CN217040293U

CN217040293U - Slave end operating device for surgical robot

Info

Publication number: CN217040293U
Application number: CN202123214017.1U
Authority: CN
Inventors: 程皓; 徐敏
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-07-26
Anticipated expiration: 2031-12-20

Abstract

The utility model provides a slave end operating device of a surgical robot, which at least comprises a surgical arm, an apparatus arranged at the tail end of the surgical arm and a detection unit; the detection unit comprises a force detection unit and a processing unit; the force detection unit is mounted on the surgical arm; the force detection unit is configured to detect force information of the instrument during a surgical procedure; the processing unit is configured to analyze the stress information to obtain a stress value and judge whether the stress value is greater than a preset threshold value; and if the current stress value of the instrument is larger than a preset threshold value, determining that the instrument is abnormally stressed. When the abnormality is determined, the operation of the instrument can be stopped immediately, and further the injury to a human body caused by abnormal stress, such as external force impact, pulling and the like, of the instrument during the operation can be avoided.

Description

Slave end operating device for surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a slave end operating device of a surgical robot.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery is more and more widely applied due to the advantages of small surgical trauma, short recovery time, less pain of patients and the like. The minimally invasive surgery robot has the advantages of being high in flexibility, control accuracy and visual surgery images, operation limitations such as hand tremor during filtering operation can be avoided, and the minimally invasive surgery robot is widely suitable for surgery areas such as abdominal cavities, pelvic cavities and thoracic cavities.

Although minimally invasive surgical robots have many advantages, most surgical robots on the market lack force feedback functionality, so that the surgeon can only use visual feedback to complete the surgery. The surgeon operation mostly depends on hand feeling, the surgeon is used to hand and eye and has the condition of touch for many years since the doctor, the minimally invasive surgery robot only provides visual feedback, and when the instrument is abnormally stressed, the surgeon can hardly find the condition through the visual feedback. However, when the apparatus is abnormally stressed, the operation of the apparatus cannot be timely confirmed and stopped, and the human body is easily damaged by external force impact, pulling and the like.

In addition, the current minimally invasive surgical robot comprises a main operating arm and a surgical robot slave end operating device, wherein the main operating arm acquires an operating signal of a doctor, the operating signal is processed by a control system to generate a control signal of the surgical robot slave end operating device, and the surgical robot slave end operating device executes a surgical operation. In the process of the robot operation, the operation robot slave end control device is clamped with an instrument, and the instrument enters the body of a patient through a poking card inserted into an incision on the body surface of the patient. Because the intersection point of the central line of the poking card shaft and the body surface is a fixed point, the instrument rod must pass through the fixed point through the poking card in the operation process, so that the body surface wound of a patient is prevented from being enlarged and even an operation accident is avoided. The existing methods for realizing the fixed point comprise two methods: the first mechanical fixed point is based on a parallelogram link mechanism, the position of the fixed point is fixed relative to the position of a base, and a poking card needs to be clamped on a slave end operating device of a surgical robot so as to ensure that the position of the fixed point is superposed with the position of a wound, but the clamping process needs to meet a stricter matching relation, the operation complexity is higher, and the preoperative preparation time is longer; the second type of active motionless point adopts a general industrial robot configuration, uses a motion control algorithm to constrain an instrument to pass through a fixed point, but needs relatively complex inverse kinematics calculation, considers factors such as joint motion range, motionless point virtual constraint and the like, is easy to introduce singularity, the motion around the motionless point needs the participation of each joint of the slave end control device of the surgical robot, and when a multi-arm combination is used, multi-arm interference is easy to cause.

SUMMERY OF THE UTILITY MODEL

Based on the above, the present invention provides a slave manipulator of surgical robot, which at least comprises a surgical arm, an instrument mounted at the end of the surgical arm, and a detection unit;

the detection unit comprises a force detection unit and a processing unit; the force detection unit is mounted on the surgical arm;

the force detection unit is configured to detect force information of the instrument during a surgical procedure;

the processing unit is configured to analyze the stress information to obtain a stress value and judge whether the stress value is greater than a preset threshold value; and if the current stress value of the instrument is larger than a preset threshold value, determining that the instrument is abnormally stressed.

Preferably, the slave end effector further comprises an alarm unit; when the current stress value of the instrument is larger than a preset threshold value, the alarm unit sends alarm information, and the alarm information comprises at least one of light, voice, sound and images.

Preferably, the force information includes moment information and/or force value information.

Preferably, the force detection unit is a six-dimensional torque sensor.

Preferably, the surgical arm comprises a space positioning mechanism, a plane motion mechanism and a self-rotation joint for connecting the space positioning mechanism and the plane motion mechanism; the detection unit is arranged on the plane motion mechanism;

the space positioning mechanism comprises a base and a joint mechanism, the joint mechanism comprises a plurality of joints which are sequentially installed, the joint at the head end of the joint mechanism is installed on the base, and the joint at the tail end of the joint mechanism is rotationally connected with the self-rotation joint;

the tail end of the plane motion mechanism is connected with an instrument, and the perpendicular line of the plane where the plane motion mechanism is located is perpendicular to the rotation axis of the rotation joint;

the intersection point of the rotation axis of the rotation joint and the axis of the instrument is an active fixed point.

Preferably, the joint mechanism comprises at least two revolute joints, wherein the rotation axis of at least one revolute joint is perpendicular to the rotation axis of the rotation joint.

Preferably, the joint mechanism comprises two rotary joints and a movable joint, the movable joint is arranged between the two rotary joints or between the rotary joint and the base, the moving direction of the movable joint is parallel to the rotation axis of one rotary joint, and the rotation axes of the two rotary joints are perpendicular.

Preferably, the joint mechanism includes three rotation joints, the three rotation joints are sequentially installed, the rotation joint farthest away from the rotation joint is installed on the base, the rotation axes of the two rotation joints close to the base are perpendicular to each other, and the rotation axes of the two rotation joints far away from the base are parallel to each other.

Preferably, the joint mechanism includes two rotation joints and two movement joints, the two movement joints are disposed adjacently, the movement directions of the two movement joints are perpendicular to each other and parallel to the rotation axis of one rotation joint, one rotation joint is disposed between one side of each of the two movement joints and the base, the other rotation joint is disposed on the other side of each of the two movement joints, and the rotation axes of the two rotation joints are perpendicular to each other.

Preferably, the plane motion mechanism comprises four connecting rods and three rotation joints, the four connecting rods are sequentially arranged, two adjacent connecting rods are connected through one rotation joint, one connecting rod at the edge position of the four connecting rods is connected to the tail end of the space positioning mechanism through the rotation joint, the other connecting rod is connected with the instrument, and the rotation axes of the three rotation joints are parallel and are perpendicular to the rotation axis of the rotation joint; one of the rotary joints is provided with the force detection unit, and the rotary joint is connected with a connecting rod connected with the instrument.

Preferably, the motion control of the active motionless point satisfies the following constraint relationship:

the angle between the two adjacent connecting rods from the head end to the tail end of the plane motion mechanism is alpha, beta and gamma in sequence, the length between the three connecting rods from the head end to the tail end in the plane motion mechanism is a sequence of a, b and c, and the distance between the end part, close to the head end, of the connecting rod adjacent to the head end in the plane motion mechanism and the active fixed point is d.

Preferably, the plane motion mechanism comprises three connecting rods, a sliding block and two rotating joints which are sequentially arranged, the detecting unit is installed on one rotating joint, the rotating joint is connected with the sliding block into a whole, the other rotating joint is respectively connected with two adjacent connecting rods, the connecting rod connected with the sliding block is directly connected with the rotation joint or indirectly connected with an instrument, the rotation axes of the two rotating joints are parallel, and the rotation axes are perpendicular to the rotation axis of the rotation joint and the moving direction of the sliding block.

Preferably, the distal end of the plane motion mechanism is connected to the instrument through a mobile joint, and the moving direction of the mobile joint is perpendicular to the rotation axis of the rotation joint.

Compared with the prior art, the utility model discloses there is following advantage:

according to the technical scheme of the utility model, the force detection unit is arranged on the operation arm, so that the force detection unit can detect the stress information of the instrument during the operation, and the processing unit is configured to analyze the stress information to obtain a stress value, and can judge whether the instrument is abnormally stressed or not by comparing the stress value with a preset threshold value; when the abnormality is determined, the operation of the instrument can be stopped immediately, and further the injury to a human body caused by abnormal stress, such as external force impact, pulling and the like, of the instrument during the operation can be avoided.

Drawings

Fig. 1 is a block diagram of a detection unit of a slave manipulator of a surgical robot according to the present invention;

fig. 2 is a schematic structural view of a slave manipulator of a surgical robot provided by the present invention;

FIG. 3 is a partial schematic view of a slave-end effector of a surgical robot in accordance with the present invention, with a force detection unit shown;

fig. 4 is a schematic mechanical diagram of a spatial positioning mechanism in a slave-end manipulator of a surgical robot according to the present invention;

FIG. 5 is a schematic mechanical diagram of a spatial positioning mechanism in an end effector of another surgical robot provided by the present invention;

fig. 6 is a schematic mechanical diagram of a spatial positioning mechanism in a slave-end manipulator of yet another surgical robot according to the present invention;

fig. 7 is a schematic mechanism diagram of a planar motion mechanism in a slave-end manipulator of a surgical robot according to the present invention;

fig. 8 is a schematic mechanical diagram of a planar motion mechanism in another slave-end effector of a surgical robot according to the present invention;

fig. 9 is a mechanical schematic diagram of a planar motion mechanism in a slave-end manipulator of yet another surgical robot provided by the present invention;

reference numerals:

10. an operating arm; 20. an instrument; 30. a force detection unit; 40. a processing unit; 50. an alarm unit;

A. an active stationary point;

100. a spatial positioning mechanism; 110. a base; 121. a first revolute joint; 122. a second revolute joint; 123. a third revolute joint; 124. a fourth revolute joint; 125. a fifth revolute joint; 126. a sixth revolute joint; 127. a seventh revolute joint; 131. a first mobile joint; 132. a second mobile joint; 133. a third mobile joint; 141. a first link; 142. A second link; 143. a third link; 144. a fourth link; 145. a fifth link; 146. a sixth link; 147. a seventh link; 148. an eighth link; 149. a ninth link; 150. a tenth link;

200. a planar motion mechanism; 211. a first planar link; 212. a second planar link; 213. a third planar link; 214. A fourth planar link; 215. a fifth planar link; 216. a sixth planar connecting rod; 217. a seventh planar link; 221. a first planar revolute joint; 222. a second planar revolute joint; 223. a third planar revolute joint; 224. a fourth plane revolute joint; 225. a fifth plane revolute joint; 230. a first planar revolute joint; 240. a slider;

300. and (4) a self-rotating joint.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical solution provided by the embodiments of the present invention is described below with reference to the accompanying drawings.

As shown in fig. 1 and 3, a slave manipulator of a surgical robot of the present invention is used in a minimally invasive surgical robot, and includes at least a surgical arm 10, an instrument 20 and a detection unit; the distal end of the surgical arm 10 is removably attached to an instrument 20. During operation, a surgeon controls the surgical arm 10 and the instrument 20 through teleoperation to complete a surgical operation.

The detection unit comprises a force detection unit 30 and a processing unit 40; the force detection unit 30 is mounted on the surgical arm 10; during the operation, the force detection unit 30 detects the stress information of the instrument 20 in real time; preferably, the force information includes moment information and/or force value information.

The processing unit 40 is configured to analyze the stress information to obtain a stress value, and determine whether the stress value is greater than a preset threshold. And if the current stress value of the instrument 20 is larger than the preset threshold value, determining that the stress of the instrument 20 is abnormal.

Preferably, the surgical robot slave end effector further comprises an alarm unit 50. When the current stress value of the instrument 20 is greater than the preset threshold value, the alarm unit 50 sends out at least one of light, voice, sound and image alarm information to prompt an operator that the stress of the instrument 20 is abnormal. The operator receives the alarm information and immediately stops the operation of the instrument 20, thereby avoiding the injury to the human body caused by abnormal stress, such as external force impact, pulling and the like, of the instrument 20 during the operation.

Preferably, the force detection unit 30 is a six-dimensional torque sensor. The six-dimensional torque sensor may detect the magnitude of the force/torque of the corresponding implement 20 in the six-free direction.

Fig. 2 shows a structure of a slave end manipulator for surgical robot, in which an instrument 20 is detachably connected to the end of an operation arm 10, the slave end manipulator for surgical robot includes three parts of a spatial positioning mechanism 100, a planar motion mechanism 200 of fig. 2, and a rotation joint 300, the rotation joint 300 connects the spatial positioning mechanism 100 and the planar motion mechanism 200, and a force detection unit 30 is installed on the planar motion mechanism, as shown in fig. 3.

The space positioning mechanism 100 comprises a base 110 and a joint mechanism, wherein the joint mechanism comprises a plurality of joints, the number of the joints can be two, three or more, the plurality of joints are sequentially arranged on the base 110, the joint at the head end of the joint mechanism can be directly connected with the base 110, and the joint at the tail end of the joint mechanism is rotatably connected with a self-rotating joint 300;

the end of the plane motion mechanism 200 is connected with the instrument 20, and the perpendicular line of the plane where the plane motion mechanism 200 is located is perpendicular to the rotation axis of the rotation joint 300;

the intersection of the rotation axis of the rotation joint 300 and the axis of the instrument 20 is the active immobilization point a, and the rotation axis of the rotation joint 300 always rotates through the active immobilization point a during the operation.

In the slave-end manipulator of the surgical robot, the joints in the joint mechanism move relative to the base 110 to drive the rotation joint 300, the plane motion mechanism 200 and the instrument 20 to rotate therewith, so that the rotation joint 300, the plane motion mechanism 200 and the instrument 20 can move in a large range in space, and the active fixed point a can be positioned in a large range in space; the plane motion mechanism 200 moves in a plane perpendicular to the direction of the rotation axis of the rotation joint 300 to drive the instrument 20 to move along with the plane motion mechanism, so that the active motionless point a moves on the plane where the plane motion mechanism 200 is located, and the fine positioning of the active motionless point a on the plane where the plane motion mechanism 200 is located is realized; the rotation joint 300 rotates around its rotation axis to drive the plane motion mechanism 200 and the apparatus 20 to rotate therewith, so that the apparatus 20 rotates around the active fixed point a with a single degree of freedom using the rotation axis of the rotation joint 300 as the rotation axis under the condition that the active fixed point a is ensured to be stationary, and the plane motion mechanism 200 rotates to drive the apparatus 20 to rotate therewith, so that the apparatus 20 rotates around the active fixed point a with a single degree of freedom using the direction perpendicular to the rotation axis of the rotation joint 300 as the rotation axis under the condition that the active fixed point a is ensured to be stationary. Because the rotation of the instrument 20 about the active stationary point a can be achieved without movement of the spatial positioning mechanism 100, the occurrence of collision during multi-arm compound motion is reduced. And the intersection point of the rotation axis of the rotation joint 300 and the axis of the instrument 20 is defined as an active motionless point a, so that the setting of the active motionless point a can be completed conveniently, and infinite solutions of the instrument 20 in the same posture can be realized through the linkage of the spatial positioning mechanism 100, the planar motion mechanism 200 and the rotation joint 300, so that the kinematics solution is simple.

The spatial positioning mechanism 100 has various structural forms, and in a preferred embodiment, as shown in fig. 2 and 4, the joint mechanism includes at least two revolute joints, wherein the rotation axis of at least one revolute joint is perpendicular to the rotation axis of the rotation joint 300. In a specific arrangement, the number of the revolute joints may be two, three, or more than three, and among the revolute joints, the rotation axis of one revolute joint may be perpendicular to the rotation axis of the rotation joint 300, or the rotation axes of two revolute joints may be perpendicular to the rotation axis of the rotation joint 300.

In the slave-end manipulator of the surgical robot, the joint mechanism includes at least two rotational joints, and the two rotational joints move respectively to drive the rotation joint 300, the plane motion mechanism 200, and the instrument 20 to rotate therewith, so as to realize the large-range motion of the rotation joint 300, the plane motion mechanism 200, and the instrument 20 in space. The rotation axis of at least one of the revolute joints is defined to be perpendicular to the rotation axis of the rotation joint 300, so that the rotation joint 300, the plane motion mechanism 200 and the instrument 20 can be driven to rotate along the rotation axis perpendicular to the rotation axis of the rotation joint 300, and the wide-range motion of the rotation joint 300, the plane motion mechanism 200 and the instrument 20 in space is controlled conveniently. Of course, the rotation axes of the at least two revolute joints may not be perpendicular to the rotation axis of the revolute joint 300, and the arrangement of the rotation axes of the at least two revolute joints may be determined according to the actual situation of the slave end effector of the surgical robot.

The joint mechanism has various structural forms, and in a preferred embodiment, the joint mechanism includes two rotational joints and one moving joint, as shown in fig. 2, the joint mechanism includes a first rotational joint 121, a second rotational joint 122 and a first moving joint 131, the rotational axes of the first rotational joint 121 and the second rotational joint 122 are perpendicular, the first moving joint 131 is disposed between the first rotational joint 121 and the second rotational joint 122, and the moving direction of the first moving joint 131 is parallel to the rotational axis of the first rotational joint 121. As shown in fig. 4, the joint mechanism includes a first rotating joint 121, a second rotating joint 122 and a first moving joint 131, the rotation axes of the first rotating joint 121 and the second rotating joint 122 are perpendicular, the first moving joint 131 is disposed between the base 110 and the first rotating joint 121, and the moving direction of the first moving joint 131 is parallel to the rotation axis of the first rotating joint 121, at the time of specific disposition, the moving direction of the first moving joint 131 and the rotation axis of the first rotating joint 121 may completely coincide, and the moving direction of the first moving joint 131 and the rotation axis of the first rotating joint 121 may also be disposed in parallel with each other with a shift.

In the above-described slave end effector for surgical robot, the first revolute joint 121, the first revolute joint 131, and the second revolute joint 122 are mounted on the base 110, the moving direction of the first revolute joint 131 is parallel to the rotation axis of the first revolute joint 121, the rotation axes of the first revolute joint 121 and the second revolute joint 122 are perpendicular to each other, and the first rotary joint 121 and the second rotary joint 122 are respectively perpendicular to the rotation axis of the rotation joint 300, when the spatial positioning mechanism 100 moves, the rotation of the first revolute joint 121 and the second revolute joint 122 may realize the rotation of the spatial positioning mechanism 100 in two directions perpendicular to the rotation axis of the revolute joint 300, so as to drive the rotation joint 300, the plane motion mechanism 200 and the apparatus 20 to rotate therewith, so that the active fixed point a rotates with two directions perpendicular to the rotation axis of the rotation joint 300 as the rotation axis; the movement of the first movable joint 131 can realize the movement of the space positioning mechanism 100 in the direction perpendicular to the rotation axis of the rotation joint 300 to drive the rotation joint 300, the plane motion mechanism 200 and the device 20 to move therewith, so that the active immobile point a moves in the direction perpendicular to the rotation axis of the rotation joint 300, therefore, the structure of the space positioning mechanism 100 is limited to the first rotation joint 121, the second rotation joint 122 and the first movable joint 131, so that the large-range positioning of the active immobile point a in the space can be realized more conveniently and quickly, and the structure is simple and easy to control. Of course, the rotation axes of the first revolute joint 121 and the second revolute joint 122 may not be perpendicular to each other, the rotation axes of the first revolute joint 121 and the second revolute joint 122 may not be perpendicular to the rotation axis of the rotation joint 300, and the arrangement of the rotation axes of the first revolute joint 121 and the second revolute joint 122 and the movement direction of the first movement joint 131 may be determined according to the actual situation of the slave end effector of the surgical robot.

As shown in fig. 2 and 4, the spatial positioning mechanism 100 includes three links, i.e., a first link 141, a second link 142, and a third link 143, adjacent two of the base 110 and the three links are connected by a moving joint or a rotational joint, and the third link 143, which is farthest from the base 110, of the three links is connected to the planar motion mechanism 200 by a rotation joint 300. As shown in fig. 2, the base 110 and the first link 141 are connected by a first rotary joint 121, the first link 141 and the second link 142 are connected by a first moving joint 131, and the second link 142 and the third link 143 are connected by a second rotary joint 122. As shown in fig. 4, the base 110 and the first link 141 are connected by a first moving joint 131, the first link 141 and the second link 142 are connected by a first rotating joint 121, and the second link 142 and the third link 143 are connected by a second rotating joint 122.

In the slave-end manipulator of the surgical robot, as shown in fig. 2, when the spatial positioning mechanism 100 moves, the first rotating joint 121 rotates to drive the first link 141 to rotate therewith, so that the first moving joint 131, the second link 142, the second rotating joint 122 and the third link 143, which are directly or indirectly connected to the first link 141, rotate therewith, and the third link 143 drives the rotation joint 300, the plane motion mechanism 200 and the instrument 20, which are directly or indirectly connected thereto, to rotate therewith, so that the active stationary point a rotates with a first direction perpendicular to the rotation axis of the rotation joint 300 as a rotation axis; the first moving joint 131 moves to drive the second connecting rod 142 to move therewith, so that the second rotating joint 122 and the third connecting rod 143 directly or indirectly connected to the second connecting rod 142 move therewith, and the third connecting rod 143 drives the rotation joint 300, the planar motion mechanism 200 and the apparatus 20 directly or indirectly connected thereto to move therewith, so that the active stationary point a moves in a first direction perpendicular to the rotation axis of the rotation joint 300; the second revolute joint 122 rotates to drive the third link 143 to revolve therewith, and the third link 143 drives the rotation joint 300, the planar motion mechanism 200 and the device 20 directly or indirectly connected thereto to revolve therewith, so that the active motionless point a revolves with a second direction perpendicular to the rotation axis of the rotation joint 300 as a rotation axis, and the first direction and the second direction are perpendicular to each other, so as to realize the revolution with the two directions perpendicular to the rotation axis of the rotation joint 300 as rotation axes.

As shown in fig. 4, when the spatial positioning mechanism 100 moves, the first moving joint 131 moves to drive the first connecting rod 141 to move therewith, so that the first rotating joint 121, the second connecting rod 142, the second rotating joint 122, the third connecting rod 143, the rotating joint 300, the planar motion mechanism 200 and the instrument 20 directly or indirectly connected to the first connecting rod 141 move therewith, and the active fixed point a moves in a first direction perpendicular to the rotation axis of the rotating joint 300; the first rotating joint 121 rotates to drive the second connecting rod 142 to rotate therewith, so that the second rotating joint 122, the third connecting rod 143, the rotation joint 300, the planar motion mechanism 200 and the apparatus 20 which are directly or indirectly connected to the second connecting rod 142 rotate therewith, and the driving fixed point a rotates by taking a first direction perpendicular to the rotation axis of the rotation joint 300 as a rotation axis; the second revolute joint 122 rotates to drive the third link 143 to revolve therewith, and the third link 143 drives the rotation joint 300, the planar motion mechanism 200 and the device 20 directly or indirectly connected thereto to revolve therewith, so that the active motionless point a revolves with a second direction perpendicular to the rotation axis of the rotation joint 300 as a rotation axis, and the first direction and the second direction are perpendicular to each other, so as to realize the revolution with the two directions perpendicular to the rotation axis of the rotation joint 300 as rotation axes.

The spatial positioning mechanism 100 has various structural forms, and in a preferred embodiment, as shown in fig. 5, the joint mechanism includes three joints, namely, a third revolute joint 123, a fourth revolute joint 124 and a fifth revolute joint 125, and the three joints, namely, the third revolute joint 123, the fourth revolute joint 124 and the fifth revolute joint 125 are sequentially installed, the third revolute joint 123, which is farthest from the rotation joint 300, of the three joints is installed on the base 110, the rotation axes of the third revolute joint 123 and the fourth revolute joint 124, which are close to the base 110, of the three joints are perpendicular to each other, and the rotation axes of the fourth revolute joint 124 and the fifth revolute joint 125, which are far from the base 110, of the three joints are parallel to each other.

As shown in fig. 5, the spatial positioning mechanism 100 further includes three links, namely, a fourth link 144, a fifth link 145, and a sixth link 146, adjacent two of the base 110 and the three links are connected by a rotational joint, and the sixth link 146 farthest from the base 110 among the three links is connected to the planar motion mechanism 200 by a rotation joint 300. In a specific arrangement, the base 110 is connected to the fourth link 144 through the third rotational joint 123, the fourth link 144 is connected to the fifth link 145 through the fourth rotational joint 124, and the fifth link 145 is connected to the sixth link 146 through the fifth rotational joint 125.

In the slave-end manipulator of the surgical robot, when the spatial positioning mechanism 100 moves, the rotation of the third revolute joint 123 and the rotation of the fourth revolute joint 124 both enable the spatial positioning mechanism 100 to rotate in two directions perpendicular to the rotation axis of the revolute joint 300 as the rotation axis, so as to drive the revolute joint 300, the planar motion mechanism 200 and the instrument 20 to rotate therewith, and enable the active stationary point a to rotate in two directions perpendicular to the rotation axis of the revolute joint 300 as the rotation axis; the fifth rotating joint 124 can realize that the space positioning mechanism 100 rotates by taking the direction perpendicular to the rotation axis of the rotation joint 300 as the rotation axis, so as to drive the rotation joint 300, the plane motion mechanism 200 and the apparatus 20 to rotate therewith, and the active fixed point a rotates in the direction perpendicular to the rotation axis of the rotation joint 300; therefore, by defining the structure of the spatial positioning mechanism 100 as the three joints, the active fixed point a can be conveniently and quickly positioned in a large spatial range, and the structure is simple and easy to control. Of course, the rotation axes of the third revolute joint 123 and the fourth revolute joint 124 may not be perpendicular to each other, and the rotation axes of the third revolute joint 123 and the fourth revolute joint 124 may not be perpendicular to the rotation axis of the rotation joint 300, and the arrangement manner of the rotation axes of the third revolute joint 123, the fourth revolute joint 124, and the fifth revolute joint 124 may be determined according to the actual situation of the slave end effector of the surgical robot.

The spatial positioning mechanism 100 has a plurality of structural forms, as shown in fig. 6, in a preferred embodiment, the joint mechanism 120 includes two rotation joints of a sixth rotation joint 126 and a seventh rotation joint 127 and two movement joints of a second movement joint 132 and a third movement joint 133, the second movement joint 132 and the third movement joint 133 are adjacently disposed, the movement directions of the second movement joint 132 and the third movement joint 133 are perpendicular to each other, the movement direction of the third movement joint 133 is parallel to the rotation axis of the sixth rotation joint 126, the sixth rotation joint 126 is disposed between one side of the second movement joint 132 and the third movement joint 133 and the base 110, the seventh rotation joint 127 is disposed on the other side of the second movement joint 132 and the third movement joint 133, and the rotation axes of the sixth rotation joint 126 and the seventh rotation joint 127 are perpendicular to each other.

As shown in fig. 6, the spatial positioning mechanism 100 further includes four links, that is, a seventh link 147, an eighth link 148, and a ninth link 149, and a tenth link 150, the base 110 and the four links are connected by a moving joint or a rotational joint, and the tenth link 150, which is farthest from the base 110, of the four links is connected to the planar motion mechanism 200 by a rotation joint 300. In a specific arrangement, the base 110 and the seventh link 147 are connected by a sixth revolute joint 126, the seventh link 147 and the eighth link 148 are connected by a second moving joint 132, the eighth link 148 and the ninth link 149 are connected by a third moving joint 133, and the ninth link 149 and the tenth link 150 are connected by a seventh revolute joint 127.

In the slave-end manipulator of the surgical robot, when the spatial positioning mechanism 100 moves, the rotation of the sixth revolute joint 126 and the seventh revolute joint 127 can realize that the spatial positioning mechanism 100 rotates by taking the direction perpendicular to the rotation axis of the revolute joint 300 as the rotation axis, so as to drive the revolute joint 300, the planar motion mechanism 200 and the instrument 20 to rotate therewith, and the active stationary point a rotates by taking two directions perpendicular to the rotation axis of the revolute joint 300 as the rotation axis; the movement of the second movable joint 132 and the third movable joint 133 may realize that the spatial positioning mechanism 100 moves in a direction perpendicular to the rotation axis of the rotation joint 300 to drive the rotation joint 300, the planar motion mechanism 200 and the instrument 20 to move therewith, so that the active motionless point a moves in a direction perpendicular to the rotation axis of the rotation joint 300; therefore, by defining the structure of the spatial positioning mechanism 100 as the two rotational joints and the two moving joints, the active fixed point a can be conveniently and quickly positioned in a large spatial range, and the structure is simple and is easy to control. Of course, the rotation axes of the sixth rotating joint 126 and the seventh rotating joint 127 may not be perpendicular to each other, and the moving directions of the second moving joint 132 and the third moving joint 133 may not be perpendicular to each other, and the arrangement manner of the rotation axes of the sixth rotating joint 126 and the seventh rotating joint 127 and the moving directions of the second moving joint 132 and the third moving joint 133 may be determined according to the actual situation of the slave end effector of the surgical robot.

The plane movement mechanism 200 has various structural forms, and a preferred embodiment, as shown in fig. 2 and 7, the plane movement mechanism 200 includes three rotational joints of a first plane link 211, a second plane link 212, a third plane link 213, and a fourth plane link 214, a first plane rotational joint 221, a second plane rotational joint 222, and a third plane rotational joint 223, the first plane link 211, the second plane link 212, the third plane link 213, and the fourth plane link 214 are sequentially disposed, and two adjacent links are connected by a rotational joint, the first plane link 211 at an edge position of the four links is connected to the end of the spatial localization mechanism 100 by a rotational joint 300, and the fourth plane link 214 at an edge position of the four links is connected to the instrument 20, the first plane rotational joint 221, the second plane rotational joint 222, and the third plane rotational joint are connected to the instrument 20 by a rotational joint 300, The rotation axes of the third plane revolute joint 223 are parallel, and the first plane revolute joint 221, the second plane revolute joint 222, and the third plane revolute joint 223 are perpendicular to the rotation axis of the rotation joint 300.

One of the revolute joints is provided with the force detection unit 30 and the revolute joint 223 is connected to a fourth planar link 214 to which the instrument 20 is connected, see fig. 3. Because the instrument is connected with the rotating joint 223 through the fourth plane connecting rod 214, the stress condition of the instrument can be directly mapped on the rotating joint 223, and the force detection unit 30 can detect the stress information of the instrument 20 in real time in the operation process; preferably, the force information includes moment information and/or force value information.

In a specific configuration, the first planar link 211, the first planar rotation joint 221, the second planar link 212, the second planar rotation joint 222, the third planar link 213, the third planar rotation joint 223, and the fourth planar link 214 are connected in sequence. The third plane rotation joint 223 is mounted with the force detection unit 30.

Specifically, the motion control of the active motionless point a satisfies the following constraint relationship:

wherein α is an included angle between the first planar link 211 and the second planar link 212, β is an included angle between the second planar link 212 and the third planar link 213, γ is an included angle between the third planar link 213 and the fourth planar link 214, a-c are lengths of the second planar link 212, the third planar link 213, and the fourth planar link 214 in sequence, and d is a distance between an end of the second planar link 212 close to the first planar link 211 and the active stationary point a.

In the slave-end manipulator of the surgical robot, when the plane motion mechanism 200 moves, the first plane rotation joint 221 rotates to drive the second plane connection rod 212, the second plane rotation joint 222, the third plane connection rod 213, the third plane rotation joint 223, the fourth plane connection rod 214 and the instrument 20 to rotate therewith, so as to drive the active fixed point a to rotate in a plane perpendicular to the rotation axis of the rotation joint 300; the second plane rotation joint 222 rotates to drive the second plane connecting rod 212, the third plane connecting rod 213, the third plane rotation joint 223, the fourth plane connecting rod 214 and the instrument 20 to rotate therewith, so that the active fixed point a rotates in a plane perpendicular to the rotation axis of the rotation joint 300; the third plane rotation joint 223 rotates to drive the second plane link 212, the second plane rotation joint 222, the third plane link 213, the third plane rotation joint 223, the fourth plane link 214 and the instrument 20 to rotate therewith, so that the active fixed point a rotates in a plane perpendicular to the rotation axis of the rotation joint 300; therefore, by defining the structure of the planar motion mechanism 200 as the planar four-bar mechanism, the fine positioning of the active fixed point a on the plane of the planar motion mechanism 200 can be conveniently and quickly realized, and the planar motion mechanism has a simple structure and is easy to control the motion. After the active motionless point a is determined, the combination of the first planar rolling joint 221, the second planar rolling joint 222, and the third planar rolling joint 223 is linked to rotate the planar motion mechanism 200 around the active motionless point a with a direction perpendicular to the rotation axis of the rotation joint 300 as the rotation axis.

To facilitate the installation of the instrument 20, specifically, as shown in fig. 2, the fourth planar link 214 is connected to the instrument 20 by a first planar translational joint 230, and the direction of movement of the first planar translational joint 230 is perpendicular to the axis of rotation of the first planar rotational joint 221.

In the above-mentioned slave end effector for surgical robot, the fourth plane link 214 and the instrument 20 are connected by defining the first plane moving joint 230, and the moving direction of the first plane moving joint 230 is perpendicular to the rotation axis of the first plane turning joint 221, so as to control the movement of the first plane moving joint 230 to realize the movement of the instrument 20 in the wound during surgery and facilitate the surgical operation by ensuring the position of the active immobilization point a is unchanged.

To facilitate the location of the active motionless point a, in a preferred embodiment, the slave end effector of the surgical robot further comprises a laser generating module, the laser generating module is disposed on the first plane connecting rod 211, the laser generating module is disposed coaxially with the rotation joint 300, the laser generating module is configured to generate laser, and the laser irradiates a location mark on the instrument 20 to represent the active motionless point a.

In the slave-end manipulator of the surgical robot, the surface of the instrument rod of the instrument 20 is coated with a positioning mark, the laser generating module emits laser along the rotation axis direction of the rotation joint 300, and the positioning mark area irradiated by the laser is the position of the active motionless point a, so that the active motionless point a can be conveniently and quickly confirmed.

The planar motion mechanism 200 has a plurality of structural forms, and in a preferred embodiment, as shown in fig. 8, the planar motion mechanism 200 includes three sequentially connected links, namely a fifth planar link 215, a sixth planar link 216, and a seventh planar link 217, a slider 240, and two rotational joints, namely a fourth planar rotational joint 224 and a fifth planar rotational joint 225, wherein the slider 240 and the fourth planar rotational joint 224 are integrally connected; the fifth plane rotation joint 225 is provided with the detection unit 30 (not shown in the figure); the slider 240 is connected with the fifth plane link 215 and slides along the fifth plane link 215, the fourth plane rotary joint 224 is connected with the sixth plane link 216, the fifth plane rotary joint 225 is respectively connected with the adjacent sixth plane link 216 and the seventh plane link 217, the fifth plane link 215 can be directly connected with the self-rotation joint 300, the rotation axes of the fourth plane rotary joint 224 and the fifth plane rotary joint 225 are parallel, the rotation axes of the fourth plane rotary joint 224 and the fifth plane rotary joint 225 are both the rotation axis of the self-rotation joint 300, and the rotation axes of the fourth plane rotary joint 224 and the fifth plane rotary joint 225 are both perpendicular to the moving direction of the slider 240.

During the operation, since the instrument 20 is connected to the fifth plane revolute joint 225 through the seventh plane link 217, the stress condition of the instrument 20 can be directly mapped on the fifth plane revolute joint 225, and the force detection unit 30 can detect the stress information of the instrument 20 in real time.

As shown in fig. 9, the planar motion mechanism 200 includes three sequentially connected links of a seventh planar link 217, a fifth planar link 215, and a sixth planar link 216, a slider 240, and two rotational joints of a fourth planar rotational joint 224 and a fifth planar rotational joint 225, the slider 240 and the fourth planar rotational joint 224 are integrally connected, and the detection unit 30 (not shown in the figure) is mounted on the fourth planar rotational joint 224; the sliding block 240 is connected with the fifth plane connecting rod 215 and slides along the fifth plane connecting rod 215, the fourth plane rotating joint 224 is connected with the sixth plane connecting rod 216, the fifth plane rotating joint 225 is respectively connected with the adjacent sixth plane connecting rod 216 and the fifth plane connecting rod 215, the fifth plane connecting rod 215 can also be indirectly connected with the instrument 20 through the sixth plane connecting rod 216, the sliding block 240 and the fourth plane rotating joint 224, the rotating axes of the fourth plane rotating joint 224 and the fifth plane rotating joint 225 are parallel, the rotating axes of the fourth plane rotating joint 224 and the fifth plane rotating joint 225 are both the rotating axis of the self-rotating joint 300, and the rotating axes of the fourth plane rotating joint 224 and the fifth plane rotating joint 225 are both vertical to the moving direction of the sliding block 240.

The fourth plane rotation joint 224 is provided with the detection unit 30 (not shown). During the operation, since the instrument 20 is connected to the fourth plane rotation joint 224 through the sixth plane connection rod 216, the stress condition of the instrument 20 can be directly mapped on the fourth plane rotation joint 224, and the force detection unit 30 can detect the stress information of the instrument 20 in real time.

In the above-described slave-end manipulator of surgical robot, as shown in fig. 8, when the planar motion mechanism 200 moves, the slider 240 slides, and drives the fourth planar revolute joint 224, the sixth planar link 216, the fifth planar revolute joint 225, the seventh planar link 217, and the instrument 20 to move therewith, so that the active motionless point a moves in a plane perpendicular to the rotation axis of the revolute joint 300; the fifth plane rotation joint 225 rotates to drive the sixth plane connecting rod 216, the seventh plane connecting rod 217 and the apparatus 20 to move therewith, so that the active fixed point a rotates in a plane perpendicular to the rotation axis of the rotation joint 300; as shown in fig. 9, the fifth plane rotation joint 225 rotates to drive the fifth plane link 215, the slider 240, the fourth plane rotation joint 224, the sixth plane link 216 and the apparatus 20 to move therewith, so that the active stationary point a rotates in a plane perpendicular to the rotation axis of the rotation joint 300; the sliding block 240 slides to drive the fourth plane revolute joint 224, the sixth plane connecting rod 216 and the apparatus 20 to move therewith, so that the active motionless point a moves in a plane perpendicular to the rotation axis of the rotation joint 300; therefore, by limiting the structure of the planar motion mechanism 200, the fine positioning of the active fixed point a on the plane of the planar motion mechanism 200 can be conveniently and quickly realized, and the structure is simple and easy to control the motion. After the active motionless point a is determined, the combination of the fourth plane rotation joint 224 and the fifth plane rotation joint 225 is linked to rotate the plane motion mechanism 200 around the active motionless point a with a direction perpendicular to the rotation axis of the rotation joint 300 as the rotation axis.

It should be noted that the joint may be driven by a motor driven harmonic reducer, planetary reducer, RV reducer, or other gear transmission, or may be driven directly by a DD motor. The movable joint can be realized by driving the screw rod and nut mechanism to lift through the motor, directly driving the linear motor, driving the steel wire rope through the motor and the like.

When the device is used, firstly, the joint of the joint mechanism in the space positioning mechanism 100 is controlled to move relative to the base 110 so as to drive the self-rotation joint 300, the plane movement mechanism 200 and the device 20 to rotate along with the self-rotation joint, so that the self-rotation joint 300, the plane movement mechanism 200 and the device 20 move in a large range in space, and the active motionless point A is positioned in the large range in space, so that the rotation axis of the self-rotation joint 300 passes through a poking wound; then, controlling the plane motion mechanism 200 to move, wherein the plane motion mechanism 200 moves in a plane perpendicular to the rotation axis direction of the rotation joint 300 to drive the device 20 to move therewith, so that the active fixed point a moves on the plane where the plane motion mechanism 200 is located, and the fine positioning of the active fixed point a on the plane where the plane motion mechanism 200 is located is realized, so that the axis of the device 20 passes through the stab wound and the active fixed point a is positioned to coincide with the wound; finally, the rotation joint 300 is controlled to rotate, the rotation joint 300 rotates around the rotation axis thereof to drive the plane motion mechanism 200 and the apparatus 20 to rotate therewith, so that the apparatus 20 rotates around the active fixed point a with a single degree of freedom taking the rotation axis of the rotation joint 300 as the rotation axis under the condition that the active fixed point a is ensured to be stationary, the plane motion mechanism 200 is controlled to rotate to drive the apparatus 20 to rotate therewith, and the apparatus 20 rotates around the active fixed point a with a single degree of freedom taking the direction perpendicular to the rotation axis of the rotation joint 300 as the rotation axis under the condition that the active fixed point a is ensured to be stationary.

The control method of the slave-end manipulator of the surgical robot can conveniently and accurately position the motionless point, ensures that the rotation of the instrument 20 around the active motionless point A can be realized without the movement of the space positioning mechanism 100, and reduces the occurrence of collision during multi-arm combined movement.

As shown in fig. 2, a preferred embodiment, when the surgical robot connects the instrument 20 from the end of the planar motion mechanism 200 in the end effector through the first planar moving joint 230, after controlling the movement of the rotation joint 300 and the planar motion mechanism 200, further comprises:

the first planar translational joint 230 is controlled to move to operate the instrument through the active motionless point a.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A surgical robotic slave end effector comprising at least a surgical arm, an instrument mounted at a distal end of the surgical arm, and a detection unit;

2. A surgical robotic slave end effector according to claim 1, wherein the slave end effector further comprises an alarm unit; when the current stress value of the instrument is larger than a preset threshold value, the alarm unit sends alarm information, and the alarm information comprises at least one of light, voice, sound and images.

3. A surgical robotic slave end effector according to claim 1, wherein the force information comprises moment information and/or force value information.

4. A surgical robotic slave end effector according to claim 1, wherein the force detection unit is a six-dimensional torque sensor.

5. A surgical robotic slave end effector according to any of claims 1 to 4, wherein the surgical arm comprises a spatial positioning mechanism, a planar motion mechanism and a revolute joint connecting the spatial positioning mechanism and the planar motion mechanism; the detection unit is arranged on the plane motion mechanism;

the space positioning mechanism comprises a base and a joint mechanism, the joint mechanism comprises a plurality of joints which are sequentially installed, the joint at the head end of the joint mechanism is installed on the base, and the joint at the tail end of the joint mechanism is rotationally connected with the self-rotating joint;

6. A surgical robotic slave end effector according to claim 5,

the joint mechanism comprises at least two revolute joints, wherein the rotation axis of at least one revolute joint is perpendicular to the rotation axis of the autorotation joint.

7. A surgical robotic slave end effector according to claim 6, wherein said joint mechanism comprises two of said revolute joints and a prismatic joint, said prismatic joint being disposed between said revolute joints or between said revolute joints and said base, the direction of movement of said prismatic joint being parallel to the axis of rotation of one of said revolute joints, the axis of rotation of both of said revolute joints being perpendicular.

8. A surgical robotic slave end effector according to claim 5, wherein said articulation mechanism comprises three revolute joints, mounted in series, and the revolute joint furthest from said revolute joint is mounted to said base, and the axes of rotation of the two revolute joints proximal to said base are perpendicular and the axes of rotation of the two revolute joints distal to said base are parallel.

9. A surgical robotic slave end effector according to claim 5, wherein said joint mechanism comprises two revolute joints and two revolute joints, the two revolute joints being disposed adjacent one another with the directions of movement perpendicular to one another and parallel to the axis of rotation of one of said revolute joints, one of said revolute joints being disposed between one side of the two revolute joints and said base, and the other of said revolute joints being disposed with the axis of rotation perpendicular to one another.

10. A surgical robot slave end effector according to claim 5, wherein said planar motion mechanism comprises four links and three revolute joints, four of said links are arranged in sequence and connected by a revolute joint between two adjacent links, one of said four links at an edge position is connected to a distal end of said spatial orientation mechanism by a revolute joint and the other link is connected to said instrument, and the rotation axes of the three revolute joints are parallel and perpendicular to the rotation axis of said revolute joint; one of the rotary joints is provided with the force detection unit, and the rotary joint is connected with a connecting rod connected with the instrument.

11. A surgical robotic slave end effector according to claim 10, wherein the motion control of the active motionless point satisfies the following constraint relationship:

the included angles between two adjacent connecting rods from the head end to the tail end of the plane movement mechanism are alpha, beta and gamma in sequence, the lengths of the three connecting rods from the head end to the tail end in the plane movement mechanism are a, b and c in sequence, and the distance between the end part, close to the head end, of the connecting rod adjacent to the head end in the plane movement mechanism and the active fixed point is d.

12. A surgical robot slave end effector according to claim 5, wherein said planar motion mechanism comprises three links, a slider and two revolute joints arranged in sequence, one of said revolute joints is provided with said detection unit and integrally connected to said slider, the other of said revolute joints is connected to two adjacent links, respectively, said link connected to said slider is directly connected to said revolute joint or indirectly connected to an instrument, the rotation axes of said two revolute joints are parallel and perpendicular to the rotation axis of said revolute joint and the movement direction of said slider.

13. A surgical robotic slave end effector according to claim 5, wherein the tip of the planar motion mechanism is connected to the instrument by a prismatic joint, the prismatic joint having a direction of movement perpendicular to the axis of rotation of the revolute joint.