CN114931438A

CN114931438A - Transmission system for surgical robot and main control hand

Info

Publication number: CN114931438A
Application number: CN202210296471.6A
Authority: CN
Inventors: 彭海磊; 徐敏; 陈利民
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2022-08-23
Also published as: WO2023179063A1; CN116211480A

Abstract

The invention relates to a transmission system for a surgical robot and a main control hand, wherein the transmission system for the surgical robot comprises: the rotating shaft unit comprises a plurality of transmission shafts which are sequentially arranged at intervals, the transmission shaft positioned at the head end is a driving shaft, and the other transmission shafts are driven shafts; the pre-tightening units are adjustably arranged in one-to-one correspondence with the driven shafts; the transmission units correspond to the two adjacent transmission shafts one by one, each transmission unit comprises a transmission wire, the transmission wires are wound on the two adjacent transmission shafts in a crossed manner, the pre-tightening units or the transmission wires are wound on the two adjacent transmission shafts in a crossed manner, and the tensity of the transmission wires in the same group is the same; in the working process, the transmission wires in the same group are not in contact with each other, the pre-tightening unit is adjusted to adjust the tension degree of the transmission wires, the whole structure is compact, and the stability is good; the transmission wire realizes positive and negative rotation of the transmission shaft, high reduction ratio is obtained, positive and negative rotation drive is provided by the driving shaft, reverse driving force is small, and driving performance is good.

Description

Transmission system for surgical robot and main control hand

Technical Field

The invention relates to the technical field of medical instruments, in particular to a transmission system for a surgical robot and a main control hand.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery is more and more widely applied due to the advantages of small surgical trauma, short recovery time, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high stability, high dexterity, high control precision, intuitive surgery images and the like, can avoid operation limitations such as hand tremor during filtering operation, and is widely suitable for operation areas such as abdominal cavity, pelvic cavity and thoracic cavity.

At present, an abdominal cavity surgery robot is a representative minimally invasive surgery robot and comprises a doctor console, a patient surgery platform and an image platform, wherein during surgery, a doctor operates a master control hand through an image of the image platform in front of the doctor console, and remotely operates instruments arranged on an operation arm of the patient surgery platform to realize surgical operations of different parts. Because the main control hand is large in size and not light enough, in order to enable a doctor to feel light, a balancing structure needs to be adopted for gravity balance, firstly, a balancing weight is added, but the mode not only can increase the rotational inertia, but also can increase the weight of the whole equipment; and secondly, a motor is used for providing power to balance the gravity of the main control hand, the size of the selected motor is small in order to enable the structure to be compact, but the output torque of the small motor is small, a reduction box needs to be installed at the output end of the small motor, and the reverse driving torque of the gear box with a large reduction ratio is large, so that the small motor is not suitable for the main control hand.

Disclosure of Invention

Therefore, it is necessary to provide a transmission system for a surgical robot and a master controller for solving the problem of a large reverse driving torque of a gear box with a large reduction ratio.

The invention provides a transmission system for a surgical robot, comprising:

the rotating shaft unit comprises a plurality of transmission shafts which are sequentially arranged at intervals, the transmission shaft positioned at the head end is a driving shaft, and the rest transmission shafts are driven shafts;

the pre-tightening units are adjustably arranged in one-to-one correspondence with the driven shafts;

the transmission units correspond to two adjacent transmission shafts one by one, each transmission unit comprises a transmission wire, the transmission wires are wound on the two adjacent transmission shafts in a crossed manner, the pre-tightening units or the transmission wires are wound on the two adjacent transmission shafts in a crossed manner, and the tension degrees of the transmission wires in the same group are the same; in the working process, the transmission wires in the same group are not in contact with each other.

In the transmission system for the surgical robot, the tightness of the transmission wire can be adjusted by adjusting the position of the pre-tightening unit relative to the driven shaft during assembly, so that the pre-tightening force is adjustable, the whole structure is compact, the size is small, and the stability is good; when the driving shaft rotates clockwise, the transmission wire rotates along with the driving shaft to drive the driven shaft adjacent to the driving shaft to rotate anticlockwise along with the driving shaft, correspondingly, when the driving shaft rotates anticlockwise, the transmission wire rotates along with the driving shaft to drive the driven shaft adjacent to the driving shaft to rotate clockwise along with the driving shaft, forward and reverse rotation of the transmission shaft can be achieved through the transmission wire which is wound on the transmission shaft and the pre-tightening unit in a crossed mode, high reduction ratio can be obtained through transmission of the multiple groups of transmission units, forward and reverse rotation driving is provided by the driving shaft, reverse driving force is small, and forward and reverse rotation driving performance is good.

In one embodiment, the transmission unit between the driving shaft and the driven shaft adjacent to the driving shaft further comprises a small wire wheel and a large wire wheel, and the small wire wheel and the large wire wheel are both positioned on the same side of the rotating shaft unit; the small wire wheels and the large wire wheels are correspondingly arranged on two adjacent transmission shafts, the large wire wheels are far away from the driving shaft, and two ends of the transmission wires extending out of the small wire wheels in a crossed mode are sequentially wound on the large wire wheels and the pre-tightening units.

In one embodiment, the pre-tightening unit corresponding to the driven shaft adjacent to the driving shaft comprises a pre-tightening wheel, and the pre-tightening wheel is rotatably arranged on the large wire wheel in a region staggered with the shaft center and is locked to the large wire wheel through a locking screw.

In one embodiment, the number of the transmission shafts is at least three, the transmission shafts are arranged at intervals, all the transmission units are identical in structure, all the pre-tightening units are identical in structure, and the winding directions of the transmission wires on two adjacent filament wheels are opposite.

In one embodiment, the driving wire comprises two mutually independent first traction wires, one end parts of the two first traction wires are fixed on the small wire wheel at intervals, extend out of the small wire wheel after being wound for set turns in opposite directions and are wound on the large wire wheel, and the other end parts of the two first traction wires are respectively fixed on the large wire wheel and the pre-tightening wheel.

In one embodiment, the pre-tightening unit corresponding to the driven shaft adjacent to the driving shaft comprises at least one pre-tightening assembly, the pre-tightening assembly comprises a guide wheel and an adjusting seat, the adjusting seat is movably externally connected to a large arm, and the guide wheel is rotatably installed on the adjusting seat and is located between the large wire wheel and the small wire wheel.

In one embodiment, the pre-tightening assembly further comprises an adjusting screw, and the adjusting seat is provided with a kidney-shaped hole matched with the adjusting screw and locked with the large arm through the adjusting screw.

In one embodiment, the number of the pre-tightening components is two, the transmission wires between the driving shaft and the driven shaft comprise two second traction wires, the second traction wires correspond to the guide wheels, one end of each second traction wire is fixed on the small wire wheel, the guide wheels and the large wire wheel are sequentially wound after the small wire wheel is wound up and down along the axial direction of the small wire wheel for set turns, and the other end of each second traction wire is fixed on the large wire wheel.

In one embodiment, the number of the transmission shafts is three, the driven shaft far away from the driving shaft comprises a lower shaft and an upper shaft with a stepped structure, the lower shaft is provided with a through hole along the axial direction of the lower shaft, the small end of the upper shaft penetrates through the through hole and exposes one end of the lower shaft far away from the upper shaft, the upper shaft and the lower shaft are arranged in an adjustable and opposite mode, and the transmission wire is wound on the driven shaft, the upper shaft and the lower shaft which are close to the driving shaft.

In one embodiment, the pre-tightening unit corresponding to the driven shaft far away from the driving shaft comprises a locking seat and at least one fastening bolt, wherein the locking seat is clamped with the lower shaft and sleeved on and locked to the small end of the upper shaft through the fastening bolt to expose out of the end part of the lower shaft.

In one embodiment, the driving wires comprise two first traction wires which are independent of each other, one end portions of the two first traction wires are fixed on the small wire wheel at intervals, extend out of the small wire wheel after being wound for a set number of turns in the opposite direction and are wound on the large wire wheel, and the other end portions of the two first traction wires are fixed on the large wire wheel and the pre-tightening wheel respectively.

In one embodiment, the driving wire comprises a second traction wire, and the second traction wire is wound on the small wire wheel up and down along the axial direction of the small wire wheel for a set number of turns and then is wound on the large wire wheel and the pre-tightening unit at two ends extending out in a crossed manner.

In addition, the invention also provides a main control hand which comprises a plurality of joints, wherein the joints comprise the transmission system for the surgical robot in any technical scheme.

In the main control hand, the tension degree of the transmission wire can be adjusted by adjusting the position of the pre-tightening unit relative to the driven shaft when the transmission system for the surgical robot is assembled, so that the pre-tightening force is adjustable, the whole structure is compact, the size is small, and the stability is good; when the driving shaft rotates clockwise, the transmission wire rotates along with the driving shaft to drive the driven shaft adjacent to the driving shaft to rotate anticlockwise along with the driving shaft, correspondingly, when the driving shaft rotates anticlockwise, the transmission wire rotates along with the driving shaft to drive the driven shaft adjacent to the driving shaft to rotate clockwise along with the driving shaft, forward and reverse rotation of the transmission shaft can be achieved through the transmission wire which is wound on the transmission shaft and the pre-tightening unit in a crossed mode, high reduction ratio can be obtained through transmission of the multiple groups of transmission units, forward and reverse rotation driving is achieved through the driving shaft, reverse driving force is small, and forward and reverse rotation driving performance is good. Therefore, the main control hand with the transmission system for the surgical robot is compact in structure, small in size, good in stability, good in forward and reverse driving performance, and capable of balancing the gravity of the main control hand with the driving force of the driving shaft, so that a doctor feels light when using the main control hand, user experience is good, and operation is facilitated.

In one embodiment, the plurality of joints includes a first joint, a second joint and a third joint which are connected in sequence, and the first joint, the second joint and the third joint respectively include the transmission system for the surgical robot according to the above technical solution.

In one embodiment, the plurality of joints further comprises a fourth joint connected to the third joint and the second joint, and the fourth joint comprises a transmission system for surgical robots according to another technical scheme.

In one embodiment, the master control handle further comprises a housing, a large arm and at least one balancing module, the balancing module comprises an upper hook, a transition hook, a lower hook and an elastic member, wherein:

the upper hook is arranged on the outer side of the shell;

the lower hook and the upper hook are arranged at intervals and fixed on the large arm, and the rotating axis of the lower hook is staggered and parallel to the rotating axis of the joint extending shaft penetrating out of the large arm;

two ends of the elastic piece are respectively connected with the transition hook and the lower hook;

the transition hook is sleeved on the upper hook.

In one embodiment, the plurality of joints further includes a fifth joint connected to the fourth joint, the number of the balancing modules is three, and three balancing modules are disposed corresponding to the second joint, the third joint and the fifth joint.

Drawings

FIG. 1 is a schematic diagram of a drive system for a surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a primary transmission in a transmission system for a surgical robot according to another embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a two-stage transmission in a transmission system for a surgical robot according to another embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a master control handle according to an embodiment of the present invention;

fig. 5 is a partial structure diagram of the master control hand shown in fig. 4.

Description of the drawings:

01. a main control hand;

10. a transmission system for a surgical robot;

100. a rotating shaft unit; 110. a drive shaft; 120. a drive shaft; 121. a drive motor; 130. a driven shaft; 131. an upper shaft; 132. a lower shaft;

200. a pre-tightening unit; 211. pre-tightening the wheel; 212. locking the screw; 220. a pre-tightening assembly; 221. a guide wheel; 222. an adjusting seat; 2221. a kidney-shaped hole; 223. an adjusting screw; 231. a locking seat; 232. fastening a bolt;

300. a transmission unit; 310. a drive wire; 311. a first pull wire; 312. a second pull wire; 320. a small wire wheel; 330. a large wire wheel;

20. a large arm;

30. a housing;

40. a trim module; 41. an upper hook; 42. a transition hook; 43. a lower hook; 44. an elastic member.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical scheme provided by the embodiment of the invention is described below by combining the accompanying drawings.

As shown in fig. 1, 2, 3, 4 and 5, the present invention provides a transmission system 10 for a surgical robot, which is applied to a master control hand 01 for implementing transmission control of the master control hand 01. The transmission system 10 for the surgical robot includes a rotating shaft unit 100, a plurality of pretensioning units 200, and a plurality of sets of transmission units 300, wherein:

the rotating shaft unit 100 includes a plurality of transmission shafts 110, the transmission shafts 110 are sequentially arranged at intervals, a transmission shaft 110 located at the head end of the transmission shafts 110 is a driving shaft 120, and the other transmission shafts 110 of the transmission shafts 110 are driven shafts 130; when the device is specifically arranged, the number of the transmission shafts 110 may be two, three, four or more than four, the driving shaft 120 may be a rotating shaft in transmission connection with the driving motor 121, and the driving shaft 120 may also be an output shaft of the driving motor 121.

The pre-tightening units 200 are arranged in one-to-one correspondence with the driven shaft 130, and the pre-tightening units 200 are adjustable relative to the driven shaft 130; in a specific arrangement, one driven shaft 130 corresponds to one pretensioning unit 200, and the number of pretensioning units 200 corresponds to the number of driven shafts 130.

One transmission unit 300 in the plurality of sets of transmission units 300 corresponds to two adjacent transmission shafts 110 one by one, each transmission unit 300 comprises a transmission wire 310, and the transmission wires 310 are wound around the two adjacent transmission shafts 110 and the pre-tightening unit 200 in a crossed manner. When the transmission unit 300 is specifically arranged, two adjacent transmission shafts 110 correspond to one transmission unit 300, two ends of the transmission wire 310 extending out after the transmission shaft 110 is wound are vertically staggered and intersected in the axial direction of the transmission shaft 110 to continuously wind the other transmission shaft 110 and the pre-tightening unit 200, or two ends of the transmission wire 310 extending out after the transmission shaft 110 is wound are vertically staggered and intersected in the axial direction of the transmission shaft 110 to continuously wind the other transmission shaft 110. The tensity of the transmission wires 310 in the same group is the same, so that the reliability of transmission is ensured; in the working process, the driving wires 310 in the same group are not in contact with each other, so as to ensure smooth driving.

In the transmission system 10 for the surgical robot, the position of the pre-tightening unit 200 relative to the driven shaft 130 is adjusted during assembly to adjust the tension of the transmission wire 310, so that the pre-tightening force is adjustable, the whole structure is compact, the volume is small, and the stability is good; when the driving shaft 120 rotates clockwise, the driving wire 310 rotates along with the driving shaft to drive the driven shaft 130 adjacent to the driving shaft to rotate along with the driven shaft, correspondingly, when the driving shaft 120 rotates counterclockwise, the driving wire 310 rotates along with the driving shaft to drive the driven shaft 130 adjacent to the driving shaft to rotate along with the driven shaft, so that the forward and reverse rotation of the driving shaft 110 can be realized by winding the driving wires 310 of the driving shaft 110 and the pre-tightening unit 200 in a crossed manner, a high reduction ratio can be obtained through the transmission of the multiple groups of driving units 300, and the forward and reverse rotation driving is provided by the driving shaft 120, so that the reverse driving force is smaller, and the forward and reverse rotation driving performance is better.

The transmission unit 300 has various structural forms, and in a preferred embodiment, as shown in fig. 1 and fig. 2, the transmission unit 300 between the driving shaft 120 and the driven shaft 130 adjacent thereto further includes a small wire wheel 320 and a large wire wheel 330, and the small wire wheel 320 and the large wire wheel 330 are both located on the same side of the rotating shaft unit 100; the small wire wheel 320 and the large wire wheel 330 are correspondingly installed on the two adjacent transmission shafts 110, the large wire wheel 330 is far away from the driving shaft 120, and the large wire wheel 330 and the pre-tightening unit 200 are sequentially wound on two end parts of the transmission wire 310 extending from the small wire wheel 320 in a crossing manner. In a specific configuration, the small wire wheel 320 and the transmission shaft 110, and the large wire wheel 330 and the transmission shaft 110 may be connected in the same manner, for example, they may be connected into a whole by a key connection, a threaded connection, a snap connection, or the like, and the small wire wheel 320 and the transmission shaft 110, and the large wire wheel 330 and the transmission shaft 110 may be connected in different manners, for example, the small wire wheel 320 and the transmission shaft 110 are connected by a key connection, and the large wire wheel 330 and the transmission shaft 110 are connected by a threaded connection.

In the above-mentioned transmission system 10 for a surgical robot, by providing the small wire reel 320 and the large wire reel 330 having different sizes and defining the small wire reel 320 to be mounted on the driving shaft 120 or the transmission shaft 110 close to the driving shaft 120, the large wire reel 330 is mounted on the transmission shaft 110 far from the driving shaft 120, so that a high reduction ratio can be obtained by a relatively simple structure. When the device is specifically arranged, the transmission wire 310 is wound on the small wire wheel 320 and extends out of the small wire wheel 320 in a crossed mode after the set number of turns is set, the small wire wheel 320 and the large wire wheel 330 are both provided with spiral grooves, and the transmission wire 310 is wound in the spiral grooves to avoid the transmission wire 310 from being disordered, so that the smooth movement of the transmission wire 310 is ensured, and the stability and the reliability of the transmission process are ensured.

The pre-tightening unit 200 has various structural forms, and in a preferred embodiment, as shown in fig. 1, the pre-tightening unit 200 corresponding to the driven shaft 130 adjacent to the driving shaft 120 includes a pre-tightening wheel 211, the pre-tightening wheel 211 is installed on the large wire wheel 330 in a region offset from the axial center, the pre-tightening wheel 211 can rotate relative to the large wire wheel 330, and the pre-tightening wheel 211 is locked to the large wire wheel 330 by a locking screw 212. In the specific arrangement, the pre-tightening wheel 211 can be mounted on the large wire wheel 330 through a bearing, a pin shaft and other structural forms, and in order to ensure the smoothness of the movement of the transmission wire 310, an opening is formed in the edge position of the large wire wheel 330, and the pre-tightening wheel 211 is mounted in the opening; the connection between the pre-tightening wheel 211 and the large wire wheel 330 can be a locking screw 212, and can also be other structural forms capable of meeting requirements, such as a screw.

In the above-mentioned transmission system 10 for surgical robot, when the tensioning adjustment is required, the locking screw 212 is firstly unscrewed, the pre-tightening wheel 211 is rotated to adjust the length of the transmission wire 310 on the pre-tightening wheel 211, and after the appropriate pre-tightening force is adjusted, the locking screw 212 is then tightened to complete the whole pre-tightening function. In a specific arrangement, the pre-tightening unit 200 may be configured as the pre-tightening wheel 211, or may be configured as another configuration that can meet the requirement.

In order to ensure the stability of the transmission process, specifically, as shown in the first embodiment shown in fig. 1, the number of the transmission shafts 110 may be at least three, the plurality of transmission shafts 110 are arranged at intervals, all the transmission units 300 have the same structure, all the pretensioning units 200 have the same structure, and the winding directions of the transmission wires 310 on two adjacent large wire wheels 330 are opposite. In a specific arrangement, the plurality of transmission shafts 110 are arranged along a certain direction, and a certain distance is formed between adjacent transmission shafts 110, so that the transmission unit 300 and the pre-tightening unit 200 can be conveniently arranged; the number of the transmission shafts 110 can be three, the transmission units 300 are driven by two stages of the driving shaft 120-the driven shaft 130 and the driven shaft 130-the driven shaft 130, the number of the transmission shafts 110 can be four, the transmission units 300 are driven by three stages of the driving shaft 120-the driven shaft 130, the driven shaft 130-the driven shaft 130 and the driven shaft 130-the driven shaft 130, and more than four transmission shafts 110 are arranged similarly.

In the transmission system 10 for a surgical robot, by limiting the number of the transmission shafts 110, multi-stage transmission is realized, and a high reduction ratio can be obtained; the structures of all the transmission units 300 and the pre-tightening units 200 are limited to be the same, and the winding directions of the transmission wires 310 on the two adjacent large wire wheels 330 are opposite, so that the smooth movement of the transmission wires 310 can be ensured through a simple structure and arrangement mode, and the stability and the reliability of the transmission process can be ensured.

The driving wire 310 has various structural forms, and in a preferred embodiment, as shown in fig. 1, the driving wire 310 includes two first drawing wires 311, the two first drawing wires 311 are independent of each other, one end portions of the two first drawing wires 311 are fixed to the small wire wheel 320 at intervals, the two first drawing wires 311 extend out and are wound around the large wire wheel 330 after being wound around the small wire wheel 320 for a set number of turns in opposite directions, and the other end portions of the two first drawing wires 311 are fixed to the large wire wheel 330 and the pre-tightening wheel 211, respectively.

In the above-mentioned transmission system 10 for a surgical robot, the two ends of the transmission wire 310 extending from the small wire reel 320 in a crossing manner are simply and conveniently wound on the large wire reel 330 and the pre-tightening unit 200 by defining the transmission wire 310 as two relatively independent first traction wires 311 and defining the installation manner of the first traction wires 311 on the large wire reel 330 and the small wire reel 320. Of course, the structure of the driving wire 310 is not limited to this, and may be other forms that can meet the requirements.

The pre-tightening unit 200 has various structural forms, and in a preferred embodiment, as shown in fig. 2, the pre-tightening unit 200 corresponding to the driven shaft 130 adjacent to the driving shaft 120 comprises at least one pre-tightening assembly 220, the pre-tightening assembly 220 comprises a guide wheel 221 and an adjusting seat 222, the adjusting seat 222 is externally connected to the large arm 20, the adjusting seat 222 can move relative to the large arm 20, the guide wheel 221 is mounted on the adjusting seat 222, the guide wheel 221 can rotate relative to the adjusting seat 222, and the guide wheel 221 is located between the large wire wheel 330 and the small wire wheel 320. In a specific arrangement, the number of the pre-tightening components 220 may be one, two, three or more; the adjusting base 222 is provided with a guide post, and the guide wheel 221 is mounted on the guide post.

In the transmission system 10 for the surgical robot, the small wire wheel 320, the guide wheel 221 and the large wire wheel 330 are limited to be arranged in sequence, so that the transmission distance is long, inertia can be reduced, and the position of the guide wheel 221 is adjusted by adjusting the position of the adjusting seat 222, so that pre-tightening of the transmission wire 310 is realized. In a specific arrangement, the driving motor 121 is disposed above, and the structural form of the pre-tightening unit 200 is not limited to the above structure, and may be other structural forms that can meet the requirements.

In order to facilitate the movement of the adjusting seat 222, specifically, as shown in fig. 3, the pre-tightening assembly 220 further includes an adjusting screw 223, a waist-shaped hole 2221 is formed in the adjusting seat 222, the waist-shaped hole 2221 is matched with the adjusting screw 223, and the adjusting seat 222 is locked with the large arm 20 through the adjusting screw 223.

In the transmission system 10 for a surgical robot, when tensioning adjustment is required, the adjusting screw 223 is loosened, the adjusting seat 222 is moved, the adjusting screw 223 moves relative to the kidney-shaped hole 2221, the guide wheel 221 moves along with the adjusting screw to adjust the distance between the guide wheel 221 and the transmission shaft 110, tensioning adjustment of the transmission wire 310 is achieved, and after the appropriate pre-tensioning force is adjusted, the adjusting screw 223 is tightened to complete the whole pre-tensioning function. In a specific arrangement, the structural form of the pre-tightening assembly 220 may be the adjusting screw 223, and other structural forms may also be used as required.

The driving wire 310 has various structural forms, and in a preferred embodiment, as shown in fig. 2 and 3, the driving wire 310 includes two second pulling wires 312, one second pulling wire 312 corresponds to one guide pulley 221, one end of each second pulling wire 312 is fixed on the small wire pulley 320, the guide pulley 221 and the large wire pulley 330 are sequentially wound around the small wire pulley 320 up and down along the axial direction of the small wire pulley 320 for a set number of turns, the other end of the second pulling wire 312 is fixed on the large wire pulley 330, and the extending parts of the two second pulling wires 312 intersect.

In the above-described transmission system 10 for a surgical robot, the transmission wire 310 is simply and conveniently installed by defining the transmission wire 310 in the form of one second traction wire 312 and defining the installation manner of the second traction wire 312 on the large wire reel 330, the guide pulley 221 and the small wire reel 320. Of course, the structure of the driving wire 310 is not limited to this, and may be other forms that can meet the requirements.

In order to reduce inertia, specifically, as shown in fig. 2 and fig. 3 of the second embodiment, the number of the transmission shafts 110 may be three, the driven shaft 130 far away from the driving shaft 120 includes a lower shaft 132 and an upper shaft 131 with a stepped structure, the lower shaft 132 is provided with a through hole along an axial direction thereof, a small end of the upper shaft 131 penetrates through the through hole and exposes one end of the lower shaft 132 far away from the upper shaft 131, the small end of the upper shaft 131 is adjustably disposed opposite to the pre-tightening unit 200, and the transmission wires 310 are wound around the driven shaft 130, the upper shaft 131 and the lower shaft 132 near the driving shaft 120. In the specific arrangement, the driven shaft 130 close to the driving shaft 120 rotates to drive the driving wire 310 to rotate along with the upper shaft 131 and the lower shaft 132.

In the transmission system 10 for the surgical robot, the driving shaft 120 and the driven shaft 130 realize transmission and pre-tightening through the small wire wheel 320, the large wire wheel 330, the pre-tightening assembly 220 and the transmission wire 310, and the driven shaft 130 and the other driven shaft 130 realize transmission and pre-tightening through the transmission wire 310 to realize two-stage transmission, so that a higher reduction ratio can be obtained; and by defining the structure of the driven shaft 130 far from the driving shaft 120, the transmission distance can be made longer by a simple structure and arrangement, so that inertia can be reduced.

The pre-tightening unit 200 has various structural forms, and more specifically, as shown in fig. 3, the pre-tightening unit 200 corresponding to the driven shaft 130 far away from the driving shaft 120 includes a locking seat 231 and at least one fastening bolt 232, the locking seat 231 is clamped with the lower shaft 132, the locking seat 231 is sleeved on the end portion of the small end of the upper shaft 131 exposed out of the lower shaft 132, and the locking seat 231 is locked on the end portion of the small end of the upper shaft 131 exposed out of the lower shaft 132 through the fastening bolt 232; specifically, the locking seat 231 is a locking cap having an opening on a side wall thereof, an inner wall of the locking cap is sleeved on the end portion of the upper shaft 131 where the small end is exposed out of the lower shaft 132, and when the opening is locked by the fastening bolt 232, the locking seat 231 and the upper shaft 131 can be fixed together. In a specific arrangement, the number of the fastening bolts 232 may be one, two, or more than two; the structural form of the preload unit 200 is not limited to the above-described structure, and may be other structural forms that can meet the requirements.

In the above-mentioned transmission system 10 for a surgical robot, when tensioning adjustment is required, the fastening bolt 232 is firstly unscrewed, the locking seat 231 is rotated, the lower shaft 132 and the transmission wire 310 move therewith to achieve tensioning adjustment of the transmission wire 310, and after the appropriate pre-tensioning force is adjusted, the fastening bolt 232 is then tightened to complete the whole pre-tensioning function.

In addition, as shown in fig. 4 and 5, the present invention further provides a master control hand 01, wherein the master control hand 01 includes a plurality of joints, the joints include the surgical robot transmission system 10 according to any one of the above-mentioned technical solutions, the surgical robot transmission system 10 corresponds to the joints, the joints are driven by the surgical robot transmission system 10, and when the master control hand 01 is specifically set, the master control hand 01 further includes other structural members, such as a large arm 20, an opening and closing joint, and the like.

In the main control hand 01, the tension of the transmission wire 310 can be adjusted by adjusting the position of the pre-tightening unit 200 relative to the driven shaft 130 when the transmission system 10 for the surgical robot is assembled, so that the pre-tightening force is adjustable, the overall structure is compact, the size is small, and the stability is good; when the driving shaft 120 rotates clockwise, the driving wire 310 rotates along with the driving shaft to drive the driven shaft 130 adjacent to the driving shaft to rotate along with the driven shaft, correspondingly, when the driving shaft 120 rotates counterclockwise, the driving wire 310 rotates along with the driving shaft to drive the driven shaft 130 adjacent to the driving shaft to rotate along with the driven shaft, so that the forward and reverse rotation of the driving shaft 110 can be realized by winding the driving wires 310 of the driving shaft 110 and the pre-tightening unit 200 in a crossed manner, a high reduction ratio can be obtained through the transmission of the multiple groups of driving units 300, and the forward and reverse rotation driving is provided by the driving shaft 120, so that the reverse driving force is smaller, and the forward and reverse rotation driving performance is better. Therefore, the main control hand 01 with the transmission system 10 for the surgical robot has the advantages of compact structure, small volume, good stability, good forward and reverse driving performance, and capability of balancing the gravity of the main control hand 01 with the driving force of the driving shaft 120, so that a doctor feels light when using the main control hand 01, the user experience is good, and the operation is convenient.

The driving structure of the joints has various types, and in a preferred embodiment, the plurality of joints comprise a first joint, a second joint and a third joint, the first joint, the second joint and the third joint are sequentially connected, the first joint, the second joint and the third joint respectively comprise a transmission system 10 for the surgical robot, as shown in the first embodiment shown in fig. 1, the structure of the transmission system 10 for the surgical robot is that the number of the transmission shafts 110 can be at least three, a plurality of transmission shafts 110 are arranged at intervals, all the transmission units 300 have the same structure, all the pre-tightening units 200 have the same structure, the winding directions of the transmission wires 310 on two adjacent large wire wheels 330 are opposite, the transmission units 300 further comprise small wire wheels 320 and large wire wheels 330, the pre-tightening units 200 comprise pre-tightening wheels 211, so that a high forward and reverse rotation reduction ratio can be obtained through a simple structure, and the stability and the reliability of the motion process can be ensured.

The driving structure of the joint has various structures, specifically, the plurality of joints further includes a fourth joint connected with the second joint and the third joint, the fourth joint includes the transmission system 10 for the surgical robot, as shown in fig. 2 and the second embodiment shown in fig. 3, the transmission system 10 for the surgical robot has a structural form that the number of the transmission shafts 110 can be three, the transmission unit 300 corresponding to the driving shaft 120 and the driven shaft 130 further includes a small wire wheel 320 and a large wire wheel 330, and the pre-tightening unit 200 includes at least one pre-tightening assembly 220; in addition, the transmission unit 300 between the two driven shafts 130 only includes the transmission wire 310, the driven shaft 130 far away from the driving shaft 120 includes the lower shaft 132 and the upper shaft 131, and the pre-tightening unit 200 includes the locking seat 231 and at least one fastening bolt 232, so that a high forward and reverse rotation reduction ratio can be obtained through a simple structure, a long transmission distance can be ensured, and inertia can be reduced.

In order to improve the trimming effect, in a preferred embodiment, as shown in fig. 4 and 5, the main control hand 01 further includes a housing 30, a large arm 20 and at least one trimming module 40, and the number of the trimming modules 40 is one, two, three or more. The balancing module 40 includes an upper hook 41, a transition hook 42, a lower hook 43, and an elastic member 44, wherein:

the upper hook 41 is disposed on the outer side of the housing 30, and when the upper hook 41 is disposed, the upper hook is fixed to the outer side of the housing 30 by a screw connection, a snap connection, or the like.

The lower hook 43 and the upper hook 41 are spaced apart from each other, and the lower hook 43 is fixed to the large arm 20 by a screw connection, a snap connection, or the like, and the length between the lower hook 43 and the upper hook 41 needs to take into consideration the length of the elastic member 44 and the stretching amount of the elastic member 44. And the rotation axis of the lower hook 43 is misaligned with the rotation axis of the joint extension shaft extending out of the large arm 20, and the rotation axis of the lower hook 43 is parallel with the rotation axis of the joint extension shaft extending out of the large arm 20.

Two ends of the elastic piece 44 are respectively connected with the transition hook 42 and the lower hook 43 through a hanging buckle and the like; in a specific arrangement, the elastic member 44 may be a spring, and may also be in other structural forms that can meet the requirements.

The transition hook 42 is sleeved on the upper hook 41; when specifically setting up, transition colludes 42 and last couple 41 and can be split type structure, and the cover is established together after the preparation shaping, and transition colludes 42 and last couple 41 and still can be the integral type structure, through casting or injection molding process preparation.

In the main control hand 01, when the joint rotates, the large arm 20 moves along with the joint, the lower hook 43 moves along with the large arm 20, and drives the elastic member 44 and the transition hook 42 to move along with the rotation axis of the upper hook 41, and the elastic member 44 deforms, so that the transition hook 42 and the elastic member 44 change along with the change of the joint rotation angle, and the tension generated by the elongation of the elastic member 44 can perform gravity balance compensation, so as to realize gravity balance and reduce the integral moment of inertia and weight.

In order to further improve the balancing effect, in a preferred embodiment, the plurality of joints further includes a fifth joint connected to the fourth joint, the number of the balancing modules 40 is three, and three balancing modules 40 are disposed corresponding to the second joint, the third joint and the fifth joint.

In the main control hand 01, the balancing module 40 is provided to correspond to the second joint, the third joint, and the fifth joint to further perform gravity balancing compensation, so that the gravity balance is achieved, and the total moment of inertia and the weight can be reduced.

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A drive system for a surgical robot, comprising:

2. The transmission system for a surgical robot according to claim 1, wherein the transmission unit between the driving shaft and the driven shaft adjacent thereto further comprises a small wire wheel and a large wire wheel, and the small wire wheel and the large wire wheel are both located on the same side of the rotating shaft unit; the small wire wheels and the large wire wheels are correspondingly arranged on two adjacent transmission shafts, the large wire wheels are far away from the driving shaft, and two ends of the transmission wires extending out of the small wire wheels in a crossed mode are sequentially wound on the large wire wheels and the pre-tightening units.

3. The transmission system for a surgical robot according to claim 2, wherein the pre-tightening unit corresponding to the driven shaft adjacent to the driving shaft includes a pre-tightening wheel rotatably installed on the capstan in a region displaced from the axis and locked to the capstan by a locking screw.

4. The transmission system for the surgical robot according to claim 3, wherein the number of the transmission shafts is at least three, a plurality of the transmission shafts are arranged at intervals, all the transmission units have the same structure, all the pre-tightening units have the same structure, and the winding directions of the transmission wires on two adjacent filament wheels are opposite.

5. The transmission system for the surgical robot as claimed in claim 4, wherein the transmission wire includes two independent first traction wires, one end portions of the two first traction wires are fixed to the small wire wheel at intervals, and extend out and are wound around the large wire wheel after the small wire wheel is wound in opposite directions for a set number of turns, and the other end portions of the two first traction wires are fixed to the large wire wheel and the pre-tightening wheel respectively.

6. The transmission system for the surgical robot as claimed in claim 2, wherein the pre-tightening unit corresponding to the driven shaft adjacent to the driving shaft comprises at least one pre-tightening assembly, the pre-tightening assembly comprises a guide wheel and an adjusting seat, the adjusting seat is movably connected with the large arm in an external mode, and the guide wheel is rotatably mounted on the adjusting seat and located between the large wire wheel and the small wire wheel.

7. The transmission system for the surgical robot as claimed in claim 6, wherein the pre-tightening assembly further comprises an adjusting screw, and the adjusting seat is provided with a kidney-shaped hole matched with the adjusting screw and locked with the large arm through the adjusting screw.

8. The transmission system for the surgical robot as claimed in claim 6, wherein the number of the pre-tightening components is two, the transmission wires between the driving shaft and the driven shaft include two second traction wires corresponding to the guide wheels, one end of each of the second traction wires is fixed on the small wire wheel, the guide wheel and the large wire wheel are sequentially wound after the small wire wheel is wound up and down for a set number of turns in the axial direction of the small wire wheel, and the other end of each of the second traction wires is fixed on the large wire wheel.

9. The transmission system for a surgical robot according to claim 6, wherein the number of the transmission shafts is three, the driven shaft away from the driving shaft includes a lower shaft and an upper shaft having a stepped structure, the lower shaft is provided with a through hole along an axial direction thereof, a small end of the upper shaft penetrates through the through hole and exposes one end of the lower shaft away from the upper shaft, and is adjustably disposed opposite to the pre-tightening unit, and the transmission wire is wound around the driven shaft, the upper shaft and the lower shaft close to the driving shaft.

10. The transmission system for the surgical robot as claimed in claim 9, wherein the pre-tightening unit corresponding to the driven shaft far away from the driving shaft includes a locking seat and at least one fastening bolt, the locking seat is engaged with the lower shaft, and the locking seat is sleeved on and locked to the small end of the upper shaft through the fastening bolt to expose the end of the lower shaft.

11. A master control hand comprising a plurality of joints comprising the surgical robot drive system of any one of claims 1-10.

12. The master control hand of claim 11, wherein the plurality of joints comprises a first joint, a second joint, and a third joint connected in series, and the first joint, the second joint, and the third joint each comprise the transmission system for the surgical robot as claimed in claim 4.

13. The master control hand of claim 12, wherein the plurality of joints further comprises a fourth joint connected to the third joint and the second joint, the fourth joint comprising the surgical robot transmission system of claim 9.

14. The master control hand of claim 13, further comprising a housing, a large arm, and at least one trim module comprising an upper hook, a transition hook, a lower hook, and an elastic member, wherein:

the upper hook is arranged on the outer side of the shell;

the transition hook is sleeved on the upper hook.

15. The master control hand of claim 14, wherein the plurality of joints further comprises a fifth joint connected to the fourth joint, the number of trim modules is three, and three trim modules are disposed corresponding to the second joint, the third joint, and the fifth joint.