WO2021155704A1 - 操作臂以及手术机器人 - Google Patents

操作臂以及手术机器人 Download PDF

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Publication number
WO2021155704A1
WO2021155704A1 PCT/CN2020/132542 CN2020132542W WO2021155704A1 WO 2021155704 A1 WO2021155704 A1 WO 2021155704A1 CN 2020132542 W CN2020132542 W CN 2020132542W WO 2021155704 A1 WO2021155704 A1 WO 2021155704A1
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WIPO (PCT)
Prior art keywords
drive
wire
length
change
drive wire
Prior art date
Application number
PCT/CN2020/132542
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English (en)
French (fr)
Inventor
黄健
高元倩
王建辰
Original Assignee
深圳市精锋医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Priority to US17/792,189 priority Critical patent/US20230054829A1/en
Priority to EP20917855.7A priority patent/EP4101413A4/en
Publication of WO2021155704A1 publication Critical patent/WO2021155704A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • This application relates to the technical field of medical devices, and in particular to an operating arm and a surgical robot.
  • Minimally invasive surgery refers to the use of laparoscopy, thoracoscopy and other modern medical equipment and related equipment to perform surgery inside the body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Minimally invasive surgical robots usually include a master operating table and a slave operating device.
  • the master operating table is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device, and the slave operating device is used to respond to the control command sent by the master operating console. , And carry out the corresponding surgical operation.
  • the slave operating equipment usually includes a mechanical arm, a power mechanism set on the mechanical arm, and an operating arm.
  • the mechanical arm is used to adjust the position of the operating arm
  • the operating arm is used to extend into the body and perform surgical operations
  • the power mechanism is used to drive the operating arm. Perform the corresponding operation on the end device.
  • existing operating arms have insufficient flexibility due to the structural limitations of the end instruments. Therefore, improving the flexibility of the operating arm during the surgical operation is an urgent problem to be solved in the industry.
  • the main purpose of this application is to provide an operating arm and a surgical robot, aiming to improve the flexibility of the operating arm during minimally invasive surgery.
  • an operating arm which includes a drive box, a connecting rod, an end instrument, and a first set of drive wires and a second set of drive wires that penetrate the connecting rod.
  • the end instrument includes and The connecting assembly connected by the connecting rod and the end effector connected with the connecting assembly;
  • the drive box includes a base connected with the connecting rod, a drive shaft assembly provided on the base, and the drive shaft assembly It includes a first rotating shaft arranged on the base and a second rotating shaft arranged on the first rotating shaft and rotating coaxially with the first rotating shaft; the first set of driving wires starts from the first rotating shaft , And terminate at the first position of the connecting assembly, the second set of drive wires start from the second rotating shaft and end at the second position of the connecting assembly, and the first position is far away from the The position of the connecting rod, the second position is a position close to the connecting rod, so that when the drive shaft assembly rotates, the end instrument is driven by the first set of drive wires and the second set of drive wires to
  • the present application also provides a surgical robot, which includes the above-mentioned operating arm.
  • the first set of drive wires start from the first rotating shaft and end at the first position of the connecting assembly
  • the second set of drive wires start from the second rotating shaft and end at the first position of the connecting assembly.
  • the connecting components are driven to move in different directions to different amplitudes through different starting positions and different ending positions of the different driving wires, so as to realize the driving of the end through the first group of driving wires and the second group of driving wires
  • the instrument realizes the movement in the direction corresponding to the degree of freedom, thereby improving the flexibility of the operating arm in the process of performing surgical operations.
  • Fig. 1 is a schematic structural diagram of an embodiment of an operating arm of the present application
  • FIG. 2 is a partial structural diagram of an embodiment of the pitch angle drive shaft assembly or the swing angle drive shaft assembly in FIG. 1;
  • Fig. 3 is a schematic diagram of the structure of the first embodiment of the end device in Fig. 1;
  • Fig. 4 is a schematic diagram of a part of the structure of the connecting assembly in Fig. 1;
  • FIG. 5 is a simplified schematic diagram of a side view of the structure in FIG. 4;
  • Fig. 6 is a schematic structural diagram of an embodiment when the end instrument in Fig. 3 realizes movement in the direction of pitching degrees of freedom;
  • FIG. 7 is a schematic structural diagram of an embodiment when the end instrument in FIG. 3 realizes the movement of the swing freedom direction;
  • FIG. 8 is a schematic structural diagram of an embodiment of the first connection unit in FIG. 3 from a top angle
  • FIG. 9 is a schematic structural diagram of an embodiment of the third connection unit in FIG. 3 from a top angle
  • Fig. 10 is a schematic structural diagram of the second embodiment of the end device in Fig. 1;
  • FIG. 11 is a schematic structural diagram of an embodiment of the first connection unit in FIG. 10 from a top angle;
  • FIG. 12 is a schematic structural view of an embodiment of the third connection unit in FIG. 10 from a top view.
  • the terms “connected”, “fixed”, etc. should be understood in a broad sense.
  • “fixed” can be a fixed connection, a detachable connection, or a whole; It is a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless specifically defined otherwise.
  • “fixed” can be a fixed connection, a detachable connection, or a whole; It is a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless specifically defined otherwise.
  • the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.
  • the present application provides a surgical robot.
  • the surgical robot includes a master operating table and a slave operating device.
  • the master operating table is used to send a control command to the slave operating device according to a doctor's operation to control the slave operating device; the slave operating device is used to respond Control commands sent by the main operating console and perform corresponding surgical operations.
  • the slave operating device includes a mechanical arm, a power mechanism arranged on the mechanical arm, and an operating arm, and the operating arm is used to extend into the body to perform a corresponding surgical operation under the driving action of the power mechanism.
  • the operating arm 100 includes a drive box 1, a connecting rod 2, an end instrument 3 connected in sequence, and a first set of drive wires 4 and a second set of drive wires 5 passing through the connecting rod 2.
  • the end instrument 3 includes a connecting assembly 6 connected with the connecting rod 2 and an end effector 7 connected with the connecting assembly 6.
  • the connecting assembly 6 includes a first connecting unit 61 connected to the end effector 7, a second connecting unit 62 coupled to the first connecting unit 61, and a second connecting unit 62, a third connecting unit 63 coupled to the third connecting unit 63, a fourth connecting unit 64 coupled to the third connecting unit 63, and a fifth connecting unit with one end coupled to the fourth connecting unit 64 and the other end connected to the connecting rod 2 65.
  • the connecting units of the connecting assembly are not limited to the above-listed five, and other connecting units of different numbers that can implement the same solution of the present application are also included in the protection scope of the present application.
  • the connecting assembly 6 includes a connecting unit 60 and a rotating part 200.
  • the connecting unit 60 has a connecting portion (not shown in the figure) for matching and connecting with the connecting portion 110 on the adjacent connecting unit 100.
  • the connecting portion includes a matching first connecting portion 300 and/or a second connecting portion 400, which are respectively used to communicate with the second connecting portion 400 and/or the first connecting portion 300 of the adjacent connecting unit 60 Phase connection.
  • the rotating part 200 has two rotating shafts 210 and a connecting member 220 connecting the two rotating shafts 210.
  • the two rotating shafts 210 are used to respectively connect two adjacent connecting units 100 so that the two adjacent connecting units 100 can rotate relatively. And form a joint assembly, wherein the connecting member 220 fixes the distance between the two rotating shafts 210, when the joint assembly rotates, the distance between the two rotating shafts 210 does not change, the first connecting part 300, the second connecting part 300 The part 400 moves relatively.
  • the first connecting part 300 is rotatable relative to the second connecting part 400 and movable along the second connecting part 400.
  • a joint assembly has 3 rotation axes, and the respective rotation centers are A line, O line and B line respectively.
  • the A line, O line and B line are formed together, and the connecting unit is in the process of rotating The central axis of rotation.
  • the rotation center axis may be: connect A point and B point, then pass O The point is a vertical line perpendicular to the AB line, and the intersection point between the AB line and the vertical line is the rotation center axis.
  • the rotation center axis of the first connection unit (not shown in the figure) is parallel to the rotation center axis of the third connection unit (not shown in the figure), and the rotation center axis of the second connection unit (Not shown in the figure) parallel to the central axis of rotation of the fourth connecting unit (not shown in the figure), and the central axis of rotation of the first connecting unit and the second connecting unit (not shown in the figure) Out) vertical.
  • each of the above-mentioned rotation center axes is the rotation center around which each connecting unit rotates. It can be understood that the rotation center axis of each connecting unit changes along a certain movement track when rotating.
  • the rotation directions of the first connection unit 61 and the third connection unit 63 are the same, the rotation directions of the second connection unit 62 and the fourth connection unit 64 are the same, and the first connection unit 61,
  • the rotation directions of the third connection unit 63 and the second connection unit 62 and the fourth connection unit 64 are orthogonal.
  • the first connection unit 61, the second connection unit 62, the third connection unit 63, the fourth connection unit 64, and the fifth connection unit 65 are provided with a plurality of through holes at corresponding positions for the first set of driving wires. 4 and the second set of driving wires 5 pass through.
  • the drive box 1 includes a base 10 connected with the connecting rod 2, and a drive shaft assembly 11 provided on the base 10.
  • the drive shaft assembly 11 includes a first rotating shaft 111 provided on the base 10 and a second rotating shaft provided on the first rotating shaft and rotating coaxially with the first rotating shaft. Rotating shaft 112.
  • the second rotating shaft can be rotatably adjusted relative to the first rotating shaft to adjust the posture of the end instrument to the initial state.
  • a zero-position tool adjustment piece (not shown in the figure) can be used to clamp each connection unit of the end instrument 30 to make each connection The unit maintains a straight state; at this time, if the posture of the end instrument 30 is not in the initial state, the end instrument 30 can be further adjusted by adjusting the position of the first rotating shaft relative to the second rotating shaft. In the initial state.
  • the first set of drive wires 4 start from the first rotating shaft and end at the first position of the connecting assembly 6, and the second set of drive wires 5 start from the second rotating shaft and end at In the second position of the connecting assembly 6, the first position is a position far away from the connecting rod 2, and the second position is a position close to the connecting rod 2.
  • the diameter of the first rotating shaft is larger than the diameter of the second rotating shaft.
  • the length of the first set of drive wires 4 corresponding to the release/tension of the first rotating shaft is greater than the length of the corresponding release/tension of the second rotating shaft.
  • the amplitude of the rotation of the first connecting unit 61 is greater than the amplitude of the rotation of the third connecting unit 63, so that the movement of the end instrument 3 in the direction of the degree of freedom of pitching or swinging is more flexible.
  • the diameter of the first rotating shaft may also be equal to the diameter of the second rotating shaft.
  • the drive shaft assembly 11 may be a pitch angle drive shaft assembly or a swing angle drive shaft assembly.
  • the drive shaft assembly 11 is a pitch angle drive shaft assembly
  • the end instrument 3 is driven by the first set of drive wires 4 and the second set of drive wires 5 Corresponds to the movement in the direction of the pitch angle.
  • the drive assembly is a swing angle drive shaft assembly
  • the end instrument 3 is driven by the first set of drive wires 4 and the second set of drive wires 5 to achieve corresponding swing Movement in angular direction.
  • the first group of driving wires 4 and the second group of driving wires 5 corresponding to the pitch angle drive shaft assembly and the swing angle drive shaft assembly are terminated on the first connection unit 61 and the third connection unit 63 The location is different.
  • the drive shaft assembly 11 may also include both a pitch drive shaft assembly and a swing angle drive shaft assembly. This program will be described in detail below.
  • the drive shaft assembly 11 includes a pitch angle drive shaft assembly 113 and a sway angle drive shaft assembly 114 oppositely arranged on the base 10, both of which have the same structure. Therefore, in the drawings, the pitch angle is mainly The drive shaft assembly 113 is labeled. 2, the pitch angle drive shaft assembly 113 includes a first thick shaft 115 provided on the base 10 and a first thick shaft 115 that is provided on the first thick shaft 115 and rotates coaxially with the first thick shaft 115 ⁇ 116.
  • the first set of driving wires 4 includes a first driving wire 41 and a second driving wire 42 that start from the first thick shaft 115 in opposite winding directions, and start from the The third driving wire 43 and the fourth driving wire 44 whose winding directions are opposite to each other are wound on the first thin shaft 116.
  • the swing angle drive shaft assembly 114 includes a second thick shaft (not shown in the figure) provided on the base 10 and a second thick shaft that is provided on the second thick shaft and rotates coaxially with the second thick shaft.
  • the second set of drive wires 5 includes a fifth drive wire 51 and a sixth drive wire 52 that start on the second thick shaft in opposite winding directions, and start at The seventh driving wire 53 and the eighth driving wire 54 whose winding directions are opposite to each other on the second thin shaft.
  • first driving wire 41, the second driving wire 42, the fifth driving wire 51, and the sixth driving wire 52 terminate in the first connecting unit 61; the third driving wire 43 and the fourth driving wire 44 , The seventh driving wire 53 and the eighth driving wire 54 terminate in the third connecting unit 63. It should be understood that the present application is not limited to 8 drive wires, and other drive wires that can achieve the number of the solutions of the present application are also included in the scope of the present application.
  • the fifth change in length ⁇ La 2 of the third drive wire is equal to the sixth change in length ⁇ Lb 2 of the fourth drive wire, and the fifth change in length is that the third drive wire is in the first
  • La 1 +Lb 1 2L 0
  • L'a 1 +L'b 1 2L 0
  • La 2 +Lb 2 2L 0 .
  • L 0 represents the initial length of the driving wire between adjacent connecting components.
  • the distance between different adjacent connecting components may be equal, that is, the driving wire between each adjacent connecting component
  • the initial length of can be equal.
  • the distances between different adjacent connecting components may also be unequal.
  • the ratio D 1 /D 2 of the diameter of the first thick shaft to the first thin shaft is equal to the length change of the first drive wire ⁇ L 41 and the third drive wire
  • the seventh length change ⁇ Lc 1 is the length change of the fifth drive wire between the second connection unit and the third connection unit
  • the eighth length change ⁇ L' c 1 is the change in length of the portion of the fifth drive wire between the fourth connection unit and the fifth connection unit.
  • the ninth length change amount ⁇ Ld 1 is the length change amount of the portion of the sixth drive wire between the second connection unit and the third connection unit
  • the tenth length change amount ⁇ L' d 1 is the change in length of the portion of the sixth drive wire between the fourth connection unit and the fifth connection unit.
  • the seventh to the eleventh driving wire length equal to the amount of change ⁇ Lc 2 eighth driving the twelfth wire length change amount ⁇ Ld 2, the length variation of the eleventh to the seventh ⁇ Lc 2
  • Lc 1 +Ld 1 2L 0
  • L'c 1 +L'd 1 2L 0
  • Lc 2 +Ld 2 2L 0 .
  • L 0 represents the initial length of the driving wire between adjacent connecting components.
  • the distance between different adjacent connecting components may be equal, that is, the driving between each adjacent connecting component
  • the initial length of the wire can be equal.
  • the distances between different adjacent connecting components may also be unequal.
  • the ratio D 3 /D 4 of the diameter of the second thick shaft and the second thin shaft (not shown in the figure) is equal to the length change amount of the fifth drive wire ⁇ L 51 and the seventh drive wire
  • the connecting assembly 6 has a shaft center and is coaxial with the shaft center of the connecting rod 2. Therefore, the shaft center of the connecting rod 2 is used as a reference for description in the following. 8 and 9, the first connecting unit 61 is provided on its outer periphery with a first through hole 611 and a second through hole 612 arranged opposite to the axis of the connecting rod 2, and the first through hole 611 is used for The first driving wire 41 is passed through, and the second through hole 612 is used for the second driving wire 42 to pass through.
  • first driving wire 41 and the second driving wire 42 are arranged opposite to each other around the axis of the connecting rod 2 on the first connecting unit 61, and similarly, the first connecting unit 61 is also A fifth through hole 615 and a sixth through hole 616 are provided on the outer periphery of the connecting rod 2 axis.
  • the fifth through hole 615 is used for the fifth drive wire 51 to pass through.
  • the sixth through hole 616 is used for the sixth driving wire 52 to pass through. That is, the fifth driving wire 51 and the sixth driving wire 52 are arranged opposite to each other around the axis of the connecting rod 2 on the first connecting unit 61.
  • the fifth through hole 615 and the sixth through hole 616 are both arranged adjacent to the first through hole 611 and the second through hole 612.
  • the third connecting unit 63 is provided with a third through hole 633 and a fourth through hole 634 on its outer periphery that are arranged opposite to the axis of the connecting rod 2, and the third through hole 633 is used for The third drive wire 43 is passed through, and the fourth through hole 634 is used for the fourth drive wire 44 to pass through. That is, the third driving wire 43 and the fourth driving wire 44 are arranged opposite to each other around the axis of the connecting rod 2 on the third connecting unit 63.
  • the third connecting unit 63 is also provided with a seventh through hole 637 and an eighth through hole 638 arranged opposite to the axis of the connecting rod 2 on its outer periphery, and the seventh through hole 637 is used for supplying power.
  • the seventh drive wire 53 passes through, and the eighth through hole 638 is used for the eighth drive wire 54 to pass through. That is, the seventh driving wire 53 and the eighth driving wire 54 are arranged opposite to each other around the axis of the connecting rod 2 on the third connecting unit 63.
  • the third connecting unit 63 is provided with the first through hole 611, the second through hole 612, the fifth through hole 615, and the sixth through hole 616 at a position corresponding to the first connecting unit 61.
  • a through hole 611, a second through hole 612, a fifth through hole 615, and a sixth through hole 616 are located opposite to the third through hole 633, the fourth through hole 634, the seventh through hole 637, and the eighth through hole 638.
  • the first through hole 611 is arranged adjacent to the third through hole 633
  • the second through hole 612 is arranged adjacent to the fourth through hole 634
  • the The fifth through hole 615 is arranged adjacent to the seventh through hole 637
  • the sixth through hole 616 is arranged adjacent to the eighth through hole 638. That is, the first drive wire 41 and the third drive wire 43, the second drive wire 42 and the fourth drive wire 44, the fifth drive wire 51 and the seventh drive wire 53 ,
  • the sixth drive wire 52 and the eighth drive wire 54 are respectively arranged adjacent to each other, and the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53 and the eighth drive wire 54 are relatively located in the The position of the outer edge of the third connecting unit 63.
  • the third connecting unit 63 further includes a first limiting hole 661 and a second limiting hole 662 between the third through hole 633 and the seventh through hole 637, that is, the The first limiting hole 661 and the second limiting hole 662 are provided between the third driving wire 43 and the seventh driving wire 53, and the first limiting hole 661 and the second limiting hole 662
  • the third through holes 633 may be all arranged adjacent to each other.
  • the first limiting hole 661 and the second limiting hole 662 may both be disposed adjacent to the seventh through hole 637, and the first limiting hole 661 may also be connected to the first limiting hole 661.
  • the three through holes 633 are arranged adjacently, and the second limiting hole 662 and the seventh through hole 637 are arranged adjacently.
  • the third connecting unit 63 further includes a third limiting hole 663 and a fourth limiting hole 664 between the fourth through hole 634 and the eighth through hole 638, that is, the fourth driving wire 44 and the eighth driving wire 54 are provided with the third limiting hole 663 and the fourth limiting hole 664, and the third limiting hole 663 and the fourth limiting hole 664 can both be adjacent to the The fourth through hole 634 is provided.
  • the third limiting hole 663 and the fourth limiting hole 664 may both be disposed adjacent to the eighth through hole 638, and the third limiting hole 663 may also be connected to the first limiting hole 663.
  • the four through holes 634 are arranged adjacently, and the fourth limiting hole 664 and the eighth through hole 638 are arranged adjacently.
  • the first drive wire 41 and the fifth drive wire 51 form a continuous drive wire
  • the second drive wire 42 and the sixth drive wire 52 form a continuous drive wire.
  • the third drive wire 43 and the seventh drive wire 53 are on a complete first continuous drive wire 81
  • the fourth drive wire 44 and the eighth drive wire 54 are on A complete second continuous drive wire 82 is attached. It is understandable that the third drive wire 43 and the seventh drive wire 53 actually belong to the same drive wire, but are different parts of the same drive wire; similarly, the fourth drive wire 44 and The eighth driving wire 54 actually belongs to the same driving wire, but is just a different part of the same driving wire. In this way, a smaller number of drive wires can be used to realize the drive function of the drive shaft assembly 11, and therefore, the manufacturing process of the drive wires is reduced.
  • the first continuous driving wire 81 includes a first connecting wire 83 that connects the third driving wire 43 and the seventh driving wire 53 respectively, and one end of the first connecting wire 83 is connected to the third driving wire.
  • the driving wire 43 is connected, and the other end passes through the first limiting hole 661 and the second limiting hole 662 in sequence and then connected to the seventh driving wire 53. That is, the first continuous driving wire 81 sequentially passes through the third through hole 633, the first limiting hole 661, the second limiting hole 662, and the seventh through hole 637 to form a "W" shape.
  • the second continuous driving wire 82 includes a second connecting wire 84 that connects the fourth driving wire 44 and the eighth driving wire 54 respectively, and one end of the second connecting wire 84 is connected to the fourth driving wire 44 Connected, the other end passes through the third limiting hole 663 and the fourth limiting hole 664 in sequence and then is connected to the eighth driving wire 54. That is, the second continuous driving wire 82 sequentially passes through the fourth through hole 634, the third limiting hole 663, the fourth limiting hole 664, and the eighth through hole 638 to form a "W" shape.
  • the first driving wire 41, the second driving wire 42, the fifth driving wire 51, and the sixth driving wire 52 are at the end positions corresponding to the connecting assembly. It is a spherical structure.
  • the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53, and the eighth drive wire 54 have a spherical structure at the end positions corresponding to the connecting assembly. That is, the first drive wire 41, the second drive wire 42, the fifth drive wire 51, the sixth drive wire 52, the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53, and the eighth drive wire 54 They are all independent drive wires. In this way, the installation process of the driving wire is reduced, and the installation of the driving wire is more convenient, thereby improving the installation efficiency. It can be understood that the diameter of the end spherical structure of each driving wire is larger than the diameter of each through hole.
  • the operating arm 100 and the surgical robot provided by the present application are provided with a first rotating shaft and a second rotating shaft with different diameters, and the first set of driving wires 4 start from the first rotating shaft and end at the first position of the connecting assembly 6, and the second The group of driving wires 5 starts from the second rotating shaft and ends at the second position of the connecting assembly 6, and the connecting assembly 6 is driven to move in different directions with different amplitudes through different starting positions and different ending positions of the different driving wires, so as to realize The first group of driving wires 4 and the second group of driving wires 5 drive the end instrument 3 to move in a direction corresponding to the degree of freedom, thereby improving the flexibility of the operating arm 100 in the process of performing surgical operations.

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

Abstract

一种操作臂（100）及手术机器人，操作臂（100）包括驱动盒（1）、连杆（2）、末端器械（3）以及贯穿连杆（2）的第一组驱动丝（4）和第二组驱动丝（5），末端器械（3）包括与连杆（2）连接的连接组件（6）以及与连接组件（6）连接的末端执行器（7）；驱动盒（1）包括与连杆（2）连接的底座（10）、设于底座（10）上的第一转轴（111）以及设于第一转轴（111）上并与第一转轴（111）同轴旋转的第二转轴（112）；第一组驱动丝（4）起始于第一转轴（111），并终止于连接组件（6）的第一位置，第二组驱动丝（5）起始于第二转轴（112），并终止于连接组件（6）的第二位置，第一位置为远离连杆（2）的位置，第二位置为靠近连杆（2）的位置，通过第一组驱动丝（4）和第二组驱动丝（5）驱动末端器械（3）实现对应自由度方向的运动，提高操作臂（100）在微创手术操作过程中的灵活度。

Description

操作臂以及手术机器人
本申请要求于2020年2月9日提交中国专利局、申请号为202010085505.8、申请名称为“操作臂以及手术机器人”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，尤其涉及一种操作臂以及手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式，微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。
从操作设备通常包括机械臂、设置于机械臂上的动力机构以及操作臂，机械臂用于调节操作臂的位置，操作臂用于伸入体内，并执行手术操作，动力机构用于驱动操作臂的末端器械执行对应的操作。但现有操作臂在执行手术操作时，基于末端器械的结构限制，存在灵活性不够的情况。因此，提高操作臂在手术操作过程中的灵活度是业界亟待解决的问题。
申请内容
本申请的主要目的在于提供一种操作臂以及手术机器人，旨在提高操作臂在微创手术操作过程中的灵活度。
为实现上述目的，本申请提供一种操作臂，包括依次连接的驱动盒、连杆、末端器械以及贯穿所述连杆的第一组驱动丝和第二组驱动丝，所述末端器械包括与所述连杆连接的连接组件以及与所述连接组件连接的末端执行器；所述驱动盒包括与所述连杆连接的底座、设于所述底座上的驱动轴组件， 所述驱动轴组件包括设于所述底座上的第一转轴以及设于所述第一转轴上并与所述第一转轴同轴旋转的第二转轴；所述第一组驱动丝起始于所述第一转轴，并终止于所述连接组件的第一位置，所述第二组驱动丝起始于所述第二转轴，并终止于所述连接组件的第二位置，所述第一位置为远离所述连杆的位置，所述第二位置为靠近所述连杆的位置，以在所述驱动轴组件转动时，通过所述第一组驱动丝和第二组驱动丝驱动所述末端器械实现对应自由度方向的运动。
为实现上述目的，本申请还提供一种手术机器人，所述手术机器人包括如上所述的操作臂。
本申请提供的操作臂以及手术机器人，通过设置第一组驱动丝起始于第一转轴并终止于连接组件的第一位置，第二组驱动丝起始于第二转轴并终止于连接组件的第二位置，通过不同驱动丝不同的起始位置和不同的终止位置驱动连接组件向不同的方向运动不同的幅度，从而实现通过所述第一组驱动丝和第二组驱动丝驱动所述末端器械实现对应自由度方向的运动，进而提高了操作臂在执行手术操作过程中的灵活度。
附图说明
图1为本申请操作臂一实施例的结构示意图；
图2为图1中俯仰角度驱动轴组件或摇摆角度驱动轴组件一实施例的部分结构示意图；
图3为图1中末端器械第一实施例的结构示意图；
图4为图1中连接组件的部分结构示意图；
图5为图4中侧面视角的简化结构示意图；
图6为图3中末端器械实现俯仰自由度方向运动时的一实施例的结构示意图；
图7为图3中末端器械实现摇摆自由度方向运动时的一实施例的结构示意图；
图8为图3中第一连接单元俯视角度一实施例的结构示意图；
图9为图3中第三连接单元俯视角度一实施例的结构示意图；
图10为图1中末端器械第二实施例的结构示意图；
图11为图10中第一连接单元俯视角度一实施例的结构示意图；
图12为图10中第三连接单元俯视角度一实施例的结构示意图。
附图标号说明：
Figure PCTCN2020132542-appb-000001
Figure PCTCN2020132542-appb-000002
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
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的一部分实施例，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作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，本申请实施例中所有方向性指示(诸如上、下、左、右、前、后......)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本申请中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
另外，在本申请中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提供一种手术机器人，所述手术机器人包括主操作台及从操作设 备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备；从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。所述从操作设备包括机械臂、设置于机械臂上的动力机构以及操作臂，所述操作臂用于在动力机构的驱动作用下伸入体内执行相应的手术操作。
如图1、图2所示，所述操作臂100包括依次连接的驱动盒1、连杆2、末端器械3以及贯穿所述连杆2的第一组驱动丝4和第二组驱动丝5。所述末端器械3包括与所述连杆2连接的连接组件6以及与所述连接组件6连接的末端执行器7。
如图3所示，所述连接组件6包括与所述末端执行器7连接的第一连接单元61、与所述第一连接单元61耦合的第二连接单元62、与所述第二连接单元62耦合的第三连接单元63、与所述第三连接单元63耦合的第四连接单元64以及一端与所述第四连接单元64耦合、另一端与所述连杆2连接的第五连接单元65。当然，在其他实施例中，所述连接组件所具有的连接单元并不限于上述列举的5个，其他能够实现本申请相同方案的不同数量的连接单元也包含在本申请保护范围之内。
参照图3，所述第一组驱动丝4终止于所述第一连接单元61，所述第二组驱动丝5终止于所述第三连接单元63。参照图4，连接组件6包括连接单元60及转动部200。其中，连接单元60具有连接部(图中未示出)，用于与相邻的连接单元100上的连接部110匹配连接。具体地，一实施例中，连接部包括匹配的第一连接部300及/或第二连接部400，分别用于与相邻连接单元60的第二连接部400及/或第一连接部300相连接。转动部200具有两个转动轴210及连接两个转动轴210的连接件220，两个转动轴210用于分别连接相邻两个连接单元100，以使相邻两个连接单元100相对转动，并形成一个关节组件，其中，连接件220令两个转动轴210之间的距离固定，当关节组件转动时，两个转动轴210之间的距离不变，第一连接部300、第二连接部400相对运动。一实施例中，第一连接部300相对第二连接部400可转动，且沿第二连接部400可移动。
参照图5，一个关节组件具有3个旋转轴，各自对应的旋转中心分别为A线、O线和B线，所述A线、O线和B线三者共同构成，连接单元在转动过 程中的旋转中心轴线。在一实施例中，为方便说明和计算，令上述A线、O线和B线为A点、O点和B点，所述旋转中心轴线可以为：连接A点与B点，然后过O点作垂直于AB连线的垂线，所述AB连线与所述垂线之间的交点为所述旋转中心轴线。具体地，所述第一连接单元的旋转中心轴线(图中未示出)与所述第三连接单元的旋转中心轴线(图中未示出)平行，所述第二连接单元的旋转中心轴线(图中未示出)与所述第四连接单元的旋转中心轴线(图中未示出)平行，且所述第一连接单元和所述第二连接单元的旋转中心轴线(图中未示出)垂直。可以理解的是，上述各个旋转中心轴线为各个连接单元旋转时，所围绕旋转的旋转中心。可以理解的是，各个连接单元的旋转中心轴线，在旋转时是沿一定的运动轨迹变化的。也即，所述第一连接单元61和第三连接单元63的旋转方向相同，所述第二连接单元62和所述第四连接单元64的旋转方向相同，而所述第一连接单元61、第三连接单元63与第二连接单元62、第四连接单元64的旋转方向呈正交状态。
可以理解的是，本申请并不限定上述正交状态，其他实施例中，还可以为其他非正交状态。所述第一连接单元61、第二连接单元62、第三连接单元63、第四连接单元64以及第五连接单元65在对应位置设有多个通孔，以供所述第一组驱动丝4和第二组驱动丝5穿过。
参照图1、图2，所述驱动盒1包括与所述连杆2连接的底座10、设于所述底座10上的驱动轴组件11。具体地，如图1所示，所述驱动轴组件11包括设于所述底座10上的第一转轴111以及设于所述第一转轴上并与所述第一转轴同轴旋转的第二转轴112。所述第二转轴相对所述第一转轴可旋转调节，以调节所述末端器械的姿态至初始状态。可以理解的是，当需要调节所述末端器械30的姿态至初始状态时，可以先使用零位工装调节件(图中未示出)夹紧所述末端器械30的各个连接单元，使各个连接单元保持直线状态；此时，若仍未使所述末端器械30的姿态处于初始状态，则可以进一步通过调节所述第一转轴相对所述第二转轴的位置，来进一步使所述末端器械30处于初始状态。
所述第一组驱动丝4起始于所述第一转轴，并终止于所述连接组件6的第一位置，所述第二组驱动丝5起始于所述第二转轴，并终止于所述连接组 件6的第二位置，所述第一位置为远离所述连杆2的位置，所述第二位置为靠近所述连杆2的位置。
本实施例中，所述第一转轴的直径大于所述第二转轴的直径。如此，第一转轴和第二转轴在转动相同的圈数时，所述第一转轴对应释放/张紧的所述第一组驱动丝4的长度大于所述第二转轴对应释放/张紧的所述第二组驱动丝5的长度。这样，所述第一连接单元61转动的幅度大于所述第三连接单元63转动的幅度，从而使得所述末端器械3在俯仰或摇摆自由度方向的运动更加灵活。当然，在其他实施例中，所述第一转轴的直径也可以与所述第二转轴的直径相等。
可以理解的是，所述驱动轴组件11可以为俯仰角度驱动轴组件或摇摆角度驱动轴组件。当所述驱动轴组件11为俯仰角度驱动轴组件时，通过在所述俯仰角度驱动轴组件转动时，通过所述第一组驱动丝4和第二组驱动丝5驱动所述末端器械3实现对应俯仰角度方向的运动。当所述驱动在组件为摇摆角度驱动轴组件时，通过所述摇摆角度驱动轴组件转动时，通过所述第一组驱动丝4盒第二组驱动丝5驱动所述末端器械3实现对应摇摆角度方向的运动。当然，俯仰角度驱动轴组件和所述摇摆角度驱动轴组件对应的所述第一组驱动丝4和第二组驱动丝5，在所述第一连接单元61和第三连接单元63上的终止位置不同。
所述驱动轴组件11也可以既包括俯仰驱动轴组件，也可以包括摇摆角度驱动轴组件。此方案将在下文中详细介绍。
参照图1，所述驱动轴组件11包括在所述底座10上相对设置的俯仰角度驱动轴组件113以及摇摆角度驱动轴组件114，二者的结构相同，因此，在附图中主要对俯仰角度驱动轴组件113进行标号。参照图2，所述俯仰角度驱动轴组件113包括设于底座10上的第一粗轴115以及设于所述第一粗轴115上并与所述第一粗轴115同轴旋转的第一细轴116。参照图8至图9，所述第一组驱动丝4包括起始于所述第一粗轴115上的缠绕方向相反的第一驱动丝41和第二驱动丝42，以及起始于所述第一细轴116上的缠绕方向相反的第三驱动丝43和第四驱动丝44。所述摇摆角度驱动轴组件114包括设于底座10上的第二粗轴(图中未示出)以及设于所述第二粗轴上并与所述第二粗轴同轴 旋转的第二细轴(图中未示出)，所述第二组驱动丝5包括起始于所述第二粗轴上的缠绕方向相反的第五驱动丝51和第六驱动丝52，以及起始于所述第二细轴上的缠绕方向相反的第七驱动丝53和第八驱动丝54。
其中，所述第一驱动丝41、第二驱动丝42、第五驱动丝51以及第六驱动丝52终止于所述第一连接单元61；所述第三驱动丝43、第四驱动丝44、第七驱动丝53以及第八驱动丝54终止于所述第三连接单元63。应理解，本申请并不限定为8根驱动丝，其他可以实现本申请方案的数量的驱动丝也包含在本申请的范围内。
参照图6，所述俯仰角度驱动轴组件驱动所述末端器械实现俯仰自由度方向的运动时，所述第一驱动丝的长度变化量△L 41等于第一长度变化量△La 1与第二长度变化量△L’a 1之和，也即：△L 41＝△La 1+△L’a 1。其中，所述第一长度变化量△La 1为所述第一驱动丝在所述第一连接单元与所述第二连接单元之间的部分的长度变化量(△La 1＝La 1-L 0)，所述第二长度变化量△L’a 1为所述第一驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量(△L’a 1＝L’a 1-L 0)。
所述第二驱动丝的长度变化量△L 42等于第三长度变化量△Lb 1与第四长度变化量△L’b 1之和，也即：△L 42＝△Lb 1+△L’b 1。其中，所述第三长度变化量△Lb 1为所述第二驱动丝在所述第一连接单元与所述第二连接单元之间的部分的长度变化量(△Lb 1＝L 0-Lb 1)，第四长度变化量为所述第二驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量(△L’b 1＝L 0-L’b 1)。
所述第三驱动丝的第五长度变化量△La 2等于所述第四驱动丝的第六长度变化量△Lb 2，所述第五长度变化量为所述第三驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量(△La 2＝La 2-L 0)，所述第六长度变化量为所述第四驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量(△Lb 2＝L 0-Lb 2)。
其中，所述第一长度变化量等于所述第三长度变化量，即△La 1＝△Lb 1。所述第二长度变化量等于所述第四长度变化量，即△L’a 1＝△L’b 1；所述第一长度变化量与所述第二长度变化量之和，等于所述第三长度变化量与所述第四长度变化量之和，也即：△La 1+△L’a 1＝△Lb 1+△L’b 1。
另外，可以理解的是，La 1+Lb 1＝2L 0，L’a 1+L’b 1＝2L 0，La 2+Lb 2＝2L 0。
应理解，上述L 0表示相邻连接组件之间的驱动丝的初始长度，本实施例中，不同的相邻连接组件之间的距离可以相等，也即各个相邻连接组件之间的驱动丝的初始长度可以相等。在其他实施例中，不同的相邻连接组件之间的距离也可以不等。
可以理解的是，末端器械实现俯仰自由度方向的运动时，所述第二连接单元与所述第三连接单元之间的所述第一驱动丝和所述第二驱动丝的长度，以及所述第四连接单元与所述第五连接单元之间的所述第一驱动丝和第二驱动丝的长度均不变。所述第四连接单元与所述第五连接单元之间的所述第三驱动丝和第四驱动丝的长度不变。
如图2所示，所述第一粗轴与所述第一细轴的直径之比D 1/D 2，等于所述第一驱动丝的长度变化量△L 41与所述第三驱动丝△La 2的长度变化量之比，也即：D 1/D 2＝△L 41/△La 2，或等于所述第二驱动丝的长度变化量△L 42与所述第四驱动丝的长度变化量△Lb 2之比，也即：D 1/D 2＝△L 42/△Lb 2。
参照图7，所述摇摆角度驱动轴组件驱动所述末端器械实现摇摆自由度方向的运动时，所述第五驱动丝的长度变化量△L 51等于第七长度变化量△Lc 1与第八长度变化量△L’c 1之和，也即△L 51＝△Lc 1+△L’c 1。所述第七长度变化量△Lc 1为所述第五驱动丝在所述第二连接单元与所述第三连接单元之间的部分的长度变化量，所述第八长度变化量△L’c 1为所述第五驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量。
所述第六驱动丝的长度变化量△L 52等于第九长度变化量△Ld 1与第十长度变化量△L’d 1之和，也即：△L 52＝△Ld 1+△L’d 1。所述第九长度变化量△Ld 1为所述第六驱动丝在所述第二连接单元与所述第三连接单元之间的部分的长度变化量，所述第十长度变化量△L’d 1为所述第六驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量。
所述第七驱动丝的第十一长度变化量△Lc 2等于所述第八驱动丝的第十二长度变化量△Ld 2，所述第十一长度变化量△Lc 2为所述第七驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量(△Lc 2＝Lc 2-L 0)，所述第十二长度变化量△Ld 2为所述第八驱动丝在所述第四连接单元与所述 第五连接单元之间的部分的长度变化量(△Ld 2＝Ld 2-L 0)。
其中，所述第七长度变化量△Lc 1等于所述第九长度变化量△Ld 1，即△Lc 1＝△Ld 1。所述第八长度变化量△L’c 1等于所述第十长度变化量△L’d 1，即△L’c 1＝△L’d 1；所述第七长度变化量与所述第八长度变化量之和，等于所述第九长度变化量与所述第十长度变化量之和，即：△Lc 1+△L’c 1＝△Ld 1+△L’d 1。
另外，可以理解的是，Lc 1+Ld 1＝2L 0，L’c 1+L’d 1＝2L 0，Lc 2+Ld 2＝2L 0。
应理解，上述L 0表示相邻连接组件之间的驱动丝的初始长度，本实施例中，不同的相邻连接组件之间的距离可以相等，也即，各个相邻连接组件之间的驱动丝的初始长度可以相等。在其他实施例中，不同的相邻连接组件之间的距离也可以不等。
可以理解的是，末端器械实现摇摆自由度方向的运动时，所述第一连接单元与所述第二连接单元之间的所述第五驱动丝和第六驱动丝的长度，以及所述第三连接单元与所述第四连接单元之间的所述第五驱动丝和第六驱动丝的长度均不变。所述第三连接单元与所述第四连接单元之间的所述第五驱动丝和第六驱动丝的长度不变。
所述第二粗轴与所述第二细轴的直径(图中未示出)之比D 3/D 4，等于所述第五驱动丝的长度变化量△L 51与所述第七驱动丝的长度变化量△Lc 1之比，即D 3/D 4＝△L 51/△Lc 2；或等于所述第六驱动丝的长度变化量△L 52与所述第八驱动丝的长度变化量△L’c 1之比，即D 3/D 4＝△L 52/△L’c 1。
所述连接组件6具有一轴心，且与所述连杆2的轴心同轴，因此，下文以连杆2的轴心作为参照进行描述。参照图8和图9，所述第一连接单元61在其外周缘设有相对所述连杆2轴心设置的第一通孔611和第二通孔612，所述第一通孔611用于供所述第一驱动丝41穿过，所述第二通孔612用于供所述第二驱动丝42穿过。也即，所述第一驱动丝41与所述第二驱动丝42在所述第一连接单元61上围绕所述连杆2的轴心相对设置，同样地，所述第一连接单元61还在其外周缘设有相对所述连杆2轴心设置的第五通孔615和第六通孔616，所述第五通孔615用于供所述第五驱动丝51穿过，所述第六通孔616用于供所述第六驱动丝52穿过。也即，所述第五驱动丝51与所述第六驱动丝52在所述第一连接单元61上围绕所述连杆2的轴心相对设置。其中， 所述第五通孔615和第六通孔616均相邻所述第一通孔611和第二通孔612设置。
具体地，如图9所示，第三连接单元63在其外周缘设有相对所述连杆2轴心设置的第三通孔633和第四通孔634，所述第三通孔633用于供所述第三驱动丝43穿过，所述第四通孔634用于供所述第四驱动丝44穿过。也即，所述第三驱动丝43与所述第四驱动丝44在所述第三连接单元63上围绕所述连杆2的轴心相对设置。同样地，所述第三连接单元63还在其外周缘设有相对所述连杆2轴心设置的第七通孔637和第八通孔638，所述第七通孔637用于供所述第七驱动丝53穿过，所述第八通孔638用于供所述第八驱动丝54穿过。也即，所述第七驱动丝53与所述第八驱动丝54在所述第三连接单元63上围绕所述连杆2的轴心相对设置。
所述第三连接单元63在与所述第一连接单元61的对应位置设有所述第一通孔611、第二通孔612、第五通孔615和第六通孔616，所述第一通孔611、第二通孔612、第五通孔615和第六通孔616相对所述第三通孔633、第四通孔634、第七通孔637和第八通孔638位于所述第三连接单元63的内侧，且所述第一通孔611与所述第三通孔633相邻设置，所述第二通孔612与所述第四通孔634相邻设置，所述第五通孔615与所述第七通孔637相邻设置，所述第六通孔616与所述第八通孔638相邻设置。也即，所述第一驱动丝41与所述第三驱动丝43、所述第二驱动丝42与所述第四驱动丝44、所述第五驱动丝51与所述第七驱动丝53、所述第六驱动丝52与所述第八驱动丝54分别临近设置，且所述第三驱动丝43、第四驱动丝44、第七驱动丝53与第八驱动丝54相对位于所述第三连接单元63的外缘位置。
参照图9，所述第三连接单元63在所述第三通孔633以及所述第七通孔637之间还设有第一限位孔661和第二限位孔662，也即所述第三驱动丝43以及所述第七驱动丝53之间设有所述第一限位孔661和所述第二限位孔662，所述第一限位孔661和第二限位孔662可以均临近所述第三通孔633设置。当然，在其他实施例中，所述第一限位孔661和第二限位孔662也可以均临近所述第七通孔637设置，所述第一限位孔661还可以与所述第三通孔633临近设置，所述第二限位孔662与所述第七通孔637临近设置。
所述第三连接单元63在所述第四通孔634以及所述第八通孔638之间还 设有第三限位孔663和第四限位孔664，也即所述第四驱动丝44以及所述第八驱动丝54之间设有所述第三限位孔663和所述第四限位孔664，所述第三限位孔663和第四限位孔664可以均临近所述第四通孔634设置。当然，在其他实施例中，所述第三限位孔663和第四限位孔664也可以均临近所述第八通孔638设置，所述第三限位孔663还可以与所述第四通孔634临近设置，所述第四限位孔664与所述第八通孔638临近设置。
在一实施例中，如图8所示，所述第一驱动丝41与所述第五驱动丝51形成一根连续驱动丝，所述第二驱动丝42与所述第六驱动丝52形成一根连续驱动丝。如图9所示，所述第三驱动丝43与所述第七驱动丝53在一根完整的第一连续驱动丝81上，所述第四驱动丝44与所述第八驱动丝54在一根完整的第二连续驱动丝82上。可以理解的是，所述第三驱动丝43与所述第七驱动丝53实际是属于同一根驱动丝，只不过是同一根驱动丝的不同部分；同样地，所述第四驱动丝44与所述第八驱动丝54实际属于同一根驱动丝，只不过是同一根驱动丝的不同部分。如此，可以用较少数量的驱动丝即可实现所述驱动轴组件11的驱动功能，因此，减少了驱动丝的制造工序。
具体地，所述第一连续驱动丝81包括分别连接所述第三驱动丝43与所述第七驱动丝53的第一连接丝83，所述第一连接丝83的一端与所述第三驱动丝43连接，另一端依次穿过所述第一限位孔661和所述第二限位孔662后与所述第七驱动丝53连接。也即，所述第一连续驱动丝81依次穿过所述第三通孔633、第一限位孔661、第二限位孔662以及第七通孔637，形成“W”型。
所述第二连续驱动丝82包括分别连接所述第四驱动丝44与所述第八驱动丝54的第二连接丝84，所述第二连接丝84的一端与所述第四驱动丝44连接，另一端依次穿过所述第三限位孔663和所述第四限位孔664后与所述第八驱动丝54连接。也即，所述第二连续驱动丝82依次穿过所述第四通孔634、第三限位孔663、第四限位孔664以及第八通孔638，形成“W”型。
在另一实施例中，如图10至图12所示，所述第一驱动丝41、第二驱动丝42、第五驱动丝51以及第六驱动丝52在对应所述连接组件的末端位置为球状结构。所述第三驱动丝43、第四驱动丝44、第七驱动丝53以及第八驱动丝54在对应所述连接组件的末端位置为球状结构。也即，第一驱动丝41、 第二驱动丝42、第五驱动丝51、第六驱动丝52、第三驱动丝43、第四驱动丝44、第七驱动丝53以及第八驱动丝54均为独立的一根驱动丝。如此，减少了驱动丝的安装工序，更方便对驱动丝的安装，从而提高了安装效率。可以理解的是，各个驱动丝的末端球状结构的直径大于各个通孔的直径。
本申请提供的操作臂100以及手术机器人，通过设置直径不同的第一转轴和第二转轴，利用第一组驱动丝4起始于第一转轴并终止于连接组件6的第一位置，第二组驱动丝5起始于第二转轴并终止于连接组件6的第二位置，通过不同驱动丝不同的起始位置和不同的终止位置驱动连接组件6向不同的方向运动不同的幅度，从而实现通过所述第一组驱动丝4和第二组驱动丝5驱动所述末端器械3实现对应自由度方向的运动，进而提高了操作臂100在执行手术操作过程中的灵活度。
以上所述仅为本申请的可选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (20)

  1. 一种操作臂，其特征在于，所述操作臂包括依次连接的驱动盒、连杆、末端器械以及贯穿所述连杆的第一组驱动丝和第二组驱动丝，所述末端器械包括与所述连杆连接的连接组件以及与所述连接组件连接的末端执行器；所述驱动盒包括与所述连杆连接的底座、设于所述底座上的驱动轴组件，所述驱动轴组件包括设于所述底座上的第一转轴以及设于所述第一转轴上并与所述第一转轴同轴旋转的第二转轴；所述第一组驱动丝起始于所述第一转轴，并终止于所述连接组件的第一位置，所述第二组驱动丝起始于所述第二转轴，并终止于所述连接组件的第二位置，所述第一位置为远离所述连杆的位置，所述第二位置为靠近所述连杆的位置，以在所述驱动轴组件转动时，通过所述第一组驱动丝和第二组驱动丝驱动所述末端器械实现对应自由度方向的运动。
  2. 如权利要求1所述的操作臂，其特征在于，所述连接组件包括与所述末端执行器连接的第一连接单元、与所述第一连接单元耦合的第二连接单元、与所述第二连接单元耦合的第三连接单元、与所述第三连接单元耦合的第四连接单元以及一端与所述第四连接单元耦合、另一端与所述连杆连接的第五连接单元；所述第一连接单元的旋转中心轴线与所述第三连接单元的旋转中心轴线平行，所述第二连接单元的旋转中心轴线与所述第四连接单元的旋转中心轴线平行，且所述第一连接单元和所述第二连接单元的旋转中心轴线垂直。
  3. 如权利要求2所述的操作臂，其特征在于，所述驱动轴组件包括俯仰角度驱动轴组件以及摇摆角度驱动轴组件，所述俯仰角度驱动轴组件包括设于底座上的第一粗轴以及设于所述第一粗轴上并与所述第一粗轴同轴旋转的第一细轴，所述第一组驱动丝包括起始于所述第一粗轴上的缠绕方向相反的第一驱动丝和第二驱动丝，以及起始于所述第一细轴上的缠绕方向相反的第三驱动丝和第四驱动丝；
    所述摇摆角度驱动轴组件包括设于底座上的第二粗轴以及设于所述第二 粗轴上并与所述第二粗轴同轴旋转的第二细轴，所述第二组驱动丝包括起始于所述第二粗轴上的缠绕方向相反的第五驱动丝和第六驱动丝，以及起始于所述第二细轴上的缠绕方向相反的第七驱动丝和第八驱动丝。
  4. 如权利要求3所述的操作臂，其特征在于，所述第一驱动丝、第二驱动丝、第五驱动丝以及第六驱动丝终止于所述第一连接单元；所述第三驱动丝、第四驱动丝、第七驱动丝以及第八驱动丝终止于所述第三连接单元。
  5. 如权利要求4所述的操作臂，其特征在于，所述俯仰角度驱动轴组件驱动所述末端器械实现俯仰自由度方向的运动时，所述第一驱动丝的长度变化量等于第一长度变化量与第二长度变化量之和，所述第一长度变化量为所述第一驱动丝在所述第一连接单元与所述第二连接单元之间的部分的长度变化量，所述第二长度变化量为所述第一驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量；
    所述第二驱动丝的长度变化量等于第三长度变化量与第四长度变化量之和，所述第三长度变化量为所述第二驱动丝在所述第一连接单元与所述第二连接单元之间的部分的长度变化量，第四长度变化量为所述第二驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量；
    所述第三驱动丝的第五长度变化量等于所述第四驱动丝的第六长度变化量，所述第五长度变化量为所述第三驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量，所述第六长度变化量为所述第四驱动丝在所述第三连接单元与所述第四连接单元之间的部分的长度变化量。
  6. 如权利要求5所述的操作臂，其特征在于，所述第一长度变化量等于所述第三长度变化量，所述第二长度变化量等于所述第四长度变化量。
  7. 如权利要求5所述的操作臂，其特征在于，所述第一粗轴与所述第一细轴的直径之比，等于所述第一驱动丝的长度变化量与所述第三驱动丝的长度变化量之比；或等于所述第二驱动丝的长度变化量与所述第四驱动丝的长度变化量之比。
  8. 如权利要求4所述的操作臂，其特征在于，所述摇摆角度驱动轴组件驱动所述末端器械实现摇摆自由度方向的运动时，所述第五驱动丝的长度变化量等于第七长度变化量与第八长度变化量之和，所述第七长度变化量为所述第五驱动丝在所述第二连接单元与所述第三连接单元之间的部分的长度变化量，所述第八长度变化量为所述第五驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量；
    所述第六驱动丝的长度变化量等于第九长度变化量与第十长度变化量之和，所述第九长度变化量为所述第六驱动丝在所述第二连接单元与所述第三连接单元之间的部分的长度变化量，所述第十长度变化量为所述第六驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量；
    所述第七驱动丝的第十一长度变化量等于所述第八驱动丝的第十二长度变化量，所述第十一长度变化量为所述第七驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量，所述第十二长度变化量为所述第八驱动丝在所述第四连接单元与所述第五连接单元之间的部分的长度变化量。
  9. 如权利要求8所述的操作臂，其特征在于，所述第七长度变化量等于所述第九长度变化量，所述第八长度变化量等于所述第十长度变化量。
  10. 如权利要求8所述的操作臂，其特征在于，所述第二粗轴与所述第二细轴的直径之比，等于所述第五驱动丝的长度变化量与所述第七驱动丝的长度变化量之比；或等于所述第六驱动丝的长度变化量与所述第八驱动丝的长度变化量之比。
  11. 如权利要求4所述的操作臂，其特征在于，所述第一驱动丝与所述第二驱动丝在所述第一连接单元上围绕所述连杆的轴心相对设置，所述第五驱动丝与所述第六驱动丝在所述第一连接单元上围绕所述连杆的轴心相对设置。
  12. 如权利要求11所述的操作臂，其特征在于，所述第一驱动丝与所述第五驱动丝形成一根连续驱动丝，所述第二驱动丝与所述第六驱动丝形成一根连续驱动丝。
  13. 如权利要求12所述的操作臂，其特征在于，所述第一驱动丝、第二驱动丝、第五驱动丝以及第六驱动丝在对应所述连接组件的末端位置为球状结构。
  14. 如权利要求4所述的操作臂，其特征在于，所述第三驱动丝与所述第四驱动丝在所述第三连接单元上围绕所述连杆的轴心相对设置，所述第七驱动丝与所述第八驱动丝在所述第三连接单元上围绕所述连杆的轴心相对设置。
  15. 如权利要求14所述的操作臂，其特征在于，所述第三驱动丝与所述第七驱动丝在一根完整的第一连续驱动丝上；和/或
    所述第四驱动丝与所述第八驱动丝在一根完整的第二连续驱动丝上。
  16. 如权利要求15所述的操作臂，其特征在于，所述第三连接单元在所述第三驱动丝以及所述第七驱动丝之间还设有第一限位孔和第二限位孔；所述第一连续驱动丝还包括分别连接所述第三驱动丝与所述第七驱动丝的第一连接丝，所述第一连接丝的一端与所述第三驱动丝连接，另一端依次穿过所述第一限位孔和所述第二限位孔后与所述第七驱动丝连接。
  17. 如权利要求15所述的操作臂，其特征在于，所述第三连接单元在所述第四驱动丝以及所述第八驱动丝之间还设有第三限位孔和第四限位孔；所述第二连续驱动丝还包括分别连接所述第四驱动丝与所述第八驱动丝的第二连接丝，所述第二连接丝的一端与所述第四驱动丝连接，另一端依次穿过所述第三限位孔和所述第四限位孔后与所述第八驱动丝连接。
  18. 如权利要求14所述的操作臂，其特征在于，所述第三驱动丝、第四 驱动丝、第七驱动丝以及第八驱动丝在对应所述连接组件的末端位置为球状结构。
  19. 如权利要求14所述的操作臂，其特征在于，所述第一驱动丝与所述第三驱动丝、所述第二驱动丝与所述第四驱动丝、所述第五驱动丝与所述第七驱动丝、所述第六驱动丝与所述第八驱动丝分别临近设置，且所述第三驱动丝、第四驱动丝、第七驱动丝与第八驱动丝相对位于所述第三连接单元的外围位置。
  20. 一种手术机器人，其特征在于，所述手术机器人包括操作臂，所述操作臂包括：
    依次连接的驱动盒、连杆、末端器械以及贯穿所述连杆的第一组驱动丝和第二组驱动丝，所述末端器械包括与所述连杆连接的连接组件以及与所述连接组件连接的末端执行器；所述驱动盒包括与所述连杆连接的底座、设于所述底座上的驱动轴组件，所述驱动轴组件包括设于所述底座上的第一转轴以及设于所述第一转轴上并与所述第一转轴同轴旋转的第二转轴；所述第一组驱动丝起始于所述第一转轴，并终止于所述连接组件的第一位置，所述第二组驱动丝起始于所述第二转轴，并终止于所述连接组件的第二位置，所述第一位置为远离所述连杆的位置，所述第二位置为靠近所述连杆的位置，以在所述驱动轴组件转动时，通过所述第一组驱动丝和第二组驱动丝驱动所述末端器械实现对应自由度方向的运动。
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