Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawingGive the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to hereinDescribed embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosureAdd thorough and comprehensive.
It should be noted that when element is referred to as " being set to " another element, it can be directly on another elementOr there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected toTo another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it canTo be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " waterIt is flat ", "left", "right" and similar statement for illustrative purposes only, be not offered as being unique embodiment.HereinIt is interventional medical device field common terminology that used term " distal end ", " proximal end ", which are used as the noun of locality, the noun of locality, wherein" distal end " indicates that one end far from operator in surgical procedure, " proximal end " indicate to lean on one end of proximal operator in surgical procedure.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present inventionThe normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention hereinThe purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or moreAny and all combinations of relevant Listed Items.
As shown in Figure 1 to Figure 3, it is respectively the structural schematic diagram of one embodiment of operating robot of the present invention, and from operationThe partial schematic diagram of equipment difference embodiment.
Operating robot include master operating station 1 and from operation equipment 2.Wherein, master operating station 1 is used for the operation according to doctorControl command is sent to from operation equipment 2, with control from operation equipment 2, is additionally operable to show the image obtained from equipment 2.FromOperation equipment 2 is used to respond the control command of the transmission of master operating station 1, and is operated accordingly, and is also used from operation equipment 2In the internal image of acquisition.
Include mechanical arm 10, the actuating unit 20 being set on mechanical arm 10, be set to actuating unit 20 from operation equipment 2On motion arm 30, and be arranged the casing 40 of motion arm 30.Mechanical arm 10 is used to adjust the position of motion arm 30；Actuating unit20 for driving motion arm 30 to execute corresponding operating；Motion arm 30 is located at the end device of distal end for stretching into vivo by itTool 400 executes surgical procedure, and/or obtains internal image.Specifically, as shown in Figure 2 and Figure 3, motion arm 30 wears casing 40,Its end instrument 400 stretches out outside casing 40, and drives it to execute operation by actuating unit 20.In Fig. 2, motion arm 30 is located at setRegion in pipe 40 is rigid region；In Fig. 3, it is flexible region that motion arm 30, which is located at the region in casing 40, and casing is with flexibilityRegion bends.In other embodiment, casing 4 can also be omitted, at this point, being not necessarily to casing.
In one embodiment, motion arm 30 be it is multiple, may be contained on the same actuating unit 20, multiple motion arms 30 it is remoteEnd is stretched into vivo by a notch on human body, so that its end instrument 400 is moved to lesion 3 and is nearby operated.Specifically, there are actuating unit multiple power parts, each power part to be correspondingly connected with a motion arm.In other embodiment, powerMechanism is multiple, a motion arm 30 is arranged on each actuating unit 20, and multiple motion arms stretch into vivo from a notch, thisWhen multiple actuating units 20 can both be set on a mechanical arm 10, can also be set on multiple mechanical arms 10.It needsBright, multiple motion arms 30 can also stretch into vivo from multiple notch, for example, two motion arms are stretched into each notch, thenSuch as, a motion arm is stretched into each notch.
In one embodiment, further includes stamp card (figure does not regard) from operation equipment 2, stab card for wearing the notch on human body, andIt is fixedly installed on incision tract, motion arm is extend into vivo by stabbing card.
As shown in Figure 4, Figure 5, it is respectively the structural schematic diagram of 30 1 embodiment of motion arm of the present invention and multiple motion armsVertical view.
Motion arm 30 includes sequentially connected driving mechanism 100, connecting rod 200, connection component 300 and end instrument 400,In, there is driving mechanism 100 shell 110, actuating unit to be connect with driving mechanism 100, and power is provided for it；Connecting rod 200 is arrangedIn on shell 110, and it is tangent with the side of shell 110 111 in their extension direction, so that the connecting rod 200 of multiple motion arms 30It is stretched into vivo by a notch.Wherein, the side 111 of shell 110 is the surface being connected with bottom surface 112, and bottom surface 112 refers to handTowards the surface of human body when art.According to actual needs, end instrument 400 and/or connection component 300 can also be omitted.
In the present embodiment, 200 substantially rigid connecting rod 200 of connecting rod is directly arranged at dynamic in installation operation arm 30On force mechanisms 20, it is not necessarily to bent connecting rod 200.In other embodiment, connecting rod 200 or flexible link, or can also saveSlightly connecting rod 200, enables connection component 300 directly be connect with driving mechanism 100.
Aforesaid operations arm 30 enables the connecting rod 200 of multiple motion arms 30 that can pass through people since connecting rod 200 and shell 110 are tangentThe distance between a notch on body stretches into vivo, and 30 driving mechanism 100 of multiple motion arms can be reduced, and then enable moreA motion arm 30 is compacter, reduces the volume in 20 installation operation arm of actuating unit, 30 region.Further, due to connecting rod 200For rigid link 200, more stablize when enabling operation.
Shell 110 has adjacent first side 111A, second side 111B, is used to first with adjacent operator arm 30Side 111A or second side 111B are abutted, so that multiple motion arms 30 are distributed around a central shaft；Or first side 111A,Second side 111B is used to close on interval setting with the first side 111A or second side 111B of adjacent operator arm 30, so thatMultiple motion arms 30 around a central shaft be distributed, for example, in two neighboring shell 110 one of shell 110 first sideThe surface that the first side 111A or second side 111B of 111A and another shell 110 are oppositely arranged, and are oppositely arrangedBetween have gap.Wherein, first side 111A and second side 111B shapes are in an acute angle.In other embodiment, first side111A, second side 111B can also form right angle or obtuse angle.
Further, the edge of first side 111A extends to the edge of second side 111B, so that two 111 phases of sideConnection, join domain are curved surface.Wherein, connecting rod 200 and curved surface are tangent, in an embodiment, the radius of curvature and connecting rod of curved surface200 radius is essentially identical.In other embodiment, the radius of curvature of curved surface can also can also be different.
In the present embodiment, for connecting the surface of actuating unit and being arranged that the surface of connecting rod 200 is opposite to be set on shell 110It sets.Specifically, connecting rod 200 is set on the bottom surface 112 of shell 110, and closes on the fringe region of bottom surface 112, on shell 110 withThe surface that bottom surface 112 is oppositely arranged is for connecting actuating unit.In other embodiment, as shown in fig. 6, for connecting on shell 110The surface on the surface and setting connecting rod 200 that connect actuating unit is the same surface, is connected specifically, the bottom surface 112 of shell 110 hasDisk 120 is connect, for connecting actuating unit, connecting rod 200 is set on the bottom surface 112 of shell 110.Alternatively, as shown in fig. 7, shellIt can also be disposed adjacent with the surface of setting connecting rod 200 on 110 for connecting the surface of actuating unit, i.e. the one of shell 110Terminal pad 120 is arranged for connecting actuating unit in side 111 thereon.It should be noted that connecting rod 200 can also be set to shellOn the side 111 of body 110, at this point, the surface that shell 110 is used to connect actuating unit both can be one of side 111,May be bottom surface 112, or the surface opposite with bottom surface 112.
In the present embodiment, connecting rod 200 is straight-bar, and 200 rotary setting of connecting rod is driven on the shell 110 of driving mechanism 100100 drive link 200 of motivation structure is rotated along its axis.In other embodiment, connecting rod 200 or non-straight rod structure.Alternatively,Connecting rod 200 can also be fixedly installed on shell 110.
As shown in figure 8, in an embodiment, connecting rod 200 includes sequentially connected first connecting rod 210, second connecting rod 220,In, first connecting rod 210 is set on shell 110, and is fixedly connected with second connecting rod 220, first connecting rod 210 and second connecting rod220 form angle, which is the non-straight angle.In the present embodiment, second connecting rod 220 and the side 111 of shell 110 are tangent, connecting rod200 are fixedly installed on shell 110.At this point, the end instrument 400 being connect with connecting rod 200 can be enabled to relatively rotate, to ensure to graspMake the degree of freedom of arm 30.In other embodiment, second connecting rod can also with the non-tangent setting of shell, as long as ensureing multiple motion armsSecond connecting rod entered by notch it is internal.
First connecting rod can also rotary setting on shell.For example, first connecting rod is soft bar, flexible pipe or the first companyBar is connect by flexible joint component with second connecting rod, so that the position-adjustable between first connecting rod and second connecting rod；SecondConnecting rod wears stamp card or casing, to limit its position with respect to human body, enables first connecting rod that second connecting rod is driven to be rotated around fixedAxis rotates, i.e., the rotary shaft of second connecting rod will not change with the bending of first connecting rod.For another example, second connecting rod is with respect to first connecting rodPosition is fixed, at this point, first connecting rod is connect with second connecting rod by transmission mechanism, when so that first connecting rod rotating, drives secondConnecting rod fixes rotary shaft around it.When first connecting rod rotary setting is when on shell, first connecting rod can be located at the middle part of surface of shellRegion.
It should be noted that when first connecting rod is that soft bar, flexible pipe or first connecting rod pass through flexible joint component and theWhen two connecting rods connect, first connecting rod can also be fixedly connected with the casing, at this point, turn opposite with the end instrument that connecting rod connects can be enabledIt is dynamic.
As shown in figure 9, in an embodiment, connecting rod 200 includes first connecting rod 210, second connecting rod 220, and connection component 300 wrapsInclude the first connection component 310, the second connection component 320.First connecting rod 210 is set in driving mechanism 100, and is connected by firstConnected components 310 are connect with 220 phase swinging of second connecting rod, and second connecting rod 220 is for connecting end instrument 400 or the second connection groupPart 320, wherein when second connecting rod 220 connects the second connection component 320, end instrument 400 and the second connection component 320Distal end is connected.The first connection component 310 is located at external when operation, and the second connection component 320 is located at internal.It needs to illustrateIt is that in the present embodiment, second connecting rod 220 and the side 111 of shell 110 are tangent.In other embodiment, second connecting rod 220 also may be usedIt is other positions relationship with nontangential with shell 110.
Aforesaid operations arm 30 is drivingly connected component 300 by driving mechanism 100, to enable second connecting rod 220 opposite first connectBar 210 is swung, and then adjusts the position of second connecting rod 220 and the end instrument 400 being connect with second connecting rod 220, is made full use of30 driving mechanism 100 of motion arm improves the flexibility of motion arm 30 to the space between human body.
In one embodiment, first connecting rod 210 is multiple, and multiple first connecting rods 210 are put successively by the first connection component 310Dynamic connection, the first connecting rod 210 positioned at proximal end are connected with driving mechanism 100, and the first connecting rod 210 for being located at distal end passes through firstConnection component 310 is connected with second connecting rod 220.Which further increases the flexibilities of motion arm 30.
Further, at least two connection components 300 are coupled to each other in multiple connection components 300, the connection component of coupling300 accordingly rotate according to coupled relation.Specifically, in an embodiment, at least two first connection components 310 are coupled to each other, couplingWhen the first connection component 310 rotation closed, wherein the connecting rod posture that the first connection component 310 positioned at distal end connects is kept notBecome, i.e. the first connecting rod 210 of the first connection component 310 connection or the posture of second connecting rod 220 remain unchanged.For example, firstConnecting rod 210 is multiple, and the first connecting rod 210 for being located at distal end is connected with second respectively by the first connection component 310 of two couplingsBar 220 and another first connecting rod 210 are connected, when the rotation of the first connection component 310 of coupling, second connecting rod 220 with positioned at remote210 keeping parallelism of another first connecting rod that the first connecting rod 210 at end connects.In other embodiment, the first connection component 310 andTwo connection components 320 couple, and when the connection component 300 of coupling rotates, the distal end posture of the second connection component 320 remains unchanged.In above-described embodiment, the sum of all directions angle of rotation is essentially identical when the connection component of coupling rotates, in other embodiment, couplingConnection component 300 can also rotate in same direction, for example, 300 rotational angle of connection component of coupling is proportional.
As shown in Figure 10, it is the close-up schematic view of motion arm shown in Fig. 9.
Connection component 300 includes multiple sequentially connected connection units 301, wherein the formation of at least two connection units 301Rotatable joint assembly 302.For example, multiple connection units 301 are sequentially connected by interconnecting piece formed thereon, so that moreA connection unit 301 forms rotatable joint assembly 302.For another example, connection component 300 further includes driving silk, and multiple connections are singleMember 301, so that multiple connection units 301 form rotatable joint assembly 302, drives silk at this time by driving silk to be sequentially connectedNot only it is used to be drivingly connected unit, but also for connecting the connection unit.
In the present embodiment, the sum of all directions angle of rotation basic phase when each joint assembly in the connection component of coupling rotatesWhen together, to ensure the connection component flexural oscillations coupled, the connection unit posture positioned at distal end remains unchanged.Wherein, couplingIn connection component, each joint assembly corresponds to coupling.For example, two the first connection component couplings, wherein each first connection componentThere are one joint assemblies for tool, and rotation direction is on the contrary, angle of rotation is identical.For another example, two the first connection component couplings, are each wrappedInclude two joint assemblies, two joint assemblies in one of connection component with two joints in another connection componentComponent corresponds to coupling.For another example, in the connection component of coupling each joint assembly can also rotation direction it is identical, and rotational angle atRatio.It should be noted that above-mentioned joint assembly both can based on movable joint component, or servo-actuated joint assembly.Wherein,Active joint assembly refers to the joint assembly rotated by driving mechanisms control, and servo-actuated joint assembly refers to due to active switching rotationAnd follow the joint assembly of rotation.
It is the structural schematic diagram of one embodiment of operating robot motion arm also referring to Figure 11.
In one embodiment, motion arm 30 includes sequentially connected driving mechanism, connecting rod, connection component and end instrument,In, joint assembly 302 includes the first active joint assembly 302A and servo-actuated joint assembly 302B of coupling, the first active joint groupWhen part 302A bendings, joint assembly 302B is servo-actuated according to coupled relation respective curved, wherein the first active joint assembly 302AIn in the shell 110 of driving mechanism 100, the first servo-actuated connection component 302B is located at outside the shell 110 of driving mechanism 100, and withThe distal end of connecting rod 200 is connected, i.e., connecting rod 200 be located at the first active joint assembly 302A and servo-actuated joint assembly 302B itBetween.
Aforesaid operations arm 30 enables the first active joint assembly driving being located in driving mechanism 100 be located at driving mechanism 100Outer servo-actuated joint assembly enables control more accurate.
Driving mechanism 100 further includes the driving portion 130 being set in shell 110, for being drivingly connected component 300.ConnectionComponent 300 further include driving silk, driving silk include main driving silk 303 and from drive silk 304.Wherein, one end of main driving silk 303It is set on driving portion 130, the other end is set on joint assembly 302A, to drive active joint assembly to rotate.For example, main driveOn the connection unit for the joint assembly that one end of dynamic silk is set to its driving；For another example, main driving silk is set to the joint of its drivingOn the connection unit of component remote, wherein the active joint assembly independently of setting driving its it is main driving silk joint assembly withRemaining joint assembly movement between proximal joint component.It is set to its servo-actuated joint assembly driven from 304 one end of driving silkOn 302B, the other end is set on the first active joint assembly 302A of driving servo-actuated joint assembly 302B rotations, with when theWhen one active joint assembly 302A rotations, servo-actuated joint assembly 302B is enabled to rotate with it.It should be noted that from driving silk 304It can also be set on other joint assemblies 302, for example, being set to from the distal end of driving silk 304 positioned at servo-actuated joint assemblyOn the joint assembly 302 of the distal ends 302B.
In the present embodiment, the first main driving silk 303A of the first active joint assembly 302A of driving is located in shell 110, fromOutside is connected with the connection unit 301 of the first active joint assembly 302A, it is understood that is the first active joint assemblyThe first main driving silk 303A of 302A does not wear other connection units, is only arranged on the connection unit of its driving, and from connectionThe outside of component drives the first active joint assembly 302A.
Further, the connection unit 301 in the first active joint assembly 302A is driven by the first main driving silk 303ADynamic, i.e. each connection unit 301 in the first active joint assembly 302A is connect with the first main driving silk 303A.The present embodimentIn, the first active joint assembly 302A is driven by two first main driving silk 303A, two first main driving silk 303A slave phasesConnection unit 301 in first active joint assembly 302A is connected to both sides, to drive the first active joint assembly 302A up timesNeedle rotates counterclockwise.Wherein, two first main driving silk 303A can both be located at the same of the first active joint assemblyOn connection unit, it can also be located on two connection units in the joint assembly.
It should be noted that being fixedly connected on unit 301 it is not necessary that driving silk is arranged in the first active joint assembly 302A303, when driving the first active joint assembly 302A rotations with the connection unit 301, it is only necessary to drive in the joint assembly 302Another connection unit 301.Wherein, unit is fixedly connected with will introduce below.
In other embodiment, link mechanism can also be enabled to substitute the first main driving silk.For example, driving mechanism includes drivingBar is driven by driving portion, and drive rod is connected at least one connection unit in the first active joint assembly, should with drivingActive joint assembly rotates.At this point, a drive rod is only arranged on each connection unit.For example, driving portion and drive rodCam mechanism is formed, specifically, driving portion connects cam, so that cam is rotated with driving portion, drive rod supports cam curved surface, andIt moves along a straight line, with the connection unit for driving it to connect.For another example, driving portion forms rack and pinion mechanism with drive rod, specifically,Driving portion is connected with gear, so that gear is rotated with driving portion, drive rod has the rack coordinated with gear, so that it drives itThe connection unit of connection.
As shown in figure 12, in an embodiment, the first main driving silk 303A of the first active joint assembly 302A of driving is wornFirst active joint assembly 302A, and the connection unit 301 in the first active joint assembly 302A driven with it is connected.It is to be understood that the first main driving silk wears the list of each connection between driving portion and its first active joint assembly drivenMember, from internal drive the first active joint assembly of connection component.
It is respectively the structural schematic diagram of 30 different embodiments of motion arm of the present invention, wherein figure as shown in Figure 13, Figure 14In be omitted the first main driving silk 303A and from driving silk 304.
For driving mechanism 30 in addition to above structure, connection component 300 further includes the second active being located at outside driving mechanism 100Joint assembly 302C is driven by the second main driving silk 303B.For example, as shown in figure 13, the second main driving silk 303B is wornFirst active joint assembly 302A, and extend to the second active joint assembly 302C of its driving.For another example, as shown in figure 14,Two main driving silk 303B are located at outside the first active joint assembly 302A, i.e. the movement of the first active joint assembly 302A can't shadowRing the second main driving silk 303B.
Wherein, the second active joint assembly 302C can both be located at the proximal end of servo-actuated joint assembly 302B, can also be located atFirst with movable joint 302B distal end；Alternatively, when servo-actuated joint assembly 302B and/or the second active joint assembly 302C is multipleWhen, the two cross arrangement.
Specifically, the distal end for being servo-actuated joint assembly 302 is connect with the second active joint assembly 302C, proximal end and connecting rod 200Connection.In other embodiment, the proximal end of the second active joint assembly 302C can also be enabled to be connected with connecting rod 200, distally withMovable joint component 302A is connected, at this point, the second active joint assembly 302C, the first active joint assembly 302A with servo-actuated passComponent 302B couplings are saved, i.e. the second active joint assembly 302C movements can also drive servo-actuated joint assembly 302B corresponding sports.
It should be noted that connection component may include multigroup joint assembly, the rotation axis of the joint assembly in every group is different,So that connection component has multiple degree of freedom, for example, the first active joint assembly includes two groups, two group of first active joint assemblyRotation axis it is orthogonal, be accordingly arranged at this point, servo-actuated joint assembly corresponds to the first connection component.Each joint assembly 302 can alsoWith at least two degree of freedom, to enable its more flexible.
As shown in Figure 11 to 14, connecting rod 200 is connected with the distal end of the first active joint assembly 302A, so that from drivingThe both ends of silk 304 wear connecting rod 200, and with positioned at 200 both ends of connecting rod and the first active joint assembly 302A for couple be servo-actuatedJoint assembly 302B is connected, and the distal end of the first active joint assembly 302A is fixed on shell at this time, i.e. the connection of its distal endUnit is to be fixedly connected with unit, and the proximal end of the first active joint assembly is free end, is not connected with other assemblies.
In other embodiment, connecting rod 200 can also be arranged with the first intervals active joint assembly 302A, and first actively at this timeThe proximal end of joint assembly is fixedly installed in shell 110, and the connection unit of proximal end is to be fixedly connected with unit, the first active jointThe distal end of component is free end, and is arranged with connecting rod relative spacing.From driving silk 304 company is extended to from the first active joint assemblyIn bar 200, and it is set on the joint assembly 302 of its driving.
As shown in Figure 13, Figure 14, when connection component includes the second active joint assembly, the second main drive of its rotation is drivenDynamic silk 303B wears connecting rod 200 and extends on the joint assembly of driving.In Figure 13, the second main driving silk 303B with from driving silk304 wear connecting rod 200 in the same area of connecting rod 200.In Figure 14, the second main driving silk 303B with from driving silk 304 in connecting rod200 different zones wear connecting rod 200.
In one embodiment, connecting rod 200 is fixedly installed on the shell 110 of driving mechanism 100, at this point, the first active jointComponent 302A is fixedly connected with connecting rod 200.In other embodiment, connecting rod also can be set to driving mechanism along its axial rotationOn 100, at this point, the first active joint assembly 302A is fixedly installed on shell 110, connecting rod 200 wears shell 110, and withOne active joint assembly 302A is connected, i.e., at this point, the first active joint assembly 302 is not rotated with connecting rod 200.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned realityIt applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not depositedIn contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneouslyIt cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the artIt says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present inventionRange.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.