CN113712670A - Multifunctional channel device and minimally invasive surgery robot - Google Patents
Multifunctional channel device and minimally invasive surgery robot Download PDFInfo
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- CN113712670A CN113712670A CN202111285570.6A CN202111285570A CN113712670A CN 113712670 A CN113712670 A CN 113712670A CN 202111285570 A CN202111285570 A CN 202111285570A CN 113712670 A CN113712670 A CN 113712670A
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
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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
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention provides a multifunctional channel device and a minimally invasive surgery robot, wherein the multifunctional channel device consists of an adjusting control box, an abdominal steel pipe, an adjustable vertebra component and a traction wire which are sequentially connected, the adjusting control box comprises a driving component, a driven component and an elastic component, a gear table and a driven gear in the driven component, a rotating shaft table and a driven shaft are fixedly connected with each other, the elastic component is sleeved on the driven shaft and is respectively fixedly connected with the gear table and the rotating shaft table, and the traction wire is wound on the rotating shaft table and a channel. When the first transmission part on the gear table drives the rotating shaft table to rotate through the second transmission part on the rotating shaft table, the winding of the traction wire is realized, and when the rotating shaft table is driven to rotate through the extrusion elastic part, the release of the traction wire is realized. When the traction wire is wound to the limit position, the elastic piece enables the rotating shaft table to rotate by more angles, so that more traction wires are released, the compensation of the traction wire at the limit position is realized, the surgical instrument can still execute micro-action when approaching to the limit position, and the surgical operation precision is improved.
Description
Technical Field
The invention relates to the technical field of surgical robots and surgical instrument motion control, in particular to a multifunctional channel device and a minimally invasive surgical robot.
Background
At present, minimally invasive surgery is widely applied in the medical industry by virtue of the advantages of small surgical wound, convenience in recovery, fast surgical process, convenience in operation and the like. The minimally invasive surgery is usually realized by adopting a robot surgery system, the robot surgery system consists of a mechanical arm with a plurality of degrees of freedom and a surgery robot arranged at the end part of the mechanical arm, the surgery robot generally comprises a power device, a multifunctional channel device and a surgery instrument, the surgery instrument is connected with a flexible end head at the tail end of the multifunctional channel device, and a doctor enables the flexible end head at the tail end of the multifunctional channel device to drive the surgery instrument to complete the surgery operations such as shearing, clamping, suturing and the like on the affected part of a patient by controlling the power device.
Common multifunctional passage device generally drives its terminal flexible end of its action through the traction wire, but because the length of traction wire is certain, the adjustment of micro-action can't be carried out to the flexible end, can't satisfy the operation of high requirement, even when flexible end moved extreme position, the traction wire was broken by the tension easily to cause the damage of multifunctional passage device.
Disclosure of Invention
In view of the above, the present invention provides a multifunctional channel device and a minimally invasive surgical robot, so as to at least solve the problem of low precision of surgical operation caused by the fact that the traction wire of the existing multifunctional channel device cannot compensate.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention discloses a multifunctional channel device, comprising: the adjusting control box, the abdomen entering steel pipe, the adjustable vertebra assembly and the traction wire are connected in sequence, the adjusting control box, the abdomen entering steel pipe and the adjustable vertebra assembly jointly form a sterile channel for a surgical instrument to pass through, and the end part, far away from the adjusting control box, of the adjustable vertebra assembly is the tail end of the channel;
the adjusting control box comprises a shell and a transmission mechanism arranged in the shell, wherein the transmission mechanism comprises a driving component, a driven component and an elastic component;
the driving assembly comprises an input shaft and a driving gear, and the driving gear is circumferentially sleeved on the input shaft in a locking manner;
the driven assembly comprises a driven shaft, a driven gear, a gear table and a rotating shaft table; the driven gear is rotatably sleeved on the driven shaft and is meshed with the driving gear; the gear table is fixedly connected with the driven gear, the rotating shaft table is fixedly connected with the driven shaft, the gear table and the rotating shaft table are oppositely arranged, a first transmission part protruding towards the rotating shaft table is arranged on the gear table, and a second transmission part protruding towards the gear table is arranged on the rotating shaft table;
the elastic piece is sleeved on the driven shaft, one end of the elastic piece is fixedly connected with the gear table, and the other end of the elastic piece is fixedly connected with the rotating shaft table;
the head end of the traction wire is wound on the rotating shaft table, and the tail end of the traction wire sequentially penetrates through the adjusting control box, the abdomen entering steel pipe and the adjustable vertebra assembly and is fixed at the tail end of the channel so as to adjust the angle of the adjustable vertebra assembly by pulling the traction wire;
the driven gear drives the gear table to rotate, so that the driven assembly has a traction wire winding state and a traction wire releasing state; when the traction wire is wound, the first transmission part moves towards the direction close to the second transmission part, and the second transmission part is pushed to enable the rotating shaft table to drive the driven shaft to rotate; when the traction wire is released, the first transmission part moves towards the direction far away from the second transmission part, and the elastic part is pulled to drive the rotating shaft table to drive the driven shaft to rotate.
The invention also discloses a minimally invasive surgery robot which comprises a base, a multifunctional channel device and a surgical instrument, wherein the base is detachably connected with the multifunctional channel device, the multifunctional channel device is detachably connected with the surgical instrument, and the base is used for providing power for the multifunctional channel device so as to enable the multifunctional channel device to drive the surgical instrument to move.
Compared with the prior art, the multifunctional channel device has the following advantages:
the multifunctional channel device comprises an adjusting control box, an abdomen steel pipe, an adjustable vertebra component and a traction wire which are connected in sequence, wherein a transmission mechanism is arranged in the adjusting control box, and the transmission mechanism comprises a driving component, a driven component and an elastic component which are matched to realize power transmission. Gear table and driven gear fixed connection among the driven subassembly, pivot platform and driven shaft fixed connection, the elastic component cover is located on the driven shaft, respectively with gear table and pivot platform fixed connection, the haulage wire is around locating on pivot platform and the passageway. When the first transmission part on the gear table drives the rotating shaft table to rotate through the second transmission part on the rotating shaft table, the winding of the traction wire is realized, and when the traction elastic part drives the rotating shaft table to rotate, the release of the traction wire is realized. When the traction wire is wound to the limit position, the elastic piece deforms to enable the rotating shaft table to rotate by more angles, so that more traction wires are released, compensation of the traction wire at the limit position is achieved, surgical instruments can still perform micro-action when approaching to the limit position, and the precision of surgical operation is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a multi-functional gateway in an embodiment of the present invention;
FIG. 2 is a schematic illustration of a transmission mechanism in an embodiment of the present invention;
FIG. 3 is a partial view of an adjustable vertebral assembly according to an embodiment of the present invention;
FIG. 4 is a schematic view of a driven assembly in an embodiment of the present invention;
FIG. 5 is a schematic view of another driven assembly in an embodiment of the present invention;
FIG. 6 is an exploded view of a driven assembly in accordance with an embodiment of the present invention;
FIG. 7 is a front view of a compact according to an embodiment of the present invention.
Description of reference numerals:
46-multifunctional channel device, 461-adjusting control box, 462-abdominal steel tube, 463-aseptic channel, 429-adjustable vertebra component, 466-traction wire, 467-press connection ring, 4610-elastic piece, 4611-input shaft, 4612-driving gear, 4613-driven shaft, 4614-driven gear, 4615-gear table, 4616-rotating shaft table, 4617-press block, 4618-hollow structure, 46151-first transmission part, 46152-first contact plane, 46153-first clamping groove, 46161-second transmission part, 46162-circular table part, 46163-sleeve part, 46164-first through hole, 46165-connection hole, 46166-second contact plane, 46167-second clamping groove, 46171-pressing part, 46172-pin shaft part.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
A multi-functional channel 46 according to the present invention will be described in detail below by way of specific examples.
Referring to fig. 1, the multi-functional tunnel 46 of the present invention comprises an adjustment control box 461, a steel ventral tube 462, an adjustable vertebral assembly 429 and a pull wire 466 connected in series, the adjustment control box 461, the steel ventral tube 462 and the adjustable vertebral assembly 429 together forming a sterile channel 463 for the passage of surgical instruments therethrough. The surface of the abdomen-entering steel tube 462 is carved with a graduated scale, the length of the abdomen-entering steel tube 462 extending into the human tissue can be clearly displayed, the operator can conveniently control the multifunctional channel device 46, the end part of the adjustable vertebra component 429 far away from the adjusting control box 461 is the tail end of the sterile channel 463, the surgical instrument sequentially passes through the adjusting control box 461, the abdomen-entering steel tube 462 and the adjustable vertebra component 429, the tail end of the surgical instrument is exposed out of the adjustable vertebra component 429, and the tail end of the surgical instrument is connected with operating tools such as tweezers, scissors or forceps and the like, so that the surgical operation on the affected part of the human body is realized. During the actual procedure, it is necessary to ensure that the multi-functional channel 46 is in a sterile environment with the patient.
The adjusting control box 461 comprises a casing and a transmission mechanism arranged in the casing, the transmission mechanism is connected with a power device outside the multifunctional channel 46, and the power device outside outputs power for the multifunctional channel 46 through the transmission mechanism. Referring to fig. 2, the transmission mechanism includes a driving component, a driven component and an elastic component 4610, the driving component is connected with an external power device and is a power input source of the multifunctional channel 46, and the driving component drives the driven component to move, so as to realize power transmission. The driving assembly comprises an input shaft 4611 and a driving gear 4612, wherein the input shaft 4611 is connected with an output shaft of an external power device and rotates synchronously along with the output shaft. The driving gear 4612 is circumferentially locked on the input shaft 4611 and rotates synchronously with the input shaft 4611. The driven assembly comprises a driven shaft 4613, a driven gear 4614, a gear table 4615 and a rotating shaft table 4616, wherein the driven gear 4614 is rotatably sleeved on the driven shaft 4613 and is meshed with the driving gear 4612 to rotate under the driving of the driving gear 4612. In one embodiment, the driving gear 4612 and the driven gear 4614 may be gears with the same size, and the transmission ratio of the driving gear 4612 to the driven gear 4614 is 1: 1, the calculation and the control of an operator in the power transmission process are facilitated. In another embodiment, the driving gear 4612 and the driven gear 4614 may be gears with different sizes, and in order to reduce the occupied space of the driven assembly in the adjustment control box 461 and reduce the overall weight of the multi-function channel 46, the driven gear 4614 may be a gear with a smaller size, and the transmission ratio of the driving gear 4612 to the driven gear 4614 is smaller than 1: 1, after confirming the target force required by the multifunctional channel device 46 to work in the operation process, the target force needs to be converted in proportion to control the power output by the power device. Of course, the present embodiment is not particularly limited with respect to the specific specifications of the driving gear 4612 and the driven gear 4614.
Referring to fig. 2, the gear stage 4615 and the rotating shaft stage 4616 are both sleeved on the driven shaft 4613, the gear stage 4615 is fixedly connected with the driven gear 4614 and rotates synchronously with the driven gear 4614, and the rotating shaft stage 4616 is fixedly connected with the driven shaft 4613 to drive the driven shaft 4613 to rotate synchronously. And the gear stage 4615 and the rotation shaft stage 4616 are disposed opposite to each other in the axial direction of the driven shaft 4613, and the elastic member 4610 is located between the gear stage 4615 and the rotation shaft stage 4616. The gear stage 4615 is provided with a first transmission part 46151 protruding toward the rotation shaft stage 4616, the rotation shaft stage 4616 is provided with a second transmission part 46161 protruding toward the gear stage 4615, the first transmission part 46151 and the second transmission part 46161 may be protrusions with the same shape and size, when the driving gear 4612 drives the driven gear 4614 to rotate, the first transmission part 46151 on the gear stage 4615 moves toward the second transmission part 46161 on the rotation shaft stage 4616 until abutting against the second transmission part 46161, and under the continuous rotation of the driven gear 4614, the first transmission part 46151 pushes the second transmission part 46161 to rotate, so that the rotation shaft stage 4616 drives the driven shaft 4613 to rotate.
Referring to fig. 2, the elastic member 4610 is sleeved on the driven shaft 4613, one end of the elastic member 4610 is fixedly connected to the gear stage 4615, and the other end is fixedly connected to the rotating shaft stage 4616, and in a natural state, that is, when the motor does not work and the output shaft of the motor does not rotate, the elastic member 4610 is in an unstressed state and does not generate any acting force on the gear stage 4615 and the rotating shaft stage 4616. The elastic member 4610 may be any elastic member such as a spring, a leaf spring, etc., and the embodiment is not limited thereto. The pull wire 466 is wound around the rotating shaft table 4616 at its head end and passes through the adjustment control box 461, the abdominal steel tube 462 and the adjustable vertebra assembly 429 at its tail end, and then passes out of the sterile channel 463 at its tail end. The angle of adjustable vertebral assembly 429 may be adjusted by pulling on pull wire 466 to effect adjustment of the position and angle of the surgical instruments disposed through adjustable vertebral assembly 429. The traction wire 466 in this embodiment may be made of stainless steel metal, resin material, carbon fiber, or other material, and has good strength, rigidity, and fatigue resistance, and is not easily broken during the traction process. Preferably, the pull wire 466 is made of stainless steel metal. It should be noted that pull wire 466 is capable of maintaining a predetermined pre-tension in any condition, so that the distal end of adjustable vertebral component 429 is capable of maintaining a straight, elongated and balanced condition at any time, thereby avoiding shifting and wobbling of the distal end of adjustable vertebral component 429 due to gravity or different placement configurations, and ensuring stability of the distal end of adjustable vertebral component 429.
The driven gear 4614 rotates the gear stage 4615, enabling the driven assembly to have two states, i.e., a winding state of the traction wire 466 and a releasing state of the traction wire 466. During the movement of each set of driven assemblies, the two driven gears 4614 rotate in the same direction, the first transmission part 46151 on the gear stage 4615 connected to one driven gear 4614 moves towards the direction close to the second transmission part 46161 until abutting against the second transmission part 46161, the second transmission part 46161 is pushed to rotate the rotating shaft stage 4616, and at this time, a driving tension is applied to the pull wire 466, so that the pull wire 466 is wound on the driven gear 4614; the first transmission part 46151 on the gear stage 4615 connected to the other driven gear 4614 moves in a direction away from the second transmission part 46161, since the first transmission part 46151 is not connected to the second transmission part 46161, there is no force between the first transmission part 46151 and the second transmission part 46161 in this state, and the first transmission part 46151 pulls the elastic member 4610 connected to the gear stage 4615 and the rotation shaft stage 4616, so that the elastic member 4610 drives the rotation shaft stage 4616 to rotate, and the traction wire 466 wound on the driven gear 4614 is released.
In practice, because the end of adjustable vertebral assembly 429 has a diameter, the radius of curvature of the portion of pull wire 466 released during adjustment of vertebral assembly 429 will be slightly greater than the radius of curvature of the portion of pull wire 466 wrapped thereby allowing the length of pull wire 466 to be released greater than the length of pull wire 466 to be wrapped. When the gear table 4615 drives the shaft table 4616 to rotate through the elastic member 4610, the elastic member 4610 is squeezed to deform, and can drive the shaft table 4616 to rotate by a certain angle, and accordingly, more traction wires 466 can be released, that is, the length of the traction wires 466 released finally is the length corresponding to the total angle after the angle of rotation of the gear table 4615 is superposed with the angle corresponding to the deformation of the elastic member 4610, so that the requirement of the end of the adjustable vertebra assembly 429 on the extension of the traction wires 466 can be compensated, the compensation of the traction wires 466 in the extreme position is realized, the surgical instrument can still perform micro-motion when approaching the extreme position, and the operation precision of the surgical instrument is effectively improved. Meanwhile, the elastic potential energy stored in the elastic element 4610 can ensure that the released traction wire 466 is always tensioned.
The multifunctional channel device 46 of the present embodiment is composed of an adjusting control box 461, a ventral steel tube 462, an adjustable vertebra assembly 429 and a traction wire 466 which are connected in sequence, wherein a transmission mechanism is arranged in the adjusting control box 461 and comprises a driving assembly, a driven assembly and an elastic member 4610, the driving assembly is connected with an external power device to transmit the obtained power to the driven assembly. The driven assembly comprises a driven shaft 4613, a driven gear 4614, a gear table 4615 and a rotating shaft table 4616, the gear table 4615 is fixedly connected with the driven gear 4614 and rotates synchronously with the driven gear 4614, the rotating shaft table 4616 is fixedly connected with the driven shaft 4613 and drives the driven shaft 4613 to rotate synchronously, a first transmission part 46151 is arranged on the gear table 4615, and a second transmission part 46161 is arranged on the rotating shaft table 4616. The elastic element 4610 is sleeved on the driven shaft 4613 and is fixedly connected with the gear table 4615 and the rotating shaft table 4616 respectively, the head end of the traction wire 466 is wound on the rotating shaft table 4616, the tail end of the traction wire 466 sequentially passes through the adjusting control box 461, the abdomen steel pipe 462 and the adjustable vertebra assembly 429 and is fixed at the tail end of the sterile channel 463, and the angle of the adjustable vertebra assembly 429 can be adjusted by pulling the traction wire 466. The first transmission part 46151 pushes the second transmission part 46161 to move, the rotation of the rotating shaft table 4616 is driven, the traction wire 466 is wound, the elastic part 4610 fixedly connected with the gear table 4615 is pulled, the rotation of the rotating shaft table 4616 is driven, the release of the traction wire 466 is realized, and due to the fact that the elastic force of the elastic part 4610 corresponding to different release states of the traction wire 466 is different, when the traction wire 466 is released to be close to the limit length, the larger the deflection amplitude of the tail end of the adjustable vertebra assembly 429 is, the larger the deformation quantity of the elastic part 4610 is, the longer traction wire 466 is correspondingly released for compensation, the phenomenon that the traction wire 466 is suddenly stretched and broken under the limit position state is avoided, the stability of the tail end of the adjustable vertebra assembly 429 under the limit position deflection is guaranteed, and the operation precision of the surgical instrument is improved.
In some embodiments, multi-functional tunnel 46 includes at least four pull wires 466 and at least two drive mechanisms, each drive mechanism having two pull wires 466 disposed therein, with at least four pull wires 466 secured to the distal end of adjustable vertebral assembly 429 to provide more flexibility in the amount of space available at the distal end of adjustable vertebral assembly 429 and thus provide greater maneuverability of surgical instruments attached thereto. Each transmission mechanism is provided with a group of driving components and two groups of driven components, and the two groups of driven components are respectively arranged at two sides of the driving components, wherein the driven gears 4614 in the two groups of driven components are respectively meshed with the driving gears 4612 in the driving components, and the rotation of the driving gears 4612 in the driving components can simultaneously drive the driven gears 4614 in the two groups of driven components to rotate so as to transmit power for the two groups of driven components. The number of pull wires 466 is the same as the number of driven assemblies, one pull wire 466 being connected to each driven assembly. In the operation process, the driving components in the two transmission mechanisms work simultaneously, the four driven components wind two of the four traction wires 466 respectively, and the other two driven components release to realize the action of the tail end of the adjustable vertebra component 429.
Referring to fig. 3, in some embodiments, the adjustable vertebral assembly 429 assembly is a tubular structure having four pull wires 466 disposed therein, a first pull wire 466a, a second pull wire 466b, a third pull wire 466c and a fourth pull wire 466d, wherein the first pull wire 466a, the second pull wire 466b, the third pull wire 466c and the fourth pull wire 466d are disposed through the adjustable vertebral assembly 429. Wherein the first pull wire 466a and the third pull wire 466c are diagonally arranged at the end of the adjustable vertebra assembly 429, the second pull wire 466b and the fourth pull wire 466d are diagonally arranged at the end of the adjustable vertebra assembly 429, the head ends of the first pull wire 466a and the third pull wire 466c are positioned in the same group of transmission mechanisms, and the head ends of the second pull wire 466b and the fourth pull wire 466d are positioned in the same group of transmission mechanisms, so that when one of the pull wires 466 at one diagonal position is wound, the other pull wire is released, and the diagonal adjustment mode enables the movement of the end of the adjustable vertebra assembly 429 to be more stable, thereby further improving the accuracy of the operation.
In some embodiments, the resilient member 4610 is a torsion spring, and in each transmission, the torsion springs in the two driven assemblies are torsion springs of different rotational orientations. The torsional spring includes levogyration torsional spring and dextrorotation torsional spring, to the levogyration torsional spring, if driven gear 4614 clockwise rotation in the driven subassembly, can realize tightening up of levogyration torsional spring, if driven gear 4614 anticlockwise rotation in the driven subassembly, can realize loosening of levogyration torsional spring, because driven gear 4614 direction of rotation in the same drive mechanism is the same, consequently in same drive mechanism, the torsional spring that sets up on a set of driven subassembly is the levogyration torsional spring, the torsional spring on the driven subassembly of another group is the dextrorotation torsional spring, just can make two sets of driven subassemblies in a drive mechanism all can realize twining haulage silk 466 and release two kinds of states of haulage silk 466.
Further, when the gear stage 4615 drives the rotation shaft stage 4616 to rotate through the torsion spring, the torsion spring is squeezed to reduce the diameter thereof, so as to drive the rotation shaft stage 4616 to rotate by a certain angle, and accordingly, more traction wires 466 can be released, that is, the length of the finally released traction wires 466 is the length corresponding to the total angle after the rotation angle of the gear stage 4615 is superposed with the angle corresponding to the diameter variation of the torsion spring, thereby compensating the requirement of the tail end of the adjustable vertebra assembly 429 on the extension of the traction wires 466. For example, when the gear stage 4615 rotates 30 °, the diameter of the torsion spring is reduced by 1mm, and the spindle stage 4616 is driven to rotate 3 ° more, and the length of the released traction wire 466 is the length corresponding to the rotation of the spindle stage by 33 °.
Referring to fig. 5, in some embodiments, a first locking groove 46153 is disposed on a surface of the first transmission portion 46151 facing the turret 4616, a second locking groove 46167 is disposed on a surface of the second transmission portion 46161 facing the gear stage 4615, and two ends of the torsion spring are respectively locked in the first locking groove 46153 and the second locking groove 46167. In another embodiment, a clamping ring can be arranged in the clamping groove, the torsion spring penetrates through the clamping ring to be fixed, the torsion spring can be detachably connected through the matching and loosening of the clamping ring, and the torsion spring can be replaced in time if the torsion spring fails or breaks down.
Referring to fig. 4-6, in some embodiments, the rotating shaft stage 4616 includes two spaced-apart boss portions 46162 and a sleeve portion 46163 coupled between the two boss portions 46162, the sleeve portion 46163 having a longer length dimension relative to the boss portion 46162 along the axial direction of the driven shaft 4613 to facilitate the winding of the traction wire 466 around the sleeve portion 46163. The maximum diameter of the boss portion 46162 is larger than the maximum diameter of the sleeve portion 46163 in the direction perpendicular to the axial direction of the driven shaft 4613 so as not to drop off the pull wire 466. While the second transmission 46161 is disposed on the circular table portion 46162 near the gear stage 4615 and can cooperate with the first transmission 46151 on the gear stage 4615.
Referring to fig. 4-6, in some embodiments, the multi-functional channel 46 further includes a pressing block 4617, the pressing block 4617 includes a pressing portion 46171 and a pin portion 46172 connected, the pressing block 4617 may be an integral structure, and the pin portion 46172 may be welded to the pressing portion 46171 to be tightly connected. The pressing block 4617 is fixed with the rotating shaft platform 4616 in a pressing way. Referring to fig. 7, the sleeve portion 46163 is provided with a first through hole 46164 and a connecting hole 46165, the driven shaft 4613 is provided with a second through hole corresponding to the first through hole 46164, the first through hole 46164 and the second through hole have the same shape and size, the head end of the pull wire 466 is fixed in the second through hole after passing through the first through hole 46164, then the pin shaft 46172 of the pressing block 4617 is inserted into the connecting hole 46165, and the pressing portion 46171 can abut against the surface of the sleeve portion 46163, so that the head end of the pull wire 466 is firmly pressed in the driven shaft 4613.
In some embodiments, the number of the first transmission portions 46151 is at least two, and the plurality of first transmission portions 46151 are symmetrically disposed on the gear stage 4615. The second transmission portions 46161 are provided in the same number as the first transmission portions 46151 and are fitted in a one-to-one correspondence, and the plurality of second transmission portions 46161 are also provided symmetrically on the driven shaft 4613. The plurality of first transmission parts 46151 can evenly disperse the power transmitted from the driven gear 4614, so that the gear stage 4615 can push the turntable 4616 more smoothly.
Referring to fig. 5, in some embodiments, the first transmission portion 46151 is provided with a first contact plane 46152, the second transmission portion 46161 is provided with a second contact plane 46166, the first contact plane 46152 and the second contact plane 46166 are rough surfaces with a large friction coefficient, when the traction wire 466 is wound, the first contact plane 46152 abuts against the second contact plane 46166, the second transmission portion 46161 is pushed to rotate by the second contact plane 46166, and the contact plane is rough, so that the first contact plane 46152 is prevented from sliding against the second contact plane 46166, and the transmission effect of power between the gear stage 4615 and the rotating shaft stage 4616 is improved. By providing surface-to-surface contact between the first contact plane 46152 and the second contact plane 46166, the contact area between the first transmission portion 46151 and the second transmission portion 46161 can be increased, thereby improving the smoothness of power transmission between the gear stage 4615 and the rotating shaft stage 4616.
In some embodiments, the pull wire 466 may be wound around the driven shaft 4613 for at least two turns, which may correspond to at least two turns of the pull wire 466 being wound around the sleeve of the rotating table 4616, to prevent the pull wire 466 from being short in length when the pull wire 466 is released.
Referring to fig. 1 and 3, in some embodiments, the multi-functional tunnel 46 further includes a crimping ring 467, the crimping ring 467 is disposed over the end of the adjustable vertebral member 429, the end of the pull wire 466 is disposed between the adjustable vertebral member 429 and the crimping ring 467, and the crimping ring 467 is compressed against the end of the adjustable vertebral member 429 such that the end of the pull wire 466 is securely fixed between the adjustable vertebral member 429 and the crimping ring 467.
Referring to fig. 4, in some embodiments, an end of the driven shaft 4613 away from the driven gear 4614 is a hollow structure 4618, a magnet is disposed in the hollow structure 4618, a magnetic encoder corresponding to the magnet is disposed in the adjustment control box 461 or elsewhere, and position information of the rotation of the driven shaft 4613 can be obtained by detecting a change in magnetic field strength of the magnet by using the magnetic encoder, so as to control the rotation position of the driven shaft 4613.
In some embodiments, gear table 4615 is an integrally formed structure with driven gear 4614. Similar to the previous embodiment, the gear stage 4615 may have a structure similar to that of the circular table portion 46162 of the rotation shaft stage 4616, and may have a circular table structure or a circular shank structure, and the first transmission portion 46151 is disposed on a side of the circular table or the circular shank near the rotation shaft stage 4616. The gear stage 4615 and the driven gear 4614 can be directly of an integrally formed structure, so that a machining process for fixedly connecting the gear stage 4615 and the driven gear 4614 is omitted, and production cost can be effectively saved.
In some embodiments, the end of the input shaft 4611 away from the driving gear 4612 is of a groove structure, and is connected to the power output shaft through the groove structure, preferably, the groove structure can be a cross-shaped groove structure, so that the reliability of the connection relationship can be enhanced, the phenomena of shaking, slipping and the like at the connection part can be avoided, and the power transmission performance can be improved.
Referring to fig. 3, in some embodiments, adjustable vertebral member 429 is a serpentine vertebral level configuration with two through-holes per vertebral level and pull wire 466 is threaded through the through-holes and secured to the distal end of adjustable vertebral member 429.
Referring to fig. 1, in some embodiments, the two transmission mechanisms are symmetrically arranged with respect to the axis of the steel web-entering pipe 462, so as to uniformly transmit power and make the structure inside the adjusting control box 461 more orderly and reasonable.
The invention also provides a minimally invasive surgery robot which comprises a base, a multifunctional channel device 46 and a surgical instrument, wherein the surgical instrument penetrates through the multifunctional channel device 46, the tail end of the surgical instrument is connected with operating tools such as tweezers, scissors or forceps, the base is detachably connected with the multifunctional channel device 46, a power device is arranged in the base and can provide power for the multifunctional channel device 46, the multifunctional channel device 46 obtains the power and then transmits the power to the surgical instrument through a transmission mechanism, and the operating tools connected with the tail end of the surgical instrument are controlled to move, wherein a traction wire 466 in the transmission mechanism can drive the tail end of an adjustable vertebra component 429 to swing, so that clamping actions of the tweezers, the forceps and the like, shearing actions of the scissors and the like are realized. In the operation process, the operator can adjust the action of the surgical instrument at the tail end of the multifunctional channel device 46 by controlling the power output by the power device in the base, the operation is simple, the completion speed is high, the wound caused by the operation is small, the pain of a patient can be effectively relieved, and the recovery time of the patient is shortened.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (17)
1. A multi-functional channelizer (46) comprising: the adjusting control box (461), the abdominal steel tube (462), the adjustable vertebra assembly (429) and the traction wire (466) are connected in sequence, the adjusting control box (461), the abdominal steel tube (462) and the adjustable vertebra assembly (429) jointly form a sterile channel (463) for a surgical instrument to pass through, and the end of the adjustable vertebra assembly (429) far away from the adjusting control box (461) is the tail end of the channel;
the adjusting control box (461) comprises a shell and a transmission mechanism arranged in the shell, wherein the transmission mechanism comprises a driving component, a driven component and an elastic piece (4610);
the driving assembly comprises an input shaft (4611) and a driving gear (4612), and the driving gear (4612) is circumferentially sleeved on the input shaft (4611) in a locking manner;
the driven assembly comprises a driven shaft (4613), a driven gear (4614), a gear table (4615) and a rotating shaft table (4616); the driven gear (4614) is rotatably sleeved on the driven shaft (4613) and is meshed with the driving gear (4612); the gear table (4615) is fixedly connected with the driven gear (4614), the rotating shaft table (4616) is fixedly connected with the driven shaft (4613), the gear table (4615) and the rotating shaft table (4616) are oppositely arranged, a first transmission part (46151) protruding towards the rotating shaft table (4616) is arranged on the gear table (4615), and a second transmission part (46161) protruding towards the gear table (4615) is arranged on the rotating shaft table (4616);
the elastic piece (4610) is sleeved on the driven shaft (4613), one end of the elastic piece (4610) is fixedly connected with the gear table (4615), and the other end of the elastic piece (4610) is fixedly connected with the rotating shaft table (4616);
the head end of the traction wire (466) is wound on the rotating shaft table (4616), the tail end of the traction wire sequentially passes through the adjusting control box (461), the abdomen steel pipe (462) and the adjustable vertebra component (429), and the traction wire (466) is fixed at the tail end of the channel so as to adjust the angle of the adjustable vertebra component (429);
the driven gear (4614) drives the gear table (4615) to rotate, so that the driven assembly has a traction wire winding (466) state and a traction wire releasing (466) state; when the traction wire (466) is wound, the first transmission part (46151) moves towards the direction close to the second transmission part (46161), and the second transmission part (46161) is pushed to enable the rotating shaft table (4616) to drive the driven shaft (4613) to rotate; when the traction wire (466) is released, the first transmission part (46151) moves away from the second transmission part (46161), and the driven shaft (4613) is driven to rotate by the rotating shaft table (4616) through pulling the elastic piece (4610).
2. The multi-functional gateway (46) of claim 1, wherein the multi-functional gateway (46) comprises at least four traction wires (466) and at least two transmission mechanisms, each transmission mechanism having one set of the driving assembly and two sets of the driven assemblies, and two sets of the driven assemblies being disposed on two sides of the driving assembly, wherein the driven gears (4614) of the two sets of the driven assemblies are engaged with the driving gears (4612) of the driving assembly, respectively;
the number of the traction wires (466) is the same as that of the driven assemblies, and one traction wire (466) is connected to each group of the driven assemblies.
3. The multi-functional tunnel (46) of claim 2 wherein said adjustable vertebral assembly (429) assembly is a tubular structure, and wherein said at least four pull wires (466) include a first pull wire (466 a), a second pull wire (466 b), a third pull wire (466 c), and a fourth pull wire (466 d);
said first pull wire (466 a) and said third pull wire (466 c) are diagonally disposed on said adjustable vertebral assembly (429), said second pull wire (466 b) and said fourth pull wire (466 d) are diagonally disposed on said adjustable vertebral assembly (429) assembly;
the head ends of the first traction wire (466 a) and the third traction wire (466 c) are positioned in the same group of transmission mechanisms, and the head ends of the second traction wire (466 b) and the fourth traction wire (466 d) are positioned in the same group of transmission mechanisms.
4. The multi-functional tunnel (46) of claim 2 wherein the resilient member (4610) is a torsion spring;
in each transmission mechanism, the torsion springs in the two driven assemblies are torsion springs with different rotation directions.
5. The multi-function channel (46) of claim 4, wherein the first transmission portion (46151) has a first slot on a surface facing the side of the turret (4616), and the second transmission portion (46161) has a second slot on a surface facing the side of the gear stage (4615);
and the two ends of the torsion spring are respectively clamped in the first clamping groove and the second clamping groove.
6. The multi-function channel (46) of claim 1 wherein said spindle block (4616) includes two spaced-apart circular truncated portions and a sleeve portion connected between the two circular truncated portions, said circular truncated portions extending radially outwardly relative to said sleeve portion;
the second transmission part (46161) is arranged on the circular table part close to the gear table (4615), and the head end of the traction wire (466) is wound on the sleeve part.
7. The multi-function channel (46) of claim 6 wherein said multi-function channel (46) further comprises a press block (4617), said press block (4617) comprising a connected press portion (46171) and a pin portion (46172), said press block (4617) being press-fit to said turret table (4616);
the sleeve part is provided with a first through hole (46164) and a connecting hole (46165), the driven shaft (4613) is provided with a second through hole corresponding to the first through hole (46164), and the head end of the traction wire (466) passes through the first through hole (46164) and is fixed in the second through hole;
the pin shaft portion (46172) is inserted into the connection hole (46165), and the pressing portion (46171) abuts against the sleeve portion to press the traction wire (466).
8. The multi-functional aisle unit (46) of claim 1, characterized in that the first transmission (46151) is at least two, a plurality of the first transmission (46151) being symmetrically arranged on the gear stage (4615);
the number of the second transmission parts (46161) is equal to that of the first transmission parts (46151), the second transmission parts (46161) are matched in a one-to-one correspondence mode, and the second transmission parts are symmetrically arranged on the driven shaft (4613).
9. The multi-functional gateway (46) of claim 1, characterized in that the first transmission part (46151) is provided with a first contact plane (46152) thereon, and the second transmission part (46161) is provided with a second contact plane (46166) thereon, wherein the first contact plane (46152) abuts against the second contact plane (46166) when the traction wire (466) is wound.
10. The multi-functional tunnel (46) of claim 1 wherein said pull wire (466) is wound around said driven shaft (4613) at least two turns.
11. The multi-functional tunnel (46) of claim 1 wherein said multi-functional tunnel (46) further includes a crimp ring (467), said crimp ring (467) fitted over an end of said adjustable vertebral component (429);
the crimp ring (467) is crimped to an end of the adjustable vertebral component (429) to secure an end of the pull wire (466) between the adjustable vertebral component (429) and the crimp ring (467).
12. The multi-functional gateway (46) of claim 1, wherein an end of the driven shaft (4613) remote from the driven gear (4614) is a hollow structure (4618), and a magnet is disposed in the hollow structure (4618) for detecting a rotational position of the driven shaft (4613).
13. The multi-functional aisle (46) of claim 1, where the gear table (4615) is of integral construction with the driven gear (4614).
14. The multi-function channel (46) as claimed in claim 1 wherein the end of said input shaft (4611) distal from said drive gear (4612) is of a slotted configuration, said slotted configuration being cooperatively engaged with a power output shaft to effect power transfer.
15. The multi-functional tunnel (46) of claim 1 wherein said adjustable vertebral member (429) is a serpentine vertebral level configuration, each of said vertebral levels having a through hole with said pull wire (466) disposed therethrough.
16. The multi-functional tunnel (46) of claim 2 wherein two of said drive mechanisms are symmetrically disposed about the axis of said steel belly tube (462).
17. The minimally invasive surgical robot is characterized by comprising a base, a multifunctional channel device (46) and a surgical instrument, wherein the base is detachably connected with the multifunctional channel device (46), the multifunctional channel device (46) is detachably connected with the surgical instrument, and the base is used for providing power for the multifunctional channel device (46) so that the multifunctional channel device (46) drives the surgical instrument to move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111285570.6A CN113712670A (en) | 2021-11-02 | 2021-11-02 | Multifunctional channel device and minimally invasive surgery robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111285570.6A CN113712670A (en) | 2021-11-02 | 2021-11-02 | Multifunctional channel device and minimally invasive surgery robot |
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| CN113712670A true CN113712670A (en) | 2021-11-30 |
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| CN114176788A (en) * | 2022-02-17 | 2022-03-15 | 极限人工智能有限公司 | Minimally invasive surgery robot and connection control method |
| CN114305703A (en) * | 2022-03-11 | 2022-04-12 | 极限人工智能(北京)有限公司 | Multifunctional channel device and minimally invasive surgery robot |
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| CN114305703A (en) * | 2022-03-11 | 2022-04-12 | 极限人工智能(北京)有限公司 | Multifunctional channel device and minimally invasive surgery robot |
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