CN114948217A - Multi-degree-of-freedom surgical actuator for minimally invasive surgery - Google Patents
Multi-degree-of-freedom surgical actuator for minimally invasive surgeryDownload PDFInfo
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- A61B34/30—Surgical robots
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及医疗器械技术领域，具体涉及一种用于微创手术的多自由度手术执行器。The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom surgical actuator for minimally invasive surgery.
背景技术Background technique
机器人辅助的微创手术一方面可进一步减小切口，降低损伤，另一方面可以在一定程度上避免医生误操作(手部抖动等)。实现微创手术的机器人需要能够满足主从实时控制、图像传输、灵巧操作、力感知等要求，在现存的手术机器人中，一类是以达芬奇手术机器人为代表的综合手术平台，另一类是能够实现灵活弯曲的柔性机器人，而柔性机器人具有一些综合手术平台所不具有的优势，如体积小、结构简单、便于控制等，这些柔性机器人的可以由线驱动、肌腱驱动、机械连杆驱动、气动等方式进行弯曲和缩进控制。On the one hand, robot-assisted minimally invasive surgery can further reduce the incision and damage, and on the other hand, it can avoid doctor's misoperation (hand shaking, etc.) to a certain extent. Robots that realize minimally invasive surgery need to be able to meet the requirements of master-slave real-time control, image transmission, dexterous operation, force perception, etc. Among the existing surgical robots, one is a comprehensive surgical platform represented by the Da Vinci surgical robot, and the other is The class is a flexible robot that can realize flexible bending, and the flexible robot has some advantages that the comprehensive surgical platform does not have, such as small size, simple structure, easy control, etc. These flexible robots can be driven by wires, tendons, mechanical linkages Bending and retraction control by means of actuation, pneumatics, etc.
相关技术中，采用线驱动柔性机器人整体刚性较低，承载能力较小，若提高其刚度，则会导致其无法灵活地进入狭小空间，面对复杂的操作环境,难以在小尺寸条件下实现灵巧的多自由度运动。In the related art, the overall rigidity of the wire-driven flexible robot is low, and the carrying capacity is small. If the rigidity is increased, it will cause it to be unable to flexibly enter the narrow space, and it is difficult to achieve dexterity under the condition of small size in the face of complex operating environment. of multi-degree-of-freedom motion.
发明内容SUMMARY OF THE INVENTION
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。The present invention aims to solve one of the technical problems in the related art at least to a certain extent.
为此，本发明的实施例提出一种承载能力大、多自由度和可变刚度的用于微创手术的多自由度手术执行器。To this end, the embodiments of the present invention provide a multi-degree-of-freedom surgical implement for minimally invasive surgery with large bearing capacity, multiple degrees of freedom and variable stiffness.
本发明实施例的一种用于微创手术的多自由度手术执行器包括支撑架、驱动组件、第一活动杆、多个连接件和安装件。所述驱动组件设在所述支撑架上；所述第一活动杆的端面上设有多个第一限位槽，多个所述第一限位槽沿所述第一活动杆的周向间隔布置；所述连接件的部分位于所述第一限位槽内，且所述连接件的一端与所述驱动组件可转动连接，所述驱动组件用于驱动所述连接件沿所述第一活动杆的轴向移动，多个所述连接件和多个所述第一限位槽一一对应，所述连接件在所述第一活动杆的径向上的尺寸小于所述第一限位槽在所述第一活动杆的径向上的尺寸；所述安装件与所述连接件的另一端可转动地相连，所述安装件上适于安装手术器。A multi-DOF surgical implement for minimally invasive surgery according to an embodiment of the present invention includes a support frame, a driving assembly, a first movable rod, a plurality of connecting pieces and a mounting piece. The drive assembly is arranged on the support frame; the end surface of the first movable rod is provided with a plurality of first limiting grooves, and the plurality of first limiting grooves are along the circumferential direction of the first movable rod spaced arrangement; part of the connecting piece is located in the first limiting groove, and one end of the connecting piece is rotatably connected with the driving component, the driving component is used for driving the connecting piece along the first limit In the axial movement of a movable rod, a plurality of the connecting pieces correspond to a plurality of the first limiting grooves one-to-one, and the dimension of the connecting pieces in the radial direction of the first movable rod is smaller than the first limit The dimension of the position slot in the radial direction of the first movable rod; the mounting piece is rotatably connected with the other end of the connecting piece, and the mounting piece is suitable for installing a surgical instrument.
本发明实施例的一种用于微创手术的多自由度手术执行器具有承载能力大、多自由度和可变刚度等优点。A multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention has the advantages of large bearing capacity, multi-degree of freedom, and variable stiffness.
在一些实施例中，本发明实施例的一种用于微创手术的多自由度手术执行器还包括第二活动杆，所述第二活动杆与支撑架相连，所述第二活动杆上设有多个第二限位槽，多个所述第二限位槽沿所述第二活动杆的周向间隔布置；In some embodiments, the multi-DOF surgical implement for minimally invasive surgery according to the embodiments of the present invention further includes a second movable rod, the second movable rod is connected to the support frame, and the second movable rod is attached to the support frame. A plurality of second limit grooves are provided, and the plurality of second limit grooves are arranged at intervals along the circumferential direction of the second movable rod;
所述连接件包括第一连接件和第二连接件，所述第一连接件的部分位于所述第一限位槽内，且所述第一连接件的一端与所述驱动组件可转动连接，所述驱动组件用于驱动所述第一连接件沿所述第一活动杆的轴向移动，所述第二连接件的部分位于所述第二限位槽内，且所述第二连接件的一端与所述驱动组件可转动连接，所述第二连接件的另一端与所述第一活动杆可转动地相连，所述驱动组件用于驱动所述第二连接件沿所述第一活动杆的轴向移动。The connecting piece includes a first connecting piece and a second connecting piece, a part of the first connecting piece is located in the first limiting groove, and one end of the first connecting piece is rotatably connected with the driving assembly , the drive assembly is used to drive the first connecting piece to move along the axial direction of the first movable rod, a part of the second connecting piece is located in the second limiting groove, and the second connecting piece One end of the member is rotatably connected with the driving assembly, and the other end of the second connecting member is rotatably connected with the first movable rod, and the driving assembly is used for driving the second connecting member along the first connecting member. Axial movement of a movable rod.
在一些实施例中，所述第一连接件包括第一管体和第二管体，所述第一管体的一端与所述安装件可转动地连接，所述第一管体的另一端与所述第二管体的一端可转动地连接，所述第二管体的另一端与驱动组件可转动地相连；和/或，所述第二连接件包括第三管体和第四管体，所述第三管体的一端与所述第一活动杆可转动地连接，所述第三管体的另一端与所述第四管体的一端可转动地连接，所述第四管体的另一端与驱动组件可转动地相连。In some embodiments, the first connecting member includes a first tube body and a second tube body, one end of the first tube body is rotatably connected to the mounting member, and the other end of the first tube body is rotatably connected is rotatably connected to one end of the second pipe body, and the other end of the second pipe body is rotatably connected to the drive assembly; and/or, the second connecting piece includes a third pipe body and a fourth pipe One end of the third pipe body is rotatably connected with the first movable rod, the other end of the third pipe body is rotatably connected with one end of the fourth pipe body, and the fourth pipe body is rotatably connected with one end of the fourth pipe body. The other end of the body is rotatably connected to the drive assembly.
在一些实施例中，所述第一管体的部分和所述第二管体的部分位于所述第一限位槽内，和/或，所述第三管体的部分和所述第四管体的部分位于所述第二限位槽内。In some embodiments, the part of the first pipe body and the part of the second pipe body are located in the first limiting groove, and/or the part of the third pipe body and the fourth pipe body A portion of the pipe body is located in the second limiting groove.
在一些实施例中，所述第一活动杆包括第一基体和多个第一延伸部，所述第一延伸部从所述第一基体邻近所述安装件的一端朝向所述安装件延伸，多个所述第一延伸部沿所述第一活动杆的周向间隔布置，所述第一限位槽形成在相邻所述第一延伸部之间；和/或，所述第二活动杆包括第二基体和多个第二延伸部，所述第二延伸部从所述第二基体邻近所述安装件的一端朝向所述安装件延伸，多个所述第二延伸部沿所述第二活动杆的周向间隔布置，所述第二限位槽形成在相邻所述第二延伸部之间。In some embodiments, the first movable rod includes a first base and a plurality of first extensions extending from an end of the first base adjacent to the mount toward the mount, A plurality of the first extension parts are arranged at intervals along the circumference of the first movable rod, and the first limiting grooves are formed between adjacent first extension parts; and/or, the second movable rod The rod includes a second base and a plurality of second extensions extending from an end of the second base adjacent to the mount toward the mount, the plurality of second extensions along the mount The second movable rods are arranged at intervals in the circumferential direction, and the second limiting grooves are formed between adjacent second extending parts.
在一些实施例中，所述第一基体具有多个第一通孔，所述第一通孔沿所述第一活动杆的轴线延伸；In some embodiments, the first base body has a plurality of first through holes, and the first through holes extend along the axis of the first movable rod;
所述一种用于微创手术的多自由度手术执行器还包括多个第一柔管和多个第二柔管，所述第一柔管的一端位于所述第一通孔内并与所述第二管体的另一端抵接，所述第一柔管的另一端与所述驱动组件相连，所述第二柔管套设在所述第一柔管上，多个所述第二柔管与多个所述第一柔管一一对应，所述第二柔管的一端与所述第一活动杆相连，所述第二柔管的另一端与所述支撑架相连，所述驱动组件用于驱动所述第一柔管沿所述第一活动杆的轴线移动，以带动所述第一连接件移动。The multi-degree-of-freedom surgical implement for minimally invasive surgery further includes a plurality of first flexible tubes and a plurality of second flexible tubes, one end of the first flexible tubes is located in the first through hole and is connected with the first through hole. The other end of the second pipe body abuts, the other end of the first flexible pipe is connected to the driving component, the second flexible pipe is sleeved on the first flexible pipe, and a plurality of the first flexible pipe Two flexible tubes are in one-to-one correspondence with a plurality of the first flexible tubes, one end of the second flexible tube is connected to the first movable rod, and the other end of the second flexible tube is connected to the support frame, so The driving assembly is used for driving the first flexible pipe to move along the axis of the first movable rod, so as to drive the first connecting piece to move.
在一些实施例中，所述第二基体具有多个第二通孔，所述一种用于微创手术的多自由度手术执行器还包括多个第三柔管和多个第四柔管，所述第三柔管的一端位于所述第二通孔内，并与所述第四管体的另一端抵接，所述第三柔管的另一端与所述驱动组件相连，所述第四柔管套设在所述第三柔管上，多个所述第四柔管与多个所述第三柔管一一对应，所述第四柔管的一端与所述第二活动杆相连，所述第四柔管的另一端与所述支撑架相连，所述驱动组件用于驱动所述第三柔管沿所述第二活动杆的轴线移动，以带动所述第二连接件移动。In some embodiments, the second base body has a plurality of second through holes, and the multi-DOF surgical implement for minimally invasive surgery further includes a plurality of third flexible tubes and a plurality of fourth flexible tubes , one end of the third flexible pipe is located in the second through hole, and abuts with the other end of the fourth pipe body, the other end of the third flexible pipe is connected with the driving assembly, and the A fourth flexible tube is sleeved on the third flexible tube, a plurality of the fourth flexible tubes are in one-to-one correspondence with a plurality of the third flexible tubes, and one end of the fourth flexible tube is connected to the second flexible tube rods are connected, the other end of the fourth flexible pipe is connected with the support frame, and the driving component is used for driving the third flexible pipe to move along the axis of the second movable rod to drive the second connection Piece moves.
在一些实施例中，所述安装件上具有用于所述手术器的线束穿过第一穿孔，和/或所述第一活动杆上具有用于所述手术器的线束穿过第二穿孔，和/或所述第二活动杆具有用于所述手术器的线束穿过第三穿孔。In some embodiments, the mount has a first perforation for the wire harness for the surgical instrument to pass through, and/or the first movable rod has a second perforation for the wire harness for the surgical instrument to pass through , and/or the second movable rod has a third perforation for the wire harness of the surgical instrument to pass through.
在一些实施例中，本发明实施例的一种用于微创手术的多自由度手术执行器，还包括多个柔索，多个柔索包括多个第一柔索和多个第二柔索，所述第一柔索贯穿所述安装件和所述第一连接件，所述第一柔索的一端与所述驱动组件相连，所述第一柔索的另一端与所述安装件相连，多个所述第一柔索与多个所述第一连接件一一对应，所述第二柔索贯穿所述第一活动杆和所述第二连接件，所述第二柔索的一端与所述驱动组件相连，所述第二柔索的另一端与所述第一活动杆相连，多个所述第二柔索与多个所述第二连接件一一对应。In some embodiments, a multi-DOF surgical implement for minimally invasive surgery according to an embodiment of the present invention further includes a plurality of flexible cables, and the plurality of flexible cables includes a plurality of first flexible cables and a plurality of second flexible cables a cable, the first flexible cable runs through the mounting member and the first connecting member, one end of the first flexible cable is connected with the driving assembly, and the other end of the first flexible cable is connected with the mounting member connected, a plurality of the first flexible cables are in one-to-one correspondence with a plurality of the first connecting pieces, the second flexible cables pass through the first movable rod and the second connecting pieces, and the second flexible cables pass through the first movable rod and the second connecting piece One end of the second flexible cable is connected to the driving assembly, the other end of the second flexible cable is connected to the first movable rod, and a plurality of the second flexible cables are in one-to-one correspondence with a plurality of the second connecting pieces.
在一些实施例中，所述支撑架包括移动架和固定架，所述移动架与所述固定架相连，所述移动架沿所述第二活动杆的轴线可移动，所述第二活动杆与所述移动架相连，所述驱动组件设在所述移动架上，所述驱动组件还用于驱动所述移动架移动。In some embodiments, the support frame includes a moving frame and a fixed frame, the moving frame is connected to the fixed frame, the moving frame is movable along the axis of the second movable rod, the second movable rod Connected with the moving frame, the driving assembly is arranged on the moving frame, and the driving assembly is also used for driving the moving frame to move.
附图说明Description of drawings
图1是本发明实施例的一种用于微创手术的多自由度手术执行器的结构示意图。FIG. 1 is a schematic structural diagram of a multi-DOF surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图2是本发明实施例的一种用于微创手术的多自由度手术执行器另一视角的结构示意图。FIG. 2 is a schematic structural diagram of a multi-degree-of-freedom surgical implement for minimally invasive surgery from another perspective according to an embodiment of the present invention.
图3是本发明实施例的一种用于微创手术的多自由度手术执行器隐去安装件、第一活动杆和第二活动杆的结构示意图。3 is a schematic structural diagram of a multi-degree-of-freedom surgical implement for minimally invasive surgery that hides a mounting member, a first movable rod, and a second movable rod according to an embodiment of the present invention.
图4是本发明实施例的一种用于微创手术的多自由度手术执行器安装件、第一活动杆和第二活动杆的结构示意图。FIG. 4 is a schematic structural diagram of a multi-degree-of-freedom surgical implement installation for minimally invasive surgery, a first movable rod and a second movable rod according to an embodiment of the present invention.
图5是本发明实施例的一种用于微创手术的多自由度手术执行器弯曲状态的结构示意图。5 is a schematic structural diagram of a multi-degree-of-freedom surgical implement for minimally invasive surgery in a bent state according to an embodiment of the present invention.
图6是本发明实施例的一种用于微创手术的多自由度手术执行器安装件和第一柔管之间的连接示意图。FIG. 6 is a schematic diagram of the connection between a multi-degree-of-freedom surgical implement installation for minimally invasive surgery and a first flexible tube according to an embodiment of the present invention.
图7是本发明实施例的一种用于微创手术的多自由度手术执行器的部分剖视图。7 is a partial cross-sectional view of a multi-DOF surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图8是本发明实施例的一种用于微创手术的多自由度手术执行器第一柔索和第二柔索连接的结构示意图。8 is a schematic structural diagram of the connection between the first flexible cable and the second flexible cable of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图9是本发明实施例的一种用于微创手术的多自由度手术执行器的安装件的结构示意图。FIG. 9 is a schematic structural diagram of a mounting member of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图10是本发明实施例的一种用于微创手术的多自由度手术执行器的第一活动杆的结构示意图。10 is a schematic structural diagram of a first movable rod of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图11是本发明实施例的一种用于微创手术的多自由度手术执行器的第二活动杆的结构示意图。11 is a schematic structural diagram of a second movable rod of a multi-DOF surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图12是本发明实施例的一种用于微创手术的多自由度手术执行器的电机固定板的结构示意图。12 is a schematic structural diagram of a motor fixing plate of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图13是本发明实施例的一种用于微创手术的多自由度手术执行器的第一固定块的结构示意图。13 is a schematic structural diagram of a first fixing block of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图14是本发明实施例的一种用于微创手术的多自由度手术执行器的第二固定块的结构示意图。14 is a schematic structural diagram of a second fixing block of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图15是本发明实施例的一种用于微创手术的多自由度手术执行器的第三固定块的结构示意图。15 is a schematic structural diagram of a third fixing block of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图16是本发明实施例的一种用于微创手术的多自由度手术执行器的滑块的结构示意图。16 is a schematic structural diagram of a slider of a multi-DOF surgical implement for minimally invasive surgery according to an embodiment of the present invention.
图17是本发明实施例的一种用于微创手术的多自由度手术执行器的第一夹头和第二夹头的结构示意图。FIG. 17 is a schematic structural diagram of a first collet and a second collet of a multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention.
附图标记：Reference number:
一种用于微创手术的多自由度手术执行器100；A multi-DOF
支撑架1；移动架101；电机固定板1011；第一丝杠1013；第一固定块1014；第一夹头10141；第二固定块1015；支撑轴1016；滑动轴1017；滑块1018；第二夹头10181；第一支撑块1020；固定架102；第三固定块1021；第二支撑块1022；
驱动组件2；第一电机201；第二电机202；Drive assembly 2;
第一活动杆3；第一限位槽301；第一基体302；第一通孔3021，第一延伸部303；第二穿孔304；The first
连接件4；第一连接件401；第一管体4011；第二管体4012；第二连接件402；第三管体4021；第四管体4022；
安装件5；第一穿孔501；Mounting
第二活动杆6；第二限位槽601；第二基体602；第二通孔6021；第二延伸部603；第三穿孔604；The second
第一柔管701；第二柔管702；第三柔管703；第四柔管704；The first
第一柔索8；The first
第二柔索9；The second
第五管体10；the
第六管体11；the
第七管体12。The
具体实施方式Detailed ways
下面详细描述本发明的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.
下面参照附图详细描述本申请的技术方案。The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.
如图1至图17所示，本发明实施例的一种用于微创手术的多自由度手术执行器100包括支撑架1、驱动组件2、第一活动杆3、多个连接件4和安装件5。驱动组件2设在支撑架1上，第一活动杆3的端面上设有多个第一限位槽301，多个第一限位槽301沿第一活动杆3的周向间隔布置。连接件4的部分位于第一限位槽301内，且连接件4的一端与驱动组件2可转动连接，驱动组件2用于驱动连接件4沿第一活动杆3的轴向移动，多个连接件4和多个第一限位槽301一一对应，连接件4在第一活动杆3的径向上的尺寸小于第一限位槽301在第一活动杆3的径向上的尺寸。安装件5与连接件4的另一端可转动地相连，安装件5上适于安装手术器。As shown in FIG. 1 to FIG. 17 , a multi-DOF surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention includes a
连接件4的一端与驱动组件2可转动连接是指，连接件4不仅相对于驱动组件2可以绕自身轴线可转动，连接件4的另一端还可以绕连接件4的一端可转动，连接件4的一端和驱动组件2之间形成类球铰结构。安装件5与连接件4的另一端可转动地相连是指，连接件4不仅相对于安装件5可以绕自身轴线可转动，连接件4的一端还可以绕连接件4的另一端可转动，连接件4的另一端与安装件5之间形成类球铰结构。One end of the connecting
为了使本申请的技术方案更容易被理解，下面以第一活动杆3的轴向与左右方向一致为例，进一步描述本申请的技术方案，其中左右方向如图1至图11所示。In order to make the technical solution of the present application easier to understand, the following will further describe the technical solution of the present application by taking the axial direction of the first
例如，如图4、图5和图11所示，第一限位槽301和连接件4均具有三个，三个第一限位槽301与三个连接件4一一对应，三个第一限位槽301沿第一活动杆3的周向均匀间隔布置，连接件4的左端与安装件5可转动地相连，连接件4的右端位于第一限位槽301 内并与驱动组件2可转动地相连。For example, as shown in FIG. 4 , FIG. 5 and FIG. 11 , there are three first limiting
本发明实施例的一种用于微创手术的多自由度手术执行器100在使用时，将手术器安装在安装件5上，控制驱动组件2驱动多个连接件4中一个从右向左移动的同时，驱动剩余连接件4从左向右运动。由于连接件4在第一活动杆3的径向上的尺寸小于第一限位槽301在第一活动杆3的径向上的尺寸，第一限位槽301对连接件4进行限位，使得连接件4 在左右方向上移动时只能沿第一活动杆3的径向摆动，又因为连接件4和安装件5之间可转动地连接，从而使得安装件5可以发生转动(如图5所示)，安装件5可以实现两个转动自由度。当控制驱动组件2驱动多个连接件4中的每一者同步向左或者向右移动时，安装件5在左右方向上可以做平移运动，从而实现安装件5的一个平移自由度。When the multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to the embodiment of the present invention is used, the surgical implement is installed on the mounting
由此，本发明实施例的一种用于微创手术的多自由度手术执行器100通过设置多个连接件4和多第一限位槽301，并用第一限位槽301对连接件4进行限位，一方面，可以实现安装件5的两个转动自由度和一个平移自由度，使得一种用于微创手术的多自由度手术执行器100具有多个自由度，以使一种用于微创手术的多自由度手术执行器100在较小手术空间下的可以灵巧操作；另一方面，安装件5和第一活动杆3之间的连接件4可以提高一种用于微创手术的多自由度手术执行器100的刚性，以提高一种用于微创手术的多自由度手术执行器100的承载能力。Therefore, a multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention is provided with a plurality of
因此，本发明实施例的一种用于微创手术的多自由度手术执行器100具有承载能力大和多自由度等优点。Therefore, the multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to the embodiment of the present invention has the advantages of large bearing capacity and multiple degrees of freedom.
在一些实施例中，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括第二活动杆6，第二活动杆6与支撑架1相连，第二活动杆6上设有多个第二限位槽601，多个第二限位槽601沿第二活动杆6的周向间隔布置。In some embodiments, the multi-DOF surgical implement 100 for minimally invasive surgery according to the embodiments of the present invention further includes a second
连接件4包括第一连接件401和第二连接件402，第一连接件401的部分位于第一限位槽301内，且第一连接件401的一端与驱动组件2可转动连接，驱动组件2用于驱动第一连接件401沿第一活动杆3的轴向移动，第二连接件402的部分位于第二限位槽601内，且第二连接件402的一端与驱动组件2可转动连接，第二连接件402的另一端与第一活动杆3可转动地相连，驱动组件2用于驱动第二连接件402沿第一活动杆3的轴向移动。The connecting
第二连接件402的一端与驱动组件2可转动连接是指，第二连接件402不仅相对于驱动组件2可以绕自身轴线可转动，第二连接件402的另一端还可以绕第二连接件402的一端可转动，第二连接件402和驱动组件之间形成类球铰结构。第二连接件402的另一端与第一活动杆3可转动地相连是指，第二连接件402不仅相对于第二活动杆6可以绕自身轴线可转动，第二连接件402的一端还可以绕第二连接件402的另一端可转动，第二连接件 402与第一活动杆3之间形成类球铰结构。One end of the second connecting
例如，如图4所示，第二限位槽601和第二连接件402均具有三个，三个第二限位槽601与三个第二连接件402一一对应，三个第二限位槽601沿第二活动杆6的周向均匀间隔布置，第二连接件402的左端与第一活动杆3可转动地相连，第二连接件402的右端位于第二限位槽601内并与驱动组件2可转动地相连。For example, as shown in FIG. 4 , there are three second limiting
本发明实施例的一种用于微创手术的多自由度手术执行器100在使用时，控制驱动组件2驱动多个第二连接件402中一个从右向左移动的同时，驱动剩余第二连接件402从左向右运动。由于第二连接件402在第二活动杆6的径向上的尺寸小于第二限位槽601在第一活动杆3的径向上的尺寸，第二限位槽601对第二连接件402进行限位，使得第二连接件402在左右方向上移动时只能沿第二活动杆6的径向摆动，又因为第二连接件402和第一活动杆3之间可转动地连接，从而使得第一活动杆3发生转动(如图4所示)，第一活动杆3可以实现两个转动自由度。When the multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to the embodiment of the present invention is in use, the control driving assembly 2 drives one of the plurality of second connecting
由此，本发明实施例的一种用于微创手术的多自由度手术执行器100通过设置多个第二连接件402和多第二限位槽601，并用第二限位槽601对第二连接件402的进行限位，一方面，可以实现第一活动杆3的两个转动自由度，进一步增加一种用于微创手术的多自由度手术执行器100的自由度，有利于使得一种用于微创手术的多自由度手术执行器100 在较小手术空间下的可以灵巧操作；另一方面，第一活动杆3和第二活动杆6之间的第二连接件402有利于提高一种用于微创手术的多自由度手术执行器100的刚性，有利于提高一种用于微创手术的多自由度手术执行器100的承载能力。Therefore, a multi-DOF surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention is provided with a plurality of
例如，如图1至图5所示，本发明实施例的一种用于微创手术的多自由度手术执行器 100通过设置第一活动杆3和第二活动杆6可以实现了一种用于微创手术的多自由度手术执行器100五自由度的运动，整个一种用于微创手术的多自由度手术执行器100在不发生左右方向上的平移运动时，其工作空间是一个圆柱体，头部接一个半椭球体，在工作空间内处处灵活，边界上的最值点仅可达，不能作为手术点。For example, as shown in FIGS. 1 to 5 , a multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention can achieve a functional For the movement of the multi-degree-of-freedom
在一些实施例中，第一连接件401包括第一管体4011和第二管体4012，第一管体4011 的一端与安装件5可转动地连接，第一管体4011的另一端与第二管体4012的一端可转动地连接，第二管体4012的另一端与驱动组件2可转动地相连。In some embodiments, the
如图4至图8所示，第一管体4011位于第二管体4012的左侧，第一管体4011的左端与安装件5可转动地相连，第一管体4011的右端位于第一限位槽301内并与第二管体4012的左端可转动地相连，第二管体4012的右端位于第一限位槽301位外并可转动地与驱动组件2相连。通过将第一连接件401设置成第一管体4011和第二管体4012，实现驱动组件2 驱动安装件5进行转动或者做平移运动，从而使得本发明实施例的一种用于微创手术的多自由度手术执行器100结构简单，驱动方便。As shown in FIG. 4 to FIG. 8 , the
在一些实施例中，第二连接件402包括第三管体4021和第四管体4022，第三管体4021 的一端与第一活动杆3可转动地连接，第三管体4021的另一端与第四管体4022的一端可转动地连接，第四管体4022的另一端与驱动组件2可转动地相连。In some embodiments, the second connecting
如图4至图8所示，第三管体4021位于第四管体4022的左侧，第三管体4021的左端与第一活动杆3可转动地相连，第三管体4021的右端位于第二限位槽601内并与第四管体4022的左端可转动地相连，第四管体4022的右端位于第二限位槽601外并可转动地与驱动组件2相连。通过将第二连接件402设置成第三管体4021和第四管体4022，实现驱动组件2驱动第一活动杆3进行转动或者做平移运动，从而进一步使得本发明实施例的一种用于微创手术的多自由度手术执行器100结构简单，驱动方便。As shown in FIGS. 4 to 8 , the
在一些实施例中，本发明实施例的一种用于微创手术的多自由度手术执行器100，还包括多个柔索，多个柔索包括多个第一柔索8和多个第二柔索9，第一柔索8贯穿安装件5和第一连接件401，第一柔索8的一端与驱动组件2相连，第一柔索8的另一端与安装件5 相连，多个第一柔索8与多个第一连接件401一一对应，第二柔索9贯穿第一活动杆3和第二连接件402，第二柔索9的一端与驱动组件2相连，第二柔索9的另一端与第一活动杆3相连，多个第二柔索9与多个第二连接件402一一对应。In some embodiments, a multi-DOF surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention further includes a plurality of flexible cables, and the multiple flexible cables include a plurality of first
如图7所示，第一柔索8的的左端贯穿安装件5并与安装件5相连，第一管体4011和第二管体4012套设在第一柔索8上，第一柔索8的右端与驱动组件2相连。通过设置第一柔索8，使得安装件5在第一柔索8的支撑作用下与第一管体4011可转动地连接，第一管体4011在第一柔索8的支撑作用下可转动地与第二管体4012连接。一种用于微创手术的多自由度手术执行器100在使用时，驱动组件2同时驱动第一柔索8和第二管体4012在左右方向上移动，从而实现安装件5的转动或平移。As shown in FIG. 7 , the left end of the first
第二柔索9的的左端贯穿第一活动杆3并与第一活动杆3相连，第三管体4021和第四管体4022套设在第二柔索9上，第二柔索9的右端与驱动组件2相连。通过设置第二柔索9，使得第一活动杆3在第二柔索9的支撑作用下与第三管体4021可转动地连接，第三管体4021在第二柔索9的支撑作用下可转动地与第四管体4022连接。一种用于微创手术的多自由度手术执行器100在使用时，驱动组件2同时驱动第二柔索9和第四管体4022在左右方向上移动，从而实现第一活动杆3的转动和平移。The left end of the second
由此，本发明实施例的一种用于微创手术的多自由度手术执行器100通过设置第一柔索8，实现第一连接件401与安装件5、驱动组件2之间的可转动；通过设置第二柔索9，实现第二连接件402与第一活动杆3、驱动组件2之间的可转动，使得本发明实施例的一种用于微创手术的多自由度手术执行器100结构简单，组装方便。Therefore, the multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to the embodiment of the present invention realizes the rotatable between the first connecting
另外，在实际使用过程中，可以根据不同手术环境对不同刚度的需求，调节套设在第一柔索8上的安装件5、第一管体4011和第二管体4012之间预紧力的大小，从而改变安装件5和第一活动杆3之间的连接刚度，使得安装件5和第一活动杆3之间的刚度可变。通过调节套设在第二柔索9上的第一活动杆3、第三管体4021和第四管体4022之间预紧力的大小，从而改变第一活动杆3和第二活动杆6之间的连接刚度，使得第一活动杆3和第二活动杆6之间的刚度可变。In addition, in the actual use process, the pre-tightening force between the mounting
可选地，第一柔索8和第二柔索9均为镍钛丝。Optionally, both the first
可选地，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括多个第五管体10，多个第五管体10与多个第一管体4011一一对应，第五管体10插装在安装件5上且沿左右方向延伸，第五管体10的左端面与安装件5的左端面齐平，第五管体10的右端面位于安装件5的右端面的右侧。Optionally, the multi-DOF surgical implement 100 for minimally invasive surgery according to the embodiment of the present invention further includes a plurality of
例如，如图7所示，第一柔索8的左端安装在第五管体10内并与第五管体10相连，安装件5通过第五管体10的右端与第一管体4011的左端实现可转动地连接，避免第一管体4011与安装件5的右端面直接接触，有利于提高安装件5的转动灵活性，有利于提高本发明实施例的一种用于微创手术的多自由度手术执行器100的工作可靠性。For example, as shown in FIG. 7 , the left end of the first
可选地，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括多个第六管体11，多个第六管体11与多个第三管体4021一一对应，第六管体11插装在第一活动杆3上且沿左右方向延伸，第六管体11的右端面位于第一活动杆3的右端面的右侧，Optionally, the multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to the embodiment of the present invention further includes a plurality of
例如，如图7所示，第二柔索9的左端安装在第六管体11内并与第六管体11相连，使得第一活动杆3通过第六管体11的右端与第三管体4021的左端实现可转动地连接，有利于提高第一活动杆3转动灵活性，有利于进一步提高本发明实施例的一种用于微创手术的多自由度手术执行器100的工作可靠性。For example, as shown in FIG. 7 , the left end of the second
在一些实施例中，第一管体4011的部分和第二管体4012的部分位于第一限位槽301 内。In some embodiments, a portion of the
如图7所示，第一管体4011的右端和第二管体4012的左端位于第一限位槽301内，在使用过程中，第一管体4011的右端和第二管体4012的左端始终位于第一限位槽301内，以便第一限位槽301对第一管体4011进行限位。As shown in FIG. 7 , the right end of the
在一些实施例中，第三管体4021的部分和第四管体4022的部分位于第二限位槽601 内。In some embodiments, a portion of the
如图7所示，第三管体4021的右端和第四管体4022的左端位于第二限位槽601内，在使用过程中，第三管体4021的右端和第四管体4022的左端始终位于第二限位槽601内，以便第二限位槽601对第四管体4022进行限位。As shown in FIG. 7 , the right end of the
在一些实施例中，第一活动杆3包括第一基体302和多个第一延伸部303，第一延伸部303从第一基体302邻近安装件5的一端朝向安装件5延伸，多个第一延伸部303沿第一活动杆3的周向间隔布置，第一限位槽301形成在相邻第一延伸部303之间。In some embodiments, the first
如图4和图5所示，第一基体302位于第一延伸部303的右侧，多个第一延伸部303沿第一活动杆3的周向均匀间隔布置，两相邻第一延伸部303之间形成第一限位槽301。通过在第一活动杆3上设置第一延伸部303以形成第一限位槽301，从而使得第一活动杆3 结构简单，方便加工制造。As shown in FIG. 4 and FIG. 5 , the
在一些实施例中，第二活动杆6包括第二基体602和多个第二延伸部603，第二延伸部603从第二基体602邻近安装件5的一端朝向安装件5延伸，多个第二延伸部603沿第二活动杆6的周向间隔布置，第二限位槽601形成在相邻第二延伸部603之间。In some embodiments, the second
如图4和图5所示，第二基体602位于第二延伸部603的右侧，多个第二延伸部603沿第二活动杆6的周向均匀间隔布置，两相邻第二延伸部603之间形成第二限位槽601。通过在第二活动杆6上设置第二延伸部603以形成第一限位槽301，从而使得第二活动杆6 结构简单，方便加工制造。As shown in FIG. 4 and FIG. 5 , the
在一些实施例中，第一基体302具有多个第一通孔3021，第一通孔3021沿第一活动杆3的轴线延伸。一种用于微创手术的多自由度手术执行器100还包括多个第一柔管701 和多个第二柔管702，第一柔管701的一端位于第一通孔3021内并与第二管体4012的另一端可转动地相连，第一柔管701的另一端与驱动组件2相连。第二柔管702套设在第一柔管701上，多个第二柔管702与多个第一柔管701一一对应，第二柔管702的一端与第一活动杆3相连，第二柔管702的另一端与支撑架1相连，驱动组件2用于驱动第一柔管 701沿第一活动杆3的轴线移动，以带动第一连接件401移动。In some embodiments, the
如图6至图8所示，第二管体4012的右端位于第一通孔3021内，第一柔管701的左端位于第一通孔3021内，第一柔管701的左端面抵接在第二管体4012的右端面上，第二柔管702的左端与第一活动杆3固定相连，第二柔管702的右端与支撑架1固定相连，第一柔管701和第二柔管702之间形成鲍登线(Bowden cables)结构。驱动组件2同时驱动第一柔索8和第一柔管701相对于第二柔管702沿左右方向移动，第一柔管701带动第二管体4012和第一管体4011沿左右方向移动，从而实现安装件5的转动和平移。As shown in FIG. 6 to FIG. 8 , the right end of the
可选地，如图4所示，第二柔管702在左右方向上贯穿第二活动杆6。Optionally, as shown in FIG. 4 , the second
可选地，如图7所示，第一通孔3021包括第一大孔段和第一小孔段，第一大孔段位于第一小孔段的右侧，第一柔管701的左端位于第一小孔段内，第二柔管702的左端位于第一大孔段内并与第一大孔段相连。Optionally, as shown in FIG. 7 , the first through
在一些实施例中，第二基体602具有多个第二通孔6021，一种用于微创手术的多自由度手术执行器100还包括多个第三柔管703和多个第四柔管704，第三柔管703的一端位于第二通孔6021内，并与第四管体4022的另一端可转动地相连，第三柔管703的另一端与驱动组件2相连，第四柔管704套设在第三柔管703上，多个第四柔管704与多个第三柔管703一一对应，第四柔管704的一端与第二活动杆6相连，第四柔管704的另一端与支撑架1相连，驱动组件2用于驱动第三柔管703沿第二活动杆6的轴线移动，以带动第二连接件402移动。In some embodiments, the
如图6至图8所示，第四管体4022的右端位于第二通孔6021内，第三柔管703的左端位于第二通孔6021内，第三柔管703的左端面抵接在第四管体4022的右端面上，第四柔管704的左端与第二活动杆6固定相连，第四柔管704的右端与支撑架1固定相连，第三柔管703和第四柔管704之间形成鲍登线(Bowden cables)结构。驱动组件2同时驱动第二柔索9和第三柔管703相对于第四柔管704沿左右方向移动，第三柔管703带动第四管体4022和第三管体4021沿左右方向移动，由于第一活动杆3与支撑架1之间是通过第一柔管701和第二柔管702与支撑架1柔性连接，从而可以实现第一活动杆3的转动。As shown in FIG. 6 to FIG. 8 , the right end of the
可选地，第二通孔6021包括第二大孔段和第二小孔段，第二大孔段位于第二小孔段的右侧，第三柔管703的左端位于第二小孔段内，第三柔管703的左端位于第二大孔段内并与第二大孔段相连。Optionally, the second through
在一些实施例中，安装件5上具有用于手术器的线束穿过第一穿孔501，和/或第一活动杆3上具有用于手术器的线束穿过第二穿孔304，和/或第二活动杆6具有用于手术器的线束穿过第三穿孔604。In some embodiments, the mounting
安装件5上具有用于手术器的线束穿过第一穿孔501，和/或第一活动杆3上具有用于手术器的线束穿过第二穿孔304，和/或第二活动杆6具有用于手术器的线束穿过第三穿孔 604，可以理解为，安装件5、第一活动杆3和第二活动杆6中的至少一个设置用于手术器的线束穿过的穿孔。The mounting
例如，如图4所示，安装件5上设有第一穿孔501，第一活动杆3上设有第二穿孔304，第二活动杆6上设有第三穿孔604，第一穿孔501、第二穿孔304和第三穿孔604用于手术器的供电线束穿过，可以避免手术器的供电线束占用额外的空间，使得本发明实施例的一种用于微创手术的多自由度手术执行器100的结构紧凑，空间利用率较高。For example, as shown in FIG. 4 , the mounting
在一些实施例中，支撑架1包括移动架101和固定架102，移动架101与固定架102相连，移动架101沿第二活动杆6的轴线可移动，第二活动杆6与移动架101相连，驱动组件2设在移动架101上，驱动组件2还用于驱动移动架101移动。In some embodiments, the
如图1至图3所示，本发明实施例的一种用于微创手术的多自由度手术执行器100在使用时，固定架102可以固定安装在机械臂上，通过控制机械臂，使一种用于微创手术的多自由度手术执行器100到达大致手术位置，通过控制驱动组件2，驱动移动架101在左右方向上移动，使一种用于微创手术的多自由度手术执行器100到达手术位置。由此，通过将支撑架1设置成移动架101和固定架102，方便一种用于微创手术的多自由度手术执行器100的位置的调节，从而使得本发明实施例的一种用于微创手术的多自由度手术执行器100位置调节方便。As shown in FIG. 1 to FIG. 3 , when a multi-DOF surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention is in use, the fixing
可选地，如图1和图2所示，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括电机固定板1011和第一丝杠1013，驱动组件2包括第一电机201。电机固定板1011与移动架101固定相连，第一电机201固定安装在电机固定板1011上，第一电机 201输出轴与第一丝杠1013通过联轴器相连，第一丝杠1013沿左右方向设置，第一丝杠1013与移动架101转动连接，第一丝杠1013与固定架102螺纹传动。Optionally, as shown in FIGS. 1 and 2 , a multi-DOF surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention further includes a
具体地，控制第一电机201正转，第一电机201带动第一丝杠1013正转，移动架101在第一丝杠1013和固定架102的螺纹传动下从右向左运动；控制第一电机201反转，第一电机201带动第一丝杠1013反转，移动架101在第一丝杠1013和固定架102的螺纹传动下从左向右运动。Specifically, the
可选地，如图1至图3所示，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括第一固定块1014和第二固定块1015，第一固定块1014和第二固定块1015 均与移动架101固定相连，第一固定块1014位于第二固定块1015的左端，第二固定块1015 位于第一固定块1014和电机固定板1011之间。移动架101包括多根支撑轴1016和多根滑动轴1017，支撑轴1016沿左右方向延伸，支撑轴1016贯穿第一固定块1014、第二固定块 1015和电机固定板1011，支撑轴1016与第一固定块1014、第二固定块1015和电机固定板1011之间通过螺钉或螺栓进行紧固。滑动轴1017沿左右方向延伸，滑动轴1017贯穿第一固定块1014、第二固定块1015和电机固定板1011，滑动轴1017与第一固定块1014、第二固定块1015和电机固定板1011之间通过螺钉或螺栓进行紧固，滑动轴1017与固定架 102滑动连接，以使移动架101在左右方向上可移动。Optionally, as shown in FIGS. 1 to 3 , a multi-DOF surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention further includes a
可选地，如图1至图3所示，固定架102包括第三固定块1021，第三固定块1021位于第一固定块1014和第二固定块1015之间，滑动轴1017从左至右依次贯穿第一固定块 1014、第三固定块1021、第二固定块1015和电机固定块，滑动轴1017与第三固定块1021 滑动连接，滑动轴1017在左右方向上可滑动。Optionally, as shown in FIG. 1 to FIG. 3 , the fixing
可选地，如图1至图3所示，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括多个滑块1018和多个第二丝杠，滑块1018位于第一固定块1014和第二固定块1015之间，滑块1018与支撑轴1016相连且沿左右方向可滑动。第一柔索8和对应的第一柔管701与一个滑块1018相连，第二柔索9与对应的第三柔管703与一个滑块1018相连。驱动组件2还包括多个第二电机202，多个第二电机202安装在电机固定板1011上，多个滑块1018和多个第二电机202一一对应，多个第二电机202与多个第二丝杠一一对应，第二电机202和滑块1018之间通过第二丝杠螺旋传动。Optionally, as shown in FIGS. 1 to 3 , a multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention further includes a plurality of
具体地，控制第二电机202正转，第二电机202输出轴带动第二丝杠正转，滑块1018在第二丝杠的螺纹传动作用下从右向左移动，滑块1018带动第一柔索8和对应的第一柔管701，或者带动第二柔索9和对应的第三柔管703从右向左移动；控制第二电机202反转，第二电机202输出轴带动第二丝杠反转，滑块1018在第二丝杠的螺旋传动作用下从左向右移动，滑块1018带动第一柔索8和对应的第一柔管701，或者带动第二柔索9和对应的第三柔管703从左向右移动。Specifically, the
可选地，第二柔管702和第四柔管704通过第一夹头10141与第一固定块1014相连，第一柔索8和第一柔管701通过第二夹头10181与滑块1018相连，第二柔索9和第三柔管 703通过第二夹头10181与滑块1018相连。Optionally, the second
例如，如图1至图3所示，第一夹头10141可通过螺钉或者螺栓固定安装在第一固定块1014上，第二夹头10181可通过螺钉或者螺栓固定安装在在滑块1018上，第二柔管702 和第四柔管704从左向右穿设第一夹头10141，第一夹头10141夹紧第二柔管702和第四柔管704的外周面，从而实现与第一固定块1014的连接，第二柔管702和第四柔管704与第一固定块1014之间连接方便。第一柔索8和第一柔管701从左向右贯穿第一夹头10141 后，经第二夹头10181夹紧，从而实现与滑块1018的相连，使得第一柔索8和第一柔管 701与滑块1018之间连接方便。第二柔索9和第三柔管703从左向右贯穿第一夹头10141 后，经第二夹头10181夹紧，从而实现与滑块1018相连，使得第二柔索9和第三柔管703 与滑块1018之间连接方便。For example, as shown in FIG. 1 to FIG. 3 , the
可选地，如图1和图2所示，本发明实施例的一种用于微创手术的多自由度手术执行器100还包括第七管体10，第二活动杆6的右端与第七管体12相连，第七管体12与移动架101相连，第七管体12套设在第二柔管702上。通过设置第七管体12可以增加一种用于微创手术的多自由度手术执行器100的在左右方向上的尺寸，方便对一种用于微创手术的多自由度手术执行器100手术位置的调节。Optionally, as shown in FIG. 1 and FIG. 2 , a multi-degree-of-freedom surgical implement 100 for minimally invasive surgery according to an embodiment of the present invention further includes a seventh
可选地，移动架101还包括第一支撑块1020，第七管体10沿左右方向贯穿第一支撑块1020并与第一支撑块1020相连。Optionally, the moving
可选地，固定架102还包括第二支撑块1022，第二支撑块1022位于第一支撑块1020的左侧，第七管体10沿左右方向贯穿第二支撑块1022，并沿左右方向可滑动地与第二支撑块1022相连。Optionally, the fixing
本发明实施例的一种用于微创手术的多自由度手术执行器通过设置第一活动杆和第二活动杆，并在第一活动杆和第二活动杆上设置限位槽以限制类球铰结构的自由度，使得安装件具有多个弯曲自由度和一个平动自由度，第一活动杆具有多个弯曲自由度，且两者之间独立驱动，可以实现本发明实施例的一种用于微创手术的多自由度手术执行器多自由度的灵活操作。A multi-degree-of-freedom surgical implement for minimally invasive surgery according to an embodiment of the present invention is to set a first movable rod and a second movable rod, and set a limit groove on the first movable rod and the second movable rod to limit the The degree of freedom of the spherical hinge structure makes the mounting piece have multiple bending degrees of freedom and one translational degree of freedom, and the first movable rod has multiple bending degrees of freedom, and the two are independently driven, which can realize one of the embodiments of the present invention. A multi-degree-of-freedom surgical actuator for minimally invasive surgery with multi-degree-of-freedom flexible operation.
一种用于微创手术的多自由度手术执行器采用柔索和柔性管进行控制，实现一种用于微创手术的多自由度手术执行器的刚度可控，有利于一种用于微创手术的多自由度手术执行器末端可以提供更大的承载力和避免手术器对患者器官的造成不必要损伤。另外，一种用于微创手术的多自由度手术执行器部分尺寸较小，达到进入多数人体自然腔道中进行手术操作的要求，同时也可应用于小切口微创手术中。支撑架采用工字形框架设计，结构紧凑且开放透明，便于安装与调试。同时将驱动组件整体轴向运动的第一电机置于工字形的中心位置，一方面使得一种用于微创手术的多自由度手术执行器的整体结构更加稳定，另一方面同时便于传动，减少偏心载荷。A multi-degree-of-freedom surgical actuator for minimally invasive surgery is controlled by a flexible cable and a flexible tube, so that the stiffness of a multi-degree-of-freedom surgical actuator for minimally invasive surgery can be controlled, which is beneficial to a multi-degree-of-freedom surgical actuator for minimally invasive surgery. The multi-degree-of-freedom surgical actuator end for invasive surgery can provide greater bearing capacity and avoid unnecessary damage to the patient's organs caused by the surgical instrument. In addition, a multi-degree-of-freedom surgical actuator for minimally invasive surgery has a small part size, which meets the requirements of entering most natural orifices of the human body for surgical operations, and can also be used in small-incision minimally invasive surgery. The support frame is designed with an I-shaped frame, which is compact, open and transparent, and is easy to install and debug. At the same time, the first motor that drives the overall axial movement of the assembly is placed in the center of the I-shape, which on the one hand makes the overall structure of a multi-degree-of-freedom surgical actuator for minimally invasive surgery more stable, and on the other hand facilitates transmission, Reduce eccentric loads.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial, The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated devices or elements. It must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between the two components, unless otherwise expressly qualified. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
在本发明中，术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In this disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like mean a specific feature, structure, material, or description described in connection with the embodiment or example. Features are included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.
尽管已经示出和描述了上述实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域普通技术人员对上述实施例进行的变化、修改、替换和变型均在本发明的保护范围内。Although the above-mentioned embodiments have been shown and described, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention, and those of ordinary skill in the art can make changes, modifications, substitutions and alterations to the above-mentioned embodiments. All fall within the protection scope of the present invention.
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