技术领域technical field
本发明属于医疗器械领域，具体地说是一种模块化手术机器人驱动装置，适用于完成微创手术。The invention belongs to the field of medical instruments, in particular to a driving device for a modular surgical robot, which is suitable for completing minimally invasive surgery.
背景技术Background technique
微创技术指的是应用先进的电子电热光学等设备和技术，以电子镜像代替肉眼直视，以细长器械代替常规手术刀来完成对病患体内病灶的观察诊断及治疗，并力求创口最小。随着微创手术机器人的出现，医生可以在该机器人的帮助下实现微创、精准、高效的手术，微创手术机器人的出现就很好地辅助医生完成微创手术。微创手术机器人通过微小手术切口，运用精密手术机械臂及多自由度手术器械完成病变组织的切割、烧蚀和缝合等操作，能够提供高清晰、立体的手术视野，手术器械具有很好的灵活度和准确度，可以模拟手指灵活操作。Minimally invasive technology refers to the application of advanced electronic, electrothermal and optical equipment and technologies, using electronic mirrors instead of direct vision with the naked eye, and using slender instruments instead of conventional scalpels to complete the observation, diagnosis and treatment of lesions in patients, and strive to minimize the wound. With the emergence of minimally invasive surgical robots, doctors can achieve minimally invasive, precise and efficient surgery with the help of the robot. Minimally invasive surgical robots use precision surgical robotic arms and multi-degree-of-freedom surgical instruments to complete operations such as cutting, ablation, and suturing of diseased tissues through tiny surgical incisions. They can provide high-definition, three-dimensional surgical vision. The surgical instruments have good flexibility and accuracy, and can simulate the flexible operation of fingers.
单孔腔镜手术就是典型的微创手术，可以利用内窥镜及多支手术器械，通过一微小切口进行复杂的手术操作，具有出血少、疼痛感轻、术后恢复快且美观、术后感染风险小等优点。将单孔腔镜手术驱动装置进行模块化集成，方便手术过程中手术器械的快速更换，实现了手术器械的轻量化和多自由度集成驱动，实现了手术创口小，简化了单孔腔镜手术驱动装置的构成。Single-port laparoscopic surgery is a typical minimally invasive surgery. It can use endoscopes and multiple surgical instruments to perform complex surgical operations through a tiny incision. It has the advantages of less bleeding, less pain, fast and beautiful postoperative recovery, and low risk of postoperative infection. The modular integration of single-hole laparoscopic surgery driving device facilitates the rapid replacement of surgical instruments during the operation, realizes the lightweight and multi-degree-of-freedom integrated drive of surgical instruments, realizes small surgical wounds, and simplifies the composition of single-hole laparoscopic surgery driving device.
发明内容Contents of the invention
为了满足微创手术的需要，本发明的目的在于提供一种模块化手术机器人驱动装置。In order to meet the needs of minimally invasive surgery, the object of the present invention is to provide a modular surgical robot driving device.
本发明的目的是通过以下技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明包括C型臂、基座、驱动模块、手术器械及多通道穿刺器，其中C型臂的一端安装有驱动电机，该驱动电机的输出轴与所述基座相连，驱动基座旋转，所述C型臂的另一端设有多通道穿刺器；所述基座上设有多个装配工位，每个装配工位处均安装有一驱动模块，每个所述驱动模块的近端均安装在一个装配工位上，每个所述驱动模块的远端均可拆卸地安装有手术器械，各所述手术器械的驱动杆为柔性驱动杆，每个手术器械的柔性驱动杆均由所述多通道穿刺器穿过。The present invention comprises a C-shaped arm, a base, a driving module, a surgical instrument and a multi-channel puncturer, wherein a drive motor is installed at one end of the C-shaped arm, and the output shaft of the driving motor is connected to the base to drive the base to rotate. The other end of the C-shaped arm is provided with a multi-channel puncturer; the base is provided with a plurality of assembly stations, each assembly station is equipped with a drive module, the proximal end of each drive module is installed on an assembly station, and the distal end of each drive module is detachably installed with surgical instruments. A drive rod, the flexible drive rod of each surgical instrument is passed through by the multi-channel trocar.
其中：多个所述装配工位沿圆周方向均布，或呈“十”字形布置，或呈扇形布置。Wherein: a plurality of said assembly stations are evenly distributed along the circumferential direction, or arranged in a "ten" shape, or arranged in a fan shape.
所述驱动模块包括可伸缩导轨模块及手术器械驱动模块，该可伸缩导轨模块的近端安装于所述装配工位上，所述手术器械驱动模块与可伸缩导轨模块的远端相连。The drive module includes a telescopic guide rail module and a surgical instrument drive module, the proximal end of the telescopic guide rail module is installed on the assembly station, and the surgical instrument drive module is connected to the distal end of the telescopic guide rail module.
所述手术器械驱动模块包括盒体、限位机构、锁紧机构、动力装置集成模块及隔离装置，该盒体与可伸缩导轨模块的远端相连，所述隔离装置安装于手术器械的近端；所述限位机构包括导柱、盖板A、活动限位板及弹簧A，所述动力装置集成模块包括固接在盒体上的安装板及安装于该安装板上的多个动力装置，该盖板A通过多根导柱与所述安装板相连，所述活动限位板可往复移动地位于盖板A与安装板之间，各导柱由所述活动限位板穿过，每根所述导柱上均套设有弹簧A，该弹簧A的两端分别与活动限位板及安装板抵接；每个所述动力装置的输出端均连接有对接盘，各所述对接盘分别由活动限位板及盖板A穿过；所述隔离装置包括转接盘、盖板B及隔离板，该隔离板安装于手术器械的近端，在隔离板上通过盖板B封装有与所述对接盘数量相同、一一对应的转接盘，所述转接盘的一端与对应的对接盘连接，另一端与所述手术器械的柔性驱动杆相连，所述隔离板在安装手术器械时与盖板A插接，并与安装在盖板A上的所述锁紧机构相连。The driving module of the surgical instrument includes a box body, a limit mechanism, a locking mechanism, a power unit integration module and an isolation device. The box body is connected to the far end of the telescopic guide rail module, and the isolation device is installed at the proximal end of the surgical instrument; the limit mechanism includes a guide post, a cover plate A, a movable limit plate and a spring A. Located between the cover plate A and the mounting plate, each guide post is passed through by the movable limiting plate, each of the guide posts is covered with a spring A, and the two ends of the spring A abut against the movable limiting plate and the mounting plate respectively; the output end of each of the power devices is connected to a docking plate, and each of the docking plates is respectively passed through the movable limiting plate and the cover plate A; the isolation device includes a transfer plate, a cover plate B and an isolation plate. One-to-one corresponding adapter plate, one end of the adapter plate is connected to the corresponding docking plate, and the other end is connected to the flexible driving rod of the surgical instrument. The isolation plate is plugged with the cover plate A when the surgical instrument is installed, and connected to the locking mechanism installed on the cover plate A.
所述盖板A上开有豁口，所述活动限位板上设有与所述豁口对应的顶块A，所述隔离板上设有与所述豁口对应的顶块B，所述隔离板与盖板A插接时，所述顶块B由所述豁口穿过与所述顶块A抵接，将所述活动限位板向盒体方向推动，所述弹簧A处于压缩状态；所述隔离板脱离盖板A后，所述活动限位板通过弹簧A的弹力作用复位。There is a gap on the cover A, the movable limiting plate is provided with a top block A corresponding to the gap, and the isolation plate is provided with a top block B corresponding to the gap. When the isolation plate and the cover A are plugged in, the top block B passes through the gap and contacts the top block A, pushing the movable limiting plate toward the box body, and the spring A is in a compressed state;
所述活动限位板上开设有与对接盘数量相同、一一对应的定位孔，每个所述对接盘均由对应的定位孔穿过；每个所述定位孔下方的活动限位板上均设有限位挡块，每个所述对接盘上均安装有用于找零的螺钉。The movable limiting plate is provided with the same number of docking discs, one-to-one corresponding positioning holes, each of the docking discs is passed through the corresponding positioning hole; the movable limiting plate below each of the positioning holes is provided with a limit stopper, and each of the docking discs is equipped with screws for change.
所述锁紧机构包括按钮、弹簧B及安装架，该安装架安装于盖板A上，所述安装架上设有卡槽A，所述按钮穿设于卡槽A中，该按钮的一端为按压端，另一端呈勾状，所述按钮的另一端与安装架之间设有弹簧B；所述隔离板上开设有供按钮呈勾状另一端穿过的锁紧孔。The locking mechanism includes a button, a spring B and a mounting frame. The mounting frame is installed on the cover plate A. The mounting frame is provided with a card slot A. The button is inserted in the card slot A. One end of the button is a pressing end, and the other end is hook-shaped. A spring B is provided between the other end of the button and the mounting frame; a locking hole is provided on the isolation plate for the other end of the button to pass through.
所述对接盘的一端设有用于与转接盘连接的凸起A，另一端开设有安装孔；所述转接盘的一侧设有用于与对接盘的凸起A连接的凹槽B，另一侧设有用于与所述手术器械连接的凸起B。One end of the docking plate is provided with a protrusion A for connecting with the adapter plate, and the other end is provided with a mounting hole; one side of the adapter plate is provided with a groove B for connecting with the protrusion A of the docking plate, and the other side is provided with a protrusion B for connecting with the surgical instrument.
所述盖板A朝向隔离板的一侧表面向隔离板方向延伸、形成延伸部A，该延伸部A上开设有凹槽A；所述隔离板上设有延伸部B，该延伸部B在所述隔离板与盖板A插接时插入凹槽A中，所述延伸部B上开设有供手术器械插入的卡槽B；所述卡槽B两侧的隔离板上设有导轨。The cover plate A extends toward the direction of the isolation plate from one side surface of the isolation plate to form an extension A, and a groove A is provided on the extension A; an extension B is provided on the isolation plate, and the extension B is inserted into the groove A when the isolation plate and the cover A are plugged together, and the extension B is provided with a slot B for insertion of surgical instruments; guide rails are provided on the isolation plates on both sides of the slot B.
所述隔离板朝向限位机构的一侧外边缘安装有隔离罩，所述盒体、限位机构、锁紧机构、动力装置集成模块、C型臂、基座及可伸缩导轨模块均被罩于该隔离罩内部。An isolation cover is installed on the outer edge of the isolation plate facing the limit mechanism, and the box body, limit mechanism, locking mechanism, power unit integration module, C-arm, base and retractable guide rail module are all covered inside the isolation cover.
本发明的优点与积极效果为：Advantage of the present invention and positive effect are:
本发明采用模块化设计，将动力装置及相关传动部件集成封装于一体，实现了手术器械驱动部分的模块化；可伸缩导轨模块使驱动装置整体空间更加开放，手术器械支持快速拆装，可同时支持多支手术器械的多自由度驱动，空间布置集成度高，整体轻量化，可靠性高；同时由于手术器械驱动杆为柔性，可适应多种穿刺器结构及驱动装置的布局。The present invention adopts a modular design, integrates and encapsulates the power device and related transmission components, and realizes the modularization of the driving part of the surgical instrument; the retractable guide rail module makes the overall space of the driving device more open, and the surgical instrument supports quick disassembly and assembly, and can simultaneously support the multi-degree-of-freedom drive of multiple surgical instruments.
附图说明Description of drawings
图1为本发明的立体结构示意图(手术器械处于收回状态)；Fig. 1 is the three-dimensional structure schematic diagram of the present invention (surgical instrument is in retracted state);
图2为本发明的结构主视图；Fig. 2 is a structural front view of the present invention;
图3为本发明的立体结构示意图(手术器械处于展开状态)；Fig. 3 is the three-dimensional structure schematic diagram of the present invention (surgical instrument is in unfolded state);
图4为本发明C型臂的立体结构示意图；Fig. 4 is a schematic diagram of the three-dimensional structure of the C-arm of the present invention;
图5为本发明手术器械的立体结构示意图；Fig. 5 is the schematic diagram of the three-dimensional structure of the surgical instrument of the present invention;
图6为本发明基座上一种装配工位的布局结构；Fig. 6 is a layout structure of an assembly station on the base of the present invention;
图7为本发明基座上另一种装配工位的布局结构；Fig. 7 is the layout structure of another assembly station on the base of the present invention;
图8为本发明基座上再一种装配工位的布局结构；Fig. 8 is the layout structure of another assembly station on the base of the present invention;
图9为本发明多通道穿刺器的立体结构示意图；Fig. 9 is a schematic diagram of the three-dimensional structure of the multi-channel trocar of the present invention;
图10为本发明驱动模块中盒体、限位机构、锁紧机构及动力装置集成模块的立体结构示意图之一；Fig. 10 is one of the three-dimensional structural schematic diagrams of the box body, the limit mechanism, the locking mechanism and the power device integration module in the drive module of the present invention;
图11为本发明驱动模块中盒体、限位机构、锁紧机构及动力装置集成模块的立体结构示意图之二；Fig. 11 is the second schematic diagram of the three-dimensional structure of the box body, the limit mechanism, the locking mechanism and the integrated module of the power device in the drive module of the present invention;
图12为本发明驱动模块中去掉盒体后限位机构、锁紧机构及动力装置集成模块的立体结构示意图之一；Fig. 12 is one of the schematic diagrams of the three-dimensional structure of the limit mechanism, the locking mechanism and the integrated module of the power device after removing the box body in the drive module of the present invention;
图13为本发明驱动模块中去掉盒体及盖板A后限位机构、锁紧机构及动力装置集成模块的立体结构示意图之二；Fig. 13 is the second schematic diagram of the three-dimensional structure of the limit mechanism, the locking mechanism and the integrated module of the power device after removing the box body and the cover plate A in the drive module of the present invention;
图14为本发明驱动模块中盒体、限位机构、锁紧机构及动力装置集成模块的主视图；Fig. 14 is a front view of the box body, the limit mechanism, the locking mechanism and the integrated module of the power device in the drive module of the present invention;
图15为本发明驱动模块中限位机构中活动限位板的立体结构示意图；Fig. 15 is a schematic diagram of the three-dimensional structure of the movable limiting plate in the limiting mechanism of the drive module of the present invention;
图16为本发明驱动模块中动力装置集成模块中对接盘的立体结构示意图；Fig. 16 is a three-dimensional structural schematic diagram of the docking plate in the power device integration module of the drive module of the present invention;
图17为本发明驱动模块中隔离装置的立体结构示意图；Fig. 17 is a schematic diagram of the three-dimensional structure of the isolation device in the drive module of the present invention;
其中：1为盒体，2为限位机构，201为导柱，202为盖板A，203为活动限位板，204为弹簧A，205为限位挡块，206为定位孔，207为顶块A，208为延伸部A，209为凹槽A，210为豁口，3为锁紧机构，301为卡槽A，302为按钮，303为弹簧B，304为安装架，4为动力装置集成模块，401为安装板，402为动力装置，403为对接盘，4031为凸起A，4032为安装孔，5为隔离装置，501为转接盘，5011为凸起B，502为盖板B，503为隔离板，504为顶块B，505为导轨，506为延伸部B，507为卡槽B，508为锁紧孔，509为隔离罩，6为手术器械，7为C型臂，8为基座，9为可伸缩导轨模块，10为手术器械驱动模块，11为多通道穿刺器，12为柔性驱动杆，13为装配工位。Among them: 1 is the box body, 2 is the limit mechanism, 201 is the guide post, 202 is the cover plate A, 203 is the movable limit plate, 204 is the spring A, 205 is the limit block, 206 is the positioning hole, 207 is the top block A, 208 is the extension A, 209 is the groove A, 210 is the gap, 3 is the locking mechanism, 301 is the card slot A, 302 is the button, 303 is the spring B, 304 is the installation 4 is the power unit integrated module, 401 is the mounting plate, 402 is the power unit, 403 is the docking plate, 4031 is the protrusion A, 4032 is the installation hole, 5 is the isolation device, 501 is the adapter plate, 5011 is the protrusion B, 502 is the cover plate B, 503 is the isolation plate, 504 is the top block B, 505 is the guide rail, 506 is the extension part B, 507 is the slot B, and 508 is the locking hole , 509 is an isolation cover, 6 is a surgical instrument, 7 is a C-arm, 8 is a base, 9 is a retractable guide rail module, 10 is a surgical instrument driving module, 11 is a multi-channel puncture device, 12 is a flexible driving rod, and 13 is an assembly station.
具体实施方式Detailed ways
下面结合附图对本发明作进一步详述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1～5所示，本发明包括C型臂7、基座8、驱动模块、手术器械6及多通道穿刺器11，其中C型臂7为机械臂系统的末端，该C型臂7的一端内部安装有驱动电机，该驱动电机的输出轴与转动安装于C型臂7一端的基座8相连，驱动基座8旋转，C型臂7的另一端设有多通道穿刺器11；基座8上设有多个装配工位13，每个装配工位13处均安装有一驱动模块，每个驱动模块的近端均安装在一个装配工位13上，每个驱动模块的远端均可拆卸地安装有手术器械6，各手术器械6的驱动杆为柔性驱动杆12，每个手术器械6的柔性驱动杆12均由多通道穿刺器11穿过。As shown in Figures 1 to 5, the present invention includes a C-shaped arm 7, a base 8, a driving module, a surgical instrument 6, and a multi-channel trocar 11, wherein the C-shaped arm 7 is the end of the mechanical arm system, and a driving motor is installed inside one end of the C-shaped arm 7. module, the proximal end of each driving module is installed on an assembly station 13, and the distal end of each driving module is detachably installed with a surgical instrument 6, the driving rod of each surgical instrument 6 is a flexible driving rod 12, and the flexible driving rod 12 of each surgical instrument 6 is passed through by a multi-channel puncturer 11.
本实施例的装配工位13为四个，沿圆周方向均布，如图6所示，每个装配工位13均安装一个驱动模块；或者，四个装配工位13呈“十”字形布置，分别位于“十”字的四角，如图7所示；或者，四个装配工位13呈扇形布置，如图8所示。There are four assembly stations 13 in this embodiment, which are evenly distributed along the circumferential direction. As shown in FIG. 6, each assembly station 13 is equipped with a drive module; or, the four assembly stations 13 are arranged in a "ten" shape, and are respectively located at the four corners of the "ten", as shown in FIG. 7; or, the four assembly stations 13 are arranged in a fan shape, as shown in FIG. 8.
多通道穿刺器11的通道数目根据手术器械的数目可以灵活调整，通常数目可为三通道、四通道或五通道；多通道穿刺器11的外轮廓形状也可根据具体使用场景而调整，可为圆形或长圆形。如图9所示，本实施例的多通道穿刺器11可采用申请日为2020年6月19日、申请号为202021149829.5的“可用于腔镜手术的多通道穿刺器”。The number of channels of the multi-channel trocar 11 can be flexibly adjusted according to the number of surgical instruments, and usually the number can be three, four or five channels; the outer contour shape of the multi-channel trocar 11 can also be adjusted according to specific usage scenarios, which can be circular or oval. As shown in FIG. 9 , the multi-channel trocar 11 of this embodiment can adopt the "multi-channel trocar that can be used for laparoscopic surgery" with an application date of June 19, 2020 and an application number of 202021149829.5.
本实施例的驱动模块包括可伸缩导轨模块9及手术器械驱动模块10，该可伸缩导轨模块9的近端安装于装配工位13上，手术器械驱动模块10与可伸缩导轨模块9的远端相连。本实施例的可伸缩导轨模块9可采用伸缩气缸。The drive module of this embodiment includes a retractable guide rail module 9 and a surgical instrument drive module 10 , the proximal end of the retractable guide rail module 9 is installed on the assembly station 13 , and the surgical instrument drive module 10 is connected to the distal end of the retractable guide rail module 9 . The telescopic guide rail module 9 of this embodiment can adopt a telescopic air cylinder.
如图10～17所示，本实施例的手术器械驱动模块10包括盒体1、限位机构2、锁紧机构3、动力装置集成模块4及隔离装置5，该盒体1与可伸缩导轨模块9的远端相连，隔离装置5安装于手术器械6的近端。As shown in FIGS. 10 to 17 , the surgical instrument driving module 10 of this embodiment includes a box body 1 , a limit mechanism 2 , a locking mechanism 3 , a power unit integration module 4 and an isolating device 5 .
本实施例的限位机构2包括导柱201、盖板A202、活动限位板203及弹簧A204，动力装置集成模块4包括固接在盒体1上的安装板401及安装于该安装板401上的多个动力装置402，该盖板A202安装于通过多根导柱201与安装板401相连，活动限位板203可往复移动地位于盖板A202与安装板401之间，各导柱201由活动限位板203穿过，每根导柱201的两端分别固接于盖板A202及安装板401上；每根导柱201上均套设有弹簧A204，该弹簧A204的两端分别与活动限位板203及安装板401抵接。每个动力装置402的输出端均连接有对接盘403，各对接盘403分别由活动限位板203及盖板A202穿过。本实施例的安装板401为L型，L型的一条边与盒体1固接，各个动力装置402均安装于L型的另一条边，且各导柱201也固接在L型的另一条边。动力装置402的数量可以由驱动的具体需求变化，本实施例的动力装置402采用直流伺服电机。The position limiting mechanism 2 of this embodiment includes a guide post 201, a cover plate A202, a movable limit plate 203, and a spring A204. The power device integration module 4 includes a mounting plate 401 fixed on the box body 1 and a plurality of power devices 402 mounted on the mounting plate 401. The cover plate A202 is installed on the mounting plate 401 through a plurality of guide posts 201. The movable limit plate 203 is reciprocally movable between the cover plate A202 and the mounting plate 40. 1, each guide post 201 passes through the movable limit plate 203, and the two ends of each guide post 201 are fixedly connected to the cover plate A202 and the mounting plate 401 respectively; each guide post 201 is provided with a spring A204, and the two ends of the spring A204 abut against the movable limit plate 203 and the mounting plate 401 respectively. The output end of each power device 402 is connected with a docking plate 403, and each docking plate 403 is respectively passed through by the movable limiting plate 203 and the cover plate A202. The mounting plate 401 of this embodiment is L-shaped, one side of the L-shaped is fixedly connected to the box body 1, each power unit 402 is installed on the other side of the L-shaped, and each guide post 201 is also fixedly connected to the other side of the L-shaped. The quantity of the power unit 402 can be changed according to the specific requirements of the drive, and the power unit 402 of this embodiment adopts a DC servo motor.
本实施例的隔离装置5包括转接盘501、盖板B502及隔离板503，该隔离板503安装于手术器械6的近端，在隔离板503上通过盖板B502封装有与对接盘403数量相同、一一对应的转接盘501，转接盘501的一端与对应的对接盘403连接，另一端与手术器械6的柔性驱动杆12相连，隔离板503在安装手术器械6时与盖板A202插接，并与锁紧机构3相连。本实施例在隔离板503朝向限位机构2的一侧外边缘安装有隔离罩509，除手术器械6及多通道穿刺器11之外，盒体1、限位机构2、锁紧机构3、动力装置集成模块4、C型臂7、基座8及可伸缩导轨模块9均被罩在隔离罩509内。本实施例的隔离罩509为塑料材质。The isolating device 5 of the present embodiment comprises an adapter plate 501, a cover plate B502 and an isolating plate 503. The isolating plate 503 is mounted on the proximal end of the surgical instrument 6. The isolating plate 503 is packaged with the adapter plate 501 having the same number as the docking plate 403 and one-to-one correspondence with the docking plate 403 by the cover plate B502. One end of the adapter plate 501 is connected with the corresponding docking plate 403, and the other end is connected with the flexible driving rod 12 of the surgical instrument 6. The instrument 6 is inserted into the cover plate A202 and connected to the locking mechanism 3 . In this embodiment, an isolation cover 509 is installed on the outer edge of the isolation plate 503 facing the limit mechanism 2. In addition to the surgical instrument 6 and the multi-channel puncture device 11, the box body 1, the limit mechanism 2, the locking mechanism 3, the power unit integration module 4, the C-arm 7, the base 8 and the retractable guide rail module 9 are all covered in the isolation cover 509. The isolation cover 509 of this embodiment is made of plastic.
本实施例的锁紧机构3包括按钮302、弹簧B303及安装架304，该安装架304安装于盖板A202上，安装架304上设有卡槽A301，按钮302穿设于卡槽A301中，该按钮302的一端为按压端，另一端呈勾状，按钮302的另一端与安装架304之间设有弹簧B303；隔离板503上开设有供按钮302呈勾状另一端穿过的锁紧孔508。The locking mechanism 3 of this embodiment includes a button 302, a spring B303 and a mounting frame 304. The mounting frame 304 is installed on the cover plate A202. The mounting frame 304 is provided with a draw-in groove A301. 02 is a locking hole 508 through which the other end of the hook shape passes.
本实施例的盖板A202上开有豁口210，隔离板503与盖板A202插接时由豁口210穿过将活动限位板203向盒体1方向推动，弹簧A204处于压缩状态；隔离板503脱离盖板A202后，活动限位板203通过弹簧A204的弹力作用复位。本实施例是在盖板A202的左右两侧各开设一个豁口210，活动限位板203左右两侧设有与豁口210对应的顶块A207，隔离板503左右两侧设有与豁口210对应的顶块B504，隔离板503与盖板A202插接时，顶块B504由豁口210穿过与顶块A207抵接，进而将活动限位板203沿导柱201向盒体1方向推动。The cover plate A202 of this embodiment has a gap 210. When the isolation plate 503 is plugged into the cover plate A202, the gap 210 passes through the gap 210 to push the movable limiting plate 203 toward the box body 1, and the spring A204 is in a compressed state; after the isolation plate 503 is separated from the cover plate A202, the movable limiting plate 203 is reset by the elastic force of the spring A204. In this embodiment, a gap 210 is respectively provided on the left and right sides of the cover plate A202, the left and right sides of the movable limiting plate 203 are provided with a top block A207 corresponding to the gap 210, and the left and right sides of the isolation plate 503 are provided with a top block B504 corresponding to the gap 210. 201 is pushed in the direction of box body 1.
本实施例的活动限位板203上开设有与对接盘403数量相同、一一对应的定位孔206，每个对接盘403均由对应的定位孔206穿过，再由盖板A202穿出；每个定位孔206下方的活动限位板203上均设有限位挡块205。本实施例的对接盘403的一端端面设有用于与转接盘501连接的凸起A4031，该凸起A4031为条状；对接盘403的另一端开设有安装孔4032，本实施例的安装孔4032为两个，一个用于安装找零位(机械限位)的螺钉，另一个用于与动力装置402的输出端相连。螺钉位于活动限位板203朝向隔离板503的一侧。The movable limiting plate 203 of the present embodiment is provided with the positioning holes 206 having the same number as the docking discs 403 and one-to-one correspondence, and each docking disc 403 passes through the corresponding positioning holes 206, and then passes through the cover plate A202; the movable limiting plate 203 below each positioning hole 206 is provided with a limiting block 205. One end face of the docking plate 403 in this embodiment is provided with a protrusion A4031 for connecting with the adapter plate 501. The protrusion A4031 is strip-shaped; The screw is located on the side of the movable limiting plate 203 facing the isolation plate 503 .
本实施例转接盘501的一侧设有用于与对接盘403连接的凹槽B，另一侧设有用于与手术器械6连接的凸起B5011。凹槽B为条形槽，以容纳条状的凸起A4031；凸起B5011也为条状，与手术器械6的驱动杆相连。In this embodiment, one side of the adapter plate 501 is provided with a groove B for connecting with the docking plate 403 , and the other side is provided with a protrusion B5011 for connecting with the surgical instrument 6 . The groove B is a strip-shaped groove to accommodate the strip-shaped protrusion A4031; the protrusion B5011 is also strip-shaped and connected with the driving rod of the surgical instrument 6.
本实施例的盖板A202朝向隔离板503的一侧表面向隔离板503方向延伸、形成延伸部A208，该延伸部A208上开设有凹槽A209；隔离板503上设有延伸部B506，该延伸部B506在隔离板503与盖板A202插接时插入凹槽A209中，延伸部B506上开设有供手术器械6插入的卡槽B507，在卡槽B507两侧的隔离板503上设有导轨505，手术器械6由该导轨505插入。The cover plate A202 of this embodiment extends toward the side surface of the isolation plate 503 toward the isolation plate 503 to form an extension portion A208, and the extension portion A208 is provided with a groove A209; the isolation plate 503 is provided with an extension portion B506, and the extension portion B506 is inserted into the groove A209 when the isolation plate 503 and the cover plate A202 are plugged. The isolation plates 503 on both sides of the B507 are provided with guide rails 505 through which the surgical instrument 6 is inserted.
本发明的隔离装置5的材料可以为高分子材料，如ABS，加工方式可以是注塑成型或3D打印成型。The material of the isolation device 5 of the present invention can be a polymer material, such as ABS, and the processing method can be injection molding or 3D printing.
本发明可同时安装多个手术器械6，每个手术器械6及其对应的手术器械驱动模块10均安装在独立的可伸缩导轨模块9上，数目可由具体需求而定，这里不做约束。本实施例中采用四路可伸缩导轨模块9，即采用一支内窥镜和三个手术器械的组合。The present invention can install multiple surgical instruments 6 at the same time, and each surgical instrument 6 and its corresponding surgical instrument drive module 10 are installed on an independent retractable guide rail module 9, the number can be determined by specific requirements, and there is no restriction here. In this embodiment, a four-way retractable rail module 9 is adopted, that is, a combination of an endoscope and three surgical instruments is used.
本发明的手术器械6具有由可伸缩导轨模块9驱动的伸缩自由度，由基座8旋转带动的转动自由度，随C型臂7俯仰或偏转的俯仰自由度或偏转自由度。The surgical instrument 6 of the present invention has a telescopic degree of freedom driven by the telescopic guide rail module 9 , a rotational degree of freedom driven by the rotation of the base 8 , and a pitching degree of freedom or a deflection degree of freedom with the pitch or deflection of the C-arm 7 .
本发明的安装及工作原理为：Installation and working principle of the present invention are:
先在基座8上的各装配工位13分别安装可伸缩导轨模块9，然后将组装好的手术器械驱动模块10安装在可伸缩导轨模块9的远端，最后进行多通道穿刺器11的安装和手术器械6的安装，手术器械6由隔离板503上的导轨505沿径向滑入，每个手术器械6的柔性驱动杆12均由C型臂7另一端安装的多通过穿刺器11穿过First install the retractable guide rail module 9 at each assembly station 13 on the base 8, then install the assembled surgical instrument drive module 10 on the distal end of the retractable guide rail module 9, and finally install the multi-channel trocar 11 and the surgical instrument 6. The surgical instrument 6 slides in radially from the guide rail 505 on the isolation plate 503, and the flexible driving rod 12 of each surgical instrument 6 is passed through the trocar 11 installed at the other end of the C-shaped arm 7.
限位机构2中的活动限位板203在自然状态下被弹簧A204顶起，此时动力装置402的输出端带动对接盘403旋转，对接盘403上的螺钉随对接盘403旋转，对接盘403正反向各旋转一次，每个方向的旋转均与活动限位板203上的限位挡块205接触后停止，这样即完成限位找零的作用。The movable limiting plate 203 in the limiting mechanism 2 is lifted up by the spring A204 in a natural state. At this time, the output end of the power device 402 drives the docking plate 403 to rotate, and the screw on the docking plate 403 rotates with the docking plate 403. The docking plate 403 rotates once in the forward and reverse directions. The rotation in each direction stops after contacting the limit stopper 205 on the movable limiting plate 203, and thus completes the function of limit and change.
隔离装置5与限位机构2安装时，隔离板503上的延伸部B506先滑入盖板A202上的凹槽A209内，沿轴向扣接；向下按压按钮302，弹簧B303被压缩，按钮302勾状的另一端由隔离板503上的锁紧孔508穿过，松手后，按钮302在弹簧B303的作用下复位，将隔离装置5锁紧在限位机构2上。在上述过程中，隔离板503上的顶块B504由盖板A202上的豁口210穿过，与活动限位板203上的顶块A207接触，并将活动限位板203沿轴向推动压缩，限位挡块205远离对接盘403上的螺钉。对接盘403上的凸起A4031插入转接盘501上的凹槽B中，动力装置402的输出端再带动对接盘403旋转，不会与活动限位板203上的限位挡块205接触，通过对接盘403带动转接盘501旋转，再由转接盘501驱动手术器械6的柔性驱动杆12动作。When the isolating device 5 and the limiting mechanism 2 are installed, the extension part B506 on the isolating plate 503 first slides into the groove A209 on the cover plate A202, and is buckled in the axial direction; the button 302 is pressed down, and the spring B303 is compressed, and the hook-shaped other end of the button 302 passes through the locking hole 508 on the isolating plate 503. During the above process, the top block B504 on the isolation plate 503 passes through the gap 210 on the cover plate A202, contacts the top block A207 on the movable limiting plate 203, pushes and compresses the movable limiting plate 203 in the axial direction, and the limiting block 205 is away from the screw on the docking plate 403. The protrusion A4031 on the docking disk 403 is inserted into the groove B on the adapter disk 501, and the output end of the power device 402 drives the docking disk 403 to rotate, without contacting the limit stopper 205 on the movable limit plate 203. The adapter disk 403 drives the adapter disk 501 to rotate, and then the adapter disk 501 drives the flexible drive rod 12 of the surgical instrument 6 to move.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010882783.6ACN114098845B (en) | 2020-08-28 | 2020-08-28 | A modular surgical robot driving device |
| Application Number | Priority Date | Filing Date | Title |
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| CN202010882783.6ACN114098845B (en) | 2020-08-28 | 2020-08-28 | A modular surgical robot driving device |
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| CN114098845A CN114098845A (en) | 2022-03-01 |
| CN114098845Btrue CN114098845B (en) | 2023-07-25 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202010882783.6AActiveCN114098845B (en) | 2020-08-28 | 2020-08-28 | A modular surgical robot driving device |
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