WO2023083057A1 - 主手手腕、主操作设备及手术机器人 - Google Patents

主手手腕、主操作设备及手术机器人 Download PDF

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Publication number
WO2023083057A1
WO2023083057A1 PCT/CN2022/129011 CN2022129011W WO2023083057A1 WO 2023083057 A1 WO2023083057 A1 WO 2023083057A1 CN 2022129011 W CN2022129011 W CN 2022129011W WO 2023083057 A1 WO2023083057 A1 WO 2023083057A1
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WIPO (PCT)
Prior art keywords
rod
rotating shaft
axis
wrist
rotation
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PCT/CN2022/129011
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English (en)
French (fr)
Inventor
刘放
Original Assignee
深圳市精锋医疗科技股份有限公司
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Publication of WO2023083057A1 publication Critical patent/WO2023083057A1/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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave 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
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present application relates to the field of medical devices, in particular to a master wrist, a master operating device having the master wrist, and a surgical robot having the master operating device.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Minimally invasive surgical robots usually include a main operating console and slave operating equipment.
  • the main operating console is used to send control commands to the slave operating equipment according to the doctor's operation to control the slave operating equipment.
  • the slave operating equipment is used to respond to the control commands sent by the main operating console. , and carry out the corresponding surgical operation.
  • the surgical instrument is connected with the driving device of the operating device for performing surgical operations, and the terminal instrument of the surgical instrument includes an end effector for performing surgical operations and a joint connected with the end effector that can move in multiple degrees of freedom.
  • the doctor needs to operate the Master Hand (MH, main operator) for a long time.
  • the gimbal mechanism (Gimbal) of the traditional main operator has a greater load at the end, resulting in a greater power of the required motor.
  • the doctor's operating comfort is low.
  • the present application provides a master wrist, a master operating device, and a surgical robot.
  • the first aspect of the embodiment of the present application provides a wrist of the main hand, including a handle; a first rod, which is connected to the handle through a first rotating joint to rotate around a first axis of rotation; a second rod, which is connected to the first rod through The second rotating joint is rotationally connected around the second rotational axis; the third rod is rotationally connected with the second pole through the third rotational joint around the third rotational axis; wherein, the third rotational joint is rotationally connected around the third rotational axis
  • a torque compensating mechanism is provided to compensate the torque generated by the handle, the first rod and the second rod around the third axis of rotation.
  • the third rotating joint includes a third rotating shaft arranged along the third rotating axis, a driving member installed on the third rotating shaft, one end of the third rotating shaft is connected to the The second rod is fixedly connected, the other end of the third rotating shaft is rotationally connected to the third rod, and the driving member provides power for the third rotating shaft to rotate around the third rotation axis.
  • the driving member includes a motor rotor and a motor stator, the motor rotor is fixed on the third rotating shaft, and the motor stator is arranged coaxially outside the motor rotor.
  • the torque compensation mechanism includes a movable pulley, a first fixed pulley, a second fixed pulley, an elastic member and a rope
  • the movable pulley is eccentrically installed on the third rotating shaft
  • the first fixed pulley Concentrically installed on the third rotating shaft
  • the second fixed pulley is concentrically installed on a fixed shaft parallel to the third rotating shaft
  • one end of the rope is fixed relative to the third rod
  • the other end goes around the movable pulley
  • the first fixed pulley and the second fixed pulley are connected to one end of the elastic member
  • the other end of the elastic member is fixed on the third rod.
  • the fixed shaft is installed in the third rod and located above the third rotating shaft, and the sliding parts of the movable pulley, the first fixed pulley, and the second fixed pulley diameters are equal.
  • the torque compensating mechanism includes a guide member, the guide member is fixed on the third rod and arranged between the rope from the second fixed pulley to the elastic member, The rope goes around the guide so that the portion of the rope between the guide and the elastic is in a vertical direction.
  • the elastic member is a tensile elastic member, and the initial length of the elastic member is determined by the moment balance achieved by the third rotating shaft at the initial position; the stiffness coefficient of the elastic member is determined according to The relationship between the rotation angle of the third rotating shaft relative to the third lever and the required compensation torque is determined.
  • the first rotating joint includes a first rotating shaft arranged along the first rotating axis, a first driving member installed on the first rotating shaft, and one end of the first rotating shaft is connected to The handle is fixedly connected, the other end of the first rotating shaft is rotationally connected to the first lever, and the first driving member provides power for the first rotating shaft to rotate around the first axis of rotation;
  • the second The rotary joint includes a second rotating shaft arranged along the second rotating axis, a second driving member installed on the second rotating shaft, one end of the second rotating shaft is fixedly connected with the first rod, and the second The other end of the rotating shaft is rotatably connected to the second lever, and the second driving member provides power for the second rotating shaft to rotate around the second rotation axis.
  • a torque compensation mechanism is provided in the first rotary joint and/or the second rotary joint.
  • the second aspect of the embodiment of the present application provides a wrist of the main hand, including: a handle; a first rod, connected to the handle in rotation around a first rotation axis through a first rotating joint; a second rod, connected to the first rod Rotationally connected around the second rotation axis through the second rotation joint; the third rod is connected with the rotation around the third rotation axis through the third rotation joint; at least one torque compensation mechanism is used to compensate the handle, the The first rod, the second rod and/or the third rod generate a moment about the first, second or third axis of rotation.
  • the at least one torque compensating mechanism includes a torque compensating mechanism, and the torque compensating mechanism is connected with the third rod for compensating the handle, the first rod and the second rod A moment is generated about the third axis of rotation.
  • the at least one torque compensation mechanism includes a plurality of torque compensation mechanisms.
  • the third aspect of the present application provides a main operation device, the main operation device includes a main console, an arm of the main hand and the above-mentioned wrist of the main hand, and the other end of the third rod is installed on the main hand through the fourth rotary joint.
  • the master console processes the input signals of the master arm and the master wrist.
  • a fourth aspect of the present application provides a surgical robot, the surgical robot includes a slave operating device and the above-mentioned master operating device, and the slave operating device performs corresponding operations according to instructions from the master console.
  • the main wrist, main operating equipment and surgical robot of the present application have at least the following beneficial effects: the main wrist, main operating equipment and surgical robot provided by the present invention can drive the rotating joint with a small driving force in the form of torque compensation. Effect, effectively reducing the effect of terminal inertia and increasing force transparency.
  • Fig. 1 is the structural representation of the surgical robot of an embodiment of the present application
  • Fig. 2 is a schematic diagram of the three-dimensional structure of the main wrist of an embodiment of the present application
  • Fig. 3 is a side view schematic diagram of the main wrist in Fig. 2;
  • Fig. 4 is a top structural schematic diagram of the master wrist in Fig. 2;
  • Fig. 5 is a schematic diagram of a cross-sectional structure along the A-A direction in Fig. 4;
  • Fig. 6 is a schematic diagram of an exploded structure at another angle of the main wrist in Fig. 2;
  • Fig. 7 is a schematic diagram of a further decomposition structure of the master wrist in Fig. 6;
  • Fig. 8 is a schematic diagram of an enlarged assembly structure of the torque compensation mechanism in Fig. 7;
  • Fig. 9 is a schematic side view of the torque compensating mechanism in the first state after removing the second housing from the master wrist in Fig. 6;
  • Fig. 10 is a schematic side view of the torque compensating mechanism in the second state after removing the second housing from the main wrist in Fig. 6;
  • FIG. 11 is a schematic side view of the torque compensating mechanism in a third state after removing the second housing from the main wrist in FIG. 6 .
  • Main operating equipment 20 (wherein, main console 21, main hand arm 22, main hand wrist 23; first bar 231, second bar 232, third bar 233, handle 234, first rotary joint 235, second rotary joint 236, the third rotation joint 237, the fourth rotation joint 238; the first rotation axis J1, the second rotation axis J2, the third rotation axis J3; the first housing 2331, the second housing 2332; the third rotation shaft 2371, the motor Rotor 2372, motor stator 2373, movable pulley 2374, first fixed pulley 2375, second fixed pulley 2376, guide member 2377, elastic member 2378, rope 2379).
  • distal end and proximal end used in this article are orientation words, which are commonly used terms in the field of interventional medical devices, where “distal end” means the end away from the operator during the operation, and “proximal end” means the end of the operation. The end of the process that is closest to the operator.
  • Coupling as used herein can be broadly understood as any event in which two or more objects are connected in a way that allows absolutely coupled objects to operate with each other such that there is at least one There is no relative movement in the direction, such as the coupling of the protrusion and the groove, the two can move relative to each other in the radial direction but not in the axial direction.
  • instrument is used herein to describe medical equipment intended for insertion into a patient's body and for performing surgical or diagnostic procedures, the instrument including an end effector, which may be a Surgical tools such as electrocauteries, clamps, staplers, cutters, imaging devices such as endoscopes or ultrasound probes, and the like.
  • Some instruments used in embodiments of the present application further include providing an articulation member (such as a joint assembly) for the end effector, so that the position and orientation of the end effector can be manipulated and moved in one or more mechanical degrees of freedom relative to the instrument axis .
  • the end effector includes functional mechanical degrees of freedom, such as opening and closing jaws.
  • the instrument may also include stored information that may be updated by the surgical system, whereby the memory system may provide one-way or two-way communication between the instrument and one or more system components.
  • the surgical robot of one embodiment of the present application is shown in Figure 1.
  • the surgical robot includes a slave operating device 10 and a master operating device 20.
  • the slave operating device 10 is located on the side of the patient for performing surgical operations, wherein the slave operating device 10 includes a plurality of mechanical devices.
  • the arm 11 and the instrument 12 installed on the mechanical arm 11, the instrument 12 can be an electric cautery device, clamps, stapler, scissors, etc. for performing surgical operations, and can also be a camera or other surgical instruments for acquiring images , a plurality of instruments 12 are respectively driven by corresponding instrument driving devices 13 and inserted into the patient's body from different incisions.
  • the mechanical arm 11 is configured to be supported by the pillars through a plurality of large arms. In some other embodiments, the mechanical arm 11 of the slave operating device 10 can also be installed on the wall or ceiling.
  • the surgical robot also typically includes a vision system portion (not shown) that enables the operator to view the surgical site from outside the patient's body.
  • the imaging system typically includes video image capture capabilities (eg, image capture-capable instrument 12 ) and one or more video display devices for displaying the captured images.
  • the image acquisition capable instrument 12 includes optics for one or more imaging sensors (eg, CCD or CMOS sensors) that will acquire images within the patient's body.
  • the one or more imaging sensors may be placed at the distal end of the image acquisition capable instrument 12, and the signals generated by the one or more sensors may be transmitted along a cable or by wireless for processing and display on a video display device.
  • the master operating device 20 is located on the side of the operator.
  • the master operating device 20 is used to send control commands to the slave operating device 10 and display images acquired from the slave operating device 10 according to the operator's operation.
  • the operator can observe through the master and slave operating device 20
  • the imaging system provides three-dimensional stereo imaging in the patient's body. By observing the three-dimensional images in the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images in the patient's body) by operating the main operating device 20 with an immersive feeling. ).
  • the main operating device 20 includes a main console 21, a main arm 22, and a main wrist 23.
  • the main console 21 may include a display device, a control signal processing system, an observation device, etc., wherein the display device is used to display the images obtained by the above-mentioned image system.
  • the observation device is used to observe the image displayed by the display device. According to actual needs, the observation device can also be omitted, and direct observation can be performed at this time.
  • the operator controls the movement of the slave operating device 10 by operating the master arm 22 and the master wrist 23, and the control signal processing system of the master console 21 processes the input signals of the master arm 22 and the master wrist 23 and sends them to the slave operating device 10.
  • the control commands are used by the slave operating device 10 to respond to the control commands sent by the master console 21 and perform corresponding operations.
  • the master operating device 20 establishes pose mapping control between the master arm 22 and the master wrist 23 and the mechanical arm 11 and the instrument of the slave operating device 10 through the master operating device 20 .
  • This kind of mapping may be corresponding to a positional relationship, and the corresponding positional relationship may be a corresponding relationship such as distance proportionality, distance trend correspondence, and the like.
  • this mapping may be a motion relationship correspondence, which may be a motion posture correspondence, a motion trend correspondence, and the like.
  • the operator can control the instrument 12 to perform corresponding actions (such as pitching, yaw, rolling, clamping, etc.) when operating the main arm 22 and the main wrist 23 .
  • the master arm 22 and the master wrist 23 can be directly arranged on the master console 21 , or, in other embodiments, the master arm 22 and the master wrist 23 can also be arranged separately from the master console 21 .
  • the master wrist 23 has multiple degrees of freedom, generally including at least three degrees of freedom.
  • the main wrist 23 includes a first rod 231 , a second rod 232 , a third rod 233 , a handle 234 , a first rotating joint 235 , a second rotating joint 236 , a third rotating joint 237 and a fourth rotating joint 238 .
  • the handle 234 is installed to an end of the first bar 231 by the first rotary joint 235, and the other end of the first bar 231 is installed to an end of the second bar 232 by the second rotary joint 236;
  • the joint 237 is mounted to one end of the third rod 233 ; the other end of the third rod 233 is mounted to the main arm 22 through the fourth rotational joint 238 .
  • the handle 234 is rotatably connected to the first rod 231 through the first rotary joint 235 , so that the handle 234 can rotate around the first rotation axis J1 of the first rotary joint 235 .
  • the first rod 231 is rotationally connected with the second rod 232 through the second rotating joint 236, so that the first rod 231 can rotate around the second rotation axis J2 of the second rotating joint 236, and the second rod 232 is connected with the second rotating joint 237 through the third rotating joint 237.
  • the three rods 233 are rotationally connected, so that the second rod 232 can rotate around the third rotational axis J3 of the third rotary joint 237, and the third rod 233 is rotationally connected with the master arm 22 through the fourth rotary joint 238, so that the third rod 233 can rotate Rotate about the rotation axis of the fourth swivel joint 238 .
  • the wrist 23 of the main hand adopts a design in which multiple axes intersect at one point, and the posture and position of the entire main hand are relatively decoupled, which is convenient for kinematic calculation.
  • the first rod 231 , the second rod 232 , and the third rod 233 are L-shaped rods, each rod has two ends connected perpendicularly to each other, and the two ends of each rod are connected with a rotating joint.
  • the clamp (not marked) on the handle 234 passes through the handle 234, a plurality of rods (first rod 231, second rod 232, third rod 233) and a plurality of rotary joints (first rotary joint 235, The second rotary joint 236, the third rotary joint 237, the fourth rotary joint 238) can perform the motion of multiple degrees of freedom; quantity.
  • the main arm 22 has a mounting end and a connecting end, the mounting end can be fixedly connected to the supporting base of the main operating device 20 , and the main arm 22 has at least one degree of freedom of movement.
  • the master wrist 23 is movably disposed on the connecting end of the master arm 22 through the fourth rotating joint 238 , and the master wrist 23 allows the operator to perform corresponding operations, such as rotation or clamping. After the opening and closing freedom movement of the clamp 210 relative to the handle 234 is mapped to the instrument 12, the opening and closing action of the end effector (such as clamping or shearing) can be controlled. After the rotational DOF motion of a rotational axis J1 is mapped to the instrument 12, the rolling motion of the end effector of the instrument 12 can be controlled. In the above-mentioned main operating device 20, the main wrist 23 is installed on the main arm 22 so as to facilitate the operator to operate according to the actual working conditions.
  • the third rotating joint 237 includes a third rotating shaft 2371 , a motor rotor 2372 and a motor stator 2373 .
  • the third rotating shaft 2371 is arranged along the direction of the third rotating axis J3, one end of the third rotating shaft 2371 is fixedly connected to the second rod 232, and the other end of the third rotating shaft 2371 is relatively rotatably mounted on the third rod 233 through a bearing or the like.
  • the motor rotor 2372 is set on the third rotating shaft 2371, the motor stator 2373 is connected with the motor rotor 2372, the motor stator 2373 provides power to the motor rotor 2372, and the motor rotor 2372 drives the third rotating shaft 2371 around the third The rotation axis J3 direction rotates.
  • the third shaft 2371 is driven by a motor, and the power of the motor is transmitted to the third shaft 2371 through the motor rotor 2372 and the motor stator 2373 .
  • the third rotating shaft 2371 can also adopt other power sources and transmission methods.
  • the motor can be directly driven by a coreless motor to avoid problems such as backlash and transmission delay caused by the reducer.
  • the moment compensation mechanism can be set on the rotating joint on the main hand arm 22 and/or the main hand wrist 23, or a moment compensation mechanism can be installed on the rotating joint (the fourth rotating joint 238) between the main hand arm 22 and the main hand wrist 23
  • the mechanism can effectively compensate/balance the joint gravitational moment caused by the weight of the main arm 22 and/or the main wrist 23 at the rotating joint, thereby alleviating or avoiding the operator's fatigue caused by long-term operation, and improving surgical efficiency and accuracy sex.
  • the movement of the main arm 22 and/or the main wrist 23 may be translational, rotational or other types of movement.
  • the torque compensation mechanism also performs adaptive changes according to the movement type of the master arm 22 and/or the master wrist 23 .
  • the rotation of the internal joints of the main wrist 23 is taken as an example for illustration. It can be understood that when the master arm 22 and/or the master wrist 23 perform other types of motions, the torque compensation mechanism can be obtained through reasonable deformation based on the forms in the following embodiments.
  • the torque compensation mechanism includes a movable pulley 2374 , a first fixed pulley 2375 , a second fixed pulley 2376 , a guide 2377 , an elastic member 2378 and a rope 2379 .
  • the movable pulley 2374 is mounted eccentrically on the third rotating shaft 2371
  • the first fixed pulley 2375 is mounted concentrically on the third rotating shaft 2371
  • the second fixed pulley 2376 is mounted concentrically on a fixed shaft (not marked) parallel to the third rotating shaft 2371
  • One end of the rope 2379 is fixed relative to the third bar 233, and the other end goes around the movable pulley 2374, the first fixed pulley 2375, and the second fixed pulley 2376 and is connected to an end of the elastic member 2379 through the guide 2377, and the other end of the elastic member 2379 is fixed on
  • the third pole 233 is on.
  • the third rod 233 has a first housing 2331 and a second housing 2332, and the third rotating shaft 2371, the motor rotor 2372, the motor stator 2373 and the torque balance mechanism are all arranged on the first housing 2331 and the second housing.
  • the interior of the space formed by 2332 is located in a section close to the third rotary joint 237 .
  • the fixed shaft on which the second fixed pulley 2376 is installed is installed in a section of the third rod 233 close to the third rotating joint 237 , and is located above the third rotating shaft 2371 .
  • the distance from the axis of the movable pulley 2374 to the axis of the first fixed pulley 2375 is a fixed value, that is, the eccentricity of the movable pulley 2374 relative to the third rotation axis J3 is a fixed value, which is determined by the length of the mounting arm of the movable pulley 2374.
  • the distance from the axis of the second fixed pulley 2376 to the axis of the first movable pulley 2375 is a fixed value, that is, the distance from the fixed axis to the third rotation axis 2371 .
  • the distance from the axis center of the movable pulley 2374 to the axis center of the second fixed pulley 2376 is a variable value, which is determined by the angle of the movable pulley 2374 relative to the third rotation axis J3, and the movable pulley 2374 rotates together with the third rotating shaft 2371, and it is relative to the third rotation axis J3.
  • the angle of the rotation axis J3 is the rotation angle of the third shaft 2371 , that is, the rotation angle of the second rod 232 relative to the third rod 233 .
  • the diameters of the rotating parts of the movable pulley 2374, the first fixed pulley 2375, and the second fixed pulley 2376 are equal, which facilitates the operation of the torque compensation mechanism and the setting of data parameters.
  • one end of the rope 2379 is fixed to a fixed shaft on which the second fixed pulley 2376 is mounted. More specifically, one end of the rope 2379 is fixed on a wire wheel on the fixed shaft, and the diameter of the wire wheel is equal to the diameter of the rope 2379 around the second fixed pulley 2376.
  • rope 2379 can adopt the high length constant rope of abrasion resistance such as steel wire rope.
  • the guide piece 2377 is fixed in the third rod 233, and is arranged between the rope 2379 from the second fixed pulley 2376 to the elastic piece 2378.
  • the part between is in the vertical direction, so that the stretching force of the elastic member 2378 on the rope 2378 is in the vertical direction.
  • Elastic member 2378 provides pulling force to an end of rope 2379
  • elastic member 2378 is a stretch spring in the embodiment of the figure, and one end of stretch spring is connected and fixed on the bottom of the third bar 233, and stretch spring has simple structure, long life, low weight
  • the advantages of lightness and stable elastic force can effectively balance the gravity moment of the second rod 232 without significantly increasing the structural complexity and overall weight of the third rotating joint 237 .
  • the torque compensating mechanism balances the gravitational force borne by the third rotating joint 237 in the main wrist 23 through the elastic force of the elastic member.
  • the tension spring can also be replaced by rubber, elastic rope, etc.
  • the elastic member 2378 can be changed into a linear motor, and the linear motor pulls the rope 2379 to dynamically adjust the torque balance.
  • the compensation torque for balancing the effect of gravity can be provided to the third rotating shaft 2371 at the initial position (zero position)
  • the stretched length of the elastic member 2378 along with the axis of the movable pulley 2374 to the distance from the axis of the second fixed pulley 2376 changes, that is, with the movable pulley 2374 Relative to the angle of the third axis of rotation J3 to change (as shown in different angles in Figure 9 to Figure 11), establish the gap between the movable pulley 2374 and the second fixed pulley 2376 caused by the rotation angle of the third rotating shaft 2371 relative to the third rod 233
  • the change relationship of the length of the rope that is, the change of the stretching amount of the elastic member
  • the stiffness coefficient K of the elastic member 2378 the compensation moment provided
  • the movable pulley 2374 is located directly below the first movable pulley 2375, and the first movable pulley 2375, the movable pulley 2374, and the second fixed pulley 2376 form a straight line in the vertical direction, that is, the axis of the movable pulley 2374 is in line with the second fixed pulley 2375.
  • the connection line of the three rotation axes J3 is 0° (zero point) relative to the connection line between the axes of the first fixed pulley 2375 and the second fixed pulley 2376 .
  • the movable pulley 2374 rotates 30° clockwise around the third rotation axis J3 relative to the zero position shown in FIG.
  • the line connecting the third rotation axis J3 forms an included angle of 30° (in the clockwise direction) with respect to the line connecting the axes of the first fixed pulley 2375 and the second fixed pulley 2376 .
  • the movable pulley 2374 rotates 30° counterclockwise around the third axis of rotation J3 relative to the zero position shown in FIG.
  • the line connecting the third rotation axis J3 forms an included angle of 30° (in the counterclockwise direction) with respect to the line connecting the axes of the first fixed pulley 2375 and the second fixed pulley 2376 .
  • a crank connecting rod may be used in the torque compensation mechanism to replace the movable pulley 2374 , the first fixed pulley 2375 and the second fixed pulley 2376 . That is, in the torque compensation mechanism, one end of the crank is installed on the third rotating shaft 2371, and the other end of the crank is connected with the elastic member 2378 by a connecting rod, so that the crank rotates with the third rotating shaft 2371, and the tension of the elastic member 2378 follows the crank. Changes in position to provide torque compensation.
  • the third rotational joint 237 in the main wrist 23 bears the largest load
  • the third rotational joint 237 is taken as an example for illustration.
  • a torque compensation mechanism may also be provided in the second rotating joint 236 and/or the first rotating joint 235 .
  • the first rotating joint 235 includes a first rotating shaft arranged along the first rotating axis J1, a first driving member installed on the first rotating shaft, one end of the first rotating shaft is fixedly connected with the handle 234, and the other end of the first rotating shaft Rotatably connected with the first rod 231 , the first driving member provides power for the first rotating shaft to rotate around the first rotating axis.
  • the second rotating joint 236 includes a second rotating shaft arranged along the second rotating axis J2, a second driving member installed on the second rotating shaft, one end of the second rotating shaft is fixedly connected with the first rod 231, and the other end of the second rotating shaft is connected with the second rotating shaft.
  • the second rod 232 is rotatably connected, and the second driving member provides power for the second rotating shaft to rotate around the second rotating axis.
  • the structure of the torque compensation mechanism adopted by the second rotary joint 236 and the first rotary joint 235 is similar to that of the third rotary joint 237 , and will not be repeated here.
  • the main hand wrist, main operating equipment and corresponding surgical robot provided by the present invention can realize the effect of driving the rotating joint with a driving part with a small power in a force (torque) compensation manner, effectively reducing the effect of end inertia and increasing force Transparency makes it easy to operate even when the drive is powered off, thereby alleviating or even avoiding the fatigue of the doctor during the operation and ensuring the surgical effect.

Abstract

一种主手手腕（23）、主操作设备（20）及手术机器人，主手手腕（23）包括：手柄（234）；第一杆（231），与手柄（234）通过第一转动关节（235）绕第一旋转轴线（J1）转动连接；第二杆（232），与第一杆（231）通过第二转动关节（236）绕第二旋转轴线（J2）转动连接；第三杆（233），与第二杆（232）通过第三转动关节（237）绕第三旋转轴线（J3）转动连接；其中，第三转动关节（237）绕第三旋转轴线（J3）设有力矩补偿机构，以补偿手柄（234）、第一杆（231）及第二杆（232）产生绕第三旋转轴线（J3）的力矩。主手手腕（23）、主操作设备（20）及手术机器人，以力矩补偿的方式实现以较小的驱动力带动转动关节的效果，有效减小末端惯性的作用，增加力透明性。

Description

主手手腕、主操作设备及手术机器人
本申请要求于2021年11月11日提交中国专利局、申请号为202111345890.6、申请名称为“主手手腕、主操作设备及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械领域，特别是涉及一种主手手腕、具有该主手手腕的主操作设备以及具有该主操作设备的手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。手术器械与从操作设备的驱动装置连接，用于执行外科手术，手术器械的末端器械包括用于执行手术操作的末端执行器和与末端执行器连接的可以多个自由度动作的关节。
在机器人手术中，医生需要长时间操作Master Hand(MH，主操作手)，传统的主操作手的万向机构(Gimbal)越到末端负载越大，导致所需的电机的功率也越大，医生操作舒适度低。
发明内容
基于此，为解决上述术问题，本申请提供一种主手手腕、主操作设备及手术机器人。
本申请实施例的第一方面提供一种主手手腕，包括手柄；第一杆，与所述手柄通过第一转动关节绕第一旋转轴线转动连接；第二杆，与所述第一杆 通过第二转动关节绕第二旋转轴线转动连接；第三杆，与所述第二杆通过第三转动关节绕第三旋转轴线转动连接；其中，所述第三转动关节绕所述第三旋转轴线设有力矩补偿机构，以补偿所述手柄、所述第一杆及所述第二杆产生绕所述第三旋转轴线的力矩。
在一个具体的实施例中，所述第三转动关节包括沿所述第三旋转轴线设置的第三转轴、安装在所述第三转轴上的驱动件，所述第三转轴的一端与所述第二杆固定连接，所述第三转轴的另一端与所述第三杆转动连接，所述驱动件提供给所述第三转轴绕所述第三旋转轴线转动的动力。
在一个具体的实施例中，所述驱动件包括电机转子和电机定子，所述电机转子固定在所述第三转轴上，所述电机定子同轴设置在所述电机转子外。
在一个具体的实施例中，所述力矩补偿机构包括动滑轮、第一定滑轮、第二定滑轮、弹性件及绳索，所述动滑轮偏心安装在所述第三转轴上，所述第一定滑轮同心安装在所述第三转轴上，所述第二定滑轮同心安装在与所述第三转轴平行的固定轴上，所述绳索一端相对所述第三杆固定，另一端绕过所述动滑轮、所述第一定滑轮、所述第二定滑轮后连接至所述弹性件的一端，所述弹性件的另一端固定在所述第三杆上。
在一个具体的实施例中，所述固定轴安装在所述第三杆内且位于所述第三转轴的上方，所述动滑轮、所述第一定滑轮、所述第二定滑轮的滑动部分的直径相等。
在一个具体的实施例中，所述力矩补偿机构包括导向件，所述导向件固定在所述第三杆上且设置在所述绳索自所述第二定滑轮至所述弹性件之间，所述绳索绕过所述导向件以使所述绳索在所述导向件至所述弹性件之间的部分在竖直方向上。
在一个具体的实施例中，所述弹性件为拉伸弹性件，所述弹性件的初始长度由所述第三转轴在初始位置上达到力矩平衡所来确定；所述弹性件的刚度系数根据所述第三转轴相对所述第三杆的转动角度与所需提供的补偿力矩大小之间的关系来确定。
在一个具体的实施例中，所述第一转动关节包括沿所述第一旋转轴线设置的第一转轴、安装在所述第一转轴上的第一驱动件，所述第一转轴的一端与所述手柄固定连接，所述第一转轴的另一端与所述第一杆转动连接，所述第一驱动件提供所述第一转轴绕所述第一旋转轴线转动的动力；所述第二转动关节包括沿所述第二旋转轴线设置的第二转轴、安装在所述第二转轴上的第二驱动件，所述第二转轴的一端与所述第一杆固定连接，所述第二转轴的另一端与所述第二杆转动连接，所述第二驱动件提供给所述第二转轴绕所述第二旋转轴线转动的动力。在一个具体的实施例中，所述第一转动关节和/或所述第二转动关节中设有力矩补偿机构。
本申请实施例的第二方面提供一种主手手腕，包括：手柄；第一杆，与所述手柄通过第一转动关节绕第一旋转轴线转动连接；第二杆，与所述第一杆通过第二转动关节绕第二旋转轴线转动连接；第三杆，与所述第二杆通过第三转动关节绕第三旋转轴线转动连接；至少一力矩补偿机构，以补偿所述手柄、所述第一杆、第二杆及/或所述第三杆产生绕所述第一旋转轴线、第二旋转轴线或第三旋转轴线的力矩。
在一个具体的实施例中，所述至少一力矩补偿机构包括一个力矩补偿机构，所述力矩补偿机构与所述第三杆连接，用于补偿所述手柄、所述第一杆及第二杆产生绕所述第三旋转轴线的力矩。
在一个具体的实施例中，所述至少一力矩补偿机构包括多个力矩补偿机构。
本申请第三方面提供一种主操作设备，所述主操作设备包括主控制台、主手手臂和上述主手手腕，所述第三杆的另一端通过第四转动关节安装在所述主手手臂上，所述主控制台处理所述主手手臂及所述主手手腕的输入信号。
本申请第四方面提供一种手术机器人，所述手术机器人包括从操作设备和上述主操作设备，所述从操作设备根据所述主控制台的指令执行相应操作。
本申请的主手手腕、主操作设备及手术机器人至少具有以下有益效果：本发明提供的主手手腕、主操作设备及手术机器人，以力矩补偿的方式实现 以较小的驱动力带动转动关节的效果，有效减小末端惯性的作用，增加力透明性。
附图说明
图1为本申请一个实施例的手术机器人的结构示意图；
图2为本申请一个实施例的主手手腕的立体结构示意图；
图3为图2中的主手手腕的侧视结构示意图；
图4为图2中的主手手腕的俯视结构示意图；
图5为沿图4中A-A方向剖视结构示意图；
图6为图2中的主手手腕另一角度的分解结构示意图；
图7为图6中的主手手腕的进一步分解结构示意图；
图8为图7中的力矩补偿机构的放大装配结构示意图；
图9为图6中的主手手腕去掉第二壳体后力矩补偿机构在第一状态下的侧视结构示意图；
图10为图6中的主手手腕去掉第二壳体后力矩补偿机构在第二状态下的侧视结构示意图；
图11为图6中的主手手腕去掉第二壳体后力矩补偿机构在第三状态下的侧视结构示意图。
图中各元件标号如下：
从操作设备10(其中，机械臂11、器械12、器械驱动装置13)；
主操作设备20(其中，主控制台21、主手手臂22、主手手腕23；第一杆231、第二杆232、第三杆233、手柄234、第一转动关节235、第二转动关节236、第三转动关节237、第四转动关节238；第一旋转轴线J1、第二旋转轴线J2、第三旋转轴线J3；第一壳体2331、第二壳体2332；第三转轴2371、电机转子2372、电机定子2373、动滑轮2374、第一定滑轮2375、第二定滑轮2376、导向件2377、弹性件2378、绳索2379)。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。 附图中给出了本申请的较佳实施方式。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本申请的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦合”另一个元件，它可以是直接耦合到另一个元件或者可能同时存在居中元件，本文所谓的“接合”是指两个元件具有动力传输的联接。本文所使用的术语“垂直的”、“水平的”、“左”、“右”、“上方”、“下方”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式，应理解的是，这些与空间相关的术语旨在除了附图中描绘的取向之外还涵盖设备在使用中或在操作中的不同取向，例如，如果设备在附图中被翻转，则描述为在其他元件或特征“下方”或“之下”的元件或特征将被取向为在其他元件或特征“上方”。因此，示例术语“下方”可以包括上方和下方两种取向。
本文所使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。本文所使用的“耦合”可以被广义地理解为其中两个或更多物体以一种方式被连接到任何事件，该方式允许绝对耦合的物体彼此在一起进行操作，使得物体之间至少在一个方向上没有相对移动，例如突出物和凹槽的耦合，两者可以在径向相对移动但不能在轴向相对移动。
术语“器械”在文中被用来描述医疗设备，该医疗设备用于插入患者身体并用于执行外科手术或诊断程序，该器械包括末端执行器，末端执行器可以是用于执行外科手术相关的外科手术工具，例如电烧灼器、钳夹器、吻合器、剪割器、成像设备(例如内窥镜或超声探头)以及类似物。本申请实施例中使用的一些器械进一步包括为末端执行器提供了铰接部件(例如关节组件)，使得末端执行器的位置和取向能够以相对于器械轴一个或多个机械自由 度被操控而运动。进一步地，末端执行器包括还包括功能性机械自由度，例如打开和闭合的钳夹。器械还可以包括可以被外科手术系统更新的存储信息，借此该存储系统可以提供器械与一个或多个系统元件之间的单向或双向通信。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“及/或”和“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请一个实施例的手术机器人如图1所示，手术机器人包括从操作设备10及主操作设备20，从操作设备10位于患者一侧用于执行外科手术，其中从操作设备10包括多个机械臂11和安装在机械臂11上的器械12，器械12可以是用于执行手术操作的电烧灼器、钳夹器、吻合器、剪割器等，也可以是获取影像的相机或者其他外科器械，多个器械12分别通过对应的器械驱动装置13驱动从不同的切口插入患者身体。机械臂11被配置成通过多个大臂被支柱所述支撑，在其他的一些施例中，从操作设备10的机械臂11也可以被安装在墙上或天花板上。
手术机器人通常还包括使操作者能够从患者身体外部观察手术部位的影像系统部分(未示出)。该影像系统不同通常包括具有视频图像采集功能(例如具有图像获取功能的器械12)和用于显示被采集图像的一个或多个视频显示设备。一般地，具有图像获取能的器械12包括将获取患者身体内图像的一个或多个成像传感器(例如CCD或CMOS传感器)的光学器件。该一个或多个成像传感器可以被放置在的具有图像获取能的器械12远端处，并且该一个或多个传感器产生的信号可以沿电缆或通过无线传输以在视频显示设备上处理和显示。
主操作设备20位于操作者一侧，主操作设备20用于根据操作者的操作向从操作设备10发送控制命令和显示从操作设备10获取的影像，操作者通 过主从操作设备20可以观察到影像系统提供的患者体内的三维立体成像，操作者通过观察患者体内三维的影像，能以沉浸式的感觉通过操作主操作设备20控制从操作设备10执行相关操作(例如执行手术或获取患者体内影像)。
主操作设备20包括主控制台21、主手手臂22及主手手腕23，主控制台21可包括显示装置、控制信号处理系统及观察装置等，其中，显示装置用于显示上述影像系统所获取图像，观察装置用于观察显示装置所显示的所述图像。根据实际需要，也可以省略观察装置，此时可直接观察。操作者通过操作主手手臂22及主手手腕23控制从操作设备10的运动，主控制台21的控制信号处理系统处理主手手臂22及主手手腕23的输入信号后向从操作设备10发出控制命令，从操作设备10用于响应主控制台21发送的控制命令，并进行相应的操作。
具体地，主手手臂22及主手手腕23与从操作设备10的机械臂11和器械之间通过主操作设备20建立起位姿的映射控制。这种映射可以为位置关系相对应，位置关系相对应可为距离成比例、距离趋势对应等对应关系。或者，这种映射可以为运动关系对应，其可为运动姿态对应、运动趋势对应等。从而，使得操作者在操作主手手臂22及主手手腕23可以控制器械12执行相应的动作(例如俯仰、偏摆、滚转、夹持等)。主手手臂22及主手手腕23可以直接设置在主控制台21，或者，在其它的实施例中主手手臂22及主手手腕23也可以与主控制台21分开设置。
请结合参阅图2至图4，主手手腕23具有多个自由度，一般至少包括三个自由度。主手手腕23包括第一杆231、第二杆232、第三杆233、手柄234、第一转动关节235、第二转动关节236、第三转动关节237及第四转动关节238。手柄234通过第一转动关节235安装到第一杆231的一端，第一杆231的另一端通过第二转动关节236安装到第二杆232的一端；第二杆232的另一端通过第三转动关节237安装到第三杆233的一端；第三杆233的另一端通过第四转动关节238安装到主手手臂22上。
手柄234通过第一转动关节235与第一杆231旋转连接，从而手柄234 可围绕第一转动关节235的第一旋转轴线J1旋转。第一杆231通过第二转动关节236与第二杆232旋转连接，从而第一杆231能围绕第二转动关节236的第二旋转轴线J2旋转，第二杆232通过第三转动关节237与第三杆233旋转连接，从而第二杆232能围绕第三转动关节237的第三旋转轴线J3旋转，第三杆233通过第四转动关节238与主手手臂22旋转连接，从而第三杆233能围绕第四转动关节238的旋转轴线旋转。
在图示实施例中，第一转动关节235、第二转动关节236、第三转动关节237的旋转轴线——第一旋转轴线J1、第二旋转轴线J2、第三旋转轴线J3交于一点。主手手腕23采用多轴交于一点的设计，整个主手的姿态和位置相对解耦，方便运动学解算。
在图示实施例中，第一杆231、第二杆232、第三杆233为L形杆件，每一杆具有相互垂直连接的两端，每一杆的两末端与转动关节连接。
在图示实施例中，手柄234上夹具(未标示)通过手柄234、多个杆(第一杆231、第二杆232、第三杆233)及多个旋转关节(第一转动关节235、第二转动关节236、第三转动关节237、第四转动关节238)能执行多个自由度的运动；在其它实施例中，可以根据夹具所实际需要的运动自由度来设置杆和转动关节的数量。
主手手臂22具有安装端和连接端，安装端能够与主操作设备20的支撑基体进行固定连接，主手手臂22具有至少一个活动自由度。主手手腕23通过第四转动关节238活动设置于主手手臂22的连接端，主手手腕23允许操作者执行对应的操作，比如转动或者夹持等。夹具210相对手柄234的开合自由度运动映射至器械12后，可以控制末端执行器的开合动作(如夹持或剪切等)，夹具和/或手柄234围绕第一转动关节235的第一旋转轴线J1的旋转自由度运动映射至器械12后，可以控制器械12的末端执行器的滚转运动。上述主操作设备20中，主手手腕23安装在主手手臂22上进而便于操作者根据实际工况进行操作。
请结合参阅图5至图8，在本发明一实施例中，第三转动关节237包括 第三转轴2371、电机转子2372及电机定子2373。第三转轴2371沿第三旋转轴线J3方向设置，第三转轴2371的一端固定连接至第二杆232，第三转轴2371的另一端通过轴承等可相对转动地安装在第三杆233上。电机转子2372设置于第三转轴2371上，电机定子2373与电机转子2372传动连接，电机定子2373提供动力至电机转子2372，电机转子2372在电机定子2372的动力驱动下带动第三转轴2371绕第三旋转轴线J3方向转动。
在图示实施例中，第三转轴2371采用电机作为驱动件进行驱动，电机的动力通过电机转子2372与电机定子2373传递至第三转轴2371。可以理解的，在其它实施例中，第三转轴2371也可采用其它动力源及传动方式。此外，电机可以采用空心杯电机直驱的方式，避免减速机带来的背隙和传动延时等题。
同时，在主手手臂22和/或主手手腕23上的转动关节可设置力矩补偿机构，或者在主手手臂22和主手手腕23之间的转动关节(第四转动关节238)安装力矩补偿机构，能够有效补偿/平衡转动关节处由于主手手臂22和/或主手手腕23的自重所导致的关节重力力矩，进而缓解或者避免操作者长时间操作所产生的疲劳，提升手术效率和精准性。
可选的，主手手臂22和/或主手手腕23的活动可以是平动、转动或者其它类型的运动。对应的，力矩补偿机构也根据主手手臂22和/或主手手腕23的运动类型进行适应性的变化。以下仅以主手手腕23内部关节的转动为例进行说明。可以理解的，主手手臂22和/或主手手腕23进行其它类型的运动时，力矩补偿机构可以基于以下实施例中的形式进行合理的变形得到。
力矩补偿机构包括动滑轮2374、第一定滑轮2375、第二定滑轮2376、导向件2377、弹性件2378及绳索2379。动滑轮2374偏心安装在所述第三转轴2371上，第一定滑轮2375同心安装在第三转轴2371上，第二定滑轮2376同心安装在与第三转轴2371平行的固定轴(未标示)上，绳索2379的一端相对第三杆233固定，另一端绕过动滑轮2374、第一定滑轮2375、第二定滑轮2376后经过导向件2377连接至弹性件2379的一端，弹性件2379的另一端固定在第三杆233上。
更具体地，第三杆233具有第一壳体2331和第二壳体2332，第三转轴2371、电机转子2372、电机定子2373及力矩平衡机构均设置在第一壳体2331和第二壳体2332形成的空间的内部，位于靠近第三转动关节237的一段内。安装第二定滑轮2376的固定轴安装在第三杆233内靠近第三转动关节237的一段内，且位于第三转轴2371的上方。
动滑轮2374的轴心到第一定滑轮2375的轴心距离为固定值，即动滑轮2374相对第三旋转轴线J3的偏心量为固定值，由动滑轮2374的安装臂的长度确定。第二定滑轮2376的轴心到第一动滑轮2375的轴心的距离为固定值，即固定轴到第三转轴2371的距离。动滑轮2374的轴心到第二定滑轮2376的轴心的距离为变化值，由动滑轮2374相对第三旋转轴线J3的角度来确定，而动滑轮2374随着第三转轴2371一同转动，其相对第三旋转轴线J3的角度即为第三转轴2371的转动角度，也就是第二杆232相对第三杆233的转动角度。在图示实施例中，动滑轮2374、第一定滑轮2375、第二定滑轮2376的转动部分的直径相等，如此便于力矩补偿机构的工作及数据参数的设置。
在图示实施例中，绳索2379的一端固定在安装第二定滑轮2376的固定轴上。更具体地，绳索2379的一端固定在固定轴上的线轮上，线轮的直径与绳索2379绕第二定滑轮2376的直径相等。为保证绳索2379的工作可靠性，绳索2379可采用钢丝绳等耐磨损性高的长度不变绳索。
导向件2377固定在所述第三杆233内，且设置在绳索2379自第二定滑轮2376至弹性件2378之间，绳索2379绕过导向件2377以使绳索在导向件2377至弹性件2378之间的部分在竖直方向上，使得弹性件2378对绳索2378一段拉力在竖直方向上。
弹性件2378提供拉力给绳索2379的一端，在图实施例中弹性件2378为拉伸弹簧，拉伸弹簧的一端连接固定在第三杆233的底部，拉伸弹簧具有结构简单、寿命长、重量轻、弹性力稳定的优点，能够在不明显增加第三转动关节237的结构复杂性以及整体重量的前提下有效平衡第二杆232的重力矩。可以理解的，力矩补偿机构是通过弹性件的弹性力平衡主手手腕23中第三转 动关节237所承受的重力，在其它的实施例中，还可以通过橡胶、弹性绳等代替拉伸弹簧。在另外一些实施例中，弹性件2378可以改成直线电机，直线电机拉动绳索2379来动态调整力矩平衡。
请结合参阅图9至图11，由于第三转轴2371所承受的负载为确定值，故可初始位置(零点位置)上所需提供给所述第三转轴2371的用于平衡重力作用的补偿力矩的大小来设置弹性件2378的初始拉伸量(初始长度)，弹性件2378的拉伸长度随着动滑轮2374的轴心到第二定滑轮2376的轴心的距离变化，也即随着动滑轮2374相对第三旋转轴线J3的角度来变化(如图9至图11中的不同角度)，建立第三转轴2371相对第三杆233的转动角度所带来的动滑轮2374与第二定滑轮2376之间的绳索长度的变化关系(即弹性件拉伸量的变化)，通过选取弹性件2378的刚度系数K，从而使得弹性件2378的提供的补偿力矩与负载作用于第三转轴2371的力矩达到平衡。
如图9中所示，动滑轮2374位于第一动滑轮2375的正下方，第一动滑轮2375、动滑轮2374、第二定滑轮2376在竖直方向上成一条直线，亦即，动滑轮2374的轴心与第三旋转轴线J3的连线相对第一定滑轮2375与第二定滑轮2376轴心的连线呈0°(零点位置)。
如图10中所示，动滑轮2374相对图9中所示的零点位置绕第三旋转轴线J3顺时针转动30°，动滑轮2374位于第一动滑轮2375的左下方，亦即，动滑轮2374的轴心与第三旋转轴线J3的连线相对第一定滑轮2375与第二定滑轮2376轴心的连线呈30°夹角(顺时针方向上)。
如图11中所示，动滑轮2374相对图9中所示的零点位置绕第三旋转轴线J3逆时针转动30°，动滑轮2374位于第一动滑轮2375的右下方，亦即，动滑轮2374的轴心与第三旋转轴线J3的连线相对第一定滑轮2375与第二定滑轮2376轴心的连线呈30°夹角(逆时针方向上)。
在其它一些实施例中，力矩补偿机构中可采用曲柄连杆来替代动滑轮2374、第一定滑轮2375和第二定滑轮2376。即，力矩补偿机构中，曲柄一端安装在第三转轴2371上，曲柄的另一端与弹性件2378之间采用连杆连接， 从而曲柄随着第三转轴2371转动，弹性件2378的拉力随着曲柄位置的变化而变化，从而提供力矩补偿。
可以理解地，由于主手手腕23中第三转动关节237所所承受的负载最大，故而以第三转动关节237为例说明。在其它实施例中，第二转动关节236和/或第一转动关节235中均可除对应的第一驱动件、第二驱动件外，也可设置力矩补偿机构。即，第一转动关节235包括沿述第一旋转轴线J1设置的第一转轴、安装在第一转轴上的第一驱动件，第一转轴的一端与手柄234固定连接，第一转轴的另一端与第一杆231转动连接，第一驱动件提供第一转轴绕第一旋转轴线转动的动力。第二转动关节236包括沿第二旋转轴线J2设置的第二转轴、安装在第二转轴上的第二驱动件，第二转轴的一端与第一杆231固定连接，第二转轴的另一端与第二杆232转动连接，第二驱动件提供第二转轴绕第二旋转轴线转动的动力。第二转动关节236、第一转动关节235所采用的力矩补偿机构的结构与第三转动关节237中的类似，在此不再赘述。
本发明提供的主手手腕、主操作设备及对应的手术机器人，能够以力(力矩)补偿的方式实现以较小动力的驱动件带动转动关节的效果，有效减小末端惯性的作用，增加力透明性，在驱动件掉电的状态下也能轻松操作，进而缓解甚至避免医生在操作过程中产生疲劳、保证手术效果。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种主手手腕，其特征在于，所述主手手腕包括：
    手柄；
    第一杆，与所述手柄通过第一转动关节绕第一旋转轴线转动连接；
    第二杆，与所述第一杆通过第二转动关节绕第二旋转轴线转动连接；
    第三杆，与所述第二杆通过第三转动关节绕第三旋转轴线转动连接；
    所述第三转动关节绕所述第三旋转轴线设有力矩补偿机构，以补偿所述手柄、所述第一杆及所述第二杆产生绕所述第三旋转轴线的力矩；
    所述第三转动关节包括第三转轴，所述第三转轴沿所述第三旋转轴线设置，所述第三转轴的一端与所述第二杆固定连接，所述第三转轴的另一端与所述第三杆转动连接；
    所述力矩补偿机构包括动滑轮、第一定滑轮、第二定滑轮、弹性件及绳索，所述动滑轮偏心安装在所述第三转轴上，所述第一定滑轮同心安装在所述第三转轴上，所述第二定滑轮同心安装在与所述第三转轴平行的固定轴上，所述绳索一端相对所述第三杆固定，另一端绕过所述动滑轮、所述第一定滑轮、所述第二定滑轮后连接至所述弹性件的一端，所述弹性件的另一端固定在所述第三杆上。
  2. 如权利要求1所述的主手手腕，其特征在于：所述固定轴安装在所述第三杆内且位于所述第三转轴的上方，所述动滑轮、所述第一定滑轮、所述第二定滑轮的滑动部分的直径相等。
  3. 如权利要求1所述的主手手腕，其特征在于：所述力矩补偿机构包括导向件，所述导向件固定在所述第三杆上且设置在所述绳索自所述第二定滑轮至所述弹性件之间，所述绳索绕过所述导向件以使所述绳索在所述导向件至所述弹性件之间的部分在竖直方向上。
  4. 如权利要求1所述的主手手腕，其特征在于：所述弹性件为拉伸弹性件，所述弹性件的初始长度由所述第三转轴在初始位置上达到力矩平衡所来确定；所述弹性件的刚度系数根据所述第三转轴相对所述第三杆的转动角度 与所需提供的补偿力矩大小之间的关系来确定。
  5. 如权利要求1所述的主手手腕，其特征在于：所述动滑轮的轴心到所述第二定滑轮的轴心的距离，随所述动滑轮相对所述第三旋转轴线的角度的变化而变化。
  6. 一种主手手腕，其特征在于，所述主手手腕包括：
    手柄；
    第一杆，与所述手柄通过第一转动关节绕第一旋转轴线转动连接；
    第二杆，与所述第一杆通过第二转动关节绕第二旋转轴线转动连接；
    第三杆，与所述第二杆通过第三转动关节绕第三旋转轴线转动连接；
    其中，所述第三转动关节绕所述第三旋转轴线设有力矩补偿机构，以补偿所述手柄、所述第一杆及所述第二杆产生绕所述第三旋转轴线的力矩。
  7. 如权利要求6所述的主手手腕，其特征在于：所述第三转动关节包括沿所述第三旋转轴线设置的第三转轴、安装在所述第三转轴上的驱动件，所述第三转轴的一端与所述第二杆固定连接，所述第三转轴的另一端与所述第三杆转动连接，所述驱动件提供给所述第三转轴绕所述第三旋转轴线转动的动力。
  8. 如权利要求7所述的主手手腕，其特征在于：所述驱动件包括电机转子和电机定子，所述电机转子固定在所述第三转轴上，所述电机定子同轴设置在所述电机转子外。
  9. 如权利要求7所述的主手手腕，其特征在于：所述力矩补偿机构包括动滑轮、第一定滑轮、第二定滑轮、弹性件及绳索，所述动滑轮偏心安装在所述第三转轴上，所述第一定滑轮同心安装在所述第三转轴上，所述第二定滑轮同心安装在与所述第三转轴平行的固定轴上，所述绳索一端相对所述第三杆固定，另一端绕过所述动滑轮、所述第一定滑轮、所述第二定滑轮后连接至所述弹性件的一端，所述弹性件的另一端固定在所述第三杆上。
  10. 如权利要求9所述的主手手腕，其特征在于：所述固定轴安装在所述第三杆内且位于所述第三转轴的上方，所述动滑轮、所述第一定滑轮、所 述第二定滑轮的滑动部分的直径相等。
  11. 如权利要求9所述的主手手腕，其特征在于：所述力矩补偿机构包括导向件，所述导向件固定在所述第三杆上且设置在所述绳索自所述第二定滑轮至所述弹性件之间，所述绳索绕过所述导向件以使所述绳索在所述导向件至所述弹性件之间的部分在竖直方向上。
  12. 如权利要求9所述的主手手腕，其特征在于：所述弹性件为拉伸弹性件，所述弹性件的初始长度由所述第三转轴在初始位置上达到力矩平衡所来确定；所述弹性件的刚度系数根据所述第三转轴相对所述第三杆的转动角度与所需提供的补偿力矩大小之间的关系来确定。
  13. 如权利要求9所述的主手手腕，其特征在于：所述动滑轮的轴心到所述第二定滑轮的轴心的距离，随所述动滑轮相对所述第三旋转轴线的角度的变化而变化。
  14. 如权利要求7所述的主手手腕，其特征在于：所述力矩补偿机构包括动滑轮、第一定滑轮、第二定滑轮、直线电机及绳索，所述动滑轮偏心安装在所述第三转轴上，所述第一定滑轮同心安装在所述第三转轴上，所述第二定滑轮同心安装在与所述第三转轴平行的固定轴上，所述绳索一端相对所述第三杆固定，另一端绕过所述动滑轮、所述第一定滑轮、所述第二定滑轮后连接至所述直线电机的一端，所述直线电机的另一端固定在所述第三杆上。
  15. 如权利要求7所述的主手手腕，其特征在于：所述第一转动关节包括沿所述第一旋转轴线设置的第一转轴、安装在所述第一转轴上的第一驱动件，所述第一转轴的一端与所述手柄固定连接，所述第一转轴的另一端与所述第一杆转动连接，所述第一驱动件提供所述第一转轴绕所述第一旋转轴线转动的动力；所述第二转动关节包括沿所述第二旋转轴线设置的第二转轴、安装在所述第二转轴上的第二驱动件，所述第二转轴的一端与所述第一杆固定连接，所述第二转轴的另一端与所述第二杆转动连接，所述第二驱动件提供给所述第二转轴绕所述第二旋转轴线转动的动力。
  16. 如权利要求15所述的主手手腕，其特征在于：所述第一转动关节和 /或所述第二转动关节中设有力矩补偿机构。
  17. 如权利要求6所述的主手手腕，其特征在于：所述第一旋转轴线、所述第二旋转轴线、及所述第三旋转轴线交于一点。
  18. 一种主手手腕，其特征在于，所述主手手腕包括：
    手柄；
    第一杆，与所述手柄通过第一转动关节绕第一旋转轴线转动连接；
    第二杆，与所述第一杆通过第二转动关节绕第二旋转轴线转动连接；
    第三杆，与所述第二杆通过第三转动关节绕第三旋转轴线转动连接；
    至少一力矩补偿机构，以补偿所述手柄、所述第一杆、所述第二杆及/或所述第三杆产生绕所述第一旋转轴线、第二旋转轴线或第三旋转轴线的力矩。
  19. 如权利要求18所述的主手手腕，其特征在于：所述至少一力矩补偿机构包括一个力矩补偿机构，所述力矩补偿机构与所述第三杆连接，用于补偿所述手柄、所述第一杆及第二杆产生绕所述第三旋转轴线的力矩。
  20. 如权利要求18所述的主手手腕，其特征在于：所述至少一力矩补偿机构包括多个力矩补偿机构。
PCT/CN2022/129011 2021-11-11 2022-11-01 主手手腕、主操作设备及手术机器人 WO2023083057A1 (zh)

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CN117428818B (zh) * 2023-12-18 2024-03-12 以诺康医疗科技（苏州）有限公司 低转动惯量的主手手腕、主操作手

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