the degree of freedom of the whole surgical manipulator is increased, the end joint is rotatably connected with an actuating mechanism connecting piece, the actuating mechanism connecting piece is connected with the clamp assembly and can rotate around the axis of the end joint, and then the angle of the clamp assembly is adjusted.
The actuating mechanism connecting piece comprises a rotating connecting part 11 and a clamp mounting part 12, and the rotating connecting part is inserted into the tail end joint and is rotationally connected with the tail end joint.
Furthermore, in order to stably connect the actuator connecting piece and the end joint, the end joint is radially connected with a plurality of limiting parts, in this embodiment, the limiting parts are limit pins 13, the limit pins penetrate through the joint wall of the end joint and are inserted into annular limiting grooves formed in the outer peripheral surface of the rotation connecting part, and the rotation connecting part and the end joint are limited to move along the axis direction by arranging the limit pins and the limiting grooves.
Meanwhile, the diameter of the limiting pin shaft is slightly smaller than the width of the limiting groove, so that the limiting pin shaft cannot influence the rotation of the rotating connecting part around the axis of the tail end joint.
The clamp connecting part is connected with a clamp assembly.
In this embodiment, the clamp assembly includes first clamp 14 and second clamp 15 that cross arrangement, and first clamp and second clamp are connected through pivot 16 rotation in crossing position department, the clamp installation department adopts U type structure, and the pivot is fixed inside U type structure, the both ends and the clamp installation department fixed connection of pivot.
The first clamp and the second clamp are both divided into a clamping part and a driving part by the crossed position, the clamping part is used for operation, and the surfaces of the two clamping parts, which are opposite, are provided with saw-toothed structures, so that better clamping force is conveniently provided.
The arc-shaped groove 17 is formed in the driving portions of the first clamp and the second clamp, a sharp corner is formed when the first clamp and the second clamp are opened, one end of the arc-shaped groove in the driving portion of the first clamp is located on an angular bisector of the sharp corner, the other end of the arc-shaped groove is located on one side of the angular bisector and is close to one side of the driving portion of the second clamp, one end of the arc-shaped groove in the driving portion of the second clamp is located on the angular bisector of the sharp corner, and the other end of the arc-shaped groove is located on the other side of the angular bisector and is close to one side of the driving portion of the first clamp.
The pushing shafts 18 penetrate through the arc-shaped grooves of the first clamp and the second clamp, can move along the axis direction of the clamp mounting portion, and further realize the opening and closing of the first clamp and the second clamp through the arc-shaped grooves.
The pushing shaft is fixedly connected with the fixing piece 19, the fixing piece is of a U-shaped structure, the driving parts of the first clamp and the second clamp are inserted into the fixing piece, and two ends of the pushing shaft are fixed with the fixing piece.
The mounting is located inside the clamp installation department, the mounting and the one end fixed connection of clamp drive wire 20, the other end of clamp drive wire can be connected with actuating mechanism after passing actuating mechanism connecting piece, terminal joint, middle joint and head end joint.
When the clamp driving wire drives the fixing piece and the pushing shaft to move towards the direction of the tail end joint, the first clamp and the second clamp are opened under the action of the arc-shaped groove, and when the clamp driving wire drives the fixing piece and the pushing shaft to move away from the direction of the tail end joint, the first clamp and the second clamp are closed under the action of the arc-shaped groove.
The driving mechanism can drive the fixing piece to move in the axis direction of the clamp mounting part in the actuating mechanism connecting piece through the clamp driving steel wire, so that the driving shaft is driven to move, and the opening and closing of the first clamp and the second clamp are realized.
In other embodiments, the actuating mechanism is a direct shear, an energy instrument, a suction irrigation device, etc., and can be selected by one skilled in the art according to actual needs.
In this embodiment, the first driving wire, the second driving wire and the clamp driving wire are steel wires or cables, and then are formed by winding a plurality of steel wires or cables.
Example 2:
the embodiment discloses a surgical device, including embodiment 1 the operation arm, first drive silk and second drive silk all are connected with first actuating mechanism, and first actuating mechanism can adopt the output shaft and the runner of motor, motor to be connected, and first drive silk and second drive silk winding are on the runner, still can set up the leading wheel, lead to first drive silk and second drive silk. The clamp driving wire is connected with a second driving mechanism, the second driving mechanism can drive the clamp driving wire to move along the axis direction of the clamp driving wire and rotate around the axis direction of the clamp driving wire, the existing driving mechanism for the surgical robot is adopted, and the specific structure of the driving mechanism is not described in detail herein.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a surgical mechanical arm, including a plurality of joints that rotate the connection in proper order, terminal joint is connected with actuating mechanism, a serial communication port, in two adjacent joints, the middle part position that is located the joint of front end has passed first drive silk and second drive silk, first drive silk and second drive silk pass the joint of front end after, its tip all is provided with forked portion, forked portion both ends are fixed with the border position of two adjacent joints respectively, first drive silk and second drive silk can drive two adjacent joints through forked portion respectively and rotate to two opposite directions in its rotation plane.
2. The surgical robot arm according to claim 1, wherein the joint comprises a joint body, the joint body of the joint at the head end and the tail end is provided with a rotary lug plate at one side end face, the joint body of the other joint is provided with a rotary lug plate at both side end faces, and the axis of the rotary lug plate at one side end face is perpendicular to the axis of the rotary lug plate at the other side end face.
3. The surgical robot of claim 1, wherein the joints of the head end and the middle joint are provided with through holes at a central position for the first drive wire and the second drive wire to pass through.
4. The surgical robot of claim 1, wherein the connection points of one of the two adjacent joints with the bifurcation of the first driving wire and the second driving wire are located at two ends of the same diameter line of the circumference of the joint, and the connection points of the other joint with the bifurcation of the first driving wire and the second driving wire are located at two ends of the same diameter line of the circumference of the joint.
5. The surgical robot of claim 1, wherein the surgical robot comprises a head joint, a middle joint and a tail joint which are connected in sequence in a rotating manner, and a relative rotating plane of the head joint and the middle joint is perpendicular to a relative rotating plane of the middle joint and the tail joint.
6. A surgical robotic arm as claimed in claim 1, wherein the joint of the tip is pivotally connected to an actuator linkage, the actuator linkage being capable of pivoting about the axis of the joint of the tip, the actuator linkage being connected to the jaw assembly.
7. The surgical robot of claim 6, wherein said distal joint has a plurality of retainers radially disposed thereon, said retainers being received in annular retainer grooves formed in the surface of said actuator linkage.
8. The surgical robot of claim 6, wherein the actuator is a jaw assembly comprising a first jaw and a second jaw arranged in a cross-over configuration, the first jaw and the second jaw being pivotally connected at the cross-over location by a pivot secured to the actuator linkage, the first jaw and the second jaw being connected to a clamp driving member, the clamp driving member being capable of driving the first jaw and the second jaw to open and close.
9. A surgical robot as claimed in claim 8, wherein the first jaw and the second jaw are divided into a gripping portion and a driving portion by a cross-over position, the driving portion of each of the first jaw and the second jaw is provided with an arcuate slot, the gripping drive member comprises a push shaft passing through the arcuate slot, the push shaft is connected to the jaw drive wire passing through all of the joints by a fixing member, and movement of the jaw drive wire in the direction of the axis of the gripping connection member is capable of driving the first jaw and the second jaw to open and close by means of the push shaft and the arcuate slot.
10. A surgical device characterized by a surgical robotic arm as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741813.6A CN113558768B (en) | 2021-06-30 | 2021-06-30 | Operation mechanical arm and operation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741813.6A CN113558768B (en) | 2021-06-30 | 2021-06-30 | Operation mechanical arm and operation device |
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| CN113558768A true CN113558768A (en) | 2021-10-29 |
| CN113558768B CN113558768B (en) | 2022-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110741813.6A Active CN113558768B (en) | 2021-06-30 | 2021-06-30 | Operation mechanical arm and operation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113740097A (en) * | 2021-11-03 | 2021-12-03 | 极限人工智能(北京)有限公司 | Testing device |
| CN117017428A (en) * | 2023-10-09 | 2023-11-10 | 天津大学医疗机器人与智能系统研究院 | Surgical clamp |
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| US20180235443A1 (en) * | 2011-01-31 | 2018-08-23 | Boston Scientific Scimed, Inc. | Articulation section with locking |
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| CN113558768B (en) | 2022-09-09 |
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