技术领域technical field
本发明属于腹腔镜手术技术领域，具体涉及一种腹腔镜机器人及具有其的系统。The invention belongs to the technical field of laparoscopic surgery, and in particular relates to a laparoscopic robot and a system thereof.
背景技术Background technique
本部分提供的仅仅是与本公开相关的背景信息，其并不必然是现有技术。This section provides background information related to the present disclosure only and is not necessarily prior art.
传统腹腔开放式手术为使手术部位器官显露，往往需要将相应部位皮肉切开，切口大小在10cm左右，以便进行手术，因而存在诸多显著性弊端，如手术切口大、手术过程中病人出血较多、术后病人恢复时间长且疼痛剧烈、术后疤痕难以去除等。为克服传统开放式手术的诸多弊端，外科手术逐步由开放式手术向着微创发展，逐渐有了MIS(minimallyinvasive surgery，微创手术)、LESS(laparo endoscopic single site，单孔腹腔镜手术)和NOTES(natural orifice transluminal endoscopic surgery，无切口的经自然腔道的内镜手术)，但以上手术方式均存在弊端，对于MIS来说，需要在人体腹壁上开多个1-2cm的切口，来放置腹腔镜器械和摄像机等，同样容易造成出血较多、术后恢复慢等问题，NOTES将手术所产生的各种并发症的发生概率，例如伤口感染、疼痛、疤痕等，降低至最小，但由于难以将多个器械经自然腔道放入到腹腔中，实现难度大，目前只是理论提出。In order to expose the surgical site and organs in the traditional abdominal open surgery, it is often necessary to incise the skin and flesh of the corresponding site. The size of the incision is about 10 cm, so that the operation can be performed. Therefore, there are many significant disadvantages, such as large surgical incisions, and more bleeding during the operation. , The postoperative recovery time of the patient is long and the pain is severe, and the postoperative scar is difficult to remove. In order to overcome the many disadvantages of traditional open surgery, surgery has gradually developed from open surgery to minimally invasive surgery, and gradually has MIS (minimally invasive surgery, minimally invasive surgery), LESS (laparo endoscopic single site, single-port laparoscopic surgery) and NOTES (natural orifice transluminal endoscopic surgery, endoscopic surgery through the natural orifice without incision), but the above surgical methods have disadvantages. For MIS, it is necessary to make multiple 1-2cm incisions on the abdominal wall of the human body to place the abdominal cavity Mirror instruments and cameras are also likely to cause more bleeding and slow postoperative recovery. NOTES minimizes the probability of various complications arising from surgery, such as wound infection, pain, scars, etc., but due to the difficulty It is very difficult to put multiple instruments into the abdominal cavity through the natural orifice, and it is only a theoretical proposal at present.
常用的手术方式为MIS，其中，现有技术中的腹腔机器人结构，存在以下弊端：1、使用线将腹腔机器人缝合固定在皮肤上，通过在腹腔内置电机和齿轮来改变机器人的姿态，采用缝合的方式会额外增加患者的伤口，在腹腔内置电机和齿轮，使得整体的尺寸大，灵活度低，电机放置在腹腔内无法保证患者的安全，2、在腹壁上开一个切口，将机器人放入到腹腔中，用针固定在腹腔内侧的皮肤上，同样会额外增加患者的伤口，且机器人体积大，灵活度低。The commonly used surgical method is MIS. Among them, the abdominal cavity robot structure in the prior art has the following disadvantages: 1. The abdominal cavity robot is sutured and fixed on the skin by using a thread, and the posture of the robot is changed by building a motor and gear in the abdominal cavity. The method will increase the patient's wounds. The built-in motor and gear in the abdominal cavity make the overall size large and the flexibility is low. The safety of the patient cannot be guaranteed if the motor is placed in the abdominal cavity. 2. Make an incision on the abdominal wall and put the robot into it. Into the abdominal cavity, the needle is fixed on the skin inside the abdominal cavity, which will also increase the wound of the patient, and the robot is bulky and has low flexibility.
发明内容Contents of the invention
本发明的目的是至少解决腹腔机器人的固定方式会增加额外伤口且使用灵活度低的问题。该目的是通过以下技术方案实现的：The purpose of the present invention is to at least solve the problem that the fixing method of the abdominal cavity robot will increase additional wounds and the use flexibility is low. This purpose is achieved through the following technical solutions:
本发明第一方面提出了一种腹腔镜机器人，包括腹内锚定组件和腹外锚定组件，所述腹外锚定组件与所述腹内锚定组件磁力配合，其中，所述腹外锚定组件设置成在第一状态下驱动所述腹内锚定组件做直线运动，在第二状态下驱动所述腹内锚定组件做旋转运动，在第三状态下驱动所述腹内锚定组件沿腹外指向腹内的方向做偏转运动。The first aspect of the present invention proposes a laparoscopic robot, including an intra-abdominal anchoring component and an extra-abdominal anchoring component, the external The anchoring assembly is set to drive the intra-abdominal anchoring assembly to perform linear motion in the first state, drive the intra-abdominal anchoring assembly to perform rotational motion in the second state, and drive the intra-abdominal anchoring assembly in the third state The fixed component performs a deflection movement along the direction from the outside of the abdomen to the inside of the abdomen.
根据本发明实施例的腹腔镜机器人，在使用时，先在腹壁上开一个切口，将腹内锚定组件放入腹腔内，同时，腹外锚定组件放置在腹壁外，腹腔锚定组件通过磁力阻止腹内锚定组件掉落入腹腔内，通过移动腹外锚定组件，可以改变腹内锚定组件在腹腔内的位置，具体的，可实现直线、旋转和偏转运动，以便采集到腹腔内不同角度的图像，为手术顺利进行提供基础，腹外锚定组件作为驱动源，设置在腹外，相比较于现有技术，腹内锚定组件上不再设置有驱动源，减小了腹内锚定组件的结构尺寸，体积更小且更加安全，不会伤害到患者，更接近于临床实际应用，提高灵活度，且降低了与其他装置发生干扰的几率。According to the laparoscopic robot of the embodiment of the present invention, when in use, an incision is first made on the abdominal wall, and the intra-abdominal anchoring assembly is placed in the abdominal cavity. The magnetic force prevents the intra-abdominal anchoring component from falling into the abdominal cavity, and the position of the intra-abdominal anchoring component in the abdominal cavity can be changed by moving the external anchoring component. Images from different angles inside provide the basis for the smooth operation. The external anchoring component is used as the driving source and is set outside the abdomen. Compared with the existing technology, the internal anchoring component is no longer provided with a driving source, which reduces the The structural size of the intra-abdominal anchoring component is smaller and safer, will not harm the patient, is closer to clinical practice, improves flexibility, and reduces the probability of interference with other devices.
另外，根据本发明实施例的腹腔镜机器人，还可具有如下附加的技术特征：In addition, the laparoscopic robot according to the embodiment of the present invention may also have the following additional technical features:
在本发明的一些实施例中，所述腹内锚定组件包括：In some embodiments of the invention, the intra-abdominal anchoring assembly comprises:
第一壳体，所述第一壳体内设置有第一安装槽；a first housing, the first housing is provided with a first installation slot;
至少两个第一永磁体，所述第一永磁体之间设置有间隙，且分别设置在所述第一安装槽内；At least two first permanent magnets, a gap is provided between the first permanent magnets, and they are respectively arranged in the first installation groove;
执行器，所述执行器与所述第一壳体通过柔性件连接；an actuator, the actuator is connected to the first housing through a flexible member;
其中，在所述第一状态下，所述第一壳体、所述第一永磁体和所述执行器做直线运动；Wherein, in the first state, the first housing, the first permanent magnet and the actuator move linearly;
在所述第二状态下，所述腹内锚定组件以与所述执行器相邻的所述第一永磁体为中心做旋转运动；In the second state, the intra-abdominal anchoring assembly rotates around the first permanent magnet adjacent to the actuator;
在所述第三状态下，所述执行器沿腹外指向腹内的方向做偏转运动。In the third state, the actuator performs a deflection movement in a direction from the outside of the abdomen to the inside of the abdomen.
在本发明的一些实施例中，所述执行器包括：In some embodiments of the present invention, the actuator includes:
第二壳体，所述第二壳体内设置有第二安装槽，且所述第二壳体与所述第一壳体通过所述柔性件连接；a second housing, a second installation groove is arranged in the second housing, and the second housing is connected to the first housing through the flexible member;
一个第二永磁体，所述第二永磁体设置于所述第二安装槽内，且在所述第三状态下，所述第二壳体和所述第二永磁体沿腹外指向腹内的方向做偏转运动；A second permanent magnet, the second permanent magnet is arranged in the second installation groove, and in the third state, the second housing and the second permanent magnet point outward to the abdomen The direction of deflection movement;
摄像头，所述摄像头设置于所述第二壳体内，并设置成采集腹腔内不同角度的图像。A camera, the camera is arranged in the second casing, and is arranged to collect images from different angles in the abdominal cavity.
在本发明的一些实施例中，所述执行器还包括：In some embodiments of the present invention, the actuator also includes:
照明件，所述照明件设置在所述第二壳体内。a lighting element, the lighting element is arranged in the second housing.
在本发明的一些实施例中，所述腹外锚定组件包括：In some embodiments of the present invention, the extra-abdominal anchoring assembly includes:
至少两个第三永磁体，所述第三永磁体之间设置有间隙，并与所述第一永磁体一一对应；At least two third permanent magnets, with a gap provided between the third permanent magnets, and one-to-one correspondence with the first permanent magnets;
一个第四永磁体，所述第四永磁体与相邻的所述第三永磁体之间设置有间隙，且所述第四永磁体与所述第二永磁体对应；A fourth permanent magnet, a gap is provided between the fourth permanent magnet and the adjacent third permanent magnet, and the fourth permanent magnet corresponds to the second permanent magnet;
其中，所述第三永磁体和所述第四永磁体在所述第一状态下做直线运动，以驱动所述第一永磁体和所述第二永磁体做直线运动；Wherein, the third permanent magnet and the fourth permanent magnet move linearly in the first state to drive the first permanent magnet and the second permanent magnet to move linearly;
所述腹外锚定组件在所述第二状态下以与所述第四永磁体相邻的所述第三永磁体为中心旋转，以驱动所述腹内锚定组件做旋转运动；The extra-abdominal anchoring assembly rotates around the third permanent magnet adjacent to the fourth permanent magnet in the second state to drive the intra-abdominal anchoring assembly to rotate;
所述第四永磁体在所述第三状态下自转以驱动所述执行器沿腹外指向腹内的方向做偏转运动。The fourth permanent magnet rotates on its own in the third state to drive the actuator to make a deflection movement in a direction from the outside of the abdomen to the inside of the abdomen.
在本发明的一些实施例中，所述腹外锚定组件还包括：In some embodiments of the present invention, the external anchoring assembly further includes:
第三壳体，所述第三壳体内设置有第三安装槽和第四安装槽，所述第三永磁体设置于所述第三安装槽内，所述第四永磁体设置于所述第四安装槽内。The third housing, the third housing is provided with a third installation groove and a fourth installation groove, the third permanent magnet is arranged in the third installation groove, and the fourth permanent magnet is arranged in the first installation groove. Four installation slots.
在本发明的一些实施例中，所述腹外锚定组件还包括：In some embodiments of the present invention, the external anchoring assembly further includes:
驱动件；driver;
传动件，所述传动件和所述驱动件均设置在所述第三壳体上，且所述驱动件、所述传动件和所述第四永磁体依次连接，所述驱动件通过所述传动件驱动所述第四永磁体自转。The transmission part, the transmission part and the driving part are both arranged on the third housing, and the driving part, the transmission part and the fourth permanent magnet are connected in sequence, and the driving part passes through the The transmission member drives the fourth permanent magnet to rotate.
在本发明的一些实施例中，所述传动件包括：In some embodiments of the present invention, the transmission member includes:
主动件，所述主动件与所述驱动件的驱动端连接；an active part, the active part is connected to the driving end of the driving part;
从动件，所述从动件与所述第四永磁体共轴线设置，且与所述主动件配合设置。A follower, the follower is arranged coaxially with the fourth permanent magnet, and arranged in cooperation with the driving member.
在本发明的一些实施例中，所述第二永磁体和所述第四永磁体为圆柱体永磁体，且两者均沿径向磁化。In some embodiments of the present invention, the second permanent magnet and the fourth permanent magnet are cylindrical permanent magnets, and both are magnetized in the radial direction.
本发明第二方面提供了一种腹腔机器人系统，具有上述技术方案中的腹腔镜机器人，还具有：The second aspect of the present invention provides an abdominal robot system, which has the laparoscopic robot in the above technical solution, and also has:
机械臂，所述机械臂设置在腹外并与所述腹外锚定组件连接，所述机械臂驱动所述腹外锚定组件运动，所述腹外锚定组件驱动所述腹内锚定组件运动；A mechanical arm, the mechanical arm is arranged outside the abdomen and connected to the external anchoring assembly, the mechanical arm drives the external anchoring assembly to move, and the external anchoring assembly drives the intraabdominal anchoring assembly component movement;
控制装置，所述机械臂、所述腹外锚定组件和所述腹内锚定组件分别与所述控制装置连接以改变所述腹内锚定组件的位姿。A control device, the mechanical arm, the external anchoring assembly and the intra-abdominal anchoring assembly are respectively connected with the control device to change the pose of the intra-abdominal anchoring assembly.
本发明实施例的腹腔机器人系统与上述实施例中的腹腔机器人具有相同的优势，在此不再赘述，另外，通过控制装置将控制信输入到机械臂和腹外锚定组件，时腹内锚定组件能够精确输出，提高腹腔机器人运动的精确性，为手术顺利进行提供了基础。The abdominal robot system in the embodiment of the present invention has the same advantages as the abdominal robot in the above-mentioned embodiments, and will not be repeated here. In addition, the control signal is input to the mechanical arm and the external anchoring component through the control device, and the intra-abdominal anchor The fixed components can output accurately, improve the accuracy of the movement of the abdominal cavity robot, and provide the basis for the smooth operation.
附图说明Description of drawings
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:
图1为本发明实施例的腹腔机器人系统的处于作业状态的结构示意图；FIG. 1 is a schematic structural view of an abdominal robot system in an operating state according to an embodiment of the present invention;
图2为图1所示的腹腔镜机器人的腹内锚定组件的结构示意图；Fig. 2 is a structural schematic diagram of the intra-abdominal anchoring assembly of the laparoscopic robot shown in Fig. 1;
图3为图2所示的腹内锚定组件的分解结构示意图；Fig. 3 is a schematic diagram of an exploded structure of the intra-abdominal anchor assembly shown in Fig. 2;
图4为图2所示的腹内锚定组件偏转角度最小时的正视图；Figure 4 is a front view of the intra-abdominal anchor assembly shown in Figure 2 when the deflection angle is minimal;
图5为图2所示的腹内锚定组件的剖面示意图；Fig. 5 is a schematic cross-sectional view of the intra-abdominal anchoring assembly shown in Fig. 2;
图6为图2所示的腹内锚定组件偏转角度最大时的正视图；Fig. 6 is a front view of the intra-abdominal anchor assembly shown in Fig. 2 when the deflection angle is maximum;
图7为图1所示的腹外锚定组件与机械臂连接的结构示意图；Fig. 7 is a structural schematic diagram of the connection between the external abdominal anchoring assembly and the mechanical arm shown in Fig. 1;
图8为图7所示的腹外锚定组件与机械臂的分解结构示意图；Fig. 8 is a schematic diagram of the exploded structure of the external abdominal anchoring assembly and the mechanical arm shown in Fig. 7;
图9为图7所示的腹外锚定组件与机械臂的剖面示意图；Fig. 9 is a schematic cross-sectional view of the extra-abdominal anchoring assembly and the mechanical arm shown in Fig. 7;
图10为图7所示的腹外锚定组件与机械臂的另一方向的剖面示意图。FIG. 10 is a schematic cross-sectional view of the external anchoring assembly and the mechanical arm shown in FIG. 7 in another direction.
附图中各标记表示如下：Each sign in the attached drawing represents as follows:
1、腹内锚定组件；11、第一壳体；12、第一永磁体；13、柔性件；14、第二壳体；15、第二永磁体；1. Intra-abdominal anchoring assembly; 11. First shell; 12. First permanent magnet; 13. Flexible member; 14. Second shell; 15. Second permanent magnet;
111、第一安装槽；141、第二安装槽；111, the first installation groove; 141, the second installation groove;
2、腹外锚定组件；21、第三壳体；22、第三永磁体；23、第四永磁体；24、驱动件；25、传动件；26、转轴；27、轴承；2. Extra-abdominal anchoring assembly; 21. The third shell; 22. The third permanent magnet; 23. The fourth permanent magnet; 24. The driving part; 25. The transmission part; 26. The rotating shaft; 27. The bearing;
211、第三安装槽；212、第四安装槽；241、驱动电机；242、减速器；251、主动件；252、从动件；211, the third installation groove; 212, the fourth installation groove; 241, the driving motor; 242, the reducer; 251, the driving part; 252, the driven part;
3、腹壁；3. Abdominal wall;
4、机械臂。4. Mechanical arm.
具体实施方式Detailed ways
下面将参照附图更详细地描述本公开的示例性实施方式。虽然附图中显示了本公开的示例性实施方式，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
应理解的是，文中使用的术语仅出于描述特定示例实施方式的目的，而无意于进行限制。除非上下文另外明确地指出，否则如文中使用的单数形式“一”、“一个”以及“所述”也可以表示包括复数形式。术语“包括”、“包含”、“含有”以及“具有”是包含性的，并且因此指明所陈述的特征、步骤、操作、元件和/或部件的存在，但并不排除存在或者添加一个或多个其它特征、步骤、操作、元件、部件、和/或它们的组合。It should be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may also be meant to include the plural forms unless the context clearly dictates otherwise. The terms "comprising", "comprising", "containing" and "having" are inclusive and thus indicate the presence of stated features, steps, operations, elements and/or parts but do not exclude the presence or addition of one or Various other features, steps, operations, elements, components, and/or combinations thereof.
尽管可以在文中使用术语第一、第二、第三等来描述多个元件、部件、区域、层和/或部段，但是，这些元件、部件、区域、层和/或部段不应被这些术语所限制。这些术语可以仅用来将一个元件、部件、区域、层或部段与另一区域、层或部段区分开。除非上下文明确地指出，否则诸如“第一”、“第二”之类的术语以及其它数字术语在文中使用时并不暗示顺序或者次序。因此，以下讨论的第一元件、部件、区域、层或部段在不脱离示例实施方式的教导的情况下可以被称作第二元件、部件、区域、层或部段。Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be referred to as These terms are limited. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
为了便于描述，可以在文中使用空间相对关系术语来描述如图中示出的一个元件或者特征相对于另一元件或者特征的关系，这些相对关系术语例如为“内部”、“外部”、“内侧”、“外侧”、“下面”、“下方”、“上面”、“上方”等。这种空间相对关系术语意于包括除图中描绘的方位之外的在使用或者操作中装置的不同方位。例如，如果在图中的装置翻转，那么描述为“在其它元件或者特征下面”或者“在其它元件或者特征下方”的元件将随后定向为“在其它元件或者特征上面”或者“在其它元件或者特征上方”。因此，示例术语“在……下方”可以包括在上和在下的方位。装置可以另外定向(旋转90度或者在其它方向)并且文中使用的空间相对关系描述符相应地进行解释。For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature as shown in the figures with respect to another element or feature, such as "inner", "outer", "inner". ", "Outside", "Below", "Below", "Above", "Above", etc. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "beneath" the other elements or features. feature above". Thus, the example term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
如图1至图10所示，本发明第一方面的实施例提供了一种腹腔镜机器人，包括腹内锚定组件1和腹外锚定组件2，腹外锚定组件2与腹内锚定组件1磁力配合，其中，腹外锚定组件2设置成在第一状态下驱动腹内锚定组件1做直线运动，在第二状态下驱动腹内锚定组件1做旋转运动，在第三状态下驱动腹内锚定组件1沿腹外指向腹内的方向做偏转运动。As shown in Figures 1 to 10, the embodiment of the first aspect of the present invention provides a laparoscopic robot, including an intra-abdominal anchor assembly 1 and an external anchor assembly 2, the external anchor assembly 2 and the intra-abdominal anchor assembly The magnetic force cooperation of the anchoring component 1, wherein the external anchoring component 2 is set to drive the intra-abdominal anchoring component 1 to make a linear movement in the first state, and drive the intra-abdominal anchoring component 1 to make a rotational movement in the second state. In the three states, the intra-abdominal anchor assembly 1 is driven to deflect in a direction from the outside of the abdomen to the inside of the abdomen.
根据本发明实施例的腹腔镜机器人，在使用时，先在腹壁3上开一个切口，将腹内锚定组件1放入腹腔内，同时，腹外锚定组件2放置在腹外，腹腔锚定组件通过磁力阻止腹内锚定组件1掉落入腹腔内，即彼此相吸，相比较于现有技术中缝合固定或针式固定，没有增加额外的伤口，有利于患者的恢复，通过移动腹外锚定组件2，可以改变腹内锚定组件1在腹腔内的位置，具体的，可实现直线、旋转和偏转运动，以便采集到腹腔内不同角度的图像，为手术顺利进行提供基础，腹外锚定组件2作为驱动源，设置在腹外，相比较于现有技术，腹外锚定组件2与腹内锚定组件1之间不再通过刚性连接，而是通过磁力相吸，具有更好的可行性，不再受到连接结构的限制，腹内锚定组件1上不再设置有驱动电机241或齿轮等驱动源，减小了腹内锚定组件1的结构尺寸，体积更小且更加安全，不会伤害到患者，更接近于临床实际应用，提高灵活度，且降低了与其他装置发生干扰的几率。According to the laparoscopic robot of the embodiment of the present invention, when in use, an incision is first made on the abdominal wall 3, and the intra-abdominal anchor assembly 1 is placed in the abdominal cavity. At the same time, the external anchor assembly 2 is placed outside the abdomen, and the abdominal anchor The anchoring component prevents the intra-abdominal anchoring component 1 from falling into the abdominal cavity through magnetic force, that is, attracts each other. Compared with the suture fixation or needle fixation in the prior art, no additional wound is added, which is beneficial to the recovery of the patient. By moving The extra-abdominal anchoring component 2 can change the position of the intra-abdominal anchoring component 1 in the abdominal cavity. Specifically, it can realize linear, rotating and deflecting movements, so as to collect images from different angles in the abdominal cavity, and provide a basis for smooth operation. The extra-abdominal anchoring component 2 is used as the driving source and is arranged outside the abdomen. Compared with the prior art, the external-abdominal anchoring component 2 and the intra-abdominal anchoring component 1 are no longer rigidly connected, but are attracted by magnetic force. It has better feasibility and is no longer limited by the connection structure. The intra-abdominal anchoring assembly 1 is no longer provided with driving sources such as drive motors 241 or gears, which reduces the structural size of the intra-abdominal anchoring assembly 1 and makes the volume smaller. It is smaller and safer, will not harm patients, is closer to clinical practice, improves flexibility, and reduces the chance of interference with other devices.
在本发明的一些实施例中，腹内锚定组件1包括第一壳体11、第一永磁体12和执行器，第一壳体11作为第一永磁体12的安装载体，具体的，在第一壳体11内设置有第一安装槽111，第一永磁体12设置在第一安装槽111内，保持第一永磁体12在第一壳体11的相对位置不会发生变化，避免腹内锚定组件1和腹外锚定组件2之间由于永磁体的位置发生变化导致的非正常移动，执行器与第一壳体11通过柔性件13连接，在腹外锚定组件2的驱动下，执行器以与第一壳体11的连接处为中心沿腹外指向腹内的方向发生偏转，通过柔性件13的连接方式，减少执行器在偏转过程中的阻力，提高整体的灵活度。In some embodiments of the present invention, the intra-abdominal anchoring assembly 1 includes a first housing 11, a first permanent magnet 12 and an actuator, and the first housing 11 serves as an installation carrier for the first permanent magnet 12. Specifically, in The first housing 11 is provided with a first installation groove 111, and the first permanent magnet 12 is arranged in the first installation groove 111, so as to keep the relative position of the first permanent magnet 12 in the first housing 11 from changing, and to avoid abdominal pain. The abnormal movement between the inner anchoring assembly 1 and the extra-abdominal anchoring assembly 2 is caused by the change of the position of the permanent magnet. The actuator is connected with the first housing 11 through the flexible member 13. Next, the actuator deflects from the outside to the inside of the abdomen centering on the connection with the first shell 11. Through the connection of the flexible member 13, the resistance of the actuator during the deflection process is reduced and the overall flexibility is improved. .
其中，第一壳体11包括上盖和下盖，两者之间可通过螺钉、销钉或卡扣连接，在一个实施例中为卡扣连接，柔性件13可为硅胶、橡胶或弹簧等，在一个实施例中，为硅胶，柔性件13与第一壳体11和执行器之间的连接方式可为卡扣连接或一体成型，在一个实施例中为卡扣连接，便于随时更换。Wherein, the first housing 11 includes an upper cover and a lower cover, which can be connected by screws, pins or buckles, and in one embodiment is a buckle connection, and the flexible member 13 can be silica gel, rubber or springs, etc. In one embodiment, it is made of silicone, and the connection between the flexible member 13 and the first housing 11 and the actuator can be a buckle connection or integral molding. In one embodiment, it is a buckle connection, which is convenient for replacement at any time.
其中，第一永磁体12的数量可为两个、三个或三个以上，在一个实施例中，第一永磁体12为两个足以满足所需要的吸力，第一永磁体12为棱柱体，可为三棱柱、四棱柱或多边棱柱，在一个实施例中为四棱柱，N极和S极对称设置，进一步的，第一永磁体12朝向腹外锚定组件2的一面上的任意一处所产生的磁力相同。Wherein, the quantity of the first permanent magnet 12 can be two, three or more than three, in one embodiment, the first permanent magnet 12 is two enough to satisfy the required attraction force, and the first permanent magnet 12 is a prism , can be a triangular prism, a quadrangular prism or a polygonal prism, in one embodiment it is a quadrangular prism, and the N pole and the S pole are arranged symmetrically. Further, the first permanent magnet 12 faces any one of the sides of the external anchoring assembly 2 The same magnetic force is generated everywhere.
在本发明的一些实施例中，执行器包括第二壳体14、第二永磁铁和摄像头(图中未示出)，第二壳体14作为第二永磁铁和摄像头的安装载体，且第一壳体11、第一永磁体12、第二壳体14、第二永磁体15、柔性件13和摄像头处于同一条直线上，具体的，在第二壳体14内设置有第二安装槽141，第二永磁铁设置在第二安装槽141内，另外，在第二壳体14内还设置有摄像头用于采集腹腔内不同角度的病症的图像，在第一状态下，第一壳体11、第一永磁体12、第二壳体14、第二永磁体15、柔性件13和摄像头同时做直线运动，其中，包括两种情况，第一种，第一壳体11、第一永磁体12、第二壳体14、第二永磁体15、柔性件13和摄像头同时沿着共线方向移动，此为一个自由度，第二种，第一种，第一壳体11、第一永磁体12、第二壳体14、第二永磁体15、柔性件13和摄像头同时沿着垂直于共线的方向移动，此为一个自由度，在第二状态下，腹内锚定组件1以与第二永磁体15相邻的第一永磁体12为中心进行旋转运动，此为一个自由度，在第三状态下，第二永磁体15以柔性件13和第一壳体11的连接处为中心沿着腹外指向腹腔内的方向做偏转运动，此为一个自由度，腹内锚定组件1能够实现四自由度运动，通过不同自由度之间的组合，可达到腹腔内的不同位置以采集病症的图像，为手术的顺利进行提供基础。In some embodiments of the present invention, the actuator includes a second housing 14, a second permanent magnet and a camera (not shown), the second housing 14 is used as an installation carrier for the second permanent magnet and the camera, and the second A housing 11, the first permanent magnet 12, the second housing 14, the second permanent magnet 15, the flexible member 13 and the camera are on the same straight line, specifically, a second installation groove is arranged in the second housing 14 141. The second permanent magnet is arranged in the second installation groove 141. In addition, a camera is also arranged in the second casing 14 to collect images of diseases at different angles in the abdominal cavity. In the first state, the first casing 11. The first permanent magnet 12, the second housing 14, the second permanent magnet 15, the flexible member 13 and the camera move linearly at the same time, which includes two cases, the first one, the first housing 11, the first permanent magnet The magnet 12, the second housing 14, the second permanent magnet 15, the flexible member 13 and the camera move along the collinear direction at the same time, which is a degree of freedom, the second type, the first type, the first housing 11, the first The permanent magnet 12, the second shell 14, the second permanent magnet 15, the flexible member 13 and the camera move simultaneously along the direction perpendicular to the collinear, which is a degree of freedom. In the second state, the intra-abdominal anchoring assembly 1 Rotating around the first permanent magnet 12 adjacent to the second permanent magnet 15 is a degree of freedom. In the third state, the second permanent magnet 15 is connected with the flexible member 13 and the first housing 11 This is a degree of freedom. The intra-abdominal anchoring component 1 can realize four-degree-of-freedom movement. Through the combination of different degrees of freedom, different degrees of freedom in the abdominal cavity can be achieved. position to collect images of the disease and provide a basis for the smooth operation of the operation.
其中，第二壳体14包括上盖和下盖，两者之间可通过螺钉、销钉或卡扣连接，在一个实施例中为卡扣连接，第二永磁体15为圆柱体永磁铁，且磁化方向为径向，在初始状态时，第二壳体14贴在腹壁3内侧上，此时的偏转角度最小。Wherein, the second housing 14 includes an upper cover and a lower cover, which can be connected by screws, pins or buckles, and in one embodiment is a buckle connection, and the second permanent magnet 15 is a cylindrical permanent magnet, and The magnetization direction is radial. In the initial state, the second shell 14 is attached to the inner side of the abdominal wall 3, and the deflection angle at this time is the smallest.
在本发明的一些实施例中，执行器还包括照明件(图中未示出)，照明件打开后可提高腹腔内的亮度，为摄像头采集信息提供清晰明亮的视野，为手术的顺利进行提供基础。In some embodiments of the present invention, the actuator also includes a lighting part (not shown in the figure), which can increase the brightness of the abdominal cavity after being turned on, provide a clear and bright field of view for the camera to collect information, and provide a guarantee for the smooth progress of the operation. Base.
在本发明的一些实施例中，腹外锚定组件2通过磁力驱动腹内锚定组件1运动，具体的，腹外锚定组件2包括至少两个第三永磁体22和一个第四永磁体23，两个第三永磁体22和一个第四永磁体23位于一条直线上，在第一状态下，第三永磁体22和第四永磁体23沿着共线方向或垂直于共线方向同时运动以驱动腹内锚定组件1沿着共线方向或垂直于共线方向运动移动，在第二状态下，腹外锚定组件2以与第四永磁体23相邻的第三永磁体22为中心旋转驱动腹内锚定组件1以与第二永磁体15相邻的第一永磁体12为中心旋转，在第三状态下，初始时，第三永磁体22与腹内锚定组件1相吸，第四永磁体23绕着自身的轴线进行自转，改变其对第二永磁体15的作用力的大小和性质，即在吸引和相斥之间变换，当第四永磁体23与第二永磁体15之间为吸力时，腹内锚定组件1的偏转角度最小，当第四永磁体23与第二永磁体15之间为斥力时，腹内锚定组件1的偏转角度最大，当第四永磁体23与第二永磁体15之间既存在吸力也存在斥力且两者均不为零时，腹内锚定组件1的偏转角度在最小至最大之间变化。In some embodiments of the present invention, the extra-abdominal anchoring assembly 2 drives the movement of the intra-abdominal anchoring assembly 1 through magnetic force, specifically, the extra-abdominal anchoring assembly 2 includes at least two third permanent magnets 22 and one fourth permanent magnet 23. Two third permanent magnets 22 and one fourth permanent magnet 23 are located on a straight line. In the first state, the third permanent magnet 22 and the fourth permanent magnet 23 are aligned along the collinear direction or perpendicular to the collinear direction at the same time Movement to drive the intra-abdominal anchoring assembly 1 to move along the collinear direction or perpendicular to the collinear direction. In the second state, the extra-abdominal anchoring assembly 2 uses the third permanent magnet 22 adjacent to the fourth permanent magnet The intra-abdominal anchoring assembly 1 is rotated as the center to rotate around the first permanent magnet 12 adjacent to the second permanent magnet 15. In the third state, initially, the third permanent magnet 22 and the intra-abdominal anchoring assembly 1 Attract each other, the fourth permanent magnet 23 rotates around its own axis, changing the size and nature of its force on the second permanent magnet 15, that is, changing between attraction and repulsion, when the fourth permanent magnet 23 and the second permanent magnet When there is an attractive force between the two permanent magnets 15, the deflection angle of the intra-abdominal anchor assembly 1 is the smallest, and when there is a repulsive force between the fourth permanent magnet 23 and the second permanent magnet 15, the deflection angle of the intra-abdominal anchor assembly 1 is the largest. When there is both an attractive force and a repulsive force between the fourth permanent magnet 23 and the second permanent magnet 15 and both are not zero, the deflection angle of the intra-abdominal anchoring assembly 1 varies from the minimum to the maximum.
其中，第三永磁体22的数量与第一永磁体12的数量相同，可为两个、三个或三个以上，在一个实施例中，为两个足以满足所需要的吸力，第一永磁体12为棱柱体，可为三棱柱、四棱柱或多边棱柱，在一个实施例中为四棱柱，N极和S极对称设置，进一步的，第三永磁体22朝向第一永磁体12的一面上的任意一处所产生的磁力相同，第一永磁体12和第三永磁体22相对的一侧的磁极相反以便产生吸力。Wherein, the quantity of the third permanent magnet 22 is the same as the quantity of the first permanent magnet 12, can be two, three or more than three, in one embodiment, for two enough to meet the required suction force, the first permanent magnet The magnet 12 is a prism, which can be a triangular prism, a quadrangular prism or a polygonal prism. In one embodiment, it is a quadrangular prism, and the N pole and the S pole are arranged symmetrically. Further, the third permanent magnet 22 faces the side of the first permanent magnet 12 The generated magnetic force is the same at any place on the top, and the magnetic poles on the opposite side of the first permanent magnet 12 and the third permanent magnet 22 are opposite to generate an attractive force.
在本发明的一些实施例中，要实现第四永磁体23绕着自身轴线转动，在腹外设置有驱动件24和传动件25，传动件25将驱动件24的输出传递至第四永磁体23，具体的，驱动件24包括驱动电机241和减速器242，减速器242将驱动电机241的输出速度降低至所需的数值，但保证能够提供足够的输出转矩，且将驱动电机241的输出方向改变，传动件25包括主动件251和从动件252，主动件251和减速器242连接，从动件252与主动件251配合设置，并与第四永磁体23共轴线，打开驱动件24，驱动将驱动从动件252与第四永磁体23同时转动，初始时，第四永磁体23与第二永磁体15相吸，腹内锚定组件1贴在腹腔内壁上，电机的转动，第四永磁体23也随之绕着自身的轴线转动，随着转动角度的增加，第二永磁体15会逐渐由彼此相吸状态改变为相斥状态再到相吸状态，即第二永磁体15的偏转角度在最小到最大之间变化，用于驱动第四永磁体23转动的驱动件24和传动件25均设置在腹外，而不是设置在腹腔内，相比较于现有技术，减小了腹内锚定组件1的结构尺寸，提高腹腔机器人整体的灵活度，降低了与其他装置发生干扰的几率。In some embodiments of the present invention, to realize the rotation of the fourth permanent magnet 23 around its own axis, a driving member 24 and a transmission member 25 are arranged outside the abdomen, and the transmission member 25 transmits the output of the driving member 24 to the fourth permanent magnet. 23. Specifically, the driver 24 includes a drive motor 241 and a speed reducer 242. The speed reducer 242 reduces the output speed of the drive motor 241 to a required value, but ensures that sufficient output torque can be provided, and the speed of the drive motor 241 The output direction changes, the transmission part 25 includes a driving part 251 and a driven part 252, the driving part 251 is connected to the reducer 242, the driven part 252 is arranged in cooperation with the driving part 251, and is coaxial with the fourth permanent magnet 23, and the driving part is opened 24. Drive to drive the driven part 252 and the fourth permanent magnet 23 to rotate at the same time. Initially, the fourth permanent magnet 23 and the second permanent magnet 15 attract each other, and the intra-abdominal anchoring assembly 1 is attached to the inner wall of the abdominal cavity, and the rotation of the motor , the fourth permanent magnet 23 also rotates around its own axis. With the increase of the rotation angle, the second permanent magnet 15 will gradually change from the state of attracting each other to the state of repelling each other and then to the state of attracting each other, that is, the second permanent magnet The deflection angle of the magnet 15 varies from the minimum to the maximum, and the driving member 24 and the transmission member 25 for driving the fourth permanent magnet 23 to rotate are both arranged outside the abdomen instead of inside the abdominal cavity. Compared with the prior art, The structural size of the intra-abdominal anchoring component 1 is reduced, the overall flexibility of the abdominal cavity robot is improved, and the probability of interference with other devices is reduced.
其中，主动件251和从动件252可选择齿轮组合、齿轮齿条组件、皮带轮组件或链轮组合，在一个实施例中为齿轮组件，齿轮方便加工或购买，传动比确定，传动平稳。Wherein, the driving part 251 and the driven part 252 can choose a gear combination, a rack and pinion assembly, a pulley assembly or a sprocket combination. In one embodiment, it is a gear assembly. The gears are easy to process or purchase, the transmission ratio is determined, and the transmission is stable.
在本发明的一些实施例中，腹外锚定组件2还包括第三壳体21，第三壳体21作为第三永磁体22和第四永磁体23的安装载体，具体的，在第三壳体21内设置有第三安装槽211和第四安装槽212，第三永磁体22设置在第三安装槽211内，第四永磁体23设置在第四安装槽212内，保持第三永磁体22和第四永磁体23之间的相对位置不会发生变化，即避免腹内锚定组件1和腹外锚定组件2之间由于永磁体的位置发生变化导致的非正常移动，提高可靠性。In some embodiments of the present invention, the extra-abdominal anchoring assembly 2 further includes a third housing 21, and the third housing 21 serves as an installation carrier for the third permanent magnet 22 and the fourth permanent magnet 23, specifically, in the third The housing 21 is provided with a third installation groove 211 and a fourth installation groove 212, the third permanent magnet 22 is arranged in the third installation groove 211, and the fourth permanent magnet 23 is arranged in the fourth installation groove 212, holding the third permanent magnet. The relative position between the magnet 22 and the fourth permanent magnet 23 will not change, that is, to avoid abnormal movement between the intra-abdominal anchoring assembly 1 and the extra-abdominal anchoring assembly 2 due to the change in the position of the permanent magnet, and improve reliability. sex.
其中，第三壳体21包括上盖和下盖，两者之间可通过螺钉、销钉或卡扣连接，在一个实施例中为卡扣连接，第四永磁体23为圆柱体永磁体，且磁化方向为径向，为了便于安装，第四永磁体23为空心圆柱体永磁体，腹外锚定组件2包括转轴26，转轴26穿设在第四永磁体23内，两端通过轴承27与第三壳体21连接，从动件252连接在转轴26上，与第四永磁体23同步转动。Wherein, the third housing 21 includes an upper cover and a lower cover, which can be connected by screws, pins or buckles, and in one embodiment is a buckle connection, the fourth permanent magnet 23 is a cylindrical permanent magnet, and The magnetization direction is radial. For the convenience of installation, the fourth permanent magnet 23 is a hollow cylindrical permanent magnet. The third housing 21 is connected, and the follower 252 is connected to the rotating shaft 26 and rotates synchronously with the fourth permanent magnet 23 .
本发明第二方面的实施例提供了一种腹腔机器人系统，具有上述实施例中的腹腔机器人，还具有：The embodiment of the second aspect of the present invention provides an abdominal robot system, which has the abdominal robot in the above embodiment, and also has:
机械臂4，机械臂4设置在腹外并与腹外锚定组件2连接，机械臂4驱动腹外锚定组件2运动，腹外锚定组件2驱动腹内锚定组件1运动；The mechanical arm 4, the mechanical arm 4 is arranged outside the abdomen and connected with the external anchoring component 2, the mechanical arm 4 drives the external anchoring component 2 to move, and the external anchoring component 2 drives the intra-abdominal anchoring component 1 to move;
控制装置，机械臂4、腹外锚定组件2和腹内锚定组件1分别与控制装置连接以改变腹内锚定组件1的位姿。The control device, the mechanical arm 4 , the external anchoring assembly 2 and the intra-abdominal anchoring assembly 1 are respectively connected with the control device to change the posture of the intra-abdominal anchoring assembly 1 .
在本发明的一些实施例中，腹内锚定组件1还包括位置传感器，位置传感器设置在第二壳体14上，位置传感器能够实时获取当前执行器的偏转角度，并将该信息反馈给控制装置，控制装置将偏转角度和预期角度进行比较看是否存在误差，并对该误差进行PID调节。In some embodiments of the present invention, the intra-abdominal anchoring assembly 1 further includes a position sensor, which is arranged on the second housing 14, and the position sensor can acquire the deflection angle of the current actuator in real time, and feed this information back to the control device, the control device compares the deflection angle with the expected angle to see if there is an error, and performs PID adjustment on the error.
本发明实施例的腹腔机器人系统与上述实施例中的腹腔机器人具有相同的优势，在此不再赘述，另外，通过控制装置将控制信输入到机械臂4和腹外锚定组件2，时腹内锚定组件1能够精确输出，提高腹腔机器人运动的精确性，为手术顺利进行提供了基础。The abdominal robot system in the embodiment of the present invention has the same advantages as the abdominal robot in the above-mentioned embodiments, which will not be repeated here. In addition, the control signal is input to the mechanical arm 4 and the external anchoring assembly 2 through the control device. The inner anchoring component 1 can output accurately, improve the accuracy of the movement of the abdominal cavity robot, and provide a foundation for the smooth operation.
其中，机械臂4与腹外锚定组件2之间的连接可为螺钉连接、卡扣连接或一体成型，在一个实施例中为螺钉连接，便于拆卸腹外锚定组件2，具体的，在第三壳体21上设置有螺纹孔，在机械臂4上设置有连接臂，连接臂上设置有螺纹孔，螺纹孔对应配合并通过螺钉连接，为了增加机械臂4的强度，机械臂4还包括加强件，加强件垂直于每一连接臂且与每一连接臂连接。Wherein, the connection between the mechanical arm 4 and the extra-abdominal anchoring component 2 can be a screw connection, a buckle connection or integral molding. In one embodiment, it is a screw connection to facilitate the removal of the extra-abdominal anchoring component 2. The third casing 21 is provided with a threaded hole, and the mechanical arm 4 is provided with a connecting arm, and the connecting arm is provided with a threaded hole, and the threaded holes are correspondingly matched and connected by screws. In order to increase the strength of the mechanical arm 4, the mechanical arm 4 also A stiffener is included, the stiffener is perpendicular to and connected to each connecting arm.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of changes or modifications within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910718969.5ACN110559080A (en) | 2019-08-05 | 2019-08-05 | Laparoscopic robot and system with same |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910718969.5ACN110559080A (en) | 2019-08-05 | 2019-08-05 | Laparoscopic robot and system with same |
| Publication Number | Publication Date |
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| CN110559080Atrue CN110559080A (en) | 2019-12-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910718969.5APendingCN110559080A (en) | 2019-08-05 | 2019-08-05 | Laparoscopic robot and system with same |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191213 |