WO2021147268A1 - 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 PDFInfo
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- WO2021147268A1 WO2021147268A1 PCT/CN2020/101999 CN2020101999W WO2021147268A1 WO 2021147268 A1 WO2021147268 A1 WO 2021147268A1 CN 2020101999 W CN2020101999 W CN 2020101999W WO 2021147268 A1 WO2021147268 A1 WO 2021147268A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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 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.
- a surgical robotic arm which includes a preoperative positioning component, an executive component, and a telecentric control component disposed between the preoperative positioning component and the executive component, the
- the execution assembly includes an execution rod and a surgical instrument arranged at one 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 an end of the actuator rod that is relatively close to the telecentric control assembly and can drive the actuator rod and the surgical instrument.
- the actuator rod rotates synchronously in the axial direction; the actuator rod is connected to the sensor, and the sensor obtains the environmental force and/or environmental torque received by the surgical instrument by detecting the force state of the actuator rod.
- the telecentric control assembly is a parallel mechanism, and the telecentric control assembly includes a static platform and a first moving platform connected to the static platform and capable of moving relative to the static platform; the static platform is connected to the static platform.
- the sensor is connected to the first moving platform.
- the rotation driving part is installed on the first movable platform, the sensor is connected to the rotation driving part, and the rotation driving part can drive the sensor, the execution rod and the surgical instrument Synchronous rotation along the axial direction of the actuator rod.
- the surgical manipulator arm further includes a control driving member for driving the operation of the surgical instrument, the execution rod is connected to the sensor, the sensor is connected to the control driving member, and the control driving member Connected to the rotation driving part; the rotation driving part drives the control driving part, the sensor and the execution rod to drive the surgical instrument to rotate along the axial direction of the execution rod.
- control driving part and the rotation driving part are respectively located on both sides of the first movable platform.
- rotation driving part is located between the control driving part and the first movable platform.
- the surgical manipulator arm includes a connecting cable, and the control driving member is connected to the surgical instrument through the connecting cable; the sensor is a hollow sensor, and the inside of the sensor is formed to allow the connecting cable Passage through.
- the center of gravity of the whole formed by the sensor and the control driving member is located on the axial direction of the actuator rod.
- first telescopic elements are arranged between the first movable platform and the static platform, and both ends of each first telescopic element are respectively rotatably connected to the static platform and the first telescopic element.
- Movable platform; the rotation connection points between the first telescopic element and the first movable platform are spaced apart from each other; and the rotation connection points between the first telescopic element and the static platform are also mutually spaced Interval settings.
- rotation connection points of the first telescopic element and the first movable platform are paired in a nearby manner, and the two rotation connection points of the same pair in each group are connected to the first movable platform.
- a first included angle is formed between the centers of, and the first included angles are equal in size.
- the angle range of the first included angle is 15° to 60°.
- the rotation connection points between the first telescopic element and the static platform are paired in a nearby manner, and the two rotation connection points of the same pair in each group are connected to the center of the static platform.
- a second included angle is formed therebetween, and the magnitudes of the second included angles are the same.
- the angle range of the second included angle is 60° to 105°.
- the number of the control driving parts is at least three; wherein, two of the control driving parts are used for controlling the deflection of the surgical instrument in two different directions that are staggered, and the remaining one of the control driving parts is used for Control the opening and closing of the surgical instrument.
- the centers of the three control driving members are enclosed to form an equilateral triangle, and the axial direction of the actuator rod passes through the center of the equilateral triangle.
- the surgical manipulator provided in the present application directly connects the sensor and the execution rod, and the sensor is closer to the execution rod, and has better accuracy in mechanical detection.
- the surgical robot provided by the present application can realize the detection of the mechanical feedback of the surgical instrument acting on the human tissue by using the above-mentioned surgical manipulator, and provide feedback of the mechanical data for the doctor's surgical operation, thereby increasing the information between the doctor and the human tissue
- the surgical robot provided by this application has a wide range of application prospects.
- Fig. 1 is a schematic structural diagram of a surgical manipulator in the first embodiment of the application.
- Fig. 2 is a schematic diagram of the structure of the telecentric control assembly shown in Fig. 1.
- Fig. 3 is a block diagram structure diagram of some elements in the surgical manipulator arm shown in Fig. 1 in the first embodiment.
- Fig. 4 is a schematic diagram of a block diagram structure of some elements in the surgical manipulator arm shown in Fig. 1 in a second embodiment.
- Fig. 5 is a schematic structural diagram of the telecentric control assembly shown in Fig. 1 from a top view.
- 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 the other component or there may be a centered component 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.
- 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.
- the Da Vinci surgical robot usually includes an operating component (not shown), a surgical robot arm 100, and an image processing device (not shown).
- the operating component is for the doctor to actively control the operation.
- the operating component is coupled with the surgical robot 100 and can connect the doctor
- the active control operation of the surgical manipulator 100 is transmitted to the surgical manipulator 100; the surgical manipulator 100 can respond to the doctor's control operation on the operating component, and correspondingly perform follow-up surgical actions to perform minimally invasive surgery on the patient, the motion trajectory of the surgical manipulator 100 and the operation
- the process can be transmitted to the image processing device through the endoscope; the image processing device can present the picture peeped by the endoscope in real time, and can also enlarge the picture peeped by the endoscope, so that the doctor's surgical field of vision is clearer.
- the operating components usually include a main controller (not shown) and a foot pedal controller (not shown).
- 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 machine through the main controller
- the arm 100 is positioned, and the operating state of the surgical robot arm 100 is opened and closed through the foot pedal controller.
- 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 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.
- 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 telecentric control assembly 20 is disposed between the preoperative positioning assembly 10 and the executive assembly 30;
- the component 10 is used to move the actuator 30 roughly to a position close to the lesion;
- the telecentric control component 20 is used to control the actuator 30 to move 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.
- 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 actuator assembly 30 includes an actuator rod 31, which is hollow inside and connected to a surgical instrument 32; the surgical instrument 32 is located on an end of the actuator rod 31 that is relatively far away from the telecentric manipulation assembly 20.
- the surgical manipulator arm 100 also includes a rotation driving member 41, which is arranged on the telecentric control assembly 20; the rotation driving member 41 is connected to the actuator rod 31 and can drive the actuator rod 31 and the surgical instrument 32 to perform the operation in the form of integral movement The axial direction of the rod 31 rotates synchronously.
- the surgical manipulator 100 further includes a sensor 42 connected to the execution rod 31 and used to detect the environmental force and/or the environmental torque received by the surgical instrument 32.
- the mutual connection between the sensor 42 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 42; or the sensor 42 and the The indirect contact between the actuator rods 31, 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 42, thereby forming the actuator rod 31 connected to the sensor 42.
- 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 42 is a six-axis force and torque sensor. At this time, the sensor 42 can simultaneously sense the environmental force and/or environmental torque received by the surgical instrument 32 on the measuring surface of the sensor 42. It can be understood that when only the environmental force received by the surgical instrument 32 needs to be measured, the sensor 42 can be selected as a force sensor; when only the environmental torque received by the surgical instrument 32 needs to be measured, the sensor 42 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. Therefore, the sensor 42 can accurately measure the environmental force and/or the environmental torque received by the surgical instrument 32.
- FIG. 2 is a schematic diagram of the structure of the telecentric control assembly 20 shown in FIG. 1.
- 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.
- the static platform 21 is relatively far away from the first moving platform 22.
- the first movable platform 22 is fixedly connected to the execution assembly 30 on the side relatively far from the static platform 21, and both ends of each first telescopic element 23 are respectively connected to the static platform 21 and the first
- the movable platform 22; the actuator 30 has a preset telecentric immobile point, and the coordinated expansion and contraction between the multiple first telescopic elements 23 can control the movement of the first movable platform 22 relative to the static platform 21 and drive the actuator 30 to telescope and swing,
- the swing center of the actuator 30 is a telecentric fixed point, and the telescopic path of the actuator 30 passes through the telecentric fixed point.
- the preoperative swing 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 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 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. Therefore, 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 senor 42 is connected to the telecentric control assembly 20 and the sensor 42 is stationary relative to the telecentric control assembly 20, that is, there is no synchronous rotation between the sensor 42 and the surgical instrument 32 along the axis of the actuator rod 31. At this time, the sensor 42 will be installed in a relatively stable installation environment, which is beneficial to the improvement of the measurement accuracy of the sensor 42.
- the surgical manipulator 100 provided in the present application directly connects the sensor 42 with the execution rod 31, and the sensor 42 is closer to the execution rod 31, and has better accuracy in mechanical detection.
- the senor 42 is installed on the first moving platform 22 in the telecentric control assembly 20. At this time, the sensor 42 is installed on the telecentric control assembly 20 of the parallel mechanism structure. The movement accuracy of the telecentric control assembly 20 is improved and simultaneously reduced. The error between the measurement result of the sensor 42 and the actual value detected by the actual mechanics is calculated.
- the rotation driving member 41 is installed on the first movable platform 22, and the sensor 42 is connected to the rotation driving member 41. At this time, the rotation driving member 41 can drive the sensor 42, the actuator rod 31, and the surgical instrument 32 along the axis of the actuator rod 31. Rotate synchronously; the sensor 42 obtains the environmental force and/or environmental torque received by the surgical instrument 32 by detecting the overall force state of the actuator rod 31.
- FIG. 3 is a block diagram structure diagram of some components of the surgical manipulator arm 100 shown in FIG. 1 in the first embodiment.
- the surgical manipulator arm 100 further includes a control driving member 43 for driving the movement of the surgical instrument 32, the actuator rod 31 is connected to the sensor 42, the control driving member 43 is connected to the rotation driving member 41, and the rotation driving member 41 can drive and control
- the driving member 43, the sensor 42, the actuator rod 31, and the surgical instrument 32 rotate synchronously along the axial direction of the actuator rod 31;
- the sensor 42 detects the force state of the actuator rod 31 to obtain the environmental force and/or environmental torque received by the surgical instrument 32.
- control driving part 43 and the rotation driving part 41 are respectively located on both sides of the first movable platform 22.
- the two sides of the first movable platform 22 are relatively balanced in force, which is not only conducive to the movement of the first movable platform 22
- the guarantee of accuracy is also conducive to the accuracy of the sensor 42 in measurement.
- an escape hole (not shown) is provided on the first movable platform 22, and the rotation drive member 41 is connected to the control drive member 43 by extending into the escape hole, so as to realize the rotation drive of the rotation drive member 41 to the control drive member 43.
- FIG. 4 is a block diagram structure diagram of some components of the surgical manipulator arm 100 shown in FIG. 1 in the second embodiment.
- control driving member 43 is disposed between the sensor 42 and the rotation driving member 41, and the rotation driving member 41 is disposed between the control driving member 43 and the first movable platform 22.
- the first movable platform 22 is used as a bearing platform to carry the control drive 43, the rotation drive 41 and the sensor 42.
- the sensor 42 is arranged on the first movable platform 22 and is carried by the control drive 43 and the rotation drive 41.
- the incoming disturbance interference should be lower, which is conducive to improving the accuracy of detection.
- the surgical manipulator 100 also includes a connecting cable (not shown), and the control driving member 43 is connected through the connecting cable and can control the movement of the surgical instrument 32; the sensor 42 at this time is a hollow sensor, and the inside of the sensor A passage allowing the connection cable to pass is formed.
- the center of gravity of the whole formed by the sensor 42 and the control driving member 43 is located on the axis of the actuator rod 31. At this time, the overall The center of gravity of the sensor is balanced to form a dynamic balance, and at the same time, the detection accuracy of the sensor 42 is improved.
- control driving members 43 is at least three, and two of the three control driving members 43 are used to control the deflection (swing) of the surgical instrument 32 in two different directions that are staggered, that is, the two control
- the driving part 43 is a control element for the swing movement of the surgical instrument 32; one of the three control driving parts 43 is used to control the surgical instrument 32 to open and close.
- the three control driving members 43 are arranged in an equilateral triangle manner, that is, the centers of the three control driving members 43 are surrounded to form an equilateral triangle, and the axial direction of the actuator rod 31 passes through the The center of an equilateral triangle.
- the three control driving members 43 will be arranged with the axial direction of the actuator rod 31 as the center, and the position distribution design between the three enables the dynamic balance performance during the movement to be maintained.
- 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 formed by the rotation connection point 24 on the first movable platform 22 1 to 2 times the diameter of the 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 dots.
- 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. 5 is a schematic structural diagram of the telecentric control assembly 20 shown in FIG. 1 from a top perspective.
- 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 rotation 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 present application also provides a surgical robot, including the surgical robotic arm 100 described above.
- the surgical robot provided by the present application can realize the detection of the mechanical feedback of the surgical instrument 32 acting on the human tissue by adopting the above-mentioned surgical manipulator 100, and provide feedback of the mechanical data for the doctor's surgical operation, thereby increasing the doctor and the human tissue.
- Information interaction the surgical robot provided in this application has a wide range of application prospects.
Abstract
一种手术机械臂（100），包括术前摆位组件（10）、执行组件（30）以及设置于该摆位组件（10）与该执行组件（30）之间的远心操控组件（20），该执行组件（30）包括执行杆（31）及设置于该执行杆（31）相对远离该远心操控组件（20）一端的手术器具（32）；该远心操控组件（20）上设置有转动驱动件（41）以及传感器（42），该转动驱动件（41）连接于该执行杆（31）中相对靠近该远心操控组件（20）的一端并能够驱动该执行杆（31）与该手术器具（32）沿该执行杆（31）的轴向同步转动；该执行杆（31）连接于该传感器（42），该传感器（42）通过检测该执行杆（31）的受力状态来获得该手术器具（32）受到的环境力及/或环境力矩。该手术机械臂（100）将该传感器（42）与该执行杆（31）直接相连，该传感器（42）更为靠近该执行杆（31），在力学检测上具有更佳的精度。
Description
相关申请
本申请要求申请日为2020年1月23日，申请号为202010076415.2，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202020149830.1，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。
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。
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。
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、执行组件以及设置于所述术前摆位组件与所述执行组件之间的远心操控组件，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远心操控组件一端的手术器具；
所述远心操控组件上设置有转动驱动件以及传感器，所述转动驱动件连接于所述执行杆中相对靠近所述远心操控组件的一端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；所述执行杆连接于所述传感器，所述传感器通过检测所述执行杆的受力状态来获得所述手术器具受到的环境力 及/或环境力矩。
进一步地，所述远心操控组件为并联机构，所述远心操控组件包括静平台以及连接于所述静平台并能够相对所述静平台运动的第一动平台；所述静平台连接于所述术前摆位组件，所述传感器连接于所述第一动平台。
进一步地，所述转动驱动件安装于所述第一动平台上，所述传感器连接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沿所述执行杆的轴向同步转动。
进一步地，所述手术机械臂还包括用于驱动所述手术器具运动的控制驱动件，所述执行杆连接于所述传感器，所述传感器连接于所述控制驱动件上，所述控制驱动件连接于所述转动驱动件；所述转动驱动件通过驱动所述控制驱动件、所述传感器以及所述执行杆，来带动所述手术器具沿所述执行杆的轴向转动。
进一步地，所述控制驱动件与所述转动驱动件分别位于所述第一动平台的两侧。
进一步地，所述转动驱动件位于所述控制驱动件与所述第一动平台之间。
进一步地，所述手术机械臂包括连接线缆，所述控制驱动件通过所述连接线缆连接于所述手术器具；所述传感器为空心传感器，所述传感器的内部形成允许所述连接线缆穿过的通道。
进一步地，所述传感器以及所述控制驱动件所形成的整体的重心，位于所述执行杆的轴向上。
进一步地，所述第一动平台与所述静平台之间设置有多个第一伸缩元件，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。
进一步地，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。
进一步地，所述第一夹角的角度范围为15°至60°。
进一步地，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。
进一步地，所述第二夹角的角度范围为60°至105°。
进一步地，所述控制驱动件的数量至少为三个；其中，两个所述控制驱 动件用于控制所述手术器具朝交错的两个不同方向偏转，余下的一个所述控制驱动件用于控制所述手术器具张开与闭合。
进一步地，三个所述控制驱动件的各中心之间围设形成等边三角形，且所述执行杆的轴向穿过所述等边三角形的中心。
本申请提供的手术机械臂将传感器与执行杆直接相连，传感器更为靠近执行杆，在力学检测上具有更佳的精度。
本申请提供的手术机器人，通过采用上述的手术机械臂能够实现对手术器具作用在人体组织上的力学反馈的检测，为医生的手术操作提供力学数据的反馈，从而增加了医生与人体组织的信息交互，本申请提供的手术机器人具有广泛的应用前景。
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1所示手术机械臂中部分元件在第一实施方式中的框图结构示意图。
图4为图1所示手术机械臂中部分元件在第二实施方式中的框图结构示意图。
图5为图1所示远心操控组件在俯视视角下的结构示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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例，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例的目的，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，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。
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组件(图未示)、手术机械臂100以及图像处理设备(图未示)，操作组件供医生进行主动控制操作，操作组件与手术机械臂100耦合并能够将医生的主动控制操作传递至手术机械臂100处；手术机械臂100能够响应操作组件上的医生控制操作，并对应执行随动手术动作从而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；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。
操作组件通常包括主控制器(图未示)及脚踏板控制器(图未示)，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。内窥镜可以为三维镜头，以与人眼直视时的画面保持基本一致；同时内窥镜选用三维镜头所拍摄出的画面 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，远心操控组件20设置于术前摆位组件10与执行组件30之间；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。
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，执行组件30包括执行杆31，执行杆31的内部中空并连接于手术器具32；手术器具32位于执行杆31中相对远离远心操控组件20的一端上。手术机械臂100还包括转动驱动件41，转动驱动件41设置在远心操控组件20上；转动驱动件41连接于执行杆31并能够驱动执行杆31与手术器具32以整体运动的形式沿执行杆31的轴向同步转动。
手术机械臂100还包括传感器42，传感器42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42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42的测量面上；也可以是传感器42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42的测量面上，从而形成执行杆31连接于传感器42。
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42为六轴力与力矩传感器，此时传感器42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42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42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42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。
请一并参阅图2，图2为图1所示远心操控组件20的结构示意图。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，术前摆动组件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。因此术前摆动组件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。
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。
本实施方式中，传感器42连接于远心操控组件20并且传感器42相对远心操控组件20静止，也即传感器42与手术器具32之间不存在沿执行杆31轴向的同步转动。此时的传感器42将在较为稳定的安装环境中进行安装，有利于传感器42测量精度的提高。
本申请提供的手术机械臂100将传感器42与执行杆31直接相连，传感器42更为靠近执行杆31，在力学检测上具有更佳的精度。
进一步地，传感器42安装在远心操控组件20中的第一动平台22上，此时传感器42安装在并联机构结构的远心操控组件20上，远心操控组件20自身运动精度的提高同步缩小了传感器42测量结果与实际力学检测真实值之间的误差。
进一步地，转动驱动件41安装在第一动平台22上，并且传感器42连接于转动驱动件41，此时转动驱动件41能够驱动传感器42、执行杆31以及手术器具32沿执行杆31的轴向同步转动；传感器42通过检测执行杆31的整体受力状态，来获得手术器具32受到的环境力及/或环境力矩。
请一并参阅图3，图3为图1所示手术机械臂100中部分元件在第一实施方式中的框图结构示意图。
本实施方式中，手术机械臂100还包括用于驱动手术器具32运动的控制驱动件43，执行杆31连接于传感器42，控制驱动件43连接于转动驱动件41，转动驱动件41能够驱动控制驱动件43、传感器42、执行杆31以及手术器具32沿执行杆31的轴向同步转动；
传感器42通过检测执行杆31的受力状态，来获得手术器具32受到的环 境力及/或环境力矩。
进一步地，控制驱动件43与转动驱动件41分别位于第一动平台22的两侧，此时第一动平台22的两侧在受力上较为平衡，不仅有利于第一动平台22的运动精度的保证，也有利于传感器42在测量上的精度。
进一步地，第一动平台22上开设有避让孔(图未示)，转动驱动件41通过伸入避让孔内连接于控制驱动件43，从而实现转动驱动件41对控制驱动件43的转动驱动。
请一并参阅图4，图4为图1所示手术机械臂100中部分元件在第二实施方式中的框图结构示意图。
本实施方式中的控制驱动件43设置于传感器42与转动驱动件41之间，而转动驱动件41设置在控制驱动件43与第一动平台22之间。
此时的第一动平台22作为承载平台承载控制驱动件43、转动驱动件41以及传感器42，此时传感器42设置在第一动平台22上，受到控制驱动件43以及转动驱动件41所带来的扰动干扰要更低，有利于提高检测的精度。
进一步地，手术机械臂100还包括连接线缆(图未示)，控制驱动件43通过该连接线缆连接并能够控制手术器具32运动；此时的传感器42为空心传感器，所述传感器的内部形成允许所述连接线缆穿过的通道。
进一步地，考虑到传感器42与控制驱动件43将绕执行杆31的轴向同步转动，因此传感器42与控制驱动件43所形成的整体的重心，位于执行杆31的轴向上，此时整体的重心保持平衡，形成动平衡，同时提高了传感器42的检测精度。
进一步地，控制驱动件43的数量至少为三个，该三个控制驱动件43中的两个，用于控制手术器具32朝向交错的两个不同方向偏转(摆动)，也即这两个控制驱动件43为手术器具32进行摆动运动的控制元件；该三个控制驱动件43中的一个，用于控制手术器具32进行张开与闭合。
进一步地，三个控制驱动件43之间以等边三角形的方式排布，也即三个控制驱动件43的各个中心之间围设形成等边三角形，且执行杆31的轴向穿过该等边三角形的中心。
此时三个控制驱动件43将以执行杆31的轴向为中心进行排布设置，三者之间的位置分布设计使得在运动过程中的动平衡性能能够被保持。
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5，图5为图1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。
优选地，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。
本申请还提供一种手术机器人，包括上述的手术机械臂100。本申请提供的手术机器人，通过采用上述的手术机械臂100能够实现对手术器具32作用在人体组织上的力学反馈的检测，为医生的手术操作提供力学数据的反馈，从而增加了医生与人体组织的信息交互，本申请提供的手术机器人具有广泛的应用前景。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
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 (16)
- 一种手术机械臂，其特征在于，包括术前摆位组件、执行组件以及设置于所述术前摆位组件与所述执行组件之间的远心操控组件，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远心操控组件一端的手术器具；所述远心操控组件上设置有转动驱动件以及传感器，所述转动驱动件连接于所述执行杆中相对靠近所述远心操控组件的一端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；所述传感器连接于所述执行杆，所述传感器通过检测所述执行杆的受力状态来获得所述手术器具受到的环境力及/或环境力矩。
- 如权利要求1所述的手术机械臂，其特征在于，所述远心操控组件为并联机构，所述远心操控组件包括静平台以及连接于所述静平台并能够相对所述静平台运动的第一动平台；所述静平台连接于所述术前摆位组件，所述传感器连接于所述第一动平台。
- 如权利要求2所述的手术机械臂，其特征在于，所述转动驱动件安装于所述第一动平台上，所述传感器连接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沿所述执行杆的轴向同步转动。
- 如权利要求3所述的手术机械臂，其特征在于，所述手术机械臂还包括用于驱动所述手术器具运动的控制驱动件，所述执行杆连接于所述传感器，所述传感器连接于所述控制驱动件上，所述控制驱动件连接于所述转动驱动件；所述转动驱动件通过驱动所述控制驱动件、所述传感器以及所述执行杆，来带动所述手术器具沿所述执行杆的轴向转动。
- 如权利要求4所述的手术机械臂，其特征在于，所述控制驱动件与所述转动驱动件分别位于所述第一动平台的两侧。
- 如权利要求4所述的手术机械臂，其特征在于，所述转动驱动件位于所述控制驱动件与所述第一动平台之间。
- 如权利要求4所述的手术机械臂，其特征在于，所述手术机械臂包括连接线缆，所述控制驱动件通过所述连接线缆连接于所述手术器具；所述传感器为空心传感器，所述传感器的内部形成允许所述连接线缆穿过的通道。
- 如权利要求4所述的手术机械臂，其特征在于，所述传感器以及所述控制驱动件所形成的整体的重心，位于所述执行杆的轴向上。
- 如权利要求2所述的手术机械臂，其特征在于，所述第一动平台与所述 静平台之间设置有多个第一伸缩元件，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。
- 如权利要求10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°。
- 如权利要求11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。
- 如权利要求12所述的手术机械臂，其特征在于，所述第二夹角的角度范围为60°至105°。
- 如权利要求4所述的手术机械臂，其特征在于，所述控制驱动件的数量至少为三个；其中，两个所述控制驱动件用于控制所述手术器具朝交错的两个不同方向偏转，余下的一个所述控制驱动件用于控制所述手术器具张开与闭合。
- 如权利要求14所述的手术机械臂，其特征在于，三个所述控制驱动件的各中心之间围设形成等边三角形，且所述执行杆的轴向穿过所述等边三角形的中心。
- 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15任意一项所述的手术机械臂。
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