CN115227399A - Modular adjusting arm system of surgical robot - Google Patents

Modular adjusting arm system of surgical robot Download PDF

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Publication number
CN115227399A
CN115227399A CN202210709971.8A CN202210709971A CN115227399A CN 115227399 A CN115227399 A CN 115227399A CN 202210709971 A CN202210709971 A CN 202210709971A CN 115227399 A CN115227399 A CN 115227399A
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CN
China
Prior art keywords
base
module
fixed
shaft
screw rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210709971.8A
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Chinese (zh)
Inventor
刘剑
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Ruitouch Technology Co ltd
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Shanghai Ruitouch Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Ruitouch Technology Co ltd filed Critical Shanghai Ruitouch Technology Co ltd
Priority to CN202210709971.8A priority Critical patent/CN115227399A/en
Publication of CN115227399A publication Critical patent/CN115227399A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0443—Modular apparatus

Abstract

The invention relates to the technical field of medical instruments, in particular to a modular adjusting arm system of a surgical robot, which comprises a base, a lifting column, a horizontal motion module, a rotary pivot and operating arm modules, wherein the lifting column is installed on the base and performs lifting motion along the vertical direction of the base, the horizontal motion module is fixed at the lifting end of the lifting column, the horizontal motion module is connected with the rotary pivot and drives the rotary pivot to perform linear motion along the length direction of the horizontal motion module, the rotary pivot performs rotary motion around the center of the rotary pivot, the operating arm modules are installed below the rotary pivot, the number of the operating arm modules is 2-4, the 2-4 operating arm modules are uniformly distributed along the circumference, and the tail end of each operating arm module is connected with a surgical instrument for surgery; compared with the prior art, the invention can install 2-4 operation arm modules according to the actual needs of the hospital, thereby reducing the equipment purchasing cost of the hospital and greatly increasing the flexibility of the hospital for selecting different configurations.

Description

Modular adjusting arm system of surgical robot
[ technical field ]
The invention relates to the technical field of medical instruments, in particular to a modular adjusting arm system of a surgical robot for adjusting the pose of a tail end instrument on surgical robot equipment.
[ background art ]
Currently, various surgical robots or robot-assisted surgical devices are widely used in various clinical operations in hospitals, such as needle biopsy, laparoscopic surgery, and orthopedic surgery. Different surgical robots are often equipped with an unequal number of manipulator arms to meet the needs of different surgical types.
Patent application publication No. CN109091238B, a split type minimally invasive surgical instrument auxiliary system, proposes a surgical robot system with two operating arms. Patent application publication No. CN212261519U, "suspension plate positioning mechanism and surgical robot", proposes a surgical robot system having four operation arms. Usually, the number of manipulator arms required for a surgical robot is at most four, but there are some hospitals where a two-arm or three-arm configuration is sufficient, depending on the actual type of surgery and the situation. The number of the operating arms of the multi-arm surgical robot is fixed and can not be increased or decreased. If a surgical robot is provided with a modular adjusting arm system, the surgical robot can be flexibly switched among two arms, three arms and four arms, so that the flexibility of equipment configuration selection of hospitals can be greatly increased, and the actual requirements of different hospitals for different surgical types can be met.
[ summary of the invention ]
The invention aims to solve the defects and provide a modular adjusting arm system of a surgical robot, which can be provided with 2-4 operating arm modules according to the actual needs of a hospital, thereby reducing the equipment purchasing cost of the hospital and greatly increasing the flexibility of selecting different configurations by the hospital.
In order to realize the purpose, the modular adjusting arm system of the surgical robot comprises a base 1, a lifting column 2, a horizontal movement module 3, a rotating pivot 4 and an operating arm module 5, wherein the lifting column 2 is installed on the base 1, the lifting column 2 performs lifting movement along the vertical direction of the base 1, the horizontal movement module 3 is fixed at the lifting end of the lifting column 2, the rotating pivot 4 is connected to the horizontal movement module 3 and drives the rotating pivot 4 to perform linear movement along the length direction of the horizontal movement module 3, the rotating pivot 4 performs rotating movement around the center of the rotating pivot 4, the operating arm module 5 is installed below the rotating pivot 4, the operating arm modules 5 are provided with 2-4 operating arm modules 5 which are uniformly distributed along the circumference, and the tail end of each operating arm module 5 is connected with a surgical instrument 6 for surgery.
Preferably, the rotating hinge 4 includes a hinge base 17, a joint module 18 is installed on the hinge base 17, a cross roller bearing 16 is installed on a central shaft of the hinge base 17, an outer ring of the cross roller bearing 16 is fixed on a translation base 8 of the horizontal movement module 3, a lower portion of an inner ring of the cross roller bearing 16 is fixed with the hinge base 17, an upper portion of an inner ring of the cross roller bearing 16 is fixed with a large belt pulley 15, a motor 9 and a corner reducer 10 are fixed on the translation base 8, an output end of the motor 9 is connected with the corner reducer 10, an output shaft of the corner reducer 10 is fixed with a small belt pulley 12, the small belt pulley 12 is connected with the large belt pulley 15 through a synchronous belt 14 and drives the large belt pulley 15 to rotate together, so as to drive the joint module 18 to rotate around the central shaft of the hinge base 17, and the operating arm module 5 is fixed below the joint module 18 and is driven by the small belt pulley 12 to rotate horizontally.
Preferably, the translation base 8 is slidably connected to a slider guide rail 19, the slider guide rail 19 extends along the length direction of a horizontal base 20 and is fixed on the horizontal base 20, a motor two 21 is mounted at the other end of the horizontal base 20, an output shaft of the motor two 21 is connected with a reduction gearbox 22, an output shaft of the reduction gearbox 22 is connected with a screw rod 25 through a coupling 23, the length direction of the screw rod 25 is parallel to the length direction of the slider guide rail 19, the screw rod 25 rotates under the driving of the motor two 21, a nut on the screw rod 25 is connected with the translation base 8 through a screw rod fixing seat 24, and the translation base 8 and the screw rod fixing seat 24 perform translation movement along the length direction of the screw rod 25 when the screw rod 25 rotates.
Preferably, the output end of the motor 9 is fixed with an angle reducer 10, the angle reducer 10 is fixed on a fixing plate 11, the fixing plate 11 is fixed on the translation base 8, the angle reducer 10 is fixed below the fixing plate 11, and two ends of the fixing plate 11 are connected to the translation base 8.
Preferably, a timing belt tensioning bolt 13 is disposed at the timing belt 14, and the timing belt tensioning bolt 13 is used for tensioning the timing belt 14.
Preferably, at most four joint modules 18 are installed on the hinge base 17, and the four joint modules 18 are evenly distributed on the hinge base 17 along the same circular arc and have equal distances from the central axis of the hinge base 17, so that the motions of the operation arm modules 5 under each joint module 18 are complementarily interfered.
Preferably, at most four operation arm modules 5 are installed below the rotation hinge 4, and each operation arm module 5 is connected with the rotation hinge 4 through a connecting shaft and rotates around the connecting shaft with the rotation hinge 4.
Preferably, each operating arm module 5 comprises a translation adjusting shaft 26 capable of translating, a lifting adjusting shaft 27 capable of lifting and lowering, and a rotatable rotating adjusting shaft 28, one end of the translation adjusting shaft 26 is connected with the rotating pivot 4 through a connecting shaft, the lifting adjusting shaft 27 is fixed below the other end of the translation adjusting shaft 26, the other end of the lifting adjusting shaft 27 is rotatably connected with the rotating adjusting shaft 28, and the tail end of the rotating adjusting shaft 28 is connected with the surgical instrument 6 for surgery.
Compared with the prior art, the invention provides a modular adjusting arm system of a surgical robot, which can install 2-4 same operating arm modules according to the actual needs of a hospital and can flexibly switch between two arms, three arms and four arms, thereby reducing the equipment purchase cost of the hospital, greatly increasing the flexibility of the hospital for equipment configuration selection, and further meeting the actual needs of different hospitals for different surgical types; in addition, the precision synchronous belt transmission and joint module driving can ensure the accuracy of the rotary positioning of the operating arm; meanwhile, the modular design of the operation arms can be realized by arranging the operation arm modules symmetrically around the center, so that the hospital can flexibly configure the number of the operation arms according to the needs of different types of operations, the flexibility of selecting types of purchasing equipment in the hospital is greatly increased, the processing and manufacturing cost and the purchasing cost in the hospital are reduced, and the operation arm module is worthy of popularization and application.
[ description of the drawings ]
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the rotating hinge of the present invention;
FIG. 3 is a schematic view of the present invention in a three-arm configuration for surgery;
FIG. 4 is a schematic view of the present invention in a situation where a four-arm setup is being used for surgery;
FIG. 5 is a top view of the present invention with two arms attached for surgery;
FIG. 6 is a top view of the present invention in a three-arm configuration for surgery;
FIG. 7 is a top view of the present invention in the context of a four-arm setup procedure;
FIG. 8 is a schematic view of a portion of the present invention;
FIG. 9 is a schematic view of the structure of the horizontal motion module of the present invention;
in the figure: 1. the device comprises a base 2, a lifting column 3, a horizontal motion module 4, a rotating hinge 5, an operation arm module 6, a surgical instrument 7, an operating table 8, a translation base 9, a motor 10, a corner speed reducer 11, a fixing plate 12, a small belt wheel 13, a synchronous belt tensioning bolt 14, a synchronous belt 15, a large belt wheel 16, a crossed roller bearing 17, a hinge base 18, a joint module 19, a sliding block guide rail 20, a horizontal base 21, a motor II 22, a reduction gearbox 23, a coupler 24, a lead screw fixing seat 25, a lead screw 26, a translation adjusting shaft 27, a lifting adjusting shaft 28 and a rotation adjusting shaft.
[ detailed description of the invention ]
The invention is further described below with reference to the accompanying drawings:
as shown in the attached drawings, the invention provides a modular adjusting arm system of a surgical robot, which comprises a base 1, a lifting column 2, a horizontal movement module 3, a rotating hinge 4 and an operating arm module 5, wherein the lifting column 2 is installed on the base 1, the lifting column 2 performs lifting movement along the vertical direction of the base 1, the horizontal movement module 3 is fixed at the lifting end of the lifting column 2, the rotating hinge 4 is connected to the horizontal movement module 3 and drives the rotating hinge 4 to perform linear movement along the length direction of the horizontal movement module 3, the rotating hinge 4 performs rotating movement around the center of the rotating hinge 4, the operating arm modules 5 are installed below the rotating hinge 4, 2-4 operating arm modules 5 are arranged on each operating arm module 5, the 2-4 operating arm modules 5 are uniformly distributed along the circumference, and the tail end of each operating arm module 5 is connected with a surgical instrument 6 for surgery.
At most four operating arm modules 5 are arranged below the rotating hinge 4, and each operating arm module 5 is connected with the rotating hinge 4 through a connecting shaft and rotates around the connecting shaft of the rotating hinge 4; each operating arm module 5 comprises a translational adjusting shaft 26, a liftable lifting adjusting shaft 27 and a rotatable rotating adjusting shaft 28, as shown in fig. 8, one end of the translational adjusting shaft 26 is connected with the rotating pivot 4 through a connecting shaft, the lifting adjusting shaft 27 is fixed below the other end of the translational adjusting shaft 26, the other end of the lifting adjusting shaft 27 is rotatably connected with the rotating adjusting shaft 28, and the tail end of the rotating adjusting shaft 28 is connected with a surgical instrument 6 for surgery.
The rotating hinge 4 comprises a hinge base 17, a joint module 18 is installed on the hinge base 17, a crossed roller bearing 16 is installed on a central shaft of the hinge base 17, an outer ring of the crossed roller bearing 16 is fixed on a translation base 8 of the horizontal movement module 3, the lower portion of an inner ring of the crossed roller bearing 16 is fixed with the hinge base 17, the upper portion of an inner ring of the crossed roller bearing 16 is fixed with a large belt wheel 15, a motor 9 and a corner reducer 10 are fixed on the translation base 8, an output end of the motor 9 is connected with the corner reducer 10, an output shaft of the corner reducer 10 is fixed with a small belt wheel 12, the small belt wheel 12 is connected with the large belt wheel 15 through a synchronous belt 14 and drives the large belt wheel 15 to rotate together, the joint module 18 is further driven to rotate around the central shaft of the hinge base 17, and the operating arm module 5 is fixed below the joint module 18 and is driven to rotate horizontally.
The output end of the motor 9 is fixed with the corner speed reducer 10, the corner speed reducer 10 is fixed on a fixing plate 11, the fixing plate 11 is fixed on the translation base 8, the corner speed reducer 10 is fixed below the fixing plate 11, and two ends of the fixing plate 11 are connected to the translation base 8; a synchronous belt tensioning bolt 13 is arranged at the synchronous belt 14, and the synchronous belt tensioning bolt 13 is used for tensioning the synchronous belt 14; at most four joint modules 18 are installed on the hinge base 17, and the four joint modules 18 are evenly distributed on the hinge base 17 along the same circular arc and have equal distances from the central axis of the hinge base 17, so that the motions of the operation arm modules 5 below each joint module 18 are complementarily interfered.
Fig. 1 is a schematic view of the same two manipulator arm modules used for the relevant surgery. The lifting column 2 can do lifting motion along the vertical direction of the base 1, the horizontal motion module 3 is fixed on the lifting column 2, and the rotating pivot 4 can be driven to do linear motion along the length direction of the horizontal motion module 3. At most 4 operation arm modules 5 can be installed below the rotation hinge 4 and can rotate around the center of the rotation hinge. Each manipulator arm module 5 is rotatable about its connection axis with the rotation pivot 4 and comprises a translational adjustment axis, a lifting adjustment axis and a rotational adjustment axis.
As shown in fig. 2, at most 4 joint modules 18 can be installed on the hinge base 17, and the 4 joint modules are evenly distributed on the hinge base 17 along the same circular arc, and have equal distances to the central axis of the base. The outer ring of the crossed roller bearing 16 is fixed on the translation base 8, the lower part of the inner ring is fixed with the pivot base 17, and the upper part is fixed with the large belt wheel 15. The output end of the motor 9 is fixed with the angle reducer 10 and fixed on the translation base 8 through the fixing plate 11. The output shaft of the angular speed reducer 10 is fixed with the small belt wheel 12, and drives the large belt wheel 15 to rotate together through the synchronous belt 14. The operating arm module 5 is fixed below the joint module 18 and driven by the joint module to horizontally rotate.
Fig. 3 is a schematic view of the adjusting arm system with 3 operating arm modules according to the present invention during operation. Fig. 4 is a schematic diagram of the adjusting arm system with 4 operating arm modules according to the present invention during operation.
As shown in fig. 9, the translation base 8 is fixed with the horizontal base 20 through the guide rail sliding block 19 and can do translation motion along the length direction of the guide rail; an output shaft of the second motor 21 is connected with a planetary reduction gearbox 22, and the output shaft of the reduction gearbox is fixed with a screw rod 25 through a coupler 23, so that the second motor 21 drives the screw rod 25 to rotate together; the nut on the lead screw is connected with the translation base 8 through the lead screw fixing seat 24, so when the lead screw rotates, the translation base 8 moves along the length direction of the lead screw together with the lead screw fixing seat 24 and the lead screw nut, and the length direction of the lead screw is parallel to the length direction of the guide rail. Specifically, translation base 8 can be connected on slider guide rail 19 by slidable formula, slider guide rail 19 extends along 20 length direction of horizontal base and sets up, and fix on horizontal base 20, motor two 21 is installed to the horizontal base 20 other end, the output shaft of motor two 21 is connected with reducing gear box 22, the output shaft of reducing gear box 22 passes through shaft coupling 23 and connects lead screw 25, the length direction of lead screw 25 keeps parallel with the length direction of slider guide rail 19, lead screw 25 rotates under the drive of motor two 21, the nut on lead screw 25 passes through lead screw fixing base 24 and is connected with translation base 8, translation base 8 and lead screw fixing base 24 are translational motion along lead screw 25 length direction when lead screw 25 rotates.
In conclusion, the modularized adjusting arm system provided by the invention can ensure the accuracy of the rotary positioning of the operating arm through the precise synchronous belt transmission and the joint module driving. Meanwhile, the modular design of the operation arms can be realized by arranging the operation arm modules symmetrically around the center, so that the hospital can flexibly configure the number of the operation arms according to the requirements of different types of operations, the flexibility of selecting types of purchasing equipment in the hospital is greatly increased, and the processing and manufacturing cost and the purchasing cost of the hospital are reduced.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.

Claims (8)

1. The utility model provides a modular adjustment arm system of surgical robot which characterized in that: including base (1), lifting column (2), horizontal motion module (3), rotatory pivot (4) and operation arm module (5), install lifting column (2) on base (1), lifting column (2) are lifting motion along base (1) vertical direction, horizontal motion module (3) are fixed to the lift end of lifting column (2), be connected with rotatory pivot (4) on horizontal motion module (3) to drive rotatory pivot (4) and be linear motion along the length direction of horizontal motion module (3), rotary pivot (4) are rotary motion around its self center, operation arm module (5) are installed to rotatory pivot (4) below, operation arm module (5) are provided with 2-4, and 2-4 operation arm modules (5) are along circumference evenly distributed, and the end-to-end connection of every operation arm module (5) is used for surgical instruments (6).
2. The surgical robotic modular adjustment arm system according to claim 1, wherein: the rotary hinge (4) comprises a hinge base (17), a joint module (18) is installed on the hinge base (17), a crossed roller bearing (16) is installed on a central shaft of the hinge base (17), an outer ring of the crossed roller bearing (16) is fixed on a translation base (8) of the horizontal movement module (3), the lower portion of an inner ring of the crossed roller bearing (16) is fixed with the hinge base (17), the upper portion of the inner ring of the crossed roller bearing (16) is fixed with a large belt wheel (15), a motor (9) and an angle reducer (10) are fixed on the translation base (8), an output end of the motor (9) is connected with the angle reducer (10), an output shaft of the angle reducer (10) is fixed with a small belt wheel (12), the small belt wheel (12) is connected with the large belt wheel (15) through a synchronous belt (14) and drives the large belt wheel (15) to rotate together, the joint module (18) is driven to rotate around the central shaft of the hinge base (17), and the operation arm module (5) is fixed below the joint module (18) and drives the horizontal movement module to rotate below the operation arm module.
3. The surgical robotic modular adjustment arm system according to claim 2, wherein: the sliding base (8) is connected to a sliding block guide rail (19) in a sliding mode, the sliding block guide rail (19) is arranged along the length direction of a horizontal base (20) in an extending mode and fixed to the horizontal base (20), a motor II (21) is installed at the other end of the horizontal base (20), an output shaft of the motor II (21) is connected with a reduction gearbox (22), an output shaft of the reduction gearbox (22) is connected with a screw rod (25) through a coupler (23), the length direction of the screw rod (25) is parallel to the length direction of the sliding block guide rail (19), the screw rod (25) is driven by the motor II (21) to rotate, a nut on the screw rod (25) is connected with the sliding base (8) through a screw rod fixing base (24), and the sliding base (8) and the screw rod fixing base (24) do a sliding motion along the length direction of the screw rod (25) when the screw rod (25) rotates.
4. The surgical robotic modular adjustment arm system according to claim 2, wherein: the output end of the motor (9) is fixed with the corner speed reducer (10), the corner speed reducer (10) is fixed on the fixing plate (11), and the fixing plate (11) is fixed on the translation base (8).
5. The surgical robotic modular adjustment arm system according to claim 2, wherein: hold-in range (14) department is provided with hold-in range tensioning bolt (13), hold-in range tensioning bolt (13) are used for tensioning hold-in range (14).
6. The surgical robotic modular adjustment arm system of claim 2, wherein: at most four joint modules (18) are installed on the hinge base (17), the four joint modules (18) are evenly distributed on the hinge base (17) along the same circular arc, and the distances from the four joint modules to the central shaft of the hinge base (17) are equal.
7. The surgical robotic modular adjustment arm system according to claim 1, wherein: at most four operating arm modules (5) are installed below the rotating hub (4), and each operating arm module (5) is connected with the rotating hub (4) through a connecting shaft and rotates around the connecting shaft of the rotating hub and the rotating hub (4).
8. The surgical robotic modular adjustment arm system according to claim 7, wherein: every operation arm module (5) contains translation adjusting shaft (26) that can translate, the lift adjusting shaft (27) and a rotatable rotation adjusting shaft (28) of a liftable, translation adjusting shaft (26) one end is passed through the connecting axle and is connected with rotation pivot (4), translation adjusting shaft (26) other end below is fixed with lift adjusting shaft (27), rotation adjusting shaft (28) are connected to lift adjusting shaft (27) other end rotatable formula, the end connection of rotation adjusting shaft (28) is used for surgical instruments (6).
CN202210709971.8A 2022-06-22 2022-06-22 Modular adjusting arm system of surgical robot Pending CN115227399A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210709971.8A CN115227399A (en) 2022-06-22 2022-06-22 Modular adjusting arm system of surgical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210709971.8A CN115227399A (en) 2022-06-22 2022-06-22 Modular adjusting arm system of surgical robot

Publications (1)

Publication Number Publication Date
CN115227399A true CN115227399A (en) 2022-10-25

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ID=83668744

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210709971.8A Pending CN115227399A (en) 2022-06-22 2022-06-22 Modular adjusting arm system of surgical robot

Country Status (1)

Country Link
CN (1) CN115227399A (en)

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