WO2022227854A1 - 后端传动装置、医疗器械和手术机器人 - Google Patents

后端传动装置、医疗器械和手术机器人 Download PDF

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Publication number
WO2022227854A1
WO2022227854A1 PCT/CN2022/078978 CN2022078978W WO2022227854A1 WO 2022227854 A1 WO2022227854 A1 WO 2022227854A1 CN 2022078978 W CN2022078978 W CN 2022078978W WO 2022227854 A1 WO2022227854 A1 WO 2022227854A1
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WO
WIPO (PCT)
Prior art keywords
cable
movable pulley
guide wheel
rotating member
pulley
Prior art date
Application number
PCT/CN2022/078978
Other languages
English (en)
French (fr)
Inventor
葉海活
Original Assignee
深圳康诺思腾科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳康诺思腾科技有限公司 filed Critical 深圳康诺思腾科技有限公司
Priority to EP22794333.9A priority Critical patent/EP4316403A4/en
Publication of WO2022227854A1 publication Critical patent/WO2022227854A1/zh
Priority to US18/496,608 priority patent/US20240050174A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • the present application relates to the technical field of medical devices, in particular to a back-end transmission device, a medical device and a surgical robot.
  • the surgical tool connected to the end of the robot enters the human body through the wound or natural channel on the surface of the human body, and operates on the tissue in the human body.
  • This surgical tool is mainly composed of an actuator or tool (such as a forceps, shearing tool, or cautery tool) mounted on the wrist mechanism at the front end, a wrist mechanism that provides multiple degrees of freedom of motion for the front end, and a rear end of the instrument.
  • the main circuit extending to the front end, and the power and transmission device at the rear end of the instrument are composed of several parts.
  • the front end effector and the wrist mechanism are usually driven by multiple cables fixed to it, which run through the main circuit of the surgical tool and are driven by the power and transmission at the rear end.
  • the wrist mechanism usually needs to achieve three degrees of freedom of pitch, yaw and grip. Combined with the additional degrees of freedom at the back end of the robot, the movements required to complete the surgical procedure can be achieved.
  • the number of driving cables required by the wrist mechanism is also different (for example, 4 or 6).
  • additional pulleys need to be added to the wrist mechanism to guide the cable, but adding additional pulleys and other parts will hinder Miniaturization of the front end of surgical instruments.
  • the use of more cables also increases instrument size and cost.
  • the existing rear-end transmission device for driving the 4-wire wrist realizes the release of two wires and the tightening of the other two wires through the swing of the connecting rod or the rocker arm, thereby realizing the pitching motion of the wrist.
  • the lengths of the cables tightened and released are not equal, which will lead to changes in the tightness of the cables, which may cause gaps due to loose cables and reduce the accuracy or wire. If the cable is too tight, the frictional resistance is too large and the wear is accelerated. To avoid this problem, it is possible to limit the angle range of the pitch joint, but this will affect the functionality of the tool.
  • the output end angle of the rear motor has a nonlinear relationship with the wrist pitch angle, which requires additional calibration work to achieve precise position control, which increases the extra workload.
  • a rear end transmission comprising:
  • the first rotating member is used to connect the first cable and the second cable respectively, and the winding directions of the first cable and the second cable are opposite along the first rotating member ;
  • a second rotating member is used to connect the third cable and the fourth cable respectively, and the winding directions of the third cable and the fourth cable are opposite along the second rotating member ;
  • first pulley assembly including a first movable pulley, the first cable and the second cable extending from the first rotating member and bypassing the first movable pulley;
  • a second pulley assembly including a second movable pulley, the third cable and the fourth cable extending from the second rotating member and bypassing the second movable pulley;
  • a position adjustment assembly the position adjustment assembly is respectively connected with the first movable pulley and the second movable pulley, and the position adjustment assembly can adjust the positions of the first movable pulley and the second movable pulley at the same time, so as to pull Release the third cable and the fourth cable when the first cable and the second cable are being pulled in, or release all the third and fourth cables when the third cable and the fourth cable are pulled in. the first cable and the second cable.
  • the rear end transmission is connected to, for example, four drive cables of the wrist mechanism, so that the wrist mechanism and the rear end transmission work cooperatively by pulling in or releasing the drive cables , in order to realize the pitch, deflection and gripping of the wrist mechanism.
  • This driving method has a simple structure and precise transmission. The above-mentioned angle can still be guaranteed to be released and/or pulled in by the same length even when the above-mentioned angle is changed in a large range.
  • the first rotating member is configured to be rotatable about a first central axis to enable pulling in one of the first cable and the second cable via the first pulley assembly , while releasing the other of the first cable and the second cable,
  • the second rotating member is configured to be rotatable about a second central axis to enable pulling in one of the third cable and the fourth cable via the second pulley assembly while releasing the first cable.
  • the other of the three cables and the fourth cable is configured to be rotatable about a second central axis to enable pulling in one of the third cable and the fourth cable via the second pulley assembly while releasing the first cable. The other of the three cables and the fourth cable.
  • the first central axis is parallel to the second central axis
  • the first movable pulley and the second movable pulley are respectively rotatable around axes parallel to the first central axis
  • the The axes of the first movable pulley and the second movable pulley are spaced apart.
  • the first pulley assembly further includes a first guide wheel and a third guide wheel, and the first guide wheel and the third guide wheel are respectively movable around axes parallel to the first central axis.
  • the first cable and the second cable extend from the first rotating member and pass around the first guide wheel, the first movable pulley and the third guide wheel in sequence.
  • the second pulley assembly further includes a second guide wheel and a fourth guide wheel, and the second guide wheel and the fourth guide wheel are respectively movable around axes parallel to the second central axis. Rotating, the third cable and the fourth cable extend from the second rotating member and pass around the second guide wheel, the second movable pulley and the fourth guide wheel in sequence.
  • the position adjustment assembly includes a third rotating member, and the third rotating member can rotate around a third central axis parallel to the first central axis, so as to adjust the first movable pulley and the Describe the position of the second movable pulley.
  • the position adjustment assembly further includes a sliding member, the first movable pulley and the second movable pulley are respectively rotatably connected to the sliding member, and the third rotating member can be directly or indirectly Adjust the position of the slider.
  • the position adjustment assembly further includes a first transmission cable, a second transmission cable, a fifth guide wheel and a sixth guide wheel, the first transmission cable bypassing the fifth guide wheel , the second transmission cable goes around the sixth guide wheel, one ends of the first transmission cable and the second transmission cable are respectively connected to the third rotating member, and go around the third The winding directions of the rotating member are opposite, and the other ends of the first transmission cable and the second transmission cable are respectively connected to two ends of the sliding member.
  • the fifth guide wheel and the sixth guide wheel are respectively rotatable around axes parallel to the third central axis, and the axes of the fifth guide wheel and the sixth guide wheel are rotatable Spaced settings.
  • the position adjustment assembly includes a first transmission cable, a second transmission cable and a rotating assembly, and one ends of the first transmission cable and the second transmission cable are respectively connected to the first transmission cable.
  • Three rotating members, and the winding directions around the third rotating member are opposite, the other ends of the first transmission cable and the second transmission cable are respectively connected to the rotating assembly, and are wound around the rotating assembly.
  • the winding direction is opposite, and the rotating assembly can be engaged with the sliding member, so as to be able to convert the rotation of the rotating assembly into the linear motion of the sliding member.
  • the rotating component is rotatable around an axis parallel to the third central axis, the rotating component includes a gear, and the sliding member is a rack for engaging with the gear.
  • the position adjustment assembly includes a pair of sliding members, the pair of sliding members are arranged in parallel, and the first movable pulley and the second movable pulley are respectively rotatably connected to the pair of sliding members
  • the rotating assembly is disposed between the pair of sliders, and is configured to engage with the pair of sliders, respectively, so that the pair of sliders move in opposite directions.
  • a medical device comprising the rear end transmission device according to any one of the above embodiments.
  • a surgical robot including the medical instrument according to the above-described embodiments.
  • FIG. 1 is a schematic structural diagram of a medical device according to a first embodiment of the embodiments of the present application
  • FIG. 2 is a partial structural schematic diagram of the surgical robot in FIG. 1 , wherein a wrist mechanism, a first cable, a second cable, a third cable and a fourth cable are shown;
  • Fig. 3 is another partial schematic view of the surgical robot in Fig. 1, wherein the rear end transmission device is shown;
  • FIG. 4 is a partial structural schematic diagram of a surgical robot according to a second embodiment of the present application, wherein a rear end transmission device is shown;
  • Fig. 5 is another partial structural schematic diagram of the surgical robot in Fig. 4;
  • FIG. 6 is a partial structural schematic diagram of a surgical robot according to a third embodiment of the present application, wherein a rear end transmission device is shown.
  • Second cable 143/243 Third cable
  • Second drive cable 166 Fifth guide wheel
  • Rotary assembly 272 Chassis
  • A1 The first central axis
  • A2 The second central axis
  • A3 The third central axis
  • Embodiments of the present application provide a rear end transmission device, a medical instrument and a surgical robot.
  • the surgical robot includes a movably arranged robotic arm and a medical instrument mounted to the robotic arm, the medical instrument including the rear end transmission device.
  • medical instruments can perform many functions including, but not limited to, forceps or graspers of different shapes and sizes, needle drivers, scissors, or cautery tools.
  • the surgical robot 100 according to the first embodiment of the present application will be described in detail below with reference to FIGS. 1 to 3 .
  • the surgical robot 100 mainly includes a base 180 , at least one robotic arm 110 rotatably disposed on the upper end of the base 180 , and a medical instrument 120 mounted to a corresponding port of the robotic arm 110 .
  • Only one mechanical arm 110 is exemplarily shown in FIG. 1 , and the mechanical arm 110 includes a plurality of arms 111 connected end to end, and the arms 111 are rotatably arranged.
  • a corresponding port of each robotic arm 110 is installed with a medical instrument 120 .
  • the medical device 120 is detachably connected to the robotic arm 110 to facilitate replacement or repair of the medical device 120, and the medical device 120 mounted to the robotic arm 110 may be selected for a specific medical procedure or changed during a medical procedure to Provides required clinical functions.
  • the docking port of the robotic arm 110 generally includes a drive motor that provides mechanical power for the operation of the medical device 120 .
  • the docking port may additionally include an electrical interface to connect with the medical device 120, for example, to identify the type of device in the docking port and to obtain parameters of the device.
  • the medical device 120 generally includes a back end gear 150 , a main conduit 140 extending from the back end gear 150 , and a wrist mechanism 130 at the distal end of the main conduit 140 .
  • the drive cables (specifically, the first cable 141 , the second cable 142 , the third cable 143 and the fourth cable 144 ) and electrical conductors connected to the wrist mechanism 130 may extend through the main circuit 140 and connect to rear end gear 150 .
  • the rear end gear 150 provides the mechanical coupling of the aforementioned drive cable to the motor drive shaft of the drive motor to operate the wrist mechanism 130 by controlling the movement and tension of the drive cable.
  • the main conduit 140 is hollow and may be rigid or flexible.
  • the wrist mechanism 130 includes a proximal clamp 131 , a distal clamp 132 and an actuator 133 .
  • the distal clamp 132 is pivotally connected to the proximal clamp 131 through the first pin 136 so as to realize the pitching motion of the wrist mechanism 130 .
  • the actuator 133 includes an upper jaw 134 and a lower jaw 135, and the upper jaw 134 and the lower jaw 135 are pivotally connected to the distal clamp 132 through a second pin 137, so as to realize the gripping and gripping of the wrist mechanism 130. deflection.
  • the second pin shaft 137 is perpendicular to the first pin shaft 136 . As required, the second pin shaft 137 may not be perpendicular to the first pin shaft 136 .
  • the first cable 141 and the second cable 142 are attached to the jaw jaw 135 of the actuator 133 and wound at least half a turn, and the third cable 143 and the fourth cable 144 are attached to the actuator 133
  • the upper jaw 134 of the jaw is wound at least half a turn.
  • the first cable 141 , the second cable 142 , the third cable 143 and the fourth cable 144 extend along the hard surfaces of the guide channels (not shown) in the actuator 133 , the distal clamp 132 and the proximal clamp 131 , and extend back to the rear end gear 150 through the main line 140 .
  • the guide channel may be a groove with a U-shaped or semi-circular cross-section.
  • the first cable 141 and the second cable 142 are released by equal lengths while the third cable 143 and the fourth cable 144 are pulled in equally, so that the distal clamp 132 is wound relative to the proximal clamp 131
  • the first pin shaft 136 rotates clockwise to realize the forward pitch motion of the wrist mechanism 130 (see FIG. 2 ).
  • the third cable 143 and the fourth cable 144 are released equally by pulling the first cable 141 and the second cable 142 in equal lengths, so that the distal clamp 132 wraps around the first cable 132 relative to the proximal clamp 131 .
  • the pin shaft 136 rotates counterclockwise to realize the reverse movement of the wrist mechanism 130 in pitching.
  • the jaw jaw 135 rotates counterclockwise about the second pin 137 relative to the distal clamp 132 .
  • the deflection and gripping movement of the actuator 133 can be achieved by the combination of the movements of the upper jaw 134 and the lower jaw 135, which will be described in detail below.
  • the rear end transmission device 150 mainly includes a first rotating member 151 , a second rotating member 152 , a first pulley assembly, a second pulley assembly, a position adjustment assembly, a first rotating shaft 173 , and a second rotating shaft 174 and the third axis of rotation 175 .
  • the first rotating shaft 173 , the second rotating shaft 174 and the third rotating shaft 175 are respectively connected with the driving motors of the docking ports of the robotic arm 110 .
  • the docking port of the robotic arm 110 includes at least three driving motors, wherein the three driving motors are respectively connected with the first rotating shaft 173 , the second rotating shaft 174 and the third rotating shaft 175 .
  • the first rotating shaft 173 , the second rotating shaft 174 and the third rotating shaft 175 are arranged parallel to each other, and the first rotating shaft 173 , the second rotating shaft 174 and the third rotating shaft 175 are generally arranged in a triangle. It can be understood that the arrangement of the first rotating shaft 173 , the second rotating shaft 174 and the third rotating shaft 175 is not limited to this embodiment. It can also be arranged in a straight line.
  • the position adjustment assembly includes a third rotating member 153 .
  • the first rotating shaft 173 is fixedly connected with the first rotating member 151
  • the second rotating shaft 174 is fixedly connected with the second rotating member 152
  • the third rotating shaft 175 is connected with the fixed third rotating member 153 to drive the first rotating member 151 respectively.
  • the rotation of the second rotating member 152 and the third rotating member 153 is arranged parallel to each other, and the first rotating shaft 173 , the second rotating shaft 174 and the third rotating shaft 175 are generally arranged in a triangle. It can be understood that the arrangement
  • the first rotating member 151 is used to connect the first cable 141 and the second cable 142 respectively, and the winding directions of the first cable 141 and the second cable 142 along the first rotating member 151 are opposite.
  • the second rotating member 152 is used to connect the third cable 143 and the fourth cable 144 respectively, and the winding directions of the third cable 143 and the fourth cable 144 along the second rotating member 152 are opposite.
  • the first rotating member 151 and the second rotating member 152 are winches.
  • the first pulley assembly includes a first guide pulley 157 , a first movable pulley 158 and a third guide pulley 162 .
  • the first cable 141 and the second cable 142 extend from the first rotating member 151 and pass around the first guide pulley 157 in turn. , the first movable pulley 158 and the third guide wheel 162 .
  • the first rotating member 151 is configured to be rotatable about the first central axis A1 so as to be able to pull in one of the first cable 141 and the second cable 142 isometrically via the first pulley assembly while releasing the first wire isometrically
  • the other one of the cable 141 and the second cable 142 is used to realize the clockwise or counterclockwise rotation of the jaw lower jaw 135 relative to the distal clamp 132 about the second pin shaft 137 .
  • the first guide wheel 157, the first movable pulley 158 and the third guide wheel 162 are respectively rotatable around axes parallel to the first central axis A1, and the first guide wheel 157, the first movable pulley 158 and the third The axes of the guide wheels 162 are spaced apart.
  • the first guide wheel 157 and the third guide wheel 162 may be fixed pulleys.
  • the first movable pulley 158 remains stationary and the first rotating shaft 173 is controlled by the driving motor to drive the first rotating member 151 to rotate counterclockwise, the second cable 142 is pulled in and the first cable 141 is equal in length. is released, thereby enabling the clockwise rotation of the jaw lower jaw 135 relative to the distal clamp 132 about the second pin 137 (see deflection 2 in FIG. 2 ).
  • the first rotating shaft 173 is controlled by the driving motor to drive the first rotating member 151 to rotate clockwise, the first cable 141 is pulled in and the second cable 142 is released at the same time. In this way, the counterclockwise rotation of the jaw lower jaw 135 relative to the distal clamp 132 around the second pin shaft 137 is achieved.
  • the second pulley assembly includes a second guide pulley 159 , a second movable pulley 161 and a fourth guide pulley 163 .
  • the third cable 143 and the fourth cable 144 extend from the second rotating member 152 and pass around the second guide pulley 159 in turn. , the second movable pulley 161 and the fourth guide wheel 163 .
  • the second rotating member 152 is configured to be rotatable about the second central axis A2 so as to be able to pull in one of the third cable 143 and the fourth cable 144 isometrically via the second pulley assembly while releasing the third wire isometrically
  • the other one of the cable 143 and the fourth cable 144 is used to realize the clockwise or counterclockwise rotation of the upper jaw 134 of the jaw relative to the distal clamp 132 about the second pin shaft 137 .
  • the first central axis A1 is parallel to the second central axis A2.
  • the second guide pulley 159, the second movable pulley 161 and the fourth guide pulley 163 are respectively rotatable around axes parallel to the second central axis A2, and the axes of the second guide pulley 159, the second movable pulley 161 and the fourth guide pulley 163 are spaced apart Open settings.
  • the second guide wheel 159 and the fourth guide wheel 163 may be fixed pulleys.
  • the fourth cable 144 is pulled in while the third cable 143 is of equal length. is released, causing clockwise rotation of the jaw upper jaw 134 relative to the distal clamp 132 about the second pin 137 (see deflection 1 in Figure 2).
  • the second rotating shaft 174 is controlled by the driving motor to drive the second rotating member 152 to rotate clockwise, the third cable 143 is pulled in and the fourth cable 144 is released at the same length.
  • the upper jaw 134 of the jaws is rotated counterclockwise about the second pin shaft 137 relative to the distal clamp 132 .
  • the deflection and gripping motion of the actuator 133 can be realized.
  • the position adjustment assembly is respectively connected with the first movable pulley 158 and the second movable pulley 161, and the position adjustment assembly can adjust the positions of the first movable pulley 158 and the second movable pulley 161 at the same time, so as to pull in the first cable 141 and the second wire at the same length.
  • the third cable 143 and the fourth cable 144 are released equally when the cable 142 is pulled in, or the first cable 141 and the second cable 142 are released equally when the third cable 143 and the fourth cable 144 are pulled in the same length. , so that the distal clamp 132 rotates counterclockwise or clockwise relative to the proximal clamp 131 around the first pin shaft 136 to realize the pitching motion of the wrist mechanism 130 .
  • the position adjustment assembly includes the third rotating member 153 .
  • the third rotating member 153 can rotate around a third central axis A3 parallel to the first central axis A1 to adjust the positions of the first movable pulley 158 and the second movable pulley 161 at the same time.
  • the third rotating member 153 is a winch.
  • the position adjustment assembly further includes a sliding member 168, and the sliding member 168 can be configured as a long flat plate structure.
  • the rotation shafts of the first movable pulley 158 and the second movable pulley 161 are respectively mounted to the sliding member 168 , so that the first movable pulley 158 and the second movable pulley 161 are respectively rotatably connected to the sliding member 168 .
  • the first movable pulley 158 and the second movable pulley 161 are arranged at intervals, and are arranged on the same side of the sliding member 168 .
  • the rotation axis of the first movable pulley 158 is parallel to the rotation axis of the second movable pulley 161 and is perpendicular to the sliding member 168 .
  • the third rotating member 153 can directly or indirectly adjust the position of the sliding member 168 .
  • the position adjustment assembly further includes a first transmission cable 164, a second transmission cable 165, a fifth guide wheel 166 and a sixth guide wheel 167, the first transmission cable 164 bypasses the fifth guide wheel 166, and the second transmission cable 165 bypasses the sixth guide wheel 167.
  • One ends of the first transmission cable 164 and the second transmission cable 165 are respectively connected to the third rotating member 153 and are wound in opposite directions around the third rotating member 153 .
  • the other ends are connected to both ends of the slider 168, respectively.
  • the fifth guide wheel 166 and the sixth guide wheel 167 are respectively rotatable around axes parallel to the third central axis A3, and the axes of the fifth guide wheel 166 and the sixth guide wheel 167 are spaced apart.
  • the fifth guide wheel 166 and the sixth guide wheel 167 may be fixed pulleys.
  • the fifth guide wheel 166 and the sixth guide wheel 167 play a guiding role, so that the part of the first transmission cable 164 located between the fifth guide wheel 166 and the sliding member 168 is parallel to the second transmission cable 165 located in the second transmission cable 165.
  • the part between the six guide wheels 167 and the sliding member 168 is parallel to the moving direction of the sliding member 168 .
  • the arrows in FIG. 3 show the moving directions D1 and D2 of the slider 168, and D2 is the opposite direction to D1.
  • the moving directions D1 and D2 of the slider 168 are horizontal directions.
  • the moving direction of the sliding member 168 can be flexibly selected as required.
  • the moving directions D1 and D2 of the sliding member 168 may also be vertical directions, or may also be at an angle with the horizontal direction.
  • the portion of the first drive cable 164 located between the fifth guide pulley 166 and the slider 168 and the portion of the second drive cable 165 between the sixth guide pulley 167 and the slider 168 are arranged on the same straight line.
  • guide wheels may be additionally added to guide the first transmission cable 164 and the second transmission cable 165 as required.
  • the first guide wheel 157 and the third guide wheel 162 play a guiding role for the first cable 141 and the second cable 142 , so that the first cable 141 and the second cable 142
  • the part between the first guide pulley 157 and the first movable pulley 158 is parallel to the part between the first movable pulley 158 and the third guide pulley 162 of the first cable 141 and the second cable 142 .
  • the second guide wheel 159 and the second movable pulley 161 play a guiding role for the third cable 143 and the fourth cable 144, so that the third cable 143 and the fourth cable 144 are located on the second guide wheel 159 and the second cable 144.
  • the portion between the movable pulleys 161 is parallel to the portion between the second movable pulley 161 and the fourth guide pulley 163 of the third cable 143 and the fourth cable 144 . Therefore, when the slider 168 drives the first movable pulley 158 and the second movable pulley 161 to move, the first cable 141 , the second cable 142 , the third cable 143 and the fourth cable 144 will not cause any edge to the slider 168 . Additional forces and moments other than in the direction of its movement. Those skilled in the art can understand that other guide wheels may be additionally added to guide the first cable 141 , the second cable 142 , the third cable 143 and the fourth cable 144 as required.
  • the third rotating shaft 175 is controlled by the driving motor to rotate the third rotating member 153 counterclockwise, the first transmission cable 164 is pulled in and the second transmission cable 165 is released at the same time, so as to pull the sliding member 168 , the first movable pulley 158 and the second movable pulley 161 move along the D1 direction, so that the first cable 141 and the second cable 142 are released while the third cable 143 and the fourth cable 144 are pulled in by the same length, thereby realizing The pitch of the wrist mechanism 130 moves forward.
  • the first transmission cable 164 is released while the second transmission cable 165 is pulled in by the same length to pull the sliding member 168 ,
  • the first movable pulley 158 and the second movable pulley 161 move along the D2 direction, so that the first cable 141 and the second cable 142 are pulled in while the third cable 143 and the fourth cable 144 are released in equal lengths, thereby realizing The pitch reverse movement of the wrist mechanism 130 .
  • the rear end transmission device of the surgical robot according to the second embodiment of the present application will be described in detail below with reference to FIGS. 4 and 5 .
  • the rear end transmission according to the second embodiment has substantially the same structure as the rear end transmission 150 according to the first embodiment, wherein structures having the same or similar functions are given similar reference numerals.
  • the rear end transmission device of the second embodiment also includes a first rotating member 251 , a second rotating member 252 , a first pulley assembly, and a second pulley assembly , a position adjustment assembly, a first rotating shaft 273 , a second rotating shaft 274 and a third rotating shaft 275 .
  • the first pulley assembly also includes a first guide pulley 257 , a first movable pulley 258 and a third guide pulley 262 .
  • the second pulley assembly also includes a second guide pulley 259 , a second movable pulley 261 and a fourth fixed pulley 263 .
  • the position adjustment assembly also includes a third rotating member 253 . For the sake of brevity, repeated descriptions are omitted.
  • the rear end transmission device includes a chassis 272, the first rotating shaft 273, the second rotating shaft 274 and the third rotating shaft 275 are respectively rotatably mounted to the chassis 272, and the first pulley assembly, the second pulley assembly and the position adjustment assembly are all installed to chassis 272.
  • the chassis 272 has an interface connected to the corresponding port of the manipulator to ensure that when the medical device is installed correctly, the first rotating shaft 273, the second rotating shaft 274 and the third rotating shaft 275 can be stably connected to the driving motor of the docking port of the manipulator. , in order to realize the transmission of rotational motion.
  • the position adjustment assembly further includes a first transmission cable 264 , a second transmission cable 265 and a rotating assembly 266 .
  • One ends of the first transmission cable 264 and the second transmission cable 265 are respectively connected to the third rotating member 253, and the winding directions around the third rotating member 253 are opposite.
  • the other ends are respectively connected to the rotating components 266, and the winding directions around the rotating components 266 are opposite.
  • the rotary assembly 266 can be engaged with the slider 268 to be able to translate rotation of the rotary assembly 266 into linear motion of the slider 268.
  • the arrows in FIG. 4 show the moving directions D3 and D4 of the slider 268, and D4 is the opposite direction to D3.
  • the moving directions D3 and D4 of the slider 268 are horizontal directions.
  • the moving direction of the sliding member 268 can be flexibly selected as required.
  • the moving directions D3 and D4 of the sliding member 268 may also be vertical directions, or may also be at an angle with the horizontal direction.
  • the rotating assembly 266 is rotatable about an axis parallel to the third central axis A3, and includes a gear 276 and a wire pulley 277 that rotates integrally with the gear 276 .
  • the above-mentioned other ends of the first transmission cable 264 and the second transmission cable 265 are respectively connected to the reels 277, and the winding directions of the reels 277 are opposite.
  • Slider 268 is a rack for meshing with gear 276 .
  • the third rotating shaft 275 is controlled by the driving motor to rotate the third rotating member 253 counterclockwise, the first transmission cable 264 is pulled in and the second transmission cable 265 is released at the same time, so as to pull the sliding member 268, the first transmission cable 265 and the first transmission cable 265.
  • the movable pulley 258 and the second movable pulley 261 move along the D3 direction, so that the first cable 241 and the second cable 242 are released while the third cable 243 and the fourth cable 244 are pulled in by the same length, thereby realizing the wrist mechanism of the pitch forward motion.
  • the third rotating shaft 275 is controlled by the drive motor to rotate the third rotating member 253 clockwise, the first transmission cable 264 is released and the second transmission cable 265 is pulled in by the same length to pull the sliding member 268 , the first movable pulley 258 and the second movable pulley 261 move along the D4 direction, so that the first cable 241 and the second cable 242 are pulled in and the third cable 243 and the fourth cable 244 are released at the same length, thereby realizing Pitch reverse motion of the wrist mechanism.
  • the rear end transmission device of the surgical robot according to the third embodiment of the present application will be described in detail below with reference to FIG. 6 .
  • the rear end transmission according to the third embodiment has substantially the same structure as the rear end transmission according to the second embodiment, wherein structures having the same or similar functions are given similar reference numerals.
  • the rear end transmission device of the third embodiment also includes a first rotating member 351 , a second rotating member 352 , a first pulley assembly, a second pulley assembly, and a position adjustment. assembly, the first rotating shaft 373 , the second rotating shaft 374 and the third rotating shaft 375 .
  • the position adjustment assembly also includes a third rotating member 353 . For the sake of brevity, repeated descriptions are omitted.
  • the first pulley assembly of the third embodiment includes a first guide pulley 357 and a first movable pulley 358 , the first cable 341 and the second cable 342 extend from the first rotating member 351 , and The first guide wheel 357 and the first movable pulley 358 are bypassed in turn.
  • the second pulley assembly includes a second guide pulley 359 and a second movable pulley 361.
  • the third cable 343 and the fourth cable 344 extend from the second rotating member 352 and bypass the second guide pulley 359 and the second movable pulley 361 in turn.
  • the position adjustment assembly includes a pair of sliding members 368 , and the pair of sliding members 368 are arranged in parallel and spaced apart.
  • the first movable pulley 358 and the second movable pulley 361 are respectively rotatably connected to one of the pair of sliding members 368 .
  • the rotating assemblies 366 are disposed between the pair of sliders 368 and are used to engage with the pair of sliders 368, respectively, so that the pair of sliders 368 move in opposite directions.
  • the arrows in FIG. 5 show the moving directions D5 and D6 of the slider 368, and D6 is the opposite direction to D5.
  • the moving directions D5 and D6 of the slider 368 are horizontal directions.
  • the moving direction of the sliding member 368 can be flexibly selected as required.
  • the moving directions D5 and D6 of the sliding member 368 may also be vertical directions, or may also be at an angle with the horizontal direction.
  • the third rotating shaft 375 is controlled by the driving motor to rotate the third rotating member 353 counterclockwise, the first transmission cable 364 is pulled in and the second transmission cable 365 is released at the same length, so that the first movable pulley 358 is installed
  • the slider 368 moves in the D5 direction, and at the same time, the slider 368 installed with the second movable pulley 361 moves in the D6 direction, so that the third cable 343 and the fourth cable are released while the first cable 341 and the second cable 342 are released.
  • the cable 344 is pulled in isometrically, thereby effecting a positive pitch motion of the wrist mechanism.
  • the rear end transmission is connected to, for example, four drive cables (ie, a first cable, a second cable, a third cable and a fourth cable) of the wrist mechanism. , so that the wrist mechanism works cooperatively with the rear end transmission device, by pulling in and/or releasing the drive cable, so as to realize the pitch, yaw and grip of the wrist mechanism.
  • four drive cables ie, a first cable, a second cable, a third cable and a fourth cable

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Abstract

本申请公开了一种后端传动装置，其包括第一转动件、第二转动件、第一滑轮组件、第二滑轮组件和位置调节组件，第一转动件分别连接第一线缆和第二线缆，且第一线缆和第二线缆沿第一转动件的缠绕方向相反；第二转动件分别连接第三线缆和第四线缆，且第三线缆和第四线缆沿第二转动件的缠绕方向相反；第一滑轮组件包括第一动滑轮，第一线缆和第二线缆从第一转动件延伸且绕过第一动滑轮；第二滑轮组件包括第二动滑轮，第三线缆和第四线缆从第二转动件延伸且绕过第二动滑轮；位置调节组件能够同时调节第一动滑轮和第二动滑轮的位置，从而在拉进第一线缆和第二线缆时释放第三线缆和第四线缆，或者在拉进第三线缆和第四线缆时释放第一线缆和第二线缆。

Description

后端传动装置、医疗器械和手术机器人
说明书
交叉引用
本申请引用于2021年4月30日递交的名称为″后端传动装置、医疗器械和手术机器人″的第202110484496.4号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及医疗器械技术领域，具体而言涉及一种后端传动装置、医疗器械和手术机器人。
背景技术
在机器人辅助微创手术中，机器人末端连接的手术工具穿过人体表面的创口或者自然孔道进入人体，对人体内的组织进行操作。这种手术工具主要由位于前端的安装在腕部机构上的执行器或工具(例如手术钳、剪切工具或烧灼工具)、为前端提供多个自由度运动的腕部机构、从器械后端延伸到前端的主管路、以及器械后端的动力和传动装置几部分组成。前端执行器和腕部机构通常通过固定在其上的多跟线缆来驱动，这些线缆贯穿在手术工具的主管路内并由后端的动力和传动装置来驱动。
对于手术钳及其他夹持或剪切类工具，腕部机构通常需要实现俯仰、偏转和夹持三个自由度。其配合机器人后端所具有的额外的自由度，可以实现完成手术操作所需的运动。根据腕部机构的具体实现方式，其所需要的驱动线缆数量也有所不同(例如4根或6根)。通常，为了实现腕部机构各个关节的大范围运动(例如-90°到90°)，需要在腕部机构上加装额外的滑轮以对线缆进行导向，但增加额外的滑轮等零件会阻碍手术器械前端的小型化。此外，使用更多的线缆也会增加器械尺寸和成本。
现有的驱动4线腕部的后端传动装置通过连杆或摇臂的摆动来实现两根线的释放和另外两根线的收紧，进而实现腕部的俯仰运动。使用这种方 式时，随着俯仰角度的变化，收紧和释放的线缆长度并不相等，这将会导致线缆的松紧发生变化，可能会因线缆过松而产生间隙降低精度或线缆过紧而产生摩擦阻力过大加快磨损的问题。为了避免此问题的发生，可以限制俯仰关节的转角范围，但这将影响工具的功能。此外，使用这种机构时后端电机的输出端转角与腕部俯仰角成非线性关系，需要额外的标定工作以实现精确位置控制，增加了额外的工作量。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本申请的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
根据本申请的各种实施例，提供了一种后端传动装置，其包括：
第一转动件，所述第一转动件用于分别连接第一线缆和第二线缆，并且所述第一线缆和所述第二线缆沿所述第一转动件的缠绕方向相反；
第二转动件，所述第二转动件用于分别连接第三线缆和第四线缆，并且所述第三线缆和所述第四线缆沿所述第二转动件的缠绕方向相反；
第一滑轮组件，所述第一滑轮组件包括第一动滑轮，所述第一线缆和所述第二线缆从所述第一转动件延伸，并且绕过所述第一动滑轮；
第二滑轮组件，所述第二滑轮组件包括第二动滑轮，所述第三线缆和所述第四线缆从所述第二转动件延伸，并且绕过所述第二动滑轮；以及
位置调节组件，所述位置调节组件分别与所述第一动滑轮和所述第二动滑轮连接，并且所述位置调节组件能够同时调节所述第一动滑轮和所述第二动滑轮的位置，从而在拉进所述第一线缆和所述第二线缆时释放所述第三线缆和所述第四线缆，或者在拉进所述第三线缆和所述第四线缆时释放所述第一线缆和所述第二线缆。
根据本申请的实施例的后端传动装置，后端传动装置连接至例如腕部机构的四根驱动线缆，使得腕部机构与后端传动装置协作地工作，通过拉进或者释放驱动线缆，以实现腕部机构的俯仰、偏转和夹握，这种驱动方式的结构简单，并且传动精确，转动件和腕部机构的俯仰、偏转和夹握角度成线性关系、并且在腕部机构的上述角度发生大范围变化时仍可以保证 驱动线缆等长释放和/或拉进。
在一实施例中，所述第一转动件构造为绕第一中心轴线可转动，以能够经由所述第一滑轮组件拉进所述第一线缆和所述第二线缆中的一者，同时释放所述第一线缆和所述第二线缆中的另一者，
所述第二转动件构造为绕第二中心轴线可转动，以能够经由所述第二滑轮组件拉进所述第三线缆和所述第四线缆中的一者，同时释放所述第三线缆和所述第四线缆中的另一者。
在一实施例中，所述第一中心轴线平行于所述第二中心轴线，所述第一动滑轮和所述第二动滑轮分别绕平行于所述第一中心轴线的轴线可转动，并且所述第一动滑轮和所述第二动滑轮的轴线间隔开设置。
在一实施例中，所述第一滑轮组件还包括第一导向轮和第三导向轮，所述第一导向轮和所述第三导向轮分别绕平行于所述第一中心轴线的轴线可转动，所述第一线缆和所述第二线缆从所述第一转动件延伸，并且依次绕过所述第一导向轮、所述第一动滑轮和所述第三导向轮。
在一实施例中，所述第二滑轮组件还包括第二导向轮和第四导向轮，所述第二导向轮和所述第四导向轮分别绕平行于所述第二中心轴线的轴线可转动，所述第三线缆和所述第四线缆从所述第二转动件延伸，并且依次绕过所述第二导向轮、所述第二动滑轮和所述第四导向轮。
在一实施例中，所述位置调节组件包括第三转动件，所述第三转动件能够绕平行于所述第一中心轴线的第三中心轴线转动，以同时调节所述第一动滑轮和所述第二动滑轮的位置。
在一实施例中，所述位置调节组件还包括滑动件，所述第一动滑轮和所述第二动滑轮分别可转动地连接至所述滑动件，所述第三转动件能够直接地或者间接地调节所述滑动件的位置。
在一实施例中，所述位置调节组件还包括第一传动线缆、第二传动线缆、第五导向轮和第六导向轮，所述第一传动线缆绕过所述第五导向轮，所述第二传动线缆绕过所述第六导向轮，所述第一传动线缆和所述第二传动线缆的一端分别连接至所述第三转动件，并且绕所述第三转动件的缠绕方向相反，所述第一传动线缆和所述第二传动线缆的另一端分别连接至所述滑动件的两端。
在一实施例中，所述第五导向轮和所述第六导向轮分别绕平行于所述 第三中心轴线的轴线可转动，并且所述第五导向轮和所述第六导向轮的轴线间隔开设置。
在一实施例中，所述位置调节组件包括第一传动线缆、第二传动线缆和转动组件，所述第一传动线缆和所述第二传动线缆的一端分别连接至所述第三转动件，并且绕所述第三转动件的缠绕方向相反，所述第一传动线缆和所述第二传动线缆的另一端分别连接至所述转动组件，并且绕所述转动组件的缠绕方向相反，所述转动组件能够与所述滑动件啮合，以能够将所述转动组件的转动转化成所述滑动件的直线运动。
在一实施例中，所述转动组件绕平行于所述第三中心轴线的轴线可转动，所述转动组件包括齿轮，所述滑动件为用于与所述齿轮啮合的齿条。
在一实施例中，所述位置调节组件包括一对滑动件，所述一对滑动件平行地设置，所述第一动滑轮和所述第二动滑轮分别可转动地连接至所述一对滑动件中的一个，所述转动组件设置在所述一对滑动件之间，并且用于分别与所述一对滑动件啮合，使得所述一对滑动件沿相反方向移动。
根据本申请的各种实施例，还提供了一种医疗器械，其包括根据上述任一实施例中所述的后端传动装置。
根据本申请的各种实施例，还提供了一种手术机器人，其包括根据上述实施例中的医疗器械。
附图说明
本申请的下列附图在此作为本申请的一部分用于理解本申请。附图中示出了本申请的实施例及其描述，用来解释本申请的原理。
附图中：
图1为根据本申请的实施例的第一实施方式的医疗器械的结构示意图；
图2为图1中的手术机器人的局部结构示意图，其中示出了腕部机构、第一线缆、第二线缆、第三线缆和第四线缆；
图3为图1中的手术机器人的另一个局部示意图，其中示出了后端传动装置；
图4为根据本申请的第二实施方式的手术机器人的局部结构示意图，其中示出了后端传动装置；
图5为图4中的手术机器人的另一个局部结构示意图；
图6为根据本申请的第三实施方式的手术机器人的局部结构示意图，其中示出了后端传动装置。
附图标记说明：
100：手术机器人                 110：机械臂
111：臂                         120：医疗器械
130：腕部机构                   131：近端夹具
132：远端夹具                   133：执行器
134：夹爪上颚                   135：夹爪下颚
136：第一销轴                   137：第二销轴
140：主管路                     141/241：第一线缆
142/242：第二线缆               143/243：第三线缆
144/244：第四线缆               150：后端传动装置
151/251/351：第一转动件         152/252/352：第二转动件
153/253/353：第三转动件         157/257/357：第一导向轮
158/258/358：第一动滑轮         159/259/359：第二导向轮
161/261/361：第二动滑轮         162/262：第三导向轮
163/263：第四导向轮             164/264/364：第一传动线缆
165/265/365：第二传动线缆       166：第五导向轮
167：第六导向轮                 168/268/368：滑动件
266/366：转动组件               272：底盘
173：第一转动轴                 174：第二转动轴
175：第三转动轴                 276：齿轮
277：线轮                       180：基座
A1：第一中心轴线                A2：第二中心轴线
A3：第三中心轴线
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本申请更为彻底的理解。然而，对于本领域技术人员来说显而易见的是，本申请实施方式可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本申请实施方式发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底了解本申请实施方式，将在下列的描述中提出详细的结构。显然，本申请实施方式的施行并不限定于本领域的技术人员所熟习的特殊细节。需要说明的是，本申请中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其他含义，例如特定的顺序等。而且，例如，术语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。本申请中所使用的术语“上”、“下”、“前”、“后”、“左”、“右”以及类似的表述只是为了说明的目的，并非限制。
本申请的实施例提供了一种后端传动装置、医疗器械和手术机器人。手术机器人包括可移动地设置的机械臂以及安装至该机械臂的医疗器械，医疗器械包括该后端传动装置。如在本领域已知的，医疗器械可以实现很多功能，包括但不限于不同形状和大小的手术钳或抓持器、针驱动器、剪刀或灼烧工具。
第一实施方式
下面将结合图1至图3对根据本申请的第一实施方式的手术机器人100进行详细的说明。
如图1所示，手术机器人100主要包括基座180和可转动地设置在基座180的上端的至少一个机械臂110以及安装至机械臂110的对应端口的医疗器械120。图1中仅示例性地示出了一个机械臂110，该机械臂110包括多个首尾连接在一起的臂111，并且这些臂111可转动的设置。当有多个机械臂110时，每一个机械臂110的对应端口均安装有医疗器械120。医疗器械120与机械臂110可拆卸地连接，以便于在更换或者维修医疗器械120，并且被安装到机械臂110上的医疗器械120可以被选择用于具体医疗程序或者在医疗程序期间被改变以提供需要的临床功能。
机械臂110的对接端口一般包括为医疗器械120的操作提供机械动力的驱动电机。对接端口可以另外包括与医疗器械120连接的电接口，以便例如识别在对接端口中的器械类型并且获得器械的参数。
医疗器械120通常包括后端传动装置150、从后端传动装置150延伸的主管路140和在主管路140的远端处的腕部机构130。被连接至腕部机构130的驱动线缆(具体地指第一线缆141、第二线缆142、第三线缆143和第四线缆144)和电导体可以延伸通过主管路140并且连接至后端传动装置150。后端传动装置150提供上述驱动线缆至驱动电机的电机驱动轴 的机械联接，以通过控制驱动线缆的运动和张力从而操作腕部机构130。主管路140是中空的，并且可以是刚性的或者挠性的。
如图2所示，腕部机构130包括近端夹具131、远端夹具132和执行器133。远端夹具132通过第一销轴136可枢转地连接至近端夹具131，从而实现腕部机构130的俯仰运动。执行器133包括夹爪上颚134和夹爪下颚135，夹爪上颚134和夹爪下颚135通过第二销轴137可枢转地连接至远端夹具132，从而实现腕部机构130的夹握和偏转。在一实施例中，第二销轴137垂直于第一销轴136。根据需要，第二销轴137也可以不垂直于第一销轴136。
第一线缆141和第二线缆142被附接至执行器133的夹爪下颚135，并且缠绕了至少半圈，第三线缆143和第四线缆144被附接至执行器133的夹爪上颚134，并且缠绕了至少半圈。第一线缆141、第二线缆142、第三线缆143和第四线缆144沿执行器133、远端夹具132和近端夹具131中的导向通道(未示出)的坚硬表面延伸，并且通过主管路140延伸返回至后端传动装置150。例如，导向通道可以为横截面为U形或者半圆形的凹槽。
继续参照图2，通过等长拉进第三线缆143和第四线缆144的同时等长释放第一线缆141和第二线缆142，使得远端夹具132相对于近端夹具131绕第一销轴136顺时针转动，以实现腕部机构130的俯仰正向运动(参见图2)。类似地，通过等长拉进第一线缆141和第二线缆142的同时等长释放第三线缆143和第四线缆144，使得远端夹具132相对于近端夹具131绕第一销轴136逆时针转动，实现腕部机构130的俯仰反向运动。
通过拉进第四线缆144的同时等长释放第三线缆143，使得夹爪上颚134相对于远端夹具132绕第二销轴137的顺时针转动(参见图2中的偏转1)。类似地，通过拉进第三线缆143的同时等长释放第四线缆144，使得夹爪上颚134相对于远端夹具132绕第二销轴137的逆时针转动。通过拉进第二线缆142的同时等长释放第一线缆141，使得夹爪下颚135相对于远端夹具132绕第二销轴137的顺时针转动(参见图2中的偏转2)。类似地，通过拉进第一线缆141的同时等长释放第二线缆142，使得夹爪下颚135相对于远端夹具132绕第二销轴137的逆时针转动。通过夹爪上颚134和夹爪下颚135的运动组合可以实现执行器133的偏转和夹握运动， 这将在下面进行详细的说明。
如图3所示，后端传动装置150主要包括第一转动件151、第二转动件152、第一滑轮组件、第二滑轮组件、位置调节组件、第一转动轴173、第二转动轴174和第三转动轴175。第一转动轴173、第二转动轴174和第三转动轴175分别与机械臂110的对接端口的驱动电机连接。可以理解，机械臂110的对接端口包括至少三个驱动电机，其中三个驱动电机分别与第一转动轴173、第二转动轴174和第三转动轴175连接。第一转动轴173、第二转动轴174和第三转动轴175相互平行地设置，并且第一转动轴173、第二转动轴174和第三转动轴175大致呈三角形排布。可以理解，第一转动轴173、第二转动轴174和第三转动轴175的排布方式不限于本实施方式，根据需要，第一转动轴173、第二转动轴174和第三转动轴175还可以呈直线排布。位置调节组件包括第三转动件153。第一转动轴173与第一转动件151固定连接，第二转动轴174与第二转动件152固定连接，第三转动轴175与固定第三转动件153连接，以分别带动第一转动件151、第二转动件152和第三转动件153的转动。
第一转动件151用于分别连接第一线缆141和第二线缆142，并且第一线缆141和第二线缆142沿第一转动件151的缠绕方向相反。第二转动件152用于分别连接第三线缆143和第四线缆144，并且第三线缆143和第四线缆144沿第二转动件152的缠绕方向相反。在本实施方式中，第一转动件151和第二转动件152为绞盘。
第一滑轮组件包括第一导向轮157、第一动滑轮158和第三导向轮162，第一线缆141和第二线缆142从第一转动件151延伸，并且依次绕过第一导向轮157、第一动滑轮158和第三导向轮162。第一转动件151构造为绕第一中心轴线A1可转动，以能够经由第一滑轮组件等长拉进第一线缆141和第二线缆142中的一者，同时等长释放第一线缆141和第二线缆142中的另一者，以实现夹爪下颚135相对于远端夹具132绕第二销轴137的顺时针或者逆时针转动。在一实施例中，第一导向轮157、第一动滑轮158和第三导向轮162分别绕平行于第一中心轴线A1的轴线可转动，并且第一导向轮157、第一动滑轮158和第三导向轮162的轴线间隔开设置。第一导向轮157和第三导向轮162可以为定滑轮。
具体地，当第一动滑轮158保持不动时，通过驱动电机控制第一转动 轴173带动第一转动件151逆时针转动时，第二线缆142被拉进的同时第一线缆141等长被释放，进而实现夹爪下颚135相对于远端夹具132绕第二销轴137的顺时针转动(参见图2中的偏转2)。当第一动滑轮158保持不动时，通过驱动电机控制第一转动轴173带动第一转动件151顺时针转动时，第一线缆141被拉进的同时第二线缆142等长被释放，进而实现夹爪下颚135相对于远端夹具132绕第二销轴137的逆时针转动。
第二滑轮组件包括第二导向轮159、第二动滑轮161和第四导向轮163，第三线缆143和第四线缆144从第二转动件152延伸，并且依次绕过第二导向轮159、第二动滑轮161和第四导向轮163。第二转动件152构造为绕第二中心轴线A2可转动，以能够经由第二滑轮组件等长拉进第三线缆143和第四线缆144中的一者，同时等长释放第三线缆143和第四线缆144中的另一者，以实现夹爪上颚134相对于远端夹具132绕第二销轴137的顺时针或者逆时针转动。在一实施例中，第一中心轴线A1平行于第二中心轴线A2。第二导向轮159、第二动滑轮161和第四导向轮163分别绕平行于第二中心轴线A2的轴线可转动，并且第二导向轮159、第二动滑轮161和第四导向轮163的轴线间隔开设置。第二导向轮159和第四导向轮163可以为定滑轮。
具体地，当第二动滑轮161保持不动时，通过驱动电机控制第二转动轴174带动第二转动件152逆时针转动时，第四线缆144被拉进的同时第三线缆143等长被释放，使得夹爪上颚134相对于远端夹具132绕第二销轴137的顺时针转动(参见图2中的偏转1)。当第二动滑轮161保持不动时，通过驱动电机控制第二转动轴174带动第二转动件152顺时针转动时，第三线缆143被拉进的同时第四线缆144等长被释放，使得夹爪上颚134相对于远端夹具132绕第二销轴137的逆时针转动。
在本实施方式中，通过控制第一转动轴173和第二转动轴174的转动，即可实现执行器133的偏转和夹握运动。
具体地，当第一转动轴173和第二转动轴174等角度逆时针转动时，即第一转动件151和第二转动件152等角度逆时针转动时，夹爪上颚134和夹爪下颚135均沿顺时针转动，使得执行器133实现正向偏转运动(参见图2)。当第一转动轴173和第二转动轴174等角度顺时针转动时，即第一转动件151和第二转动件152等角度顺时针转动时，夹爪上颚134和夹 爪下颚135均沿逆时针转动，使得执行器133实现反向偏转运动。
当第一转动轴173逆时针转动，同时第二转动轴174等角度顺时针转动时，即第一转动件151逆时针转动，同时第二转动件152等角度顺时针转动时，使得夹爪下颚135顺时针转动，并且夹爪上颚134逆时针转动，以实现执行器133的夹握动作(参见图2)。当第一转动轴173顺时针转动，同时第二转动轴174等角度逆时针转动时，即第一转动件151顺时针转动，同时第二转动件152等角度逆时针转动时，使得夹爪下颚135逆时针转动，并且夹爪上颚134顺时针转动，以实现执行器133的夹握松开动作。
位置调节组件分别与第一动滑轮158和第二动滑轮161连接，并且位置调节组件能够同时调节第一动滑轮158和第二动滑轮161的位置，从而在等长拉进第一线缆141和第二线缆142时等长释放第三线缆143和第四线缆144，或者在等长拉进第三线缆143和第四线缆144时等长释放第一线缆141和第二线缆142，使得远端夹具132相对于近端夹具131绕第一销轴136逆时针或者顺时针转动，实现腕部机构130的俯仰运动。
如上所述地，位置调节组件包括第三转动件153。第三转动件153能够绕平行于第一中心轴线A1的第三中心轴线A3转动，以同时调节第一动滑轮158和第二动滑轮161的位置。在本实施方式中，第三转动件153为绞盘。
位置调节组件还包括滑动件168，滑动件168可以构造为长条状的平板结构。第一动滑轮158和第二动滑轮161的转轴分别安装至滑动件168，使得第一动滑轮158和第二动滑轮161分别可转动地连接至滑动件168。第一动滑轮158和第二动滑轮161间隔设置，并且设置在滑动件168的同一侧上。在一实施例中，第一动滑轮158的转轴平行于第二动滑轮161的转轴，并且垂直于滑动件168。第三转动件153能够直接地或者间接地调节滑动件168的位置。
位置调节组件还包括第一传动线缆164、第二传动线缆165、第五导向轮166和第六导向轮167，第一传动线缆164绕过第五导向轮166，第二传动线缆165绕过第六导向轮167。第一传动线缆164和第二传动线缆165的一端分别连接至第三转动件153，并且绕第三转动件153的缠绕方向相反，第一传动线缆164和第二传动线缆165的另一端分别连接至滑动件168的两端。在一实施例中，第五导向轮166和第六导向轮167分别绕平行于 第三中心轴线A3的轴线可转动，并且第五导向轮166和第六导向轮167的轴线间隔开设置。第五导向轮166和第六导向轮167可以为定滑轮。
第五导向轮166和第六导向轮167起到导向的作用，使得第一传动线缆164的位于第五导向轮166和滑动件168之间的部分平行于第二传动线缆165的位于第六导向轮167和滑动件168之间的部分，并且平行于滑动件168的移动方向。图3中的箭头示出了滑动件168的移动方向D1和D2，D2为与D1相反的方向。在一实施例中，滑动件168的移动方向D1和D2为水平方向。本领域技术人员可以理解，根据需要，可以灵活地选择滑动件168的移动方向，例如，滑动件168的移动方向D1和D2还可以为竖直方向，或者还可以为与水平方向成一夹角。
在一实施例中，第一传动线缆164的位于第五导向轮166和滑动件168之间的部分与第二传动线缆165的位于第六导向轮167和滑动件168之间的部分布置在同一条直线上。本领域技术人员可以理解，根据需要，还可以额外地增加其他导向轮，以对第一传动线缆164和第二传动线缆165进行导向。
进一步地，在一实施例中，第一导向轮157和第三导向轮162对第一线缆141和第二线缆142起到导向的作用，使得第一线缆141和第二线缆142的位于第一导向轮157和第一动滑轮158之间的部分平行于第一线缆141和第二线缆142的位于第一动滑轮158和第三导向轮162之间的部分。第二导向轮159和第二动滑轮161对第三线缆143和第四线缆144起到导向的作用，使得第三线缆143和第四线缆144的位于第二导向轮159和第二动滑轮161之间的部分平行于第三线缆143和第四线缆144的位于第二动滑轮161和第四导向轮163之间的部分。因此，在滑动件168带动第一动滑轮158和第二动滑轮161移动时，第一线缆141、第二线缆142、第三线缆143和第四线缆144不会对滑动件168产生沿其移动方向以外的额外的力以及力矩。本领域技术人员可以理解，根据需要，还可以额外地增加其他导向轮，以对第一线缆141、第二线缆142、第三线缆143和第四线缆144进行导向。
具体地，通过驱动电机控制第三转动轴175带动第三转动件153逆时针转动时，第一传动线缆164被拉进的同时第二传动线缆165被等长释放，以拉动滑动件168、第一动滑轮158和第二动滑轮161沿D1方向移动，使 得第一线缆141和第二线缆142被释放的同时第三线缆143和第四线缆144被等长拉进，进而实现腕部机构130的俯仰正向运动。类似的，通过驱动电机控制第三转动轴175带动第三转动件153顺时针转动时，第一传动线缆164被释放的同时第二传动线缆165被等长拉进，以拉动滑动件168、第一动滑轮158和第二动滑轮161沿D2方向移动，使得第一线缆141和第二线缆142被拉进的同时第三线缆143和第四线缆144被等长释放，进而实现腕部机构130的俯仰反向运动。
第二实施方式
下面将参照图4和图5对根据本申请的第二实施方式的手术机器人的后端传动装置进行详细的说明。根据第二实施方式的后端传动装置具有与根据第一实施方式的后端传动装置150大致相同的结构，其中具有相同或者相似功能的结构被赋予相似的附图标记。
与第一实施方式相同的是，如图4和图5所示，第二实施方式的后端传动装置同样包括第一转动件251、第二转动件252、第一滑轮组件、第二滑轮组件、位置调节组件、第一转动轴273、第二转动轴274和第三转动轴275。第一滑轮组件同样包括第一导向轮257、第一动滑轮258和第三导向轮262。第二滑轮组件同样包括第二导向轮259、第二动滑轮261和第四定滑263。位置调节组件同样包括第三转动件253。为了简洁期间，不再进行赘述。
后端传动装置包括底盘272，第一转动轴273、第二转动轴274和第三转动轴275均分别可转动地安装至底盘272，第一滑轮组件、第二滑轮组件和位置调节组件均安装至底盘272。底盘272具有和机械臂的对应端口连接的接口，确保在医疗器械正确安装时，第一转动轴273、第二转动轴274和第三转动轴275能够与机械臂的对接端口的驱动电机稳定连接，以实现旋转运动的传递。
与第一实施方式不同的是，在第二实施方式中，位置调节组件还包括第一传动线缆264、第二传动线缆265和转动组件266。第一传动线缆264和第二传动线缆265的一端分别连接至第三转动件253，并且绕第三转动件253的缠绕方向相反，第一传动线缆264和第二传动线缆265的另一端分别连接至转动组件266，并且绕转动组件266的缠绕方向相反。转动组件266能够与滑动件268啮合，以能够将转动组件266的转动转化成滑动 件268的直线运动。图4中的箭头示出了滑动件268的移动方向D3和D4，D4为与D3相反的方向。在一实施例中，滑动件268的移动方向D3和D4为水平方向。本领域技术人员可以理解，根据需要，可以灵活地选择滑动件268的移动方向，例如，滑动件268的移动方向D3和D4还可以为竖直方向，或者还可以为与水平方向成一夹角。
具体地，转动组件266绕平行于第三中心轴线A3的轴线可转动，并且包括齿轮276和与齿轮276一体地转动的线轮277。第一传动线缆264和第二传动线缆265的上述另一端分别连接至线轮277，并且绕线轮277的缠绕方向相反。滑动件268为用于与齿轮276啮合的齿条。
通过驱动电机控制第三转动轴275带动第三转动件253逆时针转动时，第一传动线缆264被拉进的同时第二传动线缆265被等长释放，以拉动滑动件268、第一动滑轮258和第二动滑轮261沿D3方向移动，使得第一线缆241和第二线缆242被释放的同时第三线缆243和第四线缆244被等长拉进，进而实现腕部机构的俯仰正向运动。类似的，通过驱动电机控制第三转动轴275带动第三转动件253顺时针转动时，第一传动线缆264被释放的同时第二传动线缆265被等长拉进，以拉动滑动件268、第一动滑轮258和第二动滑轮261沿D4方向移动，使得第一线缆241和第二线缆242被拉进的同时第三线缆243和第四线缆244被等长释放，进而实现腕部机构的俯仰反向运动。
第三实施方式
下面将参照图6对根据本申请的第三实施方式的手术机器人的后端传动装置进行详细的说明。根据第三实施方式的后端传动装置具有与根据第二实施方式的后端传动装置大致相同的结构，其中具有相同或者相似功能的结构被赋予相似的附图标记。
与第二实施方式相同的是，如图6所示，第三实施方式的后端传动装置同样包括第一转动件351、第二转动件352、第一滑轮组件、第二滑轮组件、位置调节组件、第一转动轴373、第二转动轴374和第三转动轴375。位置调节组件同样包括第三转动件353。为了简洁期间，不再进行赘述。
与第二实施方式不同的是，第三实施方式的第一滑轮组件包括第一导向轮357和第一动滑轮358，第一线缆341和第二线缆342从第一转动件351延伸，并且依次绕过第一导向轮357和第一动滑轮358。第二滑轮组件 包括第二导向轮359和第二动滑轮361，第三线缆343和第四线缆344从第二转动件352延伸，并且依次绕过第二导向轮359和第二动滑轮361。
在本实施方式中，位置调节组件包括一对滑动件368，该一对滑动件368平行且间隔地设置。第一动滑轮358和第二动滑轮361分别可转动地连接至该一对滑动件368中的一个。转动组件366设置在一对滑动件368之间，并且用于分别与该一对滑动件368啮合，使得该一对滑动件368沿相反方向移动。图5中的箭头示出了滑动件368的移动方向D5和D6，D6为与D5相反的方向。在一实施例中，滑动件368的移动方向D5和D6为水平方向。本领域技术人员可以理解，根据需要，可以灵活地选择滑动件368的移动方向，例如，滑动件368的移动方向D5和D6还可以为竖直方向，或者还可以为与水平方向成一夹角。
通过驱动电机控制第三转动轴375带动第三转动件353逆时针转动时，第一传动线缆364被拉进的同时第二传动线缆365被等长释放，以使得安装有第一动滑轮358滑动件368沿D5方向移动，同时使得安装有第二动滑轮361的滑动件368沿D6方向移动，使得第一线缆341和第二线缆342被释放的同时第三线缆343和第四线缆344被等长拉进，进而实现腕部机构的俯仰正向运动。类似的，通过驱动电机控制第三转动轴375带动第三转动件353顺时针转动时，第一传动线缆364被释放的同时第二传动线缆365被等长拉进，以使得安装有第一动滑轮358滑动件368沿D6方向移动，同时使得安装有第二动滑轮361的滑动件368沿D5方向移动，使得第一线缆341和第二线缆342被拉进的同时第三线缆343和第四线缆344被等长释放，进而实现腕部机构的俯仰反向运动。
根据本申请的实施例的后端传动装置，后端传动装置连接至例如腕部机构的四根驱动线缆(即第一线缆、第二线缆、第三线缆和第四线缆)，使得腕部机构与后端传动装置协作地工作，通过拉进和/或者释放驱动线缆，以实现腕部机构的俯仰、偏转和夹握。通过对连接至腕部机构的执行器的夹爪下颚的两跟驱动线缆(即第一线缆和第二线缆)和连接至夹爪上颚的两根驱动线缆(即第三线缆和第四线缆)的分别等长反向驱动可以实现夹爪下颚和夹爪上颚的转动，即实现腕部机构的执行器的偏转和夹握运动。通过分别驱动连接至夹爪下颚的两根驱动线缆(即同时拉进或同时释放第一线缆和第二线缆)和连接至夹爪上颚的两根驱动线缆(即同时释放或同 时拉进第三线缆和第四线缆)做等长反向的运动可以实现腕部机构的俯仰运动。通过多个动滑轮(即第一动滑轮和第二动滑轮)、三个驱动轴(即第一转动轴、第二转动轴和第三转动轴)和三个转动件(即第一转动件、第二转动件和第三转动件)实现了成线性组合关系的驱动需求。这种驱动方式具有传动精确，转动件和腕部机构的俯仰、偏转和夹握角度成线性关系，在腕部机构的上述角度发生大范围变化时仍可以保证驱动线缆等长释放和/或拉进。
除非另有定义，本文中所使用的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本申请。本文中出现的诸如“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本申请已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本申请限制于所描述的实施方式范围内。本领域技术人员可以理解的是，根据本申请的教导还可以做出更多种的变型和修改，这些变型和修改均落在本申请所要求保护的范围以内。

Claims (14)

  1. 一种后端传动装置，包括：
    第一转动件，所述第一转动件用于分别连接第一线缆和第二线缆，并且所述第一线缆和所述第二线缆沿所述第一转动件的缠绕方向相反；
    第二转动件，所述第二转动件用于分别连接第三线缆和第四线缆，并且所述第三线缆和所述第四线缆沿所述第二转动件的缠绕方向相反；
    第一滑轮组件，所述第一滑轮组件包括第一动滑轮，所述第一线缆和所述第二线缆从所述第一转动件延伸，并且绕过所述第一动滑轮；
    第二滑轮组件，所述第二滑轮组件包括第二动滑轮，所述第三线缆和所述第四线缆从所述第二转动件延伸，并且绕过所述第二动滑轮；以及
    位置调节组件，所述位置调节组件分别与所述第一动滑轮和所述第二动滑轮连接，并且所述位置调节组件能够同时调节所述第一动滑轮和所述第二动滑轮的位置，从而在拉进所述第一线缆和所述第二线缆时释放所述第三线缆和所述第四线缆，或者在拉进所述第三线缆和所述第四线缆时释放所述第一线缆和所述第二线缆。
  2. 根据权利要求1所述的后端传动装置，其中，
    所述第一转动件构造为绕第一中心轴线可转动，以能够经由所述第一滑轮组件拉进所述第一线缆和所述第二线缆中的一者，同时释放所述第一线缆和所述第二线缆中的另一者，
    所述第二转动件构造为绕第二中心轴线可转动，以能够经由所述第二滑轮组件拉进所述第三线缆和所述第四线缆中的一者，同时释放所述第三线缆和所述第四线缆中的另一者。
  3. 根据权利要求2所述的后端传动装置，其中，所述第一中心轴线平行于所述第二中心轴线，所述第一动滑轮和所述第二动滑轮分别绕平行于所述第一中心轴线的轴线可转动，并且所述第一动滑轮和所述第二动滑轮的轴线间隔开设置。
  4. 根据权利要求3所述的后端传动装置，其中，所述第一滑轮组件还包括第一导向轮和第三导向轮，所述第一导向轮和所述第三导向轮分别绕平行于所述第一中心轴线的轴线可转动，所述第一线缆和所述第二线缆从所述第一转动件延伸，并且依次绕过所述第一导向轮、所述第一动滑轮和 所述第三导向轮。
  5. 根据权利要求3或4所述的后端传动装置，其中，所述第二滑轮组件还包括第二导向轮和第四导向轮，所述第二导向轮和所述第四导向轮分别绕平行于所述第二中心轴线的轴线可转动，所述第三线缆和所述第四线缆从所述第二转动件延伸，并且依次绕过所述第二导向轮、所述第二动滑轮和所述第四导向轮。
  6. 根据权利要求3至5中任一项所述的后端传动装置，其中，所述位置调节组件包括第三转动件，所述第三转动件能够绕平行于所述第一中心轴线的第三中心轴线转动，以同时调节所述第一动滑轮和所述第二动滑轮的位置。
  7. 根据权利要求6所述的后端传动装置，其中，所述位置调节组件还包括滑动件，所述第一动滑轮和所述第二动滑轮分别可转动地连接至所述滑动件，所述第三转动件能够直接地或者间接地调节所述滑动件的位置。
  8. 根据权利要求7所述的后端传动装置，其中，所述位置调节组件还包括第一传动线缆、第二传动线缆、第五导向轮和第六导向轮，所述第一传动线缆绕过所述第五导向轮，所述第二传动线缆绕过所述第六导向轮，所述第一传动线缆和所述第二传动线缆的一端分别连接至所述第三转动件，并且绕所述第三转动件的缠绕方向相反，所述第一传动线缆和所述第二传动线缆的另一端分别连接至所述滑动件的两端。
  9. 根据权利要求8所述的后端传动装置，其中，所述第五导向轮和所述第六导向轮分别绕平行于所述第三中心轴线的轴线可转动，并且所述第五导向轮和所述第六导向轮的轴线间隔开设置。
  10. 根据权利要求7所述的后端传动装置，其中，所述位置调节组件包括第一传动线缆、第二传动线缆和转动组件，所述第一传动线缆和所述第二传动线缆的一端分别连接至所述第三转动件，并且绕所述第三转动件的缠绕方向相反，所述第一传动线缆和所述第二传动线缆的另一端分别连接至所述转动组件，并且绕所述转动组件的缠绕方向相反，所述转动组件能够与所述滑动件啮合，以能够将所述转动组件的转动转化成所述滑动件的直线运动。
  11. 根据权利要求10所述的后端传动装置，其中，所述转动组件绕平行于所述第三中心轴线的轴线可转动，所述转动组件包括齿轮，所述滑动 件为用于与所述齿轮啮合的齿条。
  12. 根据权利要求10或11所述的后端传动装置，其中，所述位置调节组件包括一对滑动件，所述一对滑动件平行地设置，所述第一动滑轮和所述第二动滑轮分别可转动地连接至所述一对滑动件中的一个，所述转动组件设置在所述一对滑动件之间，并且用于分别与所述一对滑动件啮合，使得所述一对滑动件沿相反方向移动。
  13. 一种医疗器械，包括根据权利要求1至12中任一项所述的后端传动装置。
  14. 一种手术机器人，包括根据权利要求13所述的医疗器械。
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