CN219614021U - Wrist rotating mechanism and surgical robot - Google Patents

Abstract

The utility model provides a wrist rotating mechanism and an operation robot, wherein the wrist rotating mechanism comprises a bracket, an end tool, two cables and four driving units; the bracket is provided with at least two pairs of guide grooves, the bracket comprises a first bracket body and a second bracket body, the proximal end of the second bracket body is rotatably connected to the distal end of the first bracket body, and the guide grooves of the bracket are arranged on at least one of the first bracket body and the second bracket body and used for arranging cables to drive the tail end tool to realize pitching motion; the tail end tool comprises two sub-parts which are respectively and rotatably connected to the far end of the second frame body, and the sub-parts are provided with guide grooves for the cable to be arranged so as to drive the tail end tool to realize opening, closing and deflection movements; two cables pass through the guide groove of the end tool and the guide groove of the bracket and extend out from the proximal end of the first bracket body; and the four driving units are respectively connected with four ends of the two cables, which extend out of the proximal end of the bracket.

Description

Wrist rotating mechanism and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a wrist rotating mechanism and a surgical robot.

Background

In procedures such as laparoscopic surgery, the conventional instrument is straight cylindrical and the operative tool is mounted at the end of the straight cylindrical instrument. The tool consists of opposed jaws which grip tissue and clamp a blood vessel. The jaws are secured together in some manner to close and open. The jaw is relatively fixed to the instrument sleeve except for the degree of freedom in opening and closing the jaws, and although the operator can manipulate the instrument to move the tool to a desired position, the orientation of the jaws relative to the tissue is difficult to adjust because the sleeve of the instrument has only one degree of rotational freedom (e.g., the degree of rotational freedom of the end tool about the axis of the sleeve itself). For example, in vessel closure, the end tool is required to close the lumen laterally of the vessel, and conventional endoscopic instruments often have difficulty in achieving flexible adjustment of the end tool angle due to access and abdominal operating space constraints.

In order to realize the rotation of the jaw relative to the instrument sleeve, the prior art provides a wrist rotating instrument which adopts a structure that a cable is matched with a pulley, and particularly the cable is guided by a plurality of groups of pulley blocks to drive the opening, the closing, the pitching and the deflection of an end tool.

However, the conventional wrist rotating device adopts a traditional wheel rope driving mode, the cable is extremely easy to be degraded in performance after long-term use, for example, the cable is plastically deformed under a large load so as to be loosened, the operation precision is directly reduced, the service life is prolonged, and the reliability of the product is limited. In addition, the existing wheel rope driving structure is complex, the number of parts is large, the existing wheel rope driving structure is composed of a plurality of wrist supporting pieces and 3-4 groups of pulley blocks, in order to ensure operation accuracy, requirements on material performance of parts are high, assembly processes are complex, and cost is high. In addition, the existing wrist rotating instrument adopts 3 cables, so that the assembly process is complex, more ropes are needed during assembly, and assembly errors are easy to generate. In addition, the existing wrist rotating instrument adopts 1 motor to control 1 cable, namely 1 motor simultaneously controls two ends of 1 cable, which easily causes the problem that the cable is difficult to control and looseness is generated after long-term use.

Disclosure of Invention

It is a primary object of the present utility model to overcome at least one of the above-mentioned drawbacks of the prior art and to provide a wrist rotation mechanism which is relatively high in accuracy and reliability of operation, relatively low in cost and simple to assemble.

Another main object of the present utility model is to overcome at least one of the drawbacks of the prior art described above, and to provide a surgical robot with a wrist rotation mechanism as described above.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

according to one aspect of the present utility model, there is provided a wrist rotation mechanism, wherein the wrist rotation mechanism comprises a bracket, an end tool, two cables and four drive units; the bracket is provided with at least two pairs of guide grooves, the bracket comprises a first bracket body and a second bracket body, the proximal end of the second bracket body is rotatably connected with the distal end of the first bracket body, and the guide grooves of the bracket are arranged on at least one of the first bracket body and the second bracket body and used for arranging cables to drive the end tool to realize pitching motion; the tail end tool comprises two sub parts which are respectively and rotatably connected to the far end of the second frame body, and the sub parts are provided with guide grooves for the mooring ropes to be arranged so as to drive the tail end tool to realize opening, closing and deflection movements; the two cables pass through the guide groove of the end tool and the guide groove of the bracket and extend out from the proximal end of the first bracket body; the four driving units are respectively connected with four ends of the two cables, which extend out of the proximal end of the bracket.

According to one embodiment of the utility model, the total length of the two cables is unchanged during the tightening or releasing of the four ends of the two cables in cooperation with the four drive units.

According to one embodiment of the utility model, the pitching movement of the end tool is effected by a rotational movement of the second frame; the opening and closing and swinging movements of the end tool are jointly realized by the rotation movements of the two sub-parts.

According to one embodiment of the present utility model, the first frame body is provided with at least one pair of guide grooves, and the second frame body is provided with at least one pair of guide grooves; wherein: the at least one pair of guide grooves of the first frame body consists of at least one section of arc-shaped curved surface, and the axis of at least one section of arc-shaped curved surface is parallel to the rotation axis of the second frame body; the at least one pair of guide grooves of the second frame body are formed by at least one section of arc-shaped curved surface, and the extending directions of the at least one pair of guide grooves of the second frame body are different from the extending directions of the at least one pair of guide grooves of the first frame body.

According to one embodiment of the utility model, the guide grooves of the bracket are only arranged on the first frame body, and the first frame body is provided with at least two pairs of guide grooves; wherein: the guide groove at the proximal end of the first frame body is formed by at least one section of arc-shaped curved surface, and the axis of at least one section of arc-shaped curved surface is parallel to the rotation axis of the second frame body; the guide groove at the far end of the first frame body is formed by at least one section of arc-shaped curved surface, and the extending directions of the near-end guide groove and the far-end guide groove of the first frame body are different.

According to one embodiment of the utility model, the first frame body is provided with a pair of guide grooves, the second frame body is provided with two pairs of guide grooves, the two guide grooves belonging to the same pair of the second frame body are respectively arranged on two sides of the second frame body, and the extending directions of at least two guide grooves belonging to different pairs are different on one side of the second frame body.

According to one embodiment of the present utility model, at least two guide grooves belonging to different pairs form a groove shape of a "Y" shape, a "V" shape or an "X" shape together on one side of the second frame body.

According to one embodiment of the present utility model, the rotational axes of the first and second frames are in a spatially orthogonal relationship with the rotational axes of the second frame and the end tool.

According to another aspect of the present utility model, there is provided a surgical robot comprising the wrist rotation mechanism proposed by the present utility model and described in the above embodiments.

According to the technical scheme, the wrist rotating mechanism and the surgical robot provided by the utility model have the advantages and positive effects that:

the wrist rotating mechanism provided by the utility model drives the four driving ends of the two cables respectively and independently through the four driving units, namely, each cable is driven by the two driving units in a matched manner, so that the design of controlling one cable by adopting one motor in place of the existing wrist rotating instrument is replaced. Accordingly, the utility model can ensure that the cable is kept in a tensioning state in the whole life cycle through the relative movement of the driving units, and improves the operation precision and reliability of the instrument. Furthermore, the utility model only adopts two cables to drive the coupling motion of the tail end tool with three degrees of freedom, namely opening, closing, pitching and swaying. In addition, the utility model optimizes the traditional design of the wrist multiple structural parts and pulley blocks of the existing wrist rotating instrument into an integrated part with the guide groove, thereby obviously reducing the number of instrument parts and reducing the assembly difficulty. Meanwhile, the driving unit can compensate the loose degradation of the cable, so that the performance requirement on the cable material is reduced. The utility model thus enables a significant cost reduction to be achieved by combining several aspects.

Drawings

Various objects, features and advantages of the present utility model will become more apparent from the following detailed description of the preferred embodiments of the utility model, when taken in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the utility model and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout. Wherein:

FIG. 1 is a perspective view of a wrist rotation mechanism according to an exemplary embodiment;

FIG. 2 is an exploded schematic view of the wrist rotation mechanism shown in FIG. 1;

fig. 3 is an exploded schematic view of a wrist rotation mechanism according to another exemplary embodiment.

The reference numerals are explained as follows:

110. a first frame body;

111. a first transfer section;

112. an arc-shaped curved surface;

113. an arc-shaped curved surface;

120. a second frame body;

121. a second switching part;

122. a third switching part;

130. a first shaft;

140. a second shaft;

200. surgical forceps;

210. a clamp arm;

211. a fourth switching part;

300. a cable;

g11, G31, G32, G33, G51, G52, G53, G61, G62, G63.

Detailed Description

Exemplary embodiments that embody features and advantages of the present utility model are described in detail in the following description. It will be understood that the utility model is capable of various modifications in various embodiments, all without departing from the scope of the utility model, and that the description and drawings are intended to be illustrative in nature and not to be limiting.

In the following description of various exemplary embodiments of the utility model, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the utility model may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present utility model. Moreover, although the terms "over," "between," "within," and the like may be used in this description to describe various exemplary features and elements of the utility model, these terms are used herein for convenience only, e.g., in terms of the orientation of the examples depicted in the drawings. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of the structure in order to fall within the scope of the utility model.

Embodiment one of wrist rotating mechanism

In this exemplary embodiment, the wrist rotation mechanism proposed by the present utility model is described by taking an example of a related instrument applied to laparoscopic surgery. Those skilled in the art will readily appreciate that many modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below for use in other types of medical devices, which remain within the principles of the wrist rotation mechanism set forth herein.

In this embodiment, the wrist rotating mechanism provided by the utility model comprises a bracket, an end tool, two cables and four driving units.

Alternatively, in this embodiment, the total length of the two cables remains unchanged during the process of the four drive units cooperatively tightening or releasing the four ends of the two cables. The existing wrist rotating device adopting the coordination of the cables and the pulleys is characterized in that a motor is adopted to simultaneously connect and drive two ends of one cable, so that the respective lengths of three cables for pitching, light swinging and opening and closing are not changed in the adjusting process. In contrast, the wrist rotating mechanism provided by the utility model adopts the design of the embodiment, and can realize that the total length of two cables is kept unchanged on the basis of reducing the number of cables and independently driving the four ends of the two cables through independent driving units.

Further, based on the design that the total length of the two cables is kept unchanged, in the present embodiment, the length of each of the two cables is changed during the process of tightening or releasing the four ends of the two cables in cooperation with the four driving units, and the increment of the length of one cable may be equal to the decrement of the length of the other cable, so that the total length of the two cables is unchanged.

The above description of the length of the cable is understood to be a state of change in length when the cable is displaced by driving the end of the cable by the driving unit, and the state of change in length is independent of deformation of the cable itself due to material and stress stretching.

Alternatively, in this embodiment, the pitching movement of the forceps may be effected by a rotational movement of the second frame (i.e., a rotational movement relative to the first frame). The opening and closing and swinging movements of the forceps can be realized by the rotation movements of the two clamping arms (namely the relative rotation movements of the two clamping arms or the rotation movements of the clamping arms relative to the first frame body).

Alternatively, in the present embodiment, the driving unit may include a motor.

Alternatively, in this embodiment, the first shaft may be a rivet. The second shaft may be integrally formed with the distal end of the second frame body and extend to both sides along the distal end of the second frame body, respectively, so as to be rotatably connected with the two clip arms, respectively. In other embodiments, the first shaft and the second shaft may each have other structures, and are not limited to rivets, pins, integral shaft structures, and the like.

Optionally, in this embodiment, the wrist rotation mechanism provided by the present utility model may further include a sleeve. Specifically, the sleeve may be a tubular structure, and the sleeve may be removably coupled to the proximal end of the first frame. On this basis, the cable led out from the first frame body may extend along the sleeve to the distal end of the sleeve for operation by the operator.

Alternatively, as shown in fig. 3, in the present embodiment, the distal end of the first frame 110 may be provided with a first adapter 111, and the proximal end of the second frame may be provided with a second adapter, correspondingly. On the basis of this, the first adapter 111 and the second adapter can be connected in a rotatable manner via the first shaft.

Further, as shown in fig. 3, based on the design of the first adapter 111 and the second adapter, in this embodiment, the first adapter 111 may have a substantially U-shaped structure, and the second adapter may have a substantially T-shaped structure matching the first adapter 111. In other embodiments, the structure of each switching part is not limited to the "U" shape or the "T" shape, but may be flexibly adjusted as required, and is not limited to the present embodiment.

Alternatively, in this embodiment, the distal end of the second frame body may be provided with a third adapter, and the proximal end of the clip arm may be provided with a fourth adapter. On the basis, the third adapter part and the fourth adapter part can be rotationally connected through a second shaft.

Further, based on the design of the third switching portion and the fourth switching portion, in the present embodiment, the third switching portion may have a substantially U-shaped structure, and the fourth switching portion may have a structure substantially matching the third switching portion. In other embodiments, the structure of each switching part is not limited to the "U" shape or the "T" shape, but may be flexibly adjusted as required, and is not limited to the present embodiment.

Alternatively, in the present embodiment, the material of the bracket may include plastic, and the bracket may be formed by injection molding. In other embodiments, the material of the bracket may also include metal, and the bracket may be formed by a metal injection molding process. Through the design, the wrist rotating mechanism provided by the utility model can obviously reduce the raw material cost of the disposable instrument. In addition, as a disposable instrument, the wrist rotating mechanism does not need to consider the requirement of cleaning and sterilizing for many times, and the design of the instrument can be greatly simplified.

Alternatively, in this embodiment, the axes of the first shaft (i.e., the rotational axes of the first and second frames) may be in a spatially orthogonal relationship with the axes of the second shaft (i.e., the rotational axes of the second and end tools), i.e., the two may be spatially at an angle of 90 °. In other embodiments, the axis of the first shaft may be spatially offset from the axis of the second shaft by an angle other than 90 degrees, depending on the needs of the procedure.

Wrist rotating mechanism embodiment III

Based on the above detailed description of the first embodiment of the wrist turning mechanism according to the present utility model, a third embodiment of the wrist turning mechanism according to the present utility model will be described with reference to fig. 1 and 2. As shown in fig. 1 and 2, a perspective view of a wrist rotation mechanism according to the present utility model in a third embodiment is representatively illustrated in fig. 1; an exploded schematic view of the wrist rotation mechanism in the third embodiment is representatively illustrated in fig. 2. The main differences of the wrist rotation mechanism according to the present utility model from the first embodiment in the third embodiment will be described below with reference to the above-described drawings.

Specifically, as shown in fig. 1 and 2, in the present embodiment, taking the end tool as an example of the forceps 200 including two clamp arms 210, the guide grooves of the holder may be provided only on the first frame 110, and the first frame 110 is provided with a pair of guide grooves G31 and a pair of guide grooves G32. Specifically, the proximal ends of the two clamp arms 210 are respectively provided with a guide groove G33, and the two cables 300 are respectively arranged along the two guide grooves G33 and respectively connected with the two clamp arms 210 for respectively driving the two clamp arms 210 to independently move. Accordingly, the cable 300 is disposed along the guide grooves G31, G32, and G33. Through the above design, in the process of realizing the pitching motion of the mechanism by the relative rotation of the first frame 110 and the second frame 120, the utility model can avoid the problem of control failure caused by the fact that the cable 300 is separated from the guide groove by utilizing the guiding function of the arc-shaped curved surface 112.

Alternatively, as shown in fig. 1 and 2, in the present embodiment, the distal end of the first frame 110 may be provided with two curved surfaces 113, the axis of the curved surfaces 113 being substantially parallel to the axis of the first shaft 130 (i.e., the rotation axis of the second frame 120), the two curved surfaces 113 being spaced apart in the axial direction, and the proximal end of the second frame 120 may be disposed between the two curved surfaces 113. On this basis, the pair of guide grooves G32 of the first frame 110 may be respectively formed of two curved surfaces 113. In addition, the curved surface may be one of the distal ends of the first frame body, and on this basis, the pair of guide grooves at the distal end of the first frame body 110 may be formed by two ends of one curved surface along the axial direction, which is not limited by the present embodiment.

Wrist rotating mechanism embodiment five

Based on the above detailed description of the first embodiment of the wrist turning mechanism according to the present utility model, a fifth embodiment of the wrist turning mechanism according to the present utility model will be described below with reference to fig. 3. As shown in fig. 3, an exploded view of the wrist rotation mechanism according to the present utility model in a fifth embodiment is representatively illustrated in fig. 3. The main differences of the wrist rotation mechanism according to the present utility model from the first embodiment in the fifth embodiment will be described below with reference to the above-described drawings.

As shown in fig. 3, in the present embodiment, the first adapting portion 111 of the first frame 110 has a substantially U-shaped structure, the second adapting portion 121 of the second frame 120 has a substantially T-shaped structure, the second adapting portion 121 has an arc-shaped curved surface forming a pair of guide grooves G52, the second adapting portion 121 is disposed in the first adapting portion 111, the first shaft 130 is disposed through the first adapting portion 111 and the second adapting portion 121, and an axis of the first shaft 130 is overlapped with or parallel to an axis of the second adapting portion 121. The third adapter 122 of the second frame 120 has a substantially U-shaped structure, the fourth adapter 211 at the proximal end of the arm 210 of the forceps 200 is disposed in the third adapter 122, and the second shaft 140 is disposed through the third adapter 122 and the fourth adapter 211.

In addition, as shown in fig. 3, in the present embodiment, the guide groove arrangement form of the bracket is substantially the same as that of the first embodiment, that is, the proximal end of the first frame 110 is provided with a pair of guide grooves G51, and the proximal end of the second frame 120 is provided with a pair of guide grooves G52. On this basis, the proximal ends of the two clip arms 210 are respectively provided with guide grooves G53.

It should be noted herein that the wrist rotation mechanism shown in the drawings and described in this specification is merely one example of the wide variety of wrist rotation mechanisms that can employ the principles of the present utility model. It should be clearly understood that the principles of the present utility model are in no way limited to any details or any components of the wrist rotation mechanism shown in the drawings or described in this specification.

Surgical robot embodiment

Based on the above detailed description of several exemplary embodiments of the wrist rotation mechanism according to the present utility model, an exemplary embodiment of the surgical robot according to the present utility model will be described below.

In this embodiment, the surgical robot according to the present utility model includes the wrist rotation mechanism according to the present utility model and described in detail in the above embodiment.

It should be noted herein that the surgical robot shown in the drawings and described in this specification is merely one example of the many types of surgical robots that can employ the principles of the present utility model. It should be clearly understood that the principles of the present utility model are in no way limited to any details or any components of the surgical robot shown in the drawings or described in this specification.

In summary, the wrist rotating mechanism provided by the utility model drives the four driving ends of the two cables respectively and independently through the four driving units, namely, each cable is driven by the two driving units in a matched manner, so that the design of controlling one cable by adopting one motor in place of the existing wrist rotating instrument is replaced. Accordingly, the utility model can ensure that the cable is kept in a tensioning state in the whole life cycle through the relative movement of the driving units, and improves the operation precision and reliability of the instrument. Furthermore, the utility model only adopts two cables to drive the coupling motion of the tail end tool with three degrees of freedom, namely opening, closing, pitching and swaying. In addition, the utility model optimizes the traditional design of the wrist multiple structural parts and pulley blocks of the existing wrist rotating instrument into an integrated part with the guide groove, thereby obviously reducing the number of instrument parts and reducing the assembly difficulty. Meanwhile, the driving unit can compensate the loose degradation of the cable, so that the performance requirement on the cable material is reduced. The utility model thus enables a significant cost reduction to be achieved by combining several aspects.

Exemplary embodiments of the wrist rotation mechanism and surgical robot proposed by the present utility model are described and/or illustrated in detail above. Embodiments of the utility model are not limited to the specific embodiments described herein, but rather, components and/or steps of each embodiment may be utilized independently and separately from other components and/or steps described herein. Each component and/or each step of one embodiment may also be used in combination with other components and/or steps of other embodiments. When introducing elements/components/etc. that are described and/or illustrated herein, the terms "a," "an," and "the" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc., in addition to the listed elements/components/etc. Furthermore, the terms "first" and "second" and the like in the claims and in the description are used for descriptive purposes only and not for numerical limitation of their subject matter.

While the wrist rotation mechanism and surgical robot of the present utility model have been described in terms of various specific embodiments, those skilled in the art will recognize that the utility model can be practiced with modification within the spirit and scope of the claims.

Claims (7)

1. The wrist rotating mechanism is characterized in that:

the wrist rotating mechanism comprises a bracket, an end tool, two cables and four driving units;

the bracket is provided with at least two pairs of guide grooves, the bracket comprises a first bracket body and a second bracket body, the proximal end of the second bracket body is rotatably connected with the distal end of the first bracket body, and the guide grooves of the bracket are arranged on at least one of the first bracket body and the second bracket body and used for arranging cables to drive the end tool to realize pitching motion;

the tail end tool comprises two sub parts which are respectively and rotatably connected to the far end of the second frame body, and the sub parts are provided with guide grooves for the mooring ropes to be arranged so as to drive the tail end tool to realize opening, closing and deflection movements;

the two cables pass through the guide groove of the end tool and the guide groove of the bracket and extend out from the proximal end of the first bracket body;

the four driving units are respectively connected with four ends of the two cables, which extend out of the proximal end of the bracket.

2. The wrist rotation mechanism according to claim 1, wherein the total length of the two cables is unchanged during the four drive units cooperatively tighten or release the four ends of the two cables.

3. The wrist rotation mechanism of claim 1, wherein the pitching motion of the end tool is effected by the rotational motion of the second frame; the opening and closing and swinging movements of the end tool are jointly realized by the rotation movements of the two sub-parts.

4. A wrist rotation mechanism according to any one of claims 1 to 3, wherein the first frame is provided with at least one pair of guide grooves, and the second frame is provided with at least one pair of guide grooves; wherein:

the at least one pair of guide grooves of the first frame body consists of at least one section of arc-shaped curved surface, and the axis of at least one section of arc-shaped curved surface is parallel to the rotation axis of the second frame body;

the at least one pair of guide grooves of the second frame body are formed by at least one section of arc-shaped curved surface, and the extending directions of the at least one pair of guide grooves of the second frame body are different from the extending directions of the at least one pair of guide grooves of the first frame body.

5. A wrist rotation mechanism according to any one of claims 1 to 3, wherein the guide grooves of the bracket are provided only to the first frame body, the first frame body being provided with at least two pairs of guide grooves; wherein:

the guide groove at the proximal end of the first frame body is formed by at least one section of arc-shaped curved surface, and the axis of at least one section of arc-shaped curved surface is parallel to the rotation axis of the second frame body;

the guide groove at the far end of the first frame body is formed by at least one section of arc-shaped curved surface, and the extending directions of the near-end guide groove and the far-end guide groove of the first frame body are different.

6. A wrist rotation mechanism according to any one of claims 1 to 3, wherein the axes of rotation of the first and second carriage are in a spatially orthogonal relationship with the axes of rotation of the second carriage and the end tool.

7. A surgical robot comprising the wrist rotation mechanism according to any one of claims 1 to 6.