WO2024067335A1 - Appareil d'actionnement de robot médical et robot de cathéter - Google Patents

Appareil d'actionnement de robot médical et robot de cathéter Download PDF

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Publication number
WO2024067335A1
WO2024067335A1 PCT/CN2023/120282 CN2023120282W WO2024067335A1 WO 2024067335 A1 WO2024067335 A1 WO 2024067335A1 CN 2023120282 W CN2023120282 W CN 2023120282W WO 2024067335 A1 WO2024067335 A1 WO 2024067335A1
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WO
WIPO (PCT)
Prior art keywords
circuit board
assembly
assemblies
driving device
motor
Prior art date
Application number
PCT/CN2023/120282
Other languages
English (en)
Chinese (zh)
Inventor
刘放
王建辰
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.)
Filing date
Publication date
Priority claimed from CN202211207585.5A external-priority patent/CN117838313A/zh
Priority claimed from CN202211207543.1A external-priority patent/CN117838301A/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 WO2024067335A1 publication Critical patent/WO2024067335A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present application relates to the medical field, and in particular to a driving device of a medical robot and a catheter robot.
  • Minimally invasive medical technology refers to a medical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery or biopsy inside the human body cavity. Compared with traditional surgical methods, minimally invasive medical technology has the advantages of less trauma, less pain, faster recovery, less discomfort for patients and fewer harmful side effects.
  • Minimally invasive medical robotic systems generally include medical devices and manipulator devices.
  • the medical device is generally a flexible and/or steerable elongated device that can be inserted into an anatomical through hole and navigated toward a target area within the patient's anatomical structure.
  • the control of the medical device involves advancing, retracting, and bending and steering, among which bending and steering is mainly controlled by a driving device (such as a motor) of the manipulator device to control the rotation of the transmission part of the catheter device.
  • a driving device for a medical robot which includes:
  • a plurality of motor assemblies configured to drive medical instruments of the medical robot
  • each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies;
  • a plurality of sensor assemblies a first sensor assembly of the plurality of sensor assemblies is connected to a first coupling assembly of the plurality of output coupling assemblies through a gear assembly, and the first sensor assembly is configured to detect a rotational orientation of the first coupling assembly.
  • the first coupling assembly includes a first output coupling disk and a sleeve assembly, the first output coupling disk is slidably mounted on the sleeve assembly, and the sleeve assembly is fixedly connected to the output shaft of a first motor assembly among the multiple motor assemblies.
  • the driving device is configured to rotate around a first axis
  • the output shaft of the first motor assembly is configured to rotate around a second axis
  • the second axis is perpendicular to the first axis
  • the first sensor component includes a magnet and a reading device, the magnet is arranged on a rotating shaft, the rotating shaft is configured to rotate around a third axis, the third axis is perpendicular to the first axis, and the reading device is configured to sense the magnetic field changes caused by the rotation of the magnet.
  • the first gear assembly includes a driving gear and a driven gear meshing with each other, the driving gear is fixedly connected to the sleeve assembly, and the first sensor assembly is mounted on the driven gear.
  • any one of the driving gear and the driven gear includes an upper gear, a lower gear and a torsion spring, the upper gear and the lower gear are coaxially arranged, one end of the torsion spring is connected to the upper gear, and the other end is connected to the lower gear.
  • the first output coupling assembly further comprises a spring, the first output coupling plate is carried by the spring, and the spring provides an axial loading force for the engagement of the first output coupling plate with a first input coupling plate of the plurality of input coupling plates.
  • the sleeve assembly includes a guide sleeve and a tapered sleeve
  • the tapered sleeve includes a fastening portion and a tapered portion
  • the tapered portion is provided with a plurality of grooves, and during the process of fixing the guide sleeve to the fastening portion, the guide sleeve simultaneously tightens the tapered sleeve to make the tapered portion Fixed on the output shaft.
  • the first output coupling disc is sleeved on the guide sleeve, and the first output coupling disc has a limit pin, and part of the limit pin is accommodated in a slide groove of the guide sleeve.
  • the driving gear is fixedly connected to the guide sleeve.
  • the driving device further comprises a detection component, and when the medical device is mounted on the driving device and the first output coupling disk is not engaged with the first input coupling disk, the lower edge of the first output coupling disk is close to the detection component.
  • the detection component includes a detection switch.
  • the detection switch When the surgical instrument is mounted on the drive device and the first output connecting disk is not engaged with the first input connecting disk, the lower edge of the first output connecting disk abuts against the detection switch to trigger the detection switch.
  • the first motor assembly of the plurality of motor assemblies includes a first motor and a first gear box, the output shaft of the first motor is connected to the first gear box, and the output shaft of the first gear box is fixedly connected to the sleeve assembly.
  • the driving device also includes a cooling fan, which is arranged in the accommodating space between the multiple motor assemblies.
  • a circuit board assembly for driving the multiple motor assemblies is also provided in the accommodating space.
  • the cooling fan is used to promote gas exchange between the accommodating space and the outside world.
  • the present invention provides a catheter robot, comprising:
  • a first driving device configured to drive the outer catheter of the outer catheter device to move
  • a second driving device which is configured to drive the inner catheter of the inner catheter device to move, wherein the inner catheter is at least partially accommodated in the outer catheter and supported by the outer catheter;
  • Each of the first drive device and the second drive device includes
  • a plurality of output coupling assemblies configured to engage a plurality of input coupling disks of the inner catheter device or the outer catheter device, and each of the plurality of output coupling assemblies is coupled to one of the plurality of motor assemblies;
  • a plurality of sensor assemblies a first sensor assembly among the plurality of sensor assemblies is connected to a first coupling assembly among the plurality of output coupling assemblies through a transmission structure, and the first sensor is configured to detect Detect the rotational orientation of the first output coupling assembly.
  • FIG1 is a top view of an application environment of a medical robot according to an embodiment of the present application.
  • FIG2 is a side view of a catheter robot mechanical arm and a driving device according to an embodiment of the present application
  • FIG3A is a schematic diagram of the internal structure of a driving device according to an embodiment of the present application.
  • FIG3B is a schematic diagram of the internal structure of the driving device shown in FIG3A from another perspective;
  • FIG3C is a top view of the driving device shown in FIG3A;
  • FIG4A is a partial cross-sectional view of a driving device according to an embodiment of the present application, showing an air heat dissipation flow path;
  • FIG4B is a cross-sectional view perpendicular to the central axis of the driving device
  • FIG5A is a perspective view of an upper bracket of a driving device according to an embodiment of the present application.
  • FIG5B is a cross-sectional view of a driving device according to an embodiment of the present application.
  • FIG6A is a partial enlarged view of the output coupling assembly attachment of the drive device shown in FIG3C in a cross-sectional view along the BB position line;
  • FIG6B is an exploded view of a structure in which an output coupling plate is connected to an output shaft of a motor assembly according to an embodiment of the present application;
  • FIG. 6C is a schematic diagram of a state in which the catheter device in FIG. 6A is installed in the driving device but the output coupling disk and the input coupling disk are not engaged.
  • an element when an element is referred to as being “disposed on” another element, it can be directly on the other element or there can be an intermediate 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 there can be an intermediate element at the same time, or it can refer to the two elements being connected by a Signals are interactively connected.
  • an element When an element is considered to be “coupled”/"coupled” to another element, it can be directly coupled to the other element or there may be a central element at the same time, or it can refer to the two elements interacting through signals.
  • distal end and proximal end used herein are directional terms, which are commonly used in the field of interventional medical devices, where “distal end” refers to the end away from the surgeon during surgery, and “proximal end” refers to the end close to the surgeon during surgery.
  • proximal end refers to the end close to the surgeon during surgery.
  • plurality used herein includes two or more.
  • instrument is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical instrument for performing a surgical procedure, such as a biopsy needle, an electrocautery device, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like.
  • an end effector which may be a surgical instrument for performing a surgical procedure, such as a biopsy needle, an electrocautery device, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like.
  • Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis.
  • the end effector also includes functional mechanical degrees of freedom, such as opening and
  • FIG. 1 is a simplified diagram of a teleoperated medical robot system 100 according to some embodiments, which may be suitable for, for example, surgical operations, diagnosis, treatment, or biopsy.
  • the medical robot system 100 includes an electronic equipment cart 110, a teleoperated manipulator device 120, and The medical device 130 and the remote-operated manipulator device 120 are close to the operating table T.
  • the medical device 130 is detachably mounted on the remote-operated manipulator device 120 .
  • the medical device 130 is used to enter the human body through a natural cavity or a surgical incision to perform related surgical operations.
  • the remote-operated manipulator device 120 is communicatively connected to the electronic device cart 110 , which includes a control system 111 , and the input device 130 is communicatively connected to the control system 111 .
  • the control system 111 receives input from the input device 140 to control the movement of the remote-operated manipulator device 120 and the medical device 130 .
  • the remote-operated medical robot system 100 is a catheter robot
  • the remote-operated manipulator device 120 of the catheter robot 100 may include a base 121, a sliding seat body 122 that can be lifted and lowered vertically to the base 121, and two mechanical arms 123a, 123b fixedly connected to the sliding seat body 122.
  • the mechanical arms 123a, 123b may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arms 123a, 123b with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to seven arm segments.
  • the ends of the mechanical arms 123a, 123b are provided with a driving device (not shown in the figure), and the driving device of the mechanical arms 123a, 123b is used to engage the medical device 130, and the ends of the medical device 130 are controlled to bend and turn accordingly under the driving action of the driving device.
  • the mechanical arm 123a and the mechanical arm 123b may be structures that are completely identical or partially identical, the driving device of the mechanical arm 123a is used to engage the inner catheter device 132 of the medical device 130, and the driving device of the mechanical arm 123b is used to engage the outer catheter device 131 of the medical device 130.
  • the outer catheter device 131 may be installed first, and when the outer catheter device 131 is installed, the flexible inner catheter 1321 of the inner catheter device 132 is inserted into the flexible outer catheter 1311 of the outer catheter device 420.
  • some simple surgical scenarios may also use only one robotic arm and one catheter instrument.
  • the remote-operated manipulator device 120 of the catheter robot system 100 has only one robotic arm 123a, and uses an inner catheter instrument 132 to perform a biopsy on the patient.
  • the catheter robotic system 100 also includes a sensor system 150 having one or more subsystems for receiving information about the medical device 130.
  • the subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose and/or shape of the tip of the medical device 130 and/or along one or more sections of the flexible catheter that may constitute the medical device 130; and/or a visualization system for capturing images from the tip of the medical device 130.
  • the electronic equipment cart 110 may be provided with a display system 112, a flushing system (not shown), and a control system 111, etc.
  • the display system 112 is used to display images or representations of the surgical site and the medical device 130 generated by the subsystem of the sensor system 150. Real-time images of the surgical site and the medical device 130 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc.
  • CT computed tomography
  • MRI magnetic resonance imaging
  • OCT optical coherence tomography
  • ultrasound etc.
  • the preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (such as time-based or rate-based information) image and/or as an image from a model created based on a preoperative or intraoperative image data set.
  • a virtual navigation image may also be displayed in which the actual position of the medical device 130 is registered with the preoperative image to present a virtual image of the medical device 130 in the surgical site to the operator from the outside.
  • the control system 111 includes at least one memory and at least one computer processor. It is understood that the control system 111 can be integrated into the electronic device cart 110 or the remote operation manipulator device 120, or can be independently set.
  • the communication between the control system 111 and the input device 140 and the remote operation manipulator device 120 can be wired communication or wireless communication.
  • the wired communication can include but is not limited to serial port, CAN, RS485, RS232, USB, SPI, etc.
  • the wireless communication can include but is not limited to IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, WiFi, NB, Zigbee, RFID and wireless telemetry, etc.
  • the control system 111 can transmit one or more signals indicating the movement of the medical device 130 by the drive device to move the medical device 130.
  • the medical device 130 can extend to the surgical position in the body through the opening of the patient's natural cavity or surgical incision.
  • control system 111 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the medical device 130, and therefore, can be integrated into the remote operation manipulator device 120.
  • the image processing system is used for virtual navigation path planning, and therefore, can be integrated into the electronic device cart 110.
  • the various subsystems of the control system 111 are not limited to the specific situations listed above, and can also be reasonably set according to actual conditions.
  • the image processing system can use the above-mentioned imaging technology to image the surgical site based on the image of the surgical site recorded before or during the operation.
  • the software that can also be used in combination with manual input converts the recorded image into a two-dimensional or three-dimensional composite image of part or all of an anatomical organ or segment.
  • the sensor system 150 can be used to calculate the relative position of the medical device 130 to the patient.
  • the position of the patient's anatomical structure can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to align the actual position of the medical device 130 with the preoperative image, so that a virtual image of the medical device 130 in the surgical site can be presented to the operator from the outside.
  • the inner catheter device 132 and the outer catheter device 131 have substantially the same structural composition, and each comprises a slender, flexible inner catheter 1321 and an outer catheter 1311, wherein the diameter of the outer catheter 1311 is slightly larger than that of the inner catheter 1321, so that the inner catheter 1321 can pass through the outer catheter 1311 and be supported by the outer catheter 1311, thereby enabling the inner catheter 1321 to reach a target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target location.
  • the input of the input device 140 may cause the corresponding movement of the medical device 130.
  • the movement of the direction lever of the input device 140 may be mapped to the corresponding pitch movement of the end of the medical device 130; when the operator operates the direction lever of the input device 140 to move left or right, the movement of the direction lever of the input device 140 may be mapped to the corresponding yaw movement of the end of the medical device 130.
  • the input device 140 may control the end of the medical device 130 to move within a 360° spatial range.
  • FIG2 shows a state where the inner catheter instrument 132 is not mounted on the driving device 220
  • the mechanical arm 123a includes a plurality of connecting rods 211, 212, 213, 214, each connecting rod 211, 212, 213, 214 is rotatably connected by a joint
  • the driving device 220 is rotatably connected to the connecting rod 214 by a joint
  • the driving device 220 can rotate around a first axis AA passing through the driving device 220, thereby adjusting the position and posture of the instrument 132.
  • the driving device 220 includes a non-airtight housing 221, and a plurality of side vents 222 are provided on the non-airtight housing 221 for gas exchange between the inside of the driving device 220 and the outside.
  • the inner catheter instrument 132 in an environment where the inner catheter instrument 132 and the outer catheter instrument 131 are used, the inner catheter instrument 132 can be detachably mounted on the drive device 220, and the outer catheter instrument 131 can be detachably mounted on another drive device (not shown in the figure), and the first axis AA of the drive device 220 is parallel to the first axis AA of the other drive device, so that the friction of the inner catheter 1321 is minimized when it moves in the outer catheter 1311.
  • FIG. 3A and 3B show the inner structure of the drive device 220.
  • the driving device 220 includes a plurality of motor assemblies 231, 232, 233, 234, and a first accommodation space S1 is formed between the plurality of motor assemblies 231, 232, 233, 234 and a lower shell 224 located at the bottom of the shell 221.
  • the driving device 220 also includes a circuit board assembly 240, and a first circuit board 241 of the circuit board assembly 240 is accommodated in the first accommodation space S1, and a plane where the first circuit board 241 is located is parallel to the first axis AA.
  • the lower shell 224 has a bottom vent hole, and the first accommodation space S1 can exchange gas with the outside through the bottom vent hole to promote heat dissipation of the circuit board assembly 240.
  • a second accommodating space S2 is formed between multiple motor assemblies 231, 232, 233, and 234.
  • the dotted line in Figure 3C shows the approximate outline of the second accommodating space S2.
  • the second accommodating space includes a first gap space S21a between the first motor assembly 231 and the second motor assembly 232 of the multiple motor assemblies, a second gap space S21b between the second motor assembly 232 and the third motor assembly 233, a third gap space S21c between the third motor assembly 233 and the fourth motor assembly 234, a fourth gap space S21d between the fourth motor assembly 234 and the first motor assembly 231, and an intermediate space S21e located in the middle area of the four motor assemblies.
  • the second circuit board 242 of the circuit board assembly 240 at least partially accommodates the first gap space S21a and is partially accommodated in the middle space S21e; the third circuit board 243 of the circuit board assembly 240 at least partially accommodates the second gap space S21b and is partially accommodated in the middle space S21e; the fourth circuit board 244 of the circuit board assembly 240 is at least partially accommodated in the third gap space S21c and is partially accommodated in the middle space S21e; the fifth circuit board 245 is at least partially accommodated in the fourth gap S21d and is partially accommodated in the middle space S21e.
  • the first axis AA runs through at least two of the second to fifth circuit boards.
  • the second circuit board 242 is used to drive the movement of the first motor assembly 231
  • the third circuit board 243 is used to drive the movement of the second motor assembly 232
  • the fourth circuit board 244 is used to drive the movement of the third motor assembly 233
  • the fifth circuit board 245 is used to drive the movement of the fourth motor assembly 234.
  • the second circuit board 242 may also drive the second motor assembly 232, and the other circuit boards are analogous accordingly.
  • each of the second to fifth circuit boards drives a motor assembly separately, and the second to fifth circuit boards are always configured to drive the motor assembly adjacent to them.
  • the second circuit board 242 is accommodated in the first gap space S21a, and the first gap space S21a is located between the first motor assembly 231 and the second motor assembly 232, the second circuit board 242 is located between the first motor assembly 231 and the second motor assembly 232.
  • the motor assemblies adjacent to the circuit board 242 are the first motor assembly 231 and the second motor assembly 232 , so that the second circuit board 242 is configured to drive the first motor assembly 231 or the second motor assembly 232 .
  • one of the second to fifth circuit boards is vertically arranged with the circuit board in the gap space adjacent to it, and parallelly arranged with the circuit board in the gap space opposite to it.
  • the gap spaces adjacent to the second circuit board 242 are the second gap space S21b and the fourth gap space S21d, and the gap space opposite to it is the third gap space S21c. Therefore, the second circuit board 242 is vertically arranged with the third circuit board 243 in the second gap space S21b and the fifth circuit board 245 in the fourth gap space S21d, and the second circuit board 242 is parallelly arranged with the fourth circuit board 244 in the third gap S21c.
  • Other circuit boards are similar and will not be described here. In this way, the wiring between the circuit board assembly 240 and the motor assembly is reduced, and the space is fully utilized, so that the structure of the drive device 220 is more compact.
  • the second circuit board 242 is mounted on the first circuit board 241 at an angle perpendicular to the first circuit board 241.
  • the second circuit board 242 and the first circuit board 241 are electrically connected through the electrical connection terminal 250.
  • the electrical connection terminal 250 includes a first connection terminal 251 provided on the second circuit board 242 and a second connection terminal 252 provided on the first circuit board 241. After the first connection terminal 251 and the second connection terminal 252 are connected, the electronic components on the first circuit board 241 and the second circuit board 242 can transmit signals to each other.
  • the electrical connection terminal 250 not only plays a role in electrically connecting the first circuit board 241 and the second circuit board 242, but also plays a role in fixing the second circuit board 242 to the first circuit board 241.
  • the third, fourth, and fifth circuit boards 243, 244, and 245 are also mounted on the first circuit board 241 at an angle perpendicular to the first circuit board 241.
  • the third, fourth, and fifth circuit boards 243, 244, and 245 are all electrically connected to the first circuit board 241.
  • the driving device 220 further includes a heat dissipation device, which is disposed in the intermediate space S21e.
  • the heat dissipation device is a heat dissipation fan 270, which is used to promote gas exchange between the internal space of the driving device 220 and the outside, thereby taking away the heat inside the device 220.
  • the heat dissipation fan 270 and the circuit board assembly 240 are arranged in this way, so that the heat generated by the circuit board assembly 240 can be effectively dissipated while ensuring the compactness of the driving device 240.
  • the cooling fan 270 draws air/gas from bottom to top and discharges it to the outside. Under the action of the cooling fan 270, the air flows between the inside of the driving device 220 and the outside along the flow path R, thereby taking away the heat inside the driving device 220.
  • the flow path R is the suction path of the cooling fan 270.
  • the outside air enters the first accommodating space S1 of the driving device 220 from the bottom vent 223 of the lower shell 224, flows from bottom to top, passes through the second accommodating space S2, and is discharged to the outside through the side vent 222 under the action of the cooling fan 270.
  • the second, third, fourth, and fifth circuit boards 242, 243, 244, and 245 are used to drive the plurality of motor assemblies 213, 232, 233, and 234, the second, third, fourth, and fifth circuit boards 242, 243, 244, and 245 become the main heat sources of the driving device 220. If the heat dissipation fan 270 promotes the air to flow in the direction opposite to the flow path R, a large amount of air carrying heat will be retained in the first accommodation space S2 and the second accommodation space S2 due to the obstruction of the first circuit board 241, which is not conducive to the heat dissipation of the driving device 220.
  • the first circuit board 241 is located upstream of the second, third, fourth, and fifth circuit boards 242, 243, 244, and 245 in the flow path R
  • the heat dissipation fan 270 is located downstream of the second, third, fourth, and fifth circuit boards 242, 243, 244, and 245 in the flow path R. Without the obstruction of the first circuit board 241, the air flows along the flow path R, which can smoothly carry away the heat generated by the second, third, fourth, and fifth circuit boards 242, 243, 244, and 245, thereby promoting the heat dissipation of the driving device 220.
  • a notch 241c is further provided at the periphery of the first circuit board 241, and the notch 241c promotes gas flow between the first accommodating space S1 and the second accommodating space S2, thereby further reducing the blocking effect of the first circuit board 241 on the air flow.
  • the heat dissipation fan 270 may not be disposed in the middle space S21 e of the first accommodating space S1 , but may be disposed in other places, as long as the heat dissipation fan 270 generates a flow path R in the driving device 220 .
  • FIG. 4B is a cross-sectional view (top view) perpendicular to the central axis of the driving device 220.
  • the central axis of the driving device 220 is perpendicular to the paper in FIG. 4B and passes through the center of the driving device 220.
  • Each of the second, third, fourth and fifth circuit boards 242, 243, 244, 245 includes a driver for driving its corresponding motor assembly.
  • the first circuit board 242 includes a PCB board 242a and a driver 242b for driving the first motor assembly 231.
  • the driver 242b is mounted on the PCB board 242a.
  • the upper surface 242b' of the driver 242b is away from the PCB board, and its lower surface 242b" is close to the PCB board.
  • the PCB board 242a and the driver 242b are tilted relative to the central plane P1 of the driving device 220.
  • the central plane P1 passes through the central axis of the driving device 220 and passes through the upper and lower surfaces 242b', 242b". Since the driver 242b is the main body of the first circuit board 242
  • the PCB board 242a and the driver 242b are tilted to make the volume of the first circuit board 242 larger, so that it can accommodate more electronic components.
  • more parts of the driver 242b can be accommodated in the middle space S21e. Since the cooling fan 270 is in the middle space S21e, the driver 242b is in the central flow path of the heat dissipation flow path R, which is more conducive to the heat dissipation of the driver 242b.
  • the driver 243b of the third circuit board 243 is also tilted relative to the center plane P1, and the center plane P1 also passes through the driver 244b of the fourth circuit board 244.
  • the driver 244b of the fourth circuit board 244 and the driver 245b of the fifth circuit board 245 are tilted relative to the center plane P2, wherein the center plane P2 is perpendicular to the center plane P1, and the center plane P2 passes through the upper and lower surfaces of the driver 243b of the third circuit board 243 and the driver 245b of the fifth circuit board 245, so that the drivers 242b, 243b, 244b, and 245b are as close as possible to the center flow path in the heat dissipation flow path R, thereby improving the heat dissipation efficiency of the entire driving device 220.
  • the first axis AA is located on the center plane P1.
  • the driving device 220 further includes an upper bracket 280, which includes a base 281 and a plurality of pillars 282, the plurality of pillars 282 extending from the base in the direction of the upper shell 225, the plurality of pillars 281 being fixed to the shell 221, the base 281 having a vent 285 in the middle, the cooling fan 270 being fixed to the base 281, and drawing air from the second accommodation space S2 through the vent 285.
  • the base 281 has a plurality of mounting plates 283 at the lower portion, and the upper portions of the second, third, fourth, and fifth circuit boards 242, 243, 244, and 245 are fixedly connected to the plurality of mounting plates 283.
  • the driving device 220 also includes a lower bracket 290, which is fixed on the first circuit board 241.
  • the lower bracket 290 includes a plurality of fixing plates, the first fixing plate 291 of the plurality of fixing plates is fixedly connected to the second circuit board 242, the second fixing plate 292 is fixedly connected to the third circuit board 243, the third fixing plate 293 is fixedly connected to the fourth circuit board 244, and the fourth fixing plate 294 is fixedly connected to the fifth circuit board 245, so that the second, third, fourth and fifth circuit boards 242, 243, 244, 245 are fixed to the first circuit board 241 through the bracket 290.
  • the drive device 220 further includes a plurality of output coupling assemblies 261, 262, 263, 264, wherein the plurality of output coupling assemblies 261, 262, 263, 264 are configured to engage a plurality of input coupling disks (not shown) of a medical device, and each of the plurality of output coupling assemblies 261, 262, 263, 264 is coupled to a corresponding one of the plurality of motor assemblies 231, 232, 233, 234.
  • the first output coupling assembly 261 of the plurality of output coupling assemblies is coupled to the first motor assembly 231 of the plurality of motor assemblies
  • the second output coupling assembly 262 is coupled to the second motor assembly 232
  • the third output coupling assembly 263 is coupled to the third motor assembly 233
  • the fourth output coupling assembly 264 is coupled to the fourth motor assembly 234.
  • each output coupling assembly is similar.
  • the structure of each output coupling assembly is described by taking the first output coupling assembly 261 as an example.
  • FIG6A is a partial enlarged view of the BB cross-sectional view of FIG3C.
  • the output coupling disk 2611 of the first output coupling assembly 261 is used to engage with the input coupling disk of the medical device.
  • the output coupling disk 2611 is slidably connected to the sleeve assembly 2612 of the first output coupling assembly 261.
  • the sleeve assembly 2612 is sleeved on the output shaft 2311 of the first motor assembly 231.
  • the output shaft 2311 rotates around the second axis AB.
  • the second axis AB is perpendicular to the first axis AA.
  • the output shaft 2311 can be the output shaft of the motor of the first motor assembly 231, or the output shaft of the gearbox of the first motor assembly 231.
  • a spring 2615 is also provided between the output coupling disk 2611 and the output shaft 2311 of the first motor assembly 231. The spring 2615 is in a compressed state to provide an axial loading force for the engagement of the output coupling disk 2611 with the input coupling disk of the medical device.
  • the sleeve assembly 2162 includes a guide sleeve 2613 and a tapered sleeve 2614.
  • the tapered sleeve 2614 includes a fastening portion 2614a and a tapered portion 2614b.
  • the fastening portion 2614a is used to be fixedly connected to the guide sleeve 2613.
  • the tapered portion 2614b is provided with a plurality of grooves 2614c. After the tapered portion 2614b is mounted on the output shaft 2311 of the first motor assembly 231, the guide sleeve 2613 is fixed to the fastening portion 2614a of the tapered sleeve 2614.
  • the fastening portion 2614a is an external thread
  • the guide sleeve 2613 has an internal thread.
  • the guide sleeve 2613 is fixed to the fastening portion 2614a by threaded fitting.
  • the length of the guide sleeve 2613 is greater than the length of the fastening portion 2614a.
  • the guide sleeve 2613 gradually tightens the conical portion 2614b, so that the conical portion 2614b hugs the output shaft 2311, and the conical portion 2614b is fixed to the output shaft 2311. This can reduce the volume of the connection structure between the output coupling disk 2611 and the output shaft 2311, and will not cause damage to the motor assembly 231.
  • the first output coupling plate assembly 261 further includes a stopper 2616, which includes a stopper pin 2616a disposed on the output coupling plate 2611 and a corresponding slide groove 2616b disposed on the guide sleeve 2163 to accommodate the stopper pin 2616a.
  • the limiting pin 2616a is blocked by both ends of the slide slot 2616b, thereby limiting the maximum distance that the output coupling plate 2611 slides on the guide sleeve 2613.
  • the limiting pin 2616a is fixed in a fixing hole 2611a on the coupling plate 2611, and the fixing hole 2611a is arranged between the lower edge 2617 and the upper surface 2611b of the coupling plate 2611.
  • the first output coupling assembly 261 further includes a detection switch 2711.
  • a detection switch 2711 As shown in FIG6C, when a medical device (not shown) is mounted on the drive device 220 and the input coupling disk of the medical device is not successfully engaged with the output coupling disk 2611, the output coupling disk 2611 is pressed by the input coupling disk, so that the output coupling disk 2611 slides from top to bottom along the guide sleeve 2163, so that the lower edge 2617 of the output coupling disk 2611 presses the detection switch 2711.
  • the control system detects the state of the detection switch 2711 at this time, it determines that the output coupling disk 2611 is not successfully engaged with the input coupling disk of the medical device at this time. At this time, optionally, the control system controls the first motor assembly 231 to continue to rotate, and then drives the output coupling disk 2611 to further rotate to try to engage with the input coupling disk.
  • the spring 2615 When the above-mentioned medical device is installed on the driving device 220 and the input connecting disk of the medical device is not successfully engaged with the output connecting disk 2611, the spring 2615 is further compressed. After the input connecting disk of the medical device is successfully engaged with the output connecting disk 2611, the spring 2615 elastically recovers, causing the output connecting disk 2611 to slide from bottom to top, so that the lower edge 2617 of the output connecting disk 2611 is away from the detection switch 2711. The control system detects the state of the detection switch 2711 at this time and determines that the output connecting disk 2611 has been successfully engaged with the input connecting disk of the medical device.
  • the detection switch 2711 may also be other detection elements, for example, a distance sensor, which can detect the distance between it and the lower edge 2617 of the output connection disk 2611. After the medical device is installed on the drive device 220, if the lower edge 2617 is detected to be close to the distance sensor, it is judged that the medical device has not been successfully engaged with the drive device 220, otherwise it is successfully engaged.
  • a distance sensor which can detect the distance between it and the lower edge 2617 of the output connection disk 2611.
  • the drive device 220 further includes a sensor assembly 2712, which is used to detect the rotational orientation of the output coupling disk 2611.
  • the sensor assembly 2712 includes a reading device 2713 and a magnet 2714, wherein the magnet 2714 is rotationally connected to the housing 221 via a rotating shaft 2715, and the rotating shaft 2715 is connected to the first output coupling disk assembly 261 via a transmission mechanism, wherein the rotating shaft 2715 rotates around a third axis AC, and the third axis AC is perpendicular to the first axis AA.
  • the magnet 2714 rotates with the output coupling disk 2611
  • the reading device 2713 rotates.
  • the rotational position information of the output coupling disk 2611 is obtained by reading the change in the magnetic field generated by the rotation of the magnet 2714 .
  • the sensor component 2712 is an absolute encoder. After each successful engagement of the medical device with the drive device 220, the sensor component 2712 can obtain the zero position information of the input connection disk of each different medical device, thereby achieving accurate control of the position of the medical device.
  • a receiving element for receiving a signal sent by the sensor assembly 2712 and/or a motion control unit for controlling the cooling fan 270 is disposed on the first circuit board 241 .
  • the rotating shaft 2715 is rotatably connected to the output coupling disc 2611 through a gear assembly
  • the gear assembly includes a driving gear 2716 and a driven gear 2717
  • the driving gear 2716 and the driven gear 2717 are meshed with each other, wherein the driving gear 2716 is fixedly connected to the sleeve assembly 2612, and the driven gear 2717 is fixedly connected to the rotating shaft 2715.
  • the driving gear 2716 is fixedly connected to the guide sleeve 2613 of the sleeve assembly 2612.
  • the output coupling disc 261 rotates to drive the driving gear 2716 to rotate
  • the driving gear 2716 drives the driven gear 2717 to rotate
  • the driven gear 2717 rotates to drive the rotating shaft 2715 to rotate.
  • the sensor assembly is connected to the gear box of the first motor assembly 231. Since there is a backlash between the meshing of the gears of the gear box, the sensor assembly cannot accurately reflect the rotational orientation of the output coupling assembly 261.
  • the rotational position of the output connection disk 2611 can be detected more accurately. Through the rotational position of the output connection disk 2611, the terminal position information of the catheter instrument can be accurately calculated.
  • the driven gear 2717 includes an upper gear 2717a, a lower gear 2717b and a torsion spring 2717c, and the upper gear 2717a and the lower gear 2717b can rotate relative to each other.
  • the torsion spring 2717c is sleeved on the rotating shaft 2715, one end of the torsion spring 2717c is fixedly connected to the upper gear 2717a, and the other end is fixedly connected to the lower gear 2717b.
  • the rotating shaft 2715 and the output coupling assembly 261 are coupled via a belt.
  • a magnet is provided on the periphery of the output coupling disk 2611.
  • the magnet rotates with the output coupling disk 2611, and the reading device 2712 reads the magnet rotation lead.
  • the magnetic field changes caused by this can detect the rotational position of the output coupling disk 2611.
  • an encoder is provided inside the first motor assembly 231, and the encoder is used to detect the rotation of the motor in the first motor assembly 231 to provide rotation data for the control of the first motor assembly 231.
  • the sensor assembly 2712 and the encoder inside the first motor assembly 231 jointly obtain the terminal posture information of the medical device and provide it to the control system, thereby realizing precise control of the position and posture of the medical device.

Landscapes

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

Abstract

Des modes de réalisation de la présente demande concernent un appareil d'actionnement d'un robot médical et un robot de cathéter. L'appareil d'actionnement comprend : une pluralité d'ensembles moteurs conçus pour actionner un instrument médical du robot médical ; une pluralité d'ensembles d'accouplement de sortie conçus pour venir en prise avec une pluralité de disques d'accouplement d'entrée de l'instrument médical, chacun de la pluralité d'ensembles d'accouplement de sortie étant accouplé à l'un de la pluralité d'ensembles moteurs ; et une pluralité d'ensembles capteurs, un premier ensemble capteur de la pluralité d'ensembles capteurs étant connecté à un premier ensemble d'accouplement de la pluralité d'ensembles d'accouplement de sortie au moyen d'un ensemble d'engrenages, et le premier ensemble capteur étant conçu pour détecter l'orientation de rotation du premier ensemble d'accouplement.
PCT/CN2023/120282 2022-09-30 2023-09-21 Appareil d'actionnement de robot médical et robot de cathéter WO2024067335A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202211207585.5A CN117838313A (zh) 2022-09-30 2022-09-30 一种医疗机器人的驱动装置及导管机器人
CN202211207543.1A CN117838301A (zh) 2022-09-30 2022-09-30 一种医疗机器人的驱动装置及导管机器人
CN202211207585.5 2022-09-30
CN202211207543.1 2022-09-30

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WO2024067335A1 true WO2024067335A1 (fr) 2024-04-04

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104334111A (zh) * 2012-06-01 2015-02-04 直观外科手术操作公司 用于手术系统的器械托架组件
CN106132344A (zh) * 2014-03-17 2016-11-16 直观外科手术操作公司 确定操纵器上的外科器械和适配器的存在的检测针脚
CN107427327A (zh) * 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
US20190269470A1 (en) * 2016-09-30 2019-09-05 Intuitive Surgical Operations, Inc. Systems and methods for entry point localization
CN110621255A (zh) * 2017-05-25 2019-12-27 柯惠Lp公司 机器人手术系统和用于覆盖机器人手术系统的部件的盖布
CN112402018A (zh) * 2020-11-30 2021-02-26 重庆金山医疗机器人有限公司 一种手术机器人及其器械座动力传动装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104334111A (zh) * 2012-06-01 2015-02-04 直观外科手术操作公司 用于手术系统的器械托架组件
CN106132344A (zh) * 2014-03-17 2016-11-16 直观外科手术操作公司 确定操纵器上的外科器械和适配器的存在的检测针脚
CN107427327A (zh) * 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
US20190269470A1 (en) * 2016-09-30 2019-09-05 Intuitive Surgical Operations, Inc. Systems and methods for entry point localization
CN110621255A (zh) * 2017-05-25 2019-12-27 柯惠Lp公司 机器人手术系统和用于覆盖机器人手术系统的部件的盖布
CN112402018A (zh) * 2020-11-30 2021-02-26 重庆金山医疗机器人有限公司 一种手术机器人及其器械座动力传动装置

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