WO2021147264A1 - Ensemble d'actionnement et robot chirurgical - Google Patents

Ensemble d'actionnement et robot chirurgical Download PDF

Info

Publication number
WO2021147264A1
WO2021147264A1 PCT/CN2020/101995 CN2020101995W WO2021147264A1 WO 2021147264 A1 WO2021147264 A1 WO 2021147264A1 CN 2020101995 W CN2020101995 W CN 2020101995W WO 2021147264 A1 WO2021147264 A1 WO 2021147264A1
Authority
WO
WIPO (PCT)
Prior art keywords
surgical
assembly
sensor
environmental
operating
Prior art date
Application number
PCT/CN2020/101995
Other languages
English (en)
Chinese (zh)
Inventor
柳建飞
黄善灯
柏龙
陈晓红
Original Assignee
诺创智能医疗科技(杭州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010076423.7A external-priority patent/CN111134847B/zh
Priority claimed from CN202020146081.7U external-priority patent/CN211723418U/zh
Application filed by 诺创智能医疗科技(杭州)有限公司 filed Critical 诺创智能医疗科技(杭州)有限公司
Publication of WO2021147264A1 publication Critical patent/WO2021147264A1/fr

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
    • A61B34/30—Surgical robots

Definitions

  • This application relates to the technical field of medical devices, and in particular to an operating assembly and a surgical robot.
  • Using surgical robots to assist doctors in minimally invasive surgery can make surgical operations more sensitive and precise. Take the Da Vinci surgical robot as an example.
  • the Da Vinci surgical robot can magnify the doctor's field of view by ten times while effectively filtering out the doctor's hand tremor. It has a wide range of clinical applications in the field of minimally invasive surgery.
  • Surgical robotic arms suitable for surgical robots need to drive surgical instruments to perform surgical operations, and surgical instruments need to reach into the patient's body by extending into the tiny wounds opened on the skin surface during use. This requires the surgical instrument to perform the operation in a stable and non-vibrating state, using the tiny wound on the skin surface as a fixed point.
  • the current surgical manipulators suitable for surgical robots cannot fully meet the requirements in clinical performance, especially the lack of mechanical testing of surgical operations performed by surgical instruments, and it is impossible for doctors to obtain diseased tissues for surgical operations. The mechanical feedback of the surgical instrument is lowered, thereby reducing the accuracy of the doctor during the operation.
  • an operating assembly which is applied to a surgical robot; the operating assembly includes an operating hand, a transmission mechanism, a driving mechanism, and a controller.
  • the driving mechanism is connected to the surgical robot through the transmission mechanism.
  • the operating hand; the controller is electrically connected to the driving mechanism and the sensor in the surgical robot, respectively;
  • the controller can control the movement of the driving mechanism according to the detection result of the sensor on the environmental force and/or the environmental torque received by the executive components in the surgical robot, and feedback to the operation through the transmission mechanism mechanics Hand.
  • controller feedbacks the environmental force and/or the environmental torque to the operator in a proportionally amplified manner according to the detection result of the sensor.
  • the controller feedbacks the environmental force and/or the environmental torque to the operator at a magnification of 1 to 3 times according to the detection result of the sensor.
  • the controller's amplification factor of the environmental force and/or environmental torque is equivalent to The zoom factor of the stroke between the operating component and the surgical robot arm.
  • the operating assembly further includes a second static platform and a second moving platform, the driving mechanism is installed on the second static platform, and the operator is installed on the second moving platform;
  • the transmission The mechanism includes a plurality of transmission branch chains, and two ends of each transmission branch chain are respectively rotatably connected to the driving mechanism and the second movable platform;
  • the driving mechanism can control the expansion and contraction of the transmission branch chain to drive the manipulator to move through the second movable platform.
  • the driving mechanism includes at least three driving parts, and the three driving parts are all installed on the second static platform and respectively rotatably connected to the three transmission branch chains;
  • the three driving members drive the second movable platform to move by controlling the folding and rotating of the transmission branch chain, and feed back the environmental force and/or the environmental torque to the operator.
  • each transmission branch chain includes a swing rod, a transmission rod, and at least two universal hinges connected to the transmission rod, and the swing rod in each transmission branch is fixedly connected to the drive
  • the transmission rod is rotatably connected to the swing rod, the two universal hinges are connected to each other, and one of the two universal hinges is connected to the second static platform.
  • each of the driving parts and the corresponding swing rods are arranged in an equilateral triangle manner.
  • the three rotational connections between the three driving members and the corresponding swing rods are arranged in a right-angled isosceles triangle manner.
  • the operating component provided in the present application uses a controller to detect the environmental force and/or environmental torque of the surgical instrument by the sensor, and feedback the environmental force and/or environmental torque to the operator, so that the doctor can
  • the motion control of the operator can receive the mechanical feedback brought by the driving mechanism, thereby improving the interaction between the doctor and the mechanical information during the surgical operation, and the simulation of the actual surgical operation by the operating components is improved, which helps to improve the whole machine The medical effect of surgery.
  • the present application also provides a surgical robot, including a surgical robot arm and an operating component.
  • the surgical robot arm includes an executive component and a sensor.
  • the sensor is connected to the executive component and is used to sense the environmental force received by the executive component. And/or environmental torque; the operating component is the aforementioned operating component.
  • the surgical manipulator arm includes a telecentric control assembly connected to the execution assembly, the execution assembly including an execution rod and a surgical instrument disposed at an end of the execution rod relatively far away from the telecentric control assembly;
  • the telecentric control assembly is provided with a rotating drive member and a sensor, and the rotation drive member is connected to one end of the actuator rod relatively close to the telecentric control assembly and can drive the actuator rod and the surgical instrument along the
  • the actuator rod rotates synchronously in the axial direction;
  • the sensor is connected to the actuator rod and is used to detect the environmental force and/or the environmental moment of the surgical instrument.
  • the surgical manipulator arm includes a preoperative positioning assembly connected to the telecentric manipulation assembly, and the telecentric manipulation assembly includes a static platform and a second static platform connected to the static platform and capable of moving relative to the static platform.
  • a moving platform; the static platform is connected to the preoperative positioning assembly, and the first moving platform is connected to the execution rod;
  • the sensor is installed in the first moving platform or the device in the surgical manipulator that is relatively located at the front end of the first moving platform.
  • the surgical manipulator arm further includes a control driving member for driving the movement of the surgical instrument, the execution rod is installed on the control driving member, and the control driving member is installed on the sensor;
  • the rotation driving part can drive the sensor, the control driving part, the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod;
  • the sensor obtains the environmental force and/or the environmental torque of the surgical instrument by detecting the overall force state of the execution rod and the control driving member.
  • the surgical robot provided in the present application has a better operating experience in the execution of surgical operations, is beneficial to doctors in performing surgical operations, and has a wide range of application prospects.
  • FIG. 1 is a schematic diagram of the structure of the operating component in the first embodiment of this application.
  • Fig. 2 is a schematic structural diagram of the operating assembly shown in Fig. 1 from another perspective.
  • Fig. 3 is a schematic structural diagram of a surgical manipulator in an embodiment of the application.
  • Fig. 4 is a schematic diagram of the structure of the telecentric control assembly in the surgical manipulator shown in Fig. 3.
  • a component when referred to as being "installed on” another component, it can be directly installed on the other component or a centered component may also exist. When a component is considered to be “installed on” another component, it can be directly installed on another component or a centered component may exist at the same time. When a component is considered “fixed” to another component, it can be directly fixed to the other component or there may be a centered component at the same time.
  • FIG. 1 is a schematic diagram of the structure of the operating component 100 in the first embodiment of this application
  • FIG. 2 is a schematic diagram of the structure of the operating component 100 shown in FIG. 1 from another perspective.
  • the present application provides an operating assembly 100, which is used in a Da Vinci surgical robot.
  • the operating assembly 100 is for the doctor to perform surgical operations, so that the doctor can perform complex surgical operations in a minimally invasive manner. It can be understood that in other embodiments, the operating assembly 100 may also be applied to other medical devices to assist doctors in performing surgical operations.
  • the Da Vinci surgical robot includes an operating component 100, a surgical robot arm, and image processing equipment.
  • the operating component is for the doctor to actively control the operation.
  • the operating component is coupled with the surgical robot arm and can transmit the doctor's active control operation to the surgical robot arm;
  • the robotic arm can respond to the doctor's control operation on the operating component and perform follow-up surgical actions to perform minimally invasive surgery on the patient.
  • the motion trajectory of the surgical robotic arm and the operation process can be transmitted to the image processing equipment through the endoscope; image processing
  • the equipment can display the picture of the endoscope peeping in real time, and can also enlarge the picture of the endoscope peeping, so that the doctor's surgical field of vision is clearer.
  • the operating component includes an operating hand 10.
  • the doctor can control the surgical robot arm for positioning by operating the hand 10.
  • the operator 10 can use software algorithms to filter out the doctor’s hand tremor, and it can also reduce the distance of the doctor’s hand compared to the same period last year. With the enlarged endoscope screen in the image processing equipment, the doctor’s eye-hand coordination can be greatly improved. So as to ensure the accuracy of the operation.
  • the image processing device is coupled to the endoscope, can present the picture peeped by the endoscope in real time, and can enlarge the picture peeped by the endoscope when necessary, and the magnification can be adjusted according to different surgical requirements. It is understandable that after adjusting the magnification of the endoscope, the doctor can simultaneously adjust the magnification of the doctor's hand movement distance in the main controller when it is reduced year-on-year, so that the magnification of the endoscope is the same as the magnification of the main controller It is suitable to ensure the doctor's eye-hand coordination to the greatest extent and improve the accuracy of the operation.
  • the endoscope has at least an illumination function and an image acquisition function.
  • the endoscope can be a three-dimensional lens to keep the picture basically the same when the human eye is looking directly; at the same time, the endoscope uses a three-dimensional lens to shoot the picture with high definition, which can be used by the image processing equipment for subsequent magnification processing.
  • FIG. 3 is a schematic structural diagram of a surgical manipulator 200 in an embodiment of the application.
  • the surgical manipulator 200 includes a preoperative positioning component 210, a telecentric control component 220, and an executive component 230.
  • the telecentric control component 220 is disposed between the preoperative positioning component 210 and the executive component 230; the preoperative positioning component 210 is used for
  • the actuator 230 is roughly moved to a position close to the lesion; the telecentric control component 220 is used to control the actuator 230 to move within a small range; the actuator 230 is used to perform surgical operations.
  • the preoperative positioning component 210 can drive the actuator 230 to perform a wide range of position adjustments.
  • the preoperative swing assembly 210 includes at least one moving arm 211 and/or at least one telescopic arm 212.
  • the moving arm 211 has two degrees of freedom and can drive the actuator 230 to translate and rotate; the telescopic arm 212 has one degree of freedom and can drive
  • the execution component 230 performs translation.
  • the telecentric control component 220 can drive the actuator 230 to perform fine position adjustment with the telecentric immobile point as the swing center.
  • the telecentric control assembly 220 has multiple degrees of freedom at the same time, which can drive the execution assembly 230 to perform flexible surgical operations.
  • the execution component 230 includes a surgical instrument 232, which is located at the end of the execution component 230, and the surgical instrument 232 can perform micro-movements through its own swing, rotation and other actions to perform surgical operations.
  • the surgical instrument 232 may be an electric knife, tweezers, clamps, or hooks, or other surgical instruments, which will not be repeated here.
  • the surgical instrument 232 is usually detachably installed at the end of the executive assembly 230. According to different surgical needs, or according to the needs of different surgical stages of the same operation, different surgical instruments 232 can be replaced to complete different surgical operations.
  • the actuator assembly 230 also includes an actuator rod 231, which is hollow inside and connected to a surgical instrument 232; the surgical instrument 232 is located on an end of the actuator rod 231 that is relatively far away from the telecentric control assembly 220.
  • the surgical manipulator arm 200 also includes a rotation driving member 241, which is arranged on the telecentric control assembly 220; the rotation driving member 241 is connected to the actuator rod 231 and can drive the actuator rod 231 and the surgical instrument 232 to execute in an integral motion.
  • the axial direction of the rod 231 rotates synchronously.
  • the surgical manipulator 200 further includes a sensor 242 connected to the execution rod 231 and used to detect the environmental force and/or environmental torque received by the surgical instrument 232.
  • the mutual connection between the sensor 242 and the execution rod 231 may be direct contact between the two, that is, the execution rod 231 directly contacts the measuring surface of the sensor 242; or the sensor 242 and the Indirect contact between the actuator rods 231, that is, the actuator rod 231 is connected to the intermediate transition element, and the intermediate transition element directly contacts the measuring surface of the sensor 242, thereby forming the actuator rod 231 connected to the sensor 242.
  • the environmental force and/or environmental torque of the surgical instrument 232 referred to herein is the force and/or torque exerted on the surgical instrument 232 by the external environment.
  • the surgical instrument 232 is provided by the tissue when the surgical instrument 232 is clamped.
  • the surgical instrument 232 will be simultaneously affected by the environmental force and the environmental moment.
  • the senor 242 is a six-axis force and torque sensor. At this time, the sensor 242 can simultaneously sense the environmental force and/or environmental torque received by the surgical instrument 232 on the measurement surface of the sensor 242. It can be understood that when only the environmental force received by the surgical instrument 232 needs to be measured, the sensor 242 can be selected as a force sensor; when only the environmental torque received by the surgical instrument 232 needs to be measured, the sensor 242 can be selected as a torque sensor.
  • the connecting cable (not shown) inside the actuator rod 231 will move in an integrated manner, avoiding the disadvantage of the traditional structure of the connecting cable being entangled and the failure to achieve a reliable mechanical sensor In this way, the sensor 242 can accurately measure the environmental force and/or environmental torque received by the surgical instrument 232.
  • FIG. 4 is a schematic structural diagram of the telecentric control assembly 220 in the surgical manipulator 200 shown in FIG. 3.
  • the telecentric control assembly 220 includes a first static platform 221, a first moving platform 222, and a plurality of first telescopic elements 223 arranged between the first static platform 221 and the first moving platform 222.
  • the first static platform 221 is relatively far away from the first static platform 221 and the first moving platform 222.
  • One side of a movable platform 222 is fixedly connected to the preoperative positioning assembly 210, and the side of the first movable platform 222 relatively far away from the first static platform 221 is fixedly connected to the executive assembly 230, and both ends of each first telescopic element 223 are Rotatingly connected to the first static platform 221 and the first movable platform 222; the actuator 230 has a preset telecentric immobile point, and the coordinated expansion and contraction between the plurality of first telescopic elements 223 can control the first movable platform 222 relative to the first movable platform 222.
  • a static platform 221 moves and drives the actuator 230 to telescope and swing.
  • the swing center of the actuator 230 is a telecentric immovable point, and the telescopic path of the actuator 230 passes through the telecentric immovable point.
  • the preoperative swing component 210 only needs to perform the function of roughly moving the actuator component 230, and the telecentric control component 220 realizes precise control of the actuator component 230. Therefore, the number of positioning units in the preoperative swing assembly 10 can be correspondingly reduced, thereby reducing the accumulation of errors and response time of multiple positioning units, so as to improve the accuracy of the operation.
  • the multiple first telescopic elements 223 in the telecentric control assembly 220 are arranged in parallel rather than in series, and the errors of the multiple first telescopic elements 223 will not only not be accumulated and transmitted, but may also cancel each other out.
  • each first telescopic element 223 is driven independently, the response time of the multiple first telescopic elements 223 will not be accumulated and transmitted. Therefore, the precise control of the actuator 230 by the telecentric control component 220 can reduce the displacement error during the operation and shorten the response time.
  • the actuator 230 can carry a larger load under the same accuracy as the traditional Da Vinci surgical robot, so it can complete more complex Operation.
  • the actuator 230 can swing with the telecentric immobility point as the center of the swing during the operation. Therefore, it is only necessary to open a tiny wound on the surface of the patient's skin for the actuator 230 to pass through. Small, quick recovery after operation.
  • the first telescopic element 223 is preferably an electric cylinder.
  • the electric cylinder is a small electric cylinder, as long as it can drive the load movement during the operation.
  • the sensor 242 in this embodiment is installed on the first movable platform 222 or installed in a device located at the front end of the first movable platform 222 in the surgical manipulator 200.
  • the senor 242 is installed in a device relatively located at the front end of the first movable platform 222 in the surgical manipulator 200, which means that the installation position of the sensor 242 is located at a position of the first movable platform 222 relatively far away from the preoperative positioning assembly 210. Side, that is, the sensor 242 may be installed on the rod body of the execution rod 231 or directly on the surgical instrument 232.
  • the sensor 242 relative to the surgical instrument 232 will not be interfered by the orbiting movement of the first telescopic element 223 when the first telescopic element 223 is stretched, and the accuracy of the measurement is greatly improved.
  • the rotation driving member 241 is installed on the first movable platform 222, and the sensor 242 is installed on the rotation driving member 241. At this time, the rotation driving member 241 can drive the sensor 242, the actuator rod 231, and the surgical instrument 232 along the axis of the actuator rod 231.
  • the first moving platform 222 rotates synchronously.
  • the rotation driving part 241 and the sensor 242 are selectively installed on the first moving platform 222, which can provide great convenience for the installation of the rotation driving part 241 and the sensor 242. Compared with the sensor 242 installed in the surgical manipulator 200, it is relatively located in the first place. The solution of the front-end components of the mobile platform 222 has greatly reduced the installation accuracy.
  • the surgical manipulator arm 200 further includes a control driving member 243 for driving the operation of the surgical instrument 232, the control driving member 243 is used to control the surgical instrument 232 to swing or bite; at this time, the execution rod 231 is installed on the control driving member 243 , The control driving member 243 is installed on the sensor 242; when the rotation driving member 241 drives the actuator rod 231 and the surgical instrument 232 to rotate synchronously along the axial direction of the actuator rod 231, the control driving member 243 will be synchronized with the driving actuator rod 231 and the surgical instrument 232 Perform rotation.
  • the sensor 242 at this time detects the environmental force and/or the environmental moment received by the surgical instrument 232 by detecting the overall mechanical state formed by the actuator rod 231 and the control driving member 243.
  • the synchronous rotation of the control driving member 243 and the sensor 242 will greatly facilitate the installation requirements of the sensor 242.
  • the sensor 242 does not need to be accurately positioned, only the coupling of the sensor 242 and the control driving member 243 on the measurement surface needs to be ensured. Compared with the coupling of the sensor 242 and the actuator rod 231, the accuracy requirements for assembly are greatly reduced.
  • the surgical manipulator 200 also includes an installation platform (not shown), the control driving member 243 is connected to the sensor 242, and the sensor is fixedly installed on the installation platform; at this time, the rotation driving member 241 is connected to the installation platform and can drive the installation platform to rotate Therefore, the installation sensor 242, the control driving member 243, the execution rod 231 and the surgical instrument 232 are driven to rotate synchronously along the axial direction of the execution rod 231 in an integral movement manner.
  • the installation platform will provide great convenience for the installation of the sensor 242, which is conducive to the improvement of the convenience during installation.
  • the rotation driving member 241 and the installation platform are located on both sides of the first movable platform 222 respectively. At this time, the rotation driving member 241 and the installation platform can be separately arranged on the two sides of the first movable platform 222, which is beneficial to maintain the center of gravity of the first movable platform 222 during the movement, and greatly improves the movement stability.
  • the rotating drive member 241 can also be located on the same side of the first moving platform 222 as the mounting platform, that is, the mounting platform is mounted on the rotating drive member 241, and the rotating drive member 241 is then mounted on the first moving platform 222. On the platform 222.
  • the first movable platform 222 is provided with an escape hole (not shown in the figure), the rotation driving member 241 is a motor, and the motor shaft of the rotation driving member 241 extends into the escape hole and is connected to the installation platform, thereby realizing the rotation driving member 241 Rotational drive for the installation platform.
  • control driving members 243 is at least three, and two of the three control driving members 243 are used to control the deflection (swing) of the surgical instrument 232 toward two different directions that are staggered, that is, the two control
  • the driving member 243 is a control element for the swing movement of the surgical instrument 232; one of the three control driving members 243 is used to control the surgical instrument 232 to open and close.
  • the three control driving members 243 are arranged in an equilateral triangle manner, that is, the centers of the three control driving members 243 are surrounded to form an equilateral triangle, and the axial direction of the actuator rod 231 passes through the The center of an equilateral triangle.
  • the three control driving members 243 will be arranged centered on the axial direction of the actuator rod 231, and the design of the position distribution among the three enables the dynamic balance performance during the movement to be maintained.
  • the operating assembly 100 further includes a transmission mechanism 20, a driving mechanism 30, and a controller (not shown).
  • the driving mechanism 30 is connected to the operating hand 10 through the transmission mechanism 20; the controllers are respectively electrically connected to The sensor 242 in the surgical manipulator 200 and the drive mechanism 30 in the operating assembly 100; the controller can receive the environmental force and/or environmental torque detected by the sensor 242 on the surgical instrument 232, and can control the drive mechanism 30 to drive the transmission The mechanism 20 moves, thereby driving the operator 10 to move.
  • the controller feedbacks the detection result of the environmental force and/or the environmental torque to the operator 10 according to the detection result of the environmental force and/or the environmental torque received by the surgical instrument 232 by the sensor 242.
  • This enables the doctor to receive mechanical feedback brought by the driving mechanism 30 when controlling the motion of the operating hand 10, thereby improving the interaction between the doctor and the mechanical information during the surgical operation, and the operating component 100 improves the degree of simulation of the actual surgical operation. , Help to improve the medical effect of the whole operation.
  • the present application does not limit the operating assembly 100 to only match the surgical robot arm 200 shown in the figure; it is understood that in other embodiments, the operating assembly 100 can also be compatible with surgical robot arms 200 of other structures.
  • the surgical manipulator 200 is equipped with a sensor 242 capable of measuring the environmental force and/or environmental torque received by the surgical instrument 232.
  • the controller's feedback on the environmental force and/or environmental torque will feedback the environmental force and/or environmental torque received by the surgical instrument 232 to the operator 10 in a scaled-up manner.
  • the operating instrument 232 receives the environmental force and/or environmental torque.
  • the environmental force and/or environmental torque will be perceived by the doctor in an enlarged manner, which indirectly improves the doctor’s perception ability.
  • the controller feeds back the environmental force and/or environmental torque received by the surgical instrument 232 to a specific multiple of the operating hand 10, preferably 1 to 3 times.
  • the doctor can not only perceive the actual mechanical information more keenly, but also avoid excessive mechanical feedback that hinders the operation of the doctor, ensuring that the doctor can perform the operation in a more suitable environment.
  • the controller feeds back the environmental force and/or environmental torque received by the surgical instrument 232 to a specific multiple of the operating hand 10, which matches the stroke zoom multiple of the surgical manipulator 200.
  • the stroke zoom factor that is, the ratio between the active stroke of the operating assembly 100 and the response stroke of the surgical robot arm 200.
  • the active stroke of the operating assembly 100 is 100 mm
  • the response stroke of the surgical manipulator 200 is 20 mm
  • the stroke zoom factor is 5.
  • the stroke zoom factor is even the ratio of the Da Vinci surgical robot to reduce the movement of the doctor and refine the control.
  • the controller magnifies the environmental force and/or environmental torque detected by the sensor 242 to be equal to the stroke zoom magnification between the operating assembly 100 and the surgical manipulator 200, the stroke change of the doctor's surgical operation is mechanically related Consistent feedback is helpful to doctors’ immersive surgical operations, and the authenticity of surgical operations is further improved.
  • the operating assembly 100 further includes a second static platform 40 and a second moving platform 50.
  • the operating hand 10 is connected to the second moving platform 50.
  • the transmission mechanism 20 includes a plurality of transmission branches all installed on the second static platform 40. 21. Both ends of each transmission branch chain 21 are respectively rotatably connected to the second movable platform 50 and the driving mechanism 30; the driving mechanism 30 can control the expansion and contraction of a plurality of transmission branches 21, thereby driving the second movable platform 50 to move.
  • the driving mechanism 30 controls the second moving platform 50 to bring resistance to the doctor's manual operation. Therefore, the doctor can feel the driving mechanism 30 when he drives the operating hand 10 to move. Resistance, thereby forming a mechanical feedback of the driving mechanism 30 to the environmental force and/or environmental torque detected by the sensor 242.
  • the telescopic movement of the transmission branch chain 21 is realized by the folding rotation between the two elements. It can be understood that, in other embodiments, the transmission branch 21 can also be realized by a linear telescopic element such as an air cylinder. In this case, the driving mechanism 30 can correspond to an air source.
  • the driving mechanism 30 includes at least three driving members 31, the three driving members 31 are all installed on the second static platform 40, and the output shafts of the three driving members 31 are all connected to the transmission branch chain 21; the three driving members 31 By controlling the corresponding transmission branch chain 21 to fold and rotate, the second movable platform 50 is driven to move and the environmental force and/or environmental torque are fed back to the operator.
  • one of the three driving members 31 can move; when the environmental torque needs to be fed back, multiple of the three driving members 31 operate to achieve force coupling.
  • the coordinated operation of the three driving parts 31 can realize the feedback of the environmental force and/or the environmental torque.
  • each transmission branch 21 includes a swing rod 211, a transmission rod 212, and at least two universal hinges 213 connected to the transmission rod 212.
  • Each transmission branch 21 includes a swing rod 211, a transmission rod 212, and At least two universal hinges 213 of the transmission rod 212, the swing rod 211 in each transmission branch 21 is fixedly connected to the driving member 31, the transmission rod 212 is rotatably connected to the swing rod 211, and the two universal hinges 213 are mutually connected.
  • One of the two universal hinges 213 is connected to the second static platform 40.
  • the driving member 31 will drive the corresponding swing rod 211 to swing, thereby driving the swing rod 211 and the transmission rod 212 to flip, thereby controlling the transmission branch 21 to expand and contract; the two universal hinges 213 in each transmission branch 21 This enables the second movable platform 50 to achieve relative rotational movement.
  • the three rotating connections between the three driving members 31 and the three swing rods 211 are arranged in an equilateral triangle manner.
  • the three rotational connections between the three driving members 31 and the three swing rods 211 can also be arranged in a right-angled isosceles triangle.
  • the distribution form between the three driving parts 31 and the three transmission branches 21 is also beneficial to the control analysis of the driving parts 31.
  • the operating assembly 100 uses a controller to detect the environmental force and/or environmental torque of the surgical instrument 232 by the sensor 242, and feeds back the environmental force and/or environmental torque to the operator 10. This enables the doctor to receive the mechanical feedback brought by the driving mechanism 30 when controlling the motion of the operating hand 10, thereby improving the interaction between the doctor and the mechanical information during the surgical operation, and the operating component 100 improves the degree of simulation of the actual surgical operation. , Help to improve the medical effect of the whole operation.
  • the present application also provides a surgical robot using the above-mentioned operating assembly 100 and surgical manipulator 200.
  • the surgical robot provided in the present application has a better operating experience in performing surgical operations, is beneficial to doctors to perform surgical operations, and has a wide range of applications. prospect.

Landscapes

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

Abstract

La présente invention concerne un ensemble d'actionnement, appliqué dans un robot chirurgical. L'ensemble d'actionnement comprend un manipulateur, un mécanisme de transmission, un mécanisme d'entraînement et un dispositif de commande ; le mécanisme d'entraînement est relié au manipulateur au moyen du mécanisme de transmission ; le dispositif de commande est séparément connecté électriquement au mécanisme d'entraînement et à un capteur dans le robot chirurgical ; le dispositif de commande peut commander, en fonction des résultats de mesure émanant du capteur de la force environnementale et/ou du couple environnemental appliqué à un ensemble d'exécution dans le robot chirurgical, le mécanisme d'entraînement pour déplacer et retransmettre l'action mécanique au manipulateur au moyen du mécanisme de transmission. Dans l'ensemble d'actionnement fourni dans la présente invention, les résultats de détection de la force environnementale et/ou du couple environnemental sont retransmis au manipulateur au moyen du dispositif de commande en fonction des résultats de mesure émanant du capteur de la force environnementale et/ou du couple environnemental appliqué à un instrument chirurgical, de sorte qu'un médecin peut recevoir la rétroaction mécanique émanant du mécanisme d'entraînement lors de la commande du mouvement du manipulateur, facilitant ainsi l'amélioration de l'effet médical de l'ensemble de l'opération.
PCT/CN2020/101995 2020-01-23 2020-07-15 Ensemble d'actionnement et robot chirurgical WO2021147264A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202020146081.7 2020-01-23
CN202010076423.7 2020-01-23
CN202010076423.7A CN111134847B (zh) 2020-01-23 2020-01-23 操作组件及手术机器人
CN202020146081.7U CN211723418U (zh) 2020-01-23 2020-01-23 操作组件及手术机器人

Publications (1)

Publication Number Publication Date
WO2021147264A1 true WO2021147264A1 (fr) 2021-07-29

Family

ID=76991888

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/101995 WO2021147264A1 (fr) 2020-01-23 2020-07-15 Ensemble d'actionnement et robot chirurgical

Country Status (1)

Country Link
WO (1) WO2021147264A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101003133A (zh) * 2007-01-22 2007-07-25 北京航空航天大学 六自由度力觉人机交互装置
CN102462535A (zh) * 2010-11-18 2012-05-23 无锡佑仁科技有限公司 3自由度虚拟力反馈并联操作机构
WO2012127404A2 (fr) * 2011-03-18 2012-09-27 Ecole Polytechnique Federale De Lausanne (Epfl) Poignée ergonomique destinée à des dispositifs haptiques
CN103878769A (zh) * 2014-02-21 2014-06-25 东南大学 一种遥操作柔性环境力反馈系统
CN104546144A (zh) * 2015-01-22 2015-04-29 中国科学院重庆绿色智能技术研究院 一种可切换式的七自由度力反馈遥操作手
CN104739487A (zh) * 2013-12-30 2015-07-01 颜炳郎 骨科手术的手持式机器人以及其控制方法
CN111134847A (zh) * 2020-01-23 2020-05-12 诺创智能医疗科技(杭州)有限公司 操作组件及手术机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101003133A (zh) * 2007-01-22 2007-07-25 北京航空航天大学 六自由度力觉人机交互装置
CN102462535A (zh) * 2010-11-18 2012-05-23 无锡佑仁科技有限公司 3自由度虚拟力反馈并联操作机构
WO2012127404A2 (fr) * 2011-03-18 2012-09-27 Ecole Polytechnique Federale De Lausanne (Epfl) Poignée ergonomique destinée à des dispositifs haptiques
CN104739487A (zh) * 2013-12-30 2015-07-01 颜炳郎 骨科手术的手持式机器人以及其控制方法
CN103878769A (zh) * 2014-02-21 2014-06-25 东南大学 一种遥操作柔性环境力反馈系统
CN104546144A (zh) * 2015-01-22 2015-04-29 中国科学院重庆绿色智能技术研究院 一种可切换式的七自由度力反馈遥操作手
CN111134847A (zh) * 2020-01-23 2020-05-12 诺创智能医疗科技(杭州)有限公司 操作组件及手术机器人

Similar Documents

Publication Publication Date Title
CN112754670B (zh) 手术机械臂及手术机器人
KR102345782B1 (ko) 수술 지원 장치, 그 제어 방법 및 기록 매체
CN111134847B (zh) 操作组件及手术机器人
US10773380B2 (en) Robotic manipulator having two degrees of freedom and surgical robot
US9713500B2 (en) Surgical robot control apparatus
WO2021147267A1 (fr) Bras robotique chirurgical et robot chirurgical
US8306656B1 (en) Method and system for performing medical procedure
JP5327687B2 (ja) 力覚提示機能を有する操縦システム
CN111227944B (zh) 手术机械臂及手术机器人
CN111249008B (zh) 手术机械臂及手术机器人
CN109715104A (zh) 计算机辅助远程操作手术系统和方法
CN111227940B (zh) 手术机械臂及手术机器人
JP2022543572A (ja) 拡張可能なプリズムリンクを有するロボットアーム
CN113180836B (zh) 输入装置、主操作设备及手术机器人
JP6546361B1 (ja) 手術支援装置
CN114129266B (zh) 保持rc点不变的方法、机械臂、设备、机器人和介质
CN114098954B (zh) 机械臂、从操作设备、手术机器人
JP2020065910A (ja) 手術支援装置
CN211723418U (zh) 操作组件及手术机器人
CN116098713A (zh) 主手手腕、主操作设备及手术机器人
WO2021147264A1 (fr) Ensemble d'actionnement et robot chirurgical
CN211723419U (zh) 手术机械臂及手术机器人
WO2021147269A1 (fr) Bras robotique chirurgical et robot chirurgical
WO2021147270A1 (fr) Bras de robot chirurgical et robot chirurgical
WO2021147268A1 (fr) Bras de robot chirurgical et robot chirurgical

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: 20915950

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20915950

Country of ref document: EP

Kind code of ref document: A1