CN114098995A

CN114098995A - Instrument driving device, instrument arm, slave hand end and robot-assisted surgery system

Info

Publication number: CN114098995A
Application number: CN202111438327.3A
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: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-03-01
Anticipated expiration: 2041-11-29
Also published as: CN114098995B

Abstract

The present disclosure provides an instrument drive device, an instrument arm, a slave hand end and a robot-assisted surgery system, the instrument drive device comprising: the tail end of the instrument part is provided with an execution device, and the lower end face of the driving part is connected with the front end face of the instrument part; the drive section includes: a motor bin and a lifting seat; the lower end face of the lifting seat is connected with the front end face of the instrument part, the lower end face of the motor cabin is in contact with the upper end face of the lifting seat, and the lifting seat is connected with the motor cabin in a sliding mode.

Description

Instrument driving device, instrument arm, slave hand end and robot-assisted surgery system

Technical Field

The present disclosure relates to the field of medical robots, and in particular, to an instrument driving device, an instrument arm, a slave end, and a robot-assisted surgery system.

Background

The traditional minimally invasive surgery tool is multi-dimensional, long and straight and rod-shaped, is held by a doctor, is placed in the chest, the abdominal cavity or other tiny wounds of other parts, is matched with a medical endoscope, and completes surgery operation under a display picture, and in the operation mode, a main doctor, a doctor holding the endoscope and other auxiliary doctors need to cooperate with a plurality of people to perform surgery operation. In the operation process, the problems of operation tool interference and the like often occur due to various reasons such as the coordination among the instruments is not coordinated, the field of vision in the display is not reasonable, and the movement of the operation instrument does not conform to the intuitive operation rule, so that the smooth operation of the operation is influenced.

Disclosure of Invention

Technical problem to be solved

The present disclosure provides an instrument drive device, an instrument arm, a slave hand end and a robot-assisted surgery system to solve the above-mentioned technical problems.

(II) technical scheme

According to an aspect of the present disclosure, there is provided an instrument driving device including:

the tail end of the instrument part is provided with an executing device;

the lower end face of the driving part is connected with the front end face of the instrument part; the driving part includes:

the lower end face of the lifting seat is connected with the end face of the front end of the instrument part;

the motor storehouse, motor storehouse lower extreme terminal surface with lift seat up end contacts, just the lift seat with the motor storehouse slides and links to each other.

In some embodiments of the present disclosure, a sliding rail is disposed on the lifting seat, and the motor compartment is configured to slide to the upper end surface of the lifting seat through the sliding rail until the upper end surface of the lifting seat is attached to the lower end surface of the motor compartment; or the motor cabin is configured to slide along the sliding rail to the motor cabin to be separated from the lifting seat.

In some embodiments of the disclosure, the number of the slide rails is two, and the two slide rails are arranged on two opposite sides of the upper end surface of the lifting seat.

In some embodiments of the present disclosure, the number of the slide rails is two, and the two slide rails are disposed on two adjacent sides of the upper end surface of the lifting seat.

In some embodiments of the present disclosure, sliding axes of the plurality of sliding rails are parallel to each other.

In some embodiments of the present disclosure, a plurality of driving wheels are disposed on a lower end surface of the motor compartment, and the driving wheels penetrate through the lifting base; the motor cabin is configured to drive the driving wheel to rotate through an output shaft of the driving motor.

In some embodiments of the present disclosure, the instrument portion comprises:

the front end face of the driving box is connected with the driving part; a driving rotating wheel is arranged on the end face of the front end of the driving box and is meshed and connected with the driving wheel;

and one end of the guide pipe is connected with the end face of the tail end of the driving box, and the other end of the guide pipe is coaxially connected with the execution device.

In some embodiments of the present disclosure, further comprising:

and the partition plate is arranged between the instrument part and the driving part and is connected with the instrument part and the driving part.

In some embodiments of the present disclosure, the separator comprises:

and the driven wheels penetrate through the partition plate, and two ends of each driven wheel are respectively meshed with the driving wheel and the driving rotating wheel.

In some embodiments of the present disclosure, a driving wheel protrusion is disposed on one side of the driving wheel, and the center distances of the driving wheel protrusion and the driving wheel protrusion are the same;

a driven wheel groove is formed in the driven wheel, and the center distance of the driven wheel groove is the same as the center distance of the driving wheel bulge and the driving wheel bulge;

the driving wheel bulge and the driving wheel bulge are respectively inserted into the driven wheel groove from two sides of the partition plate.

In some embodiments of the present disclosure, a through hole is disposed on the lifting seat, and the driving wheel passes through the through hole and is connected to the lifting seat.

According to an aspect of the present disclosure, there is provided an instrument arm comprising:

the instrument drive device as described above; and

the guide rail is arranged on the connecting rod at the tail end of the instrument arm; the lifting seat is connected with the guide rail, and the instrument driving device is configured to do linear sliding motion along the guide rail.

According to an aspect of the present disclosure, there is provided a slave end, comprising: an instrument arm as described above.

According to one aspect of the present disclosure, there is provided a robot-assisted surgery system comprising: a master hand end and a slave hand end as described above.

(III) advantageous effects

According to the technical scheme, the instrument driving device, the instrument arm, the slave hand end and the robot-assisted surgery system have at least one or part of the following beneficial effects:

in the present disclosure, the driving wheel is disposed on the end face of the front end of the driving box, so that the installation manner of installing the instrument portion to the driving portion upward is realized. By adopting the installation mode, the sliding movement stroke of the instrument part can be effectively increased, so that the stroke of the instrument part is not limited by the longitudinal size of the driving part any more.

The motor cabin can be separated from the lifting seat immediately, so that the instrument part is in a passive operation state, the pose of the motor cabin before separation is not kept, and secondary damage to tissues and organs cannot be caused after the instrument part is withdrawn.

Drawings

Fig. 1 is a schematic view of a master hand of a robotic-assisted surgical system according to an embodiment of the present disclosure.

Fig. 2 is a schematic view from the hand end of a robotic-assisted surgical system according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural view of an instrument portion according to an embodiment of the disclosure.

FIG. 4 is a schematic view of an instrument driver installation according to an embodiment of the disclosure.

Fig. 5a and 5b are schematic structural views of a driving portion according to an embodiment of the disclosure.

FIG. 6 is a schematic diagram of a separator according to an embodiment of the disclosure.

Fig. 7 and 8 are schematic diagrams illustrating the movement between the instrument driving device and the guide rail of the instrument arm according to the embodiment of the disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

The present disclosure provides an instrument drive device comprising: the tail end of the instrument part is provided with an execution device, and the lower end face of the driving part is connected with the front end face of the instrument part; the drive section includes: a motor bin and a lifting seat; the lower end face of the lifting seat is connected with the front end face of the instrument part, the lower end face of the motor cabin is in contact with the upper end face of the lifting seat, and the lifting seat is connected with the motor cabin in a sliding mode.

Fig. 1 is a schematic view of a master hand of a robotic-assisted surgical system according to an embodiment of the present disclosure. Fig. 2 is a schematic view from the hand end of a robotic-assisted surgical system according to an embodiment of the present disclosure. As shown in fig. 1 and 2, the robot-assisted surgery system includes a master-hand end 01 and a slave-hand end 02. The master end 01 is also integrated with a three-dimensional imaging system 03 and a control system 04. The master hand end 01 is provided with a master manipulator 011, and the master manipulator 011 controls a mechanical arm 022 and a surgical instrument 023 arranged on the slave hand end 02. From the hand end 02, an instrument arm 022 is arranged, and the instrument arm 022 is to be installed with surgical instruments 023 having different functions such as tissue forceps, needle holding, energy tools, ultrasonic knives, etc. during surgery to meet the surgical needs of different surgeries. An endoscope is arranged on the instrument arm 022 and used for image transmission in the operation.

In the operation implementation process, the endoscope penetrates through the body surface or a natural orifice of a human body to enter the human body, so that three-dimensional images of operation implementation positions can be collected, the three-dimensional images of focus positions are synchronously transmitted to the three-dimensional image system 03 arranged on the main hand end 01, a doctor performs operation by watching the three-dimensional images, namely, the doctor watches synchronous images of focus parts on the three-dimensional image system 03 at the main hand end 01, operates the main hand 011 at the same time, and controls the poses and actions of a plurality of instrument parts 023 on the slave hand end 02 by adjusting the poses of the main hand 011, so that the 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 an instrument part 023, the controller receives the input parameters, calculates output parameters of the kinematic models corresponding to the instrument parts 023 with different functions, and transmits the output parameters to the instrument arm 022 and the instrument part 023 of a slave manipulator 02 to realize motion control.

The end link 205 of the instrument arm 022 is provided with a guide 501 along the axial direction of the link, and a driving part 025 for driving the instrument part 023 is mounted on the guide 501, and the driving part 025 can make a linear sliding motion on the guide 501. An instrument portion 023 is mounted at the end face of the drive portion 025, the axis of the instrument portion 023 being disposed parallel to the axis of the guide rail 501. The instrument portion 023 is capable of sliding linearly on the guide rail 501 along with the driving portion 025.

Fig. 3 is a schematic structural view of an instrument portion according to an embodiment of the disclosure. As shown in fig. 3, the distal end of the instrument portion 023 is provided with a distal end actuator 231, and the distal end actuator 231 may be one of surgical tools such as tissue forceps, needle forceps, scissors, energy tools, ultrasonic blades, etc., and usually has 2-3 degrees of freedom. The front side of the instrument portion 023 is provided with a driving box 233, and the driving box 233 is used for realizing the motion control of the end effector 231, and the specific mode is not in the protection scope of the patent. The catheter 232 is shown connected to the end effector 231 and the drive cartridge 233, with the catheter 232 being rotatable about an axis coincident with the axis of the instrument 023.

As shown in fig. 3, a driving wheel 234 is disposed on an end surface 233a of the front end of the driving box 233, the driving wheel 234 is rotatable on the driving box 233, and a wire wheel is connected to the driving wheel 234 inside the driving box 233, and the rotation of the driving wheel can drive the wire wheel to rotate, so as to pull the driving wire wound on the wire wheel, thereby implementing the motion control of the end effector 231. The internal structure of the drive cartridge 233 is beyond the scope of this patent.

The drive pulley 234 is provided on the end surface of the drive cassette 234 on the front end side in the present disclosure, and its purpose is to: the instrument 023 is mounted to the drive 025 in an upward-mounting manner.

FIG. 4 is a schematic view of an instrument driver installation according to an embodiment of the disclosure. As shown in fig. 4, the arrow indicates the mounting direction, and when the instrument 023 is mounted to the driving unit 025, the instrument 023 is moved in the axial direction of the instrument 023 so that the front end surface 233a of the drive case 233 moves toward the lower end surface 025a of the driving unit 025. A spacer 026 is disposed between the driving part 025 and the instrument part 023, and the spacer 026 serves to isolate bacteria. During the operation, the bacteria-containing device and the bacteria-free device are isolated, the instrument part 023 is the bacteria-free device, and the instrument part 023 and the driving part 025 are isolated by a clapboard 026.

Fig. 5a and 5b are schematic structural views of a driving portion according to an embodiment of the disclosure. As shown in fig. 5a and 5b, the driving unit 025 includes a motor chamber 251 and a lifting base 252. The motor chamber 251 is provided with a driving motor and a motor driver for controlling the movement of the end effector 231, and the internal structure of the driving motor and the motor driver is not within the scope of the present patent. The lower end surface 025b of the motor chamber 251 is provided with a plurality of driving wheels 253, the driving wheels 253 are fixedly installed at the output shaft ends of the driving motors in the motor chamber 251, the driving wheels 253 are coaxially arranged with the output shafts of the driving motors, and the driving wheels 253 can be driven to rotate by the rotation of the output shafts of the driving motors.

The lifting seat 252 is used for connecting the guide rail 501 with the motor chamber 251. The lifter base 252 is mounted on the guide rail 501 and is movable in the P direction on the guide rail 501. As shown in fig. 5, the motor chamber 251 is connected to the lifting base 252 through a slide track 255, and the motor chamber 251 can slide up and down on the slide track 255. The sliding rail 255 may be an electromagnetic sliding rail or a permanent magnetic sliding rail, and is designed to keep the motor compartment 251 and the lifting seat 252 separated from each other constantly, so that the motor compartment 251 can be separated from the lifting seat 252 immediately in an emergency state. The slide track 255 may also be a general purpose mechanical slide track, and a spring is built in the slide track 255 to keep the motor chamber 251 separated from the lifting base 252. When the surgical robot works from the hand end 02, the motor chamber 251 and the lifting seat 252 are kept in a combined state, and the lower end surface 025b of the motor chamber 251 is attached to the upper end surface 025c of the lifting seat 025. The combined locking mode of the motor chamber 251 and the lifting seat 252 is not limited to a single mode, and a mechanical locking structure or an electromagnetic/permanent magnetic device can be adopted for locking.

The lifting seat 252 is provided with a plurality of through holes 254, the through holes 254 penetrate through the upper and lower end surfaces of the lifting seat 252, and after the motor compartment 251 is combined with the lifting seat 252, each driving wheel 253 can pass through the corresponding through hole 254 and extend out of the lower end surface 025a of the driving device 025, and when the driving wheel 253 rotates, the driving wheel 253 does not interfere with the lifting seat 252.

The number and arrangement of the slide rails 255 are not limited to those shown in the drawings, and the motor compartment 251 and the lifting base 252 may be connected to each other in a vertically slidable manner.

FIG. 6 is a schematic diagram of a separator according to an embodiment of the disclosure. As shown in fig. 6, a plurality of driven wheels 261 are disposed on a spacer 026, the driven wheels 261 penetrate through an upper end face 026a and a lower end face 026b of the spacer 026, the plurality of driven wheels 261 can rotate on the spacer 026 around their own rotation axes, and the rotation motions of the driven wheels 261 are independent of each other. When the hand-held electric tool works from the hand end 02, the partition board 026 is kept in a combined state with the driving part 025, and the lower end face 025a of the driving part 025 is attached to the upper end face 026a of the partition board 026. The combined locking manner of the driving portion 025 and the spacer 026 is not limited to a single form, and a mechanical locking structure or an electromagnetic/permanent magnet device may be used for locking.

In the operation process, when the instrument portion 023 needs to be mounted on the driving portion 025, the motor chamber 251 is separated from the lifting seat 252, then the partition plate 026 is mounted below the lifting seat 252, the upper end face 026a of the partition plate 026 is attached to the lower end face 025a of the driving portion 025, and then the instrument portion 023 is mounted below the driving portion 025 and the partition plate 026, so that the end face 233a of the front end of the driving box 233 is attached to the lower end face 026b of the partition plate 026. After the instrument portion 023 is used, the motor chamber 251 is separated from the lifting seat 252, and then the instrument portion 023 and the partition plate 026 are sequentially removed, as shown in fig. 7 and 8. After the motor chamber 251, the lifting seat 252, the partition plate 026 and the instrument portion 023 are installed and combined, the driving wheel 234 is engaged with the driven wheel 261, and the driving wheel 253 passes through a through hole 254 arranged on the lifting seat 252 to be engaged with the driven wheel 261. After the driving wheel 253, the driven wheel 261 and the driving wheel 234 are engaged with each other, the rotation of the driving wheel 253 can drive the driven wheel 261 and the driving wheel 234 to rotate synchronously with each other, so as to realize the motion control of the end effector 231. The engagement manner of the driving pulley 253, the driven pulley 261, and the driving pulley 234 is not limited to a single form.

One example of the engagement of the driving pulley 253, the driven pulley 261, and the driving pulley 234 will be described. Referring to fig. 3, 5 and 6, the driving wheel 253 and the driving wheel 234 are respectively provided with driving wheel protrusions 2531 and driving wheel protrusions 2341 at the same center distance. The driven wheel 261 is provided with a driven wheel groove 2611, and the center distance of the driven wheel groove 2611 is the same as the center distances of the driving wheel protrusion 2531 and the driving wheel protrusion 2341. When the motor chamber 251, the lifting seat 252, the partition plate 026 and the instrument portion 023 are installed and combined, the driving wheel protrusion 2531 and the driving wheel protrusion 2341 are respectively inserted into the driven wheel groove 2611 from two sides of the partition plate 026 to realize mutual engagement.

With the arrangement of the instrument driving device provided by the present disclosure, the driving portion 025 can be located at the front end side of the instrument portion 023, as the positional relationship of the respective devices in the map is compared, that is, the driving portion 025 is located above the instrument portion 023. Compared with the prior art, the arrangement mode can effectively increase the stroke H of the sliding movement P of the instrument portion 023, the effective length of the guide rail 501 is set to be H, the stroke H of the instrument portion 023 is not limited by the longitudinal dimension of the driving portion 025, and the stroke H is equal to or approximately equal to H, as shown in fig. 8.

When a sudden situation occurs during the operation, for example, the end effector 231 may cause an invasive injury to the tissue and organ at the lesion site due to an erroneous operation, the prior art solution cannot immediately withdraw the surgical instrument in a passive operation state. If the surgical instrument is forcibly and manually separated from the driving part or the surgical instrument is withdrawn from the driving part in a synchronous manner in an active operation state, secondary damage may be caused to the tissue and organ. By adopting the instrument driving device provided by the present disclosure, if an emergency occurs, the motor chamber 251 of the driving part 025 can be immediately separated from the lifting seat 252, and the instrument part 023 is in a passive operation state after being separated. That is, the end effector 231 has no driving force, and it no longer maintains the position of the motor chamber 251 before it is detached, and the instrument portion 023 is withdrawn again without causing secondary damage to the tissue and organ.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims

1. An instrument drive device comprising:

the tail end of the instrument part is provided with an executing device;

2. The instrument driving device according to claim 1, wherein a slide rail is disposed on the lifting base, and the motor chamber is configured to slide toward the upper end surface of the lifting base through the slide rail until the upper end surface of the lifting base is attached to the lower end surface of the motor chamber; or the motor cabin is configured to slide along the sliding rail to the motor cabin to be separated from the lifting seat.

3. The instrument driving device according to claim 2, wherein the number of the slide rails is two, and the two slide rails are disposed on two opposite sides of the upper end surface of the lifting base.

4. The instrument driving device according to claim 2, wherein the number of the slide rails is two, and the two slide rails are disposed on two adjacent sides of the upper end surface of the lifting seat.

5. The instrument drive device according to claim 2, wherein sliding axes of the plurality of slide rails are parallel to each other.

6. The instrument driving device according to claim 1, wherein a plurality of driving wheels are disposed on a lower end surface of the motor chamber, and the driving wheels penetrate through the lifting base; the motor cabin is configured to drive the driving wheel to rotate through an output shaft of the driving motor.

7. The instrument drive device according to claim 6, wherein the instrument portion includes:

8. The instrument drive device according to claim 7, further comprising:

9. The instrument drive device according to claim 8, wherein the spacer comprises:

10. The instrument driving device according to claim 9, wherein a driving wheel protrusion is provided at one side of the driving wheel, and the center distances of the driving wheel protrusion and the driving wheel protrusion are the same;

11. The instrument driving device according to any one of claims 1 to 10, wherein a through hole is provided on the elevation base, and the driving wheel is connected with the elevation base through the through hole.

12. An instrument arm comprising:

the instrument drive device of any one of claims 1 to 11; and

13. A slave-end, comprising: the instrument arm of claim 12.

14. A robot-assisted surgery system comprising: a master hand end and a slave hand end as claimed in claim 13.