WO2019024794A1

WO2019024794A1 - Surgical robot

Info

Publication number: WO2019024794A1
Application number: PCT/CN2018/097495
Authority: WO
Inventors: 李志强
Original assignee: 成都博恩思医学机器人有限公司
Priority date: 2017-07-31
Filing date: 2018-07-27
Publication date: 2019-02-07
Also published as: CN107334532A; CN107334532B

Abstract

The present invention relates to a surgical robot, comprising a base, a column, mechanical arms, and a push handle. The push handle is fixedly mounted on the rear part of the upper end of the base; the column is fixedly mounted in the middle of the upper end of the base; the mechanical arms capable of moving up and down are disposed on side walls of the column; mechanical arm connecting devices are provided between the column and the mechanical arms. According to the present invention, the mechanical arm connecting devices enable the mechanical arms to obtain larger movement ranges and spaces towards the front, the left side, and the right side, and also facilitate positioning of the mechanical arms before surgery, to obtain a larger surgical space; mechanical arms may be mounted on the four sides of the column, one mechanical arm can be independently used, and two or three or four mechanical arms can be simultaneously used; by means of the mechanical arms at different positions and in various combinations, surgical requirements with different mounting requirements are met.

Description

Surgical robot

Cross-reference to related applications

The present application claims priority to Chinese Patent Application No. CN2017106428596, the entire disclosure of which is incorporated herein by reference.

Technical field

The invention relates to the field of medical instruments, and in particular to a surgical robot capable of obtaining a larger operation space.

Background technique

Among many medical devices, surgical robots for various purposes are becoming more and more widely used in the medical field. As an important part of the medical device field, surgical robots have been widely used in many operating rooms around the world, such as cardiothoracic surgery, urology, gynecology and abdominal surgery. At the same time, with the rapid development of computer and microelectronics technology and medical science, a large number of medical devices have been promoted and applied. These robots provide powerful assistance for surgery with the support of computer and microelectronics technology. In addition, these machines also require surgeons to operate them, and while continuing to improve the surgical results and accuracy, they continue to expand into other fields.

Most of the existing surgical robots are used for high-precision surgery such as abdominal cavity. They are controlled by a surgeon to perform various surgical operations under the guidance of high-precision equipment such as an endoscope or a microscope.

Minimally invasive surgery, represented by laparoscopy, is regarded as one of the important contributions of medical science in the 20th century to human civilization. During minimally invasive surgery, doctors use slender surgical tools to penetrate into the body through tiny incisions on the surface of the human body. Surgical operation. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, less postoperative scar and quick recovery time, which greatly reduces the suffering of patients; therefore, minimally invasive surgery is widely used in clinical surgery. However, minimally invasive surgery brings many benefits to patients, but it brings a series of difficulties to the operation of doctors. For example, due to the limitation of body surface holes, the degree of freedom of tools is reduced to four, and the flexibility is greatly reduced. The doctor's operation direction is opposite to the desired direction, and the coordination is poor; the doctor can only obtain the surgical scene information through the two-dimensional image on the monitor, lacking the sense of depth; the shaking of the doctor's hand may be slender surgical tools Zoom in, have an adverse effect on the surgery; lack of power feeling. Therefore, doctors must undergo long-term training to be able to perform minimally invasive surgery. Even so, minimally invasive surgery is currently only used in relatively simple operations.

Therefore, there is an urgent need in the field of minimally invasive surgery to extend the ability of a surgical robot to extend the surgeon's surgery in order to obtain a larger surgical space, making it easier for doctors to perform minimally invasive surgery.

Summary of the invention

In order to solve the above problems, the present invention provides a surgical robot capable of expanding the range and space of the robot arm of the surgical robot to obtain a larger operating space.

According to the present invention, there is provided a surgical robot comprising a base, a column, a mechanical arm and a pusher, the pusher being fixedly mounted at a rear portion of an upper end of the base, the post being fixedly mounted at a middle portion of an upper end of the base, and a side of the post The wall is provided with a mechanical arm that can move up and down; a mechanical arm connecting device is arranged between the vertical column and the mechanical arm.

In one embodiment, the uprights are columnar structures having a square cross-section, the four sides of the uprights being capable of mounting the robotic arms.

In one embodiment, the flanges on the opposite side walls of the upright are fitted with robotic arm attachment means.

In one embodiment, the robot arm connecting device comprises: an inner hollow first pipe section and a second pipe segment, the central axis of the first pipe segment is perpendicular to the central axis of the second pipe segment, and the first pipe segment is provided with the first method at one end a second disk, the other end of the first pipe section is perpendicularly connected to one end of the second pipe section, and the other end of the second pipe section is provided with a second flange; wherein the first flange is connected to the column of the surgical robot, the second The flange connects the robot arm of the surgical robot.

In one embodiment, the first flange includes an upper flange and a lower flange, the upper flange and the lower flange are vertically symmetrical, and the two ends of the upper flange and the lower flange correspond to two Each end forms a slit, and the first pipe section is provided with an inlet hole at each of the two slits.

In one embodiment, the first flange is provided with at least one mounting groove for mounting screws, each mounting slot has a bolt hole therein, and the second flange is also provided with at least one bolt hole. .

In one embodiment, the first pipe section, the second pipe section, the first flange, and the second flange are of unitary construction.

In one embodiment, a vertical lift system is further included, comprising:

Fixed pulleys, each fixed pulley being mounted on an upper end of each side wall of the column;

a movable pulley, each of which is mounted below a fixed pulley located on the same side wall, and the movable pulley is linked with the mechanical arm;

a rope head seat, each of which is mounted on both sides of a fixed pulley on the same side wall;

The wire rope, one of the two wire ropes is respectively wound around the two movable pulleys via the fixed pulleys and finally connected with the rope head seat, and the other ends of the two steel ropes are connected with the weight inside the column.

In one embodiment, a de-energized electromagnetic brake is also included and used to brake the vertical lift system in the event of an unexpected power outage.

In one embodiment, the front wall of the base is provided with a support leg mounting structure for mounting the support legs, the support legs being in an interference fit with the support leg mounting structure shaft bore.

It can be seen from the above structure that the present invention has the advantages that: (1) the mechanical arm connecting device provided between the column and the mechanical arm can expand the structural form of the movable range of the robot arm of the surgical robot, and in addition, the mechanical arm connecting device is "L" "Shaped, both ends have flanges, one end can be connected to the column, one end can be connected to the arm, so as to ensure the strength of the connection between the arm and the column, it can also drive the arm to move up and down on the column, not only the arm It can get more range and space on the front and left and right sides, and it can also facilitate the position of the mechanical arm before surgery to obtain more surgical space. (2) The column is a columnar structure with a square cross section and four sides. The robot arm can be installed either by using one robot arm alone or by using two, three or four simultaneous use, different positions and multiple combinations of mechanical arms to meet the surgical requirements of different installation requirements.

DRAWINGS

The invention will be described in more detail hereinafter based on the embodiments and with reference to the accompanying drawings. among them:

1 is a perspective view of a surgical robot of the present invention;

2 is a perspective view showing another perspective view of the surgical robot of the present invention;

3 is a schematic view showing the internal structure of the surgical robot of the present invention;

4 is another perspective view of the internal structure of the surgical robot of the present invention;

Figure 5 is a perspective view of a mechanical arm connecting device of the present invention;

Fig. 6 is a perspective view showing another perspective view of the mechanical arm connecting device of the present invention.

Figure 7 is a front cross-sectional view of the surgical robot driving clutch system of the present invention;

Figure 8 is an enlarged view of the circle in Figure 7;

Figure 9 is a schematic structural view of a vertical lifting system on a column of the present invention;

Figure 10 is a schematic structural view of a sliding wheel system of the present invention;

Figure 11 is an enlarged view of the circle in Figure 9.

The same components are denoted by the same reference numerals in the drawings. The drawings are not drawn to scale.

Detailed ways

The invention will now be further described with reference to the accompanying drawings.

It should be noted in the present application that the term "front" as used herein refers to the location of the surgical robot near the patient, and the term "rear" refers to the location of the surgical robot away from the patient; the term "upper end" as used herein is used. The end of the surgical robot away from the ground, and the term "lower end" is the end near the ground.

1 and 2 are overall perspective views of a surgical robot of the present invention. The base 1, the column 2, the robot arm 3, and the pusher 4 are included. The column 2 is located at the center of the upper end of the base 1, the pusher 4 is located at the rear of the upper end of the base 1, and the robot arm 3 is disposed on the side wall of the column 1.

3 and FIG. 4 are schematic diagrams showing the internal structure of the surgical robot of the present invention. As can be seen from FIG. 3 and FIG. 4, a mechanical arm connecting device 7 is disposed between the vertical column 2 and the mechanical arm 3, wherein, as shown in FIG. 5 and FIG. The robot arm connecting device 7 includes a first pipe segment 71 and a second pipe segment 72. The outer walls of the first pipe segment 71 and the second pipe segment 72 may be circular, square or polygonal. In this embodiment, the first pipe segment 71 and the second pipe segment The cross section of the outer diameter of the pipe section 72 is octagonal. However, the first pipe segment 71 and the second pipe segment 72 are internally penetrated and have a circular hollow shape, and the first pipe segment 71 is perpendicular to the second pipe segment 72, that is, the central axis of the first pipe segment 71 is perpendicular to the central axis of the second pipe segment 72, One end of the first pipe segment 71 is provided with a first flange 711, the other end of the first pipe segment 71 is perpendicularly connected to one end of the second pipe segment 72, and the other end of the second pipe segment 72 is provided with a second flange 721. The first flange 711 and the second flange 721 may be separately designed from the first pipe segment 71 and the second pipe segment 72, or may be integrally designed, and the first pipe segment 71 and the second pipe segment 72 may also be integrated or divided. The body design, in a preferred embodiment, the first flange 711, the first pipe segment 71, the second flange 721, and the second pipe segment 72 are integrally designed.

The first flange 711 is connected to the column 2 of the surgical robot. In other words, the first flange 711 is fixed to the flange plate 68 by bolts (as shown in FIGS. 8 and 9), and the second flange The 721 is connected to the robot arm 3 of the surgical robot.

Wherein, the first flange 711 includes an upper flange 7111 and a lower flange 7112, and the upper flange 7111 and the lower flange 7112 are vertically symmetrical with the horizontal section of the first pipe section 71, and the upper flange 7111 The two ends of the corresponding ends of the lower flange 7112 respectively form a slit 7113. The first pipe segment 71 is respectively provided with an inlet hole 7114 at each of the two slits 7113. The entry hole 7114 is such that the control line for controlling the robot arm 3 passes through the entry hole 7114 and then enters the inside of the first pipe segment 71 and the second pipe segment 72 and is attached to the robot arm 3.

In addition, the first flange 711 is provided with a plurality of mounting slots 7115 for mounting screws, and each mounting slot 7115 has a bolt hole 7116 therein. In the embodiment, the first flange 711 has four mountings. The slot 7115, the upper flange 7111 and the lower flange 7112 are two and symmetric, respectively, and a flange mounting groove 682 is provided on the flange plate 68 (as shown in FIGS. 8 and 9). The flange mounting groove 682 is circular and corresponding in size to the size of the first flange 711. The flange mounting groove 682 is also provided with a bolt hole and a mounting groove 7115 on the first flange 711. Corresponding positions, so that the robot arm connecting device 7 is fixed to the slider 67 on the side of the column 2 by bolting with the first flange 711 and the flange plate 68, so that the arm 3 can be realized on the side of the column 2 mobile.

A platform 7211 is disposed on each of the upper and lower sides of the second flange 721. Each of the platforms 7211 is provided with a recess 7212 in the middle thereof. Each of the platforms 7211 is provided with two threaded holes 7213 and distributed on both sides of the recess 7212. The diameter of the ring formed at the lowest end of the groove 7212 is larger than the diameter of the outer diameter of the second pipe segment 72. The second flange 721 is also provided with a plurality of bolt holes 7214.

Wherein, the base 1 is a main structure composed of a welding material, the base 1 is movable, and the base 1 can be driven by a motor or by human power. As can be seen from FIG. 3, the rear part of the lower end of the base 1 is provided with two separate parts. The drive wheel system 5 is provided with two passive universal wheels 54 at the front end of the lower end of the base 1 as shown in FIG. 4, wherein each of the drive wheel systems 5 is provided as shown in FIG. 3, FIG. 10 and FIG. There is a drive motor 51 which can be separated or connected to the axle of the drive wheel 53 by the clutch 52; the differential control of the motor 51 is driven by the two drive wheel systems 5, thereby controlling the direction and rotational speed difference of the drive wheel 53. To enable the base 1 to complete the forward, reverse or steering action. When the motor drive base 1 is required, the drive motor 51 is integrated with the drive wheel shaft through the clutch 52 to provide power to the drive wheel 53; when manual movement of the device is required, the drive motor 51 and the clutch 52 are disengaged, so that the drive The motor 51 is separated from the drive axle so that manpower can push the device. In addition, in a preferred embodiment, the driving motor 51 can select a motor having a reverse braking function, and the base applies a reverse braking current to the driving motor 51 when an emergency braking is required during the running movement. The drive motor 51 outputs a zero speed signal, and the base 1 stops moving.

In order to be able to be flexibly applied to different support requirements, a support leg mounting structure 55 (shown in Figures 3 and 4) is provided at the front end of the base 1. In a preferred embodiment, the present invention has two support legs. The mounting structure 55, that is, the front end universal wheel 54 of the base 1 is provided with a supporting leg mounting structure 55 for mounting a movable supporting leg (not shown), and one end of each supporting leg is provided. There is a universal wheel (not shown), and the other end of the supporting leg and the supporting leg mounting structure 55 are interference-fitted through the shaft hole, thereby ensuring sufficient connection strength between the supporting leg and the base 1, since the supporting leg is mounted through the supporting leg The utility model can be fixedly mounted on the front end of the base 1 , and the front end of each support leg is also provided with a Vientiane wheel, so that the base 1 can increase the support distance of the base 1 in the longitudinal direction by the lengthened movable support leg structure, so that the invention Can be flexibly applied to different support needs.

In addition, as shown in FIG. 4 and FIG. 10, three supporting legs 56 are further provided at the bottom of the base 1, and three supporting legs 56 are used for stabilizing the base 1, and each supporting leg 56 is provided with rubber at the contact surface contacting the bottom surface. a pad (not shown) for increasing the friction between the base 1 and the contact surface, wherein two of the three support legs 56 are located at the universal wheel 54 at the front of the lower end of the base (as shown in FIG. 4). One of the support legs 56 is located between the two drive wheels 53 at the rear of the lower end of the base 1 (as shown in FIG. 10), and a brake plate 57 is provided at the support leg between the drive wheels 53 (FIG. 1, FIG. And FIG. 3), the brake plate 57 is used to control the up-and-down expansion and contraction of each support leg 56; when the base is moved to the designated position, the brake plate 57 is depressed, and the three support legs 56 are extended downward and In contact with the ground, the surgical robot generates a large frictional force with the ground through its own weight and rubber pad, thereby preventing the surgical robot from being moved by other external forces after being parked.

The upper end of the base 1 is fixedly mounted with a column 2, and the column 2 may be a columnar structure such as a circle, a square, a rectangle or a polygon. In a preferred embodiment, the column 2 is a columnar structure having a square cross section, and four columns 2 of the column 2 The sides can be used to mount the robot arm 3 (as shown in Figures 1 and 2). At the same time, according to the actual requirements in the operation, only one robot arm 3 can be selected, or two, three or four robot arms 3 can be selected for simultaneous installation. Furthermore, the robot arm 3 can be moved up and down on the column 2 by the vertical lifting system 6.

In a preferred embodiment, the vertical lift system 6 includes a slide wheel system, a robot arm rail, and a weight guide rail.

3, 4, 7, and 8, the sliding wheel system has four sets and are respectively disposed in four directions at the upper end of the column 2, each set of sliding wheel systems has a fixed pulley 61, two The movable pulley 62 and the two steel cords 63 are fixed on the upper end surface of the column 2 and the axis of the fixed pulley 61 is parallel to the edge of the upper end surface of the column 2, and the two movable pulleys 62 are located on the side of the column 2, and the pulley 61 is fixed. The axis is perpendicular to the axis of the two movable pulleys 62 and the fixed pulley 61 is located between the two movable pulleys 62. One end of the two wire ropes 63 is connected to the inside of the column 2 and the counterweight 64 is disposed, and the other end is bypassed by the fixed pulley 61 (two The wire ropes 63 are parallel to each other on the fixed pulley 61, and respectively bypass the corresponding movable pulleys 62, and finally fixed to the corresponding headstocks 65 of the uprights 2. The headstock 65 is fixed to the upper end of the upright 2 and is respectively disposed on the outer side of the corresponding movable pulley 62.

As shown in FIG. 3, FIG. 4 and FIG. 7, FIG. 8 and FIG. 9, each of the four side walls of the column 2 is provided with a mechanical arm guide 66, and the guide rail is provided with a slideable slider 67, which is outside the slider 67. The flange plate 68 is fixed on the side, the flange plate 68 is used to connect the mechanical arm 3, and the upper end of the flange plate 68 is provided with a connecting plate 681. The connecting plate 681 is respectively fixed on the axles of the two movable pulleys 62 by two bolts. Therefore, the robot arm 3 can move up and down on the arm guide 66 by means of the flange plate 68 and the slider 67. In addition, the present invention is further provided with a power-off type electromagnetic brake 69. The power-off type electromagnetic brake 69 is coaxially arranged with the fixed pulley 61. This structure can manually remove the mechanically in the event of accidental power failure and loss of power brake coupling. Arm 3, while ensuring that it does not slide down. To ensure that if there is an unexpected power failure during the operation, the robot arm 3 can be removed to transfer the patient.

The column 2 is a hollow columnar structure, and a weight guide rail is arranged on the inner side of the column 2, and the weight guide rail is used for the vertical movement of the weight 8 at the center of the column 2 (as shown in FIG. 7), and the weight 8 is used for increase or decrease. The robot arm 3 is moved up and down on the arm rail. When the movable pulley 62 drives the mechanical arm 3 on the flange plate 68 to move downward, the weight 8 is reduced; when the movable pulley 62 drives the mechanical arm 3 on the flange plate 68 to move upward, the weight 8 is increased.

In a preferred embodiment, the rear end of the surgical robot of the present invention is provided with a pusher 4, the pusher 4 is located at the rear of the upper end of the base 1, and the pusher 4 is fixed by a bracket 41 fixed at the rear of the upper end of the base 1, in a preferred In the embodiment, the pusher 4 adopts a combination of a bottom cast aluminum structure and a top injection molded part, and the force contact point of the push hand 4 is a curved design, and the above pusher 4 structural design not only enables the pusher 4 bottom to withstand sufficient thrust, and at the same time The top of the pusher 4 can also meet certain design requirements.

1 and 2, the column 2 in the embodiment of the present invention is a columnar structure having a square cross section, and the arm 3 is disposed on all four sides of the column 2, and the arm 3 on the four side walls can be Relying on the column 2 by means of a sliding wheel system, wherein, in a preferred embodiment, the arm joints 7 are mounted on the opposite left and right side flange plates 68 of the column 2, adjacent to the patient and The two armatures away from the patient are not equipped with the robot arm connecting device 7, and the structure enables the robot arm 3 on the left and right side walls of the column 2 to have a larger range of motion and space on the front and left and right sides. .

Therefore, as apparent from the above, the present invention has the advantages that: (1) the mechanical arm connecting device 7 provided between the column 2 and the robot arm 3 can expand the structural form of the movable range of the robot arm 3 of the surgical robot, and further, the machine The arm connecting device 7 has an "L" shape with flanges at both ends, one end can be connected to the column 2, and one end can be connected to the arm 3, so as to ensure the strength of the connection between the arm 3 and the column 2, and also drive the machine The arm 3 moves up and down on the column 2, which not only enables the robot arm 3 to obtain a larger range of motion and space on the front and left and right sides, but also facilitates the positioning of the robot arm 3 before the operation to obtain a larger operation space; (2) The column 2 is a columnar structure with a square cross section, and the arm 3 can be mounted on all four sides, and one arm 3 can be used alone, or two, three or four can be used simultaneously, different positions and multiple The combined mechanical arm 3 meets the surgical requirements of different installation requirements.

Although the present invention has been described with reference to the preferred embodiments, various modifications may be made thereto and the components may be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

A surgical robot, comprising: a base, a column, a mechanical arm and a pusher, wherein the pusher is fixedly mounted at a rear portion of an upper end of the base, the post is fixedly mounted at a middle portion of an upper end of the base, and a side wall of the column A mechanical arm capable of moving up and down is provided; and a mechanical arm connecting device is arranged between the column and the mechanical arm.
The surgical robot according to claim 1, wherein the column is a columnar structure having a square cross section, and the four arms of the column are capable of mounting the robot arm.
The surgical robot according to claim 1, wherein the flanges on the opposite side walls of the upright are mounted with mechanical arm attachment means.
The surgical robot according to claim 1, wherein said mechanical arm connecting means comprises: an inner hollow first tube section and a second tube section, the central axis of the first tube section being perpendicular to the central axis of the second tube section, first One end of the pipe section is provided with a first flange, the other end of the first pipe section is perpendicularly connected to one end of the second pipe section, and the other end of the second pipe section is provided with a second flange; wherein the first flange connection operation A column of the robot, the second flange connecting the robot arm of the surgical robot.
The surgical robot according to claim 4, wherein the first flange comprises an upper flange and a lower flange, the upper flange and the lower flange are vertically symmetrical, and both ends of the upper flange and A corresponding gap is formed at each of the corresponding ends of the lower flange, and the first pipe section is respectively provided with an inlet hole at each of the two slits.
The surgical robot according to claim 4, wherein said first flange is provided with at least one mounting groove for mounting screws, each mounting groove has a bolt hole, and said second flange There is also at least one bolt hole on the top.
The surgical robot according to claim 4, wherein the first tube section, the second tube section, the first flange, and the second flange are of a unitary structure.
The surgical robot of claim 1 further comprising a vertical lifting system comprising:

Fixed pulleys, each fixed pulley being mounted on an upper end of each side wall of the column;

a movable pulley, each of which is mounted below a fixed pulley located on the same side wall, and the movable pulley is linked with the mechanical arm;

a rope head seat, each of which is mounted on both sides of a fixed pulley on the same side wall;

The wire rope, one of the two wire ropes is respectively wound around the two movable pulleys via the fixed pulleys and finally connected with the rope head seat, and the other ends of the two steel ropes are connected with the weight inside the column.
The surgical robot of claim 8 further comprising a de-energized electromagnetic brake and for braking the vertical lift system in the event of an unexpected power failure.
The surgical robot according to claim 1, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 2, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 3, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 4, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 5, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg is in an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 6, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 7, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 8, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg has an interference fit with the shaft hole of the support leg mounting structure.
The surgical robot according to claim 9, wherein the front wall of the base is provided with a support leg mounting structure for mounting the support leg, and the support leg is in an interference fit with the shaft hole of the support leg mounting structure.