WO2019200773A1 - 一种腹腔镜手术持镜机器人系统 - Google Patents

一种腹腔镜手术持镜机器人系统 Download PDF

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Publication number
WO2019200773A1
WO2019200773A1 PCT/CN2018/097541 CN2018097541W WO2019200773A1 WO 2019200773 A1 WO2019200773 A1 WO 2019200773A1 CN 2018097541 W CN2018097541 W CN 2018097541W WO 2019200773 A1 WO2019200773 A1 WO 2019200773A1
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WO
WIPO (PCT)
Prior art keywords
joint
robot system
surgical robot
laparoscopic surgical
arm
Prior art date
Application number
PCT/CN2018/097541
Other languages
English (en)
French (fr)
Inventor
李志强
Original Assignee
成都博恩思医学机器人有限公司
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.)
Filing date
Publication date
Priority claimed from CN201810345131.1A external-priority patent/CN108338841B/zh
Priority claimed from CN201810343711.7A external-priority patent/CN108338840A/zh
Application filed by 成都博恩思医学机器人有限公司 filed Critical 成都博恩思医学机器人有限公司
Priority to CA3095798A priority Critical patent/CA3095798A1/en
Priority to US17/045,108 priority patent/US11357583B2/en
Priority to AU2018419295A priority patent/AU2018419295B2/en
Priority to SG11202010258VA priority patent/SG11202010258VA/en
Priority to EP18915439.6A priority patent/EP3782573A4/en
Publication of WO2019200773A1 publication Critical patent/WO2019200773A1/zh
Priority to US17/830,213 priority patent/US20220287783A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts

Definitions

  • the present invention relates to the field of robot control technology, and in particular to a laparoscopic surgery mirror robot system.
  • minimally invasive surgery has been practiced and developed rapidly with many advantages such as quick recovery and small trauma.
  • a minimally invasive laparoscopic minimally invasive surgery it has become a major revolution in traditional open surgery.
  • the minimally invasive surgical robot system provides a new way to further improve minimally invasive surgery in view of the limitations of conventional endoscopic techniques in clinical applications.
  • the present invention provides a laparoscopic surgical robot system for solving the technical problem that the prior art abdominal surgery robot has an inflexible operation and requires a doctor to perform an auxiliary operation.
  • the present invention provides a laparoscopic surgical robot system, including a gantry frame, a surgical tool, and a mechanical arm disposed on the gantry frame, the surgical tool being fixed to a front end of the mechanical arm, wherein
  • the robot arm has at least six degrees of freedom.
  • the robot arm includes an end joint and an intermediate joint respectively connected to the first and second arms, the end joint including a first joint and a joint with the trolley frame The sixth joint to which the mounting of the surgical tool is attached.
  • the intermediate joint includes a second joint rotatably coupled to the first joint, a third joint connecting the first and second arms, and the second limb Rotating the connected fourth joint and the fifth joint rotatably coupled to the fourth joint and the sixth joint, respectively.
  • the maximum rotation angle is 360°.
  • the maximum rotation angle is 180°.
  • the trolley frame includes a base and a post fixedly disposed on the base, the mechanical arm being disposed on the upright.
  • the side of the column is provided with a transfer flange, and the mechanical arm is fixedly connected to the transfer flange.
  • the top end of the post is provided with a mechanical interface, the mechanical arm being fixedly coupled to the mechanical interface.
  • a conduit is disposed on the first joint at a position connected to the trolley frame, and an axial direction of the conduit is respectively opposite to an axial direction of the first joint and a height direction of the pillar vertical.
  • the bottom of the base is provided with two directional casters and two swivel casters with brake functions.
  • the invention also provides a laparoscopic surgical robot system, comprising a trolley frame, a surgical tool and a mechanical arm disposed on the trolley frame, the front end of the mechanical arm being provided with an extension with a quick release device a plate, the surgical tool being secured to the extension plate by the quick release device, wherein the robot arm has at least six degrees of freedom.
  • the robot arm includes an end joint and an intermediate joint respectively connected to the first and second arms, the end joint including a first joint and a joint with the trolley frame The sixth joint to which the mounting of the surgical tool is attached.
  • the intermediate joint includes a second joint rotatably coupled to the first joint, a third joint connecting the first and second arms, and the second limb Rotating the connected fourth joint and the fifth joint rotatably coupled to the fourth joint and the sixth joint, respectively.
  • the axis of rotation of the first joint is parallel to the height direction of the trolley frame and perpendicular to the axis of rotation of the second joint.
  • the rotation axis of the fourth joint, the rotation axis of the fifth joint, and the rotation axis of the sixth joint are perpendicular to each other.
  • the trolley frame includes a base and a post fixedly disposed on the base, the mechanical arm being disposed on the upright.
  • the side of the column is provided with a transfer flange, and the mechanical arm is fixedly connected to the transfer flange.
  • the top end of the post is provided with a mechanical interface, the mechanical arm being fixedly coupled to the mechanical interface.
  • a conduit is disposed on the first joint at a position connected to the trolley frame, and an axial direction of the conduit is respectively opposite to an axial direction of the first joint and a height direction of the pillar vertical.
  • the bottom of the base is provided with two directional casters and two swivel casters with brake functions.
  • the invention has the advantages that since the mechanical arm has at least six degrees of freedom, the mechanical arm can completely imitate the range of motion of the human arm, and the flexibility is the same as that of the human body, so that the actual operation is required. The location of the lesion is accurately positioned without the need for a doctor to assist in the operation.
  • FIG. 1 is a schematic view showing the operation of a laparoscopic surgical robot system in one embodiment of the present invention
  • FIG. 2 is a perspective view of a laparoscopic surgical robot system in accordance with one embodiment of the present invention (a surgical tool is not shown);
  • Figure 3 is a schematic structural view of the mechanical arm shown in Figure 2;
  • Figure 4 is a schematic view of a mechanical extreme position of the robot arm shown in Figure 1 (the surgical tool is not shown);
  • FIG. 5 is a schematic perspective view of the base shown in FIG. 1.
  • FIG. 5 is a schematic perspective view of the base shown in FIG. 1.
  • FIG. 6 is a schematic view showing the operation of a laparoscopic surgical robot system in another embodiment of the present invention.
  • Figure 7 is a perspective view showing a three-dimensional structure of a laparoscopic surgical robot system in another embodiment of the present invention (a surgical tool is not shown);
  • Figure 8 is a perspective view showing the structure of the base shown in Figure 6;
  • Figure 9 is a perspective view showing the structure of the extension plate shown in Figure 6;
  • Figure 10 is an exploded view of the extension plate shown in Figure 6.
  • the present invention provides a laparoscopic surgical robot system comprising a trolley frame 1, a surgical tool 2, and a robot arm 3 disposed on the trolley frame 1.
  • the surgical tool 2 is an endoscope.
  • the surgical tool 2 can also be other instruments required for minimally invasive surgery.
  • the surgical tool 2 is fixed to the front end of the robot arm 3, wherein the robot arm 3 has at least six degrees of freedom.
  • the robot arm 3 can have six degrees of rotational freedom and more than one degree of translational freedom.
  • the six rotational degrees of freedom of the robot arm 3 are implemented as follows.
  • the robot arm 3 includes an end joint and an intermediate joint respectively connected to the first link arm 37 and the second link arm 38.
  • the end joint includes a first joint 31 connected to the carriage frame 1 and is connected to the mount 21 of the surgical tool 2.
  • the intermediate joint includes a second joint 32 rotatably coupled to the first joint 31, a third joint 33 connecting the first link arm 37 and the second link arm 38, and a fourth joint 34 rotatably coupled to the second link arm 38. And a fifth joint 35 that is rotatably coupled to the fourth joint 34 and the sixth joint 36, respectively. That is, both ends of the first link arm 37 are connected to the second joint 32 and the third joint 33, respectively, and the relative movement between the first link arm 37 and the second link arm 38 is achieved by the third joint 33.
  • the rotation axis L1 of the first joint 31 is parallel to the height direction of the bogie frame 1, and is perpendicular to the rotation axis L2 of the second joint 2.
  • the rotation axis L4 of the fourth joint 34, the rotation axis L5 of the fifth joint 35, and the rotation axis L6 of the sixth joint 36 are perpendicular to each other.
  • joint sensors may be provided on the above six joints to measure the rotation angle of each joint to obtain the current posture information of the endoscope; and the above six joints can be driven by the motor.
  • each of the above joints is an execution unit of the action, and the execution units are connected in series, so that the joints have good isotropicity and no cumulative error, so that the robot has high precision. And has a dynamic response and other technical features.
  • the maximum rotation angle is 360°. As shown in FIG. 4, it is a mechanical limit position of the second link arm 38.
  • the maximum rotation angle is 180°.
  • the number of the mechanical arms 3 may be two or more, the plurality of mechanical arms 3 may be fixed on different sides of the trolley frame 1, and the ends of the mechanical arms 3 may be Different surgical tools 2 are installed to meet the requirements of complex surgery.
  • the bogie frame 1 includes a base 11 and a column 12 fixedly disposed on the base 11, and the robot arm 3 is disposed on the column 12. Both the base 11 and the uprights 12 are disposed inside the casing 13, and the casing 13 not only integrates the control member and the mechanical components, but also functions as an aesthetic.
  • the base 11 is provided with a connecting plate 113.
  • One end of the connecting plate 113 is fixedly connected to the bottom surface of the base 11 and the other end is fixedly connected to the housing 13.
  • the connecting plate 113 is configured in an L shape, and a cable extending opening is provided at the connection plate 113 to the outer casing. Further, in order to enhance the strength of the connecting plate 113, reinforcing ribs are provided on the connecting plate 113.
  • the robot arm 3 is disposed on a side of the uprights 12.
  • the side of the column 12 is provided with a transfer flange 6 , and the mechanical arm 3 is fixedly connected to the adapter flange 6 .
  • the adapter flange 6 is configured in an L shape, one end of which is fixedly connected to the side surface of the column 12 and the other end of which is fixedly connected to the bottom end of the first joint 31.
  • an translational freedom of the robot arm 3 is achieved as follows.
  • a sliding sleeve is arranged on the column 12, and the mechanical arm 3 is fixedly connected to the sliding sleeve.
  • the sliding sleeve is slidable on the column 12 to achieve an translational freedom of the robot arm 3.
  • the robot arm 3 is disposed at the top end of the uprights 12. Wherein, the top end of the column 12 is provided with a mechanical interface, and the mechanical arm 3 is fixedly connected with the mechanical interface.
  • the upper end of the housing 13 is provided with indicator lights and/or control buttons to facilitate control of the robot arm 3.
  • the other side of the casing 13 opposite to the robot arm 3 may be provided with a support plate which can be used as a support table.
  • a conduit 7 is provided at the first joint 31 at a position connected to the bogie frame 1.
  • the axial direction of the conduit 7 is perpendicular to the axial direction of the first joint 31 and the height direction of the post 12.
  • the sixth joint 36 is also provided with a conduit at the junction with the mounting seat 21 to protect the wires leading out of the joint.
  • the bottom of the base 11 is respectively provided with two directional casters 111 and two swivel casters 112 having a braking function.
  • the universal caster 112 may be provided with a brake device such as a brake pad to realize the function of fixed stop.
  • the directional casters 111 are disposed on the front side of the uprights 12, and the universal casters 112 are disposed on the rear side of the uprights 12.
  • the RCM point of the laparoscopic surgical robot system of the present invention is ensured by the algorithm of the control component.
  • the surgical tool 2 (i.e., the endoscope) is coupled to the sixth joint 36 by a mount 21.
  • the mounting seat 21 is provided with a bottom plate, and the bottom plate is provided with a quick release device, and the quick release device can realize quick disassembly and installation between the surgical tool and the mechanical arm 3.
  • the present invention provides a laparoscopic surgical robot system, including a trolley frame 1, a surgical tool 2, and a The robot arm 3 on the trolley frame 1.
  • the front end of the robot arm 3 is provided with an extension plate 4 having a quick release device, and the surgical tool 2 is fixed to the extension plate 4 by a quick release device, and the specific fixing manner will be described in detail below.
  • the bottom end of the extension plate 4 is provided with a mounting portion 47, the mounting portion 47 is disposed in the mounting seat 21, and the extension plate 4 has a quick release device, and the surgical tool and the robot arm 3 can be realized by the quick release device Quick disassembly and installation between.
  • the extension plate is provided with an upper connection block 41 and a lower connection block 42, the upper connection block 41 and the lower connection block 42 are hinged, and the upper connection block 41 and the lower connection block 42 are respectively disposed.
  • the upper connecting block 41 and the lower connecting block 42 are locked by the first quick release device, that is, the locking pin shaft 43, thereby fixing the endoscope in the mounting hole.
  • the locking pin 43 is rotatable in the upper connecting block 41 and the lower connecting block 42 and is engaged with the boss at the bottom of the lower connecting block 42 to lock the upper connecting block 41 and the lower connecting block 42.
  • the bottom of the lower connecting block 42 is provided with a transition block 44, and the transition block 44 and the extension plate 4 are fixed by a second quick release device, that is, an elastic card block.
  • the elastic block is disposed inside the extension plate 4, and the bottom of the extension plate 4 is provided with a cover plate 46, and the relative movement between the elastic block and the extension plate 4 by the compression spring can be generated.
  • One end of the elastic block is inserted into the adapter block 44 and is engaged with the adapter block 44 so that the adapter block 44 is fixed to the extension plate 4.
  • pressing the locking button 45 moves the elastic block away from the transition block 44, so that no locking relationship is formed between the elastic block and the transfer block 44. 44 can be removed from the extension plate 4 for quick disassembly.

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Abstract

本发明涉及一种腹腔镜手术持镜机器人系统，涉及机器人控制技术领域，用于解决现有技术中存在的腹腔手术持镜机器人操作不灵活还需医生进行辅助操作的技术问题。本发明的腹腔镜手术持镜机器人系统包括台车机架、手术工具以及机械臂，由于机械臂具有至少六个自由度，因此机械臂能够完全模仿人体手臂的运动范围，其灵活性与人体的手臂无异，从而将实际需要操作的病灶位置精确地进行定位而无需医生进行辅助操作。

Description

一种腹腔镜手术持镜机器人系统
相关申请的交叉引用
本申请要求享有于2018年4月17日提交的名称为“一种腹腔镜手术持镜机器人系统”的中国专利申请CN201810345131.1的优先权，以及2018年4月17日提交的名称为“一种腹腔镜手术持镜机器人系统”的中国专利申请CN201810343711.7的优先权，上述两件申请的全部内容通过引用并入本文中。
技术领域
本发明涉及机器人控制技术领域，特别地涉及一种腹腔镜手术持镜机器人系统。
背景技术
微创外科手术在传统的外科手术的基础上，以术后恢复快、创伤小等很多优点，得到实践并迅速发展。作为微创代表的腹腔镜微创外科手术，它已成为传统开放性手术的一次重大变革。随着微创外科领域的拓展，微创外科手术机器人系统针对常规腔镜技术在临床应用中的局限性，为进一步完善微创手术提供了新的途经。
一般的腹腔手术持镜机器人在操作空间和运动方式上存在一定的不足，内窥镜位置的调节还需要医生手动操作才能来完成，特别是，对于复杂动作的执行精度不高、不能达到相对理想的自动化和智能化程度。
发明内容
本发明提供一种腹腔镜手术持镜机器人系统，用于解决现有技术中存在的腹腔手术持镜机器人在操作不灵活还需医生进行辅助操作的技术问题。
本发明提供一种腹腔镜手术持镜机器人系统，包括台车机架、手术工具以及 设置在所述台车机架上的机械臂，所述手术工具固定在所述机械臂的前端，其中，所述机械臂具有至少六个自由度。
在一个实施方式中，所述机械臂包括末端关节以及分别与第一连臂和第二连臂相连的中间关节，所述末端关节包括与所述台车机架相连的第一关节以及与所述手术工具的安装座相连的第六关节。
在一个实施方式中，所述中间关节包括与所述第一关节转动连接的第二关节、连接所述第一连臂和所述第二连臂的第三关节、与所述第二连臂转动连接的第四关节以及分别与所述第四关节和所述第六关节转动连接的第五关节。
在一个实施方式中，所述第二连臂以所述第三关节的轴线为旋转轴进行旋转时，最大旋转角度为360°。
在一个实施方式中，所述第一连臂以所述第二关节的轴线为旋转轴进行旋转时，最大旋转角度为180°。
在一个实施方式中，所述台车机架包括底座以及固定设置在所述底座上的立柱，所述机械臂设置在所述立柱上。
在一个实施方式中，所述立柱的侧面设置有转接法兰，所述机械臂与所述转接法兰固定连接。
在一个实施方式中，所述立柱的顶端设置有机械接口，所述所述机械臂与所述机械接口固定连接。
在一个实施方式中，所述第一关节上与所述台车机架相连处设置有导线管，所述导线管的轴线方向分别与所述第一关节的轴线方向以及所述立柱的高度方向垂直。
在一个实施方式中，所述底座的底部分别设置有两个定向脚轮和两个具有刹车功能的万向脚轮。
本发明还提供一种腹腔镜手术持镜机器人系统，包括台车机架、手术工具以及设置在所述台车机架上的机械臂，所述机械臂的前端设置有具有快卸装置的延长板，所述手术工具通过所述快卸装置固定在所述延长板上，其中，所述机械臂具有至少六个自由度。
在一个实施方式中，所述机械臂包括末端关节以及分别与第一连臂和第二连臂相连的中间关节，所述末端关节包括与所述台车机架相连的第一关节以及与所 述手术工具的安装座相连的第六关节。
在一个实施方式中，所述中间关节包括与所述第一关节转动连接的第二关节、连接所述第一连臂和所述第二连臂的第三关节、与所述第二连臂转动连接的第四关节以及分别与所述第四关节和所述第六关节转动连接的第五关节。
在一个实施方式中，第一关节的旋转轴与所述台车机架的高度方向平行，并与所述第二关节的旋转轴垂直。
在一个实施方式中，所述第四关节的旋转轴、所述第五关节的旋转轴以及所述第六关节的旋转轴相互垂直。
在一个实施方式中，所述台车机架包括底座以及固定设置在所述底座上的立柱，所述机械臂设置在所述立柱上。
在一个实施方式中，所述立柱的侧面设置有转接法兰，所述机械臂与所述转接法兰固定连接。
在一个实施方式中，所述立柱的顶端设置有机械接口，所述所述机械臂与所述机械接口固定连接。
在一个实施方式中，所述第一关节上与所述台车机架相连处设置有导线管，所述导线管的轴线方向分别与所述第一关节的轴线方向以及所述立柱的高度方向垂直。
在一个实施方式中，所述底座的底部分别设置有两个定向脚轮和两个具有刹车功能的万向脚轮。
与现有技术相比，本发明的优点在于：由于机械臂具有至少六个自由度，因此机械臂能够完全模仿人体手臂的运动范围，其灵活性与人体的手臂无异，从而将实际需要操作的病灶位置精确地进行定位而无需医生进行辅助操作。
附图说明
在下文中将基于实施例并参考附图来对本发明进行更详细的描述。
图1是本发明的其中一个实施例中腹腔镜手术持镜机器人系统的工作示意图；
图2是本发明的其中一个实施例中腹腔镜手术持镜机器人系统的立体结构示 意图(图中未示出手术工具)；
图3是图2所示的机械臂的结构示意图；
图4是图1所示的机械臂的一个机械极限位置示意图(图中未示出手术工具)；
图5是图1所示的底座的立体结构示意图。
图6是本发明的另一个实施例中腹腔镜手术持镜机器人系统的工作示意图；
图7是本发明的另一个实施例中腹腔镜手术持镜机器人系统的立体结构示意图(图中未示出手术工具)；
图8是图6所示的底座的立体结构示意图；
图9是图6所示的延长板的立体结构示意图；
图10是图6所示的延长板的爆炸图。
附图标记：
1-台车机架；          2-手术工具；           3-机械臂；
5-导线管；            6-转接法兰；           11-底座；
12-立柱；             13-壳体；              31-第一关节；
32-第二关节；         33-第三关节；          34-第四关节；
35-第五关节；         36-第六关节；          111-定向脚轮；
112-万向脚轮；        113-连接板。
具体实施方式
下面将结合附图对本发明作进一步说明。
如图1所示，本发明提供一种腹腔镜手术持镜机器人系统，包括台车机架1、手术工具2以及设置在台车机架1上的机械臂3。在腹腔镜手术中，手术工具2为内窥镜，当然，手术工具2还可以是微创手术中所需的其他器械。
手术工具2固定在机械臂3的前端，其中，机械臂3具有至少六个自由度。例如，机械臂3可以具有六个转动自由度和一个以上的平动自由度。
根据本发明的第一个方面，机械臂3的六个转动自由度的实现方式如下。
机械臂3包括末端关节以及分别与第一连臂37和第二连臂38相连的中间关节，末端关节包括与台车机架1相连的第一关节31以及与手术工具2的安装座21相连的第六关节36。
进一步地，中间关节包括与第一关节31转动连接的第二关节32、连接第一连臂37和第二连臂38的第三关节33、与第二连臂38转动连接的第四关节34以及分别与第四关节34和第六关节36转动连接的第五关节35。即第一连臂37的两端分别与第二关节32和第三关节33相连，第一连臂37和第二连臂38之间的相对运动则靠第三关节33实现。
如图2(或图7)所示，第一关节31的旋转轴L1与台车机架1的高度方向平行，并与第二关节2的旋转轴L2垂直。第四关节34的旋转轴L4、第五关节35的旋转轴L5以及第六关节36的旋转轴L6相互垂直。通过上述的六个关节的旋转，能够实现机械臂3的六个转动自由度，从而机械臂3的动作能够完全模仿人体的手臂运动，从而将实际需要操作的病灶位置精确地进行定位而无需医生的辅助操作，使医生的视线与需要操作的病灶位置重合，避免了医生手眼不一致而增大手术的风险。
另外，上述的六个关节上均可设置关节传感器，以测量各关节的转动角度，从而获得内窥镜当前姿态信息；并且上述的六个关节均可通过马达进行驱动。
进一步地，上述的每个关节都是动作的执行单元，各执行单元之间串联，使得各个关节之间具有较好的各向同性，且无累积误差，使得机器人整机具有较高的精度，并具有动态响应好等技术特点。
第二连臂38以第三关节33的轴线为旋转轴进行旋转时，最大旋转角度为360°。如图4所示，为第二连臂38的一个机械极限位置。
第一连臂37以第二关节32的轴线为旋转轴进行旋转时，最大旋转角度为180°。
在本发明的一个实施例中，上述的机械臂3的数量可以是两个或者两个以上，多个机械臂3可以固定在台车机架1的不同侧部，以及机械臂3的末端可以安装有不同的手术工具2，从而满足复杂手术的要求。
如图5(或图8)所示，台车机架1包括底座11以及固定设置在底座11上 的立柱12，机械臂3设置在立柱12上。底座11和立柱12均设置在壳体13的内部，壳体13不仅将控制部件和机械部件进行集成，更能起到美观的作用。
其中，底座11上设置有连接板113，连接板113的一端与底座11的底面固定连接，另一端与壳体13固定连接。具体地，连接板113构造为L形，在连接板113上与外壳相连处设置有线缆伸出口。另外，为了增强连接板113的强度，在连接板113上设置有加强肋。
在本发明的一个实施例中，机械臂3设置在立柱12的侧面。
可选地，立柱12的侧面设置有转接法兰6，机械臂3与转接法兰6固定连接。其中，转接法兰6构造为L形，其一端与立柱12的侧面固定连接，另一端与第一关节31的底端固定连接。
根据本发明的第二个方面，机械臂3的一个平动自由度的实现方式如下。
立柱12上设置有滑套，机械臂3与滑套固定连接。滑套能够在立柱12上滑动，从而实现机械臂3的一个平动自由度。
在本发明的一个实施例中，机械臂3设置在立柱12的顶端。其中，立柱12的顶端设置有机械接口，机械臂3与机械接口固定连接。
当机械臂3设置在立柱12的侧面时，壳体13的上端设置有指示灯和/或控制按钮，以方便对机械臂3进行控制。
另外，壳体13上与机械臂3相对的另一侧还可设置有支板，可以作为支撑台使用。
如图3所示，第一关节31上与台车机架1相连处设置有导线管7，导线管7的轴线方向分别与第一关节31的轴线方向以及立柱12的高度方向垂直。类似地，第六关节36与安装座21相连处也设置有导线管，以对关节中引出的导线进行保护。
底座11的底部分别设置有两个定向脚轮111和两个具有刹车功能的万向脚轮112。万向脚轮112上可以设置有刹车片等刹车装置，以实现定点停车的功能。
另外，为了方便操作，定向脚轮111设置在立柱12的前侧，万向脚轮112设置在立柱12的后侧。
另外需要说明的是，本发明的腹腔镜手术持镜机器人系统，其RCM点由控制部件的算法进行保证。
在本发明的一个实施例中，手术工具2(即内窥镜)通过安装座21与第六关节36相连。其中，安装座21上设置有底板，底板上设置有快卸装置，通过快卸装置可实现手术工具与机械臂3之间的快速拆卸和安装。
在上述实施例的基础上，在本发明的另一个实施例中，如图6所示，本发明提供一种腹腔镜手术持镜机器人系统，包括台车机架1、手术工具2以及设置在台车机架1上的机械臂3。机械臂3的前端设置有具有快卸装置的延长板4，手术工具2通过快卸装置固定在延长板4上，具体的固定方式将在下文进行详细的说明。
如图10所示，延长板4的底端设置有安装部47，安装部47设置在安装座21上中，延长板4具有快卸装置，通过快卸装置可实现手术工具与机械臂3之间的快速拆卸和安装。
具体来说，如图9和10所示，延长板上设置有上连接块41和下连接块42，上连接块41和下连接块42铰接，上连接块41和下连接块42上分别设置有一个半圆形的凹槽，当上连接块41和下连接块42合拢之后，两个半圆形的凹槽则组成一个安装孔，内窥镜的前端伸入安装孔中，后端则与延长板4接触，从而在延长板4上形成两个支点，以对内窥镜进行稳定的支撑。
将内窥镜设置在安装孔中后，通过第一快卸装置，即锁紧销轴43将上连接块41和下连接块42进行锁紧，从而将内窥镜固定在安装孔中。具体地，锁紧销轴43可在上连接块41和下连接块42中转动，并与下连接块42底部的凸台卡合，使上连接块41和下连接块42锁紧。
另外，下连接块42的底部设置转接块44，转接块44与延长板4之间通过第二快卸装置，即弹性卡块进行固定。具体地，弹性卡块设置在延长板4的内部，延长板4的底部设置有盖板46，弹性卡块与延长板4之间通过压缩弹簧可产生相对运动。弹性卡块的一端插入转接块44中，与转接块44卡合连接，从而使转接块44固定在延长板4上。当需要进行拆卸时，按下锁紧按钮45，则使弹性卡块向远离转接块44的方向移动，从而使弹性卡块与转接块44之间不再产生卡合关系，转接块44则可从延长板4上取下，从而实现快速拆卸的目的。
虽然已经参考优选实施例对本发明进行了描述，但在不脱离本发明的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只 要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (30)

  1. 一种腹腔镜手术持镜机器人系统，其特征在于，包括台车机架(1)、手术工具(2)以及设置在所述台车机架(1)上的机械臂(3)，所述手术工具(2)固定在所述机械臂(3)的前端，其中，所述机械臂(3)具有至少六个自由度。
  2. 根据权利要求1所述的腹腔镜手术持镜机器人系统，其特征在于，所述机械臂(3)包括末端关节以及分别与第一连臂(37)和第二连臂(38)相连的中间关节，所述末端关节包括与所述台车机架(1)相连的第一关节(31)以及与所述手术工具(2)的安装座(21)相连的第六关节(36)。
  3. 根据权利要求2所述的腹腔镜手术持镜机器人系统，其特征在于，所述中间关节包括与所述第一关节(31)转动连接的第二关节(32)、连接所述第一连臂(37)和所述第二连臂(38)的第三关节(33)、与所述第二连臂(38)转动连接的第四关节(34)以及分别与所述第四关节(34)和所述第六关节(36)转动连接的第五关节(35)。
  4. 根据权利要求3所述的腹腔镜手术持镜机器人系统，其特征在于，所述第二连臂(38)以所述第三关节(33)的轴线为旋转轴进行旋转时，最大旋转角度为360°。
  5. 根据权利要求3所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一连臂(37)以所述第二关节(32)的轴线为旋转轴进行旋转时，最大旋转角度为180°。
  6. 根据权利要求4所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一连臂(37)以所述第二关节(32)的轴线为旋转轴进行旋转时，最大旋转角度为180°。
  7. 根据权利要求3所述的腹腔镜手术持镜机器人系统，其特征在于，所述台车机架(1)包括底座(11)以及固定设置在所述底座(11)上的立柱(12)，所述机械臂(3)设置在所述立柱(12)上。
  8. 根据权利要求7所述的腹腔镜手术持镜机器人系统，其特征在于，所述立柱(12)的侧面设置有转接法兰(6)，所述机械臂(3)与所述转接法兰(6)固定连接。
  9. 根据权利要求7所述的腹腔镜手术持镜机器人系统，其特征在于，所述立柱(12)的顶端设置有机械接口，所述所述机械臂与所述机械接口固定连接。
  10. 根据权利要求7所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5)，所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
  11. 根据权利要求8所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5)，所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
  12. 根据权利要求9所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5)，所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
  13. 根据权利要求7所述的腹腔镜手术持镜机器人系统，其特征在于，所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
  14. 根据权利要求8所述的腹腔镜手术持镜机器人系统，其特征在于，所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
  15. 根据权利要求9所述的腹腔镜手术持镜机器人系统，其特征在于，所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
  16. 一种腹腔镜手术持镜机器人系统，其特征在于，包括台车机架(1)、手术工具(2)以及设置在所述台车机架(1)上的机械臂(3)，所述机械臂(3)的前端设置有具有快卸装置的延长板(4)，所述手术工具(2)通过所述快卸装置固定在所述延长板(4)上，其中，所述机械臂(3)具有至少六个自由度。
  17. 根据权利要求16所述的腹腔镜手术持镜机器人系统，其特征在于，所述机械臂(3)包括末端关节以及分别与第一连臂(37)和第二连臂(38)相连 的中间关节，所述末端关节包括与所述台车机架(1)相连的第一关节(31)以及与所述手术工具(2)的安装座(21)相连的第六关节(36)。
  18. 根据权利要求17所述的腹腔镜手术持镜机器人系统，其特征在于，所述中间关节包括与所述第一关节(31)转动连接的第二关节(32)、连接所述第一连臂(37)和所述第二连臂(38)的第三关节(33)、与所述第二连臂(38)转动连接的第四关节(34)以及分别与所述第四关节(34)和所述第六关节(36)转动连接的第五关节(35)。
  19. 根据权利要求18所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一关节(31)的旋转轴与所述台车机架(1)的高度方向平行，并与所述第二关节(32)的旋转轴垂直。
  20. 根据权利要求18所述的腹腔镜手术持镜机器人系统，其特征在于，所述第四关节(34)的旋转轴、所述第五关节(35)的旋转轴以及所述第六关节(36)的旋转轴相互垂直。
  21. 根据权利要求19所述的腹腔镜手术持镜机器人系统，其特征在于，所述第四关节(34)的旋转轴、所述第五关节(35)的旋转轴以及所述第六关节(36)的旋转轴相互垂直。
  22. 根据权利要求18所述的腹腔镜手术持镜机器人系统，其特征在于，所述台车机架(1)包括底座(11)以及固定设置在所述底座(11)上的立柱(12)，所述机械臂(3)设置在所述立柱(12)上。
  23. 根据权利要求22所述的腹腔镜手术持镜机器人系统，其特征在于，所述立柱(12)的侧面设置有转接法兰(6)，所述机械臂(3)与所述转接法兰(6)固定连接。
  24. 根据权利要求22所述的腹腔镜手术持镜机器人系统，其特征在于，所述立柱(12)的顶端设置有机械接口，所述所述机械臂与所述机械接口固定连接。
  25. 根据权利要求22所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5)，所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
  26. 根据权利要求23所述的腹腔镜手术持镜机器人系统，其特征在于，所 述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5)，所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
  27. 根据权利要求24所述的腹腔镜手术持镜机器人系统，其特征在于，所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5)，所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
  28. 根据权利要求22所述的腹腔镜手术持镜机器人系统，其特征在于，所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
  29. 根据权利要求23所述的腹腔镜手术持镜机器人系统，其特征在于，所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
  30. 根据权利要求24所述的腹腔镜手术持镜机器人系统，其特征在于，所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
PCT/CN2018/097541 2018-04-17 2018-07-27 一种腹腔镜手术持镜机器人系统 WO2019200773A1 (zh)

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