WO2018177039A1 - Articulation de type serpent pour robot chirurgical, instrument chirurgical et endoscope - Google Patents

Articulation de type serpent pour robot chirurgical, instrument chirurgical et endoscope Download PDF

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Publication number
WO2018177039A1
WO2018177039A1 PCT/CN2018/076313 CN2018076313W WO2018177039A1 WO 2018177039 A1 WO2018177039 A1 WO 2018177039A1 CN 2018076313 W CN2018076313 W CN 2018076313W WO 2018177039 A1 WO2018177039 A1 WO 2018177039A1
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WO
WIPO (PCT)
Prior art keywords
joint
serpentine
surgical robot
axial
groove
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PCT/CN2018/076313
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English (en)
Chinese (zh)
Inventor
何裕源
何超
王常春
李涛
Original Assignee
微创（上海）医疗机器人有限公司
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Publication of WO2018177039A1 publication Critical patent/WO2018177039A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation

Definitions

  • the present invention relates to the field of medical device technology, and in particular to a serpentine joint, a surgical instrument and an endoscope for a surgical robot.
  • snake-shaped robots for medical operations have also appeared slowly.
  • the surgical instruments of the serpentine joint are often used to realize other organs during the operation. Avoidance. This advantage makes the surgical instruments of the serpentine joints well suited for use in the surgical field.
  • US 2016/0066937 A1 proposes a serpentine joint, the single joint 110 comprising a first joint portion 202 and a second joint portion 232 which are relatively swingable, and a short link mechanism 226 between the two joint portions, 228 connection.
  • the short link mechanism 226 as an example, the first bearing 227 disposed in the bearing hole 254 of the second joint portion 232 and the second bearing 225 disposed in the groove 210 of the first joint portion 202, the first The bearing 227 forms a rotational axis of the second joint portion 232, and the second bearing 225 forms a rotational axis of the second joint portion 202.
  • the serpentine joint can realize the torsional movement of the space by different arrangement manners, but in the process of bending and torsion, there are disadvantages of low motion precision and complicated structure.
  • CN102665592A proposes a wrist joint comprising discs 410 and 420 having four sets of projections 412, 414, 416, 418 and 40 mating with each other. 422, 424, 426, 428, and the four sets of protrusions alternate between having a central epicycloid surface and a central hypocycloid surface.
  • the wrist joint 400 can provide resistance to compressive strain and prevent the disc 410 from sliding laterally relative to the disk 420 in the direction of the tilt axis.
  • the discs 410 and 420 are hinged by the jaws 451 and 452, and the discs 410 and 420 are forced together by preloading the tension on the jaws 451 and 452, so the reliability of this connection is low, and four sets are set.
  • the protrusion also makes the wrist joint 400 complicated in structure and high in manufacturing cost.
  • the present invention provides a serpentine joint for a surgical robot having at least one degree of freedom with a serpentine joint, and comprising: at least one joint joint pair and a flexible structure; wherein
  • Each joint joint pair includes a first joint joint at a lower end and a second joint joint at an upper end;
  • the first joint joint includes a first substrate, and the first surface of the first substrate is provided with a first protrusion and a first groove;
  • the second joint joint includes a second substrate, the second surface of the second substrate is provided with a second protrusion and a second groove; when the first joint joint and the second When the joint is engaged, the first surface and the second surface are oppositely disposed, the first protrusion is located in the second groove, and is rotatable in the second groove, the second a protrusion is located in the first groove and is rotatable within the first groove;
  • the flexible structure is for controlling a swing of the joint joint pair
  • the first line formed by the center line of the first protrusion and the first groove intersects perpendicularly to the axis of the first substrate;
  • the second protrusion and the second groove a second line formed by the center line perpendicularly intersecting an axis of the second substrate; the first wire and the second wire when the first joint joint and the second joint joint are mated Connected to the line;
  • first protrusion and the second protrusion each have an arc-shaped convex surface having a central angle greater than 180° and less than 360°; the first groove and the second groove each have a center An arc-shaped concave surface with an angle greater than 180° and less than 360°.
  • the central angle of the arc-shaped convex surface is larger than the central angle of the circular arc-shaped concave surface.
  • the swing angle of the joint joint pair is greater than 0° and less than or equal to 80°.
  • the first substrate is provided with a plurality of first axial through holes arranged circumferentially, and the flexible structure extends through the first axial through hole
  • the second substrate is provided with a plurality of second axial through holes arranged circumferentially, the flexible structure extending through the second axial through hole, at least 2 of the plurality of first axial through holes
  • the positions of the ones correspond to the positions of at least two of the plurality of second axial through holes.
  • the number of the first axial through holes is the same as the number of the second axial through holes, and the position of the first axial through hole One-to-one correspondence with the position of the second axial through hole.
  • the flexible structure is at least 2n, wherein n is a natural number greater than or equal to 1.
  • the surgical robot with a serpentine joint includes a plurality of the joint joint pairs, and the plurality of joint joint pairs are sequentially adjacent.
  • the first substrate is provided with a third surface opposite to the first surface, and the third surface is provided with a first fastening mechanism;
  • the second substrate is provided with a fourth surface opposite to the second surface, the fourth surface is provided with a second fastening mechanism; the second fastening mechanism and the first through the two adjacent joint joints
  • the snap-fit mechanism is interlocked to secure the second joint joint and the first joint joint of the adjacent two joint joint pairs.
  • the first fastening mechanism includes a plurality of first bosses and a plurality of first recesses, the first bosses and the first recesses
  • the second fastening mechanism includes a plurality of second bosses and a plurality of second recesses, the second bosses and the second recesses are spaced apart; the first bosses The second boss can be received in a second recess of an adjacent joint joint pair, the second boss being receivable in a first recess of an adjacent joint joint pair.
  • the second joint joint and the first joint joint of the adjacent two joint joint pairs are integrally formed.
  • a circumferential relative deflection angle between two adjacent joint joint pairs is greater than or equal to 0° and less than or equal to 180°.
  • the present invention also provides a surgical instrument including an instrument end, a serpentine joint for a surgical robot, a tubular member, a flexible member, and a controller as described above; wherein the instrument end, the surgical robot uses a snake a joint, the tubular and the controller are connected in sequence; the flexible member is connected to the controller at one end, and the other end is connected to the end of the instrument through the tubular; the flexibility of the serpentine joint of the surgical robot a proximal end of the structure is coupled to the controller via the tubular; the controller controls movement of the end of the instrument by the flexible member, and the surgical robot uses a flexible structure of a serpentine joint to control the surgical robot with a serpentine shape The movement of the joints.
  • the present invention also provides an endoscope including an imaging system, a serpentine joint for a surgical robot, a tubular, and a controller as described above; wherein the imaging system, the surgical robot uses a serpentine shape a joint, the tubular, and the controller are sequentially connected; the surgical robot is connected to the controller via the tubular proximal end of the flexible structure of the serpentine joint; the controller is used by the surgical robot
  • the flexible structure of the serpentine joint controls the surgical robot to move with a serpentine joint.
  • the surgical robot has at least one degree of freedom with a serpentine joint, and includes: at least one joint joint pair and a flexible structure; wherein each joint joint pair includes a lower end a first joint joint and a second joint joint at an upper end; the first joint joint includes a first substrate, the first surface of the first substrate is provided with a first protrusion and a first groove; the second The joint joint includes a second substrate, and the second surface of the second substrate is provided with a second protrusion and a second groove; when the first joint joint and the second joint joint are engaged, the first The surface is opposite to the second surface, the first protrusion is located in the second groove and rotates relative to the second groove, and the second protrusion is located in the first groove And rotating relative to the first groove; the flexible structure controls the swing of the pair of joint joints.
  • Planar torsion or spatial torsion is achieved by the oscillation of the joint pair, which reduces the complexity of the structure relative to prior art serpentine joints.
  • the serpentine joint of the surgical robot is included, thereby enabling the end of the instrument or the imaging system to reach a desired position and posture.
  • FIG. 1 is a schematic structural view of a surgical instrument according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a surgical instrument according to an embodiment of the present invention.
  • 3a to 3c are schematic views showing the structure of a joint joint of a serpentine joint for a surgical robot according to an embodiment of the present invention
  • FIGS. 4a to 4c are schematic views showing a state in which two adjacent joint joints in a serpentine joint for a surgical robot are disposed at an angle of 90° according to an embodiment of the present invention
  • 5a to 5c are schematic views showing a state in which two adjacent joint joints in a serpentine joint for a surgical robot are disposed at an angle of 180° according to an embodiment of the present invention
  • 6a to 6c are schematic views showing the arrangement of four joint joints in a serpentine joint for a surgical robot according to an embodiment of the present invention
  • Figure 7 is a schematic view of a serpentine joint in the prior art
  • Figure 8 is a schematic illustration of a wrist joint in the prior art.
  • proximal and distal are relative orientations, relative positions, directions of elements or actions relative to each other from the perspective of a physician using the medical device, although “Proximal” and “distal”, “lower” and “upper” are not limiting, but “near” and “lower” generally refer to the end of the medical device that is near the doctor during normal operation, and “far” “End” and “upper end” generally refer to the end that first enters the patient's body.
  • FIG. 1 , FIG. 2 and FIG. 3 a to FIG. 3 c are schematic structural views of a surgical instrument according to an embodiment of the present invention
  • FIGS. 3 a to 3 c illustrate a serpentine joint for a surgical robot according to an embodiment of the present invention.
  • the surgical robot uses a serpentine joint having at least one degree of freedom, including: at least one joint joint pair 10 and a flexible structure 20; wherein each joint joint pair 10 is located at the lower end (in this a first joint joint 11 in an application embodiment, that is, a proximal end, and a second joint joint 12 at an upper end (in the present embodiment, that is, a distal end);
  • the first joint joint 11 includes a first base plate 110,
  • the first surface of the first substrate 110 is provided with a first protrusion 111 and a first groove 112 disposed opposite to each other;
  • the second joint joint 12 includes a second substrate 120, and the second of the second substrate 120 a second protrusion 121 and a second groove 122 are disposed on the surface; when the first joint joint 11 and the second joint joint 12 are engaged, the first surface and the second surface are opposite
  • the first protrusion 111 is located in the second groove 122 and is rotatable in the second groove 122.
  • the second protrusion 121 is located in the first groove 112, and Rotatable within the first groove 112; the flexible structure 20 controls the joint joint 10 swings.
  • the first joint 11 and the second joint 12 can be realized by the first protrusion 111 being rotatably disposed in the second groove 122 and the second protrusion 121 being rotatably disposed in the first groove 112.
  • the reliable connection and relative oscillation between the two it is no longer necessary to provide other connecting members for the first joint joint 11 and the second joint joint 12, which simplifies the structure of the joint joint pair 10.
  • the first joint joint and the second joint joint of the joint joint pair may be identical structures, thus saving manufacturing costs and assembly costs.
  • the shape of the first substrate 110 or the second substrate 120 is not particularly limited, and may be circular, elliptical, square, rectangular or other shapes.
  • a direction surrounding a contour of the first substrate 110 or the second substrate 120 is defined as a circumferential direction.
  • the first protrusion 111 and the first groove 112 are symmetrically arranged with respect to an axis of the first substrate.
  • a circumferential edge of a substrate 110; the second protrusion 121 and the second groove 122 are symmetrically disposed on a circumferential edge of the second substrate 120 with respect to an axis of the second substrate.
  • a first line formed by the center line of the first protrusion 111 and the first groove 112 intersects perpendicularly with an axis of the first substrate 110; the second protrusion 121 and the a second line formed by the center line of the second groove 122 perpendicularly intersects the axis of the second substrate 120; in a state where the first joint joint 11 and the second joint joint 12 are fitted to each other,
  • the first connection is collinear with the second connection.
  • the first protrusion 111 and the second protrusion 121 each include a circular arc-shaped convex surface having a central angle greater than 180° and less than 360°; the first groove 112 and the second groove 122 each includes an arcuate concave surface having a central angle greater than 180° and less than 360°.
  • the arcuate convex surface of the first protrusion 111 is engaged with the arcuate concave surface of the second groove 122 in a state in which the first joint joint 11 and the second joint joint 12 are fitted to each other.
  • the arc-shaped convex surface of the first protrusion 111 and the arc-shaped concave surface of the second groove 122 are always kept engaged.
  • the arcuate convex surface of the second protrusion 121 is engaged with the arcuate concave surface of the first groove 112 in a state in which the first joint joint 11 and the second joint joint 12 are fitted to each other.
  • the arc-shaped convex surface of the second protrusion 121 and the arc-shaped concave surface of the first groove 112 are also always engaged.
  • the connection reliability and relative swing between the first joint joint 11 and the second joint joint 12 can be improved.
  • the central angle of the arc-shaped convex surface is larger than the central angle of the circular arc-shaped concave surface, so that the connection reliability of the joint joint pair 10 and the reliability during the swing can be further improved.
  • the swing angle of the joint joint pair 10 is greater than 0° and less than or equal to 80°.
  • the maximum angle that can be achieved is 80°.
  • the swing angle of the joint joint pair 10 can be measured by an angle between the first surface of the first substrate 110 and the second surface of the second substrate 120.
  • the first substrate 110 is provided with a first axial through hole 113 disposed in a circumferential direction, and the first axial through hole 113 is provided for the The flexible structure 20 extends through; the second substrate 120 is provided with a circumferentially disposed second axial through hole 123 through which the flexible structure 20 extends.
  • the first axial through hole 113 is at least two
  • the second axial through hole 123 is at least two
  • at least two of the first axial through holes 113 are located at least two.
  • the positions of the second axial through holes 123 correspond to each other.
  • the first axial through hole 113 and the second axial through hole 123 are uniformly arranged in the circumferential direction, respectively. More preferably, the number of the first axial through holes 113 and the number of the second axial through holes 123 are equal, and the position of the first axial through hole 113 and the second axial through hole 123 positions correspond one-to-one. Further, each of the first axial through hole 113 and the second axial through hole 123 may be divided into a plurality of groups uniformly arranged in the circumferential direction, wherein each set of the axial through hole groups includes at least one axial through hole.
  • the first axial through holes in each of the first axial through hole groups are evenly arranged, and the second axial through holes in each of the second axial through hole groups are evenly arranged.
  • the first substrate 110 includes four sets of first axial through hole groups uniformly arranged in a circumferential direction, and each of the first axial through hole groups includes two first axes. To the through hole.
  • the flexible structure is a wire.
  • the chassis shown in FIGS. 3a to 3c ie, the first chassis 110, that is, the second chassis 120
  • the two wires are respectively worn. Passing through different sets of through holes (wherein a set of through holes includes a first axial through hole 113 and a corresponding second axial through hole 123), and the two sets of through holes should be distributed in the first of the jointed pair Connect the sides of the line.
  • control of the swing of an articulating joint pair can also be achieved by four or six wires.
  • the serpentine joint has n (n is a natural number greater than or equal to 1) degrees of freedom, that is, when the swinging direction of the joint joint pair in the serpentine joint is n kinds, the number of the flexible structures is at least 2n (ie n pairs of flexible structures).
  • the serpentine joint can achieve more precise control of the swing of the joint joint by increasing the number of the flexible structures (for example, the joint joint pairs of the same swing direction are controlled by two flexible structures).
  • the fixed position of the flexible joint of the joint joint to the swinging direction may be on the second joint joint of the joint joint pair or the second joint joint of the joint joint pair of the distal end of the joint joint pair (if Have).
  • the distal end of at least 2 flexible structures is secured to the second joint joint of the most distally located joint joint of the pair of articulating joints. More preferably, one end of the flexible structure is fixed to a second joint joint of a pair of joint joints located at the most distal end of the plurality of joint joint pairs.
  • each wire is passed through a corresponding one of the through holes on each of the joint joints and then fixed to the second end face of the second joint joint of the most distal one of the joint joints, thereby stretching by the wire
  • the bending (motion) control of the serpentine joint for the surgical robot is achieved.
  • the number of the first axial through hole 113 and the second axial through hole 123 may be the same or different in a joint joint pair.
  • the number of the first axial through holes between the plurality of joint joints in the serpentine joint may be the same or different, and the number of the second axial through holes is also the same, but the serpentine joint is required to be provided at this time.
  • At least two channels are provided for the flexible structure to extend therethrough.
  • At least two sets of through holes in one joint joint pair that is, two of the first axial through holes 113 correspond to positions of the two second axial through holes 123, so as to facilitate the joint type
  • the flexible structure can extend through, and at least the joint joints of the proximal joints provide a first axial through hole 113 and a second axial through hole 123 at corresponding positions to form a passage for facilitating The flexible structure extends through.
  • the first axial through hole 113 of the joint joint pair also corresponds to the position of the second axial through hole 123 of the proximal joint joint pair, and the proximal adjacent joint joint is centered
  • the second axial through hole 123 corresponds to the position of the first axial through hole 113 of the same joint joint pair, and so on.
  • the joint joint to the distal joint joint pair is provided with a first axial through hole 113 and a second axial through hole 123 at corresponding positions to form a passage for the flexible structure to extend through (ie, finally The flexible structure can be attached to the distal joint joint pair).
  • the number of the joint joint pairs 10 may be plural, for example, any one of two to ten, for example, five, six, eight or ten, etc., multiple joints
  • the connector pair 10 is detachably or fixedly connected in sequence.
  • the circumferential relative deflection angle between two adjacent joint joint pairs 10 is greater than or equal to 0° and less than 180°, that is, the second joint of the adjacent joint joint pairs of the adjacent two joint joint pairs 10
  • the angle between the line and the first line of a joint joint located at the distal end is greater than or equal to 0° and less than 180°.
  • the swinging directions of the adjacent two joint joint pairs 10 may be the same or different, so that the surgical robot has multiple degrees of freedom with the serpentine joint, can swing a larger angle or realize more complicated and more The direction of the space is reversed.
  • the first substrate 110 is provided with a third surface opposite to the first surface, and the first surface is provided with a first fastening mechanism 114.
  • the second substrate 120 is provided with a fourth surface opposite to the second surface, and the fourth surface is provided with a second fastening mechanism 124.
  • the second fastening mechanism 124 of the adjacent two joint joint pairs 10 and the first fastening mechanism 114 are interlocked such that the second joint joint of the adjacent two joint joint pairs 10 12 is connected to the first joint joint 11.
  • first fastening mechanism 114 includes a plurality of first bosses and a plurality of first recesses, the first bosses and the first recesses are spaced apart;
  • second fastening mechanism 124 includes a plurality of second bosses and a plurality of second recesses, the second bosses and the second recesses being spaced apart;
  • first bosses can be received in the pair of adjacent joint joints In the second recess, the second boss can be received in the first recess of the adjacent joint joint pair such that the second joint joint of the two adjacent joint joints and the first joint joint are detachably connected;
  • the second joint joint and the first joint joint of the adjacent two joint joint pairs may also be integrally formed to achieve a tight, firm connection of the adjacent two joint joint pairs.
  • FIG. 4a to FIG. 4c and FIG. 5a to FIG. 5c respectively, the second joint joint adjacent to the two adjacent joint joints in the serpentine joint of the surgical robot according to the embodiment of the present invention and the first Schematic diagram of the state of the joint.
  • the second joint joint 12a of the proximal joint joint pair and the first joint joint 11b of the distal joint joint pair pass the proximal second fastening mechanism 124a
  • the first fastening mechanism 114b at the distal end enables a tight and firm connection.
  • Figures 4a to 4c show a state in which the circumferential relative deflection angle between adjacent pairs of joint joints is 90°; that is, the second connection of the proximal joint joint pairs of the adjacent two joint joint pairs
  • the angle between the first line of the pair of wire and the distal joint joint is 90°; that is, between the second protrusion of the pair of adjacent joint joints and the center line of the second groove An angle of 90°; or an alignment of two adjacent joint joints, the first protrusion of one joint joint and the center line of the first groove and the other joint joint
  • the angle between the center of the two protrusions and the second groove is 90°.
  • 5a to 5c show a state in which the circumferential relative deflection angle between two adjacent joint joint pairs is 180°; that is, the first protrusion and the first of the two adjacent joint joint pairs
  • the angle between the center lines of a groove is 180°; that is, the angle between the center line of the second protrusion and the second groove of the adjacent two joint joint pairs is 180°
  • the angle between the center lines of the second grooves is 180°.
  • the angle between the first protrusion of the pair of adjacent joint joints and the center line of the first groove is greater than or equal to 0° and less than or equal to 180°.
  • FIG. 6 is a schematic diagram showing the arrangement of four joint joint pairs in a serpentine joint for a surgical robot according to an embodiment of the present invention.
  • a first joint joint pair 10a As shown in FIG. 6a to FIG. 6c, here, from bottom to top, a first joint joint pair 10a, a second joint joint pair 10b, a third joint joint pair 10c and a fourth joint joint pair 10d; here, each The maximum swing angle of the joints of the joints is 45°.
  • the circumferential relative deflection angle between the first joint joint pair 10a and the second joint joint pair 10b is 90°
  • the circumferential relative deflection angle between the second joint joint pair 10b and the third joint joint pair 10c is 0°
  • the circumferential relative deflection angle between the third joint joint pair 10c and the fourth joint joint pair 10d is 90°.
  • first joint joint pair 10a and the fourth joint joint pair 10d can swing in the same direction, preferably, the maximum swing angle of each joint joint pair is 45°, thereby Through the first joint joint pair 10a and the fourth joint joint pair 10d, the swing can be cumulatively 90° in the same direction; likewise, the second joint joint pair 10b and the third joint joint pair 10c can swing in the same direction.
  • the maximum swing angle of each joint joint pair is 45°, so that the swing can be cumulatively 90° in the same direction;
  • the swinging direction of the first joint joint pair 10a and the fourth joint joint pair 10d is
  • the second joint joint pair 10b and the third joint joint pair 10c are perpendicular to the swinging direction, that is, the surgical robot has two degrees of freedom with the serpentine joint, and is capable of swinging in two mutually perpendicular directions in the space, preferably in the The maximum swing angles in the two mutually perpendicular directions are both 90°. It can be seen that the surgical robot can realize complex spatial torsion by a simple structure with a serpentine joint.
  • any two joint joint pairs can swing in one direction, and the other two joint joints swing in the other perpendicular direction.
  • the arrangement of the four joint joint pairs shown in Figures 6a to 6c is equivalent.
  • the surgical robot with a serpentine joint may be designed according to degrees of freedom, maximum swing angle, etc., including more joint pairs 10, such as five, six or ten, and the like. Further, the angle between adjacent pairs of joint joints 10 may be 0° to 180°, such as 0°, 30°, 45°, 60°, 90°, 120°, 150° or 180°, etc. Thereby achieving a more abundant space to reverse.
  • the flexible structure is a wire.
  • the serpentine joint requires at least four wires to control the oscillation of the four joint joint pairs.
  • joint joint pairs in the same swing direction can be controlled by sharing two wires.
  • the number of flexible structures can be increased to achieve a more precise control of the swing of the joint pair.
  • eight wires 20 shown in Figure 1 are used, each of which is fixedly connected to a joint pair, in other words, each joint pair is independently controlled by two corresponding wires, without The wire is shared with other joint joints, which allows for more precise control of the angle of oscillation of the serpentine joint.
  • the different configurations of the joint by the joint joint enable the surgical robot to have a degree of freedom of one or more degrees of serpentine joint, thereby realizing plane torsion or spatial torsion.
  • the complexity of the structure is reduced relative to prior art serpentine joints.
  • the present invention also provides a surgical instrument, which can continue to refer to FIGS. 1 and 2, the surgical instrument including an instrument end, the serpentine joint for a surgical robot, a tubular, a flexible member, and a controller;
  • the end of the instrument, the surgical robot with a serpentine joint, the tubular and the controller are sequentially connected;
  • the flexible member is connected to the controller at one end, and the other end is connected to the end of the instrument through the tubular;
  • the proximal end of the flexible structure of the surgical robot with the serpentine joint is connected to the controller via the tubular;
  • the controller controls the movement of the end of the instrument by the flexible member, and the flexibility of the serpentine joint through the surgical robot
  • the structure controls the movement of the surgical robot with a serpentine joint.
  • the end of the instrument mainly includes a surgical tool such as a scissors, a pliers, an electric hook, etc., which is directly operated in a human body;
  • the surgical robot uses a serpentine joint to connect the instrument end and the tubular body respectively, and the tubular body is hollow.
  • a thin-walled tube for supporting the end of the instrument such that the end of the instrument can extend into the body while the front end of the surgical instrument is placed outside the body;
  • the controller is for controlling the movement of the end of the instrument and the movement of the serpentine joint of the surgical robot;
  • the flexible member is coupled to the controller at one end and to the end of the instrument via a tubular end;
  • the surgical robot is coupled to the controller via the tubular proximal end of the flexible structure of the serpentine joint.
  • the surgical instrument controls the posture of the serpentine joint of the surgical robot to bring the end of the instrument to a desired position and posture, and controls the end of the instrument to perform clamping, cutting, and the like at the end of the instrument.
  • the present invention also provides an endoscope including an imaging system, a serpentine joint for a surgical robot, a tube, and a controller; wherein the imaging system and the surgical robot use a serpentine shape a joint, the tubular, and the controller are sequentially connected; the surgical robot is connected to the controller via the tubular proximal end of the flexible structure of the serpentine joint; the controller is used by the surgical robot
  • the flexible structure of the serpentine joint controls the surgical robot to move with a serpentine joint.
  • the imaging system includes an objective lens group of an endoscope for acquiring a picture in an endoscope field of view; the surgical robot uses a serpentine joint for connecting an imaging system and a tubular object to adjust an attitude of the imaging system; a hollow thin-walled tube for supporting the end and the leading end of the endoscope such that the end of the endoscope can be inserted into the human body while the end of the endoscope is placed outside the body; the controller is used to control the operation
  • the robot moves with a serpentine joint; the surgical robot is connected to the controller via a tubular proximal end of the flexible structure of the serpentine joint.
  • the endoscope realizes control of the posture of the serpentine joint of the surgical robot by the controller, so that the endoscopic imaging system can reach a desired posture.

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  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Rehabilitation Therapy (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une articulation de type serpent pour un robot chirurgical, un instrument chirurgical et un endoscope. L'articulation de type serpent pour un robot chirurgical présente au moins un degré de liberté et comprend au moins une paire de raccords d'articulation (10) et une structure souple (20). Chaque paire de raccords d'articulation (10) comprend deux raccords d'articulation (11, 12). Chaque raccord d'articulation (11 12) comprend une plaque de base ainsi qu'une saillie (111, 121) et une rainure (112, 122) qui sont disposées sur la surface de la plaque de base. Les surfaces des plaques de base des deux raccords d'articulation (11, 12) sont disposées de manière opposée, de telle sorte que la saillie (111, 121) de chacun des raccords d'articulation (11, 12) puisse être disposée de manière rotative dans la rainure (112, 122) de l'autre des raccords d'articulation (11, 12). La structure flexible (20) peut être utilisée pour commander le balancement de la paire de raccords d'articulation (10). Lorsque les deux raccords d'articulation (11, 12) sont accouplés l'un à l'autre, les lignes entre les saillies (111, 121) et les rainures (112, 122) des deux raccords d'articulation (11, 12) sont colinéaires. Chacune des saillies (111, 121) présente une surface convexe en forme d'arc dont l'angle central est de 180°-360°. Chacune des rainures (112, 122) présente une surface concave en forme d'arc dont l'angle central est de 180°-360°. Au moyen de l'articulation de type serpent, une torsion plane ou une torsion spatiale est obtenue, et la complexité structurelle est réduite.
PCT/CN2018/076313 2017-03-30 2018-03-12 Articulation de type serpent pour robot chirurgical, instrument chirurgical et endoscope WO2018177039A1 (fr)

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