WO2022000709A1 - Outil d'actionnement de robot chirurgical mini-invasif - Google Patents

Outil d'actionnement de robot chirurgical mini-invasif Download PDF

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Publication number
WO2022000709A1
WO2022000709A1 PCT/CN2020/108218 CN2020108218W WO2022000709A1 WO 2022000709 A1 WO2022000709 A1 WO 2022000709A1 CN 2020108218 W CN2020108218 W CN 2020108218W WO 2022000709 A1 WO2022000709 A1 WO 2022000709A1
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WO
WIPO (PCT)
Prior art keywords
elastic joint
joint
minimally invasive
invasive surgical
driving
Prior art date
Application number
PCT/CN2020/108218
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English (en)
Chinese (zh)
Inventor
王树新
胡振璇
李进华
李建民
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天津大学
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Application filed by 天津大学 filed Critical 天津大学
Publication of WO2022000709A1 publication Critical patent/WO2022000709A1/fr

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • 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

Definitions

  • the present disclosure relates to the field of minimally invasive surgical robots, in particular to a minimally invasive surgical robot operating tool with variable stiffness and degrees of freedom.
  • Minimally invasive surgical tools have many advantages, such as small surgical wound, less blood loss, fast recovery time and good cosmetic effect.
  • Traditional minimally invasive surgical tools are mostly long straight rods, held by doctors and inserted through tiny wounds in the thoracic cavity, abdominal cavity or other parts, and cooperate with medical endoscopes to complete the surgical operation under the monitor screen.
  • Surgery through the natural orifice of the human body requires the surgical tool to have a high degree of flexibility to adapt to the narrow, curved and variable orifice of the human body, so the surgical tools are mostly flexible tools.
  • the lack of effective surgical tools limits the popularization and application of this surgical model.
  • Rigid straight rod surgical tools have high rigidity, large operating force, and precise movement, but they are difficult to pass through the narrow, curved and changeable cavity of the human body, and the movement and operation space are limited, so they cannot adapt to the natural cavity of the human body.
  • Flexible surgical tools can adapt to the narrow cavities of the human body, but they are more flexible and less rigid, so it is difficult to provide a large operating force.
  • the current minimally invasive surgical robotic tools only have a fixed degree of freedom and operation space, few tools with variable stiffness, and the stiffness transition process takes a long time, which is not suitable for surgical operations.
  • One aspect of the present disclosure provides a minimally invasive surgical robotic manipulation tool, comprising:
  • An end effector connected to a torsion-resistant flexible shaft
  • the first end of the joint mechanism is connected with the end effector and the active elastic joint at the same time, and the active elastic joint is located between the joint mechanism and the end effector;
  • a passive elastic joint the first end of the passive elastic joint is connected with the second end of the joint mechanism, and the second end of the passive elastic joint is connected with the first end of the flexible multi-lumen tube;
  • the adjusting joint mechanism makes the active elastic joint and the / or passive elastic joints in a rigid or elastic state;
  • the driving component is connected with the second end of the flexible multi-lumen tube; the driving component drives the end effector to perform opening, closing and rotating motions through the anti-torsion flexible shaft; the driving component drives the active elastic joint to perform bending motion.
  • the joint mechanism includes:
  • the inner layer tube is sleeved on the torsion-resistant flexible shaft; the inner layer tube is provided with a first fluted structure;
  • the outer layer tube is sleeved on the inner layer tube; the outer layer tube is provided with a second fluted structure;
  • the first corrugated structure is opposite to the second corrugated structure, and the joint mechanism is in a flexible state; the inner tube rotates around the axis or translates along the axis, the first corrugated structure and the first corrugated structure are in a flexible state.
  • the two-flute structure produces a phase difference, and the joint mechanism is in a rigid state.
  • the flute shapes of the first flute structure and the second flute structure are the same or different.
  • both the active elastic joint and the passive elastic joint include at least one elastic joint unit; and the degrees of freedom of each of the active elastic joint and each of the passive elastic joints are variable.
  • each elastic joint unit is provided with a channel hole.
  • the end effector further includes:
  • the two opening and closing clamps are connected by a clamp fixing pin, so that the two opening and closing clamps are rotated around the clamp fixing pin;
  • the chute has an included angle;
  • a pull rod the first end of the pull rod is connected with the sliding pin, the second end of the pull rod is connected with the anti-torsion flexible shaft, the pull rod drives the sliding pin to slide in the chute, so that the two The opening and closing clamp rotates around the clamp fixing pin to perform the opening and closing movement.
  • the end effector further includes:
  • a slewing seat sleeved on the slewing bearing, and the slewing bearing drives the slewing seat to rotate;
  • the anti-torsion flexible shaft rotates around the axis, and drives the opening and closing clamp, the clamp fixing pin, the tie rod, the swivel seat and the slew bearing to rotate around the support seat.
  • the drive assembly includes:
  • a driving member which is penetrated through the active elastic joint, the passive elastic joint and the channel hole provided in the flexible multi-lumen tube, and the driving member is connected with the active elastic joint;
  • the driving mechanism is connected with the robot driving system through the driving joint, the driving mechanism drives the driving member to expand and contract, and the driving member drives the active elastic joint to bend and move.
  • the driving member is a driving wire and/or an elastic driving rod.
  • the active elastic joint and the passive elastic joint are spring mechanisms with rectangular cross-sections.
  • FIG. 1 is a schematic diagram of the overall structure of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • FIG. 2 is a schematic cross-sectional view of an end effector of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • FIG. 3 is a schematic diagram of a joint of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • FIG. 4 is a schematic partial cross-sectional view of a joint mechanism of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • FIG. 5 is a schematic cross-sectional view of an elastic joint unit of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • 6a and 6b are schematic diagrams showing the flexible state of the variable stiffness flute mechanism of the minimally invasive surgical robot operating tool according to the disclosed embodiment
  • FIG. 7a and 7b are schematic diagrams of the rigid state of the variable-rigidity flute mechanism of the minimally invasive surgical robot operating tool according to the disclosed embodiment
  • FIG. 8a is a schematic diagram of a passive elastic joint of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • FIG. 8b is a schematic structural diagram of a first groove of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • FIG. 8c is a schematic structural diagram of a second groove of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure.
  • 9a and 9b are schematic diagrams of the groove structure of the minimally invasive surgical robot operating tool according to the disclosed embodiment
  • 10a, 10b, 10c, and 10d are schematic diagrams of states of changing degrees of freedom of a minimally invasive surgical robot operating tool according to an embodiment of the present disclosure
  • 11a is a schematic diagram of a flexible motion model of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • 11b is a schematic diagram of a rigid motion model of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • 12a and 12b are three-dimensional schematic diagrams of joints of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure
  • 100-End effector 101a, 101b-Opening and closing clamp, 102-Clamp fixing pin, 103-Slide groove, 104-Tie rod, 105-Sliding pin, 106-Rotary bearing, 107-Support seat, 108-Rotary seat , 200-active elastic joint, 201, 202, 203-elastic joint unit, 201a-channel hole, 300-passive elastic joint, 400-joint mechanism, 401a-first fluted structure, 401b-second fluted structure, 500 - Torsion resistant flexible shaft, 600 - drive mechanism, 601 - drive joint, 700 - flexible multi-lumen tube.
  • the present disclosure provides a minimally invasive surgical robot operating tool, comprising: an end effector, an active elastic joint, a joint mechanism, a passive elastic joint and a drive assembly; the end effector is connected with a torsion-resistant flexible shaft; the first end of the joint mechanism is simultaneously connected to The end effector is connected with the active elastic joint, and the active elastic joint is located between the joint mechanism and the end effector; the first end of the passive elastic joint is connected with the second end of the joint mechanism, and the passive elastic joint
  • the second end of the joint is connected with the first end of the flexible multi-lumen tube; the driving component is connected with the second end of the flexible multi-lumen tube; the driving component drives the end effector to open, close and rotate through a torsion-resistant flexible shaft; the The drive assembly drives the active elastic joint to perform a bending motion.
  • the minimally invasive surgical robot operating tool provided in the present disclosure has variable stiffness and degrees of freedom, is easy to adjust, can meet different surgical operation requirements, and has a wide range of applications.
  • FIG. 1 is a schematic diagram of the overall structure of a minimally invasive surgical robot operating tool according to an embodiment of the present disclosure.
  • the minimally invasive surgical robot manipulation tool of the present disclosure includes: an end effector 100 , an active elastic joint 200 , a passive elastic joint 300 , a joint mechanism 400 , a torsion-resistant flexible shaft 500 , a flexible multi-lumen tube 700 and a drive assembly.
  • the active elastic joint 200 is connected with the end effector 100 .
  • the passive elastic joint 300 can pass through the curved channel and has a rebound function, and the passive elastic joint 300 maintains a vertical state without external constraints.
  • the active elastic joint 200 and the passive elastic joint 300 are connected by a joint structure.
  • the active elastic joint 200 and the passive elastic joint 300 are connected through a joint mechanism 400 .
  • the torsion-resistant flexible shaft 500 is connected to the end effector 100 , and the torsion-resistant flexible shaft 500 drives the end effector 100 to rotate, open and close.
  • the drive assembly is connected to the second end of the flexible multi-lumen tube 700; the drive assembly drives the end effector 100 to open, close and rotate through the torsion-resistant flexible shaft 500; the drive assembly drives the active elastic joint 200 to bend.
  • the driving assembly includes: a driving member and a driving mechanism 600 .
  • the driving mechanism 600 is connected to the robot driving system through the driving joint 601 , and drives the driving member to extend and retract, thereby driving the active elastic joint 200 to bend and move.
  • the driving member passes through the active elastic joint 200 , the passive elastic joint 300 and the channel hole 201 a provided in the flexible multi-lumen tube 700 , and the driving member is connected to the active elastic joint 200 .
  • the driving member is a driving wire, an elastic driving rod, etc., which will not be exemplified here.
  • the end effector 100 includes: an opening and closing clamp 101a, an opening and closing clamp 101b, a clamp fixing pin 102, a pull rod 104; a sliding pin 105; a slewing bearing 106; specific,
  • the opening and closing clamp 101a and the opening and closing clamp 101b are used for holding biological tissue, and the opening and closing clamp can be any form of surgical forceps, scissors or other required surgical end functional instruments.
  • the clamp fixing pin 102 is used to fix the two pieces of opening and closing clamps 101a and 101b, and make the two pieces of opening and closing clamps 101a and 101b rotate around the clamp fixing pin 102 to form an opening and closing movement;
  • the opening and closing clamps 101a and 101b are provided with sliding grooves 103, and there is an included angle between the sliding grooves 103 on the two opening and closing clamps 101a and 101b.
  • the anti-torsion flexible shaft 500 is fixedly connected with the pull rod 104 , the anti-torsion flexible shaft 500 pulls the pull rod 104 , and the pull rod 104 is connected with the sliding pin 105 to drive the sliding pin 105 to slide in the chute 103 , and the pull rod 104
  • the reciprocating movement along the axis drives the opening and closing clamps 101a and 101b to rotate around the clamp fixing pin 102 to form an opening and closing movement.
  • the support seat 107 is connected with the second groove structure 401b at the first end of the joint mechanism 400; the slewing bearing 106 is sleeved on the support seat 107; the slewing seat 108 is sleeved on the slewing bearing 106 to drive the slewing seat 108 rotates; the anti-torsion flexible shaft 500 rotates around the axis, driving the opening and closing clamp 101a, the opening and closing clamp 101b, the clamp fixing pin 102, the pull rod 104, the swivel seat 108 and the The slewing bearing 106 rotates around the support base 107 .
  • FIG. 3 is a schematic diagram of a joint of a minimally invasive surgical robot operating tool according to the disclosure.
  • the active elastic joint 200 is a spring with a rectangular section (as shown in FIG. 5 ), and includes at least one elastic joint unit. This embodiment is described by taking the structure of the active elastic joint 200 having three elastic joint units as an example, as shown in FIG. 3 .
  • the elastic joint unit 201 , the elastic joint unit 202 and the elastic joint unit 203 are shown.
  • the elastic joint unit 201 is provided with a channel hole 201a, and the channel hole 201a passes through a driving wire or an elastic driving rod; Similar to the elastic joint units 201, all the elastic joint units are provided with channel holes 201a, such as the elastic joint units 202 and 203 in FIG. 3 .
  • the passive elastic joint 300 is a spring with a rectangular cross-section and is provided with a channel hole 201 a .
  • the layout of the channel hole 201 a of the passive elastic joint 300 is the same as the channel hole 201 a of the active elastic joint 200 .
  • the flexible multi-lumen tube 700 can be bent in any direction, and the curvature changes smoothly with the human body cavity.
  • the flexible multi-lumen tube 700 is provided with a channel hole 201 a, and the channel hole 201 a of the flexible multi-lumen tube 700 has the same layout as the channel hole 201 a of the active elastic joint 200 or the passive elastic joint 300 .
  • the joint mechanism 400 is specifically a variable stiffness elastic fluted mechanism in this embodiment.
  • the joint structure 400 includes: an inner layer tube and an outer layer tube sleeved outside the inner layer tube.
  • the inner layer tube is provided with a first flute structure 401a
  • the outer layer tube is provided with a second flute structure 401b.
  • the first flute structure 401a and the second flute structure 401b have the same or different flutes.
  • the present disclosure takes the orthogonal rectangular flutes as an example for illustration, as shown in FIG. 8 .
  • the shape of the flutes can be other shapes, such as spiral flutes, C-shaped flutes, etc., as shown in FIG. 9 .
  • the joint mechanism 400 When the grooves of the first grooved structure 401a and the second grooved structure 401b are aligned, the joint mechanism 400 is in a flexible state and can be elastically bent, and the active elastic joint 200 can be driven by the driving mechanism 600 to generate bending motion in all directions, so as to meet the needs of more
  • the need for high-flexibility surgical operations is shown in Figure 6.
  • the first flute structure 401a rotates around the axis or translates along the axis, so that the first flute structure 401a and the second flute structure 401b have a phase difference between the flutes, so that the stiffness of the joint mechanism 400 changes and is in a rigid state, so as to meet the needs of more
  • the surgical operation requirements of large operating force are shown in Figure 7.
  • the joint mechanism 400 becomes a rigid state, and the elastic joint unit 201 (or the elastic joint unit 202 and the elastic joint unit 203 ) in the active elastic joint 200 The rigid state is maintained, or the passive elastic joint 300 remains rigid.
  • the elastic joint unit 201 (or the elastic joint unit 202 and the elastic joint unit 203 ) in the active elastic joint 200 maintains a rigid state and cannot be bent, which reduces the degree of freedom.
  • the elastic joint unit 201, the elastic joint unit 202, the elastic joint unit 203 or the passive elastic joint 300 can maintain a rigid state individually or simultaneously, and the number of joints in the rigid state varies with the state of the joint mechanism 400.
  • the black color is the elastic joint in the rigid state.
  • the number of active joints changes, and thus the tool motion space changes.
  • a minimally invasive surgical robotic manipulation tool is provided.
  • another function of the joint mechanism 400 is to change the movement mode of the active elastic joint 200 .
  • the active elastic joint 200 can generate a bending motion, forming a flexible joint.
  • the elastic joint unit 201 , the elastic joint unit 202 , and the elastic joint unit 203 in the active elastic joint 200 maintain a straight rod state, respectively, and the motion mode becomes rigid link motion.
  • the joint mechanism 400 connected between the elastic joints can move, so that the operating tool of the minimally invasive surgical robot of the present disclosure becomes a linkage rod to perform linkage movement, as shown in FIGS. 12 a and 12 b .
  • the minimally invasive surgical robot operating tool of the present disclosure adjusts the joint mechanism through rotation and translation, so that the active elastic joint and/or the passive elastic joint are in a rigid or elastic state to meet different surgical operation requirements.
  • the active elastic joint and/or the passive elastic joint are composed of at least one elastic joint unit, and the number and degree of freedom of the elastic joint units in the active elastic joint and/or the passive elastic joint can be adjusted, so that the range of motion of the tool can be changed, Adapt to different human operating spaces.
  • the present disclosure provides a minimally invasive surgical robot operating tool with variable stiffness and degrees of freedom, which is easy to adjust, can meet the needs of different surgical operations, has a wide range of applications, and is widely used in the field of minimally invasive surgical robots.

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

Abstract

L'invention concerne un outil d'actionnement de robot chirurgical mini-invasif, comprenant : un effecteur terminal (100), une articulation élastique active (200), un mécanisme d'articulation (400), une articulation élastique passive (300), et un ensemble entraînement. L'effecteur terminal (100) est relié à un arbre flexible anti-couple (500) ; une première extrémité du mécanisme d'articulation (400) est reliée à l'effecteur terminal (100) et à l'articulation élastique active (200) simultanément, et l'articulation élastique active (200) est située entre le mécanisme d'articulation (400) et l'effecteur terminal (100) ; une première extrémité de l'articulation élastique passive (300) est reliée à une seconde extrémité du mécanisme d'articulation (400), et une seconde extrémité de l'articulation élastique passive (300) est reliée à une première extrémité d'un tube souple à plusieurs cavités (700) ; l'ensemble d'entraînement est relié à une seconde extrémité du tube à plusieurs cavités flexibles (700) ; l'ensemble entraînement entraîne, au moyen de l'arbre flexible anti-couple (500), l'effecteur d'extrémité à effectuer un mouvement d'ouverture, de fermeture et de rotation ; l'ensemble entraînement entraîne l'articulation élastique active (200) à effectuer un mouvement de flexion. L'outil d'actionnement de robot chirurgical mini-invasif a une rigidité variable et des degrés de liberté variables, est pratique à ajuster, est capable de répondre à différentes exigences de fonctionnement chirurgical et a une large gamme d'applications.
PCT/CN2020/108218 2020-06-30 2020-08-10 Outil d'actionnement de robot chirurgical mini-invasif WO2022000709A1 (fr)

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CN202010608318.3A CN111603243B (zh) 2020-06-30 2020-06-30 微创手术机器人操作工具
CN202010608318.3 2020-06-30

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CN114714370A (zh) * 2022-03-27 2022-07-08 苏州大学 一种面向经自然腔道手术的变刚度机器人
CN114795481A (zh) * 2022-04-07 2022-07-29 吉林大学 一种用于腹腔微创手术的快速更换式柔性手术器械
CN115211977A (zh) * 2022-08-09 2022-10-21 哈尔滨工业大学 一种面向单孔手术的模块化绳驱动的连续体机器人系统

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CN113729804A (zh) * 2021-10-18 2021-12-03 天津大学 柔性手术器械
CN113729955A (zh) * 2021-10-18 2021-12-03 天津大学 可驱动柔性装置
CN113729803A (zh) * 2021-10-18 2021-12-03 天津大学 柔性手术器械及金属切割管的制造方法
CN115300006B (zh) * 2022-07-07 2024-04-16 天津大学 具备结构解耦功能的柔性连续体手术器械
CN115607235B (zh) * 2022-10-28 2023-06-30 邦士医疗科技股份有限公司 一种多自由度手术钳

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Publication number Priority date Publication date Assignee Title
CN114714370A (zh) * 2022-03-27 2022-07-08 苏州大学 一种面向经自然腔道手术的变刚度机器人
CN114714370B (zh) * 2022-03-27 2023-05-12 苏州大学 一种面向经自然腔道手术的变刚度机器人
CN114795481A (zh) * 2022-04-07 2022-07-29 吉林大学 一种用于腹腔微创手术的快速更换式柔性手术器械
CN115211977A (zh) * 2022-08-09 2022-10-21 哈尔滨工业大学 一种面向单孔手术的模块化绳驱动的连续体机器人系统
CN115211977B (zh) * 2022-08-09 2023-08-18 哈尔滨工业大学 一种面向单孔手术的模块化绳驱动的连续体机器人系统

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