CN114271948A - Compact slave hand of single-hole surgical robot - Google Patents
Compact slave hand of single-hole surgical robot Download PDFInfo
- Publication number
- CN114271948A CN114271948A CN202111512194.XA CN202111512194A CN114271948A CN 114271948 A CN114271948 A CN 114271948A CN 202111512194 A CN202111512194 A CN 202111512194A CN 114271948 A CN114271948 A CN 114271948A
- Authority
- CN
- China
- Prior art keywords
- rod
- mechanical arm
- camera
- deflection
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001356 surgical procedure Methods 0.000 claims abstract description 16
- 210000000707 wrist Anatomy 0.000 claims description 30
- 210000001015 abdomen Anatomy 0.000 claims description 6
- 210000000683 abdominal cavity Anatomy 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 206010052428 Wound Diseases 0.000 abstract description 14
- 208000027418 Wounds and injury Diseases 0.000 abstract description 14
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 4
- 230000002980 postoperative effect Effects 0.000 abstract description 4
- 208000002847 Surgical Wound Diseases 0.000 abstract description 3
- 230000000740 bleeding effect Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 3
- 210000000436 anus Anatomy 0.000 abstract description 2
- 210000003238 esophagus Anatomy 0.000 abstract description 2
- 230000002496 gastric effect Effects 0.000 abstract description 2
- 208000032843 Hemorrhage Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 208000032544 Cicatrix Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 206010071229 Procedural haemorrhage Diseases 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
A compact slave hand of a single-hole surgical robot mainly comprises a sleeve, a surgical operation mechanical arm and a camera mechanical arm. Only one wound needs to be cut during operation, the camera mechanical arm and the operation mechanical arm are sequentially fed into the sleeve, and the inner tube is inserted into the middle channel, so that the rigidity of the three mechanical arms is improved. Another mechanical arm may be inserted into the inner tube for delivering a needle, removing diseased tissue, etc. The minimally invasive surgery robot is used for carrying out minimally invasive surgery, can achieve the effects of safety, accuracy, high efficiency and the like, and has the advantages of small surgical wound, small bleeding amount in surgery, short hospitalization time, quicker postoperative recovery and the like. In addition, the present invention can be easily converted into a flexible natural transluminal surgical robot, such as a gastric surgery through the oral esophagus, an intra-colon surgery through the anus, etc. The invention belongs to the field of medical machinery.
Description
Technical Field
The invention belongs to the field of medical machinery, in particular to a surgical machine technology, and particularly relates to a compact slave hand of a single-hole surgical robot.
Background
In modern minimally invasive surgery, doctors face the problems of high surgery complexity, frequent instrument replacement and the like, which brings great challenges to the surgery. Frequent replacement of surgical instruments is not only time and labor consuming, but also places a greater burden on the patient's body. The size of the wound of the minimally invasive surgery is about 0.5-3cm generally, but the number of the wound is more than 3. Although the wounds are small, the healing time of a plurality of wounds is long, and the appearance of postoperative scars is affected.
The single-hole operation enters a plurality of operation instruments and endoscopes through a single channel, so that the trauma can be further reduced, the intraoperative hemorrhage can be reduced, the postoperative pain and complications can be reduced, and a good beautifying effect can be brought to a patient. Most of the existing single-hole surgical robots need several mechanical arms to exist in a sleeve at the same time, and the requirement on the size of a wound of the surgical robot is high.
Disclosure of Invention
The invention aims to solve the problem that the existing single-hole minimally invasive surgery causes a large wound on the body of a patient. The compact single-hole surgical robot disclosed by the invention can be used for carrying out minimally invasive surgery, can achieve the effects of safety, accuracy, high efficiency and the like, and has the advantages of smaller surgical wound, less bleeding during surgery, short hospitalization time, quicker postoperative recovery and the like compared with other single-hole surgical robots.
The technical scheme of the invention is as follows:
a compact single-port surgical robotic slave hand, characterized by: the system mainly comprises two operation mechanical arms 1 and a camera mechanical arm 2, wherein the operation mechanical arms are used for operation, and the camera mechanical arms are used for illuminating and observing the condition of an operation part in real time; the surgical operation mechanical arm 1 comprises a surgical operation mechanical arm support rod 1-1, a first rod 1-2, a second rod 1-3, a third rod 1-4, a fourth rod 1-5, a fifth rod 1-6, a sixth rod 1-7, a seventh rod 1-8, a rotary wrist 1-9, a clamp 1-10, a deflection driving wire 1-11, a deflection continuum unit 1-12, a wire sleeve 1-13 and a joint driving wire 1-14; the end part of a mechanical arm supporting rod 1-1 for operation is provided with a through joint driving wire channel 1-1-1 and a deflection driving wire channel 1-1-2 for a driving wire sleeve 1-13 and a joint driving wire 1-14 to pass through, and the driving wire sleeve 1-13 is a spring tube or a pressure-resistant tube made of other materials; several deflection continuum units 1-12 are arranged between the support rod 1-1 and the rod 1-2 of the mechanical arm for operation, the support rod 1-1 and the deflection continuum units 1-12 of the mechanical arm for operation, the rod 1-2 and the deflection continuum units 1-12 are connected by flexible hinges, and the flexible hinges are of a sheet type elastic structure; the first rod 1-2 and the second rod 1-3, the second rod 1-3 and the third rod 1-4, the third rod 1-4 and the fourth rod 1-5, the fourth rod 1-5 and the fifth rod 1-6, the fifth rod 1-6 and the sixth rod 1-7, and the sixth rod 1-7 and the seventh rod 1-8 are all connected by rigid rotary hinge joints, and the adjacent hinge axes are orthogonal; the rotating shaft of the rotating wrist 1-9 is collinear with the cylindrical hole in the rod seven 1-8, and the rotating wrist 1-9 is connected with the rod seven 1-8 through a bearing so that relative rotation friction between the rotating wrist 1-9 and the rod seven 1-8 is small; a pair of clamps 1-10 are arranged on the rotary wrist 1-9, wherein one clamp is fixed with the rotary wrist 1-9, and the other clamp 1-10 is hinged with the rotary wrist 1-9; the deflection driving wire 1-11 penetrates through a deflection driving wire channel 1-1-2 on a support rod 1-1 of a mechanical arm for operation, and the tail end of the deflection driving wire is fixed with the rod I1-2; the outer side of the deflection driving wire channel 1-1-2 above the support rod 1-1 of the mechanical arm for operation is provided with a groove, and the outer side of the deflection driving wire channel 1-1-2 below the corresponding deflection continuum unit 1-12 and the rod 1-2 is also provided with a groove, so that the deflection driving wire 1-11 can move to the outer side to increase the distance from the deflection driving wire 1-11 to the flexible hinge, improve the moment of the deflection driving wire 1-11 to the flexible hinge, and enhance the rigidity and the stability; a joint driving wire channel 1-1-1 and a deflection driving wire channel 1-1-2 in the rod I1-2 are shorter; the camera mechanical arm 2 comprises a camera mechanical arm support rod 2-1, a deflection joint 2-2, a camera mechanical arm deflection rod 2-3, a camera mechanical arm swing joint unit 2-4 and a camera 2-5; the plurality of camera mechanical arm swing joint units 2-4 form a continuous body mechanical arm; 4 small holes are uniformly distributed on the circumference of the camera mechanical arm swing joint unit 2-4, and four driving wires penetrate through the camera mechanical arm support rod 2-1, the deflection joint 2-2, the camera mechanical arm deflection rod 2-3 and the small holes in the camera mechanical arm swing joint unit 2-4 to be fixed with the camera 2-5; the camera mechanical arm deflection rod 2-3 and the camera mechanical arm swing joint unit 2-4 are connected through a central elastic rod or a rigid or flexible hinge with orthogonal adjacent axes between the camera mechanical arm swing joint unit 2-4 and the camera 2-5, and four driving wires drive the camera to swing with two degrees of freedom. The sleeve 3, the operation mechanical arm supporting rod 1-1 and the camera mechanical arm supporting rod 2-1 are rigid parts. The cross sections of the two operation mechanical arm support rods 1-1 and the camera mechanical arm support rod 2-1 form a circular ring when viewed from the axial direction of the sleeve. In the straightening state, the cross section of each mechanical arm except the support rod is in the cross section area of the support rod of the middle channel and the mechanical arm when the rest part of each mechanical arm is seen from the axial direction of the support rod. The driving wires are uniformly distributed around the inner periphery of the sleeve, so that the space in the sleeve is fully utilized, and the sum of the cross sections of the three mechanical arms in the axial direction of the supporting rod is far larger than the sum of the cross sections of the sleeve occupied by the supporting rods of the three mechanical arms in a straightening state, so that the purposes that the required inner diameter of the sleeve is smaller than that of a traditional single-hole surgical robot and the structure is more compact are achieved; secondly, the cross section area of each mechanical arm viewed from the axial direction of the supporting rod is larger than that of the central channel, which means that the distance from a joint driving wire of the mechanical arm to a driven joint axis is larger, and the joint torque is larger under the same driving wire pulling force, so that the purpose of larger output force of the mechanical arm is achieved.
The sleeve 3, the surgical operation mechanical arm support rod 1-1 and the camera mechanical arm support rod 2-1 can also be flexible parts so as to expand the robot of the invention from hand to noninvasive natural orifice surgery. .
The camera mechanical arm 2 can be replaced by a surgical operation mechanical arm 1, so that three surgical operation mechanical arms 1 are arranged in the sleeve 3 at the same time; the camera mechanical arm is a cylindrical mechanical arm as a whole and can enter from another wound; the camera mechanical arm and the sleeve can enter from the same wound, under the condition, the camera mechanical arm enters the abdominal cavity before the sleeve enters the abdominal cavity, the magnet is arranged at the root of the camera mechanical arm, the camera mechanical arm is adsorbed on the inner wall of the abdomen by the external magnet, and the external magnet can also pull the camera mechanical arm to move on the inner wall of the abdomen; the camera mechanical arm can be a mechanical arm driven by a plurality of motors, and a battery, a processor and a wireless communication module are embedded into the mechanical arm, so that the mechanical arm can transmit information through wireless control and can also lead out transmission energy and signals through a wire.
The camera 2-5 is a continuous mechanical arm formed by pulling a plurality of camera mechanical arm swing joint units 2-4 together by four driving wires, or a continuous mechanical arm formed by pulling two sections of a plurality of camera mechanical arm swing joint units 2-4 by eight driving wires, each section of continuous mechanical arm is driven by four driving wires, so that the camera can have four degrees of freedom.
The rod I1-2, the rod II 1-3, the rod III 1-4, the rod IV 1-5, the rod V1-6, the rod VI 1-7 and the rod VII 1-8 of the mechanical arm 1 for operation can be replaced by the four-freedom-degree continuum mechanical arm, so that the mechanical arm has higher flexibility and can pass through the flexibly bent sleeve 3 more easily in noninvasive natural orifice surgery.
The strain gauge can be attached to the positions, with larger strain, of the rotary wrists 1-9 and the clips 1-10 so as to sense the stress of the clips 1-10.
The flexible hinges between the surgical manipulator support rod 1-1 and the deflection continuum unit 1-12, between the rod 1-2 and the deflection continuum unit 1-12, and between the deflection continuum unit 1-12 and the deflection continuum unit 1-12 may also be rigid hinges.
The deflection driving wire 1-11 can also be a deflection driving rod with larger diameter and rigidity, and a corresponding deflection driving wire channel 1-1-2 on the mechanical arm supporting rod 1-1 for operation is also correspondingly larger in diameter, so that the deflection driving rod is a two-section hinged connecting rod structure, one section of the deflection driving wire channel 1-1-2 moves, one end of the other section of the connecting rod is hinged with the first section of the connecting rod, and the other end of the other section of the connecting rod is hinged with the first section of the connecting rod 1-2; therefore, the deflection driving rod can not only be pulled but also be pressed, namely the deflection driving rod can drive the first 1-2 to rotate back and forth, so that a degree of freedom can be added to the mechanical arm 1 for the operation.
Force sensors between the deflection drive wires 1-11 and the joint drive wires 1-14 and the wheels or linear motion mechanisms driving them detect the tension of the drive wires.
The invention has the beneficial effects that:
the invention provides guarantee for opening only one wound during operation, and only the camera mechanical arm and the operation mechanical arm are sequentially fed into the casing pipe and inserted into the middle channel by the inner pipe during operation, so that the rigidity of the three mechanical arms is improved. Another mechanical arm may be inserted into the inner tube for delivering a needle, removing diseased tissue, etc. The minimally invasive surgery robot is used for carrying out minimally invasive surgery, can achieve the effects of safety, accuracy, high efficiency and the like, and has the advantages of small surgical wound, small bleeding amount in surgery, short hospitalization time, quicker postoperative recovery and the like. In addition, the present invention can be easily converted into a flexible natural transluminal surgical robot, such as a gastric surgery through the oral esophagus, an intra-colon surgery through the anus, etc. The invention belongs to the field of medical machinery.
Drawings
Fig. 1 is a general view of a compact single-hole surgical robot.
Fig. 2 is a detailed view of a robotic arm for a surgical procedure.
Figure 3 is a detailed view of the tail of the handling robot.
Fig. 4 is a detailed view of the inside of the robotic arm of the surgical procedure.
Fig. 5 is a detailed view of the camera robot arm.
Fig. 6 is a view of a surgical operation robotic arm drive wire arrangement.
Fig. 7 is a schematic view of robot installation.
Illustration of the drawings: 1, a surgical operation mechanical arm 2, a camera mechanical arm 3, a sleeve 1-1, a surgical operation mechanical arm support rod 1-2, a rod I1-3, a rod II 1-4, a rod III 1-5, a rod IV 1-6, a rod V1-7, a rod VI 1-8, a rod VII 1-9, a rotary wrist 1-10, a clamp 1-11, a deflection driving wire 1-12, a deflection continuum unit 1-13 and a driving wire sleeve 1-14, the joint driving wire 1-1-1 joint driving wire channel 1-1-2 deflects the driving wire channel 2-1 camera mechanical arm support rod 2-2 deflection joint 2-3 camera mechanical arm deflection rod 2-4 camera mechanical arm swing joint unit 2-5 camera.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
as shown in fig. 1-7.
A compact slave hand of a single-hole surgical robot mainly comprises two surgical operation mechanical arms 1, a camera mechanical arm 2 and a sleeve 3, wherein the operation ends of the two surgical operation mechanical arms 1 are sleeved in the sleeve 3, as shown in figure 1, in the specific implementation, if the operation is performed by other operations needing an operation incision, such as a single-hole laparoscopic operation, the sleeve 3, a surgical operation mechanical arm support rod 1-1 and the camera mechanical arm support rod 2-1 are rigid parts. If the operation is performed through a natural cavity without wound, the sleeve 3, the operation mechanical arm support rod 1-1 and the camera mechanical arm support rod 2-1 can be designed into flexible parts. The operation mechanical arm is used for operation, and the camera mechanical arm is used for illuminating and observing the condition of an operation part in real time; the surgical manipulator 1 is shown in figure 2 and comprises a surgical manipulator support rod 1-1, a rod I1-2, a rod II 1-3, a rod III 1-4, a rod IV 1-5, a rod V1-6, a rod VI 1-7, a rod VII 1-8, a rotary wrist 1-9, a clamp 1-10, a deflection driving wire 1-11, a deflection continuum unit 1-12, a wire sleeve 1-13 and a joint driving wire 1-14; the end part of the mechanical arm supporting rod 1-1 for operation is provided with a through joint driving wire channel 1-1-1 and a deflection driving wire channel 1-1-2 for a driving wire sleeve 1-13 and a joint driving wire 1-14 to pass through, as shown in figure 3, the driving wire sleeve 1-13 is a spring tube or a pressure tube made of other materials; a plurality of deflection continuum units 1-12 are arranged between the support rod 1-1 and the rod 1-2 of the mechanical arm for operation, as shown in figure 4. The surgical operation mechanical arm supporting rod 1-1 and the deflection continuum unit 1-12, the rod 1-2 and the deflection continuum unit 1-12 are connected by flexible hinges which are of a thin-sheet elastic structure; the first rod 1-2 and the second rod 1-3, the second rod 1-3 and the third rod 1-4, the third rod 1-4 and the fourth rod 1-5, the fourth rod 1-5 and the fifth rod 1-6, the fifth rod 1-6 and the sixth rod 1-7, and the sixth rod 1-7 and the seventh rod 1-8 are all connected by rigid rotary hinge joints, and the adjacent hinge axes are orthogonal; the rotating shaft of the rotating wrist 1-9 is collinear with the cylindrical hole in the rod seven 1-8, and the rotating wrist 1-9 is connected with the rod seven 1-8 through a bearing so that relative rotation friction between the rotating wrist 1-9 and the rod seven 1-8 is small; a pair of clamps 1-10 are arranged on the rotary wrist 1-9, wherein one clamp is fixed with the rotary wrist 1-9, and the other clamp 1-10 is hinged with the rotary wrist 1-9; the clips 1-10 may also be other surgical tools such as surgical scissors, forceps, etc. The deflection driving wire 1-11 penetrates through a deflection driving wire channel 1-1-2 on a support rod 1-1 of a mechanical arm for operation, and the tail end of the deflection driving wire is fixed with the rod I1-2; the outer side of the deflection driving wire channel 1-1-2 above the support rod 1-1 of the mechanical arm for operation is provided with a groove, and the outer side of the deflection driving wire channel 1-1-2 below the corresponding deflection continuum unit 1-12 and the rod 1-2 is also provided with a groove, so that the deflection driving wire 1-11 can move to the outer side to increase the distance from the deflection driving wire 1-11 to the flexible hinge, improve the moment of the deflection driving wire 1-11 to the flexible hinge, and enhance the rigidity and the stability; a joint driving wire channel 1-1-1 and a deflection driving wire channel 1-1-2 in the rod I1-2 are shorter; the camera mechanical arm 2 comprises a camera mechanical arm support rod 2-1, a deflection joint 2-2, a camera mechanical arm deflection rod 2-3, a camera mechanical arm swing joint unit 2-4 and a camera 2-5, and is shown in fig. 5; taking the hinge connected between the first rod 1-2 and the second rod 1-3 as an example, the joint driving wire 1-14 passes through the small hole on the first rod 1-2 and is fixed with the second rod 1-3, the small hole is two sections of stepped holes, the diameter of the two sections of small holes is larger below and smaller above, and the corresponding driving wire sleeve 1-13 can not pass through the small hole on the first rod 1-2 but can enter the lower section of the small hole below, as shown in fig. 6. The other two driving thread sleeves 1-13 can pass through small holes at two sides of the first rod 1-2 to enter the lower section of the stepped hole on the second rod 1-3 but cannot pass through the upper section of the stepped hole, and two corresponding joint driving threads 1-14 pass through the driving thread sleeves 1-13 and pass through the stepped hole of the second rod 1-3 to be fixed with the third rod 1-4. The joints between the first rod 1-2 and the second rod 1-3 and the joints between the second rod 1-3 and the third rod 1-4 are driven by two joint driving wires 1-14. The larger diameter portion above rod one 1-2, rod three 1-4, rod four 1-5, rod five 1-6, rod six 1-7, and rod seven 1-8 all have larger passages in between to pass a sufficient number of drive wires 1-13 and joint drive wires 1-14. In addition, four pairs of driving wire sleeves 1-13 and three rods 1-4 penetrate through the supporting rods 1-1 of the mechanical arm for operation, the continuous body units 1-12 are deflected, joint driving wire channels 1-1-1 of the first rods 1-2 penetrate through the upper parts of the first rods 1-2, the second rods 1-3 and intermediate channels of the third rods 1-4, similarly, the driving wire sleeves 1-13 can enter stepped holes above the third rods 1-4 but cannot penetrate through the stepped holes, corresponding joint driving wires 1-14 penetrate through the stepped holes on the third rods 1-4, penetrate through small holes on the fourth rods 1-5, the fifth rods 1-6 and the sixth rods 1-7 and are fixed with the seventh rods 1-8. Wherein four joint driving wires 1-14 drive rods four 1-5, five 1-6, six 1-7 and seven 1-8 at the same time. Similarly, two joint driving wires 1-14 are fixed to the rotary wrist 1-9 around the rotary shaft below the rotary wrist 1-9, and can drive the rotary wrist 1-9 to rotate. The middle of the rotary wrist 1-9 is also provided with a channel for two driving wire sleeves 1-13 to pass through, and the corresponding two driving wires drive the clamps 1-10 hinged with the rotary wrist 1-9 to rotate and complete the clamping action together with the other fixed clamp. The camera mechanical arm 2 also has a structure similar to that of the operation mechanical arm 1; the plurality of camera mechanical arm swing joint units 2-4 form a continuous body mechanical arm; 4 small holes are uniformly distributed on the circumference of the camera mechanical arm swing joint unit 2-4, and four driving wires penetrate through the camera mechanical arm support rod 2-1, the deflection joint 2-2, the camera mechanical arm deflection rod 2-3 and the small holes in the camera mechanical arm swing joint unit 2-4 to be fixed with the camera 2-5; the camera mechanical arm deflection rod 2-3 and the camera mechanical arm swing joint unit 2-4 are connected through a central elastic rod or a rigid or flexible hinge with orthogonal adjacent axes between the camera mechanical arm swing joint unit 2-4 and the camera 2-5, and four driving wires drive the camera to swing with two degrees of freedom.
The concrete implementation can be changed as follows:
firstly, the camera mechanical arm 2 can be replaced by a surgical operation mechanical arm 1, so that three surgical operation mechanical arms 1 are arranged in the sleeve 3 at the same time; the camera mechanical arm is a cylindrical mechanical arm as a whole and can enter from another wound; the camera mechanical arm and the sleeve can enter from the same wound, under the condition, the camera mechanical arm enters the abdominal cavity before the sleeve enters the abdominal cavity, the magnet is arranged at the root of the camera mechanical arm, the camera mechanical arm is adsorbed on the inner wall of the abdomen by the external magnet, and the external magnet can also pull the camera mechanical arm to move on the inner wall of the abdomen; the camera mechanical arm can be a mechanical arm driven by a plurality of motors, and a battery, a processor and a wireless communication module are embedded into the mechanical arm, so that the mechanical arm can transmit information through wireless control and can also lead out transmission energy and signals through a wire.
And the cameras 2-5 are continuous mechanical arms formed by pulling a plurality of camera mechanical arm swing joint units 2-4 together by four driving wires, or continuous mechanical arms formed by pulling two sections of a plurality of camera mechanical arm swing joint units 2-4 by eight driving wires, each section of continuous mechanical arm is driven by four driving wires, and thus the cameras can have four degrees of freedom.
And thirdly, the rod I1-2, the rod II 1-3, the rod III 1-4, the rod IV 1-5, the rod V1-6, the rod VI 1-7 and the rod VII 1-8 of the mechanical arm 1 for surgical operation can be replaced by the four-freedom-degree continuum mechanical arm, so that the mechanical arm has higher flexibility and can pass through the flexibly bent sleeve 3 more easily in noninvasive natural orifice surgery.
Fourthly, strain gauges can be attached to the positions, where the strain of the rotary wrists 1-9 and the clips 1-10 is large, so that the stress of the clips 1-10 can be sensed.
And fifthly, the flexible hinges between the support rod 1-1 of the mechanical arm of the operation and the deflection continuum unit 1-12, between the rod 1-2 and the deflection continuum unit 1-12, and between the deflection continuum unit 1-12 and the deflection continuum unit 1-12 can also be rigid hinges.
Sixthly, the deflection driving wire 1-11 can also be a deflection driving rod with larger diameter and rigidity, and a corresponding deflection driving wire channel 1-1-2 on the mechanical arm supporting rod 1-1 for operation is also correspondingly larger in diameter, so that the deflection driving rod is a two-section hinged connecting rod structure, one section of the deflection driving wire channel 1-1-2 moves, one end of the other section of the connecting rod is hinged with the first section of the connecting rod, and the other end of the other section of the connecting rod is hinged with the first section of the connecting rod 1-2; therefore, the deflection driving rod can not only be pulled but also be pressed, namely the deflection driving rod can drive the first 1-2 to rotate back and forth, so that a degree of freedom can be added to the mechanical arm 1 for the operation.
And seventhly, force sensors are arranged between the deflection driving wires 1-11 and the joint driving wires 1-14 and a rotating wheel or a linear motion mechanism for driving the deflection driving wires and the joint driving wires to detect the tension of the driving wires.
The working principle of the invention is as follows:
the deflection driving wires 1-11 and the joint driving wires 1-14 are driven by a motor to drive a rotating wheel or pulled by a linear motion mechanism. The operation mechanical arm support rod 1-1 and the camera mechanical arm support rod 2-1 are fixed with the linear motion mechanism and can move along the axial direction of the sleeve 3. The working principle is described below with reference to fig. 7, and the main steps are divided into 5 steps.
1. The cannula is inserted and fixed from a wound of a patient, the camera mechanical arm 2 is firstly placed into the cannula, after the cannula is placed at a proper position, the driving wire drives the deflection joint 2-2 of the camera mechanical arm 2 to deflect the deflection rod 2-3 of the deflection camera mechanical arm, the direction of the camera 2-5 is driven to be adjusted, so that a proper visual angle is obtained, and interference of the next mechanical arm is prevented;
2. driving the operation mechanical arm supporting rod 1-1 to enable the first operation mechanical arm 1 to enter the sleeve 3;
3. the deflection driving wire 1-11 acts to deflect a first rod 1-2 to a tail end clamp 1-10 of a first operation mechanical arm 1, and each joint of the mechanical arm is driven to adjust the operation mechanical arm 1 to a proper configuration;
4. driving a second surgical manipulator arm 1 into the cannula in the same manner;
5. similarly, the deflection of the deflection drive wires 1-11 deflects the second surgical manipulator arm 1 and drives the respective joints of the arms to adjust the surgical manipulator arms to the appropriate configuration, and then, if necessary, a tube may be inserted into the central passage to prevent the respective arms from deforming in the radial direction of the cannula after being subjected to force.
If the operation mechanical arm 1 needs to be replaced, the deflection driving wires 1-11 and all joints can be driven to be in a straight state, then the inner tube is firstly drawn out, then the operation mechanical arm 1 needing to be replaced is taken out, and then a new operation mechanical arm 1 is put in and then the inner tube is inserted. After the operation is finished, the inner tube is taken out, and then the two operation mechanical arms 1, the camera mechanical arm 2 and the sleeve 3 are taken out in sequence.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (9)
1. A compact single-port surgical robotic slave hand, characterized by: the system mainly comprises two operation mechanical arms (1) and a camera mechanical arm (2), wherein the operation mechanical arms are used for operation, and the camera mechanical arms are used for illuminating and observing the condition of an operation part in real time; the surgical operation mechanical arm (1) comprises a surgical operation mechanical arm supporting rod (1-1), a first rod (1-2), a second rod (1-3), a third rod (1-4), a fourth rod (1-5), a fifth rod (1-6), a sixth rod (1-7), a seventh rod (1-8), a rotary wrist (1-9), a clamp (1-10), a deflection driving wire (1-11), a deflection continuum unit (1-12), a wire sleeve (1-13) and a joint driving wire (1-14); the end part of a mechanical arm supporting rod (1-1) for operation is provided with a through joint driving wire channel (1-1-1) and a deflection driving wire channel (1-1-2) for a driving wire sleeve (1-13) and a joint driving wire (1-14) to pass through, and the driving wire sleeve (1-13) is a spring tube or a pressure-resistant tube made of other materials; a plurality of deflection continuum units (1-12) are arranged between the surgical operation mechanical arm supporting rod (1-1) and the rod I (1-2), the surgical operation mechanical arm supporting rod (1-1) and the deflection continuum units (1-12), the rod I (1-2) and the deflection continuum units (1-12) are connected by flexible hinges, and the flexible hinges are of a thin-sheet elastic structure; the first rod (1-2) and the second rod (1-3), the second rod (1-3) and the third rod (1-4), the third rod (1-4) and the fourth rod (1-5), the fourth rod (1-5) and the fifth rod (1-6), the fifth rod (1-6) and the sixth rod (1-7) and the seventh rod (1-8) are connected by rigid rotary hinge joints, and the adjacent hinge axes are orthogonal; the rotating shaft of the rotating wrist (1-9) is collinear with the cylindrical hole in the rod seven (1-8), and the rotating wrist (1-9) is connected with the rod seven (1-8) through a bearing so that relative rotation friction between the rotating wrist (1-9) and the rod seven (1-8) is small; a pair of clamps (1-10) are arranged on the rotary wrist (1-9), one of the clamps is fixed with the rotary wrist (1-9), and the other clamp (1-10) is hinged with the rotary wrist (1-9); the deflection driving wire (1-11) penetrates through a deflection driving wire channel (1-1-2) on a mechanical arm supporting rod (1-1) of the surgical operation and the tail end of the deflection driving wire is fixed with the first rod (1-2); the outer side of a deflection driving wire channel (1-1-2) above a support rod (1-1) of the mechanical arm for surgical operation is provided with a groove, and the outer side of the deflection driving wire channel (1-1-2) below a corresponding deflection continuum unit (1-12) and the rod I (1-2) is also provided with a groove, so that the deflection driving wire (1-11) can move to the outer side to increase the distance from the deflection driving wire (1-11) to the flexible hinge, the moment of the deflection driving wire (1-11) to the flexible hinge is improved, and the rigidity and the stability are enhanced; the joint driving wire channel (1-1-1) and the deflection driving wire channel (1-1-2) in the first rod (1-2) are shorter; the camera mechanical arm (2) comprises a camera mechanical arm support rod (2-1), a deflection joint (2-2), a camera mechanical arm deflection rod (2-3), a camera mechanical arm swing joint unit (2-4) and a camera (2-5); a plurality of camera mechanical arm swing joint units (2-4) form a continuous body mechanical arm; 4 small holes are uniformly distributed on the circumference of the camera mechanical arm swing joint unit (2-4), and four driving wires penetrate through the camera mechanical arm support rod (2-1), the deflection joint (2-2), the camera mechanical arm deflection rod (2-3) and the small holes in the camera mechanical arm swing joint unit (2-4) to be fixed with the camera (2-5); the camera mechanical arm deflection rod (2-3) and the camera mechanical arm swing joint unit (2-4), the camera mechanical arm swing joint unit (2-4) and the camera mechanical arm swing joint unit (2-4) are connected with the camera (2-5) through a central elastic rod or a rigid or flexible hinge with orthogonal adjacent axes, and four driving wires drive the camera to swing with two degrees of freedom; the sleeve (3), the operation mechanical arm support rod (1-1) and the camera mechanical arm support rod (2-1) are rigid parts; seen from the axial direction of the sleeve, the cross sections of the two operation mechanical arm support rods (1-1) and the camera mechanical arm support rod (2-1) form a circular ring; in the straightening state, the cross section of each mechanical arm except the support rod is in the cross section area of the support rod of the middle channel and the mechanical arm when the rest part of each mechanical arm is seen from the axial direction of the support rod; the driving wires are uniformly distributed around the inner periphery of the sleeve, so that the space in the sleeve is fully utilized, and the sum of the cross sections of the three mechanical arms in the axial direction of the supporting rod is far larger than the sum of the cross sections of the sleeve occupied by the supporting rods of the three mechanical arms in a straightening state, so that the purposes that the required inner diameter of the sleeve is smaller than that of a traditional single-hole surgical robot and the structure is more compact are achieved; secondly, the cross section area of each mechanical arm viewed from the axial direction of the supporting rod is larger than that of the central channel, which means that the distance from a joint driving wire of the mechanical arm to a driven joint axis is larger, and the joint torque is larger under the same driving wire pulling force, so that the purpose of larger output force of the mechanical arm is achieved.
2. The compact single-hole surgical robotic slave hand of claim 1, wherein: the sleeve (3), the operation mechanical arm support rod (1-1) and the camera mechanical arm support rod (2-1) can also be flexible pieces so as to expand the robot of the invention from hand to noninvasive natural orifice surgery.
3. The compact single-hole surgical robotic slave hand of claim 1, wherein: the camera mechanical arm (2) can be replaced by a surgical operation mechanical arm (1), so that three surgical operation mechanical arms (1) are arranged in the sleeve (3) at the same time; the camera mechanical arm is a cylindrical mechanical arm as a whole and can enter from another wound; the camera mechanical arm and the sleeve can enter from the same wound, under the condition, the camera mechanical arm enters the abdominal cavity before the sleeve enters the abdominal cavity, the magnet is arranged at the root of the camera mechanical arm, the camera mechanical arm is adsorbed on the inner wall of the abdomen by the external magnet, and the external magnet can also pull the camera mechanical arm to move on the inner wall of the abdomen; the camera mechanical arm can be a mechanical arm driven by a plurality of motors, and a battery, a processor and a wireless communication module are embedded into the camera mechanical arm, so that the mechanical arm can transmit information through wireless control and can also transmit energy and signals through a wire.
4. The compact single-hole surgical robotic slave hand of claim 1, wherein: the camera (2-5) is a continuum mechanical arm formed by pulling a plurality of camera mechanical arm swing joint units (2-4) together by four driving wires, or a continuum mechanical arm formed by pulling two sections of a plurality of camera mechanical arm swing joint units (2-4) by eight driving wires, each section of the continuum mechanical arm is driven by four driving wires, and thus the camera can have four degrees of freedom.
5. The compact single-hole surgical robotic slave hand of claim 4, wherein: the rod I (1-2), the rod II (1-3), the rod III (1-4), the rod IV (1-5), the rod V (1-6), the rod VI (1-7) and the rod VII (1-8) of the mechanical arm (1) for operation can be replaced by the four-freedom-degree continuum mechanical arm, so that the mechanical arm has higher flexibility, and can pass through the flexibly bent cannula (3) more easily in noninvasive natural orifice surgery.
6. The compact single-hole surgical robotic slave hand of claim 1, wherein: the strain of the rotary wrists (1-9) and the clips (1-10) can be larger, and strain gauges can be attached to the positions where the strain is larger, so that the stress of the clips (1-10) can be sensed.
7. The compact single-hole surgical robotic slave hand of claim 1, wherein: the flexible hinges between the support rod (1-1) of the surgical manipulator and the deflection continuum unit (1-12), between the first rod (1-2) and the deflection continuum unit (1-12) and between the deflection continuum unit (1-12) and the deflection continuum unit (1-12) can also be rigid hinges.
8. The compact single-hole surgical robotic slave hand of claim 1, wherein: the deflection driving wire (1-11) can also be a deflection driving rod with larger diameter and rigidity, and a corresponding deflection driving wire channel (1-1-2) on the mechanical arm supporting rod (1-1) for operation is also correspondingly larger in diameter, so that the deflection driving rod is a two-section hinged connecting rod structure, one section of the deflection driving wire channel moves in the deflection driving wire channel (1-1-2), one end of the other section of the connecting rod is hinged with the first section of the connecting rod, and the other end of the other section of the connecting rod is hinged with the first rod (1-2); therefore, the deflection driving rod can be pulled and also can be pressed, namely the deflection driving rod can drive the first driving rod (1-2) to rotate back and forth, and thus, a degree of freedom can be added to the mechanical arm (1) for the operation.
9. The compact single-hole surgical robotic slave hand of claim 1, wherein: force sensors are arranged between the deflection driving wires (1-11) and the joint driving wires (1-14) and the rotating wheels or the linear motion mechanisms for driving the deflection driving wires and the joint driving wires to detect the tension of the driving wires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111512194.XA CN114271948B (en) | 2021-12-07 | 2021-12-07 | Compact single-hole surgical robot slave hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111512194.XA CN114271948B (en) | 2021-12-07 | 2021-12-07 | Compact single-hole surgical robot slave hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114271948A true CN114271948A (en) | 2022-04-05 |
| CN114271948B CN114271948B (en) | 2024-03-26 |
Family
ID=80871858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111512194.XA Active CN114271948B (en) | 2021-12-07 | 2021-12-07 | Compact single-hole surgical robot slave hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114271948B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110120476A (en) * | 2010-04-29 | 2011-11-04 | 한국과학기술원 | Robot apparatus for endoscopic surgery |
| CN102499759A (en) * | 2011-10-31 | 2012-06-20 | 上海交通大学 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
| CN109157287A (en) * | 2018-07-09 | 2019-01-08 | 南京航空航天大学 | A kind of conduit or seal wire running resistance and the robot of clamping force of capable of perceiving is from hand |
| CN111887995A (en) * | 2020-07-13 | 2020-11-06 | 南京航空航天大学 | Small-wound single-hole surgical robot |
| CN112370167A (en) * | 2020-11-10 | 2021-02-19 | 北京邮电大学 | Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers |
-
2021
- 2021-12-07 CN CN202111512194.XA patent/CN114271948B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110120476A (en) * | 2010-04-29 | 2011-11-04 | 한국과학기술원 | Robot apparatus for endoscopic surgery |
| CN102499759A (en) * | 2011-10-31 | 2012-06-20 | 上海交通大学 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
| CN109157287A (en) * | 2018-07-09 | 2019-01-08 | 南京航空航天大学 | A kind of conduit or seal wire running resistance and the robot of clamping force of capable of perceiving is from hand |
| CN111887995A (en) * | 2020-07-13 | 2020-11-06 | 南京航空航天大学 | Small-wound single-hole surgical robot |
| CN112370167A (en) * | 2020-11-10 | 2021-02-19 | 北京邮电大学 | Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114271948B (en) | 2024-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112842534B (en) | Surgical tool system | |
| KR102587514B1 (en) | Double bending flexible surgical tool system | |
| EP2359768B1 (en) | Flexible wrist for surgical tool | |
| KR102257224B1 (en) | Flexible surgical tool system | |
| CN102499759B (en) | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery | |
| CN107530134B (en) | Electromechanical surgical system | |
| WO2022042177A1 (en) | Surgical instrument and surgical instrument platform | |
| RU2551932C2 (en) | Minimally invasive laparoscopic surgical forceps | |
| JP2020036931A (en) | Virtual reality surgical device | |
| WO2021184791A1 (en) | Serpentine surgical robot applied to minimally invasive surgery | |
| CN107307909A (en) | One kind intervention robot remote operating system and its control method | |
| CN106175850A (en) | The flexible operation tool system that a kind of straight line driving mechanism drives | |
| US20050182298A1 (en) | Cardiac tissue ablation instrument with flexible wrist | |
| JP2007325959A5 (en) | ||
| CN115922755A (en) | Apparatus and method for robotic assembly | |
| CN112618023B (en) | Sterile isolation device and surgical robot system | |
| CN113749784B (en) | Force feedback transmission system of surgical robot | |
| CN107049494A (en) | A kind of medical treatment device based on digestive endoscopy | |
| CN112545435B (en) | Modular multi-wire driving continuous lens arm based on fixed pulleys | |
| Carrozza et al. | Micromechatronics in surgery | |
| KR20110127563A (en) | Surgical instrument | |
| CN114271948B (en) | Compact single-hole surgical robot slave hand | |
| CN106344157B (en) | A kind of sterilizable flexible operation tool system | |
| CN106236270B (en) | A kind of flexible operation tool system of structural bone redundant arrangement | |
| US11850015B2 (en) | Manipulator driven by modular joint time-sharing switching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |