技术领域technical field
本发明涉及一种微创手术机器人关节及其机构，特别涉及一种用于微创外科单孔手术机器人用的关节及其机构。The invention relates to a minimally invasive surgical robot joint and its mechanism, in particular to a minimally invasive surgical single-hole surgical robot joint and its mechanism.
背景技术Background technique
随着科学技术的发展，特别是影像技术和控制技术，现代医学领域已进入了机器人辅助微创外科时代。所谓机器人辅助微创外科就是利用机器人技术在手术过程中辅助医生完成一系列的手术操作，使得手术操作更加精细，创伤更小。美国Da Vinci公司生产的DaVinci手术机器人系统和中国天津大学自主研发的妙手机器人系统最为典型。而随着医疗技术的发展，单孔手术逐渐问世，同时也带来了单孔手术专用的单孔手术机器人的出现。With the development of science and technology, especially imaging technology and control technology, modern medicine has entered the era of robot-assisted minimally invasive surgery. The so-called robot-assisted minimally invasive surgery is to use robot technology to assist doctors to complete a series of surgical operations during the operation, making the operation more precise and less traumatic. The DaVinci surgical robot system produced by Da Vinci Company of the United States and the Miaoshou robot system independently developed by Tianjin University in China are the most typical. With the development of medical technology, single-port surgery has gradually come out, and it has also brought the emergence of single-port surgical robots dedicated to single-port surgery.
单孔手术是指在一个15mm-40mm的小切口上置入多个穿刺器或多孔道穿刺器，再置入手术器械进行手术操作。传统的单孔手术采用的均是直杆工具，器械灵活性差，易在体内发生碰撞，内镜视野也偏小。而单孔手术机器人的出现，正是为克服以上问题。现有的单孔手术机器人主要包括图像系统、控制系统、机构系统等三大系统于一体。在现有的单孔手术操作中，由于器械多为硬杆工具且都由一个通道进入，容易产生“筷子效应”而导致器械在体内碰撞，影响手术时间和手术质量。而现有的蛇形工具虽然能够解决上述问题，但其自身结构复杂，装配较难。Single-hole surgery refers to placing multiple puncture devices or multi-channel puncture devices on a small incision of 15mm-40mm, and then inserting surgical instruments for surgical operations. Traditional single-hole surgery uses straight rod tools, which have poor flexibility and are prone to collisions in the body, and the field of view of the endoscope is also relatively small. The emergence of single-hole surgical robots is precisely to overcome the above problems. Existing single-hole surgical robots mainly include image system, control system, mechanism system and other three systems in one. In the existing single-hole surgical operation, since most of the instruments are hard-rod tools and all enter through one channel, the "chopstick effect" is likely to occur and cause the instruments to collide in the body, affecting the operation time and operation quality. And although existing serpentine tool can solve the above-mentioned problem, its self structure is complicated, and assembling is relatively difficult.
发明内容Contents of the invention
本发明目的在于克服已有技术的不足，提供一种在单孔手术过程中器械不会发生碰撞，提升了图像系统的视野空间、手术质量和手术的安全性的用于单孔微创机器人的蛇形关节及其机构。The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a device for single-hole minimally invasive robots that does not collide during single-hole surgery, and improves the field of view of the image system, surgical quality, and surgical safety. Serpentine joints and their mechanisms.
本发明通过以下技术手段实现上述目的：The present invention realizes above-mentioned object by following technical means:
本发明的一种用于单孔微创机器人的蛇形关节，它包括弹性薄片，所述的弹性薄片包括上层弹性薄片，所述的上层弹性薄片与下层弹性薄片扣合相连并形成中间通道，所述的上层弹性薄片与下层弹性薄片成共轭曲线结构，中层弹性薄片滑动连接在所述的中间通道内，所述的上层弹性薄片和下层弹性薄片由镍钛合金制成,所述的中层弹性薄片的后部通过中层连接块与直线运动驱动源相连，直线运动驱动源控制中层弹性薄片的相对滑动以控制上层弹性薄片和下层弹性薄片的曲率变化，实现相应的弯曲运动。A serpentine joint for a single-hole minimally invasive robot of the present invention includes an elastic sheet, the elastic sheet includes an upper elastic sheet, and the upper elastic sheet is fastened and connected with the lower elastic sheet to form a middle channel, The upper elastic sheet and the lower elastic sheet form a conjugate curve structure, the middle elastic sheet is slidably connected in the middle channel, the upper elastic sheet and the lower elastic sheet are made of nickel-titanium alloy, the middle layer The rear part of the elastic sheet is connected to the linear motion driving source through the middle connecting block, and the linear motion driving source controls the relative sliding of the middle elastic sheet to control the curvature change of the upper elastic sheet and the lower elastic sheet to realize corresponding bending motion.
本发明的用于单孔微创机器人的蛇形关节机构，它包括蛇形关节以及蛇形骨架结构，所述的蛇形关节包括弹性薄片，所述的弹性薄片包括上层弹性薄片，所述的上层弹性薄片与下层弹性薄片扣合相连并形成中间通道，所述的上层弹性薄片与下层弹性薄片成共轭曲线结构，中层弹性薄片滑动连接在所述的中间通道内，所述的上层弹性薄片和下层弹性薄片由镍钛合金制成,所述的中层弹性薄片的后部通过中层连接块与直线运动驱动源相连，所述的蛇形骨架结构包括多个结构相同的蛇形单元，每一个蛇形单元包括一个中间具有中空的通道的本体,在所述的本体的内壁上均匀间隔设置有多组丝通道，每组丝通道由两个走丝通孔组成，所述的多组丝通道的轴线与本体轴线平行，多组丝通道用于穿过钢丝，多个蛇形单元间通过圆柱销前后顺次转动连接组成蛇形骨架结构,多个蛇形单元的中空通道共同组成蛇形通道,所述的蛇形关节的弹性薄片安装在蛇形通道内，直线运动驱动源控制中层弹性薄片的相对滑动以控制蛇形骨架结构的运动。The serpentine joint mechanism for a single-hole minimally invasive robot of the present invention includes a serpentine joint and a serpentine skeleton structure, the serpentine joint includes an elastic sheet, and the elastic sheet includes an upper elastic sheet. The upper elastic sheet is buckled and connected with the lower elastic sheet to form a middle channel, the upper elastic sheet and the lower elastic sheet form a conjugate curve structure, the middle elastic sheet is slidably connected in the middle channel, and the upper elastic sheet The lower elastic sheet is made of nickel-titanium alloy. The rear part of the middle elastic sheet is connected to the linear motion drive source through the middle connecting block. The snake-like skeleton structure includes a plurality of snake-like units with the same structure, each The serpentine unit includes a body with a hollow channel in the middle, and multiple groups of wire channels are evenly spaced on the inner wall of the body, and each group of wire channels is composed of two wire passing holes. The multiple groups of wire channels The axis of the shaft is parallel to the axis of the main body, and multiple groups of wire channels are used to pass through the steel wires. Multiple serpentine units are sequentially rotated and connected by cylindrical pins to form a serpentine skeleton structure. The hollow channels of multiple serpentine units together form a serpentine channel. , the elastic sheet of the serpentine joint is installed in the serpentine channel, and the linear motion drive source controls the relative sliding of the middle elastic sheet to control the movement of the serpentine skeleton structure.
本发明与现有技术相比具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明的一种用于单孔微创机器人的蛇形关节机构与传统的蛇形关节相比，结构更加紧凑，装配更为方便。Compared with the traditional serpentine joint, the serpentine joint mechanism for the single-hole minimally invasive robot of the present invention has a more compact structure and more convenient assembly.
本发明的一种用于单孔微创机器人的蛇形关节机构可更有效的避免工具在手术操作时的碰撞问题。A serpentine joint mechanism for a single-hole minimally invasive robot of the present invention can more effectively avoid the collision problem of tools during operation.
本发明的一种用于单孔微创机器人的蛇形关节机构与传统的蛇形关节相比，驱动形式上更加方便，控制更加简单。Compared with the traditional serpentine joint, the serpentine joint mechanism for the single-hole minimally invasive robot of the present invention is more convenient in driving form and simpler in control.
本发明的一种用于单孔微创机器人的蛇形关节机构虽然是针对单孔手术器械设计，但该关节机构具有较高的可移植性，也可直接用于其他手术工具中，具有向其它医疗领域扩展的潜力。Although a serpentine joint mechanism for a single-hole minimally invasive robot of the present invention is designed for a single-hole surgical instrument, the joint mechanism has high portability and can be directly used in other surgical tools. Potential for expansion into other medical fields.
附图说明Description of drawings
图1为本发明一种用于单孔微创机器人的蛇形关节机构总图；Fig. 1 is a general diagram of a serpentine joint mechanism for a single-hole minimally invasive robot of the present invention;
图2为图1所示的机构的爆炸图；Fig. 2 is an exploded view of the mechanism shown in Fig. 1;
图3为本发明一种用于单孔微创机器人的蛇形关节与蛇形骨架连接示意图；Fig. 3 is a schematic diagram of the connection between a serpentine joint and a serpentine skeleton for a single-hole minimally invasive robot of the present invention;
图4-1为本发明一种用于单孔微创机器人的蛇形关节的一种工作状态下的动作示意图；Figure 4-1 is a schematic diagram of the action of a serpentine joint used in a single-hole minimally invasive robot in a working state according to the present invention;
图4-2为本发明一种用于单孔微创机器人的蛇形关节的另一种工作状态下的动作示意图；Fig. 4-2 is a schematic diagram of the action of a serpentine joint used in a single-hole minimally invasive robot in another working state according to the present invention;
图4-3为本发明一种用于单孔微创机器人的蛇形关节的又一种工作状态下的动作示意图；Figure 4-3 is a schematic diagram of the action of a serpentine joint used in a single-hole minimally invasive robot in another working state of the present invention;
图5为本发明一种用于单孔微创机器人的蛇形关节机构在三个典型的工作状态下动作示意图；Fig. 5 is a schematic diagram of the action of a serpentine joint mechanism for a single-hole minimally invasive robot in three typical working states of the present invention;
图6为本发明一种蛇形关节机构在单孔微创机器人中的工作状态示意图；Fig. 6 is a schematic diagram of the working state of a serpentine joint mechanism in a single-hole minimally invasive robot of the present invention;
具体实施方式Detailed ways
下面结合附图，对本发明的具体实施方式进行详细说明。The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
如附图所示的本发明的一种用于单孔微创机器人的蛇形关节，它包括弹性薄片1-2，所述的弹性薄片1-2包括上层弹性薄片2-2，所述的上层弹性薄片2-2与下层弹性薄片2-4扣合相连并形成中间通道，所述的上层弹性薄片2-2与下层弹性薄片2-4成共轭曲线结构，中层弹性薄片2-3滑动连接在所述的中间通道内，所述的上层弹性薄片2-2和下层弹性薄片2-4由镍钛合金制成。所述的中层弹性薄片2-3的后部通过中层连接块2-5与直线运动驱动源相连，所述的直线运动驱动源的动力可以来自手驱动或者直线驱动电机等。直线运动驱动源控制中层弹性薄片2-3的相对滑动以控制上层弹性薄片和下层弹性薄片的曲率变化，实现相应的弯曲运动。As shown in the accompanying drawings, a serpentine joint for a single-hole minimally invasive robot of the present invention includes an elastic sheet 1-2, and the elastic sheet 1-2 includes an upper elastic sheet 2-2. The upper elastic sheet 2-2 is buckled and connected with the lower elastic sheet 2-4 to form a middle channel, the upper elastic sheet 2-2 and the lower elastic sheet 2-4 form a conjugate curve structure, and the middle elastic sheet 2-3 slides Connected in the middle channel, the upper elastic sheet 2-2 and the lower elastic sheet 2-4 are made of nickel-titanium alloy. The rear part of the middle elastic sheet 2-3 is connected to the linear motion drive source through the middle layer connection block 2-5, and the power of the linear motion drive source can come from a hand drive or a linear drive motor. The linear motion driving source controls the relative sliding of the middle elastic sheet 2-3 to control the curvature change of the upper elastic sheet and the lower elastic sheet to realize corresponding bending motion.
弹性薄片1-2安装时，先将上层弹性薄片2-2和下层弹性薄片2-4扣合，扣合后形成一个中空的孔道，再将中层弹性薄2-3片推入孔道之内。When the elastic sheet 1-2 is installed, the upper elastic sheet 2-2 and the lower elastic sheet 2-4 are fastened together to form a hollow tunnel, and then the middle elastic sheet 2-3 is pushed into the tunnel.
如附图所示的本发明的一种用于单孔微创机器人的蛇形关节机构，它包括所述的蛇形关节以及蛇形骨架结构，所述的蛇形骨架结构包括多个结构相同的蛇形单元3-1，每一个蛇形单元3-1包括一个中间具有中空的通道的本体,优选的所述的本体为圆环体，可以在完全包覆弹性薄片的同时，不对弹性体的运动产生影响，并能有效的为后续的机械结构提供丝通道，以便于后续机械结构的驱动。在所述的本体的内壁上均匀间隔设置有多组丝通道3-2，每组丝通道由两个走丝通孔组成，所述的多组丝通道的轴线与本体轴线平行，图中所示内壁均匀分布有六组丝通道。As shown in the accompanying drawings, a serpentine joint mechanism for a single-hole minimally invasive robot of the present invention includes the serpentine joint and the serpentine skeleton structure, and the serpentine skeleton structure includes multiple The serpentine unit 3-1, each serpentine unit 3-1 includes a body with a hollow channel in the middle, preferably the body is a torus, which can completely cover the elastic sheet without aligning the elastic body It affects the movement of the machine, and can effectively provide a silk channel for the subsequent mechanical structure, so as to facilitate the driving of the subsequent mechanical structure. On the inner wall of the body, there are multiple sets of wire passages 3-2 evenly spaced, each set of wire passages is composed of two wire passing through holes, and the axes of the multiple sets of wire passages are parallel to the axis of the body, as shown in the figure It shows that there are six groups of silk channels evenly distributed on the inner wall.
多个蛇形单元间通过圆柱销5-1前后顺次转动连接组成蛇形骨架结构1-1，如图3所示，在每一个蛇形单元3-1的两侧端面上分别轴对称的安装有两个连接架，相邻的两个蛇形单元3-1上的连接架通过圆柱销5-1前后顺次转动连接。多组丝通道3-2用于穿过钢丝，以控制与前端固定套2-1相连的前部钳头6-3的运动。钢丝的布置方式可以采用现有的结构，多个蛇形单元3-1的中空通道共同组成蛇形通道。所述的蛇形关节的弹性薄片1-2安装在蛇形通道内，直线运动驱动源控制中层弹性薄片2-3的相对滑动以控制蛇形骨架结构的运动。Multiple serpentine units are sequentially connected by cylindrical pins 5-1 to form a serpentine skeleton structure 1-1. As shown in FIG. Two connecting frames are installed, and the connecting frames on two adjacent serpentine units 3-1 are sequentially connected by cylindrical pins 5-1 to rotate back and forth. Multiple sets of wire passages 3-2 are used to pass through steel wires to control the movement of the front pincer head 6-3 connected with the front end fixed sleeve 2-1. The arrangement of the steel wires can adopt the existing structure, and the hollow passages of the plurality of serpentine units 3-1 together form the serpentine passage. The elastic sheet 1-2 of the serpentine joint is installed in the serpentine channel, and the linear motion drive source controls the relative sliding of the middle elastic sheet 2-3 to control the movement of the serpentine skeleton structure.
蛇形关节安装时，将整个弹性薄片1-2置于蛇形骨架结构之后，形成支撑。When the serpentine joint is installed, the entire elastic sheet 1-2 is placed behind the serpentine skeleton structure to form a support.
图4-1，4-2，4-3分别为本发明一种用于单孔微创机器人的蛇形关节的三种典型工作状态示意图。在图4-1中，所示的弹性元件为工作的初始状态。上层弹性薄片和下层弹性薄片扣合，形成预先设计的曲线形状，中间留有中间通道，将相反曲线结构的中层弹性薄片完全插入其中，则由于两者的内应力和弯曲方向完全相反的原因，此时三个薄片在叠加后会形成直线状态，中层弹性薄片位于初始位置。在图4-2中，所示的弹性元件由于中层弹性薄片向后滑移，整个弹性薄片的前端由于失去了相反的内应力和弯曲结构，前端恢复未叠加中层弹性薄片的状态，而后部的AB段，由于中层弹性薄片的存在，内部仍有一定相反的内应力，因此其依旧保持在一定的平稳状态。在图4-3中，所示的弹性元件由于中层弹性薄片的进一步滑动，整体弹性薄片的前端完全抬起，若在向后移动中层弹性薄片，则整个弹性薄片可完全恢复原始状态。Figures 4-1, 4-2, and 4-3 are schematic diagrams of three typical working states of a serpentine joint used in a single-hole minimally invasive robot according to the present invention. In Fig. 4-1, the elastic element is shown in its working initial state. The upper elastic sheet and the lower elastic sheet are buckled together to form a pre-designed curved shape, with a middle channel left in the middle, and the middle elastic sheet with the opposite curved structure is completely inserted into it, because the internal stress and bending direction of the two are completely opposite. At this time, the three thin sheets will form a straight line after being superimposed, and the middle elastic thin sheet is located at the initial position. In Figure 4-2, the elastic element shown in the figure slides backward due to the middle elastic sheet, and the front end of the entire elastic sheet loses the opposite internal stress and bending structure, and the front end returns to the state where the middle elastic sheet is not superimposed, while the rear part In section AB, due to the existence of the middle elastic sheet, there is still a certain opposite internal stress inside, so it still maintains a certain stable state. In Fig. 4-3, due to the further sliding of the middle elastic sheet, the front end of the whole elastic sheet is completely lifted. If the middle elastic sheet is moved backward, the entire elastic sheet can be completely restored to its original state.
图5为本发明一种用于单孔微创机器人的蛇形关节机构蛇形骨架结构在弹性薄片驱动下的三种典型运动状态。状态1为初始状态，此时中层弹性薄片与上层弹性薄片和下层弹性薄片完全吻合。状态2、3分别是中层弹性薄片向后滑动后，蛇形骨架结构在弹性薄片的驱动下所形成的运动状态。Fig. 5 shows three typical motion states of a serpentine joint mechanism for a single-hole minimally invasive robot of the present invention driven by an elastic sheet. State 1 is the initial state, at this time, the middle elastic sheet is completely consistent with the upper elastic sheet and the lower elastic sheet. States 2 and 3 are respectively the motion states formed by the serpentine skeleton structure driven by the elastic sheet after the middle elastic sheet slides backward.
图6是本发明一种用于单孔微创机器人的蛇形关节机构在图像系统和机构系统中应用工作的工作示意图。本装置在使用时,在所述的蛇形骨架结构1-1的前后端分别固定连接有前端固定套2-1和后端固定套，同时前端固定套的前侧与前端工具即前部钳头6-3相连接，而后端固定套2-7的后侧与连接套筒2-6相连接并通过连接套筒与后部工具杆件1-3形成连接。所述的直线运动驱动源穿过后端固定套2-7、连接套筒2-6与后部工具杆件1-3设置，在图像系统上，本发明一种用于单孔微创机器人的蛇形关节机构用在内窥镜的后部，为内窥镜提供了多自由度的运动。在机构系统中，本发明一种用于单孔微创机器人的蛇形关节机构用于工具钳头后部，使得在单孔手术中器械能形成操作三角，避免了器械在体内碰撞的问题。Fig. 6 is a working schematic diagram of the application of a serpentine joint mechanism for a single-hole minimally invasive robot in an image system and a mechanism system according to the present invention. When the device is in use, the front and rear ends of the serpentine skeleton structure 1-1 are respectively fixedly connected with the front end fixing sleeve 2-1 and the rear end fixing sleeve. The head 6-3 is connected, and the rear side of the rear end fixing sleeve 2-7 is connected with the connecting sleeve 2-6 and forms a connection with the rear tool bar 1-3 through the connecting sleeve. The linear motion drive source is set through the rear fixed sleeve 2-7, the connecting sleeve 2-6 and the rear tool bar 1-3. A serpentine joint mechanism is used at the rear of the endoscope to provide multiple degrees of freedom of motion for the endoscope. In the mechanism system, a serpentine joint mechanism for a single-hole minimally invasive robot of the present invention is used at the rear of the tool forceps, so that the instrument can form an operating triangle during single-hole surgery, avoiding the problem of instrument collision in the body.
以上示意性的对本发明及其实施方式进行了描述，该描述没有限制性，附图中所示的只是本发明的实施方式之一，实际的结构也并不局限于此。如果本领域的技术人员受其启示，在不脱离本发明创造宗旨的情况下，采用其它形式的传动、驱动装置以及连接方式不经创造性的设计与该技术方案相似的结构方式及实施例，均应属于本发明的保护范围。The above schematically describes the present invention and its implementation, which is not restrictive. What is shown in the drawings is only one of the implementations of the present invention, and the actual structure is not limited thereto. If those skilled in the art are inspired by it, without departing from the inventive concept of the present invention, adopting other forms of transmission, driving devices and connection methods without creatively designing structural methods and embodiments similar to the technical solution, all Should belong to the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548724.9ACN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548724.9ACN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
| Publication Number | Publication Date |
|---|---|
| CN106073897A CN106073897A (en) | 2016-11-09 |
| CN106073897Btrue CN106073897B (en) | 2018-06-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610548724.9AActiveCN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
| Country | Link |
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| CN (1) | CN106073897B (en) |
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