CN113796962B

CN113796962B - Instrument arm

Info

Publication number: CN113796962B
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: 2024-01-30
Anticipated expiration: 2041-08-27
Also published as: CN113796962A

Abstract

The present disclosure provides an instrument arm comprising: a first arm, one end of which can be connected with the outside; a second arm, one end of which 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 is arranged in parallel with the third shaft; and the synchronous devices are used for keeping the same rotation angle when the first shaft, the second shaft and the third shaft rotate, so that the second arm, the third arm and the fourth arm form a generalized parallelogram mechanism.

Description

Instrument arm

Technical Field

The present disclosure relates to the field of medical devices, and 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 the assembly and an auxiliary medical instrument or a patient in the motion process, the length of each connecting rod of the assembly is required to be increased, so that the volume of the instrument arm is increased. The medical robot instrument 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 instrument arm is increased, the elastic deformation amount in the motion process of each component is increased, and the repeated positioning precision of the tail end of the medical tool is reduced.

Disclosure of Invention

First, the technical problem to be solved

Based on the above problems, the present disclosure provides an instrument arm to alleviate the technical problems of the prior art, such as reduced accuracy of repeated positioning of the distal end of a medical tool.

(II) technical scheme

The present disclosure provides an instrument arm comprising:

a first arm, one end of which can be connected with the outside;

a second arm, one end of which 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;

and the synchronous devices are used for keeping the same rotation angle when the first shaft, the second shaft and the third shaft rotate, so that the second arm, the third arm and the fourth arm form a generalized parallelogram mechanism.

In an embodiment of the disclosure, the first arm includes a U-shaped structure capable of

The swing amplitude of the generalized parallelogram mechanism is increased.

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

In an embodiment of the disclosure, the U-shaped structure is rotatable relative to the connection mount, the rotation axis of the U-shaped structure being perpendicular to and intersecting the axis of the first shaft.

In the embodiment of the disclosure, the fourth arm is provided with a sliding rail, and an instrument seat capable of sliding on the sliding rail is mounted on the sliding rail and can bear medical instruments.

In embodiments of the present disclosure, the generalized-parallelogram mechanism is capable of rotating the medical device about a point on the rotational axis of the U-shaped structure.

In an embodiment of the disclosure, the medical device is one of a tissue forceps, a needle holder, an energy tool, and an ultrasonic blade.

In an embodiment of the disclosure, a connection boss is provided at a connection of the second arm and the third arm, the connection boss enabling the second arm and the third arm to be respectively arranged at both sides of the first arm in a 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 disclosure, the synchronization device is a synchronous steel wire or a synchronous belt.

(III) beneficial effects

From the above technical solutions, it can be seen that the instrument arm of the present disclosure has at least one or a part of the following advantages:

(1) The structure of the instrument arm is provided with a physical fixed point, and no other parts for transmission are arranged below the structure, so that a larger space is reserved below the instrument arm for placing other medical tools for assisting medical implementation, the structure of the instrument arm is more compact, and the occupied space is smaller; and

(2) The two physical fixed points can be realized, and the U-shaped structure can increase the swing amplitude of the instrument arm, so that the medical treatment implementation is more flexible.

Drawings

Fig. 1A is a schematic diagram of a master hand end of an instrument arm of an embodiment of the present disclosure applied to an auxiliary minimally invasive medical system.

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

Fig. 2 is a schematic illustration of the overall structure of an instrument arm according to an embodiment of the present disclosure.

Fig. 3 is a schematic view of a medical instrument position state of an instrument arm according to an embodiment of the present disclosure.

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

Fig. 5 is a schematic illustration of a U-shaped structural rotation of a first arm of an instrument arm according to an embodiment of the present disclosure.

Fig. 6 is a schematic illustration of a generalized parallelogram mechanism position state of an instrument arm according to an embodiment of the present disclosure.

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

Fig. 8 is a schematic view 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 of an instrument arm according to an embodiment of the present disclosure rotated about a point.

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

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

01. Main hand end

02. From the hand end

03. Three-dimensional image system

04. Control system

011. Main operation hand

022. Instrument arm

023. Medical apparatus and instruments

024. Endoscope with a lens

201. Connecting seat

202. First arm

203. Second arm

204. Third arm

205. Fourth arm

206. Instrument seat

207. First shaft

208. Second shaft

209. First synchronous steel wire

210. Third shaft

211. Second synchronous steel wire

Aa first axis is located at

B axis of second shaft

C the axis of the third axis

O fixed point

R1 first arm rotation

R2 generalized parallelogram mechanism rotation

P medical instrument movement motion

Detailed Description

The utility model provides an apparatus arm, apparatus arm can realize that apparatus arm structure has a physical motionless point, and does not have other spare parts that are used for the transmission in this structure below for there is great space in apparatus arm below to be used for placing other medical tools and is used for assisting medical implementation, and apparatus arm structure is compacter, and occupation space is littleer, improves medical tool end repeated positioning precision, more is favorable to promoting apparatus arm motion stability.

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

In an embodiment of the present disclosure, there is provided an instrument arm, as shown in fig. 1A to 2, including: a first arm 202, one end of which can be connected to the outside; a second arm 203, one end of which is pivoted to the other end of the first arm 202 via a first shaft; a third arm 204, one end of which is pivoted with the other end of the second arm 203 through a second shaft, and the first shaft is parallel to the second shaft; a fourth arm 205, one end of which is pivoted with the other end of the third arm 204 through a third shaft, and the second shaft is arranged in parallel with the third shaft; and the first shaft, the second shaft and the third shaft are respectively provided with a synchronous device, and the synchronous devices are used for keeping the same rotation angle when the first shaft, the second shaft and the third shaft rotate, 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 disclosure, as shown in fig. 1A and 1B, a schematic diagram of a robot-assisted minimally invasive medical system includes a master hand 01 and a slave hand 02, where the master hand 01 is further integrated with a three-dimensional image system 03 and a control system 04. The master manipulator 011 is provided on the master manipulator 01, and the master manipulator 011 controls the instrument arm 022 and the medical instrument 023 provided on the slave manipulator 02. From the hand 02, a plurality of instrument arms 022 are provided, each instrument arm 022 will be provided with medical instruments 023 of different functions, such as tissue forceps, needle holders, energy tools, ultrasonic knives, etc., in medical treatment to cope with surgical demands 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 the presently disclosed embodiments, during a medical procedure, as shown in fig. 1A and 1B, instrument arm 022 with endoscope 024 mounted thereon positions and positions endoscope 024 by attitude adjustment

To (c). The endoscope 024 passes through the minimally invasive incision (poking card) and then enters the human body, can acquire three-dimensional images of a medical implementation part, synchronously transmits the three-dimensional images of the focus part to the three-dimensional image system 03 arranged on the main hand end 01, and performs medical operation by watching the three-dimensional images, namely, a doctor watches the synchronous images of the focus part on the three-dimensional image system 03 at the main hand end 01, simultaneously operates the main operating hand 011, and controls the pose and the action of the plurality of instrument arms 022 and the medical instrument 023 on the auxiliary hand end 02 by adjusting the pose of the main operating hand 011 so as to complete the medical operation. In the above process, the encoder set at each joint of the main manipulator 011 manipulated by the doctor can record the data of the rotation angle of the joint in real time, which can be called as input parameters, the data is transmitted to the control system 04, the controller in the control system 04 is preset with the kinematic mathematical model of the mutual mapping among the main manipulator 011, the instrument arm 022 and the medical instrument 023, the controller receives the input parameters and calculates the output parameters of the kinematic model corresponding to the medical instrument 023 with different functions, and the output parameters are transmitted to the instrument arm 022 and the medical instrument 023 of the slave hand 02, so as to realize the motion control.

In an embodiment of the present disclosure, as shown in fig. 2, instrument arm 022 includes: a connection base 201, a first arm 202, a second arm 203, a third arm 204, a fourth arm 205, an instrument base 206, etc. The connecting seat 201 is used for connecting the instrument arm 022 to the slave hand 02, one end of the connecting seat is fixedly arranged above the slave hand 02, the other end of the connecting seat 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. Wherein the first arm 202 is connected with the second arm 203 through a rotating shaft A, and the second arm 203 can rotate on the first arm 202 around the 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 is connected to the fourth arm 205 through a rotation axis C, and the fourth arm 205 is rotatable on the third arm 204 about the rotation axis C. The axis A, the axis B and the axis C are arranged in parallel. The front side of the fourth arm 205 is provided with a sliding rail, and the instrument seat 206 is mounted on the sliding rail, and the instrument seat 206 can slide on the sliding 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 is disposed thereon through a point O. The instrument arm 022 has 2 degrees of freedom of movement in space, namely a rotational movement R1 around an O point and a rotational movement R2 around the O point, wherein the axes of R1 and R2 pass through the O point, and the O point 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 connection base 201, and the first arm 202 can rotate on the connection base 201 about the axis R1.

In the embodiment of the disclosure, the U-shaped structure can rotate relative to the connecting seat, and the U-shaped structure rotates

The axis of R1 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 connection base 201, one end of which is connected to the U-shaped structure, and the other end of which 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, the first shaft 207 is fixedly attached to the first arm 202 at one end, and passes through the second arm 203 at the other end, and is disposed to overlap 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 arranged to coincide with the rotation axis B. A first synchronization wire 209 is mounted between the first shaft 207 and the second shaft 208, and the first shaft 207 and the second shaft 208 maintain the same rotational angle as each other during movement of the instrument arm 022 members. 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 arranged to coincide with the rotation axis 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 rotational angle as the instrument arm 022 during movement of the members. The synchronous rotation of the components of instrument arm 022 effects a rotational movement R2 of medical instrument 023 about stationary point O, as shown in fig. 9. The first and second synchronous wires 209 and 211 may also be used to realize the synchronous motion function in other ways, such as a synchronous belt.

In an embodiment of the disclosure, a connection boss is provided at a connection 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 a direction of the first axis.

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

In the embodiment of the present disclosure, as shown in fig. 2 and 6, a longer connection boss is provided at the connection between the second arm 203 and the third arm 204, so that the second arm 203 and the third arm 204 are respectively disposed on two sides of the first arm 202, so that the load of the first arm 202 is more balanced. In the prior art, the rotating arms at the distal ends of the instrument arms are typically disposed on the same side, and this arrangement results in a tipping moment on the first arm along the R1 axis, thereby reducing the stability of the motion of the instrument arms. Since the first arm 202 is provided in a U-shaped structure, a structure in which the second arm 203 and the third arm 204 are arranged on both sides of the first arm 202 does not interfere with the rotation of the second arm 203 while increasing the rotation range thereof. The medical device 023 may be rotated about the R2 axis through a range of motion up to 170.

In the embodiment of the disclosure, as shown in FIG. 10, the principle of the non-fixed point O is schematically shown, and the distance l between the rotating shafts A and B is equal to _AB Distance l from the rotation shaft C, O point _OC Identical, l _AB ＝l _OC The method comprises the steps of carrying out a first treatment on the surface of the Pivot B, pitch l of pivot C _BC Distance l from the rotation shaft A, O point _OA Identical, l _BC ＝l _OA . A. B, C, O are parallel

The quadrilateral, in combination with the one shown in fig. 1, i.e. the second arm 203, the third arm 204, the fourth arm 205, constitutes a generalized parallelogram mechanism. Meanwhile, the axis of the rotating shaft R1 passes through a point O, and the point O accords with a fixed point configuration.

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

In an embodiment of the disclosure, the fourth arm is provided with a sliding rail, on which an instrument holder is mounted, which can slide on the sliding rail, the instrument holder being capable of carrying a medical instrument.

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

Thus, embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It should be noted that, in the drawings or the text of the specification, implementations not shown or described are all forms known to those of ordinary skill in the art, and not described in detail. Furthermore, the above definitions of the elements and methods are not limited to the specific structures, shapes or modes mentioned in the embodiments, and may be simply modified or replaced by those of ordinary skill in the art.

From the foregoing description, those skilled in the art will readily appreciate the instrument arm of the present disclosure.

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

It should be further noted that, the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "rear", "left", "right", etc., are only referring to the directions of the drawings, and are not intended to limit the scope of the present disclosure. Like elements are denoted by like or similar reference numerals throughout the drawings. Conventional structures or constructions will be omitted when they may cause confusion in understanding the present disclosure.

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

Unless otherwise known, numerical parameters in this specification and the appended claims are approximations that may vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers used in the specification and claims to indicate the content of constituents, reaction conditions, etc. should be taken as follows

It is to be understood that the term "about" is used in all instances as modified by the term "about". In general, the meaning of expression is meant to include a variation of + -10% in some embodiments, a variation of + -5% in some embodiments, a variation of + -1% in some embodiments, and a variation of + -0.5% in some embodiments by a particular 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 description and the claims to modify a corresponding element does not by itself connote any ordinal number of elements or the order of manufacturing or use of the ordinal numbers in a particular claim, merely for enabling an element having a particular name to be clearly distinguished from another element having the same name.

Furthermore, unless specifically described or steps must occur in sequence, the order of the above steps is not limited to the list above and may be changed or rearranged according to the desired design. In addition, the above embodiments may be mixed with each other or other embodiments based on design and reliability, i.e. the technical features of the different embodiments may be freely combined to form more embodiments.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. 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. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units 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 above 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 construed as reflecting the intention that: i.e., the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive 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.

While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and that any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. An instrument arm, comprising:

a first arm, one end of which can be connected with the outside;

wherein, a synchronizing device is arranged between the first shaft and the second shaft and between the second shaft and the third shaft, the synchronous device is 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, the third arm and the fourth arm form a generalized parallelogram mechanism;

the first arm comprises a U-shaped structure, a connecting boss is arranged at the joint of the second arm and the third arm, the connecting boss can enable the second arm and the third arm to be respectively arranged on two sides of the first arm in the direction of the first shaft, the load of the first arm is balanced, the U-shaped structure of the first arm does not interfere the rotation of the second arm, and meanwhile the rotation range of the second arm is enlarged;

the first arm further comprises a connecting seat, one end of the connecting seat is connected with the U-shaped structure, and the other end of the connecting seat is connected with the outside;

the U-shaped structure can rotate relative to the connecting seat, and the rotation axis of the U-shaped structure is perpendicular to and intersects with the axis of the first shaft.

2. An instrument arm according to claim 1, wherein the fourth arm is provided with a slide rail on which an instrument holder is mounted which is slidable on the slide rail, the instrument holder being capable of carrying a medical instrument.

3. The instrument arm of claim 2, wherein the generalized-parallelogram mechanism is capable of rotating the medical instrument about a point on the rotational axis of the U-shaped structure.

4. The instrument arm of claim 2, wherein the medical instrument is one of a tissue clamp, a needle holder, an energy tool, and an ultrasonic blade.

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

6. The instrument arm of claim 1, wherein the synchronization device is a synchronous wire or a synchronous belt.