CN114098995B - Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system - Google Patents
Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system Download PDFInfo
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- CN114098995B CN114098995B CN202111438327.3A CN202111438327A CN114098995B CN 114098995 B CN114098995 B CN 114098995B CN 202111438327 A CN202111438327 A CN 202111438327A CN 114098995 B CN114098995 B CN 114098995B
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- instrument
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- wheel
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- 238000001356 surgical procedure Methods 0.000 claims abstract description 16
- 238000005192 partition Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000000926 separation method Methods 0.000 claims description 4
- 125000006850 spacer group Chemical group 0.000 claims 1
- 239000012636 effector Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 210000000056 organ Anatomy 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/26—Means for adjusting casings relative to their supports
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
The present disclosure provides an instrument drive device, an instrument arm, a slave hand, and a robotic-assisted surgery system, the instrument drive device thereof comprising: the device comprises an instrument part and a driving part, wherein an execution device is arranged at the tail end of the instrument part, and the lower end face of the driving part is connected with the front end face of the instrument part; the driving 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 bin is contacted with the upper end face of the lifting seat, and the lifting seat is connected with the motor bin in a sliding manner.
Description
Technical Field
The present disclosure relates to the field of medical robots, and more particularly to an instrument drive device, an instrument arm, a slave hand, and a robotic assisted surgery system.
Background
The minimally invasive surgery has the advantages of small wound, small bleeding amount, quick recovery time, good beautifying effect and the like, the traditional minimally invasive surgery tool is in a multi-dimensional long straight rod shape, is held by a doctor, is placed through a small wound in the chest cavity, the abdominal cavity or other parts, is matched with a medical endoscope, and completes surgery under a display screen, and in the operation mode, the doctor of the main knife, the doctor of the mirror holder and other auxiliary doctors need to cooperate with a plurality of people to perform surgery. In the operation process, the problems of interference of operation tools and the like often occur due to various reasons such as inconsistent mutual coordination or unreasonable visual field in a display picture, and incongruity of operation instrument movement and the like, thereby affecting the smooth operation.
Disclosure of Invention
First, the technical problem to be solved
The present disclosure provides an instrument drive device, an instrument arm, a slave hand, and a robotic-assisted surgery system to address the technical problems set forth above.
(II) technical scheme
According to one aspect of the present disclosure, there is provided an instrument drive device comprising:
an instrument part, wherein an execution device is arranged at the tail end of the instrument part;
the lower end face of the driving part is connected with the front end face of the instrument part; the driving section includes:
the lower end surface of the lifting seat is connected with the front end surface of the instrument part;
the lower end face of the motor bin is contacted with the upper end face of the lifting seat, and the lifting seat is connected with the motor bin in a sliding mode.
In some embodiments of the disclosure, a sliding rail is arranged on the lifting seat, and the motor bin is configured to slide towards 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 bin; or the motor bin is configured to slide along the sliding rail until the motor bin is separated from the lifting seat.
In some embodiments of the disclosure, the number of the sliding rails is two, and the two sliding rails are disposed on two opposite sides of the upper end surface of the lifting seat.
In some embodiments of the disclosure, the number of the sliding rails is two, and the two sliding rails are disposed on two adjacent sides of the upper end surface of the lifting seat.
In some embodiments of the present disclosure, the sliding axes of a plurality of the sliding rails are parallel to each other.
In some embodiments of the disclosure, a plurality of driving wheels are arranged on the lower end surface of the motor bin, and the driving wheels penetrate out of the lifting seat; the motor bin 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 includes:
the front end face of the driving box is connected with the driving part; the end face of the front end of the driving box is provided with a driving rotating wheel which is meshed 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 executing device.
In some embodiments of the present disclosure, further comprising:
and the separation 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 includes:
the driven wheels penetrate through the partition board, and two ends of the driven wheels 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 between the driving wheel protrusion and the driving wheel protrusion are the same;
the driven wheel is provided with a driven wheel groove, and the center distance of the driven wheel groove is the same as the center distance between the driving wheel bulge and the driving wheel bulge;
the driving rotating wheel bulge and the driving wheel bulge are respectively inserted into the driven wheel groove from two sides of the partition board.
In some embodiments of the present disclosure, a through hole is provided on the lifting seat, and the driving wheel passes through the through hole and is connected with the lifting seat.
According to one aspect of the present disclosure, there is provided an instrument arm comprising:
an 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 one aspect of the present disclosure, there is provided a slave hand comprising: an instrument arm as described above.
According to one aspect of the present disclosure, there is provided a robotic-assisted surgery system comprising: a master hand and a slave hand as described above.
(III) beneficial effects
As can be seen from the above technical solutions, the instrument driving device, the instrument arm, the slave hand end and the robot assisted surgery system of the present disclosure have at least one or a part of the following advantages:
in the present disclosure, the driving wheel is disposed on the end face of the front end of the driving case, and the installation method of installing the instrument portion upward to the driving portion is realized. By adopting the mounting mode, the travel of the sliding motion of the instrument part can be effectively increased, so that the travel of the instrument part is not limited by the longitudinal dimension of the driving part.
The motor bin can be immediately separated from the lifting seat, so that the instrument part is in a passive operation state, the pose of the motor bin before separation is not maintained, and further, the instrument part can not cause secondary damage to tissues and organs after being withdrawn.
Drawings
Fig. 1 is a schematic diagram of a primary hand end of a robotic-assisted surgery system according to an embodiment of the present disclosure.
Fig. 2 is a schematic view from the hand of a robotic-assisted surgery system according to an embodiment of the present disclosure.
Fig. 3 is a schematic view of an instrument portion structure according to an embodiment of the present disclosure.
Fig. 4 is a schematic view of an instrument drive device installation in accordance with an embodiment of the present disclosure.
Fig. 5a and 5b are schematic views of a driving part according to an embodiment of the present disclosure.
Fig. 6 is a schematic view of a separator according to an embodiment of the present disclosure.
Fig. 7 and 8 are schematic views illustrating movement between the instrument drive device and the guide rail of the instrument arm in an embodiment of the present 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 only exemplary 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 present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to 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/or 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 should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having 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 formulation similar to at least one of "A, B or C, etc." is used, in general such a formulation should be interpreted in accordance with the ordinary understanding of one skilled in the art (e.g. "a system with at least one of A, B or C" would include but not be limited to systems with 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 device comprises an instrument part and a driving part, wherein an execution device is arranged at the tail end of the instrument part, and the lower end face of the driving part is connected with the front end face of the instrument part; the driving 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 bin is contacted with the upper end face of the lifting seat, and the lifting seat is connected with the motor bin in a sliding manner.
Fig. 1 is a schematic diagram of a primary hand end of a robotic-assisted surgery system according to an embodiment of the present disclosure. Fig. 2 is a schematic view from the hand of a robotic-assisted surgery system according to an embodiment of the present disclosure. As shown in fig. 1 and 2, the robotic-assisted surgery system includes a master hand end 01 and a slave hand end 02. The master terminal 01 is also 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 surgical instrument 023 provided on the slave manipulator 02. From the hand 02, an instrument arm 022 is provided, and the instrument arm 022 is provided with surgical instruments 023 with different functions, such as tissue forceps, needle holders, energy tools, ultrasonic knives and the like, during surgery so as to cope with surgical demands of different surgeries. An endoscope is provided on the instrument arm 022 for image transmission in surgery.
In the operation implementation process, an endoscope passes through a body surface or a natural cavity of a human body to enter the human body, three-dimensional images of an operation implementation part can be acquired, the three-dimensional images of a focus part are synchronously transmitted to a three-dimensional image system 03 arranged on a main hand end 01, a doctor performs operation by watching the three-dimensional images, namely, the doctor watches the focus part synchronous images on the three-dimensional image system 03 at the main hand end 01 and simultaneously operates a main operation hand 011, and the pose and the action of a plurality of instrument parts 023 on the auxiliary hand end 02 are controlled by adjusting the pose of the main operation hand 011 so as to finish the 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 instrument part 023, the controller receives the input parameters and calculates the output parameters of the kinematic model corresponding to the instrument part 023 with different functions, and the output parameters are transmitted to the instrument arm 022 and the instrument part 023 of the slave hand 02 to realize the motion control.
A guide rail 501 is provided on the distal link 205 of the instrument arm 022 in the link axial direction, and a driving portion 025 for driving the instrument portion 023 is mounted on the guide rail 501, and the driving portion 025 is slidably movable in a straight line on the guide rail 501. The instrument portion 023 is mounted at the end face of the driving portion 025 with the instrument portion 023 axis disposed parallel to the rail 501 axis. The instrument portion 023 is slidably movable linearly along the guide rail 501 with the driving portion 025.
Fig. 3 is a schematic view of an instrument portion structure according to an embodiment of the present disclosure. As shown in fig. 3, the distal end side of the instrument part 023 is provided with an end effector 231, and the end effector 231 may be one of a tissue forceps, a needle holder, scissors, an energy tool, an ultrasonic knife, and the like, and generally has 2-3 degrees of freedom. The front end side of the instrument part 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 thereof is not in the scope of the patent protection. The catheter 232 is shown connecting the end effector 231 and the drive cassette 233, with the axis of rotation of the catheter 232 coinciding with the axis of the instrument 023.
As shown in fig. 3, a driving wheel 234 is disposed on an end surface 233a at one side of the front end of the driving box 233, the driving wheel 234 may rotate on the driving box 233, a wire wheel connected with the driving wheel 234 inside the driving box 233 may be rotated by the rotation of the driving wheel, and further, a driving wire wound on the wire wheel may be pulled to realize motion control of the end effector 231. The internal structure of the driving box 233 is not within the scope of this patent.
In the present disclosure, the driving wheel 234 is disposed on the end face of the front end side of the driving box 234, and the purpose thereof is to: the instrument 023 is mounted to the drive section 025 in an upward mounting manner.
Fig. 4 is a schematic view of an instrument drive device installation in accordance with an embodiment of the present disclosure. As shown in fig. 4, the arrow direction indicates the mounting direction, and when the instrument unit 023 is mounted to the driving unit 025, the instrument unit 023 moves in the axial direction, and the front end surface 233a of the driving case 233 moves toward the lower end surface 025a of the driving unit 025. A separator 026 is provided between the driving portion 025 and the instrument portion 023, and the separator 026 serves to isolate bacteria. In the operation, the sterile device is isolated from the aseptic device, and the instrument 023 is isolated from the driving unit 025 by the partition 026.
Fig. 5a and 5b are schematic views of a driving part according to an embodiment of the present disclosure. As shown in fig. 5a and 5b, the driving unit 025 includes a motor housing 251 and a lifting base 252. The motor cabin 251 is internally provided with a driving motor, a motor driver and other devices for controlling the movement of the end effector 231, and the internal structure of the device is not in the protection scope of the patent. A plurality of driving wheels 253 are arranged on the lower end surface 025b of the motor bin 251, the driving wheels 253 are fixedly arranged on the output shaft end of a driving motor in the motor bin 251, the driving wheels 253 are coaxially arranged with the output shaft of the driving motor, and the rotation of the output shaft of the driving motor can drive the driving wheels 253 to rotate.
The lifting base 252 is used for connecting the guide rail 501 and the motor cabin 251. The elevating 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 cabin 251 is connected with the lifting base 252 through a sliding rail 255, and the motor cabin 251 can slide up and down on the sliding rail 255. The sliding rail 255 may be an electromagnetic sliding rail or a permanent magnetic sliding rail, and is aimed at keeping the motor cabin 251 and the lifting base 252 in a normal separated state, and in a burst state, the motor cabin 251 can be immediately separated from the lifting base 252. The sliding rail 255 may also be a general mechanical sliding rail, and a spring is built in the sliding rail 255 to keep the motor compartment 251 separate from the lifting seat 252. When the surgical robot works from the hand end 02, the motor cabin 251 and the lifting seat 252 keep a combined state, and the lower end surface 025b of the motor cabin 251 is attached to the upper end surface 025c of the lifting seat 025. The combined locking mode of the motor compartment 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 end face and the lower end face of the lifting seat 252, when the motor bin 251 is combined with the lifting seat 252, each driving wheel 253 can pass through the corresponding through holes 254 and extend out of the lower end face 025a of the driving device 025, and when the driving wheel 253 rotates, interference with the lifting seat 252 can not occur.
The number and arrangement of the slide rails 255 are not limited to the embodiment shown in the drawings, and the motor housing 251 and the lifting base 252 may be slidably connected up and down.
Fig. 6 is a schematic view of a separator according to an embodiment of the present disclosure. As shown in fig. 6, a plurality of driven wheels 261 are provided on the partition 026, the driven wheels 261 penetrate through an upper end face 026a and a lower end face 026b of the partition 026, the driven wheels 261 can rotate on the partition 026 around their own rotation axes, and the rotation movements of the driven wheels 261 are independent from each other. When the hand 02 is operated, the separator 026 is held in a coupled state with the driving portion 025, and the lower end face 025a of the driving portion 025 is bonded to the upper end face 026a of the separator 026. The combination locking mode of the driving part 025 and the partition 026 is not limited to a single mode, and a mechanical locking structure or an electromagnetic/permanent magnetic device can be adopted for locking.
In the operation, when the instrument unit 023 is required to be mounted on the driving unit 025, the motor housing 251 is first separated from the lifting base 252, then the separator 026 is mounted under the lifting base 252, the upper end face 026a of the separator 026 is attached to the lower end face 025a of the driving unit 025, the instrument unit 023 is mounted under the driving unit 025 and the separator 026, and the front end face 233a of the driving case 233 is attached to the lower end face 026b of the separator 026. After the use of the instrument unit 023 is completed, the motor housing 251 is separated from the lifting base 252, and then the instrument unit 023 and the partition 026 are sequentially removed, as shown in fig. 7 and 8. After the motor cabin 251, the lifting seat 252, the partition 026 and the instrument part 023 are assembled and combined, the driving wheel 234 is meshed with the driven wheel 261, and the driving wheel 253 is meshed with the driven wheel 261 by penetrating through holes 254 formed in the lifting seat 252. After the driving wheel 253, the driven wheel 261 and the driving wheel 234 are meshed 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 the driving wheel 261 and the driving wheel 234, so that the motion control of the end effector 231 is realized. The engagement of the driving wheel 253, the driven wheel 261, and the driving wheel 234 is not limited to a single form.
An example of the engagement of the driving wheel 253, the driven wheel 261, and the driving wheel 234 will be described. Referring to fig. 3, 5 and 6, the outside of the driving wheel 253 and the driving wheel 234 are respectively provided with a driving wheel protrusion 2531 and a driving wheel protrusion 2341, and the center distances of the protrusions are the same. Driven wheel 261 is provided with driven wheel grooves 2611, and the center distance of driven wheel grooves 2611 is the same as that of driving wheel protrusions 2531 and driving wheel protrusions 2341. After the motor cabin 251, the lifting seat 252, the partition 026 and the instrument part 023 are assembled, 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 026, so as to realize mutual engagement.
By adopting the arrangement mode of the instrument driving device provided by the disclosure, the driving part 025 can be positioned at one side of the front end of the instrument part 023, for example, the position relationship of each device in the contrast chart, that is, the driving part 025 is positioned above the instrument part 023. Compared with the prior art, the above arrangement can effectively increase the travel H of the sliding motion P of the instrument portion 023, and the travel H of the instrument portion 023 is not limited by the longitudinal dimension of the driving portion 025 any more, and is equal to or approximately equal to H, as shown in fig. 8, assuming that the effective length of the guide rail 501 is H.
When an emergency occurs during the operation, such as the end effector 231 is invasively damaged to the tissue and organ at the focus part due to misoperation, the prior art solution cannot immediately keep the surgical instrument in a passive operation state for withdrawal. If the surgical instrument is forcibly and manually separated from the driving part or the surgical instrument is withdrawn synchronously with the driving part in an active operation state, secondary damage can be caused to tissues and organs. With the apparatus driving device provided by the present disclosure, if an emergency occurs, the motor cabin 251 of the driving portion 025 can be immediately separated from the lifting seat 252, and the apparatus portion 023 is in a passive operation state after separation. That is, the components of the end effector 231 are not driven, and the motor compartment 251 is not kept in the position before being separated, and at this time, the instrument part 023 is withdrawn again, so that the tissue and organ are not secondarily damaged.
The embodiments of the present disclosure are 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 above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (11)
1. An instrument drive device, comprising:
an instrument portion, the instrument portion end being provided with an execution device, the instrument portion comprising:
the front end face of the driving box is connected with the driving part, and a driving rotating wheel is arranged on the front end face of the driving box;
the drive part, the lower terminal surface of drive part with instrument portion front end terminal surface links to each other, the drive part includes:
the lower end face of the lifting seat is connected with the front end face of the instrument part, and a through hole is formed in the lifting seat;
the lower end face of the motor bin is contacted with the upper end face of the lifting seat, the lifting seat is connected with the motor bin in a sliding manner, a plurality of driving wheels are arranged on the lower end face of the motor bin, the driving wheels penetrate out of the lifting seat, the driving wheels penetrate through the through holes to be connected with the lifting seat, and the driving wheels are meshed and connected with the driving wheels;
the lifting seat is provided with a sliding rail, and the motor bin is configured to slide in a first direction perpendicular to the upper end face of the lifting seat through the sliding rail until the upper end face of the lifting seat is attached to the lower end face of the motor bin; or the motor bin is configured to slide along the sliding rail to a second direction perpendicular to the upper end face of the lifting seat until the motor bin is separated from the lifting seat, the sliding axes of the sliding rails are parallel to each other, and the first direction is opposite to the second direction.
2. The device driving apparatus according to claim 1, wherein the number of the sliding rails is two, and the two sliding rails are disposed on two opposite sides of the upper end surface of the lifting seat.
3. The device driving apparatus according to claim 1, wherein the number of the sliding rails is two, and two sliding rails are disposed on two adjacent sides of the upper end surface of the lifting seat.
4. The instrument drive device of claim 1, wherein the motor cartridge is configured to drive the drive wheel for rotation via an output shaft of a drive motor.
5. The instrument drive device of claim 4, wherein the instrument portion comprises:
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 executing device.
6. The instrument drive device of claim 5, further comprising:
and the separation plate is arranged between the instrument part and the driving part and is connected with the instrument part and the driving part.
7. The instrument drive device of claim 6, wherein the spacer comprises:
the driven wheels penetrate through the partition board, and two ends of the driven wheels are respectively meshed with the driving wheel and the driving rotating wheel.
8. The instrument driving device according to claim 7, wherein a driving wheel protrusion is provided on one side of the driving wheel, and a center distance between the driving wheel protrusion and the driving wheel protrusion is the same;
the driven wheel is provided with a driven wheel groove, and the center distance of the driven wheel groove is the same as the center distance between the driving wheel bulge and the driving wheel bulge;
the driving rotating wheel bulge and the driving wheel bulge are respectively inserted into the driven wheel groove from two sides of the partition board.
9. An instrument arm, comprising:
the instrument drive device of any one of claims 1 to 8; 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.
10. A slave hand, comprising: the instrument arm of claim 9.
11. A robotic-assisted surgery system, comprising: a master hand and a slave hand as claimed in claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111438327.3A CN114098995B (en) | 2021-11-29 | 2021-11-29 | Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111438327.3A CN114098995B (en) | 2021-11-29 | 2021-11-29 | Instrument driving device, instrument arm, slave hand end and robot auxiliary operation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114098995A CN114098995A (en) | 2022-03-01 |
| CN114098995B true CN114098995B (en) | 2023-12-22 |
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