WO2019035764A1 - Surgical manipilator arm and surgical robot - Google Patents

Surgical manipilator arm and surgical robot Download PDF

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Publication number
WO2019035764A1
WO2019035764A1 PCT/SG2018/050410 SG2018050410W WO2019035764A1 WO 2019035764 A1 WO2019035764 A1 WO 2019035764A1 SG 2018050410 W SG2018050410 W SG 2018050410W WO 2019035764 A1 WO2019035764 A1 WO 2019035764A1
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WO
WIPO (PCT)
Prior art keywords
assembly
threaded rod
rod
connected
end member
Prior art date
Application number
PCT/SG2018/050410
Other languages
French (fr)
Inventor
Hongliang REN
Changsheng Li
Xiaoyi GU
Chwee Ming LIM
Original Assignee
National University Of Singapore
National University Of Singapore Suzhou Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority to CN201710693447.5A priority Critical patent/CN109381261A/en
Priority to CN201710693447.5 priority
Application filed by National University Of Singapore, National University Of Singapore Suzhou Research Institute filed Critical National University Of Singapore
Publication of WO2019035764A1 publication Critical patent/WO2019035764A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/0016Holding or positioning arrangements using motor drive units
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/267Instruments 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 for the respiratory tract, e.g. laryngoscopes, bronchoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/24Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Abstract

A surgical manipulator arm is disclosed, including a support assembly, at least one motion assembly, a bending driving assembly, and an endoscope module. The support assembly includes a front support seat and a rear support seat, and a bending assembly connected to the front support seat through a support rod. The bending assembly includes a rear end member connected to the support rod, and an intermediate member and a front end member pivotally connected to the rear end member sequentially. Each motion assembly includes a plurality of transmission assemblies arranged in parallel. A first elastic rod of the transmission assembly slidably passes through first through holes provided in the front end member, the intermediate member, and the rear end member respectively. A driving wire of the bending driving assembly slidably passes through second through holes provided in the front end member and the intermediate member respectively, and is fixedly connected to the rear end member. The driving wire is adapted to drive the front end member, the intermediate member and the rear end member to rotate around each other to cause an elastic deformation of the first elastic rod. The surgical manipulator arm has advantages of convenient operation and high precision.

Description

SURGICAL MANIPILATOR ARM AND SURGICAL ROBOT

TECHNICAL FIELD

The present disclosure relates to the field of surgical medical instruments, and more particularly, to a surgical manipulator arm and a surgical robot applied to minimally invasive laryngeal surgery.

BACKGROUND

Laryngeal diseases are common and frequently-occurring diseases, wbich are often required to be treated by surgery. A conventional treatment method includes operating a surgical instrument with an endoscope. The throat is one of the most complicated structures in human body, which has the characteristics of small cavity, deep position, and dense nerves and blood vessels. Therefore, it has relative high requirements tor the operator. The laryngeal surgery robot can not only overcome the problems, such as the lack of depth perception of two-dimensional images of the endoscope, the lack of flexibility of the instruments, etc., but also effectively reduce the surgical trauma and bleeding, and shorten the operation time, so thai patients can recover faster after surgery. Therefore, it lias a broad application prospect.

The existing laryngeal surgery robot system has the disadvantages of large volume, complicated mechanism, difficult control, small clamping force and limited working space. For example, a dexterous system for laryngeal surgery is disclosed in N. Simaan et al., "A Dexterous System for Laryngeal Surgery", IEEE international Conference on Robotics & Automation, 2004,1 : 351-357, the system adopts a snake-like robot, in which a plurality of elastic tubes are used as flexible supports, and the bending of the terminal of the tool is realized by the push-pull mode, and the translation of the parallel fixing device is converted to the rotation of the terminal claw of the snake-like mechanism. The rotation of the terminal of mis robot is completely realized by bending the elastic tube, and the bending radius is targe. In addition, A surgical robot "Da Vinci" described in McLeod IK et al, "Potential Applications of the Da Vinci Minimally Invasive Surgical Robotic System in Otolaryngology", Ear Nose & Throai Journal, 2005, 84 (8): 483-487 is used to perform the laryngeal surgery and includes two multi-degree-of-freedom clamping mechanisms for operation, and the surgical robot obtains visual information of affected part by cooperating with laryngoscope and performs surgical operation using a master-slave mode. However, for this robot, the volume is large, and the damping mechanism is difficult to be positioned quickly, meanwhile, the terminal is easy to interfere during movement.

SUMMARY

In view of the above, it is necessary to provide a surgical manipulator arm based on transmission driven by a plurality of parallel elastic rods, and a surgical robot adopting the surgical manipulator arm, which are particularly suitable for assisting surgeons in performing a laryngeal surgery, for addressing the problem of inconvenient operation and low precision of existing surgical robots, especially laryngeal surgery robots.

In one aspect of the present disclosure, a surgical manipulator arm is provided. The surgical manipulator arm comprises:

a support assembly, comprising: a front support seat, a rear support seat connected to one end of the front support seat through a connecting plaie, and a bending assembly connected to another end of the front support seat opposite to the rear support seal through a support rod, wherein die bending assembly comprises a rear end member connected to the support rod, and an intermediate member and a front end member that are pivotaily connected to the rear end member sequentially;

at least one motion assembly, each of which comprises a connecting flange and a plurality of transmission assemblies arranged in parallel and connected to the connecting flange, wherein each of the transmission assemblies comprises a first threaded rod assembly, a first elastic rod, a first universal coupling and a flange connecting rod, the first threaded rod assembly is connected to one end of the first elastic rod. another end of the first elastic rod is connected to one end of the flange connecting rod through the first universal coupling, another end of the flange connecting rod is connected to one end surface of the connecting flange, and another end surface of the connecting flange is suitable for mounting a surgical instrument;

a bending driving assembly, comprising a second threaded rod assembly and a driving wire, wherein the second threaded rod assembly is connected to erne end of the driving wire, and another end of the driving wire is fixedly connected to the front end member; and

an endoscope module connected to the front end member,

wherein the first threaded rod assembly of the transmission assembly and the second threaded rod assembly of the bending driving assembly are connected to the front support seat and the rear support seat respectively, and moveable to make an axial reciprocating motion relative to the front support seat and the rear support seat,

wherein each of the front end member, the intermediate member and the rear end member is provided with a first through hole through which the first elastic rod of the transmission assembly passes slidabty, and each of the front end member, the intermediate members and the rear end member are is further provided with a second through hole tlirough which the driving wire of the bending driving assembly passes slidahly; and

wherein when the second threaded rod assembly of the bending driving assembly moves rearward relative to the front support seat and the rear support seat, the driving wire is adapted to drive the front end member, the intermediate member, and the rear end member for relative rotation to cause the first elastic rod to deform elasticaily.

In one embodiment, the surgical manipulator arm comprises two motion assemblies arranged in parallel.

In one embodiment, the two motion assemblies are operably converted between a folded configuration and a deployed configuration based on a flexible parallel mechanism.

Preferably, the flexible parallel mechanism is a multi-link mechanism comprising rigid links and elastic links.

In one embodiment, each of the at least one motion assembly comprises three transmission assemblies arranged in parallel.

Preferably, the first clastic rod of the transmission assembly is a cylindrical screw rod with restorabie elasticity.

Preferably, the driving wire of the bending driving assembly is a flexible soft wire.

Preferably, each of the front end member, the intermediate member, and the rear end member is a blocks-shaped structure with a plurality of through holes.

In one embodiment, the first threaded rod assembly of the transmission assembly con-prises a first threaded rod, a first connector and a first threaded rod connecting rod, the first threaded rod is connected to one end of the first threaded rod connecting rod through the first connector, and another end of the first threaded rod connecting rod is connected to the first elastic rod of the transmission assembly, and wherein the second threaded rod assembly of the bending driving assembly comprises a second threaded rod, a second connector and a second threaded rod connecting rod, the second threaded rod is connected to one end of the second threaded rod connecting rod through the second connector, and another end of the second threaded rod connecting rod is connected to the driving wire of the bending driving assembly.

In one embodiment, the front support seat is provided with a third through hole through which the first threaded rod connecting rod of the first threaded rod assembly can pass slidably, and the front support seat is further provided with a fourth through hole through which the second threaded rod connecting rod of the second threaded rod assembly passes slidably, and wherein the rear support seat is provided with 3 first threaded hole through which the first threaded rod of the first threaded rod assembly passes, the first threaded hole is .screwed to the first threaded rod, the rear support seat is further provided with a second threaded hole through which the second threaded rod of the second threaded rod assembly passes, and the second threaded hole isscrewed to the second threaded rod.

Preferably, each of the front support seat and the rear support seat is a block-shaped structure with a plurality of through holes.

In one embodiment, the surgical manipulator arm further comprises three second elastic rods extending through the support assembly and extending out of the front end member, and one end of each of the second elastic rods extending cut of the front end member is connected to the endoscope module through a second universal coupling.

Comparing with the prior art, the surgical manipulator arm according to the above aspect of the present disclosure has the advantages of convenient operation and high precision, and is particularly suitable for assisting surgeons in performing laryngeal operation. Specifically, comparing with the conventional series mechanism, the motion assembly of the surgical manipulator arm adopts a parallel mechanism, i.e., a plurality of transmission assemblies arranged in parallel, which has ihe advantages of high positioning accuracy and large output force, In addition, the surgical manipulator arm transmits power using the elastic rod, and cooperates with the parallel mechanism to reduce the bending radius of the terminal of the manipulator arm, so that the surgical instrument connected to the terminal of the manipulator arm can operate more flexibly in a small space. In the case of the surgical manipulator arm with two motion assemblies, 7 degrees of freedom of motion can be achieved, so that the needs of the operation of the surgical manipulator arm in the human throat can be satisfied,

in another aspect of the present disclosure, a surgical robot is provided. The surgical robot comprises a surgical manipulator arm according to above aspects, a surgical instrument, a power source, a controller, and a display device. The surgical instrument is mounted to the connecting flange of the surgical manipulator arm, the power source is connected to the first and second threaded rod assemblies of the surgical manipulator arm and configured to drive the first and second threaded rod assemblies, the controller is configured to control operation of the power source, and the display device is connected to the endoscope module can configured to display an image acquired by the endoscope module.

in one embodiment, the power source comprises a controllable linear displacement driving assembly.

According to the surgical roboi of the above aspects, different surgical instruments, such as surgical forceps, surgical scissors, and sintering tools for transoral surgerythe throat, can be provided installed onin the end face of the connecting flange of the surgical manipulator arm, according to the surgical needs. The surgical robot can enter and work in the depth of the inside of human throat, and the surgical instrument installed in the end terminal of the surgical manipulator arm has a large working space. BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic structural diagram illustrating a surgical manipulator arm according to one embodiment of the present disclosure.

FIG. 2 is a schematic structural diagram illustrating a support assembly of the surgical manipulator arm in FIG. 1.

PIG. 3 is a schematic structural diagram illustrating a front end member of the support assembly in FIG. 2. FIG.4 is a schematic structural diagram illustrating an intermediate member of the support assembly in FIG.

2.

FIG. .5 is a schematic structural diagram illustrating the rear end member of the support assembly in FIG.2. FIG. 6 is a schematic structural diagram illustrating a support rod block of the support assembly in FIG. 2. FIG. 7 is a schematic structural diagram illustrating a front support seat of the support assembly in FIG. 2. FIG. 8 is a schematic structural diagram illustrating the rear support seat of (he support assembly in FIG. 2. FIG. 9 is a schematic structural diagram illustrating a connecting plate of the support assembly in FIG.2. FIG. 10 is a schematic structural diagram illustrating a motion assembly of the surgical manipulator ami in FIG. 1.

FIG. 11 is a schematic structural diagram illustrating a connecting flange of the motion assembly in FIG. 10. FIG. 12 is a schematic structural diagram illustrating a transmission assembly of the motion assembly in FIG.

10.

FIG. 13 is a schematic structural diagram illustrating a flange connecting rod of the transmission assembly in FIG. 12.

FIG. 14 is a schematic structural diagram illustrating a first universal coupling of the transmission assembly in FIG. 12.

FIG. 15 is a schematic structural diagram illusiiaiing a first elastic rod of the transmission assembly in FIG.

12.

FIG. 16 is a schematic structural diagram illustrating a threaded rod assembly of the transmission assembly of FIG. 12.

FIG. 17 is a schematic structural diagram illustrating a threaded rod connecting rod of the threaded rod assembly in FIG. 16.

FIG. IS is a schematic structural diagram illustrating a connector of me threaded rod assembly in FIG. 16. FIG. 19 is a schematic structural diagram illustrating a threaded rod of the threaded rod assembly in FIG. 16. FIG. 20 is a schematic structural diagram illustrating a bending driving assembly of the surgical manipulator arm in FIG. 1.

FIG. 21 is a schematic structural diagram illustrating a driving wire of the bending driving assembly in FIG.

20.

FIG. 22 is a schematic structural diagram illustrating an endoscope module of the surgical manipulator arm of FIG. I.

FIG. 23 is a schematic structural diagram illustrating a support assembly of the surgical manipulator arm in FIG. 1 in a bending state.

FIG. 24 is a schematic structural diagram illustrating a motion assembly of the surgical manipulator arm in FIG. 1 in a bending state.

FIG. 25 is a schematic diagram illustrating a state in which the surgical manipulator arm in FIG. 1 is positioned inside a human throat.

FIG. 26 is a schematic structural diagram illustrating a surgical manipulator arm having an independently controllable endoscope module according to another embodiment.

FIG. 27 is a structure schematic diagram illustrating a controllable linear displacement driving assembly according to one embodiment of the present disclosure.

FIG. 28 is a schematic diagram illustrating an overall configuration of a surgical robot according to one embodiment of the present disclosure.

FIG. 29 is a structure schematic diagram illustrating a surgical manipulator arm of the surgical robotic system of FIG. 28 in a folded configuration.

FIG. 30 is a structure schematic diagram illustrating a surgical manipulator arm of the surgical robotic system of FIG. 28 in a deployed configuration.

FIG. 31 is a schematic diagram illustrating a reconfigurable structure of the surgical manipulator ami.

FIG. 32 is a schematic diagram illustrating a cross section of the surgical manipulator arm in the folded configuration.

Figure imgf000007_0001
Figure imgf000008_0001

DETAILED DESCRIPTION

Reference will be made to the drawings to describe embodiments of the present disclosure in detail, so that the above objects, features and advantages of ihe present disclosure can be more apparent and understandable, in she following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosxire. However, the present disclosure can be implemented in many other ways which are different from those described herein, and those skilled in the art can make similar improvements without departing from the essence of the present disclosure. Therefore, the present disclosure is not limited by the spec ilk embodiments disclosed below.

it will be understood that, when a feature or element is herein referred to as being "on" another feature or element, it can be directly on the other feature or element or intervening features and/or elements may also be present. In contrast, when a feature or element is referred to as being "directly on" another feature or element, there are no intervening features or elements present. It will also be understood that, when a feature or element is referred io as being '"connected" to another feature or element, it can be directly connected to the other feature or element or intervening features or elements may be present. In contrast, when a feature or element is referred to as being "directly connected" to another feature or element, there are no intervening features or elements present.

Spatially relative terms, such as "under", "above", "behind", "before" and the like, may be used herein for ease of description to describe one element or feature's relationship to another elements) or feature(sj as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as "behind" other elements or features would then be oriented "before" ihe other elements or features. Thus, the exemplary term "behind" can encompass both orientations of backward and forward. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein iiiterpreled accordingly. Similarly, the terms, such as "forwardly", "backwardly", "upwardly", "downwardly", and the like, are used herein tor the purpose of illustration only, unless specifically indicated otherwise.

Although, the terms "first" and "second" may be used herein to describe various features/elements, these features/features are not limited by these terms, unless specifically indicated otherwise. These lenns may be used for distinguishing one feature/element from another feature/element. Thus, a first feature/element discussed below could be termed a second feature/element, and similarly, a second feature/element discussed below could be termed a first feature/element without departing from the scope of the present disclosure.

PIG. i is a schematic structural diagram illustrating a surgical manipulator arm according to one embodiment of the present disclosure. As shown, the surgical manipulator arm comprises a support assembly 100, two motion assemblies 200A. 200B arranged in parallel, a bending driving assembly 300, and an endoscope module 400. While there are two motion assemblies 200 A, 200B this embodiment, those skilled in the art will appreciate that in other embodiments there may be only one motion assembly, or three or more motion assemblies. The support assembly is used for supporting the motion assembly, the bending driving assembly, and the endoscope module. The motion assembly is used for performing a surgical procedure at the terminal of the surgical manipulator arm, and multiple surgical procedures can be performed at the terminal of the surgical manipulator aim using more than two morion assemblies. Trie endoscope module 400 as shown in FIG. 22 is used for acquiring image information, which may be any suitable endoscope module available on the market.

As shown in FIGs. 2-9, the support assembly 100 comprises a front end member 101, three intermediate members 103, a rear end member 105, four support rods 120, a front support seat 131, a connecting plate 140, and a rear support seat 133. The front end member 101, the three intermediate members 103, and the rear end member 105 are serially arranged in a stacked manner, and any two adjacent members of these members are pivotally connected to each other by a rotating shaft to constitute a bending assembly. Although three intermediate members 103 are adopted in tins embodiment, those skilled in the art will appreciate that one intermediate member, two intermediate members, or more than three intermediate members may be adopted in other embodiments. By varying the number of intermediate members 103, both the working space at the terminal of the surgical manipulator arm and the stiffness of the bending assembly can be adjusted to accommodate different surgical needs. The rear end member 105 is fixedly connected to the front support seat 13 i by four support rods, and the front support seat 131 and the rear support seat 133 are fixedly connected to the connection plate 140. Although four support rods 120 are adopted in this embodiment, those skilled in the art will appreciate that any number of support bars can be adopted, as long as the rear end member J 05 is fixedly connected to and spaced apart, from the front support seat.

As shown in FIGs. 10-15, each of the motion assemblies 200 comprises a connection flange 210 and three transmission assemblies 220 arranged in parallel . Although three transmission assemblies 220 are adopted in this embodiment, those skilled in the art will appreciate that one transmission assembly, two transmission assemblies, or more than three transmission assemblies may be adopted in other embodiments. Each of the transmission assemblies 220 comprises a flange connection rod 221, a first universal coupling 223, a first elastic rod 225, and a first threaded rod assembly 227. The first threaded rod assembly 227 is connected to one end of the first elastic rod 225 by a conventional connection type such as welding, snap connection, screw connection, bonding, etc., and another end of the first elastic rod 225 is connected to one end of ihe flange connecting rod 221 through the first universal coupling 223, another end of the flange connecting rod 221 is connected to one end surface of the connecting flange 210 by a conventional connection type such as welding, snap connection, screw connection, bonding, etc., and another end face of the connecting flange 210 is adapted to mount a surgical instrument. In this embodiment, the flange connecting rods 221 of the three transmission assemblies 220 are respectively fixedly connected to the connecting holes provided in the connecting flange 210. The connecting flange 210 is a disc-like structure having a plurality of mounting holes, and in addition to connecting the flange connecting rod 221. the connecting flange 210 is also used for connecting the surgical instruments. The first elastic rod 225 is a cylindrical screw rod having restorable elasticity, and can be elastically deformed under a radial force, The flange connecting rod 221 is a rod-like structure for supporting a motion assembly. The first universal coupling 223 is any suitable universal coupling available on die market and can be any suitable construction type, such as cross-axle type, ball-cage type, ball-fork type, bump type, ball-pin type, ball-joint type, bail-joint-plunger type, three-pin type, three-fork type, three-ball -pin type, hinged type, etc.

As shown in BGs. 16-19, the first threaded rod assembly 227 comprises a threaded rod connecting rod 2271, a connector 2273, and a threaded rod 2275. The threaded rod 2275 is connected to one end of the threaded rod connecting rod 2271 through the connector 2273, and another end of the threaded rod connecting rod 2271 is connected to the first elastic rod 225. The threaded rod connecting rod 2271 is a rod-like structure with a step at one end, and flat surfaces on both sides. The threaded rod connecting rod 2271 is ased for transmitting power. The connector 2273 is a cylindrical structure having through holes and stepped holes locaied on both ends respectively, and the two ends thereof are respectively used for connecting the threaded rod connecting rod 2271 and the threaded rod 2275. The threaded rod 2275 is any suitable threaded rod available on the market for converting rotational motion at one end (input end) to linear motion at another end (output end). The input end of the threaded rod 2275 is connected to a power source such as a motor, and the output end of the threaded rod 2275 is connected to the connector 2273. Rotation of the threaded rod 2275 will cause a reciprocating motion of the threaded rod 2275 along a straight line, and the reciprocating motion of the threaded rod 2275 is transmitted to the threaded rod connecting rod 2271 through the connector 2273, set that the threaded rod connecting rod 2271 can also make the reciprocating motion in die straight line. The connector 2273 limits the rotation of the threaded rod connecting rod 227 J .

As shown in HGs. 20-21, the bending driving assembly 300 comprises a driving wire 310 and a second threaded rod assembly 320. The second threaded rod assembly 320 is connected io one end of the driving wire 310, and another end of the driving wire 310 is fixedly connected to the front end member 101 of the support assembly 100. The driving wire is a flexible cord available on the market. The second threaded rod assembly 320 can be configured similarly to the first threaded rod assembly 227. In this embodiment, the configuration and function of the second threaded rod assembly 320 are identical to the configuration and function of the first threaded rod assembly 227, so that the details are not described herein again.

Referring again to FIGs. 3-5, the front end member 101, the intermediate members 103, and the rear end member 105 have similar configurations and are block-shaped structures with a plurality of through holes. The front end member 101 is provided with first through holes 151A. 151B, 151C, 151D, I51E, and 151F, and a second through hole 152. The intermediate member 103 and the rear end member 105 are also provided with the first through holes and the second through bole ai positions corresponding to the first through holes and the second through hole of the front end member 101. The first elastic rods 225 of the six transmission assemblies 220 of the two motion assemblies 200 shdabiy pass through the first through holes 151 A, 151B, 15iC, 151D, i51E and 151F respectively, and pass through the rear end member 105, the intermediate members 103, and die front end member 101 sequentially. The driving wire 310 of the bending driving assembly 300 slidably passes through the second through hole 152 of each of the rear end member 105, the intermediate member 103, and the front end member 101 sequentially. The end of the driving wire 310 that passes through the second through hole 152 of the fix)nt end member 101 can be connected to a stopper, such that the end of the driving wire 310 remains fixed relative to the front end member 101. Alternatively, the end of the driving wire 310 may be directly fi xed in the second through hole 152 of the front end member 101. When the driving wire 310 is pulled backwardly, the driving wire 310 is adapted to drive the front end member 101, the intermediate member 103 and the rear end member 105 to rotate relative to each other about the respective rotating shaft, so that the first elastic rod passing through the first through holes is caused to deform elastically. The front end member 101 is also used for fixing the endoscope module 400. The manner in which the front end member 101 is connected to the endoscope module 400 is not shown in the figures. However, those skilled in the art will appreciate that the endoscope module 400 can be fixed to the front end member 101 by any suitable technique known in the art, such as bonding, snap connection, screw connection, etc., which will not be described herein. The rear end member 105 is further provided with mounting holes 153A, 153B. 153C, and 153D respectively used for connecting one ends of the four support rods 120.

Referring again to FIG. 7, the front support seat 131 is also a block-shaped structure with a plurality of through holes. The front support seat 131 is provided with mounting holes 153 A, 153B, 153C, and 153D corresponding to the mourning holes in the rear end member 105 for respectively connecting the other ends of the four support rod 120. The front support seat 13! is provided with third through holes 154A, 154B, 154C, 354D, 154B, and 154F, and a fourth through hole 155. The respective threaded rod connecting rods 2271 of the six transmission assemblies 220 of the two motion assemblies 200 slidably pass through the third through holes 154A. 154B, 154C, 154D, 154E, and 154F of the front support seat 131 respectively. The threaded rod connecting rod of the bending driving assembly 300 slidably passes through the fourth through hole 155 of the front support seat 131.

Referring again to FIG. 8, the rear support seat 133 is also a block-shaped structure with a plurality of through holes. The rear support seat 133 is provided with first threaded holes 156A, 156B, 156C, 156D, 156E and 354F, and a second threaded hole 157. The respective threaded rods 2275 of the six transmission assemblies 220 of the two motion assemblies 200 pass through and screw to the first threaded holes 156A, 156B, 156C, 156D, 15613, and 154F respectively. The threaded rod of the bending driving assembly 300 passes through and is screwed to the second threaded hole 157. The threaded rods of the motion assembly 200 and the bending driving assembly 300 can be rotated in the corresponding threaded holes under the driving force of the power source.

The threaded rod assemblies of the transmission assembly 220 and the bending driving assembly 300 are supported by the front support seat 131 and the rear support seat 133 respectively, and can make axial reciprocating motion relative to the front support seat 131 and the rear support seat 133. The threaded rod of the threaded rod assembly is threadedly engaged with the threaded hole of the rear support seat 133, and the threaded rod connecting rod of the threaded rod assembly is slidably engaged with the fourth through hole of the front support seat. The threaded rod can be driven to rotate xmder the driving of the power source such as the motor, so that the threaded rod can make the axial reciprocating motion relative to the rear support seat 133. At this time, the threaded rod connecting rod can make ihe axial reciprocating motion relative to the front support seat 131 under the driving of the threaded rod. The connector that connects the threaded rod to the threaded rod connecting rod allows the rotation of the threaded rod, but limits the rotation of the threaded rod connecting rod. Accordingly, the axial reciprocating motion of the threaded rod connecting rod can drive the first elastic rod or the driving wire connected thereto to make die axial reciprocating motion. FIG. 23 is a schematic structural diagram illustrating a support assembly of the above surgical manipulator arm in a bending state. When the threaded tod of the second threaded rod assembly 320 of the bending driving assembly 300 is rotated, such that the second threaded rod assembly 320 is translated reaiwardly relative to the front support seal 131 and the rear support seat i 33 as a whole, the driving wire 310 connected to the second threaded rod assembly 320 is pulled rearwardly, and the relative rotational movement between the front end member 101 and the intermediate member 103, between the intermediate members 103, and between the intermediate member 103 and the rear end member 105 is made under the action of the driving wire 310. At this time, the front end member 101, the intermediate member 103, and the rear end member 105» which are originally aligned, are bent, and the first elastic rod 225 of each of the transmission members 220 in the respective through holes of the from end member 101, the intermediate member 103, and the rear end member 105 is bent and deformed under the action of the radial force. Tbe first elastic rod 225 can also make the axial reciprocating motion along the respective through holes of the front end member 101, the intermediate member 103, and the rear end member 105 by rotating the threaded rod of tbe first threaded rod assembly 227 of the transmission assembly 220, During the reciprocating motion, the terminal of the motion assembly 200 is axially translated or radially bent along the connecting flange 210 to achieve 3 degrees of freedom of movement of each of the motion assemblies.

FIG. 24 is a schematic structural diagram illustrating a motion assembly of the above surgical manipulator arm in a bending state, in the case where (he front end member 101, the intermediate member 103, and the rear end member 105 are not rotated to be bent, if same driving forces are applied to the three transmission assemblies 220 of the same motion assembly 200, the axial translation of the connecting flange 210 can be realized, i.e.. a translation motion with one degree of freedom can realized. By contrast, if different driving forces are applied to the three transmission assemblies 220 of the same motion assembly 200, the first universal couplings 223 of the three transmission assemblies 220 can make different degrees of rotation, such that the terminal of the motion assembly 200 is bent toward the side of the transmission assembly to which the smaller driving force is applied, as shown in FIG. 24, and the greater the difference in the driving force received among the transmission members, the greater the degree of bending is. Therefore, different driving forces can be applied to the three transmission assemblies 220 by controlling the power source respectively, which causes the connecting flanges 210 to be bent toward different sides and have different degrees of bending, so that the movement of the connecting flange 210 in two bending degrees of freedom perpendicular to each other can be achieved.

The disclosure further provides a surgical robot. The surgical robot comprises the above-described surgical manipulator arm, a surgical instrument, a power source, a controller, and a display device. A The surgical instrument (not shown in figures) may be mounted to the connecting flange of the surgical manipulator arm, and comprises a surgical forceps, a surgical scissors, and a sintering tool, etc., which can be used in for transoral surgery, the throat; The power source (not shown in figures) is may be connected to each of the threaded rods of the surgical manipulator arm for driving the threaded rods to rotate. The controller (not shown in figures) may be configured to control the operation of the power source. The display device (not shown in figures) may be connected to the endoscope module for displaying the an images acquired by the endoscope module. The surgical robot is particularly suitable for transoral surgery use in laryngeal surgery, and it works as follows. One end (a terminal) of the surgical manipulator am) mounted with the surgical instrument is placed may be positioned in a patient's throat. The threaded rod of the second threaded rod assembly 320 of the bending drive assembly driving assembly 300 is may be rotated, such thai the support assembly 100 is bent to cause the motion assembly 200 to also be benl. Meanwhile, the surgical robot is pulled may move forward until die surgical instrument of the surgieal robot reaches the lesion position (FIG. 25 is schematic diagram illustrating a state view of in which the surgical manipulator arm is positioned inside the human throat). The state of the lesion position may be observed by combining the endoscope module 400 and the display device. The threaded rod of the first threaded rod assembly 227 of the motion assembly 200 may be rotated to change the posture of the terminal of the motion assembly 200, thereby changing die posture of the surgical instrument. The motion assemblies 200A and 200B may cooperate with each other to perform a surgical operation After the surgery is completed, the threaded rods of the second threaded rod assembly 320 of the bending driving assembly 300 and the first threaded rod assembly 227 of the motion assembly 200 may be reversely rotated relative to the above-described operation, so that the support assembly 100 and the motion assembly 200 are restored from being bended. Meanwhile, the surgical robot may move rearwardly until the surgical robot completely withdraws from the patient's throat.

FIG. 26 is a schematic structural diagram illustrating a surgical manipulator arm having an independently controllable endoscope module according to another embodiment. In this embodiment, the surgical manipulator arm further comprises three second elastic rods 510 extending through the support assembly, and extending out of the front end member. One end of each of the second elastic rods 510 extending out of the front end member is connected to the endoscope module through a second universal coupling 520. With this configuration, the endoscope module 400 is an independently controllable endoscope module that adopts a flexible parallel mechanism and is driven by three elastic rods and three universal couplings. The independently controllable endoscope module 400 has two benl degrees of freedom and one linear degree of freedom. With the adjustment of three degrees of freedom, the operator can be provided with a larger field of view, so that the operator can better observe and detect the surgical area and the surrounding area of the surgical area.

FIG. 27 is a structure schematic diagram illustrating a controllable linear displacement driving assembly according to one embodiment. The controllable linear displacement driving assembly 600 is provided on the surgical robot. In this embodiment, the controllable linear displacement driving assembly 600 comprises a motor, a flexible coupling, a screw rod, a linear guide, a slider, a displacement sensor, a limit switch, and a seat. The controllable linear displacement driving assembly 600 can provide the surgical robot with an additional linear degree of freedom, such dial the working space of the surgical robot is effectively expanded, that is, the terminal of the surgical robot can reach a deeper position of the throat, for example, the position of the vocal cord can be reached, so that the working space of the surgical robot can cover the entire throat area.

FIG. 28 is a schematic diagram illustrating an overall configuration of a surgical robot according to one embodiment. In this embodiment, the surgical robot comprises a surgical manipulator arm and a controllable linear displacement driving assembly 600 in FIG. 27. The surgical manipulator arm comprises an independently controllable endoscope module 400 in FIG. 26, two motion assemblies arranged in parallel, and a plurality of (more than one) intermediate members. The two motion assemblies designed based on a flexible parallel mechanism. The distinct advantage of this embodiment is the reconfigurable configuration including a folded configuration and a deployed configuration. When the surgical robot advances in a narrow and constrained environment, two motion assemblies can be in the folded configuration shown in FIG. 29. Therefore, the cross section of the surgical robot is within a circle with a diameter of 12 mm, as shown in FIG. 32, and the surgical robot can pass through the narrow and constrained environment. When the distal end of the surgical robot approaches the target area, two motion assemblies cat) be converted to the deployed configuration shown in FIG. 30 for performing surgery. This reconfigurable configuration is achieved by a multi-link mechanism including rigid links 530 and elastic links .540 shown in FIG. 31, in which the elastic links 540 play a controlling role. The surgical robot has a total of 11 controllable degrees of freedom, resulting in a larger working space, and greater flexibility and dexterity.

The foregoing examples are merely specific embodiments of the present disclosure, which are described in detail, but they are not intended to limit the protection scope of the present disclosure. It should be noted that any variation or replacement readily figured out by persons skilled in the art within the technical scope disclosed in the present disclosure shall all fall within the protection scope of the present disclosure. Therefore, the scope of the present disclosure shall be defined by the appended claims.

Claims

WHAT IS CLAIMED IS:
1. A surgical manipulator arm comprising:
a support assembly, comprising a front support seat, a rear support seat connected to one end of the front support seat through a connecting plate, and a bending assembly connected to another end of She froni support seat opposite to the rear support seat through a support rod, wherein the bending assembly comprises a rear end member connected to the support rod, and an intermediate member and a front end member that are pivotally connected to the rear end member sequentially.
at least one motion assembly, each of which comprises a connecting flange and a plurality of transmission assemblies arranged in parallel and connected to the connecting flange, wherein each of the transmission assemblies comprises a first threaded rod assembly, a first elastic rod, a first universal coupling and a flange connecting rod, the first threaded rod assembly is connected to one end of the first elastic rod, and another end of the first elastic rod is connected to one end of the flange connecting rod through the first universal coupling, another end of the flange connecting rod is connected to one end surface of the connecting flange, and another end surface of the connecting flange is suitable for mounting a surgical instrument;
a bending driving assembly, comprising a second threaded rod assembly and a driving wire, wherein the second threaded rod assembly is connected to one end of the driving wire, and another end of the driving wire is fixedly connected to the front end member; and
an endoscope module, connected to the front end member,
wherein the first threaded rod assembly of the transmission assembly and the second threaded rod assembly of the bending driving assembly are connected to the front support seat and the rear support seat respectively, and moveable to make an axial reciprocating motion relati ve to the front support seat and the rear support seat,
wherein each of the front end member, the intermediate member and the rear end member is provided with a first through hole through which the first elastic rod of the transmission assembly passes sHdably, and each of die front end member and the intermediate members is provided with a second through hole through which the driving wire of the bending driving assembly passes slidably, and
wherein when the second threaded rod assembly of the bending driving assembly moves rearward relative to the front support seat and the rear support seat, the driving wire is adapted to drive ihe front end member, the intermediate member, and the rear end member tor relative rotation to cause the first elastic rod to deform elastically.
2. The surgical manipulator arm of claim I , comprising two motion assemblies arranged in parallel.
3. The surgical manipulator arm of claim 2, wherein the two motion assemblies are operably converted between a folded configuration and a deployed configuration based on a flexible parallel mechanism.
4. The surgical manipulator arm of claim 3, wherein the flexible parallel mechanism h a multi-link mechanism comprising rigid links and elastic links
5. The surgical manipulator arm of claim 1 , wherein each of ihe at leasi one motion assembly comprises three transmission assemblies arranged in parallel.
6. The surgical manipulator arm of claim I, wherein the first elastic rod of the transmission assembly is a cylindrical screw rod with restorable elasticity.
7. The surgical manipulator arm of claim 1, wherein the driving wire of the bending driving assembly is a flexible soft wire.
8. The surgical manipulator arm of claim 1 , wherein each of ihe front end member, die intermediate member, and the rear end member is a block-shaped structure with a plurality of through holes.
9. The surgical manipulator arm of claim 1, wherein the fast threaded rod assembly of the transmission assembly comprises a first threaded rod, a first connector and a first threaded rod connecting rod, the first threaded rod is connected to one end of the first threaded rod connecting rod through the first connector, and another end of the first threaded rod connecting rod is connected to the first elastic rod of the transmission assembty, and wherein die second threaded rod assembly of the bending driving assembly comprises a second threaded rod, a second connector and a second threaded rod connecting rod, the second threaded rod is connected to one end of the second threaded rod connecting rod through the second connector, and another end of the second threaded rod connecting rod is connected to the driving wire of the bending driving assembly.
10. Ihe surgical manipulator arm of claim 9, wherein ihe front sxipport seat is provided with a third through hole through which the first threaded rod connecting rod of the first threaded rod assembly passes slidably, and the front support seat is further prowled with a iburih through hole through which the second threaded rod connecting rod of the second threaded rod assembly passes slidably, and wherein the rear support seat is provided widi first threaded holes through which the first threaded rod of the first threaded rod assembly passes, the first dureaded hole is screwed to the first threaded rod, the rear support seat is further provided with a second threaded bole through which the second threaded rod of die second direaded rod assembly passes, and the second threaded hole is screwed to the second threaded rod.
11. T he surgical manipulator arm of claim 1 , wherein each of the front support seat and the rear support seat is a block-shaped structure widi a plurality of through holes.
12. The surgical manipulator arm of claim 1, wherein it further comprises three second elastic rods extending through the support assembly and extending out of the front end member, and one end of each of the second elastic rods extending out of the front end member is connected to the endoscope module through a second universal coupling.
13. A surgical robot comprising:
a surgicai manipulator arm according to any one of claims 1 to 12;
a surgical instrument, mounted to the connecting flange of the surgical manipulator arm;
a power source, connected to first and second threaded rod assemblies of the surgical manipulator arm, and configured to dri ve the first and second threaded rod assemblies;
a controller, configured to control operation of the power source; and
a display device, connected to the endoscope module, and configured to display an image acquired by the endoscope module.
14. The surgical robot of claim 13, wherein the power source comprises a controllable linear displacement driving assembly.
PCT/SG2018/050410 2017-08-14 2018-08-14 Surgical manipilator arm and surgical robot WO2019035764A1 (en)

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CN201710693447.5 2017-08-14

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