WO2021184791A1 - 一种应用于微创手术的蛇形手术机器人 - Google Patents
一种应用于微创手术的蛇形手术机器人 Download PDFInfo
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- WO2021184791A1 WO2021184791A1 PCT/CN2020/129176 CN2020129176W WO2021184791A1 WO 2021184791 A1 WO2021184791 A1 WO 2021184791A1 CN 2020129176 W CN2020129176 W CN 2020129176W WO 2021184791 A1 WO2021184791 A1 WO 2021184791A1
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- Prior art keywords
- joint
- module
- drive
- pulley
- distal
- Prior art date
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- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 title claims abstract description 20
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 238000005452 bending Methods 0.000 claims abstract description 13
- 125000006850 spacer group Chemical group 0.000 claims description 18
- 239000000758 substrate Substances 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 230000001808 coupling effect Effects 0.000 abstract description 4
- 230000001668 ameliorated effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000001356 surgical procedure Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000003042 antagnostic effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001000 nickel titanium Inorganic materials 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
- the invention belongs to the technical field of surgical robots, and more specifically, relates to a snake-shaped surgical robot applied to minimally invasive surgery.
- Minimally invasive surgery refers to a surgical method that uses modern medical instruments and related equipment such as laparoscopy, thoracoscopy, and laryngoscope to perform surgery in the body cavity. Compared with traditional surgery, it has the advantages of less trauma, less pain, and faster recovery.
- the robot In order to meet the flexibility required for surgery and to miniaturize the end effector, the robot generally adopts a rope drive form, placing the bulky driving part outside the body, and driving the end structure in the body through the rope.
- multiple surgical instruments need to enter the body cavity from a single entrance, and the doctor's hands operate the instruments to work together at the same target point. Therefore, the surgical instruments need to be deployed in a triangular shape inside the body cavity.
- the robotic arm includes two continuums, and its positioning structure is a multi-segment continuum. Therefore, there is a problem of insufficient rigidity during surgical operations, which will undoubtedly reduce the motion control accuracy of the robotic arm; in addition, Between two adjacent segments of continuum, the motion of one segment of the continuum will have a coupling effect on the drive of the other segment of continuum, which will also reduce the motion control accuracy of the robotic arm.
- the purpose of the embodiments of the present invention is to provide a serpentine surgical robot applied to minimally invasive surgery, so as to solve the technical problems of insufficient rigidity and low motion control precision of the mechanical arm in the existing surgical robot.
- the technical solution adopted by the present invention is to provide a serpentine surgical robot applied to minimally invasive surgery, including a sliding table module, a pulley module slidably connected to the sliding table module, and A drive module on the pulley module and a mechanical arm connected to the pulley module, the drive module provides power to the mechanical arm through the pulley module;
- the robotic arm includes a surgical actuator, a first joint connected to the surgical actuator and capable of bending movement, and a second joint connected to the first joint and capable of rocking movement, wherein the first joint is a movable joint.
- the second joint is a gear meshing structure.
- the first joint includes a distal vertebra, at least one spacer vertebra, and a proximal vertebra that are rotationally connected in sequence, the distal vertebra is connected to the surgical implement, and the proximal vertebra is connected to the second vertebra. Joint connection
- the first joint further includes a first driving wire for providing traction for the bending movement of the first joint, one end of the first driving wire is fixedly connected to the distal vertebra, and the first driving wire An end away from the distal vertebrae passes through the spacer vertebrae and the proximal vertebrae in turn and is fixedly connected to the pulley module.
- an elastic support for maintaining the shape of the first joint is provided on the first joint, and the elastic support is fixedly connected to the distal vertebra, the spacer vertebra, and the proximal end in sequence On the vertebrae.
- the second joint includes a distal rod, a proximal rod, a first gear pair, and a second gear pair, wherein the distal rod and the proximal rod are rotationally connected, and the A first gear pair is fixed on the distal rod, the second gear pair is fixed on the proximal rod, and the first gear pair and the second gear pair are meshed and connected;
- the second joint further includes a second driving wire for providing traction for the rocking motion of the second joint, one end of the second driving wire is fixedly connected to the distal rod, and the second driving wire The end of the rod away from the distal end passes through the proximal rod and is fixedly connected to the pulley module.
- the mechanical arm further includes a third joint connected to the second joint and capable of rocking motion, and a trunk connected to the third joint and capable of rotating along its own axis, the trunk and the pulley Module connection.
- the structure of the second joint is the same as the structure of the third joint.
- the robot arm is provided with a drive line for providing traction for the motion of the robot arm
- the pulley module includes a lower base plate, a plurality of drive shafts, a plurality of spool shafts, and a plurality of pulley shafts.
- a driving shaft, a plurality of spool shafts, and a plurality of pulley shafts are respectively arranged on the lower substrate, and the driving wire is fixedly connected to the corresponding driving shaft after passing through the corresponding spool shaft and the pulley shaft, respectively,
- the driving module is used to drive a plurality of the driving shafts to rotate.
- the drive shaft includes a drive spindle connected to the drive module, a winding wheel that is rotatably sleeved outside the drive spindle, and a tensioning wheel for restricting the rotation of the winding wheel relative to the drive spindle.
- the drive wire is fixedly connected to the corresponding reel after passing through the corresponding spool shaft and the pulley shaft respectively.
- the drive module includes a plurality of motors, and the output end of each motor is fixedly connected to the corresponding drive shaft through a coupling.
- the sliding table module and the pulley module are detachably connected; and/or,
- the drive module and the pulley module are detachably connected; and/or,
- the pulley module is detachably connected to the mechanical arm.
- the beneficial effects of the serpentine surgical robot provided by the present invention are: the continuum structure has the advantages of compact structure and easy realization of arc-like deformation movement, and the gear meshing structure has better resistance to deformation and reliable stability.
- the present invention adopts The continuum structure and the gear meshing structure cooperate to form a mechanical arm, which can effectively improve the rigidity of the mechanical arm while ensuring the flexible movement and deformability of the end of the mechanical arm, and can also solve or improve the mechanical arm of the existing surgical robot.
- the coupling effect improves the motion control accuracy of the mechanical arm.
- the snake-shaped surgical robot of the present invention has strong operability, which is beneficial for doctors to perform micro-manipulation processing.
- FIG. 1 is a schematic structural diagram of a serpentine surgical robot provided by an embodiment of the present invention
- FIG. 2 is a schematic diagram of the structure of a mechanical arm provided by an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a first joint provided by an embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of a second joint provided by an embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a pulley module provided by an embodiment of the present invention.
- FIG. 6 is a schematic diagram of the structural wiring of a pulley module provided by an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of a second joint drive shaft provided by an embodiment of the present invention.
- FIG. 8 is a schematic diagram of an assembly structure of a pulley module and a driving module provided by an embodiment of the present invention.
- first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present invention, “plurality” means two or more than two, unless otherwise specifically defined.
- an embodiment of the present invention provides a serpentine surgical robot applied to minimally invasive surgery, including a sliding table module 400, a pulley module 200 slidably connected to the sliding table module 400, and The driving module 300 on the pulley module 200 and the robot arm 100 connected to the pulley module 200.
- the driving module 300 provides power to the robot arm 100 through the pulley module 200.
- the robot arm 100 is used to perform clamping, cutting, and stitching. Wait for surgical operation;
- the robotic arm 100 includes a surgical actuator 110, a first joint 120 connected to the surgical actuator 110 at one end and capable of bending movement, and a second joint 130 connected to the end of the first joint 120 away from the surgical actuator 110 and capable of swinging movement.
- the first joint 120 is a continuously deformable continuum structure
- the second joint 130 is a gear meshing structure.
- the sliding table module 400 slides on the sliding table module 400 and drives the mechanical arm 100 to move together, so that the mechanical arm 100 extends into the natural or artificial cavity.
- the driving module 300 drives the first joint 120 and the second joint 130 to deform through the pulley module 200 to adapt to the shape of the cavity.
- the driving module 300 drives the operation through the pulley module 200 Compared with traditional surgical methods, the actuator 110 performs surgical operations and has the advantages of less trauma, less pain, and faster recovery.
- the beneficial effects of the serpentine surgical robot in the embodiment of the present invention are: the continuum structure has the advantages of compact structure and easy realization of arc-like deformation movement, and the gear meshing structure has better resistance to deformation and reliable stability.
- the present invention The continuum structure and the gear meshing structure cooperate to form the robotic arm 100, which can effectively improve the rigidity of the robotic arm 100 while ensuring the flexible movement and deformability of the end of the robotic arm 100, and can also solve or improve the existing surgical robot
- the coupling effect of the robotic arm 100 improves the motion control accuracy of the robotic arm 100.
- the serpentine surgical robot according to the embodiment of the present invention has strong operability and can meet the requirements of single-hole minimally invasive surgery or natural surgery. The requirements of cavity surgery are conducive to the doctor's micro-manipulation processing.
- the manipulator 100 is connected to the pulley module 200 by a rope drive.
- the manipulator 100 is provided with a plurality of drive wires 160 for providing traction for the deformation movement of the robotic arm 100, one end of each drive wire 160 is fixedly connected to the corresponding joint on the robotic arm 100, and the other end is fixedly connected to the pulley module 200,
- the driving module 300 adjusts the posture of the robot arm 100 through the pulley module 200 retracting and retracting the driving line 160.
- the mechanical arm 100 of the embodiment of the present invention has a compact structure, and realizes the miniaturization of the mechanical arm 100, so that the mechanical arm 100 meets the use requirements of minimally invasive surgery.
- the drive wire 160 can be a nickel-titanium alloy wire or a steel wire.
- the drive wire 160 can also be made of other materials, as long as the drive wire 160 can be used to provide traction. The present invention does not do it here. Special restrictions.
- the first joint 120 includes a distal vertebra 121, at least one spacer vertebra 122, and a proximal vertebra 123 that are rotationally connected in sequence, that is, the distal vertebra 121 and the proximal vertebra 121 At least one spacer vertebra 122 is provided between the end vertebrae 123.
- the distal vertebra 121, the spacer vertebra 122, and the proximal vertebra 123 can swing relative to each other.
- the joint 120 also includes a first driving line 161 for providing traction for the bending movement of the first joint 120.
- the first driving line 161 is the driving line 160 corresponding to the first joint 120 of the robot arm 100, and the first driving line 161 is One end is fixedly connected to the distal vertebra 121, and the end of the first driving wire 161 away from the distal vertebra 121 passes through the spacer vertebra 122 and the proximal vertebra 123 in turn, and then is fixedly connected to the pulley module 200.
- the driving module 300 can retract the first driving wire 161 through the pulley module 200, so as to adjust the bending posture of the first joint 120.
- the first joint 120 is provided with an elastic support 124 for maintaining the shape of the first joint 120, and the elastic support 124 is fixedly connected to the distal vertebrae in turn. 121.
- the rigidity of the first joint 120 can be enhanced, so that the robotic arm 100 can have sufficient rigidity during surgery. It is convenient for doctors to manipulate.
- the elastic support 124 may be disposed inside the first joint 120, that is, the elastic support 124 sequentially passes through the distal vertebra 121, at least one spacer vertebra 122, and the proximal vertebra 123, the elastic support 124 and It is fixedly connected to the distal vertebra 121, the spacer vertebra 122, and the proximal vertebra 123.
- the elastic support 124 can also be arranged outside the first joint 120 according to the selection of the actual situation, and the present invention is not limited here.
- the elastic support 124 is an elastic support wire.
- a plurality of elastic support wires are provided on the first joint 120, and the plurality of elastic support wires are arranged in the circumferential direction. Evenly arranged in the first joint 120, that is, a plurality of elastic support wires are uniformly arranged in the distal vertebra 121, at least one spacer vertebra 122, and the proximal vertebra 123 in the circumferential direction.
- the cooperation of the plurality of elastic support wires can make the first The various components of the joint 120 always keep in contact, and the stiffness distribution at the first joint 120 is even.
- the shape of the elastic support 124 can also be adjusted appropriately according to the selection of the actual situation.
- the elastic support 124 can also be set in a tubular structure. In this structure, the elastic support 124 can be sleeved on the first The joint 120 is internally or sleeved on the outside of the first joint 120.
- the elastic support wire can be a nickel-titanium alloy wire or a steel wire.
- the elastic support wire can also be selected from other materials, as long as the elastic support wire can improve the rigidity of the first joint 120, the present invention is This is not particularly limited.
- the second joint 130 includes a distal rod 131, a proximal rod 132, a first gear pair 133, and a second gear pair 134, wherein the far One end of the end rod 131 is fixedly connected with the end of the proximal vertebra 123 away from the spacer vertebra 122, the end of the distal rod 131 away from the proximal vertebra 123 and the end of the proximal rod 132 are rotatably connected, and the first gear pair 133 Fixed on the distal rod 131, the second gear pair 134 is fixed on the proximal rod 132, the first gear pair 133 and the second gear pair 134 are meshed and connected; the second joint 130 also includes a second joint 130
- the second drive line 162 that provides traction for the rocking motion of the robot arm 100 is the drive line 160 corresponding to the second joint 130 of the robot arm 100.
- One end of the second drive line 162 is fixedly connected to the distal rod 131, One end of the two driving wires 162 away from the distal rod 131 passes through the proximal rod 132 and then is fixedly connected to the pulley module 200.
- the driving module 300 can retract the second driving wire 162 through the pulley module 200, so as to adjust the swing posture of the second joint 130.
- the distal rod 131 and the proximal rod 132 swing relatively.
- the first gear pair 133 on the distal rod 131 and the proximal rod 132 are
- the second gear pair 134 meshes and rotates, which can accurately adjust the swing posture of the second joint 130.
- the second joint 130 further includes a fixed disk 135 arranged between the distal rod 131 and the proximal rod 132, and the end of the distal rod 131 away from the proximal vertebra 123 is rotatably connected.
- the fixed disk 135 one end of the proximal rod 132 is rotatably connected to the fixed disk 135, so as to realize the rotational connection between the distal rod 131 and the proximal rod 132.
- one end of the second drive wire 162 is fixedly connected to the distal rod 131, and the end of the second drive wire 162 away from the distal rod 131 passes through the fixed plate 135 and the proximal rod 132 in turn before being connected to the The pulley module 200 is fixedly connected.
- the robotic arm 100 further includes a third end connected to the proximal rod 132 at an end far from the distal rod 131 and capable of swinging motion.
- the joint 140 and the torso 150 whose one end is connected to the end of the third joint 140 away from the proximal rod 132 and can rotate along its own axis.
- the end of the torso 150 away from the third joint 140 is connected to the pulley module 200, thereby improving
- the degree of freedom of the robotic arm 100 facilitates the robotic arm 100 to extend into the cavity for surgical operations.
- the structure of the second joint 130 is the same as the structure of the third joint 140, and the third joint 140 also includes corresponding distal rods 131, The fixed plate 135, the proximal rod 132, the first gear pair 133, the second gear pair 134, and the drive line 160 (third drive line 163) used to provide traction for the rocking motion of the second joint 130 are not repeated here.
- the specific structure of the third joint 140 will be described in detail.
- one end of the distal rod 131 of the third joint 140 away from the fixing plate 135 of the third joint 140 is fixedly connected to the proximal rod 132 of the second joint 130, which is away from the fixing plate of the second joint 130.
- One end of 135, an end of the proximal rod 132 of the third joint 140 away from the fixing plate 135 of the third joint 140 is fixedly connected to the end of the trunk 150 away from the pulley module 200.
- joints capable of rocking or bending motion can be added between the third joint 140 and the torso 150, and the added joints can adopt the structure of the first joint 120 or the second joint 130 to realize the joints.
- the swaying motion or bending motion is not limited in the present invention.
- the pulley module 200 includes an upper substrate 210 and a lower substrate 250 that are disposed oppositely.
- the lower substrate 250 is slidably connected to the slide module 400, and the pulley
- the module 200 also includes a plurality of drive shafts 220, a plurality of spool shafts 230, and a plurality of pulley shafts 240, which are respectively provided on the upper substrate 210 and the lower substrate 250 at both ends, wherein the spool shaft 230 and the pulley shaft 240 respectively rotate sleeves.
- a pulley is provided, and the drive line 160 is fixedly connected to the corresponding drive shaft 220 after passing through the pulley of the corresponding spool 230 and the pulley of the pulley shaft 240 respectively, and the drive module 300 is used to drive a plurality of drive shafts 220 to rotate.
- the pulleys corresponding to different drive lines 160 are staggered and arranged in a direction parallel to the spool 230 (or pulley shaft 240), and there is no collision and friction between the drive lines 160, so that the drive lines 160 can be smoothly arranged.
- the sliding transfer of traction force effectively improves the motion control accuracy of the robotic arm 100.
- the axial direction of the trunk 150 is defined as the first direction
- the plurality of pulley shafts 240 are divided into two sets of opposed pulley shafts 240, and each set of pulley shafts 240 is included in the first direction.
- the two first pulley shafts 241, the second pulley shaft 242, and the third pulley shaft 243 are arranged in sequence upward;
- the drive shaft 220 includes two first pulley shafts arranged in sequence in the first direction and arranged between the two sets of pulley shafts 240.
- the spool shaft 230 specifically includes two sets of pulley shafts respectively.
- each first drive line 161 passes through the corresponding first spool 231 and the first pulley shaft 241 in turn, and then is fixed on the first drive shaft 221
- Each second drive line 162 passes through the corresponding second spool shaft 232 and the second pulley shaft 242 in turn and then is fixed on the second drive shaft 222
- each third drive line 163 passes through the corresponding second spool shaft 232 and the second pulley shaft in turn.
- the three-pulley shaft 243 is then fixed on the third drive shaft 223, and the drive module 300 drives the corresponding drive shaft 220 to rotate to realize the retracting and retracting of the drive line 160, thereby adjusting the deformation of the corresponding part of the mechanical arm 100.
- first drive wires 161 are provided on the first joint 120, that is, two pairs of first drive wires 161 are provided on the first joint 120; in each pair of first drive wires 161, two first drive wires The end of the wire 161 away from the distal vertebra 121 is fixedly connected to the same first drive shaft 221 through the corresponding first spool 231 and the first pulley shaft 241, that is, two of the first drive wires 161 in each pair are fixedly connected to the same first drive shaft 221.
- the first drive wires 161 are arranged on the pulley module 200 in an antagonistic manner. The two first drive wires 161 of each pair of first drive wires 161 will not collide or rub against each other.
- the two pairs of first drive wires 161 are respectively It is used to control the bending movement of the first joint 120 in different directions, so that the first joint 120 in the embodiment of the present invention has two degrees of freedom.
- the two first drive lines 161 are controlled by one first drive shaft 221 to control the retracting, which can reduce the number of pulleys, spools 230 and drive shafts 220, so that the pulley module 200 and the drive module 300 are miniaturized. , And can streamline the control algorithm, effectively improve the accuracy of motion control. It can be understood that, according to the actual selection, in order to adjust the degree of freedom of the first joint 120, the number of the first driving lines 161 on the first joint 120 can be appropriately adjusted, and the present invention is not limited herein.
- two second drive wires 162 are provided on the second joint 130, that is, a pair of second drive wires 162 are provided on the second joint 130, and the two second drive wires 162 of the second joint 130 are far away from the distal end
- One end of the rod 131 is fixedly connected to the same second drive shaft 222 through the corresponding second spool shaft 232 and the second pulley shaft 242 respectively, and the two second drive wires 162 of the second joint 130 are arranged in an antagonistic manner to On the pulley module 200, the two second drive wires 162 will not collide or rub against each other.
- the two second drive wires 162 are used to control the swing movement of the second joint 130 in the same direction, so that the first The two joint 130 has one degree of freedom.
- the two second drive lines 162 are controlled by one second drive shaft 222 to control the retracting, which can reduce the number of pulleys, the spool 230 and the drive shaft 220, so that the pulley module 200 and the drive module 300 are miniaturized. And it can streamline the control algorithm and effectively improve the accuracy of motion control. It can be understood that, according to the actual selection, in order to adjust the degree of freedom of the second joint 130, the number of the second drive lines 162 on the second joint 130 can be appropriately adjusted, and the present invention is not limited herein.
- two third drive wires 163 are provided on the third joint 140, that is, a pair of third drive wires 163 are provided on the third joint 140, and the two third drive wires 163 of the third joint 140 are far away from the distal end.
- One end of the rod 131 is fixedly connected to the same third drive shaft 223 through the corresponding second spool shaft 232 and the third pulley shaft 243, and the two third drive wires 163 of the third joint 140 are arranged in an antagonistic manner.
- the two third drive wires 163 will not collide and rub against each other.
- the two third drive wires 163 are used to control the swing movement of the third joint 140 in the same direction, so that the The three joint 140 has one degree of freedom.
- the two third drive wires 163 are controlled by a third drive shaft 223 to control the retracting, which can reduce the number of pulleys, the spool 230 and the drive shaft 220, so that the pulley module 200 and the drive module 300 are miniaturized. And it can streamline the control algorithm and effectively improve the accuracy of motion control. It can be understood that, according to the actual selection, in order to adjust the degree of freedom of the third joint 140, the number of the third drive lines 163 on the third joint 140 can be appropriately adjusted, and the present invention is not limited herein.
- the surgical implement 110 may be a clamp with an opening and closing function, and the clamp includes a piece for providing the opening and closing movement of the clamp.
- the fourth drive line 164 of traction that is, the clamp has one degree of freedom.
- the spool 230 also includes a third spool 233, and the drive shaft 220 also includes a fourth drive shaft 224.
- One end of the fourth drive line 164 is fixedly connected to the clamp.
- the other end of the fourth drive line 164 passes through the corresponding third spool 233 and then fixedly connected to the fourth drive shaft 224.
- the drive module 300 drives the fourth drive shaft 224 to rotate to realize the retracting and retracting of the fourth drive line 164. , So that the clamp can open and close.
- the drive shaft 220 further includes a rotary drive shaft 225
- the trunk 150 is provided with two rotary drive wires 165
- one end of the rotary drive wire 165 is fixed Connected to the torso 150
- the other end of the rotation driving wire 165 is directly fixedly connected to the rotation driving shaft 225
- the two rotation driving wires 165 are used to control the rotation of the torso 150, so that the torso 150 has a degree of freedom.
- other methods such as adopting bevel gears can also be used to drive the torso 150 to rotate, and the present invention is not limited herein.
- the robot arm 100 is provided with a guide channel corresponding to each drive wire 160, and each drive wire 160 is fixedly connected to the pulley module 200 after passing through the corresponding guide channel. There is collision and friction, so that the drive line 160 can smoothly transmit the traction force, which effectively improves the motion control accuracy of the robot arm 100.
- the drive shaft 220 includes a drive spindle 2201 connected to the drive module 300, a winding wheel 2202 rotatingly sleeved outside the drive spindle 2201, and a restrictor
- the winding wheel 2202 rotates the fastener 2203 relative to the driving spindle 2201
- the driving wire 160 is fixedly connected to the corresponding winding wheel 2202 after passing through the corresponding spool 230 and the pulley shaft 240
- the driving module 300 is connected to the driving spindle 2201 , So that the driving module 300 can drive the driving spindle 2201 to rotate, and at the same time drive the corresponding winding wheel 2202 to rotate, so as to retract and retract the driving wire 160.
- the reel 2202 can be rotated relative to the drive spindle 2201 until the drive wire 160 is fully tensioned, and the fastener 2203 is used to restrict the reel 2202 from rotating relative to the drive spindle 2201.
- the fastener 2203 can be a set screw.
- the set screw is passed through the winding wheel 2202 and then inserted into the drive spindle 2201.
- the fastener 2203 may also have other structures, and the present invention is not limited herein.
- the driving module 300 includes a motor board 310 fixedly connected to the upper substrate 210 and a plurality of motors 320 fixedly connected to the motor board 310, each The output end of the motor 320 is fixedly connected to the corresponding drive shaft 220 (drive spindle 2201) through the coupling 330, so that each drive shaft 220 can be driven individually, namely the surgical actuator 110, the first joint 120, and the second joint 130, the third joint 140, and the trunk 150 can be driven separately.
- the number of pulleys, the spooling shaft 230 and the driving shaft 220 of the embodiment of the present invention are less, and the number of the corresponding motors 320 is also less, so that the driving module 300 is miniaturized.
- the sliding table module 400 and the pulley module 200 are detachably connected; and/or, the driving module 300 and the pulley module 200 are detachably connected; and/or, the pulley module 200 and the robot arm 100 are detachably connected .
- the serpentine surgical robot in the embodiment of the present invention can be disassembled to facilitate maintenance or cleaning and disinfection.
- the surgical actuator 110 of the robotic arm 100 can open and close, that is, the surgical actuator 110 has one degree of freedom; the first joint 120 can perform bending movements in two directions, that is, the first joint 120 can perform bending movement in two directions.
- the joint 120 has two degrees of freedom; the second joint 130 and the third joint 140 can respectively perform rocking motions, that is, the second joint 130 and the third joint 140 have one degree of freedom; the trunk 150 can rotate in its axial direction, that is, the trunk 150 has one degree of freedom; the pulley module 200 is slidably connected to the sliding table module 400, and the pulley module 200 can drive the entire robot arm 100 to move when sliding relative to the sliding table module 400, that is, the robot arm 100 also has a degree of freedom.
- the robotic arm 100 of the embodiment of the present invention has seven degrees of freedom, so that the doctor can operate the robotic arm 100 to perform surgical operations such as clamping, cutting, and suturing.
Abstract
Description
Claims (10)
- 一种应用于微创手术的蛇形手术机器人,其特征在于,包括滑台模组、滑动连接于所述滑台模组上的滑轮模组、设于所述滑轮模组上的驱动模组以及与所述滑轮模组连接的机械臂,所述驱动模组通过所述滑轮模组为所述机械臂提供动力;所述机械臂包括手术执行器、与所述手术执行器连接且能弯曲运动的第一关节以及与所述第一关节连接且能摇摆运动的第二关节,其中,所述第一关节为可连续变形的连续体结构,所述第二关节为齿轮啮合结构。
- 如权利要求1所述的应用于微创手术的蛇形手术机器人,其特征在于,所述第一关节包括依次转动连接的远端椎骨、至少一个间隔椎骨以及近端椎骨,所述远端椎骨与所述手术执行器连接,所述近端椎骨与所述第二关节连接;所述第一关节还包括用于为所述第一关节的弯曲运动提供牵引力的第一驱动线,所述第一驱动线的一端与所述远端椎骨固定连接,所述第一驱动线的远离所述远端椎骨的一端依次穿过所述间隔椎骨和所述近端椎骨后与所述滑轮模组固定连接。
- 如权利要求2所述的应用于微创手术的蛇形手术机器人,其特征在于,所述第一关节上设有用于保持所述第一关节的形状的弹性支撑件,所述弹性支撑件依次固定连接于所述远端椎骨、所述间隔椎骨及所述近端椎骨上。
- 如权利要求1所述的应用于微创手术的蛇形手术机器人,其特征在于,所述第二关节包括远端杆件、近端杆件、第一齿轮副、第二齿轮副,其中,所述远端杆件和所述近端杆件转动连接,所述第一齿轮副固定于所述远端杆件上,所述第二齿轮副固定于所述近端杆件上,所述第一齿轮副和所述第二齿轮副啮合连接;所述第二关节还包括用于为所述第二关节的摇摆运动提供牵引力的第二驱动线,所述第二驱动线的一端与所述远端杆件固定连接,所述第二驱动线的远离所述远端杆件的一端穿过所述近端杆件后与所述滑轮模组固定连接。
- 如权利要求1所述的应用于微创手术的蛇形手术机器人,其特征在于,所述机械臂还包括与所述第二关节连接且能摇摆运动的第三关节以及与所述第三关节连接且能沿自身轴向转动的躯干,所述躯干与所述滑轮模组连接。
- 如权利要求5所述的应用于微创手术的蛇形手术机器人,其特征在于,所述第二关节的结构与所述第三关节的结构相同。
- 如权利要求1-6任一项所述的应用于微创手术的蛇形手术机器人,其特征在于,所述机械臂上设有用于为所述机械臂的运动提供牵引力的驱动线,所述滑轮模组包括下基板、多个驱动轴、多个分线轴和多个滑轮轴,多个驱动轴、多个分线轴和多个滑轮轴分别设于所述下基板上,所述驱动线分别经过对应的所述分线轴和所述滑轮轴后固定连接于对应的所述驱动轴,所述驱动模组用于驱动多个所述驱动轴转动。
- 如权利要求7所述的应用于微创手术的蛇形手术机器人,其特征在于,所述驱动轴包括与所述驱动模组连接的驱动主轴、转动套设于所述驱动主轴外的绕线轮以及用于限制所述绕线轮相对所述驱动主轴转动的紧固件,所述驱动线分别经过对应的所述分线轴和所述滑轮轴后固定连接于对应的所述绕线轮上。
- 如权利要求7所述的应用于微创手术的蛇形手术机器人,其特征在于,所述驱动模组包括多个电机,每一所述电机的输出端通过联轴器与对应的所述驱动轴固定连接。
- 如权利要求1-6任一项所述的应用于微创手术的蛇形手术机器人,其特征在于,所述滑台模组与所述滑轮模组可拆卸连接;和/或,所述驱动模组与所述滑轮模组可拆卸连接;和/或,所述滑轮模组与所述机械臂可拆卸连接。
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