CN114587600A - Robot for minimally invasive surgery - Google Patents
Robot for minimally invasive surgery Download PDFInfo
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- CN114587600A CN114587600A CN202210162185.0A CN202210162185A CN114587600A CN 114587600 A CN114587600 A CN 114587600A CN 202210162185 A CN202210162185 A CN 202210162185A CN 114587600 A CN114587600 A CN 114587600A
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- 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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention provides a robot for minimally invasive surgery, which comprises a linear driving support plate module, a linear driving module, a robot flexible arm module, a tail end execution module and a robot support module, wherein the linear driving support plate module is arranged on the linear driving support plate module; the linear driving support plate module and the linear driving module are respectively arranged on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guiding fit; and the line driving carrier plate module is respectively connected with the robot flexible arm module and the tail end execution device. The flexible arm of the robot has the advantages that the flexible arm of the robot has small volume and high flexibility, avoids the limitation of constant curvature of a single end of the traditional concentric tube robot, and overcomes the defect of large volume of the traditional line-driven robot; the tail end executing device can be quickly assembled and disassembled, the application range of the surgical robot is expanded, and the defect that the tail end executor of the traditional surgical robot is difficult to replace is overcome.
Description
Technical Field
The invention relates to a medical instrument, in particular to a robot for minimally invasive surgery.
Background
With the rapid development of the technology in the related field of medical treatment, the minimally invasive surgery becomes an important development stage in the clinical surgery, and the surgical robot is increasingly applied to the minimally invasive surgery of the cavity and the viscera of the human body.
Most of traditional surgical robots are rigid structures, have large body sizes, cannot track the position of a nonlinear focus, and are easy to damage when contacting with body cavities, organs, blood vessels and sensitive tissues. Compared with the traditional rigid surgical instruments and surgical robots, the flexible surgical robot has the characteristics of compact size, flexibility, active control and the like, and is increasingly applied to minimally invasive surgery. Concentric tube robots and wire driven robots are typical representatives of flexible surgical robots. A concentric tube robot is generally made up of a set of pre-bent, highly elastic concentric tubes nested within each other, each having two degrees of freedom in translation and rotation. Concentric tubes nested together, different constant curvature curve segments can be formed because of the difference in translation and rotation; the wire-driven robot is generally formed by sequentially connecting a plurality of tiny hollow joints, holes are punched and threaded on the periphery of each joint, the wire-driven robot can regularly move at the tail end of the previous joint through the pulling force of a wire rope, and the plurality of joints are combined to form a fixed curve shape. Therefore, the concentric tube robot and the wire drive can complete the tracking task of the three-dimensional curve in the cavity organ, and have active control and certain deformation capability. Concentric tube robots and wire driven robots have been proposed for use in neurosurgical, urological and intracardiac procedures.
However, the concentric tube robot needs to be formed by nesting a plurality of pre-bent concentric tubes, and the pre-bent curvature of the concentric tubes changes due to time and use; the linear driving robot has the defect of single shape change; and the end effector is mostly fixed with the mechanical arm, so that the end effector cannot be replaced or the replacement speed is low, and the application range of the surgical robot is greatly limited.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to develop a flexible minimally invasive surgical robot which is stable and reliable, has various shapes, is small in size, and can rapidly replace an end effector.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot for minimally invasive surgery.
The invention provides a robot for minimally invasive surgery, which comprises a linear driving support plate module, a linear driving module, a robot flexible arm module, a tail end execution module and a robot support module, wherein the linear driving support plate module is arranged on the linear driving support plate module; the linear driving support plate module and the linear driving module are respectively arranged on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guiding fit; the line driving carrier plate module is respectively connected with the robot flexible arm module and the tail end execution device, drives the robot flexible arm module to perform bending motion, and drives the tail end execution device to perform clamping work; the linear driving module is connected with the line driving support plate module and drives the line driving support plate module to move linearly back and forth, and the robot flexible arm module moves back and forth along with the line driving support plate module; the end execution module is mounted on the robot flexible arm module.
As a further improvement of the invention, the robot flexible arm module is formed by nesting at least two wire drive tubes, the front part of the wire driving pipe is formed by a coiled pipe joint hinged in the front and at the back, the back part of the wire driving pipe is a spring pipe, the coiled pipe joint at least comprises four flexible arm wire rope through holes, the flexible arm cord through holes are distributed at intervals around the circumference of the coiled pipe joint, the flexible arm cord through holes contain flexible arm cords, one end of the flexible arm cord is connected with the front end of the line driving pipe, the other end of the flexible arm cord is connected with the line driving support plate module, the spring tubes are fixed on the line driving support plate modules, the line driving tubes correspond to the line driving support plate modules one to one, different line driving tubes are correspondingly installed on different line driving support plate modules, each line driving support plate module is connected with one linear driving module, and different line driving tubes are driven by different linear driving modules and different line driving support plate modules.
As a further improvement of the invention, the length of each wire drive pipe is sequentially increased from the outermost layer pipe to the innermost layer pipe, the spring pipe of the wire drive pipe is always arranged in the wire drive pipe on the outer layer of the wire drive pipe, and a gap is arranged between the front and the rear coiled pipe joints.
As a further improvement of the present invention, the front end surface of the serpentine tube joint is provided with two arc-shaped protruding structures protruding in the axial direction, the two arc-shaped protruding structures are distributed at an interval of 180 degrees around the circumferential direction of the serpentine tube joint, the rear end surface of the serpentine tube joint is provided with two arc-shaped groove structures, the two arc-shaped groove structures are distributed at an interval of 180 degrees around the circumferential direction of the serpentine tube joint, the arc-shaped protruding structures and the arc-shaped groove structures on the same serpentine tube joint are distributed at an interval of 90 degrees, the arc-shaped protruding structure of the serpentine tube joint located at the rear is hinged with the arc-shaped groove structure of the serpentine tube joint located at the front in the front-rear direction, and the arc-shaped protruding structures and the arc-shaped groove structures are both provided with the flexible arm cord through holes.
As a further improvement of the present invention, the flexible arm cord is made of nickel-titanium alloy, when the length of the flexible arm cord in a certain direction is shortened, the wire drive tube deforms and bends in the corresponding direction of the shortened flexible arm cord, and the length shortening degree and the elastic deformation are different; after the flexible arm cord returns original length, the line drives the pipe and resumes original state, the outer cover of line drive pipe has the transparent pyrocondensation pipe of food level.
As a further improvement of the present invention, the robot support module includes a support end plate, a fixed end plate, a flexible arm support, an optical axis, a flange plate coupler, a fixed end bearing seat and a support end bearing seat, the flexible arm support is mounted on the support end plate, the flexible arm module of the robot passes through the flexible arm support, the optical axis is fixed between the support end plate and the fixed end plate through the flange coupler, the fixed end bearing seat is fixed on the fixed end plate, the support end bearing seat is fixed on the support end plate, the line drive support plate module is in sliding fit with the optical axis, and the optical axis is used for restricting rotation of the line drive support plate module and guiding linear motion of the line drive support plate module.
As a further improvement of the present invention, the linear driving module includes a lead screw, a lead screw nut seat, a reduction motor, a motor support and a quincuncial coupling, the lead screw is fixed between the supporting end plate and the fixed end plate through the supporting end bearing seat and the fixed end bearing seat, the lead screw nut is mounted on the lead screw, the lead screw nut seat is fixed with the lead screw nut, the lead screw nut seat is connected with the linear driving support plate module, the motor support is fixed on the fixed end plate, the reduction motor is fixed on the motor support, and the reduction motor is connected with the lead screw through the quincuncial coupling to drive the lead screw to rotate, so as to drive the linear driving support plate module to perform linear back-and-forth movement.
As a further improvement of the invention, at least two of the line driving carrier plate modules are divided into a left fixed line driving carrier plate module and a right fixed line driving carrier plate module which are in a mirror image relationship with each other, and one line driving pipe corresponds to one line driving carrier plate module, the line driving carrier plate module comprises a support frame, a steering engine for line driving, a steering wheel disc, a winding arm and a linear bearing, wherein the line driving carrier plate module connected with the innermost pipe additionally comprises an actuator steering engine and an actuator steering engine bracket, the steering engine for line driving is mounted on the support frame, the actuator steering engine bracket is fixed on the support frame, the actuator steering engine is fixed with the actuator steering engine bracket, the steering engine for line driving and the actuator steering engine are both connected with the steering wheel disc, the winding arm is fixed with the steering wheel disc, a flexible arm cord of the flexible arm module of the robot is fixedly connected with the winding arm fixed on the steering engine for line driving, an end effector wire rope of the end effector module is fixedly connected with a winding arm fixed on the actuator steering engine, the support frame is connected with the linear driving module through the lead screw nut seat, the linear bearing is fixed on the support frame, and the optical axis penetrates through the linear bearing.
As a further improvement of the present invention, the end effector module includes a fixed portion and a renewable portion, the fixed portion includes a fixed base, a connecting pull rod, a spring and a fixed end magnet, a rear end of the fixed base is connected to a front end of the robot flexible arm module, the front end of the fixed base is nested with the connecting pull rod, the spring is clamped between the connecting pull rod and the fixed base, the fixed end magnet is disposed on the connecting pull rod, the connecting pull rod is connected to an end effector cord, and the end effector cord passes through the fixed base and the robot flexible arm module and then is connected to the line driving carrier module; the renewable part comprises a pull rod, an outer layer support, a movable end magnet, an operating tool head and a hinge arm, the pull rod is located inside the outer layer support, the operating tool head is hinged to the outer layer support and the hinge arm respectively, the front end of the pull rod is hinged to the hinge arm, the rear end of the pull rod is connected with the movable end magnet, and the movable end magnet is matched with the fixed end magnet.
As a further improvement of the invention, a radial convex structure is arranged at the rear end of the outer layer bracket, an L-shaped locking groove is arranged on the fixed base, and during installation, the radial convex structure of the outer layer bracket is screwed into the locking groove of the fixed base, so that installation can be completed; the pull rod is provided with a butt joint hole, the movable end magnet is arranged in the butt joint hole, when the fixed part is connected with the renewable part, the connecting pull rod is inserted into the butt joint hole, and the movable end magnet is adsorbed with the fixed end magnet.
The invention has the beneficial effects that: the flexible arm of the robot is small in size and high in flexibility, the limitation of constant curvature of a single end of the traditional concentric tube robot is avoided, and the defect of large size of the traditional line-driven robot is overcome; the tail end executing device can be quickly assembled and disassembled, the application range of the surgical robot is expanded, and the defect that the tail end executor of the traditional surgical robot is difficult to replace is overcome.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other solutions can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a robot for minimally invasive surgery in one embodiment of the present invention.
Fig. 2 is a three-dimensional block diagram of a robot support module in one embodiment of the invention.
Fig. 3 is a three-dimensional block diagram of a linear drive module in an embodiment of the invention.
Fig. 4.1 is a three-dimensional view of a robot flexible arm module wire drive serpentine pipe joint in one embodiment of the invention.
Fig. 4.2 is a three-dimensional structure diagram of an initial state of a flexible arm module of the robot in one embodiment of the invention.
Fig. 4.3 is a three-dimensional block diagram of a bending state of a flexible arm module of a robot according to an embodiment of the invention.
Fig. 5.1 is a three-dimensional structural diagram of the left fixed line driving carrier board module in one embodiment of the invention.
Fig. 5.2 is a three-dimensional structural diagram of the right fixed-line driving carrier board module in one embodiment of the invention.
Fig. 6.1 is a three-dimensional block diagram of the fixed portion of the end effector module in one embodiment of the invention.
Fig. 6.2 is a partial cross-sectional view of a renewable portion of an end effector module in one embodiment of the invention.
Fig. 6.3 is a three-dimensional block diagram of the operational state of the end effector in one embodiment of the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
The invention provides a robot for minimally invasive surgery, and fig. 1 is a structural diagram of the robot for minimally invasive surgery in an embodiment of the invention, and mainly comprises a robot support module 100, a linear driving module 200, a robot flexible arm module 300, a linear driving carrier plate module 400 and an end effector module 500.
Fig. 2 is a three-dimensional structural view of a robot support module according to an embodiment of the present invention, the robot support module 100 includes a support end plate 101, a fixed end plate 102, a flexible arm support 103, an optical axis 104, a flange plate coupler 105, a fixed end bearing seat 106, and a support end bearing seat 107, the flexible arm support 103 is mounted on the support end plate 101, the robot flexible arm module 300 passes through the flexible arm support 103, the optical axis 104 is fixed between the support end plate 101 and the fixed end plate 102 by a flange coupler 105, the fixed end bearing seat 106 is fixed on the fixed end plate 102, and the support end bearing seat 107 is fixed on the support end plate 101. The optical axis 103 is used for restricting the rotation of the line driving carrier module 400 and guiding the linear motion of the line driving carrier module 400.
Fig. 3 is a three-dimensional structural view of a linear driving module according to an embodiment of the present invention, the linear driving module 200 includes a lead screw 201, a lead screw nut 202, a lead screw nut seat 203, a decelerating motor 204, a motor bracket 205, and a quincunx coupler, the lead screw 201 is connected between the supporting end plate 101 and the fixed end plate 102 through the supporting end bearing seat 107 and the fixed end bearing seat 106, the lead screw nut 202 is mounted on the lead screw 201, the lead screw nut 202 is configured to be installed in cooperation with the lead screw 201, the linear driving support plate module 400 is linearly moved under the driving of the decelerating motor 204, the lead screw nut seat 203 is fixed to the lead screw nut 202, the lead screw nut seat 203 is configured to fix the linear driving module 200 and the linear driving support plate module 400, the motor bracket 205 is fixed to the fixed end plate 102, the decelerating motor 204 is fixed to the motor bracket 205, the decelerating motor 204 is connected to the lead screw 201 through the quincunx coupler, the lead screw 201 is driven to rotate.
Referring to fig. 4.1, 4.2, and 4.3 as an embodiment of the present invention, a moving process of the flexible arm module 300 of the robot is explained, as shown in fig. 4.2 and 4.3, the flexible arm module 300 of the robot is formed by nesting an inner wire driving tube 302 and an outer wire driving tube 301, a coil joint structure 3001 is arranged at the front of the wire driving tube, as shown in fig. 4.1, the coil joint 3001 at least includes four through holes 30011, a wire rope 3002 can be threaded through the through holes 30011, the coil joint 3001 includes a protrusion structure 30012 and a groove structure 30013, when being installed, the protrusion structure 30012 and the groove structure 30013 of two coil joints 3001 are aligned to complete matching, and there is a gap between the two coil joints 3001 after matching. The rear parts of the two line driving pipes are spring pipes. The length of each wire drive tube is sequentially increased from the outermost tube to the innermost tube, and the spring tube part of each wire drive tube is always arranged in the wire drive tube on the outer layer. As shown in fig. 4.2, the initial states of the inner wire driving tube 302 and the outer wire driving tube 301 are straight tubes, when the wire driving carrier board module 400 pulls a wire 3002 in a certain direction, the serpentine tube joints 3001 of the wire driving tubes generate different angles according to the length change of the wire 3002 in the direction, and the wire driving tubes can be bent at different angles after the angles are overlapped, so that the bent state shown in fig. 4.3 can be finally realized. The rear ends of the inner wire driving pipe 302 and the outer wire driving pipe 301 are fixed on the corresponding wire-driven carrier plate module 400, the speed reduction motor 204 drives the screw 201 to rotate, the screw nut 202 converts the rotary motion of the screw 201 into translational motion, the forward and backward motion is transmitted to the wire-driven carrier plate module 400 through the screw nut seat 203 fixed with the wire-driven carrier plate module 400, and the rear end of the wire driving pipe is fixed on the wire-driven carrier plate module 400, so the forward and backward motion can be transmitted to the robot flexible arm module 300, and the forward and backward motion of the inner wire driving pipe 302 and the outer wire driving pipe 301 is realized.
The line-driving carrier module 400 is divided into a left fixed line-driving carrier module 410 and a right fixed line-driving carrier module 420, in this embodiment, the left fixed line-driving carrier module 410 is connected to the inner line driving tube 302, the right fixed line-driving carrier module 410 is connected to the outer line driving tube 301, and fig. 5.1 is a three-dimensional structure diagram of the left fixed line-driving carrier module in an embodiment of the present invention. Fig. 5.2 is a three-dimensional structural diagram of the right fixed-line driving carrier board module in one embodiment of the invention. The left fixed line driving carrier plate module 410 comprises a support frame 411, a steering engine 412 for a line driving tube, a steering wheel 413, a winding arm 414, a linear bearing 415, a flange coupling 416, a steering engine 417 for an actuator, a steering engine support 418 for an actuator, and the right fixed line driving carrier plate module 420 comprises a support frame 421, a steering engine 422 for a line driving tube, a steering wheel 423, a winding arm 424, a linear bearing 425 and a flange coupling 426. The tail end of the inner wire driving pipe 302 is fixed on the left fixed wire driving carrier plate module 410 through a flange coupler 416, two wires 3002 which are separated by 180 degrees on the inner wire driving pipe 302 are respectively wound at two ends of a wire winding arm 414 which is fixed with the wire driving pipe steering engine 412, the wire driving pipe steering engine 412 rotates to drive the wire winding arm 414 to rotate to pull a wire in a certain direction and release the wire at the other end, and then the bending of the inner wire driving pipe 301 can be achieved. The tail end of the outer driving pipe 301 is fixed on the right fixed line driving support plate module 420 through a flange coupler 426, two lines which are separated by 180 degrees on the outer driving pipe 301 are respectively wound at two ends of a winding arm 424 fixed with a line driving pipe steering engine 422, the line driving pipe steering engine 422 rotates to drive the winding arm 424 to rotate and pull a line in a certain direction and release the line at the other end, and bending of the outer driving pipe 302 can be achieved. A wire rope of the end effector module 500 is wound around the wire winding arm 414 fixed to the actuator steering gear 417. The linear bearings 415 and 425 are used for being installed in a matching mode with the optical axis 104, and the supporting frames 411 and 421 are fixed with the screw nut seat 203.
The following explains the installation and operation of the end effector module 500 with reference to fig. 6.1, 6.2, and 6.3 as an embodiment of the present invention. The end effector module 500 is divided into a fixed part 510 and a renewable part 520, fig. 6.1 is a three-dimensional structural view of the fixed part 510, the fixed part 510 comprises a fixed base 511, a connecting rod 512, a spring 513, a fixed end magnet 514, fig. 6.2 is a partial sectional view of the renewable part 520, the renewable part 520 comprises a rod 521, an outer bracket 522, a movable end magnet 523, an operating tool head 524, a hinge arm 525 and a pin 526. The anchor base 511 includes a circular groove structure 5112 that is configured to mate with the raised structure 30012 of the serpentine joint 3001 of the inner wire drive 302 without any gap between the anchor base 511 and the serpentine joint 3001. One section of the spring 513 is fixed on the fixed base 511, one end of the spring is fixed at the bottom of the connecting pull rod 512, the bottom of the connecting pull rod 512 is also fixed with a wire rope 5001, and the wire rope 5001 penetrates through the fixed base 511 to be connected with a wire winding arm 414 fixed by an actuator 417 through the hollow part of the robot flexible arm module 300. The outer layer bracket 522, the pull rod 521, the operating tool head 524 and the hinge arm 525 form a hinge structure through the pin 526, and the pull rod 521 can move up and down to drive the operating tool head 524 to open and close. The outer bracket 522 is provided with a convex structure 5221, the fixed base 511 is provided with a groove 5111, during installation, the movable end magnet 523 fixed on the pull rod 521 and the fixed end magnet 514 fixed on the connecting pull rod 512 are mutually attracted, the convex structure 5221 on the outer bracket 522 is aligned and matched with the groove 5111 on the fixed base 511, when the outer bracket 522 is contacted with the fixed base 511, the outer bracket 522 is fixed with the fixed base 511 by rotating, and the installation can be completed, and finally, as shown in fig. 4.3. When the actuator rotates to drive the winding arm 414 fixed with the actuator to rotate by using the steering engine 417, the wire rope 5001 is tensioned to drive the connecting pull rod 512 to move downwards, the spring 513 is compressed, the connecting pull rod 512 can drive the pull rod 521 to move downwards due to attraction between the magnets, so that the two operating tool heads 524 are closed, when the actuator rotates in the reverse direction by using the steering engine 417 to drive the winding arm 414 fixed with the actuator to rotate in the reverse direction, the wire rope 5001 is loosened, the spring 513 is restored to the initial state, the connecting pull rod 512 is pushed to move upwards, and due to attraction between the magnets, the connecting pull rod 512 can drive the pull rod 521 to move upwards, so that the two operating tool heads 524 are opened. To disassemble the renewable part 520, the outer bracket 522 is rotated to separate the protrusion 5221 from the groove 5111, and then the magnet is separated to complete the disassembly.
According to the robot for minimally invasive surgery, the flexible arm of the robot is small in overall dimension and high in flexibility, and can be well suitable for narrow and flexible natural orifices, so that the defects that the shape of the traditional surgical robot is single in change and not stable enough are overcome; the end executing device can be quickly replaced to meet the requirements of different operation scenes, and the time cost is effectively reduced.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A robot for minimally invasive surgery, characterized by: the robot comprises a line driving carrier plate module, a linear driving module, a robot flexible arm module, a tail end execution module and a robot support module; the linear driving support plate module and the linear driving module are respectively arranged on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guiding fit; the line driving carrier plate module is respectively connected with the robot flexible arm module and the tail end execution device, drives the robot flexible arm module to perform bending motion, and drives the tail end execution device to perform clamping work; the linear driving module is connected with the line driving support plate module and drives the line driving support plate module to move linearly back and forth, and the robot flexible arm module moves back and forth along with the line driving support plate module; the end execution module is mounted on the robot flexible arm module.
2. A robot for minimally invasive surgery according to claim 1, characterized in that: the flexible arm module of the robot is formed by nesting at least two wire driving pipes, the front parts of the wire driving pipes are formed by coiled pipe joints which are hinged front and back, the rear parts of the wire driving pipes are spring pipes, the coiled pipe joint at least comprises four flexible arm cord through holes which are distributed at intervals around the circumference of the coiled pipe joint, the flexible arm cord through hole is internally provided with a flexible arm cord, one end of the flexible arm cord is connected with the front end of the line driving pipe, the other end of the flexible arm cord is connected with the line driving support plate module, the spring tubes are fixed on the line driving support plate modules, the line driving tubes correspond to the line driving support plate modules one to one, different line driving tubes are correspondingly installed on different line driving support plate modules, each line driving support plate module is connected with one linear driving module, and different line driving tubes are driven by different linear driving modules and different line driving support plate modules.
3. A robot for minimally invasive surgery according to claim 2, characterized in that: the length of each wire drive pipe is sequentially increased from the outermost layer pipe to the innermost layer pipe, the spring pipe of each wire drive pipe is always arranged in the wire drive pipe on the outer layer of the wire drive pipe, and a gap is formed between the joints of the front and the rear serpentine pipes.
4. A robot for minimally invasive surgery according to claim 2, characterized in that: the front end face of the coiled pipe joint is provided with arc-shaped protruding structures protruding along the axial direction, the two arc-shaped protruding structures are distributed at intervals of 180 degrees around the circumference of the coiled pipe joint, the rear end face of the coiled pipe joint is provided with arc-shaped groove structures, the two arc-shaped groove structures are distributed at intervals of 180 degrees around the circumference of the coiled pipe joint, the arc-shaped protruding structures and the arc-shaped groove structures on the same coiled pipe joint are distributed at intervals of 90 degrees, the arc-shaped protruding structures of the coiled pipe joint located behind are hinged with the arc-shaped groove structures of the coiled pipe joint located in front of the arc-shaped protruding structures, and the arc-shaped groove structures are provided with the flexible arm cord through holes.
5. A robot for minimally invasive surgery according to claim 2, characterized in that: the flexible arm cord is made of nickel-titanium alloy, when the length of the flexible arm cord in a certain direction is shortened, the wire drive tube deforms and bends towards the corresponding direction of the shortened flexible arm cord, and the flexible arm cord has different length shortening degrees and different elastic deformation; after the flexible arm cord returns original length, the line drives the pipe and resumes original state, the outer cover of line drive pipe has the transparent pyrocondensation pipe of food level.
6. A robot for minimally invasive surgery according to claim 2, characterized in that: the robot support module comprises a supporting end plate, a fixed end plate, a flexible arm support, an optical shaft, a flange plate coupler, a fixed end bearing seat and a supporting end bearing seat, wherein the flexible arm support is installed on the supporting end plate, the robot flexible arm module penetrates through the flexible arm support, the optical shaft is fixed through the flange coupler to support the end plate and between the fixed end plate, the fixed end bearing seat is fixed on the fixed end plate, the supporting end bearing seat is fixed on the supporting end plate, the line driving support plate module is in sliding fit with the optical shaft, and the optical shaft is used for restraining the rotation of the line driving support plate module and guiding the linear motion of the line driving support plate module.
7. A robot for minimally invasive surgery according to claim 6, characterized in that: the linear driving module comprises a lead screw, a lead screw nut seat, a speed reducing motor, a motor support and a plum blossom coupling, wherein the lead screw passes through the supporting end bearing seat and the fixed end bearing seat are fixed between the supporting end plate and the fixed end plate, the lead screw nut is installed on the lead screw, the lead screw nut seat is fixed by the lead screw nut, the lead screw nut seat is connected with the linear driving support plate module, the motor support is fixed on the fixed end plate, the speed reducing motor is fixed on the motor support, the speed reducing motor passes through the plum blossom coupling and is connected with the lead screw, and the driving lead screw is rotated, so that the linear driving support plate module is driven to perform linear back-and-forth motion.
8. A robot for minimally invasive surgery according to claim 7, characterized in that: the wire-driven carrier plate module comprises at least two left fixed wire-driven carrier plate modules and right fixed wire-driven carrier plate modules which are in a mirror image relationship with each other, and a wire-driven pipe corresponds to one wire-driven carrier plate module, each wire-driven carrier plate module comprises a support frame, a steering engine for the wire-driven pipe, a steering wheel disc, a wire winding arm and a linear bearing, wherein the wire-driven carrier plate module connected with the innermost pipe additionally comprises a steering engine for an actuator and a steering engine bracket for the actuator, the steering engine for the wire-driven pipe is arranged on the support frame, the actuator is fixed on the support frame by the steering engine bracket, the steering engine for the actuator is fixed with the steering engine bracket for the actuator, the steering engines for the wire-driven pipe and the steering engines for the actuator are both connected with the steering wheels, the wire winding arms are fixed with the steering engine discs, and flexible arm cords of the robot steering arm modules are fixedly connected with the wire winding arms fixed on the wire-driven pipes, an end effector wire rope of the end effector module is fixedly connected with a winding arm fixed on the actuator steering engine, the support frame is connected with the linear driving module through the lead screw nut seat, the linear bearing is fixed on the support frame, and the optical axis penetrates through the linear bearing.
9. A robot for minimally invasive surgery according to claim 1, characterized in that: the end execution module comprises a fixed part and a renewable part, the fixed part comprises a fixed base, a connecting pull rod, a spring and a fixed end magnet, the rear end of the fixed base is connected with the front end of the robot flexible arm module, the front end of the fixed base and the connecting pull rod are mutually nested, the spring is clamped between the connecting pull rod and the fixed base, the fixed end magnet is arranged on the connecting pull rod, the connecting pull rod is connected with an end effector rope, and the end effector rope sequentially passes through the fixed base and the robot flexible arm module and then is connected with the line driving carrier plate module; the renewable part comprises a pull rod, an outer layer support, a movable end magnet, an operating tool head and a hinge arm, the pull rod is located inside the outer layer support, the operating tool head is hinged to the outer layer support and the hinge arm respectively, the front end of the pull rod is hinged to the hinge arm, the rear end of the pull rod is connected with the movable end magnet, and the movable end magnet is matched with the fixed end magnet.
10. A robot for minimally invasive surgery according to claim 9, characterized in that: the rear end of the outer layer support is provided with a radial protruding structure, the fixed base is provided with an L-shaped locking groove, and the radial protruding structure of the outer layer support is screwed into the locking groove of the fixed base during installation, so that the installation can be completed; the pull rod is provided with a butt joint hole, the movable end magnet is arranged in the butt joint hole, when the fixed part is connected with the renewable part, the connecting pull rod is inserted into the butt joint hole, and the movable end magnet is adsorbed with the fixed end magnet.
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| CN114587600B (en) | 2023-06-27 |
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