CN110811838B - Double-operation mode surgical robot capable of realizing multi-hole single-hole interchange - Google Patents
Double-operation mode surgical robot capable of realizing multi-hole single-hole interchangeDownload PDFInfo
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- A61B34/70—Manipulators specially adapted for use in surgery
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及医用手术机器人技术领域，具体涉及一种可实现多孔单孔互换的双操作模式手术机器人。The invention relates to the technical field of medical surgical robots, in particular to a dual-operation mode surgical robot capable of realizing porous and single-hole interchange.
背景技术Background technique
目前市面上应用较为广泛的微创手术机器人，可分为多孔手术机器人和单孔手术机器人。二者均存在一定的优势与弊端。At present, the widely used minimally invasive surgical robots on the market can be divided into multi-hole surgical robots and single-hole surgical robots. Both have certain advantages and disadvantages.
单孔手术机器人主要通过人体表面1.5cm-4cm的小切口置入集成器械，包括多个操作孔道的穿刺器，并以此为基础完成人体内的手术操作。The single-hole surgical robot mainly inserts integrated instruments through a small incision of 1.5cm-4cm on the surface of the human body, including multiple trocars for operating holes, and completes the surgical operation in the human body based on this.
单孔腹腔镜手术操作因受孔道数目的限制手术部位局限，难以对邻近脏器形成有效牵引。并且因器械由单孔进入部位相对集中，难以形成手术操作三角，器械干扰较为严重，影响正常手术操作及术中观察视野。同时器械与光源同轴在一定程度上干扰术者对深度和距离的判断，增大了手术难度。Single-port laparoscopic surgery is difficult to form effective traction on adjacent organs due to the limitation of the number of ports. In addition, because the instruments entered from a single hole are relatively concentrated, it is difficult to form a surgical operation triangle, and the interference of instruments is serious, which affects normal surgical operations and intraoperative observation. At the same time, the coaxial instrument and the light source interfere with the operator's judgment of depth and distance to a certain extent, which increases the difficulty of the operation.
多孔腹腔镜手术同样作为一种创伤较小的手术方法，特点主要体现在腹腔壁（或胸腔）上处理出3-5个0.5-1cm的小切口作为穿刺口，并通过置入孔道中的手术器械完成手术操作的过程。相较单孔腹腔镜手术，具备可调控在穿刺孔的位置，增大操作范围，适用的手术种类也得到明显的增加。Porous laparoscopic surgery is also a less invasive surgical method. Its characteristics are mainly reflected in the treatment of 3-5 small incisions of 0.5-1cm on the abdominal cavity wall (or thoracic cavity) as puncture ports, and through the operation of placing them in the orifice. The process by which an instrument completes a surgical operation. Compared with single-port laparoscopic surgery, the position of the puncture hole can be adjusted, the operating range is increased, and the applicable types of operations have also been significantly increased.
但发明人发现，目前的手术机器人无法将单孔腹腔镜手术和多孔腹腔镜手术集合在同一台手术机器人上，医用需要专门配备单孔手术机器人和多孔手术机器人，这无疑增加了医院花费的医疗设备成本，而且病人进行手术时，需要在单孔手术机器人和多孔手术机器人之间进行互换，增加了病人的等待时间。However, the inventor found that the current surgical robot cannot integrate single-port laparoscopic surgery and multi-port laparoscopic surgery on the same surgical robot, and medical needs are specially equipped with a single-port surgical robot and a multi-port surgical robot, which undoubtedly increases the hospital's medical expenses. The cost of equipment, and the need to exchange between single-port surgical robots and multi-port surgical robots when the patient undergoes surgery increases the patient's waiting time.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为克服现有技术的不足，提供一种可实现多孔单孔互换的双操作模式手术机器人，在同一台手术机器人上能够实现单孔腹腔镜手术和多孔腹腔镜手术，节省了医院的设备采购成本，节省了病人的手术时间。The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a dual-operation mode surgical robot that can realize the exchange of porous and single-holes. It reduces the hospital's equipment procurement cost and saves the patient's operation time.
为实现上述目的，本发明采用下述技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种可实现多孔单孔互换的双操作模式手术机器人，包括主臂，所述主臂顶端设置有沿圆周分布的多个第一驱动件，所述第一驱动件与分臂总成连接，第一驱动件能够驱动多个分臂总成做张开和合拢的运动，所述分臂总成包括与第一驱动件连接的第二驱动件，所述第二驱动件与分臂连接，能够驱动分臂的转动，第一驱动件和第二驱动件的输出轴轴线垂直，所述分臂连接有工作台，工作台用于安装线驱动手术执行器。A dual-operation mode surgical robot capable of realizing multi-hole and single-hole interchange, comprising a main arm, the top of the main arm is provided with a plurality of first driving parts distributed along the circumference, and the first driving parts are connected with the sub-arm assembly , the first driving member can drive a plurality of sub-arm assemblies to open and close, the sub-arm assembly includes a second driving member connected with the first driving member, and the second driving member is connected with the sub-arm , which can drive the rotation of the sub-arm, the axes of the output shafts of the first driving member and the second driving member are vertical, the sub-arm is connected with a worktable, and the worktable is used for installing the wire-driven surgical actuator.
第二驱动件能够驱动分臂转动，使多个工作台相向设置，第一驱动件能够驱动多个分臂合拢，使工作台连接的线驱动手术执行器合拢，进行单孔腹腔镜手术，第二驱动件能够驱动分臂转动，使多个工作台相背设置，第一驱动件能够驱动多个分臂张开，进行多孔腹腔镜手术。The second driving member can drive the sub-arms to rotate, so that a plurality of worktables are arranged opposite to each other, and the first driving member can drive the plurality of sub-arms to close, so that the wire-driven surgical actuator connected to the worktable is closed, and single-hole laparoscopic surgery is performed. The two driving members can drive the sub-arms to rotate, so that the plurality of worktables are arranged opposite to each other, and the first driving member can drive the plurality of sub-arms to open to perform multi-hole laparoscopic surgery.
进一步的，所述第一驱动件采用第一电机，所述第一电机的输出轴与主臂固定连接，第一电机的壳体与第二驱动件固定连接。Further, the first driving member adopts a first motor, the output shaft of the first motor is fixedly connected with the main arm, and the casing of the first motor is fixedly connected with the second driving member.
进一步的，所述第二驱动件采用第二电机，所述第二电机的电机壳与第一电机的电机壳固定连接，第二电机的输出轴与分臂固定连接。Further, the second driving member adopts a second motor, the motor housing of the second motor is fixedly connected to the motor housing of the first motor, and the output shaft of the second motor is fixedly connected to the arm.
进一步的，所述分臂的底端与第三电机的电机壳固定连接，第三电机的输出轴与工作台连接，第三电机能够带动工作台的转动。Further, the bottom end of the arm is fixedly connected with the motor casing of the third motor, the output shaft of the third motor is connected with the worktable, and the third motor can drive the rotation of the worktable.
进一步的，所述工作台上固定有升降机构，所述升降机构与线驱动手术执行器连接，能够驱动线驱动手术执行器沿工作台做升降运动。Further, a lifting mechanism is fixed on the worktable, the lifting mechanism is connected with the wire-driven surgical actuator, and can drive the wire-driven surgical actuator to move up and down along the worktable.
进一步的，所述升降机构包括第四电机，所述第四电机的输出轴与丝杠连接，能够驱动丝杠的转动，所述丝杠连接有滑块，所述滑块用于与线驱动手术执行器连接。Further, the lifting mechanism includes a fourth motor, the output shaft of the fourth motor is connected with the lead screw, and can drive the rotation of the lead screw, the lead screw is connected with a slider, and the slider is used for driving with the wire Surgical implement connection.
进一步的，分臂合拢时，工作台用于与其他相邻工作台接触的接触面上设置有锁紧件，用于将相邻的工作台在合拢状态下进行锁紧固定。Further, when the sub-arms are closed, a contact surface of the worktable for contacting with other adjacent worktables is provided with a locking member for locking and fixing the adjacent worktables in the closed state.
进一步的，所述主臂内部具有空腔，空腔内设置有能够从主臂底端伸出或缩入主臂的伸缩臂，所述伸缩臂端部连接有戳卡连接件，所述戳卡连接机构能够与戳卡可拆卸固定连接，戳卡用于单孔腹腔镜手术模式下，对多个工作台上合拢后的线驱动手术执行器提供进入腹腔的通道。Further, the main arm has a cavity inside, and the cavity is provided with a telescopic arm that can extend or retract from the bottom end of the main arm. The card connecting mechanism can be detachably and fixedly connected with the poke card, and the poke card is used in the single-hole laparoscopic operation mode to provide a channel for entering the abdominal cavity for the wire-driven surgical implements that are closed on the multiple worktables.
进一步的，所述戳卡连接件包括固定部，所述固定部与伸缩臂端部固定连接，所述固定部设置有第一固定板，所述第一固定板上设置有第一安装孔，所述戳卡的外周面设置有第二固定板，所述第二固定板上设置有与所述第一安装孔相匹配的第二安装孔，第一固定板和第二固定板能够通过第一安装孔、第二安装孔及固定螺栓固定连接。Further, the poke connector includes a fixing part, the fixing part is fixedly connected with the end of the telescopic arm, the fixing part is provided with a first fixing plate, and the first fixing plate is provided with a first installation hole, The outer peripheral surface of the stamping card is provided with a second fixing plate, the second fixing plate is provided with a second installation hole matching the first installation hole, and the first fixing plate and the second fixing plate can pass through the first fixing plate. An installation hole, a second installation hole and a fixing bolt are fixedly connected.
进一步的，所述主臂与设置在摆臂一端设置的第五电机的输出轴连接，第五电机能够带动主臂的转动，所述摆臂另一端与第六电机的输出轴连接，第六电机固定在支架上。Further, the main arm is connected with the output shaft of the fifth motor arranged at one end of the swing arm, the fifth motor can drive the rotation of the main arm, the other end of the swing arm is connected with the output shaft of the sixth motor, and the sixth motor is connected to the output shaft of the sixth motor. The motor is fixed on the bracket.
本发明的有益效果：Beneficial effects of the present invention:
本发明的手术机器人，第二驱动件能够带动多个工作台相向设置，第一驱动件能够带动多个分臂做合拢运动，从而将多个工作台上的线驱动手术执行器进行合拢，能够进行单孔腹腔镜手术，第二驱动件能够带动多个工作台转动，使其背向设置，第一驱动件能够带动多个分臂做张开运动，从而将多个工作台上的线驱动手术执行器分开，能够进行多孔腹腔镜手术，一台手术机器人既能进行单孔腹腔镜手术，又能进行多孔腹腔镜手术，大大提升了手术机器人的适用性，医院无需分开采购单孔手术机器人和多孔手术机器人，降低了医院的设备采购成本，同时避免了病人手术时在多台手术机器人之间的互换，降低了病人的手术等待时间。In the surgical robot of the present invention, the second driving member can drive a plurality of worktables to face each other, and the first driving member can drive a plurality of sub-arms to perform a closing motion, so as to close the wire-driven surgical actuators on the plurality of worktables, and can For single-hole laparoscopic surgery, the second driving member can drive multiple worktables to rotate, so that they are set back, and the first driving member can drive multiple sub-arms to do opening motion, so as to drive the wires on the multiple worktables. The surgical actuator is separated and can perform multi-port laparoscopic surgery. One surgical robot can perform both single-port laparoscopic surgery and multi-port laparoscopic surgery, which greatly improves the applicability of the surgical robot. The hospital does not need to separately purchase single-port surgical robots. And the porous surgical robot, which reduces the hospital's equipment procurement cost, and at the same time avoids the exchange of multiple surgical robots during the patient's operation, reducing the patient's waiting time for surgery.
附图说明Description of drawings
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的限定。The accompanying drawings that constitute a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute a limitation to the present application.
图1为本发明实施例1在单孔腹腔镜手术模式下整体结构示意图；1 is a schematic diagram of the overall structure of
图2为本发明实施例1在多孔腹腔镜手术模式下整体结构示意图；2 is a schematic diagram of the overall structure of
图3为本发明实施例1第五电机和第六电机安装示意图；3 is a schematic diagram of the installation of the fifth motor and the sixth motor in
图4为本发明实施例1第一电机和第二电机安装示意图；4 is a schematic diagram of the installation of the first motor and the second motor in
图5为本发明实施例1第三电机与工作台装配示意图；5 is a schematic diagram of the assembly of a third motor and a workbench in
图6为本发明实施例1戳卡连接件与戳卡装配示意图；6 is a schematic diagram of the assembly of a poke card connector and a poke card according to
图7为本发明实施例1升降机构结构示意图；7 is a schematic structural diagram of a lifting mechanism in
图8为本发明实施例1线驱动手术执行器示意图一；8 is a schematic diagram 1 of a wire-driven surgical actuator according to
图9为本发明实施例1线驱动手术执行器示意图二；9 is a second schematic diagram of a wire-driven surgical actuator according to
图10为本发明实施例1伸缩臂后端结构剖面示意图；10 is a schematic cross-sectional view of the rear end structure of the telescopic arm according to
其中，1.基座底板，2.支撑杆，3.顶板，4.连接板，5.第六电机，6.摆臂，7.第五电机，8.主臂，8-1.T型槽，8-2.弹簧，8-3.卡块，8-4.卡头，9.安装板，10.安装槽，11.第一电机，12.电机箱，13.第二电机，14.分臂，15.第三电机，16.工作台，16-1.耳板，17.第四电机，18.丝杠，19.电磁锁，20.伸缩臂，20-1.环形槽，21.固定部，22.第一固定板，23.戳卡，24.第二固定板，25.固定螺栓，26.固定螺母，27.线驱动手术执行器，27-1.中间箱体，27-2.从动轮，27-3.驱动轴，27-4.插板，27-5.卡钩，27-6.插槽，27-7.卡槽，27-8.套管，28.连接部，29.联轴器，30.滑轨。Among them, 1. base plate, 2. support rod, 3. top plate, 4. connecting plate, 5. sixth motor, 6. swing arm, 7. fifth motor, 8. main arm, 8-1.T type Slot, 8-2. Spring, 8-3. Clip, 8-4. Clip, 9. Mounting plate, 10. Mounting slot, 11. First motor, 12. Motor box, 13. Second motor, 14 .Split arm, 15. Third motor, 16. Workbench, 16-1. Ear plate, 17. Fourth motor, 18. Lead screw, 19. Electromagnetic lock, 20. Telescopic arm, 20-1. Ring groove, 21. Fixing part, 22. First fixing plate, 23. Stamping card, 24. Second fixing plate, 25. Fixing bolt, 26. Fixing nut, 27. Line-driven surgical actuator, 27-1. Intermediate box, 27-2. Driven wheel, 27-3. Drive shaft, 27-4. Insert plate, 27-5. Hook, 27-6. Slot, 27-7. Slot, 27-8. Sleeve, 28 .Connecting part, 29. Coupling, 30. Slide rail.
具体实施方式Detailed ways
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.
为了方便叙述，本发明中如果出现“上”、“下”、“左”“右”字样，仅表示与附图本身的上、下、左、右方向一致，并不对结构起限定作用,仅仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, it only means that the directions of up, down, left and right are consistent with the drawings themselves, and do not limit the structure. It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.
正如背景技术所介绍的，现有的手术机器人只能进行单孔腹腔镜手术或只能进行多孔腹腔镜手术，增加了医院的设备采购成本，增加了病人的手术等待时间，针对上述问题，本申请提出了一种可实现多孔单孔互换的双操作模式手术机器人。As described in the background art, the existing surgical robot can only perform single-port laparoscopic surgery or multi-port laparoscopic surgery, which increases the hospital's equipment procurement cost and increases the patient's waiting time for surgery. The application proposes a dual operation mode surgical robot that can realize the exchange of porous and single holes.
本申请的一种典型实施方式实施例1中，如图1-10所示，一种可实现多孔单孔互换的双操作模式手术机器人，包括支架，所述支架包括基座底板1，所述基座底板与支撑杆2底端固定连接，支撑杆的顶端固定有顶板3，所述顶板的底面固定有连接板4。In Example 1 of a typical implementation of the present application, as shown in FIGS. 1-10 , a dual-operation mode surgical robot capable of realizing porous and single-hole interchange includes a bracket, and the bracket includes a base
所述连接板设置有第一电机安装槽，所述第一电机安装槽内固定有第六电机5，所述第六电机的输出轴与第一电磁离合器连接，电磁离合器的输出轴与摆臂6的一端固定连接，第一电磁离合器能够切断和接通第六电机向摆臂的动力输出，摆臂的另一端设置有第二电机安装槽，所述第二电机安装槽内安装有第五电机7，所述第五电机的输出轴与第二电磁离合器连接，第二电磁离合器的输出轴与主臂8固定连接，第二电磁离合器能够切断和导通第五电机向主臂的动力输出，第六电机能够驱动摆臂在竖向平面内的转动，同时第五电机能够驱动主臂在竖向平面内的转动。The connecting plate is provided with a first motor installation groove, a sixth motor 5 is fixed in the first motor installation groove, the output shaft of the sixth motor is connected with the first electromagnetic clutch, and the output shaft of the electromagnetic clutch is connected with the swing arm. One end of the 6 is fixedly connected, the first electromagnetic clutch can cut off and connect the power output of the sixth motor to the swing arm, and the other end of the swing arm is provided with a second motor installation groove, and the fifth motor is installed in the second motor installation groove. Motor 7, the output shaft of the fifth motor is connected with the second electromagnetic clutch, the output shaft of the second electromagnetic clutch is fixedly connected with the
所述主臂为L型结构，第二电磁离合器的输出轴与主臂的拐角位置固定连接，所述主臂的顶端固定有圆柱型的安装板9，所述安装板的外周面上均匀的开设有四个安装槽10。The main arm is an L-shaped structure, the output shaft of the second electromagnetic clutch is fixedly connected to the corner position of the main arm, the top of the main arm is fixed with a cylindrical mounting
每个安装槽内均安装有第一驱动件，第一驱动件与分臂总成连接，四个第一驱动件能够驱动四个分臂总成做张开或收拢的运动。A first driving member is installed in each installation groove, the first driving member is connected with the sub-arm assembly, and the four first driving members can drive the four sub-arm assemblies to open or close.
所述第一驱动件采用第一电机11，所述第一电机的输出轴与安装在安装槽内的第三电磁离合器连接，第三电磁离合器的输出轴与安装槽的侧部槽面固定连接。所述第一电机的电机壳与电机箱12固定连接，电机箱与分臂总成连接，第一电机的输出轴转动，能够带动分臂总成的转动，第三电磁离合器能够切断或导通第一电机向分臂总成的动力输出。The first driving member adopts a
所述分臂总成包括第二驱动件，所述第二驱动件采用固定在电机箱内的第二电机13，所述第二电机的电机壳与电机箱固定连接，所述第二电机的输出轴与第四电磁离合器连接，第四电磁离合器的输出轴通过连接部28与分臂14的上端固定连接，所述第二电机的输出轴与第一电机的输出轴垂直设置，第四电磁离合器能够切断和导通第二电机向分臂的动力输出。The sub-arm assembly includes a second driving member, the second driving member adopts the
所述分臂包括呈钝角设置的第一臂段和第二臂段，所述第一臂段的顶端与连接部固定连接，所述第二臂段的底部设置有第三电机安装槽，所述第三电机安装槽内固定有第三电机15，所述第三电机的输出轴与第五电磁离合器连接，第五电磁离合器的输出轴与设置在工作台16上的耳板16-1固定连接，第三电机能够通过耳板带动工作台的转动，第五电磁离合器能够切断和导通第三电机向工作台的动力输出。The sub-arm includes a first arm section and a second arm section arranged at an obtuse angle, the top of the first arm section is fixedly connected with the connecting part, and the bottom of the second arm section is provided with a third motor installation slot, so A
所述工作台的一侧端面设置有耳板，另一侧端面开设有升降机构安装槽，所述升降机构安装槽内安装有升降机构，所述升降机构包括固定在升降机构安装槽上部的第四电机17，所述第四电机的输出轴通过联轴器29与丝杠18的一端连接，丝杠的另一端通过轴承与升降机构安装槽的槽面转动连接，所述丝杠上连接有滑块，所述滑块通过设置在工作台上的两条滑轨30与工作台滑动连接，第四电机能够带动丝杠转动，进而带动滑块沿丝杠轴线方向的运动，所述滑块能够与线驱动手术执行器27固定连接。One end face of the worktable is provided with a lug plate, and the other end face is provided with a lifting mechanism installation groove, and a lifting mechanism is installed in the lifting mechanism installation groove, and the lifting mechanism includes a first fixed on the upper part of the lifting mechanism installation groove. Four
工作台中，与开设升降机构安装槽的侧面相邻的两个侧面倾斜设置。且该侧面上安装有锁紧件，安装锁紧件的侧面与开设升降机构安装槽的侧面呈45°夹角，四个工作台合拢时，能够通过安装锁紧件的侧面相接触，从而完成合拢运动。In the worktable, two side surfaces adjacent to the side surfaces where the installation groove of the lifting mechanism is provided are inclined. And a locking piece is installed on the side, and the side where the locking piece is installed forms an included angle of 45° with the side where the installation slot of the lifting mechanism is opened. Closing movement.
所述锁紧件采用电磁锁19，四个工作台合拢时，相邻的工作台能够通过电磁锁锁紧固定。The locking member adopts an
所述主臂内部具有空腔，主臂的底端具有弯头，所述空腔延伸至主臂的底端，所述空腔内设置有伸缩臂20，所述伸缩臂能够从主臂的底端伸出或缩入主臂内部，所述伸缩臂的端部固定有戳卡连接件，所述戳卡连接件能够与戳卡固定连接。所述伸缩臂一端固定有戳卡连接件，另一端的侧周面上开设有截面为半圆形的环形槽20-1，所述主臂空腔的内腔面上开设有T型槽8-1，所述T型槽的底部槽面通过弹簧8-2连接有T型的卡块8-3，所述卡块端面上设置有与所述环形槽相匹配的卡头8-4，卡头能够卡入所述环形槽中，实现伸缩臂缩入主臂后的锁紧固定，当使用人员对伸缩臂施加外力时，在伸缩臂的作用下，卡块能够运动，压缩弹簧，使卡头脱离环形槽，实现将伸缩臂伸出至主臂外部。The main arm has a cavity inside, the bottom end of the main arm has an elbow, the cavity extends to the bottom end of the main arm, and a
本实施例中，所述卡块能够与T型槽的阶梯面8-1-1接触，对卡块的位置进行限位，使卡块的外端面与主臂内空腔的内腔面相平齐，方便伸缩臂与主臂的锁紧固定。In this embodiment, the clamping block can be in contact with the stepped surface 8-1-1 of the T-slot to limit the position of the clamping block, so that the outer end surface of the clamping block is flush with the inner cavity surface of the inner cavity of the main arm It is easy to lock and fix the telescopic arm and the main arm.
所述戳卡连接件包括固定部21，所述固定部一侧端面与伸缩臂的端部固定连接，固定部的另一侧端面设置有第一固定板22，所述第一固定板上设置有第一安装孔，所述戳卡23的外圆周面上设置有第二固定板24，所述第二固定板上开设有第二安装孔，所述第一安装孔和第二安装孔中能够穿过固定螺栓25，所述固定螺栓上能够旋紧固定螺母26，从而将戳卡连接件与戳卡进行可拆卸的固定连接。The poke connector includes a fixing
本实施例中，所述线驱动手术执行器包括与滑块固定连接的中间箱体27-1，所述中间箱体内转动连接有多个中间轴，所述中间轴上缠绕有连接线，所述连接线与外部驱动机构连接，外部驱动机构能够驱动连接线运动，从而带动中间轴的转动，所述中间轴伸出至中间箱体外部并与从动轮27-2固定连接，能够带动从动轮的转动，所述从动轮上设置有卡块，并通过卡块和设置在驱动轴端部的卡槽与驱动轴27-3卡接固定，所述驱动轴与线驱动手术执行器壳体转动连接，所述线驱动手术执行器壳体与中间箱体可拆卸连接，具体的，所述中间箱体上设置有插板27-4和卡钩27-5，所述线驱动手术执行器壳体上设置有与所述插板和卡钩相匹配的插槽27-6和卡槽27-7，插板可卡钩能够插入插槽中，卡钩能够在自身弹性力作用下钩住卡槽的槽面，中间箱体通过插板、卡钩、插槽和卡槽与线驱动手术执行器壳体可拆卸固定连接，所述驱动轴上缠绕有驱动线，所述驱动线伸出至线驱动手术执行器壳体外部，用于与末端线驱动手术执行器连接，从动轮能够带动驱动轴转动，驱动轴进而带动驱动线运动，从而实现末端线驱动手术执行器的工作。In this embodiment, the wire-driven surgical actuator includes an intermediate box 27-1 that is fixedly connected to the slider. A plurality of intermediate shafts are rotatably connected in the intermediate box, and connecting wires are wound around the intermediate shafts. The connecting line is connected with an external driving mechanism, and the external driving mechanism can drive the connecting line to move, thereby driving the rotation of the intermediate shaft. The intermediate shaft extends out of the intermediate box and is fixedly connected with the driven wheel 27-2, which can drive the driven wheel The driven wheel is provided with a clamping block, and is clamped and fixed with the driving shaft 27-3 through the clamping block and the clamping slot provided at the end of the driving shaft, and the driving shaft and the wire drive the surgical actuator housing to rotate The wire-driven surgical actuator housing is detachably connected to the intermediate box. Specifically, the intermediate box is provided with a plug-in plate 27-4 and a hook 27-5. The wire-driven surgical actuator housing is The body is provided with a slot 27-6 and a card slot 27-7 that match the plug board and the hook, the plug board can be hooked into the slot, and the hook can hook the card under the action of its own elastic force. The groove surface of the groove, the middle box body is detachably and fixedly connected to the casing of the wire-driven surgical actuator through the plug-in board, the hook, the slot and the card slot, the drive shaft is wound with a drive wire, and the drive wire extends to the The outside of the wire-driven surgical actuator housing is used to connect with the terminal wire-driven surgical actuator. The driven wheel can drive the drive shaft to rotate, and the drive shaft in turn drives the drive wire to move, so as to realize the work of the terminal wire-driven surgical actuator.
驱动线伸出至线驱动手术执行器壳体外部的部分布置在套管27-8内部，所述套管顶端与线驱动手术执行器壳体固定连接。The portion of the drive wire extending out of the wire-driven surgical implement housing is arranged inside the sleeve 27-8, and the top end of the cannula is fixedly connected to the wire-driven surgical implement housing.
本实施例中，合拢时，定义相对的两个工作台为第一工作台，另外两个相对的工作台为第二工作台，两个第一工作台所要安装的线驱动手术执行器的驱动线末端与线驱动手术执行器壳体底端之间的距离大于第二工作台上线驱动手术执行器驱动线末端与线驱动手术执行器壳体底端之间的距离，且第一工作台上的滑块位于第一工作台的上半部分，第二工作台上的滑块位于第二工作台的下半部分，两个滑块的运动距离均为丝杠长度的一半与滑块长度的差值，满足了线驱动手术执行器的空间布置需求。In this embodiment, when folded, two opposite worktables are defined as the first worktable, and the other two opposite worktables are defined as the second worktable. The distance between the end of the wire and the bottom end of the casing of the wire-driven surgical actuator is greater than the distance between the end of the wire of the wire-driven surgical actuator on the second worktable and the bottom end of the casing of the wire-driven surgical actuator, and the distance between the end of the wire and the bottom end of the casing of the wire-driven surgical implement The sliding block is located on the upper half of the first worktable, and the sliding block on the second worktable is located on the lower half of the second worktable. The difference satisfies the spatial arrangement requirements of the wire-driven surgical actuator.
本实施例中，所述线驱动手术执行器也可采用其他结构形式的线驱动手术执行器，本领域技术人员可根据实际需要进行选择，在此不进行详细叙述。In this embodiment, the wire-driven surgical actuator may also adopt other structural forms of the wire-driven surgical actuator, and those skilled in the art can choose according to actual needs, which will not be described in detail here.
本实施例的手术机器人应用于单孔腹腔镜手术时，第二电机带动分臂转动，使四个工作台相向设置，第三电机工作，使工作台与分臂贴合，然后第一电机工作，带动四个分臂座合拢运动，四个分臂的工作台通过45°的倾斜面接触，完成四个工作台的合拢，并利用电磁锁将相邻的工作台进行锁紧固定，通过第三离合器、第四离合器切断和第五电磁离合器切断第一电机、第二电机和第三电机的动力输出，此时四个线驱动手术执行器的驱动线合拢，将四个线驱动手术执行器的驱动线套入戳卡中，手动将伸缩臂从主臂中伸出，利用戳卡连接件与戳卡固定连接，第五电机及第六电机驱动摆臂和主臂运动，将戳卡刺入腹腔中，为线驱动手术执行器提供进入腹腔的通道，第四电机工作，带动滑块沿丝杠的轴线方向运动，线驱动手术执行器的驱动线携带末端线驱动手术执行器进入腹腔进行手术操作。When the surgical robot of this embodiment is applied to single-hole laparoscopic surgery, the second motor drives the sub-arm to rotate, so that the four worktables are set opposite to each other, the third motor works to make the worktable and the sub-arm fit, and then the first motor works , drive the four sub-arm seats to close and move, the worktables of the four sub-arms are contacted by the inclined surface of 45° to complete the closing of the four worktables, and the adjacent worktables are locked and fixed by the electromagnetic lock. The three clutches, the fourth clutch are cut off and the fifth electromagnetic clutch is cut off the power output of the first motor, the second motor and the third motor. At this time, the driving wires of the four wire-driven surgical actuators are closed to connect the four wire-driven surgical actuators. Put the drive wire into the poke card, manually extend the telescopic arm from the main arm, and use the poke card connector to be fixedly connected to the poke card. The fifth and sixth motors drive the swing arm and the main arm to move, and the poke card is Enter the abdominal cavity to provide a channel for the wire-driven surgical actuator to enter the abdominal cavity. The fourth motor works to drive the slider to move along the axis of the lead screw. surgical operation.
本实施例的手术机器人应用于多孔腹腔镜手术时，第二电机带动分臂转动，使四个工作台相背设置，第一电机带动多个分臂张开，此时可利用第三电机调节工作台与分臂的角度，利用第五电机和第六电机调节工作台的位置，将工作台调整至合适角度和位置后，利用第四电机带动滑块运动，线驱动手术执行器可携带末端线驱动手术执行器进入腹腔内进行手术。When the surgical robot of this embodiment is applied to multi-hole laparoscopic surgery, the second motor drives the sub-arm to rotate, so that the four worktables are arranged opposite to each other, and the first motor drives the plurality of sub-arms to open, at this time, the third motor can be used to adjust The angle between the worktable and the arm, use the fifth motor and the sixth motor to adjust the position of the worktable, after adjusting the worktable to the appropriate angle and position, use the fourth motor to drive the slider to move, and the wire-driven surgical actuator can carry the end A wire-driven surgical actuator enters the abdominal cavity for surgery.
采用本实施例的手术机器人，可以同时实现单孔模式和多孔模式下的腹腔镜手术，降低了医院的设备采购成本，同时节省了患者的手术时间。Using the surgical robot of this embodiment, laparoscopic surgery in a single-hole mode and a multi-hole mode can be realized at the same time, which reduces the hospital's equipment procurement cost and saves the patient's operation time.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or deformations that can be made are still within the protection scope of the present invention.
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