WO2020125733A1 - 连接组件、操作臂、从操作设备及手术机器人 - Google Patents

连接组件、操作臂、从操作设备及手术机器人 Download PDF

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Publication number
WO2020125733A1
WO2020125733A1 PCT/CN2019/126774 CN2019126774W WO2020125733A1 WO 2020125733 A1 WO2020125733 A1 WO 2020125733A1 CN 2019126774 W CN2019126774 W CN 2019126774W WO 2020125733 A1 WO2020125733 A1 WO 2020125733A1
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WIPO (PCT)
Prior art keywords
connection
rotating shafts
connection portion
unit
assembly
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PCT/CN2019/126774
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English (en)
French (fr)
Inventor
王建辰
高元倩
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深圳市精锋医疗科技有限公司
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Publication of WO2020125733A1 publication Critical patent/WO2020125733A1/zh

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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
    • A61B34/37—Master-slave 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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

Definitions

  • the invention relates to the field of minimally invasive surgery, in particular to a connecting component and an operating arm, a slave operating device, and a surgical robot using the connecting component.
  • Minimally invasive surgery refers to a surgical method that uses laparoscopy, thoracoscopy and other modern medical instruments and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Minimally invasive surgical robots usually include a master operating station and a slave operating device.
  • the master operating station is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device, and the slave operating device is used to respond to the control command sent by the master operating station. And perform the corresponding operation.
  • Slave operation equipment usually includes a mechanical arm and an operating arm provided on the mechanical arm.
  • the mechanical arm is used to adjust the position of the operating arm
  • the operating arm is used to extend into the body, and perform a surgical operation, wherein the operating arm has a connection assembly to flexibly Perform surgical operations.
  • the controllability of the connection components of the slave operation equipment is currently poor, which affects the operation accuracy of the surgical robot during the operation.
  • connection assembly with better controllability, an operation arm, a slave operation device, and a surgical robot using the connection assembly.
  • a connection component including:
  • connection unit has a connection portion, and the connection portion includes a matching first connection portion and/or a second connection portion, which are respectively used for connecting with the second connection portion and/or the first connection portion of the adjacent connection unit
  • connection part is connected;
  • the rotating part has two rotating shafts and a connecting piece connecting the two rotating shafts.
  • the two rotating shafts are used to connect the two adjacent connecting units respectively to form a joint assembly. In order to fix the distance between the two rotating shafts connected thereto, so that the first connecting portion and the second connecting portion move relatively when the joint assembly rotates.
  • An operation arm includes the above-mentioned connection assembly and an end instrument, and the end instrument is disposed on the connection unit at a distal end of the connection assembly.
  • a slave operation device including:
  • the power mechanism is connected to the operation arm and is used to drive the operation arm;
  • the mechanical arm is connected to the power mechanism and used to adjust the position of the operating arm.
  • a surgical robot including: a master operating table and the above slave operating equipment,
  • the master operating station is used to send a control command to the slave operating device according to the doctor's operation to control the slave operating device, and the slave operating device is used to respond to the control command sent by the master operating station and perform corresponding operations .
  • FIG. 1 is a schematic structural diagram of an embodiment of a surgical robot according to the present invention.
  • FIG. 2 is a partial schematic diagram of an embodiment of the slave operating device of the present invention.
  • FIG. 3 is a partial schematic diagram of an embodiment of the slave operating device of the present invention.
  • connection assembly 4 is a schematic structural diagram of an embodiment of a connection assembly of the present invention.
  • FIG. 5 is a schematic structural diagram of another state of the connection assembly shown in FIG. 4;
  • FIG. 6 is a schematic structural diagram of an embodiment of a connection assembly of the present invention.
  • connection assembly 7 is a schematic structural diagram of an embodiment of a connection assembly of the present invention.
  • connection unit 8 is an exploded view of an embodiment of the connection unit of the present invention.
  • connection unit 9 is a schematic structural diagram of the connection unit shown in FIG. 8.
  • connection assembly 10 is a schematic structural diagram of an embodiment of a connection assembly of the present invention.
  • connection assembly of the present invention is an exploded view of an embodiment of the connection assembly of the present invention.
  • connection assembly 12 is a schematic structural diagram of an embodiment of a connection assembly of the present invention.
  • FIG. 13 is a partial structural diagram of the connection assembly shown in FIG. 12.
  • distal and proximal are used as position words, which is a common term in the field of interventional medical devices, where “distal” means the end away from the operator during the operation, and “proximal” means the operation The end near the operator during the process.
  • FIGS. 1 to 3 are respectively a schematic structural view of an embodiment of the surgical robot of the present invention, and a partial schematic view of different embodiments of the slave operating device 2.
  • the surgical robot includes a master operating table 1 and a slave operating device 2.
  • the master operating station 1 is used to send a control command to the slave operating device 2 according to the doctor's operation to control the slave operating device 2, and it is also used to display the images acquired from the slave device.
  • the slave operating device 2 is used to respond to the control command sent by the master operating station 1 and perform corresponding operations, and the slave operating device 2 is also used to acquire in-vivo images.
  • the slave operation device 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, an operation arm 23 provided on the power mechanism 22, and a sleeve 24 in which the operation arm 23 is sleeved.
  • the mechanical arm 21 is used to adjust the position of the operating arm 23;
  • the power mechanism 22 is used to drive the operating arm 23 to perform corresponding operations;
  • the operating arm 23 is used to extend into the body and perform surgical operations through its distal-end instrument, and/or Acquire in vivo images.
  • the operating arm 23 is penetrated with a sleeve 24, and the instrument at the end thereof extends out of the sleeve, and is driven by the power mechanism 22 to perform the operation.
  • FIG. 2 and FIG. 3 the operating arm 23 is penetrated with a sleeve 24, and the instrument at the end thereof extends out of the sleeve, and is driven by the power mechanism 22 to perform the operation.
  • the region where the operating arm 23 is located in the casing is a rigid region; in FIG. 3, the region where the operating arm 23 is located in the casing is a flexible region, and the casing bends with the flexible region.
  • the sleeve may also be omitted, in which case no sleeve is required.
  • the power mechanism 22 has a plurality of power parts, and each power part is correspondingly connected to an operating arm 23.
  • multiple power mechanisms 22 may be provided on a single machine
  • the arm 21 may be provided on a plurality of robot arms 21. It should be noted that a plurality of operating arms 23 may also extend into the body from multiple incisions, for example, two operating arms 23 extend into each incision, and another example, one operating arm 23 extends into each incision.
  • the slave operation device 2 further includes a stamp card, which is used to penetrate the incision on the human body and is fixedly arranged in the incision area, and the operation arm 23 extends into the body through the stamp card.
  • the operating arm 23 has a connection assembly 10 and an end instrument provided on the connection assembly. As shown in the embodiments of FIGS. 4 and 5, these are schematic structural views of the connection assembly 10 in different states.
  • the connection assembly 10 includes a connection unit 100 and a rotating part 200.
  • the connection unit 100 has a connection portion 110 for matching connection with the connection portion 110 on the adjacent connection unit 100.
  • the connecting portion 110 includes a matching first connecting portion 111 and/or a second connecting portion 112, which are respectively used to connect with the second connecting portion 112 and/or the first connecting portion of the adjacent connecting unit 100 111 is connected.
  • the rotating part 200 has two rotating shafts 210 and a connecting member 220 connecting the two rotating shafts 210.
  • the two rotating shafts 210 are used to connect two adjacent connecting units 100 respectively, so that the two adjacent connecting units 100 rotate relatively. And form a joint assembly, wherein the connecting member 220 fixes the distance between the two rotating shafts 210, when the joint assembly rotates, the distance between the two rotating shafts 210 does not change, the first connecting portion 111, the second connection The portion 112 moves relatively.
  • connection assembly 10 has high connection strength and long service life, and the connection member 220 makes the control of the connection assembly 10 more accurate when rotating, thereby improving the surgical accuracy.
  • the first connection portion 111 is rotatable relative to the second connection portion 112 and movable along the second connection portion 112. Wherein, the relative distance between the first connecting portion 111 and the movable portion along the second connecting portion 112 changes, for example, the second connecting portion 112 approaches or moves away from the first connecting portion 111.
  • the first connection portion 111 is a protrusion extending along the connection unit 100
  • the second connection portion 112 is a groove formed in the connection unit 100
  • the first connection portion 111 is received in the second connection portion 112.
  • the groove has a storage area 112A and a movement area 112B.
  • the storage area 112A is located at the bottom of the groove and matches the end of the protrusion.
  • the movement area 112B is used to restrict the movement of the first connection portion 111.
  • the protrusion rotates within the groove and moves along the movement area 112B of the groove.
  • the convex end has a curved surface.
  • the bottom of the groove may also be non-matched with the protrusion, as long as the protrusion can be rotated in the groove.
  • the groove is rectangular, and the protrusion has an arc surface, which is in contact with the side wall and/or bottom wall of the groove and rotates.
  • the moving direction of the first connecting portion 111 relative to the second connecting portion 112 is the same as the direction of extension of the joint assembly when it is oscillated, as shown in FIG. 5.
  • the articulation of the joint assembly means that the extending direction of the connecting unit 100 in the joint assembly is the same, that is, the angle between the connecting units 100 in the joint assembly is 180 degrees.
  • the direction of movement of the first connecting portion 111 relative to the second connecting portion 112 may also form an angle other than 180 degrees with the direction of extension of the joint assembly at the timing of swinging.
  • the included angle is obtuse; for another example, the included angle is 150-170 degrees.
  • the first connecting portion 111, the second connecting portion 112, and the rotating shaft 210 are arranged along a straight line.
  • the first connection portion 111 and the second connection portion 112 are located between the two rotation shafts 210.
  • the connecting portion 110 and the rotating shaft 210 may also be arranged in other ways when the joint assembly is oscillated.
  • the connection portion 110 and the rotation shaft 210 are arranged in a line when the joint assembly rotates by 30 degrees.
  • the two connecting parts 110 are arranged in parallel with the two rotating shafts 210, that is, the connecting parts 110 and the rotating part 200 are arranged in two rows, the connecting parts are arranged in one row, and the rotating parts are arranged in one row, and Interval setting.
  • first connecting portion 111 and the second connecting portion 112 may also be other structures, so as to ensure that the distance between the two rotating shafts 210 is fixed.
  • connection unit 100 has two connection portions 110 for connecting to the connection portion 110 corresponding to the connection unit 100 adjacent thereto.
  • Two of the connection parts 110 are located on different areas of the connection unit 100, for example, the two connection parts 110 are arranged oppositely.
  • the two connection units 100 can be set as needed.
  • both connection parts 110 are first connection parts 111
  • the connection unit 100 adjacent thereto has two second connection parts 112, and correspondingly connected to the first connection parts 111; again, the two connection parts 110 are both It is the second connection part 112; for another example, the two connection parts 110 are the first connection part 111 and the second connection part 112, respectively.
  • the number of the connection parts 110 on each connection unit 100 may be other numbers.
  • two groups of connection parts 110 are provided, and each group is connected to each other through a first connection part 111 and a second connection part 112, that is, each connection unit 100
  • Two connection portions 110 are provided at one end near the connection member 220.
  • the connecting member 220 is located between the two sets of connecting parts 110.
  • the first connection portion 111 corresponds to the second connection portion 112 one by one, that is, each first connection portion 111 on the connection unit 100 is connected to the corresponding second connection portion 112.
  • one first connecting portion 111 may correspond to multiple second connecting portions 112, or one second connecting portion 112 corresponds to multiple first connecting portions 111.
  • one first connecting portion 111 corresponds to two second connecting portions 112, and two adjacent connecting units 100 at this time have two connection states, which are different from the first connecting portion 111 and the different
  • the second connection part 112 is connected to change the relative position of two adjacent connection units 100.
  • the plurality of second connection portions 112 are symmetrically arranged. When the first connection portion 111 is connected to different second connection portions 112, the rotation directions of the joint components are different.
  • the two opposite ends of the connecting unit 100 have connecting parts 110, that is, both ends of the connecting unit 100 are adjacent to each other.
  • the connection unit 100 is connected.
  • the connecting portions of the two ends can be set as required.
  • one end is the first connection portion 111
  • one end is the second connection portion 112;
  • one end includes a plurality of connection portions 110, and the plurality of connection portions have the first connection portion 111 and the second connection portion 112.
  • the connection unit 100 may have the connection portion 110 at only one end.
  • connection unit 100 has a body 120, and the connection part 110 is disposed on the body 120, wherein each connection unit 100 can have only one body 120 as shown in the embodiment shown in FIGS. 4 to 7, or can be as shown in FIGS. As shown in the embodiment shown in FIG. 9, there are multiple bodies 120, which makes the connection unit more flexible to install and set up.
  • the connection unit 100 includes two bodies 120.
  • the body 120 is provided with a body connection portion 130, and the two bodies 120 are connected by a matching body connection portion 130 so that the two bodies face each other.
  • the body connecting portion 130 has a first body connecting portion 131 and/or a second body connecting portion 132 for connecting to the second body connecting portion 132 and/or the first body connecting portion 131 of the adjacent body.
  • both ends of each body 120 may be provided with body connection parts 130, or only one end may be provided with body connection parts 130.
  • one end of the body 120 is provided with a body connection portion 130 and the other end is provided with a connection portion 110; or, one end of the body 120 is provided with a body connection portion 130 and the other end is an end portion for connecting components, and no body connection portion or connection portion is provided.
  • the body connection part 130 at one end of the body 120 may be one or more, both may be the first body connection part, or the second body connection part, or may also include the first The body connection part and the second body connection part.
  • first body connection part and the second body connection part may be the same as the first connection part and the second connection part.
  • one of the connection units has a plurality of first body connection parts, and the second body connection part of the other connection unit is connected to one of the second body connection parts. It will not be repeated here.
  • a joint assembly may include multiple connection units, for example, three, four, etc., wherein the multiple connection units 100 may have the same structure or different structures.
  • the joint assembly includes two connection units 100, wherein the first connection unit 100 has a connection portion 110 at only one end, the second connection unit 100 has a connection portion 110 at both ends, one end is connected to the first connection unit 100, and the other end Used to connect another connection unit 100.
  • at least part of the connection unit 100 has a different body structure.
  • the plurality of connection units 100 in the connection assembly 10 have the same partial structure and different partial structures.
  • the rotating shaft 210 penetrates the connecting unit 100, that is, both ends of the rotating shaft 210 are connected to the connecting unit 100.
  • the rotating shaft can be disposed on at least one of the bodies according to actual needs on.
  • the rotating shaft 210 is a long shaft and penetrates the connecting unit 100. In other embodiments, the rotation shaft 210 may also not penetrate the connection unit 100.
  • the two rotation shafts 210 connected to one connection member 220 are only connected to one side of the connection unit 100.
  • there are two connecting members 220 the rotating shafts connected by the two connecting members are arranged at intervals, and the two rotating shafts connected to the same connecting unit 100 correspond to each other, and the two rotating shafts 210 are respectively connected to the connecting unit
  • the different regions of 100 are connected, and the two rotating shafts 210 are coaxial, that is, each rotating shaft 210 is connected to one side of the connection unit 100.
  • the two rotating shafts 210 connected to the connecting member 220 may both be long shafts, penetrating both sides of the connecting unit 100, or as shown in FIG. 4, both connected only to the connecting unit One side is connected, or as shown in FIG. 11, one may penetrate both sides of the connection unit, and one may only be connected to one side of the connection unit.
  • both ends of the connecting unit 100 are connected to the rotating shaft.
  • the rotating shafts at both ends can be arranged in parallel or can form an angle with each other.
  • the rotation axes at the ends are perpendicular to each other.
  • the angle between the rotation axes at the two ends of the same connecting unit is an acute angle.
  • the rotating part 200 includes two connecting members 220 arranged at intervals, and two ends of the connecting member 220 are respectively connected to the two rotating shafts 210. When one of the rotating shafts penetrates the connecting unit, both connecting units are connected to the rotating shaft. In other embodiments, the number of the connecting member 220 may also be other numbers.
  • the rotating part 200 further includes a connecting plate 230.
  • the connecting plate 230 is connected to the plurality of connecting pieces 220.
  • the connecting piece 220 is provided with an installation position 221, and the connecting plate 230 is snap-fitted with the installation position 221, so that the two connecting pieces 220 are connected through the connecting plate 230 and rotate synchronously.
  • connection assembly 10 further includes a driving part (not shown) for driving the joint assembly to rotate.
  • the driving part may be a driving structure such as a driving wire or a driving rod.
  • the driving part driving the same joint assembly is arranged parallel to the connecting member 220.
  • one joint assembly is driven by two driving wires, and the two driving wires are symmetrically and parallel to the connecting member 220.
  • the driving part may also be arranged non-parallel to the connecting member 220.
  • the length of each driving wire changes substantially the same.
  • the driving wire is arranged symmetrically with respect to the connecting member 220.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
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Abstract

一种控制性较好的连接组件（10）及应用连接组件（10）的操作臂（23）、从操作设备（2）、手术机器人，其中，连接组件（10）包括连接单元（100）及转动部（200），连接单元（100）具有连接部（110），连接部（110）包括匹配的第一连接部（111）及/或第二连接部（112），分别用于与相邻连接单元（100）的第二连接部（112）及/或第一连接部（111）相连接；转动部（200）具有两个转动轴（210）及连接两个转动轴（210）的连接件（220），两个转动轴（210）用于分别连接相邻两个连接单元（100），以形成一个关节组件，连接件（220）用于令与其连接的两个转动轴（210）之间的距离固定，以使关节组件转动时，第一连接部（111）、第二连接部（112）相对运动。

Description

连接组件、操作臂、从操作设备及手术机器人
本发明要求于2018年12月20日提交中国专利局、申请号为201811565441.0、申请名称为“连接组件、操作臂、从操作设备及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及微创手术领域，特别是涉及一种连接组件及应用连接组件的操作臂、从操作设备、手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。
从操作设备通常包括机械臂及设置于机械臂上的操作臂，机械臂用于调节操作臂的位置，操作臂用于伸入体内，并执行手术操作，其中，操作臂具有连接组件以灵活地进行手术操作。然而，目前从操作设备的连接组件控制性较差，影响了手术机器人在手术过程中的操作精度。
发明内容
基于此，有必要提供一种控制性较好的连接组件及应用该连接组件的操作臂、从操作设备、手术机器人。
一种连接组件，包括：
连接单元，具有连接部，所述连接部包括匹配的第一连接部及/或第二连接部，分别用于与相邻所述连接单元的所述第二连接部及/或所述第一连接部相连接；
转动部，具有两个转动轴及连接两个所述转动轴的连接件，两个所述转动轴用于分别连接相邻两个所述连接单元，以形成一个关节组件，所述连接件用于令与其连接的两个所述转动轴之间的距离固定，以使所述关节组件转动时，所述第一连接部、所述第二连接部相对运动。
一种操作臂，包括上述所述的连接组件以及末端器械，所述末端器械设置于所述连接组件中远端的所述连接单元上。
一种从操作设备，包括：
上述操作臂；
动力机构，与所述操作臂相连接，用于驱动所述操作臂；
机械臂，与所述动力机构相连接，用于调节所述操作臂的位置。
一种手术机器人，包括：主操作台及上述从操作设备，
所述主操作台用于根据医生的操作向所述从操作设备发送控制命令，以控制所述从操作设备，所述从操作设备用于响应主操作台发送的控制命令，并进行相应的操作。
附图说明
图1为本发明手术机器人一实施例的结构示意图；
图2为本发明从操作设备一实施例的局部示意图；
图3为本发明从操作设备一实施例的局部示意图；
图4为本发明连接组件一实施例的结构示意图；
图5为图4所示连接组件另一状态的结构示意图；
图6为本发明连接组件一实施例的结构示意图；
图7为本发明连接组件一实施例的结构示意图；
图8为本发明连接单元一实施例的爆炸图；
图9为图8所示连接单元的结构示意图；
图10为本发明连接组件一实施例的结构示意图；
图11为本发明连接组件一实施例的爆炸图；
图12为本发明连接组件一实施例的结构示意图；
图13为图12所示连接组件的局部结构示意图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施方式。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本发明的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦合”另一个元件，它可以是直接耦合到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本文所使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1至图3所示，其分别为本发明手术机器人一实施例的结构示意图，及从操作设备2不同实施例的局部示意图。
手术机器人包括主操作台1及从操作设备2。其中，主操作台1用于根据医生的操作向从操作设备2发送控制命令，以控制从操作设备2，其还用于显示从设备获取的影像。从操作设备2用于响应主操作台1发送的控制命令，并进行相应的操作，并且从操作设备2还用于获取体内的影像。
具体地，从操作设备2包括机械臂21、设置于机械臂21上的动力机构22、设置于动力机构22上的操作臂23，以及套设操作臂23的套管24。机械臂21用于调节操作臂23的位置；动力机构22用于驱动操作臂23执行相应操作；操作臂23用于伸入体内，并通过其位于远端的末端器械执行手术操作，及/或获取体内影像。具体的，如图2、图3所示，操作臂23穿设套管24，其末端器械伸出套管外，并通过动力机构22驱动其执行操作。图2中，操作臂23位于套管内的区域为刚性区域；图3中，操作臂23位于套管内的区域为柔性区域，套管随柔性区域弯曲。其他实施例中，也可以省略套管，此时，无需套管。
一实施例中，操作臂23为多个，均设置于同一个动力机构22上，多个操作臂23的远端通过人体上的一个切口伸入体内，以使其末端器械移动至病灶附近进行手术操作。具体地，动力机构22具有多个动力部，每个动力部与一操作臂23对应连接。其他实施例中，动力机构22为多个，每个动力机构22上设置一个操作臂23，且多个操作臂23从一个切口伸入体内，此时多个动力机构22既可以设置于一个机械臂21上，也可以设置于多个机械臂21上。需要说明的是，多个操作臂23也可以从多个切口伸入体内，例如，每个切口内伸入两个操作臂23，再如，每个切口内伸入一个操作臂23。
一实施例中，从操作设备2还包括戳卡，戳卡用于穿设人体上的切口，并固定设置于切口区域，操作臂23通过戳卡伸入到体内。
操作臂23具有连接组件10及设置于连接组件上的末端器械，如图4、图5实施例所示，其分别为连接组件10不同状态的结构示意图。连接组件10包括连接单元100及转动部200。其中，连接单元100具有连接部110，用于与相邻的连接单元100上的连接部110匹配连接。具体地，一实施例中， 连接部110包括匹配的第一连接部111及/或第二连接部112，分别用于与相邻连接单元100的第二连接部112及/或第一连接部111相连接。转动部200具有两个转动轴210及连接两个转动轴210的连接件220，两个转动轴210用于分别连接相邻两个连接单元100，以使相邻两个连接单元100相对转动，并形成一个关节组件，其中，连接件220令两个转动轴210之间的距离固定，当关节组件转动时，两个转动轴210之间的距离不变，第一连接部111、第二连接部112相对运动。
上述连接组件10连接强度大，使用寿命长，连接件220令连接组件10转动时控制更加准确，从而提高手术精度。
一实施例中，第一连接部111相对第二连接部112可转动，且沿第二连接部112可移动。其中，第一连接部111沿第二连接部112可移动指两者之间的相对距离改变，例如第二连接部112靠近或远离第一连接部111。
一实施例中，第一连接部111为沿连接单元100延伸的凸起，第二连接部112为开设于连接单元100上的凹槽，第一连接部111收容于第二连接部112内。具体地，凹槽具有收纳区域112A及移动区域112B，收纳区域112A位于凹槽的底部，且与凸起的端部匹配，移动区域112B用于限制第一连接部111的移动。当关节组件转动时，凸起在凹槽内转动，并沿凹槽的移动区域112B移动。本实施例中，凸起的端部具有弧面。需要说明的是，其他实施例中，凹槽的底部也可以与凸起非匹配设置，只要保证凸起可在凹槽内转动即可。例如，凹槽为矩形，凸起具有圆弧面，其与凹槽的侧壁及/或底壁相抵接，并转动。
一实施例中，第一连接部111相对第二连接部112的移动方向与关节组件摆正时的延伸方向相同，如图5所示。其中，关节组件摆正指关节组件中的连接单元100的延伸方向相同，即关节组件中的连接单元100之间的夹角为180度。其他实施例中，第一连接部111相对第二连接部112的移动方向也可以与关节组件摆正时的延伸方向形成非180度夹角。例如，夹角为钝角；再如，夹角为150～170度。
一实施例中，关节组件摆正时，第一连接部111、第二连接部112、转动轴210沿直线排列。并且，第一连接部111、第二连接部112位于两个转动轴210之间。其他实施例中，连接部110与转动轴210在关节组件摆正时也可以以其他方式排列。例如，连接部110与转动轴210在关节组件旋转30度时呈直线排列。再如，关节组件摆正时，两个连接部110与两个转动轴210并列间隔排列，即连接部110与转动部200排成两列，连接部排成一列，转动部排成一列，且间隔设置。
其他实施例中，第一连接部111、第二连接部112也可以为其他结构，保证两个转动轴210之间的距离固定即可。
一实施例中，连接单元100的一端具有两个连接部110，用于与与其相邻的连接单元100对应的连接部110相连接。其中两个连接部110位于连接单元100的不同区域上，例如，两个连接部110相对设置。并且两个连接单元100可根据需要进行设置。例如，两个连接部110均为第一连接部111，与其相邻的连接单元100具有两个第二连接部112，并与第一连接部111对应连接；再如，两个连接部110均为第二连接部112；又如，两个连接部110分别为第一连接部111、第二连接部112。
其他实施例中，每个连接单元100上的连接部110也可以为其他个数。如图6所示实施例中，关节组件中每个连接件220附近区域设置两组连接部110，每组通过第一连接部111、第二连接部112彼此连接，即每个连接单元100的一端在连接件220附近设置两个连接部110。进一步地，连接件220位于两组连接部110之间。再如，关节组件中，连接件220为两个，每个连接件220均与两组连接部110对应设置，即每个连接单元的连接端具有四个连接部。
一实施例中，第一连接部111与第二连接部112一一对应，即连接单元100上每个第一连接部111均与与其对应第二连接部112相连接。其他实施例中，一个第一连接部111也可以对应多个第二连接部112，或者一个第二连接部112对应多个第一连接部111。如图7所示实施例中，一个第一连接部111 对应两个第二连接部112，此时相邻的两个连接单元100具有两种连接状态，分别为第一连接部111与不同的第二连接部112连接，以改变相邻两个连接单元100的相对位置。再如，多个第二连接部112对称设置，当第一连接部111连接不同的第二连接部112时，关节组件的转动方向相异。
如图4、图5、图8、图9、图11、图12所示实施例中，连接单元100相对的两个端部均具有连接部110，即连接单元100的两端均与相邻的连接单元100相连接。其中，两个端部的连接部可根据需要进行设置。例如，一端为第一连接部111，一端为第二连接部112；再如，一端包括多个连接部110，多个连接部中具有第一连接部111、第二连接部112。其他实施例中，如图6、图7、图10所示，连接单元100也可以仅一端具有连接部110。
连接单元100具有本体120，连接部110设置于本体120上，其中每个连接单元100既可以如图4至图7所示实施例所示，仅具有一个本体120，也可以如图8、图9所示实施例所示，具有多个本体120，这样，令连接单元更灵活的安装与设置。
如图8、图9所示实施例中，连接单元100包括两个本体120，本体120上设有本体连接部130，两个本体120通过匹配的本体连接部130连接，以使两个本体相对静止。具体地，本体连接部130，具有第一本体连接部131及/或第二本体连接部132，用于与相邻本体的第二本体连接部132及/或第一本体连接部131相连接。其中，每个本体120的两端既可以均设有本体连接部130，也可以仅一端设有本体连接部130。例如，本体120的一端设置本体连接部130，另一端设置连接部110；或者，本体120的一端设置本体连接部130，另一端为连接组件的端部，不设置本体连接部或连接部。
进一步地，与连接部110相同，本体120一端的本体连接部130既可以为一个也可以为多个，既可以均为第一本体连接部，或第二本体连接部，也可以同时包括第一本体连接部及第二本体连接部。
需要说明的是，第一本体连接部、第二本体连接部的排列关系、位置关系、对应关系等可与第一连接部、第二连接部相同。例如，其中一个连接单 元上，具有多个第一本体连接部，另一个连接单元的第二本体连接部与其中一个第二本体连接部相连接。此处不再复述。
需要说明的是，一个关节组件中可包括多个连接单元，例如，三个、四个等，其中多个连接单元100既可以结构均相同，也可以结构不同。例如，关节组件包括两个连接单元100，其中第一连接单元100仅一端具有连接部110，第二连接单元100的两端均具有连接部110，其中一端与第一连接单元100连接，另一端用于连接另外的连接单元100。再如，至少部分连接单元100的本体结构相异。又如，连接组件10中的多个连接单元100，部分结构相同，部分结构相异。
一实施例中，转动轴210贯通连接单元100，即转动轴210的首尾两端均与连接单元100相连接，当连接单元具有多个本体时，转动轴可根据实际需要设置于其中至少一个本体上。
如图10所示实施例中，转动轴210为一长轴，并贯通连接单元100。其他实施例中，转动轴210也可以非贯通连接单元100，如图4所示实施例中，与一个连接件220连接的两个转动轴210均仅与连接单元100的一侧相连接，图4所示实施例中，连接件220为两个，两个连接件连接的转动轴间隔设置，与同一个连接单元100连接的两个转动轴彼此对应，该两个转动轴210分别与连接单元100的不同区域相连接，且两个转动轴210同轴，即每个转动轴210与连接单元100的一侧相连接。需要说明的是，如图10所示，与连接件220连接的两个转动轴210既可以均为长轴，贯通连接单元100的两侧，也可以如图4所示，均仅与连接单元的一侧相连接，或者如图11所示，也可以一个贯通连接单元的两侧，一个仅与连接单元的一侧相连接。
一实施例中，连接单元100的两端均与转动轴连接，此时，两端的转动轴既可以平行设置，也可以彼此形成角度，例如，图4所示实施例中，同一个连接单元两端的转动轴彼此垂直，再如，同一个连接单元两端的转动轴之间的夹角为锐角。
一实施例中，转动部200包括两个间隔设置的连接件220，连接件220 的两端分别连接两个转动轴210。当其中一个转动轴贯通连接单元时，两个连接单元均与该转动轴相连接。其他实施例中，连接件220也可以为其他数量。
进一步地，如图12、图13所示实施例中，转动部200还包括连接盘230，当连接件220为多个时，连接盘230与多个连接件220相连接。例如，连接件220为两个，分别位于连接盘230的相对两侧。具体地，连接件220上设有安装位221，连接盘230与安装位221卡接，以令两个连接件220通过连接盘230连接，且同步转动。
一实施例中，连接组件10还包括驱动部(图未示)，用于驱动关节组件转动，驱动部可为驱动丝、驱动杆等驱动结构。其中，驱动同一个关节组件的驱动部相对连接件220平行设置。例如，一个关节组件通过两根驱动丝驱动，两个驱动丝相对连接件220对称且平行设置。其他实施例中，驱动部也可以相对连接件220非平行设置。
一实施例中，当关节组件通过驱动丝驱动转动时，各驱动丝长度变化基本相同。例如，驱动丝相对连接件220对称设置。
关节组件中转动轴210及多个关节组件中的其他相关内容可参见申请号为201810211358.7的专利内容。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种连接组件，其特征在于，包括：
    连接单元，具有连接部，所述连接部包括匹配的第一连接部及/或第二连接部，分别用于与相邻所述连接单元的所述第二连接部及/或所述第一连接部相连接；
    转动部，具有两个转动轴及连接两个所述转动轴的连接件，两个所述转动轴用于分别连接相邻两个所述连接单元，以形成一个关节组件，所述连接件用于令与其连接的两个所述转动轴之间的距离固定，以使所述关节组件转动时，所述第一连接部、所述第二连接部相对运动。
  2. 根据权利要求1所述的连接组件，其特征在于，所述第一连接部相对第二连接部可转动，且沿第二连接部可移动；所述第一连接部为沿所述连接单元延伸的凸起，所述第二连接部为开设于所述连接单元上的凹槽，所述凹槽具有收纳区域及移动区域，所述收纳区域位于所述凹槽的底部并与所述凸起端部相匹配，所述移动区域用于限制所述第一连接部的移动。
  3. 根据权利要求2所述的连接组件，其特征在于，所述第一连接部相对所述第二连接部的移动方向与所述关节组件摆正时的延伸方向相同、或与所述关节组件摆正时的延伸方向形成钝角。
  4. 根据权利要求1所述的连接组件，其特征在于，所述关节组件摆正时，所述第一连接部、所述第二连接部、所述转动轴沿直线排列，或者，两个所述连接部与两个所述转动轴并列间隔排列。
  5. 根据权利要求1所述的连接组件，其特征在于，所述第一连接部、所述第二连接部位于两个所述转动轴之间。
  6. 根据权利要求1所述的连接组件，其特征在于，所述连接单元的一端具有两个所述连接部，用于与与其相邻的所述连接单元对应的所述连接部相连接，两个所述连接部相对设置，且两个所述连接部可从所述第一连接部和所述第二连接部中任选。
  7. 根据权利要求1所述的连接组件，其特征在于，所述关节组件中每个所述连接件附近区域设置两组所述连接部，每组通过所述第一连接部、所述第二连接部彼此连接，其中，所述连接件位于两组所述连接部之间。
  8. 根据权利要求1所述的连接组件，其特征在于，所述第一连接部与所述第二连接部一一对应，或者，一个所述第一连接部对应多个所述第二连接部，或者，一个所述第二连接部对应多个所述第一连接部。
  9. 根据权利要求1所述的连接组件，其特征在于，所述连接单元包括两个本体，所述本体上设有本体连接部，两个所述本体通过匹配的所述本体连接部连接。
  10. 根据权利要求9所述的连接组件，其特征在于，所述本体一端设有所述本体连接部，另一端设置所述连接部；所述本体一端的所述本体连接部为多个，多个所述本体连接部至少部分相同，或者多个本体连接部均相异。
  11. 根据权利要求1所述的连接组件，其特征在于，所述转动轴贯通所述连接单元；或者，所述转动轴仅与所述连接单元的一侧相连接，所述连接单元的一端与两个所述转动轴相连接，两个所述转动轴同轴，且分别位于所述连接单元的两侧。
  12. 根据权利要求1所述的连接组件，其特征在于，所述连接单元的两端均与所述转动轴连接，两端的所述转动轴平行设置、垂直设置、或两者之间形成为锐角的夹角。
  13. 根据权利要求1所述的连接组件，其特征在于，所述转动部包括两个间隔设置的连接件和连接盘，所述连接件的两端分别连接两个所述转动轴，所述连接盘与多个所述连接件相连接。
  14. 根据权利要求1所述的连接组件，其特征在于，所述连接组件还包括驱动部，驱动同一个所述关节组件的所述驱动部相对于所述连接件平行设置。
  15. 根据权利要求1所述的连接组件，其特征在于，所述关节组件包括多个所述连接单元，多个所述连接单元的结构相同或相异。
  16. 根据权利要求15所述的连接组件，其特征在于，所述关节组件通过两根驱动丝驱动，两个所述驱动丝相对所述连接件对称且平行设置；所述关节组件包括两个所述连接单元，其中第一连接单元仅一端具有所述连接部，第二连接单元的两端均具有所述连接部，其中一端与所述第一连接单元连接，另一端用于连接另外的所述连接单元；所述连接单元具有本体，所述连接部设置于所述本体上，至少部分所述连接单元的所述本体结构相异。
  17. 根据权利要求1所述的连接组件，其特征在于，所述关节组件转动角度为该所述关节组件中连接多个所述连接单元的多个所述转动轴转动角度之和。
  18. 根据权利要求1所述的连接组件，其特征在于，所述关节组件为两个，且彼此耦合，每个所述关节组件包括两个所述连接单元及一个所述转动部，两个所述关节组件中的所述转动轴对应耦合，耦合的两个所述转动轴转动角度相同，方向相反，或者，耦合的两个所述转动轴转动角度成比例，方向相同。
  19. 一种操作臂，其特征在于，包括：
    连接组件以及末端器械；
    其中，所述连接组件包括：
    连接单元，具有连接部，所述连接部包括匹配的第一连接部及/或第二连接部，分别用于与相邻所述连接单元的所述第二连接部及/或所述第一连接部相连接；
    转动部，具有两个转动轴及连接两个所述转动轴的连接件，两个所述转动轴用于分别连接相邻两个所述连接单元，以形成一个关节组件，所述连接件用于令与其连接的两个所述转动轴之间的距离固定，以使所述关节组件转动时，所述第一连接部、所述第二连接部相对运动；
    所述末端器械设置于所述连接组件中远端的所述连接单元上。
  20. 一种从操作设备，其特征在于，包括：
    操作臂；
    动力机构，与所述操作臂相连接，用于驱动所述操作臂；
    机械臂，与所述动力机构相连接，用于调节所述操作臂的位置；
    其中，所述操作臂包括：
    连接组件以及末端器械；
    所述连接组件包括：
    连接单元，具有连接部，所述连接部包括匹配的第一连接部及/或第二连接部，分别用于与相邻所述连接单元的所述第二连接部及/或所述第一连接部相连接；
    转动部，具有两个转动轴及连接两个所述转动轴的连接件，两个所述转动轴用于分别连接相邻两个所述连接单元，以形成一个关节组件，所述连接件用于令与其连接的两个所述转动轴之间的距离固定，以使所述关节组件转动时，所述第一连接部、所述第二连接部相对运动；
    所述末端器械设置于所述连接组件中远端的所述连接单元上。
PCT/CN2019/126774 2018-12-20 2019-12-19 连接组件、操作臂、从操作设备及手术机器人 WO2020125733A1 (zh)

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