CN211674538U - Porous laparoscopic surgery robot system - Google Patents

Abstract

The utility model discloses a robot system for porous laparoscopic surgery, which comprises an execution part, an operation part and a controller; the device is characterized in that the execution part comprises an execution part fixing seat, a mechanical arm, a telescopic arm and a mechanical holding arm; at least two mechanical arms are fixed on the execution part fixing seat; the fixed end of the telescopic arm is fixed at the tail end of the mechanical arm; the mechanical holding arm is fixed at the telescopic end of the telescopic arm. The utility model has the advantages that: the utility model obtains the action of the operation part through the controller, and then realizes the action of the execution part according to the action control of the operation part, so as to complete the laparoscopic surgery, and the execution part can completely imitate the action of the operation part, so that the utility model is easier to learn and operate; the execution part can also enlarge and reduce the action of the operation part to respectively meet the motion range of the arm and realize fine operation; the utility model discloses a hold arm for nested gear drive, the rigidity is big load height.

Description

Porous laparoscopic surgery robot system

Technical Field

The utility model relates to a surgical robot field especially relates to a porous laparoscopic surgery robot system.

Background

The laparoscopic surgery has the advantages of small wound and quick recovery, and is widely applied to abdominal surgery, thoracic surgery, gynecology and urology surgery; in order to reduce the labor intensity of doctors, there is an urgent need to develop a laparoscopic surgical robot system; how to improve the loading capacity, precision and rigidity of the laparoscopic surgery robot and how to realize the profiling control and remote control of the laparoscopic surgery robot is more important in developing the laparoscopic surgery robot system.

Disclosure of Invention

In order to solve the problems of the background art, the utility model discloses a robot system for multi-hole laparoscopic surgery, which comprises an execution part, an operation part and a controller; the executing part comprises an executing part fixing seat, a mechanical arm, a telescopic arm and a mechanical holding arm; at least two mechanical arms are fixed on the execution part fixing seat; the fixed end of the telescopic arm is fixed at the tail end of the mechanical arm; the mechanical holding arm is fixed at the telescopic end of the telescopic arm; the tail end of the mechanical arm at least has four degrees of freedom of translation motion along a plane X axis, translation motion along a plane Y axis, rotation around the plane X axis and rotation around the plane Y axis; the telescopic end of the telescopic arm can move along the length direction of the telescopic arm; the actions of the mechanical arm and the telescopic arm are controlled by the controller; the mechanical arm comprises an execution arm and an execution arm driving end;

the execution arm comprises n execution joints A, wherein n is an integer greater than or equal to 3; i is an integer from 1 to n-1, j is an integer from 1 to n-2; the tail end of the ith execution joint is hinged with the head end of the (i + 1) th execution joint through an ith connecting shaft; the tail end of the ith execution joint is matched with n-i +1 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +1 i-stage transition executing gears are sleeved on the ith connecting shaft, the first i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear is vertically meshed with the first i-stage active executing gear to the (n-i + 1) th i-stage active executing gear in a one-to-one correspondence mode respectively, and the first i-stage transition executing gear is fixedly connected with the head end of the (i + 1) th executing joint; the head end of the j +1 th execution joint is matched with n-j driven execution gears which are coaxially overlapped in sequence, and the first j-stage driven execution gear to the n-j-th j-stage driven execution gear and the second j-stage transition execution gear to the n-j +1 th j-stage transition execution gear are vertically meshed in a one-to-one corresponding mode respectively; the head end of the nth executing joint is matched with an n-1-stage driven executing gear, and the n-1-stage driven executing gear is vertically meshed with a second n-1-stage transition executing gear; the head end of the first executing joint is connected with a hollow executing rotating shaft; n-i +1 i-level hollow execution rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith execution joint; one end of a first primary hollow execution rotating shaft to an nth primary hollow execution rotating shaft in the first execution joint is respectively connected with a first primary driving execution gear to an nth primary driving execution gear; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the (n-j) th j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j + 1-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j) th j-stage driven execution gear through a first j + 1-stage hollow execution rotating shaft to an n-j + 1-stage hollow execution rotating shaft in the j +1 th execution joint; an executing rotating rod which is coaxially connected with an n-1 stage driven executing gear at the head end of the nth executing joint is rotatably matched in the nth executing joint and is connected with a surgical instrument;

the driving end of the execution arm is provided with n +1 hollow shaft execution motors which are coaxially stacked in sequence, and the output shaft of the first hollow shaft execution motor is coaxially connected with the hollow execution rotating shaft; the output shaft of the second hollow shaft executing motor to the output shaft of the (n + 1) th hollow shaft executing motor are respectively and coaxially connected with the first to the nth first-stage hollow executing rotating shafts in sequence; the actions from the first hollow shaft executing motor to the (n + 1) th hollow shaft executing motor are controlled by the controller;

the operating part comprises an operating arm, a display and an operating part fixing seat; the two operating arms are respectively hinged and fixed on two sides of the operating part fixing seat; the display is fixed on the operation part fixing seat; the operating arm comprises an operating arm fixing seat, a first mechanical arm operating joint, a second mechanical arm operating joint, a third mechanical arm operating joint, a mechanical arm holding operating arm and a handheld part; the operating arm fixing seat is hinged and fixed on the side surface of the operating part fixing seat; the first mechanical arm operation joint is rotatably fixed on the operation arm fixing seat, the second mechanical arm operation joint is rotatably fixed on the first mechanical arm operation joint, and the third mechanical arm operation joint is slidably fixed on the second mechanical arm operation joint; the mechanical arm operating arm is rotatably fixed on a third mechanical arm operating joint; the handheld part is rotatably fixed on the manipulator arm; the first mechanical arm operating joint is rotatably fixed on the operating arm fixing seat through a first rotating shaft; a first position sensor and a first return spring are fixed on the operating arm fixing seat; the second mechanical arm operation joint is rotationally fixed on the first mechanical arm operation joint through a second rotating shaft; a second position sensor and a second return spring are fixed on the first mechanical arm operation joint; a third position sensor and a third return spring are fixed on the third mechanical arm operation joint;

the manipulator arm of the mechanical arm comprises n manipulator joints, wherein the tail end of the ith manipulator joint is hinged with the head end of the (i + 1) th manipulator joint through an ith hinge shaft, and n-i +1 i-stage active manipulator gears which are sequentially and coaxially stacked are matched with the tail end of the ith manipulator joint; n-i +1 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the (n-i + 1) th i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the (i + 1) th operation joint; the head end of the j +1 th operating joint is matched with n-j driven operating gears which are sequentially and coaxially stacked together, and the first j-stage driven operating gear to the n-j-th j-stage driven operating gear and the second j-stage transition operating gear to the n-j +1 th j-stage transition operating gear are respectively vertically meshed in a one-to-one corresponding mode; the head end of the nth operating joint is matched with an n-1 stage driven operating gear, and the n-1 stage driven operating gear is vertically meshed with a second n-1 stage transition operating gear; the head end of the first operating joint is connected with a hollow operating rotating shaft; n-i +1 i-level hollow operation rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith operation joint; one end of a first primary hollow operation rotating shaft to an nth primary hollow operation rotating shaft in the first operation joint is respectively connected with a first primary driving operation gear to an nth primary driving operation gear; the first j + 1-stage driving operation gear from the tail end of the j +1 th operation joint to the (n-j) th j + 1-stage driving operation gear is in one-to-one corresponding coaxial connection with the first j + 1-stage driven operation gear from the head end of the j +1 th operation joint to the (n-j) th j-stage driven operation gear through a first j + 1-stage hollow operation rotating shaft to an n-j + 1-stage hollow operation rotating shaft in the j +1 th operation joint respectively; an operation rotating rod which is coaxially connected with an n-1 stage driven operation gear at the head end of the nth operation joint is rotatably matched in the nth operation joint; the operation rotating rod is connected with the handheld part;

a fourth reset spring to an n +4 th reset spring and a fourth position sensor to an n +4 th position sensor are fixed in the third mechanical arm operation joint; the head end of the first operating joint is rotatably fixed on the third mechanical arm operating joint through a hollow operating rotating shaft;

the measured values of the first position sensor to the n +4 th position sensor are transmitted to the controller; the controller controls the action of the mechanical arm according to the measured values from the first position sensor to the second position sensor; the controller controls the action of the telescopic end of the telescopic arm according to the measured value of the third position sensor; the controller respectively controls the actions of the first hollow shaft execution motor to the (n + 1) th hollow shaft execution motor according to the measured values of the fourth position sensor to the (n + 4) th position sensor, so as to control the actions of the execution arm.

The controller respectively controls the first hollow shaft execution motor to the (n + 1) th hollow shaft execution motor to rotate by the same angle according to the measured values of the fourth position sensor to the (n + 4) th position sensor, so that the execution arm is controlled to perform profiling motion according to the motion of the manipulator arm.

The execution rotating rod is connected with the surgical forceps; the opening and closing of the surgical forceps are controlled by a pull rope; the tail end of the driving end of the execution arm is provided with a pull rope winding motor; the output shaft of the stay cord winding motor is connected with a winding disc; the action of the pull rope winding motor is controlled by a controller; the execution rotating rod, each i-stage driving execution gear and each i-stage driven execution gear are all of hollow structures; one end of the pull rope is connected with the surgical forceps, and the other end of the pull rope penetrates through the execution rotating rod, the i-stage driving execution gears, the i-stage hollow execution rotating shaft in the ith execution joint, the i-stage driven execution gears and the hollow output shaft of the (n + 1) th hollow shaft execution motor to be fixed on the winding disc; the handheld part is provided with an opening and closing control button.

The operating part also comprises an electric lifting platform, an elbow supporting platform and a foot switch, and the electric lifting platform is fixed on the operating part fixing seat; the elbow supporting table is fixed on the electric lifting table; the foot switch is used for controlling the lifting of the electric lifting platform.

The lower end of the execution part fixing seat and the lower end of the operation part fixing seat are both provided with movable trundles.

The device also comprises a power supply cabinet; the power supply cabinet provides power for the execution part, the operation part and the controller; the lower end of the power supply cabinet is also provided with the movable trundle; an auxiliary display is placed on the power cabinet.

The utility model has the advantages that: the utility model obtains the action of the operation part through the controller, and then realizes the action of the execution part according to the action control of the operation part, so as to complete the laparoscopic surgery, and the execution part can completely imitate the action of the operation part, so that the utility model is easier to learn and operate; the execution part can also enlarge and reduce the action of the operation part to respectively meet the motion range of the arm and realize fine operation; the utility model discloses a hold arm for nested gear drive, the rigidity is big load height.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the operation part of the present invention.

Fig. 3 is a schematic view of the structure of the operation arm of the present invention.

Fig. 4 is an exploded view of fig. 3.

Fig. 5 is an exploded view of the manipulator arm of the present invention.

Fig. 6 is a cross-sectional view of the manipulator arm of the present invention.

Fig. 7 is an assembly schematic view of a set of mechanical arm, a telescopic arm, a mechanical holding arm and a pair of surgical forceps of the present invention.

Fig. 8 is an exploded view of the actuator arm of the present invention.

Fig. 9 is a cross-sectional view of the actuator arm of the present invention.

Fig. 10 <1> is a schematic structural view of the actuating arm driving end of the present invention, and fig. 10 <2> is a cross-sectional view of the actuating arm driving end of the present invention.

Fig. 11 is an enlarged view of a in <2> in fig. 10.

Detailed Description

The embodiments of the present invention are described in detail below to make the advantages and features of the present invention easier to understand by those skilled in the art, thereby making more clear and definite definitions of the protection scope of the present invention.

Example 1

Referring to fig. 1 to 11, a robot system for multihole laparoscopic surgery includes an execution part 1, an operation part 2, and a controller;

referring to fig. 1 and 7-11, the executing part 1 comprises an executing part fixing seat 11, a mechanical arm 12, a telescopic arm 13 and a mechanical holding arm 14; at least two mechanical arms 12 are fixed on the execution part fixing seat 11; the fixed end 131 of the telescopic arm 13 is fixed at the tail end of the mechanical arm 12; the hand arm 14 is fixed to the telescopic end 132 of the telescopic arm 13; the end of the arm 14 is used to attach a surgical instrument such as forceps 5, a camera or an energy meter.

The end of the mechanical arm 12 has at least four degrees of freedom of translational motion along the plane X axis, translational motion along the plane Y axis, rotation around the plane X axis, and rotation around the plane Y axis; the robot arm 12 may use a robot arm disclosed in the patent publication No. CN109465813A or a multi-axis independently controlled robot arm disclosed in the patent publication No. 109848976 a; other industrial robots satisfying the degree of freedom may be used for the robot arm 12. The telescopic end 132 of the telescopic arm 13 is movable along the length direction of the telescopic arm 13, and a synchronous belt electric cylinder or a ball screw electric cylinder may be used. The motions of the robot arm 12 and the telescopic arm 13 are controlled by a controller. The hand-held arm 14 includes an actuator arm 141 and an actuator arm driving end 142.

Referring to fig. 8-9, the actuator arm 141 is used for directly controlling the surgical instrument to perform multi-axial movement, wherein the actuator arm 141 includes n actuator joints a, n being an integer greater than or equal to 3; the following description will be given by taking n equal to 4 as an example. The executing arm 141 comprises a first executing joint A1, a second executing joint A2, a third executing joint A3, a second executing joint A4, a first connecting shaft C, a second connecting shaft D, a third connecting shaft E, a primary hollow executing rotating shaft A13 (a first primary hollow executing rotating shaft A131, a second primary hollow executing rotating shaft A132, a third primary hollow executing rotating shaft A133 and a fourth primary hollow executing rotating shaft A134), a primary driving executing gear A11 (a first primary driving executing gear A111, a second primary driving executing gear A112, a third primary driving executing gear A113 and a fourth primary driving executing gear A114), a primary transition executing gear C1 (a first primary transition executing gear C11, a second primary transition executing gear C12, a third primary transition executing gear C13 and a fourth primary transition executing gear C14), a primary driven executing gear A22 (a first primary driven executing gear A221, A second primary driven executing gear A222 and a third primary driven executing gear A223), a secondary hollow executing rotating shaft A23 (a first secondary hollow executing rotating shaft A231, a second secondary hollow executing rotating shaft A232 and a third secondary hollow executing rotating shaft A233), a secondary driving executing gear A21 (a first secondary driving executing gear A211, a second secondary driving executing gear A212 and a third secondary driving executing gear A213), a secondary transition executing gear D1 (a first secondary transition executing gear D11, a second secondary transition executing gear D12 and a third secondary transition executing gear D13), a secondary driven executing gear A32 (a first secondary driven executing gear A321 and a second secondary driven executing gear A322), a tertiary hollow executing rotating shaft A33 (a first hollow executing rotating shaft A331 and a second tertiary hollow executing rotating shaft A332), a tertiary driving executing gear A31 (a first tertiary driving executing gear A311 and a tertiary driving executing gear A312), Three-stage transition executing gear E1 (first three-stage transition executing gear E11 and second three-stage transition executing gear E12), three-stage driven executing gear a42 and executing rotating lever a 41; in the embodiment of the chinese patent application document entitled "a single-aperture manual direct-drive surgical robot system", which is published as 10, 22 and 2019, with publication number CN110353810A, and has a publication number of CN110353810A, regarding n =4, the connection manner between the components of the actuator arm 11 is the same, and please refer to the above application document for the connection manner between the components of the actuator arm 11; the head end of the first executing joint A1 is connected with a hollow executing rotating shaft A14; the actuation rotating lever a41 is used to couple a surgical instrument.

Referring to fig. 10-11, the actuating arm driving end 142 includes an actuating motor fixing plate 146, five hollow-shaft actuating motors 143 coaxially stacked in sequence are fixed on the actuating motor fixing plate 146, wherein an output shaft of a first hollow-shaft actuating motor 1431 is coaxially connected with a hollow actuating rotating shaft a 14; the output shaft of the second hollow shaft executing motor 1432 is coaxially connected with the first one-stage hollow executing rotating shaft A131; the output shaft of the third hollow shaft executing motor 1433 is coaxially connected with the second first-level hollow executing rotating shaft A132; the output shaft of the fourth hollow shaft executing motor 1434 is coaxially connected with the third first-stage hollow executing rotating shaft A133; the output shaft of the fifth hollow shaft executing motor 1435 is coaxially connected with the fourth first-stage hollow executing rotating shaft A134; the end of the actuating arm driving end 142 is also provided with a pull rope winding motor 144; the output shaft of the pull rope winding motor 144 is connected with a winding disc 145; the actions of the first hollow shaft execution motor 1431 to the fifth hollow shaft execution motor 1435 and the pull rope winding motor 144 are controlled by the controller; an actuator motor cover 147 is fixed to the actuator motor fixing plate 146 to cover the respective motors fixed to the actuator motor fixing plate 146.

It can be seen that the controller controls the operations of the robot arm 12, the telescopic arm 13, and the robot arm 14 of the execution part 1.

Referring to fig. 9, the actuating rotating rod a41, each three-stage driving actuating gear a31, each two-stage driving actuating gear a21, each one-stage driving actuating gear a11, and each one-stage driven actuating gear a42 are hollow structures, and each two-stage driven actuating gear a32 and each one-stage driven actuating gear a22 are hollow structures; thus, when the surgical instrument connected to the end of the arm 14 is the forceps 5 controlled by the pull rope 7; one end of the pull rope 7 is connected with the surgical forceps 5, and the other end of the pull rope sequentially passes through the execution rotating rod A41, the three-level driven execution gear A42, each three-level driving execution gear A31, the innermost three-level hollow execution rotating shaft A332 in the third execution joint A3, each two-level driven execution gear A32, each two-level driving execution gear A21, the innermost two-level hollow execution rotating shaft A233 in the second execution joint A2, each one-level driven execution gear A22, each one-level driving execution gear A11, the innermost one-level hollow execution rotating shaft A134 in the first execution joint A1, and the output shaft of the fifth hollow execution motor 1435 to be fixed on the winding disc 145.

Referring to fig. 1 to 6, the operation part 2 includes an operation arm 21, a display 22, an operation part holder 23; the two operating arms 21 are respectively hinged and fixed on two sides of the operating part fixing seat 23; the display 22 is fixed to the operation portion fixing base 23.

The operation arm 21 includes an operation arm fixing base 211, a first robot arm operation joint 212, a second robot arm operation joint 213, a third robot arm operation joint 214, a robot arm holding operation arm 215, and a hand-held portion 216; the operating arm fixing base 211 is hinged and fixed on the side surface of the operating part fixing base 23; a first mechanical arm operating joint 212 is rotatably fixed on the operating arm fixing seat 211, a second mechanical arm operating joint 213 is rotatably fixed on the first mechanical arm operating joint 212, and a third mechanical arm operating joint 214 is slidably fixed on the second mechanical arm operating joint 213; the arm operation arm 215 is rotatably fixed to the third arm operation joint 214; the hand-held portion 216 is rotatably fixed to the arm operation arm 215.

The first mechanical arm operating joint 212 is rotatably fixed on the operating arm fixing seat 211 through a first rotating shaft J1; a first position sensor Q1 and a first return spring T1 are fixed on the operating arm fixing seat 211; the first position sensor Q1 is an encoder, and is configured to detect a rotation angle of the first rotating shaft J1 relative to the operating arm fixing base 211, so as to obtain a rotation angle of the first mechanical arm operating joint 212 relative to the operating arm fixing base 211; the first return spring T1 is a torque spring, and the innermost coil of the first return spring T1 is connected to the first rotating shaft J1; for restoring the initial position when the first robot arm operating joint 212 is not operated.

The second arm operating joint 213 is rotatably fixed to the first arm operating joint 212 via a second rotation shaft J2; a second position sensor Q2 and a second return spring T2 are fixed to the first mechanical arm operating joint 212; the second position sensor Q2 is an encoder for detecting the rotation angle of the second rotation shaft J2 with respect to the first arm operating joint 212, and thereby obtaining the rotation angle of the second arm operating joint 213 with respect to the first arm operating joint 212; the second return spring T2 is a torque spring, and the innermost coil of the second return spring T2 is connected to the second rotating shaft J2; for restoring the initial position when the second robot arm operating joint 213 is not operated.

A third position sensor Q3 and a third return spring T3 are fixed to the third robot arm operating joint 214; the third position sensor Q3 is a distance measuring sensor for detecting the sliding distance of the third arm operating joint 214 with respect to the second arm operating joint 213; the third return spring T3 is a compression spring for returning the third arm operating joint 214 to the initial position when not operated.

Referring to fig. 5 to 6, the arm-holding manipulator 215 includes manipulator joints B (a first manipulator joint B1, a second manipulator joint B2, a third manipulator joint B3 and a fourth manipulator joint B4), a first hinge shaft F, a second hinge shaft G, a third hinge shaft H, a primary driving manipulator gear B11 (a first primary driving manipulator gear B111, a second primary driving manipulator gear B112, a third primary driving manipulator gear B113 and a fourth primary driving manipulator gear B114), a primary transitional manipulator gear F1 (a first primary transitional manipulator gear F11, a second primary transitional manipulator gear F12, a third primary transitional manipulator gear F13 and a fourth primary transitional manipulator gear F14), a primary driven manipulator gear B22 (a first primary driven manipulator gear B221, a second primary driven manipulator gear B222 and a third primary driven manipulator gear B223), a secondary hollow manipulator shaft B23 (a first secondary hollow manipulator shaft B231, A second secondary hollow operation rotating shaft B232 and a third secondary hollow operation rotating shaft B233), a secondary driving operation gear B21 (a first secondary driving operation gear B211, a second secondary driving operation gear B212 and a third secondary driving operation gear B213), a secondary transition operation gear G1 (a first secondary transition operation gear G11, a second secondary transition operation gear G12 and a third secondary transition operation gear G13), a secondary driven operation gear B32 (a first secondary driven operation gear B321 and a second secondary driven operation gear B322), a tertiary hollow operation rotating shaft B33 (a first tertiary hollow operation rotating shaft B331 and a second tertiary hollow operation rotating shaft B332), a tertiary driving operation gear B31 (a first tertiary driving operation gear B311 and a second tertiary driving operation gear B312), a tertiary transition operation gear H1 (a first tertiary transition operation gear H11 and a second tertiary transition operation gear H12), A tertiary driven operating gear B42 and an operating rotating lever B41; in the embodiment of the chinese patent application document having publication No. CN110353810A and entitled "a single-aperture manual direct-drive surgical robot system", regarding n =4, the connection manner between the components of the manipulator arm 215 is the same as the connection manner between the components of the manipulator arm when the publication No. n = 4; wherein the operation rotating lever B41 and the hand-held portion 216 are connected so as to rotate the operation rotating lever B41.

A fourth return spring T4, a fourth position sensor Q4, a fifth return spring T5, a fifth position sensor Q5, a sixth return spring T6, a sixth position sensor Q6, a seventh return spring T7, a seventh position sensor Q7, an eighth return spring T8 and an eighth position sensor Q8 are sequentially fixed in the third mechanical arm operating joint 214 in a direction close to the first operating joint B1; wherein the fourth to eighth return springs T4 to T8 are all torque springs and the fourth to eighth position sensors Q4 to Q8 are all encoders.

The head end of the first operating joint B1 is connected with a hollow operating rotating shaft B14 and is rotatably fixed on the third mechanical arm operating joint 214 through a hollow operating rotating shaft B14; the fourth position sensor Q4 is used to detect the rotation angle of the hollow operation rotation shaft B14 relative to the third robot arm operation joint 214; the innermost ring of the fourth return spring T4 is connected with the hollow operating rotating shaft B14; four primary hollow operation rotating shafts B13 which penetrate through the first operation joint B1 from outside to inside in sequence are rotatably matched in the first operation joint B1, one end of a first primary hollow operation rotating shaft B131 is connected with a first primary driving operation gear B111, and the other end of the first primary hollow operation rotating shaft B131 is connected with the innermost ring of a fifth reset spring T5; the fifth position sensor Q5 is used for detecting the rotation angle of the first primary hollow operating rotating shaft B131 relative to the third mechanical arm operating joint 214; one end of the second primary hollow operating rotating shaft B132 is connected with the second primary driving operating gear B112, and the other end is connected with the innermost ring of the sixth return spring T6; the sixth position sensor Q6 is used for detecting the rotation angle of the second primary hollow operating rotary shaft B132 relative to the third mechanical arm operating joint 214; one end of a third primary hollow operating rotating shaft B133 is connected with a third primary driving operating gear B113, and the other end is connected with the innermost ring of a seventh return spring T7; the seventh position sensor Q7 is used for detecting the rotation angle of the third primary hollow operating rotary shaft B133 relative to the third mechanical arm operating joint 214; one end of a fourth primary hollow operating rotating shaft B134 is connected with a fourth primary driving operating gear B114, and the other end of the fourth primary hollow operating rotating shaft B is connected with the innermost ring of an eighth return spring T8; the eighth position sensor Q8 is used for detecting the rotation angle of the fourth primary hollow operating rotating shaft B134 relative to the third mechanical arm operating joint 214; thus, when the arm 215 for operating the arm for holding the instrument is not operated, the initial position is restored by the fourth to eighth return springs T4 to T8.

The measurements from the first through eighth position sensors Q1 through Q8 are all transmitted to the controller; the controller obtains a rotation angle S1 of the first mechanical arm operating joint 212 relative to the operating arm fixing seat 211 through the measurement value of the first position sensor Q1, and further controls the rotation angle k1 × S1 of the tail end of the mechanical arm 12 around the X axis of the designated coordinate system; the controller obtains the rotation angle S2 of the second robot arm operating joint 213 with respect to the first robot arm operating joint 212 from the measurement value of the second position sensor Q2, and controls the rotation angle k2 × S2 of the tip end of the robot arm 12 around the Y axis of the designated coordinate system; the controller obtains the sliding distance S3 of the third robot arm operating joint 214 relative to the second robot arm operating joint 213 through the measurement value of the third position sensor Q3, and further controls the movement distance k3 × S3 of the telescopic end 132 of the telescopic arm 13; the controller respectively obtains the rotation angles S4, S5, S6, S7 and S8 of the hollow operation rotating shaft B14, the first-stage hollow operation rotating shaft B131 to the fourth first-stage hollow operation rotating shaft B134 relative to the third mechanical arm operation joint 214 through the measurement values of the fourth position sensor Q4 to the eighth position sensor Q8; further, the output shafts of the first hollow shaft actuator motor 1431 to the fifth hollow shaft actuator motor 1435 are controlled to rotate by angles k4 × S4, k5 × S5, k6 × S6, k7 × S7 and k8 × S8, so that the hollow actuator rotating shaft a14, the first primary hollow actuator rotating shaft a131 to the fourth primary hollow actuator rotating shaft a134 rotate by angles k4 × S4, k5 × S5, k6 × S6, k7 × S7 and k8 × S8; wherein k1, k2, k3, k4, k5, k6, k7 and k8 are constants and can be set by a controller; when the values of k1, k2, k3, k4, k5, k6, k7, k8 are all equal to 1; the execution part 1 completely imitates the action of the operation part 2 to act, so as to realize copying operation; when the values of k1, k2, k3, k4, k5, k6, k7 and k8 are all larger than 1, the execution part 1 imitates the action of the operation part 2 and acts after being amplified, and an operator can realize the control of the execution part 1 through small arm action, thereby being beneficial to reducing the fatigue of the operator; when the values of k1, k2, k3, k4, k5, k6, k7, and k8 are all less than 1, the execution section 1 mimics the action of the operation section 2 and performs the reduced action, and the operator can realize a higher level of fine operation.

Referring to fig. 6 and 9-11, the hand-held portion 216 is provided with an opening/closing control button 2161, the operation of the button 2161 can be transmitted to the controller, and the controller controls the operation of the cord winding motor 144 according to the operation control of the button 2161, and further controls the rotation of the winding plate 145 connected to the output shaft of the cord winding motor 144, so as to control the opening/closing of the forceps 5 by the cord 7 wound on the winding plate 145.

Referring to fig. 2, the operation part 2 further includes an electric elevating platform 24, an elbow supporting platform 25 and a foot switch 26, the electric elevating platform 24 is fixed on the operation part fixing base 23; the elbow support platform 25 is fixed on the electric lifting platform 24; the elbow supporting table 25 is controlled by adjusting the lifting of the electric lifting table 24 so as to adapt to different operators and reduce the fatigue of the operators; the foot switch 26 is used to control the raising and lowering of the motorized lift table 24.

Referring to fig. 1-2, the lower ends of the implement part holder 11 and the operating part holder 23 are provided with movable casters 4, preferably horsewheels, to provide mobility to the robotic system for laparoscopic surgery.

Referring to fig. 1, a power supply cabinet 3 is further included; the power supply cabinet 3 supplies power to the execution part 1, the operation part 2 and the controller; the lower end of the power supply cabinet 3 is also provided with a movable caster 4, preferably a horse wheel; the porous laparoscopic surgery robot system has mobility and stronger adaptability, and does not need to specially modify a power supply and distribution system of an operating room; an auxiliary display 31 is placed on the power cabinet 3 for observation by an auxiliary operator.

The controller is conventional in electrical control and is not specifically described in this application.

When the utility model is used, after the mechanical arm 12 and the telescopic arm 13 are controlled by the controller to drive the mechanical arm 14 to a specified position, the mechanical arm 12, the telescopic arm 13, the mechanical arm 14 and the surgical forceps 5 are controlled by controlling each joint of the operation arm 21; when the number of the mechanical arms 12, the telescopic arms 13 and the mechanical holding arms 14 is more than or equal to 3, the controller needs to be switched to realize that one operating arm 21 controls the actions of two or more mechanical arms 12, the telescopic arms 13 and the mechanical holding arms 14; when the controller is wirelessly connected with one of the executing part 1 or the operating part 2, the utility model discloses can realize remote operation, remote control.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.

Claims (6)

1. A multi-port laparoscopic surgical robotic system includes an execution section, an operation section, and a controller; the device is characterized in that the execution part comprises an execution part fixing seat, a mechanical arm, a telescopic arm and a mechanical holding arm; at least two mechanical arms are fixed on the execution part fixing seat; the fixed end of the telescopic arm is fixed at the tail end of the mechanical arm; the mechanical holding arm is fixed at the telescopic end of the telescopic arm; the tail end of the mechanical arm at least has four degrees of freedom of translation motion along a plane X axis, translation motion along a plane Y axis, rotation around the plane X axis and rotation around the plane Y axis; the telescopic end of the telescopic arm can move along the length direction of the telescopic arm; the actions of the mechanical arm and the telescopic arm are controlled by the controller; the mechanical arm comprises an execution arm and an execution arm driving end;

the execution arm comprises n execution joints A, wherein n is an integer greater than or equal to 3; i is an integer from 1 to n-1, j is an integer from 1 to n-2; the tail end of the ith execution joint is hinged with the head end of the (i + 1) th execution joint through an ith connecting shaft; the tail end of the ith execution joint is matched with n-i +1 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +1 i-stage transition executing gears are sleeved on the ith connecting shaft, the first i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear is vertically meshed with the first i-stage active executing gear to the (n-i + 1) th i-stage active executing gear in a one-to-one correspondence mode respectively, and the first i-stage transition executing gear is fixedly connected with the head end of the (i + 1) th executing joint; the head end of the j +1 th execution joint is matched with n-j driven execution gears which are coaxially overlapped in sequence, and the first j-stage driven execution gear to the n-j-th j-stage driven execution gear and the second j-stage transition execution gear to the n-j +1 th j-stage transition execution gear are vertically meshed in a one-to-one corresponding mode respectively; the head end of the nth executing joint is matched with an n-1-stage driven executing gear, and the n-1-stage driven executing gear is vertically meshed with a second n-1-stage transition executing gear; the head end of the first executing joint is connected with a hollow executing rotating shaft; n-i +1 i-level hollow execution rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith execution joint; one end of a first primary hollow execution rotating shaft to an nth primary hollow execution rotating shaft in the first execution joint is respectively connected with a first primary driving execution gear to an nth primary driving execution gear; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the (n-j) th j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j + 1-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j) th j-stage driven execution gear through a first j + 1-stage hollow execution rotating shaft to an n-j + 1-stage hollow execution rotating shaft in the j +1 th execution joint; an executing rotating rod which is coaxially connected with an n-1 stage driven executing gear at the head end of the nth executing joint is rotatably matched in the nth executing joint and is connected with a surgical instrument;

the driving end of the execution arm is provided with n +1 hollow shaft execution motors which are coaxially stacked in sequence, and the output shaft of the first hollow shaft execution motor is coaxially connected with the hollow execution rotating shaft; the output shaft of the second hollow shaft executing motor to the output shaft of the (n + 1) th hollow shaft executing motor are respectively and coaxially connected with the first to the nth first-stage hollow executing rotating shafts; the actions from the first hollow shaft executing motor to the (n + 1) th hollow shaft executing motor are controlled by the controller;

the operating part comprises an operating arm, a display and an operating part fixing seat; the two operating arms are respectively hinged and fixed on two sides of the operating part fixing seat; the display is fixed on the operation part fixing seat; the operating arm comprises an operating arm fixing seat, a first mechanical arm operating joint, a second mechanical arm operating joint, a third mechanical arm operating joint, a mechanical arm holding operating arm and a handheld part; the operating arm fixing seat is hinged and fixed on the side surface of the operating part fixing seat; the first mechanical arm operation joint is rotatably fixed on the operation arm fixing seat, the second mechanical arm operation joint is rotatably fixed on the first mechanical arm operation joint, and the third mechanical arm operation joint is slidably fixed on the second mechanical arm operation joint; the mechanical arm operating arm is rotatably fixed on a third mechanical arm operating joint; the handheld part is rotatably fixed on the manipulator arm; the first mechanical arm operating joint is rotatably fixed on the operating arm fixing seat through a first rotating shaft; a first position sensor and a first return spring are fixed on the operating arm fixing seat; the second mechanical arm operation joint is rotationally fixed on the first mechanical arm operation joint through a second rotating shaft; a second position sensor and a second return spring are fixed on the first mechanical arm operation joint; a third position sensor and a third return spring are fixed on the third mechanical arm operation joint;

the manipulator arm of the mechanical arm comprises n manipulator joints, wherein the tail end of the ith manipulator joint is hinged with the head end of the (i + 1) th manipulator joint through an ith hinge shaft, and n-i +1 i-stage active manipulator gears which are sequentially and coaxially stacked are matched with the tail end of the ith manipulator joint; n-i +1 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the (n-i + 1) th i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the (i + 1) th operation joint; the head end of the j +1 th operating joint is matched with n-j driven operating gears which are sequentially and coaxially stacked together, and the first j-stage driven operating gear to the n-j-th j-stage driven operating gear and the second j-stage transition operating gear to the n-j +1 th j-stage transition operating gear are respectively vertically meshed in a one-to-one corresponding mode; the head end of the nth operating joint is matched with an n-1 stage driven operating gear, and the n-1 stage driven operating gear is vertically meshed with a second n-1 stage transition operating gear; the head end of the first operating joint is connected with a hollow operating rotating shaft; n-i +1 i-level hollow operation rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith operation joint; one end of a first primary hollow operation rotating shaft to an nth primary hollow operation rotating shaft in the first operation joint is respectively connected with a first primary driving operation gear to an nth primary driving operation gear; the first j + 1-stage driving operation gear from the tail end of the j +1 th operation joint to the (n-j) th j + 1-stage driving operation gear is in one-to-one corresponding coaxial connection with the first j + 1-stage driven operation gear from the head end of the j +1 th operation joint to the (n-j) th j-stage driven operation gear through a first j + 1-stage hollow operation rotating shaft to an n-j + 1-stage hollow operation rotating shaft in the j +1 th operation joint respectively; an operation rotating rod which is coaxially connected with an n-1 stage driven operation gear at the head end of the nth operation joint is rotatably matched in the nth operation joint; the operation rotating rod is connected with the handheld part;

a fourth reset spring to an n +4 th reset spring and a fourth position sensor to an n +4 th position sensor are fixed in the third mechanical arm operation joint; the head end of the first operating joint is rotatably fixed on the third mechanical arm operating joint through a hollow operating rotating shaft; the measured values of the first position sensor to the (n + 4) th position sensor are transmitted to the controller.

2. The robotic system for laparoscopic multihole surgery of claim 1, wherein said controller controls the first to (n + 1) th hollow shaft actuator motors to rotate by the same angle according to the measured values of the fourth to (n + 4) th position sensors, respectively, thereby controlling the actuator arm to perform the profiling motion according to the motion of the manipulator arm holding the manipulator arm.

3. The robotic system for laparoscopic surgery of claim 1, wherein said actuating rotating shaft is connected to a forceps; the opening and closing of the surgical forceps are controlled by a pull rope; the tail end of the driving end of the execution arm is provided with a pull rope winding motor; the output shaft of the stay cord winding motor is connected with a winding disc; the action of the pull rope winding motor is controlled by the controller; the execution rotating rod, each i-stage driving execution gear and each i-stage driven execution gear are all of hollow structures; one end of the pull rope is connected with the surgical forceps, and the other end of the pull rope penetrates through the execution rotating rod, the i-stage driving execution gears, the i-stage hollow execution rotating shaft in the ith execution joint, the i-stage driven execution gears and the hollow output shaft of the (n + 1) th hollow shaft execution motor to be fixed on the winding disc; the handheld part is provided with an opening and closing control button.

4. The robotic system for laparoscopic surgery of multiple apertures according to claim 1, wherein said operating portion further comprises an electric elevating table, an elbow supporting table and a foot switch, said electric elevating table being fixed to said operating portion fixing base; the elbow supporting table is fixed on the electric lifting table; the foot switch is used for controlling the lifting of the electric lifting platform.

5. The robotic system for laparoscopic surgery of multiple apertures according to claim 4, wherein said lower end of said effector portion holding base and said lower end of said operating portion holding base are provided with movable casters.

6. The robotic system of multi-port laparoscopic surgery of claim 5, further comprising a power supply cabinet; the power supply cabinet provides power for the execution part, the operation part and the controller; the lower end of the power supply cabinet is also provided with the movable trundle; an auxiliary display is placed on the power cabinet.

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