CN114767275A - Multi-knuckle bionic robot arm for surgical operation - Google Patents

Abstract

The invention relates to a multi-knuckle bionic robot arm for surgical operation, which comprises a control part and at least one key, wherein at least one key extends into a containing cavity, an extension tube is connected with a shell through a universal joint, a swinging arm is connected with the extension tube through a universal joint, the arm can respectively control 1-5 claws, the opening and closing of different degrees and different numbers of the claws can be realized, an execution mechanism can synchronize the actions of the hands of a person and realize free direction adjustment, accurate operation positioning can be carried out in the complicated operation process, the arm has very high flexibility and very strong operability, when in use, the arm of the person can naturally carry out various actions, different fingers independently control one claw, the actions of the fingers can be accurately copied, the arm transmits the actions of the hands of the person to the execution mechanism through a cable group, the wire harness transmits actions such as pitching, swinging, opening and closing, rotating and the like completed by the hand part to the actuating mechanism.

Description

Multi-knuckle bionic robot arm for surgical operation

Technical Field

The invention relates to the technical field of medical instruments, in particular to a multi-knuckle bionic robot arm for surgical operations.

Background

The laparoscope operation is a minimally invasive operation for treating some benign diseases and early tumors, such as hepatic cyst windowing, large intestine tumor excision, digestive tract cancer, gastrointestinal perforation repair, thyroid gland, mammary gland, lower limb varicosity and other diseases; performing laparoscopic surgery on the abdomen, cutting a plurality of small incisions with the diameter of 5-12 mm, inserting a miniature camera and a slender surgical tool into the incisions, and completing the surgery through screen display; laparoscopic surgery generally uses abdominal cavity endoscope, puncture outfit, separating forceps, pneumoperitoneum needle, grasping forceps, electric coagulation hook applied under endoscope, bipolar electric coagulation, ultrasonic knife or high-frequency electric knife, disposable cutting closer, etc.; since the laparoscopic surgery is completed in a tiny channel, soft tissues need to be grabbed, separated and coagulated, and the operation space is very limited; at present, the grasping forceps, the electrotome and other instruments used in laparoscopic surgery have low degree of freedom, and cannot reach the pathological change position in complex cases, the traditional grasping forceps for laparoscopic surgery only have two jaws, the grasping range and the grasping force are limited, the angle and the range can not be flexibly adjusted, the surgery difficulty is high when difficult diseases are encountered, and the surgery time is long.

Disclosure of Invention

Based on the technical defects, the invention provides a multi-knuckle bionic robot arm for surgical operation, which solves the technical defects in the technical problems.

The invention relates to a multi-knuckle bionic robot arm for surgical operation, which comprises a control part and a control part, wherein the control part is provided with a shell, a containing cavity is formed in the shell, and a cable group is arranged in the containing cavity; at least one key is arranged, at least one part of the key extends into the accommodating cavity, one end of the key is provided with a push rod, and one end of the push rod is connected with the cable group; the extension pipe is connected with the shell through a universal joint, at least one part of the extension pipe extends into the accommodating cavity and is connected with the cable group; the swing arm is connected with the extension pipe through a universal joint, the swing arm is provided with a grasping forceps and a cable connecting position, the cable connecting position is used for connecting the grasping forceps with the cable set, and the grasping forceps are provided with at least one jaw.

Furthermore, it has the key position hole to open on the casing, the casing inboard still is equipped with cylinder, first ball socket, spout, fixed slot, boss and terminal, key position hole and boss are used for installing the button, cylinder and first ball socket are used for installing the extension pipe, the button symmetry is equipped with a plurality ofly, and each button is installed in holding the intracavity through a round pin axle, button one end has a swing axis, the push rod is arranged in the spout.

Furthermore, the push rod is equipped with a plurality ofly, and each push rod corresponds with a button and is connected, the push rod includes the slot hole that its one end set up, the long arm that the other end set up to and be located the connecting portion between slot hole and the long arm, the slot hole is connected with the oscillating axle on the button for by the button drive, the long arm is connected with the cable group, slider-crank mechanism is constituteed with the button to the push rod.

Furthermore, the cable group is composed of a plurality of wire harnesses capable of operating independently, each wire harness corresponds to one push rod, a long arm on each push rod is connected with one wire harness, the long arm pulls the wire harness connected with the long arm, the action can be transmitted to the grasping forceps, and linkage with the grasping forceps is achieved.

Furthermore, one end of the extension pipe, facing the shell, is provided with a first ball wheel positioned in the first ball socket and a pulley block arranged on the extension pipe, the pulley block consists of at least four pulleys, the cable group penetrates through the extension pipe, and the first ball socket and the first ball wheel form a universal joint to realize multidirectional rotation and swinging.

Furthermore, one end, facing the swing arm, of the extension pipe is provided with a connector, the connector is provided with a through hole, a threaded end, a second ball wheel and a plurality of grooves, the grooves are used for wiring harnesses to pass through, each groove correspondingly penetrates through one wiring harness, and each wiring harness is correspondingly connected with a cable connection position on the swing arm.

Furthermore, the swing arm is further provided with a mounting groove and a second ball socket, the second ball socket and a second ball wheel on the connector form a universal joint, and the mounting groove is internally used for mounting the grasping forceps.

Furthermore, one end of the gripping tongs is provided with a connecting hole, each gripper corresponds to one connecting hole, each connecting hole corresponds to one wiring harness, the gripping tongs are further provided with a shaft hole, the grippers and an elastic sheet, and the elastic sheet enables the grippers to reset through elasticity.

Furthermore, the cable group is composed of four wire harnesses, one ends of the four wire harnesses are respectively connected with a push rod in the shell through four pulleys, and the other ends of the four wire harnesses are connected to a cable connecting position on the swing arm through a groove in the connector, so that the control of the press key on the clamp claw is realized.

Furthermore, the casing inboard still installs the guide block, the guide block is located the fixed slot, the guide block has a plurality of guide posts, the guide post is used for four pencil leads the push rod that corresponds respectively, the button comprises a plurality of key locations, the claw includes 1-5.

The invention relates to a multi-knuckle bionic robot arm for surgical operations, which can realize the respective control of 1-5 claws and the opening and closing of different degrees and different numbers of the claws, an execution mechanism of the multi-knuckle bionic robot arm can synchronize the actions of the hands of a person and realize free direction adjustment, the multi-knuckle bionic robot arm can perform accurate operation positioning in a complex operation process, has very high flexibility and very strong operability, and can naturally perform various actions when in use.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic diagram of a key structure according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a wiring harness connection according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a cable assembly according to an embodiment of the invention;

FIG. 5 is a swing arm structure view of an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a housing according to an embodiment of the present invention;

FIG. 7 is a schematic view of the key position and the push rod according to the embodiment of the present invention;

FIG. 8 is a schematic view of a push rod according to an embodiment of the present invention;

FIG. 9 is a schematic view of a jaw configuration according to an embodiment of the present invention;

FIG. 10 is a schematic view of a connector according to an embodiment of the present invention;

FIG. 11 is a schematic view of a swing arm structure according to an embodiment of the present invention;

FIG. 12 is a view showing the variation of the claws and the keys according to the embodiment of the invention;

FIG. 13 is a state change diagram of a grasper of an embodiment of the present invention;

fig. 14 is a state change diagram of the swing arm according to the embodiment of the present invention.

Wherein, the control part 1; a housing 1 a; a fixing groove 1 b; a chute 1 c; a boss 1 d; key hole 1 e; a column 1 f; a first ball socket 1 g; a terminal 1 h; a key 2; key positions 2a, 2b, 2c, 2d, 2 e; an extension pipe 3; a first ball wheel 3 a; a swing arm 4; a cable connection site 4 a; a mounting groove 4 b; a second ball socket 4 c; a grasping forceps 5; the connection hole 5 a; a shaft hole 5 b; a spring plate 5 c; a jaw 5 e; a push rod 6; the long hole 6 a; a connecting portion 6 b; a long arm 6 c; a guide block 7; a guide post 7 a; harnesses 8a, 8b, 8c, 8 d; a pulley block 9; a cable group 10; a connector 11; a through hole 11 a; a threaded end 11 b; a second ball wheel 11 c; and a groove 11 d.

Detailed Description

The invention will be further described with reference to the accompanying drawings.

In which the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout, the embodiments described in the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. In addition, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless otherwise indicated.

Fig. 1 shows a multi-knuckle bionic robot arm for surgical operation, which comprises a control part 1 having a housing 1a, wherein a housing cavity is formed in the housing 1a, and a cable group 10 is installed in the housing cavity; at least one key 2 is arranged, at least one part of the key 2 extends into the accommodating cavity, one end of the key 2 is provided with a push rod 6, and one end of the push rod 6 is connected with the cable group 10; the extension pipe 3 is connected with the shell 1a through a universal joint, and at least one part of the extension pipe 3 extends into the accommodating cavity and is connected with the cable group 10; the swing arm 4 is connected with the extension pipe 3 through a universal joint, the swing arm 4 is provided with a grasping forceps 5 and a cable connecting position 4a, the cable connecting position 4a is used for connecting the grasping forceps 5 with the cable group 10, and the grasping forceps 5 at least comprises a claw 5 e.

The grasping forceps 5 can accurately simulate the hand action of a person, the grasping forceps 5 can perform fine action, accurate operation steps can be completed, the grasping of an operation end is convenient, the degree of freedom is flexible, and the motion of each part is close to the natural action of the person.

As shown in fig. 1, 2, 3, 4, 6, a key hole 1e is formed on the housing 1a, a cylinder 1f, a first ball socket 1g, a sliding slot 1c, a fixing slot 1b, a boss 1d and a terminal 1h are further disposed inside the housing 1a, the key hole 1e and the boss 1d are used for mounting a key 2, the cylinder 1f and the first ball socket 1g are used for mounting an extension tube 3, the key 2 is symmetrically provided with a plurality of keys, each key 2 is mounted in a receiving cavity through a pin shaft, one end of the key 2 is provided with a swinging shaft, the push rod 6 is disposed inside the sliding slot 1c, the housing 1a is further provided with a guide block 7, the guide block 7 is disposed in the fixing slot 1b, the guide block 7 is provided with a plurality of guide posts 7a, the guide posts 7a are used for guiding four wire harnesses 8a, 8b, 8c, 8d to corresponding push rods 6 respectively, the key 2 is composed of a plurality of key positions, and the number of the clamp claws 5e is 1-5.

The swing arm 4 is not limited to be provided with the gripping tongs 5, the swing arm 4 can be replaced by an electrocoagulation hook, a high-frequency electric knife and an ultrasonic knife device according to the use scene, and the arm transmits the hand action of a person to an actuating mechanism, namely one of the gripping tongs 5, the electrocoagulation hook, the high-frequency electric knife and the ultrasonic knife through a series of wire harnesses 8a, 8b, 8c and 8 d.

When the push rod is used, the push rod 6 is driven by the key 2 through controlling the key 2, the key 2 consists of at least one key position, each key position corresponds to one key position hole 1e, and the preferable technical scheme of the invention adopts five key positions which are respectively the key positions 2a, 2b, 2c, 2d and 2 e.

As shown in fig. 7 and 8, the push rod 6 is provided with a plurality of push rods 6, each push rod 6 is correspondingly connected with one key 2, the push rod 6 comprises a long hole 6a arranged at one end of the push rod 6, a long arm 6c arranged at the other end of the push rod, and a connecting part 6b positioned between the long hole 6a and the long arm 6c, the long hole 6a is connected with a swinging shaft on the key 2 and used for being driven by the key 2, the long arm 6c is connected with a cable group 10, and the push rod 6 and the key 2 form a slider-crank mechanism.

The push rod 6 is driven by the key 2, and the push rod 6 is used for driving the cable group 10 connected with the push rod to realize the effect of controlling the nipper 5.

As shown in fig. 4 and 5, the cable assembly 10 is composed of a plurality of independent operating harnesses 8a, 8b, 8c, 8d, each harness 8a, 8b, 8c, 8d corresponds to a push rod 6, the long arm 6c of each push rod 6 is connected with one harness 8a, 8b, 8c, 8d, the long arm 6c pulls the wire harnesses 8a, 8b, 8c and 8d connected with the long arm to transmit the motion to the grasping forceps 5, so that the long arm and the grasping forceps 5 are linked, the cable group 10 is composed of four wire harnesses 8a, 8b, 8c, 8d, one ends of the four wire harnesses 8a, 8b, 8c, 8d are respectively connected with the push rod 6 in the housing 1a through four pulleys, the other end of the connecting rod is connected to a cable connecting position 4a on the swing arm 4 through a groove 11d on the connector 11 so as to realize the control of the claw 5e by the key 2.

As shown in fig. 3, 4, 5 and 10, one end of the extension pipe 3 facing the housing 1a has a first ball wheel 3a located in a first ball socket 1g, a pulley block 9 mounted on the extension pipe 3, the pulley block 9 is composed of at least four pulley blocks 9, the cable group 10 passes through the extension pipe 3, wherein the first ball socket 1g and the first ball wheel 3a form a universal joint to realize multidirectional rotation and swinging, the end of the extension tube 3 facing the oscillating arm 4 has a connector 11, the connector 11 having a through hole 11a, a threaded end 11b, a second ball 11c and a plurality of grooves 11d, the grooves 11d are used for the wiring harnesses 8a, 8b, 8c and 8d to pass through, each groove 11d correspondingly penetrates through one wiring harness 8a, 8b, 8c and 8d, and each wiring harness 8a, 8b, 8c and 8d correspondingly is connected with a cable connecting position 4a on a swing arm 4.

As shown in fig. 5, 9, and 11, the swing arm 4 is further provided with an installation groove 4b and a second ball socket 4c, the second ball socket 4c and a second ball wheel 11c on the connector 11 form a universal joint, the installation groove 4b is used for installing the gripper 5, one end of the gripper 5 is provided with a connection hole 5a, each gripper 5e corresponds to one connection hole 5a, each connection hole 5a corresponds to one wiring harness 8a, 8b, 8c, and 8d, the gripper 5 is further provided with a shaft hole 5b, a gripper 5e, and a spring 5c, and the spring 5c elastically resets the gripper 5 e.

As shown in fig. 6, the terminal 1h1h is used to expand the functions of a multi-knuckle biomimetic robot arm for surgical operation according to the present invention, and is connected to a cable for connection to a host device.

As shown in fig. 12, 13 and 14, the actuators may have a plurality of jaws 5e, and the harnesses 8a, 8b, 8c and 8d transmit motions such as tilting, swinging, opening and closing, rotation and the like performed by the hand to the actuators, and the hand manipulation mainly acts on the keys 2, and the operation of the harnesses 8a, 8b, 8c and 8d is realized by the displacement of the keys 2, thereby further controlling the state of the jaws 5 e.

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 relates, several simple deductions or substitutions may be made without departing from the spirit of the invention, and all shall be considered as belonging to the scope of the invention.

Claims (10)

1. The utility model provides a surgical operation is with many knuckles bionic robot arm which characterized in that: the control part is provided with a shell, an accommodating cavity is formed in the shell, and a cable group is arranged in the accommodating cavity;

at least one key is arranged, at least one part of the key extends into the accommodating cavity, one end of the key is provided with a push rod, and one end of the push rod is connected with the cable group;

the extension pipe is connected with the shell through a universal joint, and at least one part of the extension pipe extends into the accommodating cavity and is connected with the cable group;

the swing arm is connected with the extension pipe through a universal joint, the swing arm is provided with a grasping forceps and a cable connecting position, the cable connecting position is used for connecting the grasping forceps with the cable set, and the grasping forceps are provided with at least one jaw.

2. The surgical multi-knuckle biomimetic robot arm of claim 1, wherein: the improved key structure is characterized in that a key hole is formed in the shell, a cylinder, a first ball socket, a sliding groove, a fixing groove, a boss and a terminal are further arranged on the inner side of the shell, the key hole and the boss are used for installing keys, the cylinder and the first ball socket are used for installing an extension pipe, the keys are symmetrically arranged in a plurality, each key is installed in the containing cavity through a pin shaft, a swinging shaft is arranged at one end of each key, and the push rod is arranged in the sliding groove.

3. The surgical multi-knuckle biomimetic robot arm of claim 2, wherein: the push rod is equipped with a plurality ofly, and each push rod corresponds with a button and is connected, the push rod includes the slot hole that its one end set up, the long arm that the other end set up to and be located the connecting portion between slot hole and the long arm, the slot hole is connected with the oscillating axle on the button for by the button drive, the long arm is connected with the cable group, the slider-crank mechanism is constituteed with the button to the push rod.

4. The surgical multi-knuckle biomimetic robot arm of claim 3, wherein: the cable group is composed of a plurality of wire harnesses capable of operating independently, each wire harness corresponds to one push rod, a long arm on each push rod is connected with one wire harness, the long arm pulls the wire harness connected with the long arm, actions can be transmitted to the grasping forceps, and linkage with the grasping forceps is achieved.

5. The surgical multi-knuckle biomimetic robot arm of claim 1, wherein: one end of the extension pipe, facing the shell, is provided with a first ball wheel positioned in a first ball socket and a pulley block arranged on the extension pipe, the pulley block consists of at least four pulleys, the cable block passes through the extension pipe, and the first ball socket and the first ball wheel form a universal joint to realize multidirectional rotation and swinging.

6. The surgical multi-knuckle biomimetic robot arm of claim 5, wherein: the connector is arranged at one end, facing the swing arm, of the extension pipe and is provided with a through hole, a threaded end, a second ball wheel and a plurality of grooves, the grooves are used for wiring harnesses to pass through, each groove correspondingly penetrates through one wiring harness, and each wiring harness is correspondingly connected with a cable connecting position on the swing arm.

7. The surgical multi-knuckle biomimetic robot arm of claim 6, wherein: the swing arm is further provided with a mounting groove and a second ball socket, the second ball socket and a second ball wheel on the connector form a universal joint, and the mounting groove is internally used for mounting the gripping tongs.

8. The surgical multi-knuckle biomimetic robot arm of claim 7, wherein: one end of the gripping tongs is provided with a connecting hole, each gripper corresponds to one connecting hole, each connecting hole corresponds to one wiring harness, the gripping tongs are further provided with a shaft hole, the grippers and an elastic sheet, and the elastic sheet enables the grippers to reset through elasticity.

9. The surgical multi-knuckle biomimetic robot arm of claim 1, wherein: the cable group is composed of 1-5 wire harnesses, one end of each wire harness is connected with a push rod in the shell through four pulleys, and the other end of each wire harness is connected to a cable connection position on the swing arm through a groove in the connector, so that the control of the press key on the clamp claw is realized.

10. The surgical multi-knuckle biomimetic robot arm of claim 9, wherein: the inside guide block that still installs of casing, the guide block is located the fixed slot, the guide block has a plurality of guide posts, the guide post is used for leading 1-5 line restraints respectively to the corresponding push rod, the button comprises a plurality of key locations, the tong claw includes 1-5.

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