TWI544992B - Surgical use of the distal movement center - Google Patents

Description

Remote motion center mechanism for surgery

The present invention relates to a distal motion center mechanism for surgery, and more particularly to an innovative designer who provides a craniotomy tool that remains vertical as it moves along the surface of the skull.

Craniotomy is an important surgical procedure in cranial neurosurgery. The surgeon needs to use a semi-automatic craniotomy tool to cut the Skull bone flap (Bone flap) above the surgical site. Internal lesions perform surgery. The craniotomy process relies heavily on the physician's experience, technique and feel, and the quality and success of the surgery has a high degree of human manipulation uncertainty. In order to improve the quality and safety of craniotomy, the surgeon can perform the craniotomy by the excellent stability and maneuverability of the craniotomy robot, so as to effectively reduce the physiological factors such as hand vibration and fatigue of the surgeon. The resulting surgical error. Although a small number of craniotomy robots have been proposed, they are only used for general industrial robots or other specialized surgical robots for craniotomy. They are not dedicated to craniotomy. On the other hand, in the surgeon's craniotomy experience, the craniotomy tool is preferably kept perpendicular to the surface of the skull at any time during the operation, the rotational freedom of the sliced bone cut in this state, and a cutting depth of the cutting tool. Translation freedom.

However, the craniotomy robots currently developed are six-degree-of-freedom series robots, which not only have complicated control procedures, but also have too many degrees of freedom to cause more accumulated error of the drive shaft. In addition, the rigidity of the mechanism is relatively poor, which tends to increase the risk of surgery. Therefore, in view of the problems existing in the above-mentioned conventional structure, how to develop a more rational The innovative structure that is intended to be practical, the consumer is eagerly awaited, and the relevant industry must strive to develop the goal and direction of breakthrough.

In view of this, the creator has been engaged in the manufacturing development and design experience of related products for many years. After detailed design and careful evaluation of the above objectives, the present invention has finally become practical. .

The main object of the present invention is to provide a distal motion center mechanism for surgery; the problem to be solved is to provide a six-degree-of-freedom series of craniotomy robots which are currently developed. The robot not only has complicated control procedures, but also has too many degrees of freedom to cause more accumulated error of the drive shaft. In addition, the rigidity of the mechanism is relatively poor, and it is easy to increase the risk of surgery. The technical features of the problem are mainly included. a pedestal; a horizontal mechanism unit configured to be horizontally constructed above the pedestal, the horizontal mechanism unit comprising a horizontal parallel link set having a single degree of freedom, wherein the horizontal parallel link One of the free ends of the group is provided with a rotary driving source, and the parallel driving link of the horizontal plane is driven by the rotating driving source to pass through a Y-axis as a distal moving center line, and the parallel horizontal connecting rod group surrounds the Y-axis Generating a horizontal arc motion path; a vertical mechanism unit configured to be vertically oriented on the horizontal mechanism unit a centering position, the vertical mechanism unit comprises a vertical parallel rod set having a single degree of freedom, wherein a free end of one of the vertical parallel rod sets is provided with a linear drive source, and the linear drive source When the vertical vertical link group is actuated, the X-axis is a distal movement center line, and the vertical vertical link group generates a vertical arc motion path around the X-axis, wherein the X-axis passes through the horizontal mechanism unit. The Y-axis generates a distal movement center point; the other parallel end of the vertical parallel link group is provided with a linear feed mechanism, and one end effector is provided at one end of the linear feed mechanism, and the linear feed mechanism is actuated The time is a distal movement center line through a Z axis, and the Z axis is a center point of the distal movement generated by the X axis and the Y axis being coincident, and the distal movement center point is an X axis, Y The axis and the Z axis are generated by intersecting the common point, so that the end effector makes the end effect by the rotary driving source of the horizontal mechanism unit and the linear driving source of the vertical mechanism unit and the linear feeding mechanism The device generates a cone-shaped movement space relative to the distal movement center point; thereby, the innovative unique design enables the distal movement center mechanism of the present invention to have only three freedoms generated by the intersection of the X-axis, the Y-axis and the Z-axis. The distal movement center point produces a cone-shaped motion space to complete the craniotomy, and the annular cutting path and the depth of cut can be controlled separately to achieve the effect of motion decoupling compared to the existing complex craniotomy mechanism. The control difficulty of the present invention is relatively low; in addition, the creation can provide vertical movement of the craniotomy tool along the surface of the skull, and the present invention has two sets of single-degree-of-freedom horizontal and vertical parallel rod sets, which can provide better Machine Construct a rigid person.

X‧‧‧ horizontal institutional unit

Y‧‧‧vertical mechanism unit

X1‧‧‧ horizontal parallel rod set

Y1‧‧‧Vertical parallel parallel link set

XA‧‧‧X axis

YA‧‧‧Y axis

ZA‧‧‧Z axis

RCM‧‧‧Distance Center

10‧‧‧ Pedestal

20‧‧‧Reinforcement unit

21‧‧‧First member

22‧‧‧Second pivot

23‧‧‧The first pivot

24‧‧‧Second bars

30‧‧‧Rotary drive source

31‧‧‧First pivoting

32‧‧‧First body

33‧‧‧Second pivoting

34‧‧‧ Third body

35‧‧‧ linkage pivot

40‧‧‧Second body

41‧‧‧The third pivoting department

50‧‧‧4th universal joint

51‧‧‧1st universal joint

52‧‧‧Fourth

53‧‧‧third pole

54‧‧‧Second pole

55‧‧‧First pivot

56‧‧‧First pole

57‧‧‧Second pivot

58‧‧‧fourth pivot

59‧‧‧Connected end

60‧‧‧Linear drive source

70‧‧‧ Sixth pole

71‧‧‧ Third pivot

72‧‧‧2nd universal joint

73‧‧‧ third universal joint

80‧‧‧The fifth pole

81‧‧‧The fifth pivot

82‧‧‧ seventh pole

83‧‧‧Line feed source

84‧‧‧End effector

Figure 1 is a perspective view of a distal motion center mechanism for surgery of the present invention.

Fig. 2 is a simplified mechanism diagram of the distal motion center mechanism for surgery of the present invention.

Fig. 3 is a view showing a simple mechanism of another embodiment of the present invention.

1 to 2 are preferred embodiments of the distal motion center mechanism for surgical use of the present invention, but the embodiments are for illustrative purposes only and are not limited by the structure in the patent application. The system includes: a base (10); a horizontal mechanism unit (X), the horizontal mechanism unit (X) is horizontally constructed above the base (10), and the horizontal mechanism unit (X) includes a Single degree of freedom a horizontal parallel link set (X1), wherein a free end of one of the horizontal parallel link sets (X1) is provided with a rotary drive source (30), and the horizontal drive link is made by the rotary drive source (30) (X1) is actuated by a Y-axis (YA) as the distal motion centerline, and the horizontal parallel link set (X1) generates a horizontal arc motion path around the Y-axis (YA); a vertical mechanism unit (Y) The vertical mechanism unit (Y) is vertically disposed at a position above the horizontal mechanism unit (X), and the vertical mechanism unit (Y) includes a vertical parallel rod set (Y1) having a single degree of freedom. The linear end of one of the vertical parallel rod sets (Y1) is provided with a linear driving source (60), and the linear driving source (60) causes the vertical vertical connecting rod group to act through an X The axis (XA) is a distal motion centerline, and the vertical vertical link set generates a vertical arc motion path around the X axis (XA), wherein the X axis (XA) passes through the horizontal mechanism unit (X) The Y-axis (YA) produces an intersection defined as a distal motion center point (RCM); the other vertical parallel-link group (Y1) is provided at the other free end There is a linear feed drive source (83), and one end effector (84) is provided at one end of the linear feed drive source (83), and the linear feed drive source (83) is operated by a Z-axis (ZA) End moving the center line, and the intersection of the Z-axis (ZA) generated by the X-axis (XA) and the Y-axis (YA) is passed through the distal motion center point (RCM), and the distal end is made The motion center point (RCM) is generated by the intersection of the X-axis (XA), the Y-axis (YA), and the Z-axis (ZA) by causing the end effector (84) to pass the horizontal mechanism unit (X) Rotating the driving source (30) and the linear driving source (60) of the vertical mechanism unit (Y) and the linear feed driving source (83), and the end effector (84) is opposite to the distal moving center point (RCM) produces a motion space in the shape of a cone.

In the above, the horizontal parallel link set (X1) of the horizontal mechanism unit (X) further comprises two first parallel bodies (32), and the ends of the two first rods (32) are pivoted. a second rod body (40) is disposed, and the relative pivotal positions of the two first rod bodies (32) and the second rod body (40) are set as a third pivoting portion (41), and the two first portions Center of the rod (32) A third rod body (34) is disposed, and a third pivoting portion (33) is disposed at a position of the third rod body (34) opposite to the first rod body (32). The free end of the rod body (32) is provided with a first pivoting portion (31), the first pivoting portion (31) is pivotally connected to the rotating driving source (30), and the other first rod body (32) The free end is provided with a linkage (35).

According to the above, the vertical parallel rod set (Y1) of the vertical mechanism unit (Y) further includes two first rod portions (56) parallel to each other, and the two first rod portions (56) are pivoted on one side. A second rod portion (54) is disposed, and a first pivot portion (55) is disposed at a relative pivoting position of the first rod portion (56) and the second rod portion (54), the second rod portion (54) A third rod portion (53) is relatively pivoted, the third rod portion (53) is pivotally connected to a fourth rod portion (52), and the fourth rod portion (52) is provided with a first universal portion. a joint (51), a fourth universal joint (50) is disposed under the first universal joint (51), and a seventh rod portion (82) is pivotally disposed at the other end of the first rod portion (56). The relative pivotal position of the first rod portion (56) and the seventh rod portion (82) is a fourth pivot portion (58), and a central position of the first rod portion (56) is pivotally disposed. a sixth rod portion (70) in an M-shaped manner, the relative pivotal position of the first rod portion (56) and the sixth rod portion (70) is a second pivot portion (57), and the The predetermined portion of the sixth rod portion (70) is pivotally disposed with a fifth rod portion (80) parallel to the predetermined portion of the seventh rod portion (82), the sixth rod portion (70) being opposite to the fifth portion The relative pivotal position of the portion (80) is set to a third pivot portion (71), and the relative pivotal position of the seventh rod portion (82) relative to the fifth rod portion (80) is set to a fifth position. a third portion (81), the free end of the sixth rod portion (70) has a third universal joint (73) corresponding to a centering position of the third rod body (34), and the fourth universal joint (50) one end is provided with a connecting end (59), the connecting end (59) is pivoted with a linear driving source (60), and the other free end of the linear driving source (60) is pivoted with a second a universal joint (72), and the other free end of the second universal joint (72) is pivotally disposed at a relative position of the sixth rod portion (70); and the free end of the seventh rod portion (82) The linear feed drive source (83) is pivoted, and one end of the linear feed drive source (83) is provided with the end effector (84).

In the above, the predetermined section of the second body (40) of the horizontal mechanism unit (X) is provided with a symmetrical reinforcing unit (20) opposite to the base (10), and the reinforcing unit (20) The system includes a first rod member (21) pivoting a second rod member (24), and a free end of the first rod member (21) has a first pivot end (23) corresponding to the base (10). And the first rod member (21) pivots a second pivot end (22) relative to the second rod member (24).

With the above structure and composition design, the operation of the present invention is described as follows: Since the distal motion center point (RCM) is located in the center of the patient's brain, a craniotomy tool (not shown) is attached to the end. The effector (84), according to the movement requirement of the craniotomy, the tool held by the end effector (84) needs to be approximately perpendicular to the curved surface of the skull at any time. The present invention utilizes the distal motion center mechanism to achieve this purpose, and the implementation process is assumed first. The skull is a positive sphere with the center of the center as the distal center of motion (RCM), because the tool of the distal motion center mechanism will always move around the distal center of motion (RCM), so that the tool is at the end Upper, in order to achieve the tool always facing the intracranial center, so that the tool is kept perpendicular to the surface of the skull at any time, so when the position of the horizontal mechanism unit (X) is fixed, the craniotomy tool can be provided by the rotary motor of the horizontal mechanism unit (X) One of the rotational degrees of freedom is then provided by the linear drive source (60) of the vertical mechanism unit (Y) to provide another degree of rotational freedom, allowing the tool to achieve a circular cut of two degrees of freedom. The depth of cut of the tool during craniotomy can be determined by the linear feed drive source (83) on the vertical mechanism unit (Y).

Thereby, the distal motion center mechanism for surgical use of the present invention generates only a three-degree-of-freedom distal motion center point (RCM) generated by the intersection of the X-axis (XA), the Y-axis (YA), and the Z-axis (ZA). The craniotomy can be performed in the motion space of the cone shape, and the annular cutting path and the cutting depth can be separately controlled to achieve the effect of motion decoupling. Compared with the existing complicated craniotomy mechanism, the control difficulty of the present invention is relatively low. In addition, this The invention provides for the craniotomy tool to remain vertical as it moves along the surface of the skull. Furthermore, the present invention is composed of two sets of horizontal planes and vertical parallel rod sets (Y1) having a single degree of freedom, which can provide better structural rigidity.

As shown in FIG. 3, another embodiment of the present invention, wherein the linear drive source (60) can be replaced by a rotary motor (not shown), and the rotary motor is disposed on the fourth universal joint (50). ) Insiders.

By summarizing the above description, the design of the above structure of the present invention can effectively overcome the shortcomings faced by the conventional invention, and further has the above-mentioned numerous advantages and practical values. Therefore, the present invention is an innovative invention and is identical in the same No identical or similar product creation or public use has been found in the technical field. Therefore, the present invention has met the requirements for "novelty" and "progressiveness" of the invention patent, and is applied according to law.

X‧‧‧ horizontal institutional unit

Y‧‧‧vertical mechanism unit

X1‧‧‧ horizontal parallel rod set

Y1‧‧‧Vertical parallel parallel link set

10‧‧‧ Pedestal

20‧‧‧Reinforcement unit

21‧‧‧First member

22‧‧‧Second pivot

23‧‧‧The first pivot

24‧‧‧Second bars

30‧‧‧Rotary drive source

31‧‧‧First pivoting

32‧‧‧Second body

33‧‧‧Second pivoting

34‧‧‧ Third body

35‧‧‧ linkage pivot

40‧‧‧Second body

41‧‧‧The third pivoting department

50‧‧‧4th universal joint

51‧‧‧1st universal joint

52‧‧‧Fourth

53‧‧‧third pole

54‧‧‧Second pole

55‧‧‧First pivot

56‧‧‧First pole

57‧‧‧Second pivot

58‧‧‧fourth pivot

59‧‧‧Connected end

60‧‧‧Linear drive source

70‧‧‧ Sixth pole

71‧‧‧ Third pivot

72‧‧‧2nd universal joint

73‧‧‧ third universal joint

80‧‧‧The fifth pole

81‧‧‧The fifth pivot

82‧‧‧ seventh pole

83‧‧‧Line feed source

84‧‧‧End effector

Claims (3)

A distal motion center mechanism for surgery includes: a base; a horizontal mechanism unit, the horizontal mechanism unit is horizontally constructed above the base, and the horizontal mechanism unit includes a horizontal plane with a single degree of freedom The rod group includes two first rod bodies that are parallel to each other, and each end of the two first rod bodies is pivotally provided with a second rod body, and the relative pivotal positions of the two first rod bodies and the second rod body are set to a third pivoting portion, wherein the center of the two first rods is provided with a third rod body, and a third pivoting portion is disposed between the third rod body and the opposite pivotal positions of the two rod bodies. One of the first pivotal free ends is provided with a first pivoting portion, the first pivoting portion is pivotally coupled to a rotational driving source, and the rotational driving source is disposed at a free end of the horizontal parallel link set. The other free end of the first rod body is provided with a linkage pivoting portion, and the parallel driving link group is driven by the rotary driving source to pass through a Y-axis as a distal movement center line, and the horizontal plane is parallel a link group generates a horizontal arc motion path around the Y axis; a vertical mechanism unit configured to vertically define a centering position above the horizontal mechanism unit, the vertical mechanism unit including a vertical parallel rod set having a single degree of freedom, wherein the vertical plane parallel link One of the free ends of the set is provided with a linear driving source, and the linear driving source causes the vertical vertical connecting rod group to move through an X-axis as a distal moving center line, and surrounds the vertical vertical connecting rod group The X-axis generates a vertical arc motion path, wherein the X-axis generates a distal motion center point through the Y-axis of the horizontal mechanism unit; and the other parallel end link group has a linear feed drive source at the other free end. An end effector is disposed at one end of the linear feed drive source, and the linear feed drive source is driven by a Z axis as a distal motion center line, and the Z axis is generated by the X axis and the Y axis being coincident. The distal end moves the center point, and the distal movement center point is generated by the intersection of the X-axis, the Y-axis and the Z-axis, so that the end effector is driven by the rotation of the horizontal mechanism unit and vertical Constructing the linear driving source of the unit and the linear feeding mechanism, so that the end effector generates a cone-shaped moving space relative to the distal moving center point and the craniotomy tool held by the end effector is along the skull Keep the surface vertical when moving. The distal movement center mechanism for surgery according to claim 1, wherein the vertical parallel rod assembly of the vertical mechanism unit further comprises two first rod portions that are parallel to each other, and the two first rod portions are The pivoting is provided with a second rod portion, and the first rod portion and the second rod portion are oppositely pivoted a first pivot portion is disposed, the second rod portion is oppositely pivoted with a third rod portion, the third rod portion is pivotally connected to a fourth rod portion, and the fourth rod portion is provided with a first stem portion a fourth universal joint is disposed under the first universal joint, and a seventh shank is pivotally disposed at the other end of the first shank, and the first shank is opposite to the seventh shank The pivoting position is a fourth pivot portion, and the centering position of the first rod portion is pivotally provided with a sixth rod portion in an M-shaped manner, and the first rod portion and the sixth rod portion are oppositely pivoted The position is set to a second pivot portion, and the predetermined portion of the sixth rod portion is pivotally disposed parallel to the predetermined portion of the seventh rod portion, and a fifth rod portion is opposite to the fifth rod portion. The pivotal position is set to a third pivot portion, and the relative pivotal position of the seventh rod portion relative to the fifth rod portion is a fifth pivot portion, and the free end of the sixth rod portion corresponds to the third portion The central position of the rod body has a third universal joint, and one end of the fourth universal joint is provided with a connecting end, and the connecting end pivots a linear driving source, and the linear driving The other free end of the moving source pivots a second universal joint, and the other free end of the second universal joint is pivoted at a relative position of the sixth rod; the other is free The end system pivots the linear feed drive source, and the end of the linear feed drive source is provided with the end effector. The distal movement center mechanism for surgery according to claim 1, wherein the predetermined section of the second body of the horizontal mechanism unit is provided with a symmetrical reinforcing unit with respect to the base, and the reinforcing unit includes A first member pivots a second member, and a free end of the first member has a first pivotal end corresponding to the base, and the first member is pivoted relative to the second member The second is the hub.