CN116370097A - Instrument with parallel joints and surgical robot - Google Patents

Abstract

The embodiment of the application provides an instrument for surgery and a surgical robot applying the instrument, wherein the instrument comprises a long shaft, a joint assembly and an end device; the joint assembly is provided with parallel joints, wherein the parallel joints comprise a proximal joint, a distal joint, a middle section, two pairs of constant-length cables and two pairs of driving cables; the middle section is connected between the proximal joint and the distal joint; one end of a constant-length cable pair is connected to a distal joint, the other end of the constant-length cable pair is connected to a proximal joint, the distal end of a driving cable pair is connected to the distal joint, the proximal end of the driving cable pair passes through the long shaft and is coupled to a driving device, the driving device enables the parallel joint to move transversely and longitudinally through the driving cable, and the parallel joint can enlarge the movement range of the tail end device.

Description

Instrument with parallel joints and surgical robot

Technical Field

The present application relates to the field of medical devices, and in particular to a surgical device for surgery and a surgical robot using the same.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally includes a main console for transmitting a control command to a slave operating device according to an operation of a doctor to control the slave operating device, and a slave operating device for responding to the control command transmitted from the main console and performing a corresponding surgical operation. The instrument is coupled to a drive device of the slave manipulator for performing a surgical procedure, and a distal end of the instrument includes an end device for performing the surgical procedure and a joint assembly coupled to the end device that is moveable in a plurality of degrees of freedom.

The joint assembly provides a range of motion for the end device, and the existing joint assembly cannot provide a larger range of motion for the end device due to its limited degrees of freedom of motion, and the precision of motion of the existing joint assembly also needs to be improved.

Disclosure of Invention

To solve the above problems, in a first aspect, the present application provides an instrument for surgical operation, the instrument comprising a long shaft, a joint assembly and an end device, the joint assembly being connected between the long shaft and the end device, the joint assembly comprising parallel joints, the parallel joints comprising:

A proximal joint set;

an intermediate section, the proximal joint set connected between the intermediate section and the long axis;

a distal set of joints connected between the intermediate section and the end device;

at least two pairs of constant length cables connected between the proximal joint set and the distal joint set;

a first drive cable pair and a second drive cable pair, the distal ends of the first and second drive cable pairs being connected to at least one of the proximal joint set, the intermediate section, or the distal joint set, the proximal ends of the first drive cable pair being coupled to a first drive unit, the proximal ends of the second drive cable pair being coupled to a second drive unit;

when the first driving unit and the second driving unit move in the same direction to drive the first driving cable pair and the second driving cable pair, the tail end device moves longitudinally;

the end device traverses as the first drive unit and the second drive unit move in opposite directions to drive the first and second drive cable pairs.

In a specific embodiment, the distal joint assembly comprises at least a first distal joint having a first axis of rotation and a second distal joint having a second axis of rotation, the first axis of rotation and the second axis of rotation being orthogonal.

In a specific embodiment, the central axis of the intermediate section is orthogonal to the first and second axes of rotation as the tip device is longitudinally displaced.

In a specific embodiment, the second axis of rotation is offset relative to the central axis of the intermediate section and the first axis of rotation is orthogonal to the central axis of the intermediate section as the tip assembly traverses.

In a specific embodiment, the distal ends of the first drive cable pair and the distal ends of at least one of the second drive cable pair are connected to the second distal joint.

In a specific embodiment, the distal ends of the first pair of drive cables are connected to the second distal joint and the distal ends of the second pair of drive cables are connected to the proximal joint set or the intermediate section.

In a specific embodiment, the first drive cable pair comprises a first drive cable and a second drive cable, the first drive cable intersecting the second drive cable in the intermediate section.

In a specific embodiment, the securing of the first and/or second drive cables to the second distal joint is located about 45 degrees from the first and/or second rotational axis.

In a specific embodiment, the first cable pair and the second cable pair intersect in the intermediate section.

In a second aspect, the present application provides a surgical robot comprising an instrument, a first drive device coupled to the instrument, the first drive device receiving control signals from the control system, the instrument comprising a long axis, a joint assembly, and an end device, the joint assembly connected between the long axis and the end device, the joint assembly comprising at least parallel joints comprising:

a proximal joint set;

an intermediate section, the distal end of the proximal joint set being connected to the proximal end of the intermediate section;

a distal joint set connected between the end device and the intermediate section, the distal joint set comprising a first distal joint having a first axis of rotation and a second distal joint having a second axis of rotation;

at least two pairs of constant length cables connected between the distal joint set and the proximal joint set;

the first drive means is responsive to a first control signal from the control system to drive rotation of the distal joint segment of the first distal joint relative to the first axis of rotation to traverse the end device;

The first drive means is responsive to a second control signal from the control system to drive rotation of the distal joint segment of the second distal joint relative to the second axis of rotation to longitudinally displace the tip device.

In a specific embodiment, the parallel joint further comprises a first pair of drive cables and a second pair of drive cables, the distal ends of the first and second pairs of cables being connected to the second distal joint.

In a specific embodiment, the first drive cable pair and the second drive cable pair intersect in the intermediate section.

In a specific embodiment, at least one of the first pair of drive cables and one of the pair of constant length cables are formed as one cable.

In a specific embodiment, the first driving device comprises a first driving unit and a second driving unit; in response to the first control signal, the first drive unit and the second drive unit move in opposite directions, thereby traversing the end device.

In a specific embodiment, the first drive unit and the second drive unit move in the same direction in response to the second control signal, thereby longitudinally moving the end device.

In a third aspect, the present application provides a surgical robot comprising:

an instrument comprising a long axis, a parallel joint, and an end device, the parallel joint being connected between the long axis and the end device;

a first drive unit and a second drive unit, the first and second drive units coupled to the instrument;

a control system coupled to the first drive unit and the second drive unit, the control system configured to send a first control signal or a second control signal to the first drive unit and the second drive unit;

in response to the first control signal, the first drive unit and the second drive unit move in the same direction, thereby driving the parallel articulation to longitudinally move the end device;

in response to the second control signal, the first drive unit and the second drive unit move in opposite directions, thereby driving the parallel articulation to traverse the end device.

The parallel joint of the instrument of the present application may provide a greater range of motion for the end device of the instrument.

Drawings

FIG. 1 is a schematic diagram of a master console of a surgical robot according to one embodiment of the present application;

FIG. 2 is a schematic view of a slave manipulator of the surgical robot according to one embodiment of the present application;

FIG. 3 is a schematic view of an instrument for surgery according to one embodiment of the present application;

FIG. 4 is a schematic view of a joint assembly of an instrument according to one embodiment of the present application;

FIG. 5 is a schematic view of the parallel joint translation state of the joint assembly of FIG. 4;

FIG. 6A is a schematic view of an instrument joint assembly, transmission and drive device according to another embodiment of the present application;

FIG. 6B is a schematic view of the instrument joint assembly of FIG. 6A rotated 90 degrees about its axis;

FIG. 7A is a top view of the articulation section 452 of the parallel joint 400 and showing the first and fourth drive cables retracted;

FIG. 7B is a schematic view showing a longitudinal movement of the parallel joint 400;

FIG. 7C is a top view of the articulation section 452 of the parallel joint 400 and showing the first and third drive cables retracted;

FIG. 7D is a schematic diagram of a traversing device for the parallel joint 400;

fig. 8 is a schematic view of a surgical robot slave manipulator and power plant according to one embodiment of the present application.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "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. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions as used herein are for the purpose of illustration and do not denote a unique embodiment, it being understood that these spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., an element or feature described as "below" or "beneath" other element or feature would be oriented "above" the other element or feature if the device were turned over in the figures. Thus, the example term "below" may include both an orientation above and below.

The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. As used herein, "coupled" may be broadly interpreted as having two or more objects connected to any event in a manner, and may also be interpreted as having a powered connection between the two objects.

The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument comprising an end device, which may be a surgical tool, such as an electrocautery, a jaw, a stapler, a cutter, an imaging device (e.g., an endoscope or an ultrasonic probe), and the like, for performing a surgical procedure. Some instruments used in embodiments of the present application further include providing the tip device with an articulating component (e.g., an articulation assembly) that enables the position and orientation of the tip device to be manipulated for movement with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end device includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system elements.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "and/or" and/or "as used herein include any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and 2, the surgical robot according to one embodiment of the present application includes a main console 10 and a slave operation device 20, the main console 10 is located at an operator side, the main console 10 is used to send control commands to the slave operation device 20 and display images acquired from the operation device 20 according to operations of the operator, the operator can observe three-dimensional stereoscopic imaging in a patient provided by an imaging system through the main console 10, and the operator can control related operations (e.g., performing an operation or acquiring an image in the patient) from the operation device 10 with an immersive sense by observing the three-dimensional image in the patient. The main control console 10 includes a display device, an armrest, a control signal processing system, an input device 11, and an observation device 12, wherein the display device is used for displaying images acquired by the imaging system. The armrest is used for placing the arm and/or hand of the operator for more comfortable operation of the input device 11 by the operator, and the viewing device 12 is used for viewing the image displayed by the display device. According to actual needs, the armrests can be omitted; or the viewing device 12 may be omitted, in which case direct viewing is possible. The operator controls the movement of the instruments of the slave operation device 10 through the operation input means 11, and the control signal processing system of the master control console 10 processes the input signals of the input means 11 and issues control commands to the slave operation device, and the slave operation device 20 responds to the control commands of the master control console 10 and performs corresponding operations, and in some embodiments, the control signal processing system may be disposed in the slave operation device 20, for example, in a base of the slave operation device 20.

The slave manipulator 20 is located on the patient side for performing a surgical operation, wherein the slave manipulator 20 comprises a base 25, a manipulator 21, a sleeve 23, a driving device 22 and one or more instruments 30 detachably engaged with the driving device 22, the manipulator 21 is connected to the base 25, the sleeve 23 passes through an incision in the human body and enters the human body, distal ends of the one or more instruments 30 pass through the sleeve 23 and enter the human body, and the instruments 30 can be an electrocautery, a forceps, a stapler, an ultrasonic knife and the like for performing a surgical operation, or can be a camera (e.g. an endoscope) or other surgical instrument for acquiring images. In some embodiments, cannula 23 may also be omitted, for example in a surgical procedure where insufflation is not required. In some embodiments, the base 25 may also be omitted, and the robotic arm 21 of the slave manipulator 20 may be wall, ceiling or operating bed mounted.

The robot arm 21 has two movement modes: first movement pattern: movement of the robotic arm 21 drags the remote center of motion 24 (Remote Center of Motion), thereby changing the relative position of the remote center of motion 24 and the base 25; second movement pattern: by algorithmic control, movement of the robotic arm 21 may cause movement of the cannula 23 or multi-surgical machine 30 about the remote center of motion 24, with the position of the remote center of motion 24 being fixed relative to the base 25.

The robotic arm 21 comprises a plurality of joints 211, 212, 213, 214, 215, the joints 211 being vertically rectilinear motion joints, the joints 212, 213, 214, 215 being rotary motion joints, the axes of rotation of the joints 212, 213, 214 being vertical to the horizontal plane, the joints 215, in a second mode of motion the plurality of joints 211, 212, 213, 214, 215 being linked to effect movement of the cannula 23 or the plurality of instruments about the remote centre of motion 24, and the position of the remote centre of motion 24 being fixed relative to the base 25.

In some embodiments, the robotic arm may also be another form, the robotic arm may define a remote center of motion by mechanical means such that the cannula or instrument rotates about the remote center of motion, e.g., the robotic arm includes a parallelogram linkage to which the instrument is removably mounted on a distal end, the parallelogram linkage may allow the instrument to move or move in multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Parallelogram linkage is used to constrain movement of the instrument near the remote center of motion on a surgical instrument that remains stationary relative to the patient.

The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to view the surgical site from outside the patient's body. The vision system generally includes a video image acquisition function (e.g., instrument 30 having an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 30 with image acquisition capability includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images within the patient's body. The one or more imaging sensors may be positioned at the distal end of the instrument 30 with image acquisition capabilities and the signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on a video display device.

As shown in fig. 3, the instrument 30 includes an instrument case 31, a long shaft 32, a joint assembly 33, a plurality of cables and an end device 34, the instrument 30 is detachably mounted on the power unit 22, the power unit 22 has a plurality of driving devices (not shown), the instrument case 31 has a transmission device (not shown) therein, the transmission device includes a plurality of transmission units (e.g., winches), the transmission units are connected with the joint assembly 33 and the end device 34 through the plurality of cables, and the plurality of transmission units are respectively coupled to and driven by a plurality of driving units (e.g., motors) of the driving devices. The driving unit receives a control command from the control system, and drives the joint assembly 33 and the end device 34 to move by driving the transmission unit to move according to the control command, and the control system can be arranged in the main control console 10 or the slave operation device 20. For example, the drive unit may be configured to retract/pull the cable by rotating the drive transmission unit to provide motion control of the articulation assembly and the end device. The end unit 34 is capable of performing multiple cartesian degrees of freedom of motion, such as translation (including traversing and/or tilting), pitching, yawing, etc., through the joint assembly 3, it being understood that translation and pitching, translation and yawing may be independent and simultaneous. The end device 34 is used to perform surgical related procedures, and depending on the needs of the surgical procedure, the end device 34 may be an electrocautery, a forceps, a stapler, scissors, an ultrasonic blade, a camera, an imaging device, etc., wherein the camera or imaging device is used to acquire images of the interior of the human body.

In one embodiment of the invention, as shown in FIG. 4, the joint assembly 33 of the instrument includes a parallel joint assembly 200 and a wrist joint 300, the proximal end of the parallel joint assembly 200 being connected to the distal end of the long shaft 32, the distal end of the parallel joint 200 being connected to the proximal end of the wrist joint 300, the distal end of the wrist joint 300 being connected to the tip device 34, the wrist joint 300 being configured to perform pitch and/or yaw movements.

Specifically, parallel joint assembly 200 includes a proximal joint 210, an intermediate section 220, a distal joint 230, and a cable set, proximal joint 210 including a first proximal joint section 211 and a second proximal joint section 212 located proximally and distally, respectively, of a rotational axis 213 thereof, first proximal joint section 211 being connected to long axis 32, second proximal joint section 212 being connected to intermediate section 220, first proximal joint section 211 being pivotally connected to second proximal joint section 212, first proximal joint section 211 and second proximal joint section 212 being relatively rotatable about rotational axis 213.

The distal joint 230 comprises a first distal joint segment 231 and a second distal joint segment 232 located proximally and distally of its rotational axis 233, respectively, the first distal joint segment 231 being connected to the intermediate segment 220, the second distal joint segment 232 being connected to the wrist joint 300, the first distal joint segment 231 and the second distal joint segment 232 being pivotally connected to each other rotatable about the rotational axis 233, the rotational axes 213, 233 being perpendicular to the plane of the paper.

The cable set includes a first cable pair having one end fixedly attached to the proximal end of the proximal joint 210 or the long shaft 32 and the other end attached to the second distal joint segment 232 and a second cable pair having one end attached to a transmission within the instrument box 31 and the other end fixedly attached to the second distal joint segment 232. Wherein the first cable pair is a constant length cable, which means that the total length of the parallel joint 220 in the joint assembly 33 is substantially unchanged when moving, and specifically, the first cable pair includes a first constant length cable 131 and a second constant length cable 132, and the first constant length cable 131 and the second constant length cable 132 are respectively located at two sides of the central axis a of the middle section 220. The second cable pair comprises a first drive cable 110 and a second drive cable 120, the first drive cable 110 and the second drive cable 120 intersecting in an intermediate section 220, i.e. the cable section 111 of the first drive cable 110 and the cable section 121 of the second drive cable 120.

The distal end of the first drive cable 110 is secured to the second distal articulation section 232 by a first securing portion 110a, the proximal end of which is secured to a transmission within the instrument box 31, the cable section 111 of the first drive cable 110 in the intermediate section 220 straddling the central axis a, and the cable sections 113 of the first securing portion 110a and the first drive cable 110 in the proximal articulation 210 are each located on opposite sides of the central axis a when the parallel articulation 200 shown in fig. 4 is not translated.

The distal end of the first constant length cable 131 is fixed to the second distal joint segment 232 by the second fixing portion 131a, the proximal end thereof is fixed to the first proximal joint segment 211 by the third fixing portion 131b, and the first fixing portion 110a and the second fixing portion 131a are located on the same side of the central axis a of the intermediate segment 220 when the parallel joint 200 is not translated, and the first fixing portion 110a and the third fixing portion 131b are also located on the same side of the central axis a. That is, as shown in fig. 4, the first, second and third fixing portions 110a, 131a and 131b are all located at the left side of the central axis a of the middle section 220.

The distal end of the second drive cable 120 is secured to the second distal articulation section 232 by a fourth securing portion 120a, which spans the central axis a at the cable section 121 in the intermediate section 220, the proximal end of the second drive cable 120 being secured to the transmission within the instrument box 31, the first securing portion 110a and the fourth securing portion 120a being located on opposite sides of the central axis a.

The distal and proximal ends of the second constant length cable 132 are secured to the second distal knuckle segment 232 and the first proximal knuckle segment 211 by fifth and sixth securing portions 132a, 132b, respectively, with the fourth securing portion 120a, the fifth securing portion 132a, and the sixth securing portion 132b being located on the same side of the central axis a of the intermediate segment 220. The overall length of the first and second constant length cables 131, 132 in the joint assembly 33 remains substantially unchanged during movement of the parallel joint 200, and the length in the intermediate section 220 remains substantially unchanged, as described in detail below.

As shown in fig. 5, when the transmission of the instrument box 31 is actuated by the external first drive device to translate the end device 34 for the desired purpose, the transmission acts (e.g., rotates) to retract the first drive cable 110 and release the second drive cable 120, as the first drive cable 110 is retracted, the length of both the cable segment 112 in the distal joint 230 and the cable segment 113 in the proximal joint 210 of the first drive cable 110 become shorter, and the distal joint 210 is actuated by the first drive cable 110 such that the first distal joint segment 231 and the second distal joint segment 232 relatively rotate about the axis of rotation 233 in the following manner: the left sides of the first distal joint segment 231 and the second distal joint 232 are brought closer together such that the length of the cable segment 131c of the first constant length cable 131 in the distal joint 230 is shortened; the right sides of the first and second distal joint sections 231, 232 are moved away from each other such that the distal joint 230 takes the shape of a "<", and as the second drive cable 120 is released, the length of the cable section 122 of the second drive cable 120 in the distal joint 230 becomes longer, and the amount of change in the length of the cable section 122 is equal to the amount of change in the length of the cable section 112 of the first drive cable 110.

Due to the above-described movement of distal joint 210, distal second constant length cable 132 will be actuated by distal joint 210, lengthening cable segment 132c of second constant length cable 132 in first distal joint segment 230, while due to the constant length of second constant length cable 132 in joint assembly 33, shortening the length of cable segment 132d of second constant length cable 132 in proximal joint 210, proximal joint 210 will be actuated by second constant length cable 132, causing first proximal joint segment 211 and second proximal joint segment 212 to relatively rotate about rotational axis 213 in the following manner: the right sides of the first proximal joint segment 211 and the second proximal joint segment 212 are close to each other, the left sides of the two are far from each other, and the proximal joint 210 takes a ">" shape, so that the length of the cable segment 131d of the first constant length cable 131 in the proximal joint 210 becomes longer, the length of the cable segment 123 of the second drive cable 120 in the proximal joint 210 becomes longer, and the length variation of the cable segment 123 is equal to the length variation of the cable segment 113 of the first drive cable 110.

Due to the opposite movement of the distal joint 230 and the proximal joint 210, the axis b of the end device 34 is further moved laterally relative to the axis c of the long shaft 32, so as to move the end device 34 laterally (i.e., move the end device 34 to the right in fig. 5), the middle section 220 is deflected relative to the long shaft 32 during the lateral movement, i.e., the central axis a of the middle section 220 forms a non-zero angle with the axis of the long shaft 32, the axis b of the end device 34 and the axis c of the long shaft 32 remain parallel after the lateral movement remain parallel, and the pitch or yaw angle of the end device is not changed after the parallel joint 200 moves the end device 34 laterally. It will be appreciated that in some embodiments, the axis b of the tip device 34 and the axis of the wrist joint 300 are coincident when the joint assembly is in the unactuated zero straight state.

If the transmission is moved in the opposite manner, thereby releasing the first drive cable 110 and retracting the second drive cable 120, the parallel joint 200 will move in the opposite manner described above, i.e., the distal joint 230 rotates in the ">" shape and the proximal joint 210 rotates in the "<" shape, thereby traversing the end device 34 to the left, and the traversing motion of the parallel joint 200 can provide a greater range of motion for the end device 34.

In comparison with a structure in which distal ends of the first and second driving cables 110 and 120 are fixed to the proximal joint to drive the parallel joint to move, the distal ends of the first and second driving cables 110 and 120 of the present embodiment are fixed to the distal joint 230, and when the parallel joint is driven to move, the movement stroke of the first and second driving cables 110 and 120 is twice that of the first and second driving cables to fix them to the proximal joint, so that the parallel joint can be driven to move using half of the driving force. In addition, since the required driving force becomes smaller, the deformation of the first and second driving cables 110 and 120 is also reduced, and the parallel articulation accuracy is improved.

In some embodiments, the first drive cable 110 and the first constant length cable 131 are formed from the same cable, i.e., the first drive cable 110 and the first constant length cable 131 are one cable that is continuously separate, and the first securing portion 110a and the second securing portion 131a are clips having a diameter greater than the cable diameter that are crimped in the second distal articular segment 232, thereby securing the distal ends of the first drive cable 100 and the first constant length cable 131 to the second distal articular segment 232, and likewise, the second drive cable 120 and the second constant length cable 132 may be formed from one cable. It will be appreciated that the first drive cable pair, the first constant length cable pair, are not limited to clips, and may be welded or the like.

In some embodiments, the parallel joint 200 may also have only one drive cable secured distally to the distal joint of the parallel joint, another drive cable replaced in other ways (e.g., with a spring return), or the distal end of another drive cable secured proximally to the parallel joint.

In some embodiments, for instruments that require only translational movement of the tip device, and not pitch or yaw movement of the tip device (e.g., endoscopes where the tip device is a camera), the joint assembly 33 of the instrument may also include only the parallel joint 200 without the wrist joint 300.

In one embodiment, as shown in fig. 6A and 6B, fig. 6B is a view of the long shaft 32 and the joint assembly 43 of fig. 6A rotated 90 degrees about the axis of the long shaft. The parallel joint 400 in this embodiment includes a proximal joint set including first and second proximal joints 410, 440, a middle section 420, and at least four cable pairs, the distal joint set including first and second distal joints 430, 450, the first proximal joint 410 being connected between the proximal end of the middle section 420 and the distal end of the second proximal joint 440, the second proximal joint 440 being connected between the proximal end of the first proximal joint 410 and the distal end of the long shaft 32, the first distal joint 430 being connected between the distal end of the middle section 420 and the proximal end of the second distal joint 450, the second distal joint 450 being connected between the proximal end of the wrist joint 300 and the distal end of the first distal joint 430.

Wherein the rotation axis 411 of the first proximal joint 410 and the rotation axis 441 of the second proximal joint are perpendicular to each other, the rotation axis 431 of the first distal joint 430 and the rotation axis 451 of the second distal joint 450 are perpendicular to each other, and the rotation axes 411, 431 are perpendicular to the paper surface.

The four cable pairs of the parallel joint 400 include a second pair of constant length cables and two pairs of drive cables, wherein a first drive cable pair of the two pairs of drive cables includes a first drive cable 310 and a second drive cable 320, the distal ends of the first and second drive cables 310, 320 are secured to the distal joint segment 453 of the second distal joint 450, the proximal ends of which extend through the long axis 32 to connect to the first transmission unit 1101 on the transmission within the instrument box 31, and the first drive cable 310 and the second drive cable 320 intersect in the intermediate segment 220.

The first of the two pairs of constant length cables includes a first constant length cable 133 and a second constant length cable 134, the distal ends of the first and second constant length cables 133, 134 being secured to a distal articulation section 452 of a second distal articulation 450 and the proximal ends thereof being secured to a proximal articulation section 442 of a second proximal articulation 440, the first and second constant length cables 133, 134 being parallel in the intermediate section 420.

As shown in fig. 6B, the second cable pair of the two pairs of drive cables includes a third drive cable 330 and a fourth drive cable 340, the distal ends of the third and fourth drive cables 330, 340 being secured to the distal articulation section 453 of the second distal articulation 450, the proximal ends of which extend through the long axis 32 to be connected to the second transmission unit 1102 of the transmission within the instrument box 31, the third drive cable 330 and the fourth drive cable 340 intersecting in the intermediate section 220.

The second of the two pairs of constant length cables includes a third constant length cable 135 and a fourth constant length cable 136 having distal ends secured to distal articular segment 453 of second distal joint 450 and proximal ends secured to proximal articular segment 442 of second proximal joint 440, with third constant length cable 330 and fourth constant length cable 340 being parallel in intermediate section 420. In other embodiments, the proximal ends of four constant length cables 133, 134, 135, 136 may also be secured to the distal end of the long shaft 32. To more clearly illustrate the cables of parallel joint 400, the third and fourth constant length cables 135, 136 are not illustrated in fig. 6A, nor are portions of the third and fourth drive cables 330, 340 in the joint assembly, nor are the first and second constant length cables 133, 134 and the first and second drive cables 310, 320 illustrated in fig. 6B.

The longitudinal and lateral movement of the parallel joint 400 is described in detail below, as shown in fig. 7A, where fig. 7A is a top view of the distal joint segment 453 of the second distal joint 450, and as shown in fig. 7A, each cable 310, 320, 330, 340, 134, 135, 136 is not disposed about the rotational axis 431 of the first distal joint 430 and the rotational axis 451 of the second distal joint 450, and each cable 310, 320, 330, 340, 134, 135, 136 is approximately 45 degrees from the rotational axis 431, 451, thus allowing for installation space for the rotational axis components of each joint.

Referring again to fig. 6A, the first driving device 2000 is coupled to the transmission device 1000, and the first driving device 2000 receives a control signal transmitted from the control system, specifically, a first driving unit 2101 of the first driving device 2000 is coupled to a first transmission unit 1101 of the transmission device 1000, and a second driving unit 2102 of the first driving device 2000 is coupled to a second transmission unit 1102. First drive 2000 may be coupled to transmission 1000 via an intermediary component (e.g., a sterile adapter) or may be coupled directly.

When the first drive 2000 responds to a first control signal sent by the control system, both the first drive unit 2101 and the second drive unit 2102 move in the same direction, for example, when both the first drive unit 2101 and the second drive unit 2102 rotate clockwise, the first drive unit 2101 rotates clockwise to rotate the first transmission unit 1101 clockwise to retract the first drive cable 310 and simultaneously release the second drive cable 320, the second drive unit 2102 rotates clockwise to release the third drive cable 330 and simultaneously retract the fourth drive cable 340, F1 indicates retraction of the first drive cable 310, F2 indicates retraction of the fourth drive cable 340, and the resultant force exerted by the first drive cable 310 and the fourth drive cable 340 on the distal closure segment 453 will cause the distal closure segment 453 of the second distal joint 450 to rotate counterclockwise about the rotation axis 451 (as shown in fig. 7B), and the proximal end 433, the distal end 432, and the rotation axis 431 of the first distal joint 430 are not rotated relative to the rotation axis 431 due to the direction of the rotation axis 431 being coincident with the direction of the proximal end 433.

Due to the rotation of the second distal joint 450, the four constant length cables 133, 134, 135, 136 will actuate the second proximal joint 440, the distal joint segment 443 of the second proximal joint 440 rotates clockwise with respect to the rotational axis 441, the proximal and distal joint segments 412, 413 of the first proximal joint 410 do not rotate with respect to the rotational axis 413, and the parallel joint 400 achieves a longitudinal movement in the d-direction to the state shown in fig. 7B as seen from the state shown in fig. 6a,6B, it being understood that when both the first and second drive units rotate counter clockwise, the parallel joint 400 is driven to move longitudinally in the opposite direction to d. After longitudinal displacement, axis b of the end device 34 is parallel to axis c of the long shaft 32 and the central axis a of the intermediate section 420 is orthogonal to the first and second rotational axes 431, 451.

When the first driving device 2000 responds to the second control signal sent by the control system, the first driving unit 2101 and the second driving unit 2102 move in opposite directions, for example, when the first driving unit 2101 rotates clockwise and the second driving unit 2102 rotates counterclockwise, the first driving unit 2101 drives the first transmission unit 1101 to rotate clockwise, so as to retract the first driving cable 310 and release the second driving cable 320, and the second driving unit 2102 rotates counterclockwise so as to retract the third driving cable 330 and release the fourth driving cable 340. As shown in fig. 7C, F1 indicates retraction of the first drive cable 310, F3 indicates retraction of the third drive cable 330, and the resultant force exerted by the first and third drive cables 310, 330 on the distal articular segment 453 of the second distal joint 450 causes the distal articular segment 433 of the first distal joint 430 to rotate counterclockwise about the rotational axis 431 such that the proximal and distal articular segments 452, 453 of the second distal joint 450 do not rotate relative to the rotational axis 451 thereof because the resultant force is in the same direction as the rotational axis 451.

Due to the rotation of the first distal joint 430, the four constant length cables 133, 134, 135, 136 will actuate the first proximal joint 410, causing the distal joint segment 413 of the first proximal joint 410 to rotate clockwise relative to its axis of rotation 411, thereby effecting lateral movement of the parallel joint 400 in the e-direction from the state shown in fig. 6a,6b to the state shown in fig. 7D. It will be appreciated that when the first drive unit 2101 is rotated counterclockwise and the second drive unit 2102 is rotated clockwise, the parallel joint 400 is driven to traverse in a direction opposite to the e-direction. After traversing, the first rotation axis 431 is orthogonal to the central axis a of the intermediate section 420, and the second rotation axis 451 is deflected relative to the central axis a of the intermediate section 420, i.e. the second rotation axis 451 forms a non-zero angle with the central axis a.

Since the rotation axes 441 and 411 are perpendicular to each other, the rotation axes 451 and 431 are perpendicular to each other, and thus the longitudinal and lateral directions of the parallel joint 400 are perpendicular in space, i.e., the direction e and the direction d are perpendicular to each other in space. For example, traversing is translational movement of a parallel joint in the Cartesian space coordinate system along the Y-axis and traversing is translational movement in the Z-axis. The parallel joint 400 does not change the pitch or yaw motion of the end device 400 during both longitudinal and lateral movements, so that the parallel joint 400 can increase the range of motion of the end device 400.

It will be appreciated that in some embodiments, the instrument may not be provided with a transmission, and that the drive cables of the instrument may be directly driven by the first drive means.

In some embodiments, the distal ends of the first pair of drive cables 310, 320 are connected to a first distal joint 430, and the distal ends of the second pair of drive cables 330, 340 are connected to a second distal joint 450.

In some embodiments, the distal ends of the first pair of drive cables 310, 320 are connected to the second proximal articular segment 410 or the intermediate segment 420, while the distal ends of the second pair of drive cables 330, 340 are connected to the second distal articular 450.

In some embodiments, the distal ends of the first and second pairs of drive cables may also both be connected to the second proximal articular segment 410 or the intermediate segment 420.

In one embodiment, as shown in fig. 8, from the fixed connection of the cannula 23 and the power device 22 of the operating device 40, the articulation assembly 501 and the tip device 502 of the instrument 500 extend distally (e.g., to the lesion) through the passageway 23a of the cannula 23, the articulation assembly 501 comprising parallel joints and/or wrist joints. The control system 2301 of the surgical robot is used to control the five joints 211, 212, 213, 214, 215 of the robotic arm of the slave manipulator 40 to co-operate with the rotation of the cannula 23 about the remote centre of motion RCM (Remote of Motion). In other embodiments, the robotic arm of the handling device 40 may also be a robotic arm of other configurations, such as a robotic arm of parallelogram configuration.

The power device 22 includes first 2201, 2202 and second 2213, 2214 drives, the control system 2301 being coupled to the first 2201, 2202 and second 2213, 2214 drives, the control system 2301 controlling movement of the articulation assembly 501 and the end device 502 of the instrument 500 via the first drive 2201 and the control system 2301 controlling movement of the camera 601 of the instrument 600 via the first drive 2202.

The power unit 22 is provided with slide rails 2211 and 2212 on the frame, the first driving device 2201 and the second driving device 2202 are respectively slidably mounted on the slide rails 2211 and 2212, the control system 2301 controls the second driving devices 2213 and 2214 to drive the first driving devices 2201 and 2202 to move along the slide rails, the apparatus 500 and the apparatus 600 are respectively detachably mounted on the first driving devices 2201 and 2202, and the first driving devices 2201 and 2202 can drive the apparatus 500 and 600 to perform feeding movement along the f direction when sliding on the slide rails 2211,2202, namely, the control system 2301 controls the feeding movement of the apparatus 500 and 600 by controlling the second driving devices 2213 and 2214 to make the apparatus long shafts 511 and 611 to move linearly along the axial direction of the channel 23a of the sleeve 23. In this embodiment, instrument 500 is a clamp surgical instrument and instrument 600 is an endoscope. In other embodiments, the instruments 500,600 may be other types of instruments, such as ultrasonic blades, staplers, and the like.

In response to control commands from the control system 2301, the multiple joints of the robotic arm are linked to rotate the cannula 23 about the remote center of motion RCM to control movement of the long axes of the instruments 500, 600 about the remote center of motion RCM. As the control system 2301 is rotated about the remote center of motion RCM by the control sleeve 23, the first drive device 2201 drives the joint assembly 501 of the instrument 500 to move to maintain the position and/or posture of the end device 502 of the instrument 500 unchanged, e.g., to maintain the position and/or posture of the end device 502 unchanged relative to the coordinate system of the base 210 of the slave manipulator 40 or relative to the coordinate system of the patient table, in response to a first control command of the control system 2301.

In one embodiment, the first drive device 2201 drives lateral and/or longitudinal movement of the parallel joints of the joint assembly 501 in response to a first control command of the control system 2301 as the cannula 23 rotates about the remote center of motion RCM, thereby maintaining the position and/or attitude of the end device 502 of the instrument 500 unchanged.

In one embodiment, the first drive device 2201 drives the wrist joint of the joint assembly 501 in pitch and yaw in response to the second control commands of the control system 2301 as the cannula 23 rotates about the remote center of motion RCM, thereby maintaining the position and/or attitude of the tip device 502 of the instrument 500 unchanged.

In one embodiment, as the moving cannula 23 rotates about the remote center of motion RCM, the second drive device 2201 drives the axial movement of the long axis 511 of the instrument 500 along the passageway 23a of the cannula 23 in response to a second control command of the control system 2301, thereby maintaining the position and/or attitude of the end device 502 of the instrument 500 unchanged.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (16)

1. An instrument for use in surgery, the instrument comprising a long axis, a joint assembly, and an end device, the joint assembly connected between the long axis and the end device, the joint assembly comprising parallel joints, the parallel joints comprising:

A proximal joint set;

an intermediate section, the proximal joint set connected between the intermediate section and the long axis;

a distal set of joints connected between the intermediate section and the end device;

at least two pairs of constant length cables connected between the proximal joint set and the distal joint set;

a first drive cable pair and a second drive cable pair, the distal ends of the first and second drive cable pairs being connected to at least one of the proximal joint set, the intermediate section, or the distal joint set, the proximal ends of the first drive cable pair being coupled to a first drive unit, the proximal ends of the second drive cable pair being coupled to a second drive unit;

when the first driving unit and the second driving unit move in the same direction to drive the first driving cable pair and the second driving cable pair, the tail end device moves longitudinally;

the end device traverses as the first drive unit and the second drive unit move in opposite directions to drive the first and second drive cable pairs.

2. The instrument of claim 1, wherein the distal joint assembly comprises at least a first distal joint having a first axis of rotation and a second distal joint having a second axis of rotation, the first axis of rotation and the second axis of rotation being orthogonal.

3. The instrument of claim 2, wherein the central axis of the intermediate section is orthogonal to the first and second axes of rotation when the tip device is longitudinally displaced.

4. The instrument of claim 2, wherein the second axis of rotation is offset relative to the central axis of the intermediate section and the first axis of rotation is orthogonal to the central axis of the intermediate section as the tip device traverses.

5. The instrument of claim 1, wherein the distal ends of the first pair of drive cables and the distal end of at least one pair of drive cables of the second pair of drive cables are connected to the second distal joint.

6. The instrument of claim 5, wherein the distal end of the first pair of drive cables is attached to the second distal joint and the distal end of the second pair of drive cables is attached to the proximal joint set or the intermediate section.

7. The instrument of claim 1, wherein the first drive cable pair includes a first drive cable and a second drive cable, the first drive cable intersecting the second drive cable in the intermediate section.

8. The instrument of claim 7, wherein the securement of the first drive cable and/or second drive cable to the second distal joint is located about 45 degrees from the first axis of rotation and/or second axis of rotation.

9. The apparatus of claim 1, wherein the first cable pair and the second cable pair intersect in the intermediate section.

10. A surgical robot comprising an instrument, a first drive device coupled to the instrument, the first drive device receiving control signals from the control system, the instrument comprising a long axis, a joint assembly, and an end device, the joint assembly connected between the long axis and the end device, the joint assembly comprising at least parallel joints, the parallel joints comprising:

a proximal joint set;

an intermediate section, the distal end of the proximal joint set being connected to the proximal end of the intermediate section;

a distal joint set connected between the end device and the intermediate section, the distal joint set comprising a first distal joint having a first axis of rotation and a second distal joint having a second axis of rotation;

At least two pairs of constant length cables connected between the distal joint set and the proximal joint set;

the first drive means is responsive to a first control signal from the control system to drive rotation of the distal joint segment of the first distal joint relative to the first axis of rotation to traverse the end device;

the first drive means is responsive to a second control signal from the control system to drive rotation of the distal joint segment of the second distal joint relative to the second axis of rotation to longitudinally displace the tip device.

11. The surgical robot of claim 10, wherein the parallel joint further comprises a first pair of drive cables and a second pair of drive cables, the distal ends of the first and second pairs of cables being connected to the second distal joint.

12. The surgical robot of claim 11, wherein the first pair of drive cables and the second pair of drive cables intersect in the intermediate section.

13. The surgical robot of claim 11, wherein at least one drive cable of the first pair of drive cables and one cable of the pair of constant length cables are formed as one cable.

14. The surgical robot of claim 10, wherein the first drive means comprises a first drive unit and a second drive unit; in response to the first control signal, the first drive unit and the second drive unit move in opposite directions, thereby traversing the end device.

15. The surgical robot of claim 14, wherein the first drive unit and the second drive unit move in the same direction in response to the second control signal to longitudinally move the end device.

16. A surgical robot, the surgical robot comprising:

an instrument comprising a long axis, a parallel joint, and an end device, the parallel joint being connected between the long axis and the end device;

a first drive unit and a second drive unit, the first and second drive units coupled to the instrument;

a control system coupled to the first drive unit and the second drive unit, the control system configured to send a first control signal or a second control signal to the first drive unit and the second drive unit;

in response to the first control signal, the first drive unit and the second drive unit move in the same direction, thereby driving the parallel articulation to longitudinally move the end device;

In response to the second control signal, the first drive unit and the second drive unit move in opposite directions, thereby driving the parallel articulation to traverse the end device.

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