WO2023116578A1 - 具有平行关节的器械、手术机器人 - Google Patents

具有平行关节的器械、手术机器人 Download PDF

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Publication number
WO2023116578A1
WO2023116578A1 PCT/CN2022/139722 CN2022139722W WO2023116578A1 WO 2023116578 A1 WO2023116578 A1 WO 2023116578A1 CN 2022139722 W CN2022139722 W CN 2022139722W WO 2023116578 A1 WO2023116578 A1 WO 2023116578A1
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WO
WIPO (PCT)
Prior art keywords
joint
drive
distal
cable
instrument
Prior art date
Application number
PCT/CN2022/139722
Other languages
English (en)
French (fr)
Inventor
王建辰
王深辉
李鹏志
Original Assignee
深圳市精锋医疗科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202111604327.6A external-priority patent/CN116370098A/zh
Priority claimed from CN202111603118.XA external-priority patent/CN116370095A/zh
Priority claimed from CN202111604322.3A external-priority patent/CN116370097A/zh
Application filed by 深圳市精锋医疗科技股份有限公司 filed Critical 深圳市精锋医疗科技股份有限公司
Publication of WO2023116578A1 publication Critical patent/WO2023116578A1/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
    • A61B34/37—Master-slave robots

Definitions

  • the present application relates to the field of medical instruments, in particular to an instrument for surgery and a surgical robot using the instrument.
  • 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.
  • a minimally invasive surgical robot usually includes a master console and a slave operating device.
  • the master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device.
  • the slave operating device is used to respond to the control commands sent by the master console. , and perform corresponding operations.
  • the instrument is connected with the driving device of the operating device for performing surgical operations, and the distal end of the instrument includes a terminal device for performing surgical operations and a joint assembly connected with the terminal device that can move in multiple degrees of freedom.
  • the joint assembly provides a range of motion for the terminal device. Due to the limited freedom of movement of the existing joint assembly, it cannot provide a larger range of motion for the terminal device. The motion accuracy of the existing joint assembly also needs to be improved.
  • the present application provides an instrument for surgical operations, the instrument includes a long shaft, a joint assembly and a terminal device, the joint assembly is connected between the long shaft and the Between the terminal devices, the joint assembly includes parallel joints, and the parallel joints include:
  • the proximal joint set is connected between the intermediate section and the long axis;
  • a first drive cable pair and a second drive cable pair the distal ends of the first and second drive cable pairs are connected to at least one of the proximal joint group, the middle section or the distal joint group, the first the proximal end of the pair of drive cables is coupled to the first drive unit, and the proximal end of the second pair of drive cables is coupled to the second drive unit;
  • the end device moves longitudinally;
  • the end device traverses when the first drive unit and the second drive unit move the first and second drive cable pairs in opposite directions.
  • the distal joint assembly includes at least a first distal joint with a first axis of rotation, and a second distal joint with a second axis of rotation, the first axis of rotation and the The second axis of rotation is orthogonal.
  • the central axis of the middle section is perpendicular to the first rotation axis and the second rotation axis.
  • the second axis of rotation when the end device traverses, the second axis of rotation is deflected relative to the central axis of the middle section, and the first axis of rotation is positively aligned with the central axis of the middle section. pay.
  • the distal ends of the first pair of actuation cables and the distal ends of at least one pair of actuation cables of the second pair of actuation cables are connected to the second distal joint.
  • the distal end of the first driving cable pair is connected to the second distal joint, and the distal end of the second driving cable pair is connected to the proximal joint group or the on the middle section.
  • said first drive cable pair comprises a first drive cable and a second drive cable, said first drive cable crossing said second drive cable in said intermediate section.
  • the fixing portion of the first drive cable and/or the second drive cable on the second distal joint is located at 45 degrees from the first axis of rotation and/or the second axis of rotation nearby.
  • said first pair of cables and said second pair of cables cross in said intermediate section.
  • the present application provides a surgical robot, the surgical robot includes an instrument, a first driving device and a control system, the first driving device is coupled to the instrument, the first driving device receives information from the The control signal of the control system, the apparatus includes a long shaft, a joint assembly and an end device, the joint assembly is connected between the long shaft and the end device, the joint assembly at least includes parallel joints, and the parallel joints include:
  • the distal end of the proximal joint group is connected to the proximal end of the intermediate segment;
  • a distal joint group the distal joint assembly is connected between the end device and the middle section, the distal joint group includes a first distal joint with a first rotation axis and a second rotation shaft second distal joint;
  • the first driving device is responsive to a first control signal from the control system to drive the distal joint segment of the first distal joint to rotate relative to the first axis of rotation, thereby causing the end device to traverse ;
  • the first driving device is responsive to a second control signal from the control system to drive the distal joint segment of the second distal joint to rotate relative to the second axis of rotation, thereby longitudinally moving the end device .
  • the parallel joint further includes a first pair of driving cables and a second pair of driving cables, and the distal ends of the first and second pair of cables are connected to the second distal joint.
  • said first pair of drive cables and said second pair of drive cables cross in said intermediate section.
  • At least one driving cable in the pair of first driving cables and one cable in the pair of constant length cables are formed by one cable.
  • the first driving device includes a first driving unit and a second driving unit; in response to the first control signal, the first driving unit and the second driving unit move in opposite directions , causing the end unit to traverse.
  • the first driving unit and the second driving unit in response to the second control signal, move in the same direction, so as to longitudinally move the end device.
  • the present application provides a surgical robot, which includes:
  • an instrument comprising a major shaft, a parallel articulation and an end device, the parallel articulation being connected between the major shaft and the end device;
  • first and second drive units being coupled to the instrument
  • control system which is coupled to the first drive unit and the second drive unit, the control system is used to send a control signal or a second control signal to the first drive unit and the second drive unit unit;
  • the first drive unit and the second drive unit move in the same direction, thereby driving the parallel articulation to move the end device longitudinally;
  • the first drive unit and the second drive unit move in opposite directions to drive the parallel articulation to traverse the end device.
  • the parallel articulation of the instrument of the present application can provide a greater range of motion for the end device of the instrument.
  • Fig. 1 is the schematic diagram of the main console of the surgical robot of one embodiment of the present application
  • FIG. 2 is a schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application
  • Fig. 3 is a schematic diagram of an instrument for surgery according to an embodiment of the present application.
  • Fig. 4 is a schematic diagram of a joint assembly of an instrument according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of the parallel joint translation state of the joint assembly shown in Fig. 4;
  • Fig. 6A is a schematic diagram of an instrument joint assembly, a transmission device and a driving device according to another embodiment of the present application;
  • Fig. 6B is a schematic diagram of the instrument joint assembly shown in Fig. 6A rotated 90 degrees around its axis;
  • FIG. 7A is a top view of the joint segment 452 of the parallel joint 400 and shows that the first and fourth driving cables are retracted;
  • Fig. 7B is a schematic diagram of the longitudinal movement state of the parallel joint 400
  • FIG. 7C is a top view of the joint segment 452 of the parallel joint 400 and shows that the first and third driving cables are retracted;
  • FIG. 7D is a schematic diagram of the parallel joint 400 lateral movement device
  • Fig. 8 is a schematic diagram of a surgical robot slave operating device and a power device according to an embodiment of the present application.
  • an element when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element.
  • an element When an element is referred to as being “connected to” another element, it can be directly connected to the other element or intervening elements may also be present.
  • an element When an element is said to be “coupled” to another element, it can be directly coupled to the other element or intervening elements may also be present.
  • 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 one way, or as having a dynamic connection between two objects.
  • 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 comprising a terminal device which may be a surgical tool associated with performing a surgical procedure , such as electrocauteries, clamps, staplers, cutters, imaging devices (such as endoscopes or ultrasound probes), and the like.
  • a terminal device which may be a surgical tool associated with performing a surgical procedure , 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 (eg, a joint assembly) for the end device such that the position and orientation of the end device can be manipulated in one or more mechanical degrees of freedom relative to the axis of the instrument.
  • the end device includes also 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
  • the surgical robot of one embodiment of the present application is shown in Figures 1 and 2.
  • the surgical robot includes a main console 10 and a slave operating device 20.
  • the main console 10 is located on the operator's side, and the main console 10 is used to The operation sends control commands to the slave operating device 20 and displays the images acquired from the operating device 20.
  • the operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images in the patient's body, the operator can Relevant operations (for example, performing surgery or acquiring images inside the patient's body) can be performed from the operating device 10 with immersive sensory control.
  • the main console 10 includes a display device, an armrest, a control signal processing system, an input device 11 and an observation device 12, wherein the display device is used for displaying images acquired by the aforementioned imaging system.
  • the armrest is used to place the operator's arms and/or hands so that the operator can operate the input device 11 more comfortably, and the viewing device 12 is used to observe the image displayed on the display device.
  • the handrail can also be omitted; or the observation device 12 can be omitted, and it can be observed directly at this time.
  • control signal processing system of the main console 10 processes the input signal of the input device 11 and sends a control command to the slave operating device, and the slave operating device 20 responds to the master console 10
  • control signal processing system can also be set in the slave operating device 20 , for example, in the base of the slave operating device 20 .
  • a secondary operating device 20 is located on the side of the patient for performing surgical procedures, wherein the secondary operating device 20 includes a base 25, a mechanical arm 21, a sleeve 23, a driving device 22, and one or more instruments detachably coupled to the driving device 22 30, the mechanical arm 21 is connected to the base 25, the sleeve 23 enters the human body through the incision on the human body, the distal end of one or more instruments 30 enters the human body through the sleeve 23, and the instrument 30 can be used to perform surgical operations
  • the electric cauterizer, forceps, stapler, ultrasonic scalpel, etc. can also be a camera (such as an endoscope) or other surgical instruments for acquiring images.
  • cannula 23 may also be omitted, such as in surgical procedures where insufflation is not required.
  • the base 25 can also be omitted, and the robot arm 21 of the slave operating device 20 can be installed on the wall, ceiling or operating bed.
  • the mechanical arm 21 has two kinds of motion modes: the first motion mode: the motion of the mechanical arm 21 can drag the remote center of motion 24 (Remote Center of Motion), thereby changing the relative position of the remote motion type 24 and the base 25; the second motion Mode: Controlled by an algorithm, the movement of the robotic arm 21 can cause the cannula 23 or the multi-surgical machine 30 to move around the remote center of motion 24 , and the position of the remote center of motion 24 relative to the base 25 is fixed.
  • the first motion mode the motion of the mechanical arm 21 can drag the remote center of motion 24 (Remote Center of Motion), thereby changing the relative position of the remote motion type 24 and the base 25
  • the second motion Mode Controlled by an algorithm, the movement of the robotic arm 21 can cause the cannula 23 or the multi-surgical machine 30 to move around the remote center of motion 24 , and the position of the remote center of motion 24 relative to the base 25 is fixed.
  • the mechanical arm 21 includes a plurality of joints 211, 212, 213, 214, 215, the joint 211 is a linear motion joint in the vertical direction, the joints 212, 213, 214, 215 are rotational joints, and the rotation axes of the joints 212, 213, 214 In the vertical horizontal plane, joint 215, in the second movement mode, multiple joints 211, 212, 213, 214, 215 are linked so as to realize the movement of casing 23 or multiple instruments around the remote motion center 24, and the remote motion center 24 is relatively The position on the base 25 is fixed.
  • the mechanical arm can also be in another form.
  • the mechanical arm can define a remote center of motion through a mechanical device, so that the cannula or instrument can rotate around the remote center of motion.
  • the mechanical arm includes a parallelogram linkage device , the instrument is removably mounted on the distal end of a parallelogram linkage that may allow movement of the instrument or multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.) to move.
  • Parallelogram linkages are used to constrain movement of an instrument near a remote center of motion on a surgical instrument that remains stationary relative to a patient.
  • 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 device 30 ) and one or more video display devices for displaying the captured images.
  • the image acquisition capable instrument 30 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 30, 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 instrument 30 includes an instrument box 31, a long shaft 32, a joint assembly 33, a plurality of cables and a terminal device 34, and the instrument 30 is detachably installed on the power device 22, and the power device 22 has a plurality of driving devices (not shown in the figure), there is a transmission device (not shown in the figure) in the instrument box 31, and the transmission device includes a plurality of transmission units (such as winches), and the transmission unit is connected with the joint assembly 33 and the terminal device 34 through a plurality of cables,
  • the multiple transmission units are respectively coupled to multiple drive units (such as motors) of the drive device, and are driven by the drive units.
  • the drive unit receives the control command from the control system, and drives the transmission unit to move according to the control command so as to drive the joint assembly 33 and the end device 34 to move.
  • the control system can be set in the main console 10 or in the slave operating device 20 Inside.
  • the driving unit can retract/pull the cable by driving the transmission unit to rotate so as to control the movement of the joint assembly and the end device.
  • the end device 34 can perform actions with multiple Cartesian degrees of freedom through the joint assembly 3, such as translation (including lateral and/or longitudinal translation), pitch, yaw, etc. It can be understood that translation and pitch, translation and yaw That is, it can move independently and simultaneously.
  • the terminal device 34 is used to perform operations related to surgery.
  • the terminal device 34 can be an electrocautery device, a clamp, a stapler, scissors, an ultrasonic knife, a camera, an imaging device, etc., wherein the camera or The imaging device is used to acquire the internal image of the human body.
  • the joint assembly 33 of the instrument includes a parallel joint assembly 200 and a wrist joint 300 , the proximal end of the parallel joint assembly 200 is connected to the distal end of the long axis 32 , and the parallel joint assembly 200
  • the distal end of the wrist joint 300 is connected to the proximal end of the wrist joint 300, and the distal end of the wrist joint 300 is connected to the end device 34.
  • the wrist joint 300 is used to perform pitch and/or yaw motions.
  • the parallel joint assembly 200 includes a proximal joint 210, an intermediate section 220, a distal joint 230, and a cable set.
  • the proximal joint 210 includes a first proximal joint section 211 and a first proximal joint section 211 located at the proximal and distal ends of its rotational axis 213, respectively.
  • the second proximal joint segment 212, the first proximal joint segment 211 is connected to the long axis 32, the second proximal joint segment 212 is connected to the middle segment 220, the first proximal joint segment 211 is connected to the second proximal joint segment 212 is pivotally connected, and the first proximal joint segment 211 and the second proximal joint segment 212 can relatively rotate around the rotation axis 213 .
  • the distal joint 230 includes a first distal joint section 231 and a second distal joint section 232 located at the proximal end and the distal end of the rotation axis 233 respectively, the first distal joint section 231 is connected with the middle section 220, and the second distal joint section 232
  • the end joint 232 is connected to the wrist joint 300, the first distal joint section 231 and the second distal joint section 232 are pivotally connected, and can rotate relative to each other around a rotation axis 233, and the rotation axes 213, 233 are perpendicular to the paper.
  • the cable set includes a first cable pair and a second cable pair, one end of the first cable pair is fixedly connected to the proximal end of the proximal joint 210 or the long axis 32, and the other end is connected to the second distal joint segment 232, One end of the second cable pair is connected to the transmission device in the instrument box 31 , and the other end is fixedly connected to the second distal joint segment 232 .
  • the first cable pair is a constant-length cable
  • the constant-length cable means that the total length of the parallel joint 220 in the joint assembly 33 is basically unchanged when the parallel joint 220 moves.
  • the first cable pair includes the first constant-length cable 131 and The second constant-length cable 132 , the first constant-length cable 131 and the second constant-length cable 132 are respectively located on two sides of the central axis a of the middle section 220 .
  • the second cable pair comprises a first drive cable 110 and a second drive cable 120, the first drive cable 110 and the second drive cable 120 cross in an intermediate section 220, ie the cable segment 111 of the first drive cable 110 and the second drive cable Cable segments 121 of 120 are crossed.
  • the distal end of the first driving cable 110 is fixed on the second distal joint section 232 through the first fixing part 110a, and its proximal end is fixed on the transmission device in the instrument box 31, and the first driving cable 110 is in the middle section 220.
  • Segment 111 straddles the central axis a, when the parallel joint 200 shown in Fig. 4 is not translated, the first fixing part 110a and the cable segment 113 of the first driving cable 110 in the proximal joint 210 are respectively located on opposite sides of the central axis a .
  • the distal end of the first constant-length cable 131 is fixed on the second distal joint segment 232 through the second fixing part 131a, and its proximal end is fixed on the first proximal joint segment 211 through the third fixing part 131b.
  • the first fixing part 110a and the second fixing part 131a are located on the same side of the central axis a of the middle section 220, and the first fixing part 110a and the third fixing part 131b are also located on the same side of the central axis a. That is, as shown in FIG. 4 , the first fixing portion 110 a , the second fixing portion 131 a and the third fixing portion 131 b are all located on the left side of the central axis a of the middle section 220 .
  • the distal end of the second driving cable 120 is fixed on the second distal joint section 232 through the fourth fixing part 120a, the cable section 121 in the middle section 220 straddles the central axis a, and the proximal end of the second driving cable 120 is fixed
  • the first fixing portion 110 a and the fourth fixing portion 120 a are located on different sides of the central axis a.
  • the distal end and the proximal end of the second constant length cable 132 are respectively fixed on the second distal joint section 232 and the first proximal joint section 211 by the fifth fixing part 132a and the sixth fixing part 132b, and the fourth fixing part 120a,
  • the fifth fixing portion 132 a and the sixth fixing portion 132 b are located on the same side of the central axis a of the middle section 220 .
  • the transmission device of the instrument case 31 when the transmission device of the instrument case 31 is actuated by the external first driving device to translate the terminal device 34 according to the desired purpose, the transmission device acts (for example, rotates) and then pulls the first driving cable 110 and releases it.
  • the second driving cable 120 since the first driving cable 110 is pulled, the lengths of the cable segment 112 in the distal joint 230 and the cable segment 113 in the proximal joint 210 of the first driving cable 110 become shorter, and the distal end
  • the joint 210 is actuated by the first drive cable 110 so that the first distal articulation section 231 and the second distal articulation section 232 are relatively rotated about the rotation axis 233 in the following manner: the first distal articulation section 231 and the second distal articulation section
  • the left side of joint 232 is close to each other, so that the length of the cable section 131c of the first constant length cable 131 in the distal joint 230 is shortened;
  • the distal joint 230 is in
  • the far second constant-length cable 132 will be actuated by the distal joint 210, so that the cable segment 132c of the second constant-length cable 132 in the first distal joint segment 230 becomes longer, and due to The length of the second constant length cable 132 in the joint assembly 33 is constant, so that the length of the cable segment 132d of the second constant length cable 132 in the proximal joint 210 is shortened, because the length of the cable segment 132d is shortened,
  • the proximal joint 210 will be actuated by the second constant length cable 132 so that the first proximal joint segment 211 and the second proximal joint segment 212 rotate relative to each other around the rotation axis 213 in the following manner: the first proximal joint segment 211 and the second proximal joint segment 211
  • the right sides of the two proximal joint sections 212 are close to each other, and the left sides of the two are far away from each other.
  • the proximal joint 210 is in the shape of ">", so that the first constant length cable 131 is in the position of the cable section 131d in the proximal joint 210. As the length becomes longer, the length of the cable section 123 of the second driving cable 120 in the proximal joint 210 becomes longer, and the length variation of the cable section 123 is equal to the length variation of the cable section 113 of the first driving cable 110 .
  • the axis b of the terminal device 34 is moved laterally relative to the axis c of the long axis 32, and the lateral movement of the terminal device 34 is realized (that is, the terminal device 34 shown in FIG.
  • the middle section 220 deflects relative to the major axis 32 during the traversing, that is, the central axis a of the middle section 220 forms a non-zero angle with the axis of the major axis 32, and the axis b of the end device 34 after traversing
  • the axis c of the major axis 32 remains parallel, and the pitch or yaw angle of the terminal device 34 is not changed after the parallel joint 200 traverses the terminal device 34 .
  • the axis b of the terminal device 34 and the axis of the wrist joint 300 are coincident when the joint assembly is in a zero straight state where the joint assembly is not in motion.
  • the parallel joint 200 will move in the opposite way to the above, that is, the distal joint 230 rotates in a ">" shape, and the proximal joint 230 rotates in a ">” shape.
  • the joint 210 rotates in a " ⁇ " shape, thereby causing the end device 34 to move laterally to the left, and the lateral movement of the parallel joint 200 can provide a greater range of motion for the end device 34 .
  • the distal ends of the first driving cables 110 and the second driving cables 120 in this embodiment are fixed at the distal ends.
  • the motion stroke of the first driving cable 110 and the second driving cable 120 is twice the stroke of fixing it on the proximal joint, so that the parallel joint can be driven with half the driving force. joint movement.
  • the required driving force becomes smaller, the deformation of the first driving cable 110 and the second driving cable 120 is also reduced, improving the precision of parallel joint motion.
  • the first driving cable 110 and the first constant length cable 131 are formed by the same cable, that is, the first driving cable 110 and the first constant cable 131 are a cable that does not separate, and the first fixing part 110a and The second fixing portion 131a is a hoop with a diameter larger than the diameter of the cable, and the hoop is crimped in the second distal joint section 232, thereby fixing the distal ends of the first driving cable 100 and the first constant cable 131 on the two distal ends.
  • the second driving cable 120 and the second constant-length cable 132 can also be formed by one cable. It can be understood that the fixing method of the first driving cable pair and the first constant-length cable pair is not limited to clamps, for example, welding may be used.
  • the parallel joint 200 can also only have one driving cable whose distal end is fixed on the distal joint of the parallel joint, and the other driving cable is replaced by other means (for example, using a spring return), or the distal end of the other driving cable can be replaced.
  • the end is fixed at the proximal joint parallel to the joint.
  • the joint assembly 33 of the instrument may also include only the parallel joint 200 for an instrument that requires only translational motion of the end device, but not pitch or yaw motion of the end device (such as an endoscope with a camera end device). , without setting the wrist joint 300 .
  • Figure 6B is a perspective view of the long shaft 32 and the joint assembly 43 of Figure 6A rotated 90 degrees around the axis of the long shaft.
  • the parallel joint 400 includes a proximal joint group, a distal joint group, an intermediate section 420 and at least four cable pairs, the proximal joint group includes first and second proximal joints 410, 440, and the distal joint group includes First and second distal joints 430, 450, the first proximal joint 410 is connected between the proximal end of the middle section 420 and the distal end of the second proximal joint 440, and the second proximal joint 440 is connected to the first proximal joint 440.
  • the first distal joint 430 is connected between the distal end of the middle section 420 and the proximal end of the second distal joint 450, and the second distal joint 450 is connected Between the proximal end of the wrist joint 300 and the distal end of the first distal joint 430 .
  • the rotation axis 411 of the first proximal joint 410 and the rotation axis 441 of the second proximal joint are perpendicular to each other
  • the rotation axis 431 of the first distal joint 430 and the rotation axis 451 of the second distal joint 450 are perpendicular to each other.
  • Axes 411, 431 are perpendicular to the paper.
  • the four cable pairs of the parallel joint 400 include a second pair of constant length cable pairs and two pairs of drive cable pairs, wherein a first drive cable pair of the two pairs of drive cable pairs includes a first drive cable 310 and a second drive cable 320,
  • the distal ends of the first and second driving cables 310, 320 are fixed on the distal joint section 453 of the second distal joint 450, and their proximal ends pass through the long axis 32 to extend and connect to the transmission device in the instrument box 31.
  • the first driving cable 310 and the second driving cable 320 cross in the middle section 220 .
  • the first constant-length cable pair in the two pairs of constant-length cables includes a first constant-length cable 133 and a second constant-length cable 134, and the distal ends of the first and second constant-length cables 133, 134 are fixed on the second distal joint
  • the proximal end of the distal joint section 452 of 450 is fixed on the proximal joint section 442 of the second proximal joint 440 , and the first constant-length cable 133 and the second constant-length cable 134 are parallel in the middle section 420 .
  • the second cable pair of the two pairs of driving cables includes a third driving cable 330 and a fourth driving cable 340, and the distal ends of the third and fourth driving cables 330, 340 are fixed on the second distal joint.
  • 450 on the distal joint section 453, its proximal end extends through the long shaft 32 and is connected to the second transmission unit 1102 of the transmission device in the instrument box 31, and the third driving cable 330 and the fourth driving cable 340 are in the middle section 220 middle cross.
  • the second constant-length cable pair in the two pairs of constant-length cables includes a third constant-length cable 135 and a fourth constant-length cable 136, and the distal ends of the third and fourth constant-length cables are fixed at the far end of the second distal joint 450.
  • the proximal end of the end joint section 453 is fixed on the proximal joint section 442 of the second proximal joint 440 , and the third constant length cable 330 and the fourth constant length cable 340 are parallel in the middle section 420 .
  • the proximal ends of the four constant-length cables 133 , 134 , 135 , 136 can also be fixed on the distal ends of the long shaft 32 .
  • the third and fourth constant length cables 135, 136 are not shown in Fig. 6A, nor are the parts of the third and fourth driving cables 330, 340 in the joint assembly , the first and second constant length cables 133, 134 are not shown in FIG. 6B, nor are the first and second driving cables 310, 320 shown.
  • FIG. 7A is a top view of the distal joint segment 453 of the second distal joint 450. As shown in FIG. . The distance from the rotation axis 431, 451 is about 45 degrees, so that the installation space can be reserved for the rotation axis components of each joint.
  • the first drive device 2000 is coupled to the transmission device 1000, and the first drive device 2000 receives the control signal sent by the control system.
  • the first drive unit 2101 of the first drive device 2000 is coupled to the first drive unit 2101 of the transmission device 1000.
  • a transmission unit 1101 , the second driving unit 2102 of the first driving device 2000 is coupled to the second transmission unit 1102 .
  • the first driving device 2000 can be coupled with the transmission device 1000 through an intermediary component (such as a sterile adapter), or can be directly coupled.
  • both the first driving unit 2101 and the second driving unit 2102 move in the same direction, for example, when the first driving unit 2101 and the second driving unit 2102 both When rotating clockwise, the first drive unit 2101 rotates clockwise to drive the first transmission unit 1101 to rotate clockwise, thereby retracting the first drive cable 310 and releasing the second drive cable 320 at the same time, and the second drive unit 2102 rotates clockwise to drive the first drive cable 310.
  • the second transmission unit rotates clockwise, thereby releasing the third driving cable 330 and pulling the fourth driving cable 340 at the same time, as shown in FIG.
  • F1 means pulling the first driving cable 310
  • F2 means pulling the fourth driving cable 340
  • the resultant force exerted by the first driving cable 310 and the fourth driving cable 340 on the distal joint section 453 will cause the distal joint section 453 of the second distal joint 450 to rotate counterclockwise around the rotation axis 451 (as shown in FIG. 7B ), Since the resultant force direction coincides with the direction of the rotation axis 431 , the proximal and distal joint segments 433 , 432 of the first distal joint 430 do not rotate relative to the rotation axis 431 .
  • the four constant length cables 133, 134, 135, 136 will actuate the second proximal joint 440, the distal joint segment 443 of the second proximal joint 440 rotates clockwise relative to the rotation axis 441 , the proximal and distal joint segments 412, 413 of the first proximal joint 410 do not rotate relative to the rotation axis 413, so that the parallel joint 400 realizes longitudinal movement from the state shown in Fig. 6a, 6b along the direction d to the state shown in Fig.
  • the first driving unit 2101 and the second driving unit 2102 move in opposite directions, for example, when the first driving unit 2101 rotates clockwise and the second driving unit
  • the first drive unit 2101 drives the first transmission unit 1101 to rotate clockwise, and then pulls the first drive cable 310 and releases the second drive cable 320, while the second drive unit 2102 rotates counterclockwise to drive the first transmission unit 1101.
  • the second transmission unit 1102 rotates counterclockwise, thereby pulling the third driving cable 330 and releasing the fourth driving cable 340 .
  • F1 means pulling the first driving cable 310
  • F3 means pulling the third driving cable 330
  • the first and third driving cables 310, 330 are applied to the distal joint segment 453 of the second distal joint 450.
  • the resultant force above makes the distal joint section 433 of the first distal joint 430 rotate counterclockwise around the rotation axis 431. Since the direction of the resultant force is the same as the direction of the rotation axis 451, the proximal and distal joints of the second distal joint 450 Segments 452, 453 do not rotate relative to their axis of rotation 451 .
  • the four constant length cables 133, 134, 135, 136 will actuate the first proximal joint 410 so that the distal joint segment 413 of the first proximal joint 410 is relative to its axis of rotation 411 Rotate clockwise, so that the parallel joint 400 can move laterally along the e direction from the state shown in FIGS. 6A and 6B to the state shown in FIG. 7D . It can be understood that when the first driving unit 2101 rotates counterclockwise and the second driving unit 2102 rotates clockwise, the parallel joint 400 is driven to move laterally in a direction opposite to the e direction.
  • the first rotational axis 431 is perpendicular to the central axis a of the middle section 420, and the second rotational axis 451 is deflected relative to the central axis a of the middle section 420, that is, the second rotational axis 451 and the central axis a form a non-zero clip horn.
  • the longitudinal and lateral directions of the parallel joint 400 are vertical in space, that is, direction e and direction d are vertical in space.
  • lateral movement is the translational movement of parallel joints in the Cartesian space coordinate system along the Y-axis direction
  • vertical movement is a translational movement in the Z-axis direction.
  • the parallel joint 400 does not change the pitching or yaw motion of the end device 400 during longitudinal and lateral movement, so the parallel joint 400 can increase the range of motion of the end device 400 .
  • the instrument may not be provided with a transmission device, and the first driving device directly drives each driving cable of the instrument.
  • the distal ends of the first pair of drive cables 310 , 320 are connected to the first distal joint 430 and the distal ends of the second pair of drive cables 330 , 340 are connected to the second distal joint 450 .
  • the distal ends of the first pair of drive cables 310, 320 are attached to the second proximal joint segment 410 or the intermediate segment 420, while the distal ends of the second pair of drive cables 330, 340 are attached to the second distal end. Joint 450 on.
  • the distal ends of the first and second pair of driving cables can also be connected to the second proximal joint section 410 or the middle section 420 .
  • the casing 23 of the operating device 40 is fixedly connected to the power device 22 , and the joint assembly 501 and the end device 502 of the instrument 500 extend through the channel 23a of the casing 23 to a distance ( For example, extending to the lesion), the joint assembly 501 includes parallel joints and/or wrist joints.
  • the control system 2301 of the surgical robot is used to control the linkage of five joints 211, 212, 213, 214, 215 of the mechanical arm of the slave manipulation device 40, so that the cannula 23 rotates around the remote center of motion RCM (Remote of Motion).
  • the robotic arm of the manipulating device 40 may also be a robotic arm of other configurations, such as a parallelogram-shaped robotic arm.
  • the power plant 22 includes a first driving device 2201, 2202 and a second driving device 2213, 2214, the control system 2301 is coupled to the first driving device 2201, 2202 and the second driving device 2213, 2214, and the control system 2301 passes the first driving device 2201
  • the movement of the joint assembly 501 and the terminal device 502 of the instrument 500 is controlled, and the control system 2301 controls the movement of the camera 601 of the instrument 600 through the first driving device 2202 .
  • the frame of the power unit 22 is provided with slide rails 2211, 2212, the first driving device 2201 and the second driving device 2202 are slidably mounted on the sliding rail 2211 and the sliding rail 2212 respectively, and the control system 2301 controls the second driving device 2213, 2214
  • the instrument 500 and the instrument 600 are detachably mounted on the first driving device 2201, 2202 respectively, when the first driving device 2201, 2202 slides on the slide rail 2211, 2202 , can drive the instrument 500,600 to perform the feed motion along the f direction, that is, the control system 2301 controls the feed motion of the instrument 500,600 by controlling the second driving device 2213,2214, so that the long axis 511,611 of the instrument is along the axis of the channel 23a of the casing 23 Move in a straight line.
  • the instrument 500 is a clamp surgical instrument
  • the instrument 600 is an endoscope.
  • the instruments 500, 600 may
  • the first driving device 2201 drives the joint assembly 501 of the instrument 500 to maintain the movement of the end device 502 of the instrument 500.
  • the position and/or posture is unchanged, for example, the position and/or posture of the terminal device 502 is kept constant relative to the coordinate system of the base 210 of the manipulation device 40 , or relative to the coordinate system of the patient's operating table.
  • said first drive means drives said end device to rotate about its axis to hold said end device in response to said first control signal as said cannula rotates about said remote center of motion.
  • the first driving device 2201 drives the parallel joints of the joint assembly 501 to move laterally and/or longitudinally, The position and/or orientation of the end device 502 of the instrument 500 is thereby maintained unchanged.
  • the first driving device 2201 drives the pitch and deflection of the wrist joint of the joint assembly 501, thereby maintaining the apparatus 500
  • the position and/or posture of the end device 502 does not change.
  • the second driving device 2201 drives the long axis 511 of the instrument 500 along the channel 23a of the sleeve 23.
  • the axial movement maintains the position and/or orientation of the end device 502 of the instrument 500 constant.

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  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

一种用于手术的器械（30）及应用该器械（30）的手术机器人，器械（30）包括长轴（32）、关节组件（33）及末端装置（34）；关节组件（33）具有平行关节组件（200），平行关节组件（200）包括近端关节（210）、远端关节（230）、中间段（220）、两对恒长缆绳对及两对驱动缆绳对；中间段（220）连接在近端关节（210）和远端关节（230）之间；恒长缆绳对的一端连接在远端关节（230），另一端连接在近端关节（210）上，驱动缆绳对的远端连接在远端关节（230）上，其近端穿过长轴（32）耦合到驱动装置，驱动装置通过驱动缆绳使平行关节（400）横移和纵移运动，平行关节（400）横移和纵移运动能增大末端装置（34）的运动范围。

Description

具有平行关节的器械、手术机器人
本申请要求于2021年12月24日提交中国专利局，申请号为202111604327.6，发明名称为“具有平行关节的器械、手术机器人”的中国专利申请的优先权，要求于2021年12月24日提交中国专利局，申请号为202111604322.3，发明名称为“具有平行关节的器械、手术机器人”的中国专利申请的优先权，要求于2021年12月24日提交中国专利局，申请号为202111603118.X，发明名称为“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，特别是涉及一种用于手术的器械以及应用该器械的手术机器人。
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控制台及从操作设备，主控制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控制台发送的控制命令，并执行相应的手术操作。器械与从操作设备的驱动装置连接，用于执行外科手术，器械的远端包括用于执行手术操作的末端装置和与末端装置连接的可以多个自由度动作的关节组件。
关节组件为末端装置提供运动范围，现有的关节组件的由于其运动的自由度有限，无法为末端装置提供更大的运动范围，现有的关节组件的运动精度也需要改进。
发明内容
基于此，为解决上述问题，在第一方面，本申请提供了一种用于外科手术的器械，该器械包括长轴、关节组件及末端装置，所述关节组件连接在所述长轴和所述末端装置之间，所述关节组件包括平行关节，所述平行关节包括：
近端关节组；
中间段，所述近端关节组连接于所述中间段和所述长轴之间；
远端关节组，所述远端关节组连接于所述中间段和所述末端装置之间；
至少两对恒长缆绳对，其连接与所述近端关节组和所述远端关节组之间；
第一驱动缆绳对和第二驱动缆绳对，所述第一、第二驱动缆绳对的远端与所述近端关节组、中间段或远端关节组至少之一相连接，所述第一驱动缆绳对的近端与第一驱动单元耦合，所述第二驱动缆绳对的近端与第二驱动单元耦合；
当所述第一驱动单元和所述第二驱动单元以相同方向运动驱动第一、第二驱动缆绳对时，所述末端装置纵移；
当所述第一驱动单元和所述第二驱动单元以相反方向运动驱动所述第一、第二驱动缆绳对时，所述末端装置横移。
在一个具体的实施例中，所述远端关节组件至少包括具有第一转动轴线的第一远端关节，和具有第二转动轴线的第二远端关节，所述第一转动轴线和所述第二转动轴线正交。
在一个具体的实施例中，在所述末端装置纵移时，所述中间段的中轴线与所述第一转动轴线及第二转动轴线正交。
在一个具体的实施例中，在所述末端装置横移时，所述第二转动轴线相对于所述中间段的中轴线偏转，并且所述第一转动轴线与所述中间段的中轴线正交。
在一个具体的实施例中，所述第一驱动缆绳对的远端和所述第二驱动缆绳对的至少一对驱动缆绳的远端连接在所述第二远端关节上。
在一个具体的实施例中，所述第一驱动缆绳对的远端连接在所述第二远端关节上，所述第二驱动缆绳对的远端连接在所述近端关节组或所述中间段上。
在一个具体的实施例中，所述第一驱动缆绳对包括第一驱动缆绳和第二驱动缆绳，所述第一驱动缆绳与所述第二驱动缆绳在所述中间段中交叉。
在一个具体的实施例中，所述第一驱动缆绳和/或第二驱动缆绳在所述第二 远端关节上的固定部位于距离所述第一转动轴线和/或第二转动轴线45度附近。
在一个具体的实施例中，所述第一缆绳对和所述第二缆绳对在所述中间段中交叉。
在第二方面，本申请提供一种手术机器人，所述手术机器人包括器械、第一驱动装置及控制系统，所述第一驱动装置耦合到所述器械，所述第一驱动装置接收来自所述控制系统的控制信号，所述器械包括长轴、关节组件及末端装置，所述关节组件连接在所述长轴和所述末端装置之间，所述关节组件至少包括平行关节，所述平行关节包括：
近端关节组；
中间段，所述近端关节组的远端与所述中间段的近端相连接；
远端关节组，所述远端关节组件连接于所述末端装置和所述中间段之间，所述远端关节组包括具有第一转动轴的第一远端关节和具有第二转动轴的第二远端关节；
至少两对恒长缆绳对，其连接于所述远端关节组和所述近端关节组之间；
所述第一驱动装置响应于来自所述控制系统的第一控制信号以驱动所述第一远端关节的远端关节段相对于所述第一转动轴线转动，从而使所述末端装置横移；
所述第一驱动装置响应于来自所述控制系统的第二控制信号以驱动所述第二远端关节的远端关节段相对于所述第二转动轴线转动，从而使所述末端装置纵移。
在一个具体的实施例中，所述平行关节还包括第一驱动缆绳对和第二驱动缆绳对，所述第一、第二缆绳对的远端连接在所述第二远端关节上。
在一个具体的实施例中，所述第一驱动缆绳对和所述第二驱动缆绳对在所述中间段中交叉。
在一个具体的实施例中，所述第一驱动缆绳对中至少存在一条驱动缆绳和所述恒长缆绳对中的一条缆绳为一条缆绳所形成。
在一个具体的实施例中，所述第一驱动装置包括第一驱动单元和第二驱动单元；响应所述第一控制信号，所述第一驱动单元和所述第二驱动单元以相反方 向运动，从而使末端装置横移。
在一个具体的实施例中，响应所述第二控制信号，所述第一驱动单元和所述第二驱动单元以相同方向运动，从而使所述末端装置纵移。
在第三方面，本申请提供了一种手术机器人，所述手术机器人包括：
器械，其包括长轴、平行关节及末端装置，所述平行关节连接在所述长轴和末端装置之间；
第一驱动单元和第二驱动单元，所述第一、第二驱动单元耦合到所述器械；
控制系统，其耦合到所述第一驱动单元和所述第二驱动单元，所述控制系统用于发送控第一制信号或第二控制信号给所述第一驱动单元和所述第二驱动单元；
响应于所述第一控制信号，所述第一驱动单元和所述第二驱动单元以相同方向运动，从而驱动所述平行关节运动以使所述末端装置纵移；
响应于所述第二控制信号，所述第一驱动单元和所述第二驱动单元以相反方向运动，从而驱动所述平行关节运动以使所述末端装置横移。
本申请的器械的平行关节可以为器械的末端装置提供更大的运动范围。
附图说明
图1为本申请一个实施例的手术机器人的主控制台的示意图；
图2为本申请一个实施例的手术机器人的从操作设备的示意图；
图3为本申请一个实施例的用于手术的器械示意图；
图4为本申请一个实施例的器械的关节组件示意图；
图5为图4的所示的关节组件的平行关节平移状态示意图；
图6A为本申请另一个实施例器械关节组件、传动装置及驱动装置的示意图；
图6B为图6A所示器械关节组件绕其轴向旋转90度后的示意图；
图7A为平行关节400的关节段452俯视图且示出第一、第四驱动缆绳被收拉；
图7B为平行关节400纵移状态示意图；
图7C为平行关节400的关节段452俯视图且示出第一、第三驱动缆绳被收拉；
图7D为平行关节400横移装置示意图；
图8为本申请一个实施例的手术机器人从操作设备及动力装置的示意图。
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，也可以理解为两个物体之间具有动力连接关系。
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，该器械包括末端装置，末端装置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装置提供了铰接部件(例如关节组件)，使得末端装置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，末端装置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和图2所示，手术机器人包括主控制台10和从操作设备20，主控制台10位于操作者一侧，主控制台10用于根据操作者的操作向从操作设备20发送控制命令和显示从操作设备20获取的影像，操作者通过主控制台10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)。主控制台10包括显示装置、扶手、控制信号处理系统、输入装置11及观察装置12，其中，显示装置用于显示上述影像系统所获取图像。扶手用于放置操作者的胳膊及/或手部，以使操作者更舒适地操作输入装置11，观察装置12用于观察显示装置所显示的所述图像。根据实际需要，也可以省略扶手；或省略观察装置12，此时可直接观察。操作者通过操作输入装置11控制从操作设备10的器械运动，主控制台10的控制信号处理系统处理输入装置11的输入信号后向从操作设备发出控制命令，从操作设备20响应主控制台10的控制命令，并进行相应的操作，在一些实施例中，控制信号处理系统也可以设置在从操作设备20中，例如设置在从设操作设备20的基座中。
从操作设备20位于患者一侧用于执行外科手术，其中从操作设备20包括基座25、机械臂21、套管23、驱动装置22及可拆卸接合在驱动装置22上的一个或多个器械30，机械臂21连接于基座25上，套管23经过人体上的切口进入 人体，一个或多个器械30的远端穿过套管23进入人体内，器械30可以是用于执行手术操作的电烧灼器、钳夹器、吻合器、超声刀等，也可以是获取影像的相机(例如内窥镜)或者其他外科器械。在一些实施例中，也可以省略套管23，例如在不需要注气的外科手术中。在一些实施例中，也可以省略基座25，从操作设备20的机械臂21可以被安装在墙壁、天花板或手术床上。
机械臂21具有两种运动模式：第一种运动模式：机械臂21运动可以拖动远程运动中心24(Remote Center of Motion)，从而改变远程运动种24与基座25相对位置；第二种运动模式：通过算法控制，机械臂21运动可使得套管23或多手术机器30绕远程运动中心24运动，并且远程运动中心24相对于基座25的位置是固定的。
机械臂21包括多个接头211，212，213，214，215，接头211为竖直方向的直线运动接头，接头212，213，214，215为旋转运动接头，接头212，213，214的旋转轴线垂直水平面，接头215的，在第二种运动模式中，多个接头211，212，213，214，215联动从而实现套管23或多个器械绕远程运动中心24运动，并且远程运动中心24相对于基座25的位置是固定的。
在一些实施方式中，机械臂也可是另外一种形态的，机械臂可以通过机械装置限定出远程运动中心，从而使套管或器械围绕远程运动中心旋转，例如，机械臂包括平行四边形连杆装置，器械可拆卸地安装在平行四边形连杆装置的远端上，平行四边形连杆装置可以允许器械移动或多个机械自由度(例如，全部六个笛卡尔自由度、五个或更少笛卡尔自由度等)移动。平行四边形连杆装置用于约束限制器械在相对患者保持静止的外科器械上的远程运动中心附近移动。
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30)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30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30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。
如图3所示，器械30包括器械盒31、长轴32、关节组件33、多个缆绳及末端装置34，器械30可拆卸的安装在动力装置22上，动力装置22内具有多个驱动装置(图未示出)，器械盒31内具有传动装置(图未示出)，传动装置包括多个传动单元(例如绞盘)，传动单元通过多个缆绳与关节组件33及末端装置34相连接，多个传动单元分别耦合到驱动装置的多个驱动单元(例如马达)，并被驱动单元所驱动。驱动单元接收来自控制系统的控制指令，并根据该控制指令通过驱动传动单元运动从而驱动关节组件33及末端装置34运动，控制系统可以设置在主控台10内，也可以设置在从操作设备20内。例如，驱动单元通过驱动传动单元转动从而对缆绳进行收/拉以对关节组件和末端装置进行运动控制。末端装置34通过关节组件3能执行多个笛卡尔自由度的动作，例如平移(包括横移和/或纵移)、俯仰、偏摆等，可以理解的是，平移和俯仰、平移和偏摆即可以独立运动也同时运动。末端装置34用于执行与外科手术相关的操作，根据手术操作的需求不同，末端装置34可以是电烧灼器、钳夹器、吻合器、剪刀、超声刀、相机、成像装置等，其中相机或成像装置用于获取人体内部影像。
在本发明的一个实施例中，如图4所示，器械的关节组件33包括平行关节组件200和腕关节300，平行关节组件200的近端与长轴32的远端相连接，平行关节200的远端与腕关节300的近端连接，腕关节300的远端与末端装置34连接，腕关节300用于执行俯仰和/或偏摆运动。
具体地，平行关节组件200包括近端关节210、中间段220、远端关节230及缆绳组，近端关节210包括分别位于其转动轴线213近端和远端的第一近端关节段211和第二近端关节段212，第一近端关节段211和长轴32相连接，第二近端关节段212与中间段220相连接，第一近端关节段211与第二近端关节段212枢接，第一近端关节段211和第二近端关节段212可相对绕转动轴线213相对转动。
远端关节230包括分别位于其转动轴线233近端和远端的第一远端关节段231和第二远端关节段232，第一远端关节段231与中间段220相连接，第二远端关节232与腕关节300相连接，第一远端关节段231和第二远端关节段232 枢接，彼此可相对绕转动轴线233转动，转动轴线213、233是垂直纸面的。
缆绳组包括第一缆绳对和第二缆绳对，第一缆绳对的一端固定连接在近端关节210的近端或所述长轴32上，另一端连接在第二远端关节段232上，第二缆绳对的一端连接于器械盒31内的传动装置，另一端固定连接于第二远端关节段232。其中，第一缆绳对为恒长缆绳，恒长缆绳是指平行关节220在运动时其在关节组件33中的总长度基本不变，具体地，第一缆绳对包括第一恒长缆绳131和第二恒长缆绳132，第一恒长缆绳131和第二恒长缆绳132分别位于中间段220的中轴线a的两侧。第二缆绳对包括第一驱动缆绳110和第二驱动缆绳120，第一驱动缆绳110和第二驱动缆绳120在中间段220中交叉，即第一驱动缆绳110的缆绳段111和第二驱动缆绳120的缆绳段121交叉。
第一驱动缆绳110的远端通过第一固定部110a固定在第二远端关节段232上，其近端固定在器械盒31内的传动装置上，第一驱动缆绳110在中间段220中缆绳段111跨过中轴线a，在图4所示的平行关节200未平移时，第一固定部110a和第一驱动缆绳110在近端关节210中的缆绳段113分别位于中轴线a的异侧。
第一恒长缆绳131的远端通过第二固定部131a固定在第二远端关节段232上，其近端通过第三固定部131b固定在第一近端关节段211上，在平行关节200未平移时，第一固定部110a和第二固定部131a位于中间段220的中轴线a的同侧，第一固定部110a和第三固定部131b也位于中轴线a的同侧。即如图4所示，第一固定部110a、第二固定部131a和第三固定部131b都位于中间段220的中轴线a的左侧。
第二驱动缆绳120的远端通过第四固定部120a固定在第二远端关节段232上，其在中间段220中的缆绳段121跨过中轴线a，第二驱动缆绳120的近端固定在器械盒31内的传动装置上，第一固定部110a和第四固定部120a位于中轴线a的异侧。
第二恒长缆绳132的远端和近端分别通过第五固定部132a和第六固定部132b固定在第二远端关节段232和第一近端关节段211上，第四固定部120a、第五固定部132a及第六固定部132b位于中间段220的中轴线a的同侧。在平行 关节200运动时，第一、第二恒长缆绳131、132在关节组件33中的总长度基本维持不变，且在中间段220中的长度基本维持不变，以下详细介绍平行关节200的运动。
如图5所示，在器械盒31的传动装置被外部第一驱动装置致动，以按照期望的目的平移末端装置34时，传动装置动作(例如转动)进而收拉第一驱动缆绳110并释放第二驱动缆绳120，由于第一驱动缆绳110被收拉，第一驱动缆绳110在远端关节230中的缆绳段112以及在近端关节210中的缆绳段113的长度均变短，远端关节210被第一驱动缆绳110所致动，使得第一远端关节段231和第二远端关节段232围绕转动轴线233以如下方式相对转动：第一远端关节段231和第二远端关节232的左侧相互靠近，这样使得第一恒长缆绳131在远端关节230中的缆绳段131c的长度变短；第一、第二远端关节段231、232的右侧相互远离，从而远端关节230呈“<”的形状，并且由于第二驱动缆绳120被释放，使得第二驱动缆绳120在远端关节230中的缆绳段122的长度变长，且缆绳段122长度的变化量与第一驱动缆绳110的缆绳段112的长度的变化量相等。
由于远端关节210的上述运动，远第二恒长缆绳132将被远端关节210致动，使第二恒长缆绳132在第一远端关节段230中的缆绳段132c变长，而由于第二恒长缆绳132在关节组件33中的长度是不变的，从而使第二恒长缆绳132在近端关节210中的缆绳段132d的长度变短，由于缆绳段132d的长度变短，近端关节210将被第二恒长缆绳132所致动，使得第一近端关节段211第二近端关节段212绕转动轴线213以如下方式相对转动：第一近端关节段211和第二近端关节段212的右侧相互靠近，两者的左侧相互远离，近端关节210呈“>”的形状，从而使第一恒长缆绳131在近端关节210中的缆绳段131d的长度变长，第二驱动缆绳120在近端关节210中的缆绳段123的长度变长，且缆绳段123的长度变化量与第一驱动缆绳110的缆绳段113的长度变化量相等。
由于远端关节230和近端关节210的相反运动,进而实现末端装置34的轴线b相对于长轴32的轴线c进行了横移，实现末端装置34的横移(即图5所示末端装置34向右横移)，横移时中间段220相对于长轴32偏转，即中间段220的 中轴线a与长轴32的轴线形成非零夹角，横移后的末端装置34的轴线b和长轴32的轴线c依然保持平行，平行关节200横移末端装置34后并不改变末端装置的俯仰或偏摆角度。可以理解，在一些实施例中，末端装置34的轴线b和腕关节300的轴线在关节组件未动作的零位笔直状态下时是重合的。
若传动装置以相反的方式运动，进而释放第一驱动缆绳110并收拉第二驱动缆绳120，平行关节200将与上述相反的方式运动，即远端关节230转动呈“>”形状，近端关节210转动呈“<”形状，从而使末端装置34向左横移，平行关节200的横移运动可为末端装置34提供更大的运动范围。
相比较将第一、第二驱动缆绳110、120的远端固定在近端关节驱动平行关节运动的结构，本实施例的第一驱动缆绳110和第二驱动缆绳120的远端固定在远端关节230上，在驱动平行关节运动时，第一驱动缆绳110和第二驱动缆绳120的运动行程是将其固定在近端关节的行程的两倍，从而可以使用一半的驱动力就能驱动平行关节运动。另外，由于所需的驱动力变小了，第一驱动缆绳110和第二驱动缆绳120的形变也减少了，提高了平行关节运动精度。
在一些实施例中，第一驱动缆绳110和第一恒长缆绳131由同一条缆绳形成，即第一驱动缆绳110和第一恒定缆绳131为不断离的一根缆绳，第一固定部110a和第二固定部131a为直径大于缆绳直径的卡箍，该卡箍压接在第二远端关节段232中，从而将第一驱动缆绳100和第一恒定缆绳131的远端固定在二远端关节段232上，同样地，第二驱动缆绳120和第二恒长缆绳132也可以由一个缆绳形成。可以理解，第一驱动缆绳对、第一恒长缆绳对固定方式不限于卡箍，例如可以采用焊接等。
在一些实施例中，平行关节200也可以仅设一条远端固定在平行关节的远端关节的驱动缆绳，另外一条驱动缆绳采用其他方式替换(例如采用弹簧复位)，或者另一条驱动缆绳的远端固定在平行关节的近端关节。
在一些实施例中，对于仅需要平末端装置平移运动，而不要末端装置俯仰或偏转运动的器械(例如末端装置为相机的内窥镜)，该器械的关节组件33也可以仅包括平行关节200，而不设置腕关节300。
在一个实施例中，如图6A和6B所示，其中图6B为图6A的长轴32和关 节组件43绕长轴的轴线旋转90度后的视角。本实施例中平行关节400包括近端关节组，远端关节组、中间段420以及至少四个缆绳对，近端关节组包括第一、第二近端关节410、440，远端关节组包括第一、第二远端关节430、450，第一近端关节410连接在中间段420的近端和第二近端关节440的远端之间，第二近端关节440连接在第一近端关节410的近端和长轴32远端之间，第一远端关节430连接在中间段420的远端和第二远端关节450的近端之间，第二远端关节450连接在腕关节300的近端和第一远端关节430的远端之间。
其中，第一近端关节410的转动轴线411和第二近端关节的转动轴线441相互垂直，第一远端关节430的转动轴线431和第二远端关节450的转动轴线451相互垂直，转动轴线411、431是垂直纸面的。
平行关节400的四个缆绳对包括第两对恒长缆绳对和两对驱动缆绳对，其中，两对驱动缆绳对中的第一驱动缆绳对包括第一驱动缆绳310和第二驱动缆绳320，第一、第二驱动缆绳310、320的远端固定在第二远端关节450的远端关节段453上，其近端穿过长轴32延伸连接到器械盒31内的传动装置上第一传动单元1101上，第一驱动缆绳310和第二驱动缆绳320在中间段220中交叉。
两对恒长缆绳对中的第一恒长缆绳对包括第一恒长缆绳133和第二恒长缆绳134，第一、第二恒长缆绳133、134的远端固定在第二远端关节450的远端关节段452，其近端固定在第二近端关节440的近端关节段442上，第一恒长缆绳133和第二恒长缆绳134在中间段420中平行。
如图6B所示，两对驱动缆绳对中的第二缆绳对包括第三驱动缆绳330和第四驱动缆绳340，第三、第四驱动缆绳330、340的远端固定在第二远端关节450的远端关节段453上，其近端穿过长轴32延伸连接到器械盒31内的传动装置的第二传动单元1102上，第三驱动缆绳330和第四驱动缆绳340在中间段220中交叉。
两对恒长缆绳对中的第二恒长缆绳对包括第三恒长缆绳135和第四恒长缆绳136，第三、第四恒长缆绳的远端固定在第二远端关节450的远端关节段453，其近端固定在第二近端关节440的近端关节段442上，第三恒长缆绳330和第四恒长缆绳340在中间段420中平行。在其他的实施例中，四个恒长缆绳133、 134、135、136的近端也可以固定在长轴32的远端。为更清楚展示平行关节400的各缆绳，在图6A中没展示出第三、第四恒长缆绳135、136，也没有展示出第三、第四驱动缆绳330、340在关节组件中的部分，在图6B中没有展示出第一、第二恒长缆绳133、134，也没有展示出第一、第二驱动缆绳310、320。
以下详细描述平行关节400的纵移和横移运动，如图7A所示，图7A为第二远端关节450的远端关节段453俯视图，如图7A所示，各缆绳310、320、330、340、134、135、136并未设置在第一远端关节430的转动轴线431和第二远端关节450的转动轴线451附近，各缆绳310、320、330、340、134、135、136距离转动轴线431，451大致45度，这样可以为各关节的转动轴部件留出安装空间。
再次参见图6A,第一驱动装置2000耦合到传动装置1000，第一驱动装置2000接收控制系统发送的控制信号，具体的，第一驱动装置2000的第一驱动单元2101耦合到传动装置1000的第一传动单元1101，第一驱动装置2000的第二驱动单元2102耦合到第二传动单元1102。第一驱动装置2000可以通过中介部件(例如无菌适配器)与传动装置1000进行耦合，也可以直接耦合。
当第一驱动装置2000响应于控制系统发送的第一控制信号时，第一驱动单元2101和第二驱动单元2102都以相同的方向运动，例如当第一驱动单元2101和第二驱动单元2102均顺时针转动时，第一驱动单元2101顺时针转动带动第一传动单元1101顺时针转动，从而收拉第一驱动缆绳310并同时释放第二驱动缆绳320，第二驱动单元2102顺时针转动带动第二传动单元顺时针转动，从而释放第三驱动缆绳330并同时收拉第四驱动缆绳340，如图7A所示，F1表示收拉第一驱动缆绳310，F2表示收拉第四驱动缆绳340，第一驱动缆绳310和第四驱动缆绳340施加在远端关节段453上的合力将使得第二远端关节450的远端关节段453围绕转动轴451逆时针转动(如图7B所示)，由于该合力方向与转动轴431的方向重合，故第一远端关节430的近端、远端关节段433、432不相对于转动轴431转动。
由于第二远关节450的转动，四个恒长缆绳133、134、135、136将致动第二近端关节440，第二近端关节440的远端关节段443相对转动轴线441顺时针 转动，第一近端关节410的近端、远端关节段412、413不相对转动轴线413不转动，从而平行关节400实现如从图6a，6b所示的状态沿d方向纵移到图7B所示的状态，可以理解，当第一驱动单元和第二驱动单元均逆时针转动时，驱动平行关节400沿与d相反的方向纵移。纵移后，末端装置34的轴线b平行长轴32的轴线c，中间段420的中轴线a与第一、第二转动轴线431、451正交。
当第一驱动装置2000响应于控制系统发送的第二控制信号时，第一驱动单元2101和第二驱动单元2102以相反的方向运动，例如当第一驱动单元2101顺时针旋转，而第二驱动单元2102逆时针旋转时，第一驱动单元2101带动第一传动单元1101顺时针转动，进而收拉第一驱动缆绳310并释放第二驱动缆绳320，而第二驱动单元2102逆时针旋转将带动第二传动单元1102逆时针转动，进而收拉第三驱动缆绳330并释放第四驱动缆绳340。如图7C所述，F1表示收拉第一驱动缆绳310，F3表示收拉第三驱动缆绳330，第一、第三驱动缆绳310，330施加在第二远端关节450的远端关节段453上的合力使得第一远端关节430的远端关节段433绕转动轴线431逆时针转动，由于该合力方向与转动轴线451的方向相同，故第二远端关节450的近端、远端关节段452、453不相对其转动轴线451转动。
由于第一远端关节430的转动，四个恒长缆绳133、134、135、136将致动第一近端关节410，使第一近端关节410的远端关节段413相对其转动轴线411顺时针转动，从而平行关节400实现如从图6A,6B所示的状态沿e方向横移为图7D所示的状态。可以理解，当第一驱动单元2101逆时针旋转，第二驱动单元2102顺时针旋转时，驱动平行关节400沿与e方向相反的方向横移。横移后，第一转动轴线431与中间段420的中轴线a正交，第二转动轴线451相对于中间段420的中轴线a偏转，即第二转动轴线451与中轴线a形成非零夹角。
由于转动轴线441和411相互垂直，转动轴线451和431相互垂直，因此平行关节400的纵移和横移方向在空间上时垂直的，即方向e和方向d在空间上相互垂直。例如横移是平行关节在笛卡尔空间坐标系沿Y轴方向平移移动，纵移是在Z轴方向平移运动。平行关节400在纵移和横移时均不会改变末端装置400的俯仰或偏转运动，从而平行关节400可以增大末端装置400的运动范 围。
可以理解，在一些实施例中，器械可以不设置传动装置，由第一驱动装置直接驱动器械的各驱动缆绳。
在一些实施例中，第一驱动缆绳对310，320的远端连接在第一远端关节430上，而第二驱动缆绳对330，340的远端连接在第二远端关节450上。
在一些实施例中，第一驱动缆绳对310，320的远端连接在第二近端关节段410或中间段420上，而第二驱动缆绳对330，340的远端连接在第二远端关节450上。
在一些实施例中，第一、二驱动缆绳对的远端也可以都连接在第二近端关节段410或中间段420上。
在一个实施例中，如图8所示，从操作设备40的套管23和动力装置22固定连接，器械500的关节组件501和末端装置502穿过套管23的通道23a延伸至远处(例如延伸至病灶处)，关节组件501包括平行关节和/或腕关节。手术机器人的控制系统2301用于控制从操纵设备40的机械臂的五个接头211，212，213，214，215联动，使套管23围绕远程运动中心RCM(Remote of Motion)转动。在其他的一些实施例中，操纵设备40的机械臂也可以是其他构型的机械臂，例如平行四边形构型的机械臂。
动力装置22包括第一驱动装置2201，2202和第二驱动装置2213，2214，控制系统2301耦合到第一驱动装置2201，2202和第二驱动装置2213，2214，控制系统2301通过第一驱动装置2201控制器械500的关节组件501和末端装置502的运动，控制系统2301通过第一驱动装置2202控制器械600的相机601运动。
动力装置22机架上设有滑轨2211，2212，第一驱动装置2201和第二驱动装置2202分别滑动安装在滑轨2211和滑轨2212上，控制系统2301通过控制第二驱动装置2213，2214以驱动第一驱动装置2201，2202沿滑轨运动，器械500和器械600可拆卸地分别安装在第一驱动装置2201，2202上，第一驱动装置2201，2202在滑轨2211,2202上滑动时，能带动器械500,600执行沿f方向进给运动，即控制系统2301通过控制第二驱动装置2213，2214控制器械500,600 的进给运动，使器械长轴511，611沿套管23的通道23a的轴向直线运动。本实施例中器械500为夹钳手术器械，器械600为内窥镜。在其他的一些实施例中，器械500,600可以为其他类型的器械，例如超声刀、吻合器等。
响应于控制系统2301的控制命令，机械臂的多个接头联动，使套管23围绕远程运动中心RCM转动，以控制器械500，600的长轴围绕远程运动中心RCM运动。在控制系统2301通过控制套管23围绕远程运动中心RCM转动时，响应于控制系统2301的第一控制命令，第一驱动装置2201驱动器械500的关节组件501运动以维持器械500的末端装置502的位置和/或姿态不变，例如维持末端装置502的位置和/或姿态相对于从操纵设备40的基座210的坐标系不变，或者相对于患者手术台的坐标系不变。
在一个实施例中，在所述套管沿所述远程运动中心转动时，响应于所述第一控制信号，所述第一驱动装置驱动所述末端装置沿其轴旋转以保持所述末端装置的位置和/或姿态不变。
在一个实施例中，在套管23围绕远程运动中心RCM转动时，响应于控制系统2301的第一控制命令，第一驱动装置2201驱动关节组件501的平行关节的横移和/或纵移，从而维持器械500的末端装置502的位置和/或姿态不变。
在一个实施例中，在套管23围绕远程运动中心RCM转动时，响应于控制系统2301的第二控制命令，第一驱动装置2201驱动关节组件501的腕部关节俯仰和偏转，从而维持器械500的末端装置502的位置和/或姿态不变。
在一个实施例中，在动套管23围绕远程运动中心RCM转动时，响应于控制系统2301的第二控制命令，第二驱动装置2201驱动器械500的长轴511沿套管23的通道23a的轴向运动，从而维持器械500的末端装置502的位置和/或姿态不变。
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. 一种用于外科手术的器械，其特征在于，所述器械包括长轴、关节组件及末端装置，所述关节组件连接在所述长轴和所述末端装置之间，所述关节组件包括平行关节，所述平行关节包括：
    近端关节组；
    中间段，所述近端关节组连接于所述中间段和所述长轴之间；
    远端关节组，所述远端关节组连接于所述中间段和所述末端装置之间；
    至少两对恒长缆绳对，其连接与所述近端关节组和所述远端关节组之间；
    第一驱动缆绳对和第二驱动缆绳对，所述第一、第二驱动缆绳对的远端与所述近端关节组、中间段或远端关节组至少之一相连接，所述第一驱动缆绳对的近端与第一驱动单元耦合，所述第二驱动缆绳对的近端与第二驱动单元耦合；
    当所述第一驱动单元和所述第二驱动单元以相同方向运动驱动第一、第二驱动缆绳对时，所述末端装置纵移；
    当所述第一驱动单元和所述第二驱动单元以相反方向运动驱动所述第一、第二驱动缆绳对时，所述末端装置横移。
  2. 如权利要求1所述器械，其特征在于，所述远端关节组件至少包括具有第一转动轴线的第一远端关节，和具有第二转动轴线的第二远端关节，所述第一转动轴线和所述第二转动轴线正交。
  3. 如权利要求2所述的器械，其特征在于，在所述末端装置纵移时，所述中间段的中轴线与所述第一转动轴线及第二转动轴线正交。
  4. 如权利要求2所述的器械，其特征在于，在所述末端装置横移时，所述第二转动轴线相对于所述中间段的中轴线偏转，并且所述第一转动轴线与所述中间段的中轴线正交。
  5. 如权利要求1所述的器械，其特征在于，所述第一驱动缆绳对的远端和所述第二驱动缆绳对的至少一对驱动缆绳的远端连接在所述第二远端关节上。
  6. 如权利要求5所述的器械，其特征在于，所述第一驱动缆绳对的远端连接在所述第二远端关节上，所述第二驱动缆绳对的远端连接在所述近端关节组或所述中间段上。
  7. 如权利要求1所述的器械，其特征在于，所述第一驱动缆绳对包括第一 驱动缆绳和第二驱动缆绳，所述第一驱动缆绳与所述第二驱动缆绳在所述中间段中交叉。
  8. 如权利要求7所述的器械，其特征在于，所述第一驱动缆绳和/或第二驱动缆绳在所述第二远端关节上的固定部位于距离所述第一转动轴线和/或第二转动轴线45度附近。
  9. 如权利要求1所述的器械，其特征在于，所述第一缆绳对和所述第二缆绳对在所述中间段中交叉。
  10. 一种用于手术的器械，其特征在于，所述器械包括长轴、关节组件及末端装置，所述关节组件连接在所述长轴和所述末端装置之间，所述关节组件具有平行关节，所述平行关节包括：
    近端关节；
    中间段，所述近端关节的远端与所述中间段的近端相连接；
    远端关节，所述远端关节包括第一远端关节段和第二远端关节段，所述第一远端关节段和所述第二远端关节段转动连接，所述第一远端关节段与所述中间段的远端相连接；
    第一缆绳对，所述第一缆绳对的一端连接所述近端关节的近端或所述长轴上，另一端连接在所述第二远端段上；
    第二缆绳对，其至少包括第一驱动缆绳，所述第一驱动缆绳在所述远端关节中的缆绳段和在所述近端关节中的缆绳段分别位于所述中间段的中轴线的异侧，所述第一驱动缆绳致动所述远端关节，所述远端关节通过第一缆绳对致动近端关节，所述第二缆绳对还包括第二驱动缆绳，所述第一驱动缆绳和所述第二驱动缆绳在所述中间段中交叉。
  11. 一种手术机器人，其特征在于，所述手术机器人包括器械、第一驱动装置及控制系统，所述第一驱动装置耦合到所述器械，所述第一驱动装置接收来自所述控制系统的控制信号，所述器械包括长轴、关节组件及末端装置，所述关节组件连接在所述长轴和所述末端装置之间，所述关节组件至少包括平行关节，所述平行关节包括：
    近端关节组；
    中间段，所述近端关节组的远端与所述中间段的近端相连接；
    远端关节组，所述远端关节组件连接于所述末端装置和所述中间段之间，所述远端关节组包括具有第一转动轴的第一远端关节和具有第二转动轴的第二远端关节；
    至少两对恒长缆绳对，其连接于所述远端关节组和所述近端关节组之间；
    所述第一驱动装置响应于来自所述控制系统的第一控制信号以驱动所述第一远端关节的远端关节段相对于所述第一转动轴线转动，从而使所述末端装置横移；
    所述第一驱动装置响应于来自所述控制系统的第二控制信号以驱动所述第二远端关节的远端关节段相对于所述第二转动轴线转动，从而使所述末端装置纵移。
  12. 如权利要求11所述的手术机器人，其特征在于，所述平行关节还包括第一驱动缆绳对和第二驱动缆绳对，所述第一、第二缆绳对的远端连接在所述第二远端关节上。
  13. 如权利要求12所述的手术机器人，其特征在于，所述第一驱动缆绳对和所述第二驱动缆绳对在所述中间段中交叉。
  14. 如权利要求12所述的手术机器人，其特征在于，所述第一驱动缆绳对中至少存在一条驱动缆绳和所述恒长缆绳对中的一条缆绳为一条缆绳所形成。
  15. 如权利要求11所述的手术机器人，其特征在于，所述第一驱动装置包括第一驱动单元和第二驱动单元；响应所述第一控制信号，所述第一驱动单元和所述第二驱动单元以相反方向运动，从而使末端装置横移。
  16. 如权利要求15所述的手术机器人，其特征在于，响应所述第二控制信号，所述第一驱动单元和所述第二驱动单元以相同方向运动，从而使所述末端装置纵移。
  17. 一种手术机器人，其特征在于，所述手术机器人包括：
    器械，其包括长轴、平行关节及末端装置，所述平行关节连接在所述长轴和末端装置之间；
    第一驱动单元和第二驱动单元，所述第一、第二驱动单元耦合到所述器械；
    控制系统，其耦合到所述第一驱动单元和所述第二驱动单元，所述控制系统用于发送控第一制信号或第二控制信号给所述第一驱动单元和所述第二驱动单元；
    响应于所述第一控制信号，所述第一驱动单元和所述第二驱动单元以相同方向运动，从而驱动所述平行关节运动以使所述末端装置纵移；
    响应于所述第二控制信号，所述第一驱动单元和所述第二驱动单元以相反方向运动，从而驱动所述平行关节运动以使所述末端装置横移。
  18. 一种手术机器人，其特征在于，所述手术机器人包括：
    机械臂，所述机械臂包括多个接头；
    器械，其包括长轴、关节组件及末端装置，所述关节组件连接在所述长轴和末端装置之间；
    套管，所述套管包括通道，所述关节组件和所述末端装置穿过所述通道；
    第一驱动装置，其耦合到所述器械，并用于驱动所述关节组件运动；
    控制系统，其与所述多个接头耦合，所述控制系统用于通过控制所述多个接头联动以使套管沿远程运动中心转动；
    在所述套管沿所述远程运动中心转动时，所述控制系统发送第一控制命令给所述第一驱动装置，响应于所述第一控制命令，所述第一驱动装置驱动所述关节组件运动以保持所述末端装置的位置和/或姿态不变。
  19. 一种手术机器人，其特征在于，所述手术机器人包括：
    机械臂，所述机械臂包括多个接头；
    第一器械，其包括长轴、平行关节及末端装置，所述平行关节连接在所述长轴和末端装置之间；
    第二器械，所述第二器械用于获取环境特征；
    所述第一器械和所述第二器械与所述机械臂相连，所述多个接头联动用于使所述第一器械和所述第二器械沿远程运动中心转动；
    第一驱动装置，其耦合到所述第一器械，并用于驱动所述平行关节运动；
    控制系统，其用于发送第一控制命令给所述第一驱动装置，在所述第二器械沿远程运动中心转动时，响应于所述第一控制命令，所述第一驱动装置驱动所 述平行关节运动以保持所述末端装置的位置和/或姿态不变。
  20. 如权利要求19所述的手术机器人，其特征在于，所述关节组件包括平行关节，所述平行关节运动使所述末端装置横移或纵移；在所述套管沿所述远程运动中心转动时，响应于所述第一控制命令，所述第一驱动装置驱动所述平行关节运动以保持所述末端装置的位置和/或姿态不变。
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CN101500470A (zh) * 2006-06-13 2009-08-05 直观外科手术公司 微创手术系统
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US20120035416A1 (en) * 2009-01-16 2012-02-09 Raul Fernandez Medical Devices and Methods
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