CN114680953A - Medical device for manipulating surgical tools - Google Patents
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- CN114680953A CN114680953ACN202011612535.6ACN202011612535ACN114680953ACN 114680953 ACN114680953 ACN 114680953ACN 202011612535 ACN202011612535 ACN 202011612535ACN 114680953 ACN114680953 ACN 114680953A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
- H02K7/145—Hand-held machine tool
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00477—Coupling
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本公开总体上涉及医疗装置，更具体地，涉及一种具有传动轴的医疗装置，该传动轴位于并联操纵器的端部平台和基部平台之间并被配置成传递机械力。The present disclosure relates generally to medical devices, and more particularly, to a medical device having a drive shaft positioned between an end platform and a base platform of a parallel manipulator and configured to transmit mechanical force.
背景技术Background technique
并联机构能够以多达六个或更多的自由度来定位和定向端部平台。并联机构的端部平台可用于支撑医疗装置，例如诊断装置或手术工具。由于并联机构的端部平台可以做得极小，因此该机构既可以用于通过大的手术开口进行外科手术，也可以用于通过小的手术开口或体孔进行内窥镜手术。The parallel mechanism can position and orient the end stage with up to six or more degrees of freedom. The end platforms of the parallel mechanism can be used to support medical devices, such as diagnostic devices or surgical tools. Since the end platform of the parallel mechanism can be made extremely small, the mechanism can be used for both surgical procedures through large surgical openings and endoscopic procedures through small surgical openings or body holes.
由于端部平台能够高精度、灵巧地进行操纵，因此并联机构特别适合用于通过远程控制进行外科手术。该机构能够调节端部平台的位置，使得该机构适合用于需要精确微动的医疗应用。然而，其具有用于控制安装在端部平台上的手术工具的马达，会在操作期间对端部平台造成额外的重量和力。额外的重量和力可影响响应时间和操作计划的范围/路径的精度。因此，为了提高医疗装置的精度，需要将影响并联操纵器的端部平台的力减到最小。The parallel mechanism is particularly suitable for use in surgical procedures by remote control because the end stage can be manipulated with high precision and dexterity. The mechanism is capable of adjusting the position of the end platform, making the mechanism suitable for medical applications requiring precise micromotion. However, it has a motor for controlling surgical tools mounted on the end platform, which can cause additional weight and force to the end platform during operation. The additional weight and force can affect the response time and accuracy of the range/path of the operation plan. Therefore, in order to improve the accuracy of the medical device, there is a need to minimize the forces affecting the end stage of the parallel manipulator.
发明内容SUMMARY OF THE INVENTION
有鉴于此，有必要提供一种具有传动轴的医疗装置，以解决上述技术问题。In view of this, it is necessary to provide a medical device with a transmission shaft to solve the above technical problems.
为了实现上述目的，本公开的一个方面涉及的医疗装置包括：并联操纵器、适配器、传动轴以及轴马达，所述并联操纵器具有：端部平台；以及机械地联接到所述端部平台的基部平台，所述适配器具有：可拆卸地联接至所述端部平台的本体；以及由所述本体可旋转地支撑的接收轴，所述接收轴具有接收轭；所述传动轴由所述端部平台可旋转地支撑的传动轴，所述传动轴具有：配置成将机械力传递至所述接收轭的传动轭；连接至所述传动轭的柔性杆；以及连接至所述柔性杆的滑动件，所述轴马达被配置成产生机械力以驱动所述传动轴，所述轴马达具有可滑动地接合到所述滑动件的驱动轴。In order to achieve the above objects, an aspect of the present disclosure relates to a medical device comprising: a parallel manipulator, an adapter, a drive shaft, and a shaft motor, the parallel manipulator having: an end platform; and a mechanically coupled to the end platform a base platform, the adapter having: a body removably coupled to the end platform; and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a drive shaft rotatably supported by a platform, the drive shaft having: a drive yoke configured to transmit mechanical force to the receiving yoke; a flexible rod connected to the drive yoke; and a slide connected to the flexible rod The shaft motor is configured to generate a mechanical force to drive the drive shaft, the shaft motor having a drive shaft slidably coupled to the slider.
本公开的另一方面涉及的医疗装置包括：并联操纵器、机械附接到所述端部平台的传感器系统、可拆卸地联接到所述传感器系统的适配器、传动轴以及轴马达，所述并联操纵器具有：端部平台；以及机械连接到所述端部平台的基部平台，所述适配器具有：本体；以及由所述本体可旋转地支撑的接收轴，所述传动轴由所述端部平台可旋转地支撑并且被配置成将所述机械力传递到所述接收轴；所述轴马达驱动地连接到传动轴并且被配置成将所述机械力传递到所述传动轴。Another aspect of the present disclosure relates to a medical device comprising a parallel manipulator, a sensor system mechanically attached to the end stage, an adapter removably coupled to the sensor system, a drive shaft, and a shaft motor, the parallel The manipulator has: an end platform; and a base platform mechanically connected to the end platform, the adapter has: a body; and a receiving shaft rotatably supported by the body, the drive shaft from the end A platform is rotatably supported and configured to transmit the mechanical force to the receiving shaft; the shaft is motor-drivenly connected to a drive shaft and configured to transmit the mechanical force to the drive shaft.
根据本公开的一个方面，能够提供一种医疗装置，其能够通过把来自传动轴的噪声减到最小以提高医疗装置的精度。According to an aspect of the present disclosure, it is possible to provide a medical device capable of improving the accuracy of the medical device by minimizing noise from a transmission shaft.
附图说明Description of drawings
为了能够详细理解本公开的上述特征，可以通过参考实施例(其中一些实施例在附图中示出)对以上简要概述的公开内容进行更具体的描述。然而，应注意的是，附图仅示出了本公开的典型实施例，因此不应被视为对本公开范围的限制，因为本公开可以承认其他同等效果的实施例。In order that the above-mentioned features of the present disclosure can be understood in detail, the disclosure, briefly summarized above, can be described in more detail by reference to the embodiments, some of which are illustrated in the accompanying drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this disclosure and are therefore not to be considered limiting of its scope, for the disclosure may admit to other equally effective embodiments.
图1示出了根据本公开的一些实施例的医疗装置的3D表示视图；1 illustrates a 3D representational view of a medical device according to some embodiments of the present disclosure;
图2示出了根据本公开的一些实施例的医疗装置的横断面图；2 illustrates a cross-sectional view of a medical device according to some embodiments of the present disclosure;
图3示出了根据本公开的一些实施例的医疗装置的分解图；Figure 3 shows an exploded view of a medical device according to some embodiments of the present disclosure;
图4A示出了根据本公开的一些实施例的传动轴的透视图；4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure;
图4B示出了根据本公开的一些实施例的传动轴的剖视图；4B shows a cross-sectional view of a drive shaft according to some embodiments of the present disclosure;
图5示出了根据本公开的一些实施例的传动轴的分解图；Figure 5 shows an exploded view of a drive shaft according to some embodiments of the present disclosure;
图6示出了根据本公开的一些实施例的适配器的分解图；Figure 6 shows an exploded view of an adapter according to some embodiments of the present disclosure;
图7示出了根据本公开的一些实施例的机器模块的透视图；7 illustrates a perspective view of a machine module according to some embodiments of the present disclosure;
图8示出了根据本公开的一些实施例的传动轴、并联操纵器和机器模块的分解图；FIG. 8 shows an exploded view of a driveshaft, parallel manipulator, and machine module in accordance with some embodiments of the present disclosure;
图9示出了根据本公开的一些实施例的驱动轴和滑动件的横断面图；9 shows a cross-sectional view of a drive shaft and slider according to some embodiments of the present disclosure;
图10示出了根据本公开的一些实施例的接收轴和传动轭的透视图；10 shows a perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure;
图11示出了根据本公开的一些实施例的力传感器的横断面图；11 illustrates a cross-sectional view of a force sensor according to some embodiments of the present disclosure;
图12示出了根据本公开的一些实施例的力传感器的分解图。12 shows an exploded view of a force sensor according to some embodiments of the present disclosure.
具体实施方式Detailed ways
现在将在下文中参照附图更充分地描述本公开，附图中示出了本公开的示例性实施例。然而，本公开可以以很多不同的形式实施，并且不应被解释为限于本文阐述的示例性实施例。确切地说，这些示例性实施例是为了使得本公开透彻、完整而提供，并且将向本领域的技术人员充分传达本公开的范围。相同的参考数字始终指代相同的元件。The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. The same reference numbers refer to the same elements throughout.
本文使用的术语仅是为了描述具体实施示例例的目的，不旨在限制本公开。除非上下文另有明确指示，本文使用的单数形式“一”、“一个”和“该”旨在也包括复数形式。将进一步理解，当本文使用术语“包括(comprise/comprising)”或“包含(include/including)”或“具有(has/having)”时，指定了所陈述的特征、区域、整数、步骤、操作、元件和/或部件的存在，但不排除一个或多个其他特征、区域、整数、步骤、操作、元件、部件和/或其组合的存在或添加。The terminology used herein is for the purpose of describing specific example embodiments only and is not intended to limit the present disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will be further understood that when the terms "comprise/comprising" or "include/including" or "has/having" are used herein, the stated features, regions, integers, steps, operations are specified , elements and/or components, but does not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components and/or combinations thereof.
除非另有定义，否则本文使用的所有术语(包括技术和科学术语)具有本公开所属领域的普通技术人员通常理解的相同含义。将进一步理解，诸如在常用词典中定义的术语应被解释为具有与其在相关领域和本公开的上下文中的含义一致的含义，并且不会以理想化或过于正式的意义来解释，除非在本文中明确地如此定义。Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be construed to have meanings consistent with their meanings in the relevant art and the context of the present disclosure, and not to be interpreted in an idealized or overly formal sense, except in this context is clearly defined in this way.
图1示出了根据本公开的一些实施例的医疗装置的3D表示视图。图2示出了根据本公开的一些实施例的医疗装置的横断面图。图3示出了根据本公开的一些实施例的医疗装置的分解图。在一些实施例中，医疗装置1包括并联操纵器、传动轴12和适配器13。并联操纵器包括端部平台11-1、基部平台11-2以及可操作地联接在端部平台11-1和基部平台11-2之间的多个臂11-3。传动轴12设置在端部平台11-1和基部平台11-2之间。此外，传动轴12由端部平台11-1可旋转地支撑。在一些实施例中，适配器13被配置成夹持手术工具T1，例如钻头、套管针或锯片。在一些实施例中，医疗装置1还包括设置在适配器13和端部平台11-1之间的传感器系统14。传感器系统14被配置成监测由适配器13施加和接收的力。Figure 1 shows a 3D representational view of a medical device according to some embodiments of the present disclosure. 2 shows a cross-sectional view of a medical device according to some embodiments of the present disclosure. 3 shows an exploded view of a medical device according to some embodiments of the present disclosure. In some embodiments, the
在一些实施例中，医疗装置1还包括壳体15、手柄16和控制模块17。基部平台11-2机械地附接在壳体15，并且容纳机器模块19，该机器模块19被配置成操纵多个臂11-3的移动，这进而控制端部平台11-1的移动。机器模块19包括用于相应地操纵多个臂11-3的多个致动器以及用于操纵传动轴12的轴马达。手柄16使得用户可以在操作期间握住并操纵医疗装置1。控制模块17使得用户可以触发、停止或调整手术工具T1的动作或执行医疗装置1的其他功能。In some embodiments, the
可以基于自由度、臂的数量、每个臂中的接头顺序以及致动器的类型对并联操纵器进行分类。在一些实施例中，并联操纵器可以是具有六个自由度(6-DOF)的六自由度并联操纵器。在一些实施例中，多个臂11-3包括六个臂。在一些实施例中，每个臂11-3具有联接至基部平台11-2底下的致动器的第一接头、联接至端部平台11-1的第二接头、以及在第一接头和第二接头之间的第三接头。在一些实施例中，并联操纵器是6-PUS并联操纵器。在一些实施例中，第一接头是棱柱形接头(亦或，线性接头)。在一些实施例中，第二接头是球形接头。在一些实施例中，第三接头是万向接头。其中，万向接头采用两个转动接头形成。Parallel manipulators can be classified based on degrees of freedom, number of arms, order of joints in each arm, and type of actuator. In some embodiments, the parallel manipulator may be a six degree of freedom parallel manipulator with six degrees of freedom (6-DOF). In some embodiments, the plurality of arms 11-3 includes six arms. In some embodiments, each arm 11-3 has a first joint coupled to an actuator below the base platform 11-2, a second joint coupled to the end platform 11-1, and a second joint coupled to the first joint and the second joint The third joint between the two joints. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In some embodiments, the first joint is a prismatic joint (or, a linear joint). In some embodiments, the second joint is a ball joint. In some embodiments, the third joint is a universal joint. Among them, the universal joint is formed by two rotating joints.
在一些实施例中，医疗装置1还包括第一定位单元18-1和第二定位单元18-2。第一定位单元18-1和第二定位单元18-2相应地包括用于发出电磁信号、声波、热或其他可感知信号的多个标记，以及用于将标记相对于装置本体以特定方向/角度安装的适配器。在一些实施例中，标记和适配器与空间传感器配合使用，以在操作期间实现目标跟踪功能。第二定位单元18-2可以设置在适配器13与端部平台11-1之间的区域中。在一些实施例中，第二定位单元18-2设置在端部平台11-1上。在另一些实施例中，第二定位单元18-2设置在适配器13上。在另一些实施例中，第二定位单元18-2设置在工具T1上。In some embodiments, the
图4A示出了根据本公开的一些实施例的传动轴的透视图。图4B示出了根据本公开的一些实施例的传动轴的剖视图。在一些实施例中，传动轴40由端部平台可旋转地支撑并且滑动地接合到基部平台。在一些实施例中，传动轴40包括配置成将机械力传递至手术工具(即，图1中的手术工具T1)的传动轭41、连接至传动轭41的柔性杆42(Pliable rod)、以及连接至柔性杆42的滑动件43。在一些实施例中，柔性杆42是弹性结构。柔性杆42在结构上适应所施加的力，并且当力被移除时返回到原始结构。柔性杆42足够硬以承受和传递来自轴马达的机械力。在一个示例性实施例中，柔性杆42是具有多个层的弹簧管。在一些实施例中，柔性杆42具有四层(即，图4B中的柔性杆42)。在一些实施例中，端部平台和基部平台之间的最大距离大于柔性杆的长度，并且端部平台和基部平台之间的最小距离与柔性杆的长度基本相同。这样，当不使用医疗装置时，柔性杆不会受到压力。4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure. 4B shows a cross-sectional view of a drive shaft according to some embodiments of the present disclosure. In some embodiments, the
在一些实施例中，在操作医疗装置期间，当端部平台和基部平台之间处于最小距离时，只有柔性杆暴露在端部平台和基部平台之间。在另一些实施例中，在操作医疗装置期间，当端部平台和基部平台之间处于最小距离时，柔性杆和滑动件的一部分暴露在端部平台和基部平台之间。换言之，当端部平台和基部平台之间处于最小距离时，滑动件相对于基部平台基本上是平坦的。In some embodiments, during operation of the medical device, only the flexible rod is exposed between the end platform and the base platform when there is a minimum distance between the end platform and the base platform. In other embodiments, a portion of the flexible rod and slider is exposed between the end platform and the base platform when there is a minimum distance between the end platform and the base platform during operation of the medical device. In other words, the slider is substantially flat relative to the base platform when there is a minimum distance between the end platform and the base platform.
另一方面，当端部平台和基部平台之间的距离大于最小距离时，滑动件的一部分暴露在端部平台与基部平台之间。当端部平台和基部平台之间处于最大距离时，滑动件和驱动轴之间的重叠量不小于5mm。然而，在另一些实施例中，在端部平台和基部平台之间处于最大距离时，滑动件和驱动轴之间的重叠量可以小于5mm。换言之，滑动件和驱动轴之间的最小重叠量不超过5mm。在操作过程中，可能会向柔性杆施加力，导致变形。柔性杆的弹性允许它与滑动件的中心轴线有30°的角度偏差，而在移除施加的力时变回不变形的原形。On the other hand, when the distance between the end platform and the base platform is greater than the minimum distance, a portion of the slider is exposed between the end platform and the base platform. When the distance between the end platform and the base platform is at the maximum distance, the overlap between the slider and the drive shaft is not less than 5mm. However, in other embodiments, the overlap between the slider and the drive shaft may be less than 5mm at the maximum distance between the end platform and the base platform. In other words, the minimum overlap between the slider and the drive shaft does not exceed 5mm. During operation, force may be applied to the flexible rod, causing deformation. The elasticity of the flexible rod allows it to be angularly offset from the central axis of the slider by 30°, while returning to its undeformed original shape when the applied force is removed.
在一些实施例中，当端部平台和基部平台之间处于最小距离时，滑动件相对于基部平台基本上是平坦的。此外，柔性杆的长度与端部平台和基部平台之间的最小距离基本相同。在另一些实施例中，当端部平台和基部平台之间处于最小距离时，滑动件从基部平台伸出。此外，柔性杆的长度小于端部平台和基部平台之间的最小距离。在另一些实施例中，当端部平台和基部平台之间处于最小距离时，滑动件从基部平台凹入。此外，柔性杆的长度大于端部平台和基部平台之间的最小距离。但是，在端部平台和基部平台之间处于最小距离期间，柔性杆处于正常状态。在一些实施例中，柔性杆的正常状态是柔性杆处于相对不受力的状态。因此，柔性杆在正常状态下保持其原始形状(即，无拉伸、弯曲或压缩)。In some embodiments, the slider is substantially flat relative to the base platform when there is a minimum distance between the end platform and the base platform. Furthermore, the length of the flexible rod is substantially the same as the minimum distance between the end platform and the base platform. In other embodiments, the slider extends from the base platform when there is a minimum distance between the end platform and the base platform. Furthermore, the length of the flexible rod is less than the minimum distance between the end platform and the base platform. In other embodiments, the slider is recessed from the base platform when there is a minimum distance between the end platform and the base platform. Furthermore, the length of the flexible rod is greater than the minimum distance between the end platform and the base platform. However, during the minimum distance between the end platform and the base platform, the flexible rod is in a normal state. In some embodiments, the normal state of the flexible rod is that the flexible rod is in a relatively unstressed state. Thus, the flexible rod retains its original shape in the normal state (ie, without stretching, bending or compression).
在一个示例性实施例中，传动轴40的长度L40基本上为11.5cm(即11.495cm)。在一个示例性实施例中，柔性杆42的长度L42基本上为5.5cm(即5.475cm)。在一个示例性实施例中，柔性杆42的直径D42基本上为0.38cm。在一个示例性实施例中，滑动件43的直径D43基本上为1cm。在一个示例性实施例中，滑动件43的长度L43基本上为3cm(即2.995cm)。在一个示例性实施例中，传动轭41的加宽部的直径D41基本上为1.3cm。然而，上述尺寸仅是示例，并且不应被用来限制本公开的范围。In one exemplary embodiment, the length L40 of the
图5示出了根据本公开的一些实施例的传动轴的分解图。在一些实施例中，传动轭41和滑动件43相应地具有通孔，柔性杆42插入其中。为了将柔性杆42物理地附接到传动轭41和滑动件43，相应地使用销41-21、41-22、43-21和43-22。销41-21和41-22用于将柔性杆42的一端按到或压到传动轭41的通孔的内表面。在一些实施例中，销41-21和41-22彼此正交地设置。因此，柔性杆42可以设置成偏向传动轭41的一侧。销43-21和43-22用于将柔性杆42的另一端按到或压到滑动件43的通孔的内表面。在一些实施例中，销43-21和43-22彼此正交地设置。因此，柔性杆42可以设置成偏向滑动件43的一侧。虽然柔性杆42可以对应于传动轭41和滑动件43偏离中心，但销41-21、41-22、43-21和43-22的正交定位确保在操作过程中柔性杆42牢固地固定到传动轭41和滑动件43上。5 shows an exploded view of a drive shaft according to some embodiments of the present disclosure. In some embodiments, the
在一些实施例中，传动轭41包括突起41-1，该突起被配置成将机械力传递到适配器(即，图1中的适配器13)的接收轴。突起41-1被配置成在操作期间与适配器的接收轴的接触最少，以防止在适配器上产生噪声(noise)(也就是说，避免在适配器上产生不需要的力和力矩的输入)。In some embodiments, the
如图5所示，端部平台50包括第一轴承51和第二轴承52。在一些实施例中，端部平台50还包括垫圈53和保持环54。在一些实施例中，第一轴承51和第二轴承52是凸缘轴承，其中轴承的外圈上的延伸部或唇部被设计成帮助轴承的安装和定位。在一些实施例中，第一轴承51的凸缘定位在端部平台50的背离基部平台的表面上(即，定位在图3中的端部平台11-1和适配器13之间)。在一些实施例中，第二轴承52的凸缘定位在端部平台50的面向基部平台的表面上(即，定位在图3中的端部平台11-1和基部平台11-2之间)。As shown in FIG. 5 , the
在一些实施例中，保持环54径向安装在传动轭41的凹槽41-4上。保持环54可以是C形环。在一些实施例中，垫圈53设置在保持环54和第二轴承52之间，以防止第二轴承52磨损。此外，垫圈53用于填充传动轭41的凸缘41-3与保持环54之间的间隙。在一些实施例中，通过使用保持环54基本上去除了凸缘41-3、端部平台50、垫圈53、第一轴承51和第二轴承52之间的间隙。轴承51和52可以被夹在传动轭41的凸缘41-3和保持环54之间。因此，传动轭41的凸缘41-3和保持环54用于帮助传动轭41的安装和定位。In some embodiments, retaining
图6示出了根据本公开的一些实施例的适配器的分解图。在一些实施例中，适配器包括本体以及设置在本体内并由本体可旋转地支撑的接收轴66。本体包括基座61和机械地附接到基座61的盖62。接收轴66设置在基座61和盖62之间。在一些实施例中，接收轴66包括接收轭66-1和与接收轭66-1相对的卡盘66-2。卡盘66-2被配置成夹持手术工具(即，图1中的手术工具T1)。卡盘66-2与盖62的通孔对准，手术工具可以插入该通孔中。接收轭66-1暴露在适配器的外部。这样，接收轭66-1可以接收来自传动轴的机械力。接收轭66-1与传动轴之间的接触被设计成尽可能最少，以防止产生噪声。在一些实施例中，在接收轭66-1上形成凹槽(未示出)，该凹槽与传动轴的突起(即图5中的突起41-1)互补，以接收机械力。6 shows an exploded view of an adapter according to some embodiments of the present disclosure. In some embodiments, the adapter includes a body and a receiving
在一些实施例中，适配器还包括第一轴承63和第二轴承64。在一些实施例中，第一轴承63和第二轴承64是凸缘轴承，其中轴承的外圈上的延伸部或唇部被设计成帮助轴承的安装和定位。在一些实施例中，第一轴承63的凸缘定位在基座61的面向盖62的表面上。在一些实施例中，第二轴承64的凸缘定位在基座61的背离盖62的表面上。In some embodiments, the adapter also includes a
在一些实施例中，适配器还包括保持环65。在一些实施例中，保持环65径向安装在接收轴66的凹槽66-3上。保持环65可以是C形环。在一些实施例中，接收轭66-1的直径大于卡盘66-2的直径。这样，接收轭66-1的直径比轴承63和64的内圈宽。轴承63和64可以被夹在接收轭66-1和保持环65之间。因此，接收轭66-1和保持环65用于帮助接收轴66的安装和定位。In some embodiments, the adapter also includes a retaining
图7示出了根据本公开的一些实施例的机器模块的等距视图。在一些实施例中，机器模块80机械地附接到并联操纵器的基部平台70。在一些实施例中，机器模块80包括：多个致动器81，所述致动器被配置成控制并联操纵器的多个臂(即，图1中的臂11-3)的运动；以及轴马达82，该轴马达被配置成产生用于操纵手术工具(即图1中的手术工具T1)的机械力。7 illustrates an isometric view of a machine module according to some embodiments of the present disclosure. In some embodiments, the
在一些实施例中，如图7所示，基部平台70包括臂基座71和被臂基座71围绕的轴基座72。臂基座71用于在并联操纵器的多个臂与机器模块80的致动器81之间提供结构支撑。轴基座72用于为轴马达82提供结构支撑。在一些实施例中，传动轴40设置在轴基座72的凹进区域内。轴马达82的一部分可以暴露在轴基座72的凹进区域中。传动轴40和轴马达82可以滑动地接合在轴基座72的凹进区域内。In some embodiments, as shown in FIG. 7 , the
图8示出了根据本公开的一些实施例的传动轴、并联操纵器和机器模块的分解图。机器模块的轴马达92联接到并联操纵器的轴基座91。在一些实施例中，轴马达92的转子92-1插入到轴基座91的凹进区域中。驱动轴94附接到转子92-1并且被配置成沿与转子92-1相同的方向移动。传动轴的滑动件93滑动接合到轴马达92。在一些实施例中，滑动件93滑动接合到驱动轴94，其中由轴马达产生的机械力通过驱动轴94传递到滑动件93。滑动件93具有插口，并且驱动轴94的截面形状轮廓在结构上与插口的截面形状轮廓互补。插口被配置成沿着驱动轴94滑动。驱动轴与滑动件之间的关系的进一步图解和相关说明应在图9中应公开。8 shows an exploded view of a driveshaft, parallel manipulator, and machine module in accordance with some embodiments of the present disclosure. The
在一些实施例中，在轴基座91的凹进区域内放置圆筒95。当组装医疗装置时，圆筒95围绕滑动件93，而滑动件93围绕驱动轴94。圆筒95、滑动件93和驱动轴94依次装配在彼此内。In some embodiments,
在一些实施例中，为了减少滑动件93和驱动轴94之间的摩擦，滑动件93和驱动轴94的材料彼此不同。驱动轴94的杨氏模量与滑动件93的杨氏模量不同。在一些实施例中，滑动件93的材料是钢，而驱动轴94的材料是铜。在一些实施例中，滑动件93和驱动轴94的材料是抗摩擦金属聚合物。In some embodiments, in order to reduce friction between the
在一些实施例中，为了减少滑动件93与驱动轴94之间的摩擦，在驱动轴94的外表面上涂覆润滑剂。在一些实施例中，在滑动件93的内表面上涂覆润滑剂。润滑剂可以包括碳粉、润滑油等中的至少一种。In some embodiments, to reduce friction between the
在一些实施例中，为了减少滑动件93和圆筒95之间的摩擦，滑动件93和圆筒95的材料彼此不同。滑动件93的杨氏模量与圆筒95的杨氏模量不同。在一些实施例中，滑动件93的材料是钢，而圆筒95的材料是铜。在一些实施例中，滑动件93和圆筒95的材料是抗摩擦金属聚合物。In some embodiments, in order to reduce friction between the
在一些实施例中，为了减少滑动件93与圆筒95之间的摩擦，在滑动件93的外表面上涂覆润滑剂。在一些实施例中，在圆筒95的内表面上涂覆润滑剂。润滑剂可以包括碳粉、润滑油等中的至少一种。In some embodiments, to reduce friction between the
图9示出了根据本公开的一些实施例的驱动轴和滑动件的横断面图。提供了滑动件21和驱动轴22的代表性图示，以帮助描述它们之间的滑动接合。滑动件21具有插口21-1。驱动轴的表面22-1的截面形状轮廓在结构上与插口21-1的截面形状轮廓互补。插口21-1被配置成在操作医疗装置期间在需要时沿着驱动轴22滑动。在另一些实施例中，在操作期间在驱动轴22和滑动件21之间需要重叠量，以确保在它们之间传递机械力。在操作期间驱动轴22与滑动件21之间的重叠量不小于5mm，以确保在它们之间传递机械力。在另一些实施例中，驱动轴22与滑动件21之间的最小重叠量不大于5mm。在另一些实施例中，驱动轴22与滑动件21之间的最小重叠量的范围在0mm至5mm之间。在另一些实施例中，驱动轴22与滑动件21之间的最小重叠量的范围在5mm至100mm之间。在一些实施例中，插口21-1的深度L1大于驱动轴22的高度L2。在另一些实施例中，插口21-1的深度L1与驱动轴22的高度L2基本相同。9 shows a cross-sectional view of a drive shaft and slider according to some embodiments of the present disclosure. A representative illustration of the
在一些实施例中，插口21-1和驱动轴22的表面22-1的截面形状轮廓是多边形的形状轮廓。驱动轴22具有彼此相交的多个小平面以形成成角度的交叉部。在一些实施例中，两个小平面之间的交叉部是圆形的或弯曲的以防止在插入期间造成损坏。插口21-1是夹持驱动轴22的面的封闭开口。驱动轴22的小平面之间的角度提供夹持以驱动滑动件21。In some embodiments, the cross-sectional shape profiles of socket 21-1 and surface 22-1 of
在另一些实施例中，驱动轴和滑动件具有用于传递机械力的不同结构。驱动轴具有突起。滑动件具有对应于突起的凹槽。在组装好的医疗装置中，驱动轴的突起插入滑动件的凹槽中。凹槽的高度足以使得在操作期间滑动件滑离驱动轴时，突起留在凹槽内。突起被配置成沿着相应的凹槽滑动。此外，驱动轴被配置成在运动时通过与滑动件的凹槽内侧壁相切的驱动轴的突起侧壁将机械力传递至滑动件。In other embodiments, the drive shaft and slider have different structures for transmitting mechanical force. The drive shaft has protrusions. The slider has grooves corresponding to the protrusions. In the assembled medical device, the protrusion of the drive shaft is inserted into the groove of the slider. The height of the groove is sufficient to allow the protrusion to remain within the groove when the slider slides off the drive shaft during operation. The protrusions are configured to slide along the corresponding grooves. Furthermore, the drive shaft is configured to transmit mechanical force to the slider through a protruding side wall of the drive shaft that is tangent to the inner side wall of the groove of the slider when in motion.
在一些实施例中，驱动轴具有沿彼此相反的方向延伸的两个突起。滑动件具有与驱动轴的两个突起互补的两个凹槽。在一些实施例中，驱动轴具有狗骨式驱动接头(dogbone drive joint)，并且滑动件是驱动杯(drive cup)。In some embodiments, the drive shaft has two protrusions extending in opposite directions from each other. The slider has two grooves complementary to the two protrusions of the drive shaft. In some embodiments, the drive shaft has a dogbone drive joint and the slider is a drive cup.
图10示出了根据本公开的一些实施例的接收轴和传动轭的透视图。在一些实施例中，传动轴的传动轭102具有至少一个突起102-1。该至少一个突起102-1从传动轭102的本体102-2延伸。在一些实施例中，突起102-1是圆柱形的。接收轴101具有接收轭101-1。接收轭101-1具有在结构上与传动轭102的该至少一个突起102-1互补的凹槽101-2。在组装医疗装置时，将本体102-2的顶部插入接收轭101-1的凹进区域中。在操作期间，传动轭102被配置成通过与凹槽101-2的内侧壁相切的突起102-1的侧壁将机械力传递至接收轭101-1。这样，在操作期间接收轭101-1与传动轭102之间的接触最小，以防止传动轭102产生多余的噪声。10 shows a perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure. In some embodiments, the
在一些实施例中，传动轭102具有两个突起102-1。突起102-1从传动轭102的侧壁沿彼此相反的方向延伸。两个突起102-1彼此间隔180°。接收轭101-1具有与两个突起102-1互补的两个凹槽101-2。以与两个突起102-1相同的方式，两个凹槽101-2彼此相对设置。在一些实施例中，传动轭102是狗骨式驱动接头，并且接收轭101-1是驱动杯。In some embodiments, the
在操作期间，把来自传动轴的噪声尽可能地减到最小，从而在监测手术工具的运动时不会引发问题。在一些实施例中，可以使用传感器系统来监测手术工具。图11示出了根据本公开的一些实施例的力传感器的横断面图。图12示出了根据本公开的一些实施例的力传感器的分解图。在一些实施例中，传感器系统110设置在端部平台130与适配器120之间。传感器系统110被配置成测量适配器120的力。传感器系统110具有通孔，由轴承122可旋转地支撑的接收轴121和由轴承131可旋转地支撑的传动轴140在该通孔中会合。During operation, noise from the drive shaft is minimized so as not to cause problems in monitoring the movement of the surgical tool. In some embodiments, a sensor system may be used to monitor surgical tools. 11 shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure. 12 shows an exploded view of a force sensor according to some embodiments of the present disclosure. In some embodiments,
在一些实施例中，传感器系统110包括力中继器111和机械地联接到力中继器111的力传感器112。力中继器111可拆卸地联接到适配器120。在一些实施例中，力中继器111具有与适配器120的凹槽和突起互锁的凹槽和突起。In some embodiments,
在一些实施例中，力传感器112机械地附接到力中继器111和端部平台130，并且配置成将施加到适配器120的力转换成电信号。在一些实施例中，力传感器112利用在力传感器112的通孔的外围周围嵌入的紧固件113机械地附接到力中继器111和端部平台130。在一些实施例中，在力传感器112的前表面和后表面上形成多个孔，以相应地容纳用于力中继器111和端部平台130的紧固件113。在一些实施例中，力继电器111的紧固件113与端部平台130的紧固件113交错。在一些实施例中，用于力中继器111的紧固件113不与用于端部平台130的紧固件113对准，并且不与它们在投影上重叠。In some embodiments,
在一些实施例中，力传感器112是环形称重传感器(也称作负载垫圈或通孔称重传感器)。力传感器112将诸如张力、压缩、压力或转矩等力转换成电信号。在一些实施例中，施加到力传感器112的力与电信号的变化成比例。In some embodiments, the
在一些实施例中，除了预定力和预定转矩之外，施加到适配器120的力还包括在操作期间测量的力偏差和转矩偏差。力偏差表示在操作期间当设置在接收轴121上的手术工具与诸如骨骼的目标物体接触并对其施加力时，在接收轴方向上的影响。转矩偏差表示在操作期间当设置在接收轴121上的手术工具与诸如骨骼的目标物体接触并对其施加力时，在接收轴的运动上的影响。In some embodiments, in addition to the predetermined force and the predetermined torque, the force applied to the
在一些实施例中，传感器系统110用于在操作期间控制手术工具的位置和方向/角度。在一些实施例中，传感器系统信号连接至控制器。在操作期间，由控制器接收具有预定范围、预定路径或其组合的操作计划。传感器系统测量力偏差、转矩偏差或其组合。力偏差和转矩偏差是与操作计划的预定范围(即，预定力和预定转矩)的偏差。基于力偏差和转矩偏差来调节手术工具的方向/角度和位置。通过控制使并联操纵器移动的致动器来调节手术工具的方向/角度和位置。通过控制来自轴马达的机械力来调节手术工具的运动。在一些实施例中，传动轴可能在传感器系统上引起噪声。因此，在一些实施例中，低通滤波器进一步电联接至传感器系统以去除噪声。In some embodiments, the
因此，本公开的一个方面提供了一种医疗装置，该医疗装置包括：并联操纵器，该并联操纵器具有端部平台和机械地联接到端部平台的基部平台；适配器，该适配器具有可拆卸地联接至端部平台的本体和由本体可旋转地支撑的接收轴，该接收轴具有接收轭；由端部平台可旋转地支撑的传动轴，该传动轴具有配置成将机械力传递至接收轭的传动轭、联接至传动轭的柔性杆、和联接至柔性杆的滑动件；以及轴马达，该轴马达被配置成产生机械力以驱动传动轴，该轴马达具有可滑动地接合到滑动件的驱动轴。Accordingly, one aspect of the present disclosure provides a medical device comprising: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; an adapter having a removable a body rotatably coupled to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a drive shaft rotatably supported by the end platform having a drive shaft configured to transmit mechanical force to the receiving shaft a drive yoke of the yoke, a flexible rod coupled to the drive yoke, and a slide coupled to the flexible rod; and a shaft motor configured to generate a mechanical force to drive the drive shaft, the shaft motor having a slidable engagement to the slide parts of the drive shaft.
在一些实施例中，医疗装置还包括设置在端部平台与适配器之间的传感器系统，该传感器系统被配置成测量适配器上的力。In some embodiments, the medical device further includes a sensor system disposed between the end platform and the adapter, the sensor system being configured to measure the force on the adapter.
在一些实施例中，传感器系统包括力中继器，该力中继器可拆卸地联接到适配器；力传感器，该力传感器机械地附接到力中继器和端部平台，并且配置成将施加到适配器的力转换成电信号。In some embodiments, the sensor system includes a force repeater detachably coupled to the adapter; a force sensor mechanically attached to the force repeater and the end platform and configured to The force applied to the adapter is converted into an electrical signal.
在一些实施例中，传动轭具有突起，并且接收轭具有在结构上与突起互补的凹槽。在一些实施例中，传动轭被配置成在运动时通过与凹槽相切的突起的侧壁将机械力传递至接收轭。In some embodiments, the drive yoke has protrusions and the receiving yoke has grooves that are structurally complementary to the protrusions. In some embodiments, the transmission yoke is configured to transmit mechanical force to the receiving yoke through the sidewall of the protrusion tangential to the groove when in motion.
在一些实施例中，滑动件具有插口。驱动轴的截面形状轮廓在结构上与插口的截面形状轮廓互补。插口被配置成沿着驱动轴滑动。In some embodiments, the slider has a socket. The cross-sectional shape profile of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket. The socket is configured to slide along the drive shaft.
在一些实施例中，插口和驱动轴的截面形状轮廓是多边形的形状轮廓。In some embodiments, the cross-sectional shape profile of the socket and drive shaft is a polygonal shape profile.
在一些实施例中，驱动轴具有突起，并且滑动件具有对应于突起的凹槽。在一些实施例中，突起被配置成沿着凹槽滑动。In some embodiments, the drive shaft has protrusions and the slider has grooves corresponding to the protrusions. In some embodiments, the protrusion is configured to slide along the groove.
在一些实施例中，驱动轴和滑动件之间的最小重叠量不小于5mm。In some embodiments, the minimum overlap between the drive shaft and the slider is no less than 5 mm.
在一个实施例中，柔性杆包括具有多个层的弹簧管。In one embodiment, the flexible rod includes a spring tube having multiple layers.
在一些实施例中，医疗装置还包括围绕滑动件的圆筒。圆筒、滑动件和驱动轴依次装配在彼此内。In some embodiments, the medical device further includes a cylinder surrounding the slider. The cylinder, slider and drive shaft are sequentially fitted within each other.
在一些实施例中，驱动轴的杨氏模量与滑动件的杨氏模量不同，并且滑动件的杨氏模量与圆筒的杨氏模量不同。In some embodiments, the Young's modulus of the drive shaft is different from the Young's modulus of the slider, and the Young's modulus of the slider is different from the Young's modulus of the cylinder.
在一些实施例中，医疗装置还包括润滑剂，该润滑剂被施用以涂覆圆筒、滑动件和驱动轴中的至少一者的表面。In some embodiments, the medical device further includes a lubricant applied to coat a surface of at least one of the barrel, the slider, and the drive shaft.
在一些实施例中，在端部平台和基部平台之间处于最小距离时，柔性杆处于正常状态。In some embodiments, the flexible rod is in a normal state when there is a minimum distance between the end platform and the base platform.
因此，本公开的另一方面提供了一种医疗装置，该医疗装置包括：并联操纵器，该并联操纵器具有端部平台和机械地联接到端部平台的基部平台；机械附接到端部平台的传感器系统；可拆卸地联接到传感器系统的适配器，该适配器具有本体和由本体可旋转地支撑的接收轴；传动轴，该传动轴由端部平台可旋转地支撑并且被配置成将机械力传递到接收轴；以及轴马达，该轴马达驱动地连接到传动轴并且被配置成将机械力传递到传动轴。Accordingly, another aspect of the present disclosure provides a medical device comprising: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; mechanically attached to the end platform a sensor system of the platform; an adapter removably coupled to the sensor system, the adapter having a body and a receiving shaft rotatably supported by the body; a drive shaft rotatably supported by the end platform and configured to connect the mechanical a force is transmitted to the receiving shaft; and a shaft motor drivingly connected to the drive shaft and configured to transmit mechanical force to the drive shaft.
在一些实施例中，传感器系统包括力中继器，该力中继器可拆卸地联接到适配器；以及力传感器，该力传感器机械地附接到力中继器和端部平台。力传感器被配置成将施加到适配器的力转换成电信号。In some embodiments, the sensor system includes a force repeater detachably coupled to the adapter; and a force sensor mechanically attached to the force repeater and the end platform. The force sensor is configured to convert the force applied to the adapter into an electrical signal.
在一些实施例中，力传感器是环形称重传感器。In some embodiments, the force sensor is a toroidal load cell.
在一些实施例中，适配器还具有轴承，该轴承被配置成将接收轴可旋转地附接到本体。在一些实施例中，端部平台还具有轴承，该轴承被配置成将传动轴可旋转地附接到端部平台。In some embodiments, the adapter further has a bearing configured to rotatably attach the receiving shaft to the body. In some embodiments, the end platform further has a bearing configured to rotatably attach the drive shaft to the end platform.
在一些实施例中，传动轴包括：传动轭，该传动轭被配置成将机械力传递到接收轴；滑动件，该滑动件滑动联接到轴马达；以及柔性杆，该柔性杆被按到传动轭和滑动件上。In some embodiments, the drive shaft includes: a drive yoke configured to transmit mechanical force to the receiving shaft; a slide slidably coupled to the shaft motor; and a flexible rod pressed to the drive yokes and slides.
在一些实施例中，医疗装置还包括设置在基部平台的中心区域上的圆筒。圆筒、滑动件和驱动轴依次装配在彼此内。In some embodiments, the medical device further includes a cylinder disposed on the central region of the base platform. The cylinder, slider and drive shaft are sequentially fitted within each other.
在一些实施例中，医疗装置还包括润滑剂，该润滑剂被施用以涂覆圆筒、滑动件和驱动轴中的至少一者的表面。In some embodiments, the medical device further includes a lubricant applied to coat a surface of at least one of the barrel, the slider, and the drive shaft.
本领域的技术人员将容易看出，在保持本发明的教导的同时，可以对装置和方法进行很多修改和变化。因此，以上公开内容应被解释为仅由所附权利要求的界限来限定。Those skilled in the art will readily appreciate that many modifications and variations of the apparatus and method are possible while maintaining the teachings of the present invention. Accordingly, the above disclosure should be construed as being limited only by the limits of the appended claims.
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