WO2023083076A1 - Bras robotique, dispositif d'actionnement esclave et robot chirurgical - Google Patents

Bras robotique, dispositif d'actionnement esclave et robot chirurgical Download PDF

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Publication number
WO2023083076A1
WO2023083076A1 PCT/CN2022/129287 CN2022129287W WO2023083076A1 WO 2023083076 A1 WO2023083076 A1 WO 2023083076A1 CN 2022129287 W CN2022129287 W CN 2022129287W WO 2023083076 A1 WO2023083076 A1 WO 2023083076A1
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WIPO (PCT)
Prior art keywords
axis
cyclone
parallelogram
intersects
deflection
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PCT/CN2022/129287
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English (en)
Chinese (zh)
Inventor
孙强
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深圳市精锋医疗科技股份有限公司
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Publication of WO2023083076A1 publication Critical patent/WO2023083076A1/fr

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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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • 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 technical field of medical devices, in particular to a mechanical arm, a slave operating device and a surgical robot.
  • 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.
  • a surgical instrument is connected to a driving device of a slave operating device for performing a surgical operation, and the surgical instrument has a long shaft and an end effector located at the end of the long shaft.
  • the surgical instrument is in the process of performing the operation.
  • the point of contact between the long axis and the minimally invasive incision on the patient should remain stationary to avoid tearing of the patient wound.
  • the main purpose of this application is to provide a mechanical arm, a slave operating device and a surgical robot, aiming to keep the contact point between the long axis of the surgical instrument and the minimally invasive incision on the patient's body stationary, so as to avoid tearing the patient's wound. pull.
  • the application provides a mechanical arm, the mechanical arm is connected to the orientation platform, the mechanical arm includes an operating arm and an adjustment arm connected to the operating arm, and the operating arm includes:
  • a cyclone joint one end of which is connected to the deflection joint and the other end is connected to the adjustment arm, has a cyclone axis that does not pass through the RC point, and the cyclone axis does not coincide with the deflection axis;
  • the adjusting arm is used to keep the coordinates of the RC point in the coordinate system of the orientation platform unchanged when the cyclone joint rotates around the cyclone axis.
  • the operating arm further comprises a parallelogram mechanism having a parallelogram first side whose extension line passes through the RC point, the parallelogram first side coincident with the deflection axis; or
  • said operating arm further comprising a parallelogram mechanism having a parallelogram first side extending through said RC point, said parallelogram first side being offset from said deflection axis;
  • said manipulator also includes a parallelogram mechanism and a pitch axis passing through said RC point, said parallelogram mechanism pitching about said pitch axis; or
  • said manipulator arm also includes an insertion axis passing through said RC point, said insertion axis being coplanar with said deflection axis, said parallelogram first side; or
  • the cyclone axis is out of plane with the deflection axis.
  • the angle between the yaw axis and the pitch axis is 90°;
  • the cyclone axis intersects the pitch axis at a non-RC point location
  • the cyclone axis intersects the insertion axis at a non-RC point position.
  • the operating arm also includes a parallelogram mechanism having a parallelogram first side adjacent to the cyclone axis; the operating arm also has a pitch axis about which the parallelogram mechanism pitches;
  • the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the yaw axis, and the parallelogram first side intersect at the RC point.
  • the cyclone axis does not intersect any of the pitch axis, insertion axis, yaw axis, and any of the first sides of the parallelogram; or
  • said cyclone axis intersects said pitch axis only;
  • said cyclone axis intersects only said insertion axis
  • said cyclone axis intersects only said deflection axis
  • said cyclone axis intersects only the first side of said parallelogram
  • the cyclone axis intersects any two of the insertion axis, the deflection axis, and the first side of the parallelogram; or
  • said cyclone axis intersects said yaw axis and any one of said first side of said parallelogram and said pitch axis;
  • the cyclone axis intersects any one of the deflection axis and the first side of the parallelogram and the insertion axis.
  • the operating arm further includes a parallelogram mechanism having a parallelogram first side adjacent to the cyclone axis; the operating arm also has a pitch axis, and the parallelogram mechanism surrounds the pitch axis.
  • axis for pitching the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the yaw axis, and the parallelogram first side intersect at the RC point;
  • the parallelogram first side coincides with the deflection axis.
  • the cyclone axis does not intersect any of the pitch axis, insertion axis and yaw axis; or
  • said cyclone axis intersects said pitch axis only;
  • said cyclone axis intersects only said insertion axis
  • said cyclone axis intersects only said deflection axis
  • the cyclone axis intersects both the insertion axis and the deflection axis;
  • the cyclone axis intersects the yaw axis and the pitch axis.
  • the operating arm further includes a parallelogram mechanism having a parallelogram first side adjacent to the cyclone axis; the operating arm also has a pitch axis, and the parallelogram mechanism surrounds the pitch axis.
  • axis for pitching the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the yaw axis, and the parallelogram first side intersect at the RC point;
  • the cyclone axis is out of plane with the pitch axis.
  • the cyclone axis does not intersect any of the pitch axis, insertion axis, yaw axis, and the first side of the parallelogram; or
  • said cyclone axis intersects only said insertion axis
  • said cyclone axis intersects only the first side of said parallelogram
  • the cyclone axis intersects any two lines among the insertion axis, the deflection axis and the first side of the parallelogram.
  • the operating arm further includes a parallelogram mechanism having a parallelogram first side adjacent to the cyclone axis; the operating arm also has a pitch axis, and the parallelogram mechanism surrounds the pitch axis.
  • axis for pitching the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the yaw axis, and the parallelogram first side intersect at the RC point;
  • the intersection point is at a non-RC point position.
  • the cyclone axis does not intersect any of the insertion axis, the deflection axis and the first side of the parallelogram; or
  • said cyclone axis also intersects said deflection axis
  • said cyclone axis also intersects said parallelogram first side;
  • the cyclone axis may also intersect the deflection axis and the parallel first sides.
  • the operating arm further includes a parallelogram mechanism having a parallelogram first side adjacent to the cyclone axis; the operating arm also has a pitch axis, and the parallelogram mechanism surrounds the pitch axis.
  • axis for pitching the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the yaw axis, and the parallelogram first side intersect at the RC point;
  • the intersection point is located at a non-RC point.
  • the cyclone axis does not intersect either the deflection axis or any line in the parallelogram; or
  • said cyclone axis also intersects said pitch axis
  • said cyclone axis also intersects said deflection axis
  • said cyclone axis also intersects said parallelogram first side;
  • the cyclone axis also intersects the deflection axis and the parallel first sides.
  • the operating arm further includes a parallelogram mechanism having a parallelogram first side adjacent to the cyclone axis; the operating arm also has a pitch axis, and the parallelogram mechanism surrounds the pitch axis. axis to pitch; the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the yaw axis, and the parallelogram first side intersect at the RC point.
  • the cyclone axis does not intersect any of the pitch axis, insertion axis, yaw axis, and the first side of the parallelogram; or
  • said cyclone axis intersects said pitch axis only;
  • said cyclone axis intersects only said insertion axis
  • said cyclone axis intersects only the first side of said parallelogram
  • the cyclone axis intersects the insertion axis and the parallelogram first side.
  • the cyclone axis passes through the RC point, the yaw axis does not pass through the RC point.
  • the operating arm further includes a parallelogram mechanism having a parallelogram first side adjacent to the yaw axis; the operating arm also has a pitch axis, the parallelogram mechanism surrounding the pitch axis axis to pitch; the manipulator arm also has an insertion axis, the pitch axis, the insertion axis, the cyclone axis, and the parallelogram first side intersect at the RC point.
  • the yaw axis does not intersect any of the pitch axis, insertion axis, cyclone axis and the first side of the parallelogram; or
  • said yaw axis intersects said pitch axis only;
  • said deflection axis intersects only said insertion axis
  • said deflection axis intersects only said cyclone axis
  • said deflection axis intersects only said parallelogram first side
  • said deflection axis intersects said cyclone axis and said parallelogram first side;
  • the deflection axis intersects any two of the insertion axis, the cyclone axis, and the first side of the parallelogram; or
  • said yaw axis intersects said cyclone axis and any one of said first side of said parallelogram and said pitch axis;
  • the deflection axis intersects any one of the cyclone axis and the first side of the parallelogram and the insertion axis.
  • the first side of the parallelogram coincides with the cyclone axis
  • said yaw axis does not intersect any of said pitch axis, insertion axis and cyclone axis;
  • said yaw axis intersects said pitch axis only;
  • said deflection axis intersects only said insertion axis
  • said deflection axis intersects only said cyclone axis
  • said deflection axis intersects said insertion axis and said cyclone axis;
  • the yaw axis intersects the cyclone axis and the pitch axis.
  • the operating arm further includes an installation base connected to the adjustment arm and a linkage base connected to the installation base in sequence, a first rod and a second rod, the linkage base includes a The deflection joint connected to the installation base and the linkage link connected with the deflection joint; the linkage linkage, the first linkage and the second linkage are located on different adjacent planes.
  • the present application also provides a slave operating device, which includes a base, an orientation platform installed on the base, and the above-mentioned mechanical arm connected to the orientation platform.
  • the present application also provides a surgical robot, the surgical robot includes a main operating console and the above-mentioned slave operating equipment, the slave operating equipment is used to respond to the control command sent by the main operating console, perform corresponding surgical procedures.
  • the mechanical arm, the slave operating equipment and the surgical robot provided by the present application set the deflection axis passing through the RC point of the remote center, and the cyclone axis not passing through the RC point, so that when the cyclone joint rotates around the cyclone axis, the adjustment can be used.
  • the arm keeps the coordinates of the RC point in the coordinate system of the orientation platform unchanged. In this way, the contact point between the long axis of the surgical instrument and the minimally invasive incision on the patient's body can be kept stationary, thereby avoiding tearing and pulling on the patient's wound.
  • Fig. 1 is a schematic structural view of an embodiment of the surgical robot of the present application
  • Fig. 2 is a schematic structural view of an embodiment of a surgical instrument of the surgical robot of the present application
  • Fig. 3 is a schematic structural view of an embodiment of the operating arm in Fig. 1;
  • Fig. 4 is a simplified structural schematic diagram of an embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 5 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 6 is a schematic diagram of an enlarged structure at place a in Fig. 5;
  • Fig. 7 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 8 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 9 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 10 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 11 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 12 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 13 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Figure 14 is a schematic diagram of the enlarged structure at b in Figure 13;
  • Fig. 15 is a simplified structural schematic diagram of another embodiment of the operating arm and the adjusting arm in Fig. 1;
  • Fig. 16 is a simplified structural schematic diagram of an embodiment of the slave operating device of the present application.
  • Fig. 17 is a simplified structural schematic diagram of an embodiment of the robot arm of the present application.
  • Fig. 18 is a schematic structural view of an embodiment of the operating arm and the adjusting arm of the present application.
  • FIG. 19 is a schematic flowchart of an embodiment of the compensation movement of the adjustment arm of the present application.
  • connection and “fixation” should be understood broadly, for example, “fixation” can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • fixing can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • the present application provides a surgical robot 100
  • the surgical robot 100 includes a master operating console 1 and a slave operating device 2, the master operating console 1 is used to send The control command is used to control the slave operating device 2; the slave operating device 2 is used to respond to the control command sent by the master console 1 and perform corresponding surgical operations.
  • the slave operating device 2 includes a base 200 , an orientation platform 300 installed on the base, and a robot arm 400 connected to the orientation platform 300 .
  • the base 200 may further include a seat body 21 , a column 22 disposed on the seat body 21 , and a suspension arm 23 connected to the column 22 , and the orientation platform 300 is connected to the suspension arm 23 .
  • the robotic arm 400 includes an adjusting arm 500 connected to the orientation platform 300 , an operating arm 600 connected to the adjusting arm 500 , and a surgical instrument 700 installed on the operating arm 600 .
  • the surgical instrument 700 may be an electrocautery device, a clipper, a stapler, a scissor, etc. for performing surgical operations, and may also be a camera or other surgical instrument for acquiring images. Insert into the patient's body.
  • the operating arm 600 includes a base link 61 connected to the adjustment arm 500 , a parallelogram mechanism 62 connected to the base link 61 and an instrument carrying arm 63 , the instrument carries Arm 63 is used to support surgical instrument 700 .
  • the base link 61 includes a mounting base 68 connected to the adjusting arm 500 and a linkage base 69 connected to the mounting base 68
  • the mounting base 68 further includes a mounting base 68 connected to the adjusting arm 500 , and has a cyclone joint 681 that can rotate around the cyclone axis 10, and an installation link 682 connected with the cyclone joint 681
  • the linkage base 69 further includes a deflection joint 691 connected to the installation link 682 and capable of rotating around the deflection axis 20 , and a linkage linkage 692 connected to the deflection joint 691 .
  • the parallelogram mechanism 62 further includes a first link 65 connected to the linkage link 692 through a first joint 67 and a second link 66 connected to the first link, and the first joint 67 is connected to the first link 692.
  • the RC point constitutes the first side 50 of a parallelogram (as shown in FIG. 4 ).
  • the first connecting rod 65 , the second connecting rod 66 and the instrument carrying arm 63 are located on adjacent planes. Such arrangement can save space when the operating arm 600 is folded.
  • the instrument carrying arm 63 has an insertion axis 30 so that the surgical instrument 700 can move along the insertion axis 30 to control the depth of the surgical instrument 700 protruding into the patient's body.
  • the surgical instrument 700 has a long shaft 720 and an end effector 730 located at the end of the long shaft 720, and the long shaft 720 is provided with an RC point ( Remote Center, remote center), also can be referred to as: instrument fixed point 11, this RC point or instrument fixed point 11 coincides with the RC point of described surgical robot 100.
  • the surgical instrument 700 can swing around the RC point, so as to prevent the surgical robot 100 from causing damage to the patient during the operation.
  • the orientation platform 300 has a coordinate system F0, such as F0(a, b, c), and the coordinates of the RC point relative to the coordinate system F0 of the orientation platform 300 remain unchanged.
  • the deflection axis 20 and the insertion axis 30 both pass through the RC point
  • the operating arm 600 also includes a pitch axis 40 passing through the RC point
  • the parallelogram mechanism 62 is capable of pitching motion about said pitch axis 40 .
  • the parallelogram mechanism 62 further includes a parallelogram second side (not shown in the figure), a parallelogram third side (not shown in the figure) and a parallelogram fourth side connected to the parallelogram first side 50 in sequence.
  • the extension line of the first side 50 of the parallelogram passes through point RC
  • the second side of the parallelogram basically coincides with the first connecting rod 65
  • the third side of the parallelogram The side basically coincides with the second connecting rod 66
  • the fourth side of the parallelogram basically coincides with the instrument carrying arm 63 .
  • the cyclone axis 10 does not pass through the RC point.
  • the coordinates of the RC point in the coordinate system of the orientation platform 300 remain unchanged, so that the surgical instrument 700
  • the contact point (instrument fixed point 11 or RC point) between the long axis 720 of the device and the minimally invasive incision on the patient remains motionless, thereby avoiding tearing and pulling on the patient's wound.
  • the relative positional relationship between the cyclone axis 10 and the deflection axis 20 in space may be: the cyclone axis 10 may be out of plane with the deflection axis 20, or the cyclone axis 10 may be different from the deflection axis 20 coplanar. It should be understood that the relative positions between the cyclone axis 10 and the deflection axis 20 described here, as well as the relative positions between other axes mentioned later, are all before the adjustment of the adjustment arm 500 Relative positional relationship.
  • the relative positional relationship between the axes mentioned later is the positional relationship between the cyclone joint 681 and the deflection joint 691 in the initial state. If the positional relationship of the deflection joint 691 or the cyclone joint 681 when rotating, it will be specially explained.
  • the angle range for the parallelogram mechanism 62 to pitch around the pitch axis 40 may be [-30°, 160°], [-30°, 150°], or [-20°, 140°] ], it can be [-15°, 140°], it can be [-10°, 135°], etc.
  • the specific value can be set reasonably according to actual needs. Of course, the above specific range values are only used to help understand the solution of the present application, and are not limiting. That is, the minimum angle and the maximum angle can be adjusted according to actual needs.
  • the rotation angle range of the second side of the parallelogram relative to the third side of the parallelogram is: [-30°, 160°], it can also be [-25°, 150°], and it can be [-20°, 140°] °], can be [-15 °, 140 °], can be [-10 °, 135 °], etc.
  • the fourth side of the parallelogram relative to the third side of the parallelogram rotation angle range is: [- 30°,160°], [-30°,150°], [-20°,140°], [-15°,135°], or [-10° ,135°] and so on.
  • the included angle between the pitch axis 40 and the yaw axis 20 may be 90°, such setting is not only beneficial to the processing of the surgical robot 100 , but also beneficial to the system control calculation of the surgical robot 100 .
  • the included angle between the pitch axis 40 and the yaw axis 20 can also be an angle close to 90°, for example, it can be deviated by 1-10°, etc., which can be reasonably determined according to actual needs. set up.
  • Embodiment 1 The pitch axis 40, the insertion axis 30, the yaw axis 20, and the first side 50 of the parallelogram intersect at the RC point, while the cyclone axis 10 does not pass the RC point
  • the cyclone axis 10 may not intersect with any one of the pitch axis 40 , the insertion axis 30 , the yaw axis 20 and the first side 50 of the parallelogram;
  • the cyclone axis 10 may only intersect the pitch axis 40;
  • the cyclone axis 10 can also only intersect the insertion axis 30;
  • the cyclone axis 10 can also only intersect the deflection axis 20;
  • the cyclone axis 10 can also only intersect with the first side 50 of the parallelogram
  • the cyclone axis 10 may also intersect any two of the insertion axis 30, the deflection axis 20, and the first side 50 of the parallelogram;
  • the cyclone axis 10 may also intersect any one of the yaw axis 20 and the first side 50 of the parallelogram and the pitch axis 40;
  • the cyclone axis 10 intersects with any one of the deflection axis 20 and the first side 50 of the parallelogram and the insertion axis 30 .
  • the deflection axis 20 forms an included angle ⁇ with the first side 50 of the parallelogram, and the deflection axis 20 deviates from the first side 50 of the parallelogram.
  • the parallelogram The first side 50 of the quadrilateral is located below the deflection axis 20, and the range of the included angle ⁇ can be (0, 45°], [2°, 30°], or [2°, 20°] ], it can be [5°, 20°], etc.
  • the first side 50 of the parallelogram can also be located above the deflection axis 20, and the range of the included angle ⁇ can be (0 ,75°], it can also be [2°,55°], it can also be [2°,50°], it can be [5°,40°], etc.
  • the deflection axis 20 and the parallelogram One side 50 forms an included angle ⁇ , so that when the parallelogram mechanism 62 rotates around the deflection axis 20, it can prevent the first joint 67 of the parallelogram mechanism 62 from touching the patient when it rotates to the lowest point, thereby improving the performance of the surgical robot 100. Safety during surgery.
  • the cyclone axis 10 does not intersect any of the pitch axis 40, the insertion axis 30, the yaw axis 20 and the first side 50 of the parallelogram; or
  • Two lines intersect the cyclone axis 10 with the insertion axis 30 and the first side 50 of the parallelogram.
  • the included angle ⁇ between the line between the cyclone joint 681 and the RC point and the cyclone axis 10 may be: (0,10°], or (0,5°], or It can be [1°, 4°], or [1°, 2°], etc.
  • the angle between the deflection joint 691 and the cyclone joint 681 is ⁇ . It can be understood that the The cyclone joint 681 can be deflected by ⁇ toward the inside close to the paper, or can be deflected by ⁇ toward the outside of the paper relative to the deflection joint 691 .
  • the distance between the two nearest points can be taken to obtain the cyclone axis 10 and the deflection axis 20
  • the range of the distance d can be: (0,10cm], (0,5cm], (0,2cm], [1cm,2cm], or [0.5cm,1.5cm] cm], etc., the specific values can be reasonably set according to actual needs.
  • the cyclone axis 10 and the deflection axis 20 are coplanar, the two can be parallel or intersect at a non-RC point.
  • the cyclone axis 10 when the cyclone axis 10 is coplanar with the deflection axis 20 , the cyclone axis 10 is parallel to or intersects with the deflection axis 20 . Taking the intersection of the two as an example, the cyclone axis 10 and the deflection axis 20 intersect at a non-RC point, such as point C, and form an angle between them. It can be understood that, when the distance between the deflection joint 691 and the cyclone joint 681 is relatively short, the relationship between the cyclone axis 10 and the deflection axis 20 may also be parallel.
  • Embodiment 2 The cyclone axis 10 (but the RC point) intersects the pitch axis 40 and the insertion axis 30 at a non-RC point
  • the cyclone axis 10 when the cyclone joint 681 is at the initial position, the cyclone axis 10 may be out of plane with the pitch axis 40, or may intersect at a non-RC point position; when the cyclone joint 681 is at the initial position, the The cyclone axis 10 may be out of plane with the insertion axis 30, or may intersect at a position other than the RC point.
  • the cyclone axis 10 may not intersect any of the pitch axis 40 , the insertion axis 30 , the deflection axis 20 and the first side 50 of the parallelogram;
  • the cyclone axis 10 can also only intersect the insertion axis 30;
  • the cyclone axis 10 can also only intersect with the first side 50 of the parallelogram
  • the cyclone axis 10 may intersect any two lines of the insertion axis 30 , the deflection axis 20 and the first side 50 of the parallelogram.
  • the cyclone axis 10 when it is the case 1), when the cyclone axis 10 may not intersect with any one of the pitch axis 40, the insertion axis 30, the deflection axis 20, and the first side 50 of the parallelogram, the cyclone axis 10 is taken and the distance between the two nearest points between the two of the deflection axis 20, the distance m between the cyclone axis 10 and the deflection axis 20 is obtained, and the range of the distance m can be: (0, 10cm], it can also be (0,5cm], it can be (0,2cm], it can be [1cm,2cm], it can be [0.5cm,1.5cm], etc. set up.
  • the cyclone axis 10 also intersects the deflection axis 20;
  • the cyclone axis 10 may also intersect the deflection axis 20 and the parallel first side 50 .
  • the distance range between the RC point and the X point can be: (0,10cm], can also be (0,5cm], can also be (0,2cm], can also be [1cm,2cm], It can also be [0.5cm, 1.5cm], etc. It can be understood that the distance range is not limited to the numerical range listed above, and in other embodiments, it can be reasonably set according to needs.
  • the cyclone axis 10 and the insertion axis 30 can also be on different planes, and the distance between the two closest points between the insertion axis 30 and the cyclone axis 10 to obtain the distance l between the insertion axis 30 and the cyclone axis 10, the range of the distance l can be: (0,10cm], can also be (0,5cm], can also be (0 , 2cm], it can be [1cm, 2cm], it can be [0.5cm, 1.5cm], etc.
  • the distance range is not limited to the numerical range listed above, and in other embodiments, it can be reasonably set as required.
  • the cyclone axis 10 may not intersect any of the pitch axis 40 , the insertion axis 30 , the deflection axis 20 and the first side 50 of the parallelogram;
  • the cyclone axis 10 can also only intersect the insertion axis 30;
  • the cyclone axis 10 can also only intersect with the first side 50 of the parallelogram
  • the cyclone axis 10 may also intersect the insertion axis 30 and the first side 50 of the parallelogram.
  • the cyclone axis 10 does not intersect any of the pitch axis 40 and the yaw axis 20;
  • the cyclone axis 10 also intersects the first side 50 of the parallelogram.
  • the cyclone axis 10 does not intersect any of the pitch axis 40, the insertion axis 30, the yaw axis 20, and the first side 50 of the parallelogram; or
  • said cyclone axis 10 intersects said insertion axis 30 only;
  • said cyclone axis 10 only intersects said deflection axis 20;
  • said cyclone axis 10 only intersects said parallelogram first side 50;
  • the cyclone axis 10 intersects any two lines among the insertion axis 30 , the deflection axis 20 and the first side 50 of the parallelogram.
  • said cyclone axis 10 does not intersect said pitch axis 40;
  • said cyclone axis 10 also intersects said deflection axis 20;
  • the cyclone axis 10 also intersects the first side 50 of the parallelogram.
  • the cyclone axis 10 may not intersect any of the pitch axis 40 , the insertion axis 30 , the deflection axis 20 and the first side 50 of the parallelogram;
  • the cyclone axis 10 may only intersect the pitch axis 40;
  • the cyclone axis 10 can also only intersect with the first side 50 of the parallelogram;
  • the cyclone axis 10 can also only intersect the deflection axis 20;
  • the cyclone axis 10 may also intersect with any one of the yaw axis 20 and the first side 50 of the parallelogram and the pitch axis 40 .
  • the cyclone axis 10 when it is the case 1), when the cyclone axis 10 may not intersect with any one of the pitch axis 40, the insertion axis 30, the deflection axis 20, and the first side 50 of the parallelogram, the cyclone axis 10 is taken
  • the distance between the two nearest points with the insertion axis 30 is the distance n between the cyclone axis 10 and the insertion axis 30, and the range of the distance n can be: (0, 10cm], it can also be (0,5cm], it can be (0,2cm], it can be [1cm,2cm], it can be [0.5cm,1.5cm], etc. set up.
  • the cyclone axis 10 intersects the pitch axis 40 at a non-RC point, such as point O, it can be understood that the intersection point O can be close to the inside of the paper, or Can be towards the outside of the paper.
  • a non-RC point such as point O
  • the relationship between the cyclone axis 10 and other lines is as follows:
  • the cyclone axis 10 may not intersect with any one of the insertion axis 30, the deflection axis 20 and the first side 50 of the parallelogram;
  • the cyclone axis 10 also intersects the deflection axis 20;
  • the cyclone axis 10 may also intersect the deflection axis 20 and the parallel first side 50 .
  • the distance range between the RC point and the O point can be: (0,10cm], can also be (0,5cm], can also be (0,2cm], can also be [1cm,2cm], It can also be [0.5cm, 1.5cm], etc., and the specific value can be set reasonably according to actual needs.
  • the cyclone axis 10 and the pitch axis 40 may also be in different planes, and the distance between the two closest points between the cyclone axis 10 and the pitch axis 40 to obtain the distance d between the insertion axis 30 and the cyclone axis 10, the range of the distance d can be: (0,10cm], can also be (0,5cm], can also be (0 , 2cm], it can be [1cm, 2cm], it can be [0.5cm, 1.5cm], etc.
  • the distance range is not limited to the numerical range listed above, and in other embodiments, it can be reasonably set as required.
  • the cyclone axis 10 does not intersect any of the insertion axis 30, the deflection axis 20 and the first side 50 of the parallelogram; or
  • the cyclone axis 10 also intersects the first side 50 of the parallelogram.
  • said cyclone axis 10 does not intersect any of said insertion axis 30 and deflection axis 20; or
  • the cyclone axis 10 also intersects the deflection axis 20 .
  • Embodiment 3 Compared with Embodiment 1 or Embodiment 2, the deflection axis 20 is collinear with the first side 50 of the parallelogram
  • the deflection axis 20 When the deflection axis 20 is collinear with the first side 50 of the parallelogram, only the deflection axis 20 is referred to below as the deflection axis 20 /the first side 50 of the parallelogram.
  • the cyclone axis 10 may not intersect any of the pitch axis 40 , insertion axis 30 and yaw axis 20 ;
  • the cyclone axis 10 may only intersect the pitch axis 40;
  • the cyclone axis 10 can also only intersect the insertion axis 30;
  • the cyclone axis 10 can also only intersect the deflection axis 20;
  • the cyclone axis 10 may also intersect both the insertion axis 30 and the deflection axis 20;
  • the cyclone axis 10 may also intersect the yaw axis 20 and the pitch axis 40;
  • the cyclone axis 10 intersects the deflection axis 20 and the insertion axis 30 .
  • the deflection axis 20 may be collinear with the first side 50 of the parallelogram, that is, between the deflection axis 20 and the first side 50 of the parallelogram
  • the included angle ⁇ is 0.
  • both the first joint 67 and the deflection joint 691 are located on the deflection axis 20 , or both are located on the extension line of the first side 50 of the parallelogram.
  • the cyclone axis 10 may not intersect any of the pitch axis 40 , insertion axis 30 and yaw axis 20 ;
  • the cyclone axis 10 can also only intersect the insertion axis 30 (as shown in FIG. 11 );
  • the cyclone axis 10 can also only intersect the deflection axis 20;
  • the cyclone axis 10 may also intersect the insertion axis 30 and the deflection axis 20 .
  • the cyclone axis 10 may not intersect any of the pitch axis 40 , insertion axis 30 and yaw axis 20 ;
  • the cyclone axis 10 may also only intersect the pitch axis 40 (as shown in FIG. 12 );
  • the cyclone axis 10 can also only intersect the deflection axis 20;
  • the cyclone axis 10 may also intersect the pitch axis 40 and the yaw axis 20 .
  • Embodiment 4 Compared with Embodiment 1, the cyclone axis 10 passes through the RC point, while the deflection axis 20 does not pass through the RC point
  • this embodiment exchanges the relationship between the deflection axis 20 and the cyclone axis 10 and the RC point, that is, the cyclone axis 10 passes through the RC point instead of passing through the RC point;
  • the deflection axis 20 is changed from passing through the RC point to not passing through the RC point.
  • the yaw axis 20 does not intersect any of the pitch axis 40, the insertion axis 30, the cyclone axis 10, and the first side 50 of the parallelogram; or
  • said yaw axis 20 intersects said pitch axis 40 only;
  • said deflection axis 20 intersects said insertion axis 30 only;
  • said deflection axis 20 intersects said cyclone axis 10 only;
  • said deflection axis 20 only intersects said parallelogram first side 50;
  • said deflection axis 20 intersects said cyclone axis 10 and said parallelogram first side 50;
  • the deflection axis 20 intersects any two of the insertion axis 30 , the cyclone axis 10 and the first side 50 of the parallelogram; or
  • the yaw axis 20 intersects any one of the cyclone axis 10 and the first side 50 of the parallelogram and the pitch axis 40; or
  • the deflection axis 20 intersects any one of the cyclone axis 10 and the first side 50 of the parallelogram and the insertion axis 30 .
  • the cyclone axis 10 forms an angle ⁇ with the first side 50 of the parallelogram, and the cyclone axis 10 deviates from the first side 50 of the parallelogram.
  • the parallelogram The first side 50 of the quadrilateral is located above the cyclone axis 10, and the range of the included angle ⁇ can be (0, 45°], [2°, 30°], or [2°, 20°] ], it can be [5°, 20°], etc.
  • the first side 50 of the parallelogram can also be located below the cyclone axis 10, and the range of the included angle ⁇ can be: ( 0,145°], it can also be (0,125°], it can also be (0,90°], it can be [5°,45°], etc.
  • the angle ⁇ can prevent the first joint 67 of the parallelogram mechanism 62 from touching the patient when it rotates around the deflection axis 20, thereby improving the safety of the surgical robot 100 during the operation. sex.
  • the distance between the two closest points between the pitch axis 40 and the yaw axis 20 is taken to obtain the distance d between the pitch axis 40 and the yaw axis 20 .
  • the range of the distance d can be: (0,10cm], (0,5cm], (0,2cm], [1cm,2cm], or [0.5cm,1.5cm] cm], etc. It can be understood that, the specific numerical range of the distance d is not limited to the numerical values listed above, and in other embodiments, it can be reasonably set as required.
  • the pitch axis 40 passes through point RC, the yaw axis 20 does not pass through point RC, but the yaw axis 20 intersects the pitch axis 40 at point O , the distance range between the RC point and the O point can be: (0,10cm], can also be (0,5cm], can also be (0,2cm], can also be [1cm,2cm], and It can be [0.5cm, 1.5cm], etc. It will not be repeated here.
  • the yaw axis 20 does not intersect any of the pitch axis 40, the insertion axis 30, the cyclone axis 10, and the first side 50 of the parallelogram; or
  • said yaw axis 20 intersects said pitch axis 40 only;
  • said deflection axis 20 intersects said insertion axis 30 only;
  • said deflection axis 20 only intersects said parallelogram first side 50;
  • said deflection axis 20 intersects said insertion axis 30 with said parallelogram first side 50;
  • the yaw axis 20 intersects the first side 50 of the parallelogram and the pitch axis 40 .
  • Embodiment 5 Compared with Embodiment 4, the cyclone axis 10 is collinear with the first side 50 of the parallelogram
  • said yaw axis 20 does not intersect any of said pitch axis 40, insertion axis 30 and cyclone axis 10; or
  • said yaw axis 20 intersects said pitch axis 40 only;
  • said deflection axis 20 intersects said insertion axis 30 only;
  • said deflection axis 20 intersects said cyclone axis 10 only;
  • said deflection axis 20 intersects said insertion axis 30 and said cyclone axis 10;
  • the yaw axis 20 intersects the cyclone axis 10 and the pitch axis 40 .
  • the deflection axis 20 is collinear with the first side 50 of the parallelogram, that is, the angle ⁇ between the deflection axis 20 and the first side 50 of the parallelogram is zero.
  • both the first joint 67 and the cyclone joint 681 are located on the deflection axis 20 , or both are located on the extension line of the first side 50 of the parallelogram.
  • the insertion axis 30 passes through the point RC, and the cyclone axis 10 does not pass through the point RC, but the cyclone axis 10 and the insertion axis 30 intersect at point X, so
  • the distance range between the RC point and the X point can be: (0,10cm], (0,5cm], (0,2cm], [1cm,2cm], or [0.5cm, 1.5cm] etc. No more details here.
  • said yaw axis 20 does not intersect any of said pitch axis 40 , insertion axis 30 and cyclone axis 10 ; or
  • said yaw axis 20 intersects said pitch axis 40 only;
  • the pivot axis 20 only intersects the insertion axis 30 .
  • the orientation platform 124' is connected to the suspension arm 122'
  • the adjustment arm 126' is connected to the orientation platform 124'
  • the operating arm 130' is attached to the adjustment arm 126'
  • the adjustment arm 126' support
  • the adjustment arm 126' may include: rotary joint 1', rotary arm 2', linear joint 3', translation arm 4', linear joint 5', lifting arm 6', rotary joint 7', rotary arm 8', cyclone Joint 9', deflection joint 10'.
  • the components of the adjustment arm 126' are sequentially coupled.
  • the adjustment arm 126' is rotatably connected to the orientation platform 124' through the rotary joint 1', and is supported by the orientation platform 124'.
  • Orientation platform 124' is rotatably connected to and supported by suspension arm 122'.
  • the suspension arm 122' is fixedly attached to and supported by the base body 72' via the upright 88'.
  • the suspension arm 122' is operable to selectively set the angle of the orientation platform 124' relative to the base 72'.
  • the adjustment arm 126' is operable to selectively set the angle of the associated manipulator arm 130' relative to the orientation platform 124'.
  • the operating arm 130' also includes a coupling link 20' fixedly connecting the deflection joint 10' to the cyclone joint 9'.
  • the cyclone joint 9' is operable to rotate the deflection joint 10' relative to the support link 128' about a cyclone axis 150' which does not pass through said RC point.
  • the deflection axis 140' passes through said RC point. Operation of the cyclone joint 9' can be used to reorient the parallelogram mechanism 82' relative to the patient without moving the RC point relative to the patient.
  • the rotation of the rotary joint 1' drives the rotating arm 2' to rotate
  • the movement of the linear joint 3' drives the translation arm 4' to move in the horizontal direction
  • the movement of the linear joint 5' drives the lifting arm 6' to make It can move in the vertical direction
  • the rotation of the rotary joint 7 ′ drives the rotation of the rotary arm 8 ′
  • the rotation of the cyclone joint 9 drives the parallelogram mechanism 82 ′ to rotate along the cyclone axis 12 .
  • Linear joint 3' and linear joint 5' are linked, and rotary joint 1', rotary joint 7', and cyclone joint 9' can rotate independently.
  • the fixed point 11' of the instrument refers to the position where the distal end of the long axis of the surgical instrument remains relatively stationary during the operation after the surgical instrument is installed on the instrument carrying arm (not shown in the figure).
  • the cyclone axis 150' of the cyclone joint 9' does not pass through the instrument fixed point 11'.
  • the instrument fixed point 11' coincides with the RC point of the surgical robot.
  • the linear joint 3', the linear joint 5' and the rotary joint 7' are linked, and the rotary joint 1' may not rotate to compensate for the deviation of the fixed point 11' of the instrument that may be caused by the movement of the cyclone joint 9'. Move, and maintain the position of the RC point in the coordinate system of the directional platform, so as to avoid tearing the incision at the entrance of the surgical instrument.
  • the robot kinematics modeling method such as the DH (Denavit-Hartenberg) method
  • the kinematics modeling of the orientation platform, the adjustment arm and the manipulator arm is carried out, including the definition of the coordinate system, the definition of the transformation relationship, etc.
  • transformation refers to a transformation matrix or a transformation coordinate system.
  • the compensation movement of the adjustment arm is implemented when the cyclone joint is adjusted.
  • the transformation from the orientation platform reference coordinate system F0 to the adjustment arm reference coordinate system Fa is a fixed transformation T0a; the transformation from the adjustment arm reference coordinate system Fa to the whirlwind joint reference coordinate system Fb is determined by the positions of the joints of the adjustment arm, defined as Tab; The transformation from the cyclone joint reference coordinate system Fb to the RC reference coordinate system Fc is determined by the position of the cyclone joint and is defined as Tbc, specifically refer to FIG. 8 .
  • the cyclone joint When the user adjusts the cyclone joint, the cyclone joint performs motion adjustment according to the user input, and the adjustment arm joint performs compensation motion based on kinematic calculation, so that the RC point remains unchanged.
  • Step 901 Start the operation of the cyclone joint: based on the user input, the controller responds to the user input and starts to perform the adjustment of the cyclone joint;
  • the controller may be a robotic arm controller.
  • Step 902 Get the position P0c of the RC point in the coordinate system of the orientation platform:
  • T0c T0a*Tab*Tbc
  • the transformation matrix can be expressed as R is the attitude component, and P is the position component.
  • the position component in this transformation is the position P0c of the RC point in the coordinate system of the orientation platform, and the controller stores this position P0c, and the purpose of the subsequent compensation method is to keep this position unchanged.
  • Step 903 Adjust the position of the whirlwind joint according to the operation: Generally speaking, based on user input, the whirlwind joint will perform motion adjustment according to a specific motion mode (such as JOG motion). The user's input can be that the user presses the adjustment button of the cyclone joint on the mechanical arm.
  • a specific motion mode such as JOG motion
  • Step 904 Obtain the actual position of the cyclone joint: the actual position of the cyclone joint can be obtained from the joint encoder.
  • the joint encoder can be a position sensor, which is installed at the joint and can measure the motion angle and position of the joint.
  • Step 905 Calculate the actual value of the transformation Tbc: as mentioned above, the transformation from the cyclone joint reference frame Fb to the RC reference frame Fc is determined by the position of the cyclone joint. Based on the actual position of the cyclone joint obtained in the previous step, it can be connected The rod transformation relation gets the actual value of transformation Tbc.
  • Step 906 Calculate the compensation value of the change Tab.
  • P0c Transform the position component of T0c
  • R0a Transform the attitude component of T0a
  • P0a Transform the position component of T0a
  • Rab Transform the attitude component of Tab
  • Pab Transform the position component of Tab
  • Rbc Transform the attitude component of Tbc
  • Pbc Transform the location component of Tbc.
  • R0a, P0a respectively represent the relative attitude and position between the orientation platform reference system and the adjustment arm reference system, both of which are fixed parameters and known
  • Rbc, Pbc respectively represent the cyclone joint reference system and RC
  • the relative attitude and position between the reference frames, only the position of the cyclone joint is a variable in the adjustment process of the cyclone joint, which can be obtained from the previous step; it can be seen that in the above formula, only Rab and Pab are unknown variables, which are related to the joints of the adjustment arm Location related.
  • P x , P y , and P z are the three components of the RC point position P oc respectively, and f 1 , f 2 , and f 3 represent the corresponding calculation functions, which are equal to the joint positions of the adjusting arm ( ⁇ 1 , ⁇ 2 ... ⁇ i ) correlation.
  • Step 907 Calculate the compensation value for adjusting the position of the arm joint:
  • the compensation value of the position of the adjusting arm ( ⁇ 1 , ⁇ 2 ... ⁇ i ) can be obtained by solving the equation set; if the number of joints of the adjusting arm is greater than 3, the When , the number of equations is less than the number to be solved, corresponding to the adjustment arm is a redundant joint, and a solution strategy needs to be defined at this time.
  • the adjustment arm may include four joints, which are a rotary joint A, a linear joint B, a linear joint C, and a rotary joint D from top to bottom.
  • the optional compensation combination of the adjusting arm can have the following four combinations:
  • mobility refers to the feasibility and effectiveness of the mechanical arm to adjust the movement of the end through each joint movement.
  • morbidity means that in some states, the combined motion of each joint of the robotic arm cannot achieve the desired movement of the end.
  • the near pathology means that the combined motion of each joint of the manipulator requires a higher speed to meet the desired movement of the end.
  • the specific performance is as described above.
  • ⁇ 1 is a known variable, which represents the current position of the rotary joint A.
  • the compensation values ( ⁇ 2 , ⁇ 3 , ⁇ 4 ) can be derived according to the above equations.
  • the joints are redundant, and a redundant strategy needs to be defined when solving.
  • the idea of adjusting arm compensation combination a.
  • the main task of adjusting arm movement is to compensate the position deviation of the RC point caused by the movement of the cyclone joint; b. Consider the spatial positioning of the four robotic arms to avoid collisions during the operation.
  • the rotary joint A Define the rotary joint A as the active joint.
  • the rotary joint A moves according to the relevant path (such as moving in the direction of the recommended angle), and the relevant path is defined by the adjustment arm controller based on the purpose of adjusting the space between the arms;
  • the corresponding compensation values ( ⁇ 2 , ⁇ 3 , ⁇ 4 ) are calculated according to the above equations.
  • the recommended angle refers to the angle between the adjustment arm and the adjustment arm.
  • Step 908 According to the position compensation value calculated above, adjust each joint of the arm for position driving.
  • Step 909 The operation of the cyclone joint stops.
  • Step 910 If the cyclone joint reaches the limit, or the adjusting arm joint reaches the limit, or the operation of the cyclone joint stops, neither the cyclone joint nor the adjusting arm joint moves.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un bras robotique (400), qui est relié à une plateforme directionnelle (300) et comprend un bras d'actionnement (600) et un bras de réglage (500) qui est relié au bras d'actionnement (600). Le bras d'actionnement (600) comprend : une jonction de déviation (691) qui présente un axe de déviation (20) traversant un point de centre distant (RC) ; une jonction à cyclone (681), dont une extrémité est reliée à la jonction de déviation (691) et dont l'autre extrémité est reliée au bras de réglage (500) et qui a un axe de cyclone (10) qui ne traverse pas le point RC et ne coïncide pas avec l'axe de déviation (20). Le bras de réglage (500) est utilisé pour maintenir inchangées les coordonnées du point RC dans le système de coordonnées de la plateforme directionnelle lorsque la jonction à cyclone (681) tourne autour de l'axe de cyclone (10). Un dispositif d'actionnement esclave (2) et un robot chirurgical (100) comprenant le bras robotique (400) peuvent maintenir le point de contact entre l'axe long d'un instrument chirurgical (700) et une incision minimalement invasive sur un patient, ce qui empêche la plaie du patient de se déchirer.
PCT/CN2022/129287 2021-11-11 2022-11-02 Bras robotique, dispositif d'actionnement esclave et robot chirurgical WO2023083076A1 (fr)

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