CN111096806A

Movatterモバイル変換

Info

Publication number: CN111096806A
Application number: CN201811169935.7A
Authority: CN
Inventors: 李耀; 李建辉; 凌正刚
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2020-05-05

Abstract

The invention relates to a surgical instrument control method of a laparoscopic surgery robot, which comprises the steps that monitoring equipment acquires rotation angle information, deflection angle information and opening angle information of a control handle and transmits the acquired information to a main control unit; the master control unit analyzes the received information respectively, determines the arm rotation angle, the wrist deflection angle and the finger opening angle of an operator operating the control handle, and outputs corresponding rotation control instructions, deflection control instructions and opening and closing control instructions to the slave control unit; the first control module of the slave control unit controls the first motor to rotate according to the received rotation control command to drive the surgical instrument to rotate, the second control module of the slave control unit controls the second motor to rotate according to the received deflection control command to drive the surgical instrument to deflect, and the third control module of the slave control unit controls the third motor to rotate according to the received opening and closing control command to drive the surgical instrument to open and close.

Description

Surgical instrument control method of laparoscopic surgery robot

Technical Field

The invention relates to the technical field of robots, in particular to a surgical instrument control method of a laparoscopic surgical robot.

Background

In minimally invasive surgery, medical personnel are often required to manually perform operations such as cutting, dissection, and suturing of tissue. Particularly for complicated surgical operations, medical staff often need to hold surgical instruments for a long time to perform the operation. This is a challenge to both the physician's physical strength and energy, which in turn affects the quality of the procedure.

The existing minimally invasive surgical instrument is usually a simple simulation of the traditional open surgical instrument, has less freedom degree and poor flexibility, usually has larger friction force in the instrument, and reduces the precision of the operation on the attenuation of the transmission force and the fatigue of operators, particularly hand tremor caused by the fatigue of the operators.

Disclosure of Invention

In view of the above problems, the present invention provides a method for controlling surgical instruments of a laparoscopic surgical robot, which is used to solve the technical problems in the prior art.

A surgical instrument control method of a laparoscopic surgical robot, wherein the laparoscopic surgical robot includes a control handle, a monitoring device, a master control unit, a slave control unit, first and second motors, and a third motor, the control method comprising the steps of:

the monitoring device collects the rotation angle information corresponding to the control handle when the operator rotates the arm, the deflection angle information corresponding to the control handle when the operator deflects the wrist, and the opening angle information corresponding to the control handle when the operator opens and closes the fingers, and transmits the collected information to the main control unit;

the master control unit analyzes the received information respectively, determines the arm rotation angle, the wrist deflection angle and the finger opening angle of an operator, and outputs corresponding rotation control instructions, deflection control instructions and opening and closing control instructions to the slave control unit;

the first control module of the slave control unit controls the first motor to rotate according to the received rotation control instruction, the surgical instrument is driven to rotate through the rotation of the first motor, the surgical instrument and the arm of an operator rotate synchronously, meanwhile, the second control module of the slave control unit controls the second motor to rotate according to the received deflection control instruction, the surgical instrument is driven to deflect through the rotation of the second motor, the surgical instrument and the wrist of the operator deflect synchronously, meanwhile, the third control module of the slave control unit controls the third motor to rotate according to the received opening and closing control instruction, the surgical instrument is driven to open and close through the rotation of the third motor, and the surgical instrument and the finger of the operator open and close synchronously.

According to an embodiment of the present invention, the laparoscopic surgical robot further comprises an instrument fixing device; the instrument fixing device comprises a first coupler, a second coupler, a third coupler, a main gear, a driven gear, a rotating shaft and an instrument rod which are sequentially connected, wherein the first coupler is connected with an output shaft of the first motor, the tail end of the instrument rod is fixedly connected with the surgical instrument, and the rotary motion of the output shaft of the first motor is converted into the rotary motion of the surgical instrument; the instrument fixing device further comprises a fourth coupler, a fifth coupler, a sixth coupler, a first lead screw, a first seat and a push rod which are sequentially connected, wherein the fourth coupler is connected with an output shaft of the second motor so as to convert the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod; the instrument fixing device further comprises a seventh coupler, an eighth coupler, a ninth coupler, a second lead screw, a second seat and a traction rod, wherein the seventh coupler, the eighth coupler, the ninth coupler, the second lead screw, the second seat and the traction rod are sequentially connected, the seventh coupler is connected with an output shaft of a third motor so as to convert the rotary motion of an output shaft of the third motor into the linear reciprocating motion of the traction rod, the traction rod is arranged in the pushing rod, the end part of the traction rod penetrates out of the pushing rod and is provided with a pin shaft for hinging the surgical instrument, when the traction rod is in the linear reciprocating motion, the surgical instrument is driven to open and close through the pin shaft, and the linear reciprocating motion of the traction rod is converted into the opening and closing motion.

According to the embodiment of the invention, a first mathematical model describing a conversion relation between the rotary motion of the output shaft of the first motor and the rotary motion of the surgical instrument is arranged in the first control module of the slave control unit, and based on the first mathematical model, the first control module of the slave control unit controls the rotation parameters of the first motor according to the received rotary control instruction, so that the surgical instrument and the arm of the operator rotate synchronously; a second mathematical model describing the conversion relationship of the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod and further into the deflection motion of the surgical instrument is arranged in the second control module of the slave control unit, and based on the second mathematical model, the second control module of the slave control unit controls the rotation parameters of the second motor according to the received deflection control instruction, so that the surgical instrument and the wrist of an operator synchronously deflect; and a third mathematical model for describing the conversion relationship of the rotation motion of the output shaft of the third motor into the linear reciprocating motion of the traction rod and further into the opening and closing motion of the surgical instrument is arranged in a third control module of the slave control unit, and the third control module of the slave control unit controls the rotation parameters of the third motor according to the received opening and closing control command based on the third mathematical model, so that the surgical instrument and the fingers of an operator can be opened and closed synchronously.

According to an embodiment of the invention, the rotation parameters comprise the rotational speed and the number of revolutions of the motor.

According to the embodiment of the invention, the main control unit respectively analyzes the received information and also respectively filters interference information in the received information.

According to an embodiment of the present invention, the disturbance information includes disturbance information generated by an operator's arm tremor and wrist tremor, respectively, and finger tremor.

According to the embodiment of the invention, the main control unit analyzes the received information respectively, and further comprises the step of judging whether the rotation angle, the deflection angle and/or the opening angle exceed or not a preset threshold value, if so, judging that the operation is wrong, outputting a locking control instruction to the slave control unit by the main control unit, and stopping controlling the surgical instrument.

According to the embodiment of the invention, the main control unit analyzes the received information respectively, and further comprises the step of judging whether the change speed of the rotation angle, the deflection angle and/or the opening angle exceeds a preset threshold value, if so, judging that the operation is wrong, outputting a locking control instruction to the slave control unit by the main control unit, and stopping controlling the surgical instrument.

According to an embodiment of the invention, the surgical instrument has rotational and yaw and open and close degrees of freedom.

According to an embodiment of the invention, the surgical instrument is a surgical shears.

Compared with the prior art, the invention has the advantages that:

1. the technical scheme provided by the invention can simulate the arm rotation action, the wrist deflection action and the finger opening and closing action of a human, ensure that the surgical instrument and the arm, the wrist and the finger of a medical worker operating the surgical robot synchronously act, work in narrow space around a target at different angles, assist the medical worker in carrying out an operation and reduce the difficulty of manual operation of the medical worker in the past.

2. The technical scheme provided by the invention can filter out interference information such as hand vibration of an operator (arm, wrist and finger), and has incomparable stability and accuracy.

3. The technical scheme provided by the invention has an error-proof function, and when a medical worker operating the surgical robot has an operation error, the medical worker automatically sends a locking control instruction to stop controlling surgical instruments, so that the operation safety is effectively ensured.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

Fig. 1 is a perspective view illustrating an instrument fixing apparatus of a laparoscopic surgical robot according to an embodiment of the present invention;

FIG. 2 is a perspective view illustrating an instrument fixing apparatus of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings);

FIG. 3 is an elevation view of a first quick release structure in an embodiment of the present invention;

FIG. 4 is an exploded view of the first quick release structure shown in FIG. 3;

FIG. 5 is an exploded view (bottom view) of a second quick release structure in an embodiment of the invention;

FIG. 6 is an exploded view (top view) of a second quick release structure in an embodiment of the invention;

FIG. 7 is an exploded view of an instrument fixing device of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings)

FIG. 8 is a schematic perspective view of a transmission base according to an embodiment of the present invention;

FIG. 9 is a perspective cross-sectional view of the actuator mount shown in FIG. 8;

FIG. 10 is a perspective view of an implement attachment mechanism in an embodiment of the present invention;

FIG. 11 is a schematic perspective view of an instrument connection according to an embodiment of the invention (outer tube not shown);

FIG. 12 is a schematic perspective view of an instrument connection according to an embodiment of the present invention (outer and inner tubes not shown);

fig. 13 is a flowchart of the operation of the surgical instrument control method according to the seventh embodiment of the present invention.

In the drawings, like components are denoted by like reference numerals.

Reference numerals:

1-a driving seat; 2-an isolation seat; 3-a transmission seat;

4-an instrument connection mechanism; 5-a drive mechanism; 6-a first quick release structure;

7-a second quick release structure; 11-a base; 12-a fixed seat;

21-a second coupling; 22-a fifth coupling; 23-eighth coupling;

31-a third coupling; 32-main gear; 33-a rotating shaft;

34-a slave gear; 35-a first seat; 36-a second seat;

37-a sixth coupling; 38-ninth coupling; 41-instrument rod;

42-a surgical instrument; 43-threaded sleeve; 44-a first card slot;

45-a second card slot; 46-a push rod; 47-a drawbar;

48-a third card slot; 51-a power source; 52-drive circuit board;

53-first coupling; 54-a fourth coupling; 55-a seventh coupling;

56-a first spring; 57-a second spring; 58-a third spring;

61-a first positioning portion; 62-a first positioning portion; 71-a third location portion;

72-a fourth location portion; 73-a fifth location section; 121-a first aperture;

122-a second aperture; 123-a third aperture; 211-a second recess;

212-a first card strip; 311-a second card strip; 331-positioning protrusions;

351-a first card hole; 352-a first resilient catch; 353-a first pressing part;

354-first lead screw; 355-a first runner; 356-first sliding rail;

357-rear retainer; 358-a first spring retainer;

361-second card hole; 362-a second resilient catch; 363-a second pressing part;

364-second lead screw; 365-a second chute; 366-a second slide rail;

367-a second spring limiting body; 368-circuit board;

411-outer tube; 412-rotating head; 413-a limit clip;

414-inner tube; 415-a trough body; 416-a stop collar;

417-open slots; 421-inclined holes; 461-adapter;

462-a bayonet tube; 463-a swinging lever; 464-connecting plane;

465-a clamping head; 471-fourth spring; 472-pin axis;

511-a first motor; 512-a second motor; 513 — a third motor;

531-first groove; 611-a third slide rail; 612-a third runner;

613-guide inclined plane; 621-a first receiving chamber; 622-a first elastomer;

623-clamping jaw; 624-barbs; 625-a card hole;

626-an arc-shaped guide groove; 627-conducting bar; 628-a guide;

711-a fourth runner; 712-a slider; 721-a fixture block;

722-slot; 723-slotted hole; 731-pressing sheet;

732-a second elastomer; 733-stepped hole; 734-mounting holes;

735-fixing the disc; 736-ear; 737-notch;

738-cover.

Detailed Description

The present invention provides a method of controlling a surgical instrument in a surgical robotic device using an instrument fixing device as shown in fig. 1. In order to better describe the method, the components of the instrument holder shown in fig. 1 will first be described in detail.

As shown in fig. 1 and 2, the instrument fixing device according to the present invention mainly includes a driving seat 1, anisolation seat 2 disposed on the driving seat 1, atransmission seat 3 disposed on theisolation seat 2, an instrument connection mechanism 4 mounted on thetransmission seat 3, and adriving mechanism 5 fixed on the driving seat 1, wherein thedriving mechanism 5 drives the instrument connection mechanism 4 to move through thetransmission seat 3, so as to drive asurgical instrument 42 mounted at an end of the instrument connection mechanism 4 to move.

In the embodiment of the present invention, it is preferable that the length direction of the driving base 1 (i.e., theisolation base 2 and the transmission base 3) is taken as an X axis, the width direction of the driving base 1 (i.e., theisolation base 2 and the transmission base 3) is taken as a Y axis, and a direction perpendicular to a plane formed by the X axis and the Y axis is taken as a Z axis, so as to establish a rectangular coordinate system, and the positional connection relationship between the components is described in detail by referring to the coordinate system.

Preferably, the drivingseat 3 and theisolation seat 2 are connected in a quick-release manner through a first quick-release structure 6 shown in fig. 3 and 4.

As shown in fig. 3, the firstquick release structure 6 includes afirst positioning portion 61. Thefirst positioning portion 61 includes third slidingrails 611 disposed on two sides of thetransmission seat 3 and third slidinggrooves 612 disposed on theisolation seat 2, and the two third slidingrails 611 are disposed in the corresponding third slidinggrooves 612, so that thetransmission seat 3 can slide along the X-axis direction.

In order to facilitate smooth introduction of thethird slide rail 611 into thethird slide groove 612, aguide slope 613 inclined downward is provided at an end of thethird slide rail 611 to reduce resistance when thethird slide rail 611 enters thethird slide groove 612, thereby improving assembly efficiency.

The drivingseat 3 and theisolation seat 2 are completely positioned in the Y-axis direction and the Z-axis direction by thethird slide rail 611 and thethird slide groove 612.

Further, the firstquick release structure 6 further includes asecond positioning portion 62, wherein thesecond positioning portion 62 includes a firstaccommodating cavity 621 and a firstelastic body 622 disposed in the firstaccommodating cavity 621. Aguide part 628 is arranged at the top end of the firstelastic body 622, wherein one end of theguide part 628 is a downward inclined plane, and the other end is a stopping part; after the drivingseat 3 is mounted on theisolation seat 2, the end of the drivingseat 3 contacts with the end (i.e., the stopping portion) of the guidingportion 628, so that the drivingseat 3 and theisolation seat 2 are completely positioned in the X-axis direction.

The bottom end of the firstelastic body 622 is provided with at least twoclaws 623. For example, fig. 4 shows fourclaws 623, which are respectively located at four corners of theelastic seat 622 and are integrally formed with the firstelastic body 622. Thefirst receiving chamber 621 is provided therein with chuckingholes 625, and thejaws 623 are respectively disposed in the corresponding chucking holes 625. The bottom of theclaw 623 is provided with a barb 624, and the barb 624 catches on the bottom of the catchinghole 625, so as to limit the maximum displacement amount of the firstelastic body 622 when moving in a direction away from the first accommodating chamber 621 (i.e., moving upward in the Z-axis direction).

At least one side wall of the firstelastic body 622 is provided with an arc-shapedguide groove 626, for example, four arc-shapedguide grooves 626 are shown in fig. 4 and are respectively located on four side walls of the firstelastic body 622; asemi-cylindrical guide bar 627 is disposed on an inner wall of the first receivingcavity 621, and theguide bar 627 is disposed in the arc-shapedguide groove 626 for maintaining the linear movement of the firstelastic body 622 in the Z-axis direction.

The initial state of the firstelastic body 622 is that the end of the firstelastic body 622 is flush with the end of the first receivingcavity 621, and theguide 628 at the top end of the firstelastic body 622 is higher than the end of the first receivingcavity 621; theclaws 623 of the firstelastic body 622 are disposed in the chucking holes 625, and the barbs 624 at the bottoms of theclaws 623 snap into the bottoms of the chucking holes 625. That is, the firstelastic body 622 can move downward only in the Z-axis direction when it is in the initial state.

A spring is disposed between the firstelastic body 622 and thefirst receiving chamber 621, and the spring is used to restore the firstelastic body 622 to an original state.

Thetransmission seat 3 and theisolation seat 2 are installed in the following way:

the bottom surface of thetransmission seat 3 is in contact with the upper surface of theisolation seat 2, thetransmission seat 3 is pushed along the X-axis direction, the first end of thetransmission seat 3 firstly contacts the firstelastic body 622 in the moving process of thetransmission seat 3, when thetransmission seat 3 continues to move, downward pressure is applied to the firstelastic body 622, and the firstelastic body 622 is forced to move downward along the Z-axis direction. In this process, the drivingseat 3 can be easily moved above the firstelastic body 622 by theguide portion 628 at the top end of the firstelastic body 622, so that the movement of the drivingseat 3 is not hindered.

In the process of continuing to move thetransmission seat 3, the third slidingrails 611 on both sides of thetransmission seat 3 smoothly enter the third slidinggroove 612 through the guidinginclined surface 613, and continue to move along the third slidinggroove 612 until the bottom end of thetransmission seat 3 completely separates from the firstelastic body 622, so that the firstelastic body 622 is no longer pressed, and the firstelastic body 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the stopping portion of the firstelastic body 622 contacts the second end of thetransmission seat 3, so that thetransmission seat 3 cannot move backward any more.

Thus, the installation of thetransmission seat 3 and theisolation seat 2 is completed.

When thetransmission seat 3 is detached, theelastic seat 622 is only required to be pressed down, the stopping portion of the firstelastic body 622 is not in contact with the end portion of thetransmission seat 3, and thetransmission seat 3 can be moved in the direction opposite to the above direction, so that thetransmission seat 3 is separated from theisolation seat 2.

Because thetransmission seat 3 is provided with the instrument connecting mechanism 4, the quick-release structure can be utilized, so that thetransmission seat 3 and the instrument connecting mechanism 4 can be conveniently and quickly detached from theisolation seat 2 and installed on theisolation seat 2, and medical workers can conveniently and quickly replace surgical instruments in an operation.

In the embodiment of the present invention, it is preferable that theisolation seat 2 and the driving seat 1 are connected by a secondquick release structure 7 as shown in fig. 5 and 6.

As shown in fig. 5 and 6, the secondquick release structure 7 includes athird positioning portion 71, wherein thethird positioning portion 71 includes a fourth slidingslot 711 disposed at the bottom of theisolation seat 3 and a slidingblock 712 disposed on the driving seat 1, and the slidingblock 712 is disposed in the fourth slidingslot 711, so that theisolation seat 2 can slide along the X-axis direction. Thetransmission seat 3 and theisolation seat 2 are completely positioned in the Y-axis direction by the slidingblock 712 and the fourth slidinggroove 711.

Further, the secondquick release structure 7 includes afourth positioning portion 72, where thefourth positioning portion 72 includes afastening block 721 disposed at a first end of theisolation seat 3 and aslot 722 disposed at a second end of theisolation seat 3, theslot 722 extends along a length direction of theisolation seat 3, along hole 723 is disposed on the driving seat 1, after theisolation seat 3 is mounted on the driving seat 1, thefastening block 721 is inserted into thelong hole 723, and meanwhile, a rear end of the driving seat 1 is fastened with theslot 722, so that the drivingseat 3 and theisolation seat 2 are completely positioned in the X-axis direction.

In addition, the front end of thelatch 721 is provided with a downward inclined surface to facilitate insertion of thelatch 721 into thelong hole 723.

Further, the secondquick release structure 7 includes afifth positioning portion 73, thefifth positioning portion 73 includes apressing piece 731 disposed on theisolation seat 3 and a secondelastic body 732 disposed on the driving seat 1, and the secondelastic body 732 is disposed in a steppedhole 733 on theisolation seat 3. Specifically, thepressing piece 731 is disposed in a hole with a larger diameter in the steppedhole 733, and the secondelastic body 732 is inserted into the hole with a smaller diameter in the steppedhole 733 from the bottom of the steppedhole 733 and then contacts with the bottom of thepressing piece 731, so that the top end of thepressing piece 731 is kept flush with the upper surface of theisolation seat 3, and thetransmission seat 3 and theisolation seat 2 are completely positioned in the Z-axis direction.

Thepressing piece 731 is a silicone membrane and has a certain elastic deformation capability.

When thepressing piece 731 is pressed, the secondelastic body 732 is moved downward in the Z-axis direction, and the secondelastic body 732 is separated from the steppedhole 733, thereby releasing the restraint of thespacer 3 and the driver 1 in the Z-axis direction.

In order to improve the response sensitivity of the secondelastic body 732, a slope inclined downward is provided on an upper end surface of the secondelastic body 732, so that the volume of the secondelastic body 732 extending into the steppedhole 733 is reduced, and when thepressing piece 731 presses the secondelastic body 732 downward, theelastic body 732 can be rapidly separated from the steppedhole 733.

The driving seat 1 is provided with a mountinghole 734, the mountinghole 734 is provided with a fixingplate 735, and the bottom of the fixingplate 735 is in contact with the bottom end of the driving seat 1.Ear parts 736 are arranged at the bottom of the driving seat 1,notches 737 for accommodating theear parts 736 are arranged on the fixeddisc 735, and thecover body 738 at the bottom end of the fixeddisc 734 is fixedly connected with theear parts 736, so that the fixeddisc 735 and the driving seat 1 are fixed.

The secondelastic body 732 is provided in the fixeddisk 734, and a spring is provided between the secondelastic body 732 and thecover 738 to restore the secondelastic body 732 to an initial state.

In the initial state of the secondelastic body 732, the top end of the secondelastic body 732 protrudes outside the fixedplate 735, that is, the top end of the secondelastic body 732 is higher than the upper surface of the driving socket 1.

The installation mode of theisolation seat 2 and the driving seat 1 is as follows:

the bottom surface of theisolation seat 2 is in contact with the upper surface of the driving seat 1, theisolation seat 2 is pushed along the length direction (i.e. the X-axis direction) of the driving seat 1, and the fourth slidinggroove 711 at the bottom end of theisolation seat 2 is matched with the slidingblock 712 in the moving process of theisolation seat 2, so as to guide the movement of theisolation seat 2.

When theisolation seat 2 continues to move, the first end of theisolation seat 2 contacts the secondelastic body 732, and when theisolation seat 2 continues to move, downward pressure is applied to the secondelastic body 732, and the secondelastic body 732 is forced to move downward along the Z-axis direction. In this process, theisolation seat 2 can be easily moved above the secondelastic body 732 by the slope of the top end of the secondelastic body 732, so that the movement of theisolation seat 2 is not hindered.

Subsequently, the steppedhole 733 at the bottom end of theisolation seat 2 moves to above the secondelastic body 732, and at this time, the secondelastic body 732 is not pressed any more, and the secondelastic body 732 moves upward in the Z-axis direction under the action of the spring to be inserted into the steppedhole 733 and returns to the original state. At this time, the secondelastic body 732 and the steppedhole 733 are engaged with each other, so that thespacer 2 cannot move any more.

Thus, the installation of theisolation seat 2 and the driving seat 1 is completed.

When detaching theisolation seat 2, thepressing piece 731 is simply pressed down to separate the secondelastic body 732 from thestep hole 733, so that theisolation seat 2 is moved in the direction opposite to the above direction, and theisolation seat 2 is separated from the driving seat 1.

The driving seat 1 comprises a base 11 fixedly connected with a sliding table of the trolley and a fixedseat 12 integrally arranged with the base 11. The side wall of the fixingseat 12 is used for fixing apower source 51 in thedriving mechanism 5, the base 11 is used for fixing a drivingcircuit board 52 in thedriving mechanism 5, and the drivingcircuit board 52 is electrically connected with thepower source 51 and used for controlling thepower source 51 to output power.

The instrument connecting mechanism 4 comprises aninstrument rod 41, one end of theinstrument rod 41 is used for installing asurgical instrument 42, and the other end of theinstrument rod 41 is fixed on thetransmission seat 3 after sequentially penetrating through the side wall of the fixedseat 12 of the driving seat 1, the side wall of theisolation seat 2 and the side wall of thetransmission seat 3.

In the present invention, thesurgical instrument 42 may be, for example, any one of the following: surgical scissors, electric hooks, surgical forceps, ultrasonic knives, needle holders, radio frequency electric wave knives, endoscopes and the like. In particular, surgical instruments can be divided into three types according to the degree of freedom of movement: instruments with one degree of freedom, instruments with two degrees of freedom, and instruments with three degrees of freedom. Such as endoscopes with one degree of freedom, scalpels with two degrees of freedom, and scissors with three degrees of freedom. The specific movement of these three types of surgical instruments will be described in detail below.

Example one

In a first embodiment of the present invention, thesurgical instrument 42 has a first degree of freedom (e.g., an endoscope). Here, the first degree of freedom of thesurgical instrument 42 means that thesurgical instrument 42 can rotate about the axis of theinstrument lever 41 of the instrument connection mechanism 4 (i.e., along the X-axis direction). The first degree of freedom of thesurgical instrument 42 is capable of mimicking the rotational motion of a human arm.

In the present embodiment, thepower source 51 of thedriving mechanism 5 includes thefirst motor 511, and the output shaft of thefirst motor 511 is disposed in thefirst hole 121 on the side wall of the fixedbase 12 of the driving base 1. In order to improve the space utilization, the axial direction of theinstrument lever 41, the axial direction of thefirst motor 511, and the length direction of theholder 12 are the same.

Specifically, the power transmission manner of thefirst motor 511 is as follows:

thefirst motor 511 is disposed on the sidewall of the fixedbase 12 of the driving base 1, and the output shaft thereof passes through thefirst hole 121 and is fixedly connected to thefirst coupling 53 at the end of the output shaft. The side wall of theisolation seat 2 and the side wall of thetransmission seat 3 are respectively provided with asecond coupler 21 and athird coupler 31, thesecond coupler 21 is respectively connected with thefirst coupler 53 and thethird coupler 31, and the specific connection mode will be described in detail below.

The side wall of thetransmission seat 3 is further provided with arotating shaft 33, one end of therotating shaft 33 is provided with a drivengear 34, the end of thethird coupler 31 is provided with amain gear 32, and themain gear 32 is meshed with the drivengear 34.

Therefore, when the drivingcircuit board 52 receives a control command for rotating the surgical instrument around the X axis, the drivingcircuit board 52 drives thefirst motor 511 to rotate and output power, and the power is transmitted to therotating shaft 33 along the output shaft of thefirst motor 511, thefirst coupling 53, thesecond coupling 21, thethird coupling 31, themain gear 32, and thesecondary gear 34, thereby driving the rotatingshaft 33 to rotate. The rotatingshaft 33 is a hollow shaft, and theinstrument lever 41 is disposed in therotating shaft 33 to rotate with the rotatingshaft 33.

The specific connection mode of theinstrument rod 41 and therotating shaft 33 is as follows:

as shown in fig. 7, apositioning protrusion 331 is disposed at an end of therotating shaft 33, afirst locking groove 44 is disposed on an outer wall of theinstrument rod 41, and after theinstrument rod 41 is inserted into the rotatingshaft 33, thepositioning protrusion 331 is engaged with thefirst locking groove 44, so that theinstrument rod 41 and therotating shaft 33 are positioned in a radial direction.

Further, the rotatingshaft 33 is provided with an external thread, the outer wall of theinstrument rod 41 is provided with a threadedsleeve 43, and after theinstrument rod 41 extends into the rotatingshaft 33, theinstrument rod 41 is fixedly connected with the rotatingshaft 33 through the threadedsleeve 43, so that theinstrument rod 41 and therotating shaft 33 are positioned in the axial direction.

To this end, theshaft 33 and theinstrument lever 41 are fixed in both directions, so that when theshaft 33 is rotated, theinstrument lever 41 and thesurgical instrument 42 are rotated accordingly.

The fixed connection between theinstrument lever 41 and therotation shaft 33 is a fixed point between theinstrument lever 41 and thetransmission base 3, but because the length of theinstrument lever 41 is long, there is instability through single-point fixation. In order to improve the stability of the connection between theinstrument rod 41 and thetransmission seat 3, it is preferable that afirst seat 35 is further provided on thetransmission seat 3, and the end of theinstrument rod 41 is fixed on thefirst seat 35, so that the number of fixing points between theinstrument rod 41 and thetransmission seat 3 is increased to two, and the stability of the connection between the two is improved.

In particular, the fixing between the end of theinstrument rod 41 and thefirst seat 35 is as follows:

as shown in fig. 8 and 9, thefirst seat 35 is provided with afirst locking hole 351 for installing theinstrument lever 41, and an axis of thefirst locking hole 351 coincides with an axis of therotating shaft 33. A first elastic catchingplate 352 is disposed in the first catchinghole 351, and the first elastic catchingplate 352 is movable in a radial direction of the first catchinghole 351 so that a mounting diameter of the first catchinghole 351 is reduced (i.e., smaller than an actual diameter of the first catching hole 351) or the mounting diameter of the first catchinghole 351 is increased (i.e., equal to the actual diameter of the first catching hole 351).

A firstpressing part 353 is arranged at the end of thefirst seat 35, the firstpressing part 353 can be a pressing rod, the firstpressing part 353 is connected with the firstelastic clamping plate 352, and when the firstpressing part 353 is pressed down, the firstelastic clamping plate 352 moves downwards to increase the installation diameter of thefirst clamping hole 351; when the pressure applied to the firstpressing part 353 is removed, the first elastic catchingplate 352 is sprung upward by the elastic member, so that the installation diameter of the first catchinghole 351 is reduced.

A pushingrod 46 is coaxially arranged in theinstrument rod 41, and the pushingrod 46 can extend out of the end of theinstrument rod 41 and generate relative rotation with theinstrument rod 41. Be provided with second draw-ingroove 45 on the outer wall ofcatch bar 46, aftercatch bar 46 stretched intofirst card hole 351, thefirst cardboard 352 of elasticity and second draw-ingroove 45 looks block madecatch bar 46 fix infirst card hole 351 to fix withfirst seat 35.

When theinstrument rod 41 needs to be detached, the firstpressing portion 353 is pressed to move the firstelastic clamping plate 352 along the radial direction of thefirst clamping hole 351, so that the installation diameter of thefirst clamping hole 351 is increased, and thepush rod 46 can be taken out of thefirst clamping hole 351.

Thus, in the present embodiment, thesurgical instrument 42 is fixed to the end of theinstrument rod 41, and theinstrument rod 41 drives thesurgical instrument 42 to rotate, so that thesurgical instrument 42 can rotate along the axial direction of theinstrument rod 41.

The connection of thefirst coupling 53, thesecond coupling 21, and thethird coupling 31 will be described below.

The end of thefirst coupler 53 is provided with afirst groove 531, the two ends of thesecond coupler 21 are respectively provided with asecond groove 211 and afirst clamping strip 212, and the end of thethird coupler 31 is provided with asecond clamping strip 311, wherein thefirst clamping strip 212 is arranged in thefirst groove 531, and thesecond clamping strip 311 is arranged in thesecond groove 211, so that thefirst coupler 53, thesecond coupler 21 and thethird coupler 31 are positioned in the radial direction.

Thefirst coupling 53, thesecond coupling 21 and thethird coupling 31 are positioned in the axial direction by the fixed connection between thetransmission base 3, theisolation base 2 and the drive base 1.

Similarly, when thethird coupling 31 is connected to thesecond coupling 21, the alignment of thesecond locking strip 311 with thesecond groove 211 is no longer necessary, in other words, thesecond locking strip 311 on the end surface of thethird coupling 31 can contact with any position of the end surface of thesecond coupling 21, and when thesecond coupling 21 rotates, thesecond groove 211 of thesecond coupling 21 rotates to a position matching thesecond locking strip 311 of thethird coupling 31 and is engaged with thesecond locking strip 311 under the pushing of thefirst spring 56, so as to achieve the radial positioning between thesecond coupling 21 and thethird coupling 31.

In summary, in the present embodiment, the rotary motion of thefirst motor 511 is substantially converted into the rotary motion of theinstrument rod 41, so that thesurgical instrument 42 is rotated to simulate the real motion of arm rotation of the medical staff.

In fact, when operating a surgical robot, the medical staff manipulates the control handle located at the surgical console. When the medical personnel rotate the arm, the control handle correspondingly rotates, the monitoring equipment acquires the rotation angle information of the control handle and transmits the acquired information to the main control unit. The master control unit processes the received information, filters interference information caused by arm vibration and the like, determines the rotation angle of the arm of the medical staff, and outputs a corresponding rotation control command to a slave control unit (not shown) arranged on the drivingcircuit board 52. The slave control unit controls thefirst motor 511 to rotate (including the rotation speed and the rotation number) according to the received rotation control command, and therotation shaft 33 is driven to rotate through the cooperation of thefirst coupling 53, thesecond coupling 21, thethird coupling 31, themaster gear 32 and theslave gear 34, and since theinstrument rod 41 is connected to the rotation shaft 33 (disposed in the rotation shaft 33), theinstrument rod 41 rotates along with therotation shaft 33, so that thesurgical instrument 42 fixed to the end of theinstrument rod 41 also rotates. That is, the rotational motion of thefirst motor 511 is converted into the rotational motion of thesurgical instrument 42. The slave control unit incorporates a mathematical model describing a conversion relationship between the rotational motion of thefirst motor 511 and the rotational motion of thesurgical instrument 42, and controls the rotation (including the rotational speed and the number of rotations) of thefirst motor 511 in accordance with the received rotational control command based on the mathematical model, thereby ensuring that thesurgical instrument 42 matches the rotational movement of the arm of the medical worker.

Example two

In a second embodiment of the present invention, thesurgical instrument 42 has a second degree of freedom (e.g., a scalpel that only performs a cut at a given location). Here, the second degree of freedom of thesurgical instrument 42 means that thesurgical instrument 42 can be deflected about the Z-axis as a rotation axis. The second degree of freedom of thesurgical instrument 42 is capable of mimicking the deflecting action of the human wrist joint.

In the present embodiment, thepower source 51 includes asecond motor 512, and the output shaft of thesecond motor 512 is disposed in thesecond hole 122 on the side wall of the fixedbase 12. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thesecond motor 512, and the length direction of the fixingbase 12 are the same.

In the present embodiment, the power output by thesecond motor 512 is transmitted to theinstrument rod 41 through thefirst lead screw 354 and thefirst seat 35 slidably connected to thetransmission seat 3, and the specific transmission manner is as follows: the power output by thesecond motor 512 is transmitted to thefirst base 35 through thefirst lead screw 354, so that thefirst base 35 linearly reciprocates along the X-axis direction, and theinstrument rod 41 connected to thefirst base 35 is driven to linearly reciprocate along the X-axis direction, thereby deflecting thesurgical instrument 42 around the Z-axis.

The implementation of the linear reciprocating motion of thefirst seat 35 along the X-axis direction is described in detail below:

thesecond motor 512 is disposed on the sidewall of the fixingbase 12, and an output shaft thereof passes through thesecond hole 122 and is fixedly connected to thefourth coupler 54 at an end portion of the output shaft. And afifth coupler 22 and asixth coupler 37 are respectively arranged on the side wall of theisolation seat 2 and the side wall of thetransmission seat 3, and thefifth coupler 22 is respectively connected with afourth coupler 54 and thesixth coupler 37.

Thesixth coupling 37 is connected to the first threadedspindle 354, wherein the first threadedspindle 354 passes through thefirst seat 35 and forms a threaded connection with thefirst seat 35. Thefirst slide groove 355 is disposed at the bottom of thefirst seat 35, thefirst slide rail 356 on thetransmission seat 3 is disposed in thefirst slide groove 355, and when thefirst lead screw 354 rotates, thefirst seat 35 moves along the axial direction of thefirst lead screw 354.

Further, the limit position of the rightward movement of thefirst seat 35 is defined by thefirst spring stopper 358. As shown in FIG. 8, afirst spring retainer 358 is provided on thefirst lead screw 354 such that it is no longer able to move to the right when thefirst carriage 35 is moved to the right (toward the proximal end of the surgical instrument 42) and compresses the spring to its maximum compression, thereby preventing thefirst carriage 35 from colliding with thefirst spring retainer 358 when it is moved to its extreme position.

Further, the limit position of the leftward movement of thefirst seat 35 is defined by therear retainer 357. As shown in fig. 8, therear retainer 357 is disposed on thefirst lead screw 354, and when thefirst holder 35 moves leftward (in a direction away from the surgical instrument 42) and comes into contact with therear retainer 357, it cannot move leftward any more.

By mechanically limiting the extreme positions of thefirst seat 35 in both directions, the maximum deflection angle of thesurgical instrument 42 can be controlled.

In addition, theinstrument lever 41 is fixed to thetransmission housing 3 in the following manner:

alternatively, theinstrument lever 41 may be fixed to theactuator base 3 in the same manner as in the previous embodiment.

Alternatively, since in this embodiment,instrument lever 41 need not be rotated about the X-axis,instrument lever 41 may also be secured directly to the sidewall ofdrive socket 3.

Moreover, the fixing manner of the pushingrod 46 and thefirst seat 35 has been described in detail in the foregoing embodiments, and is not described in detail herein.

Therefore, when the drivingcircuit board 52 receives a control command of the surgical instrument for deflecting around the Z axis, the drivingcircuit board 52 drives thesecond motor 512 to rotate and output power, the power is transmitted to thefirst seat 35 along the output shaft of thesecond motor 512, thefourth coupler 54, thefifth coupler 22, thesixth coupler 37 and thefirst lead screw 354, the rotation motion of thesecond motor 512 is converted into the linear reciprocating motion of thefirst seat 35 along the X axis direction, and theinstrument rod 41 is further driven to perform the linear reciprocating motion along the X axis direction.

Secondly, since the end of theinstrument rod 41 is hinged to thesurgical instrument 42, thesurgical instrument 42 can be deflected about the Z-axis when theinstrument rod 41 is linearly reciprocated in the X-axis direction.

The implementation of the deflection ofsurgical instrument 42 about the Z-axis is described in detail below:

the inside of theinstrument rod 41 is provided with apush rod 46, and thepush rod 46 is movable in theinstrument rod 41 in the axial direction of theinstrument rod 41. The pushingrod 46 is connected to thefirst seat 35 at one end and to thesurgical instrument 42 at the other end, and when thefirst seat 35 moves, the pushingrod 46 is moved, so as to pull or push thesurgical instrument 42, thereby deflecting thesurgical instrument 42.

Specifically, as shown in fig. 10 and 11, theinstrument rod 41 includes anouter tube 411 and aninner tube 414 coaxially disposed in theouter tube 411, arotating head 412 is disposed at a first end of theouter tube 411, a limitinghead 413 is disposed at a second end of the outer tube, a limitingring 416 is disposed on an outer wall of the limitinghead 413, and the first engaginggroove 44 is disposed on the limitingring 416 and engaged with thepositioning protrusion 331 of therotating shaft 33.

Theinner tube 414 is disposed in theouter tube 411, and a first end of theinner tube 414 extends out of theouter tube 411 and enters therotary head 412 to contact with a collar inside therotary head 412; the second end of theinner tube 414 is disposed outside the retaininghead 413 and contacts the end surface of the retainingring 416, such that theinner tube 414 is retained between therotating head 412 and the retaininghead 413.

Since the outer diameter of theinner tube 414 is the same as the inner diameter of theouter tube 411, theinner tube 414 and theouter tube 411 are tightly fitted to each other and can rotate together.

Further, the first end of theinner tube 414 is further opened with agroove 415 extending along the axial direction of theinner tube 414, and thegroove 415 is to avoid interference with a swinginglever 463 described below.

Thepush rod 46 is coaxially disposed inside theinner tube 414, and a first end of thepush rod 46 is provided with anadapter 461, theadapter 461 being disposed in theinner tube 414.

The end connection ofadapter 461 has swingingarms 463, and swinging arms's the other end articulates there is the clampinghead 465, and the first end of clampinghead 465 is connected withsurgical instruments 42, and the second end and therotating head 412 of clampinghead 465 rotate to be connected, consequently when swingingarms 463 receive thrust or tensile effect, clampinghead 465 drivessurgical instruments 42 around its junction rotation withrotating head 412 to realizesurgical instruments 42 around the Z axle deflection.

Specifically, the two sides of the clampinghead 465 are respectively provided with aconnection plane 464, the upper end of therotating head 412 is provided with an open slot 417, the end of the clampinghead 465 is disposed in the open slot 417, theconnection plane 464 is in contact with the inner wall of the open slot 417, and therotating head 412 is connected with theconnection plane 464 through a pin, so that the clampinghead 465 can rotate by using the axis of the pin as a rotation axis.

The second end of the pushingrod 46 passes through theinner tube 414 and the limitinghead 413 in sequence, and is connected with the clamping tube 262 outside the limitinghead 413. Specifically, the second end of thepush rod 46 extends into thebayonet tube 462 to contact a collar inside thebayonet tube 462; the second engaginggroove 45 is provided on an outer wall of the engagingtube 462, and engages with the firstengaging hole 351 of thefirst seat 35.

Wherein, the inner diameter of the clampingtube 462 is the same as the outer diameter of the pushingrod 46, so when thefirst seat 35 moves and pulls the clampingtube 462 to move linearly, the pushingrod 46 also moves linearly, that is, the movement of thefirst seat 35 makes the pushingrod 46 move along the axis thereof, so that the swingingrod 463 receives the pushing or pulling force, and the clampinghead 465 drives thesurgical instrument 42 to rotate.

In this embodiment, the first end refers to the end near thesurgical instrument 42, and the second end refers to the end away from thesurgical instrument 42.

It should be noted that the connection manner among thefourth coupling 54, thefifth coupling 22 and thesixth coupling 37 in this embodiment is the same as the connection manner among thefirst coupling 53, thesecond coupling 21 and thethird coupling 31 in the first embodiment, wherein asecond spring 57 is disposed between thefourth coupling 54 and thesecond motor 512, and similarly, the assembly among the three couplings can be faster by thesecond spring 57, and therefore, the description is omitted here.

In summary, in the present embodiment, the rotation of thesecond motor 512 is substantially converted into the linear reciprocating motion of thefirst seat 35 through thefirst lead screw 354, thefirst seat 35 drives the pushingrod 46 in theinstrument rod 41 to perform the linear reciprocating motion, and the linear reciprocating motion of the pushingrod 46 is converted into the deflecting motion of thesurgical instrument 42, so as to simulate the real movement of wrist deflection of the medical staff.

In fact, when operating a surgical robot, the medical staff manipulates the control handle located at the surgical console. When the wrist joint of the medical staff deflects, the control handle correspondingly deflects, the monitoring equipment acquires information such as the deflection angle of the control handle and transmits the acquired information to the main control unit. The master control unit processes the received information, filters interference information caused by wrist vibration and the like, analyzes the deflection angle of the wrist joint of the medical staff, and outputs a corresponding deflection control instruction to a slave control unit (not shown) arranged on the drivingcircuit board 52. The slave control unit controls thesecond motor 512 to rotate (including the rotation speed, the rotation number and the like) according to the received deflection control instruction, and the rotation motion of thesecond motor 512 is converted into the linear reciprocating motion of thefirst seat 35 through the cooperation of thefourth coupler 54, thefifth coupler 22, thesixth coupler 37 and thefirst lead screw 354, so as to drive the pushingrod 46 in theinstrument rod 41 to perform the linear reciprocating motion, and further pull or push thesurgical instrument 42, so that thesurgical instrument 42 deflects, that is, the linear reciprocating motion of the pushingrod 46 is converted into the deflection motion of thesurgical instrument 42. Furthermore, the slave control unit is provided with a mathematical model describing the conversion relationship between the rotational motion of thesecond motor 512 and the yawing motion of thesurgical instrument 42, and the slave control unit controls thesecond motor 512 to rotate (including the rotational speed and the number of rotations of the rotation) according to the received yawing control command based on the mathematical model, thereby ensuring that the yawing motion of thesurgical instrument 42 is consistent with the yawing motion of the wrist of the surgeon.

EXAMPLE III

In a third embodiment of the present invention,surgical instrument 42 has a third degree of freedom (e.g., a surgical shears that only shears at a given position). Here, the third degree of freedom of thesurgical instrument 42 means that thesurgical instrument 42 can perform an opening and closing operation. The third degree of freedom ofsurgical instrument 42 can mimic the closing and opening motion of human fingers.

In the present embodiment, thepower source 51 includes athird motor 513, and an output shaft of thethird motor 513 is disposed in thethird hole 123 on the side wall of the fixingbase 12. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thethird motor 513, and the length direction of the fixingbase 12 are the same.

In the present embodiment, the power output by thethird motor 513 is transmitted to theinstrument rod 41 through thesecond lead screw 364 and thesecond seat 36 slidably connected to thetransmission seat 3, as follows: the power output by thethird motor 513 is transmitted to thesecond base 36 through thesecond lead screw 364, so that thesecond base 36 linearly reciprocates along the X-axis direction, and theinstrument rod 41 connected to thesecond base 36 is driven to linearly reciprocate along the X-axis direction, thereby implementing the opening and closing motion of thesurgical instrument 42.

The implementation of the linear reciprocating motion of thesecond seat 36 along the X-axis direction is described in detail below:

thethird motor 513 is disposed on the side wall of the fixedbase 12, and an output shaft thereof passes through thethird hole 123 and is fixedly connected to theseventh coupling 55 at an end portion of the output shaft. The side wall of theisolation seat 2 and the side wall of thetransmission seat 3 are respectively provided with aneighth coupler 23 and aninth coupler 38, and theeighth coupler 23 is respectively connected with aseventh coupler 55 and theninth coupler 38.

Theninth coupling 38 is connected to a second threadedshaft 364, wherein the second threadedshaft 364 passes through thesecond seat 36 and is in threaded connection with thesecond seat 36. The bottom of thesecond seat 36 is provided with a second slidinggroove 365, and a second slidingrail 366 on thetransmission seat 3 is arranged in the second slidinggroove 365, so that when thesecond lead screw 364 rotates, thesecond seat 36 moves along the axial direction of thesecond lead screw 364.

Therefore, when the drivingcircuit board 52 receives a control command for opening and closing the surgical instrument, the drivingcircuit board 52 drives thethird motor 513 to rotate and output power, the power is transmitted to thesecond base 36 along the output shaft of thethird motor 513, theseventh coupler 55, theeighth coupler 23, theninth coupler 38 and thesecond lead screw 364, and the rotation motion of thethird motor 513 is converted into the linear reciprocating motion of thesecond base 36 along the X-axis direction.

Further, the limit position of the rightward movement of thesecond seat 36 is limited by a secondspring limiting body 367, as shown in fig. 8, the secondspring limiting body 367 is disposed on thesecond lead screw 364, and when thesecond seat 36 moves rightward (toward the direction close to the surgical instrument 42) and compresses the spring to the most contracted amount, thesecond seat 36 cannot move rightward any more, and the spring can avoid thesecond seat 36 from colliding with the secondspring limiting body 367 when moving to the limit position.

Further, the limit position of the leftward movement of thesecond seat 36 is defined by acircuit board 368, as shown in fig. 8, thecircuit board 368 is disposed on thetransmission seat 3 and located at the left side of thesecond seat 36, and when thefirst seat 35 moves leftward (in the direction away from the surgical instrument 42) to the limit position, the end thereof will not move leftward any more after contacting the end of therear limit body 357.

By mechanically limiting the extreme positions of thesecond seat 36 in both directions, the maximum opening angle of thesurgical instrument 42 can be controlled.

Further, the fixing between thepush rod 46 and thesecond seat 36 is as follows:

thesecond seat 36 is provided with asecond locking hole 361 for installing thepush rod 46, and the axis of thesecond locking hole 361 coincides with the axis of therotating shaft 33. A secondelastic catch plate 362 is disposed in thesecond catch hole 361, and the secondelastic catch plate 362 can move along the radial direction of thesecond catch hole 361, so that the installation diameter of thesecond catch hole 361 is reduced (i.e. smaller than the actual diameter of the second catch hole 361), or the installation diameter of thesecond catch hole 361 is increased (i.e. equal to the actual diameter of the second catch hole 361).

A secondpressing part 363 is arranged at an end of thesecond seat 36, the secondpressing part 363 may be a pressing rod, the secondpressing part 363 is connected to the secondelastic clamping plate 362, and when the secondpressing part 363 is pressed down, the secondelastic clamping plate 362 moves downward, so that the installation diameter of thesecond clamping hole 361 is increased; when the pressure applied to the secondpressing part 363 is removed, the secondelastic catch plate 362 bounces upward under the action of the elastic member, so that the installation diameter of thesecond catch hole 361 is reduced.

Apull rod 47 is coaxially provided in thepush rod 46, thepull rod 47 extending beyond an end of thepush rod 46, thepull rod 47 being capable of moving in thepush rod 46 in an axial direction thereof.

The outer wall of thedraw bar 47 is provided with athird catch groove 48, and when thedraw bar 47 is inserted into thesecond catch hole 361, the elasticsecond catch 362 is engaged with thethird catch groove 46, so that thedraw bar 47 is fixed in thesecond catch hole 361, and is fixed with thesecond seat 36.

When theinstrument rod 41 needs to be detached, the secondpressing portion 363 is pressed down to move the secondelastic clamping plate 362 along the radial direction of thesecond clamping hole 361, so that the installation diameter of thesecond clamping hole 361 is increased, and thetraction rod 47 can be taken out of thesecond clamping hole 361.

The implementation of the opening and closing movement of thesurgical instrument 42 is described in detail below:

as shown in FIG. 12, a first end of thepull rod 47 passes through thepush rod 46 and thegripping head 465, in that order, and is connected to thesurgical instrument 42. Afourth spring 471 is arranged between thetraction rod 47 and the clampinghead 465, a first end of thefourth spring 471 is connected with an inner wall of the clampinghead 465, and a second end of thefourth spring 471 is connected with an inner wall of theadapter 461, so that thefourth spring 471 is limited between the clampinghead 465 and theadapter 461.

The side wall of thesurgical instrument 42 is provided with aninclined hole 421, two sides of the first end of thetraction rod 47 are provided with apin 472, thepin 472 is arranged in theinclined hole 421, and when thetraction rod 47 is under the action of pulling force or pushing force, thepin 472 is pushed to move in theinclined hole 421, so that thesurgical instrument 42 is opened or closed.

The outer wall of the second end of thetraction rod 47 is provided with athird clamping groove 48, and thethird clamping groove 48 is clamped with asecond clamping hole 361 of thesecond seat 36, so that when thesecond seat 36 makes a linear reciprocating motion along the X axis, thetraction rod 47 is driven to make a linear reciprocating motion along the X axis, and thepin shaft 472 moves in theinclined hole 421, so that thesurgical instrument 42 is opened or closed.

It should be noted that the connection manner among theseventh coupling 55, theeighth coupling 23, and theninth coupling 38 in this embodiment is the same as the connection manner among thefirst coupling 53, thesecond coupling 21, and thethird coupling 31 in the first embodiment, wherein athird spring 58 is disposed between theseventh coupling 55 and thethird motor 513, and similarly, the assembly among the three couplings can be faster by thethird spring 58, and therefore, the description thereof is omitted.

In summary, in the present embodiment, the rotation motion of thethird motor 513 is substantially converted into the linear reciprocating motion of thesecond seat 36 through thesecond lead screw 364, thesecond seat 36 drives thetraction rod 47 in theinstrument rod 41 to perform the linear reciprocating motion, and the linear reciprocating motion of thetraction rod 47 is converted into the opening and closing motion of thesurgical instrument 42, so as to simulate the real action of opening and closing the fingers of the medical staff.

In fact, when operating a surgical robot, the medical staff manipulates the control handle located at the surgical console. When medical personnel's finger is opened and shut, the corresponding opening and shutting of control handle, supervisory equipment gathers information such as the angle that opens of control handle to the information transfer who will gather gives the master control unit. The master control unit processes the received information, filters interference information caused by finger vibration and the like, analyzes the opening angle of the fingers of the medical staff, and outputs a corresponding opening and closing control instruction to a slave control unit (not shown in the figure) arranged on the drivingcircuit board 52. The slave control unit controls the rotation (including the rotation speed, the rotation number and the like) of thethird motor 513 according to the received opening and closing control instruction, and the rotation motion of thethird motor 513 is converted into the linear reciprocating motion of thesecond seat 36 through the matching of theseventh coupler 55, theeighth coupler 23, theninth coupler 38 and thesecond lead screw 364, so as to drive thetraction rod 47 in theinstrument rod 41 to make the linear reciprocating motion, further pull or push thesurgical instrument 42, and open or close thesurgical instrument 42, that is, the linear reciprocating motion of thetraction rod 47 is converted into the opening and closing motion of thesurgical instrument 42. The slave control unit incorporates a mathematical model describing a conversion relationship between the rotational motion of thethird motor 513 and the opening/closing motion of thesurgical instrument 42, and controls thethird motor 513 to rotate (including the rotational speed and the number of rotations) according to the received opening/closing control command based on the mathematical model, thereby ensuring that the opening/closing of thesurgical instrument 42 matches the finger opening/closing operation of the surgeon.

Example four

In a fourth embodiment of the present invention,surgical instrument 42 has a first degree of freedom and a second degree of freedom (e.g., a scalpel).

In the present embodiment, the side wall of the fixedbase 12 is provided with afirst hole 121 and asecond hole 122, thepower source 51 includes afirst motor 511 and asecond motor 512, an output shaft of thefirst motor 511 is disposed in thefirst hole 121, and an output shaft of thesecond motor 512 is disposed in thesecond hole 122. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thefirst motor 511 and thesecond motor 512, and the length direction of the fixingbase 12 are the same.

The power transmission modes of thefirst motor 511 and thesecond motor 512 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to implement both the rotation of theinstrument lever 41 around the X-axis and the deflection of theinstrument lever 41 around the Z-axis, theinstrument lever 41 is connected to thetransmission seat 3 through therotation shaft 33 and thefirst seat 35, and the connection manner is the same as the transmission manner in the previous embodiment, and will not be described herein again.

Further, a pushingrod 46 is coaxially disposed in theinstrument rod 41, and the specific manner of disposing the pushingrod 46 has been described in detail in the foregoing embodiments, and will not be described again.

In summary, in the present embodiment, the rotary motion of thefirst motor 511 is substantially converted into the rotary motion of theinstrument rod 41, and the rotary motion of thesecond motor 512 is converted into the linear reciprocating motion of thefirst seat 35 through thefirst lead screw 354, so as to drive the pushingrod 46 in theinstrument rod 41 to perform the linear reciprocating motion, and then the linear reciprocating motion of theinstrument rod 41 is converted into the deflecting motion of thesurgical instrument 42.

EXAMPLE five

In a fifth embodiment of the present invention,surgical instrument 42 has a first degree of freedom and a third degree of freedom (e.g., a surgical shears that only shears at a given position).

In the present embodiment, thefirst hole 121 and thethird hole 123 are provided on the sidewall of the fixingbase 12, thepower source 51 includes thefirst motor 511 and thethird motor 513, the output shaft of thefirst motor 511 is provided in thefirst hole 121, and the output shaft of thethird motor 513 is provided in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thefirst motor 511 and thethird motor 513, and the length direction of the fixingbase 12 are the same.

The power transmission modes of thefirst motor 511 and thethird motor 513 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to implement both the rotation motion of theinstrument rod 41 along the X-axis direction and the opening and closing motion of thesurgical instrument 42, theinstrument rod 41 is connected to thetransmission seat 3 through therotation shaft 33 and thesecond seat 36, and the connection manner is the same as the transmission manner in the foregoing embodiments, and will not be described again.

Further, a pushingrod 46 is coaxially disposed in theinstrument rod 41, a pullingrod 47 is coaxially disposed in the pushingrod 46, and the specific arrangement of the pushingrod 46 and the pullingrod 47 has been described in detail in the foregoing embodiments, and will not be described herein again.

In summary, in the present embodiment, the rotation of thefirst motor 511 is substantially converted into the rotation of theinstrument rod 41, and the rotation of thethird motor 513 is converted into the linear reciprocating motion of thesecond seat 36 through thesecond lead screw 364, so as to drive thetraction rod 47 in theinstrument rod 41 to perform the linear reciprocating motion, and then the linear reciprocating motion of thetraction rod 47 is converted into the opening and closing motion of thesurgical instrument 42.

EXAMPLE six

In a sixth embodiment of the present invention,surgical instrument 42 has a second degree of freedom and a third degree of freedom (e.g., forceps holding a suture needle).

In the present embodiment, the side wall of the fixedbase 12 is provided with asecond hole 122 and athird hole 123, thepower source 51 includes asecond motor 512 and athird motor 513, an output shaft of thesecond motor 512 is disposed in thesecond hole 122, and an output shaft of thethird motor 513 is disposed in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thesecond motor 512 and thethird motor 513, and the length direction of the fixingbase 12 are the same.

The power transmission modes of thesecond motor 512 and thethird motor 513 are the same as those in the previous embodiment, and are not described herein again.

In the present embodiment, a pushingrod 46 is coaxially disposed in theinstrument rod 41, a pullingrod 47 is coaxially disposed in the pushingrod 46, and the pushingrod 46 and the pullingrod 47 are respectively connected to thetransmission seat 3 through thefirst seat 35 and thesecond seat 36, and the specific connection manner and operation manner thereof have been described in detail in the foregoing embodiments and will not be described herein again.

EXAMPLE seven

In a seventh embodiment of the present invention,surgical instrument 42 has a first degree of freedom, a second degree of freedom, and a third degree of freedom (e.g., surgical shears).

In this embodiment, the side wall of the fixingbase 12 is respectively provided with afirst hole 121, asecond hole 122 and athird hole 123, and thepower source 51 includes afirst motor 511, asecond motor 512 and athird motor 513; an output shaft of thefirst motor 511 is disposed in thefirst hole 121, an output shaft of thesecond motor 512 is disposed in thesecond hole 122, and an output shaft of thethird motor 513 is disposed in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thesecond motor 512 and thethird motor 513, and the length direction of the fixingbase 12 are the same.

The power transmission modes of thefirst motor 511, thesecond motor 512 and thethird motor 513 are the same as those in the previous embodiment, and are not described herein again.

In the present embodiment, on the one hand, theinstrument rod 41 is connected to thetransmission seat 3 through the rotatingshaft 33, on the other hand, the pushingrod 46 is coaxially disposed in theinstrument rod 41, the pullingrod 47 is coaxially disposed in the pushingrod 46, and the pushingrod 46 and the pullingrod 47 are respectively connected to thetransmission seat 3 through thefirst seat 35 and thesecond seat 36, and the detailed connection manner and operation manner (as shown in fig. 13) thereof have been described in detail in the foregoing embodiments and will not be described again.

Claims

1. A surgical instrument control method of a laparoscopic surgical robot, wherein the laparoscopic surgical robot includes a control handle, a monitoring device, a master control unit, a slave control unit, first and second motors, and a third motor;

the control method comprises the following steps:

2. The control method according to claim 1, wherein the laparoscopic surgical robot further comprises an instrument fixing device;

the instrument fixing device comprises a first coupler, a second coupler, a third coupler, a main gear, a driven gear, a rotating shaft and an instrument rod which are sequentially connected, wherein the first coupler is connected with an output shaft of the first motor, the tail end of the instrument rod is fixedly connected with the surgical instrument, and the rotary motion of the output shaft of the first motor is converted into the rotary motion of the surgical instrument;

the instrument fixing device further comprises a fourth coupler, a fifth coupler, a sixth coupler, a first lead screw, a first seat and a push rod which are sequentially connected, wherein the fourth coupler is connected with an output shaft of the second motor so as to convert the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod, the push rod is arranged in the instrument rod, the end part of the push rod penetrates out of the instrument rod and is provided with a swinging rod used for clamping a surgical instrument, and the swinging rod drives the surgical instrument to deflect under the pushing or pulling action of the push rod so as to convert the linear reciprocating motion of the push rod into the deflection motion of the surgical instrument;

the instrument fixing device further comprises a seventh coupler, an eighth coupler, a ninth coupler, a second lead screw, a second seat and a traction rod, wherein the seventh coupler, the eighth coupler, the ninth coupler, the second lead screw, the second seat and the traction rod are sequentially connected, the seventh coupler is connected with an output shaft of a third motor so as to convert the rotary motion of an output shaft of the third motor into the linear reciprocating motion of the traction rod, the traction rod is arranged in the push rod, the end part of the traction rod penetrates out of the push rod and is provided with a pin shaft for hinging the surgical instrument, when the traction rod does the linear reciprocating motion, the surgical instrument is driven to open and close through the pin shaft, and the linear reciprocating motion of the traction rod is converted into the opening and closing motion of the surgical.

3. The control method according to claim 2,

a first mathematical model for describing a conversion relation between the rotary motion of the output shaft of the first motor and the rotary motion of the surgical instrument is arranged in the first control module of the slave control unit, and based on the first mathematical model, the first control module of the slave control unit controls the rotation parameters of the first motor according to the received rotary control instruction, so that the surgical instrument and the arm of the operator rotate synchronously;

a second mathematical model describing the conversion relationship of the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod and further into the deflection motion of the surgical instrument is arranged in the second control module of the slave control unit, and based on the second mathematical model, the second control module of the slave control unit controls the rotation parameters of the second motor according to the received deflection control instruction, so that the surgical instrument and the wrist of an operator synchronously deflect;

and a third mathematical model for describing the conversion relationship of the rotation motion of the output shaft of the third motor into the linear reciprocating motion of the traction rod and further into the opening and closing motion of the surgical instrument is arranged in a third control module of the slave control unit, and the third control module of the slave control unit controls the rotation parameters of the third motor according to the received opening and closing control command based on the third mathematical model, so that the surgical instrument and the fingers of an operator can be opened and closed synchronously.

4. A control method according to claim 3, characterized in that the rotation parameters comprise the rotation speed and the number of revolutions.

5. The control method according to claim 1, wherein the main control unit analyzes the received information respectively, and further filters interference information therein respectively.

6. The control method according to claim 5, wherein the disturbance information includes disturbance information generated by an operator's arm and wrist and finger tremors, respectively.

7. The control method according to claim 1, wherein the master control unit analyzes the received information respectively, and further comprises determining whether the rotation angle, the deflection angle and/or the opening angle exceed a preset threshold, and if so, determining that the operation is wrong, the master control unit outputting a locking control command to the slave control unit, and stopping the control of the surgical instrument.

8. The control method according to claim 1, wherein the master control unit analyzes the received information respectively, and further comprises determining whether the change speed of the rotation angle, the deflection angle and/or the opening angle exceeds a preset threshold, if so, determining that the operation is wrong, the master control unit outputting a locking control command to the slave control unit, and stopping the control of the surgical instrument.

9. The control method of claim 1, wherein the surgical instrument has degrees of freedom to rotate and deflect and open and close.

10. The control method of claim 9, wherein the surgical instrument is a surgical shears.