Disclosure of Invention
The present invention has been made based on the findings and knowledge of the inventors regarding the following facts and problems:
most current continuous surgical instruments are wire driven and rigid, i.e., the instrument is given sufficient rigidity by the mutual antagonism of the drive wires, once the drive wires are locked, the entire instrument is rigid. In fact, during the movement of the surgical instrument during surgery, it is inevitable that the collision of the instrument with the surrounding tissue occurs, and if the instrument is rigid, a relatively large trauma to the tissue occurs. However, most surgical instrument drives are not capable of imparting compliance to the instrument.
The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, embodiments of the present invention provide a driving system, a control method thereof, and a surgical robot having the driving system.
A drive system according to an embodiment of the present invention includes: a plurality of linear drives, each having a drive shaft, each drive shaft being provided with one of a first connection member and a second connection member; a plurality of transmission shafts, each transmission shaft is provided with the other of the first connecting piece and the second connecting piece, wherein the second connecting pieces can be correspondingly and detachably matched in the first connecting pieces one by one; and a plurality of control wires, wherein the control wires are connected with the transmission shafts in a one-to-one correspondence manner, and each control wire is suitable for being connected with a wire driving instrument.
According to the driving system provided by the embodiment of the invention, the linear motor is used for replacing the rotating motor, the linear power transmission is used for replacing the rotating power transmission, so that the surgical instrument can be rapidly switched, the high-precision driving can be realized, and meanwhile, the driving system can enable the rigid instrument to have compliance, and the rigid collision between the instrument and tissues in the operation is avoided.
Optionally, the first connecting piece is a clamping groove, and the second connecting piece is a boss, wherein a plurality of bosses can be correspondingly and detachably matched in a plurality of clamping grooves, and each boss extends from a corresponding one of the driving shaft and the driving shaft towards a direction opposite to the opening direction of the matched clamping groove.
Optionally, each of the card slots has an opening open to a first direction, each of the bosses extending from a respective one of the drive shaft and the drive shaft to a second direction, the first direction and the second direction being opposite.
Optionally, each driving shaft includes a shaft body and a connecting block arranged on the shaft body, a containing groove is formed in the peripheral surface of the connecting block, a clamping groove is formed in the bottom wall surface of the containing groove, the clamping groove is wedge-shaped, a through groove is formed in the end surface of the connecting block, the boss comprises a wedge-shaped portion, the boss penetrates through the corresponding through groove of the connecting block and is contained in the containing groove, and the wedge-shaped portion is matched in the corresponding clamping groove.
Optionally, the drive system further comprises: the linear driving devices are arranged on the base, and optionally, the linear driving devices are linear motors; and a mounting frame, a plurality of transmission shafts are arranged on the mounting frame, the mounting frame is detachably arranged on the base through a buckle.
Optionally, the buckling direction of the buckle is opposite to the opening direction of each clamping groove.
Optionally, the drive system further comprises: the base is arranged on the base and can move on the base along the axial direction of the driving shaft.
Optionally, the drive system further comprises: the mounting bracket, a plurality of the transmission shaft is established on the mounting bracket, a plurality of elastic component, every the elastic component is established on the mounting bracket, every the elastic component is in deformation state, wherein every the control line includes drive line and driving line, a plurality of the one end of drive line one-to-one ground with a plurality of the transmission shaft links to each other, every the other end of drive line is suitable for and drives the apparatus with the line and link to each other, a plurality of the one end one-to-one ground of driving line links to each other with a plurality of the elastic component, every the other end of driving line is suitable for and drives the apparatus with the line and link to each other.
Optionally, the mounting frame includes a first plate and a second plate disposed at intervals along an axial direction of the transmission shaft, a plurality of the transmission shafts are disposed on the first plate, and the second plate is used for mounting a wire driving apparatus, wherein a plurality of elastic members are disposed on the first plate, and each elastic member is in a stretched state so as to apply a tensile force to the transmission lines along the axial direction of the transmission shafts toward the first plate.
Optionally, the driving system further includes a plurality of supporting members, each supporting member is disposed on the first plate, wherein each supporting member extends along an axial direction of the transmission shaft, and a plurality of elastic members are sleeved on the plurality of supporting members in a one-to-one correspondence manner.
Optionally, each control wire comprises a driving wire and a transmission wire, one end of each driving wire is connected with the transmission shafts in a one-to-one correspondence manner, and the other end of each driving wire is suitable for being connected with a wire driving instrument; the device further comprises a plurality of marking blocks and cameras for capturing the positions of the marking blocks, wherein the marking blocks are arranged on the driving lines in a one-to-one correspondence mode.
Optionally, the drive system further comprises: the mounting frame comprises a first plate and a second plate which are arranged at intervals along the axial direction of the transmission shafts, a plurality of transmission shafts are arranged on the first plate, one end of each transmission line is connected with the first plate, the other end of each transmission line is suitable for being connected with a line driving instrument, and the second plate comprises a mounting part for mounting the line driving instrument; and a plurality of first reels and a plurality of second reels, a plurality of first reels and a plurality of second reels are alternately arranged on the second plate around the mounting part, a plurality of driving wires bypass the first reels in a one-to-one correspondence, a plurality of driving wires bypass the second reels in a one-to-one correspondence, wherein each marking block is positioned between one end of the corresponding driving wire and the corresponding first reel.
Optionally, a tool channel is provided in the middle of the first plate, the position of the tool channel corresponding to the position of the mounting portion on the second plate.
A control method of a driving system aims at the error of a linear driving device and realizes closed-loop control through a PID control algorithm of a controller; the processing errors of the first connecting piece and the second connecting piece in the switching interface of the driving shaft and the transmission shaft, the errors of the connection part of the transmission shaft transmitted to the driving wire and the errors of the extension of the driving wire caused by the tensile force action, and the displacement of the marking block on the driving wire is captured by the camera to be used as closed loop feedback; the displacement of the driving wire is transmitted to the joint of the driving wire to cause the pose change of the driving wire, and the pose information of the driving wire is acquired by adopting a pose sensor, a visual sensor or a magnetic sensor as a closed-loop feedback signal of the whole driving wire driving system.
According to the control method of the driving system, in the whole power transmission process from the linear driving device to the final wire driving instrument joint, all links possibly introducing errors are subjected to closed loop feedback on structural transmission and control, so that the precise driving and control of the wire driving instrument can be realized.
A surgical robot, comprising: a drive system, which is a drive system according to an embodiment of the present invention; and a wire driven instrument, each control wire of the drive system being connected to the wire driven instrument.
According to the surgical robot provided by the embodiment of the invention, the driving system can be used for rapidly switching the wire drive instrument, high-precision driving can be realized, and meanwhile, the driving system can enable the rigid instrument to have compliance, so that the rigid collision between the instrument and tissues in the operation is avoided.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
As shown in fig. 1 to 8, a driving system 600 according to an embodiment of the present invention includes a plurality of linear driving devices 1, a plurality of transmission shafts 3, and a plurality of control lines.
Each linear driving device 1 has a driving shaft 11, each driving shaft 11 being provided with one of a first coupling member and a second coupling member; each drive shaft 3 is provided with the other of the first and second connection members. In other words, the first connection member may be provided on the drive shaft 11 or on the drive shaft 3, and the second connection member may be provided on the drive shaft 3 or on the drive shaft 11, and the second connection member is provided on the drive shaft 3 when the first connection member is provided on the drive shaft 11, and the second connection member is provided on the drive shaft 11 when the first connection member is provided on the drive shaft 3. Wherein the plurality of second connectors are capable of being detachably fitted in the plurality of first connectors in a one-to-one correspondence. I.e. the second connector can be fitted into the corresponding first connector or can be disengaged from the first connector.
A plurality of control wires are connected to the plurality of drive shafts 3 in a one-to-one correspondence, each control wire being adapted to be connected to a wire drive device 5. That is, one end of each control wire is connected to the drive shaft 3, while the other end is connected to the wire driving instrument 5, thereby connecting the drive shaft 3 to the wire driving instrument 5.
The operation of the drive system 600 according to an embodiment of the present invention is briefly described below with reference to fig. 1-8.
The driving shafts 11 of the plurality of linear driving devices 1 are connected with the plurality of transmission shafts 3 through first connecting pieces and second connecting pieces, the driving shafts 11 move along the axial direction, the transmission shafts 3 are driven to move through the first connecting pieces and the second connecting pieces, and the transmission shafts 3 move to drive the line driving instrument 5 to act through control lines.
When the wire driving device 5 needs to be replaced, the second connecting piece is taken out from the first connecting piece, so that the transmission shaft 3 and the driving shaft 11 can be separated, the current wire driving device 5 is removed, and the second connecting piece or the first connecting piece on the transmission shaft 3 connected with the replaced wire driving device 5 is matched with the first connecting piece or the second connecting piece of the driving shaft 11.
According to the driving system provided by the embodiment of the invention, the linear power transmission is used for replacing the rotary power transmission, namely, the design of the first connecting piece and the second connecting piece is utilized to enable the transmission shaft and the driving shaft to be matched better, the second connecting piece can be separated from the first connecting piece faster and more conveniently, the second connecting piece can be inserted into the first connecting piece rapidly, and further, the rapid switching of the second connecting piece and the first connecting piece can be realized, so that the transmission shaft and the driving shaft can be switched rapidly, the rapid switching function of the wire driving device is finally realized, and the high-precision driving can be realized.
As shown in fig. 1 to 8, a driving system 600 according to an embodiment of the present invention includes a plurality of linear driving devices 1, a plurality of transmission shafts 3, and a plurality of control lines. The first connecting piece is a clamping groove 121, and the second connecting piece is a boss 31.
Each drive shaft 11 is provided with one of a catch groove 121 and a boss 31; each drive shaft 3 is provided with the other of the card slot 121 and the boss 31. In other words, the clamping groove 121 may be provided on the driving shaft 11 or the driving shaft 3, the boss 31 may be provided on the driving shaft 3 or the driving shaft 11, the boss 31 is provided on the driving shaft 3 when the clamping groove 121 is provided on the driving shaft 11, and the boss 31 is provided on the driving shaft 11 when the clamping groove 121 is provided on the driving shaft 3. Wherein the plurality of bosses 31 can be detachably fitted in the plurality of card slots 121 in a one-to-one correspondence. That is, the boss 31 can be inserted into the corresponding card slot 121, or can be separated from the card slot 121.
Each boss 31 extends from a corresponding one of the drive shaft 11 and the propeller shaft 3 toward a direction opposite to the opening direction of the mating card slot 121. That is, for the mating boss 31 and the card slot 121, the opening direction of the card slot 121 is a first direction, and each boss 31 extends from a corresponding one of the drive shaft 11 and the propeller shaft 3 toward a second direction, which is opposite to the first direction, so that the boss 31 can be quickly inserted into the card slot.
The driving shafts 11 of the linear driving devices 1 are connected with the transmission shafts 3 through the bosses 31 and the clamping grooves 121, the driving shafts 11 move in the axial direction, the transmission shafts 3 are driven to move through the bosses 31 and the clamping grooves 121, and the transmission shafts 3 move to drive the line driving device 5 to act through control lines.
When the wire driving device 5 needs to be replaced, the boss 31 is moved towards the opening direction of the clamping groove 121, and the boss 31 is taken out of the clamping groove 121, so that the transmission shaft 3 and the driving shaft 11 can be separated, the current wire driving device 5 is removed, and then the boss 31 or the clamping groove 121 on the transmission shaft 3 connected with the replaced wire driving device 5 is matched with the clamping groove 121 or the boss 31 of the driving shaft 11.
According to the driving system provided by the embodiment of the invention, the transmission shaft and the driving shaft can be better matched by utilizing the structural design of the clamping groove and the boss, and the opening direction of the clamping groove is opposite to the extending direction of the boss, so that the boss can be separated from the clamping groove more quickly and conveniently, the boss can be inserted into the clamping groove quickly, the boss and the clamping groove can be switched quickly, the transmission shaft and the driving shaft can be switched quickly, the quick switching function of a wire driving instrument can be realized finally, and high-precision driving can be realized.
As shown in fig. 1 to 8, the linear driving device 1 of the driving system 600 according to the embodiment of the present invention is a linear motor.
Each driving shaft 11 comprises a shaft body and a connecting block 12 arranged on the shaft body, the peripheral surface of the connecting block 12 is provided with a containing groove 120, the bottom wall surface of the containing groove 120 is provided with a clamping groove 121, and the end surface of the connecting block 12 is provided with a through groove 122 communicated with the containing groove 120. The through grooves 122 are provided such that the drive shaft 3 and the boss 31 pass through the corresponding through groove 122 of the connection block 12 and the boss 31 is accommodated in the accommodation groove 120. The boss 31 includes a wedge portion 311, the clamping groove 121 is wedge-shaped, the wedge portion 311 is matched in the corresponding clamping groove 121, the wedge portion 311 of the boss 31 and the wedge-shaped clamping groove 121 can be matched more tightly, and axial movement can be transmitted without gaps, so that high-precision driving is further realized.
Each of the card slots 121 has an opening opened in a first direction, and each of the bosses 31 extends from a corresponding one of the drive shaft 11 and the propeller shaft 3 in a second direction, the first and second directions being opposite. The openings of each clamping groove 121 face the same direction, and then the plurality of bosses 31 can be inserted into the corresponding plurality of clamping grooves 121 in the same direction, and the plurality of bosses 31 can be taken out from the corresponding clamping grooves 121 in the same direction, so that the switching operation of the wire driving device 5 can be more convenient and rapid. The extending direction of the boss 31 is opposite to the opening direction of the clamping groove 121, so that the boss 31 can be more conveniently matched with the clamping groove 121 and the boss 31 and the connecting block 12 can be more conveniently installed. Because the opening directions of a plurality of draw-in grooves are the same, the extending direction of a plurality of bosss is also unanimous to can realize the quick installation of boss and connecting block, and then can realize the quick installation of mounting bracket, finally realize the quick switching function of line drive apparatus.
The connection block 12 is mounted on an end face of the drive shaft 11 by a screw, and the boss 31 is mounted on an end face of one of the drive shaft 3 and the drive shaft 11 by a screw.
Alternatively, the opening direction of the accommodating groove 120 is the same as the opening direction of the card groove 121 provided on the bottom wall surface thereof, whereby the structure of the driving system can be made more rational. Alternatively, the opening direction of the accommodating groove 120 and the opening of the clamping groove 121 are both upward, and the extending direction of the boss 31 is downward, so that the boss 31 can be more conveniently and quickly connected with the clamping groove 121, and the boss 31 and the connecting block 12 can be more conveniently installed.
The drive system 600 further comprises a mounting frame 2, the mounting frame 2 comprising a first plate 21 and a second plate 22 arranged at intervals along the axial direction of the drive shafts 3, a plurality of drive shafts 3 being arranged on the first plate 21, the second plate 22 being intended for mounting the line drive instrument 5. The first plate 21 is provided with a linear bearing 32, and the transmission shaft 3 passes through the linear bearing 32, so that the transmission shaft 3 can move in the linear bearing 32, and when the driving shaft 11 drives the transmission shaft 3 to move through the boss 31 and the clamping groove 121, the transmission shaft 3 can move in the linear bearing 32 relative to the first plate 21.
The driving system 600 further comprises a plurality of elastic members 7 and a plurality of supporting members 71, wherein each supporting member 71 is arranged on the first plate 21, each supporting member 71 extends along the axial direction of the transmission shaft 3, and the plurality of elastic members 7 are sleeved on the plurality of supporting members 71 in a one-to-one correspondence. The support piece 71 is connected with the first plate 21 through threads, the inner diameter of the elastic piece 7 is larger than the outer diameter of the support piece 71, the support piece 71 is located inside the elastic piece 7, and the support piece 71 is used for preventing the elastic piece 7 from being deformed in the vertical direction due to self weight and affecting transmission.
Each control line comprises a drive line 4 and a drive line 6, one end of the drive lines 4 being connected to the drive shafts 3 in a one-to-one correspondence, and the other end of each drive line 4 being adapted to be connected to a line drive device 5, i.e. the drive shafts 3 are connectable to the line drive device 5 via the drive lines 4. One end of each driving wire 6 is connected with a plurality of elastic pieces 7 in a one-to-one correspondence manner, and the other end of each driving wire 6 is suitable for being connected with the wire driving device 5, namely, the elastic pieces 7 can be connected with the wire driving device 5 through the driving wires 6. Each of the elastic members 7 is in a stretched state so as to apply a pulling force to the drive wire 6 toward the first plate 21 in the axial direction of the drive shaft 3. The other end of each drive wire 4 and the other end of each drive wire 6 are each connected to a wire drive instrument 5, rotation of the joint of the wire drive instrument 5 being possible by a mutually resistant action of the drive wire 4 and the drive wire 6 on the wire drive instrument 5.
As shown in fig. 4, the drive line 4 and the drive line 6 are typically steel cables. When the driving shaft 11 of the linear driving device 1 is pulled along the axial direction thereof toward the direction far away from the linear driving apparatus 5, the driving shaft 3 connected to the driving shaft 11 through the clamping groove 121 and the boss 31 moves along with the driving shaft, and drives the driving wire 4 fixed on the driving shaft 3 to move toward the direction far away from the linear driving apparatus 5, the other end of the driving wire 4 is fixed at the joint of the linear driving apparatus 5, the joint of the linear driving apparatus 5 is driven to rotate to generate motion, and meanwhile, the driving wire 6 on the joint is driven to move toward the direction close to the linear driving apparatus 5, so that the elastic member 7 connected with the other end of the driving wire 6 is elongated.
When the driving shaft 11 of the linear driving device 1 moves in the direction approaching the wire driving instrument 5 along the axial direction thereof, the driving shaft 3 connected to the driving shaft 11 through the clamping groove 121 and the boss 31 moves along with the driving shaft, and drives the driving wire 4 to move in the direction approaching the wire driving instrument 5, so that the other end of the driving wire 4 drives the joint of the wire driving instrument 5 to rotate to act, and simultaneously the driving wire 6 on the joint moves in the direction away from the wire driving instrument 5, so that the elastic member 7 connected with the other end of the driving wire 6 is compressed.
The elastic piece is arranged to enable the elastic piece connected with the transmission shaft to be lengthened or compressed when the driving shaft moves, so that the driving system has a certain buffering effect, and finally the wire driving device has a certain compliance. When the driving system is used in an operation environment, the compliance of the wire driving instrument can avoid tissues in an operation space, so that the tissues are prevented from being damaged when the wire driving instrument is in rigid collision with the tissues, and the operation process is safer. Each elastic piece 7 is in a deformation state, the elastic piece 7 can be a spring, and the spring plays a role in pre-tightening a driving wire and can enable the joint of the wire driving instrument to restore to an initial state. By adjusting the parameters of the spring, namely the spring coefficient, the wire drive device can obtain different load capacities and own rigidities.
Alternatively, one end of the driving wire 4 is provided with a fixing block 43, the fixing block 43 may be cylindrical or semi-cylindrical, the outer circumferential surface of the driving shaft 3 connected to one end of the driving wire 4 is provided with a fixing groove 33, the width of the fixing groove 33 is not smaller than the width of the fixing block 43, the fixing block 43 can be inserted into the fixing groove 33, the end surface of the driving shaft 3 is further provided with a wire hole 34, and the driving wire 4 passes through the wire hole 34 to be connected to the fixing block 43, thereby connecting the driving wire 4 with the driving shaft 3.
The second plate 22 of the mounting frame 2 comprises a mounting portion for mounting the wire drive device 5. Alternatively, the mounting portion is a sleeve 9, the sleeve 9 is fixedly connected to the second plate 22 by a fixing plate 91 and the sleeve 9 penetrates the second plate 22, one end of the sleeve 9 is a polished end, the polished end is a smooth polished opening, and friction of the polished end to the driving wire 4 and the driving wire 6 can be reduced when the driving wire 4 and the driving wire 6 penetrate the polished end of the sleeve 9.
A tool channel is provided in the middle of the first plate 21, which tool channel is a circular through hole, the position of which tool channel corresponds to the position of the sleeve 9 on the second plate 22 for use when the wire driving device 5 is used as a catheter.
The driving system 600 further includes a plurality of first pulleys 801 and a plurality of second pulleys 802, the plurality of first pulleys 801 and the plurality of second pulleys 802 being alternately provided on the second plate 22 around the sleeve 9, the plurality of driving wires 4 being wound around the plurality of first pulleys 801 in one-to-one correspondence, and the plurality of driving wires 6 being wound around the plurality of second pulleys 802 in one-to-one correspondence. One end of the driving wire 4 is connected with the transmission shaft 3, the other end of the driving wire passes around the first wire wheel 801 and then is connected with the wire driving device 5, one end of the driving wire 6 is connected with the elastic piece 7, and the other end of the driving wire passes around the second wire wheel 802 and then is connected with the wire driving device 5. A plurality of elastic members 7 and a plurality of transmission shafts 3 are also provided alternately in a ring shape on the first plate 21. The transmission shaft 3 corresponds to the first reel 801, and the elastic member 7 corresponds to the second reel 802. This allows the drive wire 4 between the drive shaft 3 and the first pulley 801 and the drive wire 6 between the elastic member 7 and the second pulley 802 to be kept parallel to each other and to be kept coincident with the axial direction of the drive shaft 3, thereby enabling a better transmission of the motion of the drive shaft 11.
The first reel 801 and the second reel 8 are identical in structure and comprise a spool 81, bearings 82, upright posts 83 and a cross post 84, two ends of the spool 81 are arranged on the two upright posts 83 through the bearings 82, and the bearings 82 enable the first reel 801 and the second reel 802 not to generate friction during winding. A cross post 84 is also provided between the two posts 83, with a threaded hole in the middle of the cross post 84 for mounting the first and second pulleys 801, 802 to the second plate 22. The second plate 22 is provided with a wire wheel mounting hole for mounting the first wire wheel 801 and the second wire wheel 802, the screw hole corresponds to the wire wheel mounting hole, and a bolt passes through the screw hole and the wire wheel mounting hole to mount the first wire wheel and the second wire wheel to the second plate. In order to ensure that the drive line 4 between the first pulley 801 and the drive shaft 3 and the drive line 6 between the second pulley 802 and the elastic member 7 are parallel, the positions of the pulley mounting holes are offset from the center position of the support member 71 by the same offset from the center position of the drive shaft 3, which is equal to the radius of the winding of the bobbin 81.
The polished end of the sleeve 9 is on the same side of the second plate 22 as the first pulley 801 and the second pulley 802. The length of the polished end of the sleeve 9 extending out of the second plate 22 is equal to or less than the length of the second plate 22 to the winding position of the spool 81 of the first pulley 801 and the second pulley 802, so that the contact area between the driving wire 4 and the driving wire 6 and the polished end of the sleeve 9 can be reduced, and friction can be reduced.
The driving system 600 further includes a plurality of marking blocks 41 and a camera 42 for capturing the position of each of the marking blocks 41, the plurality of marking blocks 41 being provided on the driving wire 4 in one-to-one correspondence, and each marking block 41 being located between the one end (i.e., the fixed block 43) of the corresponding driving wire 4 and the first reel 801. The marker block 41 is provided so that the camera 42 captures the moving distance of the measurement drive line 4. The driving wire 4 is directly connected to the wire driving device 5, so that the position of the marking block 41 captured by the camera 42 is used as a negative feedback signal of the wire driving device 5, and the high-precision control of the whole wire driving device 5 can be further ensured.
The drive system 600 further includes: a base 10, a plurality of linear driving devices 1 being provided on the base 10; a plurality of transmission shafts 3 are provided on the mounting frame 2, and the mounting frame 2 is detachably provided on the base 10 through a buckle 101. The buckling direction of the buckle 101 is opposite to the opening direction of each clamping groove 121, so that the mounting frame 2 can be matched with the base 10 more stably, and the quick switching of the mounting frame is facilitated. Optionally, the opening direction of each slot 121 is upward, and the buckling direction of the buckle 101 is downward, so that the mounting frame 2 can be more quickly connected with the buckle 101, and the mounting frame 2 can be quickly detached from the buckle 101. Furthermore, in order to achieve a quick switching of the line drive device 5, only the catch 101 on the base 10 may be used to fix the mounting frame 2.
The plurality of linear driving devices 1, that is, the plurality of linear motors, are arranged on a supporting frame, the supporting frame comprises a driving bottom plate 13, two driving vertical plates 14 and a driving transverse plate 15, the driving bottom plate 13 is fixedly arranged on the base 10, the two driving vertical plates 14 are arranged on the driving bottom plate 13, the two driving vertical plates 14 are arranged in parallel, the two driving vertical plates 14 are arranged on the same side of the driving bottom plate 13 and are perpendicular to the driving bottom plate 13, the driving transverse plate 15 is positioned in the middle of the two driving vertical plates 14, and the two driving vertical plates 14 are connected for enhancing the stability of the whole supporting frame.
The plurality of linear motors are symmetrically and uniformly arranged on two sides of the two driving vertical plates, the driving shaft of each linear motor is parallel to each of the driving bottom plate and the driving vertical plates, the plurality of driving shafts of the plurality of linear motors are arranged in parallel, the spacing between the two adjacent linear motors is the same, namely, the spacing between the two adjacent linear motors on each driving vertical plate is the same as the spacing between the two symmetrical linear motors between the two driving vertical plates. The uniform layout of the plurality of linear motors mainly considers the distance required by the linear motors to avoid magnetic interference and the uniform layout of the driving wires.
The drive system 600 further includes: a base 20, the base 10 being provided on the base 20 and being movable on the base 20 along the axial direction of the drive shaft 11. The base 20 comprises two support plates 205, two cross beams 204, two guide rails 201 and one linear motor 202. In order to provide sufficient support, two ends of each beam 204 are mounted on two support plates 205, that is, the two support plates are symmetrically disposed at two ends of the beam, the two beams are disposed side by side, each beam is mounted with a guide rail, each guide rail 201 is provided with two sliders 102, a linear motor 202 is disposed between the two beams 204, and two ends of a driving shaft of the linear motor 202, that is, two ends of a push rod 203 are fixedly mounted on the two support plates 205. The linear motor 202 and the top of the slider 102 are fixedly connected with the bottom of the base 10. When the base 10 needs to move relative to the base 20, the linear motor 202 is started, the push rod 203 of the linear motor 202 is fixed, the linear motor 202 moves, and the movement of the linear motor 202 drives the sliding block 102 and the base 10 to move relative to the guide rail 201, so that the base 10 moves relative to the base 20, and the degree of freedom of the linear motor 202 in the axial direction is provided for the linear driving apparatus 5.
The present invention also provides a surgical robot, which includes a driving system 600 and a wire driving apparatus 5 according to an embodiment of the present invention, wherein the driving system 600 is the driving system 600 according to the above-described embodiment of the present invention; each control wire of the drive system is connected to a wire driven instrument.
According to the surgical robot provided by the embodiment of the invention, the driving system can be used for rapidly switching the wire drive instrument, high-precision driving can be realized, and meanwhile, the driving system can enable the rigid instrument to have compliance, so that the rigid collision between the instrument and tissues in the operation is avoided.
As shown in fig. 8, the precise control principle of the driving system 600 is that all links that may introduce errors in the transmission process from the driving shaft of the linear motor to the power of the final wire driving apparatus are improved in structural transmission and closed-loop feedback in control, so that precise driving and control of the wire driving apparatus can be realized.
Structural improvement: a linear motor is adopted as a power source, linear driving replaces driving of a rotary motor, and linear power transmission replaces rotary power transmission; the linear motion can realize the rapid switching of the wire drive device through the special structure of the wedge-shaped clamping groove and the wedge-shaped part of the boss, so that the error caused by the design of a switching interface is avoided, and the switching interface of a driving device using a rotating motor is difficult to achieve.
Closed loop feedback on control: the application has no error in design, but considers the existence of uncontrollable factors such as processing and the like, and finally presents the existence of errors in the pose of the linear driving instrument. As shown in fig. 8, there are 4 errors that may occur. The first is the error of the motor, namely the transmission error 1, and the error 1 can be reduced by realizing closed-loop control through a PID control algorithm of a controller of the motor; the transmission error 2 is introduced in the process from the linear motor driving shaft to the transmission shaft, and mainly considers the machining error of the clamping groove and the boss; the transmission error 3 is the joint where the motion of the transmission shaft is transmitted to the driving wire, and the driving wire stretches under the action of pulling force; the transmission error 2 and the transmission error 3 can be reduced by capturing the displacement of the marking block on the driving line by the camera of the application as closed loop feedback of the system control. Finally, the displacement of the driving wire is transmitted to the joint of the wire driving instrument to cause the change of the pose of the wire driving instrument, and the transmission error 4 is generated in the process, mainly caused by the connection of the driving wire and the joint and the difference between the theoretical model and the actual model of the wire driving instrument, and the error of the part is not in the consideration range of the design, but a pose sensor such as a grating sensor, a visual sensor or a magnetic sensor can be adopted to acquire the pose information of the instrument so as to be used as a closed-loop feedback signal of the whole wire driving instrument control system, so that high-precision instrument control is realized to the greatest extent.
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", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.