WO2022057394A1 - 悬吊盘摆位机构及手术机器人 - Google Patents

悬吊盘摆位机构及手术机器人 Download PDF

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Publication number
WO2022057394A1
WO2022057394A1 PCT/CN2021/104607 CN2021104607W WO2022057394A1 WO 2022057394 A1 WO2022057394 A1 WO 2022057394A1 CN 2021104607 W CN2021104607 W CN 2021104607W WO 2022057394 A1 WO2022057394 A1 WO 2022057394A1
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WIPO (PCT)
Prior art keywords
suspension plate
rotating shaft
suspension
rotation
swing mechanism
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Application number
PCT/CN2021/104607
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English (en)
French (fr)
Inventor
李明
江卫
胡忠华
何超
Original Assignee
上海微创医疗机器人（集团）股份有限公司
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Publication of WO2022057394A1 publication Critical patent/WO2022057394A1/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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/74—Manipulators with manual electric input means

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a suspension plate setting mechanism and a surgical robot.
  • the current minimally invasive surgical robots mostly use a master-slave operation mode, that is, the doctor is located on the main console for control, while the robot terminal contains multiple robotic arms, which hold corresponding surgical instruments and enter the patient's lesions to perform corresponding operations. Therefore, the position and posture of the robotic arm will directly affect the smooth operation of the operation. Therefore, before the robotic surgery begins, the surgical robot will be adjusted accordingly to make it suitable for the required surgery.
  • the posture adjustment process of the robotic arm is complicated, and the adjustment takes a long time, which prolongs the operation time.
  • the purpose of the present invention is to provide a suspension plate positioning mechanism and a surgical robot, so as to solve the problems in the existing surgical robot that the posture adjustment process of the mechanical arm is complicated and the adjustment takes a long time.
  • the present invention provides a suspension plate setting mechanism, which includes: a first suspension plate, a second suspension plate and a third suspension plate;
  • the first suspension plate, the second suspension plate and the third suspension plate are independently rotatably arranged around the first rotation axis, the second rotation axis and the third rotation axis; the first rotation axis, the The extension directions of the second rotating shaft and the third rotating shaft are the same; the first suspension plate, the second suspension plate and the third suspension plate are respectively used for connecting at least one robot arm.
  • At least two of the first suspension plate, the second suspension plate and the third suspension plate synchronously surround their corresponding rotation axes. turn.
  • the first suspension plate and the third suspension plate rotate synchronously around their corresponding rotation axes, and the first suspension plate rotates around the The rotation speed of the first rotating shaft is equal to the rotating speed of the third suspension plate around the third rotating shaft.
  • the suspension plate setting mechanism at least two of the first suspension plate, the second suspension plate, and the third suspension plate surround the respective corresponding suspension plates in the same direction.
  • the shaft turns.
  • the suspension plate setting mechanism further includes: at least one first transmission unit;
  • the first transmission unit is respectively connected with at least two of the first rotation shaft, the second rotation shaft and the third rotation shaft, and is used for synchronizing the rotation shafts corresponding to the rotation shafts connected with the first transmission unit. Rotation of the suspension disc.
  • the suspension plate setting mechanism includes: two first transmission units;
  • One of the first transmission units is respectively connected with the first rotating shaft and the second rotating shaft, and is used for synchronizing the rotation of the first suspension plate and the second suspension plate;
  • the other first transmission unit is respectively connected with the second rotating shaft and the third rotating shaft, and is used for synchronizing the rotation of the second suspension plate and the third suspension plate, so as to make the first suspension plate and the third suspension plate rotate.
  • the suspension plate, the second suspension plate and the third suspension plate rotate synchronously.
  • the first transmission unit includes a transmission belt, and the transmission belts respectively surround at least two corresponding rotating shafts in a closed manner.
  • the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to each other, and the second rotating shaft is located between the first rotating shaft and the third rotating shaft.
  • the first rotating shaft, the second rotating shaft and the third rotating shaft are located in the same plane.
  • the first suspension plate and the third suspension plate are movably arranged in opposite directions perpendicular to the second rotation axis, and the The first suspension plate and the third suspension plate are arranged on both sides of the second rotating shaft.
  • the suspension plate positioning mechanism further includes a second transmission unit, a fourth rotating shaft and a fifth rotating shaft, and the second transmission unit is respectively connected with the fourth rotating shaft and the fifth rotating shaft, and is used for The rotation of the fourth rotating shaft and the fifth rotating shaft is synchronized;
  • the second transmission unit includes two opposite transmission sections between the fourth rotating shaft and the fifth rotating shaft, and the first suspension plate and the third suspension plate is respectively connected with one of the transmission segments;
  • the first suspension plate and the third suspension plate are configured to move in opposite directions with the two transmission segments under the rotation of one of the fourth rotating shaft and the fifth rotating shaft .
  • the suspension plate setting mechanism further includes a third transmission unit, and the third transmission unit is respectively connected with one of the fourth rotating shaft and the fifth rotating shaft, and the second rotating shaft; For synchronizing the rotation of one of the fourth rotating shaft and the fifth rotating shaft and the second rotating shaft.
  • At least one of the second rotating shaft, the fourth rotating shaft and the fifth rotating shaft includes a braking mechanism, and the braking mechanism is used to lock the corresponding Rotation of the shaft.
  • the second transmission unit and the third transmission unit respectively include transmission belts, and the transmission belts respectively close and surround the corresponding two rotating shafts.
  • the first suspension plate, the second suspension plate and the third suspension plate respectively have a clutch mechanism, the first rotating shaft, the The second rotating shaft and the third rotating shaft move synchronously or independently with other rotating shafts through corresponding clutch mechanisms, respectively.
  • the present invention also provides a surgical robot, which includes the above-mentioned suspension plate swing mechanism, a plurality of mechanical arms and a suspension arm;
  • the suspension plate swing mechanism is connected with the suspension arm, each suspension plate of the suspension plate swing mechanism is connected with at least one of the mechanical arms, and each of the mechanical arms can be rotated Connect with the corresponding suspension plate.
  • the suspension plate positioning mechanism includes: a first suspension plate, a second suspension plate and a third suspension plate;
  • the first suspension plate, the second suspension plate and the third suspension plate are independently rotatably arranged around the first rotating shaft, the second rotating shaft and the third rotating shaft; the first rotating shaft, the The extension directions of the second rotating shaft and the third rotating shaft are the same; the first suspension plate, the second suspension plate and the third suspension plate are respectively used for connecting at least one robot arm.
  • each robotic arm on the suspension plate can obtain a larger adjustment space and an operation space.
  • FIG. 1 is a schematic diagram of a surgical scene of a surgical robot according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a lateral surgical layout according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the layout of a zero-position technique according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a surgical robot according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a bottom view of the suspension plate positioning mechanism according to an embodiment of the present invention.
  • 6a-6d are schematic diagrams of a first transmission unit according to an embodiment of the present invention.
  • FIGS. 7a-7e are schematic diagrams of swing position conversion of the suspension plate swing mechanism according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a combination of a suspension plate swing mechanism and a robotic arm according to an embodiment of the present invention
  • FIG. 9 is a schematic diagram of a suspension plate setting mechanism according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a second transmission unit and a third transmission unit according to another embodiment of the present invention.
  • 1-surgical robot 2-doctor console; 3-patient bed; 4-image trolley; 5-instrument table; 6-ventilator and anesthesia machine;
  • 10-suspension plate setting mechanism 11-manipulator arm; 12-suspension arm; 100-base plate; 110-first suspension plate; 111-first shaft; 120-second suspension plate; 121-th Two shafts; 130-third suspension plate; 131-third shaft; 140-first transmission unit; 150-second transmission unit; 151-fourth shaft; 152-fifth shaft; 161-slide rail; 162- slider.
  • One end and “the other end” and “proximal end” and “distal end” generally refer to corresponding two parts, which not only include the end points.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated; it may be a mechanical connection or an electrical connection; it may be a direct connection , it can also be indirectly connected through an intermediate medium, which can be the internal communication between two elements or the interaction relationship between the two elements.
  • the arrangement of one element on another element generally only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements may be direct or indirect through intermediate elements connection, coupling, cooperation or transmission, and should not be construed as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any position inside, outside, above, below or on one side of the other element, unless the content Also clearly stated.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the core idea of the present invention is to provide a suspension plate positioning mechanism and a surgical robot, so as to solve the problems that the posture adjustment process of the mechanical arm is complicated and the adjustment takes a long time in the existing surgical robot.
  • FIG. 1 is a schematic diagram of a surgical scene of a surgical robot according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a lateral surgical layout of an embodiment of the present invention
  • FIG. 3 is an implementation of the present invention
  • Fig. 4 is a schematic diagram of a surgical robot according to an embodiment of the present invention
  • Fig. 5 is a schematic diagram of a bottom view of the suspension plate setting mechanism of an embodiment of the present invention
  • Figs. 6a-6d is a schematic diagram of the first transmission unit according to an embodiment of the present invention
  • FIGS. 7a to 7e are schematic diagrams of the swing position conversion of the suspension plate swing mechanism according to an embodiment of the present invention
  • FIG. 1 is a schematic diagram of a surgical scene of a surgical robot according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a lateral surgical layout of an embodiment of the present invention
  • FIG. 3 is an implementation of the present invention
  • Fig. 4 is a schematic diagram of a
  • FIG. 8 is a suspension plate according to an embodiment of the present invention. Schematic diagram of the combination of the disk positioning mechanism and the mechanical arm; FIG. 9 is a schematic diagram of the suspension disk positioning mechanism of another embodiment of the present invention; FIG. 10 is the second transmission unit and the third transmission unit of another embodiment of the present invention. Schematic.
  • FIG. 1 shows an application scenario of using the surgical robot to perform abdominal surgery in an exemplary embodiment.
  • the surgical robot of the present invention has no particular limitation on the application environment, and can also be applied to other operations.
  • the surgical robot is described by taking the minimally invasive abdominal surgery as an example, but this should not be taken as a limitation of the present invention.
  • the surgical system includes a surgical robot 1 , a doctor console 2 and a hospital bed 3 .
  • the surgical robot 1 includes a suspension plate swing mechanism 10 , a plurality of mechanical arms 11 and a suspension arm 12 .
  • the suspension plate positioning mechanism 10 includes three suspension plates, which are a first suspension plate 110 , a second suspension plate 120 and a third suspension plate 130 respectively.
  • all three suspension plates are rotatably connected to a base plate 100 , and the base plate 100 is connected to the suspension arm 12 .
  • the base plate 100 is connected to the suspension arm 12 .
  • the base plate 100 is a generally diamond-shaped plate-shaped member that is fixedly connected to the lower part of the suspension arm 12 .
  • the base plate 100 is arranged in a horizontal direction
  • the suspension arm 12 is also arranged in a horizontal direction, and is retractable relative to the upright column of the surgical robot 1 along its own axis.
  • the multiple robotic arms 11 are respectively connected to the three suspension plates, and different surgical instruments and endoscopes are respectively mounted on different robotic arms 11 .
  • There is a main operator on the doctor console 2, and the main operation process of the surgical robot is that the operator (for example, a surgeon) performs a minimally invasive surgery on the patient on the hospital bed 3 through the remote operation of the doctor console 2 and the main operator. treat.
  • the master operator forms a master-slave control relationship with the robotic arm 11 and the surgical instrument.
  • the robotic arm 11 and the surgical instrument move according to the movement of the main operator during the operation, that is, according to the operation of the operator's hand.
  • the surgical system further includes auxiliary components such as an image trolley 4, an instrument table 5, a ventilator and an anesthesia machine 6 for use in the operation.
  • auxiliary components such as an image trolley 4, an instrument table 5, a ventilator and an anesthesia machine 6 for use in the operation.
  • auxiliary components such as an image trolley 4, an instrument table 5, a ventilator and an anesthesia machine 6 for use in the operation.
  • the suspension arm 12 and the base plate 100 of the surgical robot 1 are used as the suspension ends. In practice, the suspension ends are not limited to the suspension arms of the surgical robot 1 .
  • the suspension end can also be a fixed mechanism on the ceiling, the hospital bed 3, etc., and the suspension plate positioning mechanism 10 can also be connected to the ceiling, the hospital bed 3 and other devices that can be fixed to achieve operation, The present invention does not limit this.
  • the surgical puncture hole is located on one side of the patient's abdomen, and each suspension plate of the suspension plate setting mechanism 10 is arranged toward the side of the patient's body, and the surgical robot
  • the upright column can be located on the side of the bed 3, the surgical instruments corresponding to the upper and lower sides of the patient are held by the mechanical arms 11 on both sides of the surgical robot, and the endoscope or surgical instrument corresponding to the middle hole is held by the robotic arms in the middle of the surgical robot. 11 held.
  • the surgical puncture hole is located in the middle of the patient's abdomen, and is vertically and symmetrically distributed relative to the patient's sagittal plane.
  • Each suspension plate of the suspension plate setting mechanism 10 is arranged in a direction parallel to the direction of the sagittal plane of the patient.
  • the surgical instruments corresponding to the holes on the left and right sides of the patient are held by the mechanical arms 11 on both sides of the surgical robot, and the endoscope or surgical instruments corresponding to the middle holes are held by the mechanical arms 11 in the middle of the surgical robot.
  • the reachable range of the endoscope or surgical instrument held by each robotic arm 11 should cover the puncture hole position corresponding to the robotic arm 11 , and a certain space margin should be guaranteed.
  • the area R1 is the reachable range of the surgical instruments held by the left robotic arm 11
  • the area R2 is the reachable range of the endoscopes or surgical instruments held by the middle robotic arm 11
  • the area R3 is the reachable range of the right robotic arm 11 .
  • the reachable range of surgical instruments, H1 is the instrument hole for the surgical instrument to pass through
  • H2 is the endoscope hole for the endoscope to pass through.
  • the present embodiment provides a suspension plate swing mechanism 10 , which includes: a first suspension plate 110 , a second suspension plate 120 and a third suspension plate 130 ;
  • the first suspension plate 110 , the second suspension plate 120 and the third suspension plate 130 are respectively rotatably arranged around the first rotating shaft 111 , the second rotating shaft 121 and the third rotating shaft 131 ;
  • a rotating shaft 111 , the second rotating shaft 121 and the third rotating shaft 131 extend in the same direction; the first suspension plate 110 , the second suspension plate 120 and the third suspension plate 130 respectively use For connecting at least one robotic arm 11; wherein, the first suspension plate 110, the second suspension plate 120 and the third suspension plate 130 are used for independent rotation.
  • each robotic arm 11 on the suspension plate can obtain a larger adjustment space and an operation space.
  • the synchronous rotation of the suspension disks here refers to the simultaneous rotation of the suspension disks around their respective rotation axes, and the rotation speed of the suspension disks is not limited to be the same. Therefore, in practice, the angles rotated by the three suspension discs in the same period of time are not necessarily the same. As long as at least two suspension discs rotate synchronously, the suspension discs can be quickly turned to the required surgical layout, thereby simplifying the posture adjustment process of the robotic arm 11, reducing the time-consuming adjustment of the robotic arm 11, and reducing the need for surgery. time.
  • the three suspension disks are rotated around their corresponding rotating shafts synchronously.
  • the first suspension plate 110 and the third suspension plate 130 rotate synchronously around their corresponding rotation axes, and the rotation speed of the first suspension plate 110 around the first rotation axis 111 is It is equal to the rotational speed of the third suspension plate 130 around the third rotating shaft 131 .
  • the rotational speeds of the two suspension discs located on both sides are preferably configured to be the same. More preferably, the rotation speed of the two suspension plates located on both sides is greater than the rotation speed of the second suspension plate 120 .
  • the suspension discs rotate in the same direction, which means that they rotate around their respective rotation axes in the same rotation direction.
  • the suspension discs can be quickly turned to the required surgical layout in the same direction, thereby simplifying the posture adjustment process of the robotic arm 11, reducing the time-consuming adjustment of the robotic arm 11, and reducing time of surgery.
  • the three suspension discs are rotated around their corresponding rotating shafts in the same direction.
  • the relative angle between any two suspension plates is not less than 60°.
  • the three suspension discs can be configured to rotate around their respective axes synchronously and in the same direction, and in order to make the adjustment of the robotic arm 11 more accurate, any two When the two suspension discs are rotated synchronously and in the same direction, the rotational speed of the two will be different, resulting in a relative rotation angle between the two. In the case that the relative angle between any two suspension discs is not less than 60°, it can be adapted to different surgical needs.
  • a single suspension plate can be driven to rotate alone, or the mechanical arm 11 can be driven to rotate for detailed adjustment, and the posture of the mechanical arm 11 can be compensated and adjusted, so that a rapid surgical layout can be realized.
  • the first rotating shaft 111 , the second rotating shaft 121 and the third rotating shaft 131 are parallel to each other, and the second rotating shaft 121 is located perpendicular to the line connecting the first rotating shaft 111 and the third rotating shaft 131 bisector, as shown in Figure 6c and Figure 6d.
  • the first rotating shaft 111, the second rotating shaft 121 and the third rotating shaft 131 are located in the same plane.
  • the first rotating shaft 111 and the third rotating shaft 131 are located on both sides of the second rotating shaft 121 .
  • the first rotating shaft 111 , the second rotating shaft 121 and the third rotating shaft 131 all extend in the vertical direction, that is, the axes of the three are parallel.
  • the axes of the first rotating shaft 111 , the second rotating shaft 121 and the third rotating shaft 131 are coplanar and the plane where the axes lie is perpendicular to the extending direction of the suspension arm 12 and the extending direction of the base plate 100 .
  • the first suspension plate 110 and the third suspension plate 130 are respectively connected with one robot arm 11
  • the second suspension plate 120 is connected with two robot arms 11 , each robot arm 11 Can be rotated independently with respect to the corresponding suspension disc.
  • the robotic arm 11 connected to the second suspension plate 120 is mainly aimed at the middle part of the puncture hole layout, and generally needs to mount an endoscope. Therefore, the second suspension plate 120 is preferably connected to two robotic arms 11 .
  • the three suspension plates can also be connected with other numbers of mechanical arms 11 respectively. Those skilled in the art can adjust the mechanical arms 11 connected to each suspension plate according to the actual needs of the operation. quantity to configure.
  • FIG. 7a shows the setting state of the suspension plate setting mechanism 10 corresponding to the hypogastric position of the zero position setting.
  • the zero position can also be classified into a lower abdominal position and an upper abdominal position according to the position of the puncture hole in the upper abdomen or lower abdomen of the patient.
  • the upright column of the surgical robot 1 shown in FIG. 1 is arranged on the right side of the patient. When viewed from the upright column of the surgical robot 1 toward the suspension plate setting mechanism 10 , the puncture hole in the lower abdomen is generally located on the suspension plate of the surgical robot 1 .
  • the right side of the arm 12 therefore corresponds to the set state of the hypogastric position.
  • the first suspension plate 110 rotates to extend substantially to the upper right of FIG. 7a
  • the second suspension plate 120 rotates to substantially extend to the up-down direction of FIG. 7a
  • the third suspension plate 130 rotates to substantially Lower left extension.
  • the robotic arms 11 can be arranged in sequence toward the lower abdomen at the same time, so that the robotic arms 11 are arranged in sequence according to the expected surgical layout.
  • FIGS 7b to 7d show the process of changing the suspension plate setting mechanism 10 from the lower abdominal position to the lateral position.
  • each suspension plate rotates synchronously in the counterclockwise direction in Fig. 7b to Fig. 7d around its respective rotation axis, and at the same time, each mechanical arm 11 also rotates by an appropriate angle correspondingly.
  • the first suspension plate 110 is rotated to extend substantially to the left of FIG. 7d
  • the second suspension plate 120 is rotated to substantially extend to the left and right of FIG. 7d
  • the third suspension plate 130 Rotated to extend generally to the right of Figure 7d
  • the three suspension discs all extend generally in the horizontal direction of Figure 7d. Therefore, the robotic arms 11 can be arranged in sequence on the side facing the patient at the same time, so that the robotic arms 11 are arranged in sequence according to the expected surgical layout.
  • FIG. 7e shows the setting state of the suspension plate setting mechanism 10 in the upper abdominal position corresponding to the zero position setting.
  • the initial state of the suspension plate setting mechanism 10 can be in any state between FIGS. 7a to 7e , and is not limited to the several states shown in FIGS. 7a to 7e .
  • the suspension plate positioning mechanism 10 can be quickly positioned and converted to the required surgical layout.
  • the suspension plate positioning mechanism 10 further includes: at least one first transmission unit 140 ; the first transmission unit 140 is connected to the first rotating shaft 111 , the At least two of the two rotating shafts 121 and the third rotating shaft 131 are connected for synchronizing the rotation of the suspension plate corresponding to the rotating shaft connected with the first transmission unit 140 .
  • 6b and 6d both show an example including only one first transmission unit 140 , and the first transmission unit 140 is respectively connected with three rotating shafts of the first rotating shaft 111 , the second rotating shaft 121 and the third rotating shaft 131 . , to realize the linkage of the three shafts. In the example shown in FIGS.
  • the suspension plate setting mechanism 10 includes two first transmission units 140 , one of the first transmission units 140 is connected to the first rotating shaft 111 and the first transmission unit 140 respectively.
  • the second shaft 121 is connected to synchronize the rotation of the first suspension plate 110 and the second suspension plate 120; the other first transmission unit 140 is respectively connected with the second shaft 121 and the second suspension plate 120
  • the third rotating shaft 131 is connected for synchronizing the rotation of the second suspension plate 120 and the third suspension plate 130 .
  • the two first transmission units 140 can link the three suspension plates to realize synchronous rotation.
  • the first transmission unit 140 includes a transmission belt, and the transmission belts respectively close and surround the corresponding at least two rotating shafts.
  • the transmission belt is a closed-loop transmission belt, and one transmission belt is closed around the first rotating shaft 111 and the second rotating shaft 121, and is matched with the distance and diameter of the first rotating shaft 111 and the second rotating shaft 121, and preferably is tensioned between the first rotating shaft 111 and the second rotating shaft 121. between the second rotating shafts 121 .
  • the rotation of any one of the first rotating shaft 111 and the second rotating shaft 121 can synchronously drive the other rotating shaft to rotate through the transmission belt.
  • the rotational speeds of the first rotating shaft 111 and the second rotating shaft 121 can be adjusted differently according to different configurations of the diameters of the two rotating shafts.
  • the transmission belt between the second rotating shaft 121 and the third rotating shaft 131 can be set with reference to the transmission belt between the first rotating shaft 111 and the second rotating shaft 121.
  • the three rotating shafts are coupled to each other, and the rotation of any one rotating shaft can drive the other two rotating shafts to rotate synchronously.
  • the form of the transmission belt is not limited in this embodiment, and those skilled in the art can select, for example, a synchronous belt, a synchronous chain, and the like according to the prior art.
  • the first transmission unit 140 is not limited to adopting the form of a transmission belt, for example, a gear, friction wheel and other common transmission forms in the art can also be used, which is not limited in the present invention.
  • first suspension plate 110 , the second suspension plate 120 and the third suspension plate 130 respectively have a clutch mechanism
  • first rotating shaft 111 , the second rotating shaft 121 and the The third rotating shafts 131 are respectively connected with the base plate 100 through corresponding clutch mechanisms.
  • the rotating shaft of each suspension plate can be switched between synchronous movement or independent movement with other rotating shafts through the clutch mechanism.
  • the suspension plate can be temporarily disconnected from the linkage with other suspension plates through the clutch mechanism, so as to realize the adjustment of the position angle of the suspension plate. adjust.
  • the first suspension plate 110 and the third suspension plate 130 are movable in opposite directions perpendicular to the second rotation axis 121 . (ie, in the direction perpendicular to the second rotation axis 121, the first suspension plate 110 and the third suspension plate 130 are movably arranged in opposite directions), and the first suspension plate The disk 110 and the third suspension disk 130 are arranged on both sides of the second rotating shaft 121 .
  • the moving direction of the first suspension plate 110 and the third suspension plate 130 is the same as the extension direction of the suspension arm 12 , that is, the direction perpendicular to the patient's sagittal plane along the horizontal direction.
  • the first suspension plate 110 and the third suspension plate 130 can move in a direction perpendicular to the patient's sagittal plane, so as to more quickly convert the suspension plate position to the desired surgical layout.
  • the moving direction of the first suspension plate 110 and the third suspension plate 130 may also form a certain angle with the extension direction of the suspension arm 12 .
  • the suspension plate positioning mechanism 10 further includes a second transmission unit 150 , a fourth rotating shaft 151 and a fifth rotating shaft 152 , and the second transmission unit 150 is connected to the fourth rotating shaft 151 and the fifth rotating shaft 150 respectively.
  • the rotating shaft 152 is connected for synchronizing the rotation of the fourth rotating shaft 151 and the fifth rotating shaft 152 ;
  • the second transmission unit 150 includes two opposite shafts between the fourth rotating shaft 151 and the fifth rotating shaft 152
  • the first suspension plate 110 and the third suspension plate 130 are respectively connected with one of the transmission segments; the first suspension plate 110 and the third suspension plate 130 are configured as , under the rotation of one of the fourth rotating shaft 151 and the fifth rotating shaft 152 , the two transmission segments move in opposite directions.
  • the fourth rotating shaft 151 and the fifth rotating shaft 152 are respectively rotatably disposed on the base plate 100
  • the second transmission unit 150 includes a transmission belt which is closed around the fourth rotating shaft 151 and the fifth rotating shaft 152.
  • the transmission belt is a closed-loop transmission belt, which is closed around the fourth rotating shaft 151 and the fifth rotating shaft 152, and is adapted to the spacing and diameter of the fourth rotating shaft 151 and the fifth rotating shaft 152, and is preferably tensioned on the fourth rotating shaft. 151 and the fifth shaft 152.
  • the part of the transmission belt between the fourth rotating shaft 151 and the fifth rotating shaft 152 is two opposite transmission segments on both sides of the reference plane .
  • the fourth rotating shaft 151 and the fifth rotating shaft 152 rotate, the two opposite transmission segments move in opposite directions.
  • the suspension plates respectively connected with one transmission segment will move along with the movement of the two transmission segments in opposite directions. Therefore, only by driving at least one of the fourth rotating shaft 151 and the fifth rotating shaft 152, the first suspension plate 110 and the third suspension plate 130 can be moved in opposite directions.
  • the movement of the first suspension plate 110 and the third suspension plate 130 in opposite directions is not limited to the parallel movement of the two. If the diameters of the fourth rotating shaft 151 and the fifth rotating shaft 152 have a certain diameter difference, the moving directions of the two transmission segments may not be parallel. At this time, although the moving directions of the two suspension plates are not parallel, they can also be regarded as moving in opposite directions. Preferably, the diameters of the fourth rotating shaft 151 and the fifth rotating shaft 152 are the same, and the moving directions of the first suspension plate 110 and the third suspension plate 130 are parallel to each other.
  • the second transmission unit 150 further includes two sliding blocks 162 , and two sliding rails 161 arranged parallel to the extending direction of the suspension arm 12 , and each sliding rail 161 is provided with one sliding rail 161 .
  • the sliding block 162, the sliding block 162 can move along the sliding rail 161.
  • Each slider 162 is also fixedly connected with a transmission section, and the first suspension plate 110 and the third suspension plate 130 are respectively disposed on one slider 162 .
  • the slide rail 161 can limit the displacement of the slider 162 along the extension direction of the slide rail 161 , so as to ensure that the first suspension plate 110 and the third suspension plate 130 only have the freedom of movement along the extension direction of the slide rail 161 , thereby improving the The accuracy and reliability of the swing position conversion of the suspension plate swing mechanism 10 are improved.
  • the suspension plate setting mechanism 10 further includes a third transmission unit (not shown), the third transmission unit is respectively connected with one of the fourth rotating shaft 151 and the fifth rotating shaft 152 , and The second rotating shaft 121 is connected; it is used to synchronize the rotation of one of the fourth rotating shaft 151 and the fifth rotating shaft 152 and the second rotating shaft 121 .
  • the third transmission unit includes a transmission belt that closedly surrounds one of the fourth rotating shaft 151 and the fifth rotating shaft 152 , and the second rotating shaft 121 .
  • one of the fourth rotating shaft 151 and the fifth rotating shaft 152 and the second rotating shaft 121 are connected by a transmission belt, and the transmission connection method can refer to the above-mentioned transmission belt connection method between the fourth rotating shaft 151 and the fifth rotating shaft 152 .
  • the third transmission unit is disposed between the fifth rotating shaft 152 and the second rotating shaft 121 . In this configuration, the rotation of any one of the second rotating shaft 121 , the fourth rotating shaft 151 and the fifth rotating shaft 152 can drive the other rotating shafts to rotate synchronously, that is, the second rotating shaft 121 , the fourth rotating shaft 151 and the fifth rotating shaft 152 three is configured for linkage.
  • the linkage of the second rotating shaft 121, the fourth rotating shaft 151 and the fifth rotating shaft 152 can also be used together with the linkage of the first rotating shaft 111, the second rotating shaft 121 and the third rotating shaft 131, that is, to realize the third rotating shaft.
  • the rotation of at least one of the rotation shaft 111 to the fifth rotation shaft 152 drives the other rotation shafts to rotate synchronously.
  • At least one of the first rotating shaft 111, the second rotating shaft 121, the third rotating shaft 131, the fourth rotating shaft 151 and the fifth rotating shaft 152 further includes a braking mechanism, and the braking mechanism is used to lock the rotation of the corresponding rotating shaft. .
  • the braking mechanism can pull in the brake to lock the movement of the first transmission unit 140, the second transmission unit 150 or the third transmission unit, thereby locking the rotating shaft or Movement of the slider.
  • the suspension plate positioning mechanism includes: a first suspension plate, a second suspension plate and a third suspension plate;
  • the first suspension plate, the second suspension plate and the third suspension plate are independently rotatably arranged around the first rotating shaft, the second rotating shaft and the third rotating shaft; the first rotating shaft, the The extension directions of the second rotating shaft and the third rotating shaft are the same; the first suspension plate, the second suspension plate and the third suspension plate are respectively used for connecting at least one robot arm.

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Abstract

一种悬吊盘摆位机构（10），包括：第一悬吊盘（110）、第二悬吊盘（120）和第三悬吊盘（130）；第一悬吊盘（110）、第二悬吊盘（120）及第三悬吊盘（130）分别围绕第一转轴（111）、第二转轴（121）及第三转轴（131）独立地可转动地设置；第一转轴（111）、第二转轴（121）及第三转轴（131）的延伸方向相同；第一悬吊盘（110）、第二悬吊盘（120）及第三悬吊盘（130）分别用于供至少一个机械臂（11）连接。如此配置，多个机械臂（11）能够被快速调整到相应位置，满足机械臂（11）实现快速的术式布局。通过三个悬吊盘（110，120，130）的区分，可以使得悬吊盘（110，120，130）上的各个机械臂（11）获得更大的调整空间和手术空间。

Description

悬吊盘摆位机构及手术机器人 技术领域
本发明涉及医疗器械技术领域，特别涉及一种悬吊盘摆位机构及手术机器人。
背景技术
目前的微创伤手术机器人多采用主从式操作方式，即医生位于主操作台进行控制，而机器人终端则含有多个机械臂，装持相应的手术器械，进入患者病灶进行相应的手术。因而，机械臂的位置和姿态将直接影响到手术的顺利进行。故在机器人手术开始前，均会对手术机器人进行相应的调整，使其适合进行所需的手术。
目前，在行业中的手术机器人中，一些产品的多个机械臂安装在一个固定平台上进行逐臂调整。这种方式无法实现快速的摆位，并且机械臂摆位和操作空间容易受到手术床和手术台车相对摆位的影响和限制，容易产生相互干涉的问题。
另外一些产品采用单个悬吊盘结构，将多个机械臂安装在一个可旋转的悬吊盘上进行统一调整。此方式虽然可快速调整多个机械臂，但无法兼顾各个机械臂的初始摆位姿态。因此，在通过转动悬吊盘将多个机械臂大范围地粗调整到位后，通常还需要进行逐个机械臂的姿态细调整。
因此，现有的手术机器人中，机械臂的姿态调整过程复杂，调整耗时长，延长了手术的时间。
发明内容
本发明的目的在于提供一种悬吊盘摆位机构及手术机器人，以解决现有手术机器人中，机械臂的姿态调整过程复杂，调整耗时长的问题。
为解决上述技术问题，本发明提供一种悬吊盘摆位机构，其包括：第一悬吊盘、第二悬吊盘和第三悬吊盘；
所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别围绕第一转轴、第二转轴及第三转轴独立地可转动地设置；所述第一转轴、所述第二转轴及所述第三转轴的延伸方向相同；所述第一悬吊盘、所述第二悬吊盘及所述第 三悬吊盘分别用于供至少一个机械臂连接。
可选的，在所述悬吊盘摆位机构中，所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘中的至少两个同步地围绕各自对应的转轴转动。
可选的，在所述悬吊盘摆位机构中，所述第一悬吊盘和所述第三悬吊盘同步地围绕各自对应的转轴转动，且所述第一悬吊盘围绕所述第一转轴的转动速度，与所述第三悬吊盘围绕所述第三转轴的转动速度相等。
可选的，在所述悬吊盘摆位机构中，所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘中的至少两个同向地围绕各自对应的转轴转动。
可选的，所述悬吊盘摆位机构还包括：至少一个第一传动单元；
所述第一传动单元分别与所述第一转轴、所述第二转轴及所述第三转轴中的至少两个转轴连接，用于同步与所述第一传动单元相连接的转轴所对应的悬吊盘的转动。
可选的，所述悬吊盘摆位机构包括：两个第一传动单元；
一个所述第一传动单元分别与所述第一转轴及所述第二转轴连接，用于同步所述第一悬吊盘及所述第二悬吊盘的转动；
另一个所述第一传动单元分别与所述第二转轴及所述第三转轴连接，用于同步所述第二悬吊盘及所述第三悬吊盘的转动，以使所述第一悬吊盘、所述第二悬吊盘以及所述第三悬吊盘同步转动。
可选的，在所述悬吊盘摆位机构中，所述第一传动单元包括传动带，所述传动带分别闭合地围绕对应的至少两个转轴。
可选的，在所述悬吊盘摆位机构中，所述第一转轴、所述第二转轴和所述第三转轴相互平行，所述第二转轴位于所述第一转轴和所述第三转轴连线的垂直平分线上。
可选的，在所述悬吊盘摆位机构中，所述第一转轴、所述第二转轴及所述第三转轴位于同一平面内。
可选的，在所述悬吊盘摆位机构中，所述第一悬吊盘和所述第三悬吊盘沿垂直于所述第二转轴的相反的方向可移动地设置，且所述第一悬吊盘和所述第三悬吊盘布置于所述第二转轴的两侧。
可选的，所述悬吊盘摆位机构还包括第二传动单元、第四转轴以及第五转轴，所述第二传动单元分别与所述第四转轴和所述第五转轴连接，用于同步所述第四转轴和所述第五转轴的转动；所述第二传动单元于所述第四转轴和所述第五转轴之间包括两个相对的传动段，所述第一悬吊盘和所述第三悬 吊盘分别与一个所述传动段连接；
所述第一悬吊盘和所述第三悬吊盘被配置为，在所述第四转轴和所述第五转轴之一者的转动下，随两个所述传动段沿相反的方向移动。
可选的，所述悬吊盘摆位机构还包括第三传动单元，所述第三传动单元分别与所述第四转轴和所述第五转轴之一者、以及所述第二转轴连接；用于同步所述第四转轴和所述第五转轴之一者和所述第二转轴的转动。
可选的，在所述悬吊盘摆位机构中，所述第二转轴、所述第四转轴和所述第五转轴中的至少一个包括制动机构，所述制动机构用于锁定对应转轴的转动。
可选的，在所述悬吊盘摆位机构中，所述第二传动单元和所述第三传动单元分别包括传动带，所述传动带分别闭合地围绕对应的两个转轴。
可选的，在所述悬吊盘摆位机构中，所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别具有离合机构，所述第一转轴、所述第二转轴及所述第三转轴分别通过对应的离合机构与其它的转轴同步运动或独立运动。
为解决上述技术问题，本发明还提供一种手术机器人，其包括如上所述的悬吊盘摆位机构、多个机械臂以及悬吊臂；
所述悬吊盘摆位机构与所述悬吊臂连接，所述悬吊盘摆位机构的每个悬吊盘至少与一个所述机械臂连接，且每个所述机械臂均可转动地与对应的悬吊盘连接。
综上所述，在本发明提供的悬吊盘摆位机构及手术机器人中，所述悬吊盘摆位机构包括：第一悬吊盘、第二悬吊盘和第三悬吊盘；所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别围绕第一转轴、第二转轴及第三转轴独立地可转动地设置；所述第一转轴、所述第二转轴及所述第三转轴的延伸方向相同；所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别用于供至少一个机械臂连接。
如此配置，多个机械臂能够被快速调整到相应位置，满足机械臂实现快速的术式布局。此外，通过三个悬吊盘的区分，可以使得悬吊盘上的各个机械臂获得更大的调整空间和手术空间。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：
图1是本发明一实施例的手术机器人的手术场景示意图；
图2是本发明一实施例的侧位术式布局的示意图；
图3是本发明一实施例的零位术式布局的示意图；
图4是本发明一实施例的手术机器人的示意图；
图5是本发明一实施例的悬吊盘摆位机构的仰视方向的示意图；
图6a～图6d是本发明一实施例的第一传动单元的示意图；
图7a～图7e是本发明一实施例的悬吊盘摆位机构的摆位转换的示意图；
图8是本发明一实施例的悬吊盘摆位机构与机械臂组合的示意图；
图9是本发明另一实施例的悬吊盘摆位机构的示意图；
图10是本发明另一实施例的第二传动单元和第三传动单元的示意图。
附图中：
1-手术机器人；2-医生控制台；3-病床；4-图像台车；5-器械台；6-呼吸机和麻醉机；
10-悬吊盘摆位机构；11-机械臂；12-悬吊臂；100-基盘；110-第一悬吊盘；111-第一转轴；120-第二悬吊盘；121-第二转轴；130-第三悬吊盘；131-第三转轴；140-第一传动单元；150-第二传动单元；151-第四转轴；152-第五转轴；161-滑轨；162-滑块。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例绘制。
如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象。术语“或”通常是以包括“和/或”的含义而进行使用的。术语“若干”通常是以包括“至少一个”的含义而进行使用的。术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示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”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征。“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点。 术语“安装”、“相连”、“连接”应做广义理解，例如，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。此外，如在本发明中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。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发明中的具体含义。
本发明的核心思想在于提供一种悬吊盘摆位机构及手术机器人，以解决现有手术机器人中，机械臂的姿态调整过程复杂，调整耗时长的问题。
以下参考附图进行描述。
请参考图1至图10，其中，图1是本发明一实施例的手术机器人的手术场景示意图；图2是本发明一实施例的侧位术式布局的示意图；图3是本发明一实施例的零位术式布局的示意图；图4是本发明一实施例的手术机器人的示意图；图5是本发明一实施例的悬吊盘摆位机构的仰视方向的示意图；图6a～图6d是本发明一实施例的第一传动单元的示意图；图7a～图7e是本发明一实施例的悬吊盘摆位机构的摆位转换的示意图；图8是本发明一实施例的悬吊盘摆位机构与机械臂组合的示意图；图9是本发明另一实施例的悬吊盘摆位机构的示意图；图10是本发明另一实施例的第二传动单元和第三传动单元的示意图。
本发明一实施例提供一种手术机器人，图1示出了在一个示范性的实施例中，利用所述手术机器人进行腹腔手术的应用场景。然而，本发明的手术机器人对应用环境没有特别的限制，也可应用于其他的手术。在以下描述中，以用于腹腔微创手术为示例对手术机器人进行说明，但不应以此作为对本发明的限定。
如图1所示，该手术系统包括手术机器人1、医生控制台2和病床3。请参考图4，所述手术机器人1包括悬吊盘摆位机构10、多个机械臂11以及悬吊臂12。所述悬吊盘摆位机构10包括三个悬吊盘，分别为第一悬吊盘110、第二悬吊盘120和第三悬吊盘130。在图1和图4所示出的示范例中，三个悬吊盘均可转动地与一基盘100连接，基盘100则与悬吊臂12连接。在图4示 出的示范例中，基盘100为大致呈菱形的板状件，其固定连接于悬吊臂12的下方。可选的，基盘100沿水平方向设置，悬吊臂12同样沿水平方向设置，并沿自身的轴向相对于手术机器人1的立柱可伸缩。多个机械臂11分别连接在三个悬吊盘上，不同的手术器械和内窥镜分别挂载于不同的机械臂11上。医生控制台2上设有主操作手，手术机器人主要操作过程是操作者(例如，外科医生)通过医生控制台2及主操作手的远程操作实现对病床3上的患者进行的微创伤手术治疗。其中，主操作手与机械臂11及手术器械构成主从控制关系。机械臂11和手术器械在手术过程中是根据主操作手的运动而运动，即根据操作者手部的操作而运动。可选的，在一些手术中，手术系统还包括图像台车4、器械台5、呼吸机和麻醉机6等辅助部件，以用于供手术中使用。本领域技术人员可根据现有技术对这些辅助部件进行选择和配置，这里不再展开描述。需要说明的，在图1示出的手术场景中，以手术机器人1的悬吊臂12和基盘100作为悬吊端，实际中，悬吊端并不局限于为手术机器人1的悬吊臂12和基盘100，例如悬吊端还可以是天花板、病床3上的固定机构等，悬吊盘摆位机构10还可通过连接在天花板、病床3等其它可供固定的装置上来实现操作，本发明对此不做限定。
在腹腔镜手术中，一般有3种较典型的术式体位和相对应的穿刺孔位布局，即左侧摆位、右侧摆位以及零位摆位。在手术时应该满足这些术式体位和穿孔布局的需求，并且还需要满足机械臂11的操作空间能够足够覆盖需要到达的术式穿孔位置。在手术准备过程中，手术机器人需要快速带动机械臂11使其末端较为精准的指向该机械臂11所对应的穿孔点位。
请参考图2，在左侧摆位或右侧摆位时，手术穿刺孔位位于病人腹部的一侧，悬吊盘摆位机构10的各悬吊盘朝向病人身体的侧边布置，手术机器人的立柱可位于病床3旁边一侧，病人上下两侧孔位所对应的手术器械由手术机器人两侧的机械臂11所持，中部孔位对应的内窥镜或手术器械由手术机器人中间的机械臂11所持。请参考图3，在零位摆位时，手术穿刺孔位于病人腹部的中间，相对于病人的矢状面呈垂直对称分布。悬吊盘摆位机构10的各悬吊盘沿与病人的矢状面方向呈平行的方向布置。病人左右两侧孔位所对应的手术器械由手术机器人两侧的机械臂11所持，中部孔位对应的内窥镜或手术器械由手术机器人中间的机械臂11所持。为保证机械臂11操作空间的需求，各机械臂11所持的内窥镜或手术器械可达范围应覆盖该机械臂11所对应的穿刺孔位，并应保证一定的空间裕量。在一个具体的示例中，区域R1为左侧 机械臂11所持手术器械可达范围，区域R2为中间机械臂11所持的内窥镜或手术器械可达范围，区域R3为右侧机械臂11所持手术器械可达范围，H1为供手术器械通过的器械孔，H2为供内窥镜通过的内窥镜孔。
请参考图5和图8，针对上述需求，本实施例提供一种悬吊盘摆位机构10，其包括：第一悬吊盘110、第二悬吊盘120和第三悬吊盘130；所述第一悬吊盘110、所述第二悬吊盘120及所述第三悬吊盘130分别围绕第一转轴111、第二转轴121及第三转轴131可转动地设置；所述第一转轴111、所述第二转轴121及所述第三转轴131的延伸方向相同；所述第一悬吊盘110、所述第二悬吊盘120及所述第三悬吊盘130分别用于供至少一个机械臂11连接；其中，所述第一悬吊盘110、所述第二悬吊盘120及所述第三悬吊盘130用于独立地转动。如此配置，多个机械臂11能够被快速调整到相应位置，满足机械臂11实现快速的术式布局。此外，通过三个悬吊盘的区分，可以使得悬吊盘上的各个机械臂11获得更大调整空间和手术空间。
可选的，所述第一悬吊盘110、所述第二悬吊盘120及所述第三悬吊盘130中的至少两个同步地围绕各自对应的转轴转动。需要说明的，这里悬吊盘同步地转动，是指围绕各自的转轴，同时进行转动，而并不限定悬吊盘的转速相同。因此，实际上，三个悬吊盘在同样的一段时间内所转过的角度并不一定相同。只要至少两个悬吊盘同步地转动，即可使悬吊盘能够迅速地转向所需要的术式布局，从而可以简化机械臂11的姿态调整过程，减少机械臂11的调整耗时，减少手术的时间。较佳的，三个悬吊盘均同步地围绕各自对应的转轴转动。进一步优选的，所述第一悬吊盘110和所述第三悬吊盘130同步地围绕各自对应的转轴转动，且所述第一悬吊盘110围绕所述第一转轴111的转动速度，与所述第三悬吊盘130围绕所述第三转轴131的转动速度相等。位于两侧的两个悬吊盘的转动速度优选配置为相同。更优选的，位于两侧的两个悬吊盘的转动速度大于第二悬吊盘120的转动速度。
可选的，所述第一悬吊盘110、所述第二悬吊盘120及所述第三悬吊盘130中的至少两个同向地围绕各自对应的转轴转动。需要说明的，这里悬吊盘同向地转动，是指围绕各自的转轴，沿同样的旋转方向进行转动。悬吊盘同向地转动，即可使悬吊盘能够沿同样的方向迅速地转向所需要的术式布局，从而可以简化机械臂11的姿态调整过程，减少机械臂11的调整耗时，减少手术的时间。较佳的，三个悬吊盘均同向地围绕各自对应的转轴转动。更优选的，在所述三个悬吊盘分别围绕所述各自的转轴转动的过程中，任意两个 悬吊盘之间的相对角度不小于60°。由于实际使用中，为满足机械臂11实现快速的术式布局，三个悬吊盘可被配置为同步且同向地围绕各自的转轴转动，而为了使机械臂11的调整更准确，任意两个悬吊盘进行同步且同向地转动时，两者的转速会发生差异，从而导致两者之间存在相对转动角度。在任两个悬吊盘之间的相对角度不小于60°的情况下，可适应于不同的手术需求。此外，后续也可通过单独驱动一个悬吊盘转动，或者驱动机械臂11转动进行细节调整，对机械臂11的姿态进行补偿调整，可以实现快速的术式布局。
优选的，所述第一转轴111、所述第二转轴121和所述第三转轴131相互平行，所述第二转轴121位于所述第一转轴111及所述第三转轴131连线的垂直平分线上，如图6c和图6d所示。进一步优选的，所述第一转轴111、所述第二转轴121及所述第三转轴131位于同一平面内，如图6a和图6b所示，所述第一转轴111和所述第三转轴131位于所述第二转轴121的两侧。可选的，第一转轴111、第二转轴121及第三转轴131均沿竖直方向延伸，即三者的轴线平行。优选的，第一转轴111、第二转轴121及第三转轴131三者轴线共面且轴线所在的平面垂直于悬吊臂12的延伸方向，也垂直于基盘100的延伸方向。在一个示范性的实施例中，第一悬吊盘110和第三悬吊盘130分别与一个机械臂11连接，而第二悬吊盘120与两个机械臂11连接，每个机械臂11相对于对应的悬吊盘均可独立地转动。第二悬吊盘120所连接的机械臂11主要针对于穿刺孔位布局中的中间部位，一般需要挂载内窥镜，因此第二悬吊盘120优选与两个机械臂11连接。当然，在其它的一些实施例中，三个悬吊盘还分别可以与其它数量的机械臂11连接，本领域技术人员可根据手术的实际需要对每个悬吊盘所连接的机械臂11的数量进行配置。
下面请参考图7a至图7e，结合图1，对本实施例提供的悬吊盘摆位机构10的摆位转换进行详细的说明。图7a示出了悬吊盘摆位机构10对应于零位摆位的下腹位的摆位状态。具体的，零位摆位还可以根据穿刺孔位于病人的上腹部或下腹部的位置，区分为下腹位和上腹位。图1所示出的手术机器人1的立柱布置在病人的右侧，从手术机器人1的立柱朝向悬吊盘摆位机构10方向看去，下腹位的穿刺孔位一般位于手术机器人1之悬吊臂12的右侧，因此对应于下腹位的摆位状态。此时，第一悬吊盘110转动至大致向图7a的右上方延伸，第二悬吊盘120转动至大致向图7a的上下方向延伸，第三悬吊盘130转动至大致向图7a的左下方延伸。如此配置，各机械臂11可以同时朝向下腹位置依次排列，从而使各机械臂11按预期的术式布局依次排布。
图7b至图7d示出了悬吊盘摆位机构10由下腹位转换至侧位的过程。其中，各个悬吊盘围绕各自的转轴，沿图7b至图7d的逆时针方向同步地转动，同时各机械臂11也相应地转动合适的角度。至图7d所示出的状态下，第一悬吊盘110转动至大致向图7d的左方延伸，第二悬吊盘120转动至大致向图7d的左右方向延伸，第三悬吊盘130转动至大致向图7d的右延伸，三个悬吊盘均大致沿图7d的水平方向延伸。因此，各机械臂11可以同时朝向病人的一侧位置依次排列，从而使各机械臂11按预期的术式布局依次排布。
图7e示出了悬吊盘摆位机构10对应于零位摆位的上腹位的摆位状态，具体可参考上文关于下腹位的说明，这里不再展开。需要说明的，在手术准备过程中，悬吊盘摆位机构10的初始状态可以处于图7a至图7e之间的任一状态，并不局限于图7a至图7e所示出的几种状态。而根据手术的需要，悬吊盘摆位机构10可以迅速地摆位转换至所需要的术式布局。
请参考图6a至图6d，优选的，所述悬吊盘摆位机构10还包括：至少一个第一传动单元140；所述第一传动单元140分别与所述第一转轴111、所述第二转轴121及所述第三转轴131中的至少两个转轴连接，用于同步与所述第一传动单元140相连接的转轴所对应的悬吊盘的转动。图6b和图6d均示出了仅包括一个第一传动单元140的示例，该第一传动单元140分别与第一转轴111、所述第二转轴121及所述第三转轴131三个转轴连接，实现三个转轴的联动。而在图6a和图6c示出的示范例中，所述悬吊盘摆位机构10包括两个第一传动单元140，一个所述第一传动单元140分别与所述第一转轴111及所述第二转轴121连接，用于同步所述第一悬吊盘110及所述第二悬吊盘120的转动；另一个所述第一传动单元140分别与所述第二转轴121及所述第三转轴131连接，用于同步所述第二悬吊盘120及所述第三悬吊盘130的转动。两个第一传动单元140能够使三个悬吊盘联动，实现同步地转动。在一个可替代的实施例中，所述第一传动单元140包括传动带，所述传动带分别闭合地围绕对应的至少两个转轴。下面以第一转轴111和第二转轴121之间的传动带为例进行说明。传动带为闭环式的传动带，一个传动带闭合地围绕第一转轴111和第二转轴121，并与第一转轴111和第二转轴121的间距和直径相适配，优选张紧于第一转轴111和第二转轴121之间。如此配置，第一转轴111和第二转轴121中的任一个转轴的转动，可以同步地通过该传动带驱动另一个转轴转动。而第一转轴111和第二转轴121的转速可根据两个转轴的直径的不同配置而进行不同的调整。同样的，第二转轴121和第三转轴 131之间的传动带可参考第一转轴111和第二转轴121之间的传动带进行设置。如此配置，三个转轴之间被相互耦合，任何一个转轴的转动可带动另两个转轴同步转动。本实施例对传动带的形式不作限制，本领域技术人员可根据现有技术，选择如同步带、同步链等。当然，在其它的一些实施例中，第一传动单元140也不局限于采用传动带的形式，如还可以采用齿轮、摩擦轮等本领域常见的传动形式，本发明对此不限。
进一步的，所述第一悬吊盘110、所述第二悬吊盘120及所述第三悬吊盘130分别具有离合机构，所述第一转轴111、所述第二转轴121及所述第三转轴131分别通过对应的离合机构与所述基盘100连接。每个悬吊盘的转轴可通过离合机构实现与其它转轴的同步运动或独立运动的切换。在一些情况下，当需要对某一个悬吊盘的位置角度进行调节时，可以通过离合机构使该悬吊盘暂时脱离与其它悬吊盘的联动，从而实现对该悬吊盘的位置角度的调节。
请参考图9和图10，在另一个优选的实施例中，所述第一悬吊盘110和所述第三悬吊盘130沿垂直于所述第二转轴121的相反的方向可移动地设置(即，在垂直于所述第二转轴121方向上，所述第一悬吊盘110和所述第三悬吊盘130沿相反的方向可移动地设置)，且所述第一悬吊盘110和所述第三悬吊盘130布置于所述第二转轴121的两侧。可选的，第一悬吊盘110和第三悬吊盘130的移动方向与悬吊臂12的延伸方向相同，即沿水平方向垂直于病人矢状面的方向。如此配置，第一悬吊盘110和第三悬吊盘130能够沿垂直于病人矢状面的方向移动，以便于更快捷地使悬吊盘摆位转换至所需要的术式布局。当然在其它的一些实施例中，第一悬吊盘110和第三悬吊盘130的移动方向也可以与悬吊臂12的延伸方向成一定的角度。
优选的，所述悬吊盘摆位机构10还包括第二传动单元150、第四转轴151以及第五转轴152，所述第二传动单元150分别与所述第四转轴151和所述第五转轴152连接，用于同步所述第四转轴151和所述第五转轴152的转动；所述第二传动单元150于所述第四转轴151和所述第五转轴152之间包括两个相对的传动段，所述第一悬吊盘110和所述第三悬吊盘130分别与一个所述传动段连接；所述第一悬吊盘110和所述第三悬吊盘130被配置为，在所述第四转轴151和所述第五转轴152之一者的转动下，随两个所述传动段沿相反的方向移动。在一个示范性的实施例中，第四转轴151和第五转轴152分别可转动地设置在基盘100上，第二传动单元150包括传动带，该传动带闭合地围绕第四转轴151和第五转轴152。具体的，该传动带为闭环式的传动 带，闭合地围绕第四转轴151和第五转轴152，并与第四转轴151和第五转轴152的间距和直径相适配，优选张紧于第四转轴151和第五转轴152之间。如此配置，第四转轴151和第五转轴152中的任一个转轴的转动，可以同步地通过该传动带驱动另一个转轴转动。以第四转轴151的轴线和第五转轴152的轴线所在的平面为参考面，传动带于第四转轴151和第五转轴152之间的部分在该参考面的两侧为两个相对的传动段。在第四转轴151和第五转轴152转动时，该两个相对的传动段沿相反的方向移动。此时，分别与一个传动段连接的悬吊盘，则会跟随两个传动段沿相反方向的移动而移动。由此，只需要驱动第四转轴151和第五转轴152中的至少一个，即可实现第一悬吊盘110和第三悬吊盘130沿相反方向的移动。需要说明的，这里第一悬吊盘110和第三悬吊盘130沿相反方向的移动，并不限于两者的移动方向相平行，若第四转轴151和第五转轴152的直径有一定的差异，则两个传动段的移动方向可不平行。此时，两个悬吊盘的移动方向虽然不平行，但亦可视作是沿相反的方向移动。较佳的，第四转轴151和第五转轴152的直径相同，第一悬吊盘110和第三悬吊盘130的移动方向相互平行。
在一个示范性的实施例中，第二传动单元150还包括两个滑块162，以及沿平行于悬吊臂12的延伸方向设置的两个滑轨161，每个滑轨161中设置有一个滑块162，滑块162可沿滑轨161移动。每个滑块162还与一个传动段固定连接，第一悬吊盘110和第三悬吊盘130分别设置于一个滑块162上。如此配置，滑轨161能够限制滑块162沿滑轨161延伸方向以外的位移，确保第一悬吊盘110和第三悬吊盘130只具有沿滑轨161的延伸方向的移动自由度，提高了悬吊盘摆位机构10的摆位转换的准确性和可靠性。
进一步的，所述悬吊盘摆位机构10还包括第三传动单元(未图示)，所述第三传动单元分别与所述第四转轴151和所述第五转轴152之一者、以及所述第二转轴121连接；用于同步所述第四转轴151和所述第五转轴152之一者和所述第二转轴121的转动。在一个示范性的实施例中，第三传动单元包括传动带，该传动带闭合地围绕第四转轴151和第五转轴152之一者、以及所述第二转轴121。具体的，第四转轴151和第五转轴152中的一个、以及第二转轴121之间通过传动带连接，其传动连接方式可以参考上述的第四转轴151和第五转轴152之间的传动带连接方式。在一个可选的实施例中，第三传动单元设置于第五转轴152和第二转轴121之间。如此配置，第二转轴121、第四转轴151和第五转轴152中的任何一个转轴的转动都可带动其它转 轴作同步转动，即第二转轴121、第四转轴151和第五转轴152三者被配置为联动。更进一步的，第二转轴121、第四转轴151和第五转轴152三者的联动，与第一转轴111、第二转轴121和第三转轴131三者的联动还可以一同使用，即实现第一转轴111至第五转轴152中至少一个的转动，带动其它转轴作同步转动。
较佳的，第一转轴111、第二转轴121、第三转轴131、第四转轴151和第五转轴152中的至少一个还包括制动机构，所述制动机构用于锁定对应转轴的转动。当手术过程中或在其他需要锁定悬吊位置的场合下，制动机构可吸合制动，以锁定第一传动单元140、第二传动单元150或第三传动单元的运动，从而锁定转轴或滑块的运动。
综上所述，在本发明提供的悬吊盘摆位机构及手术机器人中，所述悬吊盘摆位机构包括：第一悬吊盘、第二悬吊盘和第三悬吊盘；所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别围绕第一转轴、第二转轴及第三转轴独立地可转动地设置；所述第一转轴、所述第二转轴及所述第三转轴的延伸方向相同；所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别用于供至少一根机械臂连接。如此配置，多个机械臂能够被快速调整到相应位置，满足机械臂实现快速的术式布局。此外，通过三个悬吊盘的区分，可以使得悬吊盘上的各个机械臂获得更大调整空间和手术空间。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (16)

  1. 一种悬吊盘摆位机构，其特征在于，包括：第一悬吊盘、第二悬吊盘和第三悬吊盘；
    所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别围绕第一转轴、第二转轴及第三转轴独立地可转动地设置；所述第一转轴、所述第二转轴及所述第三转轴的延伸方向相同；所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别用于供至少一个机械臂连接。
  2. 根据权利要求1所述的悬吊盘摆位机构，其特征在于，所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘中的至少两个同步地围绕各自对应的转轴转动。
  3. 根据权利要求2所述的悬吊盘摆位机构，其特征在于，所述第一悬吊盘和所述第三悬吊盘同步地围绕各自对应的转轴转动，且所述第一悬吊盘围绕所述第一转轴的转动速度，与所述第三悬吊盘围绕所述第三转轴的转动速度相等。
  4. 根据权利要求1所述的悬吊盘摆位机构，其特征在于，所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘中的至少两个同向地围绕各自对应的转轴转动。
  5. 根据权利要求1所述的悬吊盘摆位机构，其特征在于，所述悬吊盘摆位机构还包括：至少一个第一传动单元；
    所述第一传动单元分别与所述第一转轴、所述第二转轴及所述第三转轴中的至少两个转轴连接，用于同步与所述第一传动单元相连接的转轴所对应的悬吊盘的转动。
  6. 根据权利要求5所述的悬吊盘摆位机构，其特征在于，所述悬吊盘摆位机构包括：两个第一传动单元；
    一个所述第一传动单元分别与所述第一转轴及所述第二转轴连接，用于同步所述第一悬吊盘及所述第二悬吊盘的转动；
    另一个所述第一传动单元分别与所述第二转轴及所述第三转轴连接，用于同步所述第二悬吊盘及所述第三悬吊盘的转动，以使所述第一悬吊盘、所述第二悬吊盘以及所述第三悬吊盘同步转动。
  7. 根据权利要求5所述的悬吊盘摆位机构，其特征在于，所述第一传动单元包括传动带，所述传动带分别闭合地围绕对应的至少两个转轴。
  8. 根据权利要求1所述的悬吊盘摆位机构，其特征在于，所述第一转轴、所述第二转轴和所述第三转轴相互平行，所述第二转轴位于所述第一转轴和所述第三转轴连线的垂直平分线上。
  9. 根据权利要求8所述的悬吊盘摆位机构，其特征在于，所述第一转轴、所述第二转轴及所述第三转轴位于同一平面内。
  10. 根据权利要求1所述的悬吊盘摆位机构，其特征在于，所述第一悬吊盘和所述第三悬吊盘沿垂直于所述第二转轴的相反的方向可移动地设置，且所述第一悬吊盘和所述第三悬吊盘布置于所述第二转轴的两侧。
  11. 根据权利要求10所述的悬吊盘摆位机构，其特征在于，所述悬吊盘摆位机构还包括第二传动单元、第四转轴以及第五转轴，所述第二传动单元分别与所述第四转轴和所述第五转轴连接，用于同步所述第四转轴和所述第五转轴的转动；所述第二传动单元于所述第四转轴和所述第五转轴之间包括两个相对的传动段，所述第一悬吊盘和所述第三悬吊盘分别与一个所述传动段连接；
    所述第一悬吊盘和所述第三悬吊盘被配置为，在所述第四转轴和所述第五转轴之一者的转动下，随两个所述传动段沿相反的方向移动。
  12. 根据权利要求11所述的悬吊盘摆位机构，其特征在于，所述悬吊盘摆位机构还包括第三传动单元，所述第三传动单元分别与所述第四转轴和所述第五转轴之一者、以及所述第二转轴连接；用于同步所述第四转轴和所述第五转轴之一者和所述第二转轴的转动。
  13. 根据权利要求12所述的悬吊盘摆位机构，其特征在于，所述第二转轴、所述第四转轴和所述第五转轴中的至少一个包括制动机构，所述制动机构用于锁定对应转轴的转动。
  14. 根据权利要求12所述的悬吊盘摆位机构，其特征在于，所述第二传动单元和所述第三传动单元分别包括传动带，所述传动带分别闭合地围绕对应的两个转轴。
  15. 根据权利要求1所述的悬吊盘摆位机构，其特征在于，所述第一悬吊盘、所述第二悬吊盘及所述第三悬吊盘分别具有离合机构，所述第一转轴、所述第二转轴及所述第三转轴分别通过对应的离合机构与其它的转轴同步运动或独立运动。
  16. 一种手术机器人，其特征在于，包括根据权利要求1～15中的任一项所述的悬吊盘摆位机构、多个机械臂以及悬吊臂；
    所述悬吊盘摆位机构与所述悬吊臂连接，所述悬吊盘摆位机构的每个悬吊盘至少与一个所述机械臂连接，且每个所述机械臂均可转动地与对应的悬吊盘连接。
PCT/CN2021/104607 2020-09-18 2021-07-05 悬吊盘摆位机构及手术机器人 WO2022057394A1 (zh)

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