CN217090893U - Instrument driver for surgical robot and surgical robot - Google Patents
Instrument driver for surgical robot and surgical robot Download PDFInfo
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- CN217090893U CN217090893U CN202122961876.0U CN202122961876U CN217090893U CN 217090893 U CN217090893 U CN 217090893U CN 202122961876 U CN202122961876 U CN 202122961876U CN 217090893 U CN217090893 U CN 217090893U
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Abstract
The utility model discloses an apparatus driver and surgical robot for surgical robot. The instrument driver comprises a motor, a reduction gearbox output stage and a driving disc assembly, wherein the motor drives a gear of the reduction gearbox to rotate, and then the reduction gearbox drives the driving disc assembly to rotate. The instrument driver also includes an output stage magnetic loop and an output stage encoder. The output stage magnetic ring and the output stage of the reduction box are coaxially arranged and then synchronously rotate; the output stage encoder is fixedly arranged in the radial direction of the output stage of the reduction gearbox and used for detecting the rotation of the output stage magnetic ring. The utility model discloses make the rotational position of driving-disc detect in axial height and the radial 7.5mm space of reducing gear box the central axis less than 4.5mm can be in order to realize. The structure in the instrument driver is simplified, errors such as gaps or deformation caused by complex structure can be eliminated, the rotation angle of the output stage can be directly measured, the measurement of the rotation angle of the output stage is more accurate, and the control precision of the tail end instrument is higher.
Description
Technical Field
The present invention relates generally to the field of surgical robots, and more particularly to an instrument driver for a surgical robot and a surgical robot.
Background
The medical operation robot has the advantages of accurate positioning, stable operation, strong dexterity, large working range, radiation and infection resistance and the like, and is widely applied to various operations. The medical operation robot is beneficial to improving the operation precision of a surgeon, solving the problems of trembling, fatigue and muscle nerve feedback of the hand of the surgeon, enabling the surgeon to perform operation in the most comfortable state, has important values for improving the operation success rate and relieving the pain of a patient, and has become a new field of medical instrument application in recent years.
Surgical robots typically have surgical instrument drive arrangements arranged at the ends of one or more robotic arms to accommodate the need to replace and adapt a variety of surgical instruments to accomplish various actions in the surgical procedure, both at different surgical types and throughout the procedure.
In order to achieve accurate, safe, highly responsive control of a surgical instrument tool end effector, sensory testing of the power unit is required to confirm the position of the motor rotor and the position of the drive output end for closed loop control.
When the position of a tail end rotating pair of a driving device is measured in the prior art, a tooth form needs to be processed on the outer side of a final-stage output disc of a gear box, a notch needs to be formed in the outer wall of a reduction gearbox, and a meshing outer gear and a Hall sensitive unit linkage shaft system are arranged at the position parallel to the axis of the driving disc, so that the following problems can be caused:
1. the number of parts is large, and the installation is complex;
2. the condition that transmission backlash cannot be thoroughly eliminated inevitably exists in a pair of gear meshing pairs, and an error term is brought to accurate position measurement of the tail end output device;
3. the measuring unit is far away from the driving disk unit which needs to be detected really, and the rigidity deformation between the driving disk and the final-stage output piece of the reduction gearbox cannot be included in the measurement, so that the further reduction of the measurement precision is brought.
Accordingly, there is a need for an instrument driver for a surgical robot that at least partially addresses the above-mentioned problems.
SUMMERY OF THE UTILITY MODEL
In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.
In order to solve the above problem at least partially, the utility model discloses an aspect provides an instrument driver for surgical robot, instrument driver includes a plurality of motor, reducing gear box output stage and drive disc subassembly, motor drive the reducing gear box drives the reducing gear box output stage rotates, and then the reducing gear box drive the drive disc subassembly rotates, instrument driver still includes:
the output stage magnetic ring and the reduction gearbox output stage are coaxially arranged and synchronously rotate along with the reduction gearbox output stage;
and the output stage encoder is fixedly arranged in the radial direction of the output stage of the reduction gearbox and is used for detecting the rotation of the output stage magnetic ring.
According to the utility model discloses an instrument driver for surgical robot has arranged the output stage magnetic ring at the coaxial line direction of reducing gear box output stage, has radially arranged the output stage encoder at it, makes the rotational position detection of driving-disc like this can be in order to realize in the axial height that is less than 4.5mm and the radial 7.5mm space of reducing gear box the central axis. The structure in the instrument driver is simplified, the internal space of the instrument driver is greatly saved, the overall dimension of the instrument driver is smaller, and the structure of the surgical robot is better. And, the utility model discloses can get rid of the complicated clearance that brings of structure or the error such as deformation, the turned angle that can the direct measurement output level, more accurate to output level turned angle's measurement, higher to the control accuracy of terminal apparatus.
Optionally, the instrument driver further comprises an output sensing plate disposed between the bearing of the reduction gearbox output stage and the drive disc assembly, the output sensing plate being provided with a through hole for the reduction gearbox output stage to pass through, wherein,
the output stage encoder is mounted to the output sensing board.
According to the utility model discloses an instrument driver for surgical robot, output stage encoder installs between the bearing of drive disk subassembly and reducing gear box output stage.
Optionally, the output stage magnetic ring is mounted to the drive disc assembly and the output stage encoder is mounted to a side of the output sensing plate facing the drive disc assembly.
According to the utility model discloses an instrument driver for surgical robot, output stage encoder can be located the below of output stage magnetic ring.
Optionally, the drive disk assembly includes a drive disk guide portion and a drive disk, the drive disk guide portion is coupled to the shaft portion of the output stage of the reduction gearbox, the drive disk is in sliding fit with the drive disk guide portion, and the output stage magnetic ring is coupled to the drive disk guide portion.
According to the utility model discloses an inner structure that is used for surgical robot's apparatus driver, output stage magnetic ring direct mount to output dish guide part has been simplified apparatus driver.
Optionally, the drive plate and the drive plate guide are made of a non-magnetic material or a weakly magnetic material.
According to the utility model discloses an apparatus driver for surgical robot, the material that is close to the output level magnetic ring all is non-magnetic material or weak magnetic material, avoids these materials itself to be magnetized so that exert an influence to encoder measurement accuracy and accuracy, has greatly promoted measuring degree of accuracy and precision.
Optionally, the output stage magnetic ring is mounted to the output stage of the reduction gearbox and adjacent to a bearing of the output stage of the reduction gearbox, and the output stage encoder is mounted to a side of the output sensing plate facing the bearing of the output stage of the reduction gearbox.
According to the utility model discloses an instrument driver for surgical robot, output stage encoder can be located the top of output stage magnetic ring.
Optionally, the bearing of the reduction gearbox output stage comprises an outer bearing and an inner bearing, and the output stage magnetic ring is close to the outer bearing.
According to the utility model discloses an instrument driver for surgical robot has adopted the duplex bearing design in the reducing gear box shafting, can reduce the axial float of output stage axle itself to sensor measuring's influence, has reduced because the magnetic ring reciprocates the sensor measuring error who brings.
Optionally, the outer bearing spans the inner bearing, or the outer bearing and the inner bearing are disposed next to each other.
According to the utility model discloses a distance between the two can be adjusted according to the size of actual space in the instrument driver to the duplex bearing in the reducing gear box shafting for surgical robot's instrument driver.
Optionally, the outer bearing is made of a non-magnetic material or a weakly magnetic material.
According to the utility model discloses an apparatus driver for surgical robot, the material that is close to the output level magnetic ring all is non-magnetic material or weak magnetic material, avoids these materials itself to be magnetized so that exert an influence to encoder measurement accuracy and accuracy, has greatly promoted measuring degree of accuracy and precision.
Optionally, the output stage encoder is located outside a convex polygon formed by connecting the centers of the plurality of output stages of the reduction gearbox.
According to the utility model discloses an instrument driver for surgical robot, the maximize reduces the influence that each encoder unit disturbed each other.
Optionally, the reduction gearbox comprises a top cover made of a non-magnetic material or a weakly magnetic material.
Optionally, the reduction gearbox output stage is made of a non-magnetic material or a weakly magnetic material.
According to the utility model discloses an apparatus driver for surgical robot, the material that is close to the output level magnetic ring all is non-magnetic material or weak magnetic material, avoids these materials itself to be magnetized so that exert an influence to encoder measurement accuracy and accuracy, has greatly promoted measuring degree of accuracy and precision.
Optionally, the bearings of the electric machine comprise an input end bearing and an output end bearing.
According to the utility model discloses an instrument driver for surgical robot has adopted the duplex bearing design among the motor shafting, can reduce the axial float of motor shaft itself to sensor measuring's influence, has reduced because the magnetic ring reciprocates the sensor measuring error who brings.
Optionally, the input end bearing is made of a non-magnetic material or a weakly magnetic material.
According to the utility model discloses an instrument driver for surgical robot, the material that is close to the input stage magnetic ring all is non-magnetic material or weak magnetic material, avoids these materials itself to be magnetized so that exert an influence to encoder measurement accuracy and accuracy, has greatly promoted measuring degree of accuracy and precision.
Optionally, the instrument driver further comprises:
the input stage magnetic ring is coaxially arranged with the input stage of the motor and synchronously rotates along with the input stage of the motor;
an input stage encoder fixedly disposed in the instrument driver for detecting rotation of the input stage magnetic ring.
According to the utility model discloses an error that is used for surgical robot's apparatus driver, has realized the rotation detection scheme that one set of motor input and reducing gear box output are compact, can compare output stage code detecting element's detected value and input stage code detecting element's detected value, then can compensate output stage probably to produce through software control, therefore apparatus driver's control accuracy is higher.
Optionally, the input stage magnetic ring is arranged coaxially with the sensitive unit of the input stage encoder.
According to the utility model discloses an instrument driver for surgical robot, with the input stage magnetic ring with the sensitive unit coaxial arrangement of input stage encoder, can promote the accuracy that detects motor input turned angle.
Optionally, the motor comprises a bottom cover made of a non-magnetic material or a weakly magnetic material; and/or
The motor comprises a base, wherein the base is made of a non-magnetic material or a weak-magnetic material; and/or
The motor includes a housing made of a non-magnetic material or a weakly magnetic material.
According to the utility model discloses an instrument driver for surgical robot, the material that is close to the input stage magnetic ring all is non-magnetic material or weak magnetic material, avoids these materials itself to be magnetized so that exert an influence to encoder measurement accuracy and accuracy, has greatly promoted measuring degree of accuracy and precision.
A second aspect of the present invention provides a surgical robot including the above-mentioned instrument driver for a surgical robot.
According to the utility model discloses an output level magnetic ring has been arranged to the coaxial line direction at the reducing gear box output level of apparatus driver, has radially arranged the output level encoder at it, makes the rotatory position detection of driving-disc like this can be in order to realize in the axial height that is less than 4.5mm and the radial 7.5mm space of reducing gear box the central axis. This simplifies the internal structure of the instrument driver, while greatly saving the internal space of the instrument driver, making the overall dimensions of the instrument driver smaller and the structure of the surgical robot more optimal. And, the utility model discloses can get rid of the complicated clearance that brings of structure or the error such as deformation, the turned angle that can the direct measurement output level, more accurate to output level turned angle's measurement, higher to the control accuracy of terminal apparatus.
Drawings
The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings, embodiments and descriptions of the invention, which are used to explain the principles of the invention.
In the drawings:
FIG. 1 is an exploded perspective view of a drive assembly of a preferred embodiment surgical robot according to the present invention;
FIG. 2 is a side cross-sectional view of a device driver according to an embodiment of the present invention;
FIG. 3 is a front cross-sectional view of an instrument driver according to an embodiment of the present invention
FIG. 4 is a perspective view of a device driver according to an embodiment of the present invention, with a portion of the housing of the device driver omitted;
FIG. 5 is an example of a partial cross-sectional view taken along line A-A of FIG. 4;
FIG. 6 is a perspective view of a device driver according to an embodiment of the present invention, with a portion of the housing of the device driver omitted
Fig. 7 is a partial cross-sectional view taken along line a-a of fig. 4.
Description of reference numerals:
10: sterile adapter
10A: sterile adapter upper surface
10C: sterile adapter recess
20: surgical instrument box
28: slender tube
30: instrument driver
30A: upper surface of instrument driver
30C: instrument driver notch
31: base seat
32: outer casing
33: cooling system
34: output sensing board
50: drive assembly
60: transmission assembly
70: electric machine
71: motor shaft
72: motor bearing
72A: motor input end bearing
72B: motor output end bearing
73: motor stator
74: motor rotor
75: input stage magnetic ring
76: input stage encoder
80: reduction gearbox
81/81A/ 81B/ 81C/81D/ 81E: reduction gearbox output stage
82: output stage bearing
82A: output stage outer bearing
82B: output stage inner bearing
85: output stage magnetic ring
86/86A/ 86B/ 86C/86D/ 86E: output stage encoder
90: drive disk assembly
91: driving disc
92: driving disc guide
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring embodiments of the present invention.
In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the invention. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art.
The utility model provides an instrument driver for a surgical robot and a surgical robot comprising the instrument driver. The preferred embodiments of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, in a preferred embodiment, a surgical robot according to the present invention includes a drive assembly 50, the drive assembly 50 being mounted to a sliding arm. The drive assembly 50 includes the instrument driver 30, the sterile adapter 10, and the surgical instrument cartridge 20. Wherein the instrument driver 30 is connected to the sliding arm of the surgical robot and is controllably movable thereon. The sterile adapter 10 is coupled to the instrument driver 30. The surgical instrument cassette 20 is connected to the sterile adaptor 10. Specifically, the sterile adapter 10 is mounted to the upper surface 30A of the instrument driver 30, and the surgical instrument cartridge 20 is mounted to the upper surface 10A of the sterile adapter 10. The sterile adapter 10 is sandwiched between the instrument driver 30 and the surgical instrument cartridge 20 to removably couple a sterile surgical instrument (e.g., forceps, scissors, clips, etc.) to the non-sterile instrument driver 30. When mounted to the slide arm, the instrument driver 30, sterile adapter 10 and surgical instrument cartridge 20 are all located on the same side of the slide arm so as to be movable on the slide arm as a unit.
The surgical instruments are connected to the surgical instrument cassette 20. The instrument driver 30 provides driving force to the rear end actuator of the surgical instrument in the surgical instrument box 20 through the sterile adaptor 10, so as to achieve the purposes of pitching, deflecting and clamping. Specifically, the surgeon controls the instruments on the surgical side driver on the console side to control the internal mechanisms of the instrument driver 30. The instrument driver 30 is connected to the sterile adaptor 10, and the sterile adaptor 10 is connected to the rear end of the surgical instrument through the surgical instrument cartridge 20. After the connection is completed, the driving disc 91 of the instrument driver 30 drives the coupling member of the sterile adapter 10, the coupling member of the sterile adapter 10 drives the driven disc of the surgical instrument box 20, the driven disc drives the steel wire for pulling the surgical instrument, and one end of the steel wire is connected to the surgical instrument, so as to control the surgical instrument to complete pitching, deflecting and clamping actions. Wires for surgical instruments are received in the elongated tube 28 of the surgical instrument cassette 20. Elongate tube 28 is typically disposed at an end of surgical instrument cartridge 20 distal from the slide arm. Preferably, the elongate tube 28 extends in a direction parallel to the direction of extension of the sliding arm. Sterile adapter 10 is provided with a sterile adapter 10 recess 10C and instrument driver 30 is provided with an instrument driver 30 recess 30C for receiving elongate tube 28.
As shown in fig. 2 and 3, to effect control of the end surgical instruments, the instrument driver 30 generally includes a base 31, a housing 32, a cooling system 33 (e.g., a fan and exhaust vent), and a plurality of drive assemblies 60. Each drive assembly 60 includes a motor 70, a reduction gearbox 80, a reduction gearbox output stage 81 and a drive disc assembly 90. Each drive assembly 60 is used to control the movement of the end surgical instrument in a certain dimension. In the transmission assembly 60, the motor 70, the reduction gearbox 80, the reduction gearbox output stage 81 and the driving disc assembly 90 are arranged in a matched manner, the motor 70 drives a central gear of the reduction gearbox 80 to rotate, the central gear is directly connected with the reduction gearbox output stage 81, and then the reduction gearbox 80 drives the driving disc assembly 90 (including the driving disc 91) to rotate, so that the driving disc 91 can drive a driven disc in the surgical instrument box 20. Since the surgical tool end effector needs to perform gripping, deflecting, pitching, etc., three to five power sources are required to provide power. That is, the instrument driver 30 requires three to five transmission assemblies 60.
In the instrument driver 30 according to the present invention, the motor 70 is a power generation source, and the reduction gear box 80 plays a role of adjusting torque and reducing rotation speed. In order to accurately control the motor 70, a high-precision sensor unit is provided at each motor input, and in order to accurately monitor the position and direction of the driving disc 91, a high-precision sensor is also provided on the side close to the driving disc 91.
Specifically, the motor 70 includes a motor shaft 71, a motor bearing 72, a motor stator 73, a motor rotor 74, and the like. In a preferred embodiment of the present invention, the instrument driver 30 is provided with an input stage code detection unit, such as an input stage magnetic ring 75 and an input stage encoder 76, at the motor input for detecting the rotation angle of the motor 70. The input stage magnetic ring 75 is coaxially disposed with the input stage of the motor 70 and moves in synchronization with the input stage of the motor 70 (e.g., the motor shaft 71). An input stage encoder 76 is fixedly arranged in the instrument driver 30 for detecting a rotation of the input stage magnetic ring 75. The input stage magnetic ring 75 is arranged coaxially with the sensitive unit of the input stage encoder 76. When the input stage magnetic ring 75 rotates with the motor shaft 71, the input stage encoder 76 senses the rotation of the magnetic ring so that the rotation of the input terminal can be monitored. In order to reduce the influence of the axial play of the motor shaft 71 on the measurement of the sensor, a double-bearing design is adopted in the motor shaft system, and the double-bearing design comprises a motor input end bearing 72A and a motor output end bearing 72B. Therefore, the axial play amount of the motor shaft 71 can be controlled at the level of several filaments (below 0.1 mm), and the measurement of the sensor caused by the up-and-down movement of the magnetic ring is greatly reducedAnd (4) error. Meanwhile, the motor input end bearing 72A, the motor bottom cover, the base 31 and the shell 32 are made of non-magnetic materials or weak magnetic materials (such as non-magnetic steel, the magnetic permeability mu is less than or equal to 1.319 multiplied by 10) -6 H/m; stainless steel with magnetic permeability [ mu ] less than or equal to 1.339X 10 -6 H/m) to reduce the impact on the accuracy and precision of the input stage encoder 76 measurements.
It is to be understood that the non-magnetic material or the weakly magnetic material is not limited to the non-magnetic steel and the stainless steel, and may be other materials having a magnetic permeability equivalent thereto. Further, in the present invention, as described above, the purpose of using the non-magnetic material or the weak magnetic material is to reduce the influence on the measurement accuracy and accuracy of the input stage encoder 76, and therefore, for the selected non-magnetic material or the weak magnetic material, it is accurate to be able to achieve the purpose that the measurement accuracy and accuracy of the input stage encoder 76 are not influenced, or the influence is within the allowable error range.
The drive disc assembly 90 includes a drive disc 91 and a drive disc guide 92. The drive plate guide 92 is coupled to the shaft portion of the reduction gear box output stage 81, and the drive plate 91 is slidably fitted to the drive plate guide 92. The drive plate 91 can move up and down along the axial direction of the motor and reduction gearbox 80 to achieve a flexible coupling with the sterile adaptor 10. To monitor the rotation of the drive disk 91, the instrument driver 30 is provided with an output stage code detection unit, such as an output stage magnetic ring 85 and an output stage encoder 86, at the reduction gearbox output stage 81. The output stage magnetic ring 85 and the reduction box output stage 81 are coaxially arranged and synchronously rotate along with the reduction box output stage 81. The output stage encoder 86 is fixedly disposed in the radial direction of the reduction box output stage 81, and is used for detecting the rotation of the output stage magnetic ring 85, that is, the rotation of the reduction box output stage 81 and the rotation of the driving disk 91.
The utility model discloses in, set up simultaneously at the input stage and the output stage of instrument driver and rotate code detecting element, then can compare output stage code detecting element's detected value and output stage code detecting element's detected value, then can compensate the error that the output stage probably produced through software control, therefore instrument driver's control accuracy is higher.
Specifically, the instrument driver 30 includes an output sensing plate 34, the output sensing plate 34 being disposed between an output stage bearing 82 of a reduction gearbox 80 and a drive disc assembly 90. The output sensing plate 34 is provided with a through hole for axially passing through the reduction gearbox output stage 81 (specifically, the shaft of the reduction gearbox output stage 81). The output stage encoder 86 is fixedly mounted to the output sensing board 34.
As shown in fig. 2, in one embodiment, the output stage magnetic ring 85 is coupled to the driving disk guide 92, and can rotate synchronously with the reduction gearbox output stage 81 (or the driving disk guide 92). An output stage encoder 86 is mounted adjacent the output stage magnet ring 85 to the side of the output sensor plate 34 facing the drive disc assembly 9090. The output stage sensing unit is arranged as close as possible to the position of the terminal output part driving disc 91, so that the measurement error caused by rigidity torsion and parallel axis gear meshing (self-backlash) of the whole output connection link is reduced. Meanwhile, the output stage magnetic ring 85 is directly mounted to the driving disc guide part 92, and parts of the output stage measuring unit are used in a combined mode, so that the complexity of production and assembly is greatly reduced, the production efficiency is improved, and the product cost is reduced.
In another embodiment, shown in fig. 3, an output stage magnetic ring 85 is mounted to the reduction gearbox output stage 81 and adjacent to the output stage bearing 82 of the reduction gearbox 80, and an output stage encoder 86 is mounted to the side of the output sensing plate 34 facing the output stage bearing 82 of the reduction gearbox 80. Similar to the input stage of the motor, in order to reduce the influence of the axial play of the output stage shaft on the measurement of the sensor, a double-bearing design is adopted in a shaft system of the reduction gearbox 80, the double-bearing design comprises an output stage outer bearing 82A and an output stage inner bearing 82B, and a pre-tightening clearance elimination technology is adopted. The output-stage outer bearing 82A and the output-stage inner bearing 82B are arranged along the length direction (axial direction) of the reduction gearbox output stage 81, and may be disposed in a span manner or disposed close to each other. The double-bearing design can control the axial play amount of the output stage shaft to be in the level of several wires (less than 0.1 mm), and greatly reduces the measurement error of the sensor caused by the up-and-down movement of the magnetic ring. Preferably, the output stage magnetic ring 85 is located adjacent the output stage outer bearing 82A, between the output stage outer bearing 82A and the output sense plate 34.
The utility model discloses the coaxial line direction at reducing gear box output stage 81 has arranged output stage magnetic ring 85, has radially arranged output stage encoder 86 at it, makes like this can be in order to realize the measuring to the rotational position of driving-disc 91 in the axial height that is less than 4.5mm and the radial 7.5mm space of reducing gear box 80 the central axis. Therefore, the defects that the conventional scheme adopts a series of complex designs such as arranging gears and a sensor transmission shaft system in the direction parallel to the output axis of the reduction gearbox 80 can be overcome.
In the instrument driver 30, the driving disk 91, the driving disk guide 92, the external bearing 82A of the reduction gearbox output stage, the reduction gearbox output stage 81 and the reduction gearbox top cover (not shown) are preferably made of non-magnetic materials or weak magnetic materials (such as non-magnetic steel, the magnetic permeability mu is less than or equal to 1.319 multiplied by 10) -6 H/m; stainless steel with magnetic permeability [ mu ] less than or equal to 1.339X 10 -6 H/m) to prevent the materials from being magnetized to affect the measurement precision and accuracy of the encoder 86, thereby greatly improving the measurement precision and accuracy. Similarly, the present invention provides that the non-magnetic material or the weak magnetic material defined by the present invention is all the materials within the tolerance of the error of the present invention, and whether the materials are suitable for the present invention can be determined by the skilled person through experiments.
As shown in fig. 4 and 5, the output stage encoder 86 is disposed in the radial direction of the reduction gearbox output stage 81. When the instrument driver 30 includes a plurality of transmission assemblies 60, the connecting lines of the centers of the plurality of reduction gearbox output stages 81 (e.g., 81A, 81B, 81C, 81D) form a convex polygon (e.g., a quadrilateral), and the output stage encoders 86 (e.g., 86A, 86B, 86C, 86D) are all located outside the convex polygon to maximize the reduction of the effect of the individual encoder units interfering with each other. Moreover, experiments prove that the mutual influence of the arrangement method on the encoder is reduced to the extent that a magnetic shielding material does not need to be arranged near each sensor unit part, so that the complexity of installation and debugging is greatly reduced.
As shown in fig. 6 and 7, when the number of the transmission assemblies 60 increases, the output stage encoder 86 is disposed in the radial direction of the reduction gearbox output stage 81. The connecting lines of the centers of the plurality of output stages 81 (e.g. 81A, 81B, 81C, 81D) of the reduction gearbox located at the outer side form a convex polygon (e.g. a quadrilateral), and the outer output stage encoders 86 (e.g. 86A, 86B, 86C, 86D) are all located at the outer side of the convex polygon, so as to maximally reduce the influence of mutual interference of the encoder units. The output stage 81 (e.g. 81E) of the reduction gearbox, which is located relatively to the inner side, has its encoders (86E) arranged symmetrically with respect to the outer encoder, so that the inner encoder can be located in a position where the effects of the outer encoder cancel each other out.
In order to provide the largest possible working space for end-effector surgical tools, it is desirable to make the surgical robotic end-effector drivers as compact as possible, including dimensions in the three directions of height, width, and length. The utility model discloses in, the sensor overall arrangement scheme has realized the rotation detection scheme that one set of motor input and reducing gear box output are compact.
The utility model discloses in, at first can compare output level code detecting element's detected value and output level code detecting element's detected value, then can compensate the error that the output level probably produced through software control, therefore instrument driver's control accuracy is higher.
According to the utility model discloses a surgical robot that is used for surgical robot's apparatus driver and includes this apparatus driver, has arranged the output stage magnetic ring at the coaxial line direction of reducing gear box output stage, has radially arranged the output stage encoder at it, makes the rotational position detection of driving-disc like this can realize in the axial height that is less than 4.5mm and the radial 7.5mm space of reducing gear box the central axis. Therefore, a series of complex designs such as gears and sensor transmission shafting which are arranged in the direction parallel to the output axis of the reduction gearbox in the existing scheme can be omitted, the internal space of the instrument driver is greatly saved, the overall dimension of the instrument driver is smaller, and the structure of the surgical robot is more optimal. And, the utility model discloses can get rid of the complicated clearance that brings of structure or the error such as deformation, the turned angle that can the direct measurement output level, more accurate to output level turned angle's measurement, higher to the control accuracy of terminal apparatus.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "disposed" and the like, appearing herein, may mean either that one element is directly attached to another element, or that one element is attached to another element through intervening elements. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.
The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. It will be appreciated by those skilled in the art that many more modifications and variations are possible in light of the above teaching and are intended to be included within the scope of the invention.
Claims (18)
1. The utility model provides an instrument driver for surgical robot which characterized in that, instrument driver includes a plurality of motor, reducing gear box output stage and driving disc subassembly, the motor drive the reducing gear box drives the reducing gear box output stage rotates, and then the reducing gear box drive driving disc subassembly rotates, instrument driver still includes:
the output stage magnetic ring and the reduction gearbox output stage are coaxially arranged and synchronously rotate along with the reduction gearbox output stage;
and the output stage encoder is fixedly arranged in the radial direction of the output stage of the reduction gearbox and is used for detecting the rotation of the output stage magnetic ring.
2. The instrument driver according to claim 1, further comprising an output sensing plate disposed between the drive disk assembly and a bearing of the reduction gearbox output stage, the output sensing plate being provided with a through hole for the reduction gearbox output stage to pass through, wherein the output stage encoder is mounted to the output sensing plate.
3. The instrument driver as in claim 2, wherein the output stage magnetic ring is mounted to the drive disc assembly and the output stage encoder is mounted to a side of the output sensing plate facing the drive disc assembly.
4. The instrument driver of claim 3, wherein the drive plate assembly includes a drive plate guide coupled to the shaft portion of the reduction gearbox output stage and a drive plate in sliding engagement with the drive plate guide, the output stage magnetic ring coupled to the drive plate guide.
5. The instrument driver of claim 4, wherein the drive plate and the drive plate guide are made of a non-magnetic material or a weakly magnetic material.
6. The instrument driver as in claim 2, wherein the output stage magnetic ring is mounted to the output stage of the reduction gearbox and proximate to a bearing of the reduction gearbox output stage, the output stage encoder being mounted to a side of the output sense plate facing the bearing of the reduction gearbox output stage.
7. The instrument driver as in claim 6, wherein the bearings of the reduction gearbox output stage comprise an outer bearing and an inner bearing, the output stage magnetic ring being adjacent the outer bearing.
8. The instrument driver according to claim 7, wherein the outer bearing spans the inner bearing or the outer bearing is disposed immediately adjacent to the inner bearing.
9. The instrument driver according to claim 7, wherein the outer bearing is made of a non-magnetic material or a weakly magnetic material.
10. An instrument driver according to any one of claims 1 to 9 in which the output stage encoders are located outside a convex polygon formed by the joining of the centres of a plurality of the reduction gearbox output stages.
11. The instrument driver according to any of claims 1-9, wherein the reduction gearbox includes a top cover made of a non-magnetic material or a weakly magnetic material.
12. An instrument driver according to any one of claims 1 to 9 wherein the reduction gearbox output stage is made of a non-magnetic material or a weakly magnetic material.
13. The instrument driver according to any of claims 1-9, wherein the bearings of the motor include an input end bearing and an output end bearing.
14. The instrument driver according to claim 13, wherein the input end bearing is made of a non-magnetic material or a weakly magnetic material.
15. The instrument driver according to any one of claims 1-9, further comprising:
the input stage magnetic ring is coaxially arranged with the input stage of the motor and synchronously rotates along with the input stage of the motor;
an input stage encoder fixedly disposed in the instrument driver for detecting rotation of the input stage magnetic ring.
16. The instrument driver according to claim 15, wherein the input stage magnetic ring is arranged coaxially with a sensitive unit of the input stage encoder.
17. The instrument driver according to any one of claims 1-9,
the motor comprises a bottom cover, wherein the bottom cover is made of a non-magnetic material or a weak-magnetic material; and/or
The motor comprises a base, wherein the base is made of a non-magnetic material or a weak-magnetic material; and/or
The motor includes a housing made of a non-magnetic material or a weakly magnetic material.
18. A surgical robot comprising an instrument driver for a surgical robot according to any of claims 1-17.
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| CN202122961876.0U CN217090893U (en) | 2021-11-29 | 2021-11-29 | Instrument driver for surgical robot and surgical robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023093218A1 (en) * | 2021-11-29 | 2023-06-01 | 深圳康诺思腾科技有限公司 | Instrument driver for surgical robot and surgical robot |
| WO2024027298A1 (en) * | 2022-08-05 | 2024-02-08 | 深圳康诺思腾科技有限公司 | Surgical operation arm and surgical robot |
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2021
- 2021-11-29 CN CN202122961876.0U patent/CN217090893U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023093218A1 (en) * | 2021-11-29 | 2023-06-01 | 深圳康诺思腾科技有限公司 | Instrument driver for surgical robot and surgical robot |
| WO2024027298A1 (en) * | 2022-08-05 | 2024-02-08 | 深圳康诺思腾科技有限公司 | Surgical operation arm and surgical robot |
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