WO2022082381A1 - 驱动组件、执行机构及手术机器人 - Google Patents

驱动组件、执行机构及手术机器人 Download PDF

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Publication number
WO2022082381A1
WO2022082381A1 PCT/CN2020/121981 CN2020121981W WO2022082381A1 WO 2022082381 A1 WO2022082381 A1 WO 2022082381A1 CN 2020121981 W CN2020121981 W CN 2020121981W WO 2022082381 A1 WO2022082381 A1 WO 2022082381A1
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WIPO (PCT)
Prior art keywords
transmission member
driving
drive assembly
drive
instrument
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PCT/CN2020/121981
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English (en)
French (fr)
Inventor
潘鲁锋
黄善灯
柳建飞
闫泳利
Original Assignee
诺创智能医疗科技(杭州)有限公司
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Application filed by 诺创智能医疗科技(杭州)有限公司 filed Critical 诺创智能医疗科技(杭州)有限公司
Priority to PCT/CN2020/121981 priority Critical patent/WO2022082381A1/zh
Publication of WO2022082381A1 publication Critical patent/WO2022082381A1/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

Definitions

  • the present application relates to the field of medical devices, and in particular, to a drive assembly, an actuator and a surgical robot.
  • Minimally invasive surgery refers to opening a tiny wound on the patient's body. Part of the actuator of the surgical robot passes through the tiny wound and enters the lesion position, and makes the telecentric fixed point of the actuator coincide with the position of the wound. The robotic arm part of the robot is controlled to drive the actuator to swing in space within a certain angle range with the telecentric fixed point as the hinge point, assisting the action of the actuator itself to complete the minimally invasive surgery. Minimally invasive surgery is gradually gaining favor among medical staff and patients in recent years due to its small incision and less bleeding.
  • the actuator generally includes: a surgical instrument for extending into the lesion position, and a driving component for driving the surgical instrument to rotate, open and close, etc. Driven by the driving component, the operating end of the surgical instrument extends into the human body. Complete the preset surgical action.
  • the driving components are generally precise and complex. For example, in the Da Vinci surgical robot, a wire is used to drive the operation end of the surgical instrument.
  • this type of drive assembly requires a relatively sufficient space for installation, so as to prevent the steel cables from intertwining or interfering with each other, which is not conducive to the miniaturization of the drive assembly.
  • a driving assembly of a surgical robot including: a driving source, a driving member, and a transmission member, wherein: the driving member is connected to the output end of the driving source, and can follow the The output end rotates around the second axis; the transmission member has a motion input portion and a tensioning drive portion, and the motion input portion is driven and matched with the driving member, so that the transmission member oscillates within a preset angle range; In the swing direction of the transmission member, the tensioning driving part and the motion input part are arranged at an angle to each other, and the tensioning driving part is provided with a chute for slidingly connecting one end of the instrument rod. When the transmission member swings The instrument rod can be driven to telescopically slide in a direction parallel to the second axis.
  • the output end of the driving source is parallel to the direction of telescopic sliding of the instrument rod, which reduces the overall space occupation of the driving assembly, and is beneficial to the miniaturized design of the driving assembly of the surgical robot.
  • the second axis is parallel to the plane where the transmission member swings.
  • the second axis is in a parallel relationship with the line plane of the space formed by the plane where the transmission member swings, which can further reduce the overall space occupied by the drive assembly.
  • the output end of the driving source is disposed away from the connection between the instrument rod and the chute.
  • the driving source is overlapped with the instrument shaft instead of being deployed along the second axis direction, which can further reduce the length of the driving assembly along the second axis direction.
  • the driving source includes a driving body, and the driving body is configured as an elongated structure, and its length direction is parallel to the second axis direction.
  • the entire length of the drive source is arranged along the second axis direction, and the drive source and the instrument shaft are rewritten along the second axis direction instead of being deployed along the second axis direction, reducing the length of the drive assembly along the second axis direction, and the width perpendicular to the direction of the second axis, the overall volume of the drive assembly is smaller.
  • the two sides of the driving source do not exceed the area swept by the two sides of the transmission member.
  • the swing limit position of the transmission element basically determines the width of the drive assembly along the swing plane, without considering the influence of the drive source alone.
  • the drive assembly further includes a machine base, and the machine base includes two fork plates spaced apart from each other, and both of the two fork plates are parallel to the plane on which the transmission member swings,
  • the driving source is arranged outside the space between the two fork plates and is fixedly connected with one of the fork plates, and the transmission member is pivotally connected between the two fork plates.
  • the fork plate provides a plane required for the installation of the drive source, and the transmission element is installed in the space sandwiched by the two fork plates, which can make the arrangement of the drive components more reasonable.
  • an escape opening is formed on the fork plate used for fixedly installing the driving source, and the active member can extend from the escape gap into between the two fork plates so as to be compatible with all the fork plates.
  • the transmission parts are matched with each other.
  • the machine base further includes a sliding connecting portion, and a sliding hole is provided on the sliding connecting portion along the tensioning direction of the transmission member, and one end of the sliding hole is open between the two fork plates.
  • the machine base further includes a rotating connecting portion, and the rotating connecting portion and the sliding connecting portion are respectively disposed on both ends of the fork plate along the tensioning direction of the transmission member.
  • the arrangement of the rotating connection part is favorable for installing the torque sensor on the side close to the moving platform.
  • a stopper is detachably provided in the opening at one end of the sliding hole away from the fork plate.
  • the circumferential connection between the surgical instrument and the drive assembly is achieved through a replaceable limiter, so that the precise transmission between the drive assembly and the surgical instrument is maintained by regularly replacing the limiter.
  • the driving source includes a driving body fixedly connected to the fork plate through a fixing bracket.
  • an actuator of a surgical robot including the above-mentioned drive assembly and a surgical instrument, wherein: the surgical instrument includes a sleeve rod, an instrument rod and a surgical tool, and the sleeve rod is sleeved outside the instrument shaft and having a preset position relative to the drive assembly;
  • One end of the instrument rod protrudes from the sleeve rod and is provided with a sliding end, and the sliding end is slidably connected to the sliding groove of the transmission member;
  • the sliding groove on the transmission member has a side opening extending through the side surface of the tensioning driving part, and the instrument rod protrudes from the sliding groove from the side opening;
  • the other end of the instrument rod is connected to the surgical tool, and when the instrument rod is driven by the transmission member and slips, the surgical tool can be driven to perform a preset surgical action outside the sleeve rod .
  • the method of the instrument rod driving the surgical work to complete the surgical action can avoid the creep of the wire rope after a period of use, which affects the action accuracy of the surgical tool.
  • the sliding end is configured as a spherical end.
  • the spherical end is used as the sliding end, which can make it slide more smoothly in the sliding groove of the transmission element and reduce the sliding friction between the two.
  • a surgical robot including the above-mentioned actuator, and a telecentric control mechanism, wherein the telecentric control mechanism includes a moving platform, a static platform, and a plurality of telescopic units, each of the Both ends of the telescopic unit are respectively rotatably connected to the moving platform and the static platform, and a plurality of the telescopic units cooperate to expand and contract to control the movement of the moving platform relative to the static platform;
  • the actuator is arranged on the moving platform, and the surgical instrument has a preset telecentric fixed point, and the movement of the moving platform can drive the surgical instrument around the telecentric fixed point in a predetermined position.
  • the movable platform is also provided with a motor for driving the overall rotation of the actuator.
  • the moving platform, the static platform and a plurality of telescopic units form a six-degree-of-freedom dynamic platform structure, which can flexibly and accurately drive the moving platform to move to a preset pose, so as to flexibly and accurately drive the actuators on the moving platform Complete the preset surgical action.
  • the drive assembly further includes a base, the base has a rotating connection portion, the drive assembly and the actuator are fixedly connected to a motor through the rotating connection portion, and the rotating connection A first sensor for detecting the environmental torque of the actuator is also arranged between the part and the motor.
  • the instrument rod can transmit the contact force of the operating end where the surgical tool is located to the machine base. Therefore, installing the first sensor on the machine base can detect the environmental torque on the actuator. , and then feed it back to the operating position of the doctor. This form of force feedback is helpful for the doctor to adjust the surgical operation according to the detection result of the sensor.
  • Figure 1 is a three-dimensional structural diagram of a surgical robot, in which part of the structure of the preoperative positioning mechanism is omitted;
  • Fig. 2 is the exploded structure diagram of the actuator
  • Figure 3 is another exploded structural view of the actuator, in which the casing is omitted;
  • Fig. 4 is the perspective view of the partial structure of the actuator
  • FIG. 5 is an enlarged view of part A of the structure shown in FIG. 3 , which shows the circumferential matching structure between the sleeve rod and the stopper;
  • FIG. 6 is an enlarged view of part B of the structure shown in FIG. 4 , and the enlarged view shows the relative positional relationship between the plug-in limit assembly and the sleeve rod;
  • Fig. 7 is a half-section view of a part of the structure of the actuator.
  • FIG. 8 is an enlarged view of the C part of the structure shown in FIG. 7 , and the enlarged view shows the specific structure of the plug-in limit assembly and the relative positional relationship between it and the sleeve rod;
  • FIG. 9 is a perspective structural view of an upper plate body in the detection element.
  • FIG. 10 is a three-dimensional structural view of the limiting element in the plug-in limiting assembly
  • Figure 11 is a three-dimensional structural view of a part of the structure of the drive assembly, and the figure shows the matching relationship between the driving part, the transmission part and the instrument rod;
  • FIG. 12 is a perspective structural view of a transmission member according to an embodiment
  • Figure 13 is a cross-sectional view of the matching structure of the transmission member and the instrument rod;
  • Fig. 14 is a perspective view of the partial structure of the actuator, and the figure shows the setting positions of the first photoelectric switch and the second photoelectric switch on the base;
  • Figure 15 is a perspective structural view of the base in the drive assembly
  • Figure 16 is a cross-sectional view of the base in the drive assembly, showing the structure at the sliding connection hole in the sliding connection part;
  • Figure 17 is a structural diagram of a part of the structure of the drive assembly, wherein the viewing angle is selected to be the viewing angle that is facing the outer surface of the second fork plate;
  • FIG. 18 is a structural diagram of a part of the structure of the drive assembly, wherein the viewing angle is selected to be a viewing angle looking directly at the outer surface of the first fork plate;
  • Figure 19 is a perspective view of a part of the structure of the telecentric control mechanism, showing the installation positional relationship between the moving platform and the connecting assembly;
  • Figure 20 is a perspective view of the moving platform from one perspective, and the figure shows the distribution of the weight-reducing groove and the avoidance space on one side of the moving platform;
  • Figure 21 is a perspective view of the moving platform from another perspective, showing the distribution of the internal chambers on the other side of the moving platform;
  • Fig. 22 is a sectional view of a part of the structure of the surgical robot, showing the installation positions of various components inside the moving platform.
  • X represents the first axis
  • Y represents the second axis
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components or two components. interactions, unless otherwise expressly defined.
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • the technical solutions of the present application will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.
  • the surgical robot involved in this application is used to assist doctors in completing minimally invasive surgery.
  • the so-called minimally invasive surgery refers to opening a tiny wound on the patient's body, and making the operating end of the surgical instrument pass through the tiny wound to reach the lesion. Perform a spatial swing for a fixed point to complete the corresponding operation.
  • the surgical robot needs to have a telecentric fixed point on the surgical instrument.
  • the surgical instrument passes through the tiny
  • the telecentric fixed point coincides with the tiny wound
  • the spatial swing motion of the surgical instrument is performed with the telecentric fixed point as the fixed point. In this way, when the surgical instrument swings, There is no relative displacement between the surgical instrument at the distal fixed point and the tiny wound, so the tiny wound will not be further slashed or pulled during the operation.
  • the Da Vinci structure In order to obtain the telecentric fixed point, the Da Vinci structure is mostly used in the existing surgical robots, and the telecentric fixed point in the Da Vinci structure is obtained by a parallelogram mechanism.
  • the surgical robot using the Da Vinci structure there are inevitably the following problems: 1. Due to the motion characteristics of the parallelogram mechanism, the instrument arm in the Da Vinci structure needs a larger movement space, so multiple Movement interference between the instrument arms is prone to occur; 2.
  • the action of the surgical instrument is completed by the pulling of the steel belt.
  • the elastic deformation of the steel belt during the pulling process needs to be strictly controlled. It puts forward extremely high requirements on the material and processing technology of the steel strip; 3.
  • the parallelogram mechanism is a series mechanism, and the motion errors between the various parts in the mechanism are superimposed on each other. Therefore, the overall motion error of the final mechanism is relatively large. 4.
  • the action of the surgical instrument is driven by the flexible steel belt. Therefore, a force feedback system cannot be established, and the doctor at the operating table cannot perceive the force between the operating end and the lesion, and the doctor's control changes. difficulty.
  • FIG. 1 is a three-dimensional structural view of a surgical robot according to an embodiment of the present application.
  • the surgical robot involved in the present application includes a preoperative positioning mechanism 400 (part of the structure is omitted in the figure), a telecentric The control mechanism 300 and the actuator 100, etc., wherein: the telecentric control mechanism 300 adopts a parallel mechanism.
  • the parallel mechanism used as the telecentric control mechanism 300 is a Stewart platform, which includes a The moving platform 32 on the side, the static platform 33 on the side close to the preoperative positioning mechanism 400 , and the telescopic unit 31 connected between the moving platform 32 and the static platform 33 .
  • the two ends of the telescopic unit 31 are rotatably connected to the moving platform 32 and the static platform 33 respectively through the connecting assembly 34 .
  • the connecting assembly 34 may be configured as a ball hinge, a universal joint, or the like, which can satisfy the degree of freedom requirement.
  • the plurality of telescopic units 31 cooperate to expand and contract the same or different distances, so that the movable platform 32 can move to different positions relative to the static platform 33, thereby driving the actuator 100 on the movable platform 32 to extend into One end of the patient's body swings in a conical space with the telecentric fixed point O as the vertex, the first axis X as the axis, and the vertex angle ⁇ .
  • the telecentric fixed point O shown in FIG. 1 is a point on the first axis X, and the telecentric fixed point O needs to coincide with the position of the wound on the patient's body during the operation.
  • the telecentric fixed point O is fixed in this type of surgical robot.
  • the telecentric fixed point O is a pseudo-telecentric fixed point, which can have a certain adjustment range on the first axis X, the telecentric fixed point The adjustment of O can be realized by the telescopic device in the preoperative positioning mechanism 400 .
  • the telecentric control mechanism 300 adopts a parallel mechanism, and the moment of inertia at one end of the moving platform 32 is small.
  • the multiple telescopic units 31 in the telecentric control mechanism 300 work in parallel. Therefore, the position errors of the multiple telescopic units 31 acting on the moving platform 32 are parallel and non-accumulative.
  • the moving platform 32 in the present application can obtain higher positional accuracy; the plurality of telescopic units 31 are rigid telescopic units, so force can be transmitted between the actuator 100 and the telecentric control mechanism 300 , therefore, the surgical robot in the present application
  • a force feedback structure can be provided to facilitate the doctor's manipulation at one end of the operating table; the multiple telescopic units 31 jointly bear the force transmitted by the actuator 100, so the overall carrying capacity of the surgical robot is correspondingly improved.
  • FIG. 2 is an exploded structure diagram of the actuator
  • Fig. 3 is another exploded structure diagram of the actuator.
  • the plug-in limit assembly 13 and the casing 15 are omitted in the figure;
  • FIG. 5 is an enlarged view of part A of the structure shown in FIG. 3 , and the enlarged view shows the circumferential matching structure between the sleeve rod and the stopper.
  • the actuator 100 includes a drive assembly 11 , a surgical instrument 12 and a limiter 14 , wherein the drive assembly 11 includes a base 114 , and a transmission component installed on the base 114 to limit
  • the position member 14 is detachably and fixedly connected to the base 114 .
  • the actuator 100 may further include a casing 15 , one end of the casing 15 is connected to the moving platform, one end of the surgical instrument 12 protrudes from the casing 15 , and structures such as the driving assembly 11 are arranged inside the casing 15 .
  • the surgical instrument 12 includes a sleeve shaft 121 , an instrument shaft 122 , and an operating end 123 located on one end of the instrument shaft 122 away from the driving assembly 11 .
  • the sleeve shaft 121 is coaxially sleeved outside the instrument shaft 122, and the operating end 123 is used to complete a specific surgical action, which can be configured as an electric knife, forceps, clips or other similar instruments.
  • One end of the instrument rod 122 is drivingly connected to the transmission part, so as to slide relative to the sleeve rod 121 along the first axis X under the driving of the transmission part, so as to drive the operation end 123 to complete a specific surgical action, for example, when the operation end 123 is configured as When the surgical forceps is used, the sliding of the instrument rod 122 along the first axis X can drive the surgical forceps to complete the opening and closing actions.
  • One end of the sleeve rod 121 disposed close to the transmission component extends into the limiting member 14 and forms a circumferential limit fit with the limiting member 14 .
  • a mounting hole 1141 is defined on the base 114 , and the limiting member 14 is fixed in the mounting hole 1141 .
  • the axial and circumferential connection relationship of the surgical instrument is often set on a connecting structure.
  • the structure used to drive the axial movement of the surgical instrument is a rotating shaft.
  • An external thread is provided on the outer peripheral surface, and the surgical instrument establishes an axial linkage relationship with the rotating shaft through a threaded sleeve with an internal thread; at the same time, a positioning protrusion is provided on the end face of the shaft end of the rotating shaft, and the surgical instrument is axially connected to the rotating shaft
  • the position is provided with a clamping groove matched with the positioning protrusion, and a circumferential linkage relationship is established between the rotating shaft and the surgical instrument through the cooperation of the positioning protrusion and the clamping groove.
  • connection structure of this kind of surgical instrument the linkage between the axial direction and the circumferential direction needs to establish a connection relationship through the shaft end of the rotating shaft.
  • the positioning protrusion and the groove need to be squeezed circumferentially with each other Therefore, after a period of time, there will be a large degree of wear on the rotating shaft, and the overall driving structure where the rotating shaft is located needs to be replaced as a whole.
  • the limiting member 14 and the mounting hole 1141 on the base 114 are detachably connected.
  • the limiting member 14 When the limiting member 14 is worn, only Replacing the stop 14 eliminates the effects of wear without replacing the rest of the drive assembly 11 . Since the surgical instrument 12 needs to be disassembled and replaced when dealing with different operations, frequent disassembly of the surgical instrument 12 will also accelerate the wear rate of the limiter 14. Therefore, a limiter 14 that can be easily disassembled and replaced is added to the drive assembly 11. There are This facilitates the maintenance of the actuator 100 after wear.
  • the limiting member 14 is fitted in the mounting hole 1141 by interference.
  • the limiting member 14 and the base 114 can also be assembled in other detachable connection forms, as long as the limiting member 14 can drive the sleeve rod 121 to rotate with the base 114 in the circumferential direction.
  • the limiting member 14 is provided with a through hole 141 through which the sleeve rod 121 passes, and the inner hole wall of the through hole 141 and the outer circumference of the sleeve rod 121
  • One of the walls is provided with a radially extending protrusion 1411, and the other is provided with a snap groove 1212 that can accommodate the protrusion 1411.
  • the protrusion 1411 and the groove side wall of the snap groove 1212 They are pressed against each other, so that the sleeve rod 121 can rotate in the circumferential direction with the limiting member 14 .
  • the engaging groove 1212 is formed on the outer peripheral wall of the sleeve rod 121 , and the protrusion 1411 is disposed in the mounting hole 1141 of the limiting member 14 . Further, a plurality of protrusions 1211 are provided on the outer peripheral wall of the sleeve rod 121 , and the plurality of protrusions 1211 are arranged at intervals along the direction of the outer peripheral wall of the sleeve rod 121 , and a slot 1212 is formed between two adjacent protrusions 1211 .
  • the retaining groove 1212 can also be formed on the outer peripheral wall of the sleeve rod 121 in the form of material removal.
  • the number of the protrusions 1411 can be set to two, and the two protrusions 1411 are arranged at an interval of 180° in the circumferential direction, so as to uniformly transmit the circumferential force to the sleeve rod 121 in the circumferential direction of the limiting member 14 .
  • the number of the grooves 1212 formed between the bumps 1211 may be more than the number of the protrusions 1411 . Therefore, during assembly, the user can correspondingly snap the protrusions 1411 into different grooves 1212 as required.
  • one end of the protrusion 1211 for forming the card slot 1212 is provided with a lead-in slope 12111 , and the lead-in slope 12111 is arranged on the end of the convex block 1211 that first contacts the protrusion 1411 to guide the protrusion 1411 to be gradually inserted in the slot 1212 between the adjacent bumps 1211 .
  • the lead-in slope 12111 is arranged on the end of the convex block 1211 that first contacts the protrusion 1411 to guide the protrusion 1411 to be gradually inserted in the slot 1212 between the adjacent bumps 1211 .
  • there is a certain circumferential gap between the side wall of the protrusion 1411 and the side wall of the card slot 1212 so as to facilitate the installation of the two, and avoid unnecessary pressing force between the two.
  • the instrument rod 122 in the surgical instrument 12 is connected with the transmission member, so its axial position along the first axis X direction changes with the transmission member, in order to limit the axial direction of the sleeve rod 121 and facilitate the removal of the sleeve when the surgical instrument 12 is replaced.
  • the rod 121 and the actuator 100 also include the plug-in limit assembly 13 .
  • the outer circumference of the sleeve rod 121 is provided with a limit ring groove 1213 concave in the radial direction of the sleeve rod 121 , and the insertion and removal limit assembly 13 is provided at the position corresponding to the limit ring groove 1213 , and here The axial position of the sleeve rod 121 along the first axis X direction is limited.
  • Fig. 6 is an enlarged view of part B of the structure shown in Fig. 4, which shows the relative positional relationship between the plug-in limit assembly and the sleeve rod;
  • Fig. 7 is a half-section view of the partial structure of the actuator;
  • Fig. 8 is a diagram The enlarged view of the C part of the structure shown in 7, the enlarged view shows the specific structure of the plug-in limit assembly, and the relative positional relationship between it and the sleeve rod;
  • FIG. 9 is the three-dimensional structure of the upper plate body in the detection element
  • Fig. 10 is a three-dimensional structural view of the limiting element in the plug-in limiting assembly.
  • the base 114 is provided with a sliding travel space 1142 perpendicular to the direction of the first axis X, the sliding travel space 1142 penetrates part of the surface of the base 114 and communicates with the sleeve rod 121 through The location of the base 114 .
  • the plug-in limit assembly 13 includes a limit element 131 , the limit element 131 is slidably connected to the sliding travel space 1142 , and a limit hole 1311 through which the sleeve rod 121 passes is opened on the limit element 131 . In the assembled state , the limiting hole 1311 is correspondingly sleeved outside the limiting ring groove 1213 .
  • the limiting element 131 has a first preset position and a second preset position.
  • the limiting hole 1311 on the limiting element 131 limits the axial sliding of the sleeve rod 121 relative to the base 114 at the limiting ring groove 1213; in the second preset position, the limiting hole 1311 releases the axial locking of the sleeve rod 121, and at this time, the sleeve rod 121 can be pulled out along the direction of the first axis X.
  • the surgical instrument 12 can be separated from the driving assembly 11 by correspondingly controlling the transmission component to move to a position where the instrument rod 122 is detachable.
  • the limit ring groove 1213 has a stop surface 12131, the stop surface 12131 is parallel to a side surface of the limit element 131, and the limit element 131 can abut on the stop surface 12131 to reliably limit the sleeve The axial relative position of the rod 121 and the limiting element 131 .
  • the sleeve rod is screwed with the outer thread on the outer circumference of the rotating shaft to fix the axial position between the two, while the instrument rod is connected to the transmission where the rotating shaft is located through an appropriate form of axial limit structure. Structural axial connection.
  • the limit element 131 can be slidably connected to the sliding travel space 1142 on the base 114 first, and then the sleeve rod 121 can be inserted into the base 114 And the limit hole 1311 on the limit element 131, and the limit ring groove 1213 is snapped into the limit hole 1311, so that the two can form a stable limit relationship, and when disassembling, only need to slide along the travel space 1142.
  • the unlocking can be realized by sliding the limiting element 131 .
  • the disassembly and assembly of the sleeve rod 121 and the base 114 in the present application are relatively simple.
  • an elastic element 132 is further disposed between the base 114 and the limiting element 131 , and the elastic force of the elastic element 132 acts on the limiting element 131 to keep it at the first preset Location.
  • the limiting element 131 is kept at the first preset position.
  • the elastic element 132 is disposed on the end of the limiting element 131 where the limiting hole 1311 is opened, and is compressed between the limiting element 131 and the base 114 . In this way, the elastic force of the elastic element 132 presses against the limiting element 131 to keep it in the first preset position.
  • a pressing portion 133 is fixedly connected to the end of the limiting element 131 away from the limiting hole 1311 .
  • one end of the pressing portion 133 protrudes from the sliding hole 151 to the outside of the casing 15 .
  • the pressing portion 133 pushes the limiting element 131 downward, and the elastic element 132 is further compressed under the action of the external force.
  • the limiting element 131 can slide from the first preset position to the second position. Preset position.
  • FIG. 16 is a cross-sectional view of the base in the drive assembly.
  • the sliding travel space 1142 has a rectangular section, and the cross-sectional shape of the limiting element 131 is adapted to it, so as to prevent the limiting element 131 from rotating relative to the sliding travel space 1142 .
  • the cross-sectional shape of the sliding travel space 1142 can also be set to any other non-circular surface, as long as the rotation of the limiting element 131 therein can be avoided.
  • a circumferential limiting structure for limiting the rotation of the limiting element 131 may be provided between the limiting element 131 and the base 114 , instead of necessarily limiting the limiting element 131 by the cross-sectional shape of the sliding travel space 1142 rotation.
  • the limiting hole 1311 may include a large aperture portion and a small aperture portion, both of which are disposed along the sliding direction of the limiting element 131 .
  • the small aperture portion of the limiting hole 1311 is limitedly matched with the limiting ring groove 1213 on the sleeve rod 121; when the limiting element 131 slides along the sliding travel space 1142 to the second preset position under the action of an external force , the large aperture portion is aligned with the sleeve rod 121 to accommodate the sleeve rod 121 to slide out of the limiting hole 1311 .
  • the limiting hole 1311 can also be set as a waist-shaped hole.
  • the hole wall at the lower end of the waist-shaped hole is clamped into the limiting ring groove 1213 .
  • the positioning element 131 slides to the second preset position, the waistline of the waist-shaped hole is aligned with the sleeve rod 121, so that the hole wall of the waist-shaped hole no longer restricts the sleeve rod 121 from coming out in the axial direction.
  • the plug-in limit assembly 13 When designing the plug-in limit assembly 13 , not only the reliable axial limit of the sleeve rod 121 should be considered, but also the need for quick disassembly of the sleeve rod 121 must be considered. During the operation, the time for the operator to replace the surgical instrument 12 is limited. Therefore, in the existing surgical robot, the connection position of the surgical instrument is often inclined to select some quick-release seat assemblies that are convenient for disassembly and assembly. However, when disassembling a surgical instrument, the user generally judges whether the surgical instrument is detachable by manipulating the hand feel. For example, when the action of releasing the axial lock of the surgical instrument is a pressing action, the user needs to apply pressure based on experience, and then pull out in the axial direction. Surgical instruments, when the pressing force is insufficient, may cause the surgical instruments to be dismantled.
  • the plug-in limit assembly 13 in the present application further includes a detection element 134, which is used to assist the user in determining whether the sleeve rod 121 can be pulled out currently.
  • the detection element 134 is disposed on the sliding path of the limiting element 131 , and is used to determine the stop position of the limiting element 131 relative to the base 114 .
  • an end of the limiting element 131 close to the detection element 134 is provided with a triggering section 1312 , and the end of the triggering section 1312 has a triggering end 13121 .
  • the elastic element 132 is sleeved outside the triggering section 1312 of the limiting element 131 , and two ends of the elastic element 132 abut against the limiting element 131 and the inner side surface of the base 114 respectively.
  • the detection element 134 has a detection channel 1341.
  • the detection element 134 is triggered and can emit corresponding electrical power Signal.
  • the detection element 134 is selected as a photoelectric limit switch.
  • a pair of opposite sidewalls in the detection channel 1341 are provided with a pair of opposite radiation devices. When the trigger end 13121 extends into the detection channel 1341 and is blocked between the pair of opposite radiation devices, the detection element 134 is triggered.
  • an electrical signal sent by the detection element 134 can control a prompt light to emit light, thereby prompting the user that the limiting element 131 is at the second preset position, and the sleeve rod 121 can be removed.
  • the device that prompts the user to stop the position of the limiting element 131 may also be a sounding device such as a buzzer, and its function is to prompt the user that the sleeve rod 121 can be removed currently.
  • the axial limit of the sleeve rod 121 and the instrument rod 122 in the surgical instrument 12 is realized by the insertion and extraction of the limit assembly 13 and the transmission part, respectively. Therefore, after the detection element 134 is triggered, the The electrical signal can also be used to control the action of the transmission component, so that the instrument rod 122 is also driven to the detachable position, so as to facilitate the user to disassemble the surgical instrument 12 .
  • the control system of the surgical robot can control the instrument shaft 122 to remain in the axial connection position and cannot be disassembled.
  • an upper plate body 1342 is fixedly connected to the base 114 , and the detection element 134 is connected to the upper plate body 1342 to be fixedly connected to the base 114 .
  • the upper plate body 1342 is provided with an escape groove 1343 , and the escape groove 1343 includes an inlet groove section 13431 and a guide groove that communicate with each other.
  • Section 13432 wherein: the size of the notch of the inlet groove section 13431 can accommodate the trigger end 13121 to pass through the upper plate body 1342, and the cross-sectional size of the notch of the guide groove section 13432 is smaller than the size of the trigger end 13121, when the limit element 131 slides laterally
  • the trigger end 13121 is limited to the side of the upper plate body 1342 facing the installation of the detection element 134, and can slide into/exit the detection channel 1341 under the guiding action of the groove wall of the guide groove section 13432.
  • the actuator 100 of the present application is provided with a plug-in limit assembly 13 .
  • the instrument rod 122 needs to be stretched during the operation, so that the operation end 123 at the end of the instrument rod 122 can complete the intended surgical action.
  • the surgical forceps must at least be able to rotate about the first axis X as an axis and to open and close the surgical forceps during the operation.
  • a driving component composed of a steel belt and a pulley is generally used. The higher requirements are met, and the equipment cost is extremely high.
  • the connection between the drive assembly and the surgical instrument is also complicated, and it is difficult to meet the requirements of rapid disassembly and assembly of the surgical instrument.
  • Fig. 11 is a perspective structural view of a partial structure of a drive assembly
  • Fig. 12 is a perspective structural view of a transmission member according to an embodiment
  • Fig. 13 is a cross-sectional view of the matching structure of the transmission member and the instrument rod
  • Fig. 14 is a perspective view of the partial structure of the actuator
  • Fig. 15 is a perspective structural view of the base in the drive assembly
  • Fig. 16 is a cross-sectional view of the base in the drive assembly.
  • the drive assembly 11 includes a driving member 111 , a transmission member 112 and a driving source 113 , wherein: the driving source 113 is fixedly connected to the base 114 , and the output end of the driving source 113 is connected to the driving member 111 , In order to drive the driving member 111 to rotate, the driving member 111 and the transmission member 112 are driven to cooperate to drive the transmission member 112 to swing.
  • the transmission member 112 can be configured as an integral metal part, and includes a body having a pivot portion 1121 , a motion input portion 1122 and a tension driving portion 1123 .
  • the pivot part 1121 is provided with a pivot shaft 119, so that the main body of the transmission member 112 is rotatably connected to the base 114 shown in FIG.
  • the motion input part 1122 and the driving member 111 Cooperate with transmission to drive the body to swing around the axis of the pivot part 1121 within a preset angle range; along the swing direction of the body, the tensioning drive part 1123 and the motion input part 1122 are arranged at an angle to each other; the tensioning drive part 1123 is provided with The sliding groove 1124, the sliding groove 1124 penetrates the end and the side surface of the tensioning driving part 1123, and is respectively formed with a port 1125 and a side gap 1126.
  • the body of the transmission member 112 may also be provided with a weight reduction groove, so as to reduce the moment of inertia of the transmission member 112 .
  • one end of the instrument shaft 122 protrudes from the sleeve shaft 121 and has a sliding end 1221.
  • the sliding end 1221 can be configured as a spherical end similar to a ball head, so that the sliding end 1221 It can be rotated within the chute 1124 to accommodate the angle change between the transmission member 112 and the instrument shaft 122 .
  • the sliding end 1221 of the instrument rod 122 can slide into/out of the chute 1124 from the port 1125 on the tensioning drive part 1123, and at the same time, when the sliding end 1221 is slidably connected to the chute 1124, the rest of the instrument rod 122 slides from the side External gap 1126 protrudes.
  • the other end of the instrument rod 122 is connected to the operation end 123.
  • the operation end 123 can be driven to perform a surgical action.
  • the surgical action is the opening and closing movement of the surgical forceps
  • the instrument rod 122 translates closer to or away from the operation end 123, which can drive the opening and closing mechanism of the operation end 123 to open or close.
  • the instrument rod 122 basically elastically elongates or shortens in the process of being stretched. Therefore, it can be controlled by controlling the movement of the instrument rod 122.
  • special materials In order to control the amplitude error, special materials must be used. belt, and the installation accuracy should be improved accordingly.
  • the motion input portion 1122 is configured as a plurality of gear teeth distributed along the swing direction of the body, and the plurality of gear teeth are distributed to form a sector-shaped gear area
  • the driving member 111 is configured as a gear capable of meshing with the sector-shaped gear area for transmission.
  • a plurality of gear teeth are arranged on one side of the swing plane of the body, and cooperate with the driving member 111 to form a space gear transmission. Compared with the unfolded arrangement, the arrangement of the space gear transmission shortens the distance between the driving member 111 and the driving member 111. The length along the X direction of the first axis where the transmission member 112 is matched.
  • the chute 1124 extends in a straight line.
  • the sleeve rod 121 is kept relatively fixed to the machine base 114 under the axial limit action of the plug-in limit assembly 13 .
  • the instrument rod 122 is coaxially disposed inside the sleeve rod 121 , so the instrument rod 122 is guided by the sleeve rod 121 .
  • the output end of the driving source 113 drives the driving member 111 to rotate, and the driving member 112 is caused to swing around the fixed axis through the meshing transmission between the driving member 111 and the motion input portion 1122 on the transmission member 112; the instrument rod 122
  • the sliding end 1221 is slidably connected to the sliding groove 1124. When the tensioning drive part 1123 swings, the sliding end 1221 slides in the sliding groove 1124.
  • the transmission member 112 along the swing path of the transmission member 112, it has a first limit position and a second limit position.
  • the sliding end 1221 is close to the port 1125, and the user can pull out the sliding end 1221 from the port 1125 along the sliding direction of the instrument rod 122, thereby realizing the disassembly of the instrument rod 122 and the driving assembly 11;
  • the sliding The end 1221 slides along the chute 1124 to the farthest farthest away from the port 1125.
  • the sliding end 1221 and the end wall of the chute 1124 are spaced apart to prevent the sliding end 1221 from abutting against the end wall of the chute 1124.
  • the transmission member 112 is stuck in the chute 1124 and affects the reverse swing of the transmission member 112 .
  • the swing of the transmission member 112 can achieve two purposes at the same time: the instrument rod 122 slides along its own axis, thereby driving the operation end 123 to perform a surgical action; when the transmission member 112 swings to the first limit position , the instrument rod 122 can be disassembled from the port 1125 , that is, a quick-release structure of the instrument rod 122 is also formed.
  • the driving assembly 11 in the present application can realize the manipulation of the surgical instrument 12 and the disassembly of the instrument shaft 122 with a simple structure.
  • the drive assembly 11 can also be equipped with a relevant detection unit to detect the limit position of the transmission member 112 in another swing direction, so as to prevent the transmission member 112 from swinging beyond the second limit position, causing the sliding end 1221 to be stuck in the chute 1124 .
  • the drive assembly 11 further includes a detection unit disposed on the swing path of the transmission member 112 for detecting the first limit position and/or the second limit position of the transmission member 112 swinging. It can be understood that when it is necessary to detect both extreme positions, the detection unit can achieve the above two purposes at the same time - prompting the user that the instrument rod 122 can currently be pulled out and that the further swing of the transmission member 112 will exceed the second extreme position. , there is a risk of jamming the instrument shaft 122 .
  • the detection unit may include a first photoelectric switch 115 and a second photoelectric switch 116 corresponding to the first limit position and the second limit position of the transmission member 112, respectively.
  • the first photoelectric switch 115 When the first photoelectric switch 115 is triggered, the further sliding of the instrument rod 122 in the original direction can drive the sliding end 1221 to slide out of the chute 1124 from the port 1125; and when the second photoelectric switch 116 is triggered, the surgical robot can pass the driving source 113 Control the transmission member 112 to stop to avoid further swinging, or directly control the transmission member 112 to swing in the opposite direction, so as to prevent the transmission member 112 from swinging over travel and being stuck.
  • a marking piece 117 is fixed on one side surface of the transmission member 112 .
  • the marking piece 117 swings with the transmission member 112 and is used to trigger the detection unit to send out a corresponding electrical signal.
  • the detection element 134 for detecting the sliding stop position of the limit element 131 can be associated with the detection unit for detecting the swing stop position of the transmission member 112, for example, Only when the first photoelectric switch 115 detects that the transmission member 112 is in the first limit position, and the detection element 134 detects that the limit element 131 is in the second preset position, will an electrical signal be sent to prompt the user that the surgical instrument 12 can be replaced.
  • the base 114 is adapted to the layout requirements of the driving element 111 , the transmission element 112 and the detection unit, and may include a sliding connection portion 1145 , and a first fork plate 1143 and a second fork plate fixed or integrally provided at one end of the sliding connection portion 1145 . 1144, wherein: two fork plates are arranged parallel to each other and spaced apart, and each fork plate is parallel to the plane where the transmission member 112 swings.
  • the two end surfaces of the pivot portion 1121 of the transmission member 112 are parallel to the first fork plate 1143 and the second fork plate 1144 respectively, and there is a certain gap between them and the inner side surfaces of the two fork plates, respectively. In order to avoid the swinging motion of the transmission member 112 being affected by the two fork plates.
  • the first photoelectric switch 115 and the second photoelectric switch 116 serving as detection units are both mounted on the first fork plate 1143 , the calibration member 117 is mounted on the side of the transmission member 112 facing the first fork plate 1143 , and the first fork plate 1143 An arc-shaped slot 11431 is opened on the upper part. In the assembled state, the calibration piece 117 extends from the arc-shaped slot 11431 to trigger the first photoelectric switch 115 or the second photoelectric switch 116 installed on the outer surface of the first fork plate 1143 .
  • the driving source 113 includes a driving body 1131 , the driving body 1131 is arranged as an elongated structure extending along the direction of the first axis X, and one end of its length direction is an output end for connecting the active Piece 111.
  • the driving main body 1131 is fixedly connected to the second fork plate 1144 through a fixing bracket 118 .
  • an escape opening 11441 is formed on the second fork plate 1144, and a part of the structure of the driving member 111 extends into the first fork plate 1143 and the second fork plate from the escape opening 11441. 1144, and engages with the motion input portion 1122 of the transmission member 112 between the two fork plates.
  • the sliding connecting portion 1145 is provided with a sliding hole 11451 along the direction of the first axis X, and one end of the sliding hole 11451 penetrates to the sliding connecting portion 1145 adjacent to the two fork plates. On one end, the other end of the sliding hole 11451 communicates with the mounting hole 1141 .
  • the sliding travel space 1142 is also provided on the sliding connecting portion 1145 .
  • the limiter 14 is embedded in the installation hole 1141 , the sleeve rod 121 passes through the limiter 14 and extends into the sliding hole 11451 , and after passing through the sliding travel space 1142 , it is limited by the plug-in limiter 13 to a preset axial direction Position; the part of the instrument rod 122 passing through the sleeve rod 121 is passed out between the two fork plates along the sliding hole 11451 , and is slidably connected with the sliding groove 1124 of the transmission member 112 .
  • the active member 111 is connected to the output end of the driving source 113, and is rotated around the second axis Y under the driving of the driving source 113.
  • the instrument rod 122 is along the first axis X.
  • the direction is telescopic and sliding, and the first axis X is parallel to the second axis Y.
  • the second axis Y is in a line-to-plane parallel relationship with the plane where the transmission member 112 swings.
  • the driving source 113 is arranged substantially parallel to the surgical instrument 12, reducing the space occupation of the relevant position.
  • the output end of the driving source 113 faces away from the position where the instrument shaft 122 is connected to the chute 1124 , so that the driving main body 1131 of the driving source 113 in the direction of the first axis X is substantially coincident with
  • the base 114 avoids occupying space in the extended axial direction of the driving body 1131 of the driving source 113 .
  • the two sides of the driving source 113 do not exceed the area between the two extreme positions of the transmission member 112. In this way, the driving source 113 and the transmission member 112 are generally arranged in an up-down relationship as shown in FIG. , the local space occupation is further reduced.
  • the surgical robot in the present application not only takes up less space at the telecentric control mechanism 300, but also at the actuator 100, through the structural adjustment of each component and the change in the layout of the structure, so that the The space occupied by the actuator 100 is also small, which makes the surgical robot small in size and flexible in movement.
  • Fig. 19 is a perspective view of a part of the structure of the telecentric control mechanism, showing the installation positional relationship between the moving platform and the connecting assembly;
  • Fig. 20 is a perspective view of the moving platform from one perspective, showing that the weight-reducing groove and the avoidance space are in The distribution on one side of the moving platform;
  • Figure 21 is a perspective view of the moving platform from another perspective, the figure shows the distribution of the internal chamber on the other side of the moving platform;
  • Figure 22 is a cross-sectional view of a part of the structure of the surgical robot, and the figure shows the moving platform. The installation position of each component inside the platform.
  • a recessed space 321 is formed on a side surface of the moving platform 32 , and the connecting assembly 34 between the telescopic unit 31 and the moving platform 32 is at least partially located in the avoiding space 321 .
  • the arrangement of the avoidance space 321 reduces the space occupied by the movable telecentric control mechanism 300 along the first axis X direction.
  • the movable platform 32 is further provided with a weight reduction groove 322 on the side where the avoidance space 321 is provided, and the setting position of the weight reduction groove 322 is staggered from the avoidance space 321 .
  • there are multiple weight-reducing grooves 322 and the multiple weight-reducing grooves 322 balance the weight of the moving platform 32 so that the center of mass of the moving platform 32 coincides with the center of the circle where the plurality of connecting components 34 are located.
  • the setting of the weight-reducing groove 322 reduces the overall weight of the moving platform 32, and the setting of the avoidance space 321 makes the moving platform 32 in the present application lighter in overall weight compared with the common solid platform structure, and its motion inertia is also smaller when it swings.
  • the moving platform 32 includes a body, and an inner chamber 323 is formed on the side of the body facing away from the escape space 321, and the inner chamber 323 is used for embedding the motor 200,
  • the motor 200 is used to drive the actuator 100 to rotate as a whole.
  • the motor 200 is built in the inner chamber 323 of the moving platform 32, which can further reduce the volume of the surgical robot, which is beneficial to the miniaturization of the surgical robot.
  • the motor 200 includes a rotor 21 , a stator 22 and a hollow shaft 23 .
  • the rotor 21 is fixedly connected with a bearing inner ring 351
  • the moving platform 32 is fixed with a bearing outer ring 353
  • a roller 352 is arranged between the inner and outer rings of the bearing, which together constitute the bearing 35 .
  • the rollers 352 may be selected as crisscross rollers to enable the bearing 35 to transmit space forces between the inner and outer rings.
  • the bearing 35 can also adopt other bearings that can bear the space force, or use a combination of multiple bearings to bear the space force.
  • the base 114 of the actuator 100 is fixedly connected to the rotor 21 .
  • the end of the base 114 close to the moving platform 32 is provided with a rotating connecting portion 1146 , and the base 114 is directly or indirectly fixed with the rotor 21 in the motor 200 through the rotating connecting portion 1146 , so that it can be driven by the motor 200 to turn.
  • a first sensor 36 is further disposed between the rotary connection portion 1146 and the rotor 21 , and the first sensor 36 can be selected as a torque sensor and is used to sense the environmental torque received by the actuator 100 . In this way, the torque received by the actuator 100 can be fed back to the first sensor 36 through the rotational connection portion 1146 of the base 114 . Further, the connecting wire of the first sensor 36 can pass through the cavity inside the hollow shaft 23 .
  • the moving platform 32 is further provided with a fixed seat 361 .
  • the moving platform 32 is also provided with a second sensor 37 , and the second sensor 37 is used to detect the angle that the actuator 100 rotates with the motor 200 .
  • part of the second sensor 37 is relatively fixed to the rotor 21 through the hollow shaft 23
  • the other part of the second sensor 37 is fixed to the moving platform 32 , so as to detect the rotation of the rotor 21 relative to the stator 22 .
  • the angle detects the angle that the actuator 100 has rotated.
  • the second sensor 37 is disposed on the side of the movable platform 32 on which the connecting assembly 34 is connected.
  • the side of the movable platform 32 facing away from the connecting assembly 34 is also connected with a cover 38 , and the cover 38 covers the structure installed in the movable platform 32 inside.

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Abstract

一种驱动组件（11）、执行机构（100）及手术机器人，该驱动组件（11）包括：驱动源（113）、主动件（111）及传动件（112），其中：主动件（111）连接于驱动源（113）的输出端，并能够随输出端绕第二轴线（Y）转动；传动件（112）具有运动输入部（1122）和张拉驱动部（1123），运动输入部（1122）与主动件（111）传动配合，使得传动件（112）在预设角度范围内摆动；沿传动件（112）的摆动方向，张拉驱动部（1123）与运动输入部（1122）互呈角度设置，且张拉驱动部（1123）上开设有用于滑动连接器械杆（122）一端的滑槽（1124），传动件（112）摆动时能够带动器械杆（122）沿平行于第二轴线（Y）的方向伸缩滑移。如此，驱动源（113）的输出端与器械杆（122）伸缩滑移的方向平行，减小了驱动组件（11）整体的空间占用，有利于手术机器人的驱动组件（11）处小型化设计。

Description

驱动组件、执行机构及手术机器人 技术领域
本申请涉及医疗器械领域，尤其涉及一种驱动组件、执行机构及手术机器人。
背景技术
微创手术是指在病人身体上开一个微小创口，手术机器人的部分执行机构穿过该微小创口并进入病灶位置，并使执行机构的远心不动点与创口位置重合，操作者通过对手术机器人的机械臂部分进行控制，带动执行机构以远心不动点为铰点做一定角度范围内的空间摆动，辅助以执行机构自身的动作，完成微创手术。微创手术由于创口小、出血少，近年来正逐步获得医务人员和患者的青睐。
执行机构一般包括：用于伸入至病灶位置的手术器械，以及用于驱动手术器械进行旋转、开合等动作的驱动组件，在驱动组件的带动下，手术器械上伸入人体内的操作端完成预设的手术动作。为了对手术器械进行精准控制，驱动组件一般精密且复杂，例如达芬奇手术机器人中，使用钢索驱动手术器械的操作端动作。
然而，这类驱动组件需要较为充足的空间进行安装，以避免钢索之间相互缠绕或相互干涉，不利于驱动组件的小型化。
发明内容
根据本申请的各种实施例，提供一种手术机器人的驱动组件，包括：驱动源、主动件及传动件，其中：所述主动件连接于所述驱动源的输出端，并能够随所述输出端绕第二轴线转动；所述传动件具有运动输入部和张拉驱动部，所述运动输入部与所述主动件传动配合，使得所述传动件在预设角度范围内摆动；沿所述传动件的摆动方向，所述张拉驱动部与所述运动输入部互呈角度设置，且所述张拉驱动部上开设有用于滑动连接器械杆一端的滑槽，所述传动件摆动时能够带动所述器械杆沿平行于所述第二轴线的方向伸缩滑移。
如此设置，驱动源的输出端与器械杆伸缩滑移的方向平行，减小了驱动组件整体的空间占用，有利于手术机器人的驱动组件处小型化设计。
在其中一个实施例中，所述第二轴线平行于所述传动件摆动运动所在的平面。
如此设置，第二轴线与传动件摆动运动所在的平面构成空间的线面平行关系，可以进一步减小驱动组件整体的空间占用。
在其中一个实施例中，所述驱动源的所述输出端背向所述器械杆与所述滑槽的连接处设置。
如此设置，沿第二轴线方向，驱动源与器械杆重叠而并非沿第二轴线方向展开布置，可以进一步减小驱动组件沿第二轴线方向的长度。
在其中一个实施例中，所述驱动源包括驱动主体，且所述驱动主体设置为长条形结构，且其长度方向平行于所述第二轴线方向。
驱动源的整体长度方向沿第二轴线方向布置，且沿该第二轴线方向驱动源与器械杆重写而非沿第二轴线方向展开布置，减小了驱动组件沿第二轴线方向的长度，及垂直于该第二轴线方向的宽度，驱动组件的整体体积更小。
在其中一个实施例中，沿所述传动件的摆动方向，所述驱动源的两侧边不超出所述传动件两侧边所扫过区域。
传动件的摆动极限位置基本决定了驱动组件沿该摆动平面的宽度尺寸，而无需单独考虑驱动源的影响。
在其中一个实施例中，所述驱动组件还包括机座，所述机座包括相互间隔设置的两块叉板，且两块所述叉板均平行于所述传动件摆动运动所在的平面，所述驱动源设置于两块所述叉板夹设空间以外，并与其中一块所述叉板固定连接，所述传动件枢接于两块所述叉板之间。
叉板提供了驱动源安装所需的平面，而传动件安装于该两块叉板夹设的空间内，可以使驱动组件的布置更加合理。
在其中一个实施例中，用于固定安装所述驱动源的所述叉板上开设有避让开口，所述主动件能够 自所述避让缺口伸入两块所述叉板之间，以与所述传动件传动配合。
在其中一个实施例中，所述机座还包括滑移连接部，所述滑移连接部上开设有沿所述传动件的张拉方向设置的滑移孔，所述滑移孔的一端开口位于两块所述叉板之间。
在其中一个实施例中，所述机座还包括转动连接部，沿所述传动件的张拉方向，所述转动连接部和所述滑移连接部分别设置于所述叉板的两端。
转动连接部的设置有利于在其靠近动平台一侧安装力矩传感器。
在其中一个实施例中，所述滑移孔上远离所述叉板的一端开口内可拆卸设置有限位件。
手术器械与驱动组件之间通过一个可更换的限位件实现周向连接，从而通过定期更换限位件保持驱动组件与手术器械之间的精确传动。
在其中一个实施例中，所述驱动源包括驱动主体，所述驱动主体通过固定支架固定连接至所述叉板。
根据本申请的各种实施例，还提供一种手术机器人的执行机构，包括上述的驱动组件和手术器械，其中：所述手术器械包括套杆、器械杆及手术工具，所述套杆套设于所述器械杆外，并相对于所述驱动组件具有预设位置；
所述器械杆的一端伸出所述套杆并设置有滑动端，所述滑动端滑动连接至所述传动件的所述滑槽内；
所述传动件上的所述滑槽具有贯穿所述张拉驱动部侧面的侧部开口，所述器械杆自所述侧部开口伸出所述滑槽；
所述器械杆的另一端连接至所述手术工具，且当所述器械杆被所述传动件带动而发生滑移时，能够带动所述手术工具在所述套杆外进行预设的手术动作。
器械杆驱动手术工作完成手术动作的方式，相比于柔性的钢带驱动的形式，可以避免使用一段时间后钢索的蠕变等影响手术工具的动作精度。
在其中一个实施例中，所述滑动端设置为球形端。
球形端作为滑动端，可以使其在传动件的滑槽内滑动更加顺畅，减小两者间的滑动摩擦。
根据本申请的各种实施例，还提供一种手术机器人，包括上述的执行机构，以及远心操控机构，所述远心操控机构包括动平台、静平台以及多个伸缩单元，每个所述伸缩单元的两端均分别转动连接至所述动平台和所述静平台，多个所述伸缩单元协同伸缩以控制所述动平台相对于所述静平台运动；
所述执行机构设置于所述动平台上，并且，所述手术器械具有预设的远心不动点，所述动平台的运动能够带动所述手术器械绕所述远心不动点在预设的锥形空间内摆动；所述动平台上还设置有用于驱动所述执行机构整体转动的电机。
动平台、静平台及多个伸缩单元构成一个六自由度动感平台结构，该结构能够灵活且精度较高地驱动动平台运动至预设的位姿，从而灵活且精准地带动动平台上的执行机构完成预设的手术动作。
在其中一个实施例中，所述驱动组件还包括机座，所述机座具有转动连接部，所述驱动组件及所述执行机构通过所述转动连接部固定连接至一电机，所述转动连接部与所述电机之间还设置有用于检测所述执行机构所受环境力矩的第一传感器。
区别于柔性的钢带带动手术工作动作的形式，器械杆可以将手术工具所在的操作端的接触力传导至机座处，因此，在机座上安装第一传感器，可以检测执行机构上的环境力矩，进而将其反馈至医生的操作位置，这种力反馈的形式，有利于医生依据传感器的检测结果调整手术操作。
上述驱动组件、执行机构及手术机器人中，通过改变驱动源与器械杆等构件的相对布置方位，使得驱动组件处所需安装空间减小，有利于减小手术机器人上执行机构处的结构尺寸。
附图说明
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
图1为手术机器人的立体结构图，图中省去了术前摆位机构的部分结构；
图2为执行机构的分解结构图；
图3为执行机构的另一分解结构图，图中省去了外壳；
图4为执行机构部分结构的立体图；
图5为图3中所示结构的A部放大图，该放大图中显示了套杆与限位件之间的周向配合结构；
图6为图4中所示结构的B部放大图，该放大图中显示了插拔限位组件与套杆之间相对位置关系；
图7为执行机构部分结构的半剖视图；
图8为图7中所示结构的C部放大图，该放大图中显示了插拔限位组件的具体结构，及其与套杆之间相对位置关系；
图9为检测元件中的上板体的立体结构图；
图10为插拔限位组件中限位元件的立体结构图；
图11为驱动组件部分结构的立体结构图，图中显示了主动件、传动件及器械杆之间的配合关系；
图12为一种实施方式的传动件的立体结构图；
图13为传动件与器械杆配合结构的剖视图；
图14为执行机构部分结构的立体图，图中显示了第一光电开关和第二光电开关在机座上的设置位置；
图15为驱动组件中机座的立体结构图；
图16为驱动组件中机座的剖视图，图中显示了滑移连接部中滑移连接孔处结构；
图17为驱动组件中部分结构的结构图，其中的视角选择为正视于第二叉板外侧表面的视角；
图18为驱动组件中部分结构的结构图，其中的视角选择为正视于第一叉板外侧表面的视角；
图19为远心操控机构部分结构的立体图，图中显示了动平台与连接组件之间的安装位置关系；
图20为动平台一个视角下的立体图，图中显示了减重槽及避让空间在动平台一侧的分布；
图21为动平台另一个视角下的立体图，图中显示了内部腔室在动平台另一侧的分布；
图22为手术机器人部分结构的剖视图，图中显示了动平台内部各个零部件的安装位置。
图中标号：100表示执行机构；11表示驱动组件；12表示手术器械；13表示插拔限位组件；14表示限位件；15表示外壳；
111表示主动件；112表示传动件；113表示驱动源；114表示机座；115表示第一光电开关；116表示第二光电开关；117表示标定件；118表示固定支架；119表示枢接轴；1121表示枢接部；1122表示运动输入部；1123表示张拉驱动部；1124表示滑槽；1125表示端口；1126表示侧部间隙；1131表示驱动主体；1141表示安装孔；1142表示滑动行程空间；1143表示第一叉板；1144表示第二叉板；1145表示滑移连接部；1146表示转动连接部；11431表示弧形槽；11441表示避让开口；11451表示滑移孔；121表示套杆；122表示器械杆；123表示操作端；1211表示凸块；1212表示卡槽；1213表示限位环槽；12111表示导入斜面；12131表示挡止面；1221表示滑动端；131表示限位元件；132表示弹性元件；133表示按压部；134表示检测元件；1311表示限位孔；1312表示触发段；13111表示大孔径部；13112表示小孔径部；13121表示触发端头；1341表示检测通道；1342表示上板体；1343表示让位槽；13431表示入口槽段；13432表示导向槽段；141表示贯通孔；1411表示凸起；151表示滑孔；
200表示电机；21表示转子；22表示定子；23表示中空转轴；
300表示远心操控机构；31表示伸缩单元；32表示动平台；33表示静平台；34表示连接组件；35表示轴承；36表示第一传感器；37表示第二传感器；38表示罩壳；321表示避让空间；322表示减重槽；323表示内部腔室；351表示轴承内圈；352表示滚子；353表示轴承外圈；361表示固定座；
400表示术前摆位机构；
X表示第一轴线；Y表示第二轴线。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，也可以是成一体；可以是机械连接，也可以是电连接，也可以是通讯连接；可以是直接连接，也可以通过中间媒介的间接连接，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。下面以具体地实施例对本申请的技术方案进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
本申请所涉及的手术机器人，是用于辅助医生完成微创手术。所谓微创手术，是指在患者身体上开一个微小创口，并使手术器械的操作端穿过该微小创口到达病灶处，医生通过手术机器人的操作台远程操控手术器械，使手术器械以创口处为定点进行空间摆动，从而完成相应手术。在这一过程中，为了避免患者身体上的微小创口被手术器械划开或受到拉扯，手术机器人需要在手术器械上具有一个远心不动点，在进行微创手术时，手术器械穿过微小创口且位于患者体内的操作端到达病灶时，该远心不动点与微小创口重合，该手术器械的空间摆动运动，以该远心不动点为定点进行，这样，手术器械在摆动时，该远心不动点处的手术器械与微小创口之间无相对位移，因此，微小创口不会在手术过程中被进一步划开或受到拉扯。
为了获得远心不动点，现有的手术机器人中多采用达芬奇结构，达芬奇结构中远心不动点的获得，是通过平行四边形机构得到的。但是，在采用达芬奇结构的手术机器人中，不可避免地存在下述问题：1、由于平行四边形机构的运动特点，达芬奇结构中的器械臂需要更大的运动空间，因此，多个器械臂之间容易发生运动干涉；2、达芬奇结构中，手术器械的动作通过钢带牵拉完成，为了使手术器械运动精确，钢带在牵拉过程中的弹性变形需要严格控制，这就对钢带的材料及处理工艺等提出了极高的要求；3、平行四边形机构属于串联机构，机构内各个部分之间的运动误差是相互叠加的，因此，导致最终机构整体运动误差较大；4、达芬奇结构中通过柔性的钢带牵拉驱动手术器械动作，因此，无法建立力反馈系统，操作台处的医生无法感知操作端与病灶之间的作用力，医生的操控变的困难。
图1为本申请一种实施方式的手术机器人的立体结构图，参考图1中所示，本申请所涉及的手术机器人包括术前摆位机构400(图中省去了部分结构)、远心操控机构300及执行机构100等，其中：远心操控机构300采用并联机构，在图1所示的结构中，用作远心操控机构300的并联机构为Stewart平台，其包括靠近执行机构100一侧的动平台32、靠近术前摆位机构400一侧的静平台33、连接于动平台32和静平台33之间的伸缩单元31。
在远心操控机构300中：伸缩单元31的两端通过连接组件34分别转动连接至动平台32和静平台33。在一些实施方式中，连接组件34可以设置为球铰链、万向节等类似能够满足自由度要求的铰链结构。在操控执行机构100进行手术动作时，多个伸缩单元31协同伸缩相同或不同的距离，从而实现动平台32相对于静平台33运动至不同位姿，进而带动动平台32上的执行机构100伸入患者体内的一端在锥形空间内摆动，该锥形空间以远心不动点O为顶点，以第一轴线X为轴，顶角为α。
图1中所示的远心不动点O为第一轴线X上的一个点，该远心不动点O在手术进行时需要与患者身体上的创口位置重合。在达芬奇手术机器人中，由于采用平行四边形机构获得远心不动点，因此，在该类手术机器人中，远心不动点的位置是固定的。不同于此，在本申请的远心操控机构300中，远心不动点O为一个伪远心不动点，其可以在第一轴线X上具有一定的调整范围，该远心不动点O的调整，可以通过术前摆位机构400中的伸缩装置实现。
采用本申请提供的手术机器人中，远心操控机构300采用并联机构，其动平台32一端的转动惯量小，因此，通过该远心操控机构300操控执行机构100动作时，执行机构100的动态性能好；同时，远心操控机构300内的多个伸缩单元31并联工作，因此，多个伸缩单元31作用于动平台32的位置误差是并联非累加的，因而相比于达芬奇手术机器人，本申请中的动平台32可以获得更高的位置精度；多个伸缩单元31为刚性伸缩单元，因此，执行机构100与远心操控机构300之间可以传力，因此，本申请中的 手术机器人可以设置力反馈结构，以便于医生在操作台一端的操控；多个伸缩单元31共同承担执行机构100传递来的力，因而手术机器人整体的承载能力也相应提高。
图2为执行机构的分解结构图，图3为执行机构的另一分解结构图，相比于图2中结构，图中省去了插拔限位组件13及外壳15等结构；执行机构部分结构的立体图；图5为图3中所示结构的A部放大图，该放大图中显示了套杆与限位件之间的周向配合结构。
参考图2至图5中所示，执行机构100包括驱动组件11、手术器械12及限位件14，其中：驱动组件11包括机座114，以及装设于机座114上的传动部件，限位件14可拆卸地固定连接于机座114上。执行机构100还可以包括外壳15，该外壳15的一端连接至动平台上，手术器械12的一端自该外壳15伸出，驱动组件11等结构均设置于该外壳15内部。
手术器械12包括套杆121、器械杆122及位于器械杆122上远离驱动组件11一端的操作端123。套杆121同轴套设于器械杆122外，操作端123用于完成特定的手术动作，其可以配置为电刀、镊子、夹子或其他类似器械。器械杆122的一端传动连接至传动部件，以在传动部件的带动下相对于套杆121沿第一轴线X滑移，以驱动操作端123完成特定的手术动作，如，当操作端123配置为手术钳时，器械杆122沿第一轴线X的滑移可以驱动手术钳完成开合动作。
套杆121靠近传动部件设置的一端伸入限位件14内，并与限位件14形成周向的限位配合。机座114上开设有安装孔1141，限位件14固定至该安装孔1141内。当机座114随动平台32内的电机带动机座114转动时，由于限位件14与机座114固定，而套杆121与限位件14之间可以实现周向联动，因此，套杆121能够随机座114的转动而转动。同时，由于器械杆122沿第一轴线X的移动由传动部件带动，而传动部件装设于机座114上，因此，器械杆122的周向运动也由机座114带动，手术器械12整体能够随机座114转动。
现有手术机器人的执行机构中，手术器械的轴向与周向连接关系，往往是设置于一个连接结构上的，例如，用于带动手术器械轴向移动的结构为转轴，该转轴的轴端外周面上设置有外螺纹，手术器械通过具有内螺纹的螺纹套与该转轴建立轴向联动关系；同时，转轴的轴端端面上设置有定位凸起，手术器械上轴向连接于该转轴的部位上设置有与该定位凸起配合的卡槽，通过定位凸起与卡槽的配合，在转轴与手术器械之间建立周向联动关系。在安装时，首先需要将手术器械上的卡槽与转轴轴端的定位凸起对准，然后沿轴向将两者对接到位，进而通过螺纹套与转轴外周的外螺纹螺接固定两者之间的轴向位置。
这种手术器械的连接结构中，轴向与周向的联动，均需要通过转轴的轴端建立连接关系，而在手术机器人使用中，由于定位凸起与卡槽之间需要相互周向挤压以传递扭转力矩，因此，一段时间后，转轴处会存在较大程度的磨损，需要整体更换转轴所在的整体驱动结构。
相比于此，在图2至图5所示的执行机构100中，限位件14与机座114上的安装孔1141之间为可拆卸连接，当限位件14发生磨损时，可以仅更换限位件14来消除磨损影响，而无需更换驱动组件11的其余部分。由于应对不同手术时，手术器械12需要进拆卸和更换，频繁拆卸手术器械12也会加速限位件14的磨损速度，因此，在驱动组件11中增设可以方便拆卸更换的限位件14，有利于执行机构100在磨损后的检修。在一些实施方式中，还可以通过材料的选择使得磨损优先发生于限位件14上，这样，当限位件14与套杆121相互挤压传递周向力时，磨损主要发生在限位件14上，更换限位件14即可消除磨损，以起到保护手术器械12的作用。
在一种实施方式中，限位件14过盈嵌装于安装孔1141内。在其他实施方式中，限位件14与机座114还可以通过其他可拆卸连接形式装配，只要使限位件14能够带动套杆121随机座114周向转动即可。
参考图5中的A部放大图所示，在一种实施方式中，限位件14上开设有容套杆121穿过的贯通孔141，贯通孔141的内孔壁与套杆121的外周壁中一者上设置有径向延伸的凸起1411，另一者上设置有能够容该凸起1411卡入的卡槽1212，在传递周向力时，凸起1411与卡槽1212的槽侧壁之间相互挤压，以使得套杆121能够随限位件14周向转动。
在图示的实施方式中，卡槽1212形成于套杆121的外周壁上，凸起1411设置于限位件14的安装孔1141内。进一步地，套杆121的外周壁上设置有多个凸块1211，多个凸块1211沿套杆121的外周壁方向间隔布置，并在相邻两个凸块1211之间形成卡槽1212。在其他实施方式中，还可以通过材料去除的 形式在套杆121的外周壁上形成该卡槽1212。凸起1411的数量可以设置为两个，两个凸起1411沿周向间隔180°设置，以在限位件14的周向上均匀地向套杆121传递周向力。凸块1211之间形成的卡槽1212数量可以多于凸起1411的数量，因此，在装配时，用户可以依据需要将凸起1411对应卡入不同的卡槽1212内。
继续参考图5所示，用于形成卡槽1212的凸块1211一端设置有导入斜面12111，该导入斜面12111设置于凸块1211上首先接触凸起1411的一端，以引导凸起1411逐渐卡入相邻凸块1211之间的卡槽1212内。较佳地，在装配状态下，凸起1411的侧壁与卡槽1212的侧壁之间存留有一定的周向间隙，以便于两者的安装，避免两者产生非必要的挤压力。
如前所述，完成不同手术操作时，需要更换不同的手术器械12。手术器械12中的器械杆122与传动部件连接，因此，其沿第一轴线X方向的轴向位置随传动部件而改变，为了限定套杆121的轴向，同时便于手术器械12更换时拆卸套杆121，执行机构100上还包括插拔限位组件13。
参考图4中所示，套杆121的外周上设置有沿套杆121径向内凹的限位环槽1213，插拔限位组件13对应于该限位环槽1213处设置，并在此处限制套杆121沿第一轴线X方向的轴向位置。
图6为图4中所示结构的B部放大图，该放大图中显示了插拔限位组件与套杆之间相对位置关系；图7为执行机构部分结构的半剖视图；图8为图7中所示结构的C部放大图，该放大图中显示了插拔限位组件的具体结构，及其与套杆之间相对位置关系；图9为检测元件中的上板体的立体结构图；图10为插拔限位组件中限位元件的立体结构图。
首先参考图7和图8中所示，机座114上开设有垂直于第一轴线X方向的滑动行程空间1142，该滑动行程空间1142贯穿机座114的部分表面并连通至套杆121穿过机座114的位置。插拔限位组件13包括限位元件131，该限位元件131滑动连接于该滑动行程空间1142上，限位元件131上开设有容套杆121穿过的限位孔1311，在装配状态下，限位孔1311对应套设于限位环槽1213外。
沿限位元件131的滑动方向，即图8中实心箭头所标示的方向，限位元件131具有第一预设位置和第二预设位置。在该第一预设位置，限位元件131上的限位孔1311在限位环槽1213处限制套杆121相对于机座114的轴向滑动；在该第二预设位置，限位孔1311解除对套杆121的轴向锁定，此时可以沿第一轴线X的方向拉出套杆121。此时，可以对应地通过控制传动部件运动至器械杆122可拆的位置，进而将手术器械12与驱动组件11分离。
参考图8中所示，限位环槽1213具有挡止面12131，挡止面12131平行于限位元件131一侧面，限位元件131能够贴靠于该挡止面12131上，以可靠限制套杆121与限位元件131的轴向相对位置。
现有的一些手术机器人结构中，套杆通过螺纹套与转轴外周的外螺纹螺接固定两者之间的轴向位置，而器械杆则通过适当形式的轴向限位结构与转轴所在的传动结构轴向连接。相比于此，本申请中的插拔限位组件13在装配时，可以首先将限位元件131滑动连接于机座114上的滑动行程空间1142内，然后将套杆121穿入机座114和限位元件131上的限位孔1311，并使限位环槽1213卡入限位孔1311，这样，两者能够形成稳定的限位关系，且在拆卸时，只需沿滑动行程空间1142滑移限位元件131即可实现解锁，相比于螺纹连接的形式，本申请中套杆121与机座114的拆装都较为简便。
参考图8中所示，进一步地，机座114与限位元件131之间还设置有弹性元件132，该弹性元件132的弹性力作用于限位元件131，以使其保持于第一预设位置。限位元件131被保持于第一预设位置，在无外力促使限位元件131滑移时，限位元件131保持于限制套杆121轴向位移的位置，可以避免套杆121意外脱开。在一种实施方式中，弹性元件132设置于限位元件131上开设有限位孔1311的一端，并被压缩于限位元件131与机座114之间。这样，弹性元件132的弹性力抵压作用于限位元件131上，以使其保持于第一预设位置。
参考图6和图8中所示，限位元件131上远离限位孔1311开设的一端上固定连接有按压部133，该按压部133位于机座114的外侧，外壳15上相应位置处开设有滑孔151，按压部133的一端自该滑孔151伸出至外壳15之外。当外力推压该按压部133时，按压部133向下推动限位元件131，弹性元件132在外力作用下进一步压缩，此时，限位元件131能够从第一预设位置滑动至第二预设位置。
图16为驱动组件中机座的剖视图，参考图16所示，滑动行程空间1142具有矩形截面，限位元件131的截面形状与之适配，从而避免限位元件131相对于滑动行程空间1142转动。在其他实施方式中， 滑动行程空间1142的截面形状也可以设置为其他任意非圆面，只要能够避免限位元件131在其中的转动即可。在其他实施方式中，还可以通过在限位元件131与机座114之间设置限制限位元件131转动的周向限位结构，而不必然通过滑动行程空间1142的截面形状限制限位元件131的转动。
在一种实施方式中，限位孔1311可以包括大孔径部和小孔径部，两者沿限位元件131滑动的方向设置，当限位元件131在弹性元件132的弹性力作用下保持于第一预设位置时，限位孔1311的小孔径部与套杆121上的限位环槽1213限位配合；当限位元件131在外力作用下沿滑动行程空间1142滑动至第二预设位置时，大孔径部对准套杆121以容套杆121滑出限位孔1311。在其他实施方式中，限位孔1311还可以设置为一腰型孔，当限位元件131处于第一预设位置时，该腰型孔下端的孔壁卡入限位环槽1213，当限位元件131滑移至第二预设位置时，腰型孔的腰线处对准套杆121，以使腰型孔的孔壁不再沿轴向限制套杆121脱出。
插拔限位组件13在设计时，不仅要考虑对套杆121进行可靠的轴向限位，还必须要考虑套杆121的快速拆卸需要。在手术进行时，操作者更换手术器械12的时间是有限的，因此，现有手术机器人中在手术器械的连接位置，往往倾向于选择一些便利于拆装的快拆座组件。然而，在拆卸手术器械时，用户一般是通过操控手感来判断手术器械是否可拆，例如，解除手术器械轴向锁定的动作为按压动作时，用户需要基于经验施加压力，然后沿轴向拔出手术器械，当按压力不足时，可能会导致手术器械被拆坏。
为了避免上述问题，本申请中的插拔限位组件13进一步包括检测元件134，其用于辅助用户判断当前是否可以拔出套杆121。参考图6中所示，检测元件134设置于限位元件131的滑动路径上，并用于判断限位元件131相对于机座114的停止位置。
参考图10所示，限位元件131靠近检测元件134所在的一端设置有触发段1312，该触发段1312的末端具有触发端头13121。弹性元件132套设于限位元件131的触发段1312外，弹性元件132的两端分别抵触限位元件131和机座114的内侧面。
在图10的基础上结合图6所示，检测元件134具有检测通道1341，当限位元件131上的触发端头13121伸入该检测通道1341时，检测元件134被触发而能够发出相应的电信号。
在一种实施方式中，检测元件134选择为光电行程开关。检测通道1341内一对相向的侧壁上设置有一对对射器件，当触发端头13121伸入检测通道1341内并遮挡于该一对对射器件之间时，检测元件134被触发。
进一步地，当检测元件134被触发时，检测元件134发出的电信号可以控制一提示灯发光，从而提示用户限位元件131处于第二预设位置，可以拆除套杆121。在其他实施方式中，用户提示用户限位元件131停止位置的装置，也可以为蜂鸣器等发声装置，其作用是提示用户当前可以拆除套杆121。
由前所述，在本申请中，手术器械12中的套杆121与器械杆122的轴向限位分别通过插拔限位组件13和传动部件实现，因此，检测元件134被触发后发出的电信号，还可以用于控制传动部件的动作，以使器械杆122也被带动至可拆卸位置，从而便于用户拆卸手术器械12。为了避免手术器械12被误拆，在检测元件134被触发而发出电信号前，手术机器人的控制系统可以控制器械杆122保持于轴向连接位置无法被拆卸。
参考图8中所示，机座114上固定连接有一上板体1342，检测元件134连接至该上板体1342上，以与机座114固定连接。在图8的基础上结合图9中所示的上板体1342的立体结构图，上板体1342上开设有让位槽1343，该让位槽1343包括相互连通的入口槽段13431和导向槽段13432，其中：入口槽段13431的槽口尺寸能够容触发端头13121穿过上板体1342，导向槽段13432的槽口截面尺寸小于触发端头13121的尺寸，当限位元件131横向滑入导向槽段13432时，触发端头13121被限位于上板体1342朝向检测元件134安装的一侧面上，并能够在导向槽段13432的槽壁的导向作用下滑动伸入/退出检测通道1341。
如前所述，在手术前或手术进行时，经常存在着更换手术器械12的需要，因此，为了实现套杆121的方便拆装，本申请的执行机构100中设置有插拔限位组件13。要完整拆除手术器械12，还需要同时解除器械杆122的连接关系。不同于套杆121的限位，器械杆122在手术过程中需要被张拉，以使器械杆122端部的操作端123能够完成预期的手术动作。以操作端配置为手术钳为例，手术钳在手术过程中，至少需要能够实现以第一轴线X为轴的旋转，以及手术钳自身的开合。在达芬奇手术机器人及一些其他现有的手术机器人中，为了驱动操作端开合运动，一般采用钢带及滑轮组成的驱动组件，然而，这种驱动形式 对于钢带的材料及安装工艺提出了较高的要求，设备成本极高，同时，这种驱动组件与手术器械之间的连接也较为复杂，难以满足手术器械快速拆装的要求。
为解决上述问题，本申请的执行机构100中采用一种改进的驱动组件11。图11为驱动组件部分结构的立体结构图；图12为一种实施方式的传动件的立体结构图；图13为传动件与器械杆配合结构的剖视图；图14为执行机构部分结构的立体图；图15为驱动组件中机座的立体结构图；图16为驱动组件中机座的剖视图。
参考图11至图14中所示，驱动组件11包括主动件111、传动件112及驱动源113，其中：驱动源113固定连接于机座114上，驱动源113的输出端连接主动件111，以带动主动件111旋转，主动件111与传动件112传动配合，以带动传动件112摆动。
参考图12和图13中所示，传动件112可以设置为一个一体式的金属零件，并包括本体，该本体具有枢接部1121、运动输入部1122及张拉驱动部1123。其中：枢接部1121上穿设有枢接轴119，以使传动件112的本体通过该枢接轴119转动连接至图14中所示的机座114上；运动输入部1122与主动件111配合传动，以驱动本体绕枢接部1121的轴线在预设角度范围内摆动；沿本体的摆动方向，张拉驱动部1123与运动输入部1122互呈角度设置；张拉驱动部1123上开设有滑槽1124，该滑槽1124贯穿张拉驱动部1123的末端和侧面，分别形成有端口1125及侧部间隙1126。在一些实施方式中，传动件112的本体上还可以开设有减重槽，以减小传动件112的转动惯量。
继续参考图12和图13，器械杆122的一端伸出套杆121并具有滑动端1221，在一些实施方式中，该滑动端1221可以设置为类似于球头的球形端，这样，滑动端1221能够在滑槽1124内转动以适应传动件112与器械杆122之间的角度变化。器械杆122的滑动端1221能够自张拉驱动部1123上的端口1125滑入/滑出滑槽1124，同时，当滑动端1221滑动连接于滑槽1124内时，器械杆122的其余部分自侧部间隙1126伸出。
器械杆122的另一端连接至操作端123，当器械杆122沿第一轴线X的方向平移时，能够带动操作端123做手术动作。例如，当手术动作为手术钳的开合运动时，器械杆122平移靠近或远离操作端123，能够驱动操作端123的开合机构张开或合拢。相比于传统技术中采用钢带牵拉驱动操作端完成手术动作的方式，器械杆122在被张拉的过程中基本发生弹性伸长或缩短，因此，控制器械杆122的移动形成即可控制操作端123的开合程度，而以钢带作为牵拉件时，钢带在牵拉过程中可能产生的弹性形变使得操作端的动作幅度不可控，要想控制幅度误差，必须采用特殊材质的钢带，且安装精度要相应提高。
参考图11中所示，运动输入部1122设置为沿本体摆动方向分布的多个轮齿，多个轮齿分布形成一扇形齿轮区域，主动件111设置为能够与该扇形齿轮区域啮合传动的齿轮。如此，主动件111转动时，通过主动件111与作为运动输入部1122的轮齿的啮合，驱动本体在预设角度范围内摆动。在一种实施方式中，多个轮齿设置于本体摆动平面的一侧，并与主动件111配合形成空间齿轮传动，相比于展开式布置，空间齿轮传动的布置形式缩短了主动件111与传动件112配合处沿第一轴线X方向的长度。
参考图13和图14中所示，在一种实施方式中，滑槽1124沿直线延伸。由前所述，套杆121在插拔限位组件13的轴向限位作用下，保持与机座114相对固定。器械杆122同轴设置于套杆121内部，因此，器械杆122受到套杆121的导向作用。如此，当驱动源113工作时，驱动源113的输出端带动主动件111转动，通过主动件111与传动件112上运动输入部1122的啮合传动，使得传动件112绕定轴摆动；器械杆122的滑动端1221滑动连接于滑槽1124内，当张拉驱动部1123摆动时，滑动端1221在滑槽1124内滑动，由于器械杆122伸出滑槽1124的部分同时收到套杆121的滑动导向，因此，传动件112的摆动运动最终转化为器械杆122沿自身轴向方向(或作第一轴线X方向)的平移。
继续参考图13中所示，沿传动件112的摆动路径，其具有第一极限位置和第二极限位置。在第一极限位置，滑动端1221靠近端口1125，用户可以沿器械杆122的滑动方向自端口1125拉出滑动端1221，从而实现器械杆122与驱动组件11的拆卸；在第二极限位置，滑动端1221沿滑槽1124滑动至远离端口1125的最远端，此时，滑动端1221与滑槽1124这一端的端壁之间间隔设置，如此，避免滑动端1221抵触滑槽1124的端壁，造成传动件112卡死于滑槽1124内影响传动件112的反向摆动。
采用本申请中的驱动组件11时，传动件112的摆动同时可以实现两个目的：器械杆122沿自身轴线的滑动，从而带动操作端123做手术动作；传动件112摆动至第一极限位置时，器械杆122能够自端 口1125拆卸，即还形成器械杆122的快拆结构。本申请中的驱动组件11能够以简单的结构，实现手术器械12的操控，及其中器械杆122的拆卸。
进一步地，与插拔限位组件13中引入检测元件134类似，在拆卸器械杆122时，同样需要检测传动件112摆动停止的位置，以辅助用户判断当前器械杆122是否可以被拉出。此外，驱动组件11中还可以配置相关的检测单元，以检测传动件112另一摆动方向的极限位置，以避免传动件112摆动超过第二极限位置，造成滑动端1221在滑槽1124内卡死。
基于上述目的，参考图14中所示，驱动组件11中还包括设置于传动件112摆动路径上的检测单元，其用于检测传动件112摆动的第一极限位置和/或第二极限位置。可以理解的，当需要对两个极限位置均进行检测时，检测单元可以同时实现上述两个目的——提示用户器械杆122当前可以被拉出及，传动件112进一步摆动会超过第二极限位置，存在卡死器械杆122的风险。下面以包含两个检测功能的实施方式为例进行说明，本领域技术人员应当理解，可以仅设置其中的一个检测功能。
结合图13和图14中所示，检测单元可以包括分别对应传动件112的第一极限位置和第二极限位置的第一光电开关115和第二光电开关116。当第一光电开关115被触发时，器械杆122沿原方向进一步的滑动能够带动滑动端1221自端口1125滑出滑槽1124；而当第二光电开关116被触发时，手术机器人可以通过驱动源113控制传动件112停止以避免其进一步摆动，或者直接控制传动件112反向摆动，从而避免传动件112摆动超程而卡死。
参考图11和图14中所示，传动件112的一侧表面上还固设有标定件117，该标定件117随传动件112摆动，并用于触发检测单元以使其发出相应的电信号。在一种实施方式中，手术机器人的电控系统中，可以将用于检测限位元件131滑动停止位置的检测元件134，与用于检测传动件112摆动停止位置的检测单元建立关联，例如，仅当第一光电开关115检测到传动件112处于第一极限位置，且检测元件134检测到限位元件131处于第二预设位置时，才会发出电信号提示用户当前可以更换手术器械12。
参考图14至图16中所示，为了减小手术机器人各个部分的体积，以使其灵活度更佳，本申请中对驱动组件11内各个零部件的布置做了特殊设计，以通过零部件的合理化布局，减小手术机器人的局部尺寸。
机座114适应于主动件111和传动件112及检测单元的布设需求，可以包括滑移连接部1145，及固定或一体设置于滑移连接部1145一端的第一叉板1143和第二叉板1144，其中：两块叉板相互平行并间隔设置，每块叉板均平行于传动件112摆动运动所在的平面。在一种实施方式中，传动件112的枢接部1121两端面分别平行于第一叉板1143和第二叉板1144，并分别与两个叉板的内侧表面之间留有一定的间隙，以避免传动件112的摆动运动受到两个叉板的影响。
作为检测单元的第一光电开关115和第二光电开关116均安装于第一叉板1143上，标定件117装设于传动件112上朝向第一叉板1143的一侧，第一叉板1143上开设有弧形槽11431，在装配状态下，标定件117在弧形槽11431伸出，以触发第一叉板1143外侧表面上安装的第一光电开关115或第二光电开关116。
图17和图18为驱动组件中部分结构的结构图。参考图16和图17中所示，驱动源113包括驱动主体1131，该驱动主体1131设置为沿第一轴线X方向延伸的长条形结构，其长度方向的一端为输出端，用于连接主动件111。驱动主体1131通过一固定支架118固定连接至第二叉板1144上。进一步地，为了使主动件111与传动件112能够啮合，第二叉板1144上开设有避让开口11441，主动件111的部分结构自该避让开口11441伸入第一叉板1143和第二叉板1144之间，并在该两块叉板之间与传动件112的运动输入部1122啮合。
结合图7与图16所示，滑移连接部1145上开设有沿第一轴线X方向的滑移孔11451，该滑移孔11451一端贯通至滑移连接部1145上临近两块叉板所在的一端，滑移孔11451的另一端连通至安装孔1141。滑动行程空间1142也设置于该滑移连接部1145上。安装孔1141内嵌装限位件14，套杆121穿过限位件14并伸入滑移孔11451内，经过滑动行程空间1142后，被插拔限位组件13限制于预设的轴向位置；器械杆122上穿出套杆121的部分沿滑移孔11451穿出至两个叉板之间，并与传动件112的滑槽1124滑动连接。
参考图17和图18中所示，主动件111连接于驱动源113的输出端上，在驱动源113的驱动下绕第二轴线Y转动，由前所述，器械杆122沿第一轴线X方向伸缩滑移，第一轴线X平行于第二轴线Y。 进一步地，第二轴线Y与传动件112摆动运动所在的平面呈线面平行关系。如此，驱动源113大致平行于手术器械12布置，减少了相关位置的空间占用。
参考了图17中所示，进一步地，驱动源113的输出端背向器械杆122接入滑槽1124的位置，这样，驱动源113的驱动主体1131在第一轴线X方向上基本上重合于机座114，避免驱动源113的驱动主体1131延长轴向空间占用。此外，驱动源113的两侧不超过传动件112两个摆动两个极限位置之间的区域，如此，驱动源113与传动件112大致呈图17中所示的上下关系布置，而未左右错开，局部的空间占用进一步减小。
相比于达芬奇手术机器人，本申请中的手术机器人不仅在远心操控机构300处占用的空间有所减小，在执行机构100处，通过各组件的结构调整以及改变结构的布局，使得执行机构100占用的空间也较小，如此使得手术机器人的体积小巧，运动灵活。
为了进一步减小远心操控机构300处的空间占用，本申请还提供一种改进的动平台32。图19为远心操控机构部分结构的立体图，图中显示了动平台与连接组件之间的安装位置关系；图20为动平台一个视角下的立体图，图中显示了减重槽及避让空间在动平台一侧的分布；图21为动平台另一个视角下的立体图，图中显示了内部腔室在动平台另一侧的分布；图22为手术机器人部分结构的剖视图，图中显示了动平台内部各个零部件的安装位置。
参考图19至图21中所示，动平台32的一侧表面内凹形成有避让空间321，伸缩单元31与动平台32之间的连接组件34至少部分位于该避让空间321内。相比于将连接组件34直接设置于动平台32一侧表面的形式，避让空间321的设置使得动远心操控机构300沿第一轴线X方向的空间占用减小。
在一些实施方式中，动平台32上在设置有避让空间321的一侧还设置有减重槽322，减重槽322的设置位置错开避让空间321。较佳地，减重槽322有多个，且多个减重槽322将动平台32的重量配平，使得动平台32的质心重合于多个连接组件34所在圆形的圆心。减重槽322的设置使得动平台32整体的重量减轻，加上避让空间321的设置，相比于普通的实心平台结构，本申请中的动平台32整体重量小，在摆动时其运动惯量也小，有利于动平台32的灵活运动。尤其当动平台32的质心重合于多个连接组件34所在圆形的圆心时，动平台32的运动精度更高。
进一步地，参考图21和图22中所示，动平台32包括本体，该本体背向避让空间321所在的一侧面上形成有内部腔室323，该内部腔室323用于嵌装电机200，该电机200用于带动执行机构100整体转动。将电机200内置于动平台32的内部腔室323中，可以进一步减小手术机器人的体积，有利于手术机器人的小型化。
具体地，参考图22中所示，电机200包括转子21、定子22及中空转轴23。其中：转子21上固定连接有轴承内圈351，动平台32上固定有轴承外圈353，轴承内外圈之间设置有滚子352，三者共同构成轴承35。滚子352可以选择为十字交叉滚子，以使轴承35能够在内外圈之间传递空间力。在其他实施方式中，轴承35也可以采用其他可以承受空间力的轴承，或者利用多种轴承组合以承受空间力。
执行机构100的机座114相对于转子21固定连接。具体地，机座114靠近动平台32的一端设置有转动连接部1146，机座114通过该转动连接部1146直接或间接地与电机200中的转子21固定，以使之能够被电机200驱动而转动。
由前所述可知，由于执行机构100中的驱动不再采用钢带这类的柔性驱动，而采用前述的驱动组件11对器械杆122进行牵拉，因此，器械杆122一端的操作端123的力可以被传递至动平台32处。因此，在一种实施方式中，转动连接部1146与转子21之间还设置有第一传感器36，该第一传感器36可以选择为力矩传感器，并用于感测执行机构100所受环境力矩。如此执行机构100所受力矩能够通过机座114的转动连接部1146反馈至第一传感器36处。进一步地，第一传感器36的连接导线可以经过中空转轴23内部的空腔穿出。
继续参考图22中所示，为了向转子21上安装第一传感器36，动平台32上还设有固定座361。此外，动平台32上还设置有第二传感器37，该第二传感器37用于检测执行机构100随电机200转过的角度。在图示的实施方式中，该第二传感器37的部分通过中空转轴23与转子21相对固定，第二传感器37另外的部分与动平台32固定，从而通过检测转子21相对于定子22转过的角度检测执行机构100转过的角度。第二传感器37设置于动平台32上连接有连接组件34的一侧面上。
参考图19中所示，动平台32背向连接组件34所在的一侧面上还连接有罩壳38，该罩壳38将动平台32内安装的结构罩设于内部。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种手术机器人的驱动组件，其特征在于，包括：驱动源、主动件及传动件，其中：
    所述主动件连接于所述驱动源的输出端，并能够随所述输出端绕第二轴线转动；
    所述传动件具有运动输入部和张拉驱动部，所述运动输入部与所述主动件传动配合，使得所述传动件在预设角度范围内摆动；
    沿所述传动件的摆动方向，所述张拉驱动部与所述运动输入部互呈角度设置，且所述张拉驱动部上开设有用于滑动连接器械杆一端的滑槽，所述传动件摆动时能够带动所述器械杆沿平行于所述第二轴线的方向伸缩滑移。
  2. 根据权利要求1所述的驱动组件，其特征在于，所述第二轴线平行于所述传动件摆动运动所在的平面。
  3. 根据权利要求1或2所述的驱动组件，其特征在于，所述驱动源的所述输出端背向所述器械杆与所述滑槽的连接处设置。
  4. 根据权利要求1或2所述的驱动组件，其特征在于，所述驱动源包括驱动主体，且所述驱动主体设置为长条形结构，且其长度方向平行于所述第二轴线方向。
  5. 根据权利要求2所述的驱动组件，其特征在于，沿所述传动件的摆动方向，所述驱动源的两侧边不超出所述传动件两侧边所扫过区域。
  6. 根据权利要求1所述的驱动组件，其特征在于，所述驱动组件还包括机座，所述机座包括相互间隔设置的两块叉板，且两块所述叉板均平行于所述传动件摆动运动所在的平面，所述驱动源设置于两块所述叉板夹设空间以外，并与其中一块所述叉板固定连接，所述传动件枢接于两块所述叉板之间。
  7. 根据权利要求6所述的驱动组件，其特征在于，用于固定安装所述驱动源的所述叉板上开设有避让开口，所述主动件能够自所述避让缺口伸入两块所述叉板之间，以与所述传动件传动配合。
  8. 根据权利要求6所述的驱动组件，其特征在于，所述机座还包括滑移连接部，所述滑移连接部上开设有沿所述传动件的张拉方向设置的滑移孔，所述滑移孔的一端开口位于两块所述叉板之间。
  9. 根据权利要求8所述的驱动组件，其特征在于，所述机座还包括转动连接部，沿所述传动件的张拉方向，所述转动连接部和所述滑移连接部分别设置于所述叉板的两端。
  10. 根据权利要求8所述的驱动组件，其特征在于，所述滑移孔上远离所述叉板的一端开口内可拆卸设置有限位件。
  11. 根据权利要求6所述的驱动组件，其特征在于，所述驱动源包括驱动主体，所述驱动主体通过固定支架固定连接至所述叉板。
  12. 一种手术机器人的执行机构，其特征在于，包括权利要求1-7中任意一项所述的驱动组件和手术器械，其中：
    所述手术器械包括套杆、器械杆及手术工具，所述套杆套设于所述器械杆外，并相对于所述驱动组件具有预设位置；
    所述器械杆的一端伸出所述套杆并设置有滑动端，所述滑动端滑动连接至所述传动件的所述滑槽内；
    所述传动件上的所述滑槽具有贯穿所述张拉驱动部侧面的侧部开口，所述器械杆自所述侧部开口伸出所述滑槽；
    所述器械杆的另一端连接至所述手术工具，且当所述器械杆被所述传动件带动而发生滑移时，能够带动所述手术工具在所述套杆外进行预设的手术动作。
  13. 根据权利要求12所述的执行机构，其特征在于，所述滑动端设置为球形端。
  14. 一种手术机器人，包括权利要求12或13所述的执行机构，以及远心操控机构，所述远心操控机构包括动平台、静平台以及多个伸缩单元，每个所述伸缩单元的两端均分别转动连接至所述动平台和所述静平台，多个所述伸缩单元协同伸缩以控制所述动平台相对于所述静平台运动；
    所述执行机构设置于所述动平台上，并且，所述手术器械具有预设的远心不动点，所述动平台的运动能够带动所述手术器械绕所述远心不动点在预设的锥形空间内摆动；
    所述动平台上还设置有用于驱动所述执行机构整体转动的电机。
  15. 根据权利要求14所述的手术机器人，其特征在于，所述驱动组件还包括机座，所述机座具有转 动连接部，所述驱动组件及所述执行机构通过所述转动连接部固定连接至一电机，所述转动连接部与所述电机之间还设置有用于检测所述执行机构所受环境力矩的第一传感器。
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CN111012384A (zh) * 2018-10-09 2020-04-17 成都博恩思医学机器人有限公司 一种用于微创手术器械的器械传动座
CN111685876A (zh) * 2019-12-17 2020-09-22 成都博恩思医学机器人有限公司 手术器械及手术机器人

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