WO2021147267A1 - 手术机械臂及手术机器人 - Google Patents

手术机械臂及手术机器人 Download PDF

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Publication number
WO2021147267A1
WO2021147267A1 PCT/CN2020/101998 CN2020101998W WO2021147267A1 WO 2021147267 A1 WO2021147267 A1 WO 2021147267A1 CN 2020101998 W CN2020101998 W CN 2020101998W WO 2021147267 A1 WO2021147267 A1 WO 2021147267A1
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WO
WIPO (PCT)
Prior art keywords
platform
surgical
movable platform
telescopic
static
Prior art date
Application number
PCT/CN2020/101998
Other languages
English (en)
French (fr)
Inventor
黄善灯
柳建飞
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.)
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Publication date
Priority claimed from CN202020149829.9U external-priority patent/CN211723420U/zh
Priority claimed from CN202010076420.3A external-priority patent/CN111214291A/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
Priority to US17/794,951 priority Critical patent/US20230079591A1/en
Priority to EP20916040.7A priority patent/EP4094708A4/en
Publication of WO2021147267A1 publication Critical patent/WO2021147267A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque

Definitions

  • This application relates to the technical field of medical devices, and in particular to a surgical robotic arm 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 telecentric immobility point.
  • the current surgical manipulators suitable for surgical robots cannot yet fully meet the requirements of use in clinical manifestations.
  • the current surgical robotic arm is relatively weak in load capacity and execution accuracy for surgical instruments. The weakness of the surgical robot arm in load capacity and execution accuracy limits the clinical application of surgical robots.
  • a surgical robotic arm which includes a preoperative positioning component, a telecentric control component, and an executive component.
  • the telecentric control component includes a static platform, a first moving platform, and a A plurality of first telescopic elements between the static platform and the first movable platform, the side of the static platform relatively far from the first movable platform is fixedly connected to the preoperative positioning assembly, and the first movable platform The side of the platform relatively far from the static platform is fixedly connected to the execution assembly, and both ends of each of the first telescopic elements are respectively rotatably connected to the static platform and the first movable platform;
  • the execution component has a preset telecentric immobile point, and the coordinated expansion and contraction between a plurality of the first telescopic elements can control the movement of the first movable platform relative to the static platform and drive the execution component to expand and contract.
  • the swing center of the actuator is the telecentric fixed point, and the telescopic path of the actuator passes through the telecentric fixed point.
  • the surgical manipulator provided by the present application constitutes a parallel mechanism through a first moving platform, a static platform, and a plurality of first telescopic elements located between the first moving platform and the static platform.
  • the error non-cumulative characteristics of the parallel mechanism are used to improve the end effector. Motion accuracy; at the same time, the independent driving modes of the multiple first telescopic elements increase the load capacity, and can ensure the operation of the executive assembly under a larger load.
  • the swing limit angle of the actuator relative to the telecentric immobile point is set to ⁇ 20°, and the actuator can be used in the execution
  • the telescopic path of the component is the shaft and the apex angle is 40° in a conical space.
  • the executive component is more flexible, can move in a larger range, and can assist the doctor in implementing more complicated surgical operations.
  • a plurality of rotating connection points between each of the first telescopic elements and the first movable platform are arranged in a circle, and the distance between each of the first telescopic elements and the static platform
  • the rotation connection points are arranged in a circle; the diameter of the circle formed by the rotation connection points on the static platform is 1 times the diameter of the circle formed by the rotation connection points on the first movable platform To 2 times.
  • the first movable platform has less vibration during the movement of the relative static platform, and the total amount of errors between the first telescopic elements can compensate each other, thereby improving the stability of the surgical manipulator.
  • the diameter of the circle formed by the rotating connection point on the static platform is the diameter of the circle formed by the rotating connection point on the first movable platform 1.7 times.
  • the first moving platform has minimal vibration during the movement of the relative static platform, and at the same time, the space occupied by the first moving platform and the static platform can be relatively compressed, which has the most balanced structure between lightweight and high performance. Associativity.
  • both ends of the first telescopic element are respectively provided with a ball joint and a Hooke hinge joint; the first telescopic element passes through the The ball joint is connected to one of the static platform and the first moving platform, and is connected to the other of the static platform and the first moving platform through the Hooke hinge joint.
  • the two ends of the first telescopic element can be respectively rotatably connected with the first movable platform and the static platform, and the connection performance of the first telescopic element is better.
  • the surgical manipulator further includes a cylinder sleeve, and the cylinder sleeve is sleeved and rotatably connected to the first telescopic element
  • the cylinder sleeve is at an end relatively far away from the first telescopic element and the first telescopic element at an end relatively far away from the cylinder sleeve is respectively provided with a Hooke hinge joint; the cylinder sleeve and the first telescopic element
  • One of a telescopic element is connected to the first movable platform through the corresponding Hooke hinge joint; the other of the cylinder liner and the first telescopic element is connected through the corresponding Hooke hinge
  • the hinge joint is connected to the static platform.
  • the first telescopic element can realize the power transmission between the first moving platform and the static platform through the Hooke hinge joint with lower manufacturing difficulty and low cost. There is no need to install expensive and easily damaged spherical joints. Excellent price/performance advantage.
  • the number of the first telescopic element is six, and the rotation connection points between the first telescopic element and the first movable platform are arranged at intervals; and The rotation connection points between the first telescopic element and the static platform are also spaced apart from each other.
  • the rotation connection points of the first telescopic element and the first movable platform are paired in a nearby manner, and each group has two rotation connection points in the same pair.
  • a first included angle is formed corresponding to the center of the first movable platform, and the first included angles are equal in size.
  • the rotation connection points of the first telescopic element on the first movable platform will be arranged in a pairwise combination, which improves the motion stability of the surgical manipulator and at the same time facilitates the realization of kinematic analysis.
  • the angle range of the first included angle ⁇ is 15° to 60°.
  • the included angle range between the rotation connecting points is within a better interval, which not only helps to ensure the stability of motion, but also facilitates the expansion and contraction movement of each first telescopic element through a relatively suitable included angle range. Parsing.
  • the rotation connection points between the first telescopic element and the static platform are paired in a nearby manner, and two rotation connections of the same pair in each group A second included angle is formed between the point and the center of the static platform, and the size of each second included angle is equal.
  • the rotation connection points of the first telescopic element on the static platform will be set in a pairwise combination, which improves the motion stability of the surgical manipulator and at the same time facilitates the realization of kinematic analysis.
  • the second angle range is 60° to 105°.
  • the included angle range between the rotation connecting points is within a better interval, which not only helps to ensure the stability of motion, but also facilitates the expansion and contraction movement of each first telescopic element through a relatively suitable included angle range. Parsing.
  • the included angle range between the rotation connecting points is within a better interval, which not only helps to ensure the stability of motion, but also facilitates the expansion and contraction movement of each first telescopic element through a relatively suitable included angle range. Parsing.
  • the execution assembly includes an execution rod and a surgical instrument arranged at an end of the execution rod relatively far away from the first movable platform, and the first movable platform is provided with a rotation A driving part, the rotation driving part is connected to the execution rod and can drive the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod.
  • the surgical instrument will rotate synchronously with the actuator rod, thereby avoiding the mutual entanglement of the transmission cables when rotating relative to the actuator rod.
  • the first moving platform is also provided with a first deflection driving part, a second deflection driving part, and an opening and closing driving part.
  • the actuator rod is hollow and contains a transmission cable.
  • the surgical instrument is connected to the first deflection driving part, the second deflection driving part, and the opening and closing driving part through the transmission cable;
  • the first deflection driving part and the second deflection driving part can respectively drive the surgical instrument to deflect in two different directions staggered through the transmission cable, and the opening and closing driving part can pass through the transmission line
  • the cable drives the surgical instrument to open and close.
  • the surgical instrument can be flexibly deflected and opened and closed under the cooperative action of the first deflection driving member, the second deflection driving member and the opening and closing driving member.
  • the simultaneous driving of multiple driving members can reduce the displacement error and delay during driving. Time error.
  • the telecentric control assembly includes multi-level parallel platforms connected to each other, and each level of the parallel platform includes two opposite platforms and a telescopic element located between the two platforms;
  • the parallel platform relatively close to the preoperative positioning assembly among the multi-level parallel platforms is a first-level parallel platform
  • the first-level parallel platform includes the static platform, the first movable platform, and A plurality of first telescopic elements between the static platform and the first movable platform.
  • the multi-level parallel platform can superimpose and expand the range of movement of the surgical instrument, so as to assist the doctor in achieving more complicated surgical content.
  • the number of stages of the parallel platform is two, and the telecentric control assembly further includes a second-stage parallel platform connected to the first-stage parallel platform.
  • the second-level parallel platform includes a second moving platform and a plurality of second telescopic elements arranged between the first moving platform and the second moving platform, and the second moving platform is relatively far away from one of the static platforms.
  • the side is fixedly connected to the executive assembly, and both ends of each second telescopic element are respectively rotatably connected to the first movable platform and the second movable platform.
  • the second moving platform can perform displacement activities based on the first moving platform.
  • the structural design of the two-stage parallel platform takes into account the satisfaction of the complexity of the operation and the guarantee of the control accuracy, avoiding the excessive number of stages. The control error is overly superimposed.
  • the arrangement of the rotation connection points between the plurality of second telescopic elements and the first movable platform on the first movable platform is different from the arrangement of the rotation connection points on the first movable platform.
  • the rotation connection points between the first telescopic elements and the static platform are arranged in the same manner on the static platform; and/or,
  • the arrangement of the rotation connection points between the plurality of second telescopic elements and the second movable platform on the second movable platform is related to the arrangement of the plurality of first telescopic elements and the first movable platform.
  • the arrangement of the rotation connection points between the platforms on the first movable platform is the same.
  • Such a setting can not only simplify the kinematic analysis steps between the first movable platform and the second movable platform, but also reduce the movement error of the second movable platform; it is also convenient for processing and can ensure the processing accuracy.
  • each of the first telescopic The element and the corresponding second telescopic element are arranged in parallel with each other.
  • This arrangement can further simplify the kinematic analysis steps between the first movable platform and the second movable platform, and reduce the movement error of the second movable platform.
  • the preoperative positioning component includes a mobile arm and a telescopic arm, the telescopic arm is arranged between the mobile arm and the static platform and is rotatably connected to the mobile arm .
  • the actuator can achieve a wide range of position adjustments under the drive of the preoperative positioning component, so that the telecentric control component and the positioning component can be used to realize the two-stage adjustment of the actuator, which is conducive to the efficiency and fineness of the position adjustment. change.
  • a sensor is further provided on the first moving platform; the sensor is connected to the execution rod and is used to detect the environmental force and/or the environmental torque received by the surgical instrument.
  • the surgical manipulator arm is configured to rotate synchronously with the actuator rod and the surgical instrument, so that the connecting cable inside the actuator rod will move in an integrated manner, avoiding the winding of the connecting cable in the traditional structure and the inability to achieve a reliable mechanical sensor. Therefore, the sensor can accurately measure the environmental force and/or environmental torque experienced by the surgical instrument.
  • the senor is installed in the first movable platform or the device in the surgical manipulator that is relatively located at the front end of the first movable platform.
  • the senor relative to the surgical instrument will not be disturbed by the orbiting movement of the first telescopic element when the first telescopic element is stretched, and the accuracy of the measurement is greatly improved.
  • the senor is installed on the rotation driving member, and the rotation driving member can drive the sensor, the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod.
  • the rotation driving part and the sensor are selectively installed on the first movable platform, which can provide great convenience for the installation of the rotation driving part and the sensor.
  • the sensor installed in the surgical manipulator it is relatively located at the front end of the first movable platform.
  • the device scheme has greatly reduced the installation accuracy.
  • the present application also provides a surgical robot, including a surgical robotic arm, and the surgical robotic arm is the surgical robotic arm described in any one of the above.
  • the surgical robot provided by the present application improves its own motion accuracy and load capacity by applying the above-mentioned surgical manipulator arm, can realize clinical surgery with higher precision and greater strength, and has a broader application prospect.
  • FIG. 1 is a schematic diagram of the structure of the surgical robot arm in the first embodiment of this application;
  • Fig. 2 is a schematic structural diagram of the telecentric control assembly shown in Fig. 1;
  • Fig. 3 is a schematic structural diagram of the telecentric control assembly shown in Fig. 2 from a top perspective;
  • FIG. 4 is a schematic structural diagram of a surgical manipulator in the second embodiment of this application.
  • Fig. 5 is a schematic diagram of the structure of the telecentric control assembly shown in Fig. 4.
  • 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 structural diagram of a surgical manipulator 100 in the first embodiment of this application
  • FIG. 2 is a structural schematic diagram of the telecentric control assembly 20 shown in FIG. 1.
  • the present application provides a surgical robot arm 100, which is used in a Da Vinci surgical robot.
  • the surgical robot arm 100 is used to assist a doctor in performing a complex surgical operation through a minimally invasive method. It can be understood that, in other embodiments, the surgical robot arm 100 may also be applied to other medical devices to assist doctors in performing surgical operations.
  • Da Vinci surgical robots usually include an operating table, image processing equipment, and a surgical robot arm 100.
  • the operating table is used for the surgeon to perform simulated control operations.
  • the operating table is coupled with the surgical robot arm 100 and can transmit the simulated control operations to the surgical robot arm.
  • the image processing equipment can present 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 surgical robot arm 100 is used to perform minimally invasive surgery on the patient, and the surgical robot arm
  • the movement trajectory of 100 and the operation process can be transmitted to the image processing equipment through the endoscope.
  • the operating table usually includes a main controller and a foot pedal controller.
  • the main controller is coupled to the surgical robot arm 100 and moves synchronously with the surgical robot arm 100.
  • the doctor controls the surgical robot arm 100 to perform positioning through the main controller and uses the foot pedal
  • the controller opens and closes the working state of the surgical manipulator 100.
  • the main controller can not only filter out the slight tremor of the doctor's hand, but also reduce the distance of the doctor's hand compared to the same period. With the enlarged endoscopic picture in the image processing equipment, it can greatly improve the degree of doctor's eye-hand coordination, thereby ensuring the operation Accuracy.
  • 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 synchronously 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 when the main controller is reduced year-on-year. 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 is a three-dimensional lens, which is basically the same as the picture when the human eye looks directly.
  • the pictures taken by the endoscope have high definition and can be used by the image processing equipment for subsequent magnification processing.
  • the surgical manipulator 100 provided in the present application includes a preoperative positioning assembly 10, a telecentric control assembly 20, and an executive assembly 30.
  • the preoperative positioning assembly 10, the telecentric control assembly 20, and the executive assembly 30 are connected in sequence.
  • the preoperative positioning assembly 10 is used to move the actuator 30 approximately to a position close to the lesion;
  • the telecentric control assembly 20 is used to control the movement of the actuator 30 within a small range;
  • the actuator 30 is used to perform surgical operations.
  • the preoperative positioning assembly 10 can drive the actuator 30 to perform a wide range of position adjustments.
  • the preoperative swing assembly 10 includes at least one moving arm 11 and/or at least one telescopic arm 12.
  • the moving arm 11 has two degrees of freedom and can drive the actuator 30 to translate and rotate; the telescopic arm 12 has one degree of freedom and can drive
  • the execution component 30 performs translation.
  • the telecentric control assembly 20 can drive the actuator 30 to perform fine position adjustment with the telecentric immobile point as the swing center.
  • the telecentric control assembly 20 has multiple degrees of freedom at the same time, which can drive the execution assembly 30 to perform flexible surgical operations.
  • the actuator assembly 30 includes a surgical instrument 32, which is located at the end of the actuator assembly 30, and the surgical instrument 32 can perform micro-movements through its own swing, rotation and other actions to perform surgical operations.
  • the surgical instrument 32 may be an electrosurgical knife, forceps, clamps, or hooks, or other surgical instruments, which will not be repeated here.
  • the surgical instrument 32 is usually detachably installed at the end of the executive assembly 30. According to different surgical needs, or according to the needs of different surgical stages of the same operation, different surgical instruments 32 can be replaced to complete different surgical operations.
  • the surgical manipulator arm of the Da Vinci surgical robot that performs surgical actions adopts a tandem mechanism.
  • the manufacturing process of the surgical manipulator arm includes very high requirements for materials and processing accuracy. , Resulting in extremely high manufacturing costs; the characteristics of the tandem mechanism make the mechanical arm structure slender, and multiple mechanical arms sometimes interfere and collide during the operation, which will affect the normal operation of the operation.
  • the telecentric control assembly 20 includes a static platform 21, a first moving platform 22, and a plurality of first telescopic elements 23 arranged between the static platform 21 and the first moving platform 22, and the static platform 21
  • the side relatively far away from the first movable platform 22 is fixedly connected to the preoperative positioning assembly 10
  • the side of the first movable platform 22 relatively far away from the static platform 21 is fixedly connected to the executive assembly 30, and both ends of each first telescopic element 23 Both are rotatably connected to the static platform 21 and the first movable platform 22
  • the executive assembly 30 has a preset telecentric immobile point, and the coordinated expansion and contraction between the plurality of first telescopic elements 23 can control the first movable platform 22 relative to the static platform 21
  • the movement drives the actuator 30 to expand and contract and swing, the swing center of the actuator 30 is the telecentric immobile point, and the telescopic path of the actuator 30 passes through the telecentric immovable point.
  • the preoperative positioning assembly 10 only needs to perform the function of roughly moving the actuator assembly 30, and the telecentric control assembly 20 realizes precise control of the actuator assembly 30. Therefore, the number of positioning units in the preoperative positioning assembly 10 can be reduced correspondingly, 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 23 in the telecentric control assembly 20 are arranged in parallel rather than in series, and the errors of the multiple first telescopic elements 23 will not only not be accumulated and transmitted, but may also cancel each other out.
  • each first telescopic element 23 is driven independently, the response time of the multiple first telescopic elements 23 will not be accumulated and transmitted.
  • the precise control of the actuator 30 by the telecentric control assembly 20 can reduce the displacement error during the operation and shorten the response time.
  • the actuator 30 can carry a larger load under the same accuracy as the traditional Da Vinci surgical robot, so it can complete more complicated Operation.
  • the actuator 30 can swing with the telecentric immobile 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 30 to pass through. Small, quick recovery after operation.
  • the first telescopic element 23 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 telecentric immobile point referred to herein refers to a fixed immobile point selected along the length of the actuator 30, which is performed by the actuator 30 under the control of the telecentric control assembly 20.
  • the movement of has the regularity of swinging around the point, and the point does not move. Specifically, the swing of the surgical instrument 32 will take the telecentric immobile point as the swing center, and the forward and backward telescopic movement of the actuator rod 31 will move along the telecentric immobile point.
  • the position of the telecentric immobilization point is the position of the wound on the surface of the human skin during the operation; the movement of the actuator 30 has the purpose of regularity relative to the telecentric immobilization point, which is to ensure that the operation is performed During the movement of the assembly 30, the wound area of the human body will not be enlarged due to the movement of the device, which is the premise of minimally invasive surgery.
  • the position of the telecentric immobility point is not necessarily fixed during the entire operation.
  • the position of the telecentric immobility point is selected in a single operation, but in different operations. It is changeable. For example, a doctor performs surgical operations on different wounds. The surgical operations performed on these two wounds will cause the control device to select different positions of the telecentric immobility points in different time periods according to the actual length of the actuator rod 31 and other parameters, as long as It is sufficient to ensure that the movement under a single operation operation forms a regular movement with a relatively telecentric immobile point.
  • the swing limit angle of the actuator 30 relative to the telecentric immobile point is set to ⁇ 20°, and the actuator 30 can be used to execute the telescopic path of the component 30 It swings in a conical space with a shaft and an apex angle of 40°.
  • the actuator 30 is relatively flexible, can move in a relatively large range, and can assist the doctor in implementing more complicated surgical operations.
  • a plurality of rotation connection points 24 between each first telescopic element 23 and the first movable platform 22 are arranged in a circle, and each first telescopic element 23
  • the rotation connection point 24 between the stationary platform 21 and the stationary platform 21 are arranged in a circle; the diameter of the circle formed by the rotation connection point 24 on the stationary platform 21 is enclosed by the rotation connection point 24 on the first movable platform 22 1 to 2 times the diameter of the formed circle.
  • the first movable platform 22 has a small vibration during the movement relative to the static platform 21, and the total error between the first telescopic elements 23 can compensate each other, so that the stability of the surgical manipulator 100 is improved.
  • connection points 24 may be arranged in a circle on the static platform 21 and the first movable platform 22.
  • the circular diameter formed by the rotation connection point 24 on the static platform 21 is the rotation connection on the first movable platform 22 1.7 times the diameter of the circle formed by the point 24.
  • the first moving platform 22 has the smallest vibration during the movement relative to the static platform 21, and at the same time, the space occupied by the first moving platform 22 and the static platform 21 can be relatively compressed, which is between lightweight structure and high performance. Has the most balanced combination.
  • both ends of the first telescopic element 23 are respectively provided with a spherical joint and a Hooke hinge Joint 241; the first telescopic element 23 is connected to one of the static platform 21 and the first moving platform 22 through a spherical hinge joint, and is connected to the other of the static platform 21 and the first moving platform 22 through a Hooke hinge joint 241 By.
  • both ends of the first telescopic element 23 can be respectively rotatably connected with the first movable platform 22 and the static platform 21, and the connection performance of the first telescopic element 23 is better.
  • the operating principle is: the spherical joint has three degrees of freedom, the Hooke hinge joint 241 has two degrees of freedom, and the spherical joint and the Hooke hinge joint 241 are respectively arranged at both ends of the first telescopic element 23, so that the first The movable platform 22 can realize six degrees of freedom of movement.
  • the surgical manipulator 100 further includes a cylinder liner 242, a cylinder liner 242 It is sleeved and rotatably connected to the first telescopic element 23; the cylinder sleeve 242 is provided with a Hooke hinge joint 241 at an end relatively far away from the first telescopic element 23 and the first telescopic element 23 at an end relatively far away from the cylinder sleeve 242; One of the cylinder liner 242 and the first telescopic element 23 is connected to the first movable platform 22 through the corresponding Hooke hinge joint 241; the other of the cylinder liner 242 and the first telescopic element 23 is connected to the first movable platform 22 through the corresponding Hooke hinge The hinge joint 241 is connected to the static platform 21.
  • the first telescopic element 23 can realize the power transmission between the first movable platform 22 and the static platform 21 through the Hooke hinge joint 241 with lower manufacturing difficulty and low cost, without the need to install expensive and easily damaged ball hinges. Head, has a better cost-effective advantage.
  • the operating principle is: the Hooke hinge joint 241 at both ends of the first telescopic element 23 has two degrees of freedom, and the cylinder liner 242 has one degree of freedom, which can realize the telescopic movement of the first telescopic element 23 in the axial direction, so that the first telescopic element 23 has two degrees of freedom.
  • the one-movement platform 22 can realize six degrees of freedom of movement.
  • joints can also be used to realize the connection between the first telescopic element 23 and the first movable platform 22 and the static platform 21, as long as the first movable platform 22 can have a certain degree of The degree of freedom can drive the actuator 30 to complete the surgical operation.
  • the number of the first telescopic element 23 is six, and the rotation connection points 24 between the first telescopic element 23 and the first movable platform 22 They are all spaced apart from each other; and the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are also spaced apart from each other.
  • the vibration interference between the first telescopic elements 23 is reduced, and the motion stability of the surgical manipulator 100 can be further improved.
  • the six first telescopic elements 23 drive the first movable platform 22 to move, they can realize the multi-directional and comprehensive movement of the first movable platform 22 without causing excessively redundant kinematic analysis to slow down the calculation speed.
  • the number of the first telescopic elements 23 can also be three, four, five, or even more, as long as the first movable platform 22 can drive the executive assembly 30 to complete the surgical operation. That's it.
  • FIG. 3 is a schematic structural diagram of the telecentric control assembly 20 shown in FIG. 2 in a top view.
  • the rotation connection points 24 between the first telescopic element 23 and the first movable platform 22 are Pairs are made in pairs in a nearby manner; and each group of the two rotating connection points 24 of the same pair and the center of the first movable platform 22 form a first included angle ⁇ corresponding to each of the first included angles ⁇ .
  • the sizes are all equal.
  • a pair of rotating connection points 24 are matched to form a three-group pairing relationship of M 1 and M 2 , M 3 and M 4 , M 5 and M 6.
  • the first telescopic elements 23 will be symmetrically distributed on the first movable platform 22, which is beneficial to the improvement of the motion stability of the surgical manipulator 100.
  • the angle range of the first included angle ⁇ is 15° to 60°.
  • the included angle range between the first telescopic element 23 and each rotating connection point 24 of the first movable platform 22 is within a better range, which not only helps to ensure the stability of motion, but also can pass a relatively suitable included angle range. It is convenient to realize the movement analysis of the expansion and contraction amount of each first telescopic element 23.
  • the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are paired in a nearby manner; the two rotation connection points 24 of the same pair are in pairs.
  • a second included angle ⁇ is formed correspondingly between the centers of the static platform 21, and the magnitudes of the second included angles ⁇ are the same.
  • the first telescopic elements 23 will be symmetrically distributed on the static platform 21, which is beneficial to the improvement of the motion stability of the surgical manipulator 100.
  • the angle range of the second included angle ⁇ is 60° to 105°.
  • the included angle range between the first telescopic element 23 and each rotation connection point 24 of the static platform 21 is within a better interval, which is not only helpful to ensure the stability of motion, but also can be easily achieved through a relatively suitable included angle range.
  • the pairing manner of the rotation connection points 24 of the first telescopic element 23 on the static platform 21 is staggered from the pairing manner of the rotation connection points 24 of the corresponding first telescopic element 23 on the first movable platform 22, That is, the same pair of rotation connection points 24 of the first telescopic element 23 on the static platform 21 and the corresponding two rotation connection points 24 of the first telescopic element 23 on the first movable platform 22 are not paired.
  • the drive motor drives the surgical instrument to rotate through the drive transmission cable, but the transmission cable will be entangled inside the executive rod during the rotation, which affects the accuracy of the operation.
  • the actuator assembly 30 includes an actuator rod 31 and a surgical instrument 32 disposed at an end of the actuator rod 31 relatively far away from the first movable platform 22.
  • a rotating drive member 27 is provided on the moving platform 22. The rotating drive member 27 is connected to the actuator rod 31 and can drive the actuator rod 31 and the surgical instrument 32 to rotate synchronously along the axial direction of the actuator rod 31.
  • the surgical instrument 32 will rotate synchronously with the execution rod 31, thereby avoiding the mutual entanglement of the transmission cables when rotating relative to the execution rod 31.
  • the rotation driving member 27 is installed on the side of the first movable platform 22 close to the execution assembly 30, and the rotation driving member 27 is directly connected to the execution rod 31 and can drive the execution rod 31 and the surgical instrument 32 to rotate synchronously.
  • the rotation driving member 27 is preferably a motor.
  • the first moving platform 22 is also provided with a first deflection driving member (not labeled), a second deflection driving member (not labeled), and Opening and closing driving part (not labeled), the actuator rod 31 is hollow and accommodating a transmission cable, and the surgical instrument 32 is connected to the first deflection driving part, the second deflection driving part and the opening and closing driving part through the transmission cable;
  • the first deflection driving part and the second deflection driving part can respectively drive the surgical instrument 32 to deflect in two different staggered directions through the transmission cable, and the opening and closing driving part can drive the surgical instrument 32 to open and close through the transmission cable.
  • the surgical instrument 32 can be flexibly deflected and opened and closed under the cooperative action of the first deflection driving member, the second deflection driving member, and the opening and closing driving member.
  • the simultaneous driving of multiple driving members can reduce the displacement error during driving. Delay error.
  • the first deflection driving member, the second deflection driving member, and the opening and closing driving member are all installed on the first movable platform 22.
  • the first deflection driving part, the second deflection driving part, and the opening and closing driving part are all installed on the side of the first moving platform 22 away from the executing assembly 30, and are located in the first moving platform.
  • the middle part of the platform 22 does not affect the arrangement of the first telescopic element 23.
  • the first deflection driving member, the second deflection driving member, and the opening and closing driving member can also be installed in other positions, as long as the surgical machine can be controlled through a transmission cable.
  • the first deflection driving member, the second deflection driving member, and the opening and closing driving member are preferably three motors.
  • FIG. 4 is a schematic structural diagram of a surgical manipulator 100 in a second embodiment of this application
  • FIG. 5 is a structural schematic diagram of the telecentric control assembly 20 shown in FIG. 4.
  • the telecentric control assembly 20 further includes a second movable platform 25 and a plurality of second movable platforms 22 and 25 arranged between the first movable platform 22 and the second movable platform 25.
  • Telescopic element 26, the side of the second movable platform 25 relatively far away from the static platform 21 is fixedly connected to the executive assembly 30, and both ends of each second telescopic element 26 are rotatably connected to the first movable platform 22 and the second movable platform 25, respectively .
  • the second movable platform 25 can perform displacement activities based on the first movable platform 22, which increases the range of movement of the surgical instrument 32 to assist the doctor in achieving more complicated surgical content.
  • the telecentric control assembly 20 forms two parallel platforms connected to each other, which are a first-level parallel platform and a second-level parallel platform.
  • the first-level parallel platform includes the above-mentioned static platform 21 and the first parallel platform.
  • the moving platform 22 and the first telescopic element 23 located between the static platform 21 and the first moving platform 22.
  • the second-level parallel platform includes a second moving platform 25 and a moving platform located between the first moving platform 22 and the second moving platform 25.
  • the second telescopic element 26 is a first-level parallel platform and a second-level parallel platform.
  • each level of parallel platform can include two platforms and a telescopic element located between the two platforms.
  • the first-level parallel platform includes two platforms, namely the first moving platform 22 and the static platform 21; the second-level parallel platform may also include two platforms, respectively, the second moving platform 25 and fixed on the first moving platform.
  • Installation platform (not shown).
  • the second-level parallel platform and the larger number of parallel platforms can also omit the corresponding installation platform, and one of the previous-level parallel platforms will be responsible for it.
  • the second-level parallel platform includes two platforms, namely the second moving platform 25 and the first moving platform 22 in the first-level parallel platform, that is, at this time, the first moving platform 22 is shared by the two-level parallel platform .
  • the term “the parallel platform of each stage includes two opposing platforms and a telescopic element located between the two platforms” mentioned in this article has two situations.
  • each stage has two parallel platforms. There are two platforms, and the two platforms are not shared between different levels of parallel platforms; one is that each level of parallel platforms can realize the relative movement between its own two platforms by sharing adjacent levels of platforms.
  • the rotation driving member 27 is installed on the side of the second movable platform 25 close to the execution assembly 30, and the rotation driving member 27 is directly connected to the execution rod 31 and can drive the execution rod 31 and the surgical instrument 32 to rotate synchronously.
  • the first deflection driving member, the second deflection driving member, and the opening and closing driving member are all installed on the side of the second movable platform 25 away from the execution assembly 30, and are located in the middle of the second movable platform 25, without affecting the second telescopic element 26 Arrangement.
  • the rotation connection points 24 between the plurality of second telescopic elements 26 and the first movable platform 22 are on the first movable platform 22
  • the arrangement manner of is the same as the arrangement manner of the rotation connection points 24 between the plurality of first telescopic elements 23 and the static platform 21 on the static platform 21; and/or,
  • the arrangement of the rotation connection points 24 between the plurality of second telescopic elements 26 and the second movable platform 25 on the second movable platform 25 is the same as that between the plurality of first telescopic elements 23 and the first movable platform 22
  • the arrangement of the rotation connection points 24 on the first movable platform 22 is the same.
  • Such an arrangement can not only simplify the kinematic analysis steps between the first movable platform 22 and the second movable platform 25, but also reduce the movement error of the second movable platform 25; it is also convenient for processing and can ensure the processing accuracy.
  • the rotation connection points 24 can also be arranged in other ways, as long as the flexible movement of the first movable platform 22 and the second movable platform 25 can be realized.
  • each first telescopic element 23 and the corresponding second telescopic element 26 are arranged parallel to each other.
  • Such an arrangement can further simplify the kinematic analysis steps between the first movable platform 22 and the second movable platform 25, and reduce the movement error of the second movable platform 25.
  • each first telescopic element 23 and the corresponding second telescopic element 26 can also be arranged in other ways, as long as the first movable platform 22 and the second movable platform 25 can be arranged. Flexible exercise is enough.
  • the preoperative positioning assembly 10 includes a movable arm 11 and a telescopic arm 12, and the telescopic arm 12 is arranged between the movable arm 11 and the static platform 21 And rotatably connected to the moving arm 11.
  • the actuator 30 can achieve a wide range of position adjustments driven by the preoperative positioning assembly 10, so that the telecentric control assembly 20 and the preoperative positioning assembly 10 can be used to achieve two-stage adjustment of the actuator 30, which is beneficial to Efficient and refined position adjustment.
  • the telescopic electric cylinder is provided to realize the telescopic arm 12 telescopic
  • the rotary joint is provided to realize the movement and rotation of the mobile arm 11.
  • the telescopic electric cylinder has one degree of freedom
  • the rotary joint has at least one degree of freedom. The two are used in conjunction to enable the preoperative positioning assembly 10 to have at least two degrees of freedom, so as to achieve a large range of movement and quickly reach the patient's lesion. The proximity of the location.
  • 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 use requirements in clinical manifestations, especially the lack of mechanical testing of surgical operations performed by surgical instruments, and doctors cannot obtain the pathological tissues to be treated under surgical operations.
  • the mechanical feedback of surgical instruments and the lack of mechanical information reduce the accuracy of doctors in surgical operations.
  • the surgical manipulator 100 provided in the present application avoids the winding of the steel belt in the surgical manipulator by providing the overall synchronously rotating actuator 30, and can realize the accurate measurement of the mechanical information on the surgical instrument 32.
  • the surgical manipulator 100 further includes a sensor (not shown in the figure), which is connected to the execution rod 31 and is used to detect the environmental force and/or environmental torque received by the surgical instrument 32.
  • the interconnection between the sensor and the actuator rod 31 may be direct contact between the two, that is, the actuator rod 31 directly contacts the measuring surface of the sensor; it may also be the sensor and the actuator rod 31.
  • the indirect contact between the actuators, that is, the actuator rod 31 is connected to the intermediate transition element, and the intermediate transition element directly contacts the measuring surface of the sensor, so that the actuator rod 31 is connected to the sensor.
  • the environmental force and/or environmental moment of the surgical instrument 32 referred to herein is the force and/or torque exerted on the surgical instrument 32 by the external environment.
  • the surgical instrument 32 is provided by the tissue when the surgical instrument 32 is clamped.
  • the surgical instrument 32 will be simultaneously affected by the environmental force and the environmental moment.
  • the senor is a six-axis force and torque sensor.
  • the sensor can simultaneously sense the environmental force and/or environmental torque received by the surgical instrument 32 on its own measuring surface. It can be understood that when only the environmental force received by the surgical instrument 32 needs to be measured, the sensor can be selected as a force sensor; when only the environmental force received by the surgical instrument 32 needs to be measured, the sensor can be selected as a torque sensor.
  • the connecting cable (not shown) inside the actuator rod 31 will move in an integrated manner, avoiding the disadvantage of the traditional structure that the connecting cable is entangled and the reliable mechanical sensor cannot be realized. , So that the sensor can achieve accurate measurement of the environmental force and/or environmental torque received by the surgical instrument 32.
  • the sensor in this embodiment is installed on the first movable platform 22 or installed in the surgical manipulator 100 relative to the device at the front end of the first movable platform 22.
  • the senor is installed in the device in the surgical manipulator 100 that is relatively located at the front end of the first movable platform 22, which means that the installation position of the sensor is on the side of the first movable platform 22 relatively far away from the preoperative positioning assembly 10. That is, the sensor can be installed on the rod body of the execution rod 31 or directly on the surgical instrument 32.
  • the sensor relative to the surgical instrument 32 will not be interfered by the orbiting movement of the first telescopic element 23 when the first telescopic element 23 is stretched, and the accuracy of the measurement is greatly improved.
  • the rotating drive member 27 is installed on the first moving platform 22, and the sensor is installed on the rotating drive member 27. At this time, the rotating drive member 27 can drive the sensor, the actuator rod 31, and the surgical instrument 32 to move relative to the first movable platform along the axis of the actuator rod 31
  • the platform 22 rotates synchronously.
  • the rotation driving part 27 and the sensor are selectively installed on the first movable platform 22, which can provide great convenience for the installation of the rotation driving part 27 and the sensor. Compared with the sensor installed in the surgical manipulator 100, the sensor is relatively located on the first movable platform 22. The front-end device solution has greatly reduced the installation accuracy.
  • the surgical manipulator 100 provided in the present application constitutes a parallel mechanism through a first movable platform 22, a static platform 21, and a plurality of first telescopic elements 23 located between the first movable platform 22 and the static platform 21, and utilizes the error non-cumulative characteristics of the parallel mechanism
  • the motion accuracy of the end effector 30 is improved; at the same time, the independent driving modes of the plurality of first telescopic elements 23 increase the load capacity, and can ensure the operation of the actuator 30 under a larger load.
  • the parallel mechanism has the characteristics of high precision, high rigidity and large load.
  • the mechanical manufacturing process requirements are relatively low, which makes the manufacturing cost of the surgical manipulator 100 can be greatly reduced;
  • the structural characteristics of 100 make the rotation of surgical instruments do not need to be driven by steel cables, and there will be no twisting of steel cables, which greatly increases the service life of surgical instruments and reduces their use costs; at the same time, it is easy to achieve accurate force. Detection.
  • the present application also provides a surgical robot, including a surgical robot arm 100, which is any one of the above-mentioned surgical robot arms 100.
  • the surgical robot provided by the present application improves its own motion accuracy and load capacity by applying the surgical manipulator 100 described above, can realize clinical operations with higher precision and greater strength, and has a broader application prospect.
  • orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” and other directions indicate the orientation Or positional relationship is usually based on the positional or positional relationship shown in the drawings, which is only used to facilitate the description of the application and simplify the description. Unless otherwise stated, these positional words do not indicate or imply the pointed device or element It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the scope of protection of the present application; the orientation word “inside, outside” refers to the inside and outside relative to the contour of each component itself.
  • spatial relative terms can be used here, such as “above”, “above”, “above the surface”, “above”, etc., to describe as shown in the figure Shows the spatial positional relationship between one device or feature and other devices or features. It should be understood that the spatially relative terms are intended to encompass different orientations in use or operation other than the orientation of the device described in the figure. For example, if the device in the figure is inverted, then a device described as “above other devices or structures” or “above other devices or structures” will then be positioned as “below the other devices or structures” or “on Under other devices or structures”. Thus, the exemplary term “above” may include both orientations “above” and "below". The device can also be positioned in other different ways (rotated by 90 degrees or in other orientations), and the relative description of the space used here will be explained accordingly.

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Abstract

一种手术机械臂（100），包括术前摆位组件（10）、远心操控组件（20）及执行组件（30），远心操控组件（20）包括静平台（21）、第一动平台（22）以及设置于静平台（21）与第一动平台（22）之间的多个第一伸缩元件（23）；执行组件（30）具有预设的远心不动点，多个第一伸缩元件（23）之间的协调伸缩能够控制第一动平台（22）相对静平台（21）运动并带动执行组件（30）伸缩及摆动，执行组件（30）的摆动中心为远心不动点，且执行组件（30）的伸缩路径穿过远心不动点。手术机械臂（100）通过第一动平台（22）、静平台（21）以及位于第一动平台（22）与静平台（21）之间多个第一伸缩元件（23）构成并联机构，利用并联机构的误差非累积特性提高了执行组件（30）的运动精度；同时能够保证执行组件（30）在更大载荷下的手术操作。

Description

手术机械臂及手术机器人
相关申请
本申请要求申请日为2020年1月23日，申请号为202020149829.9，发明名称为“手术机械臂及手术机器人”的中国专利申请的优先权；以及申请日为2020年1月23日，申请号为202010076420.3，发明名称为“手术机械臂及手术机器人”的中国专利申请的优先权；其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，尤其涉及一种手术机械臂及手术机器人。
背景技术
微创手术的诞生在很大程度上克服了传统外科手术存在的刀口大、出血量大、并发症多以及手术风险大等缺陷。微创手术因为近年来的迅猛发展正逐步获得医务人员与患者的青睐，成为目前医学研究与临床应用的新兴领域。
通过手术机器人来辅助医生进行微创手术能够使得手术操作更为灵敏与精确。以达芬奇手术机器人为例，达芬奇手术机器人可以将医生的视野放大十倍，同时有效滤除医生的手部颤动，在微创手术领域具有广泛的临床应用。
适用于手术机器人的手术机械臂需要带动手术器具执行手术操作，而手术器具在使用时需要通过伸入皮肤表面上开设的微小创口来实现达到患者体内。这就要求手术器具以稳定、无颤动的状态将皮肤表面上开设的微小创口作为远心不动点执行手术操作。而目前的适用于手术机器人的手术机械臂，在临床表现上尚不能完全满足使用要求。目前的手术机械臂，在对手术器具的载荷能力以及执行精度上均较为薄弱。手术机械臂在载荷能力以及执行精度上的薄弱性限制了手术机器人在临床上的应用。
发明内容
根据本申请的各种实施例，提供一种手术机械臂，包括术前摆位组件、远心操控组件及执行组件，所述远心操控组件包括静平台、第一动平台以及设置于所述静平台与所述第一动平台之间的多个第一伸缩元件，所述静平台相对远离所述第一动平台的一侧固定连接于所述术前摆位组件，所述第一动平台相对远离所述静平台的一侧固定连接于所述执行组件，每个所述第一伸缩元件的两端均分别转动连接于所述静平台与所述第一动平台；
所述执行组件具有预设的远心不动点，多个所述第一伸缩元件之间的协调伸缩能够控制所述第一动平台相对所述静平台运动并带动所述执行组件伸缩及摆动，所述执行组件的摆动中心为所述远心不动点，且所述执行组件的伸缩路径穿过所述远心不动点。
本申请提供的手术机械臂通过第一动平台、静平台以及位于第一动平台与静平台之间多个第一伸缩元件构成并联机构，利用并联机构的误差非累积特性提高了末端执行组件的运动精度；同时多个第一伸缩元件之间相互独立的驱动方式提高了载荷能力，能够保证执行组件在更大载荷下的手术操作。
为了提高手术机械臂的灵活性，在本申请的一个实施方式中，所述执行组件相对所述远心不动点的摆动极限角度设为±20°，所述执行组件能够在以所述执行组件的伸缩路径为 轴且顶角为40°的锥形空间内摆动。
如此设置，执行组件比较灵活，能够在较大范围内运动，可以协助医生实现较为复杂的手术操作。
为了提高手术机械臂的稳定性，各所述第一伸缩元件与所述第一动平台之间的多个转动连接点共圆设置，各所述第一伸缩元件与所述静平台之间的转动连接点共圆设置；位于所述静平台上的转动连接点所围设形成的圆形直径，是位于所述第一动平台上的转动连接点所围设形成的圆形直径的1倍至2倍。
如此设置，第一动平台在相对静平台运动的过程中具有较小的颤动，各个第一伸缩元件之间的误差总量能够相互弥补，从而使得手术机械臂的稳定性提升。
为了进一步提高手术机械臂的稳定性，位于所述静平台上的转动连接点所围设形成的圆形直径，是位于所述第一动平台上的转动连接点所围设形成的圆形直径的1.7倍。
如此设置，第一动平台在相对静平台运动的过程中具有最小的颤动，同时可以相对压缩第一动平台与静平台所占用的空间体积，在结构轻量化与高性能之间具有最为平衡的结合性。
为了实现第一伸缩元件与第一动平台及静平台之间的转动连接，所述第一伸缩元件的两端分别设置有球铰接头与虎克铰链接头；所述第一伸缩元件通过所述球铰接头连接至所述静平台与所述第一动平台中的一者，并通过所述虎克铰链接头连接至所述静平台与所述第一动平台中的另一者。
如此设置，第一伸缩元件的两端能够分别与第一动平台以及静平台实现转动连接，第一伸缩元件的连接性能较佳。
为了在实现第一伸缩元件与第一动平台及静平台之间转动连接的基础上兼顾成本，所述手术机械臂还包括缸套，所述缸套套设并转动连接于所述第一伸缩元件；所述缸套在相对远离所述第一伸缩元件的一端以及所述第一伸缩元件在相对远离所述缸套的一端上，分别设置有虎克铰链接头；所述缸套与所述第一伸缩元件中的一者，通过对应的所述虎克铰链接头连接至所述第一动平台；所述缸套与所述第一伸缩元件中的另一者，通过对应的所述虎克铰链接头连接至所述静平台。
如此设置，第一伸缩元件可以通过制造难度较低、成本低廉的虎克铰链接头便实现第一动平台与静平台之间的动力传输，无需设置造价高昂、容易损坏的球铰接头，具有较佳的性价比优势。
为了提高手术机械臂的运动稳定性，所述第一伸缩元件的数量为六个，所述第一伸缩元件与所述第一动平台之间的各转动连接点均相互间隔设置；且所述第一伸缩元件与所述静平台之间的各转动连接点也均相互间隔设置。
如此设置，通过采用间隔式的转动连接点的分布形式，减少了各个第一伸缩元件之间的颤动干扰，能够进一步提升手术机械臂的运动稳定性。
为了提高手术机械臂的运动稳定性，所述第一伸缩元件与所述第一动平台的各转动连接点之间以就近的方式两两成对，每一组同对的两个转动连接点与所述第一动平台的中心之间均对应形成一个第一夹角，各所述第一夹角之间的大小相等。
如此设置，第一伸缩元件在第一动平台上的转动连接点将以两两配对组合的方式设置，手术机械臂的运动稳定性提升，同时便于实现运动学解析。
为了进一步提高手术机械臂的运动稳定性，所述第一夹角α的角度范围为15°至60°。
如此设置，各个转动连接点之间的夹角范围处在较佳的区间内，不仅有利于保证运动稳定性，也可以通过相对适宜的夹角范围便于实现对各个第一伸缩元件的伸缩量运动解析。
为了进一步提高手术机械臂的运动稳定性，所述第一伸缩元件与所述静平台之间的各转动连接点之间以就近的方式两两成对，每一组同对的两个转动连接点与所述静平台的中心之间均对应形成一个第二夹角，各所述第二夹角之间的大小相等。
如此设置，第一伸缩元件在静平台上的转动连接点将以两两配对组合的方式设置，手术机械臂的运动稳定性提升，同时便于实现运动学解析。
为了进一步提高手术机械臂的运动稳定性，第二夹角角度范围为60°至105°。
如此设置，各个转动连接点之间的夹角范围处在较佳的区间内，不仅有利于保证运动稳定性，也可以通过相对适宜的夹角范围便于实现对各个第一伸缩元件的伸缩量运动解析。
如此设置，各个转动连接点之间的夹角范围处在较佳的区间内，不仅有利于保证运动稳定性，也可以通过相对适宜的夹角范围便于实现对各个第一伸缩元件的伸缩量运动解析。
为了避免手术器具在转动时传动线缆发生缠绕，所述执行组件包括执行杆及设置于所述执行杆相对远离所述第一动平台一端的手术器具，所述第一动平台上设置有转动驱动件，所述转动驱动件连接于所述执行杆并能够驱动所述执行杆与所述手术器具沿所述执行杆的轴向同步转动。
如此设置，手术器具将与执行杆同步转动，从而避免了传动线缆在相对执行杆转动时的相互缠绕。
为了使得手术器具的运动更加灵活和精准，所述第一动平台上还设置有第一偏转驱动件、第二偏转驱动件以及开合驱动件，所述执行杆中空并容置有传动线缆，所述手术器具通过所述传动线缆连接于所述第一偏转驱动件、第二偏转驱动件以及开合驱动件；
所述第一偏转驱动件与所述第二偏转驱动件能够通过所述传动线缆分别带动所述手术器具朝交错的两个不同的方向偏转，所述开合驱动件能够通过所述传动线缆带动所述手术器具张开与闭合。
如此设置，手术器具在第一偏转驱动件、第二偏转驱动件以及开合驱动件的协同作用下能够灵活地偏转和开合，多个驱动件同时驱动能够减小驱动时的位移误差和延时误差。
为了实现更加复杂的手术内容，所述远心操控组件包括多级相互连接的并联平台，每级所述并联平台均包括相对的两个平台以及位于两个所述平台之间的伸缩元件；
其中，多级所述并联平台中相对靠近所述术前摆位组件的并联平台为第一级并联平台，所述第一级并联平台包括所述静平台、所述第一动平台以及设置于所述静平台与所述第一动平台之间的多个第一伸缩元件。
如此设置，多级别的所述并联平台能够叠加式的扩大手术器具的活动范围，以协助医生实现更加复杂的手术内容。
为了兼顾手术内容的复杂程度以及控制的精准程度，所述并联平台的级数为两级，所述远心操控组件还包括连接于所述第一级并联平台的第二级并联平台，所述第二级并联平台包括第二动平台以及设置于所述第一动平台与所述第二动平台之间的多个第二伸缩元件，所述第二动平台相对远离所述静平台的一侧固定连接于所述执行组件，每个所述第二伸缩元件 的两端均分别转动连接于所述第一动平台与所述第二动平台。
如此设置，第二动平台能够以第一动平台为基础进行位移活动，双级并联平台的结构设计同时兼顾了对手术复杂性的满足以及对控制精度的保证，避免了级数过大所带来的控制误差过度叠加的情况。
为了减小运动误差，同时便于实现运动学解析，多个所述第二伸缩元件与所述第一动平台之间的各转动连接点在所述第一动平台上的排布方式，与多个所述第一伸缩元件与所述静平台之间的各转动连接点在所述静平台上的排布方式相同；及/或，
多个所述第二伸缩元件与所述第二动平台之间的各转动连接点在所述第二动平台上的排布方式，与多个所述第一伸缩元件与所述第一动平台之间的各转动连接点在所述第一动平台上的排布方式相同。
如此设置，不仅能够简化第一动平台与第二动平台之间的运动学解析步骤，还能减小第二动平台的运动误差；并且便于加工，能够保证加工精度。
为了进一步减小运动误差，同时进一步简化运动学解析步骤，在所述第一动平台、所述第二动平台以及所述静平台的各轴向处于重合的状态下，各所述第一伸缩元件与对应的所述第二伸缩元件之间相互平行设置。
如此设置，能够进一步简化第一动平台与第二动平台之间的运动学解析步骤，减小第二动平台的运动误差。
为了实现对执行组件的大范围摆位，所述术前摆位组件包括移动臂及伸缩臂，所述伸缩臂设置于所述移动臂与所述静平台之间并转动连接于所述移动臂。
如此设置，执行组件能够在术前摆位组件的驱动下实现大范围的位置调节，从而利用远心操控组件与摆位组件实现对执行组件的双级调整，有利于位置调整的高效化与精细化。
为了实现对力学信息的检测，所述第一动平台上还设置有传感器；所述传感器连接于所述执行杆并用于检测所述手术器具受到的环境力及/或环境力矩。
如此设置，手术机械臂由于将执行杆与手术器具设置为同步转动，可以使得位于执行杆内部的连接线缆将以整体的方式运动，避免了传统结构中连接线缆缠绕导致无法实现可靠力学传感器的弊端，从而使得传感器能够实现对手术器具所受到的环境力及/或环境力矩的精确测量。
为了提高检测精度，所述传感器安装于所述第一动平台或者所述手术机械臂中相对位于所述第一动平台前端的器件中。
如此设置，传感器相对手术器具，不会受到第一伸缩元件伸缩时的绕动干扰，在测量时的精确度有了极大的提高。
为了进一步提高检测精度，所述传感器安装于所述转动驱动件上，所述转动驱动件能够驱动所述传感器、所述执行杆以及所述手术器具均沿所述执行杆的轴向同步转动。
如此设置，转动驱动件与传感器选择安装在第一动平台上，能够为转动驱动件与传感器的安装提供极大的便利，相比于传感器安装在手术机械臂中相对位于第一动平台前端的器件的方案，在安装精度上有了极大的降低。本申请还提供一种手术机器人，包括手术机械臂，所述手术机械臂为上述任意一项所述的手术机械臂。
本申请提供的手术机器人，通过应用上述的手术机械臂提高了自身的运动精度以及载荷能力，能够实现更高精度、更大强度的临床手术，具有更为广泛的应用前景。
附图说明
为了更好地描述和说明这里公开的那些的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的、目前描述的实施例和/或示例以及目前理解的这些的最佳模式中的任何一者的范围的限制。
图1为本申请第一个实施方式中的手术机械臂的结构示意图；
图2为图1所示远心操控组件的结构示意图；
图3为图2所示远心操控组件在俯视视角下的结构示意图；
图4为本申请第二个实施方式中手术机械臂的结构示意图；
图5为图4所示远心操控组件的结构示意图。
具体实施方式
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
需要说明的是，当组件被称为“装设于”另一个组件，它可以直接装设在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。当一个组件被认为是“固定于”另一个组件，它可以是直接固定在另一个组件上或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1及图2，图1为本申请第一个实施方式中的手术机械臂100的结构示意图；图2为图1所示远心操控组件20的结构示意图。
本申请提供一种手术机械臂100，其用于达芬奇手术机器人中。本实施方式中，手术机械臂100用于协助医生通过微创的方法实施复杂的外科手术。可以理解，在其他实施方式中，手术机械臂100还可以应用于其他医疗器械中以协助医生进行外科手术。
达芬奇手术机器人通常包括操作台、图像处理设备及手术机械臂100，操作台用于供主刀医生进行模拟控制操作，操作台与手术机械臂100耦合并能够将模拟控制操作传递至手术机械臂100；图像处理设备能够实时呈现内窥镜窥视的画面，还能够将内窥镜窥视的画面放大，使得医生的手术视野更加清晰；手术机械臂100用于对患者进行微创手术，手术机械臂100的运动轨迹及手术过程能够通过内窥镜传递至图像处理设备中。
操作台通常包括主控制器及脚踏板控制器，主控制器耦合于手术机械臂100并与手术机械臂100同步运动，医生通过主控制器控制手术机械臂100进行定位，并通过脚踏板控制 器启闭手术机械臂100的工作状态。主控制器不仅能够滤除医生手部的微颤动，还能够同比缩小医生手部的移动距离，配合图像处理设备中放大的内窥镜画面，能够大幅提高医生眼手协调的程度，从而保证手术精确度。
图像处理设备耦合于内窥镜，能够实时呈现内窥镜窥视的画面，并且在必要时可以放大内窥镜窥视的画面，放大倍数可以根据不同手术需求进行调整。可以理解的是，当调整内窥镜放大倍数后，医生可以同步调整主控制器中医生手部移动距离在同比缩小时的倍数，使得内窥镜的放大倍数与主控制器同比缩小时的倍数相适，最大程度保证医生眼手协调的程度，提高手术的精准度。
内窥镜至少具有照明功能及图像采集功能。内窥镜为三维镜头，与人眼直视时的画面基本一致。内窥镜拍摄出的画面清晰度高，能够供图像处理设备进行后续放大处理。
本申请提供的手术机械臂100包括术前摆位组件10、远心操控组件20及执行组件30，术前摆位组件10、远心操控组件20及执行组件30依次连接。术前摆位组件10用于将执行组件30大致移动到靠近病灶处的位置；远心操控组件20用于控制执行组件30小幅度范围内运动；执行组件30用于执行手术操作。
具体地，术前摆位组件10能够驱动执行组件30进行大范围的位置调节。术前摆位组件10包括至少一个移动臂11及/或至少一个伸缩臂12，移动臂11具有两个自由度，能够带动执行组件30进行平移及旋转；伸缩臂12具有一个自由度，能够带动执行组件30进行平移。
远心操控组件20能够驱动执行组件30以远心不动点为摆动中心进行细微的位置调整。通常，远心操控组件20同时具有多个自由度，能够带动执行组件30进行灵活的手术操作。
执行组件30包括手术器具32，手术器具32位于执行组件30的端部，手术器具32能够通过自身的摆动、转动等动作进行微移动，以执行手术操作。手术器具32可以是电刀、镊、夹或钩，也可以是其他手术器械，在此不一一赘述。手术器具32通常为可拆卸地安装于执行组件30的端部，根据不同手术需要，或者根据同一台手术的不同手术阶段的需要，能够更换不同的手术器具32以完成不同的手术操作。
目前达芬奇手术机器人的执行手术动作的手术机械臂采用串联机构，为满足末端运动精度、载荷及远心不动点的要求，对手术机械臂的制造工艺包括材料、加工精度等要求非常高，导致其制造成本极其高昂；串联机构的特点使机械臂结构纤长，多条机械臂在手术中时而出现干涉碰撞，就会影响手术的正常进行。此外，对安装在其末端的手术器具的材料结构及控制方式都有严苛要求，如手术器具的旋转摆动夹持等动作都采用钢索驱动，器具的旋转会使摆动夹持等驱动钢索产生扭曲形变，手术器具使用寿命次数被严格限制，使用成本高昂；同时影响对器具末端力的精准检测，难以实现接触力反馈功能。
本申请提供的手术机械臂100中，远心操控组件20包括静平台21、第一动平台22以及设置于静平台21与第一动平台22之间的多个第一伸缩元件23，静平台21相对远离第一动平台22的一侧固定连接于术前摆位组件10，第一动平台22相对远离静平台21的一侧固定连接于执行组件30，每个第一伸缩元件23的两端均分别转动连接于静平台21与第一动平台22；执行组件30具有预设的远心不动点，多个第一伸缩元件23之间的协调伸缩能够控制第一动平台22相对静平台21运动并带动执行组件30伸缩及摆动，执行组件30的摆动中心为远心不动点，且执行组件30的伸缩路径穿过远心不动点。
如此设置，术前摆位组件10只需承担大致移动执行组件30的功能，而远心操控组件20实现对执行组件30的精准控制。因此术前摆位组件10中定位单元的数量能够相应的减少，从而减少多个定位单元误差和响应时长的累积，以提高手术的精度。其次，远心操控组件20中多个第一伸缩元件23是并联设置而非串联设置，多个第一伸缩元件23的误差不仅不会累积传递，还可能存在相互抵消的现象。另外，由于每一个第一伸缩元件23之间均为独立驱动，多个第一伸缩元件23的响应时长不会累积传递。因此通过远心操控组件20实现对执行组件30的精准控制能够减小手术中的位移误差和缩短响应时长。另一方面，由于远心操控组件20对执行组件30控制精度的提高，在与传统的达芬奇手术机器人相同精度的条件下，执行组件30能够承载的载荷更大，因此能够完成更加复杂的手术。另外，执行组件30在进行手术操作时，能够以远心不动点为摆动中心进行摆动，因此只需在患者皮肤表面开设一个微小的创口用于供执行组件30穿过即可，患者的创口小，术后恢复快。
具体的，第一伸缩元件23优选为电缸。作为优选，为了使得手术机械臂100向小型化发展，电缸为小型电缸，只要能够实现带动手术中的负载运动即可。
需要特别说明的是，本文所称的远心不动点，是指在执行组件30沿其长度方向选取的一个固定的不动点，在远心操控组件20的控制作用下执行组件30所进行的运动具有绕该点摆动的规律性，而该点不发生位移。具体表现在手术器具32的摆动会以该远心不动点作为摆动中心，执行杆31的前后伸缩运动会沿着该远心不动点运动。
在具体手术过程中，远心不动点的位置即为手术中人体皮肤表面处的创口位置；执行组件30所进行的运动具有相对该远心不动点的规律性的目的，是保证在执行组件30的运动过程中，不会因为器械的运动而扩大人体创口的面积，这是微创手术的前提。
需要额外强调的是，在整台手术的进行中远心不动点的位置并非一定固定，远心不动点的位置在单次的手术操作中是选定的，而在不同次的手术操作中是可变化的。例如医生在不同处的创口进行手术操作，这两次创口所进行的手术操作就会使得控制设备根据实际的执行杆31长度等参数在不同时间段选定不同位置的远心不动点，只要保证在单次的手术操作下的运动形成相对远心不动点的规律性运动即可。为了提高手术机械臂100的灵活性，在本申请的一个实施方式中，执行组件30相对远心不动点的摆动极限角度设为±20°，执行组件30能够在以执行组件30的伸缩路径为轴且顶角为40°的锥形空间内摆动。
如此设置，执行组件30比较灵活，能够在较大范围内运动，可以协助医生实现较为复杂的手术操作。
为了提高手术机械臂100的稳定性，在本申请的一个实施方式中，各第一伸缩元件23与第一动平台22之间的多个转动连接点24共圆设置，各第一伸缩元件23与静平台21之间的转动连接点24共圆设置；位于静平台21上的转动连接点24所围设形成的圆形直径，是位于第一动平台22上的转动连接点24所围设形成的圆形直径的1倍至2倍。
如此设置，第一动平台22在相对静平台21运动的过程中具有较小的颤动，各个第一伸缩元件23之间的误差总量能够相互弥补，从而使得手术机械臂100的稳定性提升。
可以理解的是，静平台21及第一动平台22沿径向方向的截面可以是圆形，也可以是多边形，还可以是其他不规则形状，只要满足各第一伸缩元件23的多个转动连接点24在静平台21及第一动平台22上共圆设置即可。
为了进一步提高手术机械臂100的稳定性，在本申请的一个实施方式中，位于静平台 21上的转动连接点24所围设形成的圆形直径，是位于第一动平台22上的转动连接点24所围设形成的圆形直径的1.7倍。
如此设置，第一动平台22在相对静平台21运动的过程中具有最小的颤动，同时可以相对压缩第一动平台22与静平台21所占用的空间体积，在结构轻量化与高性能之间具有最为平衡的结合性。
为了实现第一伸缩元件23与第一动平台22及静平台21之间的转动连接，在本申请的一个实施方式中，第一伸缩元件23的两端分别设置有球铰接头与虎克铰链接头241；第一伸缩元件23通过球铰接头连接至静平台21与第一动平台22中的一者，并通过虎克铰链接头241连接至静平台21与第一动平台22中的另一者。
如此设置，第一伸缩元件23的两端能够分别与第一动平台22以及静平台21实现转动连接，第一伸缩元件23的连接性能较佳。其作动原理为：球铰接头具有三个自由度，虎克铰链接头241具有两个自由度，球铰接头与虎克铰链接头241分别设置在第一伸缩元件23的两端，使得第一动平台22能够实现六个自由度的运动。
为了在实现第一伸缩元件23与第一动平台22及静平台21之间转动连接的基础上兼顾成本，在本申请的一个实施方式中，手术机械臂100还包括缸套242，缸套242套设并转动连接于第一伸缩元件23；缸套242在相对远离第一伸缩元件23的一端以及第一伸缩元件23在相对远离缸套242的一端上，分别设置有虎克铰链接头241；缸套242与第一伸缩元件23中的一者，通过对应的虎克铰链接头241连接至第一动平台22；缸套242与第一伸缩元件23中的另一者，通过对应的虎克铰链接头241连接至静平台21。
如此设置，第一伸缩元件23可以通过制造难度较低、成本低廉的虎克铰链接头241便实现第一动平台22与静平台21之间的动力传输，无需设置造价高昂、容易损坏的球铰接头，具有较佳的性价比优势。其作动原理为：第一伸缩元件23两端的虎克铰链接头241均具有两个自由度，缸套242具有一个自由度，能够实现第一伸缩元件23在轴向上的伸缩运动，使得第一动平台22能够实现六个自由度的运动。
可以理解的是，在其他实施方式中，也可以采用其他的接头以实现第一伸缩元件23与第一动平台22及静平台21之间的连接，只要能够使第一动平台22具有一定的自由度，能够带动执行组件30完成手术操作即可。
为了提高手术机械臂100的运动稳定性，在本申请的一个实施方式中，第一伸缩元件23的数量为六个，第一伸缩元件23与第一动平台22之间的各转动连接点24均相互间隔设置；且第一伸缩元件23与静平台21之间的各转动连接点24也均相互间隔设置。
如此设置，通过采用间隔式的转动连接点24的分布形式，减少了各个第一伸缩元件23之间的颤动干扰，能够进一步提升手术机械臂100的运动稳定性。此外，六个第一伸缩元件23在带动第一动平台22运动时，既能够实现第一动平台22多方位全面的运动，又不会产生过于冗余的运动学解析拖慢计算速度。
可以理解的是，在其他实施方式中，第一伸缩元件23的数量也可以是三个、四个、五个，甚至更多个，只要使得第一动平台22能够带动执行组件30完成手术操作即可。
请一并参阅图3，图3为图2所示远心操控组件20在俯视视角下的结构示意图。为了进一步提高手术机械臂100的运动稳定性，同时便于实现运动学解析，在本申请的一个实施方式中，第一伸缩元件23与第一动平台22之间的各转动连接点24之间以就近的方式两两 成对；并且每一组同对的两个转动连接点24与所述第一动平台22的中心之间均对应形成一个第一夹角α，各第一夹角α之间的大小均相等。
第一伸缩元件23与第一动平台22之间存在六个转动连接点24，分别标记为M 1至M 6；这六个转动连接点24以就近组合的方式，也即距离最近的两个转动连接点24配合一对，形成M 1与M 2、M 3与M 4、M 5与M 6的三组配对关系。每个配对关系之间，也即每两个转动连接点24均与第一动平台22的中心形成第一夹角α，并且三个第一夹角α的角度相等。
此时第一伸缩元件23将在第一动平台22上形成对称分布，有利于手术机械臂100运动稳定性的提升。
优选地，第一夹角α的角度范围为15°至60°。此时第一伸缩元件23与第一动平台22的各个转动连接点24之间的夹角范围处在较佳的区间内，不仅有利于保证运动稳定性，也可以通过相对适宜的夹角范围便于实现对各个第一伸缩元件23的伸缩量运动解析。
为了进一步提高手术机械臂100的运动稳定性，第一伸缩元件23与静平台21之间的各转动连接点24之间以就近的方式两两成对；同一对的两个转动连接点24与静平台21的中心之间对应形成第二夹角β，各第二夹角β之间的大小相等。
第一伸缩元件23与静平台21之间存在六个转动连接点24，分别标记为S 1至S 6；这六个转动连接点24以就近组合的方式，也即距离最近的两个转动连接点24配合一对，形成S 1与S 2、S 3与S 4、S 5与S 6的三组配对关系。每个配对关系之间，也即每两个转动连接点24均与静平台21的中心形成第二夹角β，并且三个第二夹角β的角度相等。
此时第一伸缩元件23将在静平台21上形成对称分布，有利于手术机械臂100运动稳定性的提升。
优选地，第二夹角β的角度范围为60°至105°。
此时第一伸缩元件23与静平台21的各个转动连接点24之间的夹角范围处在较佳的区间内，不仅有利于保证运动稳定性，也可以通过相对适宜的夹角范围便于实现对各个第一伸缩元件23的伸缩量运动解析。
优选的，第一伸缩元件23在静平台21上的各转动连接点24的成对方式与对应的第一伸缩元件23在第一动平台22上的各转动连接点24的成对方式错开，也即，在第一伸缩元件23在静平台21上的同一对转动连接点24与对应的第一伸缩元件23在第一动平台22上的两个转动连接点24不成对。
传统的达芬奇手术机器人中，驱动电机通过驱动传动线缆带动手术器具旋转，但传动线缆在旋转过程中会在执行杆内部相互缠绕，影响手术精度。
为了避免手术器具32在转动时传动线缆发生缠绕，在本申请的一个实施方式中，执行组件30包括执行杆31及设置于执行杆31相对远离第一动平台22一端的手术器具32，第一动平台22上设置有转动驱动件27，转动驱动件27连接于执行杆31并能够驱动执行杆31与手术器具32沿执行杆31的轴向同步转动。
如此设置，手术器具32将与执行杆31同步转动，从而避免了传动线缆在相对执行杆31转动时的相互缠绕。
具体的，转动驱动件27安装于第一动平台22靠近执行组件30的一侧，且转动驱动件27直接连接于执行杆31并能够驱动执行杆31与手术器具32同步转动。转动驱动件27优选为电机。
为了使得手术器具32的运动更加灵活和精准，在本申请的一个实施方式中，第一动平台22上还设置有第一偏转驱动件(未标号)、第二偏转驱动件(未标号)以及开合驱动件(未标号)，执行杆31中空并容置有传动线缆，手术器具32通过传动线缆连接于第一偏转驱动件、第二偏转驱动件以及开合驱动件；
第一偏转驱动件与第二偏转驱动件能够通过传动线缆分别带动手术器具32朝交错的两个不同的方向偏转，开合驱动件能够通过传动线缆带动手术器具32张开与闭合。
如此设置，手术器具32在第一偏转驱动件、第二偏转驱动件以及开合驱动件的协同作用下能够灵活地偏转和开合，多个驱动件同时驱动能够减小驱动时的位移误差和延时误差。
具体的，第一偏转驱动件、第二偏转驱动件以及开合驱动件均安装于第一动平台22上。
作为优选，为了使远心操控组件20小型化，第一偏转驱动件、第二偏转驱动件以及开合驱动件均安装于第一动平台22远离执行组件30的一侧，且位于第一动平台22的中部，不影响第一伸缩元件23的排布。可以理解的是，在其他实施方式中，第一偏转驱动件、第二偏转驱动件以及开合驱动件也可以安装在其他位置，只要能够通过传动线缆控制手术机械即可。
具体的，第一偏转驱动件、第二偏转驱动件以及开合驱动件优选为三个电机。
请一并参阅图4及图5，图4为本申请第二个实施方式中手术机械臂100的结构示意图；图5为图4所示远心操控组件20的结构示意图。
为了实现更加复杂的手术内容，在本申请的一个实施方式中，远心操控组件20还包括第二动平台25以及设置于第一动平台22与第二动平台25之间的多个第二伸缩元件26，第二动平台25相对远离静平台21的一侧固定连接于执行组件30，每个第二伸缩元件26的两端均分别转动连接于第一动平台22与第二动平台25。
如此设置，第二动平台25能够以第一动平台22为基础进行位移活动，增加了手术器具32的活动范围，以协助医生实现更加复杂的手术内容。
本实施方式中，远心操控组件20形成了两级相互连接的并联平台，分别为第一级并联平台以及第二级并联平台，此时第一级并联平台包括上述的静平台21、第一动平台22以及位于静平台21与第一动平台22之间的第一伸缩元件23，第二级并联平台包括第二动平台25以及位于第一动平台22与第二动平台25之间的第二伸缩元件26。
需要额外说明的是，每一级并联平台均可以包括两个平台以及位于两个平台之间的伸缩元件。例如第一级并联平台包括两个平台，分别为第一动平台22与静平台21；第二级并联平台也可以包括两个平台，分别为第二动平台25以及固定在第一动平台上的安装平台(图未示)。
当然，除了第一级并联平台需要两个平台之外，第二级并联平台以及更大级数的并联平台也可以将对应的安装平台省略，而由前一级并联平台中的某一平台承当。例如第二级并联平台中的包括两个平台，分别为第二动平台25以及第一级并联平台中的第一动平台22，也即此时第一动平台22为两级并联平台所共用。
总结而言，本文所称的“每级所述并联平台均包括相对的两个平台以及位于两个所述平台之间的伸缩元件”具有两种情况，一种是每级并联平台均具有两个平台，且两个平台在不同级并联平台之间不共用；一种是每级并联平台通过共用相邻级别的平台，实现自身两个平 台之间的相对运动。
具体的，转动驱动件27安装于第二动平台25靠近执行组件30的一侧，且转动驱动件27直接连接于执行杆31并能够驱动执行杆31与手术器具32同步转动。第一偏转驱动件、第二偏转驱动件以及开合驱动件均安装于第二动平台25远离执行组件30的一侧，且位于第二动平台25的中部，不影响第二伸缩元件26的排布。
为了减小运动误差，在本申请的一个实施方式中，同时便于实现运动学解析，多个第二伸缩元件26与第一动平台22之间的各转动连接点24在第一动平台22上的排布方式，与多个第一伸缩元件23与静平台21之间的各转动连接点24在静平台21上的排布方式相同；及/或，
多个第二伸缩元件26与第二动平台25之间的各转动连接点24在第二动平台25上的排布方式，与多个第一伸缩元件23与第一动平台22之间的各转动连接点24在第一动平台22上的排布方式相同。
如此设置，不仅能够简化第一动平台22与第二动平台25之间的运动学解析步骤，还能减小第二动平台25的运动误差；并且便于加工，能够保证加工精度。
可以理解的是，在其他实施方式中，各转动连接点24也可以采用其他排布方式，只要能够实现第一动平台22和第二动平台25的灵活运动即可。
为了进一步减小运动误差，同时进一步简化运动学解析步骤，在本申请的一个实施方式中，在第一动平台22、第二动平台25以及静平台21的各轴向处于重合的状态下，各第一伸缩元件23与对应的第二伸缩元件26之间相互平行设置。
如此设置，能够进一步简化第一动平台22与第二动平台25之间的运动学解析步骤，减小第二动平台25的运动误差。
可以理解的是，在其他实施方式中，各第一伸缩元件23与对应的第二伸缩元件26之间也可以采用其他排布方式，只要能够实现第一动平台22和第二动平台25的灵活运动即可。
为了实现对执行组件30的大范围摆位，在本申请的一个实施方式中，术前摆位组件10包括移动臂11及伸缩臂12，伸缩臂12设置于移动臂11与静平台21之间并转动连接于移动臂11。
如此设置，执行组件30能够在术前摆位组件10的驱动下实现大范围的位置调节，从而利用远心操控组件20与术前摆位组件10实现对执行组件30的双级调整，有利于位置调整的高效化与精细化。
在其中一个实施方式中，通过设置伸缩电缸来实现伸缩臂12的伸缩，通过设置旋转关节来实现移动臂11的移动和旋转。伸缩电缸具有一个自由度，旋转关节至少具有一个自由度，二者协同使用，能够使术前摆位组件10具有至少两个自由度，以实现较大范围的移动，能够快速地到达患者病灶位置的附近。
适用于手术机器人的手术机械臂需要带动手术器具执行手术操作，而手术器具在使用时需要通过伸入皮肤表面上开设的微小创口来实现达到患者体内。这就要求手术器具以稳定、无颤动的状态将皮肤表面上开设的微小创口作为不动点执行手术操作。而目前的适用于手术机器人的手术机械臂，在临床表现上尚不能完全满足使用要求，尤其是缺少对手术器具所执行的手术操作在力学上的检测，医生无法获取病变组织在手术操作下对手术器具的力学反馈，力学信息的缺失降低了医生在手术操作时的精准度。
本申请提供的手术机械臂100，通过设置整体同步转动的执行组件30避免了手术机械臂内的钢带缠绕，能够实现对手术器具32上的力学信息的精确测量。
具体地，手术机械臂100还包括传感器(图未示)，传感器连接于执行杆31并用于检测手术器具32所受到的环境力及/或环境力矩。
需要额外说明的是，传感器与执行杆31之间的相互连接，既可以是二者之间的直接接触，也即执行杆31直接接触于传感器的测量面上；也可以是传感器与执行杆31之间的间接接触，也即执行杆31连接于中间过渡元件，该中间过渡元件再直接接触于传感器的测量面上，从而形成执行杆31连接于传感器。
同样需要解释的是，本文所称的手术器具32所受到的环境力及/或环境力矩，是外部环境作用在手术器具32上的力及/或力矩，例如手术器具32在夹持时组织提供的反作用力等等；当具有多个力耦合在手术器具32上并形成力矩作用时，手术器具32将同时受到环境力与环境力矩的作用。
本实施方式中，传感器为六轴力与力矩传感器，此时传感器能够同步感测位于自身测量面上的手术器具32所受到的环境力及/或环境力矩。可以理解，当仅需要测量手术器具32所受到的环境力时，传感器可以选择为力传感器；当仅需要测量手术器具32所受到的环境力矩时，传感器可以选择为力矩传感器。
由于执行杆31与手术器具32的同步转动，位于执行杆31内部的连接线缆(图未示)将以整体的方式运动，避免了传统结构中连接线缆缠绕导致无法实现可靠力学传感器的弊端，从而使得传感器能够实现对手术器具32所受到的环境力及/或环境力矩的精确测量。
本实施方式中的传感器安装在第一动平台22上或者安装在手术机械臂100中相对位于第一动平台22前端的器件中。
需要说明的是，传感器安装在手术机械臂100中相对位于第一动平台22前端的器件中，指的是传感器的安装位置位于第一动平台22相对远离术前摆位组件10的一侧，也即传感器可以安装在执行杆31的杆体上或者直接在手术器具32上。
此时的传感器相对手术器具32，不会受到第一伸缩元件23伸缩时的绕动干扰，在测量时的精确度有了极大的提高。
转动驱动件27安装在第一动平台22上，传感器安装在转动驱动件27，此时转动驱动件27能够驱动传感器、执行杆31以及手术器具32均沿执行杆31的轴向相对第一动平台22同步转动。
转动驱动件27与传感器选择安装在第一动平台22上，能够为转动驱动件27与传感器的安装提供极大的便利，相比于传感器安装在手术机械臂100中相对位于第一动平台22前端的器件的方案，在安装精度上有了极大的降低。
本申请提供的手术机械臂100通过第一动平台22、静平台21以及位于第一动平台22与静平台21之间多个第一伸缩元件23构成并联机构，利用并联机构的误差非累积特性提高了末端执行组件30的运动精度；同时多个第一伸缩元件23之间相互独立的驱动方式提高了载荷能力，能够保证执行组件30在更大载荷下的手术操作。同时相对于串联机构，并联机构具有高精度高刚度大载荷的特点，对于相同的载荷和精度要求，机械制造工艺要求相对较低，这使得手术机械臂100的制造成本可以大幅降低；手术机械臂100的结构特点使手术器具的旋转等运动可以不使用钢索驱动，不会产生钢索扭曲等现象，从而大大提高手术器械的使用 寿命次数，降低其使用成本；同时也容易实现对力的精准检测。
本申请还提供一种手术机器人，包括手术机械臂100，手术机械臂100为上述任意一项的手术机械臂100。
本申请提供的手术机器人，通过应用上述的手术机械臂100提高了自身的运动精度以及载荷能力，能够实现更高精度、更大强度的临床手术，具有更为广泛的应用前景。
在本申请的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本申请保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
以上所述实施方式的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施方式中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
本技术领域的普通技术人员应当认识到，以上的实施方式仅是用来说明本申请，而并非用作为对本申请的限定，只要在本申请的实质精神范围内，对以上实施方式所作的适当改变和变化都落在本申请要求保护的范围内。

Claims (22)

  1. 一种手术机械臂，其特征在于，包括术前摆位组件、远心操控组件及执行组件，所述远心操控组件包括静平台、第一动平台以及设置于所述静平台与所述第一动平台之间的多个第一伸缩元件，所述静平台相对远离所述第一动平台的一侧连接于所述术前摆位组件，所述第一动平台相对远离所述静平台的一侧连接于所述执行组件，每个所述第一伸缩元件的两端均分别转动连接于所述静平台与所述第一动平台；
    所述执行组件具有预设的远心不动点，多个所述第一伸缩元件之间的协调伸缩能够控制所述第一动平台相对所述静平台运动并带动所述执行组件伸缩及摆动，所述执行组件的摆动中心为所述远心不动点，且所述执行组件的伸缩路径穿过所述远心不动点。
  2. 如权利要求1所述的手术机械臂，其特征在于，所述执行组件相对所述远心不动点的摆动极限角度设为±20°，所述执行组件能够在以所述执行组件的伸缩路径为轴且顶角为40°的锥形空间内摆动。
  3. 如权利要求1所述的手术机械臂，其特征在于，各所述第一伸缩元件与所述第一动平台之间的多个转动连接点共圆设置，各所述第一伸缩元件与所述静平台之间的转动连接点共圆设置；位于所述静平台上的转动连接点所围设形成的圆形直径，是位于所述第一动平台上的转动连接点所围设形成的圆形直径的1倍至2倍。
  4. 如权利要求3所述的手术机械臂，其特征在于，位于所述静平台上的转动连接点所围设形成的圆形直径，是位于所述第一动平台上的转动连接点所围设形成的圆形直径的1.7倍。
  5. 如权利要求1所述的手术机械臂，其特征在于，所述第一伸缩元件的两端分别设置有球铰接头与虎克铰链接头；所述第一伸缩元件通过所述球铰接头连接至所述静平台与所述第一动平台中的一者，并通过所述虎克铰链接头连接至所述静平台与所述第一动平台中的另一者。
  6. 如权利要求1所述的手术机械臂，其特征在于，所述手术机械臂还包括缸套，所述缸套套设并转动连接于所述第一伸缩元件；所述缸套在相对远离所述第一伸缩元件的一端以及所述第一伸缩元件在相对远离所述缸套的一端上，分别设置有虎克铰链接头；所述缸套与所述第一伸缩元件中的一者，通过对应的所述虎克铰链接头连接至所述第一动平台；所述缸套与所述第一伸缩元件中的另一者，通过对应的所述虎克铰链接头连接至所述静平台。
  7. 如权利要求1所述的手术机械臂，其特征在于，所述第一伸缩元件的数量为六个，所述第一伸缩元件与所述第一动平台之间的各转动连接点均相互间隔设置；且所述第一伸缩元件与所述静平台之间的各转动连接点也均相互间隔设置。
  8. 如权利要求7所述的手术机械臂，其特征在于，所述第一伸缩元件与所述第一动平台的各转动连接点之间以就近的方式两两成对，每一组同对的两个转动连接点与所述第一动平台的中心之间均对应形成一个第一夹角，各所述第一夹角之间的大小相等。
  9. 如权利要求8所述的手术机械臂，其特征在于，所述第一夹角的角度范围为15°至60°。
  10. 如权利要求9所述的手术机械臂，其特征在于，所述第一伸缩元件与所述静平台之间的各转动连接点之间以就近的方式两两成对，每一组同对的两个转动连接点与所述静平台的中心之间均对应形成一个第二夹角，各所述第二夹角之间的大小相等。
  11. 如权利要求10所述的手术机械臂，其特征在于，第二夹角的角度范围为60°至105°。
  12. 如权利要求1所述的手术机械臂，其特征在于，所述执行组件包括执行杆及设置于 所述执行杆相对远离所述第一动平台一端的手术器具，所述第一动平台上设置有转动驱动件，所述转动驱动件连接于所述执行杆并能够驱动所述执行杆与所述手术器具沿所述执行杆的轴向同步转动。
  13. 如权利要求12所述的手术机械臂，其特征在于，所述第一动平台上还设置有第一偏转驱动件、第二偏转驱动件以及开合驱动件，所述执行杆中空并容置有传动线缆，所述手术器具通过所述传动线缆连接于所述第一偏转驱动件、第二偏转驱动件以及开合驱动件；
    所述第一偏转驱动件与所述第二偏转驱动件能够通过所述传动线缆分别带动所述手术器具朝交错的两个不同的方向偏转，所述开合驱动件能够通过所述传动线缆带动所述手术器具张开与闭合。
  14. 如权利要求1所述的手术机械臂，其特征在于，所述远心操控组件包括多级相互连接的并联平台，每级所述并联平台均包括相对的两个平台以及位于两个所述平台之间的伸缩元件；
    其中，多级所述并联平台中相对靠近所述术前摆位组件的并联平台为第一级并联平台，所述第一级并联平台包括所述静平台、所述第一动平台以及设置于所述静平台与所述第一动平台之间的多个第一伸缩元件。
  15. 如权利要求14所述的手术机械臂，其特征在于，所述并联平台的级数为两级，所述远心操控组件还包括连接于所述第一级并联平台的第二级并联平台，所述第二级并联平台包括第二动平台以及设置于所述第一动平台与所述第二动平台之间的多个第二伸缩元件，所述第二动平台相对远离所述静平台的一侧固定连接于所述执行组件，每个所述第二伸缩元件的两端均分别转动连接于所述第一动平台与所述第二动平台。
  16. 如权利要求15所述的手术机械臂，其特征在于，多个所述第二伸缩元件与所述第一动平台之间的各转动连接点在所述第一动平台上的排布方式，与多个所述第一伸缩元件与所述静平台之间的各转动连接点在所述静平台上的排布方式相同；及/或，
    多个所述第二伸缩元件与所述第二动平台之间的各转动连接点在所述第二动平台上的排布方式，与多个所述第一伸缩元件与所述第一动平台之间的各转动连接点在所述第一动平台上的排布方式相同。
  17. 如权利要求15所述的手术机械臂，其特征在于，在所述第一动平台、所述第二动平台以及所述静平台的各轴向处于重合的状态下，各所述第一伸缩元件与对应的所述第二伸缩元件之间相互平行设置。
  18. 如权利要求1所述的手术机械臂，其特征在于，所述术前摆位组件包括移动臂及伸缩臂，所述伸缩臂设置于所述移动臂与所述静平台之间并转动连接于所述移动臂。
  19. 如权利要求12所述的手术机械臂，其特征在于，所述第一动平台上还设置有传感器；所述传感器连接于所述执行杆并用于检测所述手术器具受到的环境力及/或环境力矩。
  20. 如权利要求19所述的手术机械臂，其特征在于，所述传感器安装于所述第一动平台或者所述手术机械臂中相对位于所述第一动平台前端的器件中。
  21. 如权利要求20所述的手术机械臂，其特征在于，所述传感器安装于所述转动驱动件上，所述转动驱动件能够驱动所述传感器、所述执行杆以及所述手术器具均沿所述执行杆的轴向同步转动。
  22. 一种手术机器人，包括手术机械臂，其特征在于，所述手术机械臂为权利要求1至21任意一项所述的手术机械臂。
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CN115521864A (zh) * 2022-11-29 2022-12-27 季华实验室 一种远程操作的力反馈自适应显微操作仪
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