WO2021027894A1 - 手术机器人及手术器械 - Google Patents

手术机器人及手术器械 Download PDF

Info

Publication number
WO2021027894A1
WO2021027894A1 PCT/CN2020/108986 CN2020108986W WO2021027894A1 WO 2021027894 A1 WO2021027894 A1 WO 2021027894A1 CN 2020108986 W CN2020108986 W CN 2020108986W WO 2021027894 A1 WO2021027894 A1 WO 2021027894A1
Authority
WO
WIPO (PCT)
Prior art keywords
guide wheel
traction body
projection
instrument
hole
Prior art date
Application number
PCT/CN2020/108986
Other languages
English (en)
French (fr)
Inventor
何裕源
何超
蒋友坤
Original Assignee
微创（上海）医疗机器人有限公司
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
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to US17/635,256 priority Critical patent/US20220280253A1/en
Priority to EP20852545.1A priority patent/EP4014917A4/en
Publication of WO2021027894A1 publication Critical patent/WO2021027894A1/zh

Links

Images

Classifications

    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Definitions

  • the invention relates to the technical field of surgical instruments, in particular to a surgical robot and surgical instruments.
  • the minimally invasive surgical robot system can reduce the physical labor of the doctor during the operation through interventional treatment, and at the same time achieve the purpose of precise surgery, so that the patient has less trauma, less blood loss, less postoperative infection, and faster postoperative recovery.
  • the design of surgical instruments used by surgical robots directly determines the success or failure of the minimally invasive surgical robot system.
  • the performance of surgical instruments is a key factor affecting the performance of the minimally invasive surgical robot system.
  • the Chinese patent application with publication number CN105212987A discloses a surgical instrument, which uses 6 wires to achieve 3 degrees of freedom at the end of the instrument, and the end of the instrument drive box uses 9 guide wheels to complete the wire at the end of the instrument box.
  • the design has the following shortcomings: 1
  • the existence of pulleys in the wire drive will cause the reduction of transmission efficiency.
  • the transmission efficiency If it is low, a drive module (such as a motor) is required to provide a greater power output, which usually leads to an increase in the size and quality of the drive module, which is detrimental to the overall performance of the surgical robot.
  • the purpose of the present invention is to provide a surgical robot and surgical instrument to solve one or more of the problems that the guide wheel groove and at least one steel wire in the existing surgical instrument have a large deviation angle and the cross wear between the steel wires One.
  • the present invention provides a surgical instrument, which includes: a wire transmission structure and an instrument end;
  • the wire transmission structure includes: a base and n transmission modules, each of the transmission modules includes an end drive shaft, two traction bodies and two guide wheels, n is a natural number;
  • the end of the instrument has at least n degrees of freedom, the end of the instrument includes a proximal end, and the proximal end is provided with 2n through holes in the circumferential direction;
  • Each of the end drive shafts is rotatably arranged on the base, and drives the end of the instrument to move through the corresponding two traction bodies;
  • Each of the guide wheels includes a wire groove for accommodating a traction body, the wire groove includes a wire groove rotation surface, an entry point and an exit point, and the corresponding traction body enters the guide wheel from the entry point , And leave the guide wheel from the exit tangent point;
  • the guide wheel is configured as the angle between the end drive shaft and the traction body defined by the entry tangent point and the wire groove rotating surface It is 0-0.2°, and the projections of all the traction bodies at the position away from the tangent point on the proximal end are arranged in the order of arrangement of the corresponding through holes along the circumferential direction of the proximal end.
  • the instrument end is further provided with an axis extending from the proximal end to the distal end, and the guide wheel is also configured such that the exit tangent point and the corresponding through hole define the traction body and the axis The angle between is 0 ⁇ 5°.
  • the guide wheel is further configured such that the angle between the traction body defined by the departure tangent point and the corresponding through hole and the wire groove rotating surface is 0-1.5°.
  • the i-th end drive shaft and the j-th traction body form a j-th connection point, and the traction body and the base are clamped between the j-th connection point and the entry tangent point of the j-th guide wheel
  • the angle is 0 ⁇ 10°;
  • the i-th end drive shaft and the j+1-th traction body form a j+1-th connection point, which is one of the entry tangent points between the j+1-th connection point and the j+1-th guide wheel
  • the angle between the traction body and the base is 0-10°.
  • connection points and the entry tangent points of any two traction bodies are parallel or different.
  • the surgical instrument further includes an instrument rod drive shaft and an instrument rod, the instrument rod is detachably connected or fixedly connected to the end of the instrument, and the instrument rod drive shaft is used to drive the instrument rod to rotate.
  • the instrument end of the surgical instrument includes at least three degrees of freedom
  • the wire transmission structure includes a first transmission module, a second transmission module, and a third transmission module.
  • the first transmission module, The second transmission module and the third transmission module respectively drive one degree of freedom at the end of the instrument;
  • the first transmission module includes a first end drive shaft, a first traction body, a second traction body, and a first guide wheel And a second guide wheel;
  • the second transmission module includes a second end drive shaft, a third traction body, a fourth traction body, a third guide wheel and a fourth guide wheel;
  • the third transmission module includes a third End drive shaft, fifth traction body, sixth traction body, fifth guide wheel and sixth guide wheel;
  • the first traction body, second traction body, third traction body, fourth traction body, and fifth traction body And the sixth traction body respectively correspond to the first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel and the sixth guide wheel.
  • the end of the instrument further includes an end effector
  • the end effector includes: an actuator support seat, a first opening and closing piece and a second opening and closing piece, the first opening and closing piece and the second opening and closing piece
  • the piece is rotatably connected with the actuator support base to form at least two opening and closing degrees of freedom
  • the actuator support base is rotatably connected with the proximal part to form at least one swing degree of freedom
  • the first The transmission module is used to drive the first opening and closing plate to move
  • the second transmission module is used to drive the second opening and closing plate to move
  • the third transmission module is used to drive the actuator support seat Move relative to the proximal end.
  • the through holes on the proximal portion include a first through hole, a second through hole, a third through hole, a fourth through hole, a fifth through hole, and a sixth through hole, which are used to restrict the The extension directions of the first traction body, the second traction body, the third traction body, the fourth traction body, the fifth traction body, and the sixth traction body;
  • the rotation axis of the first opening and closing piece and the second opening and closing piece are not parallel to the rotation axis of the actuator support seat;
  • the fifth through hole, the third through hole, the first through hole, the sixth through hole, the second through hole, and the fourth through hole are circumferentially arranged around the center of the proximal end.
  • the fifth through hole and the sixth through hole are symmetrical about the center of the proximal end; the third through hole and the second through hole are symmetrical about the center of the proximal end; The first through hole and the fourth through hole are symmetrical about the center of the proximal portion.
  • the departure tangent points of the first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel, and the sixth guide wheel are the first departure tangent point and the second departure point respectively.
  • the first traction body located at the first position away from the tangent point is projected at the proximal end to form a first projection
  • the second traction body located at the second position away from the tangent point is projected at the proximal end to form a second projection
  • the third traction body located at the third position away from the tangent point is projected at the proximal end to form a third projection
  • the fourth traction body located at the fourth position away from the tangent point is projected at the proximal end to form a fourth projection
  • the fifth traction body located at the position of the fifth away from the tangent point is projected at the proximal end to form a fifth projection
  • the sixth traction body located at the sixth position away from the tangent point is projected at the proximal end to form a sixth projection
  • the first projection, the second projection, the third projection, the fourth projection, the fifth projection, and the sixth projection are configured to be arranged in a circumferential order of the through holes at the proximal end.
  • the distal end of the instrument is further provided with an axis extending from the proximal end to the distal end, and the diameters of the six traction bodies are all d; the projection of the traction body on the proximal end is configured as:
  • the center of the sixth projection is distributed in a circular area with a center of symmetry of the center of the fifth projection about the axis and a radius of 5d;
  • the center of the second projection is distributed in a circular area with a center of symmetry of the center of the third projection about the axis and a radius of 5d;
  • the center of the fourth projection is distributed in a circular area with a center of symmetry of the center of the first projection about the axis and a radius of 5d.
  • the surgical instrument further includes an instrument rod coaxial with the axis, and the instrument rod has a through cavity for the penetration of all the traction bodies; wherein, all the traction bodies are located
  • the part in the instrument shaft is configured such that the distance between the centers of any two projections is greater than d; the distance from the center of any projection to the inner wall of the instrument shaft is greater than 0.6d; The distance is greater than 0.5d.
  • the surgical instrument further includes an instrument rod coaxial with the axis, and the instrument rod has a through cavity for the traction body to penetrate;
  • the base is provided with a first guide seat and a second guide seat opposite to each other, three of the guide wheels are arranged on the first guide seat, and the other three guide wheels are arranged on the On the second guide seat.
  • the first guide wheel, the sixth guide wheel and the second guide wheel are arranged on the first guide seat, and the third guide wheel, the fifth guide wheel and the fourth guide wheel are arranged on the The second guide seat; the first guide wheel, the sixth guide wheel, and the second guide wheel relative to the base are sequentially reduced in distance, the third guide wheel, the fifth guide wheel, and the fourth guide wheel The distance relative to the base decreases sequentially.
  • the third guide wheel, the first guide wheel and the sixth guide wheel are arranged on the first guide seat, and the fifth guide wheel, the second guide wheel and the fourth guide wheel are arranged on the On the second guide seat; the distances of the third guide wheel, the first guide wheel and the sixth guide wheel relative to the base are successively reduced, the fifth guide wheel, the second guide wheel and the fourth guide wheel The distance relative to the base decreases sequentially.
  • the instrument end is further provided with an axis extending from the proximal end to the distal end
  • the base plate has a first symmetry plane and a second symmetry plane perpendicular to each other, the first symmetry plane and the second symmetry plane The intersection of the planes is parallel or collinear with the axis;
  • the second end drive shaft and the third end drive shaft are arranged symmetrically about the first symmetry plane, and the first end drive shaft and the first end drive shaft
  • the two end drive shafts are symmetrically arranged about the second symmetry plane, and the second end drive shaft is farther away from the axis than the third end drive shaft.
  • the instrument end is further provided with an axis extending from the proximal end to the distal end
  • the base plate has a first symmetry plane and a second symmetry plane perpendicular to each other, the first symmetry plane and the second symmetry plane The intersection of the planes is parallel or collinear with the axis; the second end drive shaft and the third end drive shaft are arranged symmetrically about the first symmetry plane, and the first end drive shaft and the first end drive shaft The three end drive shafts are symmetrically arranged with respect to the second symmetry plane, and the third end drive shaft is farther away from the axis than the second end drive shaft.
  • the instrument end of the surgical instrument includes at least two degrees of freedom
  • the wire transmission structure includes a fourth transmission module and a fifth transmission module
  • the fourth transmission module and the fifth transmission module are respectively Drive one degree of freedom at the end of the instrument
  • the fourth transmission module includes a fourth end drive shaft, a seventh traction body, an eighth traction body, a seventh guide wheel and an eighth guide wheel
  • the fifth transmission module The group includes the fifth end drive shaft, the ninth traction body, the tenth traction body, the ninth guide wheel and the tenth guide wheel
  • the seventh traction body, the eighth traction body, the ninth traction body and the tenth traction body are respectively It corresponds to the seventh, eighth, ninth and tenth guide wheels.
  • the end of the instrument further includes a snake-shaped joint, the snake-shaped joint includes a plurality of snake bones arranged axially in sequence, and the plurality of snake bones can swing in at least two directions to form at least Two degrees of freedom;
  • the seventh traction body, the eighth traction body, the ninth traction body, and the tenth traction body pass through each of the snake bones in turn and are connected to the snake bones at the distal end, the fourth transmission module and The fifth transmission modules are respectively used to drive the serpentine joints to swing in two directions.
  • the through holes on the proximal portion include a seventh through hole, an eighth through hole, a ninth through hole, and a tenth through hole, which are used to constrain the seventh traction body, the eighth traction body, and the The extension direction of the ninth traction body and the tenth traction body;
  • the seventh through hole, the ninth through hole, the eighth through hole and the tenth through hole are arranged circumferentially along the proximal part.
  • the seventh through hole and the eighth through hole are symmetric about the center of the proximal end; the ninth through hole and the tenth through hole are symmetric about the center of the proximal end.
  • the exit tangent points of the seventh, eighth, ninth, and tenth guide wheels are the seventh, eighth, ninth, and ninth tangent points, respectively.
  • the seventh traction body located at the seventh away from the tangent point is projected at the proximal end to form a seventh projection
  • the eighth traction body located at the eighth point away from the tangent point is projected at the proximal end to form an eighth projection
  • the ninth traction body located at the position of the ninth away from the tangent point is projected at the proximal end to form a ninth projection
  • the tenth traction body located at the position of the tenth away from the tangent point is projected at the proximal end to form a tenth projection
  • the seventh projection, the eighth projection, the ninth projection, and the tenth projection are configured to be arranged in a circumferential arrangement sequence of the through holes at the proximal end.
  • the distal end of the instrument is further provided with an axis extending from the proximal end to the distal end, and the diameters of the four traction bodies are all d; the projection of the traction body on the proximal end is configured as:
  • the center of the eighth projection is distributed in a circular area with a center of symmetry of the center of the seventh projection about the axis and a radius of 5d;
  • the center of the tenth projection is distributed in a circular area with a center of symmetry of the center of the ninth projection with respect to the axis and a radius of 5d.
  • the surgical instrument further includes an instrument rod coaxial with the axis, the instrument rod has a through cavity for the traction body to pass through; wherein, all the traction bodies are located at the The part in the instrument shaft is configured such that: the distance between the centers of any two projections is greater than d; the distance from the center of any projection to the inner wall of the instrument shaft is greater than 0.6d; any projected to the center of the instrument shaft 2 The distance is greater than 0.5d.
  • the surgical instrument further includes an instrument rod coaxial with the axis, and the instrument rod has a through cavity for the traction body to penetrate;
  • the base is provided with a third guide seat and a fourth guide seat opposite to each other, the seventh guide wheel and the eighth guide wheel are arranged on the third guide seat, and the ninth guide wheel And the tenth guide wheel is arranged on the fourth guide seat; the distance of the seventh guide wheel relative to the base is smaller than the distance of the eighth guide wheel relative to the base, and the ninth guide wheel The distance of the wheel relative to the base is smaller than the distance of the tenth guide wheel relative to the base.
  • the present invention provides a surgical robot, comprising: a mechanical arm and the surgical instrument as described above, the surgical instrument is mounted on the end of the mechanical arm, and the mechanical arm Used to adjust the position and/or posture of the surgical instrument.
  • the surgical instrument includes a wire transmission structure and an instrument end.
  • the wire transmission structure includes a base and n transmission modules, each of which includes At least one end drive shaft, two traction bodies and two guide wheels, each of the guide wheels includes a wire groove for accommodating the traction body, and the wire groove includes a wire groove rotation surface, an entry tangent point and an exit tangent point,
  • the angle between the traction body defined by the end drive shaft and the entry tangent point and the wire groove rotation surface is 0-0.2°, and the projection of all traction bodies at the exit tangent point on the proximal part corresponds to
  • the through holes are arranged in the order of arrangement in the circumferential direction.
  • the wire transmission structure of the surgical instrument can reduce or eliminate the frictional resistance between the wire groove of the guide wheel and the traction body through fewer guide wheels, and the traction bodies will not overlap each other, which improves
  • the transmission efficiency of the wire transmission structure of the surgical instrument improves the service life of the surgical instrument.
  • FIG. 1 is a schematic diagram of the overall structure of a surgical instrument provided by Embodiment 1 of the present invention.
  • FIG. 2 is a schematic diagram of the internal structure of the surgical instrument provided by the first embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the wire transmission structure provided by the first embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a guide seat provided by Embodiment 1 of the present invention.
  • FIG. 5 is a schematic diagram of a first transmission module provided by Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram of a second transmission module provided by Embodiment 1 of the present invention.
  • FIG. 7 is a schematic diagram of a third transmission module provided by Embodiment 1 of the present invention.
  • FIG. 8 is a schematic diagram of a transmission plan of the wire transmission structure provided by the first embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a cross-section of the proximal end of the instrument rod provided in the first embodiment of the present invention.
  • 10(A) and 10(B) are schematic diagrams of the minimum and maximum values of ⁇ A1O1B1 and ⁇ A1O1C1 in the cross-section of the instrument rod provided in the first embodiment of the present invention
  • FIG. 11(A) and 11(B) are schematic diagrams of the end of the device provided in the first embodiment of the present invention.
  • Figure 12 is a schematic diagram of the proximal end of the instrument tip provided in the first embodiment of the present invention.
  • Figure 13 is a schematic diagram of the connection between the wire transmission structure and the end of the instrument provided by the first embodiment of the present invention.
  • Figure 14 is a top view of the wire transmission structure provided by the second embodiment of the present invention.
  • 15 is a perspective view of the wire transmission structure provided by the second embodiment of the present invention.
  • 16 is a schematic diagram of the transmission plan of the wire transmission structure provided by the third embodiment of the present invention.
  • FIG. 17 is a schematic diagram of a surgical instrument provided by Embodiment 4 of the present invention.
  • Figure 18 is a schematic diagram of the swing of the surgical instrument end of the surgical instrument shown in Figure 17;
  • 19 is a schematic diagram of the end of the instrument provided by the fourth embodiment of the present invention.
  • 21 is a schematic diagram of a fourth transmission module provided by the fourth embodiment of the present invention.
  • FIG. 22 is a schematic diagram of a fifth transmission module provided by the fourth embodiment of the present invention.
  • FIG. 23 is a schematic diagram of a cross-section of the proximal end of the instrument rod provided in the fourth embodiment of the present invention.
  • FIG. 24 is a schematic diagram of the proximal end of the instrument tip provided in the fourth embodiment of the present invention.
  • 25 is a schematic diagram of the transmission plan of the wire transmission structure provided by the fourth embodiment of the present invention.
  • Figure 26(A) and Figure 26(B) are schematic diagrams when ⁇ P1O1Q1 is the smallest and largest in the cross-section of the instrument rod provided in the fourth embodiment of the present invention.
  • Fig. 27 is a schematic diagram of the deflection angle between the first part of the first guide wheel and the first traction body according to the first embodiment of the present invention.
  • 301-actuator support seat 302-first opening and closing piece; 303-second opening and closing piece; 304-first rotating shaft; 305-second rotating shaft; 306-first end guide wheel; 307-second end Guide wheel; 308-third end guide wheel; 309-fourth end guide wheel; 311-snake bone.
  • the core idea of the present invention is to provide a surgical robot and surgical instrument.
  • the surgical instrument includes a wire transmission structure and an instrument end;
  • the wire transmission structure includes a base and n transmission modules, each of which includes at least One end drive shaft, two traction bodies and two guide wheels;
  • the end of the instrument has at least n degrees of freedom, the end of the instrument includes a proximal part, and the proximal end is provided with 2n through holes in the circumferential direction;
  • the end drive shaft is rotatably arranged on the base, and drives the end of the instrument to move through the traction body; in the i-th transmission module, the j-th traction body and the j+1-th traction body
  • the proximal end surrounds the i-th end drive shaft in the opposite direction, and the distal end of the j-th traction body and the j+1-th traction body are respectively turned by the j-th guide wheel and the j+1-th guide wheel, and pass through The j
  • the traction body enters the guide wheel from the entry tangent point, and leaves the guide wheel from the exit tangent point; the guide wheel is configured
  • the angle between the traction body defined by the end drive shaft and the entry tangent point and the wire groove rotation surface is 0 to 0.2°, and all traction bodies at the exit tangent point position are in the
  • the projections of the proximal part are sorted in the order in which the corresponding through holes are arranged in the circumferential direction.
  • the wire transmission structure of the surgical instrument can reduce or eliminate the frictional resistance between the wire groove of the guide wheel and the traction body through fewer guide wheels, and the traction bodies will not overlap each other, which improves
  • the transmission efficiency of the wire transmission structure of the surgical instrument improves the service life of the surgical instrument.
  • Figure 1 Please refer to Figure 1 to Figure 9, Figure 10 (A) and Figure 10 (B), Figure 11 (A) and Figure 11 (B), Figure 12 to Figure 13 and Figure 27, where Figure 1 is an embodiment of the present invention 1.
  • Figure 2 is a schematic diagram of the internal structure of the surgical instrument provided in the first embodiment of the present invention.
  • Figure 3 is a schematic diagram of the wire transmission structure provided in the first embodiment of the present invention.
  • Figure 4 is an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a first transmission module provided in Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram of a second transmission module provided in Embodiment 1 of the present invention.
  • FIG. 7 is an implementation of the present invention.
  • FIG. 8 is a schematic transmission plan view of the wire transmission structure provided in Embodiment 1 of the present invention
  • Figure 9 is a schematic cross-sectional view of the proximal end of the instrument rod provided in Embodiment 1 of the present invention
  • Figure 10(A) and Figure 10(B) are the cross-sections of the instrument rod provided in the first embodiment of the present invention.
  • It is a schematic diagram of the instrument tip provided in the first embodiment of the present invention.
  • Figure 12 is a schematic view of the proximal part of the instrument tip provided in the first embodiment of the present invention.
  • Figure 13 is the connection between the wire transmission structure and the device end provided in the first embodiment of the present invention.
  • Schematic diagram, FIG. 27 is a schematic diagram of the deflection angle between the first part of the first guide wheel and the first traction body according to the first embodiment of the present invention.
  • the first embodiment of the present invention provides a surgical instrument, which includes: a wire transmission structure 1 and an instrument end 3, a traction body of the wire transmission structure is connected to the instrument end 3, and The wire transmission structure is used to drive the instrument end 3.
  • the surgical instrument further includes an instrument shaft 2 through which the wire transmission structure 1 is connected to the instrument end 3.
  • the instrument tip 3 includes a proximal end 300 and an end effector.
  • the instrument end 3 further includes one or more joints to drive the end effector to pitch or yaw.
  • the end of the instrument has three degrees of freedom.
  • six traction bodies are needed to control the end 3 of the instrument. Referring to FIG. 12 in conjunction with FIG.
  • the proximal portion 300 is provided with 6 through holes along the circumferential direction to allow the six traction bodies to pass; the 6 through holes are respectively: a first through hole 23b and a second through hole 25b , The third through hole 22b, the fourth through hole 26b, the fifth through hole 21b, and the sixth through hole 24b.
  • the relative positional relationship of the through holes is related to the arrangement of the joints of the instrument end 3. Those skilled in the art can design the joint arrangement and the corresponding relative positions of the through holes as required.
  • FIGS 11(A) and 11(B) show the instrument end 3 provided in the first embodiment, in which Figures 11(A) and 11(B) are the opposite sides of the instrument end 3 ( (Left and right) diagrams.
  • the end effector is rotatably connected with the proximal part 300.
  • the end effector includes: an actuator support base 301, a first opening and closing piece 302, and a second opening and closing piece 303.
  • the first opening and closing piece 302 and the second opening and closing piece 303 are rotatably connected to the actuator
  • the support base 301 is connected to form at least two degrees of freedom; the actuator support base 301 is rotatably connected to the proximal portion 300 to form at least one degree of freedom.
  • the actuator support 301 is rotatably connected to the distal end of the proximal portion 300 around the first rotation axis 304.
  • the first opening and closing piece 302 and the second opening and closing piece 303 are both rotatably connected to the actuator support base 301 around the second rotation shaft 305.
  • the rotation of the actuator support base 301 relative to the proximal portion 300 forms one degree of freedom of swing, and the rotation of the two opening and closing pieces relative to the actuator support base 301 forms two degrees of freedom of opening and closing. Therefore, the instrument end has three degrees of freedom.
  • the axis of the instrument tip 3, the axis of the first rotating shaft 304, and the axis of the second rotating shaft 305 are perpendicular to each other.
  • the wire transmission structure 1 provided in the first embodiment of the present invention will be described below with reference to FIG. 3 in conjunction with FIG. 2 and FIG. 4.
  • the wire transmission structure 1 includes a base 11 and three transmission modules.
  • Each transmission module includes at least one end drive shaft, two traction bodies and two guide wheels. All the end drive shafts are rotatably arranged on the base 11 and drive the instrument end 3 to move through the traction body.
  • the three transmission modules are respectively the first transmission module, the second transmission module and the third transmission module.
  • the first transmission module includes at least a first end drive shaft 12, a first traction body 23, a second traction body 25, a first guide wheel 171 and a second guide wheel 175.
  • the second transmission module includes at least a second end drive shaft 13, a third traction body 22, a fourth traction body 26, a third guide wheel 161 and a fourth guide wheel 165.
  • the third transmission module includes at least a third end drive shaft 14, a fifth traction body 21, a sixth traction body 24, a fifth guide wheel 163 and a sixth guide wheel 173.
  • the substrate 11 has a first symmetry plane and a second symmetry plane, and the first symmetry plane is perpendicular to the second symmetry plane. Further, the intersection line of the first symmetry plane and the second symmetry plane is parallel or collinear with the axis of the instrument end 3.
  • the second end drive shaft 13 and the third end drive shaft 14 are symmetrically arranged about the first symmetry plane, and the second end drive shaft 13 is farther away from the axis of the instrument end 3 relative to the third end drive shaft 14.
  • the first end drive shaft 12 and the second end drive shaft 13 are symmetrically arranged about the second plane of symmetry.
  • the three transmission modules of the wire transmission structure 1 are used to drive the end 3 of the instrument to move.
  • the first transmission module is used to drive the first opening and closing plate 302 to rotate;
  • the second transmission module is used to drive the second opening and closing plate 303 to rotate;
  • the third transmission module is used to drive the end
  • the actuator rotates relative to the proximal part 300.
  • the fifth traction body 21 and the sixth traction body 24 of the third transmission module respectively extend from both sides of the first rotating shaft 304, and are fixedly connected to the actuator support base 301 to control the actuator
  • the support base 301 rotates around the first rotating shaft 304.
  • first rotation shaft 304 is also provided with four end guide wheels that are rotatably connected to the first rotation shaft 304, namely, a first end guide wheel 306, a second end guide wheel 307, The third end guide wheel 308 and the fourth end guide wheel 309.
  • the first end guide wheel 306 and the fourth end guide wheel 309 are arranged symmetrically about the axis of the instrument end 3, and the second end guide wheel 307 and the third end guide wheel 308 are also arranged symmetrically about the axis of the instrument end 3.
  • the second end guide wheel 307 and the third end guide wheel 308 are closer to the axis of the instrument end 3 relative to the first end guide wheel 306 and the fourth end guide wheel 309.
  • the first end guide wheel 306, the second end guide wheel 307, the third end guide wheel 308, and the fourth end guide wheel 309 are used to guide and change the fourth traction body 26 and the second traction body 25, respectively.
  • the first traction body 23 and the second traction body 25 are respectively fixedly connected with the first opening and closing piece 302 to drive the opening and closing of the first opening and closing piece 302 to form a degree of freedom for opening and closing;
  • the body 22 and the fourth traction body 26 are respectively fixedly connected with the second opening and closing piece 303 to drive the opening and closing of the second opening and closing piece 303 to form another degree of freedom for opening and closing.
  • the diameters of the second end guide wheel 307 and the third end guide wheel 308 are equal, and the diameters of the first end guide wheel 306 and the fourth end guide wheel 309 are equal to control the second opening and closing piece 303
  • the moving third traction body 22 and the fourth traction body 26, and the first traction body 23 and the second traction body 25 that control the movement of the first opening and closing piece 302 have the same length changes.
  • the six through holes sequentially opened around the center of the proximal portion 300 are respectively used to restrict the direction in which the six traction bodies of the three transmission modules extend to the distal end;
  • the proximal end of the traction body is connected with the corresponding end drive shaft, and the distal end passes through the corresponding through hole and is connected with the instrument end 3.
  • the first traction body 23 passes through the first through hole 23b
  • the second traction body 25 passes through the second through hole 25b
  • the third traction body 22 passes through the third through hole 22b
  • the fourth traction body 26 passes through the fourth through hole.
  • the fifth traction body 21 passes through the fifth through hole 21b, and the sixth traction body 24 passes through the sixth through hole 24b.
  • the fifth through hole 21 b, the third through hole 22 b, the first through hole 23 b, the sixth through hole 24 b, the second through hole 25 b, and the fourth through hole 26 b are arranged counterclockwise around the center of the proximal portion 300.
  • the fifth through hole 21b and the sixth through hole 24b are arranged symmetrically with respect to the center of the proximal portion 300, and are used to accommodate the fifth traction body 21 and the sixth traction body 24, respectively.
  • the line connecting the fifth through hole 21b and the sixth through hole 24b is perpendicular to the axis of the first rotating shaft 304, so that the fifth traction body 21 and the sixth traction body 24 pass through the fifth through hole 21b and the
  • the six through holes 24b can be smoothly and fixedly connected with the actuator support 301, so that the actuator support 301 can rotate around the first rotation axis 304.
  • the third through holes 22b and the second through holes 25b are arranged symmetrically with respect to the center of the proximal portion 300, the first through holes 23b and the fourth through holes 26b are arranged symmetrically with respect to the center of the proximal portion 300, and the third through holes 22b are arranged symmetrically with respect to the center of the proximal portion 300.
  • the distance between the center of the end portion 300 is smaller than the distance between the first through hole 23 b and the center of the proximal portion 300.
  • the third through hole 22b and the second through hole 25b are used to accommodate the third traction body 22 and the second traction body 25, respectively.
  • the first through hole 23b and the fourth through hole 26b are used to accommodate the first traction body 23 and the fourth traction body 26, respectively.
  • the third through hole 22b and the fourth through hole 26b are used to accommodate the traction body that drives one degree of freedom of opening and closing, and the first through hole 23b and the second through hole 25b are used to accommodate the traction body that drives another degree of freedom of opening and closing. body.
  • the third traction body 22 and the second traction body 25 are closer to the center of the proximal portion 300 than the first traction body 23 and the fourth traction body 26, this configuration makes the movement of the four traction bodies more smooth.
  • the line connecting the third through hole 22b and the first through hole 23b and the axis of the first rotating shaft 304 may be parallel or non-parallel.
  • the fifth through hole 21b, the third through hole 22b, the first through hole 23b, the sixth through hole 24b, the second through hole 25b, and the fourth through hole 26b are clockwise along the proximal end 300 Circumferential arrangement.
  • the traction body extends to the distal end after changing its direction through the corresponding guide wheel.
  • Each of the guide wheels includes a wire groove for accommodating a traction body, and the wire groove includes a wire groove rotating surface Gr (as shown in Fig. 27), an entry tangent point and an exit tangent point.
  • the corresponding traction body enters the guide wheel from the entry tangent point, and leaves the guide wheel from the exit tangent point.
  • the wire groove rotation surface Gr here is a surface perpendicular to the rotation axis of the guide wheel. Please refer to FIG. 5, taking the first guide wheel 171 as an example, which includes a first entry point and a first exit point.
  • the first traction body 23 enters the first guide wheel 171 from the first entry tangent point, and leaves the first guide wheel 171 from the first exit tangent point, that is, the first guide wheel 171 is used to change the first traction The direction of the body 23.
  • the first guide wheel 171 includes a wire groove for accommodating the first traction lift 23, and the wire groove includes a wire groove rotating surface Gr. Further, the wire groove rotating surface Gr is perpendicular to the first guide wheel shaft 172 of the first guide wheel 171. Further, the first end drive shaft 12 is connected with the first traction body 23 to form a first connection point.
  • the first part of the first traction body 23 a part of the first traction body 23 defined between the first connection point and the first entry tangent point of the first guide wheel 171 is called the first part of the first traction body 23, and the first guide wheel 171 is configured In order to make the angle ⁇ between the first portion of the first traction body 23 and the thread groove rotating surface Gr of the first guide wheel 171 be 0-0.2°, preferably, 0-0.1°, more preferably 0°.
  • the extension direction of the first traction body 23 is basically the same as that of the thread groove rotating surface Gr of the first guide wheel 171, and the first traction body 23 will not generate a lateral component of force due to the deflection angle, and then move toward the thread groove.
  • the side wall is squeezed to generate lateral friction, which improves the transmission efficiency and service life of the wire transmission structure 1.
  • the lateral component force will also cause the first traction body 23 to move along the axial direction of the first guide wheel 171, resulting in unfavorable phenomena such as movement of the first traction body 23 and wire skipping, which can avoid/mitigate these unfavorable phenomena.
  • the production. The structures of the remaining guide wheels and corresponding traction bodies are the same as those of the first guide wheel 171, and will not be repeated here. Further, the included angle between the first part of the first traction body 23 and the base 11 is 0-10°.
  • the part between the connection point formed by the remaining traction body and the corresponding end drive shaft and the entry point of the guide wheel is also called the first part.
  • the angle between the first part of the remaining traction body and the wire groove rotating surface Gr of the corresponding guide wheel is respectively configured to be 0-0.2°, preferably, 0-0.2°, and more preferably 0°.
  • the included angles between the first part of the remaining traction bodies and the base 11 are also configured to be 0-10°.
  • the first parts of any two traction bodies are parallel or different, which can avoid rubbing and friction between the traction bodies.
  • all the guide wheels are configured such that the projections of all the traction bodies at the position of the departure tangent point on the proximal portion 300 are sorted in the order of the corresponding through holes in the circumferential direction.
  • the projections of the traction body at the proximal end 300 of all the guide wheels away from the tangent point are arranged in a certain circumferential order, and the arrangement in a certain circumferential order is as follows: The holes are arranged in the same order in the circumferential direction. Please refer to FIGS. 8 and 9 in conjunction with FIG.
  • the fifth through hole 21b, the third through hole 22b, the first through hole 23b, the sixth through hole 24b, the second through hole 25b, and the fourth through hole 26b are counterclockwise It is arranged around the center of the proximal part 300.
  • the departure tangent points of the first guide wheel 171, the second guide wheel 175, the third guide wheel 161, the fourth guide wheel 165, the fifth guide wheel 163, and the sixth guide wheel 173 are the first departure tangent point and the first departure tangent point.
  • the first guide wheels 171 to the sixth guide wheels 173 are configured to be located at the first The first projection of the first traction body 23 at the proximal end 300 away from the tangent point position, the second projection of the second traction body 25 at the proximal end 300 at the second away tangent point position, and the third away tangent
  • the fifth projection of the fifth traction body 21 at the proximal end 300 and the sixth projection of the sixth traction body 24 at the proximal end 300 at the sixth position away from the tangent point are arranged in accordance with the above-mentioned circumferential arrangement of the through holes.
  • the parts of the traction body between the corresponding exit tangent point and the through hole are also arranged in order, which can avoid the situation of overlapping and rubbing between the traction bodies, thereby further improving the transmission efficiency of the wire transmission structure 1 And service life.
  • the guide wheel is further configured such that the angle between the axis of the traction body defined by the exit tangent point and the corresponding through hole and the instrument end 3 is 0-5°.
  • the first guide wheel 171 as an example, after the first traction body 23 is turned by the first guide wheel 171, the section from the first departure tangent point to the first guide wheel 171 through the first through hole 23b is called The second part 23a, in fact, the angle between the second part 23a of the first traction body 23 and the axis of the instrument end 3 is configured to be 0-5°, indicating that the second part 23a of the first traction body 23 is basically It extends along the axis of the instrument tip 3.
  • the part of the remaining traction body from the point of departure from the corresponding guide wheel to the corresponding through hole is also called the second part
  • the angle between the second part of the remaining traction body and the axis of the instrument end 3 is also respectively
  • the configuration is 0 ⁇ 5° (the second part of the second traction body 25 is 25a, the second part of the third traction body 22 is 22a, the second part of the fourth traction body 26 is 26a, and the second part of the fifth traction body 21 is The two parts are 21a, and the second part of the sixth traction body 24 is 24a), that is, the angle between the extension direction of the second part of all the traction bodies and the axis of the instrument end 3 is not greater than 5°.
  • each traction body at the distal end of the surgical instrument there is a certain difference between the distribution position of each traction body at the distal end of the surgical instrument and the distribution position of each traction body at the proximal end of the surgical instrument for connecting the end 3 of the instrument, that is, the extension direction of the second part of the traction body is not All are parallel to the axis of the instrument end 3, but may have a certain included angle.
  • the included angle is not greater than 5°, the frictional resistance between the traction body and the corresponding guide wheel due to the deflection angle is small. Since the second parts of all traction bodies extend along the axis of the instrument end 3 and the included angle with the axis of the instrument end 3 is not greater than 5°, it is possible to avoid overlapping and rubbing between the traction bodies.
  • the instrument rod 2 is arranged coaxially with the axis of the instrument end 3, and the instrument rod 2 has a through cavity for the traction body to pass through.
  • the second part of the traction body is mostly located In the instrument rod 2, a small part of the instrument rod 2 extends out and is connected to each corresponding guide wheel.
  • the above configuration can also avoid friction and scratches between the traction body and the instrument shaft 2.
  • the guide wheels are also configured such that the included angles between the second part of each traction body and the wire groove rotating surface Gr of the corresponding guide wheels are respectively configured to be 0-1.5°.
  • the first traction body 23 leaves the first guide wheel 171 from the first departure tangent point of the first guide wheel 171 and extends to the first through hole 23 b to form the second portion 23 a of the first traction body 23.
  • the angle between the second portion 23a and the wire groove rotating surface Gr of the first guide wheel is 0-1.5°.
  • Other guide wheels and traction bodies are also configured in this way.
  • the influence of the inner diameter of the instrument shaft 2 on the traction body is further considered, and the axis of the instrument shaft 2 is configured to be collinear with the axis of the instrument end 3. If the diameters of the six traction bodies are all d, the diameter of the corresponding projection of each traction body is taken as d, the inner diameter of the instrument shaft 2 is D, and the fifth projection of the fifth traction body 21 is used as a reference for specific description.
  • the center of the sixth projection of the sixth traction body 26 is arranged in a circular area with the center of the fifth projection of the fifth traction body 21 with respect to the axis of the instrument tip 3 as the center and 5d as the radius.
  • the center of the second projection of the second traction body 25 is arranged in a circular area with the center of the third projection of the third traction body 22 about the symmetrical point about the axis of the instrument tip 3 as the center, and 5d as the radius.
  • the center of the fourth projection of the fourth traction body 26 is arranged in a circular area with the center of the first projection of the first traction body 23 about the symmetrical point about the axis of the instrument tip 3 as the center, and the radius of 5d. Further, the distance between the centers of the projections of the six traction bodies is greater than d, so as to prevent any two traction bodies from contacting each other and scratching.
  • the distance between the center of any projection and the inner wall of the instrument shaft 2 is greater than 0.6 d, so as to avoid the collision between the traction body and the inner wall of the instrument shaft 2.
  • the 0.6d selected here reserves a certain amount of space compared to 0.5d when the traction body is in contact with the inner wall of the instrument shaft 2, so as to adapt to the fact that the traction body sometimes bounces and fluctuates and will not rub against the inner wall of the instrument shaft 2.
  • the distance from the center of any projection to the center of the instrument shaft 2 is greater than 0.5 d, which can also prevent the traction bodies from squeezing and rubbing against each other.
  • the center of the fifth projection of the fifth traction body 21 is A1
  • the projection of the axis of the instrument end 3 is O1
  • the center of the third projection of the third traction body 22 is B1
  • the center of the first projection of the first tractor 23 is C1
  • the center of the sixth projection of the sixth tractor 24 is D1
  • the center of the second projection of the second tractor 25 is E1
  • the center of the fourth tractor 26 is The center of the four projections is F1
  • the inner diameter of the instrument rod 2 is D
  • the third projection of the third traction body 22 and the first projection of the first traction body 23 respectively satisfy:
  • Figure 10(A) illustrates the situation when ⁇ A1O1B1 and ⁇ A1O1C1 are the smallest
  • Figure 10(B) illustrates the situation when ⁇ A1O1B1 and ⁇ A1O1C1 are the largest.
  • H is the farthest point of the fifth projection of the fifth traction body 21 relative to the projection O1 of the axis of the instrument end 3
  • I is the fifth projection of the fifth traction body 21 and the third projection of the third traction body 22 The point of contact during contact.
  • D should be large enough to enable the traction body to be accommodated in the inner cavity of the instrument shaft 2.
  • the six traction bodies do not contact each other, and the six traction bodies do not contact the inner wall of the instrument shaft 2, so that the frictional resistance can be reduced when the instrument end 3 is traction.
  • the two traction bodies in one transmission module are configured to move in opposite directions under the drive of the corresponding end drive shaft, and the movement changes are equal.
  • the proximal ends of the two traction bodies surround the end drive shaft in opposite directions.
  • the first traction body 23 and the second traction body 25 are configured such that when the first end drive shaft 12 rotates, the first traction body 23 and the second traction body 25 move in opposite directions, and the first traction body 23 and the second traction body The length changes of the two traction bodies 25 are equal. Furthermore, the first traction body 23 and the second traction body 25 can be wound and connected to the first end drive shaft 12 in different directions, respectively. Specifically, the proximal end of the first traction body 23 is positively wound around the first end drive shaft 12, and the distal end of the first traction body 23 is used to pass through the first guide wheel 171 and the first through hole 23b to connect to the instrument end 3.
  • the driving instrument end 3 (in this embodiment, it is fixedly connected with the first opening and closing piece 302 to drive the opening and closing of the first opening and closing piece 302); the proximal end of the second traction body 25 is reversed Wrapped around the first end drive shaft 12, the distal end of the second traction body 25 is used to pass through the second guide wheel 175 and the second through hole 25b to connect with the end of the instrument to realize the movement of the end of the drive 3 (in this embodiment , Fixedly connected to the first opening and closing piece 302, for driving the opening and closing of the first opening and closing piece 302).
  • the first traction body 23 When the first end drive shaft 12 rotates, the first traction body 23 is driven to rotate positively (such as clockwise) around the axis of the first end drive shaft 12 to be wound on the first end drive shaft 12 while driving the second end drive shaft 12
  • the traction body 25 reversely rotates (for example, rotates counterclockwise) around the axis of the first traction body 23 to unwind from the first end drive shaft 12.
  • the first traction body 23 and the second traction body 25 move in opposite directions and the length changes are equal.
  • the forward rotation and the reverse rotation of the traction body around the axis of the end drive shaft here only represent two opposite rotation directions, and are not limited to clockwise forward and counterclockwise reverse.
  • the proximal ends of the third traction body 22 and the fourth traction body 26 surround the second end drive shaft 13 in opposite directions, and the distal ends of the third traction body 22 and the fourth traction body 26 respectively pass through the third guide wheel 161 turns to the fourth guide wheel 165, and is connected to the instrument end 3 after passing through the third through hole 23b and the fourth through hole 24b (in this embodiment, the distance between the third traction body 22 and the fourth traction body 26 is The ends are respectively fixedly connected with the second opening and closing piece 303 to drive the opening and closing of the second opening and closing piece 303).
  • the proximal ends of the fifth traction body 21 and the sixth traction body 24 surround the third end drive shaft 14 in opposite directions, and the distal ends of the fifth traction body 21 and the sixth traction body 24 pass through the fifth guide wheel 163 and the sixth traction body, respectively.
  • the guide wheel 173 turns and is connected to the instrument end 3 after passing through the fifth through hole 25b and the sixth through hole 26b (in this embodiment, the distal ends of the fifth traction body 21 and the sixth traction body 24 are connected to the
  • the actuator support 301 is fixedly connected to control the actuator support 301 to rotate around the first rotation axis 304).
  • the wire transmission structure 1 also includes at least two guide seats, namely a first guide seat 17 and a second guide seat 16.
  • the guide seat is preferably closer to the instrument shaft 2 relative to the end drive shaft.
  • the first guide seat 17 and the second guide seat 16 are symmetrical about the second plane of symmetry.
  • the guide wheel can be rotated or fixed on the guide seat. 4
  • the second guide seat 16 and the second end drive shaft 13 and the third end drive shaft 14 are located on the side of the second symmetry plane
  • the first guide seat 17 and the first end drive shaft 12 are located on the other side of the second symmetry plane.
  • the first guide wheel 171, the second guide wheel 175, the third guide wheel 161, the fourth guide wheel 165, the fifth guide wheel 163, and the sixth guide wheel 173 are located at the first One guide seat 17 and the other three are located on the second guide seat 16.
  • the distances of the three guide wheels on each guide seat relative to the base 11 are sequentially reduced.
  • the first guide seat 17 is provided with a first guide wheel 171, a sixth guide wheel 173, and a second guide wheel 175, and the second guide seat 16 is provided with a third guide wheel 161, a fifth guide wheel 163, and a fourth guide wheel.
  • Guide wheel 165 Guide wheel 165.
  • the distances between the first guide wheel 171, the sixth guide wheel 173, and the second guide wheel 175 relative to the base 11 are successively reduced, and the third guide wheel 161, the fifth guide wheel 163, and the fourth guide wheel 165 are relative to the base 11
  • the distance of the seat 11 decreases successively.
  • the traction bodies corresponding to the three guide wheels in each guide wheel group are not at the same level with each other, and are staggered to avoid scratching between the traction bodies.
  • the arrangement of two or more guide seats prevents too many guide wheels from being stacked on the same position of the base 11, which is beneficial to reduce the volume of the wire transmission structure.
  • each guide seat includes three guide wheel mounting seats, and each guide wheel mounting seat is provided with a guide wheel shaft (in this embodiment, the first guide wheel shaft 172, the second guide wheel shaft 176, The third guide wheel shaft 162, the fourth guide wheel shaft 166, the fifth guide wheel shaft 164, and the sixth guide wheel shaft 174), each guide wheel shaft is provided with a guide wheel, and the axis of the guide wheel shaft corresponds to the corresponding guide wheel
  • the wire groove rotating surface Gr of the wire groove is perpendicular to each other.
  • the guide wheel can be rotated or fixed to the guide wheel mounting seat through the corresponding guide wheel shaft.
  • the wire transmission structure 1 further includes an instrument rod drive shaft (not shown), the instrument rod 2 is rotatably connected with the base, and the instrument rod drive shaft is used to drive the instrument rod 2 to rotate.
  • the instrument rod drive shaft and the third end drive shaft 14 are arranged symmetrically about the second plane of symmetry.
  • the instrument rod drive shaft can be a structure similar to the first end drive shaft 12, which is rotatably arranged on the base 11, and the instrument rod drive shaft is coaxially provided with a gear, and the instrument rod 2 can be driven through the gear or through a transmission member. Rotation provides more freedom for surgical instruments and is easy to operate and use.
  • the wire transmission device further includes a guide frame base 15, which is parallel to the base 11, and is provided with a through hole at the corresponding position of each end drive shaft and the instrument rod drive shaft, and passes through the bearing It is connected with the end drive shaft and the instrument rod drive shaft to prevent the end drive shaft and the instrument rod drive shaft from deflection when rotating. Further, the first guide seat 17 and the second guide seat 16 are arranged on the guide frame base 15.
  • the fifth traction body 21 and the sixth traction body 24 of the third transmission module circle the third end drive shaft 14 in opposite directions, they pass through the fifth guide wheel 163 and the sixth guide wheel, respectively. 173 changes the extension direction.
  • the instrument rod 2 After passing through the instrument rod 2, it respectively passes through the fifth through hole 21b and the sixth through hole 24b and then rotates around the first rotation shaft 304 in the opposite direction and is connected to the actuator support base 301 to drive the actuator support
  • the seat 301 rotates around the first rotating shaft 304; the first traction body 23 and the second traction body 25 of the first transmission module rotate around the first end drive shaft 12 in opposite directions, and respectively pass through the first guide wheel 171 and the second guide wheel
  • the wheel 175 changes its extension direction.
  • the instrument rod 2 After passing through the instrument rod 2, it passes through the first through hole 23b and the second through hole 25b respectively, and then rotates around the second rotating shaft 305 in the opposite direction and is fixed on the first opening and closing piece 302 to drive the first
  • the opening and closing piece 302 rotates around the second rotating shaft 305; the third traction body 22 and the fourth traction body 26 of the second transmission module are passed around the second end drive shaft 13 in the opposite direction, and then pass through the third guide wheel 161 and the first The four guide wheels 165 change the extension direction.
  • the first to sixth guide wheels are configured such that the circumferential arrangement of the six projections of the six traction bodies is consistent with the circumferential arrangement of the six through holes at the distal end of the instrument, and the end drive shaft is aligned with the The angle between the traction body defined by the entry tangent point and the wire groove rotating surface Gr of the corresponding guide wheel wire groove is 0-0.2°.
  • the wire transmission structure of the surgical instrument in this embodiment only needs six guide wheels, and each guide wheel can be configured separately. In the entire driving process, six There is no direct contact and rubbing between the traction bodies, and the deflection angle between the traction body and the guide wheel is controlled within 0.2°, the transmission resistance is small, and the reliability is high. In addition, the arrangement sequence of the six traction bodies in and out of the instrument rod 2 remains unchanged, which can prevent the traction bodies from staggering and scratching inside the instrument rod 2.
  • the wire transmission structure 1 may not only include three transmission modules, but may also have two, four, or more than four transmission modules.
  • the first embodiment of the present invention also provides a surgical robot, which includes a robotic arm and the surgical instrument as described above, the surgical instrument is mounted on the end of the robotic arm, and the robotic arm is used for adjusting The position and/or posture of the surgical instrument. Since the surgical robot includes the surgical instrument as described above, it has the beneficial effects brought by the surgical instrument. Those skilled in the art can configure other structures of the surgical robot according to the prior art, which will not be repeated in this embodiment.
  • the surgical instrument in the second embodiment of the present invention is basically the same as the surgical instrument in the first embodiment, and the same parts will not be described, and only the differences will be described below.
  • FIG. 14 is a top view of the wire transmission structure provided in the second embodiment of the present invention
  • FIG. 15 is a perspective view of the wire transmission structure provided in the second embodiment of the present invention.
  • the arrangement of the guide wheels corresponding to the traction body on the guide seat is different from that in the first embodiment.
  • the first guide seat 17 is provided with a third guide wheel 161, a first guide wheel 171 and a sixth guide wheel 173;
  • the second guide seat 16 is provided with a fifth guide wheel 163, the second guide wheel 175 and the fourth guide wheel 165.
  • the distances of the third guide wheel 161, the first guide wheel 171 and the sixth guide wheel 173 relative to the base 11 are successively reduced, and the fifth guide wheel 163, the second guide wheel 175 and the fourth guide wheel 165 are relative to the base 11
  • the distance of the seat 11 decreases successively.
  • the first traction body 23 to the sixth traction body 24 correspond to the first guide wheel 171 to the sixth guide wheel 173 in sequence.
  • the configuration of each end drive shaft and the traction body is the same as the configuration in the first embodiment, which is not here. Repeat it again.
  • the arrangement of the guide wheels on the guide seat in this embodiment is not limited to the above configuration, and can also be other arrangements. Those skilled in the art can achieve similar effects by exchanging the positions of several guide wheels. . With this configuration, it can also be realized that the first parts of the six traction bodies are parallel or different from each other through the configuration of the six guide wheels, and the six traction bodies have no contact and rubbing against each other.
  • the surgical instrument in the third embodiment of the present invention is basically the same as the surgical instrument in the first embodiment, and the same parts will not be described, and only the differences will be described below.
  • FIG. 16 is a schematic diagram of a transmission plane of the wire transmission structure provided in the third embodiment of the present invention.
  • the arrangement of the end drive shafts corresponding to the traction body is different from that in the first embodiment.
  • the third end drive shaft 14 of the third transmission module is farther away from the end of the instrument than the second end drive shaft 13 of the second transmission module.
  • the first end drive shaft 12 of the first transmission module and the third end drive shaft 14 of the third transmission module are arranged symmetrically about the second plane of symmetry; the second end drive shaft 13 of the second transmission module and the The third end drive shaft 14 of the three transmission module is symmetrically arranged with respect to the first symmetry plane. That is, compared with the solution in the first embodiment, the second end drive shaft 13 and the third end drive shaft 14 have exchanged positions.
  • the configuration of the first guide wheels 171 to the sixth guide wheels 173 and the configuration of the traction body are the same as those in the first embodiment, and will not be repeated here.
  • the arrangement of the end drive shafts on the base in this embodiment is not limited to the above configuration, and may also be other arrangements. Those skilled in the art can achieve this by exchanging the positions of several end drive shafts. Similar effect.
  • the surgical instrument in the fourth embodiment of the present invention is basically the same as the surgical instrument in the first embodiment, and the same parts will not be described, and only the differences will be described below.
  • Figure 17 is a schematic diagram of the surgical instrument provided by the fourth embodiment of the present invention
  • Figure 18 is a schematic diagram of the end swing of the surgical instrument shown in Figure 17 19 is a schematic diagram of the instrument end provided in the fourth embodiment of the present invention
  • FIG. 20 is a schematic diagram of the wire transmission structure provided in the fourth embodiment of the present invention
  • FIG. 21 is a schematic diagram of the fourth transmission module provided in the fourth embodiment of the present invention.
  • 22 is a schematic diagram of the fifth transmission module provided in the fourth embodiment of the present invention
  • FIG. 23 is a schematic cross-sectional view of the proximal end of the instrument rod provided in the fourth embodiment of the present invention
  • FIG. 24 is a schematic diagram of the distal end of the instrument provided in the fourth embodiment of the present invention.
  • FIG. 25 is a schematic transmission plan view of the wire transmission structure provided in the fourth embodiment of the present invention.
  • FIG. 26(A) and FIG. 26(B) are the cross-sections of the instrument rod provided in the fourth embodiment of the present invention. ⁇ P1O1Q1 minimum and maximum diagram.
  • the instrument end 3 of the surgical instrument provided in the fourth embodiment includes a snake-shaped joint.
  • the serpentine joint includes a plurality of snake bones 311 arranged axially in sequence, and the plurality of snake bones 311 can swing in at least two directions to form at least two degrees of freedom.
  • the serpentine joint can swing around the third axis and the fourth axis respectively.
  • the third axis is perpendicular to the fourth axis. Accordingly, the instrument end 3 has at least two degrees of freedom.
  • the wire transmission structure 1 of the surgical instrument includes at least two transmission modules, namely a fourth transmission module and a fifth transmission module.
  • the fourth transmission module includes a fourth end drive shaft 191, a seventh traction body 204, an eighth traction body 202, a seventh guide wheel 193, and an eighth guide wheel 194;
  • the fifth transmission module includes a fifth end drive shaft 192,
  • the seventh traction body 204, the eighth traction body 202, the ninth traction body 201 and the tenth traction body 203 are respectively
  • the seventh guide wheel 193, the eighth guide wheel 194, the ninth guide wheel 195, and the tenth guide wheel 196 correspond to each other.
  • the seventh traction body 204, the eighth traction body 202 in the fourth transmission module, and the ninth traction body in the fifth transmission module The body 201 and the tenth traction body 203 pass through each of the snake bones 311 in turn, and are connected with the snake bones 311 at the distal end, so as to realize that the fourth transmission module and the fifth transmission module are respectively used for driving
  • the serpentine joint swings in two directions, forming the two degrees of freedom.
  • the seventh traction body 204 and the eighth traction body 202 are used to control the snake joint to swing around the third axis;
  • the ninth traction body 201 and the tenth traction body 203 are used to control the snake joint to swing around the fourth axis.
  • the proximal portion 300 is provided with four through holes along the circumferential direction, which are respectively a seventh through hole 204b and a ninth through hole 201b arranged around the center of the proximal portion 300.
  • the eighth through hole 202b and the tenth through hole 203b are used to restrict the extension directions of the seventh traction body 204, the ninth traction body 201, the eighth traction body 202, and the tenth traction body 203, respectively.
  • the centers S2 and Q2 of the seventh through hole 204b and the eighth through hole 202b are symmetrical about the center O1 of the proximal portion 300 (that is, the projection of the axis of the instrument end at the proximal portion 300); the ninth through hole 201b
  • the centers P2 and R2 of the tenth through hole 203b are symmetrical with respect to the center of the proximal portion 300.
  • the line connecting the centers of the seventh through hole 204b and the eighth through hole 202b is at an angle of 45° to the fourth axis;
  • the line connecting the centers of the ninth through hole 201b and the tenth through hole 203b is at an angle of 45° to the third axis. 45° angle.
  • the seventh guide wheel 193, the eighth guide wheel 194, the ninth guide wheel 195 and the tenth guide wheel 196 leaving tangent points are the seventh leaving tangent point, eighth
  • the seventh traction body 204 located at the position of the seventh away tangent point is projected at the proximal end 300 to form a seventh projection;
  • the eighth traction body 202 at the eighth position away from the tangent point is projected at the proximal end 300 to form an eighth projection;
  • the ninth traction body 201 at the ninth away from the tangent point position is at the proximal end
  • the projection at the portion 300 forms a ninth projection;
  • the tenth traction body 203 located at the position of the tenth away from the tangent point is projected at the proximal portion 300 to form a tenth projection.
  • the seventh guide wheel 193, the ninth guide wheel 195, the eighth guide wheel 194, and the tenth guide wheel 196 are configured such that the circumferential arrangement sequence of the seventh projection, the ninth projection, the eighth projection, and the tenth projection is the same
  • the seventh through hole 204b, the ninth through hole 201b, the eighth through hole 202b, and the tenth through hole 203b have the same circumferential arrangement sequence.
  • the surgical instrument further includes an instrument rod 2 coaxial with the axis of the distal end of the instrument, the instrument rod 2 has a through cavity for the traction body to penetrate, and the seventh traction body 204, the ninth traction body 201, the eighth traction body 202, and the tenth traction body 203 are connected to the instrument end 3 after passing through the instrument rod 2.
  • the diameters of the four traction bodies are all d, the diameter of the instrument rod 2 is D, and the diameter of each corresponding projection is d.
  • the center of the eighth projection of the eighth traction body 202 is arranged in a circular area with the center of the symmetry of the center of the seventh projection of the seventh traction body 204 about the axis as the center, and 5d as the radius.
  • the center of the tenth projection of the tenth traction body 203 is arranged in a circular area with a center of symmetry of the center of the ninth traction body 201 about the axis and a radius of 5d.
  • the distance between the projection centers of any two traction bodies is greater than d, for example, 1.1d, 1.2d, 1.3d; the distance between the projection centers of any one of the traction bodies and the inner wall of the instrument shaft 2 is greater than 0.5d , Such as 0.6d, 0.7d, 0.8d, 0.9d or d; the distance from the center of any one of the traction body projections to the center of the instrument shaft 2 is greater than 0.5d, such as 0.6d, 0.7d, 0.8d, 0.9d or d.
  • the center of the seventh projection of the seventh traction body 204 be S1
  • the projection of the axis of the instrument end 3 is O1
  • the eighth projection of the eighth traction body 202 The center of the ninth traction body 201 is Q1
  • the center of the ninth projection of the ninth traction body 201 is P1
  • the center of the tenth projection of the tenth traction body 203 is R1
  • the inner diameter of the instrument rod 2 is D
  • Figure 26(A) illustrates the situation when ⁇ P1O1Q1 is the smallest
  • Figure 26(B) illustrates the situation when ⁇ P1O1Q1 is the largest.
  • H is the farthest point of the ninth projection of the ninth traction body 201 relative to the projection O1 of the axis of the instrument end 3
  • I is the ninth projection of the ninth traction body 201 and the eighth projection of the eighth traction body 202. The point of contact during contact.
  • FIG. 26(A) when ⁇ P1O1Q1 is the smallest, the ninth projection of the ninth tractor 201 and the eighth projection of the eighth tractor 202 are adjacent to each other.
  • the base 11 is provided with a third guide seat 181 and a fourth guide seat 182 opposite to each other.
  • the third guide seat 181 is closer to the fourth end drive shaft 191 than the fourth guide seat 182; the fourth guide seat 182 is closer to the fifth end drive shaft 192 than the third guide seat 181.
  • the seventh guide wheel 193 and the eighth guide wheel 194 are arranged on the third guide seat 181, and the ninth guide wheel 195 and the tenth guide wheel 196 are arranged on the fourth guide seat 182. Further, the distance of the seventh guide wheel 193 relative to the base 11 is smaller than the distance of the eighth guide wheel 194 relative to the base 11, and the ninth guide wheel 195 is relative to the base 11 The distance of is smaller than the distance of the tenth guide wheel 196 relative to the base 11.
  • the first embodiment which will not be repeated here.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

一种手术机器人及手术器械，手术器械包括丝传动结构（1）及器械末端（3），丝传动结构（1）包括基座（11）和n个传动模组，每个传动模组包括至少一个末端驱动轴（12，13，14，191，192），两个牵引体（21，22，23，24，25，26，201，202，203，204）及两个导向轮（161，162，163，164，165，166，193，194，195，196），每个导向轮（161，162，163，164，165，166，193，194，195，196）包括用于容纳牵引体的丝槽，丝槽包括丝槽旋转面（Gr）、进入切点及离开切点，末端驱动轴（12，13，14，191，192）与进入切点所限定的牵引体（21，22，23，24，25，26，201，202，203，204）与丝槽旋转面（Gr）之间的夹角为0～0.2°，所有在离开切点位置的牵引体（21，22，23，24，25，26，201，202，203，204）在近端部（300）的投影以对应的通孔（21b，22b，23b，24b，25b，26b，201b，202b，203b，204b），沿周向的排布的顺序进行排布。如此配置，手术器械的丝传动结构（1）可以通过较少的导向轮（161，162，163，164，165，166，193，194，195，196），即可实现降低或消除丝槽与牵引体（21，22，23，24，25，26，201，202，203，204）之间摩擦阻力，且牵引体（21，22，23，24，25，26，201，202，203，204）之间不会互相叠压剐蹭，提高了手术器械的丝传动结构（1）的传动效率，提高了手术器械的使用寿命。

Description

手术机器人及手术器械 技术领域
本发明涉及手术器械技术领域，特别涉及一种手术机器人及手术器械。
背景技术
近年来，随着机器人相关技术的应用和发展，特别是计算技术的发展，医用手术机器人在临床中的作用越来越受到人们的重视。其中，微创伤手术机器人系统可以通过介入治疗的方式减轻医生在手术过程中的体力劳动，同时达到精准手术目的，使患者创伤小、失血少、术后感染少、术后恢复快。而手术机器人所用的手术器械的设计优劣直接决定了微创伤手术机器人系统的成败与否，手术器械的性能是影响微创伤手术机器人系统性能水平的关键因素。
据发明人所知，公开号CN105212987A的中国专利申请公开了一种手术器械，其采用6根钢丝实现器械末端的3个自由度，其器械驱动盒端采用了9颗导向轮完成器械盒端的丝传动导向布局。该设计存在下列几点不足：①丝传动中滑轮的存在会导致传动效率的降低，其采用的导向轮数量越多，对丝传动的传动效率越不利，在驱动相同负载的情况下，传动效率低的话，则需要驱动模块(如电机)提供更大的动力输出，通常会导致驱动模块尺寸和质量的增加，这对于手术机器人的整体性能提升是不利的。②钢丝绳偏角的存在：其导向轮轮槽方向与钢丝的延伸方向存在偏角，偏角的存在，会导致钢丝对导向轮产生侧压力，进而产生侧向摩擦力，导致传动链路上阻力增大，同时偏角过大的话还有可能导致钢丝跳槽，出现脱丝，此外钢丝与导向轮槽道侧面发生碰檫还会影响寿命。③进入器械杆的6根钢丝在器械杆中会发生交错现象，钢丝的相互交叉会导致器械末端运动时，6根钢丝间会发生严重的 叠压剐蹭，对手术器械的传动性能影响是不利的。
因此，目前需要性能更加优化的手术器械。
发明内容
本发明的目的在于提供一种手术机器人及手术器械，以解决现有的手术器械中导向轮槽与至少一根钢丝存在较大偏角，以及钢丝之间存在交叉磨损的问题中的一个或多个。
为解决上述技术问题中的至少一个，本发明提供了一种手术器械，其包括：丝传动结构及器械末端；
所述丝传动结构包括：基座和n个传动模组，每个所述传动模组包括一末端驱动轴、两个牵引体及两个导向轮，n为自然数；
所述器械末端具有至少n个自由度，所述器械末端包括近端部，所述近端部沿周向设有2n个通孔；
每个所述末端驱动轴可转动地设置于所述基座上，并通过相应的两个牵引体驱动所述器械末端运动；
在第i个传动模组中，第j个牵引体与第j+1个牵引体的近端以相反的方向围绕第i个末端驱动轴，第j个牵引体与第j+1个牵引体的远端分别经过第j个导向轮与第j+1个导向轮转向后，并穿过第j个通孔与第j+1个通孔，其中，i属于1到n中任一自然数，j＝2i-1；
每个所述导向轮包括：用于容纳牵引体的丝槽，所述丝槽包括丝槽旋转面，进入切点及离开切点，对应的牵引体自所述进入切点进入所述导向轮，并由所述离开切点离开所述导向轮；所述导向轮被配置为，所述末端驱动轴与所述进入切点所限定的牵引体与所述丝槽旋转面之间的夹角为0～0.2°，所有在所述离开切点位置的牵引体在所述近端部的投影以对应的通孔沿所述 近端部的周向的排布顺序进行排布。
可选的，所述器械末端还设有一从近端至远端延伸的轴线，所述导向轮还被配置为，所述离开切点与对应的通孔所限定的牵引体与所述轴线之间的夹角为0～5°。
可选的，所述导向轮还被配置为，所述离开切点与对应的通孔所限定的牵引体与所述丝槽旋转面之间的夹角为0～1.5°。
可选的，第i个末端驱动轴与第j个牵引体形成第j个连接点，第j个连接点与第j个导向轮的进入切点之间的牵引体与所述基座的夹角为0～10°；第i个末端驱动轴与第j+1个牵引体形成第j+1个连接点，第j+1个连接点与第j+1个导向轮的进入切点之间的牵引体与所述基座的夹角为0～10°。
可选的，任两个牵引体由对应的连接点与进入切点所限定的部分相平行或异面。
可选的，所述手术器械还包括器械杆驱动轴和器械杆，所述器械杆与所述器械末端可拆卸连接或固定连接，所述器械杆驱动轴用于驱动所述器械杆自转。
可选的，所述手术器械的器械末端包括至少三个自由度，所述丝传动结构包括第一传动模组、第二传动模组和第三传动模组，所述第一传动模组、第二传动模组和第三传动模组分别驱动所述器械末端的一个自由度；所述第一传动模组包括第一末端驱动轴、第一牵引体、第二牵引体、第一导向轮和第二导向轮；所述第二传动模组包括第二末端驱动轴、第三牵引体、第四牵引体、第三导向轮和第四导向轮；所述第三传动模组包括第三末端驱动轴、第五牵引体、第六牵引体、第五导向轮和第六导向轮；所述第一牵引体、第二牵引体、第三牵引体、第四牵引体、第五牵引体及第六牵引体分别与所述第一导向轮、第二导向轮、第三导向轮、第四导向轮、第五导向轮及第六导 向轮相对应。
可选的，所述器械末端还包括末端执行器，所述末端执行器包括：执行器支撑座、第一开合片和第二开合片，所述第一开合片和第二开合片可转动地与所述执行器支撑座连接，以形成至少两个开合自由度；所述执行器支撑座与所述近端部转动连接，以形成至少一个摆动自由度；所述第一传动模组用于驱动所述第一开合片运动，所述第二传动模组用于驱动所述第二开合片运动，所述第三传动模组用于驱动所述执行器支撑座相对于所述近端部运动。
可选的，所述近端部上的通孔包括第一通孔、第二通孔、第三通孔、第四通孔、第五通孔和第六通孔，分别用以约束所述第一牵引体、第二牵引体、第三牵引体、第四牵引体、第五牵引体及第六牵引体的延伸方向；
所述第一开合片和第二开合片的旋转轴线，与所述执行器支撑座的旋转轴线不平行；
所述第五通孔、第三通孔、第一通孔、第六通孔、第二通孔和第四通孔围绕所述近端部的中心周向排布。
可选的，所述第五通孔与所述第六通孔关于所述近端部的中心对称；所述第三通孔与所述第二通孔关于所述近端部的中心对称；所述第一通孔与所述第四通孔关于所述近端部的中心对称。
可选的，所述第一导向轮、第二导向轮、第三导向轮、第四导向轮、第五导向轮及第六导向轮的离开切点分别为第一离开切点、第二离开切点、第三离开切点、第四离开切点、第五离开切点及第六离开切点；
位于所述第一离开切点位置的所述第一牵引体在所述近端部处投影形成第一投影；
位于所述第二离开切点位置的所述第二牵引体在所述近端部处投影形成 第二投影；
位于所述第三离开切点位置的所述第三牵引体在所述近端部处投影形成第三投影；
位于所述第四离开切点位置的所述第四牵引体在所述近端部处投影形成第四投影；
位于所述第五离开切点位置的所述第五牵引体在所述近端部处投影形成第五投影；
位于所述第六离开切点位置的所述第六牵引体在所述近端部处投影形成第六投影；
所述第一投影、第二投影、第三投影、第四投影、第五投影和第六投影被配置为按照所述通孔在所述近端部周向排布顺序进行排布。
可选的，所述器械末端还设有一从近端至远端延伸的轴线，六个所述牵引体的直径均为d；所述牵引体在所述近端部的投影被配置为：
所述第六投影的中心分布在：以所述第五投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内；
所述第二投影的中心分布在：以所述第三投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内；
所述第四投影的中心分布在：以所述第一投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内。
可选的，所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所有所述牵引体穿设；其中，所有所述牵引体位于所述器械杆内的部分被配置为：任两个投影的中心间的距离大于d；任一投影的中心到所述器械杆之内壁的距离大于0.6d；任一投影到器械杆之中心的距离大于0.5d。
可选的，所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所述牵引体穿设；
以所述第五投影的中心为A1，所述器械杆的轴线的投影为O1，所述第三投影的中心为B1，所述第一投影的中心为C1，所述器械杆的内径为D，则所述第三投影和所述第一投影满足：
Figure PCTCN2020108986-appb-000001
以及
Figure PCTCN2020108986-appb-000002
可选的，所述基座上设有相对的第一导向座和第二导向座，三个所述导向轮设置于所述第一导向座上，另三个所述导向轮设置于所述第二导向座上。
可选的，所述第一导向轮、第六导向轮以及第二导向轮设置于所述第一导向座上，所述第三导向轮、第五导向轮以及第四导向轮设置于所述第二导向座上；所述第一导向轮、第六导向轮以及第二导向轮相对于所述基座的距离依次减小，所述第三导向轮、第五导向轮以及第四导向轮相对于所述基座的距离依次减小。
可选的，所述第三导向轮、第一导向轮以及第六导向轮设置于所述第一导向座上，所述第五导向轮、第二导向轮以及第四导向轮设置于所述第二导向座上；所述第三导向轮、第一导向轮以及第六导向轮相对于所述基座的距离依次减小，所述第五导向轮、第二导向轮以及第四导向轮相对于所述基座的距离依次减小。
可选的，所述器械末端还设有一从近端至远端延伸的轴线，所述基板具有相互垂直的第一对称面和第二对称面，所述第一对称面与所述第二对称面的交线与所述轴线平行或共线；所述第二末端驱动轴与所述第三末端驱动轴关于所述第一对称面对称布置，所述第一末端驱动轴与所述第二末端驱动轴关于所述第二对称面对称布置，且所述第二末端驱动轴相对于所述第三末端 驱动轴更远离所述轴线。
可选的，所述器械末端还设有一从近端至远端延伸的轴线，所述基板具有相互垂直的第一对称面和第二对称面，所述第一对称面与所述第二对称面的交线与所述轴线平行或共线；所述第二末端驱动轴与所述第三末端驱动轴关于所述第一对称面对称布置，所述第一末端驱动轴与所述第三末端驱动轴关于所述第二对称面对称布置，且所述第三末端驱动轴相对于所述第二末端驱动轴更远离所述轴线。
可选的，所述手术器械的器械末端包括至少两个自由度，所述丝传动结构包括第四传动模组和第五传动模组，所述第四传动模组和第五传动模组分别驱动所述器械末端的一个自由度；所述第四传动模组包括第四末端驱动轴、第七牵引体、第八牵引体、第七导向轮和第八导向轮；所述第五传动模组包括第五末端驱动轴、第九牵引体、第十牵引体、第九导向轮和第十导向轮；所述第七牵引体、第八牵引体、第九牵引体及第十牵引体分别与所述第七导向轮、第八导向轮、第九导向轮和第十导向轮相对应。
可选的，所述器械末端还包括：蛇形关节，所述蛇形关节包括多个依次轴向排布的蛇骨，所述多个蛇骨至少能够在两个方向上摆动，以形成至少两个自由度；
所述第七牵引体、第八牵引体、第九牵引体及第十牵引体依次穿过每个所述蛇骨，并与远端的所述蛇骨连接，所述第四传动模组及第五传动模组分别用以驱动所述蛇形关节在两个方向上摆动。
可选的，所述近端部上的通孔包括第七通孔、第八通孔、第九通孔和第十通孔，分别用于约束所述第七牵引体、第八牵引体、第九牵引体及第十牵引体的延伸方向；
所述第七通孔、第九通孔、第八通孔及第十通孔沿近端部周向排布。
可选的，所述第七通孔与所述第八通孔关于所述近端部的中心对称；所述第九通孔与所述第十通孔关于所述近端部的中心对称。
可选的，所述第七导向轮、第八导向轮、第九导向轮及第十导向轮的离开切点分别为第七离开切点、第八离开切点、第九离开切点及第十离开切点；
位于所述第七离开切点位置的所述第七牵引体在所述近端部处投影形成第七投影；
位于所述第八离开切点位置的所述第八牵引体在所述近端部处投影形成第八投影；
位于所述第九离开切点位置的所述第九牵引体在所述近端部处投影形成第九投影；
位于所述第十离开切点位置的所述第十牵引体在所述近端部处投影形成第十投影；
所述第七投影、第八投影、第九投影和第十投影被配置为按照所述通孔在所述近端部的周向排布顺序进行排布。
可选的，述器械末端还设有一从近端至远端延伸的轴线，四个所述牵引体的直径均为d；所述牵引体在所述近端部的投影被配置为：
所述第八投影的中心分布在：以所述第七投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内；
所述第十投影的中心分布在：以所述第九投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内。
可选的，所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所述牵引体穿设；其中，所有所述牵引体位于所述器械杆内的部分被配置为：任两个投影的中心间的距离大于d；任一投影的中 心到所述器械杆之内壁的距离大于0.6d；任一投影到器械杆2之中心的距离大于0.5d。
可选的，所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所述牵引体穿设；
以所述器械杆的轴线的投影中心为O1，所述第八投影的中心为Q1，所述第九投影的中心为P1，所述器械杆的内径为D，则所述第九投影和所述第八投影满足：
Figure PCTCN2020108986-appb-000003
可选的，所述基座上设有相对的第三导向座和第四导向座，所述第七导向轮以及第八导向轮设置于所述第三导向座上，所述第九导向轮以及第十导向轮设置于所述第四导向座上；所述第七导向轮相对于所述基座的距离小于所述第八导向轮相对于所述基座的距离，所述第九导向轮相对于所述基座的距离小于所述第十导向轮相对于所述基座的距离。
为解决上述技术问题中的至少一个，本发明提供了一种手术机器人，其包括：机械臂和如上所述的手术器械，所述手术器械挂载于所述机械臂的末端，所述机械臂用于调整所述手术器械的位置和/或姿态。
综上所述，在本发明提供的手术机器人及手术器械中，手术器械包括丝传动结构及器械末端，所述丝传动结构包括基座和n个传动模组，每个所述传动模组包括至少一个末端驱动轴，两个牵引体及两个导向轮，每个所述导向轮包括用于容纳牵引体的丝槽，所述丝槽包括丝槽旋转面、进入切点及离开切点，末端驱动轴与进入切点所限定的牵引体与丝槽旋转面之间的夹角为0～0.2°，所有在所述离开切点位置的牵引体在所述近端部的投影以对应的通孔沿周向的排布的顺序进行排布。如此配置，手术器械的丝传动结构通过较少的导向轮，即可实现降低或消除导向轮的丝槽与牵引体之间的摩擦阻力， 且牵引体之间不会互相叠压剐蹭，提高了手术器械的丝传动结构的传动效率，提高了手术器械的使用寿命。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：
图1是本发明实施例一提供的手术器械的整体构成示意图；
图2是本发明实施例一提供的手术器械的内部结构示意图；
图3是本发明实施例一提供的丝传动结构的示意图；
图4是本发明实施例一提供的导向座的示意图；
图5是本发明实施例一提供的第一传动模组的示意图；
图6是本发明实施例一提供的第二传动模组的示意图；
图7是本发明实施例一提供的第三传动模组的示意图；
图8是本发明实施例一提供的丝传动结构的传动平面示意图；
图9是本发明实施例一提供的器械杆之近端的横截面的示意图；
图10(A)和图10(B)是本发明实施例一提供的器械杆之横截面中，∠A1O1B1与∠A1O1C1最小和最大时的示意图；
图11(A)和图11(B)是本发明实施例一提供的器械末端的示意图；
图12是本发明实施例一提供的器械末端的近端部的示意图；
图13是本发明实施例一提供的丝传动结构与器械末端的连接示意图；
图14是本发明实施例二提供的丝传动结构的俯视图；
图15是本发明实施例二提供的丝传动结构的立体图；
图16是本发明实施例三提供的丝传动结构的传动平面示意图；
图17是本发明实施例四提供的手术器械的示意图；
图18是图17所示的手术器械之器械末端摆动的示意图；
图19是本发明实施例四提供的器械末端的示意图；
图20是本发明实施例四提供的丝传动结构的示意图；
图21是本发明实施例四提供的第四传动模块的示意图；
图22是本发明实施例四提供的第五传动模块的示意图；
图23是本发明实施例四提供的器械杆之近端的横截面的示意图；
图24是本发明实施例四提供的器械末端的近端部的示意图；
图25是本发明实施例四提供的丝传动结构的传动平面示意图；
图26(A)和图26(B)是本发明实施例四提供的器械杆之横截面中，∠P1O1Q1最小和最大时的示意图；
图27是本发明实施例一提供的第一导向轮的第一部分与第一牵引体的偏角的示意图。
附图中：
1-丝传动结构；11-基座；12-第一末端驱动轴；13-第二末端驱动轴；14-第三末端驱动轴；15-导向架基座；16-第二导向座；161-第三导向轮；162-第三导向轮转轴；163-第五导向轮；164-第五导向轮转轴；165-第四导向轮；166-第四导向轮转轴；17-第一导向座；171-第一导向轮；172-第一导向轮转轴；173-第六导向轮；174-第六导向轮转轴；175-第二导向轮；176-第二导向轮转轴；181-第三导向座；182-第四导向座；191-第五末端驱动轴；192-第六末端驱动轴；193-第七导向轮；194-第八导向轮；195-第九导向轮；196-第十导向轮；
2-器械杆；21-第五牵引体；22-第三牵引体；23-第一牵引体；24-第六牵引体；25-第二牵引体；26-第四牵引体；201-第九牵引体；202-第八牵引体；203-第十牵引体；204-第七牵引体；
3-器械末端；300-近端部；21b-第五通孔；22b-第三通孔；23b-第一通孔；24b-第六通孔；25b-第二通孔；26b-第四通孔；201b-第九通孔；202b-第八通孔；203b-第十通孔；204b-第七通孔；
301-执行器支撑座；302-第一开合片；303-第二开合片；304-第一转动轴；305-第二转动轴；306-第一末端导向轮；307-第二末端导向轮；308-第三末端导向轮；309-第四末端导向轮；311-蛇骨。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
如在本说明书和所附权利要求书中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，除非内容另外明确指出外。如在本说明书和所附权利要求中所使用的，术语“或”通常是以包括“和/或”的含义而进行使用的，除非内容另外明确指出外，术语“近端”通常是靠近操作者的一端，术语“远端”通常是靠近手术器械之操作对象的一端。
本发明的核心思想在于提供一种手术机器人及手术器械，手术器械包括丝传动结构及器械末端；所述丝传动结构包括：基座和n个传动模组，每个所述传动模组包括至少一个末端驱动轴，两个牵引体及两个导向轮；所述器械末端具有至少n个自由度，所述器械末端包括近端部，所述近端部沿周向设有2n个通孔；所述末端驱动轴可转动地设置于所述基座上，并通过所述牵引体驱动所述器械末端运动；在第i个传动模组中，第j个牵引体与第j+1个 牵引体的近端以相反的方向围绕第i个末端驱动轴，第j个牵引体与第j+1个牵引体的远端分别经过第j个导向轮与第j+1个导向轮转向后，穿过第j个通孔与第j+1个通孔，其中，i属于1到n中任一自然数，j＝2i-1；所述导向轮包括：用于容纳牵引体的丝槽，所述丝槽包括丝槽旋转面、进入切点及离开切点，所述牵引体自所述进入切点进入所述导向轮，并由所述离开切点离开所述导向轮；所述导向轮被配置为，所述末端驱动轴与所述进入切点所限定的牵引体与所述丝槽旋转面之间的夹角为0～0.2°，所有在所述离开切点位置的牵引体在所述近端部的投影以对应的通孔沿周向排布的顺序排序。
如此配置，手术器械的丝传动结构通过较少的导向轮，即可实现降低或消除导向轮的丝槽与牵引体之间的摩擦阻力，且牵引体之间不会互相叠压剐蹭，提高了手术器械的丝传动结构的传动效率，提高了手术器械的使用寿命。
以下参考附图进行描述。
【实施例一】
请参考图1至图9、图10(A)和图10(B)、图11(A)和图11(B)、图12至图13及图27，其中，图1是本发明实施例一提供的手术器械的整体构成示意图，图2是本发明实施例一提供的手术器械的内部结构示意图，图3是本发明实施例一提供的丝传动结构的示意图，图4是本发明实施例一提供的导向座的示意图，图5是本发明实施例一提供的第一传动模组的示意图，图6是本发明实施例一提供的第二传动模组的示意图，图7是本发明实施例一提供的第三传动模组的示意图，图8是本发明实施例一提供的丝传动结构的传动平面示意图，图9是本发明实施例一提供的器械杆之近端的横截面的示意图，图10(A)和图10(B)是本发明实施例一提供的器械杆之横截面中，∠A1O1B1与∠A1O1C1最小和最大时的示意图，图11(A)和图11(B)是本发明 实施例一提供的器械末端的示意图，图12是本发明实施例一提供的器械末端的近端部的示意图，图13是本发明实施例一提供的丝传动结构与器械末端的连接示意图，图27是本发明实施例一提供的第一导向轮的第一部分与第一牵引体的偏角的示意图。
如图1和图2所示，本发明实施例一提供一种手术器械，其包括：丝传动结构1与器械末端3，所述丝传动结构的牵引体与所述器械末端3连接，所述丝传动结构用以驱动所述器械末端3。优选的，手术器械还包括一器械杆2，丝传动结构1通过所述器械杆2与所述器械末端3连接。
请参考图11(A)和图11(B)，所述器械末端3包括近端部300及末端执行器。优选，在近端部300与末端执行器之间，所述器械末端3还包括一个或多个关节，以驱动末端执行器俯仰或者偏转运动。在一个实施例中，所述器械末端具有三个自由度。相应的，需要六个牵引体来实现对器械末端3的控制。参考图12，并结合图13，所述近端部300沿周向设有6个通孔，以使六个牵引体通过；该6个通孔分别为：第一通孔23b、第二通孔25b、第三通孔22b、第四通孔26b、第五通孔21b及第六通孔24b。这里所述通孔的相对位置关系与器械末端3的各个关节的排布相关。本领域技术人员根据需要可以设计关节排布，以及相应的通孔相对位置。
请参考图11(A)和图11(B)，其示出了本实施例一提供的器械末端3，其中图11(A)与图11(B)分别是器械末端3相对的两侧(左侧与右侧)的示意图。所述末端执行器与所述近端部300转动连接。所述末端执行器包括：执行器支撑座301、第一开合片302和第二开合片303，所述第一开合片302和第二开合片303可转动地与所述执行器支撑座301连接，以形成至少两个自由度；所述执行器支撑座301与所述近端部300转动连接，以形成至少一个自由度。在一个示范性的实施例中，执行器支撑座301围绕第一转动轴304 可转动地与近端部300的远端连接。第一开合片302、第二开合片303均围绕第二转动轴305可转动地与执行器支撑座301连接。执行器支撑座301相对所述近端部300的转动形成一个摆动自由度，两个开合片相对于执行器支撑座301的转动形成两个开合自由度。因此，所述器械末端具有三个自由度。优选地，器械末端3的轴线、第一转动轴304的轴线以及第二转动轴305的轴线两两相互垂直。
下面参考图3，并结合图2和图4，对本发明实施例一提供的丝传动结构1进行说明。丝传动结构1包括基座11、三个传动模组，每个传动模组包括至少一个末端驱动轴，两个牵引体及两个导向轮。所有的末端驱动轴均可转动地设置于所述基座11上，并通过所述牵引体驱动器械末端3运动。三个传动模组分别为第一传动模组，第二传动模组及第三传动模组。第一传动模组至少包括第一末端驱动轴12、第一牵引体23、第二牵引体25、第一导向轮171和第二导向轮175。第二传动模组至少包括第二末端驱动轴13、第三牵引体22、第四牵引体26、第三导向轮161和第四导向轮165。第三传动模组至少包括第三末端驱动轴14、第五牵引体21、第六牵引体24、第五导向轮163和第六导向轮173。优选，所述基板11具有第一对称面和第二对称面，所述第一对称面与第二对称面垂直。进一步，所述第一对称面与第二对称面的交线与所述器械末端3的轴线平行或共线。第二末端驱动轴13与第三末端驱动轴14关于第一对称面对称布置，且第二末端驱动轴13相对于第三末端驱动轴14更加远离器械末端3的轴线。所述第一末端驱动轴12与第二末端驱动轴13关于第二对称面对称布置。
请参考图5至图7，并结合图11(A)和图11(B)、图12和图13，所述丝传动结构1的三个传动模组用于驱动器械末端3运动。具体地，所述第一传动模组用于驱动第一开合片302转动；所述第二传动模组用于驱动第二开 合片303转动；所述第三传动模组用于驱动末端执行器相对于近端部300转动。更具体地，第三传动模组的第五牵引体21与第六牵引体24分别从第一转动轴304两侧延伸，且与所述执行器支撑座301固定连接，以控制所述执行器支撑座301围绕第一转动轴304转动。进一步，所述第一转动轴304上还依次套设有四个与第一转动轴304转动连接的末端导向转轮，即分别为第一末端导向转轮306、第二末端导向转轮307、第三末端导向转轮308和第四末端导向转轮309。第一末端导向转轮306与第四末端导向转轮309关于器械末端3的轴线对称布置，第二末端导向转轮307与第三末端导向转轮308亦关于器械末端3的轴线对称布置。进一步，第二末端导向转轮307与第三末端导向转轮308相对于第一末端导向转轮306与第四末端导向转轮309更靠近器械末端3的轴线。第一末端导向转轮306、第二末端导向转轮307、第三末端导向转轮308以及第四末端导向转轮309分别用以引导和改变所述第四牵引体26、第二牵引体25、第三牵引体22及第一牵引体23的延伸方向。其中，第一牵引体23和第二牵引体25分别与所述第一开合片302固定连接，用以驱动第一开合片302的开合，以形成一个开合自由度；第三牵引体22和第四牵引体26分别与所述第二开合片303固定连接，用以驱动第二开合片303的开合，以形成另一个开合自由度。优选，第二末端导向转轮307与第三末端导向转轮308的直径相等，且第一末端导向转轮306与第四末端导向转轮309的直径相等，以使控制第二开合片303运动的第三牵引体22和第四牵引体26，以及控制第一开合片302运动的第一牵引体23和第二牵引体25的长度变化相一致。
请参考图12和图13，围绕所述近端部300的中心依次开设的六个通孔分别用以约束上述三个传动模组中的六根牵引体向远端延伸的方向；每根所述牵引体的近端与对应的末端驱动轴连接，远端穿过对应的所述通孔，与所述 器械末端3连接。在本实施例中，第一牵引体23通过第一通孔23b，第二牵引体25通过第二通孔25b，第三牵引体22通过第三通孔22b，第四牵引体26通过第四通孔26b，第五牵引体21通过第五通孔21b，第六牵引体24通过第六通孔24b。进一步，第五通孔21b、第三通孔22b、第一通孔23b、第六通孔24b、第二通孔25b及第四通孔26b逆时针围绕近端部300的中心排布。其中，第五通孔21b和第六通孔24b关于近端部300的中心对称布置，分别用于容纳第五牵引体21和第六牵引体24。优选，第五通孔21b和第六通孔24b的连线与所述第一转动轴304的轴线垂直，以使第五牵引体21和第六牵引体24在通过第五通孔21b和第六通孔24b后能顺畅地与执行器支撑座301固定连接，以实现执行器支撑座301围绕第一转动轴304转动。第三通孔22b和第二通孔25b关于近端部300的中心对称布置，第一通孔23b和第四通孔26b关于近端部300的中心对称布置，且第三通孔22b与近端部300之中心的距离小于第一通孔23b与近端部300之中心的距离。第三通孔22b和第二通孔25b分别用于容纳第三牵引体22和第二牵引体25。第一通孔23b和第四通孔26b分别用于容纳第一牵引体23和第四牵引体26。如此配置，第三通孔22b和第四通孔26b用以容纳驱动一个开合自由度的牵引体，第一通孔23b和第二通孔25b用以容纳驱动另一个开合自由度的牵引体。并且由于第三牵引体22、第二牵引体25相对于第一牵引体23、第四牵引体26更加靠近近端部300的中心，如此配置使这四个牵引体的运动更加流畅。所述第三通孔22b和第一通孔23b的连线与第一转动轴304的轴线可以平行，也可以不平行。在一个替代性实施例中，第五通孔21b、第三通孔22b、第一通孔23b、第六通孔24b、第二通孔25b及第四通孔26b顺时针沿近端部300周向排布。
在本实施例中，牵引体通过对应的导向轮改变方向后，延伸到远端。每个所述导向轮包括用于容纳牵引体的丝槽，所述丝槽包括丝槽旋转面Gr(如 图27所示)、进入切点及离开切点。对应的牵引体自所述进入切点进入所述导向轮，并由所述离开切点离开所述导向轮。这里的丝槽旋转面Gr为一垂直于导向轮旋转轴线的面。请参考图5，以第一导向轮171为例，其包括第一进入切点及第一离开切点。第一牵引体23自所述第一进入切点进入第一导向轮171，并由所述第一离开切点离开所述第一导向轮171，即第一导向轮171用以改变第一牵引体23的方向。进一步的，请参考图27，第一导向轮171包括用于容纳第一牵引提23的丝槽，所述丝槽包括丝槽旋转面Gr。进一步，丝槽旋转面Gr与所述第一导向轮171的第一导向轮转轴172相垂直。进一步的，第一末端驱动轴12与第一牵引体23连接形成了第一连接点。为便于叙述，将第一连接点与第一导向轮171的第一进入切点之间所限定的一部分第一牵引体23称为第一牵引体23的第一部分，第一导向轮171被配置为使该第一牵引体23的第一部分与第一导向轮171的丝槽旋转面Gr之间的夹角α为0～0.2°，优选，0～0.1°，更优选0°。也就是说，第一牵引体23的延伸方向基本与第一导向轮171的丝槽旋转面Gr保持一致，第一牵引体23不会因偏角而产生侧向分力，进而向丝槽的侧壁挤压，产生侧向摩擦力，提高了丝传动结构1的传动效率和使用寿命。此外，侧向分力还会导致第一牵引体23沿第一导向轮171的轴向方向移动，产生第一牵引体23窜动、跳丝等不利现象，由此可以避免/减缓这些不利现象的产生。其余导向轮及对应的牵引体的结构与第一导向轮171相同，这里不再重复。进一步，第一牵引体23的第一部分与所述基座11之间的夹角为0～10°。同样的，其余牵引体与对应的末端驱动轴形成的连接点与导向轮的进入切点之间部分亦称为第一部分。其余牵引体的第一部分与对应的导向轮的丝槽旋转面Gr之间的夹角被分别配置为0～0.2°，优选，0～0.2°，更优选0°。进一步，其余牵引体的第一部分与所述基座11之间的夹角亦分别配置为0～10°。更进一步，任两根牵引体的第一部分 相平行或异面，可避免牵引体之间相互剐蹭和摩擦。
所有导向轮的离开切点的位置约束在所述离开切点位置的牵引体在所述近端部300的投影的位置。因此，所有导向轮被配置为所有在所述离开切点位置的牵引体在所述近端部300的投影以对应的通孔沿周向的顺序排序。具体的，所有导向轮的离开切点处的牵引体在所述近端部300处的投影按一定的周向顺序排列，所述按一定的周向顺序排列为：按照近端部300的通孔周向排布的顺序作同样的顺序排列。请参考图8和图9，并结合图3，第五通孔21b、第三通孔22b、第一通孔23b、第六通孔24b、第二通孔25b及第四通孔26b逆时针围绕近端部300的中心排布。所述第一导向轮171、第二导向轮175、第三导向轮161、第四导向轮165、第五导向轮163以及第六导向轮173的离开切点分别为第一离开切点、第二离开切点、第三离开切点、第四离开切点、第五离开切点及第六离开切点，所述第一导向轮171至第六导向轮173被配置为使分别位于第一离开切点位置的第一牵引体23在近端部300处的第一投影、位于第二离开切点位置的第二牵引体25在近端部300处的第二投影、位于第三离开切点位置的第三牵引体22在近端部300处的第三投影、位于第四离开切点位置的第四牵引体26在近端部300处的第四投影、位于第五离开切点位置的第五牵引体21在近端部300处的第五投影和位于第六离开切点位置的第六牵引体24在近端部300处的第六投影按照上述通孔周向排布顺序排布。如此配置，牵引体在对应的离开切点与通孔之间的部分相互之间也是按照顺序排列，可避免牵引体之间互相叠压剐蹭的情况，从而进一步提高了丝传动结构1的传动效率和使用寿命。
优选的，所述导向轮还被配置为，所述离开切点与对应的通孔所限定的牵引体与所述器械末端3的轴线之间的夹角为0～5°。以第一导向轮171为例，将第一牵引体23在经过第一导向轮171转向后，从第一离开切点离开第一导 向轮171，至穿过第一通孔23b的一段称为第二部分23a，实际中，第一牵引体23的第二部分23a与所述器械末端3的轴线之间的夹角配置为0～5°，表明第一牵引体23的第二部分23a基本沿器械末端3的轴线方向延伸。同样的，其余牵引体由对应的导向轮的离开切点至穿过对应通孔的部分亦称为第二部分，其余牵引体的第二部分与器械末端3的轴线之间的夹角亦分别配置为0～5°(第二牵引体25的第二部分为25a，第三牵引体22的第二部分为22a，第四牵引体26的第二部分为26a，第五牵引体21的第二部分为21a，第六牵引体24的第二部分为24a)，亦即所有所述牵引体之第二部分的延伸方向与所述器械末端3之轴线的夹角均不大于5°。一般的，用于连接器械末端3处的各个牵引体在手术器械远端的分布位置与各个牵引体在手术器械近端的分布位置有一定的差异，即牵引体的第二部分的延伸方向并非全部与器械末端3的轴线相平行，而是可能具有一定的夹角，该夹角不大于5°时，牵引体与对应的导向轮两者之间因偏角而产生摩擦阻力较小。由于所有牵引体的第二部分均沿器械末端3的轴线的方向延伸且与器械末端3的轴线夹角不大于5°，能够避免牵引体之间互相叠压剐蹭的情况。进一步，所述器械杆2与器械末端3的轴线同轴布置，所述器械杆2具有贯通的腔体，用以供所述牵引体穿设，具体的，牵引体的第二部分大部分位于器械杆2内，少部分伸出器械杆2与各对应的导向轮连接。上述配置也能避免牵引体与器械杆2之间产生碰擦和剐蹭。进一步，所述导向轮还被配置为，各个牵引体的第二部分与对应的导向轮的丝槽旋转面Gr之间的夹角被分别配置为0～1.5°。例如，第一牵引体23从第一导向轮171的第一离开切点离开第一导向轮171，延伸至所述第一通孔23b，形成了第一牵引体23的第二部分23a。第二部分23a与所述第一导向轮的丝槽旋转面Gr之间的夹角为0～1.5°。其他导向轮与牵引体亦是如此配置。
请继续参考图8和图9，通过对导向轮的配置，使所述第五牵引体21、第三牵引体22、第一牵引体23、第六牵引体24、第二牵引体25及第四牵引体26的第二部分围绕所述手术器械的轴线依次周向排布，且六根所述牵引体的第二部分在穿过所述器械杆2前后的排布顺序相同。以图9示出六个牵引体在离开切点的投影为例，进行说明上述六根牵引体逆时针围绕手术器械的轴线周向排布。这里进一步考虑到器械杆2的内径对牵引体的影响，同时器械杆2的轴线被配置为与所述器械末端3的轴线共线。若以六根所述牵引体的直径均为d，相应的各个牵引体的投影的直径取d，器械杆2的内径为D，以第五牵引体21之第五投影作为基准进行具体说明。第六牵引体26之第六投影的中心被配置在以第五牵引体21之第五投影的中心关于以器械末端3的轴线的对称点为圆心，5d为半径的圆形区域内。第二牵引体25之第二投影的中心被配置在以第三牵引体22之第三投影的中心关于以器械末端3的轴线的对称点为圆心，5d为半径的圆形区域内。第四牵引体26之第四投影的中心被配置在以第一牵引体23之第一投影的中心关于以器械末端3的轴线的对称点为圆心，5d为半径的圆形区域内。进一步，六根牵引体的投影的中心间的距离，两两之间大于d，以避免任意两根牵引体互相接触而发生剐蹭。同时任一投影的中心到器械杆2之内壁的距离大于0.6d，以避免牵引体与器械杆2之内壁发生碰擦。这里选择的0.6d相比牵引体与器械杆2之内壁接触时的0.5d预留了一定的空间，以适应牵引体有时会发生弹跳和波动时，不至于碰擦器械杆2之内壁。任一投影的中心到器械杆2的中心的距离大于0.5d，同样可避免牵引体之间互相挤压和碰擦。
更优选的，以所述第五牵引体21之第五投影的中心为A1，所述器械末端3的轴线的投影为O1，所述第三牵引体22之第三投影的中心为B1，所述第一牵引体23之第一投影的中心为C1，第六牵引体24之第六投影的中心为 D1，第二牵引体25之第二投影的中心为E1，第四牵引体26之第四投影的中心为F1，所述器械杆2的内径为D，则所述第三牵引体22之第三投影和所述第一牵引体23之第一投影分别满足：
Figure PCTCN2020108986-appb-000004
以及
Figure PCTCN2020108986-appb-000005
请参考图10(A)和图10(B)，图10(A)示意了∠A1O1B1和∠A1O1C1最小时的情况，图10(B)示意了∠A1O1B1和∠A1O1C1最大时的情况。其中，H为第五牵引体21之第五投影相对于器械末端3的轴线之投影O1的最远点，I为第五牵引体21之第五投影与第三牵引体22之第三投影相接触时的接触点。如图10(A)所示，当a＝∠A1O1B1最小时，第五牵引体21之第五投影与第三牵引体22之第三投影相临接；b＝∠A1O1C1最小时，第三牵引体22之第三投影与第一牵引体23之第一投影相临接。如图10(B)所示，当a＝∠A1O1B1最大时，第六牵引体24之第六投影与第五牵引体21之第五投影关于器械杆2之中心O1对称，而第一牵引体23之第一投影与第六牵引体24之第六投影相临接，第三牵引体22之第三投影与第一牵引体23之第一投影相临接。考虑到两根牵引体之间直接接触时会产生剐蹭，因此每两投影的最小间距可设定为1.2d。从而可得：
如图10(A)所示，当a＝∠A1O1B1和b＝∠A1O1C1最小时，
sinθ＝1.2*A1I/(O1H-1.2*A1H)
a＝∠A1O1B1＝2θ
A1I＝A1H*0.5d，O1H＝0.5D
可得a＝∠A1O1B1最小时，
Figure PCTCN2020108986-appb-000006
同理易得，b＝∠A1O1C1最小时，
Figure PCTCN2020108986-appb-000007
如图10(B)所示，当a＝∠A1O1B1和b＝∠A1O1C1最大时，易得：
a＝∠A1O1B1最大时，
Figure PCTCN2020108986-appb-000008
b＝∠A1O1C1最大时，
Figure PCTCN2020108986-appb-000009
以上公式中，D应该足够大，以使得牵引体能够容设在器械杆2的内腔中。如此布置，六根牵引体之间互不接触，且六根牵引体与器械杆2的内壁亦不接触，在牵引器械末端3时，能减小摩擦阻力。
进一步，一个传动模组中的两个牵引体被配置为在对应的末端驱动轴的驱动下以相反的方向运动，且运动变化量相等。例如两个牵引体的近端以相反的方向围绕至所述末端驱动轴。如此配置，可以实现末端驱动轴转动时一个牵引体长度缩短，另一牵引体长度伸长，进而使上述两个牵引体连接的关节转动。
请参考图5，以第一传动模组为例进行说明。第一牵引体23和第二牵引体25被配置为，当第一末端驱动轴12转动时，第一牵引体23和第二牵引体25以相反的方向运动，且第一牵引体23和第二牵引体25的长度变化量相等。更进一步，第一牵引体23和第二牵引体25可分别以不同的方向卷绕连接于第一末端驱动轴12上。具体的，第一牵引体23的近端正向卷绕于第一末端驱动轴12，第一牵引体23的远端用以通过第一导向轮171、第一通孔23b后与器械末端3连接，实现驱动器械末端3运动(在本实施例中，与所述第一开合片302固定连接，用以驱动第一开合片302的开合)；第二牵引体25的近端反向卷绕于第一末端驱动轴12，第二牵引体25的远端用以通过第二导向轮175、第二通孔25b后与器械末端连接，实现驱动器械末端3运动(在本实施例中，与所述第一开合片302固定连接，用以驱动第一开合片302的开合)。当第一末端驱动轴12转动时，带动第一牵引体23围绕第一末端驱动轴12的轴线正向转动(如顺时针转动)而卷绕于第一末端驱动轴12上，同时带动第二牵引体25围绕第一牵引体23的轴线反向转动(如逆时针转动)而从第一末端驱动轴12上解绕。如此，第一牵引体23和第二牵引体25即以相反的方 向运动且长度变化量相等。需要说明的是，这里牵引体围绕末端驱动轴的轴线正向转动和反向转动仅代表相反的两个转动方向，并不限于正向为顺时针，反向为逆时针。
其类似地，第三牵引体22与第四牵引体26的近端以相反的方向围绕第二末端驱动轴13，第三牵引体22与第四牵引体26的远端分别经过第三导向轮161与第四导向轮165转向，并经过第三通孔23b与第四通孔24b后与所述器械末端3连接(在本实施例中，第三牵引体22与第四牵引体26的远端分别与所述第二开合片303固定连接，用以驱动第二开合片303的开合)。第五牵引体21与第六牵引体24的近端以相反的方向围绕第三末端驱动轴14，第五牵引体21与第六牵引体24的远端分别经过第五导向轮163与第六导向轮173转向，并经过第五通孔25b与第六通孔26b后与所述器械末端3连接(在本实施例中，第五牵引体21与第六牵引体24的远端分别与所述执行器支撑座301固定连接，以控制所述执行器支撑座301围绕第一转动轴304转动)。
所述丝传动结构1还包括至少两个导向座，即第一导向座17和第二导向座16。所述导向座优选相对于末端驱动轴，更加靠近器械杆2。优选，第一导向座17和第二导向座16关于第二对称面对称。所述导向轮可转动或固定设于所述导向座上。请参考图4，第二导向座16与第二末端驱动轴13、第三末端驱动轴14位于第二对称面一侧，第一导向座17与第一末端驱动轴12位于第二对称面另一侧。六个所述导向轮(即第一导向轮171、第二导向轮175、第三导向轮161、第四导向轮165、第五导向轮163以及第六导向轮173)中的三个位于第一导向座17，另外三个位于第二导向座16。每个所述导向座上的三个所述导向轮相对于所述基座11的距离依次减小。例如，第一导向座17上设有第一导向轮171、第六导向轮173以及第二导向轮175，第二导向座16 上设有第三导向轮161、第五导向轮163以及第四导向轮165。进一步，第一导向轮171、第六导向轮173以及第二导向轮175相对于基座11的距离依次减小，第三导向轮161、第五导向轮163以及第四导向轮165相对于基座11的距离依次减小。如此配置，每个导向轮群中的三个导向轮所对应的牵引体之间互相不在同一水平高度上，互相交错开，避免了牵引体之间发生剐蹭。而两个或以上导向座的设置，避免了过多导向轮叠置于基座11的同一位置上，有利于减小丝传动结构的体积。可选的，每个导向座包括三个导向轮安装座，每个导向轮安装座上设有一个导向轮转轴(本实施例中分别为第一导向轮转轴172，第二导向轮转轴176，第三导向轮转轴162，第四导向轮转轴166，第五导向轮转轴164，第六导向轮转轴174)，每个导向轮转轴设有一个导向轮，导向轮转轴的轴线与对应的导向轮丝槽的丝槽旋转面Gr相垂直。导向轮通过对应的导向轮转轴可转动或固定于导向轮安装座。
可选的，所述丝传动结构1还包括器械杆驱动轴(未图示)，器械杆2与基座可转动连接，所述器械杆驱动轴则用于驱动所述器械杆2自转。优选，所述器械杆驱动轴与第三末端驱动轴14关于第二对称面对称布置。器械杆驱动轴如可为第一末端驱动轴12类似的结构，可转动地设置于基座11上，器械杆驱动轴同轴设有齿轮，通过该齿轮或者通过传动件，可驱动器械杆2自转，为手术器械提供更多的自由度，便于操作和使用。
进一步，所述丝传动装置还包括导向架基座15，所述导向架基座15平行于基座11，且在各个末端驱动轴、器械杆驱动轴对应的部位设有通孔，并通过轴承与所述末端驱动轴、器械杆驱动轴连接，以防止末端驱动轴、器械杆驱动轴转动时发生偏摆。进一步，第一导向座17和第二导向座16设置在所述导向架基座15上。
综上，在本实施例中，第三传动模组的第五牵引体21和第六牵引体24 以相反方向绕第三末端驱动轴14后，分别通过第五导向轮163和第六导向轮173改变延伸方向，在通过器械杆2后分别通过第五通孔21b、第六通孔24b后以相反方向绕第一转动轴304并与所述执行器支撑座301连接，以带动执行器支撑座301绕第一转动轴304转动；第一传动模组的第一牵引体23，第二牵引体25以相反方向绕第一末端驱动轴12后，分别通过第一导向轮171和第二导向轮175改变延伸方向，在通过器械杆2后分别通过第一通孔23b、第二通孔25b后以相反方向绕第二转动轴305并固定在第一开合片302上，以带动第一开合片302绕第二转动轴305转动；第二传动模组的第三牵引体22，第四牵引体26以相反方向绕第二末端驱动轴13后，分别通过第三导向轮161和第四导向轮165改变延伸方向，在通过器械杆2后分别通过第三通孔22b、第四通孔后26b以相反方向绕第二转动轴305并固定在第二开合片303上，以带动第二开合片303绕第二转动轴305转动。进一步，所述第一至第六导向轮被配置为使六个牵引体的六个投影的周向排布与器械远端的六个通孔的周向排布一致，且末端驱动轴与所述进入切点所限定的牵引体与对应导向轮丝槽的丝槽旋转面Gr之间的夹角为0～0.2°。与现有的手术器械的丝传动结构相比，本实施例中的手术器械的丝传动结构只需要六个导向轮，且每个导向轮可以分别配置即可实现，在整个驱动过程中，六根牵引体之间均不发生直接的接触和剐蹭，且牵引体与导向轮之间偏角控制在0.2°以内，传动阻力较小，可靠性高。此外，六根牵引体在进出器械杆2的排布顺序不变，可避免牵引体在器械杆2内部发生交错和剐蹭。
需理解，在一些其它的实施例中，丝传动结构1可不仅限于包括三个传动模组，也可以是具有两个、四个或四个以上的传动模组。
基于上述手术器械，本发明实施例一还提供一种手术机器人，其包括机械臂和如上所述的手术器械，所述手术器械挂载于所述机械臂的末端，所述 机械臂用于调整所述手术器械的位置和/或姿态。由于手术机器人包括如上所述的手术器械，因此具备由所述手术器械带来的有益效果。本领域技术人员可根据现有技术配置手术机器人的其它结构，本实施例在此不再赘述。
【实施例二】
本发明实施例二的手术器械与实施例一中的手术器械基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
请参考图14和图15，其中图14是本发明实施例二提供的丝传动结构的俯视图，图15是本发明实施例二提供的丝传动结构的立体图。
在本实施例二中，牵引体所对应的导向轮在导向座上的排布与实施例一中的排布不同。具体的，如图14至图15所示，第一导向座17上设有第三导向轮161，第一导向轮171以及第六导向轮173；第二导向座16上设有第五导向轮163，第二导向轮175以及第四导向轮165。进一步，第三导向轮161，第一导向轮171以及第六导向轮173相对于基座11的距离依次减小，第五导向轮163，第二导向轮175以及第四导向轮165相对于基座11的距离依次减小。第一牵引体23至第六牵引体24依次对应于第一导向轮171至第六导向轮173，各末端驱动轴及牵引体的配置情况，与实施例一中的配置情况相同，此处不再赘述。
需要说明的是，本实施例对导向轮在导向座上的排布并不限于上述配置，还可以是其它的排布关系，本领域技术人员可通过交换若干导向轮的位置而实现类似的效果。如此配置，亦能实现通过六个导向轮的配置使六根牵引体的第一部分互相平行或异面，六根牵引体之间互相无接触和剐蹭。
【实施例三】
本发明实施例三的手术器械与实施例一中的手术器械基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
请参考图16，其是本发明实施例三提供的丝传动结构的传动平面示意图。
在本实施例三中，牵引体所对应的末端驱动轴的排布与实施例一中的排布不同。具体的，如图16所示，所述第三传动模组的第三末端驱动轴14相对于第二传动模组的第二末端驱动轴13更加远离器械末端。进一步，第一传动模组的第一末端驱动轴12与第三传动模组的第三末端驱动轴14关于第二对称面对称布置；第二传动模组的第二末端驱动轴13与第三传动模组的第三末端驱动轴14关于第一对称面对称布置。亦即相对于实施例一中的方案，第二末端驱动轴13与第三末端驱动轴14相互交换了位置。而第一导向轮171至第六导向轮173的配置情况及牵引体的配置情况，与实施例一中的相同，此处不再赘述。
需要说明的是，本实施例对各末端驱动轴在基座上的排布并不限于上述配置，还可以是其它的排布关系，本领域技术人员可通过交换若干末端驱动轴的位置而实现类似的效果。
【实施例四】
本发明实施例四的手术器械与实施例一中的手术器械基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
请参考图17至图26(A)和图26(B)，其中，图17是本发明实施例四提供的手术器械的示意图，图18是图17所示的手术器械之器械末端摆动的示意图，图19是本发明实施例四提供的器械末端的示意图，图20是本发明实施例四提供的丝传动结构的示意图，图21是本发明实施例四提供的第四传 动模块的示意图，图22是本发明实施例四提供的第五传动模块的示意图，图23是本发明实施例四提供的器械杆之近端的横截面的示意图，图24是本发明实施例四提供的器械末端的近端部的示意图，图25是本发明实施例四提供的丝传动结构的传动平面示意图，图26(A)和图26(B)是本发明实施例四提供的器械杆之横截面中，∠P1O1Q1最小和最大时的示意图。
如图17和图18所示，在本实施例四中，器械末端3的自由度、结构与传动模组的数量与实施例一不同。请参考图20至图22，具体的，实施例四提供的手术器械的器械末端3包括蛇形关节。所述蛇形关节包括多个依次轴向排布的蛇骨311，所述多个蛇骨311至少能够在两个方向上摆动，以形成至少两个自由度。例如，蛇形关节可以分别围绕第三轴线、第四轴线摆动。优选，第三轴线与第四轴线垂直。相应地，器械末端3具有至少两个自由度。
手术器械的丝传动结构1至少包括两个传动模组，分别为第四传动模组及第五传动模组。第四传动模组包括第四末端驱动轴191、第七牵引体204、第八牵引体202、第七导向轮193和第八导向轮194；第五传动模组包括第五末端驱动轴192、第九牵引体201、第十牵引体203、第九导向轮195和第十导向轮196；第七牵引体204、第八牵引体202、第九牵引体201及第十牵引体203分别与第七导向轮193、第八导向轮194、第九导向轮195和第十导向轮196相对应。
请参考图19和图20，在一个可替代的实施例中，所述第四传动模组中的第七牵引体204、第八牵引体202，所述第五传动模组中的第九牵引体201及第十牵引体203依次穿过每个所述蛇骨311，并与远端的所述蛇骨311连接，以实现所述第四传动模组及第五传动模组分别用以驱动所述蛇形关节在两个方向上摆动，形成所述两个自由度。例如，所述第七牵引体204、第八牵引体202用于控制蛇形关节围绕第三轴线摆动；第九牵引体201及第十牵引体203 用于控制蛇形关节围绕第四轴线摆动。
进一步，请参考图19和图24，所述近端部300沿周向设有四个通孔，分别为围绕所述近端部300的中心依次排布的第七通孔204b、第九通孔201b、第八通孔202b及第十通孔203b，分别用以约束所述第七牵引体204、第九牵引体201、第八牵引体202及第十牵引体203的延伸方向。进一步，所述第七通孔204b、第八通孔202b中心S2、Q2关于近端部300的中心O1(即器械末端轴线在近端部300处的投影)对称；所述第九通孔201b、第十通孔203b中心P2、R2关于近端部300的中心对称。优选，所述第七通孔204b、第八通孔202b中心的连线与第四轴线呈45°角；所述第九通孔201b、第十通孔203b中心的连线与第三轴线呈45°角。
请参考图20、图23和图25，所述第七导向轮193、第八导向轮194、第九导向轮195和第十导向轮196的离开切点分别为第七离开切点、第八离开切点、第九离开切点及第十离开切点，位于所述第七离开切点位置的所述第七牵引体204在所述近端部300处投影形成第七投影；位于所述第八离开切点位置的所述第八牵引体202在所述近端部300处投影形成第八投影；位于所述第九离开切点位置的所述第九牵引体201在所述近端部300处投影形成第九投影；位于所述第十离开切点位置的所述第十牵引体203在所述近端部300处投影形成第十投影。所述第七导向轮193、第九导向轮195、第八导向轮194以及第十导向轮196配置为使第七投影、第九投影、第八投影和第十投影的周向排布顺序与第七通孔204b、第九通孔201b、第八通孔202b及第十通孔203b的周向排布顺序相同。
优选的，所述手术器械还包括一与所述器械末端轴线同轴的器械杆2，所述器械杆2具有贯通的腔体，用以供所述牵引体穿设，所述第七牵引体204、第九牵引体201、第八牵引体202及第十牵引体203通过器械杆2后再 与器械末端3连接。请参考图23，进一步，四个所述牵引体的直径均为d，所述器械杆2的直径为D，相应的各个投影的直径为d。所述第八牵引体202之第八投影的中心被配置在以所述第七牵引体204之第七投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内。所述第十牵引体203之第十投影的中心被配置在以所述第九牵引体201的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内。进一步，任两个所述牵引体之投影中心间的距离大于d，例如1.1d，1.2d，1.3d；任一个所述牵引体投影的中心与所述器械杆2之内壁的距离大于0.5d，例如0.6d，0.7d，0.8d，0.9d或d；任一个所述牵引体投影的中心到器械杆2的中心的距离大于0.5d，例如0.6d，0.7d，0.8d，0.9d或d。
更进一步的，如图23所示，令所述第七牵引体204的第七投影的中心为S1，所述器械末端3的轴线的投影为O1，所述第八牵引体202的第八投影的中心为Q1，所述第九牵引体201的第九投影的中心为P1，所述第十牵引体203的第十投影的中心为R1，所述器械杆2的内径为D，则所述第九牵引体201之第九投影和所述第八牵引体202之第八投影满足：
Figure PCTCN2020108986-appb-000010
请参考图26(A)和图26(B)，图26(A)示意了∠P1O1Q1最小时的情况，图26(B)示意了∠P1O1Q1最大时的情况。其中，H为第九牵引体201的第九投影相对于器械末端3的轴线之投影O1的最远点，I为第九牵引体201之第九投影与第八牵引体202的第八投影相接触时的接触点。如图26(A)所示，当∠P1O1Q1最小时，第九牵引体201之第九投影与第八牵引体202之第八投影相临接。如图26(B)所示，当∠P1O1Q1最大时，第十牵引体203之第十投影与第九牵引体201之第九投影关于器械杆2之中心O1对称，而第八牵引体202之第八投影与第十牵引体203之第十投影相临接。考虑到两根牵引体之间直 接接触时会产生剐蹭，因此每两投影的最小间距可设定为1.2d。从而可得：
如图26(A)所示，当a＝∠P1O1Q1最小时，
sinθ＝1.2*P1I/(O1H-1.2*P1H)
a＝∠P1O1Q1＝2θ
P1I＝P1H*0.5d，O1H＝0.5D
可得a＝∠P1O1Q1最小时，
Figure PCTCN2020108986-appb-000011
如图26(B)所示，同理易得，当a＝∠P1O1Q1最大时，
Figure PCTCN2020108986-appb-000012
以上公式中，D应该足够大，以使得牵引体能够容设在器械杆2的内腔中。如此布置，四根牵引体之间互不接触，且四根牵引体与器械杆2的内壁亦不接触，在牵引器械末端3时，能减小摩擦阻力。四个牵引体之投影的具体配置原理可参考实施例一。这里亦不再重复。优选的，所述基座11上设有相对的第三导向座181和第四导向座182。所述第三导向座181相对于第四导向座182更加靠近第四末端驱动轴191；所述第四导向座182相对于第三导向座181更加靠近第五末端驱动轴192。所述第七导向轮193以及第八导向轮194设置在第三导向座181上，所述第九导向轮195以及第十导向轮196设置在第四导向座182上。进一步，所述第七导向轮193相对于所述基座11的距离小于所述第八导向轮194相对于所述基座11的距离，所述第九导向轮195相对于所述基座11的距离小于所述第十导向轮196相对于所述基座11的距离。有关导向座、导向轮的具体配置和结构原理，可参考实施例一，这里不再赘述。
需要说明的是，本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参考即可，此外，各个实施例之间不同的部分也可互相组合使用，本发明对此不作限定。此外，上述若干实施例仅为对本发明的示范性描述而非对 本发明的限定，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(诸如把其中的基座零件进行合并或拆分，变换末端驱动轴的相对位置，变换空间中导向轮的空间位置等)，均属于权利要求书的保护范围。

Claims (29)

  1. 一种手术器械，其特征在于，包括：丝传动结构及器械末端；
    所述丝传动结构包括：基座和n个传动模组，每个所述传动模组包括一末端驱动轴、两个牵引体及两个导向轮，n为自然数；
    所述器械末端具有至少n个自由度，所述器械末端包括近端部，所述近端部沿周向设有2n个通孔；
    每个所述末端驱动轴可转动地设置于所述基座上，并通过相应的两个牵引体驱动所述器械末端运动；
    在第i个传动模组中，第j个牵引体与第j+1个牵引体的近端以相反的方向围绕第i个末端驱动轴，第j个牵引体与第j+1个牵引体的远端分别经过第j个导向轮与第j+1个导向轮转向后，并穿过第j个通孔与第j+1个通孔，其中，i属于1到n中任一自然数，j＝2i-1；
    每个所述导向轮包括：用于容纳牵引体的丝槽，所述丝槽包括丝槽旋转面，进入切点及离开切点，对应的牵引体自所述进入切点进入所述导向轮，并由所述离开切点离开所述导向轮；所述导向轮被配置为，所述末端驱动轴与所述进入切点所限定的牵引体与所述丝槽旋转面之间的夹角为0～0.2°，所有在所述离开切点位置的牵引体在所述近端部的投影以对应的通孔沿所述近端部的周向的排布顺序进行排布。
  2. 根据权利要求1所述的手术器械，其特征在于，所述器械末端还设有一从近端至远端延伸的轴线，所述导向轮还被配置为，所述离开切点与对应的通孔所限定的牵引体与所述轴线之间的夹角为0～5°。
  3. 根据权利要求1或2所述的手术器械，其特征在于，所述导向轮还被配置为，所述离开切点与对应的通孔所限定的牵引体与所述丝槽旋转面之间 的夹角为0～1.5°。
  4. 根据权利要求1所述的手术器械，其特征在于，第i个末端驱动轴与第j个牵引体形成第j个连接点，第j个连接点与第j个导向轮的进入切点之间的牵引体与所述基座的夹角为0～10°；第i个末端驱动轴与第j+1个牵引体形成第j+1个连接点，第j+1个连接点与第j+1个导向轮的进入切点之间的牵引体与所述基座的夹角为0～10°。
  5. 根据权利要求4所述的手术器械，其特征在于，任两个牵引体由对应的连接点与进入切点所限定的部分相平行或异面。
  6. 根据权利要求1所述的手术器械，其特征在于，所述手术器械还包括器械杆驱动轴和器械杆，所述器械杆与所述器械末端可拆卸连接或固定连接，所述器械杆驱动轴用于驱动所述器械杆自转。
  7. 根据权利要求1所述的手术器械，其特征在于，所述手术器械的器械末端包括至少三个自由度，所述丝传动结构包括第一传动模组、第二传动模组和第三传动模组，所述第一传动模组、第二传动模组和第三传动模组分别驱动所述器械末端的一个自由度；所述第一传动模组包括第一末端驱动轴、第一牵引体、第二牵引体、第一导向轮和第二导向轮；所述第二传动模组包括第二末端驱动轴、第三牵引体、第四牵引体、第三导向轮和第四导向轮；所述第三传动模组包括第三末端驱动轴、第五牵引体、第六牵引体、第五导向轮和第六导向轮；所述第一牵引体、第二牵引体、第三牵引体、第四牵引体、第五牵引体及第六牵引体分别与所述第一导向轮、第二导向轮、第三导向轮、第四导向轮、第五导向轮及第六导向轮相对应。
  8. 根据权利要求7所述的手术器械，其特征在于，所述器械末端还包括末端执行器，所述末端执行器包括：执行器支撑座、第一开合片和第二开合片，所述第一开合片和第二开合片可转动地与所述执行器支撑座连接，以形 成至少两个开合自由度；所述执行器支撑座与所述近端部转动连接，以形成至少一个摆动自由度；所述第一传动模组用于驱动所述第一开合片运动，所述第二传动模组用于驱动所述第二开合片运动，所述第三传动模组用于驱动所述执行器支撑座相对于所述近端部运动。
  9. 根据权利要求8所述的手术器械，其特征在于，所述近端部上的通孔包括第一通孔、第二通孔、第三通孔、第四通孔、第五通孔和第六通孔，分别用以约束所述第一牵引体、第二牵引体、第三牵引体、第四牵引体、第五牵引体及第六牵引体的延伸方向；
    所述第一开合片和第二开合片的旋转轴线，与所述执行器支撑座的旋转轴线不平行；
    所述第五通孔、第三通孔、第一通孔、第六通孔、第二通孔和第四通孔围绕所述近端部的中心周向排布。
  10. 根据权利要求9所述的手术器械，其特征在于，所述第五通孔与所述第六通孔关于所述近端部的中心对称；所述第三通孔与所述第二通孔关于所述近端部的中心对称；所述第一通孔与所述第四通孔关于所述近端部的中心对称。
  11. 根据权利要求7至10中任一所述的手术器械，其特征在于，所述第一导向轮、第二导向轮、第三导向轮、第四导向轮、第五导向轮及第六导向轮的离开切点分别为第一离开切点、第二离开切点、第三离开切点、第四离开切点、第五离开切点及第六离开切点；
    位于所述第一离开切点位置的所述第一牵引体在所述近端部处投影形成第一投影；
    位于所述第二离开切点位置的所述第二牵引体在所述近端部处投影形成第二投影；
    位于所述第三离开切点位置的所述第三牵引体在所述近端部处投影形成第三投影；
    位于所述第四离开切点位置的所述第四牵引体在所述近端部处投影形成第四投影；
    位于所述第五离开切点位置的所述第五牵引体在所述近端部处投影形成第五投影；
    位于所述第六离开切点位置的所述第六牵引体在所述近端部处投影形成第六投影；
    所述第一投影、第二投影、第三投影、第四投影、第五投影和第六投影被配置为按照所述通孔在所述近端部周向排布顺序进行排布。
  12. 根据权利要求11所述的手术器械，其特征在于，所述器械末端还设有一从近端至远端延伸的轴线，六个所述牵引体的直径均为d；所述牵引体在所述近端部的投影被配置为：
    所述第六投影的中心分布在：以所述第五投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内；
    所述第二投影的中心分布在：以所述第三投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内；
    所述第四投影的中心分布在：以所述第一投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内。
  13. 根据权利要求12所述的手术器械，其特征在于，所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所有所述牵引体穿设；其中，所有所述牵引体位于所述器械杆内的部分被配置为：任两个投影的中心间的距离大于d；任一投影的中心到所述器械杆之内壁的距离大于0.6d；任一投影到器械杆之中心的距离大于0.5d。
  14. 根据权利要求12所述的手术器械，其特征在于，
    所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所述牵引体穿设；
    以所述第五投影的中心为A1，所述器械杆的轴线的投影为O1，所述第三投影的中心为B1，所述第一投影的中心为C1，所述器械杆的内径为D，则所述第三投影和所述第一投影满足：
    Figure PCTCN2020108986-appb-100001
    以及
    Figure PCTCN2020108986-appb-100002
  15. 根据权利要求7所述的手术器械，其特征在于，所述基座上设有相对的第一导向座和第二导向座，三个所述导向轮设置于所述第一导向座上，另三个所述导向轮设置于所述第二导向座上。
  16. 根据权利要求15所述的手术器械，其特征在于，所述第一导向轮、第六导向轮以及第二导向轮设置于所述第一导向座上，所述第三导向轮、第五导向轮以及第四导向轮设置于所述第二导向座上；所述第一导向轮、第六导向轮以及第二导向轮相对于所述基座的距离依次减小，所述第三导向轮、第五导向轮以及第四导向轮相对于所述基座的距离依次减小。
  17. 根据权利要求15所述的手术器械，其特征在于，所述第三导向轮、第一导向轮以及第六导向轮设置于所述第一导向座上，所述第五导向轮、第二导向轮以及第四导向轮设置于所述第二导向座上；所述第三导向轮、第一导向轮以及第六导向轮相对于所述基座的距离依次减小，所述第五导向轮、第二导向轮以及第四导向轮相对于所述基座的距离依次减小。
  18. 根据权利要求7所述的手术器械，其特征在于，所述器械末端还设有一从近端至远端延伸的轴线，所述基板具有相互垂直的第一对称面和第二对称面，所述第一对称面与所述第二对称面的交线与所述轴线平行或共线； 所述第二末端驱动轴与所述第三末端驱动轴关于所述第一对称面对称布置，所述第一末端驱动轴与所述第二末端驱动轴关于所述第二对称面对称布置，且所述第二末端驱动轴相对于所述第三末端驱动轴更远离所述轴线。
  19. 根据权利要求7所述的手术器械，其特征在于，所述器械末端还设有一从近端至远端延伸的轴线，所述基板具有相互垂直的第一对称面和第二对称面，所述第一对称面与所述第二对称面的交线与所述轴线平行或共线；所述第二末端驱动轴与所述第三末端驱动轴关于所述第一对称面对称布置，所述第一末端驱动轴与所述第三末端驱动轴关于所述第二对称面对称布置，且所述第三末端驱动轴相对于所述第二末端驱动轴更远离所述轴线。
  20. 根据权利要求1所述的手术器械，其特征在于，所述手术器械的器械末端包括至少两个自由度，所述丝传动结构包括第四传动模组和第五传动模组，所述第四传动模组和第五传动模组分别驱动所述器械末端的一个自由度；所述第四传动模组包括第四末端驱动轴、第七牵引体、第八牵引体、第七导向轮和第八导向轮；所述第五传动模组包括第五末端驱动轴、第九牵引体、第十牵引体、第九导向轮和第十导向轮；所述第七牵引体、第八牵引体、第九牵引体及第十牵引体分别与所述第七导向轮、第八导向轮、第九导向轮和第十导向轮相对应。
  21. 根据权利要求20所述的手术器械，其特征在于，所述器械末端还包括：蛇形关节，所述蛇形关节包括多个依次轴向排布的蛇骨，所述多个蛇骨至少能够在两个方向上摆动，以形成至少两个自由度；
    所述第七牵引体、第八牵引体、第九牵引体及第十牵引体依次穿过每个所述蛇骨，并与远端的所述蛇骨连接，所述第四传动模组及第五传动模组分别用以驱动所述蛇形关节在两个方向上摆动。
  22. 根据权利要求21所述的手术器械，其特征在于，所述近端部上的通 孔包括第七通孔、第八通孔、第九通孔和第十通孔，分别用于约束所述第七牵引体、第八牵引体、第九牵引体及第十牵引体的延伸方向；
    所述第七通孔、第九通孔、第八通孔及第十通孔沿近端部周向排布。
  23. 根据权利要求22所述的手术器械，其特征在于，所述第七通孔与所述第八通孔关于所述近端部的中心对称；所述第九通孔与所述第十通孔关于所述近端部的中心对称。
  24. 根据权利要求20至23中任一项所述的手术器械，其特征在于，所述第七导向轮、第八导向轮、第九导向轮及第十导向轮的离开切点分别为第七离开切点、第八离开切点、第九离开切点及第十离开切点；
    位于所述第七离开切点位置的所述第七牵引体在所述近端部处投影形成第七投影；
    位于所述第八离开切点位置的所述第八牵引体在所述近端部处投影形成第八投影；
    位于所述第九离开切点位置的所述第九牵引体在所述近端部处投影形成第九投影；
    位于所述第十离开切点位置的所述第十牵引体在所述近端部处投影形成第十投影；
    所述第七投影、第八投影、第九投影和第十投影被配置为按照所述通孔在所述近端部的周向排布顺序进行排布。
  25. 根据权利要求24所述的手术器械，其特征在于，述器械末端还设有一从近端至远端延伸的轴线，四个所述牵引体的直径均为d；所述牵引体在所述近端部的投影被配置为：
    所述第八投影的中心分布在：以所述第七投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内；
    所述第十投影的中心分布在：以所述第九投影的中心关于所述轴线的对称点为圆心，5d为半径的圆形区域内。
  26. 根据权利要求25所述的手术器械，其特征在于，所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所述牵引体穿设；其中，所有所述牵引体位于所述器械杆内的部分被配置为：任两个投影的中心间的距离大于d；任一投影的中心到所述器械杆之内壁的距离大于0.6d；任一投影到器械杆2之中心的距离大于0.5d。
  27. 根据权利要求25所述的手术器械，其特征在于，
    所述手术器械还包括一与所述轴线同轴的器械杆，所述器械杆具有贯通的腔体，用以供所述牵引体穿设；
    以所述器械杆的轴线的投影中心为O1，所述第八投影的中心为Q1，所述第九投影的中心为P1，所述器械杆的内径为D，则所述第九投影和所述第八投影满足：
    Figure PCTCN2020108986-appb-100003
  28. 根据权利要求20所述的手术器械，其特征在于，所述基座上设有相对的第三导向座和第四导向座，所述第七导向轮以及第八导向轮设置于所述第三导向座上，所述第九导向轮以及第十导向轮设置于所述第四导向座上；所述第七导向轮相对于所述基座的距离小于所述第八导向轮相对于所述基座的距离，所述第九导向轮相对于所述基座的距离小于所述第十导向轮相对于所述基座的距离。
  29. 一种手术机器人，其特征在于，包括机械臂和根据权利要求1～28中任一项所述的手术器械，所述手术器械挂载于所述机械臂的末端，所述机械臂用于调整所述手术器械的位置和/或姿态。
PCT/CN2020/108986 2019-08-15 2020-08-13 手术机器人及手术器械 WO2021027894A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US17/635,256 US20220280253A1 (en) 2019-08-15 2020-08-13 Surgical robot and surgical instrument
EP20852545.1A EP4014917A4 (en) 2019-08-15 2020-08-13 SURGICAL ROBOT AND SURGICAL INSTRUMENT

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910754526.1 2019-08-15
CN201910754526.1A CN110368092B (zh) 2019-08-15 2019-08-15 手术机器人及手术器械

Publications (1)

Publication Number Publication Date
WO2021027894A1 true WO2021027894A1 (zh) 2021-02-18

Family

ID=68259579

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/108986 WO2021027894A1 (zh) 2019-08-15 2020-08-13 手术机器人及手术器械

Country Status (4)

Country Link
US (1) US20220280253A1 (zh)
EP (1) EP4014917A4 (zh)
CN (2) CN110368092B (zh)
WO (1) WO2021027894A1 (zh)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110368092B (zh) * 2019-08-15 2024-02-09 上海微创医疗机器人（集团）股份有限公司 手术机器人及手术器械
CN112842532B (zh) * 2019-11-27 2022-06-17 上海微创医疗机器人（集团）股份有限公司 丝传动结构、手术器械及手术机器人
CN117179908A (zh) * 2020-02-09 2023-12-08 深圳市精锋医疗科技股份有限公司 驱动盒、操作臂以及手术机器人
CN111110355A (zh) * 2020-02-09 2020-05-08 深圳市精锋医疗科技有限公司 操作臂以及手术机器人
CN111388090B (zh) * 2020-03-24 2023-04-28 上海微创医疗机器人（集团）股份有限公司 一种手术器械、手术器械系统及手术机器人
US20220071724A1 (en) * 2020-09-08 2022-03-10 Covidien Lp Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
CN112754667A (zh) * 2020-12-19 2021-05-07 深圳市精锋医疗科技有限公司 手术器械、从操作设备及手术机器人
CN112690836B (zh) * 2020-12-24 2022-12-02 上海微创医疗机器人（集团）股份有限公司 器械末端、器械末端组件及手术器械
CN114052926B (zh) * 2022-01-14 2022-03-29 极限人工智能有限公司 手术控制器械组件、分体式手术装置及软组织机器人
CN114052927B (zh) * 2022-01-18 2022-05-03 极限人工智能有限公司 多功能驱动装置、手术动力装置及分体式手术装置
CN114098989B (zh) * 2022-01-25 2022-05-03 极限人工智能有限公司 手术动力装置、分体式手术装置及手术机器人
CN114176786B (zh) * 2022-02-14 2022-04-29 极限人工智能有限公司 器械驱动模组、手术动力装置及分体式手术装置
CN114305540B (zh) * 2022-03-08 2022-06-07 极限人工智能有限公司 器械驱动模组、手术动力装置及分体式手术装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100331857A1 (en) * 2009-06-29 2010-12-30 Mark Doyle Flexible wrist-type element and methods of manufacture and use thereof
CN105212987A (zh) 2015-09-29 2016-01-06 哈尔滨思哲睿智能医疗设备有限公司 一种手术微器械的末端执行机构
CN106109019A (zh) * 2016-08-31 2016-11-16 微创（上海）医疗机器人有限公司 器械盒及手术器械
CN106308933A (zh) * 2016-08-31 2017-01-11 微创（上海）医疗机器人有限公司 传动机构以及手术器械
CN106806023A (zh) * 2016-12-30 2017-06-09 哈尔滨思哲睿智能医疗设备有限公司 一种四自由度手术器械的走丝装置及其走丝方法
CN110368092A (zh) * 2019-08-15 2019-10-25 微创（上海）医疗机器人有限公司 手术机器人及手术器械
CN211156230U (zh) * 2019-08-15 2020-08-04 微创（上海）医疗机器人有限公司 手术机器人及手术器械

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2882514B1 (fr) * 2005-02-28 2008-02-15 Inst Nat Sciences Appliq Dispositif de maintien et de deplacement controle en translation d'un corps allonge
CN101732093B (zh) * 2009-11-30 2011-09-07 哈尔滨工业大学 腹腔微创手术用微型机械手
CN102119872B (zh) * 2011-01-10 2012-11-07 天津大学 微创外科手术机器人紧凑型快换机构
CN102028548B (zh) * 2011-01-14 2012-03-07 哈尔滨工业大学 腹腔微创手术机器人用夹钳式手术器械
KR101301506B1 (ko) * 2012-06-27 2013-09-04 (주)미래컴퍼니 복강경 수술 로봇의 2자유도 구동 장치 및 그 가이드 장치
CN103251458A (zh) * 2013-05-09 2013-08-21 天津工业大学 一种用于微创手术机器人的丝传动四自由度手术器械
KR101480772B1 (ko) * 2013-07-04 2015-01-14 전자부품연구원 링크구동형 2자유도 구동 장치
CN103462694A (zh) * 2013-09-06 2013-12-25 天津大学 用于多自由度丝传动手术工具的力感觉系统
CN104224325B (zh) * 2014-10-11 2016-08-24 天津工业大学 一种用于微创手术机器人的钢丝绳传动直线伸缩机构
CN104799891A (zh) * 2015-04-08 2015-07-29 天津大学 一种机器人辅助微创外科手术用器械
GB201508807D0 (en) * 2015-05-22 2015-07-01 Cambridge Medical Robotics Ltd Surgical instrument driving mechanism
CN105286999B (zh) * 2015-10-15 2017-09-29 天津大学 具有末端自转功能的微创手术器械
RU2636853C2 (ru) * 2016-04-29 2017-11-28 Общество с ограниченной ответственностью "МРОБОТИКС" (ООО "МРОБОТИКС") Концевой эффектор с шарнирным узлом и привод эндоскопического хирургического аппарата

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100331857A1 (en) * 2009-06-29 2010-12-30 Mark Doyle Flexible wrist-type element and methods of manufacture and use thereof
CN105212987A (zh) 2015-09-29 2016-01-06 哈尔滨思哲睿智能医疗设备有限公司 一种手术微器械的末端执行机构
CN106109019A (zh) * 2016-08-31 2016-11-16 微创（上海）医疗机器人有限公司 器械盒及手术器械
CN106308933A (zh) * 2016-08-31 2017-01-11 微创（上海）医疗机器人有限公司 传动机构以及手术器械
CN106806023A (zh) * 2016-12-30 2017-06-09 哈尔滨思哲睿智能医疗设备有限公司 一种四自由度手术器械的走丝装置及其走丝方法
CN110368092A (zh) * 2019-08-15 2019-10-25 微创（上海）医疗机器人有限公司 手术机器人及手术器械
CN211156230U (zh) * 2019-08-15 2020-08-04 微创（上海）医疗机器人有限公司 手术机器人及手术器械

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4014917A4

Also Published As

Publication number Publication date
EP4014917A1 (en) 2022-06-22
US20220280253A1 (en) 2022-09-08
CN110368092A (zh) 2019-10-25
EP4014917A4 (en) 2022-10-12
CN118121305A (zh) 2024-06-04
CN110368092B (zh) 2024-02-09

Similar Documents

Publication Publication Date Title
WO2021027894A1 (zh) 手术机器人及手术器械
US9687303B2 (en) Dexterous wrists for surgical intervention
US9939053B2 (en) Robot arm driving apparatus and robot arm having the same
CN106691594B (zh) 一种用于微创外科手术机器人手术器械
US7819894B2 (en) Manipulator with multiple degrees of freedom
US20120330287A1 (en) Surgical instrument
EP3508158B1 (en) Instrument set and operation instrument
CN107550526B (zh) 一种具有自锁性的手持式微创手术器械
CN113491580B (zh) 丝传动结构、手术器械及手术机器人
US20130304084A1 (en) Mechanical manipulator for surgical instruments
CN211156230U (zh) 手术机器人及手术器械
CN106308933B (zh) 传动机构以及手术器械
CN108309455A (zh) 一种用于单孔手术机器人的具有移动定位关节的手术器械
KR20200002583A (ko) 내시경 케이블 구동 장치
CN112842532B (zh) 丝传动结构、手术器械及手术机器人
WO2020010759A1 (zh) 一种驱动单侧平板布置的微创手术器械
WO2019000090A1 (en) 4-DOF AGILE SURGICAL TOOL FOR COMPACT JOINT
CN113662673A (zh) 机械臂、从操作设备及手术机器人
CN209153974U (zh) 一种用于单孔手术机器人的具有移动定位关节的手术器械
CN207708011U (zh) 一种并联式三自由度远程运动中心手术机器人
CN113100948A (zh) 手术机器人用前端执行装置
CN108175455A (zh) 一种具有移动和自转定位关节的单孔手术器械
CN116687574A (zh) 一种具有解析逆解和操作三角的微型刚柔耦合七自由度机械手
WO2023221445A1 (zh) 手术器械
KR101458760B1 (ko) 다자유도 능동형 유니버설 조인트를 구비한 그립 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20852545

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112022002490

Country of ref document: BR

ENP Entry into the national phase

Ref document number: 2020852545

Country of ref document: EP

Effective date: 20220315

REG Reference to national code

Ref country code: BR

Ref legal event code: B01E

Ref document number: 112022002490

Country of ref document: BR

Free format text: APRESENTAR A TRADUCAO SIMPLES DA FOLHA DE ROSTO DA CERTIDAO DE DEPOSITO DA PRIORIDADE CN 201910754526.1 OU DECLARACAO CONTENDO, OBRIGATORIAMENTE, TODOS OS DADOS IDENTIFICADORES DESTA CONFORME O ART. 15 DA PORTARIA 39/2021. O DOCUMENTO APRESENTADO NAO ESTA TRADUZIDO.

ENP Entry into the national phase

Ref document number: 112022002490

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20220209