CN117838313A - Driving device of medical robot and catheter robot - Google Patents

Abstract

Embodiments of the present application provide a driving device of a medical robot and a catheter robot, the driving device including a plurality of motor assemblies configured to drive medical instruments of the medical robot; a plurality of output coupling assemblies configured to engage a plurality of input coupling discs of the medical instrument, and each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies; a plurality of sensor assemblies, a first sensor assembly of the plurality of sensor assemblies being connected to a first coupling assembly of the plurality of output coupling assemblies by a gear assembly, the first sensor assembly being configured to detect a rotational orientation of the first coupling assembly.

Description

Driving device of medical robot and catheter robot

Technical Field

The present application relates to the medical field, and in particular, to a drive device for a medical robot and a catheter robot.

Background

Minimally invasive medical technology refers to a medical mode of performing surgery or performing biopsy inside a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive medical technology has the advantages of small wound, light pain, quick recovery, less discomfort of patients, less harmful side effects and the like.

Such minimally invasive medical techniques may be performed through natural orifices or surgical incisions in the patient's anatomy to allow the medical instrument to reach the target tissue location under the control of a controller. Minimally invasive medical robotic systems typically include a medical instrument, which is typically a flexible and/or steerable elongate device, that is capable of being inserted into an anatomic through-hole and navigated toward a target region within a patient's anatomy. Whereas control of the medical instrument involves advancement, retraction, bending steering, etc., wherein the bending steering is primarily by the drive means (e.g. motor) of the manipulator apparatus controlling the rotation of the transmission of the catheter instrument.

When the medical instrument is used as a consumable, the medical instrument is generally detachably connected with a driving device of the manipulator device, and after the medical instrument is mounted on the driving device, the medical instrument and the driving device are combined, so that pose information of the medical instrument can be accurately acquired, and no better solution exists at present.

Disclosure of Invention

Based on this, the present application provides a driving device of a medical robot, which includes:

a plurality of motor assemblies configured to drive medical instruments of the medical robot;

a plurality of output coupling assemblies configured to engage a plurality of input coupling discs of the medical instrument, and each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies;

A plurality of sensor assemblies, a first sensor assembly of the plurality of sensor assemblies being connected to a first coupling assembly of the plurality of output coupling assemblies by a gear assembly, the first sensor assembly being configured to detect a rotational orientation of the first coupling assembly.

In a specific embodiment, the first coupling assembly includes a first output coupling disc slidably mounted on the sleeve assembly and a sleeve assembly fixedly connected to an output shaft of a first motor assembly of the plurality of motor assemblies.

In a specific embodiment, the drive means is configured to be rotatable about a first axis, and the output shaft of the first motor assembly is configured to be rotatable about a second axis, the second axis being perpendicular to the first axis.

In a specific embodiment, the first sensor assembly comprises a magnet arranged on a rotation axis configured to rotate around a third axis perpendicular to the first axis and a reading device configured to sense a magnetic field change caused by the rotation of the magnet.

In a specific embodiment, the first gear assembly includes a driving gear and a driven gear meshed with each other, the driving gear is fixedly connected with the sleeve assembly, and the first sensor assembly is mounted on the driven gear.

In a specific embodiment, any one of the driving gear and the driven gear includes an upper gear, a lower gear, and a torsion spring, the upper gear and the lower gear are coaxially disposed, and one end of the torsion spring is connected with the upper gear, and the other end is connected with the lower gear.

In a specific embodiment, the first output coupling assembly further comprises a spring, the first output coupling disc being carried by the spring, the spring providing an axial loading force for engagement of the first output coupling disc with a first input coupling disc of the plurality of input coupling discs.

In a specific embodiment, the sleeve assembly comprises a guide sleeve and a conical sleeve, the conical sleeve comprises a fastening part and a conical part, a plurality of cutting grooves are arranged on the conical part, and the guide sleeve tightens the conical sleeve simultaneously when the guide sleeve is fixed on the fastening part so that the conical part is fixed on the output shaft.

In a specific embodiment, the first output coupling disc is sleeved on the guide sleeve, and the first output coupling disc is provided with a limiting pin, and part of the limiting pin is accommodated in a sliding groove of the guide sleeve.

In a specific embodiment, the driving gear is fixedly connected with the guide sleeve.

In a specific embodiment, the drive device further comprises a detection assembly, a lower edge of the first output coupling plate being adjacent to the detection assembly when the medical instrument is mounted to the drive device and the first output coupling plate is not engaged with the first input coupling plate.

In a specific embodiment, the detection assembly includes a detection switch, and when the surgical instrument is mounted to the drive device and the first output coupling plate is not engaged with the first input coupling plate, a lower edge of the first output coupling plate abuts the detection switch to trigger the detection switch.

In a specific embodiment, a first motor assembly of the plurality of motor assemblies includes a first motor and a first gear box, an output shaft of the first motor is connected to the first gear box, and an output shaft of the first gear box is fixedly connected with the sleeve assembly.

In a specific embodiment, the driving device further includes a heat dissipation fan, the heat dissipation fan is disposed in a containing space among the plurality of motor assemblies, a circuit board assembly for driving the plurality of motor assemblies is further disposed in the containing space, and the heat dissipation fan is used for promoting the gas exchange between the containing space and the outside.

The present invention provides in a second aspect a catheter robot comprising:

a first drive device configured to drive movement of an outer catheter instrument;

a second drive device configured to drive movement of an inner catheter instrument, the inner catheter being at least partially received in and supported by the outer catheter;

each of the first and second drive means comprises a plurality of motor assemblies;

a plurality of output coupling assemblies configured to engage a plurality of input coupling discs of the inner catheter instrument or the outer catheter instrument, and each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies;

a plurality of sensor assemblies, a first sensor assembly of the plurality of sensor assemblies being connected to a first coupling assembly of the plurality of output coupling assemblies by a transmission structure, the first sensor being configured to detect a rotational orientation of the first output coupling assembly.

Drawings

FIG. 1 is a top view of an application environment of a medical robot according to one embodiment of the present application;

FIG. 2 is a side view of a catheter robot manipulator and drive device according to one embodiment of the present application;

FIG. 3A is a schematic view illustrating an internal structure of a driving device according to an embodiment of the present application;

FIG. 3B is a schematic view showing another view of the internal structure of the driving device shown in FIG. 3A;

FIG. 3C is a top view of the drive device shown in FIG. 3A;

FIG. 4A is a partial cross-sectional view of a drive device according to one embodiment of the present application, showing an air heat dissipation flow path;

FIG. 4B is a cross-sectional view perpendicular to the central axis of the drive device;

FIG. 5A is a perspective view of an upper bracket of a drive device according to one embodiment of the present application;

FIG. 5B is a cross-sectional view of a drive device according to one embodiment of the present application;

FIG. 6A is an enlarged view of a portion of the output coupling assembly attachment of the drive device shown in FIG. 3C in a cross-sectional view taken along the BB location line;

FIG. 6B is an exploded view of the structure of the output coupling disc connected to the output shaft of the motor assembly according to one embodiment of the present application;

fig. 6C is a schematic view of the catheter instrument of fig. 6A after being mounted to a drive device, but without the output coupling disc and the input coupling disc engaged.

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, and not limiting.

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, or intervening elements may also be present. When an element is referred to as being "coupled"/"coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present and may also be present as an interaction of the two elements through the signal. 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 that is distal to the surgeon during the procedure and "proximal" refers to the end that is proximal to the surgeon during the procedure. The term "plurality" as used herein includes two and more.

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 effector, which may be a surgical instrument for performing surgical procedures, such as a biopsy needle, an electrocautery, a forceps, a stapler, a cutter, an imaging device (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing the end effector with an articulating component (e.g., an articulation assembly) such that the position and orientation of the end effector can be manipulated to move with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector 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.

Fig. 1 is a simplified diagram of a teleoperational medical robotic system 100 according to some embodiments, the teleoperational medical robotic system 100 may be suitable for use in, for example, surgery, diagnosis, treatment, biopsy, or the like. As shown in fig. 1, the medical robotic system 100 includes an electronic device cart 110, a teleoperational manipulator device 120, and a medical instrument 130, the teleoperational manipulator device 120 being positioned proximate to an operating table T, the medical instrument 130 being removably mounted on the teleoperational manipulator device 120, the medical instrument 130 being configured to access a human body through a natural canal or surgical incision to perform a related surgical operation.

The teleoperational manipulator device 120 is communicatively coupled to the electronics cart 110, the electronics cart 110 including a control system 111, the input device 130 being communicatively coupled to the control system 111, the control system 111 receiving input from the input device 140 to control movement of the teleoperational manipulator device 120 and the medical instrument 130.

In one embodiment, the teleoperational medical robotic system 100 is a catheter robot, and the teleoperational manipulator device 120 of the catheter robot 100 may include a base 121, a sliding base 122 that may be vertically moved up and down with respect to the base 121, and 2 mechanical arms 123a,123b fixedly connected to the sliding base 122. The robotic arms 123a,123b may include a plurality of arm segments coupled at joints that provide the robotic arms 123a,123b with a plurality of degrees of freedom, e.g., seven degrees of freedom corresponding to seven arm segments. The distal ends of the mechanical arms 123a,123b are provided with driving devices (not shown in the figure), and the driving devices of the mechanical arms 123a,123b are used for engaging the medical apparatus 130, and the distal ends of the medical apparatus 130 are controlled to bend and steer correspondingly under the driving action of the driving devices. The mechanical arm 123a and the mechanical arm 123b may have identical or partially identical structures, the driving device of the mechanical arm 123a is used for engaging the inner catheter instrument 132 of the medical instrument 130, and the driving device of the mechanical arm 123b is used for engaging the outer catheter instrument 131 of the medical instrument 130. When the outer catheter device 131 is installed, the flexible inner catheter 1321 of the inner catheter device 132 may be inserted into the flexible outer catheter 1311 of the outer catheter device 420 after the outer catheter device 131 is installed.

In some embodiments, in some simple surgical situations, it is also possible to use only one robotic arm and one catheter instrument, e.g., teleoperated manipulator device 120 of catheter robotic system 100 has only one robotic arm 123a, and to use one inner catheter instrument 132 to biopsy a patient.

Catheter robotic system 100 also includes a sensor system 150, sensor system 150 having one or more subsystems for receiving information about the medical device 130. The subsystem may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and/or shape of the tip of the medical device 130 and/or along one or more sections of flexible catheter that may constitute the medical device 130; and/or a visualization system for capturing images from the distal end of the medical instrument 130.

The electronics cart 110 may be provided with a display system 112, a flushing system (not shown), a control system 111, etc. The display system 112 is used to display images or representations of the surgical site and medical instrument 130 generated by the subsystems of the sensor system 150. Real-time images of the surgical site and medical instrument 130 captured by the visualization system may also be displayed. Image data from imaging techniques such as Computed Tomography (CT), magnetic Resonance Imaging (MRI), optical Coherence Tomography (OCT), ultrasound, and the like may also be used to present images of the surgical site recorded preoperatively or intraoperatively. The pre-or intra-operative image data may be presented as two-, three-or four-dimensional (e.g., time-based or rate-based information) images and/or as images from models created from the pre-or intra-operative image dataset. A virtual navigation image in which the actual position of the medical instrument 130 is registered with the preoperative image may also be displayed to present a virtual image of the medical instrument 130 within the surgical site from the outside to the operator.

The control system 111 includes at least one memory and at least one computer processor. It will be appreciated that the control system 111 may be integrated in the electronic device cart 110 or the teleoperated manipulator device 120, or may be provided separately. The communication between the control system 111 and the input device 140 and the remote operation manipulator device 120 may be wired communication or wireless communication, and the wired communication may include but is not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., and the wireless communication may include but is not limited to IEEE 802.11, irDA, bluetooth, homeRF, DECT, wiFi, NB, zigbee, RFID, wireless telemetry, etc. The control system 111 may transmit one or more signals indicative of the movement of the medical instrument 130 by the drive device to move the medical instrument 130. The medical device 130 may extend to a surgical site within the body via an opening or surgical incision of a natural orifice of the patient.

Further, the control system 111 may comprise a mechanical control system (not shown) for controlling the movement of the medical instrument 130 and an image processing system (not shown), and thus may be integrated in the teleoperational manipulator device 120. The image processing system is used for virtual navigation path planning and thus may be integrated in the electronics cart 110. Of course, the subsystems of the control system 111 are not limited to the specific cases listed above, and may be reasonably set according to actual situations. The image processing system can image the surgical site by using the imaging technology based on the image of the surgical site recorded before or during the operation. Software used in conjunction with manual input may also convert the recorded images into two-or three-dimensional composite images of portions or whole anatomical organs or segments. During the virtual navigation procedure, the sensor system 150 may be used to calculate the position of the medical instrument 130 relative to the patient's anatomy, which may be used to generate external tracking images and internal virtual images of the patient's anatomy, enabling registration of the actual position of the medical instrument 130 with the preoperative images so that the virtual images of the medical instrument 130 within the surgical site may be presented to the operator from the outside.

The inner catheter instrument 132 and the outer catheter instrument 131 are generally identical in structural composition and each has an elongated, flexible inner catheter 1321 and an outer catheter 1311, wherein the outer catheter 1311 has a diameter slightly larger than the inner catheter 1321 so that the inner catheter 1321 may be passed through the outer catheter 1311 and supported by the outer catheter 1311 so that the inner catheter 1321 may reach a target site within a patient for tissue or cell sampling from the target site.

The input of the input device 140 may cause a corresponding movement of the medical instrument 130. For example, as the operator manipulates the directional shifter of the input device 140 upward or downward, the movement of the directional shifter of the input device 140 may be mapped to a corresponding pitching movement of the distal end of the medical instrument 130; when the operator manipulates the directional shifter lever of the input device 140 to move left or right, the movement of the directional shifter lever of the input device 140 can be mapped to a corresponding yaw movement of the distal end of the medical instrument 130. In this embodiment, the input device 140 may control the movement of the distal end of the medical instrument 130 through a 360 ° spatial range.

In one embodiment, a simplified schematic diagram of a portion of the structure of the robotic arm 123a is shown in fig. 2, where the inner catheter instrument 132 shown in fig. 2 is not mounted to the driving device 220, the robotic arm 123a includes a plurality of links 211, 212, 213, 214, each link 211, 212, 213, 214 being pivotally connected to each other, the driving device 220 being pivotally connected to the link 214 by a joint, the driving device 220 being rotatable about a first axis AA extending through the driving device 220, thereby adjusting the position and posture of the instrument 132. The driving device 220 includes a non-airtight housing 221, and a plurality of side vent holes 222 for exchanging gas between the inside of the driving device 220 and the outside are provided on the non-airtight housing 221. After the inner catheter instrument 132 is coupled to the drive device 220, movement of the robotic arm 123a changes the position and/or posture of the inner catheter instrument 132.

In one embodiment, in the context of using inner catheter instrument 132 and outer catheter instrument 131, inner catheter instrument 132 is removably mounted to drive device 220 and outer catheter instrument 131 is removably mounted to another drive device (not shown) with first axis AA of drive device 220 parallel to first axis AA of the other drive device to minimize friction as inner catheter 1321 moves within outer catheter 1311.

In one embodiment, as shown in fig. 3A and 3B, fig. 3A and 3B show an internal structure of the driving device 220, the driving device 220 includes a plurality of motor assemblies 231, 232, 233, 234, a first accommodating space S1 is formed between the plurality of motor assemblies 231, 232, 233, 234 and the lower housing 224 located at the bottom of the housing 221, and the driving device 220 further includes a circuit board assembly 240, a first circuit board 241 of the circuit board assembly 240 is accommodated in the first accommodating space S1, and a plane on which the first circuit board 241 is located is parallel to the first axis AA. In one embodiment, the lower housing 224 has a bottom vent hole through which the first accommodating space S1 can be in gas communication with the outside to facilitate heat dissipation of the circuit board assembly 240.

In one embodiment, a second receiving space S2 is formed between the plurality of motor assemblies 231, 232, 233, 234, the dotted line in fig. 3C shows an outline of the second receiving space S2, the second receiving space including a first gap space S21a between the first motor assembly 231 and the second motor assembly 232, a second gap space S21b between the second motor assembly 232 and the third motor assembly 233, a third gap space S21C between the third motor assembly 233 and the fourth motor assembly 234, a fourth gap space S21d between the fourth motor assembly 234 and the first motor assembly 231, and an intermediate space S21e located at an intermediate region of the four motor assemblies.

In one embodiment, the second circuit board 242 of the circuit board assembly 240 is at least partially received in the first interstitial space S21a and partially received in the intermediate space S21 e; the third circuit board 243 of the circuit board assembly 240 is at least partially accommodated in the second gap space S21b and is partially accommodated in the intermediate space S21 e; the fourth circuit board 244 of the circuit board assembly 240 is at least partially accommodated in the third gap space S21c and partially accommodated in the intermediate space S21 e; the fifth circuit 245 is at least partially accommodated in the fourth gap S21d and partially accommodated in the intermediate space S21 e. In one embodiment, the first axis AA extends through at least two of the second through fifth circuit boards.

In one embodiment, the second circuit board 242 is used to drive the movement of the first motor assembly 231, the third circuit board 243 is used to drive the movement of the second motor assembly 232, the fourth circuit board 244 is used to drive the movement of the third motor assembly 233, and the fifth circuit board 245 is used to drive the movement of the fourth motor assembly 234.

It will be appreciated that in some embodiments, the second circuit board 242 may also drive the second motor assembly 232, and so on. In summary, each of the second to fifth circuit boards individually drives one motor assembly, and the second to fifth circuit boards are always configured to drive the motor assembly adjacent thereto, for example, since the second circuit board 242 is accommodated in the first gap space S21a, the first gap space S21a is located between the first motor assembly 231 and the second motor assembly 232, the motor assemblies adjacent to the second circuit board 242 are the first motor assembly 231 and the second motor assembly 232, and thus the second circuit board 242 is configured to drive the first motor assembly 231 or the second drive motor 232 assembly.

In one embodiment, one of the second to fifth circuit boards is disposed perpendicular to the circuit board in the adjacent gap space, and is disposed parallel to the circuit board in the opposite gap space, for example, the adjacent gap space of the second circuit board 242 is the second gap space S21b and the fourth gap space S21d, and the opposite gap space is the third gap space S21c, so that the second circuit board 242 is disposed perpendicular to the third circuit board 243 in the second gap space S21b and the fifth circuit board 245 in the fourth gap space S21d, and the second circuit board 242 is disposed parallel to the fourth circuit board 244 in the third gap S21 c. Other circuit boards are similar and will not be described in detail herein. In this way, the wiring between the circuit board assembly 240 and the motor assembly is reduced, and the space is fully utilized, so that the structure of the driving device 220 is more compact.

In one embodiment, the second circuit board 242 is mounted on the first circuit board 241 at an angle perpendicular to the first circuit board 241, the second circuit board 242 and the first circuit board 241 are electrically connected through the electrical connection terminal 250, the electrical connection terminal 250 includes the first connection terminal 251 provided on the second circuit board 242 and the second connection terminal 252 provided on the first circuit board 241, and after the first connection terminal 251 and the second connection terminal 252 are connected, the electronic components on the first circuit board 241 and the second circuit board 242 can transmit signals to each other, and the electrical connection terminal 250 not only plays a role of electrically connecting the first circuit board 241 and the second circuit board 242, but also plays a role of fixing the second circuit board 242 to the first circuit board 241. Similarly, the third, fourth, and fifth circuit boards 243,244,245 are also mounted to the first circuit board 241 at an angle perpendicular to the first circuit board 241, and the third, fourth, and fifth circuit boards 243,244,245 are electrically connected to the first circuit board 241.

In one embodiment, as shown in fig. 4A, the driving device 220 further includes a heat dissipating device disposed in the intermediate space S21e, and in one embodiment, the heat dissipating device is a heat dissipating fan 270 for facilitating air exchange between the internal space of the driving device 220 and the outside, so as to remove heat inside the driving device 220. The heat radiation fan 270 and the circuit board assembly 240 are disposed in such a manner that heat generated from the circuit board assembly 240 can be effectively radiated while ensuring compactness of the driving device 240.

In one embodiment, the cooling fan 270 sucks air/gas from the bottom up and discharges the air to the outside, and the air flows between the inside of the driving device 220 and the outside in a flow path R by the cooling fan 270, thereby taking heat inside the driving device 220. The flow path R is a flow path in which the outside air enters the first accommodation space S1 of the driving device 220 from the bottom ventilation hole 223 of the lower case 224 by the suction of the cooling fan 270, flows upward from below, passes through the second accommodation space S2, and is discharged to the outside from the side ventilation hole 222 by the cooling fan 270.

Since the second, third, fourth, and fifth circuit boards 242,243,244,245 are used to drive the plurality of motor assemblies 213,232,233,234, the second, third, fourth, and fifth circuit boards 242,243,244,245 become the main heat sources of the driving device 220. If the heat dissipation fan 270 promotes the air to flow in the opposite direction to the flow path R, a large amount of air carrying heat may be retained in the first and second accommodating spaces S2 and S2 due to the blocking of the first circuit board 241, which is disadvantageous for heat dissipation of the driving device 220. As described above, the first circuit board 241 is located upstream of the second, third, fourth, and fifth circuit boards 242,243,244,245 in the flow path R, the heat dissipation fan 270 is located downstream of the second, third, fourth, and fifth circuit boards 242,243,244,245 in the flow path R, the first circuit board 241 is not blocked, and air flows along the flow path R, so that the air can smoothly take away the heat generated by the second, third, fourth, and fifth circuit boards 242,243,244,245, and heat dissipation to the driving device 220 is promoted. In one embodiment, the periphery of the first circuit board 241 is further provided with a notch 241c, and the notch 241c facilitates the air communication between the first accommodating space S1 and the second accommodating space S2, so as to further reduce the blocking effect of the first circuit board 241 on the air flow.

In one embodiment, the heat dissipation fan 270 may not be disposed in the intermediate space S21e of the first accommodating space S1, and may be disposed at other places, as long as the heat dissipation fan 270 is ensured to generate the flow path R in the driving device 220.

In one embodiment, as depicted in fig. 4B, fig. 4B is a cross-sectional view (top view angle) perpendicular to the central axis of the drive device 220, the central axis of the drive device 220 being perpendicular to the page in fig. 4B and passing through the center of the drive device 220. Each of the second, third, fourth and fifth circuit boards 242,243,244,245 includes a driver for driving its corresponding motor assembly, and the first circuit board 242 is exemplified by the first circuit board 242, the first circuit board 242 includes a PCB 242a and a driver 242b for driving the first motor assembly 231, the driver 242b is mounted on the PCB 242a, an upper surface 242b 'of the driver 242b is away from the PCB, a lower surface 242b "thereof is adjacent to the PCB, the PCB 242a and the driver 242b are disposed obliquely with respect to a center plane P1 of the driving device 220, and the center plane P1 passes through a center axis of the driving device 220 and penetrates upper and lower surfaces 242b',242b of the driver 242 b. Because the driver 242b is a main heating element of the first circuit board 242, the PCB 242a and the driver 242b are obliquely arranged, so that the volume of the first circuit board 242 is larger, and more electronic components can be accommodated in the first circuit board 242, and in addition, more parts of the driver 242b can be accommodated in the intermediate space S21e, and the heat dissipation fan 270 is positioned in the intermediate space S21e, so that the driver 242b is positioned in a central flow path in the heat dissipation flow path R, thereby being more beneficial to heat dissipation of the driver 242 b.

The driver 243b of the third circuit board 243 is also disposed obliquely with respect to the center plane P1, and the center plane P1 also penetrates the driver 244b of the fourth circuit board 244. The driver 244b of the fourth circuit board 244 and the driver 245b of the fifth circuit board 245 are disposed obliquely with respect to the center plane P2, wherein the center plane P2 is perpendicular to the center plane P1, and the center plane P2 penetrates the upper and lower surfaces of the driver 243b of the third circuit board 243 and the driver 245b of the fifth circuit board 245, so that the drivers 242b, 244b,245b are all as close to the center flow path in the heat dissipation flow path R as possible, thereby improving the heat dissipation efficiency of the entire driving device 220. In one embodiment, the first axis AA is located on the center plane P1.

In one embodiment, as shown in fig. 4A and 5A, the driving device 220 further includes an upper bracket 280, which includes a base 281 and a plurality of struts 282, the plurality of struts 282 extending from the base in a direction of the upper housing 225, the plurality of struts 281 being fixed to the housing 221, a ventilation hole 285 being provided in the middle of the base 281, the heat dissipation fan 270 being fixed to the base 281, and sucking air from the second accommodating space S2 through the ventilation hole 285. The base 281 has a plurality of mounting plates 283 at a lower portion thereof, and the second, third, fourth, and fifth circuit boards 242,243,244,245 have upper portions fixedly coupled to the plurality of mounting plates 283.

In one embodiment, as shown in fig. 5B, the driving device 220 further includes a lower bracket 290, the lower bracket 290 is fixed on the first circuit board 241, the lower bracket 290 includes a plurality of fixing plates, the first fixing plate 291 of the plurality of fixing plates is fixedly connected with the second circuit board 242, the second fixing plate 292 is fixedly connected with the third circuit board 243, the third fixing plate 293 is fixedly connected with the fourth circuit board 244, and the fourth fixing plate 294 is fixedly connected with the fifth circuit board 245, so that the second, third, fourth and fifth circuit boards 242,243,244,245 are fixed on the first circuit board 241 through the bracket 290.

Referring again to fig. 3b,3c, in one embodiment, the drive apparatus 220 further includes a plurality of output coupling assemblies 261,262,263,264, the plurality of output coupling assemblies 261,262,263,264 configured to engage a plurality of input coupling discs (not shown) of the medical device, each of the plurality of output coupling assemblies 261,262,263,264 coupled to a corresponding one of the plurality of motor assemblies 231,232,233, 234. For example, a first output coupling assembly 261 of the plurality of output coupling assemblies is coupled with a first motor assembly 231 of the plurality of motor assemblies, a second output coupling assembly 262 is coupled with a second motor assembly 232, a third output coupling assembly 263 is coupled with a third motor assembly 233, and a fourth output coupling assembly 264 is coupled with a fourth motor assembly 234.

Each output coupling assembly is similar in structure, with the first output coupling assembly 261 being taken as an example of the structure of each output coupling assembly, fig. 6A is an enlarged view of a portion of the BB cross-section of fig. 3C, and as shown in fig. 6A, the output coupling plate 2611 of the first output coupling assembly 261 is configured to engage with an input coupling plate of a medical device, the output coupling plate 2611 is slidably connected with the sleeve assembly 2612 of the first output coupling assembly 261, the sleeve assembly 2612 is sleeved on the output shaft 2311 of the first motor assembly 231, the output shaft 2311 rotates about a second axis AB, the second axis AB is perpendicular to the first axis AA, and the output shaft 2311 may be the output shaft of a motor of the first motor assembly 231 or the output shaft of a gear box of the first motor assembly 231. A spring 2615 is also provided between the output coupling plate 2611 and the output shaft 2311 of the first motor assembly 231, the spring 2615 being in a compressed state to provide an axial loading force for engagement of the output coupling plate 2611 with an input coupling plate of a medical instrument.

In one embodiment, as shown in fig. 6B, the sleeve assembly 2162 includes a guide sleeve 2613 and a tapered sleeve 2614, the tapered sleeve 2614 includes a fastening portion 2614a and a tapered portion 2614B, the fastening portion 2614a is configured to be fixedly coupled to the guide sleeve 2613, a plurality of slots 2614c are provided in the tapered portion 2614B, and the guide sleeve 2613 is then fastened to the fastening portion 2614a of the tapered sleeve 2614 after the tapered portion 2614B is fitted over the output shaft 2311 of the first motor assembly 231. For example, the fastening portion 2614a is externally threaded, the guide sleeve 2613 has an internal thread, the guide sleeve 2613 is fixed to the fastening portion 2614a by screw fitting, the length of the guide sleeve 2613 is longer than that of the fastening portion 2614a, and the guide sleeve 2613 gradually tightens the tapered portion 2614b in the process of gradually tightening the guide sleeve 2613 to the fastening portion 2614a so that the tapered portion 2614b holds the output shaft 2311, and thus the tapered portion 2614b is fixed to the output shaft 2311, so that the volume of the connection structure between the output coupling disc 2611 and the output shaft 2311 can be reduced, and damage to the motor assembly 231 is not caused.

In one embodiment, the first output coupling plate assembly 261 further includes a limit stop 2616, the limit stop 2616 including a limit pin 2616a provided on the output coupling plate 2611 and a corresponding slide channel 2616b provided on the guide sleeve 2163 to receive the limit pin 2616a, the limit pin 2616a being blocked by both ends of the slide channel 2616b when the output coupling plate 2611 slides on the guide sleeve 2613, thereby defining a maximum distance for the output coupling plate 2611 to slide on the guide sleeve 2613. In one embodiment, the limit pins 2616a are fixed in the fixing holes 2611a on the coupling tray 2611, the fixing holes 2611a being disposed between the lower edge 2617 and the upper surface 2611b of the coupling tray 2611.

In one embodiment, the first output coupling assembly 261 further includes a detection switch 2711, as shown in fig. 6C, when a medical instrument (not shown) is mounted to the drive device 220 and the input coupling plate of the medical instrument is not successfully engaged with the output coupling plate 2611, the output coupling plate 2611 is pressed against the input coupling plate, such that the output coupling plate 2611 slides down the guide sleeve 2163 from above such that a lower edge 2617 of the output coupling plate 2611 presses against the detection switch 2711, and after the control system detects the state of the detection switch 2711 at this time, it is determined that the output coupling plate 2611 is not successfully engaged with the input coupling plate of the medical instrument at this time. At this point, the control system optionally controls the first motor assembly 231 to continue to rotate, which in turn causes the output coupling plate 2611 to further rotate in an attempt to engage with the input coupling plate.

When the medical instrument is mounted to the driving device 220 and the input coupling plate of the medical instrument is not successfully engaged with the output coupling plate 2611, the spring 2615 is further compressed, and after the input coupling plate of the medical instrument is successfully engaged with the output coupling plate 2611, the spring 2615 elastically returns so that the output coupling plate 2611 slides from below to above, so that the lower edge 2617 of the output coupling plate 2611 is away from the detection switch 2711, and the control system detects the state of the detection switch 2711 at this time, determining that the output coupling plate 2611 has been successfully engaged with the input coupling plate of the medical instrument.

In some embodiments, the detection switch 2711 may be another detection element, such as a distance sensor, which may detect the distance between the lower edge 2617 of the output coupling plate 2611, and when the lower edge 2617 is detected to be close to the distance sensor after the medical instrument is mounted on the driving device 220, it is determined that the medical instrument is not successfully engaged with the driving device 220, and otherwise, is successfully engaged.

Referring again to fig. 6A, in one embodiment, the drive device 220 further includes a sensor assembly 2712, the sensor assembly 2712 being configured to detect a rotational orientation of the output coupling plate 2611. The sensor assembly 2712 includes a reading device 2713 and a magnet 2714, the magnet 2714 being rotatably connected to the housing 221 by a rotatable shaft 2715, the rotatable shaft 2715 being connected to the first output coupling disc assembly 261 by a transmission mechanism, said rotatable shaft 2715 being rotatable about a third axis AC, said third axis AC being perpendicular to said first axis AA. As the first output coupling plate assembly 261 rotates, the magnet 2714 follows the rotation of the output coupling plate 2611, and the change in magnetic field generated by the rotation of the reading device 2713 by the reading magnet 2714 yields information on the rotational orientation of the output coupling plate 2611.

In one embodiment, sensor assembly 2712 is an absolute value encoder, and after each successful engagement of a medical instrument with drive device 220, sensor assembly 2712 is capable of acquiring zero position information for the input coupling plate of each different medical instrument, thereby enabling accurate control of the pose of the medical instrument.

In one embodiment, a receiving element receiving the signal transmitted from the sensor assembly 2712 and/or a motion control unit controlling the cooling fan 270 are provided on the first circuit board 241.

In one embodiment, the rotating shaft 2715 is rotatably coupled to the output coupling plate 2611 by a gear assembly comprising a driving gear 2716 and a driven gear 2717, the driving gear 2716 and the driven gear 2717 being meshed with each other, wherein the driving gear 2716 is fixedly coupled to the sleeve assembly 2612 and the driven gear 2717 is fixedly coupled to the rotating shaft 2715. In one embodiment, the drive gear 2716 is fixedly coupled to the guide sleeve 2613 of the sleeve assembly 2612. The output coupling disk 261 rotates to drive the driving gear 2716 to rotate, the driving gear 2716 drives the driven gear 2717 to rotate, and the driven gear 2717 rotates to drive the rotating shaft 2715 to rotate. In contrast to the sensor assembly 2712 being indirectly connected to the output coupling assembly 261 via a longer drive chain, such as the sensor assembly being connected to the gearbox of the first motor assembly 231, the sensor assembly does not accurately reflect the rotational orientation of the output coupling assembly 261 due to the backlash (backlash) that exists between the gears of the gearbox. In this embodiment, the sensor assembly 2712 is directly connected with the output coupling assembly 261 in a rotating manner by a short transmission chain, so that the rotation position of the output coupling plate 2611 can be detected more accurately, and the position and posture information of the end of the catheter instrument can be calculated accurately by the rotation position of the output coupling plate 2611.

In one embodiment, driven gears 2717 include an upper gear 2717a, a lower gear 2717b, and a torsion spring 2717c, with upper gear 2717a and lower gear 2717b being rotatable relative to each other. The torsion spring 2717c is sleeved on the rotating shaft 2715, one end of the torsion spring 2717c is fixedly connected with the upper gear 2717a, the other end of the torsion spring 2717c is fixedly connected with the lower gear 2717b, and under the torsion force of the torsion spring 2717c, the gap between the driving gear 2716 and the driven gear 2717 when being meshed is eliminated, so that no gap exists between a transmission chain between the output coupling assembly 261 and the magnet 2714, and the sensor assembly 2712 can more accurately detect the rotation direction of the output coupling disc 261.

In one embodiment, the shaft 2715 is coupled to the output coupling assembly 261 by a belt.

In one embodiment, a magnet is provided on the periphery of output coupling plate 2611, which magnet follows the rotation of output coupling plate 2611 as output coupling plate 2611 rotates, and reading device 2712 reads the magnetic field changes caused by the rotation of the magnet, thereby detecting the rotational orientation of output coupling plate 2611.

In one embodiment, an encoder is provided inside the first motor assembly 231 for detecting rotation of the motor in the first motor assembly 231 to provide rotation data for control of the first motor assembly 231. The sensor assembly 2712 and the first motor assembly 231 together acquire the terminal attitude information of the medical instrument and provide the terminal attitude information for the control system, so that the accurate control of the pose of the medical instrument is realized.

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 (15)

1. A drive device for a medical robot, the drive device comprising:

a plurality of motor assemblies configured to drive medical instruments of the medical robot;

a plurality of output coupling assemblies configured to engage a plurality of input coupling discs of the medical instrument, and each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies;

A plurality of sensor assemblies, a first sensor assembly of the plurality of sensor assemblies being connected to a first coupling assembly of the plurality of output coupling assemblies by a gear assembly, the first sensor assembly being configured to detect a rotational orientation of the first coupling assembly.

2. The drive of claim 1, wherein the first coupling assembly includes a first output coupling disc slidably mounted on the sleeve assembly and a sleeve assembly fixedly connected to an output shaft of a first motor assembly of the plurality of motor assemblies.

3. The drive of claim 2, wherein the drive is configured to be rotatable about a first axis, and wherein the output shaft of the first motor assembly is configured to rotate about a second axis, the second axis being perpendicular to the first axis.

4. A drive arrangement as claimed in claim 3, wherein the first sensor assembly comprises a magnet arranged on a rotational axis configured to rotate about a third axis perpendicular to the first axis and a reading device configured to sense a change in magnetic field caused by rotation of the magnet.

5. The drive of claim 2, wherein the first gear assembly includes a driving gear and a driven gear that mesh with each other, the driving gear being fixedly connected to the sleeve assembly, the first sensor assembly being mounted on the driven gear.

6. The driving device according to claim 5, wherein any one of the driving gear and the driven gear includes an upper gear, a lower gear, and a torsion spring, the upper gear and the lower gear being coaxially disposed, one end of the torsion spring being connected to the upper gear, and the other end being connected to the lower gear.

7. The drive of claim 5, wherein the first output coupling assembly further comprises a spring, the first output coupling plate being carried by the spring, the spring providing an axial loading force for engagement of the first output coupling plate with a first input coupling plate of the plurality of input coupling plates.

8. The drive of claim 5, wherein the sleeve assembly includes a guide sleeve and a tapered sleeve, the tapered sleeve including a fastening portion and a tapered portion, the tapered portion having a plurality of slots therein, the guide sleeve simultaneously tightening the tapered sleeve during the securing of the guide sleeve to the fastening portion to secure the tapered portion to the output shaft.

9. The drive of claim 8, wherein the first output coupling disc is sleeved on the guide sleeve, the first output coupling disc having a stop pin, a portion of the stop pin being received in a slide slot of the guide sleeve.

10. The drive of claim 9, wherein the drive gear is fixedly connected to the guide sleeve.

11. The drive of claim 7, further comprising a detection assembly, wherein a lower edge of the first output coupling plate is proximate the detection assembly when the medical instrument is mounted to the drive and the first output coupling plate is not engaged with the first input coupling plate.

12. The drive of claim 11, wherein the detection assembly includes a detection switch, and wherein a lower edge of the first output coupling plate abuts the detection switch to trigger the detection switch when the surgical instrument is mounted to the drive and the first output coupling plate is not engaged with the first input coupling plate.

13. The drive of claim 1, wherein a first motor assembly of the plurality of motor assemblies comprises a first motor and a first gear box, an output shaft of the first motor being connected to the first gear box, an output shaft of the first gear box being fixedly connected to the sleeve assembly.

14. The driving device according to claim 1, further comprising a heat radiation fan disposed in a housing space among the plurality of motor assemblies, the housing space further having a circuit board assembly for driving the plurality of motor assemblies disposed therein, the heat radiation fan being for facilitating air exchange between the housing space and the outside.

15. A catheter robot, comprising:

a first drive device configured to drive movement of an outer catheter instrument;

a second drive device configured to drive movement of an inner catheter instrument, the inner catheter being at least partially received in and supported by the outer catheter;

each of the first and second drive means comprises

A plurality of motor assemblies;

a plurality of output coupling assemblies configured to engage a plurality of input coupling discs of the inner catheter instrument or the outer catheter instrument, and each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies;

a plurality of sensor assemblies, a first sensor assembly of the plurality of sensor assemblies being connected to a first coupling assembly of the plurality of output coupling assemblies by a transmission structure, the first sensor being configured to detect a rotational orientation of the first output coupling assembly.