WO2023024600A1 - 一种多自由度的便携微创手术机械臂 - Google Patents

一种多自由度的便携微创手术机械臂 Download PDF

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Publication number
WO2023024600A1
WO2023024600A1 PCT/CN2022/093662 CN2022093662W WO2023024600A1 WO 2023024600 A1 WO2023024600 A1 WO 2023024600A1 CN 2022093662 W CN2022093662 W CN 2022093662W WO 2023024600 A1 WO2023024600 A1 WO 2023024600A1
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WO
WIPO (PCT)
Prior art keywords
handle
axis
joint assembly
rotation
cutter head
Prior art date
Application number
PCT/CN2022/093662
Other languages
English (en)
French (fr)
Inventor
叶春华
赵春英
Original Assignee
上海生知医疗科技有限公司
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.)
Filing date
Publication date
Application filed by 上海生知医疗科技有限公司 filed Critical 上海生知医疗科技有限公司
Priority to KR1020247009446A priority Critical patent/KR20240047449A/ko
Publication of WO2023024600A1 publication Critical patent/WO2023024600A1/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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B2017/320072—Working tips with special features, e.g. extending parts
    • A61B2017/320074—Working tips with special features, e.g. extending parts blade
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1412—Blade
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Definitions

  • the invention belongs to the field of medical equipment, in particular to a multi-degree-of-freedom portable minimally invasive surgical robot arm.
  • the basic structure of the robotic arm for minimally invasive surgery includes a cutter head, a cutter head joint assembly, an arm part, and a handle.
  • the cutter head and the handle are respectively installed at both ends of the arm part.
  • the drawstring joint assembly is used to control the action of the other end of the knife head joint through the handle.
  • the mechanical arms in the prior art often have limited degrees of freedom, the movement of the joint assembly of the cutter head is not flexible enough, and the operation is laborious, and the handle grip is coaxial with the arm parts.
  • the holding posture in use does not meet the ergonomic requirements and is prone to fatigue. The limitations adversely affected the efficiency and safety of the procedure.
  • the purpose of the present invention is to provide a multi-degree-of-freedom portable minimally invasive surgical robot arm, which enables the cutter head to bend and rotate freely, and is easy to operate and can improve the ergonomics of the robot arm.
  • a multi-degree-of-freedom portable minimally invasive surgical robotic arm comprising a knife head, a knife head joint assembly, an arm part and a handle, the knife head is installed on one end of the arm part through the knife head joint assembly, and the handle Installed on the other end of the arm part, the arm part includes a plurality of control pull ropes and a pull rope joint assembly arranged at the other end, and the pull rope joint assembly and the cutter head joint assembly pass through the multiple root control stay rope linkage, wherein, the handle includes a handle, a handle joint assembly, and a control mechanism.
  • the handle includes a grip portion for holding and a shaft portion.
  • the handle joint assembly is used to movably install the shaft portion of the handle, and the handle joint assembly has a first rotation axis and a second rotation axis perpendicular to each other, so as to allow the shaft portion to rotate around the first rotation axis.
  • a rotation axis and the second rotation axis rotate respectively, wherein the first rotation axis coincides with the axis of the shaft portion, and the second rotation axis is perpendicular to the arm member.
  • a control mechanism connects the shaft portion and the cord joint assembly, and is used for transmitting the movement of the handle to the cord joint assembly.
  • the control mechanism includes a four-bar linkage mechanism, and the four-bar linkage mechanism includes an input piece, two push rods and an output piece, the two push rods are respectively connected with the input piece and the output piece, and the input piece
  • An output member receives the output motion of the shaft portion, and the output member is a part of the cable joint assembly.
  • the handle is arranged on one side of the arm member, so that the gripping direction of the handle intersects the axial direction of the arm member.
  • the user can hold and operate the mechanical arm with relatively natural gestures, which is flexible and convenient to use and improves ergonomics.
  • the user can control the cutter head joint assembly by holding the wrist joint of the hand, which avoids two-handed operation and simplifies the operation method.
  • the handle further includes a housing fixedly installed relative to the arm part, for accommodating the handle joint assembly and the control mechanism, and the handle joint assembly includes a The inner cylinder of the core, the inner cylinder is nested and installed on the outer shell, the inner cylinder can rotate around its own axis relative to the outer shell, the shaft is mounted on the inner cylinder through a pivot and is connected with the The inner cylinder is coaxially arranged; the pivot is arranged along the second axis.
  • the handle further includes a housing fixedly installed relative to the arm part, for accommodating the handle joint assembly and the control mechanism, and the handle joint assembly includes a The inner cylinder and outer cylinder nested in the center, the shaft part is set in the inner cylinder and can rotate around its own axis relative to the outer cylinder, the outer cylinder is mounted on the outer shell through a pivot, and the pivot is along the The setting of the second axis of rotation.
  • the handle further includes a housing fixedly installed relative to the arm part for accommodating the handle joint assembly and the control mechanism, the handle joint assembly is a ball joint, and the ball joint It includes a joint ball head and a support socket, the joint ball head is installed on the end of the shaft close to the arm part, the support socket is fixedly installed on the shell, and the opening of the support socket is connected with the first
  • the axis of rotation is the axis.
  • the pull cord joint assembly has a third axis of rotation and a fourth axis of rotation perpendicular to each other, so as to allow the pull cord joint assembly to rotate in the same direction as the shaft part, thereby driving the control pulley
  • the rope moves to achieve the bending of the cutter head joint.
  • the drawstring joint assembly enables the bending direction of the movable joint of the cutter head to be consistent with the movement direction of the user's wrist, which is more in line with operating habits.
  • the input member of the four-bar linkage mechanism is a push rod disc
  • the center of the push rod disc is on the first rotation axis
  • the push rod disc and the shaft part are parallel to the second
  • the direction of the axis of rotation is hinged.
  • the push rod disk can rotate around the axis of the first rotation axis, so that the control mechanism has a compact structure and small size, and the hinged connection with the shaft reduces the bending moment on the push rod, improving service life of parts.
  • the handle also includes a locking mechanism
  • the locking mechanism includes a locking switch, a locking transmission member and a braking member
  • the locking switch is installed on the handle, and the locking transmission One end of the piece is connected to the locking switch, and the other end is connected to the brake piece;
  • the locking switch has two states of locking and releasing, when the locking switch is in the locked state, the locking pull cord Drive the brake part into the braking position to block the handle joint assembly or the input part of the four-bar linkage mechanism, so that the four-bar linkage mechanism cannot move, and the lock switch is in a released state , the braking member is released from the braking position to restore the input member to a movable state.
  • the knife head joint assembly can be locked by the locking mechanism, so that the knife head is fixed at the operating position, which improves the safety of the use process.
  • the handle also includes a cutter head opening and closing pull rod and a cutter head opening and closing control pull cord, and the cutter head opening and closing pull rod is connected to the cutter head through the cutter head opening and closing control pull cord to control the opening and closing of the cutter head.
  • the opening and closing pull rod of the knife head is installed on the handle, and arranged in a "herringbone" shape with the holding part, so as to allow the user to pull the knife with his fingers when holding the holding part
  • the handle also includes a cutter head rotation knob, which is connected to the cutter head through an elastic shaft for controlling the rotation of the cutter head around the axis, and the cutter head rotation knob is installed on the On the handle, it is arranged above the opening and closing pull rod of the cutter head, so as to allow the user to use the index finger to turn the rotary knob of the cutter head when holding the handle;
  • the locking switch is installed on the handle
  • the side of the handle is used to allow the user to toggle the locking switch with his thumb when holding the handle. The user only needs to hold the handle with one hand to perform operations such as bending, rotating, locking, and opening and closing the knife head of the mechanical arm, without the need for two-handed operation, which simplifies the operation process and improves the operation efficiency.
  • the cutter head includes an electrosurgical instrument
  • the arm member and the handle include a circuit for powering the electrosurgical instrument
  • the handle also includes an electrosurgical instrument switch, and the electrosurgical instrument switch is installed on The knife head is rotated next to the knob to allow the user to operate the switch of the electrosurgical instrument with the index finger when holding the grip part.
  • the shaft part is hollow, so as to allow the cutter head opening and closing control pull cord and the elastic shaft to pass through the shaft part.
  • the hollow shaft makes the handle more compact, optimizes the volume and reduces the weight.
  • the arm part includes a straight section and a curved section, the straight section is connected to the handle through the curved section, and the gripping portion of the handle is located on an extension line of the straight section.
  • the curved section allows the relative positions of the handle and the cutter head to be configured according to actual usage scenarios, making the operation more flexible.
  • Fig. 1 is a schematic structural diagram of a portable minimally invasive surgical robotic arm with multiple degrees of freedom
  • Fig. 2 is a schematic diagram of the control mechanism and the handle joint assembly
  • Fig. 3 is a schematic cross-sectional view of the handle joint assembly
  • Fig. 4 is a schematic diagram of a stay rope joint assembly
  • Fig. 5 is a schematic structural diagram of a portable minimally invasive surgical manipulator with multiple degrees of freedom, in which the joint assembly of the cutter head bends in the xz plane;
  • Fig. 6 is a schematic diagram of the control mechanism and the handle joint assembly when the cutter head joint assembly bends in the xz plane;
  • Fig. 7 is a schematic structural diagram of a portable minimally invasive surgical robotic arm with multiple degrees of freedom, in which the joint assembly of the cutter head bends in the xy plane;
  • Fig. 8 is a schematic cross-sectional view of the handle joint assembly when the cutter head joint assembly bends in the xy plane;
  • Fig. 9 is a schematic diagram of the control mechanism when the cutter head joint assembly bends in the xy plane
  • Fig. 10 is a schematic view of the structure of the handle in an embodiment
  • Fig. 11 is a schematic cross-sectional view of the handle joint assembly in another embodiment
  • Fig. 12 is a schematic structural diagram of a control mechanism in another embodiment
  • Fig. 13 is a schematic structural view of the handle joint assembly in another embodiment
  • Fig. 14 is a schematic structural diagram of a mechanical arm in another embodiment.
  • FIG. 1 is a schematic structural diagram of a portable minimally invasive surgical robotic arm with multiple degrees of freedom.
  • the cutter head 1 is connected to one end of the arm part 3 through the cutter head joint assembly 2 , and the other end of the arm part 3 is connected to the handle 4 .
  • the handle 4 includes a casing 6 , a control mechanism 7 and a grip 5 , the casing 6 is relatively fixed to the arm part 3 , and the control mechanism 7 is installed inside the casing 6 .
  • one end of the grip 5 is a shaft portion 8 , and the shaft portion 8 extends into the housing 6 .
  • the user holds the other end of the grip 5 , namely the grip portion, to operate the mechanical arm.
  • the thumb is located in the positive direction of the z-axis relative to the palm, and this direction is the holding direction.
  • a handle joint assembly is also installed in the housing 6, wherein the handle joint assembly includes an outer cylinder 15, an inner cylinder 16 and a second rotating shaft pivot 17, and the inner cylinder 16 can rotate around the direction of the z-axis.
  • the first rotation axis 14 rotates relative to the outer cylinder 15
  • the axial direction of the second rotation shaft pivot 17 is the second rotation axis.
  • the shaft part 8 is connected to the inner tube 16 through the second rotating shaft pivot 17 , and the shaft part 8 can rotate around the second rotating axis through the second rotating shaft pivot 17 .
  • a fulcrum rod 9 is fixedly installed on the shaft portion 8 and is connected with the control mechanism 7 .
  • the control mechanism 7 includes a push rod disc 10 and two push rods 11.
  • the push rod disc 10 is hinged to the fulcrum rod 9, allowing the push rod disc 10 to rotate around the y-axis relative to the fulcrum rod 9, and the position of the connection point is at the center of the first axis of rotation. on axis 14.
  • two push rods 11 are hinged with the pull rope joint assembly 12, and the push rod disc 10, the push rod 11 and the draw cord joint assembly 12 form a four-bar linkage mechanism, and the push rod disc 10 is used as an input piece to receive the input of the fulcrum rod 9
  • the movement drives the stay rope joint assembly 12.
  • the fulcrum rod 9 and the push rod 11 are rods with certain flexibility.
  • the structure of the drawstring joint assembly 12 is shown in FIG.
  • the axis of rotation 18 and the fourth axis of rotation 19 rotate respectively.
  • two push rods 11 are hingedly installed above the fourth rotation axis 19 of the pull cord joint assembly.
  • One end of a plurality of control stay cords 13 is fixed on the stay cord joint assembly 12, and the other end is fixed on the cutter head joint assembly 2 (including the case of being fixed on the cutter head 1).
  • the arm part 3 When operating the mechanical arm, the arm part 3 penetrates into the patient's body through the surgical incision, and its position is relatively fixed.
  • the user's operating hand holds the handle 5, and the shaft part 8 is rotated by the movement of the operating hand's wrist, thereby pulling
  • the cutter head joint assembly drives the cutter head to bend toward the direction required by the operation.
  • FIG. 5 is a schematic diagram of the bending and swinging of the cutter head 1 in the xz plane.
  • the joystick 5 rotates counterclockwise around the second rotation axis 17 in the direction of the arrow, and the movable joint 2 is driven to bend in the negative direction of the z-axis through the control mechanism 7 .
  • the action of the control mechanism 7 can be understood in conjunction with FIG. 6 .
  • the handle 5 rotates counterclockwise around the second shaft pivot 17 in the direction of the arrow, driving the fulcrum rod 9 and the push rod disc 10 to move together, and the push rod disc 10 drives the push rod 11 together.
  • the limiter 28 limits the movement range of the push rod disc 10 to prevent its movement position from exceeding the allowable range of the pull cord joint assembly 12 .
  • the push rod disk 10 follows the fulcrum rod 9 and rotates around the second rotating shaft pivot 17.
  • the elastic deformation is absorbed, which reduces the stress on the hinge; the push rod disc 10 is hinged with the fulcrum rod 9 and can rotate around the y-axis, eliminating the angle change caused by the rotation of the fulcrum rod 9, so that the push rod disc 10 is always kept parallel to the xy plane , improving the stress state of the fulcrum rod 9 and the hinge of the push rod disc 10 .
  • FIG. 7 is a schematic diagram showing that the cutter head 1 bends negatively toward the y-axis.
  • the shaft part 8 rotates clockwise around the first rotation axis axis 14 in the direction of the arrow, and the pull rope joint assembly 12 is driven by the control mechanism 7 Bend to the right.
  • the push rod disc 10 is driven by the shaft part 8 to rotate clockwise around the first axis of rotation 14, and the two push rods 11 drive the pull rope joint assembly 12 to rotate clockwise around the third axis of rotation 18 of the pull rope joint.
  • the control pull cord 13 on the left is loose, and the control pull cord 13 on the right is tensioned, thereby driving the cutter head joint assembly 2 to bend toward the negative direction of the y-axis.
  • the handle 4 also includes a locking mechanism, the locking mechanism includes a locking switch 20, a locking pull cord 21, a brake 22 and an elastic resetter 23, and the locking transmission member 21 is a locking pull cord , one end is connected to the lock switch 20 and the other end is connected to the brake 22 , and the brake 22 is connected to the shell 6 through the elastic returner 23 .
  • the locking switch 20 is pulled to the locked position, and the locking pull cord 21 is pulled to drive the brake 22 to press the push rod disc 10 so that the push rod disc 10 cannot movement to achieve the effect of locking the cutter head joint assembly 2.
  • the brake 22 is configured as a friction plate
  • the elastic returner 23 is configured as a reed or a spring shaft.
  • the push rod plate 10 is replaced by a "Y" shaped yoke, and one end of the yoke is hinged to the fulcrum rod 9 to allow the yoke to rotate around the y-axis relative to the fulcrum rod 9.
  • One end is hinged with two push rods 11 , and the yoke can rotate around the first rotation axis axis 14 driven by the fulcrum rod 9 .
  • the brake 22 is configured as a brake caliper. When the lock switch 20 is in the locked position, the brake caliper clamps the fork arm so that it cannot move; when the lock switch 20 is in the released position, the brake caliper releases the fork arm. restore freedom of movement.
  • electrosurgical instruments are integrated on the cutter head 1, including high frequency electrosurgical scalpel, ultrasonic scalpel or argon gas scalpel.
  • the handle 4 is equipped with a power supply line 26 and an electrosurgical instrument switch 27 for powering and controlling the electrosurgical instrument.
  • the handle 4 is also equipped with a cutter head opening and closing pull bar 24 and a cutter head rotary knob 25 .
  • the cutter head opening and closing control pull cord 29 passes through the arm member 2 , and one end is connected to the cutter head 1 and the other end is connected to the cutter head opening and closing pull rod 24 . Pulling the cutter head opening and closing pull rod 24 during use can pull the cutter head opening and closing control stay cord 29 to control the opening and closing of the cutter head 1 .
  • the cutter head knob 25 is connected to the cutter head through an elastic shaft 30 , and rotating the cutter head knob 25 can make the cutter head rotate around the x-axis direction.
  • the opening and closing pull rod 24 of the cutter head and the grip part of the handle 5 are arranged in a "herringbone" shape, so that when the user holds the handle 5, the palm of the hand can be pressed against the grip part, and the opening and closing pull rod 24 of the cutter head can be pulled with fingers. , to realize the opening and closing control of the cutter head 1.
  • the cutter head knob 25 is arranged above the cutter head opening and closing rod 24 , so that when the user holds the handle 5 , he can use his index finger to move the cutter head knob 25 to control the cutter head 1 to rotate around the x-axis.
  • the locking switch 20 is arranged on the side of the handle 5 , so that when the user holds the handle 5 , he can toggle the locking switch with his thumb to lock the cutter head joint assembly 2 .
  • the electrosurgical instrument switch 27 is arranged below the cutter head rotation knob 25, so that the user can operate the electrosurgical instrument with his index finger when holding the handle 5. According to the difference of the electrosurgical instrument integrated in the cutter head 1, the operations performed include High-frequency electric cutting, electrocoagulation, ultrasonic cutting, ultrasonic coagulation, argon plasma coagulation and other surgical actions.
  • the second rotating shaft pivot 17 follows the shaft portion 8 and rotates around the first rotating axis 14, and is no longer parallel to the y-axis and the fourth rotating axis 19 of the drawstring joint.
  • the operator holds The handle 5 rotates around the second axis of rotation 17.
  • the push rod disc 10 will generate a motion component in the y-axis direction. The movement of fulcrum rod 9 and push rod 11 will bear extra bending moment.
  • FIG. 11 Another preferred embodiment as shown in Figure 11 improves this state: the inner cylinder 16 of the handle joint assembly is directly installed on the shaft part 8 and nested with the outer cylinder 15, and the shaft part 8 can be opposite to the outer cylinder 15 rotates about the first axis of rotation 14 .
  • the outer cylinder 15 of the first rotation axis is connected to the casing through the second rotation axis pivot 17 , so that the shaft portion 8 , the inner cylinder 16 and the outer cylinder 15 can rotate around the second rotation axis pivot 17 together.
  • the handle 5 When the handle 5 rotates around the second rotating shaft pivot 17, it drives the outer cylinder to rotate together; when the handle 5 rotates around the first rotating shaft axis 14, the parallel relationship between the second rotating shaft pivot 17 and the y-axis remains unchanged, thereby ensuring the second
  • the rotating shaft pivot 17 can always be kept parallel to the fourth rotating axis 19 of the pull cord joint. This makes the rotation of the handle 5 around the first axis of rotation 14 and the second axis of rotation 17 non-interfering with each other, reducing the risk of the handle 5 rotating around the first axis of rotation 14 and the second axis of rotation 17 in actual operation.
  • the extra stress helps to improve the life of the parts, and at the same time makes the bending action of the cutter head joint assembly 2 more smooth during operation.
  • the handle joint assembly is a ball joint, including a joint ball 31 and a bearing socket 33, the joint ball 31 is arranged on the top of the shaft portion 8, and the fulcrum rod 9 is connected to the joint ball. 31 on.
  • the axis of the opening of the support socket 33 is the first axis of rotation 14
  • the axis of the joint ball head parallel to the y-axis is the second axis of rotation.
  • the ball joint allows the handle to rotate about the first axis of rotation 14 and to swing in the xz plane.
  • a brake window 32 is arranged on the joint ball head 31, and a rubber brake pressure piece 34 is arranged on the inner side of the support socket 33 corresponding to the brake window 32.
  • the brake rod 22 is connected, and the brake transmission member 21 is a lever fixed on the brake fulcrum 35 .
  • the lever 21 rotates around the brake fulcrum 35, so that the brake lever 22 is pressed tightly with the brake pressure plate 34 through the brake window 32, and the joint ball head 31 cannot rotate relative to the support socket 33 through the friction force , to achieve the braking effect.
  • the ball joint can reduce the parts of the handle joint assembly and reduce the complexity of manufacturing and maintenance.
  • the support socket 33 is provided with a limit structure, so that the joint ball head can only rotate around the z-axis and y-axis, but not around the x-axis, so as to reduce the extra bending moment borne by the fulcrum rod 9 and improve the reliability of the parts.
  • the braking fulcrum 35 is provided with a spring rotating shaft.
  • the elasticity of the spring rotating shaft is used to assist the rotation of the lever 21, so that the brake lever 22 and the brake pressure piece 34 are quickly separated.
  • the mechanical arm is more sensitive to the brake release operation, and the operation is more convenient and labor-saving.
  • a rubber dynamic pressure piece is provided on the outside of the joint ball head 31, one end of the locking transmission member 21 is connected to the brake switch 20, and the other end is connected to the brake lever arranged in the supporting socket 33, and the brake lever is provided with a sticker.
  • the rubber indenter that fits the curved surface of the joint ball. Pull the brake switch 20, the locking transmission part 21 drives the brake lever to press the brake pressure plate from the outside of the joint ball head 31, and the joint ball head 31 cannot rotate relative to the support socket 33 through frictional force, so as to achieve the braking effect.
  • the pressure head of the brake lever is arranged outside the joint ball head 31, which can participate in friction braking with a larger contact area, thereby achieving better braking effect.
  • the arm part 3 is provided with a curved section 36, so that the upper end of the cutter head 1 and the handle 5 are on the same axis, so that the operation of the mechanical arm is more in line with the use of general laparoscopic instruments. Habit.

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Abstract

一种多自由度的便携微创手术机械臂，其中握把关节组件用于可活动地安装握把（5）的轴部（8），握把关节组件有相互垂直的第一转轴线（14）和第二转轴线，以容许轴部（8）绕第一转轴线（14）和第二转轴线分别转动，其中第一转轴线（14）与轴部（8）的轴线重合，第二转轴线与臂部件（3）垂直。控制机构连接轴部（8）和拉绳关节组件（12），用于将握把（5）的运动传递到拉绳关节组件（12）。控制机构包括四连杆机构，四连杆机构包括输入件、两根推杆（11）和输出件，两根推杆（11）与输入件、输出件分别连接，输入件接收轴部（8）的输出运动，输出件为拉绳关节组件（12）的一部分。使用者通过握持手的腕关节动作即可实现对刀头关节组件（2）的控制，避免了双手操作，简化了操作方法。

Description

一种多自由度的便携微创手术机械臂 技术领域
本发明属于医疗器械领域，具体是一种多自由度的便携微创手术机械臂。
背景技术
随着医疗技术的进步，微创手术以其创伤小、疼痛轻、恢复快的优势，在临床治疗中获得了越来越广泛的应用。在以腹腔镜、胸腔镜为代表的应用场景中，腹腔镜手术钳等微创手术专用机械臂成为实施手术的必要工具。
开展各类腔镜手术时，手术器械只能通过患者身体上1厘米左右的微小切口探入患者体内，执行探查、切割、止血、缝合等复杂的手术动作，这对于机械臂的自由度提出了很高的要求。目前，以达芬奇手术机器人为代表的尖端微创手术系统精度准、效率高、功能强大，医患双方都获得良好的实用体验，但其结构复杂、成本昂贵、体积庞大、使用及维护要求高，难以迅速推广，且价格难以为经济条件有限的患者承受。
因此，各类微创手术机械臂就成为了当前微创手术中最便利的选择。目前微创手术机械臂基本结构包括刀头、刀头关节组件、臂部件和手柄，刀头与手柄分别安装在臂部件的两端，臂部件内设置有控制拉绳，靠近手柄的一端设置有拉绳关节组件用于通过手柄控制另一端刀头关节的动作。现有技术中的机械臂往往自由度有限，刀头关节组件活动不够灵活，操作费力，且手柄握把与臂部件同轴，使用中的握持姿势不符合人机工程要求容易疲劳，这种局限性对手术的效率和安全性产生了不利影响。
发明内容
本发明的目的在于提供一种多自由度的便携微创手术机械臂，使刀头能够自由弯曲和旋转，且操作简便能够改善机械臂的人机工程。
一种多自由度的便携微创手术机械臂，包括刀头、刀头关节组件、臂部件和手柄，所述刀头通过所述刀头关节组件安装在所述臂部件的一端，所述手柄安装在所述臂部件的另一端，所述臂部件包括多根控制拉绳和设置在所述另一端的拉绳关节组件，所述拉绳关节组件和所述刀头关节组件通过所述多根控制拉绳联动， 其中，所述手柄包括握把、握把关节组件、控制机构。握把包括用于握持的握持部和轴部。握把关节组件用于可活动地安装所述握把的所述轴部，所述握把关节组件有相互垂直的第一转轴线和第二转轴线，以容许所述轴部绕所述第一转轴线和所述第二转轴线分别转动，其中所述第一转轴线与所述轴部的轴线重合，所述第二转轴线与所述臂部件垂直。控制机构连接所述轴部和所述拉绳关节组件，用于将所述握把的运动传递到所述拉绳关节组件。所述控制机构包括四连杆机构，所述四连杆机构包括输入件、两根推杆和输出件，所述两根推杆与所述输入件、所述输出件分别连接，所述输入件接收所述轴部的输出运动，所述输出件为所述拉绳关节组件的一部分。
优选地，所述握把在所述臂部件的一侧设置，使得所述握把的握持方向与所述臂部件的轴向相交。
使用者能够以较为自然的手势握持并操作所述机械臂，使用灵活方便，改善了人机工程。使用者通过握持手的腕关节动作即可实现对所述刀头关节组件的控制，避免了双手操作，简化了操作方法。
作为优选，所述手柄还包括相对于所述臂部件固定安装的外壳，用于容纳所述握把关节组件和所述控制机构，所述握把关节组件包括以所述第一转轴线为轴心的内筒，所述内筒嵌套安装在所述外壳上，所述内筒能够绕其自身轴线相对所述外壳转动，所述轴部通过枢轴装在所述内筒上并与所述内筒共轴线设置；所述枢轴沿所述第二轴线设置。
作为优选，所述手柄还包括相对于所述臂部件固定安装的外壳，用于容纳所述握把关节组件和所述控制机构，所述握把关节组件包括以所述第一转轴线为轴心嵌套的内筒和外筒，所述轴部设置在所述内筒中能够绕其自身轴线相对外筒转动，所述外筒通过枢轴装在所述外壳上，所述枢轴沿所述第二转轴线设置。
作为优选，所述手柄还包括相对于所述臂部件固定安装的外壳，用于容纳所述握把关节组件和所述控制机构，所述握把关节组件为球头关节，所述球头关节包括关节球头和支承窝，所述关节球头安装在所述轴部靠近所述臂部件的一端，所述支承窝固定安装在所述外壳上，所述支承窝的开口以所述第一转轴线为轴心。
作为优选，所述拉绳关节组件具有互相垂直的第三转轴线和第四转轴线，以容许所述拉绳关节组件与所述轴部转动时以相同的方向转动，进而带动所述控制 拉绳运动，以实现所述刀头关节的弯曲。所述拉绳关节组件使所述刀头活动关节的弯曲方向能够与使用者手腕的动作方向一致，更加符合操作习惯。
作为优选，所述四连杆机构的所述输入件为推杆盘，所述推杆盘的中心在所述第一转轴线上，所述推杆盘与所述轴部在平行于第二转轴线的方向铰接。在操作过程中，所述推杆盘能够绕所述第一转轴线的轴线旋转，使控制机构结构紧凑体积小巧，与所述轴部的铰接连接降低了所述推杆承受的弯矩，提高零件的使用寿命。
作为优选，所述手柄上还包括锁止机构，所述锁止机构包括锁止开关、锁止传动件和制动件，所述锁止开关安装在所述握把上，所述锁止传动件一端连接所述锁止开关，一端连接所述制动件；所述锁止开关有锁止和松开两个状态，当所述锁止开关处于锁止状态时，所述锁止拉绳带动所述制动件进入制动位置卡住所述握把关节组件或所述四连杆机构的所述输入件，使所述四连杆机构无法运动，所述锁止开关处于松开状态时，所述制动件脱离制动位置使所述输入件恢复可动状态。在手术过程中通过锁止机构可以锁定刀头关节组件，使刀头固定在手术操作位置上，提高了使用过程的安全性。
作为优选，所述手柄还包括刀头开闭拉杆和刀头开闭控制拉绳，所述刀头开闭拉杆通过所述刀头开闭控制拉绳与所述刀头连接，以控制刀头开闭，所述刀头开闭拉杆安装在所述握把上，与所述握持部成“人”字形布置，以容许使用者握持所述握持部时用手指扣动所述刀头开闭拉杆；所述手柄还包括刀头旋转钮，所述刀头旋转钮通过弾性轴与所述刀头连接，用于控制刀头绕轴旋转，所述刀头旋转钮安装在所述握把上，布置在所述刀头开闭拉杆的上方，以容许使用者握持所述握持部时用食指拨动所述刀头旋转钮；所述锁止开关安装在所述握持部的侧面，以容许使用者握持所述握持部时用拇指拨动所述锁止开关。使用者只需单手握持所述手柄，就能对机械臂进行弯曲、旋转、锁定和刀头开闭等操作，无需双手操作，简化了操作流程，提高了手术效率。
作为可选，所述刀头包括电外科器械，所述臂部件和所述手柄包括为所述电外科器械供电的线路；所述手柄还包括电外科器械开关，所述电外科器械开关安装在所述刀头旋转钮旁边以容许使用者握持所述握持部时用食指操作所述电外科器械开关。
作为优选，所述轴部是空心的，以容许所述刀头开闭控制拉绳和所述弾性轴从所述轴部穿过。空心的所述轴部使所述手柄结构更为紧凑，优化了体积，降低 了重量。
作为可选，所述臂部件包括直线段和弯曲段，所述直线段与所述手柄通过弯曲段连接，并且所述手柄的所述握持部位于所述直线段的延伸线上。所述弯曲段容许所述手柄与所述刀头的相对位置可以根据实际使用场景进行配置，使得操作更为灵活。
附图说明
图1为多自由度的便携微创手术机械臂结构示意图；
图2为控制机构与握把关节组件示意图；
图3为握把关节组件截面示意图；
图4为拉绳关节组件示意图；
图5为多自由度的便携微创手术机械臂结构示意图，其中刀头关节组件在xz平面内弯曲；
图6为刀头关节组件在xz平面内弯曲时控制机构与握把关节组件示意图；
图7为多自由度的便携微创手术机械臂结构示意图，其中刀头关节组件在xy平面内弯曲；
图8为刀头关节组件在xy平面内弯曲时握把关节组件的截面示意图；
图9为刀头关节组件在xy平面内弯曲时控制机构的示意图；
图10为一实施例中的手柄结构示意图；
图11为另一实施例中的握把关节组件截面示意图；
图12为另一实施例中控制机构的结构示意图；
图13为另一实施例中握把关节组件结构示意图；
图14为又一实施例中机械臂结构示意图。
附图标记含义：
1-刀头；2-刀头关节组件；3-臂部件；4-手柄；5-握把；6-外壳；7-控制机构；8-轴部；9-支点杆；10-推杆盘；11-推杆；12-拉绳关节组件；13-控制拉绳；14-第一转轴线；15-外筒；16-内筒；17-第二转轴枢轴；18-拉绳关节第三转轴线；19-拉绳关节第四转轴线；20-锁止开关；21-锁止传动件；22-制动杆；23-弹性复位器；24-刀头开闭拉杆；25-刀头旋转钮；26-供电线；27-电外科器械开关；28-限位器；29-刀头开闭控制拉绳；30-弹性轴；31-关节球头；32-制动窗口；33-支承窝；34-制动压片；35-制动支点；36-弯曲段。
以上附图的目的在于对本发明实施方式的技术构思作出更为详细的描述，并不构成对本发明实施方式的限制。其中的x、y、z为为了方面进行位置关系描述而在附图中建立的坐标系。各附图中附图标记及坐标系的含义均保持一致。需要理解的是，上述附图仅对本发明技术方案设计到的零件结构进行了示意性的描述，并未详细地严格按照比例画出全部零件结构与细节构造。
具体实施方式
下面结合附图和具体实施方式对本发明作进一步的详细说明。
图1所示为多自由度的便携微创手术机械臂结构示意图，刀头1通过刀头关节组件2连接在臂部件3的一端，臂部件3的另一端连接在手柄4上。手柄4包括外壳6、控制机构7和握把5，外壳6与臂部件3相对固定，控制机构7安装在外壳6内部。结合图2，握把5的一端为轴部8，轴部8伸入外壳6内部，使用者握持握把5的另一端即握持部对机械臂进行操作。使用者握持握把5时，拇指相对手掌位于z轴正向，此方向为握持方向。
如图2、图3所示，外壳6内还安装有握把关节组件，其中握把关节组件包括外筒15、内筒16和第二转轴枢轴17，内筒16能够绕z轴方向的第一转轴线14相对外筒15转动，第二转轴枢轴17的轴向即为第二转轴线。轴部8通过第二转轴枢轴17与内筒16连接，轴部8通过第二转轴枢轴17能够绕第二转轴线转动。轴部8上固定安装有支点杆9，与控制机构7连接。控制机构7包括推杆盘10和两根推杆11，推杆盘10与支点杆9铰接，容许推杆盘10相对支点杆9绕y轴方向转动，连接点的位置处于第一转轴线的轴线14上。结合图9，两根推杆11与拉绳关节组件12铰接，推杆盘10、推杆11和拉绳关节组件12组成四连杆机构，推杆盘10作为输入件，接收支点杆9输入的运动，带动拉绳关节组件12。其中支点杆9和推杆11是具有一定挠性的杆件。
拉绳关节组件12的结构如图4所示，包括设置在拉绳关节第三转轴线18和拉绳关节第四转轴线19上的两组枢轴，以容许拉绳关节组件12绕第三转轴线18和第四转轴线19分别旋转。结合图9，两根推杆11铰接安装在拉绳关节组件第四转轴线19以上的部位。多条控制拉绳13一端固定在拉绳关节组件12上，另一端固定在刀头关节组件2上(包括固定在刀头1上的情况)。
在对机械臂进行操作时，臂部件3通过手术切口探入患者体内，其位置相对固定，使用者的操作手握持握把5，通过操作手手腕的动作，使轴部8转动，进而牵引刀头关节组件带动刀头朝向手术所需要的方位弯曲。
图5所示为刀头1在xz平面内弯曲摆动的示意图。需要使刀头1向z轴负向弯曲时，操纵手柄5绕第二转轴线17按箭头方向逆时针转动，通过控制机构7带动活动关节2向z轴负向弯曲。此时控制机构7的动作结合图6来理解，手柄5沿箭头方向绕第二转轴枢轴17逆时针旋转，带动支点杆9和推杆盘10一起运动，推杆盘10带动推杆11一起沿x轴正向移动，推动拉绳关节组件12绕拉绳关节第四转轴线19逆时针转动，此时上方控制拉绳13松弛，下方控制拉绳13张紧，由此带动弯曲关节2向z轴负向弯曲。限位器28对推杆盘10的运动范围起到限制作用，避免其运动位置超出拉绳关节组件12的容许范围。
由于支点杆9和推杆11是具有一定挠性的杆件，推杆盘10跟随支点杆9绕第二转轴枢轴17转动在z轴方向产生的运动分量被支点杆9和推杆11的弹性变形吸收，降低了铰接部的应力；推杆盘10与支点杆9铰接，能够绕y轴转动，消除了支点杆9转动带来的角度变化，使推杆盘10始终保持平行于xy平面，改善了支点杆9与推杆盘10铰接部的应力状态。这使得相关零件的使用寿命得到延长，提高了机械臂的可靠性。
图7所示为刀头1朝y轴负向弯曲的示意图。需要使刀头如图7所示向y轴负向弯曲时，如图8所示，轴部8按箭头方向绕第一转轴线轴线14顺时针转动，通过控制机构7带动拉绳关节组件12向右弯曲。如图9所示，推杆盘10受轴部8的带动一起绕第一转轴线轴线14顺时针旋转，通过两推杆11带动拉绳关节组件12绕拉绳关节第三转轴线18顺时针转动，此时左侧的控制拉绳13松弛，右侧的控制拉绳13张紧，由此带动刀头关节组件2向y轴负向弯曲。
如图1、图2所示，手柄4还包括锁止机构，锁止机构包括锁止开关20、锁止拉绳21、制动器22和弹性复位器23，锁止传动件21为锁止拉绳，一端连接锁止开关20另一端连接制动器22，制动器22通过弹性复位器23连接在外壳6上。如图6所示，在刀头关节组件弯曲到预定位置后，扳动锁止开关20到锁止位置，牵引锁止拉绳21带动制动器22压紧推杆盘10，使推杆盘10无法运动，达到锁定刀头关节组件2的效果。扳动锁止开关20到松开位置，锁止拉绳21松弛，制动器22在弹性复位器23的带动下与推杆盘10分离，解除对刀头关节组件2的锁定。制动器22配置为摩擦片，弹性复位器23配置为簧片或弹簧转轴，在锁止开关20处于锁止位置时制动器22沿z轴负向摆动，与限位器28共同压紧推杆盘10，通过摩擦力使推杆盘10无法运动；在锁止开关20处于松开状态时，制动器22在弹性复位器23的弹力作用下沿z轴正向摆动与推杆盘10分离，使其恢复运动自由度。
根据另一实施例，如图12所示，推杆盘10替换为“Y”形叉臂，叉臂一端与支点杆9铰接，以容许叉臂相对支点杆9能够绕y轴方向转动，另一端与两推杆11铰接，叉臂在支点杆9的带动下能够绕第一转轴线轴线14旋转。制动器22配置为制动卡钳，在锁止开关20处于锁止位置时，制动卡钳夹紧叉臂使其无法运动；在锁止开关20处于松开位置时，制动卡钳松开叉臂，使其恢复运动自由度。
根据另一实施例，刀头1上集成有电外科器械，包括高频电刀、超声刀或氩气刀。如图10所示，手柄4安装有供电线26和电外科器械开关27，用于为电外科器械供电并进行控制。
手柄4上还安装有刀头开闭拉杆24和刀头旋转钮25。如图10所示，刀头开闭控制拉绳29穿过臂部件2，一端连接刀头1另一端连接刀头开闭拉杆24。使用中扣动刀头开闭拉杆24，能够牵引刀头开闭控制拉绳29控制刀头1的开闭。刀头旋钮25通过弹性轴30与刀头连接，旋转刀头旋钮25能够使刀头绕x轴方向旋转。刀头开闭拉杆24与握把5的握持部成“人”字形布置，使使用者在握持握把5时，能够以手掌抵靠握持部，用手指扣动刀头开闭拉杆24，实现对刀头1的开闭控制。刀头旋钮25设置在刀头开闭拉杆24的上方，使使用者在握持握把5时，能够以食指拨动刀头旋钮25，控制刀头1绕x轴进行旋转。锁止开关20设置在握把5的侧面，使使用者握持握把5时，能够以拇指拨动锁止开关，对刀头关节组件2进行锁定。电外科器械开关27设置在刀头旋转钮25下方，使使用者握持握把5时能够以食指对电外科器械进行操作，依据刀头1所集成的电外科器械的不同，进行的操作包括高频电切割、电凝、超声切割、超声凝闭、氩等离子凝闭等手术动作。
在图8所示状态下，第二转轴枢轴17跟随轴部8绕第一转轴线14发生了旋转，不再平行于y轴和拉绳关节第四转轴线19，此时操作者握持握把5绕第二转轴线17进行转动，图9中推杆盘10会产生y轴方向的运动分量，为了维持推杆盘10、支点杆11和拉绳关节组件12组成的四连杆机构的运动，支点杆9和推杆11将承受额外的弯矩。
如图11所示的另一优选的实施例则对这一状态进行了改善：握把关节组件内筒16直接安装在轴部8上并与外筒15嵌套，轴部8能够相对外筒15绕第一转轴线14旋转。第一转轴线外筒15通过第二转轴枢轴17与外壳连接，使轴部8、内筒16、外筒15能够一起绕第二转轴枢轴17转动。
在握把5绕第二转轴枢轴17转动时带动外筒一起转动；握把5绕第一转轴线轴线14转动时，第二转轴枢轴17与y轴的平行关系不变，进而确保第二转轴枢轴17能 够始终与拉绳关节第四转轴线19保持平行。这使得握把5绕第一转轴线14和第二转轴枢轴17的转动互不干涉，降低了实际操作中握把5同时绕第一转轴线14和第二转轴线17转动带给控制机构的额外应力，有助于提高零件寿命，同时使手术操作中刀头关节组件2的弯曲动作更加顺畅。
根据另一实施例，如图13所示，握把关节组件为球头关节，包括关节球头31和支承窝33，关节球头31设置在轴部8顶端，支点杆9连接在关节球头31上。支承窝33的开口的轴线为第一转轴线14，关节球头平行于y轴的轴线为第二转轴线。球头关节容许握把绕第一转轴14旋转和在xz平面内摆动。关节球头31上设置有制动窗口32，支承窝33内侧与制动窗口32对应的位置设置有橡胶制动压片34，锁止开关20通过锁止传动件21与带有橡胶压头的制动杆22连接，制动传动件21为固定在制动支点35上的杠杆。扳动锁止开关20时，杠杆21绕制动支点35转动，使制动杆22通过制动窗口32与制动压片34压紧，通过摩擦力使关节球头31无法相对支承窝33转动，达到制动效果。球头关节能够减少握把关节组件的零件，降低制造与维护的复杂度。
作为优选，支承窝33设置有限位结构，使关节球头只能绕z轴和y轴转动，不能绕x轴转动，以降低支点杆9所承受的额外弯矩，提高零件可靠性。
作为优选，制动支点35设置有弹簧转轴，在锁止开关20扳动到松开位置时，利用弹簧转轴的弹性协助杠杆21的旋转，使制动杆22与制动压片34快速分离，使机械臂对制动解除操作响应更加灵敏，操作更加便捷省力。
根据另一实施例，关节球头31外侧设置制橡胶动压片，锁止传动件21一端连接制动开关20，另一端连接设置在支承窝33内的制动杆，制动杆设置有贴合关节球头弧面的橡胶压头。扳动制动开关20，锁止传动件21带动制动杆从关节球头31外侧压紧制动压片，通过摩擦力使关节球头31无法相对支承窝33转动，达到制动效果。制动杆的压头设置在关节球头31外侧，能够以更大的接触面积参与摩擦制动，从而实现更好的制动效果。
根据又一实施例，如图14所示，臂部件3上设置有弯曲段36，使得刀头1与握把5的上端处于同一轴线上，让机械臂的操作更符合一般腹腔镜器械的使用习惯。
上述实施例的目的在于结合附图对本发明作出更详细的描述以便本领域的技术人员理解本发明的技术构思，并不构成对本发明实施方式的限定。在本发明主张的权利要求范围内，对本发明的零件、结构进行等效替换、改进，或在不存在结构冲突的前提下对各实施方式进行组合，均落入本发明的保护范围之内。

Claims (12)

  1. 一种多自由度的便携微创手术机械臂，包括刀头、刀头关节组件、臂部件和手柄，所述刀头通过所述刀头关节组件安装在所述臂部件的一端，所述手柄安装在所述臂部件的另一端，所述臂部件包括多根控制拉绳和设置在所述另一端的拉绳关节组件，所述拉绳关节组件和所述刀头关节组件通过所述多根控制拉绳联动，其特征在于，所述手柄包括：
    握把，包括用于握持的握持部和轴部；
    握把关节组件，用于可活动地安装所述握把的所述轴部，具有相互垂直的第一转轴线和第二转轴线，以容许所述轴部绕所述第一转轴线和所述第二转轴线分别转动，其中所述第一转轴线与所述轴部的轴线重合，所述第二转轴线与所述臂部件垂直；
    控制机构，连接所述轴部和所述拉绳关节组件，用于将所述握把的运动传递到所述拉绳关节组件，包括四连杆机构，所述四连杆机构包括输入件、两根推杆、输出件，所述两根推杆与所述输入件、所述输出件分别连接，所述输入件接收所述轴部的输出运动，所述输出件为所述拉绳关节组件的一部分。
  2. 根据权利要求1所述的多自由度的便携微创手术机械臂，其特征在于，所述握把在所述臂部件的一侧设置，使得所述握把的握持方向与所述臂部件的轴向相交。
  3. 根据权利要求1所述的多自由度的便携微创手术机械臂，其特征在于，所述手柄还包括相对于所述臂部件固定安装的外壳，用于容纳所述握把关节组件和所述控制机构，所述握把关节组件包括以所述第一转轴线为轴心的内筒，所述内筒嵌套安装在所述外壳上，能够绕其自身轴线相对所述外壳转动，所述轴部通过枢轴装在所述内筒上并与所述内筒共轴线设置，所述枢轴沿所述第二转轴线设置。
  4. 根据权利要求1所述的多自由度的便携微创手术机械臂，其特征在于，所述手柄还包括相对于所述臂部件固定安装的外壳，用于容纳所述握把关节组件和所述控制机构，所述握把关节组件包括以所述第一转轴线为轴心嵌套的内筒和外筒，所述轴部设置在所述内筒中能够绕其自身轴线相对外筒转动，所述外筒通过枢轴装在所述外壳上，所述枢轴沿所述第二转轴线设置。
  5. 根据权利要求1所述的多自由度的便携微创手术机械臂，其特征在于，所述手柄还包括相对于所述臂部件固定安装的外壳，用于容纳所述握把关节组件和所述控制机构，所述握把关节组件为球头关节，所述球头关节包括关节球头和支承窝，所述关节球头设置在所述轴部靠近所述臂部件的一端，所述支承窝固定安装在所述外壳上，所述支承窝的开口以所述第一转轴线为轴心。
  6. 根据权利要求1至5其中任一所述的多自由度的便携微创手术机械臂，其特征在于，所述拉绳关节组件具有互相垂直的第三转轴线和第四转轴线，以容许所述拉绳关节组件与所述轴部第一转轴线第二转轴线以相同的方向转动，进而带动所述控制拉绳运动，以实现所述刀头关节组件的弯曲。
  7. 根据权利要求1至5其中任一所述的多自由度的便携微创手术机械臂，其特征在于，所述四连杆机构的所述输入件为推杆盘，所述推杆盘的中心在所述第一转轴线线上，所述推杆盘与所述轴部在平行于第二转轴线的方向铰接。
  8. 根据权利要求1至5其中任一所述的多自由度的便携微创手术机械臂，其特征在于，所述手柄还包括锁止机构，所述锁止机构包括锁止开关、锁止传动件和制动件，所述锁止开关安装在所述握把上，所述锁止传动件一端连接所述锁止开关，一端连接所述制动件；所述锁止开关有锁止和松开两个状态，当所述锁止开关处于锁止状态时，所述锁止制动件带动所述制动件进入制动位置，卡住所述握把关节组件或所述四连杆机构的输入件，使所述四连杆机构无法运动，所述锁止开关处于松开状态时，述制动件脱离制动位置，所述输入件恢复可动状态。
  9. 根据权利要求8所述的多自由度的便携微创手术机械臂，其特征在于：
    所述手柄还包括刀头开闭拉杆和刀头开闭控制拉绳，所述刀头开闭拉杆通过所述刀头开闭控制拉绳与所述刀头连接，以控制刀头开闭，所述刀头开闭拉杆安装在所述握把上，与所述握持部成“人”字形布置，以容许使用者握持所述握持部时用手指扣动所述刀头开闭拉杆；
    所述手柄还包括刀头旋转钮，所述刀头旋转钮通过弹性轴与所述刀头连接，用于控制刀头绕轴旋转；所述刀头旋转钮安装在所述握把上，布置在所述刀头开闭拉杆的上方，以容许使用者握持所述握持部时用食指拨动所述刀头旋转钮；
    所述锁止开关安装在所述握持部的侧面，以容许使用者握持所述握持部时用拇指拨动所述锁止开关。
  10. 根据权利要求9所述的多自由度的便携微创手术机械臂，其特征在于：所述刀头包括电外科器械，所述臂部件和所述手柄包括为所述电外科器械供电的线路；所述手柄还包括电外科器械开关，所述电外科器械开关安装在所述刀头旋转钮旁边以容许使用者握持所述握持部时用食指操作所述电外科器械开关。
  11. 根据权利要求9所述的多自由度的便携微创手术机械臂，其特征在于，所述轴部是空心的，以容许所述刀头开闭控制拉绳和所述弹性轴从所述轴部穿过。
  12. 根据权利要求1所述的多自由度的便携微创手术机械臂，其特征在于，所述臂部件包括直线段和弯曲段，所述直线段与所述手柄通过所述弯曲段连接，并且所述手柄的所述握持部位于所述直线段的延伸线上。
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