RU2715684C1 - Self-contained mobile module of robotic surgical instrument - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: group of inventions relates to medicine. Manipulator of the surgical instrument as a part of the autonomous mobile module of the robotic surgical instrument includes a fixed platform, a movable platform, a mechanism of parallel kinematics, a drive and a unit of conjugation of a drive with a hexapod. Mechanism of parallel kinematics is made in form of hexapod, which connects fixed platform and movable platform and is made with possibility of controlled manoeuvring by movable platform. Drive is configured to attach a removable surgical instrument thereto and bring said surgical instrument into motion. Interface unit of said drive with hexapod is located inside hexapod and fixed on movable platform. Coupling unit is configured to linearly move the drive with a replaceable surgical tool in a reciprocating direction through a movable platform. Replaceable surgical working tool for use with the manipulator drive includes a body and a surgical end effector. Housing is made in form of mounting part and elongated hollow tubular housing. Mounting part has access surface, in which mechanism of quick-detachable installation or removal of detachable surgical instrument is provided for connection with drive housing. Elongated hollow tubular housing is made with possibility of functional interaction with drive. Surgical end effector is in form of a hinge section with a rotatable body and a fork body. Fork body is rigidly connected to distal end of elongated hollow tubular housing. Turning housing is installed on the fork body axis. First branch and second branch are installed on rotary case axis. Inside the mounting part there is a rope mechanism, which comprises three rotary elements configured to receive rotary movement from the drive, and ropes fixed on rotary elements and passing through elongated hollow tubular housing for connection with elements of hinged section of end effector. Ropes of two rotary elements transfer traction force to each branch for angular movement of the corresponding first branch and the second branch relative to longitudinal axis of swivel body of end effector. Cable of third rotary element transmits traction force to rotary case of end effector for its angular movement relative to axis of elongated hollow tubular case of surgical instrument. End effector turning mechanism comprises a gear mechanism to rotate the fork body of the end effector around the axis of the elongated hollow tubular body of the surgical instrument, configured to receive a rotary motion from the drive. Fork body of end effector of surgical working tool is made with two guide rollers. Rotary case is made together with guide channel. Guide channel of the rotary case and the guide rollers of the fork body, which are located on both sides of the guide channel, are installed on the axis of the fork body. Each of the branches has a lower roller part and is installed on the axis of the rotary housing perpendicular to the housing axis. Corresponding rope is fixed in the lower roller part of the corresponding branch so that each of the rope branches is laid opposite to its groove on the branch, by bending it on both sides of the lower roller part and passing corresponding guide rollers of rotary housing, guide rollers of fork body through elongated hollow tubular housing to rotary elements of cable mechanism for angular movement of branches. Third cable wraps the guide channel of the rotary case and, via the elongated hollow tubular case, is connected to the rotary element of the rope mechanism for angular displacement of the rotary body of the end effector relative to the axis of the elongated hollow tubular body.

EFFECT: invention provides higher accuracy of positioning and higher manipulation capabilities of the surgical instrument.

16 cl, 12 dwg

Description

FIELD OF THE INVENTION

The group of inventions relates to medical equipment, in particular, to an endoscopic surgical device using a parallel kinematics mechanism (MPC) with an integrated coupling device and a mechanism for reciprocating movement of a tool along guides capable of manipulating in a teleobotized system. The present group of inventions may be applicable for endoscopic and open surgery, as well as in microsurgery and neurosurgery using robotics.

BACKGROUND OF THE INVENTION

The use of manipulators in surgery is becoming an increasingly relevant scientific and technical task. This is due to the need for a remote location of the surgeon, as well as the requirements for minimal exposure to tissues located next to the operation field. Such devices may have a serial or parallel structure.

The advantages of parallel structure mechanisms are high accuracy and efficiency, as well as relatively small dimensions and weight. In addition, the mechanisms are characterized by high rigidity, which is due to the operation of the telescopic device for tension-compression and uniform distribution of forces throughout the structure.

All known mechanisms of the parallel structure are based on various combinations of rods and hinges.

To date, the mechanisms of parallel kinematics (IPC) are represented by a wide variety of their execution. Parallel structure mechanisms (MPS) can be classified according to the following criteria:

- by the type of rods;

- by the number of rods;

- by the nature of the location of the hinges on the platform and base;

- according to the location of the spindle, etc.

By the type of rods, separation occurs:

- on mechanisms with rods of controlled variable length (bipod, tripod, pentapod, hexapod, “scissors”);

- on mechanisms with bars of constant length (linapod, biglayd, triglyde, orthoglide, hexaglide, rotopod, "delta", four-pod).

The tripod mechanism consists of three symmetrically mounted telescopic rods pivotally connected at one end to the output link and the other to a fixed base. These rods are driven by separate engines and operate in tension - compression. An additional non-drive bar is located in the center. It perceives bending deformations from the tool head and therefore must have significantly larger dimensions compared to the drive rods.

Hexapod (from hexa - six) is based on six mechanisms of translational movement.

Mechanisms such as tripods and hexapods have high rigidity. Tripods are structurally simpler than hexapods and more adapted to practical use. Hexapods equipped with six rods require significantly more sophisticated software.

When using hexapodic and tripodic systems in minimally invasive robotic surgery, the following technical problems are solved:

1. Improving the accuracy of the surgical procedure. The task of increasing the accuracy of the surgical procedure is solved by the following companies: MAZOR ROBOTICS (US 9492241, US 8518051, US 2012143084, US 7887567), CHONGQING INSTITUTE GREEN & INTELLIGENT TECHNOLOGY CAS (CN 204428164), UNIVERSITY OF SHANGHAI FOR SCIENCE & TECHNOLOG7) CN 10464 URS UNIVERSAL ROBOT SYSTEMS (EP 1212002), FRAUNHOFER (DE 19649082), SOOCHOW UNIVERSITY (CN 102968665), BEIHANG UNIVERSITY OF AERONAUTICS & ASTRONAUTICS (CN 100496430).

2. Improving the reliability of the manipulator. The solution to the problem of improving the reliability of the manipulator is presented in the patent of CHONGQING INSTITUTE GREEN & INTELLIGENT TECHNOLOGY CAS (CN 204428164), as well as by the authors GALIMOV OLEG VLADIMIROVICH, SHKUNDIN ANTON VLADIMIROVICH and SIRUSIN TIMUR ANVAROVICH in the patent RU 2491161.

3. Increased rigidity. Stiffening is achieved by companies such as JOHNS HOPKINS UNIVERSITY (WO 201715235) and UNIVERSITY OF SHANGHAI FOR SCIENCE & TECHNOLOGY (CN 104644267).

4. Reducing the size of the device. Reducing the size of the manipulator is achieved in the patents of the companies JOHNS HOPKINS UNIVERSITY (US 9554865), ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY (CN 204207850, CN 104337579), NOVINT TECHNOLOGIES (US 8806974), FUKUSHIMA NATIONAL UNIVERSITY70 DOELEFIELDOEL DIEFELO WELDEROEL DIEFELO 2011 (DO 201115150 DIEROEL DIETERI DIELDEROEL DIETERI DIELDEROEL DIETERI DIELOUEREL DIETERI DIELOUERI DIELOUERI DIELOUERI DIELOUERI DIELOUERI DIELOUEROELDOEL DIEFERO DIELOUERO DIELOIEROI DIELOUEROELDOEL DIEROELI DIELOUERO DIELOIERO (DOEL 1960) )

5. Simplification of the design of the manipulator. Methods of improving the design of the manipulator are proposed in patents of the following companies: JOHNS HOPKINS UNIVERSITY (WO 201715235), SCHWAB MARTIN (US 9109743), NOVINT TECHNOLOGIES (US 8806974), URS UNIVERSAL ROBOT SYSTEMS (EP 1212002).

6. Reducing the cost of the device. The task of reducing the cost is solved by the companies JOHNS HOPKINS UNIVERSITY (US 9554865), NOVINT TECHNOLOGIES (US 8806974), URS UNIVERSAL ROBOT SYSTEMS (EP 1212002), as well as by the authors GALIMOV OLEG VLADIMIROVICH, SHKUNDIN ANTON VLADIMIROVICH and 24VIRINOV ANIMARUS.

7. Increasing the degree of flexibility when moving the tool. Increased flexibility is achieved by companies such as UNIVERSITY OF SHANGHAI FOR SCIENCE & TECHNOLOGY (CN 104644267), ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY (CN 204207850, CN 104337579).

8. Ensuring safe operation. The solution to the problem of ensuring safety during operation of ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY (CN 204207850, CN 104337579), URS UNIVERSAL ROBOT SYSTEMS (EP 1212002).

9. Reducing the time spent on the operation. JOHNS HOPKINS UNIVERSITY in WO 2016086049 proposes a cutting machine for resizing implants during surgery.

10. Compensation of systematic errors of hexapod. A method for compensating for the systematic errors of the hexapod is described in WO 201764392 by MICRO CONTROLE SPECTRA PHYSICS. Thanks to the invention, it is possible to compensate for various types of errors (related to the geometry of the device or its position), so as to provide a particularly accurate hexapod (with precise and controlled movement of the movable carriage relative to the fixed base).

11. Improving manipulation capabilities. Enhancing the manipulative capabilities of tools is achieved by such companies as VOENM (DE 102010018095), COLUMBIA UNIVERSITY (US 2010010504), FANUC (US 2008257092), INNOMEDIC (DE 10307054), as well as by the authors GALIMOV OLEG VLADIMIROVICH, SHKUNDIN ANTON VLADIMI RINVIIMIROVICH and RU 2491161.

Known manipulator of a robotic surgical complex described in DE 19649082, including a fixed platform and a movable platform, which connects a hexapod. Hexapod allows maneuvering the position of a movable platform. Hexapod has a total of six rods. An endoscopic device is mounted coaxially inside the hexapod on a movable platform. The endoscopic device was a tube probe with a diameter of 2 to 3 mm.

The disadvantage of this solution is the rigid mounting of the probe on the hexapod platform, and therefore the probe is moved together with the hexapod. This leads to an increase in inertial masses and, as a consequence, to a decrease in the accuracy of displacements in the surgical field. To eliminate this drawback, it is necessary to constructively provide for the possibility of autonomous reciprocating motion of the probe inside the hexapod. Also, the presented manipulator has limited use, in this case for monitoring, CT, MRI. The operation itself consists of inserting a probe through an opening in the cranium. The process of the entire operation is controlled using a computer tomograph.

A surgical instrument is known from RU 2650201. The present invention relates to surgical instruments and, in various designs, to surgical cutting and stapling instruments and cassettes with brackets for them, which are arranged to cut and staple tissue with brackets. The surgical instrument includes a drive system configured to generate a plurality of rotary control movements of the end effect, while the drive system of the instrument is driven by an engine assembly. The drive system is detachably connected to the engine assembly with latches, screws and other devices.

The disadvantage of this solution is the inability to use this tool in a robotic surgical complex. The surgical instrument described above can only be used as a hand-held endoscopic instrument, in this case it is a “clip applicator” that allows only cutting and stitching soft tissues. The disadvantages include the structural and technological complexity of the implementation of the device, as for the implementation of turns and control movements of the hinged sections of the end effector, small-module differentials are used, which are difficult to manufacture and time-consuming to assemble, which reduces the reliability of the device.

Further, the terminal effector during the surgical operation is in direct interaction with soft tissues, vessels, tampons, surgical threads. Therefore, the probability of getting or pulling these substances into the gear mechanism of conical differentials is very high, which leads to jamming of the mechanism. Jamming will not allow the tool to be pulled out when replacing the tool or in an emergency through a trocar from the operating area, as the alignment of the hinged sections of the end effector with the barrel of the tool will be violated.

Known kinematic diagram of the end effector of a surgical instrument from US 2010004663, which uses a cable mechanism to rotate the jaw and the rotary body of the end effector. To terminate two cables, it is necessary to make two recesses in the root zone of the tool, which weakens the structure, and the lack of supply of the cable on the surface of the branch leads to the buildup of the cable during rotation of the branch and a decrease in service life and reliability.

Disclosure of the invention

Based on this, the aim of the invention is to develop a stand-alone mobile module of a robotic surgical instrument for performing surgical intervention, containing an improved hexapod-based surgical instrument manipulator with an integrated interface located on a moving hexapod platform with a drive, which is a constant part of the design , and interchangeable surgical instrument with the possibility of reciprocating motion on guides installed perpendicular to the hexapod moving platform. This allows you to expand the functional (manipulation) capabilities and increase the accuracy of the positioning of the manipulator tool in comparison with analogues and, most importantly - allows you to interact with an assisting robotic mechatronic surgical complex.

The technical result achieved by using the inventive manipulator of a surgical instrument as part of an autonomous mobile module of a robotic surgical instrument (hereinafter - the module) is to increase the accuracy of positioning and to increase the manipulation capabilities of the surgical instrument.

An additional advantage arising when using the inventive manipulator with an improved design is to increase the accuracy of the surgical procedure within the framework of the approved plan (protocol) of the operation.

The accuracy of positioning a surgical instrument is ensured by using a hexapod as a manipulator that works on the principle of parallel kinematics and has a six-coordinate micropositioning system.

Improving the manipulative capabilities of a surgical instrument is ensured by the presence in the design of the manipulator of a built-in interface unit between the drive and the hexapod (hereinafter, the interface unit). The interface node provides a linear reciprocating movement of a permanent drive with a removable surgical instrument (hereinafter referred to as the instrument). The drive is configured to move the tool, including, provides its own rotation of the tool around its own axis. Thus, the design of the interface node located inside the hexapod and fixed on the hexapod's movable platform allows reciprocating and translational movement of the instrument with its simultaneous own rotation around its axis for various deviations of the movable hexpod platform. This leads to an increase in the number of degrees of freedom of the device to W = 10 compared to analogues having W = 6, which simplifies the design of the robotic arm of the manipulator.

Increased manipulation capabilities allow the surgeon with a smaller number of joystick movements from the "surgeon's desk" to deliver the surgical instrument to a specific point in the surgical field.

The positive effect of attaching a surgical instrument directly to the drive, and not to the movable platform of the manipulator, unlike the known systems presented above, allows you to move the tool separately from moving the parallel kinematic mechanism, which leads to a decrease in inertial masses and, as a result, to an increase in the accuracy of movement instrument in the surgical field during the surgical operation.

All this in general increases the accuracy of the surgical procedure using the inventive manipulator.

Moreover, the inventive manipulator provides the possibility of using different types of surgical instruments, which expands the possibility of using the proposed manipulator of a robotic surgical complex in various fields of surgery, such as urology, cardiology, microsurgery, neurosurgery, and so on.

The interface can also be considered as an independent device with a whole line of surgical instruments used in various types of minimally invasive operations with possible use on robotic arms such as “KUKA”, “FANUC” in conjunction with devices using parallel kinematics (IPC) and similar mechanisms, and also at newly designed robotic surgical complexes.

The present invention also relates to an improved design of a replaceable surgical instrument for use with a drive in a stand-alone mobile module of a robotic surgical instrument, and directly to an improved design and kinematic diagram of an end effector of said surgical instrument.

The technical result achieved by using the claimed improved design of a replaceable surgical instrument with an improved kinematic scheme and the design of the end effector for use with a drive in a robotic surgical complex, is to expand the functionality during surgical operations.

An additional technical result is an increase in wear resistance, reliability, smoothness and durability of a surgical instrument.

The drive and the mounting part of the replaceable surgical instrument on the side of the drive couplings have the same shape and are connected in such a way that the drive couplings of the instrument are aligned with the drive couplings of the drive, while the drive half-couplings of the servomotors transmit torque to the response half-couplings of the surgical instrument and provide separate or simultaneous operation of the cable mechanism and rotation mechanism of the end effector of a surgical instrument. The cable mechanism transfers traction to the branches of the end effector for the corresponding angular movement of the relative body of the end effector and the body of the end effector for its angular movement about its axis. The mechanism of rotation of the end effector transmits rotational motion to the body of the end effector relative to its axis. Each mechanism is independent, is included in the work on the command of the operating surgeon.

The advantage of this mounting of the drive and the mounting part of the surgical instrument is its quick release and the ability to replace the surgical instrument if necessary

The positive effect and advantages of the proposed kinematic scheme of the end effector and instrument are as follows:

- in the proposed design of the jaw, in contrast to the analogue (US 2010/0004663 A1), one cable is used that transfers traction and rotates the jaw in both directions (while the analog uses two cables for rotation, each cable transfers the traction force and rotates in one direction);

- in the proposed design, the cable termination is changed, in particular, the cable is fixed with a crimp tube in one recess in the lower, opposite from the root zone of the tool, roller part of the jaw and each of the branches is stacked in the opposite direction into its groove on the jaw, i.e. makes almost a complete revolution, this allows you to have half the turn in the cable in the groove when turning the cable from the extreme positions, this eliminates the possibility of swinging and breaking the cable, because there is a uniform distribution of traction on the radial surface of the jaw with alternating directions of rotation at the seal, which increases the wear resistance, reliability, smoothness and durability of the tool.

The thickness of the roller part of the jaw and the root part of the tool is also doubled in comparison with the analogue, which increases the strength of the tool without changing the external dimensions of the hinges of the end effector hinges. In a similar tool, for terminating two cables, it is necessary to make two recesses in the root zone of the tool, which weakens the structure, and the lack of supply of the cable on the surface of the branch leads to the buildup of the cable during rotation of the branch and a decrease in service life and reliability.

A similar principle of cable termination is used to rotate the rotary body of the end effector of a surgical instrument (while the analogue uses a cable system of two cables with termination at the upper point of the roller part of the body).

The change in the kinematic scheme of the end effector as compared to the analogue also affected the placement of guide rollers, which allowed to transmit traction forces to the tool branches and the rotary end effector body with smaller radial bends of the cable system, which increases the working life of the cables.

Among the other advantages described above, the proposed development of a stand-alone mobile module of a robotic surgical instrument, including a manipulator for controlling the movement of the drive from a removable surgical instrument, contributes to an increased variety of systems. In other words, this development represents a system suitable for many applications, especially for minimally invasive surgery.

Brief Description of the Drawings

The accompanying drawings, which are incorporated in and constitute a part of the present description, illustrate embodiments of the invention and, together with the above general description of the invention and the following detailed description of embodiments, serve to explain the principles of the present invention. In the drawings, the same reference numbers are used to denote the same parts or structural elements.

In FIG. 1 shows a perspective view of an assisting robotic surgical complex for performing minimal invasive procedures, in particular, laparoscopic procedures.

In FIG. 2 shows the design and main components of an autonomous mobile module of a robotic surgical instrument.

In FIG. 3 shows a general view of the hexapod as part of the manipulator.

In FIG. 4 shows a General view of the interface unit of the drive with a removable surgical instrument with hexapod.

In FIG. 4A shows a general view of the interface unit of a drive with a removable surgical instrument with a hexapod when the drive with a replaceable surgical instrument is in a forward position.

In FIG. 5 shows a structural view of the actuator of the interface unit.

In FIG. 6 shows a general view of a drive with a replaceable surgical instrument.

In FIG. 7 shows the design of the drive with a spatial separation of the parts.

In FIG. 8 shows the design of a replaceable surgical instrument with a spatial separation of parts for use with the proposed drive.

In FIG. 9 shows the hinged section of the end effector with a surgical instrument.

In FIG. 9A is a diagram of the attachment of cables to jaws.

In FIG. 10A-B illustrate a tool cable drive mechanism.

In FIG. 10A shows a jaw cable drive mechanism.

In FIG. 10B presents the cable drive mechanism of the rotary housing of the end effector.

In FIG. 10B illustrates a rotation mechanism of an end effector with a tool.

In FIG. 11 is a diagram of a cable fastening on a roller drum.

In FIG. 12A-12B illustrate the operation of the hinged section of the end effector.

In FIG. 12A is a view showing the reduction or dilution of the working parts of a surgical instrument carried out by a cable mechanism at extreme angular values.

In FIG. 12B is a side view showing the operation of the hinged section of the rotary body of the end effector, carried out by a cable mechanism in extreme angular values.

In FIG. 12B is a view showing possible displacements in the space of the jaws relative to the rotary body, the rotary body relative to the plug body and the rotation of the entire hinge section relative to the axis of the tool tube.

Designations

A perspective view of an autonomous mobile module of a robotic surgical complex consists of the following nodes (Fig. 1):

1 - Console of the surgeon;

2 - trolley;

3 - Stand of the manipulator;

4 - manipulator;

5 - Surgical table;

6 - Rollers;

7 - Joystick;

8 - surgeon's chair;

9 - Video system;

10 - Rack of management.

The design and main components of an autonomous mobile module of a robotic surgical instrument (Fig. 2):

3 - Stand of the manipulator;

11 - Carpal joint;

12 - Manual clamp;

13 - Moving platform;

14 - Fixed platform;

15 - Drive surgical instrument;

16 - Surgical instrument;

17 - Interface node;

General view of hexapod (Fig. 3):

13 - Moving platform;

14 - Fixed platform;

18 - Actuator (executive link);

19 - Hinge.

General view of the interface node (Fig. 4):

13 - Moving platform;

15 - Drive surgical instrument;

16 - Surgical instrument;

17 - Interface node;

20 - Guide;

21 - a fixing plate;

22 - Fixing collar;

23 - Executive mechanism of the interface;

General view of the interface node in the extended state (Fig. 4A): ΔL is the stroke length of the interface node.

The structural view of the actuator of the interface node (Fig. 5):

15 - Drive;

24 - servomotor;

25 - Ball screw shaft;

26 - Threaded sleeve ball screw.

General view of the drive with a tool (Fig. 6):

3 - spring lock;

27 - drive housing;

28 - a cover of a drive;

29 - Assembly part of the body of a removable surgical instrument;

30 - An elongated hollow tubular body of a removable surgical instrument;

31 - spring lock latch;

32 - End effector.

Spatial drive design (FIG. 7):

27 - drive housing;

28 - a cover of a drive;

31 - spring lock latch;

33 - Mounting platform;

34 - Mounting docking platform;

35 - Remote stand;

36 - engine;

37 - Coupling;

38 - rolling bearing;

39 - Leading drive coupling halves;

40 - Mounting flange of the coupling half;

41 - Compression spring.

The design of a replaceable tool with a spatial separation of the parts for use with the proposed drive (Fig. 8):

30 - An elongated hollow tubular body of a surgical instrument;

32 - End effector;

43 - Mounting docking platform;

44 - Upper mounting platform;

45 - Remote stand;

46 - Driven surgical instrument coupling halves

47 - rolling bearing;

48 - pinion gear;

49 - Driven gear;

A - Cable drum branch 51;

B - Cable drum of branch 52;

B - Cable drum for turning the rotary housing.

The hinged section of the end effector with a surgical instrument (Fig. 9):

50 - Rotary case of the end effector;

51, 52 - Branch;

53 - Housing plug end effector;

54 - axis of the rotary housing;

55 - The axis of the branches;

56, 57 - Jaws cables;

58 - Crimp tube;

59 - Guide rollers of the rotary housing;

60 - Guide rollers of the housing-fork;

61 - Guide channel;

63 - Cable swivel housing.

G - recess for fixing the cable.

The mechanism of the cable drive jaws (Fig. 10A):

43 - Mounting docking platform;

62 - Guide rollers drive jaws;

A - Cable drum branch 51;

B - Cable drum of branch 52;

B - Cable drum of rotation of the rotary housing 50.

The mechanism of the cable drive of the rotary housing of the end effector (Fig. 10B):

43 - Mounting docking platform;

62 - Guide rollers of the drive rotary housing;

A - Cable drum branch 51;

B - Cable drum of branch 52;

B - Cable drum of rotation of the rotary housing 50.

The rotation mechanism of the end effector with the tool (Fig. 10 V);

30 - The elongated hollow tubular body;

32 - End effector;

48 - pinion gear;

49 - Driven gear;

The cable mounting scheme on the roller drum (Fig. 11):

46 - Guided coupling halves of a surgical instrument;

47 - rolling bearing;

65 - Locking screw;

66 - Axle driven half coupling;

67, 68 - Cables;

69 - Crimp tube.

Detailed Description of Embodiments

The present invention provides an autonomous mobile module of a robotic surgical instrument, which is part of an assisting robotic surgical complex.

Assisting robotic surgical complex, as a rule, consists of several main components: the console of the surgeon, the console of the patient and the viewing system. As shown in FIG. Example 1 shows a perspective view of an assisting robotic surgical complex for performing minimal invasive interventions, in particular, laparoscopic procedures consisting of the console of a surgeon 1 and a robot surgeon, also called an assistant robot or a robotic arm, which consists of a trolley 2 with mounted (fixed) on it on racks 3 by manipulators 4. Manipulators 4 are intended for positioning and orientation of the executive unit, which holds and drives p Various types of surgical instruments.

The trolley 2 has a p-shaped shape and is rolled manually by an assistant under the standard surgical table 5, on which the patient is located, to a certain depth. Trolley 2 is fixed by the brake system integrated in the wheels 6 of the trolley.

The console of the surgeon 1 is a device that includes a video system for displaying the surgical field, two devices 7 for controlling a surgical instrument (joystick). During the operation, on the console of the surgeon 1, the surgeon sits in the chair 8 in front of the video system 9, observes the surgical field and remotely controls the manipulators 4 and, accordingly, the surgical instruments using the joysticks 7, one in each hand. The number of manipulators 4 used may be at least three, depending on the type of operation performed and the number of surgical instruments used during the operation. Moreover, one manipulator 4 must always hold a surgical instrument with a video camera. The console of the surgeon 1 is electrically connected to the trolley 2, located directly next to the patient, and a control stand 10, in which power supplies and blocks with joystick control software 7, manipulators 4, and all auxiliary systems are located.

The manipulations themselves and the course of the operation using the assisting robotic surgical complex practically do not differ from those for laparoscopic ones, with the exception of greater convenience for the surgeon who works sitting in comfortable conditions, outside the operating room itself or nearby at some distance from the operating table.

The present invention is aimed at improving the design of the manipulator 4 on the rack 3. Thus, the present invention provides a stand-alone mobile module of a robotic surgical instrument, including a new design of the manipulator for manipulating a removable surgical instrument in accordance with the first aspect of the present invention, and the surgical instrument in accordance with the second aspect of the invention. In accordance with a third aspect of the invention, the surgical instrument has an improved end effector design.

In FIG. 2 shows the general appearance of a self-contained mobile module of a robotic surgical instrument proposed by the present invention. The module includes a manipulator based on the mechanism of parallel kinematics, rigidly fixed to the rack 3 through the wrist joint 11, which allows you to manually orient (move) the manipulator in order to bring the instrument through the trocar into the patient’s abdominal cavity into the surgical field. Next, the position of the manipulator is fixed using a manual clamp 12 on the wrist joint 11. Monitoring the movement of the instrument inside the abdominal cavity is performed using the video system 9 on the console of the surgeon 1.

The mechanism of parallel kinematics is made in the form of a hexapod. The specified mechanism connects the movable platform 13 and the fixed platform 14 and is made with the possibility of controlled maneuvering of the mobile platform 13 relative to the fixed platform 14. The inner part of the hexapod is defined as a volumetric truncated virtual conical body formed by six actuators connected pivotally on one side to the fixed platform 14, and the other with a movable platform 13, which are respectively the base and apex of the cone.

A drive 15 is located in the inner part of the hexapod, to which a removable surgical instrument 16 is attached. The articulation of the drive 15 and the replaceable surgical instrument 16 is made in such a way that allows the use of available standard instruments that have been developed for conventional, non-automated procedures, or highly specialized surgical instruments, in including being developed according to one aspect of the invention.

The drive 15 is designed to bring the surgical instrument 16 in motion, including the rotation of the surgical instrument 16 around its own axis. In this case, the actuator 15 together with the surgical instrument 16 has the ability to linearly move in the reciprocating direction relative to the hexapod through the moving platform 13 and the fixed platform 14 of the hexapod. Such movement of the actuator 15 together with the surgical instrument 16 inside the hexapod is realized using the interface unit 17. The interface unit 17 is located inside the hexapod and is mounted on its movable platform 13.

The following paragraphs will give a more detailed description of the design of the manipulator with reference to figures 3-5.

FIG. 3 shows some signs of hexapod. The hexapod provides the deflection of the movable platform 13 relative to the fixed platform 14 with the help of six independent actuating links 18, each of which is connected at one end to the movable platform 13 and the other end to the fixed platform 14 using the corresponding upper and lower hinges 19.

As the upper hinges and lower hinges, different types of hinges can be used. In a preferred embodiment, the same types of hinges with similar angular characteristics are used as hinges. As the hinges 19 can be used various types of hinges, for example, ball bearings. In a preferred embodiment, gimbal joints are used in the hexapod to provide greater structural rigidity.

The executive link 18 in various embodiments of the invention can be made in the form of an actuator of various designs, selected from: linear actuator, servo, solenoid, hydraulic actuator, pneumatic actuator, pneumatic muscle, actuator based on electroactive polymers, actuator based on metals with memory effect. In a preferred embodiment, according to the invention, based on the goals and objectives of the development, the executive link 18 is made in the form of a linear actuator, consisting of a direct current servomotor or a stepper motor with a ball screw transmission.

. Исходя из кинематической схемы гексаподов происходит вращение каждого актуатора вокруг соответствующих осей и, соответственно подвижной платформы, центральная точка которой описывает полусферическое поле.Management of each of the executive links 18 is carried out independently. This configuration of the manipulator allows the positioning of the movable platform 13 in three linear coordinates (X, Y, Z), as well as rotate the movable platform around the corresponding axes

. Based on the kinematic diagram of the hexapods, each actuator rotates around the corresponding axes and, accordingly, the moving platform, the central point of which describes a hemispherical field.

The diameter of the fixed platform 14 is selected from the conditions for the free placement and movement of the interface unit 17 together with the movable platform 13 relative to the fixed platform 14 with extreme deviations of the mobile platform 13 allowed by the design of the upper and / or lower hinges 19. The surfaces of the movable 13 and fixed 14 platforms facing to each other, on which the hinges 19 are mounted, are made with a slope on the outer and inner sides (part of the hexapod), respectively, at an angle of 18 °. This angle value was obtained by optimizing the displacements of the interface unit and allowed to expand the angular range of the cardan joints. Such hexapods, depending on the task, have angles of deviation of the moving platform to values of 10 °. In the claimed invention, the deviation of the movable platform, the interface unit with the drive and the surgical instrument by 18 ° relative to the fixed hexapod platform was obtained to enable the working part of the surgical instrument (end effector) to work in the surgical field with a conditional diameter of the surgical field of at least 200 mm.

In FIG. 4 shows a General view of the interface node 17 of the actuator 15 with a removable surgical instrument 16 with a movable platform 13 hexapod. The interface unit is made in the form of a mechanism for interfacing a drive 15 with a movable hexapod platform 13 and an actuator 23 that provides linear movement of the drive 15 in the reciprocating direction.

The mechanism for connecting the actuator 15 to the movable platform 13 includes at least two guides 20, rigidly fixed to the hexapod movable platform 13 and installed at least one fixing clamp 22 perpendicular to it, which is placed on the guides 20.

At least two guides 20 of the interface unit 17 are rigidly fixed in the inner part of the hexapod on the movable platform 13. Each of the guides 20 of the interface unit 17 is fixed at one end to the mobile platform 13 of the hexapod so that the guides 20 are installed perpendicular to said platform 13. The other end each of the guides 20 is fixed to the fixing plate 21. At least 20 mounting clamp 22 is placed on the guides 20, in which the drive 15 is fixed. The fixing plate 21 performs the functions of limiting ator stroke actuator 15, locking rails 20.

The actuator 23 of the interface 17 provides a linear movement of the actuator 15 with a removable surgical instrument 16 along the guides 20 of the interface 17 in the reciprocating direction. An actuator 23 as shown in FIG. 4 of an embodiment of the invention is presented in a parking position.

The actuator 23 on the one hand is coaxially rigidly fixed with screws on the cover of the drive housing 15, and on the other hand, the actuator 23 is rigidly fixed to the fixing plate 21.

As an actuator, a direct current servo motor, a stepper motor with a ball screw transmission, a rack and pinion mechanism, a cable mechanism, as well as a hydraulic drive, a pneumatic drive, a solenoid drive can be used.

In FIG. 4 shows an embodiment of the invention in which a ball screw servo motor is used as an actuator. In the depicted in FIG. 4 of the embodiment of the invention, the actuator 23 is rigidly fixed to the fixing plate 21 by means of a threaded sleeve of a ball screw mechanism screwed into the threaded hole in the center of the fixing plate 21. Thus, an additional function of the fixing plate 21 is to attach the threaded sleeve of the ball screw mechanism.

In FIG. 4A shows the interface in the extended position, where ΔL is the length of the "travel" (extension / retraction), which depends on the length of the ball screw shaft of the actuator used 23 and the corresponding lengths of the guides 20. In this position, the drive 15 with removable surgical instrument 16 passes through the hexapod movable platform 13 in such a way that the surgical instrument occupies a working position and the actuator is displaced relative to the parking position (Fig. 4)

In FIG. 5 shows one example of the execution of the actuator 23, which consists of a servo motor 24, a ball screw shaft 25 and a threaded ball screw sleeve 26. A servo motor 24 transmits torque to the ball screw 25. When rotating the ball screw shaft 25 there is a linear movement of the actuator 15 with a removable surgical instrument 16 (of the screw-nut type), carried out through the threaded sleeve of a ball screw transmission 26, rigidly fixed to the fixing plate 21 of the interface 17. ix carried out with the speed and direction given by a surgeon using the software autonomous mobile robotic surgical instrument module. The processor with software is installed on a computer rack 10 located next to the console of the surgeon 1. Through the processor with the software installed in it, the surgeon is able to control the manipulator and the end effector of the surgical instrument using the joystick on the surgeon's console.

In preferred embodiments of the invention, the same ball screw motor can be used as the actuator motor as in the hexapod actuators (actuators) providing the same positioning accuracy. This allows you to unify the design nodes and the possibility of using the same type of controllers and exchange protocols, which leads to a simplification of the manipulator control program. When developing products for the purpose of unification and convenience of interfacing external devices (controllers, drivers, and so on), it is advisable to complete the product with the same type of equipment.

Another aspect of the claimed invention relates to the construction of a replaceable surgical instrument for use with a drive, which is a permanent part of the manipulator of an autonomous mobile module of a robotic surgical instrument.

In FIG. 6 shows a general view of a drive with a replaceable surgical instrument. Preferably, when the surgical instrument drive comprises a cylindrical body 27 with a cap 28 at one end and with an access surface in which a quick-detach or detach mechanism 31 of a removable surgical instrument is located on the other. This mechanism attaches the drive housing 27 to the housing of the replaceable surgical instrument assembly and allows for quick installation and / or replacement of the surgical instrument. As the access surface of the mechanism of quick-detachable installation or removal of a removable surgical instrument, the mounting docking platform of the drive housing is used.

Preferably, when the housing of the interchangeable surgical instrument is made in the form of a mounting part 29 and an elongated hollow tubular body 30. The elongated hollow tubular body 30 is configured to functionally interact with the drive. The mounting part 29 of the removable surgical instrument case has a cylindrical funnel shape with an access surface in which the quick-detach installation or removal mechanism of the removable surgical instrument 31 is located. The diameter of the attached mounting part 29 of the removable surgical instrument case is equal to the diameter of the drive housing 27. As the access surface of the quick-detachable installation mechanism or removal of the removable surgical instrument, the mounting docking platform of the mounting part of the surgical instrument housing is used.

In preferred embodiments, one of: a snap-lock spring lock, a bayonet fitting, a threaded union nut, a magnetic lock, can be selected as a quick-attach mechanism or removal of a removable surgical instrument. In FIG. 6 depicts an embodiment of a quick-fitting or removal mechanism of a surgical instrument according to the present invention in the form of a snap lock.

The diameter of the elongated hollow tubular body 30 of the surgical instrument depends on the type of surgical operation. For example, in neurosurgery instruments with a diameter of 3 mm are used, in pediatric surgery - with a diameter of 5 mm, in urology - 8.5 mm. The length of the specified tubular body 30 is from 495 mm to 555 mm, depending on the type and purpose of the surgical instrument. At the distal end of the elongated hollow tubular body 30, a surgical end effector 32 is fixed.

The design of the drive will become apparent from FIG. 7.

The housing 27 is dressed on the corresponding seat of the mounting docking platform 34 of the drive and is closed, on the other hand, by the cover of the drive 28. Inside the housing of the drive 27 is a mounting platform 33. The platforms 33 and 34 are made in the form of flanges with holes for mounting motors, nodes of the drive couplings, rolling bearings and interconnected by at least four distance racks 35. At least four motors 36 are rigidly fixed to the mounting platform 33 in a ring pattern. When developing the design, engines with the following characteristics are selected: the accuracy of the angular rotation of the motor shaft; the required amount of torque and shaft rotation speed with the possibility of their regulation; supply voltage and current of the applied engines; mounting method; dimensions and weight.

The motor may be a servomotor. In other configurations, the motor may include a DC brush drive motor, a brushless motor, a synchronous motor, a small stepper motor, or any other suitable electric motor. The engine can receive power from a power source, which in one form may contain a power supply, stored with the possibility of extraction in a standard 19-inch rack 10, located next to the console of the surgeon 1.

The power supply can functionally accommodate multiple batteries (not shown). Each battery can be, for example, a lithium-ion or other suitable battery, in addition, the power supply can be replaceable and / or rechargeable.

The surgical instrument drive motors 36 are activated by the surgeon from the surgeon’s console using two joysticks for each arm, the signals from which are interpreted using software. Each of the engines 36 is independently controlled. The engine management system provides their separate or simultaneous operation depending on the command of the operating surgeon.

The torque from the motors 36 through the couplings 37, rotating in the rolling bearings 38, is transmitted to the leading coupling halves 39 mounted for free rotation on the mounting docking platform 34 in the mounting flange of the coupling half 40 and spring-loaded with compression springs 41.

The type of couplings used is selected depending on the tasks to be solved, namely: rigid or blind couplings - flanged, sleeve, longitudinally rolled; compensating couplings - articulated, elastic-damping, sleeve-pin and others. In the case described in the present invention, self-actuating or automatic couplings are used, single-turn, which operate when they get to a certain position, after one or several revolutions of the shaft. In a preferred embodiment of the invention, the couplings are made in the form of hexagons, which speeds up the gearing process, unlike splined and other couplings.

According to FIG. 7, the leading coupling halves 39, made in the form of hexagons S = 8 mm, protrude above the mounting docking platform 34 by 2 mm. Compression springs 41 act as a damper and an engagement mechanism for the leading coupling halves 39 with the driven coupling halves of a replaceable surgical instrument. In this way, the drive master coupling halves 39 transmit torque to the driven follower coupling halves of the surgical instrument.

The internal structure of the drive is installed in the housing 27. The assembly of the structure is provided by a tightening axis 42 having a threaded end on both sides, passing along the central axis of the drive between the motors 36 and through a central hole in the cover 28. The tightening axis 42 is screwed onto the mounting docking platform 34 with one side, and the other side passes through the through hole in the cover 28 of the drive. On the outer surface of the cover 28, the tightening axis 42 is fixed with a standard threaded nut, providing a simple, easily collapsible and rigid connection of the drive elements. On the cover of the drive housing 15, the actuator 23 is coaxially rigidly fixed with screws.

Fixing the connection or disconnection of the drive housing with a removable tool is implemented using a spring lock 31 located inside the mounting docking platform 34.

The propulsion of a surgical instrument will become apparent from FIG. 8.

The elongated hollow tubular body is made with the possibility of functional interaction with the drive and the possibility of rotation around its own axis in two coaxially mounted rolling bearings 47, which are its bearings, one of which is pressed into the upper part of the mounting housing 29, the second into the upper mounting platform 44.

The mounting portion 29 of the surgical instrument body is tightened to the corresponding seat of the mounting docking platform 43 of the surgical instrument.

Inside the mounting part of the tool case there is a mounting docking platform 43 and an upper mounting platform 44 interconnected by at least four distance legs 45. Platforms 43 and 44 are made in the form of flanges with holes and are supporting surfaces for fastening the cable mechanism, the end rotation mechanism effector and driven half couplings.

The driven surgical tool halves 46 made in the one shown in FIG. 8 of the embodiment of the invention with a hexagonal selection S = 8 mm have the same placement coordinates as the leading coupling halves 39 (Fig. 7) of the drive. The axis of the driven coupling halves 46 are installed in the rolling bearings 47 of the mounting docking platform 43 and the upper mounting platform 44 in the corresponding bores made in these platforms. The driven halves 46 of the surgical instrument mesh with the corresponding leading halves 39 (FIG. 7) of the actuator.

The cable mechanism contains three pivoting elements configured to receive pivotal movement from the actuator 15, and cables mounted on the pivoting elements and passing through an elongated hollow tubular body for connection with end effector elements. The end effector is a hinge section, in particular, a two-link hinge mechanism with a rotatable housing and a fork housing. On the axis of the rotary housing, the first jaw and the second jaw are fixed. A rotary housing is fixed on the axis of the housing-plug.

As the rotary elements used roller drums A, B and C, which are simultaneously blocks of cable tension and are mounted on the axes of the driven coupling halves 46. Roller drums A, B and C are driven by three drive motors 36 (Fig. 7). Response driven surgical tool halves 46 transmit torque from the respective motors through the drive drive half couplings 39 and provide rotation of the roller drums A, B and B. Two pairs of cables are rigidly mounted on the roller drums, the cables pass through the hollow tubular body 30 and are connected to the hinge elements of the end effector 32.

One pair of cables, which is rigidly fixed to the roller drums A and B, transfers traction to each of the end effector branches for angular movement relative to the longitudinal axis of the end effector 32 rotary body (reducing or diluting the working parts of the end effector branches). The second pair of cables, which is rigidly fixed to the roller drum B, transfers traction to the rotary body of the end effector 32 for its angular movement (deviation) relative to the axis of the elongated hollow tubular body 30 of the surgical instrument. The movement of the jaws of the surgical instrument and the deviation of the rotary body of the end effector 32 are carried out autonomously in mutually perpendicular planes.

In various embodiments of the invention, the cables used in the cable mechanism can be made of: metal threads, Kevlar threads, polyethylene threads or any other material that meets medical and technical requirements.

The end effector rotation mechanism comprises a gear mechanism consisting of a drive wheel 48 transmitting torque to the driven wheel 49 to rotate the elongated hollow tubular body 30 around its own axis and, accordingly, the fork body of the end effector 32, which is rigidly connected to the elongated hollow tubular body 30 .

Thus, the rotary housing of the end effector 32 is made with the possibility of angular movement relative to the axis of the elongated hollow tubular body 30. The housing - the plug of the end effector 32 is made with the possibility of rotation (rotation) around the axis of the elongated hollow tubular body 30.

Another aspect of the claimed invention relates to an improved design of the kinematic diagram of the end effector of a removable surgical instrument for use with a drive, which is a constant part of the manipulator of an autonomous mobile module of a robotic surgical instrument.

In FIG. 9 is a perspective view of a hinged section of an end effector with a surgical instrument. The end effector is a hinged section consisting of a plug body 53, a rotary housing 50 and two branches 51, 52.

The plug body 53 of the end effector 32 is rigidly laser welded to the elongated hollow tubular body 30 of the surgical instrument. The rotary housing 50 is made in conjunction with the guide channel 61. The guide channel 61 of the rotary housing 50, the guide rollers 60 of the housing-fork 53, located on both sides of the guide channel 61, are connected by an axis 54.

The guide rollers 59, a pair on each side of the rotary housing 50, and the guide rollers 60 provide the direction and accuracy of the descent of the cables 56, 57 of the jaws 51.52 through the corresponding holes in the fork housing 53 and further inside the elongated tubular body 30 to the corresponding cable drums A, B, C (Fig. 8).

Each of the jaws 51, 52 of the surgical instrument has a lower roller portion. The branches 51, 52 and the rotary housing 50 are connected by an axis 55 of the branch, which passes through the lower roller part of the branch. In the particular case of FIG. 9, in FIG. 9A, branches of a microneedle are shown. In this case, the axis 55 of the jaws 51, 52 of the surgical instrument and the axis 54 connecting the pivot body 50 and the plug body 53 are mutually perpendicular to each other, which allows the pivot body 50 and the jaws 51, 52 to rotate, respectively, in mutually perpendicular planes.

The cable fastening to the branches is shown in FIG. 9A.

In the lower roller part of each of the jaws 51 and 52 on the inner parts facing each other, there are recesses G. The pulling force to each of the two jaws 51 and 52 is transmitted by cables 56 and 57, respectively, rigidly fixed in the recesses G using crimp tubes 58 and providing angular movement of the jaws 51, 52 relative to the longitudinal axis of the rotary body 50 of the end effector in the range of ± 90 °. Each of the branches of the cables 57, 58 is stacked counterclockwise in its groove of the lower roller part of the jaw on the corresponding jaw, enveloping it on both sides of the lower roller part. Further, both branches of the cables pass along the guide rollers 59 and 60 (Fig. 9) and through the corresponding holes in the end-effector plug-case 53 are fed through the hollow elongated tubular body 30 and through the guide rollers 62 mounted on the mounting docking platform 43 (Fig. 10A ) (the upper mounting platform 44 is not shown conditionally) to the roller drums A and B.

The pulling force to the rotary body 50 for its deviation relative to the axis of the elongated hollow tubular body of the replaceable surgical instrument 30 is transmitted by a second pair of cables 63, which wraps around the guide channel 61 of the rotary body 50. The cables through the corresponding holes in the end effector body 53 are fed through the hollow elongated tubular the housing 30 and through the guide rollers 62 mounted on the mounting docking platform 43 (Fig. 10B) (the upper mounting platform 44 is not shown conventionally) to the roller drum B.

On the other side of the upper mounting platform 44 of the surgical instrument 32, there is an end effector pivot mechanism that includes a gear mechanism 51, 52 for pivoting the plug body 53 of the end effector 32. In FIG. 10B (the upper mounting platform 44 is not shown conditionally) an embodiment of the invention, the end effector rotation mechanism is made in the form of a spur gear mechanism that is driven by the torque transmitted by the fourth motor 36 of the drive 27 through the coupling halves 39 and 46 to the drive gear 51 and the driven gear 52, which is rigidly connected to the elongated hollow tubular body 30 of the surgical instrument.

In FIG. 11 shows a diagram of the attachment of cables to a roller drum (cables and drums are shown as an example, regardless of the function performed).

Each of the roller drums consists of two split (along the generatrix) bushings 63, 64 with a roller part, tightened together by fixing screws 65 and dressed on the axis 66 of the driven coupling half 46 towards each other with roller parts.

Two cables 67.68 are rigidly fixed in the tangentially located holes on the inner side of the roller part of the drum using crimp tubes 69, filled with injection polyamide. Each branch of the cable is wound on a roller drum of the cable mechanism as follows: one branch is wound on a split movable sleeve of the upper roller drum 64, the second branch - on the split movable sleeve of the lower roller drum 65 one revolution towards each other and are rigidly fixed using crimp tubes 69 on the ends of the cables. The tension of the cables, to prevent sagging and idle runs, is carried out by rotating the respective drums in the opposite direction, followed by fixing with fixing screws 65.

In FIG. 12A-12B illustrate the operation of the hinged section of the end effector. Each jaw can be controlled using two motors connected to the surgical instrument with a drive both autonomously, within angular displacements φ = ± 90 °, and together with both jaws in the same angular range (Fig. 12A). The deviation of the rotary housing of the end effector is carried out using a third motor connected to the surgical instrument of the drive to the extreme symmetrical angular values relative to the axis of the instrument within φ = ± 90 ° (Fig. 12B). In FIG. 12B is a view showing possible displacements in the space of the jaws relative to the rotary body, the rotary body relative to the plug body and the rotation of the entire hinge section relative to the axis of the tool tube.

Thus, the cable mechanism located inside the case of the surgical instrument, connecting the roller drums with the hinged mechanisms of the end effector through the cables that pass through the hollow elongated tubular case of the surgical instrument, allows each instrument branch to be controlled independently by means of 2 engines, ensuring the reduction / dilution of the workers surfaces at φ = ± 180 °, and control with the help of a third engine the rotary housing of the end effector, ensuring its deviation at φ = ± 90 ° axis of the tool. The tool branches are moved and the end effector body is deflected in mutually perpendicular planes.

The rotation of the tool around the axis by φ = ± 350 ° provides a spur gear mechanism, also built into the tool body and working from the torque transmitted by the 4th drive motor to the driven gear rigidly connected to the tool tube.

Moreover, the interface 17 provides a linear reciprocating movement of the surgical instrument 16 at various deviations of the movable platform 13, while the end effector of the surgical instrument simultaneously with the specified linear movement has the ability to rotate around its own axis, and the branches of the end effector can independently of these movements move relative to each other.

The positive effect and advantages of the proposed autonomous mobile module of a robotic surgical instrument:

- the use of hexapod as an element of a robotic module that increases the accuracy of the surgical procedure;

- built-in device for pairing the tool with the drive and with the mechanism of reciprocating movement of the tool along the guides;

- quick-detachable tool;

- increase of manipulative opportunities;

- simplification of the design of the robotic arm (reducing the number of degrees of freedom) due to the use of hexapod as a manipulator.

- unlike the well-known analogue, the da Vinci robotic surgery complex, the proposed device has significantly smaller dimensions and weight.

Although the present patent application relates to the invention defined in the claims below, one skilled in the art will readily understand that the present patent application contains the basis for the wording of other inventions, which may, for example, be claimed as an object of the amended claims of the present application or as an object of the claims inventions in a separate and / or continuing application. Such an object may be characterized by any feature or combination of features described herein.

Claims (30)

1. The manipulator of a surgical instrument as part of an autonomous mobile module of a robotic surgical instrument, including: fixed platform 14, movable platform 13, a parallel kinematics mechanism made in the form of a hexapod connecting the fixed platform 14 and the movable platform 13 and made with the possibility of controlled maneuvering by the mobile platform 13; a drive 15 made with the possibility of attaching to it a removable surgical instrument 16 and bringing said surgical instrument 16 into motion, the interface unit 17 of said drive 15 with a hexapod located inside the hexapod and mounted on the movable platform 13, while the interface unit 17 is arranged to linearly move the actuator 15 with a removable surgical instrument 16 in the reciprocating direction through the movable platform 13. 2. The manipulator according to claim 1, in which the hexapod is made of six actuating links 18, each of which is connected by means of hinges 19 at one end to the movable platform 13, and the other to the fixed 14. 3. The manipulator according to claim 2, in which the executive link 18 can be made in the form of a linear actuator, consisting of a direct current servomotor or a stepper motor with a ball screw transmission. 4. The manipulator according to claim 1, in which the interface node 17 is made up of: at least two guides 20, rigidly mounted on the movable platform 13 and mounted perpendicular to the movable platform 13, at least one mounting clamp 22, which is placed on the rails 20 and in which the actuator 15 is mounted, moving along the specified rails 20, and an actuator 23 for moving the actuator 15 with a removable surgical instrument 16. 5. The manipulator according to claim 4, in which the actuator 23 of the interface unit 17 can be made in the form of a direct current servomotor or a stepper motor with a ball screw transmission. 6. The manipulator according to claim 1, in which the actuator 15 has a cylindrical-shaped body 27 with an access surface in which a quick-detachable installation or removal mechanism for a removable surgical instrument 31 for connecting to the surgical instrument is located. 7. The manipulator according to claim 6, in which the mounting docking platform 34 of the drive housing is used as the access surface of the mechanism 31 of a quick-detachable installation or removal of a removable surgical instrument. 8. The manipulator according to claim 7, in which inside the housing 27 of the actuator 15 there is additionally an mounting platform 33 connected to the mounting docking platform 34 of at least four distance racks 35. 9. The manipulator according to claim 8, in which at least four motors 36 are rigidly fixed to the mounting platform 33 in a ring pattern, configured to transmit torque to the drive drive coupling halves 39. 10. A replaceable surgical tool for use with a manipulator drive according to claim 9, including: the case, which is made in the form of a mounting part 29 and an elongated hollow tubular body 30, while the mounting part 29 has an access surface in which there is a mechanism 31 for quick installation or removal of a removable surgical instrument for connection with the drive body 15, and the elongated hollow tubular body 30 made with the possibility of functional interaction with the drive 15; surgical end effector 32, which is made in the form of a hinge section with a rotary body 50 and a plug body 53, while the plug body 53 is rigidly connected to the distal end of the elongated hollow tubular body 30, a rotary case 50 is mounted on the axis of the plug body 53, the axis of the rotary housing 50, the first jaw 51 and the second jaw 52 are installed, and inside the mounting part 29 there is a cable mechanism that contains three rotary elements A, B, C, configured to receive rotary movement from the drive 15, and cables 56, 57, 63 mounted on the rotary elements A, B, C and passing through the elongated hollow tubular body 30 for connection with the elements of the hinged section of the end effector 32, while the cables 56, 57 of the two rotary elements A, B transmit traction to each branch 51, 52 for angular movement of the corresponding first branch 51 and second branch 52 relative to the longitudinal axis of the rotary body 50 of the end effector, and the cable 63 of the third rotary element transfers traction to the rotary body 50 of the end effector for its angular movement relative to the axis of the elongated hollow tubular body 30 of the surgical instrument, the mechanism of rotation of the end effector, which contains a gear mechanism for rotating the case-fork of the end effector around the axis of the elongated hollow tubular body of the surgical instrument, configured to receive rotary motion from the drive 15. 11. The surgical instrument of claim 10, wherein the docking mounting platform 43 is used as an access surface of the mechanism 31 of a quick-detachable installation or removal of a replaceable surgical instrument. 12. The surgical instrument of claim 11, wherein inside the mounting portion 29 of the housing is an upper mounting platform 44 connected to the docking mounting platform 43 by at least four distance legs 45. 13. The surgical instrument according to claim 12, wherein the axles of the driven coupling halves 46 are mounted on the docking mounting platform 43 and on the upper mounting platform 44, which engage with the corresponding driving coupling halves 39 of the actuator 15 to receive torque from them and transmit the rotational movement to the cable the mechanism and mechanism of rotation of the end effector. 14. The surgical instrument according to claim 11, wherein the quick-detachable mechanism for installing or removing the removable surgical instrument can be selected from: a spring lock with latches, a bayonet fitting, a threaded union nut, and a magnetic lock. 15. The end effector of a surgical working tool according to any one of paragraphs. 10-14, containing: fork housing 53 with two guide rollers 60, a rotary housing 50, made in conjunction with the guide channel 61, and the guide channel 61 of the rotary housing 50, the guide rollers 60 of the yoke 53, located on both sides of the guide channel 60, are mounted on the axis 54 of the yoke 53, branches 51.52, each of which has a lower roller part and is mounted on the axis 55 of the rotary housing 50, perpendicular to the axis 54 of the fork housing 53, while the corresponding cable 56, 57 is fixed in the lower roller part of the corresponding branch 51, 52 so that each of the branches of the cable laying counterclockwise into its groove on the jaw, enveloping it on both sides of the lower roller part and passing the corresponding guide rollers 59 of the rotary housing, the guide rollers 60 of the fork housing through the elongated hollow tubular housing 30 to the rotary elements of the cable mechanism for angular movement of the jaw 51 52, and the third cable 63 wraps around the guide channel 61 of the rotary housing and, through an elongated hollow tubular housing 30, is connected to the rotary element B of the cable mechanism for angular movement of the rotary housing 50 of the end effector vector relative to the axis of the elongated hollow tubular body 30. 16. The end effector according to claim 15, wherein the cable can be made of: metal threads, Kevlar threads, polyethylene threads.

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