CN113796962A

CN113796962A - Instrument arm

Info

Publication number: CN113796962A
Application number: CN202110993642.6A
Authority: CN
Inventors: 孙月海
Original assignee: Institute Of Medical Robot And Intelligent System Tianjin University
Current assignee: Institute Of Medical Robot And Intelligent System Tianjin University
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-12-17
Anticipated expiration: 2041-08-27
Also published as: CN113796962B

Abstract

The present disclosure provides an instrument arm comprising: a first arm having one end connectable to an outside; one end of the second arm is pivoted with the other end of the first arm through a first shaft; one end of the third arm is pivoted with the other end of the second arm through a second shaft, and the first shaft and the second shaft are arranged in parallel; one end of the fourth arm is pivoted with the other end of the third arm through a third shaft, and the second shaft and the third shaft are arranged in parallel; the first arm, the third arm and the fourth arm form a generalized parallelogram mechanism.

Description

Instrument arm

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to an instrument arm.

Background

At present, a medical robot slave-end instrument arm with a fixed point is provided with a connecting rod assembly for transmitting motion in the axial direction of a medical tool catheter, and in order to avoid interference between an assembly and an auxiliary medical instrument or a patient in the motion process, the length of each connecting rod of the assembly needs to be increased, so that the volume of the instrument arm is increased. The medical robot arm can be regarded as a cantilever beam structure, when the length of each connecting rod in the structure is increased, the motion inertia of the arm is increased, the elastic deformation of each component is increased in the motion process, and the repeated positioning precision of the tail end of the medical tool is reduced.

Disclosure of Invention

Technical problem to be solved

Based on the above problem, the present disclosure provides an instrument arm to alleviate technical problems such as the terminal repeated positioning precision reduction of medical instrument among the prior art.

(II) technical scheme

The present disclosure provides an instrument arm comprising:

a first arm having one end connectable to an outside;

one end of the second arm is pivoted with the other end of the first arm through a first shaft;

one end of the third arm is pivoted with the other end of the second arm through a second shaft, and the first shaft and the second shaft are arranged in parallel;

one end of the fourth arm is pivoted with the other end of the third arm through a third shaft, and the third shaft is arranged in parallel with the second shaft;

the first arm, the third arm and the fourth arm form a generalized parallelogram mechanism.

In an embodiment of the disclosure, the first arm comprises a U-shaped structure, which is capable of increasing the swing amplitude of the generalized parallelogram mechanism.

In the embodiment of the present disclosure, the first arm further includes a connection seat, one end of the connection seat is connected to the U-shaped structure, and the other end of the connection seat is connected to the outside.

In an embodiment of the disclosure, the U-shaped structure is rotatable with respect to the connecting seat, and a rotation axis of the U-shaped structure is perpendicular to and intersects with an axis of the first shaft.

In an embodiment of the present disclosure, the fourth arm is provided with a slide rail, an instrument seat capable of sliding on the slide rail is mounted on the slide rail, and the instrument seat is capable of bearing a medical instrument.

In the disclosed embodiment, the generalized parallelogram mechanism enables the medical instrument to rotate about a point on the rotational axis of the U-shaped structure.

In an embodiment of the disclosure, the medical instrument is one of a tissue clamp, a needle holder, an energy tool, an ultrasonic blade.

In the embodiment of the present disclosure, a connection boss is provided at a connection portion of the second arm and the third arm, and the connection boss enables the second arm and the third arm to be respectively disposed at two sides of the first arm in the direction of the first axis.

In an embodiment of the present disclosure, the connection boss is disposed on the second arm or the third arm.

In the embodiment of the present disclosure, the synchronizing device is a synchronizing wire or a synchronizing belt.

(III) advantageous effects

According to the technical scheme, the mechanical arm disclosed by the invention has at least one or one part of the following beneficial effects:

(1) the structure of the instrument arm has a physical fixed point, and other components for transmission are not arranged below the structure, so that a larger space is formed below the instrument arm for placing other medical tools for assisting medical implementation, the instrument arm has a more compact structure, and the occupied space is smaller; and

(2) the two points around the physical fixed point can be realized, the U-shaped structure can increase the swing amplitude of the mechanical arm, and the medical treatment is more flexible.

Drawings

Fig. 1A is a schematic view of a primary hand end of an instrument arm applied to an auxiliary minimally invasive medical system according to an embodiment of the disclosure.

FIG. 1B is a schematic view of an instrument arm of an embodiment of the present disclosure applied from the hand end to an auxiliary minimally invasive medical system.

FIG. 2 is a schematic diagram of the overall structure of an instrument arm according to an embodiment of the disclosure.

FIG. 3 is a schematic illustration of a medical device position status of a device arm according to an embodiment of the disclosure.

Fig. 4 is a schematic diagram of a first arm structure of an instrument arm according to an embodiment of the present disclosure.

FIG. 5 is a schematic view of the rotation of the U-shaped configuration of the first arm of the instrument arm of the disclosed embodiment.

FIG. 6 is a schematic illustration of the position of the generalized parallelogram mechanism of the instrument arm in accordance with an embodiment of the present disclosure.

FIG. 7 is a schematic diagram of a second arm structure of an instrument arm according to an embodiment of the present disclosure.

Fig. 8 is a schematic diagram of a third arm structure of an instrument arm according to an embodiment of the present disclosure.

FIG. 9 is a schematic view of a medical instrument arm of an embodiment of the present disclosure rotated about a point.

FIG. 10 is a schematic representation of the geometry of an instrument arm according to an embodiment of the present disclosure.

[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure

01 master hand end

02 from the hand end

03 three-dimensional image system

04 control system

011 main operating hand

022 Instrument arm

023 medical instruments

024 endoscope

201 connecting seat

202 first arm

203 second arm

204 third arm

205 fourth arm

206 apparatus seat

207 first axis

208 second axis

209 first synchronous wire

210 third axis

211 second synchronizing wire

A axis of the first shaft

Axis of the second shaft B

Axis of C third shaft

Fixed point of O

R1 first arm rotation

R2 generalized parallelogram mechanism rotation

P medical instrument movement motion

Detailed Description

The utility model provides an instrument arm, instrument arm structure can be realized to the instrument arm has a physics motionless point, and does not have all the other spare parts that are used for the transmission in this structure below for there is great space to be used for placing other medical instrument and be used for supplementary medical treatment implementation in instrument arm below, and instrument arm structure is compacter, and occupation space is littleer, improves the terminal repeated positioning accuracy of medical instrument, more is favorable to promoting instrument arm motion stability.

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

In an embodiment of the present disclosure, there is provided an instrument arm, as shown in fig. 1A-2, comprising: a first arm 202 having one end connectable to the outside; a second arm 203, one end of which is pivoted with the other end of the first arm 202 through a first shaft; one end of the third arm 204 is pivoted with the other end of the second arm 203 through a second shaft, and the first shaft and the second shaft are arranged in parallel; one end of the fourth arm 205 is pivotally connected to the other end of the third arm 204 through a third shaft, and the second shaft is parallel to the third shaft; synchronization devices are arranged between the first shaft and the second shaft and between the second shaft and the third shaft, and are used for keeping the first shaft, the second shaft and the third shaft to have the same rotation angle when rotating, so that the second arm 203, the third arm 204 and the fourth arm 205 form a generalized parallelogram mechanism.

In the embodiment of the present disclosure, as shown in fig. 1A and 1B, a robot-assisted minimally invasive medical system is schematically illustrated, and includes a master hand end 01, a slave hand end 02, and a three-dimensional imaging system 03 and a control system 04 integrated with the master hand end 01. The master hand end 01 is provided with a master manipulator 011, and the master manipulator 011 controls a mechanical arm 022 and a medical device 023 arranged on the slave hand end 02. From the hand end 02, a plurality of instrument arms 022 are arranged, and each instrument arm 022 is to be installed with different functional medical instruments 023 during medical treatment, such as tissue forceps, needle holding, energy tools, ultrasonic blades, etc. to meet the surgical needs of different medical treatments. One of the plurality of instrument arms 022 is mounted with an endoscope 024 for image transmission in medical treatment.

In an embodiment of the present disclosure, during medical delivery, as shown in fig. 1A and 1B, an instrument arm 022 on which an endoscope 024 is mounted positions and orients the endoscope 024 through pose adjustment. The endoscope 024 penetrates through a minimally invasive incision (poking card) and enters the inside of a human body, so that three-dimensional images of a medical implementation part can be collected, the three-dimensional images of a focus part are synchronously transmitted to the three-dimensional image system 03 arranged on the master hand end 01, a doctor performs medical operation by watching the three-dimensional images, namely, the doctor watches synchronous images of the focus part on the three-dimensional image system 03 at the master hand end 01, and simultaneously operates the master hand 011, and the poses and actions of a plurality of mechanical arms 022 and medical instruments 023 on the slave hand end 02 are controlled by adjusting the pose of the master hand 011, so that the medical operation is completed. In the process, encoders arranged at joints of a master manipulator 011 operated by a doctor can record joint rotation angle data in real time, the joint rotation angle data can be called as input parameters, the data are transmitted to a control system 04, a controller in the control system 04 is preset with kinematic mathematical models mapped among the master manipulator 011, an instrument arm 022 and a medical instrument 023, the controller receives the input parameters, calculates output parameters of the kinematic models corresponding to the medical instruments 023 with different functions, and transmits the output parameters to the instrument arm 022 and the medical instrument 023 of a slave manipulator 02 to realize motion control.

In an embodiment of the present disclosure, as shown in fig. 2, an instrument arm 022 includes: a connecting base 201, a first arm 202, a second arm 203, a third arm 204, a fourth arm 205, a tool base 206, and the like. The connecting base 201 is used for connecting the instrument arm 022 to the slave hand end 02, one end of the connecting base is fixedly mounted above the slave hand end 02, the other end of the connecting base is rotatably connected with the first arm 202, and the other end of the first arm 202 is sequentially connected with the second arm 203, the third arm 204 and the fourth arm 205. The first arm 202 and the second arm 203 are connected through a rotating shaft A, and the second arm 203 can rotate on the first arm 202 around the rotating shaft A; the second arm 203 is connected with the third arm 204 through a rotating shaft B, and the third arm 204 can rotate on the second arm 203 around the shaft B; the third arm 204 and the fourth arm 205 are connected by a rotating shaft C, and the fourth arm 205 can rotate on the third arm 204 around the rotating shaft C. The axis A, the axis B and the axis C are arranged in parallel. A slide rail is arranged on the front side of the fourth arm 205, the instrument holder 206 is mounted on the slide rail, and the instrument holder 206 can slide on the slide rail, so that the medical instrument 023 can move on the fourth arm 205, as shown in fig. 3. During the movement P of the medical instrument 023, the outer tube 232 disposed thereon passes a point O. The instrument arm 022 has 2 degrees of freedom in space, namely, a rotational motion R1 around a point O and a rotational motion R2 around the point O, wherein the axes of R1 and R2 pass through the point O, and the point O is a distal stationary point of the instrument arm 022.

In the embodiment of the present disclosure, as shown in fig. 4 to 5, the first arm 202 has a U-shaped structure, one end of which is rotatably connected to the connecting base 201, and the first arm 202 can rotate on the connecting base 201 about the axis R1.

In the disclosed embodiment, the U-shaped structure is able to rotate relative to the connection base, the axis of the rotation R1 of the U-shaped structure is perpendicular to and intersects the axis of the first shaft 207.

In the embodiment of the present disclosure, the first arm 202 further includes a connecting seat 201, one end of the connecting seat is connected to the U-shaped structure, and the other end of the connecting seat is connected to the outside.

In the embodiment of the present disclosure, as shown in fig. 2 and 6, the second arm 203, the third arm 204, and the fourth arm 205 are in a linkage structure, that is, when the second arm 203 rotates, the third arm 204 and the fourth arm 205 rotate synchronously. Referring to fig. 7 and 8, one end of the first shaft 207 is fixedly mounted on the first arm 202, and the other end thereof passes through the second arm 203 and overlaps with the rotation axis a. One end of the second shaft 208 is fixedly mounted on the third arm 204, and the other end passes through the second arm 203 and is overlapped with the rotating shaft B. A first synchronization wire 209 is mounted between the first shaft 207 and the second shaft 208 such that the first shaft 207 and the second shaft 208 maintain the same rotational angle during movement of the components of the implement arm 022. One end of the third shaft 210 is fixedly mounted on the fourth arm 205, and the other end passes through the third arm 204 and is overlapped with the rotating shaft C. A second synchronization wire 211 is mounted between the second shaft 208 and the third shaft 210, and the second shaft 208 and the third shaft 210 maintain the same rotation angle during the movement of the components of the instrument arm 022. Simultaneous rotation of the components of the instrument arm 022 effects rotational movement R2 of the medical instrument 023 about the stationary point O, as shown in fig. 9. The first and

second synchronizing wires

209 and 211 may also perform a synchronizing function in other manners, such as a timing belt.

In the embodiment of the present disclosure, a connection boss is provided at a connection portion of the second arm and the third arm, and the connection boss enables the second arm and the third arm to be respectively arranged at both sides of the first arm in the direction of the first axis.

In an embodiment of the disclosure, the connection boss is disposed on the second arm or the third arm.

In the embodiment of the present disclosure, as shown in fig. 2 and 6, a longer connecting boss is provided at the connection point of the second arm 203 and the third arm 204, which aims to arrange the second arm 203 and the third arm 204 on two sides of the first arm 202, respectively, so as to balance the load of the first arm 202. In the prior art, the rotating arms at the far ends of the mechanical arms are arranged on the same side, and the arrangement mode can generate a turnover moment along the R1 axis on the first arm, thereby reducing the motion stability of the mechanical arms. Since the first arm 202 is provided in a U-shaped configuration, the configuration in which the second arm 203 and the third arm 204 are disposed on both sides of the first arm 202 does not interfere with the rotation of the second arm 203 while increasing the range of rotation thereof. The range of rotational motion of the medical instrument 023 about the axis R2 may be greater than 170 °.

In the embodiment of the present disclosure, as shown in fig. 10, the principle of the indefinite point O is illustrated, and the distance l between the rotating shaft a and the rotating shaft B is shown_ABAt a distance l from the rotation axis C, O_OCSame,. l_AB＝l_OC(ii) a Distance l between rotating shaft B and rotating shaft C_BCAt a distance l from the rotation axis A, O_OASame,. l_BC＝l_OA. A. B, C, O form a parallelogram, as shown in fig. 1, i.e. the second arm 203, the third arm 204, and the fourth arm 205 form a generalized parallelogram mechanism. While the axis of the shaft R1 passes through point O, which conforms to the fixed point configuration.

In the disclosed embodiment, the U-shaped structure can increase the swing amplitude of the generalized parallelogram mechanism.

In the embodiment of the present disclosure, the fourth arm is provided with a slide rail, and a mechanical seat capable of sliding on the slide rail is mounted on the slide rail, and the mechanical seat is capable of bearing a medical device.

In the disclosed embodiment, the generalized parallelogram mechanism enables the medical device to rotate about a point on the rotational axis of the U-shaped structure.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

From the above description, those skilled in the art should have a clear understanding of the presently disclosed robotic arm.

In summary, the present disclosure provides an instrument arm, which can realize that an instrument arm structure has a physical fixed point, and there are no other components for transmission below the structure, so that there is a larger space below the instrument arm for placing other medical tools for assisting medical implementation, the instrument arm structure is more compact, and the occupied space is smaller; the two points around the physical fixed point can be realized, the U-shaped structure can increase the swing amplitude of the mechanical arm, and the medical treatment is more flexible.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.

In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. An instrument arm comprising:

a first arm having one end connectable to an outside;

2. The robotic arm of claim 1, wherein the first arm comprises a U-shaped structure configured to increase a swing amplitude of the generalized parallelogram mechanism.

3. The instrument arm of claim 2, wherein the first arm further comprises a connecting socket, one end of the connecting socket being connected to the U-shaped structure, the other end of the connecting socket being connected to the outside.

4. The instrument arm of claim 2, wherein the U-shaped structure is rotatable relative to the connection mount, a rotational axis of the U-shaped structure being perpendicular to and intersecting the axis of the first shaft.

5. The instrument arm according to claim 4, wherein the fourth arm is provided with a slide rail on which an instrument holder is mounted to be slidable on the slide rail, the instrument holder being capable of carrying a medical instrument.

6. The robotic arm of claim 5, wherein the generalized parallelogram mechanism is capable of rotating the medical instrument about a point on an axis of rotation of the U-shaped structure.

7. The instrument arm of claim 5, wherein the medical instrument is one of a tissue clamp, a needle clamp, an energy tool, and an ultrasonic blade.

8. The instrument arm according to claim 1, wherein a connection boss is provided at a connection portion of the second arm and the third arm, the connection boss enabling the second arm and the third arm to be respectively arranged on both sides of the first arm in the direction of the first axis.

9. The instrument arm of claim 1, wherein the connection boss is disposed on the second arm or the third arm.

10. The robotic arm of claim 1, wherein the synchronization device is a synchronization wire or a synchronization belt.