CN111437036B - Serpentine surgical robot applied to minimally invasive surgery - Google Patents

Abstract

Translated fromChinese

本发明提供了一种应用于微创手术的蛇形手术机器人，包括滑台模组、滑动连接于滑台模组上的滑轮模组、设于滑轮模组上的驱动模组以及与滑轮模组连接的机械臂，驱动模组通过滑轮模组为机械臂提供动力；机械臂包括手术执行器、与手术执行器连接且能弯曲运动的第一关节以及与第一关节连接且能摇摆运动的第二关节，其中，第一关节为连续体结构，第二关节为齿轮啮合结构。本发明通过连续体结构和齿轮啮合结构配合组成机械臂，可以在保证机械臂的末端的灵活运动及变形能力的前提下，有效提高机械臂的刚度，并且还能解决或改善现有手术机器人的机械臂的耦合作用，提高机械臂的运动控制精度，相比于现有的手术机器人，本发明的蛇形手术机器人的可操作性强。

The invention provides a serpentine surgical robot for minimally invasive surgery, comprising a sliding table module, a pulley module slidably connected to the sliding table module, a driving module arranged on the pulley module, and a pulley module connected to the sliding table module. The mechanical arm is connected to the group, and the driving module provides power for the mechanical arm through the pulley module; the mechanical arm includes a surgical actuator, a first joint connected with the surgical actuator and capable of bending motion, and a joint connected with the first joint and capable of swinging motion. The second joint, wherein the first joint is a continuum structure, and the second joint is a gear meshing structure. The present invention forms a mechanical arm through the cooperation of a continuum structure and a gear meshing structure, which can effectively improve the rigidity of the mechanical arm on the premise of ensuring the flexible movement and deformability of the end of the mechanical arm, and can also solve or improve the problem of the existing surgical robot. The coupling effect of the mechanical arm improves the motion control precision of the mechanical arm. Compared with the existing surgical robot, the serpentine surgical robot of the present invention has strong operability.

Description

Serpentine surgical robot applied to minimally invasive surgery

Technical Field

The invention belongs to the technical field of surgical operation robots, and particularly relates to a snake-shaped operation robot applied to minimally invasive surgery.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope, a laryngoscope and the like and related equipment, and has the advantages of small wound, less pain, quick healing and the like compared with the traditional surgery. In order to satisfy the flexibility required by the operation and miniaturize the end effector, the robot generally adopts a rope driving mode, a bulky driving part is arranged outside the body, and the end structure inside the body is driven by the rope. When a single-hole minimally invasive surgery and a natural orifice surgery are performed, a plurality of surgical instruments need to enter a body cavity from a single inlet, and doctors operate the instruments with two hands to perform cooperative work on the same target point, so that the surgical instruments need to be unfolded inwards in the body cavity to form a triangular shape. In the existing snake-shaped surgical robot, the mechanical arm comprises two sections of continuous bodies, and the positioning structure of the mechanical arm is a multi-section continuous body, so that the problem of insufficient rigidity during operation exists, and the motion control precision of the mechanical arm is undoubtedly reduced; in addition, between two adjacent continuous bodies, the motion of one continuous body can generate a coupling effect on the driving of the other continuous body, which can also reduce the motion control precision of the mechanical arm.

Disclosure of Invention

The embodiment of the invention aims to provide a snake-shaped surgical robot applied to minimally invasive surgery, and aims to solve the technical problems of insufficient rigidity and low motion control precision of a mechanical arm in the existing surgical robot.

In order to achieve the purpose, the invention adopts the technical scheme that: the snake-shaped surgical robot applied to minimally invasive surgery comprises a sliding table module, a pulley module, a driving module and a mechanical arm, wherein the pulley module is connected to the sliding table module in a sliding mode, the driving module is arranged on the pulley module, the mechanical arm is connected with the pulley module, and the driving module provides power for the mechanical arm through the pulley module;

the mechanical arm comprises a surgical actuator, a first joint which is connected with the surgical actuator and can do bending motion, and a second joint which is connected with the first joint and can do swinging motion, wherein the first joint is a continuous body structure capable of continuously deforming, and the second joint is a gear meshing structure.

Optionally, the first joint comprises a distal vertebra, at least one spacer vertebra and a proximal vertebra, which are rotatably connected in sequence, the distal vertebra being connected to the surgical effector, the proximal vertebra being connected to the second joint;

the first joint further comprises a first driving wire used for providing traction for bending movement of the first joint, one end of the first driving wire is fixedly connected with the far-end vertebra, and one end of the first driving wire, which is far away from the far-end vertebra, penetrates through the spacing vertebra and the near-end vertebra in sequence and then is fixedly connected with the pulley module.

Optionally, the first joint is provided with an elastic supporting member for maintaining the shape of the first joint, and the elastic supporting member is fixedly connected to the distal end vertebra, the spacing vertebra and the proximal end vertebra in sequence.

Optionally, the second joint includes a distal rod, a proximal rod, a first gear pair, and a second gear pair, where the distal rod and the proximal rod are rotatably connected, the first gear pair is fixed to the distal rod, the second gear pair is fixed to the proximal rod, and the first gear pair and the second gear pair are in meshing connection;

the second joint further comprises a second driving wire used for providing traction for the swinging motion of the second joint, one end of the second driving wire is fixedly connected with the far-end rod piece, and one end of the second driving wire, which is far away from the far-end rod piece, penetrates through the near-end rod piece and then is fixedly connected with the pulley module.

Optionally, the mechanical arm further includes a third joint connected to the second joint and capable of performing a swinging motion, and a trunk connected to the third joint and capable of rotating along an axial direction of the trunk, and the trunk is connected to the pulley module.

Optionally, the structure of the second joint is the same as the structure of the third joint.

Optionally, be equipped with on the arm and be used for providing the drive wire of traction force for the motion of arm, the pulley module includes infrabasal plate, a plurality of drive shaft, a plurality of beam splitter axle and a plurality of pulley shaft, and a plurality of drive shaft, a plurality of beam splitter axle and a plurality of pulley shaft are located respectively on the infrabasal plate, the drive wire respectively through corresponding beam splitter axle with behind the pulley shaft fixed connection in the drive shaft that corresponds, the drive module is used for driving a plurality of the drive shaft rotates.

Optionally, the drive shaft includes with the drive main shaft that drive module is connected, rotate the cover and locate the outer reel of drive main shaft and be used for restricting the reel is relative drive main shaft pivoted fastener, the drive wire respectively through corresponding divide spool with fixed connection is in the correspondence behind the pulley shaft on the reel.

Optionally, the driving module includes a plurality of motors, and an output end of each motor is fixedly connected to the corresponding driving shaft through a coupling.

Optionally, the sliding table module is detachably connected with the pulley module; and/or the presence of a gas in the gas,

the driving module is detachably connected with the pulley module; and/or the presence of a gas in the gas,

the pulley module is detachably connected with the mechanical arm.

The snake-shaped surgical robot provided by the invention has the beneficial effects that: the continuous body structure has the advantages of compact structure and easiness in realizing arc-like deformation motion, the gear meshing structure has better deformation resistance and reliable stability, the mechanical arm is formed by matching the continuous body structure and the gear meshing structure, the rigidity of the mechanical arm can be effectively improved on the premise of ensuring the flexible motion and deformation capability of the tail end of the mechanical arm, the coupling effect of the mechanical arm of the existing surgical robot can be solved or improved, the motion control precision of the mechanical arm is improved, and compared with the existing surgical robot, the snake-shaped surgical robot has strong operability and is beneficial to micro-manipulation processing by doctors.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of a snake-shaped surgical robot provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a robotic arm according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a first joint according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a second joint provided in accordance with an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a pulley module according to an embodiment of the present invention;

fig. 6 is a schematic structural wiring diagram of a pulley module according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a second articulation drive shaft provided in accordance with an embodiment of the present invention;

fig. 8 is an assembly structure diagram of the pulley module and the driving module according to the embodiment of the invention.

Wherein, in the figures, the respective reference numerals:

100-a robotic arm; 110-a surgical actuator; 120-a first joint; 121-distal vertebra; 122-spacer vertebrae; 123-proximal vertebra; 124-a resilient support; 130-a second joint; 131-a distal stem; 132-a proximal shaft; 133-a first gear pair; 134-second gear pair; 135-fixed disk; 140-a third joint; 150-torso; 160-a drive line; 161-a first drive line; 162-a second drive line; 163-a third drive line; 164-fourth drive line; 165-a rotation drive line; 200-a pulley module; 210-an upper substrate; 220-a drive shaft; 2201-driving the main shaft; 2202-a reel; 2203-fasteners; 221-a first drive shaft; 222-a second drive shaft; 223-a third drive shaft; 224-a fourth drive shaft; 225-rotating drive shaft; 230-split axis; 231-a first split axis; 232-second part-dividing shaft; 233-third part of thread spool; 240-pulley shaft; 241-a first pulley shaft; 242-a second pulley shaft; 243-third pulley shaft; 250-lower substrate; 300-a drive module; 310-a motor board; 320-a motor; 330-a coupler; 400-slipway module.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1 and 2, an embodiment of the present invention provides a snake-shaped surgical robot for minimally invasive surgery, including asliding table module 400, apulley module 200 slidably connected to thesliding table module 400, adriving module 300 disposed on thepulley module 200, and arobot arm 100 connected to thepulley module 200, wherein thedriving module 300 provides power to therobot arm 100 through thepulley module 200, and therobot arm 100 is used for performing operations such as clamping, cutting, suturing, etc.;

therobot arm 100 includes a surgical actuator 110, afirst joint 120 having one end connected to the surgical actuator 110 and capable of bending motion, and asecond joint 130 having one end connected to an end of thefirst joint 120 away from the surgical actuator 110 and capable of swinging motion, wherein thefirst joint 120 is a continuously deformable continuous body structure, and thesecond joint 130 is a gear engagement structure.

When the snake-shaped surgical robot provided by the embodiment of the invention works, thesliding table module 400 slides on thesliding table module 400 and drives themechanical arm 100 to move together, so that themechanical arm 100 extends into a natural cavity or an artificial cavity, in the process that themechanical arm 100 enters the cavity, thedriving module 300 drives thefirst joint 120 and thesecond joint 130 to deform through thepulley module 200 so as to adapt to the shape of the cavity, and after the mechanical arm reaches a focus position, thedriving module 300 drives the surgical actuator 110 through thepulley module 200 to perform surgical operation.

The snake-shaped surgical robot provided by the embodiment of the invention has the beneficial effects that: the continuum structure has the advantages of compact structure and easiness in realizing arc-like deformation motion, the gear meshing structure has better deformation resistance and reliable stability, themechanical arm 100 is formed by matching the continuum structure and the gear meshing structure, the rigidity of themechanical arm 100 can be effectively improved on the premise of ensuring the flexible motion and deformation capability of the tail end of themechanical arm 100, the coupling effect of themechanical arm 100 of the existing surgical robot can be solved or improved, the motion control precision of themechanical arm 100 is improved, compared with the existing surgical robot, the snake-shaped surgical robot provided by the embodiment of the invention has strong operability, the requirements of single-hole minimally invasive surgery or natural cavity surgery can be met, and micro-manipulation processing by doctors is facilitated.

Specifically, in an embodiment of the present invention, as shown in fig. 2, in the snake-shaped surgical robot according to the embodiment of the present invention, therobot arm 100 is connected to thepulley module 200 in a rope-driven manner, specifically, a plurality ofdriving wires 160 for providing traction force for the deformation motion of therobot arm 100 are disposed on therobot arm 100, one end of eachdriving wire 160 is fixedly connected to a corresponding joint on therobot arm 100, and the other end is fixedly connected to thepulley module 200, and thedriving module 300 adjusts the posture of therobot arm 100 by retracting thedriving wires 160 through thepulley module 200. Themechanical arm 100 of the embodiment of the invention has a compact structure, and the miniaturization of themechanical arm 100 is realized, so that themechanical arm 100 meets the use requirement of minimally invasive surgery.

Alternatively, thedriving wire 160 may be a nitinol wire or a steel wire, although other materials may be used for thedriving wire 160 according to the choice of the actual situation, as long as thedriving wire 160 can be used for providing the traction force, and the invention is not limited thereto.

Specifically, in one embodiment of the present invention, as shown in fig. 3, thefirst joint 120 includes adistal vertebra 121, at least onespacing vertebra 122, and aproximal vertebra 123, which are rotatably connected in sequence, that is, at least onespacing vertebra 122 is disposed between thedistal vertebra 121 and theproximal vertebra 123, thedistal vertebra 121, thespacing vertebra 122, and theproximal vertebra 123 can swing relative to each other, one end of thedistal vertebra 121 is connected to one end of the surgical actuator 110, one end of thedistal vertebra 121, which is away from the surgical actuator 110, is rotatably connected to thespacing vertebra 122, one end of theproximal vertebra 123 is rotatably connected to thespacing vertebra 122, and one end of theproximal vertebra 123, which is away from thespacing vertebra 122, is connected to thesecond joint 130; thefirst joint 120 further comprises afirst driving line 161 for providing traction for the bending motion of thefirst joint 120, thefirst driving line 161 is adriving line 160 corresponding to thefirst joint 120 of therobot arm 100, one end of thefirst driving line 161 is fixedly connected with thedistal vertebra 121, and one end of thefirst driving line 161, which is far away from thedistal vertebra 121, sequentially passes through thespacer vertebra 122 and theproximal vertebra 123 and then is fixedly connected with thepulley module 200. Through the arrangement, thedriving module 300 can receive and release thefirst driving wire 161 through thepulley module 200, so as to adjust the bending posture of thefirst joint 120.

Specifically, in one embodiment of the present invention, as shown in fig. 3, anelastic support 124 for maintaining the shape of thefirst joint 120 is provided on thefirst joint 120, theelastic support 124 is fixedly connected to thedistal vertebra 121, the at least onespacer vertebra 122 and theproximal vertebra 123 in sequence, and by providing theelastic support 124 on thefirst joint 120, the rigidity of thefirst joint 120 can be enhanced, so that therobotic arm 100 can have sufficient rigidity during surgery for the physician to manipulate.

Specifically, in the snake-shaped surgical robot according to the embodiment of the present invention, since therobot arm 100 is connected to thepulley module 200 in a rope-driven manner, that is, therobot arm 100 is disposed in a hollow manner, so as to dispose thedriving wire 160 inside therobot arm 100, in this embodiment, theelastic support member 124 may be disposed inside thefirst joint 120, that is, theelastic support member 124 sequentially passes through thedistal vertebra 121, the at least onespacing vertebra 122 and theproximal vertebra 123, and theelastic support member 124 is fixedly connected to thedistal vertebra 121, thespacing vertebra 122 and theproximal vertebra 123. Of course, theelastic support 124 may be disposed outside thefirst joint 120 according to the choice of the actual situation, and the invention is not limited thereto.

Specifically, in the serpentine surgical robot according to the embodiment of the present invention, the elastic supportingmembers 124 are elastic supporting wires, in this embodiment, a plurality of elastic supporting wires are disposed on thefirst joint 120, and are uniformly disposed in thefirst joint 120 along the circumferential direction, that is, the plurality of elastic supporting wires are uniformly disposed in thedistal vertebra 121, the at least onespacer vertebra 122, and theproximal vertebra 123 along the circumferential direction, so that the components of thefirst joint 120 can be always kept in contact by the cooperation of the plurality of elastic supporting wires, and the stiffness distribution at thefirst joint 120 is uniform. It is understood that, according to the choice of actual conditions, the shape of theelastic support 124 may also be adjusted appropriately, for example, theelastic support 124 may also be configured as a tubular structure, and in this structure, theelastic support 124 may be sleeved inside thefirst joint 120 or sleeved outside thefirst joint 120.

Alternatively, the elastic supporting wire may be a nitinol wire or a steel wire, and of course, other materials may be used as the elastic supporting wire according to the selection of the actual situation, as long as the elastic supporting wire can improve the rigidity of thefirst joint 120, and the invention is not limited herein.

Specifically, in one embodiment of the present invention, as shown in fig. 4, thesecond joint 130 includes adistal rod 131, aproximal rod 132, afirst gear pair 133 and asecond gear pair 134, wherein one end of thedistal rod 131 is fixedly connected to one end of theproximal vertebra 123 far away from thespacer vertebra 122, one end of thedistal rod 131 far away from theproximal vertebra 123 is rotatably connected to one end of theproximal rod 132, thefirst gear pair 133 is fixed to thedistal rod 131, thesecond gear pair 134 is fixed to theproximal rod 132, and thefirst gear pair 133 is in meshing connection with thesecond gear pair 134; thesecond joint 130 further includes asecond driving wire 162 for providing a traction force for the swinging motion of thesecond joint 130, thesecond driving wire 162 is thedriving wire 160 corresponding to thesecond joint 130 of therobot arm 100, one end of thesecond driving wire 162 is fixedly connected to thedistal rod 131, and one end of thesecond driving wire 162 far from thedistal rod 131 passes through theproximal rod 132 and then is fixedly connected to thepulley module 200. Through the arrangement, thedriving module 300 can receive and release thesecond driving wire 162 through thepulley module 200, so as to adjust the swing posture of thesecond joint 130.

Specifically, when thesecond driving wire 162 is pulled, thedistal rod 131 and theproximal rod 132 swing relatively, and at this time, thefirst gear pair 133 on thedistal rod 131 and thesecond gear pair 134 on theproximal rod 132 rotate in a meshing manner, so that the swing posture of thesecond joint 130 can be precisely adjusted.

Specifically, as shown in fig. 4, the second joint 130 further includes a fixingplate 135 disposed between thedistal rod 131 and theproximal rod 132, wherein an end of thedistal rod 131 away from theproximal vertebra 123 is rotatably connected to the fixingplate 135, and an end of theproximal rod 132 is rotatably connected to the fixingplate 135, so as to realize the rotatable connection between thedistal rod 131 and theproximal rod 132. In this embodiment, one end of thesecond driving wire 162 is fixedly connected to thedistal rod 131, and one end of thesecond driving wire 162, which is far away from thedistal rod 131, sequentially passes through the fixingplate 135 and theproximal rod 132 and is then fixedly connected to thepulley module 200.

Specifically, in an embodiment of the present invention, as shown in fig. 1 and fig. 2, therobot arm 100 further includes a third joint 140 having one end connected to an end of theproximal rod 132 away from thedistal rod 131 and capable of swinging, and atrunk 150 having one end connected to an end of the third joint 140 away from theproximal rod 132 and capable of rotating along its own axis, wherein an end of thetrunk 150 away from the third joint 140 is connected to thepulley module 200, so as to increase the degree of freedom of therobot arm 100, and facilitate therobot arm 100 to extend into the cavity for performing a surgical operation.

Optionally, with reference to fig. 4 and fig. 6, in therobot arm 100 according to the embodiment of the present invention, the structure of the second joint 130 is the same as that of the third joint 140, and the third joint 140 also includes a correspondingdistal rod 131, a fixeddisk 135, aproximal rod 132, afirst gear pair 133, asecond gear pair 134, and a driving wire 160 (a third driving wire 163) for providing a traction force for the swinging motion of the second joint 130, and details of the structure of the third joint 140 are not repeated herein. In this embodiment, the end of thedistal link 131 of the third joint 140 distal from the fixeddisk 135 of the third joint 140 is fixedly connected to the end of theproximal link 132 of the second joint 130 distal from the fixeddisk 135 of the second joint 130, and the end of theproximal link 132 of the third joint 140 proximal from the fixeddisk 135 of the third joint 140 is fixedly connected to the end of thetorso 150 distal from thepulley module 200. Through the arrangement, thedriving module 300 can receive and release thethird driving line 163 through thepulley module 200, so as to adjust the swing posture of the third joint 140.

It is understood that more joints capable of swinging or bending may be added between the third joint 140 and thetrunk 150, and the added joints may be configured as the first joint 120 or the second joint 130 to realize swinging or bending of the joints, which is not limited herein.

Specifically, in an embodiment of the present invention, as shown in fig. 5 and 8, thepulley module 200 includes anupper substrate 210 and alower substrate 250 that are oppositely disposed, thelower substrate 250 is slidably connected to the slidingtable module 400, thepulley module 200 further includes a plurality of drivingshafts 220, a plurality ofbranch shafts 230 and a plurality ofpulley shafts 240, both ends of each of the drivingshafts 220 are respectively disposed on theupper substrate 210 and thelower substrate 250, wherein thebranch shafts 230 and thepulley shafts 240 are respectively rotatably sleeved with a pulley, the drivingwires 160 respectively pass through the pulleys of thecorresponding branch shafts 230 and the pulleys of thepulley shafts 240 and then are fixedly connected to thecorresponding driving shafts 220, and thedriving module 300 is configured to drive the plurality of drivingshafts 220 to rotate. In this embodiment, the pulleys corresponding todifferent driving wires 160 are arranged in a staggered manner in a direction parallel to the branching shaft 230 (or the pulley shaft 240), and no collision or friction is generated between the drivingwires 160, so that the drivingwires 160 can smoothly transmit traction force, and the motion control accuracy of therobot arm 100 is effectively improved.

Specifically, as shown in fig. 5 and 6, the axial direction of the trunk 150 is defined as a first direction, the plurality of pulley shafts 240 are divided into two sets of pulley shafts 240 arranged oppositely, each set of pulley shafts 240 includes two first pulley shafts 241, a second pulley shaft 242, and a third pulley shaft 243 arranged in sequence in the first direction; the driving shaft 220 includes two first driving shafts 221, second driving shafts 222, and third driving shafts 223 arranged in sequence in the first direction and disposed between the two sets of pulley shafts 240; the plurality of branch shafts 230 are disposed on one side of the third pulley shaft 243, which is far away from the second pulley shaft 242, the branch shafts 230 specifically include two first branch shafts 231 and two second branch shafts 232 which respectively correspond to the two sets of pulley shafts 240, each first driving wire 161 is fixed on the first driving shaft 221 after sequentially passing through the corresponding first branch shaft 231 and first pulley shaft 241, each second driving wire 162 is fixed on the second driving shaft 222 after sequentially passing through the corresponding second branch shaft 232 and second pulley shaft 242, each third driving wire 163 is fixed on the third driving shaft 223 after sequentially passing through the corresponding second branch shaft 232 and third pulley shaft 243, the driving module 300 drives the corresponding driving shaft 220 to rotate to realize the retraction of the driving wire 160, so as to adjust the deformation of the corresponding portion of the robot arm 100. Through the arrangement, collision and friction cannot be generated between the drivingwires 160, so that the drivingwires 160 can smoothly transmit traction force, and the motion control precision of themechanical arm 100 is effectively improved.

Optionally, fourfirst driving wires 161 are disposed on the first joint 120, that is, two pairs offirst driving wires 161 are disposed on the first joint 120; in each pair of thefirst driving wires 161, one end of each of the twofirst driving wires 161 away from thedistal vertebra 121 is fixedly connected to the samefirst driving shaft 221 through the corresponding first dividingshaft 231 and the correspondingfirst pulley shaft 241, respectively, that is, the twofirst driving wires 161 in each pair of thefirst driving wires 161 are arranged on thepulley module 200 in an antagonistic manner, the twofirst driving wires 161 in each pair of thefirst driving wires 161 do not collide and rub against each other, and the two pairs of thefirst driving wires 161 are respectively used for controlling the bending motion of the first joint 120 in different directions, so that the first joint 120 in the embodiment of the present invention has two degrees of freedom. Through the arrangement, the twofirst driving wires 161 are controlled to be retracted and retracted by thefirst driving shaft 221, the number of the pulleys, the branchingshaft 230 and the drivingshaft 220 can be reduced, thepulley module 200 and thedriving module 300 are miniaturized, a control algorithm can be simplified, and the motion control precision is effectively improved. It is understood that, according to the choice of the actual situation, the number of thefirst driving lines 161 on the first joint 120 may be adjusted appropriately in order to adjust the degree of freedom of the first joint 120, and the invention is not limited herein.

Optionally, twosecond driving wires 162 are disposed on the second joint 130, that is, a pair ofsecond driving wires 162 is disposed on the second joint 130, one ends of the twosecond driving wires 162 of the second joint 130, which are away from thedistal rod 131, are respectively fixedly connected to the samesecond driving shaft 222 through the correspondingsecond branch shaft 232 and thesecond pulley shaft 242, the twosecond driving wires 162 of the second joint 130 are arranged on thepulley module 200 in an antagonistic manner, the twosecond driving wires 162 do not collide and rub against each other, and the twosecond driving wires 162 are used for controlling the swinging motion of the second joint 130 in the same direction, so that the second joint 130 in the embodiment of the present invention has one degree of freedom. Through the arrangement, the twosecond driving wires 162 are controlled to be retracted and retracted by thesecond driving shaft 222, so that the number of the pulleys, the branchingshafts 230 and the drivingshafts 220 can be reduced, thepulley module 200 and thedriving module 300 are miniaturized, a control algorithm can be simplified, and the motion control precision is effectively improved. It is understood that, according to the choice of actual conditions, the number of thesecond driving wires 162 on the second joint 130 can be adjusted appropriately in order to adjust the degree of freedom of the second joint 130, and the invention is not limited herein.

Optionally, twothird driving wires 163 are disposed on the third joint 140, that is, a pair ofthird driving wires 163 is disposed on the third joint 140, one ends of the twothird driving wires 163 of the third joint 140, which are away from thedistal rod 131, are respectively fixedly connected to the samethird driving shaft 223 through the correspondingsecond branch shaft 232 and thethird pulley shaft 243, the twothird driving wires 163 of the third joint 140 are arranged on thepulley module 200 in an antagonistic manner, the twothird driving wires 163 do not collide and rub against each other, and the twothird driving wires 163 are used to control the swinging motion of the third joint 140 in the same direction, so that the third joint 140 in the embodiment of the present invention has one degree of freedom. Through the arrangement, the twothird driving wires 163 are controlled to be retracted and extended by thethird driving shaft 223, so that the number of the pulleys, the branchingshafts 230 and the drivingshafts 220 can be reduced, thepulley module 200 and thedriving module 300 are miniaturized, a control algorithm can be simplified, and the motion control precision is effectively improved. It is understood that, according to the choice of actual conditions, the number of thethird driving lines 163 on the third joint 140 may be properly adjusted in order to adjust the degree of freedom of the third joint 140, and the invention is not limited herein.

Specifically, in an embodiment of the present invention, as shown in fig. 5 and 6, the surgical actuator 110 may be a clamp having an opening and closing function, the clamp includes afourth driving wire 164 for providing a traction force for an opening and closing movement of the clamp, that is, the clamp has one degree of freedom, thebranch spool 230 further includes athird branch spool 233, the drivingshaft 220 further includes afourth driving shaft 224, one end of thefourth driving wire 164 is fixedly connected to the clamp, the other end of thefourth driving wire 164 passes through the correspondingthird branch spool 233 and is fixedly connected to thefourth driving shaft 224, and thedriving module 300 drives thefourth driving shaft 224 to rotate to release and release thefourth driving wire 164, so as to enable the clamp to perform the opening and closing movement.

Specifically, in an embodiment of the present invention, as shown in fig. 5 and 6, the drivingshaft 220 further includes arotation driving shaft 225, tworotation driving wires 165 are disposed on thetrunk 150, one end of eachrotation driving wire 165 is fixedly connected to thetrunk 150, the other end of eachrotation driving wire 165 is directly fixedly connected to therotation driving shaft 225, and the tworotation driving wires 165 are used for controlling thetrunk 150 to rotate, so that thetrunk 150 has one degree of freedom. It is understood that other ways such as using bevel gears to drive thebody 150 may be used, as the practical matter chooses, and the invention is not limited thereto.

Optionally, therobot arm 100 is provided with a guide channel corresponding to eachdriving wire 160, each drivingwire 160 is fixedly connected to thepulley module 200 through the corresponding guide channel, and there is no collision or friction between the drivingwires 160, so that the drivingwires 160 can smoothly transmit traction force, and the motion control precision of therobot arm 100 is effectively improved.

Specifically, in an embodiment of the present invention, as shown in fig. 7, the drivingshaft 220 includes a drivingspindle 2201 connected to thedriving module 300, areel 2202 rotatably sleeved outside the drivingspindle 2201, and afastener 2203 for limiting the rotation of thereel 2202 relative to the drivingspindle 2201, thedriving wire 160 passes through the corresponding branchingshaft 230 and thepulley shaft 240 and is fixedly connected to thecorresponding reel 2202, and thedriving module 300 is connected to the drivingspindle 2201, so that thedriving module 300 can drive the drivingspindle 2201 to rotate and drive the correspondingreel 2202 to rotate, so as to receive and release thedriving wire 160. After thedriveline 160 is secured to thereel 2202, thereel 2202 can be made to rotate relative to thedrive spindle 2201 until thedriveline 160 is fully tensioned, and thereel 2202 is restrained from rotating relative to thedrive spindle 2201 byfasteners 2203. In this embodiment, thefastening member 2203 may be a set screw, which is inserted into the drivingspindle 2201 after thedriving wire 160 is completely tensioned, and the set screw is sequentially threaded through thereel 2202, although thefastening member 2203 may have other structures according to practical situations, and the invention is not limited thereto.

Specifically, in one embodiment of the present invention, as shown in fig. 8, thedriving module 300 includes amotor plate 310 fixedly connected to theupper substrate 210 and a plurality ofmotors 320 fixedly connected to themotor plate 310, and an output end of eachmotor 320 is fixedly connected to the corresponding driving shaft 220 (driving spindle 2201) through acoupling 330, so that each drivingshaft 220 can be driven individually, i.e., the surgical actuator 110, the first joint 120, the second joint 130, the third joint 140 and thetrunk 150 can be driven individually. Compared with the existing driving mechanism of the mechanical arm, the number of the pulleys, the branchingshaft 230 and the drivingshaft 220 is small, and the number of the correspondingmotors 320 is also small, so that thedriving module 300 is miniaturized.

Optionally, the slidingtable module 400 is detachably connected with thepulley module 200; and/or thedriving module 300 is detachably connected with thepulley module 200; and/or thepulley module 200 may be removably coupled to therobot arm 100. Through the arrangement, the snake-shaped surgical robot provided by the embodiment of the invention can be disassembled so as to be convenient for maintenance or cleaning and disinfection.

In the snake-shaped surgical robot of the embodiment of the invention, the surgical actuator 110 of themechanical arm 100 can move in an opening and closing manner, i.e. the surgical actuator 110 has one degree of freedom; the first joint 120 is capable of bending motion in two directions, i.e., the first joint 120 has two degrees of freedom; the second joint 130 and the third joint 140 are capable of performing a rocking motion, i.e., the second joint 130 and the third joint 140 each have one degree of freedom; thetrunk 150 can rotate in its axial direction, i.e., thetrunk 150 has one degree of freedom; thepulley module 200 is slidably connected to the slidingtable module 400, and thepulley module 200 can drive theentire robot arm 100 to move when sliding relative to the slidingtable module 400, that is, therobot arm 100 further has one degree of freedom, so that therobot arm 100 of the embodiment of the present invention has seven degrees of freedom, which is convenient for a doctor to operate therobot arm 100 to perform operations such as clamping, cutting, suturing, etc.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (9)

Translated fromChinese

1.一种应用于微创手术的蛇形手术机器人，其特征在于，包括滑台模组、滑动连接于所述滑台模组上的滑轮模组、设于所述滑轮模组上的驱动模组以及与所述滑轮模组连接的机械臂，所述驱动模组通过所述滑轮模组为所述机械臂提供动力；1. a serpentine surgical robot applied to minimally invasive surgery is characterized in that, comprising a sliding table module, a pulley module that is slidably connected on the described sliding table module, a drive that is positioned on the described pulley module a module and a mechanical arm connected with the pulley module, the drive module provides power for the mechanical arm through the pulley module;所述机械臂包括手术执行器、与所述手术执行器连接且能弯曲运动的第一关节以及与所述第一关节连接且能摇摆运动的第二关节，其中，所述第一关节为可连续变形的连续体结构，所述第二关节为齿轮啮合结构；The robotic arm includes a surgical implement, a first joint connected with the surgical implement and capable of bending motion, and a second joint connected with the first joint and capable of swinging motion, wherein the first joint is a movable joint. Continuously deformed continuum structure, the second joint is a gear meshing structure;所述第二关节包括远端杆件、近端杆件、第一齿轮副、第二齿轮副和固定盘，其中，所述远端杆件和所述固定盘转动连接，所述近端杆件和所述固定盘转动连接；所述第一齿轮副固定于所述远端杆件上，所述第二齿轮副固定于所述近端杆件上，所述第一齿轮副和所述第二齿轮副啮合连接；The second joint includes a distal rod, a proximal rod, a first gear pair, a second gear pair and a fixed disk, wherein the distal rod and the fixed disk are rotatably connected, and the proximal rod The first gear pair is fixed on the distal rod member, the second gear pair is fixed on the proximal rod member, the first gear pair and the The second gear pair is meshed and connected;所述第二关节还包括用于为所述第二关节的摇摆运动提供牵引力的第二驱动线，所述第二驱动线的一端与所述远端杆件固定连接，所述第二驱动线的远离所述远端杆件的一端穿过所述固定盘和所述近端杆件后与所述滑轮模组固定连接。The second joint further includes a second driving wire for providing traction force for the rocking motion of the second joint, one end of the second driving wire is fixedly connected with the distal rod, the second driving wire The end away from the distal rod piece passes through the fixing plate and the proximal rod piece and is fixedly connected to the pulley module.2.如权利要求1所述的应用于微创手术的蛇形手术机器人，其特征在于，所述第一关节包括依次转动连接的远端椎骨、至少一个间隔椎骨以及近端椎骨，所述远端椎骨与所述手术执行器连接，所述近端椎骨与所述第二关节连接；2 . The serpentine surgical robot for minimally invasive surgery according to claim 1 , wherein the first joint comprises a distal vertebra, at least one spaced vertebra and a proximal vertebra that are rotated and connected in sequence, and the distal vertebra is rotatably connected. 3 . The end vertebra is connected with the surgical implement, and the proximal vertebra is connected with the second joint;所述第一关节还包括用于为所述第一关节的弯曲运动提供牵引力的第一驱动线，所述第一驱动线的一端与所述远端椎骨固定连接，所述第一驱动线的远离所述远端椎骨的一端依次穿过所述间隔椎骨和所述近端椎骨后与所述滑轮模组固定连接。The first joint further includes a first drive wire for providing traction for the bending motion of the first joint, one end of the first drive wire is fixedly connected to the distal vertebra, and the first drive wire has a The end away from the distal vertebrae passes through the spaced vertebrae and the proximal vertebrae in sequence and is fixedly connected to the pulley module.3.如权利要求2所述的应用于微创手术的蛇形手术机器人，其特征在于，所述第一关节上设有用于保持所述第一关节的形状的弹性支撑件，所述弹性支撑件依次固定连接于所述远端椎骨、所述间隔椎骨及所述近端椎骨上。3 . The snake-shaped surgical robot for minimally invasive surgery according to claim 2 , wherein the first joint is provided with an elastic support member for maintaining the shape of the first joint, and the elastic support The member is fixedly connected to the distal vertebra, the spaced vertebra and the proximal vertebra in sequence.4.如权利要求1所述的应用于微创手术的蛇形手术机器人，其特征在于，所述机械臂还包括与所述第二关节连接且能摇摆运动的第三关节以及与所述第三关节连接且能沿自身轴向转动的躯干，所述躯干与所述滑轮模组连接。4. The snake-shaped surgical robot applied to minimally invasive surgery according to claim 1, wherein the mechanical arm further comprises a third joint connected with the second joint and capable of swinging motion, and a third joint connected with the second joint. The trunk is connected with three joints and can rotate along its own axis, and the trunk is connected with the pulley module.5.如权利要求4所述的应用于微创手术的蛇形手术机器人，其特征在于，所述第二关节的结构与所述第三关节的结构相同。5 . The snake-shaped surgical robot for minimally invasive surgery according to claim 4 , wherein the structure of the second joint is the same as that of the third joint. 6 .6.如权利要求1-5任一项所述的应用于微创手术的蛇形手术机器人，其特征在于，所述机械臂上设有用于为所述机械臂的运动提供牵引力的驱动线，所述滑轮模组包括下基板、多个驱动轴、多个分线轴和多个滑轮轴，多个驱动轴、多个分线轴和多个滑轮轴分别设于所述下基板上，所述驱动线分别经过对应的所述分线轴和所述滑轮轴后固定连接于对应的所述驱动轴，所述驱动模组用于驱动多个所述驱动轴转动。6. The serpentine surgical robot applied to minimally invasive surgery according to any one of claims 1-5, wherein the mechanical arm is provided with a drive wire for providing traction for the movement of the mechanical arm, The pulley module includes a lower base plate, a plurality of drive shafts, a plurality of branch shafts and a plurality of pulley shafts, and the plurality of drive shafts, the plurality of branch shafts and the plurality of pulley shafts are respectively arranged on the lower The wires pass through the corresponding spool shafts and the pulley shafts respectively and are fixedly connected to the corresponding driving shafts, and the driving module is used for driving a plurality of the driving shafts to rotate.7.如权利要求6所述的应用于微创手术的蛇形手术机器人，其特征在于，所述驱动轴包括与所述驱动模组连接的驱动主轴、转动套设于所述驱动主轴外的绕线轮以及用于限制所述绕线轮相对所述驱动主轴转动的紧固件，所述驱动线分别经过对应的所述分线轴和所述滑轮轴后固定连接于对应的所述绕线轮上。7. The serpentine surgical robot applied to minimally invasive surgery according to claim 6, wherein the drive shaft comprises a drive spindle connected with the drive module, and a drive spindle rotatably sleeved outside the drive spindle A winding wheel and a fastener for restricting the rotation of the winding wheel relative to the driving main shaft, the driving wire is fixedly connected to the corresponding winding wire after passing through the corresponding spool shaft and the pulley shaft respectively on the wheel.8.如权利要求6所述的应用于微创手术的蛇形手术机器人，其特征在于，所述驱动模组包括多个电机，每一所述电机的输出端通过联轴器与对应的所述驱动轴固定连接。8. The serpentine surgical robot for minimally invasive surgery according to claim 6, wherein the drive module comprises a plurality of motors, and the output end of each motor is connected to the corresponding motor through a coupling. The drive shaft is fixedly connected.9.如权利要求1-5任一项所述的应用于微创手术的蛇形手术机器人，其特征在于，所述滑台模组与所述滑轮模组可拆卸连接；和/或，9. The serpentine surgical robot applied to minimally invasive surgery according to any one of claims 1-5, wherein the sliding table module and the pulley module are detachably connected; and/or,所述驱动模组与所述滑轮模组可拆卸连接；和/或，The drive module is detachably connected to the pulley module; and/or,所述滑轮模组与所述机械臂可拆卸连接。The pulley module is detachably connected to the mechanical arm.

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