CN101889900B

Movatterモバイル変換

Info

Publication number: CN101889900B
Application number: CN2010102232537A
Authority: CN
Inventors: 王树新; 周宁新; 李建民; 刘全达; 张林安
Original assignee: Tianjin University
Current assignee: Tianjin University Asset Management Co ltd; Tianjin University; Shandong Weigao Surgical Robot Co Ltd
Priority date: 2010-07-12
Filing date: 2010-07-12
Publication date: 2012-04-11
Anticipated expiration: 2030-07-12
Also published as: CN101889900A

Abstract

The invention discloses a master-slave integrated mechanical arm for assisting minimally invasive surgery. A master operating end of the mechanical arm comprises a master hand joint I seat provided with a rotatable master hand joint I shaft; the output end of the master hand joint I shaft is connected with a master hand joint II seat; the master hand joint II seat is internally provided with a rotatable master hand joint II shaft which is fixed with a telescopic frame; an upper telescopic seat is connected with a lower telescopic seat by a linear mechanism; a slave operating end comprises a base part connected with the master operating end, a driving mechanical arm part connected with the base part and a telescopic part installed on the driving mechanical arm. A tool clamping end comprises a surgical instrument seat installed on a slide block of a slave hand telescopic part; the upper surface and the lower surface of the surgical instrument seat are respectively fixedly connected with two ends of a transmission screw and can move in a straight line along the guide rail of the slave hand telescopic seat under the traction of the transmission screw. By utilizing the device, the system structure is simplified and the system volume and the failure rate are reduced.

Description

Translated fromChinese

一种辅助微创外科手术的主从一体式机械臂A master-slave integrated robotic arm for assisting minimally invasive surgery

技术领域technical field

本发明涉及一种微创外科手术领域内的医疗设备，它可以夹持手术工具辅助医生实施微创手术操作。The invention relates to a medical device in the field of minimally invasive surgical operations, which can hold surgical tools to assist doctors in performing minimally invasive surgical operations.

背景技术Background technique

以腹腔镜为代表的微创外科被誉为20世纪医学科学对人类文明的重要贡献之一，微创手术操作是指医生利用细长的手术工具通过人体表面的微小切口探入到体内进行手术操作的。它与传统的开口手术相比具有手术切口小、出血量少、术后疤痕小、恢复时间快等优点，这使得病人遭受的痛苦大大减少；因此微创外科被广泛的应用于临床手术。然而，微创手术为病人带来了诸多利益的同时，却对医生的操作带来了一系列困难，如：1)由于体表小孔的限制，工具的自由度减少至四个，灵活性大大降低；2)医生操作方向与所期望的方向相反，协调性差；3)医生只能通过监视器上的二维图像获得手术场景信息，缺乏深度方向上的感觉；4)医生手部的抖动可能会被细长的手术工具放大，对手术造成不良影响；5)缺乏力感觉。因此，医生必须经过长期训练才能够进行微创手术操作，即使如此，目前微创手术也仅仅应用在操作相对比较简单的手术过程之中。因此，在微创手术领域中迫切需要一种机器人系统来延伸医生的能力，以便克服上述缺点，使医生能够更容易的完成微创手术操作。目前，能够在临床上使用的微创外科手术机器人系统只有Da Vinci系统和Zeus系统，但它们都有结构复杂、体积庞大、价格昂贵等方面的缺点。国际上如美国、法国、德国、英国、波兰、日本、韩国等地都相继开展了微创外科手术机器人的研究，并产生了一系列样机。我国在机器人辅助手术方面尚处于起步阶段，已经存在的机器人系统只能在手术过程中起辅助定位的作用，并不能应用于临床手术。因此开发一套具有自主知识产权的新型微创外科手术机器人系统对填补我国在该领域的空白有着非常重要的意义。Minimally invasive surgery represented by laparoscopy is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical tools inserted into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and quick recovery time, which greatly reduces the pain suffered by patients; therefore, minimally invasive surgery is widely used in clinical operations. However, while minimally invasive surgery has brought many benefits to the patient, it has brought a series of difficulties to the doctor's operation, such as: 1) Due to the limitation of small holes on the body surface, the degrees of freedom of the tool are reduced to four, and the flexibility Greatly reduced; 2) The direction of the doctor's operation is opposite to the expected direction, and the coordination is poor; 3) The doctor can only obtain the information of the surgical scene through the two-dimensional image on the monitor, lacking the feeling in the depth direction; 4) The shaking of the doctor's hand It may be magnified by slender surgical tools, causing adverse effects on surgery; 5) Lack of force feeling. Therefore, doctors must undergo long-term training before they can perform minimally invasive surgery. Even so, minimally invasive surgery is currently only used in relatively simple operations. Therefore, in the field of minimally invasive surgery, there is an urgent need for a robot system to extend the ability of doctors, so as to overcome the above-mentioned shortcomings, so that doctors can more easily complete minimally invasive surgery operations. At present, the only minimally invasive surgical robotic systems that can be used clinically are the Da Vinci system and the Zeus system, but they all have the disadvantages of complex structure, bulky size, and high price. The United States, France, Germany, the United Kingdom, Poland, Japan, South Korea and other places in the world have successively carried out research on minimally invasive surgical robots, and produced a series of prototypes. Our country is still in its infancy in robot-assisted surgery. The existing robot system can only play an auxiliary positioning role in the operation process, and cannot be applied to clinical operations. Therefore, it is of great significance to develop a new minimally invasive surgical robot system with independent intellectual property rights to fill the gap in this field in our country.

发明内容Contents of the invention

本发明的目的在于提供辅助微创外科手术的主从一体式机械臂，将机器人的医生操作端和机器人的操作机械臂进行集成，简化了主从式微创手术机器人的结构、体积及控制系统的复杂程度，进而有利于保证手术的安全性。The purpose of the present invention is to provide a master-slave integrated mechanical arm for assisting minimally invasive surgery, integrate the doctor's operating end of the robot with the operating mechanical arm of the robot, and simplify the structure, volume and control system of the master-slave minimally invasive surgical robot The degree of complexity is conducive to ensuring the safety of the operation.

本发明的辅助微创外科手术的主从一体式机械臂它包括主操作端、从操作端、工具夹持端，所述的主操作端包括其上设置有可旋转的主手关节I轴的主手关节I座，主手关节I轴的输出端与其内设置有可旋转的主手关节II轴的主手关节II座相连，所述的主手关节I轴和主手关节II轴的轴线彼此垂直设置，传感器I、II的扭柄分别通过联轴器连接在主手关节I轴及主手关节II轴上，在所述的主手关节II轴上固定有伸缩架，所述的伸缩架的底座与伸缩上座的顶部固定相连；所述的伸缩上座通过直线运动机构与伸缩下座相连以使所述的伸缩下座相对于伸缩上座能够上下移动并通过传感器V记录所述的上下移动，所述的伸缩下座通过轴线沿竖直方向设置的转轴与一个自转座转动相连，一个其轴线与所述的转轴轴线垂直设置的偏转轴安装在所述的自转座上，传感器III和传感器IV的扭柄分别通过联轴器连接在转轴、偏转轴上，在所述的偏转轴上连接有开合座，开合座上安装有开合瓣I和开合瓣II，开合瓣I、开合瓣II之间通过两个连接杆相连，所述的两个连接杆之间通过连接轴相连并且所述的连接轴插在连接在开合座上的直线传感器的开槽中；所述的从操作端包括依次相连的基座部分、主动机械臂部分以及伸缩部分，所述的基座部分包含有基座，所述的基座的一端与主手关节I座的一侧端面相连并且其另一端固定连接有从手关节I座，在所述的从手关节I座内安装有与电机I的输出轴相连的从手关节I轴，在所述的从手关节I座上设置有被动连接面，所述的主动机械臂部分包含与从手关节I轴的输出端固定相连的从手关节II座，丝轮I和丝轮II对称的固定连接在从手关节II座的两侧并且丝轮I和丝轮II的轴线沿与从手关节I轴的输出轴轴线垂直的方向设置，其轴线沿与丝轮I轴线相同方向设置的驱动轴II安装于从手关节II座上，其轴线沿与丝轮I轴线垂直方向设置的驱动轴I通过轴承安装于从手关节II座上，所述的驱动轴I通过联轴器与电机II相连，传感器IV的扭柄与驱动轴I相连；在所述的驱动轴I和驱动轴II之间连接有传动丝I；所述的驱动轴II的两个输出端分别与设置在从手连杆I下端上的两个法兰面固定相连，所述的从手连杆I的上端有三个分支，其中中心孔内设置有轴承的丝轮III和丝轮IV固定连接于从手连杆I的上端中间分支上，从手连杆I的两侧分支上设置有与安装于丝轮III和丝轮IV上的轴承同心的轴承，固定连接于从手连杆II一端的丝轮V、丝轮VI分别通过在其轴心设置的支撑轴与轴承相连，连杆II输出轴通过轴承安装于从手连杆II的另一端，丝轮VII、丝轮VIII固定连接于连杆II输出座上，连杆II输出座与连杆II输出轴固定相连，传动丝II和传动丝III的一端分别固定于丝轮I、丝轮II的丝槽内，经系列导向轮和张紧轮传递后，另一端分别固定于丝轮V和丝轮VI的丝槽内，传动丝IV和传动丝V的一端分别固定于丝轮III和丝轮IV的丝槽内，经导向轮和张紧轮传递后，另一端分别固定于丝轮VII和丝轮VIII的丝槽内，从手伸缩座与连杆II输出座固定相连；在从手伸缩座上设置有导轨，在所述的导轨上安装有滑块，工具夹持端与滑块固定相连，所述的滑块通过传动机构在所述的导轨上滑动。The master-slave integrated mechanical arm for assisting minimally invasive surgery of the present invention includes a master operating end, a slave operating end, and a tool clamping end, and the master operating end includes a rotatable master hand joint I axis on which it is arranged. The main hand joint I seat, the output end of the main hand joint I axis is connected to the main hand joint II seat with a rotatable main hand joint II axis inside, the axis of the main hand joint I axis and the main hand joint II axis The torsion handles of sensors I and II are respectively connected to the main hand joint I axis and the main hand joint II axis through couplings, and a telescopic frame is fixed on the main hand joint II axis. The base of the frame is fixedly connected with the top of the telescopic upper seat; the telescopic upper seat is connected with the telescopic lower seat through a linear motion mechanism so that the telescopic lower seat can move up and down relative to the telescopic upper seat and the sensor V records the up and down movement , the telescopic lower seat is connected to a rotation base through a rotating shaft whose axis is vertically arranged, and a deflection shaft whose axis is perpendicular to the axis of the rotating shaft is installed on the rotation base, and the sensor III and the sensor The torsion handle of IV is respectively connected to the rotating shaft and the deflection shaft through a coupling, and the opening and closing seat is connected to the deflection shaft, and the opening and closing valve I and the opening and closing valve II are installed on the opening and closing seat, and the opening and closing valve I 1. The opening and closing flaps II are connected by two connecting rods, the two connecting rods are connected by a connecting shaft and the connecting shaft is inserted in the slot of the linear sensor connected to the opening and closing seat; The described slave operating end includes a base part, an active mechanical arm part and a telescoping part connected in sequence, and the described base part includes a base, and one end of the base is connected to one side end surface of the main hand joint I seat And its other end is fixedly connected with from the hand joint I seat, in described from the hand joint I seat, the slave hand joint I shaft that links to each other with the output shaft ofmotor 1 is installed, on the described hand joint I seat from There is a passive connection surface, and the active mechanical arm part includes a slave hand joint II seat fixedly connected to the output end of the slave hand joint I axis, and the silk wheel I and the silk wheel II are symmetrically fixedly connected to the two sides of the slave hand joint II seat. Side and the axes of silk wheel I and silk wheel II are set along the direction perpendicular to the axis of the output shaft of slave hand joint I, and the drive shaft II whose axis is set along the same direction as the axis of silk wheel I is installed on the base of slave hand joint II , the drive shaft I whose axis is arranged perpendicular to the axis of the silk wheel I is mounted on the base of the hand joint II through bearings, the drive shaft I is connected to the motor II through a coupling, and the twist handle of the sensor IV is connected to the drive shaft I is connected; a transmission wire I is connected between the drive shaft I and the drive shaft II; the two output ends of the drive shaft II are respectively connected to the two flange surfaces arranged on the lower end of the hand connecting rod I Fixedly connected, the upper end of the hand link I has three branches, wherein the thread wheel III and the thread wheel IV with bearings in the center hole are fixedly connected to the middle branch of the upper end of the hand link I, and the hand link The two side branches of I are provided with bearings concentric with the bearings installed on the wire wheel III and the wire wheel IV, and the wire wheel V and the wire wheel VI fixedly connected to one end of the hand connecting rod II respectively pass through the The supporting shaft set on its axis is connected with the bearing, the output shaft of the connecting rod II is installed on the other end of the slave hand connecting rod II through the bearing, the silk wheel VII and the silk wheel VIII are fixedly connected to the output seat of the connecting rod II, and the output shaft of the connecting rod II The seat is fixedly connected with the output shaft of the connecting rod II. One end of the transmission wire II and the transmission wire III are fixed in the wire grooves of the wire wheel I and the wire wheel II respectively. In the wire grooves of the wire wheel V and the wire wheel VI, one end of the transmission wire IV and the transmission wire V is fixed in the wire grooves of the wire wheel III and the wire wheel IV respectively, and after passing through the guide wheel and the tension wheel, the other ends are respectively fixed In the silk grooves of the wire wheel VII and the wire wheel VIII, the slave hand telescopic seat is fixedly connected with the output seat of the connecting rod II; a guide rail is arranged on the slave hand telescopic seat, and a slider is installed on the guide rail, and the tool is clamped The end is fixedly connected with the slider, and the slider slides on the guide rail through a transmission mechanism.

本发明辅助微创外科手术的主从一体式机械臂与现有技术相比具有以下有益效果：Compared with the prior art, the master-slave integrated mechanical arm for assisting minimally invasive surgery of the present invention has the following beneficial effects:

1.本发明机械臂将主从式机器人的主操作端和从操作端进行了集成，简化了系统结构，减小了系统体积，进而有利于节省成本，减少了故障率；1. The mechanical arm of the present invention integrates the master operation end and the slave operation end of the master-slave robot, which simplifies the system structure and reduces the system volume, which in turn helps save costs and reduces the failure rate;

2.本发明机械臂的主动机械臂部分的丝传动部分为系统的关键环节，因此设计上每个传动环节设置了两组丝，保证了机械臂在使用上的安全性；2. The wire transmission part of the active mechanical arm part of the mechanical arm of the present invention is the key link of the system, so in the design, two sets of wires are set for each transmission link, which ensures the safety of the mechanical arm in use;

3.本发明构建的机器人系统，可与目前已广泛应用的传统腹腔镜设备结合使用，可充分利用现有资源，减少手术成本。3. The robot system constructed by the present invention can be used in combination with traditional laparoscopic equipment that has been widely used at present, which can make full use of existing resources and reduce operation costs.

附图说明Description of drawings

图1是本发明辅助微创外科手术的主从一体式机械臂原理图；Fig. 1 is a schematic diagram of the master-slave integrated mechanical arm for assisting minimally invasive surgery in the present invention;

图2是本发明辅助微创外科手术的主从一体式机械臂整体结构示意图；Fig. 2 is a schematic diagram of the overall structure of the master-slave integrated mechanical arm for assisting minimally invasive surgery in the present invention;

图3、图4是本发明辅助微创外科手术的主从一体式机械臂的主操作端部分；Fig. 3 and Fig. 4 are the main operation end part of the master-slave integrated mechanical arm for assisting minimally invasive surgery in the present invention;

图5是本发明的辅助微创外科手术的主从一体式机械臂的从操作端部分；Fig. 5 is the slave operating end part of the master-slave integrated mechanical arm of the assisted minimally invasive surgery of the present invention;

图6是图5所示的从操作端部分的基座结构示意图；Fig. 6 is a schematic view of the structure of the base from the operating end part shown in Fig. 5;

图7、8、9、10和11是图5所示的从操作端部分的主动机械臂部分的结构示意图；Figures 7, 8, 9, 10 and 11 are schematic structural views of the active mechanical arm part from the operating end part shown in Figure 5;

图12是图5所示的从操作端部分的伸缩部分结构示意图；Fig. 12 is a schematic structural diagram of the telescopic part of the slave operation end part shown in Fig. 5;

图13是图12所示的伸缩部分的传动机构的结构示意图；Fig. 13 is a structural schematic diagram of the transmission mechanism of the telescopic part shown in Fig. 12;

图14描述了基于本发明的机械臂的微创手术机器人系统总体示意图。Fig. 14 depicts an overall schematic diagram of a minimally invasive surgical robot system based on the robotic arm of the present invention.

具体实施方式Detailed ways

下面结合附图和具体实施例对本发明作以详细描述。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

如图1所示，为本发明的原理图，由主操作端600和从操作端601两大部分组成。主操作端关节I500和从操作端关节I501共线，与主操作端关节I500和从操作端关节I501垂直的主操作端关节II502和从操作端关节II503位于主操作端关节I500和从操作端关节I501的轴线所在的直线上。从操作端关节II503与其他6个旋转运动副构成双平行四边形机构，该机构使得手术工具轴线509在运动过程中始终通过一固定点510。这样，将主操作端600的关节运动信号直接传递至从操作端601控制其各关节运动，可使主操作端参考点505的运动方向与从操作端参考点I507的运动方向完全一致，504为主操作端参考点运动后的位置，506为从操作端参考点II运动后的位置。基于本原理的机器人在控制上不需要复杂的运动控制算法，有利于减少机器人的复杂程度，并降低系统的故障率。将从操作端601的平行四边形机构用丝传动方式实现，有利于减小系统的体积和重量，并可以降低系统加工制造难度，具体实现方式见后续说明。As shown in FIG. 1 , it is a principle diagram of the present invention, which is composed of two parts, themaster operation terminal 600 and theslave operation terminal 601 . The master operating end joint I500 and the slave operating end joint I501 are collinear, and the master operating end joint II502 and the slave operating end joint II503 perpendicular to the master operating end joint I500 and the slave operating end joint I501 are located at the master operating end joint I500 and the slave operating end joint On the straight line where the axis of I501 is located. The joint II503 from the operating end and the other six rotational kinematic pairs form a double parallelogram mechanism, which makes theaxis 509 of the surgical tool always pass through afixed point 510 during the movement. In this way, the joint motion signal of themaster operating end 600 is directly transmitted to theslave operating end 601 to control its joint movements, so that the movement direction of thereference point 505 of the master operating end is completely consistent with the movement direction of the reference point I507 of the slave operating end, 504 is The position after the reference point movement of the main operation end, 506 is the position after the movement of the reference point II of the slave operation end. The robot based on this principle does not need complex motion control algorithms in control, which is beneficial to reduce the complexity of the robot and reduce the failure rate of the system. Realizing the parallelogram mechanism from theoperating end 601 by means of wire transmission is beneficial to reduce the volume and weight of the system, and can reduce the difficulty of manufacturing the system. See the subsequent description for specific implementation methods.

图2所示为本发明的总体结构示意图，由主操作端1、从操作端2及工具夹持端3三部分组成。FIG. 2 is a schematic diagram of the overall structure of the present invention, which consists of three parts: themaster operating end 1 , theslave operating end 2 and thetool clamping end 3 .

图3、图4为本发明的主操作端I的示意图。所述的主操作端1包括其上设置有可旋转的主手关节I轴102的主手关节I座100，主手关节I轴102的输出端与其内设置有可旋转的主手关节II轴105的主手关节II座103相连，所述的主手关节I轴102和主手关节II轴105的轴线彼此垂直设置，传感器II01、II104的扭柄分别通过联轴器连接在主手关节I轴102及主手关节II轴105上。传感器I101、II104分别记录主手关节I轴102在主手关节I座100内及主手关节II轴105在主手关节II座103内的运动信息。在所述的主手关节II轴上固定有伸缩架106，所述的伸缩架106的底座与伸缩上座107的顶部固定相连；所述的伸缩上座107通过直线运动机构与伸缩下座108相连以使所述的伸缩下座108相对于伸缩上座107能够上下移动并通过传感器V121记录所述的上下移动，所述的伸缩下座108通过轴线沿竖直方向设置的转轴与一个自转座114转动相连，一个其轴线与所述的转轴轴线垂直设置的偏转轴116安装在所述的自转座114上，传感器III113和传感器IV115的扭柄分别通过联轴器连接在转轴、偏转轴116上，在所述的偏转轴116上连接有开合座118，开合座118上安装有开合瓣I124和开合瓣II125，开合瓣I124、开合瓣II125之间通过两个连接杆相连，所述的两个连接杆之间通过连接轴相连并且所述的连接轴插在连接在开合座上的直线传感器117的开槽中。开合瓣I124、开合瓣II125可在开合座118上实现开合运动，直线传感器117可用来记录该运动的信息。这样当医生对开合瓣I124、开合瓣II124进行操作时，主操作端1便可以记录医生的运动信息，并将该信息通过控制系统处理后传递至从操作端2和工具夹持端3，用以实现辅助手术操作。3 and 4 are schematic diagrams of the main operating terminal I of the present invention. Themain operating end 1 includes a main hand joint Iseat 100 on which a rotatable main hand joint Ishaft 102 is arranged, and the output end of the main hand joint Ishaft 102 is provided with a rotatable main hand joint II shaft The main hand joint IIseat 103 of 105 is connected, the axes of the main handjoint I axis 102 and the main hand joint IIaxis 105 are arranged perpendicular to each other, and the torsion handles of the sensors II01 and II104 are respectively connected to the main hand joint Iaxis 102 and the main hand joint IIaxis 105. The sensors I101 and II104 respectively record the motion information of the main handjoint I axis 102 in the main hand joint Iseat 100 and the main hand joint IIaxis 105 in the main hand joint IIseat 103 . Atelescopic frame 106 is fixed on the main hand joint II shaft, and the base of thetelescopic frame 106 is fixedly connected with the top of the telescopicupper seat 107; the telescopicupper seat 107 is connected with the telescopiclower seat 108 through a linear motion mechanism to The telescopiclower seat 108 can move up and down relative to the telescopicupper seat 107 and record the up and down movement through the sensor V121. The telescopiclower seat 108 is connected to arotation seat 114 through a rotating shaft whose axis is vertically arranged. Adeflection shaft 116 whose axis is perpendicular to the axis of the rotating shaft is mounted on therotation seat 114, and the torsion handles of the sensor III113 and the sensor IV115 are respectively connected to the rotating shaft and thedeflection shaft 116 through a shaft coupling. Thedeflection shaft 116 described above is connected with an opening andclosing seat 118, and an opening and closing valve I124 and an opening and closing valve II125 are installed on the opening andclosing seat 118, and the opening and closing valve I124 and the opening and closing valve II125 are connected by two connecting rods. The two connecting rods are connected by a connecting shaft, and the connecting shaft is inserted into the slot of thelinear sensor 117 connected to the opening and closing seat. The opening and closing flap I124 and the opening and closing flap II125 can realize the opening and closing movement on the opening andclosing seat 118, and thelinear sensor 117 can be used to record the information of the movement. In this way, when the doctor operates the opening and closing valve I124 and the opening and closing valve II124, themaster operating terminal 1 can record the doctor's movement information, and pass the information to theslave operating terminal 2 and thetool holding terminal 3 after being processed by the control system , to realize auxiliary operation.

所述的直线运动机构优选的包括安装在伸缩上座107上的共面且轴线彼此相交的上旋转轴I119和上旋转轴II120，上连杆I109的一端和上旋转轴I119转动相连，上连杆II110的一端和上旋转轴II120转动相连，上连杆I109的另一端和中间旋转轴I122转动相连，上连杆II110的另一端和中间旋转轴II123转动相连，下连杆I111的一端与中间旋转轴I122相连，中间旋转轴I122的轴线与上旋转轴I119轴线相平行，下连杆II112的一端与中间旋转轴II123相连，所述的中间旋转轴II123与上旋转轴II120轴线相平行，下连杆I111和下连杆II112的另一端分别通过安装在伸缩下座108上的下旋转轴I126、下旋转轴II127与伸缩下座108相连；下旋转轴I126的轴线和下旋转轴II127的轴线分别与上旋转轴I119的轴线和上旋转轴II120的轴线相平行设置，传感器V121的扭柄与上旋转轴II120通过联轴器相连。由伸缩上座107、上旋转轴I119、上旋转轴II120、上连杆I109、上连杆II110、中间旋转轴I122、中间旋转轴II123、下连杆I111、下连杆II112、伸缩下座108所构成的机构使得伸缩下座108相对于伸缩上座107仅存在一个靠近或远离的直线运动自由度；该运动方式也可由导轨-滑块机构或花键-外筒机构实现。由传感器V121的信息，可计算出伸缩下座108相对于伸缩上座107的运动信息。The linear motion mechanism preferably includes an upper rotation shaft I119 and an upper rotation shaft II120 installed on the telescopicupper seat 107 in the same plane and whose axes intersect each other. One end of the upper connecting rod I109 is connected in rotation with the upper rotating shaft I119. One end of II110 is rotatably connected to the upper rotating shaft II120, the other end of the upper link I109 is rotatably connected to the intermediate rotating shaft I122, the other end of the upper link II110 is rotatably connected to the intermediate rotating shaft II123, and one end of the lower link I111 is rotatably connected to the intermediate The axis I122 is connected, the axis of the intermediate rotating shaft I122 is parallel to the axis of the upper rotating shaft I119, one end of the lower link II112 is connected with the intermediate rotating shaft II123, the intermediate rotating shaft II123 is parallel to the axis of the upper rotating shaft II120, and the lower connecting The other ends of the rod I111 and the lower connecting rod II112 are respectively connected to the telescopiclower seat 108 through the lower rotating shaft I126 and the lower rotating shaft II127 installed on the telescopiclower seat 108; the axis of the lower rotating shaft I126 and the axis of the lower rotating shaft II127 are respectively It is arranged parallel to the axes of the upper rotating shaft I119 and the upper rotating shaft II120, and the twist handle of the sensor V121 is connected with the upper rotating shaft II120 through a coupling. It consists of telescopicupper seat 107, upper rotating shaft I119, upper rotating shaft II120, upper connecting rod I109, upper connecting rod II110, intermediate rotating shaft I122, intermediate rotating shaft II123, lower connecting rod I111, lower connecting rod II112, and telescopiclower seat 108. The constituted mechanism makes the telescopiclower base 108 only have one degree of freedom of linear motion approaching or moving away relative to the telescopicupper base 107; this motion mode can also be realized by a guide rail-slider mechanism or a spline-outer cylinder mechanism. From the information of the sensor V121, the motion information of the telescopiclower seat 108 relative to the telescopicupper seat 107 can be calculated.

通过轴承安装于伸缩下座108上的自转座114可在伸缩下座108上旋转，传感器III113可用于记录该运动的信息；通过轴承安装与自转座114上的偏转轴116可在自转座114上运动，传感器IV115可用于记录该运动的信息。Theautorotation base 114 installed on the telescopiclower base 108 through bearings can rotate on the telescopiclower base 108, and the sensor III113 can be used to record the information of the movement; motion, sensor IV115 can be used to record information about that motion.

图5所示为本发明的从操作端2的示意图。从操作端2包括：一端与主操作端1相连的基座部分4，与基座部分4相连的主动机械臂部分5，以及安装于主动机械臂部分5上的伸缩部分6。FIG. 5 is a schematic diagram of theslave operation terminal 2 of the present invention. Theslave operating end 2 includes: abase part 4 connected to themaster operating end 1 at one end, an active mechanical arm part 5 connected to thebase part 4 , and atelescopic part 6 installed on the active mechanical arm part 5 .

图6所示为本发明从操作端2的基座部分4的示意图。基座部分4包含有基座210，基座210的一端与主操作端1的主手关节I座100相连，另一端固定连接有从手关节I座212，从手关节I座212上安装有从手关节I轴213，从手关节I轴213可在置于基座部分4内部的电机I211的驱动下旋转。从手关节I座212上设置有被动连接面214，通过被动连接面214可将本发明固定于被动调整架上，所述的被动调整架可采用已公开专利(如专利号：200610129845.6)的形式。FIG. 6 is a schematic view of thebase portion 4 of theslave operating end 2 of the present invention. Thebase part 4 includes abase 210, one end of thebase 210 is connected with the main hand joint I seat 100 of themain operation end 1, and the other end is fixedly connected with a slave hand joint I seat 212, and a hand joint I seat 212 is installed on thebase 210. The slave handjoint I shaft 213 is rotatable driven by a motor I211 placed inside thebase part 4 . A passive connection surface 214 is arranged on the hand joint I seat 212, and the present invention can be fixed on the passive adjustment frame through the passive connection surface 214. The passive adjustment frame can adopt the form of a published patent (such as patent number: 200610129845.6) .

图7-图13所示为本发明从操作端2的主动机械臂部分5的示意图。所述的主动机械臂部分5包含与从手关节I轴213的输出端固定相连的从手关节II座221，丝轮I223和丝轮II224对称的固定连接在从手关节II座221的两侧并且丝轮I223和丝轮II224的轴线沿与从手关节I轴213的输出轴轴线垂直的方向设置，其轴线L2沿与丝轮I223轴线相同方向设置的驱动轴II225安装于从手关节II座221上，其轴线L1沿与丝轮I223轴线垂直方向设置的驱动轴I227通过轴承安装于从手关节II座221上，所述的驱动轴I227通过联轴器与电机II226相连，传感器IV228的扭柄与驱动轴I相连；在所述的驱动轴I227和驱动轴II225之间连接有传动丝I229。驱动轴I227可在电机II226的驱动下旋转；连接两驱动轴的传动丝I229将从手关节II驱动轴I227的旋转运动转化为从手关节II的驱动轴II225的旋转运动。所述的驱动轴II225的两个输出端222分别与设置在从手连杆I230下端上的两个法兰面235固定相连，所述的从手连杆I230的上端有三个分支，其中中心孔内设置有轴承的丝轮III233和丝轮IV232固定连接于从手连杆I230的上端中间分支上，从手连杆I230的两侧分支上设置有与安装于丝轮III233和丝轮IV232上的轴承234同心的轴承231，固定连接于从手连杆II236一端的丝轮V237、丝轮VI238分别通过在其轴心设置的支撑轴239与轴承231、234相连，连杆II输出轴240通过轴承安装于从手连杆II236的另一端，丝轮VII242、丝轮VIII243固定连接于连杆II输出座241上，连杆II输出座241与连杆II输出轴240固定相连，传动丝II252和传动丝III253的一端分别固定于丝轮I223、丝轮II224的丝槽内，经系列导向轮254和张紧轮255传递后，另一端分别固定于丝轮V237和丝轮VI238的丝槽内，传动丝IV251和传动丝V250的一端分别固定于丝轮III233和丝轮IV232的丝槽内，经导向轮254和张紧轮255传递后，另一端分别固定于丝轮VII242和丝轮VIII243的丝槽内，从手伸缩座244与连杆II输出座241固定相连；在从手伸缩座244上设置有导轨247，在所述的导轨的上安装有滑块248，工具夹持端3与滑块248固定相连，所述的滑块248通过传动机构在所述的导轨247上滑动。7-13 are schematic diagrams of the active mechanical arm part 5 of theslave operating end 2 of the present invention. The active mechanical arm part 5 includes a slave handjoint II base 221 fixedly connected to the output end of the slave handjoint I shaft 213, and the silk wheel I223 and the silk wheel II224 are symmetrically fixedly connected to both sides of the slave handjoint II base 221 And the axes of the wire wheel I223 and the wire wheel II224 are arranged along the direction perpendicular to the axis of theoutput shaft 213 of the slave handjoint I shaft 213, and the driving shaft II225 whose axis L2 is set along the same direction as the wire wheel I223 axis is installed on the slave handjoint II seat 221, the drive shaft I227 whose axis L1 is set perpendicular to the axis of the wire wheel I223 is mounted on the slave handjoint II seat 221 through a bearing, the drive shaft I227 is connected with the motor II226 through a coupling, and the torque of the sensor IV228 The handle is connected with the drive shaft I; a transmission wire I229 is connected between the drive shaft I227 and the drive shaft II225. The drive shaft I227 can rotate under the drive of the motor II226; the transmission wire I229 connecting the two drive shafts converts the rotational motion of the drive shaft I227 from the hand joint II into the rotational motion of the drive shaft II225 from the hand joint II. The two output ends 222 of the drive shaft II225 are respectively fixedly connected to the twoflange surfaces 235 arranged on the lower end of the slave hand link I230. The upper end of the slave hand link I230 has three branches, wherein the center hole The thread wheel III233 and thread wheel IV232 with bearings inside are fixedly connected to the middle branch from the upper end of the hand link I230, and the branches on both sides of the hand link I230 are provided with the thread wheel III233 and the thread wheel IV232. The concentric bearing 231 of the bearing 234 is fixedly connected to the wire wheel V237 and the wire wheel VI238 at one end of the hand connecting rod II236 and connects to the bearings 231 and 234 respectively through the support shaft 239 arranged at the center of the shaft, and the output shaft 240 of the connecting rod II passes through the bearing Installed on the other end of the slave hand connecting rod II236, the wire wheel VII242 and the wire wheel VIII243 are fixedly connected to the output seat 241 of the connecting rod II, the output seat 241 of the connecting rod II is fixedly connected to the output shaft 240 of the connecting rod II, and the transmission wire II252 and the transmission One end of the wire III253 is respectively fixed in the wire grooves of the wire wheel I223 and the wire wheel II224, and after passing through the series guide wheel 254 and the tension wheel 255, the other end is respectively fixed in the wire grooves of the wire wheel V237 and the wire wheel VI238, and the transmission One end of the wire IV251 and the transmission wire V250 are respectively fixed in the wire grooves of the wire wheel III233 and the wire wheel IV232, and after passing through the guide wheel 254 and the tension wheel 255, the other ends are respectively fixed in the wire grooves of the wire wheel VII242 and the wire wheel VIII243 Inside, the slave hand telescopic seat 244 is fixedly connected with the connecting rod II output seat 241; a guide rail 247 is arranged on the slave hand telescopic seat 244, and a slide block 248 is installed on the guide rail, and the tool clamping end 3 and the slide block 248 are fixedly connected, and the slide block 248 slides on the guide rail 247 through a transmission mechanism.

优选的所述的传动机构包括电机III245，所述的电机III的输出轴与驱动丝轮246相连，在所述的驱动丝轮246上缠绕的传动丝的两端258、259分别通过伸缩导向轮256和伸缩支撑轮257与工具夹持端3的上下两端相连。工具夹持端3与滑块248固定相连，工具夹持端3便可以在电机III245和传动丝的牵引下沿导轨247运动。该部分运动如图13所示。电机III245牵引工具夹持端3的运动也可以由丝杠导轨机构实现。Preferably, the transmission mechanism includes amotor III 245, the output shaft of the motor III is connected with thedriving wire wheel 246, and the two ends 258, 259 of the transmission wire wound on thedriving wire wheel 246 pass through the telescopic guide wheel respectively. 256 and the telescopic supportingwheel 257 are connected with the upper and lower ends of thetool clamping end 3. Thetool clamping end 3 is fixedly connected with theslider 248, and thetool clamping end 3 can move along theguide rail 247 under the traction of themotor III 245 and the transmission wire. This part of the movement is shown in Figure 13. The movement of the clampingend 3 of the motor III245 traction tool can also be realized by the screw guide mechanism.

工具夹持端3可采用专利(专利号：200710056701.7)的形式，其详细结构不属于本发明的范畴。Thetool clamping end 3 can be in the form of a patent (patent number: 200710056701.7), and its detailed structure does not belong to the scope of the present invention.

图14描述了基于本发明的微创手术机器人系统的示意图。两个本发明的机械臂400安装于被动调整臂401上，内窥镜则安装在内镜臂405上，内镜臂可采用专利(专利号：200810152765.1)的形式。这样医生402在助手404的配合下，通过观察显示器406传来的病人403体内的手术场景信息，便可以利用本发明辅助对病人403进行微创手术操作。Fig. 14 depicts a schematic diagram of a minimally invasive surgical robot system based on the present invention. The twomechanical arms 400 of the present invention are installed on thepassive adjustment arm 401, and the endoscope is installed on theendoscopic arm 405. The endoscopic arm can adopt the form of the patent (Patent No.: 200810152765.1). In this way, with the cooperation of theassistant 404, thedoctor 402 can use the present invention to assist thepatient 403 to perform minimally invasive surgery by observing the surgical scene information in thepatient 403 transmitted from thedisplay 406.

下面说明本发明的辅助微创外科手术的主从一体式机械臂的动作实施过程。The action implementation process of the master-slave integrated mechanical arm for assisting minimally invasive surgery of the present invention will be described below.

当操作者对本发明辅助微创外科手术的主从一体式机械臂的主操作端进行操作时，主操作端各关节的传感器可记录各关节的运动变化信息。由于本发明的特点，主操作端参考点的运动与从操作端参考点的运动完全一致；因此，在控制器接收到主操作端的关节运动信息后，可直接将其传递至从操作端，控制从操作端电机控制各运动关节实时跟踪主操作端的运动，复现主操作端操作者对系统的输入动作。在本发明装置中操作者对主操作端进行操作时，若主操作端关节I的关节角度发生变化，则控制器所读取的传感器I101的值也会发生变化，控制器进而实时地控制电机I转动使从操作端关节I沿主操作端关节I的变化方向运动相同的角度。与此类似，若控制器检测到主操作端关节II的传感器II104的读数发生变化，则控制器会实时控制电机II转动使从操作端关节II沿与主操作端关节II的变化方向运动相同的角度。若控制器通过传感器V121检测到主操作端的直线运动机构发生运动，则控制器会控制从操作端电机III245牵引工具夹持端作出与主操作端的直线运动机构一致的运动，与主从操作端关节I、关节II的完全跟踪运动不同，主操作端的直线运动机构的运动量是按照一定的比例映射到从操作端的工具夹持端，比例系数一般不大于1。当然，本装置在使用过程中在安装手术工具末端的情况下还可以分别通过传感器III113、传感器IV115、直线传感器117检测主操作端的自转、偏转和开合量，然后将自转、偏转和开合量信号通过控制器传递给手术工具末端用以控制手术工具末端的自转、偏转和开合运动。When the operator operates the master operating end of the master-slave integrated mechanical arm for assisting minimally invasive surgery of the present invention, the sensors of each joint at the master operating end can record the movement change information of each joint. Due to the characteristics of the present invention, the motion of the reference point of the master operating end is exactly the same as the motion of the reference point of the slave operating end; The motor of the slave operation end controls each joint to track the movement of the main operation end in real time, and reproduces the input action of the operator on the main operation end to the system. When the operator operates the main operating end in the device of the present invention, if the joint angle of the main operating end joint I changes, the value of the sensor I101 read by the controller will also change, and the controller will then control the motor in real time. I rotation makes the joint I of the slave operating end move the same angle along the changing direction of the joint I of the master operating end. Similar to this, if the controller detects that the reading of the sensor II104 of the joint II of the main operation end changes, the controller will control the rotation of the motor II in real time so that the joint II of the slave operation end moves in the same direction as the joint II of the main operation end. angle. If the controller detects the movement of the linear motion mechanism at the master operating end through the sensor V121, the controller will control the motor III245 at the slave operating end to move the clamping end of the traction tool to make a movement consistent with the linear motion mechanism at the master operating end. I. The complete tracking motion of joint II is different. The movement amount of the linear motion mechanism at the master operating end is mapped to the tool clamping end at the slave operating end according to a certain ratio, and the proportional coefficient is generally not greater than 1. Of course, the device can also detect the rotation, deflection and opening and closing amount of the main operating end through the sensor III113, sensor IV115, andlinear sensor 117 respectively when the end of the surgical tool is installed during use, and then the rotation, deflection, and opening and closing amount The signal is transmitted to the end of the surgical tool through the controller to control the rotation, deflection and opening and closing movement of the end of the surgical tool.

Claims

1. the master-slave integrated mechanical arm of an assisted minimally invasive surgical operation; It comprises the main operation end, from the operating side, the tool holding end; It is characterized in that: described main operation end (1) comprises that it is provided with the main joints of hand Building I (100) of rotatable main joints of hand I axle (102); The outfan of main joints of hand I axle (102) with its in be provided with rotatable main joints of hand II axle (105) main joints of hand II seat (103) link to each other; The setting that is perpendicular to one another of the axis of described main joints of hand I axle (102) and main joints of hand II axle (105); The handle of turning round of pick off I (101), pick off II (104) is connected on main joints of hand I axle (102) and the main joints of hand II axle (105) through shaft coupling respectively, on described main joints of hand II axle, is fixed with expansion bracket (106), and the top of the base of described expansion bracket (106) and the flexible seat of honour (107) is fixedly linked; The described flexible seat of honour (107) links to each other with flexible following (108) through straight-line motion mechanism so that described flexible following (108) can move up and down with respect to the flexible seat of honour (107) and write down described moving up and down through pick off V (121); The rotating shaft that described flexible following (108) vertically are provided with through axis and one are rotatedly connected from swivel base (114); Its axis and the vertically disposed yawing axis of described shaft axis (116) are installed in described on swivel base (114); The handle of turning round of pick off III (113) and pick off IV (115) is connected on rotating shaft, the yawing axis (116) through shaft coupling respectively; On described yawing axis (116), be connected with folding seat (118); Folding lobe I (124) and folding lobe II (125) are installed on the folding seat (118); Link to each other through two connecting rods between folding lobe I (124), the folding lobe II (125), link to each other through connecting axle between described two connecting rods and described connecting axle is inserted in the fluting of the rectilinear transducer (117) that is connected on the folding seat; Described base part (4), active mechanical arm portion (5) and the telescopic section (6) that links to each other successively that comprise from the operating side; Described base part (4) includes pedestal (210); One end of described pedestal (210) links to each other with a side end face of main joints of hand Building I and its other end is fixedly connected with from joints of hand Building I (212); Described be equipped with in joints of hand Building I (212) link to each other with the output shaft of motor I (211) from joints of hand I axle (213); Describedly be provided with passive joint face (214) from joints of hand Building I (212); Described active mechanical arm portion (5) comprise be fixedly linked from the outfan of joints of hand I axle (213) from joints of hand II seat (221); Silk wheel I (223) and silk wheel II (224) be symmetric to be fixedly connected on from the both sides of joints of hand II seat (221) and silk wheel I (223) and the axis edge of thread taking turns II (224) and direction setting from the output shaft axis normal of joints of hand I axle (213); Its axis edge is installed on from joints of hand II seat (221) with the driving shaft II (225) that silk is taken turns the setting of I (223) axis equidirectional; Its axis edge is installed on from joints of hand II seat (221) through bearing with the driving shaft I (227) that silk is taken turns the setting of I (223) axis normal direction, and described driving shaft I (227) links to each other with motor II (226) through shaft coupling, and the handle of turning round of pick off IV links to each other with driving shaft I; Between described driving shaft I (227) and driving shaft II (225), be connected with driving wire I (229); Two outfans (222) of described driving shaft II (225) are fixedly linked with two flange faces (235) that are arranged on from hands connecting rod I (230) lower end respectively; There are three branches described upper end from hands connecting rod I (230); The silk wheel III (233) and the silk wheel IV (232) that wherein are provided with bearing in the centre bore are fixedly connected on from the upper end medial fascicle of hands connecting rod I (230); Be provided with and be installed on the concentric bearing of bearing (231) on silk wheel III (233) and the silk wheel IV (232) from the both sides branch of hands connecting rod I (230); Be fixedly connected on from silk wheel V (237), the silk wheel VI (238) of hands connecting rod II (236) one ends and link to each other with bearing (231), bearing (234) through the back shaft (239) that is provided with in its axle center respectively; Connecting rod II output shaft (240) is installed on from the other end of hands connecting rod II (236) through bearing; Silk wheel VII (242), silk wheel VIII (243) are fixedly connected on the connecting rod II output seat (241); Connecting rod II output seat (241) is fixedly linked with connecting rod II output shaft (240); The end of driving wire II (252) and driving wire III (253) is individually fixed in the silk groove of a wheel I (223), silk wheel II (224), and after serial directive wheel (254) and regulating wheel (255) transmission, the other end is individually fixed in the groove of silk wheel V (237) and silk wheel VI (238); The end of driving wire IV (251) and driving wire V (250) is individually fixed in the silk groove of silk wheel III (233) and silk wheel IV (232); After directive wheel (254) and regulating wheel (255) transmission, the other end is individually fixed in the groove of silk wheel VII (242) and silk wheel VIII (243), is fixedly linked from flexible seat of hands (244) and connecting rod II output (241); Be provided with guide rail (247) from the flexible seat of hands (244), slide block (248) is installed on described guide rail (247), tool holding end (3) is fixedly linked with slide block (248), and described slide block (248) is gone up at described guide rail (247) through drive mechanism and slided.

2. the master-slave integrated mechanical arm of assisted minimally invasive surgical operation according to claim 1; It is characterized in that: described straight-line motion mechanism comprises last rotating shaft I (119) and the last rotating shaft II (120) that the coplane that is installed on the flexible seat of honour (107) and axis intersect each other; The end of last connecting rod I (109) and last rotating shaft I (119) are rotatedly connected; The end of last connecting rod II (110) and last rotating shaft II (120) are rotatedly connected; The other end of last connecting rod I (109) and middle rotating shaft I (122) are rotatedly connected; The other end of last connecting rod II (110) and middle rotating shaft II (123) are rotatedly connected; Axis and last rotating shaft I (119) axis of middle rotating shaft I (122) parallel, and described middle rotating shaft II (123) parallels with last rotating shaft II (120) axis, and the end of lower link I (111) links to each other with middle rotating shaft I (122); The end of lower link II (112) links to each other with middle rotating shaft II (123), and the other end of lower link I (111) and lower link II (112) links to each other with flexible following (108) through following rotating shaft I (126), time rotating shaft II (127) that is installed on flexible following (108) respectively; The axis of the axis of following rotating shaft I (126) and following rotating shaft II (127) parallels setting with the axis of last rotating shaft I (119) and the axis of last rotating shaft II (120) respectively, and the handle of turning round of pick off V (121) links to each other through shaft coupling with last rotating shaft II (120).

3. the master-slave integrated mechanical arm of assisted minimally invasive surgical operation according to claim 1; It is characterized in that: described drive mechanism comprises motor II I; The output shaft of described motor II I with drive silk wheel (246) and link to each other, the described silk wheel (246) that drives is gone up the two ends of the driving wire that twines and is taken turns (257) through flexible directive wheel (256) and retractable support respectively and link to each other with the two ends up and down of tool holding end.