技术领域Technical Field
本发明涉及医疗器械领域，特别是涉及一种经自然腔道诊疗一体式手术机器人。The present invention relates to the field of medical devices, and in particular to an integrated surgical robot for diagnosis and treatment via a natural cavity.
背景技术Background technique
现有的经自然腔道手术多采用以下两种方案：第一种方案是使用传统手持内窥镜进入病变部位，后手动将手术器械通过内窥镜活检通道送达手术部位，采用一手持镜，一手持手术器械的方式进行手术。该种方式手术器械比较简单，灵活性差，仅能在单个手术器械操作下完成例如套取、夹取和标记等操作，极大的制约了手术的灵活性，且手术过程中医生需要长时间持镜，极易造成医生疲劳，带来手术风险。第二种方案是使用现有微创手术机器人实施经腔窥镜手术，微创手术机器人使用刚性手术杆件，造成许多病变部位经自然腔道无法到达，极大制约了手术机器人的应用范围，并且增加了其他组织的损伤风险。Existing natural orifice surgeries mostly use the following two schemes: The first scheme is to use a traditional handheld endoscope to enter the lesion site, and then manually deliver the surgical instruments to the surgical site through the endoscopic biopsy channel, and perform the surgery by holding the endoscope in one hand and the surgical instrument in the other hand. This method uses relatively simple surgical instruments with poor flexibility. Operations such as sheathing, clamping, and marking can only be completed with a single surgical instrument, which greatly restricts the flexibility of the surgery. During the operation, the doctor needs to hold the endoscope for a long time, which can easily cause doctor fatigue and bring surgical risks. The second scheme is to use the existing minimally invasive surgical robot to perform transcavitary laparoscopic surgery. The minimally invasive surgical robot uses rigid surgical rods, which makes many lesions inaccessible through the natural cavity, greatly restricting the scope of application of the surgical robot and increasing the risk of damage to other tissues.
当前经自然腔道的窥镜专用手术机器人系统尚且处于实验室阶段，日本Olympus公司依托现有内窥镜设计的Endo SAMURAI系统使用手动操作方式可以实现自然腔道的窥镜手术，但其手术执行器固定于窥镜末端且不可在手术过程中更换，造成了进镜困难；且直接手动加丝传导的方式制约了手术的灵活性。Endo Via Medical公司开发的Via Cath系统，由于其外径过大，目前仍然处于实验室原理验证阶段。Karl Storz开发的Anubis项目是目前较为完善的自然腔道窥镜手术机器人系统，仅能驱动单段柔性臂，目前处于实验阶段，尚未临床应用。Currently, the dedicated endoscopic surgical robot system for natural orifice is still in the laboratory stage. The Endo SAMURAI system designed by Olympus of Japan based on the existing endoscope can realize natural orifice endoscopic surgery by manual operation, but its surgical actuator is fixed to the end of the endoscope and cannot be replaced during the operation, which makes it difficult to insert the endoscope; and the direct manual wire conduction method restricts the flexibility of the operation. The Via Cath system developed by Endo Via Medical is still in the laboratory principle verification stage due to its large outer diameter. The Anubis project developed by Karl Storz is a relatively complete natural orifice endoscopic surgical robot system. It can only drive a single-segment flexible arm and is currently in the experimental stage and has not yet been clinically applied.
上述可知，现在没有一种成熟的经自然腔道诊疗一体式手术机器人，均使用人手动操纵手术器械来完成对胃肠的诊断，当发现存在病变组织时，再放置器械进行操作，且只有一个器械通道在人体外来操作，这样远端操作对医生的操作要求较高，极大地制约了手术的灵活性。因此，有必要提出一种经自然腔道诊疗一体式手术机器人，使医生在进行胃肠镜检查时，能够同时对病变区域进行手术操作，实现诊断和治疗一体化。As can be seen from the above, there is no mature integrated surgical robot for diagnosis and treatment through natural cavity. All surgical instruments are manually operated by people to complete the diagnosis of the gastrointestinal tract. When the presence of diseased tissue is found, the instrument is placed for operation, and there is only one instrument channel outside the human body for operation. Such remote operation has high requirements for the doctor's operation, which greatly restricts the flexibility of the operation. Therefore, it is necessary to propose an integrated surgical robot for diagnosis and treatment through natural cavity, so that doctors can perform surgical operations on the diseased area at the same time when performing gastrointestinal endoscopy, so as to realize the integration of diagnosis and treatment.
发明内容Summary of the invention
本发明的目的是提供一种经自然腔道诊疗一体式手术机器人，以解决上述现有技术存在的医生长时间持镜造成的手部疲劳，给手术增加风险的问题。The purpose of the present invention is to provide an integrated surgical robot for diagnosis and treatment through natural cavity, so as to solve the problem in the above-mentioned prior art that the doctor's hand fatigue is caused by holding the mirror for a long time, which increases the risk of surgery.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following solutions:
本发明提供一种经自然腔道诊疗一体式手术机器人，包括：The present invention provides an integrated surgical robot for diagnosis and treatment through a natural cavity, comprising:
内窥镜主体，所述内窥镜主体包括用于伸入人体自然腔道的连接管和末端蛇骨骨架，所述末端蛇骨骨架包括末端关节和多个连接关节，多个所述连接关节连续设置，任意相邻两所述连接关节之间均铰接并形成第一相对转动轴线，且任意相邻两所述第一相对转动轴线均垂直；所述末端关节上设置有器械通道，位于多个所述连接关节中一端的所述连接关节与所述连接管的一端连接，位于多个所述连接关节中另一端的所述连接关节与所述末端关节铰接并形成有第二相对转动轴线，所述第二相对转动轴线和与之相邻的所述第一相对转动轴线垂直；An endoscope body, the endoscope body comprising a connecting tube for extending into a natural cavity of a human body and a terminal snake bone frame, the terminal snake bone frame comprising a terminal joint and a plurality of connecting joints, the plurality of connecting joints being arranged continuously, any two adjacent connecting joints being hinged and forming a first relative rotation axis, and any two adjacent first relative rotation axes being perpendicular; an instrument channel is arranged on the terminal joint, the connecting joint at one end of the plurality of connecting joints being connected to one end of the connecting tube, the connecting joint at the other end of the plurality of connecting joints being hinged to the terminal joint and forming a second relative rotation axis, and the second relative rotation axis is perpendicular to the first relative rotation axis adjacent thereto;
手术器械，所述手术器械活动设置于所述器械通道内，所述手术器械能够伸出至所述器械通道外，以对所述内窥镜主体发现的病变区域进行手术操作；A surgical instrument, the surgical instrument is movably disposed in the instrument channel, and the surgical instrument can be extended out of the instrument channel to perform a surgical operation on the lesion area found by the endoscope body;
内窥镜主体控制机构，所述内窥镜主体控制机构通过内窥镜牵引件与所述末端关节相连，以调节所述末端关节相对所述连接管的倾斜角度；an endoscope main body control mechanism, wherein the endoscope main body control mechanism is connected to the end joint through an endoscope traction member to adjust an inclination angle of the end joint relative to the connecting tube;
器械控制机构，所述器械控制机构与所述手术器械相连，其能够控制所述手术器械的转动、摆动以及动作操作；An instrument control mechanism, which is connected to the surgical instrument and can control the rotation, swing and movement operation of the surgical instrument;
器械传动机构，所述器械传动机构能够驱动所述手术器械伸出或缩回所述器械通道；An instrument transmission mechanism, wherein the instrument transmission mechanism can drive the surgical instrument to extend out of or retract into the instrument channel;
集成装置，所述集成装置上设置所述内窥镜主体控制机构、所述器械控制机构和所述器械传动机构，所述连接管的另一端与所述内窥镜主体控制机构相连。An integrated device is provided with the endoscope main body control mechanism, the instrument control mechanism and the instrument transmission mechanism, and the other end of the connecting tube is connected to the endoscope main body control mechanism.
可选的，所述末端关节包括：Optionally, the terminal joint comprises:
末端关节本体，所述末端关节本体的两侧均开设有凹槽；The end joint body has grooves on both sides;
器械支撑块，所述器械支撑块上开设所述器械通道；所述器械支撑块嵌置于所述凹槽内，且所述器械支撑块的靠近所述连接关节的一端通过转轴与所述末端关节本体转动连接，所述转轴的端部套设有扭簧，所述扭簧的两端分别与所述器械支撑块、所述末端关节本体相抵，以使所述器械支撑块收纳于所述凹槽内；An instrument support block, on which the instrument channel is provided; the instrument support block is embedded in the groove, and one end of the instrument support block close to the connecting joint is rotatably connected to the terminal joint body via a rotating shaft, a torsion spring is sleeved on the end of the rotating shaft, and two ends of the torsion spring are respectively against the instrument support block and the terminal joint body, so that the instrument support block is received in the groove;
L形支撑连杆，所述L形支撑连杆嵌置于所述器械支撑块的靠近所述凹槽的一侧，且所述L形支撑连杆的拐角处通过连杆与所述器械支撑块转动连接，所述L形支撑连杆的一端伸入所述器械通道内，并在所述手术器械经所述器械通道伸出时被拨动，以使所述L形支撑连杆的另一端转动并与所述凹槽接触，将所述器械支撑块的远离所述连接关节的一端推离所述凹槽。An L-shaped support link, wherein the L-shaped support link is embedded in a side of the instrument support block close to the groove, and the corner of the L-shaped support link is rotatably connected to the instrument support block through a link, one end of the L-shaped support link extends into the instrument channel, and is pushed when the surgical instrument is extended through the instrument channel, so that the other end of the L-shaped support link rotates and contacts the groove, pushing the end of the instrument support block away from the connecting joint away from the groove.
可选的，所述手术器械包括：Optionally, the surgical instrument comprises:
器械连接关节，所述器械连接关节连续设置有多个，且任意相邻两所述器械连接关节之间均铰接并形成第三相对转动轴线，且任意相邻两所述第三相对转动轴线均平行；An instrument connection joint, wherein a plurality of the instrument connection joints are continuously arranged, and any two adjacent instrument connection joints are hinged to form a third relative rotation axis, and any two adjacent third relative rotation axes are parallel;
剪刀，所述剪刀包括第一半剪刀和第二半剪刀，所述第一半剪刀与位于多个所述器械连接关节中一端的所述器械连接关节连接，所述第二半剪刀通过剪刀连杆与剪刀牵引件连接，所述剪刀牵引件与所述器械控制机构连接，并由所述器械控制机构控制所述第一半剪刀和所述第二半剪刀之间的开合；Scissors, the scissors comprising a first half scissors and a second half scissors, the first half scissors being connected to the instrument connection joint located at one end of the plurality of instrument connection joints, the second half scissors being connected to a scissors pulling member via a scissors connecting rod, the scissors pulling member being connected to the instrument control mechanism, and the opening and closing of the first half scissors and the second half scissors being controlled by the instrument control mechanism;
软管，所述软管的一端与位于多个所述器械连接关节中另一端的所述器械连接关节连接；所述软管的另一端与所述器械控制机构连接，并由所述器械控制机构转动所述软管。A hose, one end of which is connected to the instrument connection joint located at the other end of the plurality of instrument connection joints; the other end of the hose is connected to the instrument control mechanism, and the hose is rotated by the instrument control mechanism.
可选的，所述器械控制机构包括：Optionally, the device control mechanism includes:
转动驱动组件，所述转动驱动组件包括器械盒和旋转机构，所述旋转机构包括旋转关节电机，所述旋转关节电机的输出端与所述器械盒相连，以控制所述器械盒转动；所述软管与所述器械盒相连；A rotation drive assembly, the rotation drive assembly includes an instrument box and a rotation mechanism, the rotation mechanism includes a rotation joint motor, the output end of the rotation joint motor is connected to the instrument box to control the rotation of the instrument box; the hose is connected to the instrument box;
摆动驱动组件，所述摆动驱动组件设置于所述器械盒内，其包括伺服电机和器械偏摆牵引组件，所述器械偏摆牵引组件包括偏摆转轴、偏摆钢丝绳和偏摆钢丝绳走线轮，所述偏摆转轴的一端连接所述伺服电机的输出端，所述偏摆转轴的另一端沿其轴向安装两所述偏摆钢丝绳走线轮，所述偏摆钢丝绳设置有两根，两根所述偏摆钢丝绳的一端分别卷绕于两所述偏摆钢丝绳走线轮上，且两根所述偏摆钢丝绳的卷绕方向相反，两根所述偏摆钢丝绳的另一端均与连接所述第一半剪刀的所述器械连接关节连接，以实现对所述手术器械的偏摆控制；A swing drive assembly, the swing drive assembly is arranged in the instrument box, and includes a servo motor and an instrument yaw traction assembly, the instrument yaw traction assembly includes a yaw shaft, a yaw wire rope and a yaw wire rope routing wheel, one end of the yaw shaft is connected to the output end of the servo motor, and the other end of the yaw shaft is equipped with two yaw wire rope routing wheels along its axial direction, two yaw wire ropes are provided, one end of the two yaw wire ropes are respectively wound on the two yaw wire rope routing wheels, and the winding directions of the two yaw wire ropes are opposite, and the other ends of the two yaw wire ropes are connected to the instrument connection joint connected to the first half scissors, so as to realize the yaw control of the surgical instrument;
开合驱动组件，所述开合驱动组件设置于所述器械盒内，其包括电推杆，所述剪刀牵引件为剪刀牵引钢丝，所述电推杆与所述剪刀牵引钢丝连接，以推拉所述剪刀牵引钢丝，实现所述第一半剪刀和所述第二半剪刀之间的开合。An opening and closing drive assembly is arranged in the instrument box, and includes an electric push rod. The scissors traction member is a scissors traction wire. The electric push rod is connected to the scissors traction wire to push and pull the scissors traction wire to achieve opening and closing between the first half scissors and the second half scissors.
可选的，所述剪刀牵引钢丝为粗钢丝。Optionally, the scissors traction wire is a thick steel wire.
可选的，所述器械控制机构还包括锁紧装置，所述锁紧装置包括：Optionally, the device control mechanism further includes a locking device, and the locking device includes:
锁紧装置盒，所述锁紧装置盒的两侧设置有端盖，所述锁紧装置盒顶部设置有豁口；所述锁紧装置盒固定于所述旋转关节电机的输出端；A locking device box, wherein end covers are arranged on both sides of the locking device box, and a notch is arranged on the top of the locking device box; the locking device box is fixed to the output end of the rotary joint motor;
推杆，所述推杆设置于所述锁紧装置盒内，所述推杆设置有两根，两根所述推杆对称布置于所述豁口的两侧；A push rod, the push rod is arranged in the locking device box, two push rods are provided, and the two push rods are symmetrically arranged on both sides of the notch;
锁紧弹簧，所述锁紧弹簧设置有两根，两根所述推杆分别通过一根所述锁紧弹簧与对应侧的所述端盖连接；A locking spring, wherein two locking springs are provided, and the two push rods are respectively connected to the end caps on the corresponding sides through one locking spring;
所述器械盒的靠近所述旋转关节电机的一端设置有L形卡扣，所述L形卡扣卡放在所述锁紧装置盒中两所述推杆之间，并通过所述锁紧弹簧的顶紧。An L-shaped buckle is arranged at one end of the instrument box close to the rotary joint motor. The L-shaped buckle is clamped between the two push rods in the locking device box and is tightened by the locking spring.
可选的，所述器械控制机构还包括：Optionally, the device control mechanism further includes:
第一偏摆钢丝绳导向轮，所述第一偏摆钢丝绳导向轮通过导轮架支设于所述偏摆转轴的一侧；A first yaw wire rope guide wheel, wherein the first yaw wire rope guide wheel is supported on one side of the yaw rotating shaft through a guide wheel frame;
第二偏摆钢丝绳导向轮，所述第二偏摆钢丝绳导向轮通过所述导轮架与所述第一偏摆钢丝绳导向轮支设于所述偏摆转轴的同一侧；A second yaw wire rope guide wheel, wherein the second yaw wire rope guide wheel is supported on the same side of the yaw rotating shaft as the first yaw wire rope guide wheel through the guide wheel frame;
所述第一偏摆钢丝绳导向轮和所述第二偏摆钢丝绳导向轮分别用于导引由两所述偏摆钢丝绳走线轮导出的所述偏摆钢丝绳。The first yaw wire rope guide wheel and the second yaw wire rope guide wheel are respectively used to guide the yaw wire rope derived from the two yaw wire rope routing wheels.
可选的，所述器械传动机构包括：Optionally, the instrument transmission mechanism includes:
卡扣，所述卡扣设置于所述集成装置上；A buckle, wherein the buckle is arranged on the integrated device;
硬管套，所述硬管套放置于所述卡扣内，所述软管穿设于所述硬管套内；A hard tube sleeve, the hard tube sleeve is placed in the buckle, and the hose is passed through the hard tube sleeve;
管套接头，所述管套接头包括内套管和套设于所述内套管外部的外套管，所述内套管和所述外套管之间转动连接；所述外套管套设于所述硬管套内，并与所述硬管套的内壁固定连接，所述软管套设于所述内套管内，并与所述内套管固定连接；A pipe sleeve joint, the pipe sleeve joint comprises an inner sleeve and an outer sleeve sleeved outside the inner sleeve, the inner sleeve and the outer sleeve are rotatably connected; the outer sleeve is sleeved in the hard pipe sleeve and fixedly connected to the inner wall of the hard pipe sleeve, the hose is sleeved in the inner sleeve and fixedly connected to the inner sleeve;
摩擦传动组件，所述摩擦传动组件包括步进电机、主动摩擦轮和压紧机构所述步进电机的输出端与所述主动摩擦轮连接；所述压紧机构包括支撑座、弹簧、L形连杆、调整杆、圆柱销和从动摩擦轮，所述支撑座设置于所述集成装置上，所述调整杆压紧所述弹簧并通过螺纹与所述支撑座相连，所述L形连杆的一端与所述圆柱销转动连接，另一端与所述从动摩擦轮连接，所述从动摩擦轮与所述主动摩擦轮之间形成硬管套放置空间，所述硬管套能够在所述主动摩擦轮的摩擦作用下驱动所述手术器械伸出或缩回所述器械通道。A friction transmission assembly, the friction transmission assembly includes a stepper motor, an active friction wheel and a clamping mechanism. The output end of the stepper motor is connected to the active friction wheel; the clamping mechanism includes a support seat, a spring, an L-shaped connecting rod, an adjusting rod, a cylindrical pin and a driven friction wheel. The support seat is arranged on the integrated device, the adjusting rod presses the spring and is connected to the support seat through a thread, one end of the L-shaped connecting rod is rotatably connected to the cylindrical pin, and the other end is connected to the driven friction wheel. A hard tube sleeve placement space is formed between the driven friction wheel and the active friction wheel, and the hard tube sleeve can drive the surgical instrument to extend or retract the instrument channel under the friction action of the active friction wheel.
可选的，所述内窥镜牵引件包括第一内窥镜牵引钢丝、第二内窥镜牵引钢丝、第三内窥镜牵引钢丝和第四内窥镜牵引钢丝，所述内窥镜主体控制机构包括：Optionally, the endoscope traction member includes a first endoscope traction wire, a second endoscope traction wire, a third endoscope traction wire and a fourth endoscope traction wire, and the endoscope body control mechanism includes:
内窥镜主体控制盒，所述内窥镜主体控制盒设置于所述集成装置上；所述内窥镜主体控制盒的一端设置有供所述连接管穿过的接头；An endoscope main body control box, wherein the endoscope main body control box is arranged on the integrated device; one end of the endoscope main body control box is provided with a connector for the connecting tube to pass through;
第一传动轴和第二传动轴，所述第一传动轴和所述第二传动轴分别贯穿所述内窥镜主体控制盒的两侧壁设置；A first transmission shaft and a second transmission shaft, wherein the first transmission shaft and the second transmission shaft are respectively arranged through two side walls of the endoscope main body control box;
第一内窥镜牵引钢丝走线轮组，所述第一内窥镜牵引钢丝走线轮组设置于所述内窥镜主体控制盒内，其包括第一内窥镜牵引钢丝走线轮和第二内窥镜牵引钢丝走线轮，所述第一内窥镜牵引钢丝走线轮和所述第二内窥镜牵引钢丝走线轮设置于所述第一传动轴的位于所述内窥镜主体控制盒内部的一端上；所述第一内窥镜牵引钢丝的一端和所述第二内窥镜牵引钢丝的一端呈第一对角连接于所述末端关节，所述第一内窥镜牵引钢丝的另一端和所述第二内窥镜牵引钢丝的另一端分别卷绕于所述第一内窥镜牵引钢丝走线轮和所述第二内窥镜牵引钢丝走线轮上，且所述第一内窥镜牵引钢丝和所述第二内窥镜牵引钢丝的卷绕方向相反；A first endoscope traction wire routing wheel group, the first endoscope traction wire routing wheel group is arranged in the endoscope main body control box, and includes a first endoscope traction wire routing wheel and a second endoscope traction wire routing wheel, the first endoscope traction wire routing wheel and the second endoscope traction wire routing wheel are arranged on one end of the first transmission shaft located inside the endoscope main body control box; one end of the first endoscope traction wire and one end of the second endoscope traction wire are connected to the terminal joint at a first diagonal, the other end of the first endoscope traction wire and the other end of the second endoscope traction wire are respectively wound on the first endoscope traction wire routing wheel and the second endoscope traction wire routing wheel, and the winding directions of the first endoscope traction wire and the second endoscope traction wire are opposite;
第二内窥镜牵引钢丝走线轮组，所述第二内窥镜牵引钢丝走线轮组设置于所述内窥镜主体控制盒内，其包括第三内窥镜牵引钢丝走线轮和第四内窥镜牵引钢丝走线轮，所述第三内窥镜牵引钢丝走线轮和所述第四内窥镜牵引钢丝走线轮设置于所述第二传动轴的位于所述内窥镜主体控制盒内部的一端上；所述第三内窥镜牵引钢丝的一端和所述第四内窥镜牵引钢丝的一端呈第二对角连接于所述末端关节，且所述第二对角与所述第一对角交叉布置；所述第三内窥镜牵引钢丝的另一端和所述第四内窥镜牵引钢丝的另一端分别卷绕于所述第三内窥镜牵引钢丝走线轮和所述第四内窥镜牵引钢丝走线轮上，且所述第三内窥镜牵引钢丝和所述第四内窥镜牵引钢丝的卷绕方向相反；A second endoscope traction wire routing wheel group, the second endoscope traction wire routing wheel group is arranged in the endoscope main body control box, and includes a third endoscope traction wire routing wheel and a fourth endoscope traction wire routing wheel, the third endoscope traction wire routing wheel and the fourth endoscope traction wire routing wheel are arranged on one end of the second transmission shaft located inside the endoscope main body control box; one end of the third endoscope traction wire and one end of the fourth endoscope traction wire are connected to the terminal joint at a second diagonal, and the second diagonal is arranged crosswise with the first diagonal; the other end of the third endoscope traction wire and the other end of the fourth endoscope traction wire are respectively wound on the third endoscope traction wire routing wheel and the fourth endoscope traction wire routing wheel, and the winding directions of the third endoscope traction wire and the fourth endoscope traction wire are opposite;
第一主体偏摆电机，所述第一主体偏摆电机和所述第一传动轴设置于所述内窥镜主体控制盒的同一侧，所述第一主体偏摆电机的输出端通过第一联轴器与所述第一传动轴的位于所述内窥镜主体控制盒外部的一端连接；a first main body yaw motor, wherein the first main body yaw motor and the first transmission shaft are arranged on the same side of the endoscope main body control box, and an output end of the first main body yaw motor is connected to an end of the first transmission shaft located outside the endoscope main body control box through a first coupling;
第二主体偏摆电机，所述第二主体偏摆电机和所述第二传动轴设置于所述内窥镜主体控制盒的同一侧，所述第二主体偏摆电机的输出端通过第二联轴器与所述第二传动轴的位于所述内窥镜主体控制盒外部的一端连接。The second body yaw motor and the second transmission shaft are arranged on the same side of the endoscope body control box, and the output end of the second body yaw motor is connected to one end of the second transmission shaft located outside the endoscope body control box through a second coupling.
可选的，所述第一传动轴和所述第二传动轴的位于所述内窥镜主体控制盒外部的一端均设置有偏摆旋钮；Optionally, one end of the first transmission shaft and the second transmission shaft located outside the endoscope main body control box is provided with a yaw knob;
所述第一联轴器包括下半联轴器、上半联轴器和联轴器锁紧螺栓；所述下半联轴器与所述第一主体偏摆电机的输出端连接，所述上半联轴器的一端通过销轴与所述下半联轴器的一端转动连接，所述上半联轴器的另一端通过所述联轴器锁紧螺栓与所述下半联轴器的另一端连接；所述上半联轴器和所述下半联轴器之间用于夹持所述第一传动轴，当所述上半联轴器和所述下半联轴器通过所述联轴器锁紧螺栓锁紧时，所述第一传动轴在所述第一主体偏摆电机的驱动下转动；当所述上半联轴器和所述下半联轴器之间的所述联轴器锁紧螺栓旋松时，能够通过所述偏摆旋钮驱动所述第一传动轴转动；The first coupling includes a lower coupling, an upper coupling and a coupling locking bolt; the lower coupling is connected to the output end of the first main body yaw motor, one end of the upper coupling is rotatably connected to one end of the lower coupling through a pin, and the other end of the upper coupling is connected to the other end of the lower coupling through the coupling locking bolt; the upper coupling and the lower coupling are used to clamp the first transmission shaft, and when the upper coupling and the lower coupling are locked by the coupling locking bolt, the first transmission shaft rotates under the drive of the first main body yaw motor; when the coupling locking bolt between the upper coupling and the lower coupling is loosened, the first transmission shaft can be driven to rotate by the yaw knob;
所述第二联轴器的结构与所述第一联轴器的结构相同。The structure of the second coupling is the same as that of the first coupling.
可选的，所述内窥镜主体控制机构还包括：Optionally, the endoscope body control mechanism further includes:
第一内窥镜牵引钢丝导轮和第二内窥镜牵引钢丝导轮，所述第一内窥镜牵引钢丝导轮和所述第二内窥镜牵引钢丝导轮位于所述内窥镜主体控制盒内，所述第一内窥镜牵引钢丝导轮和所述第二内窥镜牵引钢丝导轮均通过导轮架架设于所述第一内窥镜牵引钢丝走线轮组的上方，且所述第一内窥镜牵引钢丝导轮和所述第二内窥镜牵引钢丝导轮同时用于导引所述第一内窥镜牵引钢丝，所述第二内窥镜牵引钢丝直接和内窥镜主体控制盒上的小孔(出线孔)对应。A first endoscope traction wire guide wheel and a second endoscope traction wire guide wheel, the first endoscope traction wire guide wheel and the second endoscope traction wire guide wheel are located in the endoscope main body control box, the first endoscope traction wire guide wheel and the second endoscope traction wire guide wheel are both mounted above the first endoscope traction wire routing wheel group through a guide wheel frame, and the first endoscope traction wire guide wheel and the second endoscope traction wire guide wheel are simultaneously used to guide the first endoscope traction wire, and the second endoscope traction wire directly corresponds to the small hole (wire outlet hole) on the endoscope main body control box.
第三内窥镜牵引钢丝导轮和第四内窥镜牵引钢丝导轮，所述第三内窥镜牵引钢丝导轮和所述第四内窥镜牵引钢丝导轮位于所述内窥镜主体控制盒内，所述第三内窥镜牵引钢丝导轮和所述第四内窥镜牵引钢丝导轮均通过所述导轮架架设于所述第二内窥镜牵引钢丝走线轮组的上方，且所述第三内窥镜牵引钢丝导轮和所述第四内窥镜牵引钢丝导轮同时用于导引所述第三内窥镜牵引钢丝，所述第四内窥镜牵引钢丝直接和内窥镜主体控制盒上的小孔(出线孔)对应。The third endoscope traction wire guide wheel and the fourth endoscope traction wire guide wheel are located in the endoscope main body control box, the third endoscope traction wire guide wheel and the fourth endoscope traction wire guide wheel are both mounted above the second endoscope traction wire routing wheel group through the guide wheel frame, and the third endoscope traction wire guide wheel and the fourth endoscope traction wire guide wheel are used to guide the third endoscope traction wire at the same time, and the fourth endoscope traction wire directly corresponds to the small hole (wire outlet hole) on the endoscope main body control box.
可选的，所述连接管为橡胶管。Optionally, the connecting tube is a rubber tube.
可选的，所述橡胶管为具有一定硬度的软质橡胶管。Optionally, the rubber tube is a soft rubber tube with a certain hardness.
可选的，所述集成装置为底板。所述底板可以集成在小车、病床等相关治疗设备上。Optionally, the integrated device is a base plate, which can be integrated on a trolley, a hospital bed or other related treatment equipment.
本发明相对于现有技术取得了以下技术效果：Compared with the prior art, the present invention has achieved the following technical effects:
本发明提出的经自然腔道诊疗一体式手术机器人，结构紧凑巧妙，设计合理，不仅可以实现诊断和治疗一体化，有利于快速完成手术操作，而且可以减轻医务人员的工作量，减轻医生的工作强度，提高医务人员的工作效率，可以更方便、灵活地进行胃肠镜治疗，改善了现如今手动操作时诊断和治疗分离的情况，同时克服了现有内窥镜手术单个手术器械不方便操作的缺点，增加了手术操作的灵活性。The integrated surgical robot for diagnosis and treatment through natural cavity proposed in the present invention has a compact and ingenious structure and a reasonable design. It can not only realize the integration of diagnosis and treatment, which is conducive to the rapid completion of surgical operations, but also can reduce the workload of medical staff, reduce the work intensity of doctors, and improve the work efficiency of medical staff. It can perform gastrointestinal endoscopic treatment more conveniently and flexibly, which improves the current situation of separation of diagnosis and treatment during manual operation. At the same time, it overcomes the shortcomings of the existing endoscopic surgery that the single surgical instrument is inconvenient to operate, and increases the flexibility of surgical operations.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明实施例所公开的经自然腔道诊疗一体式手术机器人的整体结构示意图；FIG1 is a schematic diagram of the overall structure of a natural cavity diagnosis and treatment integrated surgical robot disclosed in an embodiment of the present invention;
图2为本发明实施例所公开的末端蛇骨骨架的结构示意图；FIG2 is a schematic diagram of the structure of the terminal snake bone skeleton disclosed in an embodiment of the present invention;
图3为本发明实施例所公开的末端关节的结构示意图；FIG3 is a schematic structural diagram of the terminal joint disclosed in an embodiment of the present invention;
图4为本发明实施例所公开的手术器械的结构示意图；FIG4 is a schematic diagram of the structure of a surgical instrument disclosed in an embodiment of the present invention;
图5为本发明实施例所公开的器械控制机构的结构示意图；FIG5 is a schematic diagram of the structure of the device control mechanism disclosed in the embodiment of the present invention;
图6为本发明实施例所公开的器械传动机构的结构示意图；FIG6 is a schematic structural diagram of a transmission mechanism of an apparatus disclosed in an embodiment of the present invention;
图7为本发明实施例所公开的内窥镜主体控制机构的结构示意图。FIG. 7 is a schematic diagram of the structure of the endoscope main body control mechanism disclosed in an embodiment of the present invention.
其中，附图标记为：Wherein, the accompanying drawings are marked as follows:
内窥镜主体1，末端关节主体1-1，连接关节1-2，铆钉1-3，钢丝走线孔1-4，器械支撑块1-5，L形支撑连杆1-6，器械通道1-7，连接管1-8；手术器械2，末端器械连接关节2-1，中间器械连接关节2-2，初始器械连接关节2-3，剪刀连杆2-4，第二半剪刀2-5，第一半剪刀2-6；器械控制机构3，内窥镜主体控制机构4，器械传动机构5，底板6，旋转机构7，器械盒8，端盖8-1，下外壳8-2，上外壳8-3，电推杆8-4，伺服电机8-5，轴套8-6，偏摆钢丝绳走线轮8-7，导轮架8-8，导轮8-9，卡簧8-10，心轴8-11，法兰8-12，轴承8-13，轴承座8-14，限位装置9，U形板9-1，弹簧拨珠9-2，电机架10，旋转关节电机11，前法兰12-1，后法兰12-2，传动轴13，轴承14，轴承座15，锁紧装置16，锁紧装置盒16-1，锁紧弹簧16-2，推杆16-3，端盖16-4，卡扣17，步进电机18，硬管套19，主动摩擦轮20，压紧机构21，支撑座21-1，弹簧21-2，L形连杆21-3，调整杆21-4，无油轴承21-5，圆柱销21-6，从动摩擦轮21-7，关节电机组22，内窥镜主体控制盒23，电机架24，第二主体偏摆电机25，法兰26，联轴器27，下半联轴器27-1，销轴27-2，上半联轴器27-3，螺杆旋钮27-4，偏摆旋钮控制机构28，偏摆旋钮28-1，锁紧机构28-2，传动轴28-3，第一内窥镜牵引钢丝走线轮组28-4，轴承28-5，轴承座28-6，导轮组29，导轮架29-1，螺纹杆29-2，导轮29-3，卡簧29-4，外壳30，接头31，上盖32。Endoscope body 1, end joint body 1-1, connection joint 1-2, rivet 1-3, wire routing hole 1-4, instrument support block 1-5, L-shaped support link 1-6, instrument channel 1-7, connecting tube 1-8; surgical instrument 2, end instrument connection joint 2-1, intermediate instrument connection joint 2-2, initial instrument connection joint 2-3, scissor link 2-4, second half scissors 2-5, first half scissors 2-6; instrument control mechanism 3, endoscope body control mechanism 4, instrument transmission mechanism 5, bottom plate 6 , rotating mechanism 7, instrument box 8, end cover 8-1, lower shell 8-2, upper shell 8-3, electric push rod 8-4, servo motor 8-5, bushing 8-6, eccentric wire rope walking wheel 8-7, guide wheel frame 8-8, guide wheel 8-9, retaining spring 8-10, spindle 8-11, flange 8-12, bearing 8-13, bearing seat 8-14, limit device 9, U-shaped plate 9-1, spring ball 9-2, motor frame 10, rotating joint motor 11, front flange 12-1, rear flange 12-2, transmission shaft 13, shaft Bearing 14, bearing seat 15, locking device 16, locking device box 16-1, locking spring 16-2, push rod 16-3, end cover 16-4, buckle 17, stepping motor 18, hard tube sleeve 19, active friction wheel 20, clamping mechanism 21, support seat 21-1, spring 21-2, L-shaped connecting rod 21-3, adjustment rod 21-4, oil-free bearing 21-5, cylindrical pin 21-6, driven friction wheel 21-7, joint motor group 22, endoscope body control box 23, motor frame 24, second body deflection Motor 25, flange 26, coupling 27, lower coupling 27-1, pin 27-2, upper coupling 27-3, screw knob 27-4, yaw knob control mechanism 28, yaw knob 28-1, locking mechanism 28-2, transmission shaft 28-3, first endoscope traction wire routing wheel group 28-4, bearing 28-5, bearing seat 28-6, guide wheel group 29, guide wheel frame 29-1, threaded rod 29-2, guide wheel 29-3, retaining spring 29-4, housing 30, joint 31, upper cover 32.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
本发明的目的之一是提供一种经自然腔道诊疗一体式手术机器人，以解决上述现有技术存在的医生长时间持镜造成的手部疲劳，给手术增加风险的问题。One of the purposes of the present invention is to provide an integrated surgical robot for diagnosis and treatment through natural cavities, so as to solve the problem in the above-mentioned prior art that the doctor's hand fatigue is caused by holding the scope for a long time, which increases the risk of surgery.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
实施例一Embodiment 1
如图1～图7所示，本实施例提供一种经自然腔道诊疗一体式手术机器人，主要包括内窥镜主体1、手术器械2、器械控制机构3、内窥镜主体控制机构4、器械传动机构5和底板6。器械控制机构3、器械传动机构5、内窥镜主体控制机构4和内窥镜主体1依次放在底板6上，内窥镜主体1与内窥镜主体控制机构4相连，手术器械2与器械控制机构3相连穿过器械传动机构5和内窥镜主体控制机构4放置于内窥镜主体1内部的器械通道1-7内。在手术过程中，当内窥镜主体1在人体自然腔道内部发现病变区域时，手术器械2便可以从器械通道1-7内伸出，进行手术操作。As shown in Figures 1 to 7, this embodiment provides an integrated surgical robot for diagnosis and treatment through natural cavities, which mainly includes an endoscope body 1, surgical instruments 2, an instrument control mechanism 3, an endoscope body control mechanism 4, an instrument transmission mechanism 5 and a base plate 6. The instrument control mechanism 3, the instrument transmission mechanism 5, the endoscope body control mechanism 4 and the endoscope body 1 are placed on the base plate 6 in sequence, the endoscope body 1 is connected to the endoscope body control mechanism 4, and the surgical instrument 2 is connected to the instrument control mechanism 3 and is placed in the instrument channel 1-7 inside the endoscope body 1 through the instrument transmission mechanism 5 and the endoscope body control mechanism 4. During the operation, when the endoscope body 1 finds a lesion area inside the natural cavity of the human body, the surgical instrument 2 can be extended from the instrument channel 1-7 to perform the operation.
本实施例中，内窥镜主体1由末端蛇骨骨架和连接管1-8连接而成，连接管1-8为具有一定硬度的软质橡胶管，其与末端蛇骨骨架胶接。末端蛇骨骨架由一个具有多通道的末端关节和多个连接关节1-2通过铆钉1-3连接而成，具体为：多个连接关节1-2连续设置，任意相邻两连接关节1-2之间均铰接并形成第一相对转动轴线(即铆钉1-3所在轴线)，且任意相邻两第一相对转动轴线之间均是相互垂直的；位于多个连接关节1-2中一端(首端)的连接关节1-2与连接管的一端连接，位于多个连接关节1-2中另一端(末端)的连接关节1-2与末端关节铰接并形成有第二相对转动轴线，该第二相对转动轴线和与之相邻的第一相对转动轴线也是相互垂直的。末端关节主要由末端关节主体1-1、两个对称放置的器械支撑块1-5和L形支撑连杆1-6组成，器械支撑块1-5的与末端关节主体1-1连接的两侧平行平面对称放置有两个扭簧，器械支撑块1-5与L形支撑连杆1-6通过一根细杆相连，使L形支撑连杆1-6可以绕细杆转动。每个器械支撑块1-5上均开设一器械通道1-7，手术器械2从器械支撑块1-5中的器械通道1-7伸出时，手术器械2头部和器械管壁挤压L形支撑连杆1-6的短边，L形支撑连杆1-6受力绕细杆转动，将手术器械2连同器械支撑块1-5一起推开，使两个手术器械2和病灶区形成良好的操作三角区域。两个器械通道1-7以及两个手术器械2的结构设置，可以仿医生实际工作方式进行机器人操作，减少医生学习时间，可以两个手术器械同时操作，相互配合，例如一个提拉，一个切除，克服现有内窥镜手术单个手术器械不方便操作的缺点，增加手术操作的灵活性。In this embodiment, the endoscope body 1 is connected by a terminal snake-bone skeleton and a connecting tube 1-8. The connecting tube 1-8 is a soft rubber tube with a certain hardness, which is glued to the terminal snake-bone skeleton. The terminal snake-bone skeleton is composed of a terminal joint with multiple channels and multiple connecting joints 1-2 connected by rivets 1-3. Specifically, multiple connecting joints 1-2 are arranged continuously, and any two adjacent connecting joints 1-2 are hinged to form a first relative rotation axis (i.e., the axis where the rivet 1-3 is located), and any two adjacent first relative rotation axes are perpendicular to each other; the connecting joint 1-2 located at one end (head end) of the multiple connecting joints 1-2 is connected to one end of the connecting tube, and the connecting joint 1-2 located at the other end (end) of the multiple connecting joints 1-2 is hinged to the terminal joint and forms a second relative rotation axis, and the second relative rotation axis and the first relative rotation axis adjacent to it are also perpendicular to each other. The terminal joint is mainly composed of a terminal joint body 1-1, two symmetrically placed instrument support blocks 1-5 and an L-shaped support link 1-6. Two torsion springs are symmetrically placed on the parallel planes on both sides of the instrument support block 1-5 connected to the terminal joint body 1-1. The instrument support block 1-5 is connected to the L-shaped support link 1-6 through a thin rod, so that the L-shaped support link 1-6 can rotate around the thin rod. An instrument channel 1-7 is provided on each instrument support block 1-5. When the surgical instrument 2 extends from the instrument channel 1-7 in the instrument support block 1-5, the head of the surgical instrument 2 and the instrument tube wall squeeze the short side of the L-shaped support link 1-6, and the L-shaped support link 1-6 is forced to rotate around the thin rod, pushing the surgical instrument 2 together with the instrument support block 1-5, so that the two surgical instruments 2 and the lesion area form a good operation triangle area. The structural setting of the two instrument channels 1-7 and the two surgical instruments 2 can simulate the actual working method of doctors to perform robot operations, reduce the learning time of doctors, and allow two surgical instruments to be operated simultaneously and cooperate with each other, such as one for lifting and the other for cutting, thereby overcoming the shortcomings of existing endoscopic surgery where a single surgical instrument is inconvenient to operate and increasing the flexibility of surgical operations.
本实施例中，上述的手术器械2主要由软管、剪刀和多个器械连接关节组成，器械连接关节优选设置4个，其中，两个中间器械连接关节2-2、一个初始器械连接关节2-3和一个末端器械连接关节2-1，4个器械连接关节按照初始器械连接关节2-3、两个中间器械连接关节2-2、末端器械连接关节2-1的顺序依次铆接，使得相邻器械连接关节之间形成转动连接。剪刀作为手术器械2的执行机构，其和各器械连接关节的中心均设有粗钢丝孔，粗钢丝作为剪刀牵引钢丝穿过粗钢丝孔通过剪刀连杆2-4和第二半剪刀2-5连接，通过控制粗钢丝的长度控制第二半剪刀2-5相对第一半剪刀2-6的开合，以此实现器械剪刀的剪切运动。手术器械2中所有的连接孔均优选通过铆接相连。In this embodiment, the surgical instrument 2 is mainly composed of a hose, scissors and multiple instrument connection joints. Preferably, there are 4 instrument connection joints, including two intermediate instrument connection joints 2-2, an initial instrument connection joint 2-3 and a terminal instrument connection joint 2-1. The 4 instrument connection joints are riveted in the order of the initial instrument connection joint 2-3, the two intermediate instrument connection joints 2-2 and the terminal instrument connection joint 2-1, so that a rotation connection is formed between adjacent instrument connection joints. The scissors serve as the actuator of the surgical instrument 2. The center of the scissors and each instrument connection joint is provided with a thick steel wire hole. The thick steel wire is used as the scissor traction wire to pass through the thick steel wire hole and connect to the second half scissors 2-5 through the scissor connecting rod 2-4. The opening and closing of the second half scissors 2-5 relative to the first half scissors 2-6 is controlled by controlling the length of the thick steel wire, so as to realize the shearing movement of the instrument scissors. All the connection holes in the surgical instrument 2 are preferably connected by riveting.
本实施例中，器械控制机构3用于控制手术器械2整体的旋转、末端器械连接关节2-1的偏摆、以及器械末端执行器第二半剪刀2-5相对第一半剪刀2-6的开合，主要由器械盒8、限位装置9以及控制器械盒8旋转的旋转机构7组成。旋转机构7包括电机架10、旋转关节电机11、前法兰12-1、后法兰12-2、传动轴13、轴承14、轴承座15和锁紧装置16，电机架10为L形电机架，其一面与底板6螺钉连接，另一面与底板6后端对齐，旋转关节电机11一端通过螺钉与电机架10相连，旋转关节电机11另一端通过螺钉与前法兰12-1相连，传动轴13通过顶丝与后法兰12-1相连，并穿过轴承14和与轴承14外圈紧配合连接的轴承座15与前法兰12-2通过顶丝相连，轴承座15通过螺钉与电机架10固定连接，前法兰12-2通过螺钉与锁紧装置16中的锁紧装置盒16-1固定连接。锁紧装置16包括上述的锁紧装置盒16-1，锁紧装置盒16-1内左右对称放置两个锁紧弹簧16-2、两个推杆16-3和两个端盖16-4，锁紧弹簧16-2一端压紧推杆16-3，另一端与同侧的端盖16-4靠紧，端盖16-4与锁紧装置盒16-1螺钉连接。任意一锁紧装置盒16-1中的两个推杆16-3能够在外力作用下，压缩各自连接的锁紧弹簧16-2，实现两个推杆16-3之间的相互远离，而在外力撤销后，两个推杆16-3会在各自连接的锁紧弹簧16-2的作用下相互靠近，从而恢复原始位置，上述的“外力”主要是指向两个推杆16-3之间放置卡紧件时，卡紧件对两个推杆16-3的推力，在卡紧件安装到位后，两个推杆16-3在各自连接的锁紧弹簧16-2的顶推作用下将卡紧件卡紧，达到对卡紧件锁紧的效果。In this embodiment, the instrument control mechanism 3 is used to control the overall rotation of the surgical instrument 2, the yaw of the end instrument connection joint 2-1, and the opening and closing of the second half scissors 2-5 of the instrument end effector relative to the first half scissors 2-6. It is mainly composed of an instrument box 8, a limit device 9 and a rotating mechanism 7 for controlling the rotation of the instrument box 8. The rotating mechanism 7 includes a motor frame 10, a rotating joint motor 11, a front flange 12-1, a rear flange 12-2, a transmission shaft 13, a bearing 14, a bearing seat 15 and a locking device 16. The motor frame 10 is an L-shaped motor frame, one side of which is screwed to the base plate 6, and the other side is aligned with the rear end of the base plate 6. One end of the rotating joint motor 11 is connected to the motor frame 10 by screws, and the other end of the rotating joint motor 11 is connected to the front flange 12-1 by screws. The transmission shaft 13 is connected to the rear flange 12-1 by a top screw, and passes through the bearing 14 and the bearing seat 15 tightly connected to the outer ring of the bearing 14 and is connected to the front flange 12-2 by a top screw. The bearing seat 15 is fixedly connected to the motor frame 10 by screws, and the front flange 12-2 is fixedly connected to the locking device box 16-1 in the locking device 16 by screws. The locking device 16 includes the above-mentioned locking device box 16-1, in which two locking springs 16-2, two push rods 16-3 and two end covers 16-4 are symmetrically placed on the left and right sides. One end of the locking spring 16-2 presses the push rod 16-3, and the other end is close to the end cover 16-4 on the same side. The end cover 16-4 is screwed to the locking device box 16-1. The two push rods 16-3 in any locking device box 16-1 can compress the locking springs 16-2 connected to them respectively under the action of external force, so as to realize the mutual distance between the two push rods 16-3. After the external force is removed, the two push rods 16-3 will approach each other under the action of the locking springs 16-2 connected to them respectively, thereby restoring their original positions. The above-mentioned "external force" mainly refers to the thrust of the clamping member on the two push rods 16-3 when the clamping member is placed between the two push rods 16-3. After the clamping member is installed in place, the two push rods 16-3 clamp the clamping member under the pushing action of the locking springs 16-2 connected to them respectively, so as to achieve the effect of locking the clamping member.
本实施例中，上述器械盒8优选呈长方体形，主要由端盖8-1、下外壳8-2、上外壳8-3、电推杆8-4、伺服电机8-5、轴套8-6、偏摆钢丝绳走线轮8-7、导轮架8-8、导轮8-9、卡簧8-10、心轴8-11、法兰8-12、轴承8-13和轴承座8-14组成。其中，器械盒8的端盖8-1上设置有L形卡扣，其用于在器械盒8安装时卡放在锁紧装置盒16-1中的两个推杆16-3之间，通过左右滑动推杆16-3来控制锁紧装置16的开合，并以此实现器械盒8的快换、锁紧，同时能够限制器械盒8的运动，提高器械盒8的安装稳定性。端盖8-1短边一侧留有方形走线通道并通过螺钉与下外壳8-2固连，下外壳8-2上端通过螺钉连接有一根电推杆8-4，电推杆8-4中心轴线与上外壳8-3器械孔通道重合，下外壳8-2下端通过螺钉连接有一个伺服电机8-5，伺服电机8-5的电机轴通过顶丝与偏摆转轴连接，偏摆转轴上设置有轴套8-6，轴套8-6上有两个通过螺钉连接的反向放置的偏摆钢丝绳走线轮8-7，导轮架8-8通过螺钉与下外壳8-2相连并放置在电推杆8-4与伺服电机8-5之间，导轮架8-8上上下放置有两个心轴8-11，每个心轴8-11上各有一个通过卡簧8-10固定的具有V型槽的导轮8-9，钢丝绳锁紧在偏摆钢丝绳走线轮8-7上，穿过导轮8-9进入上外壳8-3的器械孔通道内，通过控制伺服电机8-5的转动控制偏摆钢丝绳走线轮8-7的旋转，从而控制钢丝绳的伸长量，进而控制手术器械2中末端器械连接关节2-1的偏摆，可为左右偏摆或者上下偏摆。上外壳8-3的器械孔通道外部螺钉连接有一个法兰8-12，法兰8-12的法兰轴上放置有一个轴承8-13，轴承座8-14压紧轴承8-13并与轴承8-13外圈紧配合连接。轴承座8-14下端较长，可以放置在限位装置9里以限制器械盒8的上下左右移动。In this embodiment, the instrument box 8 is preferably in a rectangular parallelepiped shape, and is mainly composed of an end cover 8-1, a lower shell 8-2, an upper shell 8-3, an electric push rod 8-4, a servo motor 8-5, a sleeve 8-6, a deflection wire rope routing wheel 8-7, a guide wheel frame 8-8, a guide wheel 8-9, a retaining spring 8-10, a spindle 8-11, a flange 8-12, a bearing 8-13 and a bearing seat 8-14. Among them, an L-shaped buckle is provided on the end cover 8-1 of the instrument box 8, which is used to be clamped between the two push rods 16-3 in the locking device box 16-1 when the instrument box 8 is installed, and the opening and closing of the locking device 16 is controlled by sliding the push rod 16-3 left and right, thereby realizing the quick change and locking of the instrument box 8, and at the same time, it can limit the movement of the instrument box 8 and improve the installation stability of the instrument box 8. A square wiring channel is left on one side of the short side of the end cover 8-1 and is fixedly connected to the lower shell 8-2 through screws. An electric push rod 8-4 is connected to the upper end of the lower shell 8-2 through screws. The central axis of the electric push rod 8-4 coincides with the instrument hole channel of the upper shell 8-3. A servo motor 8-5 is connected to the lower end of the lower shell 8-2 through screws. The motor shaft of the servo motor 8-5 is connected to the yaw shaft through a top screw. A shaft sleeve 8-6 is provided on the yaw shaft. There are two yaw wire rope routing wheels 8-7 placed in opposite directions and connected by screws on the shaft sleeve 8-6. The guide wheel frame 8-8 is connected to the lower shell 8-2 through screws and placed Between the electric push rod 8-4 and the servo motor 8-5, two spindles 8-11 are placed on the guide wheel frame 8-8, and each spindle 8-11 has a guide wheel 8-9 with a V-shaped groove fixed by a retaining ring 8-10. The wire rope is locked on the deflection wire rope routing wheel 8-7, passes through the guide wheel 8-9 and enters the instrument hole channel of the upper shell 8-3. The rotation of the deflection wire rope routing wheel 8-7 is controlled by controlling the rotation of the servo motor 8-5, thereby controlling the elongation of the wire rope, and then controlling the deflection of the terminal instrument connection joint 2-1 in the surgical instrument 2, which can be left-right deflection or up-down deflection. The instrument hole channel of the upper shell 8-3 is screwed with a flange 8-12 on the outside, and a bearing 8-13 is placed on the flange shaft of the flange 8-12. The bearing seat 8-14 presses the bearing 8-13 and is tightly connected with the outer ring of the bearing 8-13. The lower end of the bearing seat 8-14 is relatively long and can be placed in the limit device 9 to limit the up-down, left-right and left-right movement of the instrument box 8.
本实施例中，上述的导轮8-9包括第一偏摆钢丝绳导向轮和第二偏摆钢丝绳导向轮，第一偏摆钢丝绳导向轮支设于偏摆转轴的一侧；第二偏摆钢丝绳导向轮与第一偏摆钢丝绳导向轮支设于偏摆转轴的同一侧；第一偏摆钢丝绳导向轮和第二偏摆钢丝绳导向轮分别用于导引由两偏摆钢丝绳走线轮8-7导出的偏摆钢丝绳。第一偏摆钢丝绳导向轮和第二偏摆钢丝绳导向轮的外周均设置有用于容纳钢丝绳的V形槽，且第一偏摆钢丝绳导向轮和第二偏摆钢丝绳导向轮的V形槽下沿的高度分别对应两偏摆钢丝绳走线轮8-7的线槽高度，并和外壳8-3上的走线小孔相对应。In this embodiment, the guide wheel 8-9 includes a first yaw wire rope guide wheel and a second yaw wire rope guide wheel, the first yaw wire rope guide wheel is supported on one side of the yaw shaft; the second yaw wire rope guide wheel and the first yaw wire rope guide wheel are supported on the same side of the yaw shaft; the first yaw wire rope guide wheel and the second yaw wire rope guide wheel are respectively used to guide the yaw wire ropes derived from the two yaw wire rope routing wheels 8-7. The outer peripheries of the first yaw wire rope guide wheel and the second yaw wire rope guide wheel are both provided with V-shaped grooves for accommodating wire ropes, and the heights of the lower edges of the V-shaped grooves of the first yaw wire rope guide wheel and the second yaw wire rope guide wheel correspond to the heights of the wire grooves of the two yaw wire rope routing wheels 8-7, and correspond to the routing holes on the housing 8-3.
本实施例中，上述限位装置9主体为一块U形板9-1，通过螺钉与底板6一个凸起面固连，U形板9-1两侧各装有3个弹簧拨珠9-2，弹簧拨珠9-2通过螺纹与U形板9-1的侧壁连接，穿过U形板9-1外壁从内壁穿出，器械盒8放入U形板9-1中时，器械盒8上两侧的小孔刚好与弹簧拨珠9-2的滚珠对应，实现器械盒8的限位与锁紧。In this embodiment, the main body of the above-mentioned limiting device 9 is a U-shaped plate 9-1, which is fixedly connected to a raised surface of the bottom plate 6 by screws. Three spring beads 9-2 are installed on both sides of the U-shaped plate 9-1. The spring beads 9-2 are connected to the side walls of the U-shaped plate 9-1 by threads, pass through the outer wall of the U-shaped plate 9-1 and come out from the inner wall. When the instrument box 8 is placed in the U-shaped plate 9-1, the small holes on both sides of the instrument box 8 just correspond to the balls of the spring beads 9-2, thereby realizing the limiting and locking of the instrument box 8.
本实施例中，器械传动机构5主要由卡扣17、步进电机18、硬管套19、主动摩擦轮20和压紧机构21组成。卡扣17与底板6胶接，步进电机18通过螺钉与底板6背面相连，步进电机18的电机轴与主动摩擦轮20通过顶丝固连。压紧机构21主要由支撑座21-1、弹簧21-2、L形连杆21-3、调整杆21-4、无油轴承21-5、圆柱销21-6和从动摩擦轮21-7组成。支撑座21-1通过螺钉与底板6相连，调整杆21-4压紧弹簧21-2并通过螺纹与支撑座21-1相连，L形连杆21-3一端与圆柱销21-6通过无油轴承21-5连接，可以绕圆柱销21-6转动，另一端通过螺纹与从动摩擦轮21-7相连。调整杆21-4可以通过旋转螺纹深度控制从动摩擦轮21-7与主动摩擦轮20之间的压紧程度，手术器械2的软管穿设于硬管道19内，并随硬管道19一起依次穿过卡扣17，以及从动摩擦轮21-7与主动摩擦轮20之间的间隙，通过控制步进电机18的旋转控制主动摩擦轮20和从动摩擦轮21-7的运动来控制软管的输送，进而实现对手术器械2的前进与后退。上述硬管套19套在手术器械2中软管的靠近器械盒8的一端，硬管套19可以上下左右偏摆，硬管套19两端接口处均设置有内外嵌套的两层钢管，两层钢管之间可以绕轴向相对旋转并沿轴向同步前后运动，主动摩擦轮20带动硬管套19前后运动时即带动手术器械2的软管同步前进和后退运动，实现手术器械2的前进和后退，而当手术器械2的软管在旋转关节电机11的驱动下进行旋转时，硬管套19是相对静止的，不跟随手术器械2的软管旋转，仅实现手术器械2的旋转运动。In this embodiment, the instrument transmission mechanism 5 is mainly composed of a buckle 17, a stepper motor 18, a hard pipe sleeve 19, an active friction wheel 20 and a clamping mechanism 21. The buckle 17 is glued to the base plate 6, the stepper motor 18 is connected to the back of the base plate 6 by screws, and the motor shaft of the stepper motor 18 is fixedly connected to the active friction wheel 20 by a top screw. The clamping mechanism 21 is mainly composed of a support seat 21-1, a spring 21-2, an L-shaped connecting rod 21-3, an adjustment rod 21-4, an oil-free bearing 21-5, a cylindrical pin 21-6 and a driven friction wheel 21-7. The support seat 21-1 is connected to the base plate 6 by screws, the adjustment rod 21-4 compresses the spring 21-2 and is connected to the support seat 21-1 by threads, one end of the L-shaped connecting rod 21-3 is connected to the cylindrical pin 21-6 by an oil-free bearing 21-5, and can rotate around the cylindrical pin 21-6, and the other end is connected to the driven friction wheel 21-7 by threads. The adjusting rod 21-4 can control the degree of compression between the driven friction wheel 21-7 and the active friction wheel 20 by rotating the thread depth. The hose of the surgical instrument 2 is passed through the hard pipe 19 and passes through the buckle 17 and the gap between the driven friction wheel 21-7 and the active friction wheel 20 in sequence along with the hard pipe 19. The rotation of the stepper motor 18 is controlled to control the movement of the active friction wheel 20 and the driven friction wheel 21-7 to control the transportation of the hose, thereby realizing the forward and backward movement of the surgical instrument 2. The above-mentioned hard tube sleeve 19 is sleeved on the end of the hose in the surgical instrument 2 close to the instrument box 8. The hard tube sleeve 19 can swing up and down and left and right. Two layers of steel pipes are nested inside and outside at the interfaces at both ends of the hard tube sleeve 19. The two layers of steel pipes can rotate relative to each other around the axial direction and move forward and backward synchronously along the axial direction. When the active friction wheel 20 drives the hard tube sleeve 19 to move forward and backward, it drives the hose of the surgical instrument 2 to move forward and backward synchronously, thereby realizing the forward and backward movement of the surgical instrument 2. When the hose of the surgical instrument 2 rotates under the drive of the rotary joint motor 11, the hard tube sleeve 19 is relatively stationary and does not rotate with the hose of the surgical instrument 2, and only realizes the rotational movement of the surgical instrument 2.
本实施例中，内窥镜主体控制机构4主要由左右对称放置的关节电机组22和内窥镜主体控制盒23组成。关节电机组22主要由电机架24、第一主体偏摆电机、第二主体偏摆电机25、法兰26、第一联轴器和第二联轴器组成，其中的第一联轴器和第二联轴器均采用联轴器27，第一主体偏摆电机和第二主体偏摆电机25均采用关节电机，第一主体偏摆电机和第二主体偏摆电机25结构相同且对称布置，下面以第二主体偏摆电机25为例做具体说明。电机架24一边通过螺钉与底板6相连，第二主体偏摆电机25的底部通过螺钉与电机架24另一边相连，第二主体偏摆电机25的头部通过螺钉与法兰26相连，法兰26通过顶丝与联轴器27中的下半联轴器27-1相连，下半联轴器27-1的一端通过销轴27-2与上半联轴器27-3的一端连接，上半联轴器27-3可以绕着销轴27-2旋转，下半联轴器27-1和上半联轴器27-3均为半圆弧形结构，下半联轴器27-1和上半联轴器27-3对接后，通过螺杆旋钮27-4锁紧，可形成封闭圆环，以将待与第二主体偏摆电机25连接的轴件夹紧固定，便于电机动力的传输。上述下半联轴器27-1和上半联轴器27-3之间可通过螺杆旋钮27-4调节夹紧力，以适应不同轴径的轴件，本实施例中待与第二主体偏摆电机25连接的轴件为偏摆旋钮控制机构28中的传动轴28-3，传动轴28-3上设置有偏摆旋钮28-1，当传动轴28-3通过述下半联轴器27-1和上半联轴器27-3与第二主体偏摆电机25的输出端夹紧固定时，能够随第二主体偏摆电机25进行转动，而当通过调节螺杆旋钮27-4，使下半联轴器27-1和上半联轴器27-3未夹紧传动轴28-3时，可手动拨动偏摆旋钮28-1，实现传动轴28-3的转动，从而实现了内窥镜主体控制盒23的手动控制和自动控制两种模式，可通过手动控制和自动控制两种模式来控制内窥镜主体1进入人体自然腔道。手动控制时，医生一只手控制传动轴28-3上的偏摆旋钮28-1旋转来调整内窥镜主体1中末端关节主体1-1的上、下、左、右偏摆，另一只手捏着靠近人体肛门处的内窥镜主体1的连接管1-8进行前进后退运动，实现内窥镜诊断，内窥镜主体控制盒23上固定连接有锁紧机构28-2，可以实现在任意位置内窥镜主体1中末端关节主体1-1偏摆角度的固定。在采用自动控制模式进行手术操作时，将内窥镜主体控制盒23放入两下半联轴器27-1之间，并将内窥镜主体控制盒23两端的上半联轴器27-3和对应的下半联轴器27-1通过螺栓旋钮27-4进行锁紧，松开旋钮的锁紧机构28-2，实现第二主体偏摆电机25和偏摆旋钮28-1的动力传递。自动控制时，将内窥镜主体控制盒23放置在下半联轴器27-1中通过螺栓旋钮27-4锁紧，即可实现内窥镜在肠道内的诊断过程。In this embodiment, the endoscope body control mechanism 4 is mainly composed of a joint motor group 22 and an endoscope body control box 23 which are symmetrically placed. The joint motor group 22 is mainly composed of a motor frame 24, a first body yaw motor, a second body yaw motor 25, a flange 26, a first coupling and a second coupling, wherein the first coupling and the second coupling both use a coupling 27, the first body yaw motor and the second body yaw motor 25 both use joint motors, the first body yaw motor and the second body yaw motor 25 have the same structure and are symmetrically arranged, and the second body yaw motor 25 is taken as an example for specific description below. One side of the motor frame 24 is connected to the base plate 6 by screws, the bottom of the second main body yaw motor 25 is connected to the other side of the motor frame 24 by screws, the head of the second main body yaw motor 25 is connected to the flange 26 by screws, and the flange 26 is connected to the lower half coupling 27-1 in the coupling 27 by a top screw, and one end of the lower half coupling 27-1 is connected to one end of the upper half coupling 27-3 by a pin 27-2, and the upper half coupling 27-3 can rotate around the pin 27-2. The lower half coupling 27-1 and the upper half coupling 27-3 are both semicircular arc structures. After the lower half coupling 27-1 and the upper half coupling 27-3 are docked, they are locked by the screw knob 27-4 to form a closed ring to clamp and fix the shaft to be connected to the second main body yaw motor 25, so as to facilitate the transmission of motor power. The clamping force between the lower half coupling 27-1 and the upper half coupling 27-3 can be adjusted by a screw knob 27-4 to adapt to shafts with different shaft diameters. In this embodiment, the shaft to be connected to the second main body yaw motor 25 is a transmission shaft 28-3 in the yaw knob control mechanism 28. The transmission shaft 28-3 is provided with a yaw knob 28-1. When the transmission shaft 28-3 passes through the lower half coupling 27-1 and the upper half coupling 27-3 and the output end clamp of the second main body yaw motor 25, the transmission shaft 28-3 is clamped by the screw knob 27-4. When it is tightly fixed, it can rotate with the second main body yaw motor 25, and when the lower half coupling 27-1 and the upper half coupling 27-3 are not clamped on the transmission shaft 28-3 by adjusting the screw knob 27-4, the yaw knob 28-1 can be manually turned to realize the rotation of the transmission shaft 28-3, thereby realizing the manual control and automatic control modes of the endoscope main body control box 23, and the endoscope main body 1 can be controlled to enter the natural cavity of the human body through the manual control and automatic control modes. During manual control, the doctor controls the rotation of the yaw knob 28-1 on the transmission shaft 28-3 with one hand to adjust the up, down, left and right yaw of the end joint main body 1-1 in the endoscope main body 1, and the other hand pinches the connection tube 1-8 of the endoscope main body 1 near the human anus to move forward and backward to realize endoscopic diagnosis. The locking mechanism 28-2 is fixedly connected to the endoscope main body control box 23, which can realize the fixing of the yaw angle of the end joint main body 1-1 in the endoscope main body 1 at any position. When the automatic control mode is used for surgical operation, the endoscope main body control box 23 is placed between the two lower half couplings 27-1, and the upper half couplings 27-3 and the corresponding lower half couplings 27-1 at both ends of the endoscope main body control box 23 are locked by the bolt knob 27-4, and the locking mechanism 28-2 of the knob is loosened to realize the power transmission between the second main body yaw motor 25 and the yaw knob 28-1. During automatic control, the endoscope main body control box 23 is placed in the lower half coupling 27-1 and locked by the bolt knob 27-4, so that the endoscope can be used in the intestinal tract for diagnosis.
本实施例中，上述的内窥镜主体控制盒23主要由两个对称放置的偏摆旋钮控制机构28、两个对称放置的导轮组29、外壳30、接头31和上盖32构成。偏摆旋钮控制机构28中，锁紧机构28-2通过螺钉与外壳30相连，限制传动轴28-3上外壳30处滚珠轴承的左右运动，传动轴28-3对称设置有两根，分别为第一传动轴和第二传动轴，第一传动轴和第二传动轴分别与第一主体偏摆电机和第二主体偏摆电机对应，第一传动轴和第二传动轴上的结构布置以及工作原理完全相同，下面以传动轴28-3代表第一传动轴，对内窥镜主体控制盒23内的结构做具体说明。传动轴28-3穿过锁紧机构28-2，传动轴28-3位于外壳30内部一端通过螺钉固定有第一内窥镜牵引钢丝走线轮组28-4，第一内窥镜牵引钢丝走线轮组28-4包括两个反向放置的走线轮，即第一内窥镜牵引钢丝走线轮和第二内窥镜牵引钢丝走线轮，传动轴28-3末端设置有起支撑作用的轴承28-5与轴承座28-6，轴承座28-6与轴承28-5通过顶丝固连，传动轴28-3位于外壳30外部一端通过螺钉与偏摆旋钮28-1固连。导轮组29主要由导轮架29-1、螺纹杆29-2、导轮29-3和卡簧29-4组成，导轮架29-1通过螺钉与外壳30固连，导轮架29-1上通过螺纹连接两个螺纹杆29-2，每根螺纹杆29-2上放置有一个通过卡簧29-4固定的导轮29-3，即第一内窥镜牵引钢丝导轮和第二内窥镜牵引钢丝导轮。第一根内窥镜牵引钢丝从靠近外壳30内壁的走线轮线槽引出，穿过第一内窥镜牵引钢丝导轮和第二内窥镜牵引钢丝导轮进入接头31的钢丝孔中，第二根内窥镜牵引钢丝从靠近轴承座一侧的走线轮线槽引出，直接进入接头31的钢丝孔中，接头钢丝孔孔位与走线轮线槽对应。第一传动轴和第二传动轴上的结构布置以及工作原理完全相同，第二传动轴所对应的导轮组29包括第三内窥镜牵引钢丝导轮和第四内窥镜牵引钢丝导轮，第二传动轴上安装的是第二内窥镜牵引钢丝走线轮组，即第三内窥镜牵引钢丝走线轮和第四内窥镜牵引钢丝走线轮。上述四根内窥镜牵引钢丝在穿过接头31后两两一组且成对交叉布置，在正常使用状态下，四根内窥镜牵引钢丝在末端关节主体1-1的固定点分别位于矩形或正方形的四角，四根内窥镜牵引钢丝是相互平行的。In this embodiment, the endoscope main body control box 23 is mainly composed of two symmetrically placed yaw knob control mechanisms 28, two symmetrically placed guide wheel groups 29, a housing 30, a joint 31 and an upper cover 32. In the yaw knob control mechanism 28, the locking mechanism 28-2 is connected to the housing 30 by screws to limit the left and right movement of the ball bearing at the housing 30 on the transmission shaft 28-3. The transmission shaft 28-3 is symmetrically provided with two shafts, namely the first transmission shaft and the second transmission shaft. The first transmission shaft and the second transmission shaft correspond to the first main body yaw motor and the second main body yaw motor respectively. The structural arrangement and working principle of the first transmission shaft and the second transmission shaft are exactly the same. The transmission shaft 28-3 is used to represent the first transmission shaft, and the structure in the endoscope main body control box 23 is specifically described below. The transmission shaft 28-3 passes through the locking mechanism 28-2. The transmission shaft 28-3 is located at one end inside the outer shell 30 and is fixed with a first endoscope traction wire routing wheel group 28-4 by screws. The first endoscope traction wire routing wheel group 28-4 includes two routing wheels placed in opposite directions, namely a first endoscope traction wire routing wheel and a second endoscope traction wire routing wheel. The end of the transmission shaft 28-3 is provided with a bearing 28-5 and a bearing seat 28-6 for support. The bearing seat 28-6 is fixedly connected to the bearing 28-5 by a top screw. The transmission shaft 28-3 is located at one end outside the outer shell 30 and is fixedly connected to the deflection knob 28-1 by screws. The guide wheel assembly 29 is mainly composed of a guide wheel frame 29-1, a threaded rod 29-2, a guide wheel 29-3 and a retaining spring 29-4. The guide wheel frame 29-1 is fixedly connected to the housing 30 by screws. Two threaded rods 29-2 are connected to the guide wheel frame 29-1 by threads. A guide wheel 29-3 fixed by a retaining spring 29-4 is placed on each threaded rod 29-2, namely, a first endoscope traction wire guide wheel and a second endoscope traction wire guide wheel. The first endoscope traction wire is led out from the wire groove of the wire wheel close to the inner wall of the housing 30, passes through the first endoscope traction wire guide wheel and the second endoscope traction wire guide wheel and enters the wire hole of the joint 31. The second endoscope traction wire is led out from the wire groove of the wire wheel close to one side of the bearing seat and directly enters the wire hole of the joint 31. The position of the joint wire hole corresponds to the wire groove of the wire wheel. The structural arrangement and working principle of the first transmission shaft and the second transmission shaft are exactly the same. The guide wheel group 29 corresponding to the second transmission shaft includes a third endoscope traction wire guide wheel and a fourth endoscope traction wire guide wheel. The second transmission shaft is installed with a second endoscope traction wire routing wheel group, namely, a third endoscope traction wire routing wheel and a fourth endoscope traction wire routing wheel. The above four endoscope traction wires are arranged in pairs and cross-arranged in pairs after passing through the joint 31. Under normal use, the four endoscope traction wires are located at the four corners of a rectangle or square at the fixed points of the terminal joint body 1-1, and the four endoscope traction wires are parallel to each other.
上述可知，本技术方案提出的经自然腔道诊疗一体式手术机器人是针对胃肠镜的一种新型经自然腔道诊疗一体式手术机器人，不仅可以实现诊断和治疗一体化，有利于快速完成手术操作，而且可以减轻医务人员的工作量，减轻医生的工作强度，提高医务人员的工作效率，可以更方便、灵活地进行胃肠镜治疗，改善了现如今手动操作时诊断和治疗分离的情况。From the above, it can be seen that the integrated surgical robot for diagnosis and treatment through natural cavity proposed in the present technical scheme is a new type of integrated surgical robot for diagnosis and treatment through natural cavity for gastroenteroscopy, which can not only realize the integration of diagnosis and treatment, and is conducive to the rapid completion of surgical operations, but also can reduce the workload of medical staff, reduce the work intensity of doctors, and improve the work efficiency of medical staff. It can perform gastroenteroscopy treatment more conveniently and flexibly, and improves the current situation of separation of diagnosis and treatment during manual operation.
本技术方案提出的器械传动机构，具体为一种可以自行调整摩擦轮压力的摩擦轮传动机构，通过调整机构上调整杆螺纹的旋进深度来调整弹簧的压缩程度，以此来调整摩擦轮的压力，并可以通过按压L形连杆很方便的取下手术器械，实现手术器械的快换。The instrument transmission mechanism proposed in the technical solution is specifically a friction wheel transmission mechanism that can automatically adjust the pressure of the friction wheel. The compression degree of the spring is adjusted by adjusting the screwing depth of the adjusting rod thread on the adjustment mechanism, thereby adjusting the pressure of the friction wheel. The surgical instrument can be conveniently removed by pressing the L-shaped connecting rod, thereby realizing quick replacement of the surgical instrument.
本技术方案的器械控制机构能同时实现手术器械绕自身轴线旋转和前后运动，结构设计巧妙，用一根两端接口处嵌套有两层钢管的硬管套跟器械软管相连接，两层钢管可以绕轴向相对旋转并沿轴向同步前后运动，摩擦轮带动硬管套前后运动时即带动软管同步前进和后退运动，实现手术器械的前进和后退，软管旋转时，硬管套卡在摩擦轮中，不跟随软管道旋转，实现手术器械的旋转运动。The instrument control mechanism of the present technical solution can simultaneously realize the rotation of the surgical instrument around its own axis and the forward and backward movement. The structural design is ingenious. A hard tube sleeve with two layers of steel pipes embedded in the interfaces at both ends is connected to the instrument hose. The two layers of steel pipes can rotate relative to each other around the axial direction and move forward and backward synchronously along the axial direction. When the friction wheel drives the hard tube sleeve to move forward and backward, it drives the hose to move forward and backward synchronously, thereby realizing the forward and backward movement of the surgical instrument. When the hose rotates, the hard tube sleeve is stuck in the friction wheel and does not rotate with the soft tube, thereby realizing the rotational movement of the surgical instrument.
本技术方案提出的器械传动机构，手术器械的软管穿套于硬管套内，既可以实现软管的快速安装和取下，又能够防止手术器械的软管旋转时发生绞动，使其能较好的绕自身轴线进行自转，提高装置的可靠性。The instrument transmission mechanism proposed in the technical solution has the hose of the surgical instrument inserted into the hard tube sleeve, which can not only realize the rapid installation and removal of the hose, but also prevent the hose of the surgical instrument from twisting when rotating, so that it can rotate around its own axis better, thereby improving the reliability of the device.
本技术方案用电推杆控制钢丝的前进后退来控制手术器械中剪刀的开合，改变了原本采用电机连接走线轮和导向机构通过两根钢丝控制的方式，使器械开合的控制变得更简单，结构更紧凑小巧，提高了器械盒空间的利用率。This technical solution uses an electric push rod to control the forward and backward movement of the steel wire to control the opening and closing of the scissors in the surgical instrument, changing the original control method of using a motor to connect the wiring wheel and the guide mechanism through two steel wires, making the control of the opening and closing of the instrument simpler, the structure more compact and small, and improving the utilization rate of the instrument box space.
需要说明的是，对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内，不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.
本发明中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317773.7ACN114668432B (en) | 2022-03-29 | 2022-03-29 | An integrated surgical robot for diagnosis and treatment through natural cavity |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317773.7ACN114668432B (en) | 2022-03-29 | 2022-03-29 | An integrated surgical robot for diagnosis and treatment through natural cavity |
| Publication Number | Publication Date |
|---|---|
| CN114668432A CN114668432A (en) | 2022-06-28 |
| CN114668432Btrue CN114668432B (en) | 2024-06-07 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210317773.7AActiveCN114668432B (en) | 2022-03-29 | 2022-03-29 | An integrated surgical robot for diagnosis and treatment through natural cavity |
| Country | Link |
|---|---|
| CN (1) | CN114668432B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115137284B (en)* | 2022-06-29 | 2025-05-27 | 佗道医疗科技有限公司 | A 3D endoscope |
| CN115252146B (en)* | 2022-07-25 | 2025-10-03 | 中国科学院深圳先进技术研究院 | A transrespiratory diagnosis and treatment robot system and its control method |
| CN115252138B (en)* | 2022-08-09 | 2023-08-18 | 哈尔滨工业大学 | Oral cavity throat surgical robot |
| CN117243675A (en)* | 2023-10-19 | 2023-12-19 | 施爱德（厦门）医疗器材有限公司 | Puncture outfit with changeable sheath tube |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101500470A (en)* | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgery system |
| CN102697552A (en)* | 2012-04-24 | 2012-10-03 | 王东 | Executing instrument of flexible type endoscope system |
| CN107184275A (en)* | 2017-07-25 | 2017-09-22 | 吉林大学 | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery |
| CN108606839A (en)* | 2018-05-21 | 2018-10-02 | 华志微创医疗科技（北京）有限公司 | A kind of long-range skull micro wound surgery systems for burst accident |
| WO2018177200A1 (en)* | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Flexible instrument for surgical robot, surgical instrument and endoscope |
| CN109496135A (en)* | 2016-06-01 | 2019-03-19 | 恩达马斯特有限公司 | Endoscopy system component |
| CN111568552A (en)* | 2020-04-14 | 2020-08-25 | 山东大学 | A kind of endoscopic surgical robot through natural orifice |
| JP2020141833A (en)* | 2019-03-06 | 2020-09-10 | 川崎重工業株式会社 | Surgical system control method and surgical system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014156250A1 (en)* | 2013-03-29 | 2014-10-02 | オリンパス株式会社 | Master-slave system |
| CN106264626B (en)* | 2016-08-27 | 2018-07-24 | 天津大学 | A kind of Minimally Invasive Surgery device based on natural cavity |
| WO2019070696A1 (en)* | 2017-10-02 | 2019-04-11 | The Regents Of The University Of California | Steerable catheter flexible robotic system for use with endoscopes |
| TWI659728B (en)* | 2017-11-02 | 2019-05-21 | 國立交通大學 | Minimally invasive surgical instruments with terminal steerable mechanism |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101500470A (en)* | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgery system |
| CN102697552A (en)* | 2012-04-24 | 2012-10-03 | 王东 | Executing instrument of flexible type endoscope system |
| CN109496135A (en)* | 2016-06-01 | 2019-03-19 | 恩达马斯特有限公司 | Endoscopy system component |
| WO2018177200A1 (en)* | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Flexible instrument for surgical robot, surgical instrument and endoscope |
| CN107184275A (en)* | 2017-07-25 | 2017-09-22 | 吉林大学 | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery |
| CN108606839A (en)* | 2018-05-21 | 2018-10-02 | 华志微创医疗科技（北京）有限公司 | A kind of long-range skull micro wound surgery systems for burst accident |
| JP2020141833A (en)* | 2019-03-06 | 2020-09-10 | 川崎重工業株式会社 | Surgical system control method and surgical system |
| CN111568552A (en)* | 2020-04-14 | 2020-08-25 | 山东大学 | A kind of endoscopic surgical robot through natural orifice |
| Title |
|---|
| 微创手术机器人末端执行器械关键技术研究;金星泽;微创手术机器人末端执行器信息科技辑;20190430;全文* |
| Publication number | Publication date |
|---|---|
| CN114668432A (en) | 2022-06-28 |
| Publication | Publication Date | Title |
|---|---|---|
| CN114668432B (en) | An integrated surgical robot for diagnosis and treatment through natural cavity | |
| AU2020204226B2 (en) | Robotic surgical assemblies | |
| KR102587514B1 (en) | Double bending flexible surgical tool system | |
| CN102525595B (en) | Bendable and visible surgical clamp | |
| CN106175849B (en) | A kind of single hole endoscope-assistant surgery system based on flexible operation tool | |
| CN106361432B (en) | A kind of tool system that can perform the operation through the flexibility of single operative incision | |
| CN115715702B (en) | Flexible endoscope operation robot system | |
| US20110213360A1 (en) | Tensioning Mechanism for Articulation Drive Cables | |
| CN106236272B (en) | A kind of flexible operation tool system using restraining structure bone | |
| CN114668503B (en) | Diagnosis and treatment integrated operation robot | |
| CN202313595U (en) | Visible and bendable operating forceps | |
| CN117243548A (en) | Endoscope and haulage rope tensioning adjustment mechanism | |
| CN112617728B (en) | Bronchoscope sheath and operating device thereof | |
| CN118177694A (en) | Endoscope snake bone control method and device and endoscope handle | |
| EP2401952B1 (en) | Endoscope apparatus | |
| CN107320178A (en) | A kind of medical science backup actuating device | |
| CN113133806B (en) | Flexible surgical instruments | |
| WO2025113304A1 (en) | End effector, surgical instrument, slave operation device, and surgical robot | |
| US20240341886A1 (en) | Surgical robotic system and surgical instrument thereof | |
| CN217566310U (en) | Surgical instrument, slave operation device, and surgical robot | |
| CN117942168B (en) | Surgical robot actuator and system for single-side double-channel spinal endoscope | |
| CN114668512A (en) | Master-slave mode endoscopic surgery robot | |
| CN119326357A (en) | Endoscope handles and endoscope components | |
| CN120770888A (en) | Detachable surgical clamp and surgical robot system | |
| CN119454205A (en) | Quick-change surgical actuator for unilateral dual-channel spinal endoscope |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |