CN211271127U - Fixing device of laparoscopic surgery robot - Google Patents

Abstract

The utility model provides a fixing device of a laparoscopic surgery robot, which comprises a movable frame. The movable frame is used for connecting the surgical robot with the universal joint, the telescopic piece is arranged on the movable frame and used for connecting the universal joint, and the dragging of the skin when the surgical robot with the universal joint operates is reduced. The utility model discloses utilize universal joint's three-dimensional rotation ability to simplify operation robot and controlling means's structure, promoted operation robot's portability and operability.

Description

Fixing device of laparoscopic surgery robot

Technical Field

The utility model relates to a surgical robot system, concretely relates to fixing device of laparoscopic surgery robot.

Background

With advances in technology, more and more minimally invasive surgical procedures are beginning to use surgical robots. In the minimally invasive surgery, surgical instruments enter a body through small incisions fixed on the body surface to complete the surgery, and the surgical instruments are required to do fixed-point motion at the incisions in view of the restriction of the body surface incisions and the surgery safety of patients. At present, the following three schemes are adopted to realize the fixed point movement of the surgical instrument.

Firstly, a passive joint: the surgical instrument moves around the incision indirectly through the joint movement at the front end of the kinematic chain, and the fixed-point movement is ensured by the reaction force of the body surface to the surgical instrument in the movement process. The method can ensure the safety of the patient and cannot easily adjust the posture of the surgical instrument.

II, mechanical structure: the motion characteristics through mechanical structure realize the fixed point motion, can guarantee that the mechanism of fixed point motion has: 1. the arc track mechanism can ensure the fixed-point motion of the surgical instrument as long as the body surface incision of the patient is positioned at the circle center of the arc track, but the driving problem of the mechanism is not easy to solve.

2. The direct shaft driving mechanism can realize fixed-point motion only by enabling the body surface incision to be positioned on the driving axis, but can only realize fixed-point motion in one swinging direction.

3. The composite parallel four-bar mechanism realizes fixed-point motion by utilizing the superposition motion of two parallel four bars, has higher requirement on processing precision, is difficult to realize, has larger volume and is not beneficial to surgical operation.

Thirdly, active control: the medical robot is realized by software control of the robot joints, fixed-point motion can be realized only when the number of the robot joints is more than 4, the control mode requires that the motion chain of the medical robot is longer, the number of the required driving joints is more, and the joint motion is controlled by an algorithm to realize fixed-point motion at the incision.

The existing DaVinci robot is the minimally invasive robot which is most successful in commercialization and clinical practice in the world, an open-loop parallelogram telecentric positioning mechanism adopted by the robot is used for realizing a parallelogram mechanism by means of steel belt synchronous constraint, and the mechanism has the defect that a telecentric positioning point needs to be searched by means of a device during assembly. The passive arm is integrated by a mechanical arm based on a mobile platform, and the mode has the defects that the whole mechanical system is large in size, the passive arm is required to have four degrees of freedom for preoperative adjustment, so that the cantilever beam is long, and the overall rigidity of the robot is reduced. Meanwhile, due to the patent barriers in the aspect of the da vinci minimally invasive robot, most of the existing surgical instrument devices are directly driven by motors, so that the driving motors are often arranged on the upper portion of the platform, the heads and feet are light, the driving torque of joints is increased, and the mechanical arm system is easy to vibrate.

Therefore, the research and development of the novel surgical robot fixing device have important significance for the development of the field of surgical robots in China.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides a surgical robot based on ball and socket joint and tactile feedback and a control device thereof.

The technical scheme is as follows: in order to solve the technical problem, the utility model provides a fixing device of laparoscopic surgery robot, its characterized in that: the device comprises a movable frame, a positioning device and a control device, wherein the movable frame is used for connecting a surgical robot with a universal joint; the movable frame is provided with a telescopic piece, and the telescopic piece is used for being connected with the universal joint.

Specifically, the movable frame includes the stereoplasm frame, be equipped with the mounting on the frame, the mounting is used for connecting the extensible member. Preferably, the fixing member is a sleeve.

Specifically, the movable frame is mounted on a bracket or adhered on the abdominal wall of an operator. The bracket is fixed on the wall of an operating bed or a cart or an operating room. Preferably, the support is fixed to the cart. Preferably, the movable frame is provided with a medical sterile adhesive sticker.

In particular, the telescopic member is a spring or an elastic column or an elastic membrane. A metal spring is preferred.

Specifically, the telescopic part is a spring telescopic rod or an electric telescopic rod. Preferably a spring telescopic rod.

Specifically, the universal joint comprises a square shell or a square outer frame, and the shell or the outer frame is in sliding fit with the telescopic piece.

Specifically, a sliding groove or a sliding rail is arranged on the housing or the outer frame, and a sliding block matched with the sliding groove or the sliding rail is arranged on the telescopic piece.

In particular, the telescopic members are equally distributed around the surgical robot.

Specifically, the movable frames are provided with connecting pieces, and two or more movable frames are connected with each other through the connecting pieces.

Has the advantages that:

1. is simple and portable. Instead of a complicated mechanical arm.

2. Simple structure, installation, debugging are simple. The control method has the advantages of few components needing to be controlled, simple system, few faults and easy maintenance. Good economical efficiency and reduces the economic burden of patients.

3. The layout is flexible. The traditional surgical robot is only provided with mechanical arms below 4, the utility model discloses can arrange more universal joint surgical robots as required, accomplish the operation at a plurality of positions simultaneously by a plurality of doctors.

4. The skin dragging of the robot with the universal joint during operation is reduced.

In addition to the technical problems addressed by the present invention, the technical features that constitute the technical solutions, and the advantages brought by the technical features of these technical solutions. To make the objects, technical solutions and advantages of the present invention clearer, the drawings in the embodiments of the present invention will be combined below to make clearer and more complete descriptions of other technical problems, technical solutions and advantages brought by these technical features that the present invention can solve, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Drawings

Fig. 1 is a schematic view of a ball joint robot according to a first embodiment in use;

FIG. 2 is a schematic structural view of a ball joint according to the first embodiment;

FIG. 3 is a schematic view of the internal structure of the ball joint according to the first embodiment

FIG. 4 is a schematic structural view of a puncture channel tube penetrating a ball joint according to the first embodiment;

FIG. 5 is a schematic illustration of the ball and socket joint deflected in the joint fixation device according to one embodiment;

FIG. 6 is a schematic structural view of a ball joint connected by a telescopic rod according to the second embodiment;

FIG. 7 is a schematic view showing the change of the position of each telescopic rod after the ball and socket joint is deflected in the second embodiment;

FIG. 8 is a schematic structural view showing three joint fixtures of the third embodiment fixed in series;

FIG. 9 is a schematic structural diagram of a robot with a double-ring universal joint according to a fourth embodiment;

FIG. 10 is a schematic diagram of the internal structure of a robot with a double-ring gimbal according to a fourth embodiment;

FIG. 11 is a schematic structural view showing two joint fixtures fixed in series according to the fourth embodiment;

FIG. 12 is a schematic structural view of a ball-and-socket joint robot with a smooth lateral surface according to the fifth embodiment.

Wherein: wherein: 1-ball-and-socket joint, 2-puncture channel tube, 3-surgical robot fixing device, 4-robot arm, 5-driving component, 6-telescopic rod, 7-fixing sleeve and 8-connecting rod

11-spherical part, 12-spherical part through hole, 13-joint shell, 14-slide rail, 15-slide block

31-a movable frame, 32-a spring, 33-a support rod, 34-a support frame, 35-a fixed frame,

41-inner ring, 42-outer ring, 43-inner ring rotation axis, 44-outer ring rotation axis, 45-inner ring drive assembly, 46-outer ring drive assembly.

Detailed Description

Example one

As shown in fig. 1 to 3, a movable frame 31 is fixed above the patient and is flexibly connected to the ball joint 1 by a spring 32. The puncture channel tube 2 passes through the ball joint 1 and then passes through the abdominal wall to enter the abdominal cavity. The robot arm 4 enters the abdominal cavity through the puncture channel tube 2. The ball-and-socket joint 1 consists of a ball part 11 and a joint shell 13, wherein the joint shell 13 is provided with a circular opening, and the diameter of the opening circle is smaller than that of the ball part 11. The joint shell 13 is formed by involution of two symmetrical parts, and after involution, the spherical piece 11 is clamped in the joint shell 13 and is clamped by four symmetrically arranged driving components 5 fixed inside. The drive assembly 5 can drive the spherical element 11 to rotate about its spherical center.

The ball joint 1 is fixed in a circular movable frame 31 by springs 32, and four springs 32 are equidistantly distributed around the ball joint 1. The movable frame 31 is fixed on a fixed frame 35 beside the operating bed by a support bar 33 and a support frame 34. The mount 35 is mounted on the floor of the operating room. Other mounting arrangements are possible, including those in the form of crossbars, uprights and tables along fixed slides, on tables, and suspended ceilings above the patient. The inflated abdominal wall is flat and lacks elasticity, and the movable frame 31 can be adhered to the now-hardened abdominal wall. The present invention is not limited to this coupling mode.

As shown in FIG. 4, the ball-shaped member 11 has a through hole in the center thereof through which the puncture channel tube 2 passes, and the puncture channel tube 2 is provided with a through hole inside the ball-shaped member 11. The robot arm 4 penetrates into the puncture channel tube 2 to enter the abdominal cavity, is clamped by the driving component 5 in the spherical part 11 when passing through the through hole in the tube wall of the puncture channel tube 2, and can move back and forth relative to the spherical part 11 after being driven by the driving component 5.

In the endoscopic surgery, the robot arm 4 enters a body cavity through a puncture in the skin of a patient and rotates around the puncture. Endoscopic surgery therefore requires that the robotic arm 4 be rotated about the skin piercing opening while being rotated about the center of the spherical element 11, the two center points being separated by a distance at least as great as the radius of the spherical element 11. Unnecessary damage to the patient's skin may occur when the robot arm 4 rotates, and the skin tension may also affect the accuracy of the rotation of the spherical element 11. In order to solve this problem, the ball joint 1 is coupled to the movable frame 31 via the suspension spring 32, and the ball joint 1 is movable in the movable frame 31, so that the robot arm 4 can easily rotate around the skin puncture.

As shown in fig. 5, the center point of the rotation of the imaginary robot arm 4 is an abdominal wall subcutaneous muscle layer, and a specific position O point on the puncture channel tube 2 can be preset. When the deflection angle of the spherical part 11 is zero degree, the ball-and-socket joint 1 is pulled by the surrounding springs, so that the center of the spherical part 11 is located at the point of the central point a of the joint moving frame 31, and the straight line AO is the axis of the robot arm 4 at this time. When the ball joint 1 is driven by the motor to start rotating, the axis AO of the robot arm 4 is deflected to BO with the point O as a rotation point, forcing the spherical part 11 to move to the point B. In one embodiment, the joint moving frame 31 is a cuboid structure, three points ABO form a right-angle triangle, AO is shorter than BO, and the displacement generated when AO deflects to BO can be calculated by a host machine and then subjected to displacement compensation. In another embodiment, the joint moving frame 31 is a hemisphere structure, the length of AO is the same as that of BO or the difference is very small, and the displacement generated by the AO deflecting to BO is 0 or very small, so that the displacement can not be compensated.

Example two

As shown in fig. 6 and 7, this embodiment is similar to the first embodiment, except that the movable frame 31 is a square frame, 4 fixed sleeves 7 are installed at equal intervals as fixing members, and the telescopic rod 6 penetrates through the fixed sleeves 7. The top end of the telescopic rod 6 is provided with a square sliding block 15, and the rod body is provided with a telescopic spring 32. The joint shell 13 is provided with a slide rail 14 which is matched with a slide block 15.

The center of the spherical part 11 is provided with a through hole, the driving assembly 5 arranged in the through hole is used for driving the robot arm 4 to rotate relative to the ball-and-socket joint 1, and the square joint shell 13 can prevent the ball-and-socket joint 1 from rotating. The fixed sleeve 7 can limit the telescopic rod 6 to advance and retreat only along the axis thereof. The slide block 15 at the top end of the telescopic rod 6 limits the slide rail 14 to advance and retreat only along the axis of the telescopic rod 6 and move left and right along the opening groove of the slide block 15. The slide rail 14 is fixed on the joint housing 13, and limits the synchronous movement of the ball joint 1 and can only move inside the movable frame 31.

In another non-limiting embodiment, a linear groove is formed around the joint shell 13, and a square sliding block with a size corresponding to the groove is arranged at the top end of the telescopic rod 6, can slide in cooperation with the groove, and plays a role of a limiting part.

When the drive assembly 5 inside the ball joint 1 drives the spherical element 11 to rotate, as shown in fig. 7, the puncture channel tube 2 is fixed on the abdominal wall, and only fixed-point rotation can occur, and the ball joint 1 will be displaced around the puncture point. When the movable frame 31 is fixed on the support, the ball joint 1 pushes the upper and left telescopic rods 6 to move towards the outside of the movable frame 31, and pulls the lower and right telescopic rods 6 to move towards the inside of the movable frame 31. When the sliding block 15 moves along the telescopic rod 6 axially, the sliding block also slides along the sliding rail 14, so that the ball-and-socket joint 1 is limited from rotating and turning on one side.

EXAMPLE III

As shown in fig. 8, this embodiment is similar to the embodiment except that a plurality of connecting rods 8 are provided on the movable frame 31. The four connecting rods 8 respectively penetrate through the threaded interfaces on the three movable frames 31 to connect the three movable frames 31 into a whole, and then are connected with the supporting rod 33 to share one floor stand, so that the robot can be constructed compactly and compactly on the whole. In another embodiment, the movable frame 31 has a sliding block with a screw interface capable of rotating at different angles, and a plurality of movable frames 31 are connected into a whole by the sliding block at different angles.

Example four

As shown in fig. 9 and 10, this embodiment is similar to the embodiment except that the gimbal in this embodiment is a gimbal having a double ring structure. The inner ring 41 is hung on the outer ring 42, the outer ring 42 is hung on the square joint shell 13, and the sliding rails 14 are arranged on the periphery of the joint shell 13. The inner ring rotating shaft 43 and the outer ring rotating shaft 44 are perpendicular to each other, and the included angle of the shaft axes is 90 degrees. A passage pipe is provided through the inner ring 41, and the robot arm 4 is provided in the passage pipe. The inner ring rotation shaft 43 is connected to and driven by an inner ring drive assembly 45, and the outer ring rotation shaft 44 is connected to and driven by an outer ring drive assembly 46.

As shown in fig. 11, two surgical robots having a universal joint with a double ring structure are connected to each other by a connecting rod 8, and then connected to a support rod 33 to share a floor stand.

EXAMPLE five

As shown in fig. 12, this embodiment is similar to the embodiment except that the joint housing 13 is flat on its side surface, has a lubricating coating, and can freely slide with the sliding block 15 without the sliding rail 14. The sliders 15 are provided with protruding limiting parts, the limiting parts on two opposite sliders 15 are positioned on the upper surface of the joint shell 13, and the limiting parts on the other two opposite sliders 15 are positioned on the lower surface of the joint shell 13. The fixing sleeve 7 is fixed on the circular movable frame 31, and the expansion link 6 is arranged in the fixing sleeve 7 in a penetrating way and is limited to move forward and backward only along the axis of the fixing sleeve 7. The four limit members limit the movement of the joint shell 13 in one plane.

EXAMPLE six

The present embodiment is similar to the first embodiment, except that the movable frame 31 in the present embodiment does not use a spring as the expansion member, but uses a flexible silicone to make a circular silicone membrane. The silicon pellosil surrounds and is flexibly connected with the ball-shaped joint 1.

Claims (8)

1. A fixing device of a laparoscopic surgery robot is characterized in that: the movable frame comprises a hard outer frame, wherein a fixing piece is arranged on the outer frame and is used for connecting a telescopic piece; the telescopic piece is used for connecting a surgical robot with a universal joint; the movable frames are provided with connecting pieces, and two or more movable frames are connected with each other through the connecting pieces.

2. The laparoscopic surgical robot securing device according to claim 1, wherein: the movable frame is arranged on the bracket or is adhered on the abdominal wall of the operator.

3. The laparoscopic surgical robot securing device according to claim 1, wherein: the telescopic piece is a spring or an elastic column or an elastic membrane.

4. The laparoscopic surgical robot securing device according to claim 1, wherein: the telescopic piece is a spring telescopic rod or an electric telescopic rod.

5. The laparoscopic surgical robot securing device according to claim 4, wherein: the universal joint comprises a square shell or a square outer frame, and the square shell or the outer frame is in sliding fit with the telescopic piece.

6. The laparoscopic surgical robot securing device according to claim 5, wherein: and a sliding groove or a sliding rail is arranged on the shell or the outer frame, and a sliding block matched with the sliding groove or the sliding rail is arranged on the telescopic piece.

7. The laparoscopic surgical robot securing device according to claim 1, wherein: the universal joint is a ball and socket joint comprising a ball and socket member and a joint seat.

8. The laparoscopic surgical robot securing device according to claim 1, wherein: the universal joint comprises an inner ring and an outer ring, the inner ring is hung on the outer ring, and the outer ring is hung on the joint shell; the rotating shafts of the inner ring and the outer ring are mutually vertical, and the included angle of the shaft axis is 90 degrees.

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