WO2023108979A1 - 一种分体驱动式介入手术机器人 - Google Patents

一种分体驱动式介入手术机器人 Download PDF

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Publication number
WO2023108979A1
WO2023108979A1 PCT/CN2022/089629 CN2022089629W WO2023108979A1 WO 2023108979 A1 WO2023108979 A1 WO 2023108979A1 CN 2022089629 W CN2022089629 W CN 2022089629W WO 2023108979 A1 WO2023108979 A1 WO 2023108979A1
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Prior art keywords
split
driven
robot according
control board
surgery robot
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PCT/CN2022/089629
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English (en)
French (fr)
Inventor
邓海云
刘群
杨良正
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深圳市爱博医疗机器人有限公司
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Publication of WO2023108979A1 publication Critical patent/WO2023108979A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present application relates to the technical field of medical devices, in particular to a split-driven interventional surgery robot.
  • Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.
  • the catheter guide wire is clamped on the transmission trolley mechanism, and the main drive device is also installed inside the slave-end surgical robot.
  • the main drive device can drive the transmission trolley mechanism to adjust the position in the linear direction.
  • the traditional slave-end surgical robot Due to the unreasonable structural design, the overall occupied space is relatively large, and the structure is not flexible, which is not conducive to doctors' operation.
  • a split-driven interventional surgery robot comprising a base, a guide device and a screw rod installed on the base, several connecting plates installed on the guide device and capable of sliding relative to the guide device, and The screw mandrel is engaged and installed correspondingly with the connecting plate one by one, and a driving device installed on each connecting plate.
  • the connecting plate to which the driving motor is correspondingly connected slides along the guide device, and then adjusts the position of the driving device on the connecting plate
  • the split-driven interventional surgery robot includes a base, a guide device, a screw, a connecting plate, a drive motor and a drive device, and is driven by a single screw rod and multiple drive motors.
  • the overall control structure occupies a small space, effectively reducing the volume of the interventional surgery robot from the end, and the cooperation is compact, effectively improving the delivery accuracy, reducing the doctor's operating pressure, and reducing interventional surgery. Surgical Risks.
  • Fig. 1 is a schematic structural diagram of a split-driven interventional surgery robot of the present application
  • Fig. 2 is a side view of the split-driven interventional surgery robot shown in Fig. 1;
  • Fig. 3 is a schematic structural diagram of the split-driven interventional surgery robot shown in Fig. 1 after the outer cover is removed;
  • Fig. 4 is an enlarged view of part A in Fig. 3;
  • Fig. 5 is a structural schematic view from another angle after removing the cover of the split-driven interventional surgery robot shown in Fig. 3 .
  • the present application provides a split-driven interventional surgery robot for clamping, delivering and/or rotating multiple elongated medical devices 100 (guide wires or catheters) , and then promote the slender medical device 100, that is, the guide wire or catheter to enter or exit the patient's body, which includes a base 10, a guide device 20 and a screw rod 40 installed on the base 10 and arranged parallel to each other, installed on the guide device 20 and can slide relative to the guide device 20, a number of drive motors 50 that are engaged with the screw mandrel 40 and installed in one-to-one correspondence with the connection plates 30, a driving device 60 installed on each connection plate 30, The outer cover 200 installed on the base 10 and covering the top of the base 10 .
  • the outer cover 200 and the base 10 enclose an isolated space 110, the guide device 20 and the driving motor 50 are arranged inside the isolated space 110, and a slender movable gap 130 is provided between the outer cover 200 and the base 10, the The connecting plate 30 protrudes from the movable slot 130 , and the driving device 60 is mounted on the connecting plate 30 outside the outer cover 200 .
  • the base 10 is a long profile, and its two ends are respectively provided with upright support plates 14 , and the two ends of the screw rod 40 are respectively installed on the two support plates 14 correspondingly.
  • the guide device 20 includes a guide rail 21 whose extension direction is consistent with the delivery direction of the elongated medical device 100 and a plurality of sliders 22 mounted on the guide rail 21 and sliding along the guide rail 21.
  • the extension direction of the guide rail 21 is consistent with the elongated medical device 100
  • the delivery direction of the medical device 100 is the same, that is, the extension direction of the base 10, the guide rail 21 is installed along the extension direction of the base 10 and is located between the two support plates 14, and slide grooves 211 are respectively provided on both sides of the guide rail 21 , and it extends along the extension direction of the guide rail 21, the bottom of the slider 22 is provided with a card slot 221, and the opposite side walls of the card slot 221 are respectively provided with a card protrusion 222, the slider 22 and the guide rail 21 When installed together, the side of the guide rail 21 close to the slider 22 is locked into the slot 221 , and the protrusion 222 is correspondingly locked in the slide slot 211 , so that the slider 22 can slide along the guide rail 21 .
  • the connection plate 30 includes a connection section 33, a first installation section 31 and a second installation section 32, and the first installation section 31 and the second installation section 32 are vertically connected to both sides of the connection section 33 respectively and in directions away from each other.
  • the driving motor 50 and the driving device 60 are installed on the first installation section 31 and the second installation section 32 respectively.
  • the drive motor 50 is a through-type screw motor, and the drive motor 50 is provided with a rotor with an internal thread.
  • the screw 40 passes through the rotor of the drive motor 50, and the external thread on the screw 40 is connected to the internal thread of the rotor. catch.
  • the driving device 60 is mounted on the second installation section 32 of the connecting plate 30 , and the driving motor 50 is installed in cooperation with the screw rod 40 and is also installed in cooperation with the first installation section 31 of the connecting plate 30 . Due to the position limitation of the screw mandrel 40 and the gravity downward pressure effect of the drive motor 50 on the first installation section 31 on one side of the connecting plate 30, the slider 22 is placed on the guide rail 21 while reducing the deformation of the first installation section 31. The upper operation is smoother, which can effectively prevent the uneven force on both sides of the connecting plate 30 caused by the driving device 60, thereby causing the phenomenon that the end of the connecting plate 30 close to the first installation section 31 is upturned.
  • an accommodation space 120 is formed between the driving device 60 and the connecting section 33, the horizontal height of the first installation section 31 is higher than that of the second installation section 32, and the outer cover 200 rests on
  • the bottom edge on one side of the driving device 60 extends into the accommodating space 120, and the movable gap 130 is formed between the bottom edge of the outer cover 200 on one side of the driving device 60 and the base 10, and the connecting section 33 of the connecting plate 30 is opened from the movable gap 130 protrudes, and the second mounting section 32 is arranged below the bottom edge of the outer cover 200 on the side of the driving device 60 , so that the driving motor 50 drives the connecting plate 30 to move linearly without being affected by the outer cover 200 .
  • the application also includes a main control board 91, a number of supporting boards 80 installed separately with each connecting board 30, a sub-control board module 90 installed on each supporting board 80, and connecting the main control board 91 and each sub-controlling board.
  • the control board module 90 is installed on the side of the support plate 80 on the side of the connecting plate 30, the number of sub-control boards on the sub-control board module 90 is at least one group, and the distance between each branch board 80 and its sub-control board 1.
  • a wiring space is formed between the sub-control board of each branch board 80 and the sub-control board of the corresponding support board 80 , and the main control board 91 is arranged on the side of the base 10 facing away from the driving device 60 .
  • the main control board 91 and the sub-control boards in the sub-control board module 90 are circuit boards.
  • the main control board 91 and the sub-control board module 90 only need a wire group with a small number of wires to realize signal transmission and control, which can effectively reduce the number of wires between the main control board 91 and the driving device 60, which is convenient for wiring, and
  • the sub-control board module 90 and the corresponding drive device 60 and drive motor 50 are directly or indirectly installed on the same connection board 30, and the wires used to connect the sub-control board module 90 and the drive device 60 can move synchronously with the connection board 30, Unaffected, the flexibility of the driving trolley 60 when moving in the delivery direction is improved.
  • driving motor 50 starts, because driving motor 50 engages with the external thread on screw mandrel 40 through internal thread, under the effect of the external thread on screw mandrel 40, screw mandrel 40 pushes drive motor 50 along screw mandrel 40 movement, and then drive the connecting plate 30 to linearly slide along the delivery direction to adjust the position of the driving device 60 on the connecting plate 30, so that the driving device 60 completes the initial adjustment of the position, and then according to the operation requirements, the elongated medical device 100 Installed on the driving device 60 , different driving devices 60 cooperate with corresponding driving motors 50 to perform rotation and/or delivery operations on multiple elongated medical instruments 100 .
  • the split-driven interventional surgery robot device of this application completes the displacement control of multiple driving devices 60 in the delivery direction by using the single-screw rod 40 and multiple driving motors 50 to drive together, and the overall control structure occupies The space is small, effectively reducing the size of the interventional surgery robot, and the compact fit can effectively improve the delivery accuracy, reduce the operating pressure of doctors, and reduce the risk of interventional surgery.

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

Abstract

本申请提供一种分体驱动式介入手术机器人。分体驱动式介入手术机器人包括底座、装设于底座上的导向装置和丝杆、装设于导向装置上并可以相对于导向装置滑动的若干连接板、与丝杆啮合并与连接板一一对应安装的若干驱动电机、装设于每一连接板上的驱动装置，驱动电机工作时沿丝杆移动，并带动与驱动电机对应连接的连接板沿导向装置滑动，进而对连接板上的驱动装置进行调位。

Description

一种分体驱动式介入手术机器人
本申请要求于2021年12月15日提交中国专利局、申请号为202111532156.0，发明名称为“一种分体驱动式介入手术机器人”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技术领域，尤其涉及一种分体驱动式介入手术机器人。
 背景技术
介入治疗是利用现代高科技手段进行的一种微创性治疗，在医学影像设备的引导下，将特制的导管、导丝等精密器械，引入人体，对体内病态进行诊断和局部治疗。
在介入手术过程中，导管导丝夹持在传动小车机构上，从端手术机器人内部还设有主驱动装置，主驱动装置可以带动传动小车机构在线性方向进行位置调整，传统的从端手术机器人由于结构设计不合理，整体占用空间相对较大，结构不灵活，不利于医生操作。
 技术解决方案
本申请的目的之一提供的技术方案如下：
一种分体驱动式介入手术机器人，包括底座、装设于所述底座上的导向装置和丝杆、装设于所述导向装置上并可以相对于所述导向装置滑动的若干连接板、与所述丝杆啮合并与所述连接板一一对应安装的若干驱动电机、装设于每一所述连接板上的驱动装置，所述驱动电机工作时沿所述丝杆移动，并带动与所述驱动电机对应连接的所述连接板沿所述导向装置滑动，进而对所述连接板上的所述驱动装置进行调位
 有益效果
本申请的有益效果在于：
与现有技术相比，本申请提供的分体驱动式介入手术机器人包括底座、导向装置和丝杆、连接板、驱动电机及驱动装置，通过采用单丝杆与多个驱动电机配合驱动的方式，完成对各个驱动装置在递送方向的位移控制，整体控制结构占用空间较小，有效缩小介入手术机器人从端整机的体积，并且配合紧凑，有效提高递送精度，减轻医生的操作压力，降低介入手术风险。
 附图说明
图1为本申请一种分体驱动式介入手术机器人的结构示意图；
图2为图1所示分体驱动式介入手术机器人的侧面视图；
图3为图1所示分体驱动式介入手术机器人拆除外罩后的结构示意图；
图4为图3中A部分的放大图；
图5为图3所示分体驱动式介入手术机器人拆除外罩后另一角度的结构示意图。
本申请的实施方式
下面结合图1至图5对本申请作详细描述。
如图1至图5所示，本申请提供一种分体驱动式介入手术机器人，用于对多条细长型医疗器械100（导丝或导管）执行夹持、递送和/或转动的操作，进而推动细长型医疗器械100即导丝或导管进入或退出手术病人身体，其包括底座10、装设于底座10上并相互平行设置的导向装置20和丝杆40、装设于导向装置20上并可以相对于导向装置20滑动的若干连接板30、与丝杆40啮合并与连接板30一一对应安装的若干驱动电机50、装设于每一连接板30上的驱动装置60、装设于底座10上并罩设于底座10上方的外罩200。所述外罩200与底座10围成一隔离空间110，所述导向装置20及驱动电机50设置在隔离空间110内部，所述外罩200与底座10之间设有一细长的活动缝隙130，所述连接板30从活动缝隙130伸出，所述驱动装置60安装在位于外罩200外侧的连接板30上。
所述底座10为长型型材，其两端分别设有竖立的支撑板14，所述丝杆40的两端分别对应装设于所述两支撑板14上。所述导向装置20包括延伸方向与细长型医疗器械100递送方向一致的导轨21及安装于导轨21上并可沿导轨21滑动的若干滑块22，所述导轨21的延伸方向与细长型医疗器械100的递送方向一致，也即所述底座10的延伸方向，导轨21沿底座10的延伸方向安装并位于所述两支撑板14之间，所述导轨21两侧分别设有滑槽211，且其沿所述导轨21的延伸方向延伸，所述滑块22底部设有卡槽221，所述卡槽221内相对的两侧壁上分别设有卡凸222，滑块22与导轨21配合安装时，所述导轨21靠滑块22的一面卡入卡槽221内，卡凸222对应卡设于滑槽211内，从而使得滑块22可以沿导轨21滑动。
所述连接板30包括连接段33、第一安装段31及第二安装段32，所述第一安装段31、第二安装段32分别垂直连接于连接段33两侧并呈相互背离的方向延伸，所述驱动电机50、驱动装置60分别装设于第一安装段31、第二安装段32上。所述驱动电机50为贯通式丝杆电机，驱动电机50内设有内螺纹的转子，所述丝杆40从驱动电机50的转子穿过，丝杆40上的外螺纹与转子的内螺纹螺接。所述驱动装置60装设于连接板30的第二安装段32，所述驱动电机50与丝杆40配合安装的同时，与连接板30的第一安装段31配合安装。由于丝杆40的限位，同时配合驱动电机50对连接板30一侧的第一安装段31的重力下压作用，在减少第一安装段31变形的情况下，使滑块22在导轨21上运行更顺畅，可有效防止由于驱动装置60造成连接板30两侧受力不均进而造成连接板30靠第一安装段31一端上翘的现象发生。
当外罩200安装在底座10上时，所述驱动装置60与连接段33之间形成一容纳空间120，所述第一安装段31的水平高度高于第二安装段32，所述外罩200靠驱动装置60一侧的底部边缘伸入到容纳空间120，所述外罩200靠驱动装置60一侧的底部边缘与底座10之间形成所述活动缝隙130，连接板30的连接段33从活动缝隙130伸出，所述第二安装段32设于外罩200靠驱动装置60一侧的底部边缘的下方，驱动电机50带动连接板30线性移动时，不受外罩200影响。
本申请还包括主控制板91、与每一连接板30单独配合安装的若干支板80、装设于每一支板80的分控板模组90、连接主控制板91与每一分控板模组90的若干导线组、对导线组进行理线并引导的拖链组70，所述支板80的底部固定安装于第一安装段31背向连接段33的端部，所述分控板模组90安装于支板80靠连接板30一侧的侧面上，所述分控板模组90上的分控板数量至少为一组，每一支板80与其分控板之间、每一支板80的分控板与相应支板80的分控板之间形成一走线空间，所述主控制板91设置在底座10上背向驱动装置60的一侧。本实施例中，所述主控制板91、分控板模组90中的分控板为电路板。
通过在每一连接板30上设置分控板模组90，将部分控制模块集成在分控板模组90上，用于对安装在该连接板30上的驱动装置60及驱动电机50的控制，主控制板91与分控板模组90只需要具有少量导线的导线组即可以实现信号传输及控制，可以有效减少主控制板91与驱动装置60之间的走线数量，利于布线，而且分控板模组90与对应的驱动装置60和驱动电机50直接或间接安装在同一连接板30上，用于连接分控板模组90与驱动装置60的导线可以随连接板30同步移动，不受影响，提高驱动小车60在递送方向移动时的灵活性。
工作时，所述驱动电机50启动，由于驱动电机50通过内螺纹与丝杆40上的外螺纹啮合，在丝杆40上的外螺纹的作用下，丝杆40推动驱动电机50沿丝杆40运动，进而带动连接板30沿递送方向线性滑动，以调整连接板30上的驱动装置60的位置，使驱动装置60完成位置的初始化调整，再根据操作需求，将所述细长型医疗器械100装设于驱动装置60上，不同的驱动装置60之间与对应的驱动电机50相互配合，对多条细长型医疗器械100执行转动和/或递送操作。
综上所述，本申请分体驱动式介入手术机器人装置通过采用单丝杆40与多个驱动电机50配合驱动的方式，完成对多个驱动装置60在递送方向的位移控制，整体控制结构占用空间较小，有效缩小介入手术机器人的体积，并且配合紧凑，有效提高递送精度，减轻医生的操作压力，降低介入手术风险。
以上所述实施例仅表达了发明的一种实施方式，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，在不脱离发明构思的前提下，还可以做出若干变形和改进，这些都属于发明的保护范围。因此，发明专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种分体驱动式介入手术机器人，其中，包括底座、装设于所述底座上的导向装置和丝杆、装设于所述导向装置上并可以相对于所述导向装置滑动的若干连接板、与所述丝杆啮合并与所述连接板一一对应安装的若干驱动电机、装设于每一所述连接板上的驱动装置，所述驱动电机工作时沿所述丝杆移动，并带动与所述驱动电机对应连接的所述连接板沿所述导向装置滑动，进而对所述连接板上的所述驱动装置进行调位。
  2. 如权利要求1所述的一种分体驱动式介入手术机器人，其中，所述驱动电机为贯通式丝杆电机。
  3. 如权利要求2所述的一种分体驱动式介入手术机器人，其中，所述驱动电机内设有带内螺纹的转子，所述丝杆从所述驱动电机的转子穿过，所述丝杆上的外螺纹与所述转子的内螺纹螺接。
  4. 如权利要求3所述的一种分体驱动式介入手术机器人，其中，所述连接板包括安装所述驱动电机的第一安装段，所述第一安装段滑设于所述导向装置。
  5. 如权利要求4所述的一种分体驱动式介入手术机器人，其中，所述介入手术机器人还包括罩设于所述底座上方的外罩，所述外罩一侧与所述底座之间形成活动缝隙；所述第一安装段一端，沿与所述第一安装段沿伸方向相垂直的方向延伸，形成穿过所述活动缝隙的连接段。
  6. 如权利要求5所述的一种分体驱动式介入手术机器人，其中，所述连接板还包括连接于所述连接段自由端的第二安装段，所述驱动装置安装于所述第二安装段。
  7. 如权利要求6所述的一种分体驱动式介入手术机器人，其中，所述第一安装段、所述第二安装段分别垂直连接于所述连接段两端并呈相互背离的方向延伸。
  8. 如权利要求6所述的一种分体驱动式介入手术机器人，其中，所述驱动装置与所述连接段之间形成一容纳空间，所述外罩相应侧的底部边缘伸入到所述容纳空间内。
  9. 如权利要求5-8任一项所述的一种分体驱动式介入手术机器人，其中，所述导向装置包括导轨及配合安装于所述导轨上可沿所述导轨滑动的滑块，所述滑块装设于所述第一安装段上，所述导轨沿所述底座的沿伸方向沿伸。
  10. 如权利要求9所述的一种分体驱动式介入手术机器人，其中，所述导轨两侧设有沿所述导轨的延伸方向延伸的滑槽，所述滑块底部设有卡槽，所述卡槽相对的两侧壁上设有卡凸；
    所述导轨靠所述滑块的一面卡入所述卡槽，所述卡凸对应卡设于所述滑槽内，从而使得所述滑块可以沿所述导轨滑动。
  11. 如权利要求1所述的一种分体驱动式介入手术机器人，其中，所述分体驱动式介入手术机器人还包括主控制板、与每一所述连接板单独配合安装的若干支板、装设于每一所述支板的分控板模组、连接所述主控制板与每一所述分控板模组的若干导线组；
    其中，所述分控板模组安装于所述支板靠所述连接板一侧上，所述主控制板设置在所述底座上背向所述驱动装置的一侧。
  12. 如权利要求11所述的一种分体驱动式介入手术机器人，其中，所述分控板模组至少设有一组分控板，装设有所述分控板的所述支板与所述分控板之间形成走线空间。
  13. 如权利要求11所述的一种分体驱动式介入手术机器人，其中，所述分体驱动式介入手术机器人还包括用于对所述导线组进行理线并引导的拖链组。
  14. 如权利要求1所述的一种分体驱动式介入手术机器人，其中，所述底座两端分别设有支撑板，所述丝杆的两端分别对应装设于所述支撑板上。
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