WO2023143045A1 - Dispositif d'alimentation chirurgical, dispositif chirurgical modulaire et robot chirurgical - Google Patents

Dispositif d'alimentation chirurgical, dispositif chirurgical modulaire et robot chirurgical Download PDF

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Publication number
WO2023143045A1
WO2023143045A1 PCT/CN2023/071546 CN2023071546W WO2023143045A1 WO 2023143045 A1 WO2023143045 A1 WO 2023143045A1 CN 2023071546 W CN2023071546 W CN 2023071546W WO 2023143045 A1 WO2023143045 A1 WO 2023143045A1
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WO
WIPO (PCT)
Prior art keywords
driving
drive
instrument
surgical
rod
Prior art date
Application number
PCT/CN2023/071546
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English (en)
Chinese (zh)
Inventor
王迎智
徐高峰
袁平
Original Assignee
极限人工智能有限公司
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Filing date
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Application filed by 极限人工智能有限公司 filed Critical 极限人工智能有限公司
Publication of WO2023143045A1 publication Critical patent/WO2023143045A1/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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable

Definitions

  • the embodiments of the present application relate to the technical field of medical devices, and in particular, to a surgical power device, a split surgical device, and a surgical robot.
  • Surgical robot is a complex integrating a number of modern high-tech means, which is widely recognized in surgery. Through surgical robot, surgeons can operate the machine to perform surgery, which greatly improves the safety and convenience of surgery.
  • a single surgical device often has only one function or a limited number of functions, and the entire surgical device often needs to be replaced when other surgical operations are performed, resulting in high cost and low applicability of the surgical device.
  • Embodiments of the present application provide a surgical power device, a split surgical device, and a surgical robot, aiming to solve the problem of low applicability of the surgical device.
  • An embodiment of the present application provides a surgical power device, which is characterized in that it includes:
  • the power host includes a housing and an instrument driving module, and the instrument driving module is arranged in the housing;
  • the instrument driving module includes a mounting part, a driving mechanism, four driving rods A and a driving rod B, and the four driving rods A are slidably arranged on the mounting part along their own axis directions, and the driving rod B Slidingly arranged on the installation part along the direction of its own axis, while being rotatably arranged on the installation part along the direction of its own axis;
  • One end of the power main engine is provided with a joint seat for connecting the device, and the four driving rods A and one driving rod B protrude from the joint seat so as to drive in one-to-one correspondence with multiple steel wires in the device.
  • the projections of the four driving rods A on the plane of the joint seat away from the power main engine are distributed in a rectangle, and the projections of the driving rods B on the plane are located at the center of the rectangle;
  • the drive mechanism includes a drive motor B, a drive motor C, and two drive motors A, the drive motor A is used to drive the two drive rods A located at opposite corners of the rectangle to retract synchronously and reversely; the drive motor B is used to drive The driving rod B slides; the driving motor C is used to drive the driving rod B to rotate;
  • the handle mechanism includes a control handle, the control handle is ball-connected to the end of the power host away from the joint seat through an adjustment ball assembly, and is used to control the two drive motors A to drive the drive rod A to move, thereby driving The end effector of the instrument deflects, and the control handle is provided with a finger buckle assembly, which is used to control the drive motor B to drive the drive rod B to expand and contract, and/or to control the drive The motor C drives the drive rod B to rotate.
  • a deflection sensor A is arranged inside the adjustment ball assembly, and the deflection sensor A is used to collect deflection information of the control handle;
  • the two driving motors A drive the four driving rods A to expand and contract according to the deflection information of the control handle, and take the four driving rods A and the joint seat toward the instrument in a static state.
  • a point with the same distance from one side of the plane forms a motion plane, and during the telescopic process of the four driving rods A, the motion plane deflects synchronously with the control handle according to the deflection information.
  • the finger buckle assembly is rotatably arranged on the control handle, the finger buckle assembly includes a clip installation block rotatably connected to the control handle, and a rotation sensor is provided in the clip installation block. part, the rotation sensing part is used to obtain the rotation information of the finger buckle assembly;
  • the driving motor C drives the driving rod B to rotate following the finger snap assembly according to the rotation information of the finger snap assembly.
  • a control clip is rotatably provided on the clip installation block, and the rotation axis of the control clip is perpendicular to the rotation axis of the clip installation block;
  • the clip installation block is provided with a deflection sensor B for obtaining the deflection information of the control clip, and the driving motor B is used for driving the driving rod B according to the deflection information of the control clip telescopic.
  • a finger-following ring for fingers to pass through is provided on the control clip, and the finger-following ring is used to drive the control clip to rotate following the fingers.
  • control clip is provided with two pieces, the rotation axes of the two control clips are parallel to each other, and symmetrical with respect to the vertical plane of the clip installation block.
  • the installation part includes a supporting column, a rear fixing plate and a front fixing plate arranged in parallel and at intervals, and the supporting column is connected between the rear fixing plate and the front fixing plate; wherein, the driving The motor B, the driving motor C and the two driving motors A are arranged between the rear fixing plate and the front fixing plate;
  • the front fixing plate is arranged in parallel on the side of the power main engine close to the joint seat, the driving rod A and the driving rod B are vertically slidably arranged on the front fixing plate, and the inside of the power main engine is located
  • An instrument identification plate is arranged in parallel between the front fixing plate and the connector seat, and an induction chip for identifying the type of the instrument is arranged on the instrument identification plate.
  • the drive motor A, the drive motor B, and the drive motor C are all arranged on the rear fixing plate, and the output shafts of the drive motor A, the drive motor B, and the drive motor C face The same and the axes are parallel to each other, the output shafts of the drive motor A, the drive motor B, and the drive motor C are all fixedly provided with detection magnets;
  • It also includes an origin detection plate parallel to the rear fixed plate, the origin detection plate is arranged on the side of the rear fixed plate close to the output shaft of the drive motor A, the drive motor B, and the drive motor C,
  • the origin detection plate is provided with a rotation induction part B, which is used to obtain the rotation information of each detection magnet on the drive motor A, the drive motor B, and the drive motor C, so as to determine the The rotation effect of the driving motor B and the driving motor C.
  • the cross-section of the sliding section of the drive rod A passing through the joint seat is non-circular, and the shape of the perforation on the joint seat for the drive rod A to pass through is similar to the cross-section of the drive rod A. adaptation.
  • a motor control circuit is provided in the power host, and the motor control circuit includes:
  • the first control module is configured to acquire deflection information of the control handle in the split surgical device, and control the driving motor A in the split surgical device to drive the universal snake assembly according to the deflection information of the control handle deflection;
  • the second control module is used to obtain the rotation information of the finger buckle assembly, and control the drive motor C to drive the end effector to rotate according to the rotation information;
  • the third control module is configured to obtain deflection information of the control clip, and control the drive motor B to drive the end effector to open and close according to the deflection information.
  • An embodiment of the present application provides a split-type surgical device, which is characterized in that it includes the above-mentioned surgical power device, and further includes:
  • the instrument is detachably arranged on the surgical power unit;
  • the surgical power unit includes a power host and a handle mechanism
  • the power host includes an instrument drive module for providing power to the instrument and a joint seat for installing the instrument
  • the handle mechanism adjusts the ball assembly ball connected to the side of the power host away from the joint seat
  • the instrument includes an interface seat, an abdominal assembly, a universal snake assembly and an end effector connected in sequence, and the interface seat is used for detachable connection with the joint seat;
  • the handle mechanism includes a control handle, and the control handle controls the instrument driving module through the adjusting ball assembly, so that the universal snake assembly is controlled to deflect synchronously with the control handle through the instrument driving module,
  • the control handle is provided with a finger buckle assembly for controlling the rotation or opening and closing of the end effector following the finger buckle assembly.
  • the apparatus also includes:
  • each of the connecting rods is slidably arranged in the interface seat and is aligned with the plane of the interface seat Vertically, the four driving rods A are respectively connected to four of the connecting rods, and the driving rod B is connected to the other connecting rod;
  • the projections of the four connecting rods connected to the four driving rods A on the plane of the interface seat away from the abdominal component are distributed in a rectangular shape, and the connecting rods are respectively passed through a traction steel wire or a traction shaft connected with the universal snake bone assembly;
  • Both ends of the drive rod A and the drive rod B are fixed with a first connecting portion, and the ends of the connecting rod are provided with a second connecting portion connected to the first connecting portion, for connecting The driving rod A and the driving rod B are connected to the connecting rod.
  • the first connecting part includes a connecting block
  • the connecting block is fixedly connected with the driving rod A and the driving rod B
  • the connecting part of the connecting block forms a circle of clamping grooves
  • the second The connecting part includes a receiving slot adapted to the connecting block and a block for snapping into the slot, so that after the connecting block enters the receiving slot, the driving rod A or the driving rod B is correspondingly connecting rod connection.
  • the rectangular parallelepiped of the connecting block prevents relative rotation between the connecting block and the driving rod A or driving rod B after entering the receiving groove.
  • a fixing block is provided on the side wall of the interface base, a fixing slot adapted to the fixing block is opened on the side wall of the joint base, and a fixing slot for the fixing block is opened on the side wall of the fixing slot.
  • the installation groove into which the fixing block enters, so that the fixing block enters the fixing groove through the installation groove, thereby connecting the interface seat with the joint seat, and the orientation of the installation groove is the same as that of the accommodation groove facing the same.
  • the interface seat is provided with a first stopper for restricting the interface seat from the joint seat, and a second stopper for restricting the interface seat from misalignment and sliding relative to the joint seat .
  • the instrument further includes: an instrument identification plate, different induction blocks are arranged on the instrument identification plate of different instruments, for the induction chip on the instrument identification plate in the surgical power unit to perform identify.
  • An embodiment of the present application provides a surgical robot, including the above-mentioned split surgical device, and also includes:
  • a support system and a floating rod assembly the upper end of the floating rod assembly is connected to the support system, and the split surgical device is detachably arranged at the lower end of the floating rod assembly.
  • the surgical power device includes a power host for outputting power and a handle mechanism for controlling the power host, wherein the power host extends five driving rods, respectively It consists of four cooperating driving rods A and a telescopic and rotating driving rod B, which are used to output power when connecting the equipment.
  • the power host is also equipped with a driving mechanism for driving the driving rod A and the driving rod B to move.
  • the deflection power of the end effector on the end effector rotates and/or the power of opening and closing, so as to output a variety of different powers when replacing different instruments.
  • Fig. 1 is a schematic diagram of a surgical power device proposed by an embodiment of the present application
  • Fig. 2 is a schematic diagram of an instrument driving module proposed by an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a control handle and finger clasp assembly proposed by an embodiment of the present application
  • Fig. 4 is a schematic diagram of another direction of the control handle and finger buckle assembly proposed by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a transmission part A proposed by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a transmission part B proposed by an embodiment of the present application.
  • Fig. 7 is a schematic diagram of a transmission part B and a transmission part C proposed by an embodiment of the present application.
  • Fig. 8 is a schematic diagram of an instrument identification board proposed by an embodiment of the present application.
  • Fig. 9 is a schematic diagram of an origin detection board proposed by an embodiment of the present application.
  • Fig. 10 is a side view of a split surgical device proposed by an embodiment of the present application.
  • Fig. 11 is a schematic diagram of another angle of the split surgical device proposed by an embodiment of the present application.
  • Fig. 12 is a schematic diagram of a first connection part proposed by an embodiment of the present application.
  • Fig. 13 is a schematic diagram of a second connection part proposed by an embodiment of the present application.
  • Fig. 14 is an enlarged view of part A in Fig. 1 proposed by an embodiment of the present application;
  • Fig. 15 is a schematic diagram of a surgical robot proposed by an embodiment of the present application.
  • Surgical robot is a complex integrating a number of modern high-tech means, which is widely recognized in surgery. Through surgical robot, surgeons can operate the machine to perform surgery, which greatly improves the safety and convenience of surgery.
  • a single surgical device often has only one function or a limited number of functions, and the entire surgical device often needs to be replaced when other surgical operations are performed, resulting in high cost and low applicability of the surgical device.
  • Embodiment 1 of the present application provides a surgical power device, referring to Fig. 1 and Fig. 2, including a power host 27 and a handle mechanism 26, the power host 27 includes a housing and an instrument drive module 30, and the instrument drive module 30 set in the casing.
  • the instrument driving module 30 includes a mounting part 31, a driving mechanism, four driving rods A341 and a driving rod B342.
  • the four driving rods A341 are slidably arranged on the mounting part 31 along the direction of its own axis, so as to drive the instrument 28 when sliding.
  • the four pull wires are retracted or released.
  • the driving rod B342 is slidably arranged on the installation part 31 along its own axis direction, so as to drive the steel wire in the center of the instrument to expand and contract when sliding.
  • the steel wire in the center turns.
  • One end of the power host 27 is provided with a joint seat 38 for connecting the apparatus 28, and four driving rods A341 and one driving rod B342 protrude from the joint seat 38 so as to be connected to the five steel wires in the apparatus 28 in one-to-one correspondence.
  • the projection of the driving rod A341 on the plane of the joint seat 38 facing away from the main engine 27 is distributed in a rectangle, and the projection of the driving rod B342 on the plane is located at the center of the rectangle.
  • the end effector 286 is required to achieve the effect of rotation, so the driving rod B342 is rotated while expanding and contracting, so as to drive the connected end effector 286 to achieve the effect of rotation, through a driving rod B342 at the same time
  • the output of two kinds of driving force effectively reduces the parts quantity of the whole device and improves the applicability of the whole device at the same time.
  • the driving mechanism includes a driving motor B351, a driving motor C371 and two driving motors A321, and the driving motor A321 is used to drive the two driving rods A341 located at opposite corners of the rectangle to expand and contract in reverse synchronously.
  • the driving motor B351 is used to drive the driving rod B342 to slide.
  • the driving motor C371 is used to drive the driving rod B342 to rotate.
  • the instrument drive module 30 also includes two sets of transmission parts A33, each group of transmission parts A33 includes a driving steel wire A331, two first guide wheels 332 and two second guide wheels 333, and the driving steel wire A331 is sequentially Wrap around the two first guide wheels 332 and the two second guide wheels 333 to form two opposite first steel wire segments located between the first guide wheels 332 and the second guide wheels 333 .
  • the power output of the driving motor A321 is output through the driving steel wire A331, and the two driving rods A341 are connected with the two first steel wire sections of the driving steel wire A331, so as to realize synchronous reverse movement of the two driving rods A341 driven by one driving steel wire A, Then drive the four driving rods A341 to move through the two groups of transmission parts A33.
  • the four driving rods A341 are connected to the four driving steel wires in the device 28.
  • the handle mechanism 26 includes a control handle 265, which is ball-connected to the end of the power host 27 away from the joint seat 38 through the adjustment ball assembly 266, and is used to control the two drive motors A321 to drive the drive rod A341 to move, thereby driving the instrument 28
  • the end effector 286 is deflected, and the control handle 265 is provided with a finger clasp assembly 263.
  • the finger clasp assembly 263 is used to control the drive motor B351 to drive the drive rod B342 to expand and contract, and/or to control the drive motor C371 to drive the drive rod B342 to rotate.
  • the two drive motors A321 are controlled, so that the two drive rods A341 corresponding to each drive motor A321 do different telescopic actions, so that one of the four traction wires of the connected instrument 28 One or two adjacent ones shrink, and the other one or two traction steel wires opposite to it elongate, so that the universal snake assembly bends to the side of the contracted traction steel wire, and realizes the effect of driving the deflection of the end effector 286, referring to
  • the rotation or opening and closing of the buckle assembly 263 is to drive the driving rod B342 to expand and contract by controlling the driving motor B351, and/or to control the driving motor C371 to drive the driving rod B342 to rotate, and to output the driving force of rotation and/or opening and closing to the connected instrument 28 , so that the control process is more convenient and the practicability of the whole device is improved.
  • the surgical power device includes a power host 27 for outputting power and a handle mechanism 26 for controlling the power host 27, wherein, the power host 27 stretches out five driving rods, four driving rods respectively Rod A341 and a telescopic and rotatable drive rod B342 are used to output power when the device 28 is connected, and a drive mechanism for driving the drive rod A341 and the drive rod B342 is also arranged in the power host 27, through the handle mechanism 26
  • the control handle 265 of the control handle 265 controls the movement of the driving rod A341, thereby outputting the power capable of driving the end effector 286 on the connected instrument 28 to deflect, and controlling the telescopic/or rotation of the driving rod B342 through the finger clasp assembly 263, so that the output can drive the connected instrument 28
  • the deflection power of the end effector 286 on the upper end effector 286 rotates and/or opens and closes, so as to output a variety of different powers when replacing different instruments 28.
  • a deflection sensor A is disposed inside the adjustment ball assembly 266 , and the deflection sensor A is used to collect deflection information of the control handle 265 .
  • the two drive motors A321 drive the two drive motors A321 to drive the corresponding two drive rods A341 to expand and contract according to the deflection information of the control handle 265, and take the four drive rods A341 and the connector seat 38 toward the instrument 28 in a static state.
  • a point with the same plane distance on one side forms a motion plane, and during the stretching process of the four driving rods A341, the motion plane deflects synchronously with the control handle 265 according to the deflection information.
  • the deflection sensor A obtains the deflection information of the control handle 265, then controls the drive motor A321 to determine the deflection intention corresponding to the deflection information according to the internal program, and then determines the need for the instrument 28 to be turned on according to the internal program.
  • the four driving rods A341 need to perform actions, and then control the two driving motors A321 to drive the four driving rods A341 to perform, so as to realize the control through the control handle 265 when connecting the end effector 286 its deflection effect.
  • the finger clasp assembly 263 is rotatably disposed on the control handle 265 , the finger clasp assembly 263 includes a clip mounting block 2631 rotatably connected to the control handle 265 , and the clip mounting block 2631 A rotation sensing part is arranged inside, and the rotation sensing part is used to acquire the rotation information of the finger clasp assembly 263 .
  • the driving motor C371 drives the driving rod B342 to rotate following the finger buckle assembly 263 according to the rotation information of the finger buckle assembly 263 , and the output shaft of the driving motor C371 is sleeved with a driving gear C372 .
  • a driven gear C373 is coaxially fixed on the driving rod B342, and a transmission column 374 is arranged on the rear fixed plate 312 for rotation, and the two ends of the transmission column 374 located on both sides of the rear fixed plate 312 are coaxially fixed respectively.
  • a transmission gear 375 is provided, and the two transmission gears 375 mesh with the driving gear C372 and the driven gear C373 respectively.
  • the user's finger can just control the movement of the finger clasp assembly 263.
  • the rotation information of the clip mounting block 2631 is obtained through the rotation sensor, and the rotation information of the clip mounting block 2631 is obtained according to the internal program.
  • the information determines the rotation intention of the user, and then controls the rotation of the driving rod B342 through the drive motor C371, thereby controlling the rotation of the end effector 286 on the connected instrument 28 according to the user's control intention.
  • a control clip 2632 is rotatably disposed on the clip installation block 2631 , and the rotation axis of the control clip 2632 is perpendicular to the rotation axis of the clip installation block 2631 .
  • the clip installation block 2631 is provided with a deflection sensor B for obtaining the deflection information of the control clip 2632 , and the driving motor B351 is used for driving the driving rod B342 to expand and contract according to the deflection information of the control clip 2632 .
  • a traction rod is often required to control the clamping end on one side or the clamping ends on both sides to move closer to or away from each other when controlling the opening and closing of the jaws.
  • the opening and closing action of the end effector 286 is simulated by the rotating control clip 2632 to control the drive motor B351 to drive the drive rod B342 to expand and contract, so as to realize the control of the end effector 286 to open according to the action of the control clip 2632 combine.
  • the output shaft of the driving motor B351 is coaxially provided with a driving wheel B352
  • the instrument driving module 30 also includes a transmission part B36
  • the transmission part B36 includes a driving steel wire B361, a third guide wheel 362 and two fourth guide wheels 363, the driving steel wire B361 encircles the driving wheel B352, one of the fourth guiding wheels 363, the third guiding wheel 362 and two other fourth guiding wheels 363 in turn, and the two driving steel wires B361
  • the end is fixedly connected with the side wall of the driving wheel B352 after passing through two fourth guide wheels 363, and the driving rod B is connected with the driving steel wire B, and the driving steel wire B361 is driven to reciprocate by the reciprocating rotation of the driving motor B351, thereby driving the driving rod B342 to expand and contract.
  • control clip 2632 is rotatably provided with a finger follower ring 2633 for the finger to pass through, and the finger follower ring 2633 is used to drive the control clip 2632 to follow the rotation of the finger.
  • the finger When controlling the opening of the pincers, the finger is inserted into the finger follower ring 2633, thereby driving the control clip 2632 to open when the finger moves, thereby simulating the action of opening the pincers, and then controlling the opening of the pincers. It is more convenient and labor-saving when clamping the clip 2632.
  • control clip 2632 is provided with two pieces, the rotation axes of the two control clips 2632 are parallel to each other, and symmetrical with respect to the vertical plane of the clip installation block 2631 .
  • the movement of the two control clips 2632 is controlled by simultaneously pinching the two pieces with the index finger and the thumb, so that the control of the control clips 2632 is more adapted to the user's usage habits, and the operation is more labor-saving.
  • the installation part 31 includes a support column and a rear fixing plate 312 and a front fixing plate 311 arranged in parallel and spaced apart, and the supporting column is connected between the rear fixing plate 312 and the front fixing plate 311 .
  • the driving motor B351 , the driving motor C371 and the two driving motors A321 are arranged between the rear fixing plate 312 and the front fixing plate 311 .
  • the front fixing plate 311 is arranged in parallel on the side of the power host 27 close to the joint seat 38, the driving rod A341 and the driving rod B342 are vertically slidably arranged on the front fixing plate 311, and the power host 27 is located in the front fixing plate.
  • an instrument identification plate 385 is arranged in parallel, and an induction chip 3851 for identifying the type of the instrument 28 is arranged on the instrument identification plate 385.
  • an instrument identification plate 289 representing the type of the instrument 28 is provided on the instrument 28 of the surgical power unit provided by the present application, and when the instrument 28 is connected, the identification plate 289 of the instrument 28 is identified by the instrument identification plate 385
  • a plurality of detection chips on the instrument identification plate 385 can be used to detect whether there are magnetic poles at corresponding positions on the instrument identification plate 289 , thereby identifying the type of the connected instrument 28 .
  • the driving motor A321, the driving motor B351 and the driving motor C371 are all arranged on the rear fixing plate 312, the output shafts of the driving motor A321, the driving motor B351 and the driving motor C371 are facing the same direction and the axes are parallel to each other, the driving motor A321, the driving motor The output shafts of the motor B351 driving the motor C371 are fixedly provided with detection magnets.
  • the instrument drive module 30 also includes an origin detection plate 316 parallel to the rear fixed plate 312.
  • the origin detection plate 316 is arranged on the rear fixed plate 312 close to the drive motor A321, the drive motor B351, and the output shaft of the drive motor C371.
  • the origin detection plate 316 is provided with a rotation induction part B, which is used to obtain the rotation information of each detection magnet on the drive motor A321, the drive motor B351 and the drive motor C371, so as to determine the rotation of the drive motor A321, the drive motor B351 and the drive motor C371. Turn effect.
  • the rotation information of the detection magnet on the drive motor is detected by the origin detection board 316 to determine whether the control motor rotates according to the control signal.
  • the internal The program performs compensation to realize closed-loop control so as to improve the precision of the entire device when controlling the apparatus 28 .
  • the cross section of the sliding section of the driving rod A341 passing through the joint seat 38 is non-circular, and the shape of the perforation on the joint seat 38 for the driving rod A341 to pass through is adapted to the cross section of the driving rod A341.
  • the non-circular through hole restricts the driving rod A341 in the circumferential direction, so as to prevent the driving rod A341 from rotating and improve the stability of the whole device during operation.
  • a motor control circuit is provided in the power host 27, and the motor control circuit includes:
  • the first control module is used to obtain the deflection information of the control handle 265 in the split surgical device, and control the driving motor A321 in the split surgical device to drive the universal snake assembly 284 to deflect according to the deflection information of the control handle 265 .
  • the first control module cooperates with the deflection sensor A in the control handle 265, and controls the rotation of the driving motor A321 according to the deflection information of the control handle 265 detected by the deflection sensor A.
  • the second control module is used to obtain the rotation information of the finger clasp assembly 263, and control the drive motor C371 to drive the end effector 286 to rotate according to the rotation information.
  • the second control module cooperates with the rotation sensing part in the finger buckle assembly 263, and controls the rotation of the driving motor B351 according to the rotation information of the finger buckle assembly 263 detected by the rotation sensing part.
  • the third control module is configured to obtain deflection information of the control clip 2632, and control the drive motor B351 to drive the end effector 286 to open and close according to the deflection information.
  • the first control module cooperates with the deflection sensor B in the finger buckle assembly 263, and controls the rotation of the driving motor B351 according to the deflection information of the control clip 2632 detected by the deflection sensor B.
  • FIG. 10 and FIG. 11 which includes the above-mentioned surgical power device and instrument 28, and the instrument 28 is detachably arranged on the surgical power device.
  • the surgical power unit includes a power host 27 and a handle mechanism 26.
  • the power host 27 includes an instrument drive module 30 for providing power to the instrument 28 and a joint seat 38 for installing the instrument 28.
  • the handle mechanism 26 is ball-connected by an adjustment ball assembly 266. On the side of the main engine 27 away from the joint seat 38 .
  • the instrument 28 includes an interface base 281 , an abdominal access component 282 , a universal snake bone component 284 and an end effector 286 which are sequentially connected.
  • the interface base 281 is used for detachable connection with the joint base 38 .
  • the handle mechanism 26 includes a control handle 265.
  • the control handle 265 controls the instrument drive module 30 through the adjustment ball assembly 266, so that the universal snake bone assembly 284 is controlled by the instrument drive module 30 to deflect synchronously following the control handle 265.
  • the control handle 265 is provided with
  • the finger clasp assembly 263 is used to control the end effector 286 to rotate or open and close following the finger clasp assembly 263 .
  • the instrument 28 further includes five connecting rods 283 for connecting four driving rods A341 and one driving rod B342, and each connecting rod 283 is slidably disposed on the interface base 281 All of them are perpendicular to the plane of the interface seat 281 , the four driving rods A341 are respectively in transmission connection with four of the connecting rods 283 , and the driving rod B342 is in transmission connection with the other connecting rod 283 .
  • the projections of the four connecting rods 283 connected to the four driving rods A341 on the plane of the interface seat 281 facing away from the abdominal component 282 form a rectangular distribution. 284 connection.
  • the instrument 28 also includes five connecting rods 283 for connecting with the four driving rods A341 and for connecting with the driving rod B342, including four first connecting rods 2833 and four first connecting rods 283.
  • the driving rod B342 is in transmission connection with another second connecting rod 3834 .
  • the projections of the four first connecting rods 2833 connected to the four driving rods A341 on the plane of the interface seat 281 facing away from the abdominal assembly 282 are distributed in a rectangular shape, and the four first connecting rods 2833 are connected to the universal joint through a traction wire respectively.
  • the snake assembly 284 is connected, and the second connecting rod 3834 is connected with the end effector 286 through the traction shaft.
  • Both the ends of the driving rod A341 and the driving rod B342 are fixed with a first connecting portion, and the ends of the connecting rod 283 are all provided with a second connecting portion connected to the first connecting portion, for connecting the driving rod A341 and the driving rod B342 Connect with connecting rod 283.
  • the driving rod A341 When the instrument 28 is connected to the surgical power unit, the driving rod A341 is connected to the four connecting rods 283 distributed in a rectangle, so that the power of the driving rod A341 is transmitted to the traction steel wire, which drives the traction steel wire to expand and contract, thereby driving the traction steel wire connected
  • the universal snake assembly 284 deflects, for example, when the driving rod A341 on one side contracts and the driving rod A341 on the other side extends, the universal snake assembly 284 deflects to the contracting side.
  • the connecting rod 283 transmits the power of the driving rod B342 to the traction shaft, so that when the driving rod B342 rotates, it drives the end effector 286 to rotate, and when the driving rod B342 stretches, it drives the end
  • the actuator 286 opens and closes.
  • the first connecting part includes a connecting block 3412, and the connecting block 3412 is fixedly connected to the driving rod A341 and the driving rod B342.
  • the two connecting parts include a receiving slot 2832 adapted to the connecting block 3412 and a locking block 2831 for engaging with the locking slot 3413, so that after the connecting block 3412 enters the receiving slot 2832, the driving rod A341 or the driving rod B342 is connected to the corresponding connecting rod 283 connections.
  • the two When connecting the surgical power unit and the instrument 28, the two are dislocated butt-connected so that the connecting block 3412 is located on one side of the opening of the accommodation groove 2832, and then the dislocation moves the instrument 28 and the surgical power unit so that the connecting block 3412 enters the accommodation groove 2832 and makes The block 2831 enters the slot 3413, thereby connecting the driving rod A341 and the driving rod B342 with the connecting rod 283, improving the stability of the whole device after connection.
  • the connecting block 3412 is a rectangular parallelepiped, which prevents relative rotation between the connecting block 3412 and the driving rod A341 or driving rod B342 after entering the receiving groove 2832 .
  • the cuboid connecting block 3412 is adapted to the receiving groove 2832 to avoid relative rotation of the driving rod A341 or the driving rod B342, further improving the stability of the whole device after connection.
  • the side wall of the interface seat 281 is provided with a fixing block
  • the side wall of the joint seat 38 is provided with a fixing groove 381 adapted to the fixing block
  • the side wall of the fixing groove 381 There is a mounting groove 382 for the fixing block to enter, so that the fixing block enters the fixing groove 381 through the mounting groove 382, thereby connecting the interface seat 281 with the joint seat 38, and the orientation of the mounting groove 382 is the same as that of the receiving groove 2832.
  • the fixing block When connecting the surgical power unit and the instrument 28, since the direction of the loading groove is the same as that of the receiving groove 2832, when the connecting block 3412 is located on one side of the opening of the receiving groove 2832, the fixing block is located on the opening side of the installation groove 382, and the instrument 28 Close to the surgical power device, the fixed block enters the fixed groove 381 communicating with the installation groove 382, so that the fixed block enters the fixed groove 381 when the dislocation mobile instrument 28 and the surgical power device are connected, and the stability of the whole device after connection is improved.
  • the interface base 281 is provided with a first limiter 383 for limiting the interface base 281 from leaving the joint base 38 , and a second limiter for limiting the interface base 281 to displace and slide relative to the joint base 38 .
  • Bits 384 are provided.
  • the interface seat 281 is restricted from the joint seat 38 by the first stopper 383, and the interface seat 281 is further limited by the second stopper 384 to slide relative to the joint seat 38.
  • the direction connects the instrument 28 to the surgical power unit and fixes them to each other, so as to improve the stability of the whole device after the connection.
  • the instrument 28 further includes: an instrument identification plate 289 , different sensing blocks are provided on the instrument identification plate 289 of different instruments 28 for identification by the sensing chip 3851 on the instrument identification plate 385 in the surgical power unit.
  • the type of the instrument identification plate 289 is identified by the instrument identification plate 385 , thereby determining the type of the connected instrument 28 , thereby determining how to output power to control the type of instrument 28 .
  • a plurality of detection chips on the instrument identification plate 385 can be used to detect whether there are magnetic poles at the corresponding positions on the instrument identification plate 289 , so as to identify the type of the connected instrument 28 .
  • FIG. 15 Another embodiment of the present application provides a surgical robot, including the above-mentioned split surgical device with reference to FIG. 15 , and also includes:
  • split surgical device When using a split surgical device, connect the split surgical device to the floating rod assembly 23, adjust the height of the split surgical device through the floating rod assembly 23, and adjust the position of the split surgical device by adjusting the support system 200, effectively Improves the convenience of using split surgical devices.

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

Abstract

L'invention concerne un dispositif d'alimentation chirurgical, un dispositif chirurgical modulaire comprenant le dispositif d'alimentation chirurgicale, et un robot chirurgical comportant le dispositif chirurgical modulaire. Le dispositif d'alimentation chirurgical comprend une unité d'alimentation principale (27) pour délivrer de l'énergie et un mécanisme de poignée pour commander l'unité d'alimentation principale (27), cinq tiges de commande s'étendant hors de l'unité d'alimentation principale (27), à savoir quatre tiges de commande A (341) correspondant l'une à l'autre et une tige de commande B (342) pouvant se rétracter et tourner ; et les tiges de commande A (341) sont commandées pour se déplacer au moyen d'une poignée de commande (265) située dans le mécanisme de poignée (26), de manière à délivrer de l'énergie qui permet de dévier un élément d'exécution d'extrémité (286) situé sur un instrument connecté (28), et la tige de commande B (342) est commandée pour se rétracter et/ou tourner au moyen d'un ensemble de fixation de doigt (263), de manière à ce que soit délivrée la puissance de rotation et/ou d'ouverture et/ou de fermeture apte à assurer la déviation de l'élément d'exécution d'extrémité (286) situé sur l'élément connecté (28). Différents instruments (28) sont permutés sur un dispositif d'alimentation chirurgical, de manière à obtenir différents effets en coopération avec différents instruments (28), l'ensemble du dispositif chirurgical ne nécessite pas de remplacement, et la mise en oeuvre de l'ensemble du dispositif est efficacement améliorée.
PCT/CN2023/071546 2022-01-25 2023-01-10 Dispositif d'alimentation chirurgical, dispositif chirurgical modulaire et robot chirurgical WO2023143045A1 (fr)

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CN202210084890.3A CN114098989B (zh) 2022-01-25 2022-01-25 手术动力装置、分体式手术装置及手术机器人
CN202210084890.3 2022-01-25

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CN114098989B (zh) * 2022-01-25 2022-05-03 极限人工智能有限公司 手术动力装置、分体式手术装置及手术机器人
CN114305540B (zh) * 2022-03-08 2022-06-07 极限人工智能有限公司 器械驱动模组、手术动力装置及分体式手术装置

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