CN116370096A - Surgical system, bite force control method, and computer-readable storage medium - Google Patents
Surgical system, bite force control method, and computer-readable storage mediumDownload PDFInfo
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- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A—HUMAN NECESSITIES
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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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，尤其涉及一种手术系统、咬合力控制方法及计算机可读存储介质。The present invention relates to the technical field of medical devices, in particular to an operation system, a bite force control method and a computer-readable storage medium.
背景技术Background technique
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式，微创手术具有创伤小、疼痛轻、恢复快等优势。Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
随着微创手术技术与人工智能技术的发展，机器人辅助微创手术逐渐成为微创外科手术的发展趋势之一。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。从操作设备的手术器械包括驱动装置和用于执行手术的末端器械，从驱动装置引出的传动组件连接至末端器械，通过驱动装置控制传动组件的动作，从而驱动末端器械实现预定的动作。With the development of minimally invasive surgery technology and artificial intelligence technology, robot-assisted minimally invasive surgery has gradually become one of the development trends of minimally invasive surgery. Minimally invasive surgical robots usually include a main operating console and slave operating equipment. The main operating console is used to send control commands to the slave operating equipment according to the doctor's operation to control the slave operating equipment. The slave operating equipment is used to respond to the control commands sent by the main operating console. , and carry out the corresponding surgical operation. The surgical instrument from the operating device includes a driving device and a terminal instrument for performing surgery. The transmission assembly drawn from the driving device is connected to the terminal instrument, and the movement of the transmission assembly is controlled by the driving device, thereby driving the terminal instrument to achieve a predetermined action.
按照末端器械需要实现的功能划分，手术过程中有需要提供较大咬合力的动作，如生物组织切割、烧灼，也有需要提供较小咬合力的动作，如夹持生物组织或其他物质(如缝合线)进行移动，这就要求操作者在进行不同手术操作或夹持不同生物组织或物质的过程中，频繁地进行咬合力的切换。然而，目前的手术过程中，末端器械的咬合力的大小通常需要依赖操作者的直觉来进行较小范围的调节，但是这种微调动作难以提供差异明显的咬合力，增加了手术难度。According to the function of the terminal device, during the operation, there are actions that need to provide a large bite force, such as biological tissue cutting and cauterization, and there are also actions that need to provide a small bite force, such as clamping biological tissue or other substances (such as suturing). wire) to move, which requires the operator to frequently switch the bite force during different surgical operations or clamping of different biological tissues or substances. However, in the current operation process, the bite force of the terminal instrument usually needs to be adjusted in a small range by the operator's intuition, but this kind of fine-tuning action is difficult to provide a significantly different bite force, which increases the difficulty of the operation.
发明内容Contents of the invention
鉴于现有技术的不足，本发明提供了一种手术系统、咬合力控制方法及计算机可读存储介质，可以根据手术需要切换至不同档位大小的咬合力，从而可满足对不同特性的生物组织或物质的夹持需求，降低了手术操作门槛，提高了手术效率。In view of the deficiencies in the prior art, the present invention provides a surgical system, a bite force control method, and a computer-readable storage medium, which can switch to different gears of bite force according to the needs of the operation, so as to meet the needs of biological tissues with different characteristics. Or the clamping requirements of substances, which reduces the threshold of surgical operation and improves the efficiency of surgery.
为了实现上述的目的，本发明采用了如下的技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种手术系统，包括：A surgical system comprising:
指令输入端口，用于实时获取控制指令；The command input port is used to obtain control commands in real time;
末端执行器，包括用于根据所述控制指令执行咬合动作的开合组件，开合组件的咬合模式包括第一模式和第二模式，开合组件在第二模式下闭合时的咬合力大于在第一模式下闭合时的咬合力；The end effector includes an opening and closing assembly for performing a snapping action according to the control command, the snapping mode of the opening and closing assembly includes a first mode and a second mode, and the snapping force of the opening and closing assembly when closed in the second mode is greater than that in Bite force when closing in the first mode;
控制装置，所述控制装置被配置为：a control device configured to:
根据从所述指令输入端口获取的第一触发指令，切换开合组件的咬合模式至第二模式；switching the snapping mode of the opening and closing assembly to the second mode according to the first trigger command obtained from the command input port;
在第一触发指令终止后，且开合组件处于打开状态时，切换开合组件的咬合模式至第一模式。After the first trigger instruction is terminated and the opening and closing assembly is in an open state, switch the engagement mode of the opening and closing assembly to the first mode.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
在第一触发指令终止后，且开合组件处于闭合状态时，使开合组件的咬合模式维持第二模式。After the first trigger instruction is terminated and the opening and closing assembly is in the closed state, the bite mode of the opening and closing assembly is maintained in the second mode.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
在第一触发指令终止后，且开合组件处于闭合状态时，根据从所述指令输入端口获取的第二触发指令，切换开合组件的咬合模式至第一模式。After the first trigger instruction is terminated and the opening and closing assembly is in the closed state, the engagement mode of the opening and closing assembly is switched to the first mode according to the second trigger instruction obtained from the instruction input port.
作为其中一种实施方式，开合组件的两个开合瓣的咬合面均形成有电极；As one of the implementations, electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly;
所述控制装置被进一步配置为：The control device is further configured to:
在开合组件处于闭合状态时，根据通电指令使开合组件的电极通电。When the opening and closing assembly is in the closed state, the electrodes of the opening and closing assembly are energized according to the energization instruction.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
收到通电指令后，检测开合组件的初始咬合模式；After receiving the power-on command, detect the initial bite mode of the opening and closing components;
在初始咬合模式为第二模式时，降低开合组件的咬合力；When the initial bite mode is the second mode, reduce the bite force of the opening and closing assembly;
在初始咬合模式为第一模式时，增大开合组件的咬合力；When the initial occlusal mode is the first mode, increasing the occlusal force of the opening and closing assembly;
在开合组件的咬合力达到预设临界范围时，根据通电指令使开合组件的电极通电。When the bite force of the opening and closing assembly reaches a preset critical range, the electrodes of the opening and closing assembly are energized according to the energization instruction.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
判断通电过程是否完成，并在通电过程完成后，恢复开合组件的咬合模式至所述初始咬合模式。It is judged whether the power-on process is completed, and after the power-on process is completed, the snapping mode of the opening and closing assembly is restored to the initial snapping mode.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
根据从所述指令输入端口获取的第三触发指令，改变开合组件的开合状态。The opening and closing state of the opening and closing assembly is changed according to the third trigger instruction obtained from the instruction input port.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
获取开合组件的两个开合瓣的咬合面的压力；Obtain the pressure of the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly;
在获取的所述压力大于第一压力阈值时，判定开合组件处于闭合状态。When the obtained pressure is greater than the first pressure threshold, it is determined that the opening and closing assembly is in a closed state.
作为其中一种实施方式，所述末端执行器包括第一基座、第一加力轮与第二加力轮、第一开合瓣与第二开合瓣，所述第一加力轮、所述第二加力轮分别可转动地连接所述第一基座，且所述第一加力轮、所述第二加力轮相对于所述第一基座转动的转轴线的轴向相同；所述第一开合瓣与所述第二开合瓣彼此交叉且在交叉处铰接，所述第一开合瓣的近端与所述第一加力轮上的第一偏心部转动连接，所述第二开合瓣的近端与所述第二加力轮上的第二偏心部转动连接；As one of the implementations, the end effector includes a first base, a first booster wheel and a second booster wheel, a first opening and closing flap and a second opening and closing flap, the first boosting wheel, The second booster wheels are respectively rotatably connected to the first base, and the axial direction of the rotation axis of the first booster wheel and the second booster wheel relative to the rotation of the first base Same; the first opening and closing flap and the second opening and closing flap intersect each other and are hinged at the intersection, the proximal end of the first opening and closing flap rotates with the first eccentric part on the first afterburning wheel connected, the proximal end of the second opening and closing flap is rotationally connected with the second eccentric portion on the second booster wheel;
在开合组件闭合状态下，各加力轮在第二模式下受到的转矩大于在第一模式下受到的转矩；In the closed state of the opening and closing assembly, the torque received by each booster wheel in the second mode is greater than the torque received in the first mode;
所述控制装置被进一步配置为：The control device is further configured to:
开合组件的咬合模式从第一模式切换至第二模式后，在开合组件处于闭合状态下时，增大施加到各加力轮的转矩；After the bite mode of the opening and closing assembly is switched from the first mode to the second mode, when the opening and closing assembly is in the closed state, the torque applied to each booster wheel is increased;
开合组件的咬合模式从第二模式切换至第一模式后，在开合组件处于闭合状态下时，减小施加到各加力轮的转矩。After the engagement mode of the opening and closing assembly is switched from the second mode to the first mode, when the opening and closing assembly is in a closed state, the torque applied to each booster wheel is reduced.
作为其中一种实施方式，所述控制装置被进一步配置为：As one of the implementation manners, the control device is further configured to:
分别获取所述第一偏心部与所述第一开合瓣之间的第一挤压力、所述第二偏心部与所述第二开合瓣之间的第二挤压力；respectively acquiring a first extrusion force between the first eccentric portion and the first opening and closing flap, and a second extrusion force between the second eccentric portion and the second opening and closing flap;
在获取的所述第一挤压力、所述第二挤压力均大于第二压力阈值时，判定开合组件处于闭合状态。When the obtained first pressing force and the second pressing force are both greater than a second pressure threshold, it is determined that the opening and closing assembly is in a closed state.
作为其中一种实施方式，所述第一加力轮、所述第二加力轮分别通过缆线驱动转动；所述控制装置被进一步配置为：As one of the implementation manners, the first booster wheel and the second booster wheel are respectively driven to rotate by cables; the control device is further configured as:
分别获取用于驱动所述第一加力轮的所述第一偏心部、所述第二加力轮的所述第二偏心部相互靠近的缆线的张力；Acquiring tensions of cables for driving the first eccentric part of the first booster wheel and the second eccentric part of the second booster wheel to approach each other;
在获取的所述张力大于预设张力阈值时，判定开合组件处于闭合状态。When the obtained tension is greater than a preset tension threshold, it is determined that the opening and closing assembly is in a closed state.
为了实现上述的目的，本发明还提供了一种咬合力控制方法，用于控制手术系统的末端执行器的开合组件，开合组件的咬合模式包括第一模式和第二模式，开合组件在第二模式下闭合时的咬合力大于在第一模式下闭合时的咬合力；In order to achieve the above object, the present invention also provides a bite force control method, which is used to control the opening and closing assembly of the end effector of the surgical system, the bite mode of the opening and closing assembly includes the first mode and the second mode, and the opening and closing assembly the snap force when closing in the second mode is greater than the snap force when closing in the first mode;
所述咬合力控制方法包括：The bite force control method includes:
根据第一触发指令，切换开合组件的咬合模式至第二模式；According to the first trigger instruction, switch the bite mode of the opening and closing assembly to the second mode;
在第一触发指令终止后，且开合组件处于打开状态时，切换开合组件的咬合模式至第一模式。After the first trigger instruction is terminated and the opening and closing assembly is in an open state, switch the engagement mode of the opening and closing assembly to the first mode.
作为其中一种实施方式，所述咬合力控制方法还包括：As one of the implementation manners, the bite force control method further includes:
在第一触发指令终止后，且开合组件处于闭合状态时，使开合组件的咬合模式维持第二模式。After the first trigger instruction is terminated and the opening and closing assembly is in the closed state, the bite mode of the opening and closing assembly is maintained in the second mode.
作为其中一种实施方式，所述咬合力控制方法还包括：As one of the implementation manners, the bite force control method further includes:
在第一触发指令终止后，且开合组件处于闭合状态时，根据第二触发指令，切换开合组件的咬合模式至第一模式。After the first trigger instruction is terminated and the opening and closing assembly is in the closed state, according to the second triggering instruction, the engagement mode of the opening and closing assembly is switched to the first mode.
作为其中一种实施方式，开合组件的两个开合瓣的咬合面均形成有电极；As one of the implementations, electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly;
所述咬合力控制方法还包括：The bite force control method also includes:
在开合组件处于闭合状态时，根据通电指令使开合组件的电极通电。When the opening and closing assembly is in the closed state, the electrodes of the opening and closing assembly are energized according to the energization instruction.
作为其中一种实施方式，所述根据通电指令使开合组件的电极通电的步骤前，所述咬合力控制方法还包括：As one of the implementation manners, before the step of energizing the electrodes of the opening and closing assembly according to the energization instruction, the bite force control method further includes:
收到通电指令后，检测开合组件的初始咬合模式；After receiving the power-on command, detect the initial bite mode of the opening and closing components;
在初始咬合模式为第二模式时，降低开合组件的咬合力；When the initial bite mode is the second mode, reduce the bite force of the opening and closing assembly;
在初始咬合模式为第一模式时，增大开合组件的咬合力；When the initial occlusal mode is the first mode, increasing the occlusal force of the opening and closing assembly;
在开合组件的咬合力达到预设临界范围时，根据通电指令使开合组件的电极通电。When the bite force of the opening and closing assembly reaches a preset critical range, the electrodes of the opening and closing assembly are energized according to the energization instruction.
作为其中一种实施方式，所述咬合力控制方法还包括：As one of the implementation manners, the bite force control method further includes:
判断通电过程是否完成，并在通电过程完成后，恢复开合组件的咬合模式至所述初始咬合模式。It is judged whether the power-on process is completed, and after the power-on process is completed, the snapping mode of the opening and closing assembly is restored to the initial snapping mode.
作为其中一种实施方式，所述咬合力控制方法还包括：As one of the implementation manners, the bite force control method further includes:
根据第三触发指令，改变开合组件的开合状态。According to the third trigger instruction, the opening and closing state of the opening and closing assembly is changed.
作为其中一种实施方式，确定开合组件的开合状态的过程包括：As one of the implementation manners, the process of determining the opening and closing state of the opening and closing assembly includes:
获取开合组件的两个开合瓣的咬合面的压力；Obtain the pressure of the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly;
在获取的所述压力大于第一压力阈值时，判定开合组件处于闭合状态。When the obtained pressure is greater than the first pressure threshold, it is determined that the opening and closing assembly is in a closed state.
作为其中一种实施方式，所述末端执行器包括第一基座、第一加力轮与第二加力轮、第一开合瓣与第二开合瓣，所述第一加力轮、所述第二加力轮分别可转动地连接所述第一基座，且所述第一加力轮、所述第二加力轮相对于所述第一基座转动的转轴线的轴向相同；所述第一开合瓣与所述第二开合瓣彼此交叉且在交叉处铰接，所述第一开合瓣的近端与所述第一加力轮上的第一偏心部转动连接，所述第二开合瓣的近端与所述第二加力轮上的第二偏心部转动连接；As one of the implementations, the end effector includes a first base, a first booster wheel and a second booster wheel, a first opening and closing flap and a second opening and closing flap, the first boosting wheel, The second booster wheels are respectively rotatably connected to the first base, and the axial direction of the rotation axis of the first booster wheel and the second booster wheel relative to the rotation of the first base Same; the first opening and closing flap and the second opening and closing flap intersect each other and are hinged at the intersection, the proximal end of the first opening and closing flap rotates with the first eccentric part on the first afterburning wheel connected, the proximal end of the second opening and closing flap is rotationally connected with the second eccentric portion on the second booster wheel;
所述咬合力控制方法包括：The bite force control method includes:
开合组件的咬合模式从第一模式切换至第二模式后，在开合组件处于闭合状态下时，增大施加到各加力轮的转矩；After the bite mode of the opening and closing assembly is switched from the first mode to the second mode, when the opening and closing assembly is in the closed state, the torque applied to each booster wheel is increased;
开合组件的咬合模式从第二模式切换至第一模式后，在开合组件处于闭合状态下时，减小施加到各加力轮的转矩。After the engagement mode of the opening and closing assembly is switched from the second mode to the first mode, when the opening and closing assembly is in a closed state, the torque applied to each booster wheel is reduced.
作为其中一种实施方式，确定开合组件的开合状态的过程包括：As one of the implementation manners, the process of determining the opening and closing state of the opening and closing assembly includes:
分别获取所述第一偏心部与所述第一开合瓣之间的第一挤压力、所述第二偏心部与所述第二开合瓣之间的第二挤压力；respectively acquiring a first extrusion force between the first eccentric portion and the first opening and closing flap, and a second extrusion force between the second eccentric portion and the second opening and closing flap;
在获取的所述第一挤压力、所述第二挤压力均大于第二压力阈值时，判定开合组件处于闭合状态。When the obtained first pressing force and the second pressing force are both greater than a second pressure threshold, it is determined that the opening and closing assembly is in a closed state.
作为其中一种实施方式，所述第一加力轮、所述第二加力轮分别通过缆线驱动转动，确定开合组件的开合状态的过程包括：As one of the implementations, the first booster wheel and the second booster wheel are respectively driven to rotate by cables, and the process of determining the opening and closing state of the opening and closing assembly includes:
分别获取用于驱动所述第一加力轮的所述第一偏心部、所述第二加力轮的所述第二偏心部相互靠近的缆线的张力；Acquiring tensions of cables for driving the first eccentric part of the first booster wheel and the second eccentric part of the second booster wheel to approach each other;
在获取的所述张力大于预设张力阈值时，判定开合组件处于闭合状态。When the obtained tension is greater than a preset tension threshold, it is determined that the opening and closing assembly is in a closed state.
为了实现上述的目的，本发明还提供了一种咬合力控制方法，用于控制手术系统的末端执行器的开合组件，开合组件的两个开合瓣的咬合面均形成有电极，开合组件的咬合模式包括第一模式和第二模式，开合组件在第二模式下闭合时的咬合力大于在第一模式下闭合时的咬合力；In order to achieve the above object, the present invention also provides a bite force control method, which is used to control the opening and closing assembly of the end effector of the surgical system, electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly, and the opening and closing The occlusal mode of the closure assembly includes a first mode and a second mode, and the occlusal force of the opening and closing assembly when it is closed in the second mode is greater than the occlusal force when it is closed in the first mode;
所述咬合力控制方法包括：The bite force control method includes:
收到通电指令后，检测开合组件的初始咬合模式；After receiving the power-on command, detect the initial bite mode of the opening and closing components;
在初始咬合模式为第二模式时，降低开合组件的咬合力；When the initial bite mode is the second mode, reduce the bite force of the opening and closing assembly;
在初始咬合模式为第一模式时，增大开合组件的咬合力；When the initial occlusal mode is the first mode, increasing the occlusal force of the opening and closing assembly;
在开合组件的咬合力达到预设临界范围时，根据通电指令使开合组件的电极通电。When the bite force of the opening and closing assembly reaches a preset critical range, the electrodes of the opening and closing assembly are energized according to the energization instruction.
为了实现上述的目的，本发明还提供了一种计算机可读存储介质，所述计算机可读存储介质内存储有多条指令，所述指令适于由处理器加载并执行任意一种上述的咬合力控制方法的步骤。In order to achieve the above object, the present invention also provides a computer-readable storage medium, wherein a plurality of instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by a processor and executing any one of the above-mentioned interlocking The steps of the force control method.
本发明提供的手术系统及咬合力控制方法可以实现开合组件在不同的开合状态下、在咬合力差异明显的两个模式之间按需切换，从而可以满足对不同特性的生物组织或物质的夹持需求，降低了手术操作门槛，提高了手术效率。The surgical system and the occlusal force control method provided by the present invention can realize the on-demand switching between the two modes with obvious occlusal force differences in different opening and closing states of the opening and closing components, so as to meet the requirements for biological tissues or substances with different characteristics. The clamping requirement reduces the surgical operation threshold and improves the surgical efficiency.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.
图1为本发明实施例1的一种手术机器人的从操作设备的结构示意图；1 is a schematic structural view of a slave operating device of a surgical robot according to Embodiment 1 of the present invention;
图2为本发明实施例1的一种手术机器人的主操作控制台的结构示意图；2 is a schematic structural view of a main operating console of a surgical robot according to Embodiment 1 of the present invention;
图3为本发明实施例1的一种从操作设备的机械臂的结构示意图；3 is a schematic structural view of a mechanical arm of a slave operating device according to Embodiment 1 of the present invention;
图4为本发明实施例1的一种手术器械的结构示意图；4 is a schematic structural view of a surgical instrument according to Embodiment 1 of the present invention;
图5为本发明实施例1的一种末端执行器在闭合状态下的立体结构示意图；FIG. 5 is a schematic perspective view of the three-dimensional structure of an end effector in a closed state according to Embodiment 1 of the present invention;
图6为本发明实施例1的一种末端执行器在张开状态下的立体结构示意图；Fig. 6 is a three-dimensional structural schematic diagram of an end effector in an expanded state according to Embodiment 1 of the present invention;
图7为本发明实施例1的一种末端执行器的结构分解示意图；7 is a schematic exploded view of the structure of an end effector according to Embodiment 1 of the present invention;
图8A为本发明实施例1的一种末端执行器的闭合状态下的主视图；Fig. 8A is a front view of an end effector in a closed state according to Embodiment 1 of the present invention;
图8B为本发明实施例1的一种末端执行器的张开状态下的主视图；Fig. 8B is a front view of an end effector in an expanded state according to Embodiment 1 of the present invention;
图9为本发明实施例1的一种末端执行器的侧视图；Fig. 9 is a side view of an end effector according to Embodiment 1 of the present invention;
图10为本发明实施例1的一种加力轮的结构示意图；Fig. 10 is a schematic structural view of a booster wheel according to Embodiment 1 of the present invention;
图11示出了本发明实施例1的一种末端执行器的内部导线的走线方式示意图；Fig. 11 shows a schematic diagram of the routing of the internal wires of an end effector according to Embodiment 1 of the present invention;
图12为本发明实施例2的一种手术系统的结构示意图；12 is a schematic structural diagram of a surgical system according to
图13为本发明实施例3的一种咬合力控制方法的结构示意图；Fig. 13 is a structural schematic diagram of a bite force control method according to Embodiment 3 of the present invention;
图14为本发明实施例3的另一种咬合力控制方法的结构示意图；Fig. 14 is a schematic structural diagram of another bite force control method according to Embodiment 3 of the present invention;
图15为本发明实施例3的开合组件的一种开合状态改变过程示意图；Fig. 15 is a schematic diagram of an opening and closing state change process of the opening and closing assembly according to Embodiment 3 of the present invention;
图16A为本发明实施例3的一种确定开合组件的开合状态的方法示意图；16A is a schematic diagram of a method for determining the opening and closing state of the opening and closing assembly according to Embodiment 3 of the present invention;
图16B为本发明实施例3的另一种确定开合组件的开合状态的方法示意图；16B is a schematic diagram of another method for determining the opening and closing state of the opening and closing assembly according to Embodiment 3 of the present invention;
图16C为本发明实施例3的又一种确定开合组件的开合状态的方法示意图；16C is a schematic diagram of yet another method for determining the opening and closing state of the opening and closing assembly according to Embodiment 3 of the present invention;
图17A为本发明实施例3的又一种咬合力控制方法的结构示意图；Fig. 17A is a structural schematic diagram of yet another bite force control method according to Embodiment 3 of the present invention;
图17B为本发明实施例3的又一种咬合力控制方法的结构示意图；Fig. 17B is a structural schematic diagram of yet another bite force control method according to Embodiment 3 of the present invention;
图18为本发明实施例3的一种计算设备的结构框图；FIG. 18 is a structural block diagram of a computing device according to Embodiment 3 of the present invention;
元件符号说明：Description of component symbols:
1-存储器；2-处理器；10-指令输入端口；11-第一基座；12-加力轮组件；12a-第一加力轮；12b-第二加力轮；12c-加力轮转轴；13-开合组件；13a-第一开合瓣；13b-第二开合瓣；14-第二基座；20-控制装置；100-从操作设备；101-机械臂；102-手术器械；103-持械臂；104-套管针；111-基座本体；112-第一悬臂；113-过线通道；121-轮体；122-轮毂；130-长轴；140-驱动装置；141-第二基座本体；142-第二悬臂；150-末端器械；160-传动组件；161-第一缆线组；162-第二缆线组；170-导线组；200-主操作控制台；1031-持械臂本体；1032-器械安装架；1110-缆线导槽；1201-第一卡持部；1202-第二卡持部；1210-纳线槽；1220-导向缘；1221-增厚缘；1300-限位耳；1301-缺口部；1302-收纳部；1611-第一子缆线；1612-第二子缆线；1621-第三子缆线；1622-第四子缆线；P1-第一偏心部；P2-第二偏心部；Q1-第一转动柱；Q2-第二转动柱；R1-第一滑轮；R2-第二滑轮；R3-第三滑轮；R4-第四滑轮；R5-第五滑轮；R6-第六滑轮；R7-第七滑轮；R8-第八滑轮；X1-铰接轴；X2-销轴。1-memory; 2-processor; 10-command input port; 11-first base; 12-power booster assembly; 12a-first power booster wheel; Rotating shaft; 13-opening and closing assembly; 13a-first opening and closing valve; 13b-second opening and closing valve; 14-second base; 20-control device; 100-slave operating equipment; 101-mechanical arm; 102-operation Instrument; 103-arm; 104-trocar; 111-base body; 112-first cantilever; 113-passing channel; 121-wheel body; 122-hub; 130-long shaft; 140-driving device ; 141-the second base body; 142-the second cantilever; 150-end instrument; Console; 1031-arm body; 1032-device mounting frame; 1110-cable guide groove; 1201-first clamping part; 1202-second clamping part; 1221-thickened edge; 1300-limiting ear; 1301-notch; 1302-receiving part; 1611-first sub-cable; 1612-second sub-cable; 1621-third sub-cable; 1622-fourth Sub cable; P1-first eccentric part; P2-second eccentric part; Q1-first rotating column; Q2-second rotating column; R1-first pulley; R2-second pulley; R3-third pulley; R4-the fourth pulley; R5-the fifth pulley; R6-the sixth pulley; R7-the seventh pulley; R8-the eighth pulley; X1-hinge shaft; X2-pin shaft.
具体实施方式Detailed ways
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”，“水平的”，“左”，“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本文所使用的术语“远端”，“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "left", "right" and similar expressions are for the purpose of illustration only and do not represent the only embodiment. The terms "distal end" and "proximal end" used in this article are orientation words, which are commonly used terms in the field of interventional medical devices, where "distal end" means the end away from the operator during the operation, and "proximal end" means the end of the operation. The end of the process that is closest to the operator.
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”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。It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying No device or element must have a specific orientation, be constructed, and operate in a specific orientation and therefore should not be construed as limiting the 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一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
以下将结合附图进行详细描述。A detailed description will be given below in conjunction with the accompanying drawings.
实施例1Example 1
微创手术机器人一般包括从操作设备和主操作控制台，图1所示为本发明一实施例的从操作设备100，图2为本发明一实施例的主操作控制台200，外科医生在主操作控制台200上对从操作设备100进行相关控制操作，从操作设备100根据主操作控制台200的控制指令执行对人体的外科手术。主操作控制台200和从操作设备100可以置于一个手术室内，也可以置于不同的房间，甚至主操作控制台200与从操作设备100可以相距很远，例如主操作控制台200和从操作设备100分别位于不同的城市，主操作控制台200与从操作设备100可以通过有线的方式进行数据的传输，也可以通过无线方式进行数据的传输，例如主操作控制台200与从操作设备100位于一个手术室内，两者之间通过有线的方式进行数据的传输，又如主操作控制台200与从操作设备100分别在不同的城市，两者之间通过5G无线信号进行远距离数据传输。A minimally invasive surgical robot generally includes a slave operating device and a master operating console. Fig. 1 shows a
如图1所示，从操作设备100包括多个机械臂101，每个机械臂101包括多个关节和一个持械臂103，多个关节联动以实现持械臂103的多个自由度的运动，持械臂103上安装有用于执行外科手术的手术器械102，手术器械102穿过固定在持械臂103远端的套管针104进入人体体内，机械臂101用于操纵手术器械102运动以执行手术。手术器械102可拆卸地安装在持械臂103上，从而可以随时更换不同类型的手术器械102或取下手术器械102以对手术器械102进行冲洗或消毒。如图3所示，持械臂103包括持械臂本体1031和器械安装架1032，器械安装架1032用于安装手术器械102，器械安装架1032可以在持械臂本体1031上滑动，进而带动手术器械102沿持械臂本体1031前进或退出。As shown in FIG. 1 , the
如图4所示，手术器械102包括分别位于手术器械102近端的驱动装置140和远端的末端执行器150，以及位于驱动装置140和末端执行器150之间的长轴130，驱动装置140用于与持械臂103的器械安装架1032相连接，器械安装架1032内具有多个致动器(图未示出)，多个致动器与驱动装置140进行接合，以将致动器的驱动力传输给驱动装置140。长轴130用于连接驱动装置140和末端器械150，长轴130是中空的，供驱动装置140的传动组件穿过，驱动装置140通过驱动传动组件操纵的末端执行器150运动，以使末端执行器150执行相关手术操作。As shown in FIG. 4 , the
如图5～7，本实施例的末端执行器150包括第一基座11、加力轮组件12和开合组件13，加力轮组件12包括第一加力轮12a和第二加力轮12b，开合组件13包括用于彼此配合实现咬合的第一开合瓣13a和第二开合瓣13b，第一加力轮12a、第二加力轮12b分别可转动地连接在第一基座11上，且第一加力轮12a相对于第一基座11转动的转轴线、第二加力轮12b相对于第一基座11转动的转轴线的轴向相同。第一开合瓣13a与第二开合瓣13b彼此交叉且在交叉处通过铰接轴X1铰接，每个开合瓣都具有近端和远端，铰接处则位于近端和远端之间，第一开合瓣13a的近端与第一加力轮12a上的第一偏心部P1转动连接，第二开合瓣13b的近端与第二加力轮12b上的第二偏心部P2转动连接。驱动装置140包括传动组件160，传动组件160连接第一加力轮12a和第二加力轮12b，用于驱动第一加力轮12a和第二加力轮12b分别相对于第一基座11转动，以带动第一开合瓣13a与第二开合瓣13b彼此张开和咬合。As shown in Figures 5 to 7, the
由于第一开合瓣13a与第二开合瓣13b的近端分别连接在对应的加力轮的非自转中心，第一开合瓣13a与第二开合瓣13b又在彼此的中间部位铰接，第一基座11、每个加力轮和与对应的加力轮转动连接的开合瓣即形成偏心轮传动机构，通过传动组件160驱动第一加力轮12a和第二加力轮12b分别转动，即可实现第一开合瓣13a与第二开合瓣13b远端的张开和咬合。相比现有的开合瓣开合方式，本实施例的开合所需的力更小，也就是说，在驱动装置140采用同等功率的驱动力的条件下，本实施例的第一开合瓣13a与第二开合瓣13b远端的咬合力更大，夹持或剪切动作都更可靠。Since the proximal ends of the first opening and
本实施例的附图示出的是第一开合瓣13a和第二开合瓣13b为双极抓钳的情形，每个开合瓣的远端在靠近铰接部位采用绝缘层13c包裹，以避免不必要的组织导电。可以理解的是，根据手术操作的需求不同，第一开合瓣13a和第二开合瓣13b既可以是用于夹持组织的钳夹，也可以是用于缝合的吻合器、或者用于电烧灼的烧灼器等。What the accompanying drawing of this embodiment shows is the situation that the first opening and closing
为了更好地保证第一开合瓣13a和第二开合瓣13b的运动协调性，第一开合瓣13a与第二开合瓣13b的结构基本相同，第一加力轮12a与第二加力轮12b的直径相同并同心设置，二者通过同一根加力轮转轴12c与第一基座11转动连接，使得第一加力轮12a、第二加力轮12b相对于第一基座11转动的转轴线重合。进一步地，第一偏心部P1到第一加力轮12a的转动中心的距离与第二偏心部P2到第二加力轮12b的转动中心的距离相等，第一偏心部P1到第一开合瓣13a与第二开合瓣13b的铰接部的距离、第二偏心部P2到第一开合瓣13a与第二开合瓣13b的铰接部的距离也相等，第一偏心部P1、第二偏心部P2分别设置在加力轮转轴12c的轴心与铰接轴X1的轴心的连线的两侧。In order to better ensure the movement coordination of the first opening and
如图7，第一偏心部P1、第二偏心部P2为对应加力轮上开设的通孔或槽，第一开合瓣13a上朝向第一加力轮12a的表面凸设有第一转动柱Q1，第二开合瓣13b上朝向第二加力轮12b的表面凸设有第二转动柱Q2，第一偏心部P1的内径大于第一转动柱Q1的直径，第二偏心部P2的的内径大于第二转动柱Q2的直径，在装配时，第一转动柱Q1从外侧插入到第一偏心部P1内，第二转动柱Q2从外侧插入到第二偏心部P2内，第一开合瓣13a即可随第一加力轮12a的转动而摆动，第二开合瓣13b即可随第二加力轮12b的转动而摆动。As shown in Figure 7, the first eccentric part P1 and the second eccentric part P2 are through holes or grooves opened on the corresponding booster wheel, and the first opening and
按照图7所示的方位，当第一加力轮12a沿逆时针方向转动时，第一开合瓣13a朝背离第二开合瓣13b的方向(向左)摆动，当第二加力轮12b沿顺时针方向转动时，第二开合瓣13b朝背离第一开合瓣13a的方向(向右)摆动；当第一加力轮12a沿顺时针方向转动时，第一开合瓣13a朝靠近第二开合瓣13b的方向(向右)摆动，当第二加力轮12b沿逆时针方向转动时，第二开合瓣13b朝靠近第一开合瓣13a的方向(向左)摆动。如此，当需要使开合组件13咬合时，则可以在顺时针方向转动第一加力轮12a的同时，逆时针方向转动第二加力轮12b；当需要使开合组件13张开时，则可以在逆时针方向转动第一加力轮12a的同时，顺时针方向转动第二加力轮12b；当需要使开合组件13整体朝向第一开合瓣13a侧(向左)偏摆时，则可以在逆时针转动第一加力轮12a的同时，逆时针转动第二加力轮12b；当需要使开合组件13整体朝向第二开合瓣13b侧(向右)偏摆时，则可以在顺时针转动第一加力轮12a的同时，顺时针转动第二加力轮12b。According to the orientation shown in Figure 7, when the first booster wheel 12a rotates counterclockwise, the first opening and
结合图7所示，本实施例的传动组件160包括第一缆线组161和第二缆线组162，第一缆线组161固定在第一加力轮12a的外周面上，包括分别绕设于第一加力轮12a的径向上的两相对侧的第一子缆线1611和第二子缆线1612，第一子缆线1611和第二子缆线1612分别用于产生带动第一加力轮12a朝相反方向旋转的张紧力。第二缆线组162固定在第二加力轮12b的外周面上，包括分别绕设于第二加力轮12b的径向上的两相对侧的第三子缆线1621和第四子缆线1622，第三子缆线1621和第四子缆线1622分别用于产生带动第二加力轮12b朝相反方向旋转的张紧力。第一加力轮12a、第二加力轮12b的外周面上均开设有凹陷的环形槽，可以方便第一缆线组161和第二缆线组162的缆线卷绕于其中而不轻易滑脱。第一子缆线1611与第三子缆线1621在开合组件13的开合方向上位于一侧，第二子缆线1612与第四子缆线1622在开合组件的开合方向上位于另一侧。As shown in FIG. 7, the
在其他实施方式中，传动组件160也可以不采用缆线来驱动各加力轮，例如，可以采用连杆机构，或者齿轮齿条传动，但是由于这类传动组件为刚性构造，在使用过程中无法弯折，导致传动组件160的自由度有限。In other implementations, the
为了将第一缆线组161固定在第一加力轮12a的外周面上，将第二缆线组162固定在第二加力轮12b的外周面上，本实施例将第一子缆线1611和第二子缆线1612在远端彼此连接，将第三子缆线1621和第四子缆线1622在远端彼此连接，然后将第一缆线组161的远端套设在第一加力轮12a的外周面，并将第一子缆线1611和第二子缆线1612的连接处固定在第一加力轮12a的远端，将第二缆线组162的远端套设在第二加力轮12b的外周面，并将第三子缆线1621和第四子缆线1622的连接处固定在第二加力轮12b的远端。In order to fix the
具体地，结合图6和图7所示，第一缆线组161具有远端的第一卡点1613，第一加力轮12a包括设于周缘的第一卡持部1201，第一子缆线1611的远端和第二子缆线1612的远端分别通过第一卡点1613与第一卡持部1201卡接。与之类似地，第二缆线组162还具有远端的第二卡点1623，第二加力轮12b包括设于周缘的第二卡持部1202，第三子缆线1621的远端和第四子缆线1622的远端分别通过第二卡点1623与第二卡持部1202卡接。Specifically, as shown in FIG. 6 and FIG. 7 , the first cable set 161 has a
例如，第一卡点1613、第二卡点1623可以形成为直径大于各子缆线连接柱或连接块，第一卡持部1201、第二卡持部1202可以形成为中空的筒体，第一卡点1613、第二卡点1623分别过盈地卡持于对应的第一卡持部1201、第二卡持部1202内。各加力轮表面的环形槽可延伸至与对应的筒体状的卡持部连通，从而更好地引导缆线在加力轮表面的限位。For example, the
本实施例中，第一子缆线1611的远端和第二子缆线1612的远端同时与一个第一卡点1613连接，第三子缆线1621的远端和第四子缆线1622的远端同时与一个第二卡点1623连接，此种方式可以节省卡点和卡持部的数量，简化制作工艺。可以理解的是，在其他实施方式中，第一子缆线1611和第二子缆线1612在远端也可以并不互相连接，第一缆线组161具有两个第一卡点1613，第一子缆线1611的远端和第二子缆线1612的远端分别连接一个不同的第一卡点1613，第一加力轮12a包括设于其远端周缘的两个第一卡持部1201，第一子缆线1611的远端和第二子缆线1612的远端分别通过一个第一卡点1613卡接在不同的第一卡持部1201内。第三子缆线1621和第四子缆线1622在远端也可以并不互相连接，第二缆线组162具有两个第二卡点1623，第三子缆线1621的远端和第四子缆线1622的远端分别连接一个不同的第二卡点1623，第二加力轮12b包括设于其远端周缘的两个第二卡持部1202，第三子缆线1621的远端和第四子缆线1622的远端分别通过一个第二卡点1623卡接在不同的第二卡持部1202内。In this embodiment, the distal end of the first sub-cable 1611 and the distal end of the second sub-cable 1612 are connected to a
结合图7、图8A和图8B，第一基座11包括基座本体111和设于基座本体111远端的两个第一悬臂112，第一加力轮12a、第二加力轮12b可转动地连接在两个第一悬臂112之间。第一子缆线1611自长轴130的远端左侧引入，经基座本体111左侧后，远端卷绕在背后的第一加力轮12a的左侧外周面；第二子缆线1612自长轴130的远端右侧引入，经基座本体111右侧后，远端卷绕在第一加力轮12a的右侧外周面。当第一子缆线1611受拉力朝近端运动而缩短时，第一加力轮12a顺时针转动，第二子缆线1612朝远端运动而伸长，第一开合瓣13a远端朝右摆动而闭合；反之，当第二子缆线1612受拉力朝近端运动而缩短时，第一加力轮12a逆时针转动，第一子缆线1611朝远端运动而伸长，第一开合瓣13a远端朝左摆动而张开。同样地，第三子缆线1621自长轴130的远端左侧引入，经基座本体111左侧后，远端卷绕在前面的第二加力轮12b的左侧外周面；第四子缆线1622自长轴130的远端右侧引入，经基座本体111右侧后，远端卷绕在第二加力轮12b的右侧外周面。当第三子缆线1621受拉力朝近端运动而缩短时，第二加力轮12b顺时针转动，第四子缆线1622朝远端运动而伸长，第二开合瓣13b远端朝右摆动而张开；反之，当第四子缆线1622受拉力朝近端运动而缩短时，第二加力轮12b逆时针转动，第三子缆线1621朝远端运动而伸长，第二开合瓣13b远端朝左摆动而闭合。Referring to Fig. 7, Fig. 8A and Fig. 8B, the
如图7，本实施例中，手术器械102还具有沿第一开合瓣13a与第二开合瓣13b的开合方向(左右方向)可转动地设于基座本体111的两不同侧的第一滑轮组(图未标)、第二滑轮组(图未标)，左侧的第一滑轮组具体包括第一滑轮R1和第三滑轮R3，右侧的第二滑轮组具体包括第二滑轮R2和第四滑轮R4，第一子缆线1611绕设于第一滑轮R1上，经第一滑轮R1外周面引出至第一加力轮12a左侧，接着，与第一子缆线1611连接的第二子缆线1612从第一加力轮12a的底部(远端)引出至右侧，然后绕设于第二滑轮R2上，最后引出至近端；第三子缆线1621绕设于第三滑轮R3上，经第三滑轮R3外周面引出至第二加力轮12b左侧，接着，与第三子缆线1621连接的第四子缆线1622从第二加力轮12b的底部(远端)引出至右侧，然后绕设于第四滑轮R4上，最后引出至近端。第一滑轮R1、第三滑轮R3、第一基座11、第二滑轮R2、第四滑轮R4自左至右依次设置。As shown in Fig. 7, in the present embodiment, the
如图9，第一基座11上还具有沿第一开合瓣13a与第二开合瓣13b的开合方向设于基座本体111的两不同侧的缆线导槽1110，缆线导槽1110贯穿基座本体111的远端，且相对于第一滑轮组、第二滑轮组更靠近基座本体111的远端，第一缆线组161、第二缆线组162的缆线经过相应的滑轮后嵌入缆线导槽1110内，并由缆线导槽1110引出至相应的加力轮的外周面。缆线导槽1110的两端分别与其近端的各滑轮的外周面、其远端的加力轮的外周面正对，使得从滑轮引出的缆线可以自然地与加力轮的外周面相切，缆线导槽1110为缆线提供了避位空间，提高了结构的紧凑性。As shown in Fig. 9, the
在开合组件需要通电的手术器械102中，手术器械102还包括用于导电的导线组170，导线组170包括分别电连接至第一开合瓣13a与第二开合瓣13b的两根导线，每根导线分别连接长轴130近端的电源，自第一基座11的近端引入、从第一基座11的远端引出后连接相应的开合瓣。In the
考虑到在开合组件开合的过程中，各导线会随着与之连接的开合瓣的摆动而摆动，则需要进一步保证各导线既具有一定的活动长度，又不能使其过长而与其他运动的结构发生干涉。基于此，结合图10、11所示，本实施例的第一加力轮12a、第二加力轮12b的每个均包括同轴固定的轮体121和轮毂122，轮体121用于供传动组件160的缆线绕设，轮毂122的直径小于轮体121，且在轴向上至少部分突出于轮体121外，每根导线自第一基座11所在侧从近端引入，至少部分绕设于相应加力轮的轮毂122的外周面后连接至对应的开合瓣。可以理解，在其他实施方式中，也可以仅一个加力轮具有轮毂122，不具有轮毂122的加力轮则需要采取其他方式来布置导线。Considering that during the opening and closing process of the opening and closing components, each wire will swing with the swing of the opening and closing valve connected to it, it is necessary to further ensure that each wire has a certain movable length, and it cannot be too long to be incompatible with the Other moving structures interfere. Based on this, as shown in Figures 10 and 11, each of the first booster wheel 12a and the
为了避免导线过长，每根导线的近端、其连接开合瓣的一端分别在开合组件的开合方向(如图11的左右方向)上位于加力轮转轴12c的两不同侧。也就是说，图11中，连接右侧第二开合瓣13b的导线是从加力轮转轴12c的左侧引入，然后张紧在第二加力轮12b的轮毂122的近端(上方)外周面，最后连接至斜下方的第二开合瓣13b；连接左侧第一开合瓣13a的导线是从加力轮转轴12c的右侧引入，然后张紧在第一加力轮12a的轮毂122的近端(上方)外周面，最后连接至斜下方的第一开合瓣13a。两根导线均相对于第一基座11的长度方向倾斜设置，从而在空间上交错设置。为避免长期使用后导线在远端侧伸长过多，两根导线分别与第一缆线组161的一个缆线和第二缆线组162的一个缆线的近端相对固定。例如，第一开合瓣13a的导线与第二子缆线1612相对固定，第二开合瓣13b的导线与第三子缆线1621相对固定，在第一开合瓣13a、第二开合瓣13b张开的过程中，两根导线均随之变松，但是由于第一开合瓣13a的导线在第一加力轮12a的转动下随第二子缆线1612朝向近端收缩，第二开合瓣13b的导线在第二加力轮12b的转动下随第三子缆线1621朝向近端收缩，第二子缆线1612、第三子缆线1621在朝向近端收缩的过程中会带动导线绷紧，从而避免了导线远端过长的情况发生。In order to avoid the wire being too long, the proximal end of each wire and the end connected to the opening and closing valve are respectively located on two different sides of the
本实施例在第一基座11内还开设有贯穿基座本体111的远端的两个过线通道113，过线通道113的远端位于两个第一悬臂112之间，每根导线分别穿过一个过线通道113后经各加力轮的过线空间连接至相应的开合瓣。每个过线通道113相对于第一基座11的长度方向倾斜设置，使得供第一开合瓣13a的导线穿过的过线通道113的远端靠近第一加力轮12a、近端靠近第二子缆线1612，供第二开合瓣13b的导线穿过的过线通道113的远端靠近第二加力轮12b、近端靠近第三子缆线1621，从而使得第一开合瓣13a的导线更方便与第二子缆线1612固定，第二开合瓣13b的导线更方便与第三子缆线1621固定。In this embodiment, the
较佳地，如图7，用于穿设第二开合瓣13b的导线的过线通道113的近端设于第一滑轮组同侧(左侧)，用于穿设第一开合瓣13a的导线的过线通道113的近端设于第二滑轮组同侧(右侧)，两条导线在各自的加力轮上的缠绕方向相反。Preferably, as shown in Fig. 7, the proximal end of the
如图10、11，轮毂122具有在朝向近端的一侧沿其径向延伸的导向缘1220，各加力轮的导向缘1220与轮体121之间形成供相应的导线容纳的过线空间。在导线张紧的过程中，导向缘1220可以引导导线进入到过线空间内，从而避免导线松散地伸出轮毂122外。导向缘1220的末端在朝向轮体121的一面进一步倒角设置，使得导向缘1220与导线接触的一面不会划伤导线，更便于将导线引导至过线空间内。另外，轮体121上朝向临近的开合瓣的表面还可凹陷形成有供相应的导线容纳的纳线槽1210，导向缘1220正对纳线槽1210，二者之间的空间可以进一步扩大，从而可以容纳更多的导线，又不需要增大轮毂122的轴向长度，提高了加力轮的结构紧凑性。As shown in Figures 10 and 11, the
如图5和图6，本实施例的第一开合瓣13a、第二开合瓣13b的至少一个的近端还设有限位耳1300，限位耳1300相对于其所在的开合瓣与对应加力轮的转动连接部位背向其所在的开合瓣的钳口外侧，如图7，左侧的第一开合瓣13a上的限位耳1300位于其近端的最左侧，右侧的第二开合瓣13b上的限位耳1300位于其近端的最右侧。限位耳1300与其所在的开合瓣与加力轮的转动连接部位之间形成缺口部1301，在第一开合瓣13a、第二开合瓣13b相对于第一基座11转动至极限位置的过程中，缺口部1301可供第一基座11上用于与缺口部1301对应的加力轮转动连接的转轴嵌入，限位耳1300可以在相应开合瓣转动至极限位置时与第一基座11的基座本体111抵接而限制开合瓣进一步偏转。As shown in Fig. 5 and Fig. 6, the proximal end of at least one of the first opening and
可以理解的是，本实施例的附图示出的是每个开合瓣均具有限位耳1300和缺口部1301、第一加力轮12a与第二加力轮12b通过同一根加力轮转轴12c与第一基座11转动连接的情形。在其他实施方式中，可以是仅仅在一个开合瓣上形成有限位耳1300和缺口部1301，限制其中一个方向的偏摆极限位置。在有的实施方式中，当第一加力轮12a与第二加力轮12b并不同心设置时，二者相对于第一基座11的转动轴则互相平行，则第一加力轮12a的缺口部1301可供第一加力轮12a的转动轴容纳，第二加力轮12b的缺口部1301可供第二加力轮12b的转动轴容纳。It can be understood that the drawings of this embodiment show that each opening and closing flap has a limiting
进一步地，本实施例的导向缘1220呈扇形，导向缘1220的背向轮体121的表面边缘设有增厚缘1221，该增厚缘1221相比导向缘1220的其他部分更厚，与导向缘1220围成供限位耳1300转动过程中容纳的避位空间。同时，又由于限位耳1300位于第一悬臂112与导向缘1220之间，限位耳1300和其所在的开合瓣的近端与外侧的第一悬臂112和/或内侧的加力轮之间呈微小间隙地摩擦配合，限位耳1300增大了开合瓣与第一悬臂112和/或加力轮之间的接触面积，可以在一定程度上增大开合瓣偏转所需的转矩，抑制开合瓣的左右方向的不必要的偏摆。Further, the
结合图8A、8B和图11，第一开合瓣13a、第二开合瓣13b的每个的近端设有凹陷的收纳部1302，该收纳部1302可以是通孔或凹槽，收纳部1302设于其所在的开合瓣的朝向对应加力轮的表面，且介于其所在的开合瓣上与对应导线的连接点、其所在的开合瓣上与对应加力轮的转动连接部之间，当靠近连接点的部分导线发生弯曲时，可以就近容纳在凹陷的收纳部1302内，从而减少在其他部位弯曲、松弛的导线的长度。Referring to Fig. 8A, 8B and Fig. 11, the proximal end of each of the first opening and
以上末端执行器150可以实现开合组件13的开合和在开合方向上的偏转，但是，在手术过程中，往往还需要使开合组件13在垂直于开合方向的方位进行俯仰偏转动作，从而实现多角度偏转控制。为此，本实施例的末端执行器150还进一步包括第二基座14，第二基座14的近端固定在长轴130的远端，第二基座14的远端与第一基座11的近端可转动地连接，第一基座11相对于第二基座14转动的转轴线垂直于第一加力轮12a、第二加力轮12b相对于第一基座11转动的转轴线。The
为了实现上述俯仰偏转动作，如图7，传动组件160还包括固定在第一基座11上的第三缆线组163，第三缆线组163用于驱动第一基座11相对于第二基座14转动。具体地，第二基座14包括第二基座本体141和设于第二基座本体141远端的两个第二悬臂142，第一基座11的近端通过基座销轴X2可转动地连接在两个第二悬臂142之间，第三缆线组163包括两根分别固定在第一基座11上的两根基座缆线，两根基座缆线分别位于基座销轴X2的两部同侧，分别用于朝相反的方向驱动第一基座11偏转。同时，基座销轴X2的两端还分别套设有第三滑轮组(图未标)、第四滑轮组(图未标)，第三滑轮组包括第五滑轮R5和第六滑轮R6，第四滑轮组包括第七滑轮R7和第八滑轮R8，第五滑轮R5、第六滑轮R6、第七滑轮R7、第八滑轮R8分别与第一滑轮R1、第二滑轮R2、第三滑轮R3、第四滑轮R4正对，以将对应的缆线夹设于两个滑轮之间。这样，自长轴130内引出的各缆线依次经基座销轴X2两端的滑轮、基座本体111两端的滑轮之间的缝隙后套设并固定到相应的加力轮上，各缆线的往复动作均由各滑轮进行精确的引导，从而保证了开合组件13的开合、偏转动作的可靠性和精确性。In order to realize the above-mentioned pitching and deflection action, as shown in FIG. The
本实施例提供的末端执行器的第一开合瓣与第二开合瓣彼此交叉且在交叉处铰接，第一开合瓣的近端与第一加力轮上的第一偏心部转动连接，第二开合瓣的近端与第二加力轮上的第二偏心部转动连接，通过驱动第一加力轮和第二加力轮分别相对于第一基座转动，可以带动第一开合瓣与第二开合瓣彼此张开和咬合，在相同大小的驱动力下，第一开合瓣与第二开合瓣受到的开合力转矩更大，因此可以提供更大的咬合力。同时，驱动开合组件开合的缆线和连接开合组件的导线均得到可靠的引导和限位，使得在手术过程中开合组件的动作可以随心所欲地进行。The first opening and closing flap and the second opening and closing flap of the end effector provided in this embodiment intersect with each other and are hinged at the intersection, and the proximal end of the first opening and closing flap is rotationally connected with the first eccentric part on the first booster wheel , the proximal end of the second opening and closing flap is rotatably connected with the second eccentric part on the second booster wheel, by driving the first booster wheel and the second booster wheel to rotate relative to the first base, the first booster wheel can be driven The opening and closing flaps and the second opening and closing flaps open and engage with each other. Under the same driving force, the opening and closing force torque of the first and second opening and closing flaps is greater, so a greater bite can be provided. force. At the same time, the cables driving the opening and closing components and the wires connecting the opening and closing components are reliably guided and limited, so that the opening and closing components can be moved freely during the operation.
实施例2Example 2
结合图12所示，本实施例提供了一种手术系统，该手术系统主要包括：As shown in Figure 12, this embodiment provides a surgical system, which mainly includes:
指令输入端口10，用于实时获取控制指令；
末端执行器150，包括用于根据控制指令执行咬合动作的开合组件13，开合组件13的咬合模式包括第一模式和第二模式，开合组件在第二模式下闭合时的咬合力大于在第一模式下闭合时的咬合力；The
控制装置20，该控制装置20被配置为：A
根据从指令输入端口10获取的第一触发指令，切换开合组件13的咬合模式至第二模式；According to the first trigger instruction obtained from the
在第一触发指令终止后，且开合组件13处于打开状态时，切换开合组件13的咬合模式至第一模式；而在第一触发指令终止后，且开合组件13处于闭合状态时，则将开合组件13的咬合模式维持在第二模式，这样可以避免操作人员需要在手术过程中保持第一触发指令的长时间持续触发来维持第二模式。在其他实施方式中，第一触发指令终止后，开合组件13的咬合模式也可配置成切换至第一模式。After the termination of the first trigger instruction, and when the opening and closing
可以理解的是，第一触发指令可能是持续的，因此，控制装置20被配置为：确定第一触发指令是否终止，根据从指令输入端口10获取的持续的第一触发指令，使开合组件13保持第二模式。当第一触发指令终止后，才根据开合组件13的开合状态确定是否进行模式的自动切换。It can be understood that the first trigger command may be continuous, therefore, the
其中，指令输入端口10为手术系统内致动开合组件13的信号输入端口，当该手术系统为从操作设备100端的系统时，指令输入端口10为从操作设备100上用于与主操作控制台200通信的端口，用于根据主操作控制台200传入的指令致动末端执行器150；当该手术系统为控制整个微创手术机器人的系统时，则指令输入端口10为主操作控制台200端的用于与操作者交互的人机交互端口，人机交互信号通过主操作控制台200处理后进入从操作设备100。Wherein, the
例如，当指令输入端口10为主操作控制台200端的人机交互端口时，且控制指令在模式切换按钮被按下时发出，操作者可以通过操作模式切换按钮来进行咬合模式的手动切换，如果模式切换按钮被持续按下，则认为持续收到同一控制指令。默认模式下，开合组件13的咬合模式为第一模式，当操作者初次按下模式切换按钮时，末端执行器150收到第一触发指令，开合组件13在第一触发指令下被切换至第二模式，随后，如果持续收到第一触发指令，则保持第二模式直至第一触发指令终止；当第一触发指令不再持续时，如果开合组件13为打开状态，则咬合模式随即自动变为第一模式，如果开合组件13为闭合状态，则咬合模式维持在第二模式。通过这样的设置，当开合组件13始终打开，按下模式切换按钮时，咬合模式变为第二模式，松开模式切换按钮时，咬合模式自动切换为第一模式；当开合组件13始终闭合，按下模式切换按钮时，咬合模式变为第二模式，松开模式切换按钮时，咬合模式仍保持第二模式，但是当开合组件13中途打开，则咬合模式自动变为第一模式。在其他实施方式中，模式切换按钮也可以是其他形式，例如，可以是实体开关，如按键、旋钮、操作手柄或脚踏，也可以是虚拟开关，如触摸按钮、感应开关，或者通过语音控制等。For example, when the
此种方式可以赋予开合组件13的开合状态优先级，无论开合组件13处于何种咬合模式，一旦开合组件13不再闭合，则认为无需咬合，自动恢复普通的第一模式；而一旦开合组件13闭合，即使模式切换按钮按下后松开，咬合模式仍然保持第二模式。而且，在开合组件13打开状态下，按下模式切换按钮可以使得开合组件13切换为第二模式，方便在收到关闭指令时第一时间使开合组件13工作在更大力的第二模式下。This way can give priority to the opening and closing state of the opening and closing
该控制装置20可被进一步配置为：在第一触发指令终止后，且开合组件13处于闭合状态时，根据从指令输入端口10获取的第二触发指令，切换开合组件13的咬合模式至第一模式，其中，第二触发指令是类似第一触发指令的用于切换开合组件13的咬合模式的指令。该控制装置进一步使得在第一触发指令终止后，除了可以通过打开开合组件13退出第二模式以外，还可以通过输入第二触发指令实现，从而切换至第一模式。The
例如，当指令输入端口10为主操作控制台200端的人机交互端口时，操作者可以通过操作模式切换按钮来进行咬合模式从第二模式到第一模式的手动切换。当操作者按下模式切换按钮并松开后，咬合模式在第一触发指令下保持在第二模式，当操作者再次操作模式切换按钮，则咬合模式从第二模式切换为第一模式。For example, when the
其中，开合组件13的开合状态可以由操作者在主操作控制台200进行控制，控制装置20则被进一步配置为：根据从指令输入端口10获取的第三触发指令，改变开合组件13的开合状态。该第三触发指令即为用于控制开合组件13的打开、关闭动作的控制指令。Wherein, the opening and closing state of the opening and closing
与实施例1中的末端执行器150相同，本实施例的末端执行器150也包括第一基座11、第一加力轮12a与第二加力轮12b、第一开合瓣13a与第二开合瓣13b，第一加力轮12a、第二加力轮12b分别可转动地连接第一基座11，且第一加力轮12a、第二加力轮12b相对于第一基座11转动的转轴线的轴向相同。第一开合瓣13a与第二开合瓣13b彼此交叉且在交叉处铰接，第一开合瓣13a的近端与第一加力轮12a上的第一偏心部P1转动连接，第二开合瓣13b的近端与第二加力轮12b上的第二偏心部P2转动连接。Same as the
其中，开合组件13闭合状态下，各加力轮12a、12b在第二模式下受到的转矩大于在第一模式下受到的转矩，从而实现开合组件13的开合瓣咬合面之间明显不同的咬合力水平。为此，本实施例的控制装置20被进一步配置为：开合组件13的咬合模式从第一模式切换至第二模式后，当开合组件13处于闭合状态下时，增大施加到各加力轮的转矩；开合组件13的咬合模式从第二模式切换至第一模式后，当开合组件处于闭合状态下时，减小施加到各加力轮的转矩。Wherein, when the opening and closing
为适应此种结构的末端执行器150，控制装置20则被进一步配置为：分别获取第一偏心部P1与第一开合瓣13a之间的第一挤压力、第二偏心部P2与第二开合瓣13b之间的第二挤压力，并在获取的第一挤压力、第二挤压力均大于第二压力阈值时，判定开合组件13处于闭合状态。如此，控制装置20具备确定开合组件的开合状态的功能。具体可在第一偏心部P1与第一开合瓣13a之间、第二偏心部P2与第二开合瓣13b之间分别设置压力传感器，从而检测相应部位的挤压力。In order to adapt to the
当采用上述末端执行器150时，第一加力轮12a、第二加力轮12b分别通过缆线驱动转动，为了确定开合组件13的开合状态，本实施例的控制装置20也可以被配置为：分别获取用于驱动第一加力轮12a的第一偏心部P1、第二加力轮12b的第二偏心部P2相互靠近的缆线(第一子缆线1611、第四子缆线1622)的张力，并在获取的张力大于预设张力阈值时，判定开合组件13处于闭合状态。第一偏心部P1、第二偏心部P2相互靠近，则说明开合组件13逐渐闭合，反之，则说明开合组件13逐渐打开，具体可在控制开合组件13咬合的缆线上，即第一子缆线1611、第四子缆线1622上，分别固定检测缆线张力的装置，当第一子缆线1611、第四子缆线1622上的张力大于所设定的极限张力阈值，则说明开合组件13处于闭合状态。When the above-mentioned
或者，也可以在控制开合组件13张开的缆线上，即第二子缆线1612、第三子缆线1621上，分别固定检测缆线张力的装置，当第二子缆线1612、第三子缆线1621上的张力大于所设定的极限张力阈值，则说明开合组件13处于张开状态，控制装置20也可以被配置为：分别获取用于驱动第一加力轮12a的第一偏心部P1、第二加力轮12b的第二偏心部P2相互远离的缆线(第二子缆线1612、第三子缆线1621)的张力，并在获取的张力大于预设张力阈值时，判定开合组件13处于最大的张开角度的状态。但是这种方式仅能检测开合组件13处于张开极限时的状态，不能检测开合组件13是否处于闭合状态，仅能作为辅助检测手段。Or, on the cables that control the opening and closing
可以理解的是，在其他实施方式中，为了确定开合组件13的开合状态，控制装置20也可以被进一步配置为：获取开合组件13的两个开合瓣的咬合面的压力，在获取的压力大于第一压力阈值时，判定开合组件13处于闭合状态。具体可在至少一个咬合面上设置检测压力的传感器，通过该传感器来检测咬合面受到的夹持力。It can be understood that, in other embodiments, in order to determine the opening and closing state of the opening and closing
在双极电凝手术操作中，开合组件13的两个开合瓣的咬合面均形成有电极，通过对两个开合瓣的咬合面电极通电，可以实现对咬合面之间的材料如生物组织施加电能或热能，从而进行下一步手术。为此，从指令输入端口10获取的控制指令还包括通电指令，本实施例的控制装置20被进一步配置为：在开合组件13处于闭合状态时，根据指令输入端口10的通电指令使开合组件13的电极通电。In the bipolar electrocoagulation operation, electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing
上述模式切换功能在某些需要在夹持过程中对被夹持物通电的特殊应用场景的优点尤其明显。例如，在使用双极电凝的过程中，夹持力不宜过大，因此在使用双极电凝功能时需要自动调整夹持力。控制装置20被进一步配置为：在指令输入端口10获取通电指令后，检测开合组件13的初始咬合模式，并在初始咬合模式为第二模式时，降低开合组件13的咬合力，在初始咬合模式为第一模式时，增大开合组件13的咬合力；在开合组件13的咬合力调节至达到预设临界范围时，则根据通电指令使开合组件13的电极通电，开始电凝操作。The advantages of the above-mentioned mode switching function are particularly obvious in some special application scenarios that need to energize the clamped object during the clamping process. For example, in the process of using bipolar coagulation, the clamping force should not be too large, so it is necessary to automatically adjust the clamping force when using the bipolar coagulation function. The
需要注意的是，在指令输入端口10获取通电指令后，检测开合组件13的初始咬合模式时，本实施例可以直接通过检测开关电路的高低电平信号实现，而无需专门去检测开合组件13的咬合力大小。例如，当开关电路为高电平时，则判定模式切换开关已切换至第二模式，当开关电路为低电平时，则判定切换开关已切换至第一模式，如此，即可轻松快捷地判断出开合组件13的初始咬合模式，提高检测效率，简化检测过程。开合组件闭合状态下，开合组件的咬合模式从第一模式切换至第二模式时，施加到各加力轮的转矩增大，可以通过增大驱动加力轮的线缆张紧的电机的输出扭矩或者输出角度或者电流实现；在开合组件闭合状态下，开合组件的咬合模式从第二模式切换至第一模式时，施加到各加力轮的转矩减小，可以通过减小驱动加力轮的线缆张紧的电机的输出扭矩或者输出角度或者电流实现。在检测开合组件13的咬合模式的过程中，可以通过检测线缆驱动电机的输出角度、输出扭矩、或者电流实现，此方法可以减少系统中力反馈传感器的使用数量，减小末端执行器的尺寸。It should be noted that, after the
当电凝操作完成后，需要及时结束电凝过程，为此，控制装置20被进一步配置为：判断通电过程是否完成，并在通电过程完成后，恢复开合组件13的咬合模式至第一模式，即恢复电凝前的“初始咬合模式”。After the electrocoagulation operation is completed, it is necessary to end the electrocoagulation process in time. For this reason, the
判断通电过程是否完成有多种实现方式，例如，通过检测指令输入端口10有无第四触发指令，在检测到第四触发指令时，判定通电过程完成。第四触发指令可以是指示电凝停止的指令，或者计时装置达到触发条件的指令。与之相应地，本实施例的控制装置20被进一步配置为：检测指令输入端口10有无第四触发指令，在检测到第四触发指令时，判定通电过程完成。又例如，通过检测开合组件13之间被咬合的组织的阻抗、温度、颜色等是否达到阈值条件来判断通电过程是否完成，控制装置20则被进一步配置为：检测开合组件13之间被咬合的组织的阻抗、温度、颜色等的至少一个是否达到阈值条件，并在达到阈值条件时，判定通电过程完成。There are many implementations for judging whether the power-on process is completed. For example, by detecting whether there is a fourth trigger command at the
实施例3Example 3
如图13所示，为了实现手术过程中末端执行器150的开合组件13的咬合力的按需控制，本实施例的咬合力控制方法主要包括：As shown in FIG. 13 , in order to realize the on-demand control of the bite force of the opening and closing
S01、确定是否收到第一触发指令；S01. Determine whether a first trigger instruction is received;
S02、收到第一触发指令后，根据第一触发指令，切换开合组件13的咬合模式至第二模式；S02. After receiving the first trigger instruction, switch the engagement mode of the opening and closing
S03、确定第一触发指令是否终止，在持续收到第一触发指令期间，使开合组件13始终保持第二模式；S03. Determine whether the first trigger instruction is terminated, and keep the opening and closing
S04、在第一触发指令终止后，判断开合组件13是否处于打开状态；S04. After the first trigger instruction is terminated, determine whether the opening and closing
S05、在第一触发指令终止后，且在开合组件13处于打开状态时，切换开合组件13的咬合模式至第一模式；S05. After the first trigger instruction is terminated, and when the opening and closing
S06、在第一触发指令终止后，若开合组件13处于闭合状态时，则将开合组件13的咬合模式仍维持在第二模式。S06. After the termination of the first trigger instruction, if the opening and closing
其中，咬合力控制过程中的各种输入指令为手术系统内致动开合组件13的输入信号，当该手术系统为从操作设备100端的系统时，输入指令是从从操作设备100获取，是经主操作控制台200处理后发出的信号；当该手术系统为控制整个微创手术机器人的系统时，则输入指令是从主操作控制台200端获取的，为人机交互信号。这里，第一触发指令为致动开合组件13的输入指令，接收第一触发指令的对象是从操作设备100时，第一触发指令为主操作控制台200处理后的指令；当接收第一触发指令的对象为主操作控制台200时，则第一触发指令为操作者在主操作控制台200的输入指令/动作。Wherein, various input commands in the bite force control process are input signals for actuating the opening and closing
例如，当输入信号是从主操作控制台200端获取的人机交互信号时，且控制指令在模式切换按钮被按下时发出，操作者可以通过操作模式切换按钮来进行咬合模式的手动切换，如果模式切换按钮被持续按下，则认为持续收到同一控制指令。默认模式下，开合组件13的咬合模式为第一模式，当操作者初次按下模式切换按钮时，末端执行器150收到第一触发指令，开合组件13在第一触发指令下被切换至第二模式，随后，如果持续收到第一触发指令，则保持第二模式直至第一触发指令终止；当第一触发指令不再持续时，如果开合组件13为打开状态，则咬合模式随即自动变为第一模式，如果开合组件13为闭合状态，则咬合模式维持在第二模式。通过这样的设置，当开合组件13始终打开，按下模式切换按钮时，咬合模式变为第二模式，松开模式切换按钮时，咬合模式自动切换为第一模式；当开合组件13始终闭合，按下模式切换按钮时，咬合模式变为第二模式，松开模式切换按钮时，咬合模式仍保持第二模式，但是当开合组件13中途打开，则咬合模式自动变为第一模式。在其他实施方式中，模式切换按钮也可以是其他形式，例如，可以是实体开关，如按键、旋钮、操作手柄或脚踏，也可以是虚拟开关，如触摸按钮、感应开关等。For example, when the input signal is a human-computer interaction signal obtained from the
由于末端执行器150包括第一基座11、第一加力轮12a与第二加力轮12b、第一开合瓣13a与第二开合瓣13b，第一加力轮12a、第二加力轮12b分别可转动地连接第一基座11，且第一加力轮12a、第二加力轮12b相对于第一基座11转动的转轴线的轴向相同；第一开合瓣13a与第二开合瓣13b彼此交叉且在交叉处铰接，第一开合瓣13a的近端与第一加力轮12a上的第一偏心部P1转动连接，第二开合瓣13b的近端与第二加力轮12b上的第二偏心部P2转动连接，开合组件13的咬合模式从第一模式切换至第二模式后，如果开合组件13处于闭合状态下时，则增大施加到各加力轮的转矩，开合组件13的咬合模式从第二模式切换至第一模式后，如果开合组件13处于打开状态，则减小施加到各加力轮的转矩。Since the
可以理解的是，上述咬合力控制方法可以是开环控制，在一次循环完成后即完成；也可以是闭环控制，在一次循环完成后，由S05、S06步骤返回至步骤S01，继续第一触发指令的检测。It can be understood that the above bite force control method can be open-loop control, which is completed after one cycle is completed; it can also be closed-loop control, which returns to step S01 from steps S05 and S06 after one cycle is completed, and continues the first trigger command detection.
如图14所示，示出了一种更为具体的咬合力控制方法，在上述方法的基础上，在步骤S06后，该方法还包括：As shown in Figure 14, a more specific bite force control method is shown. On the basis of the above method, after step S06, the method further includes:
S07、在第一触发指令终止后，开合组件13处于闭合状态，咬合模式维持在第二模式时，判断是否收到第二触发指令，其中，第二触发指令也是类似第一触发指令的用于切换开合组件13的咬合模式的指令；S07. After the termination of the first trigger command, the opening and closing
S08、在收到第二触发指令后，切换开合组件13的咬合模式至第一模式。S08. After receiving the second trigger instruction, switch the engagement mode of the opening and closing
可以理解的是，上述咬合力控制方法可以是开环控制，在一次循环完成后即完成，也可以是闭环控制，在一次循环完成后，由S05、S08步骤返回至步骤S01，继续第一触发指令的检测。It can be understood that the above-mentioned bite force control method can be open-loop control, which is completed after one cycle is completed, or closed-loop control. After one cycle is completed, steps S05 and S08 return to step S01 to continue the first trigger command detection.
本实施例中，开合组件13的开合状态可以由操作者在主操作控制台200进行控制，因此，作为其中一种用于改变开合组件13的开合状态的方法，如图15所示，该方法主要包括：In this embodiment, the opening and closing state of the opening and closing
S0001、确定是否收到第三触发指令，该第三触发指令即为用于控制开合组件13的打开、关闭动作的控制指令；S0001. Determine whether a third trigger command is received, and the third trigger command is a control command for controlling the opening and closing actions of the opening and closing
S0002、收到第三触发指令后，根据第三触发指令，改变开合组件13的开合状态；否则，如果没有收到第三触发指令，则开合状态不变。S0002. After receiving the third trigger instruction, change the opening and closing state of the opening and closing
实际手术过程中，第三触发指令一般是响应于操作者在主操作控制台200操作对应的手柄而发出，可以理解，实现方式并不限于此。During an actual operation, the third trigger command is generally issued in response to the operator operating the corresponding handle on the
为了在手术过程中准确判断出开合组件13的开合状态，如图16A所示，为本实施例的其中一种用于确定开合组件13的开合状态的方法，可用于例如上述步骤S04中，该方法包括：In order to accurately determine the opening and closing state of the opening and closing
S001、获取开合组件13的两个开合瓣的咬合面的压力；S001. Obtain the pressure of the occlusal surfaces of the two opening and closing flaps of the opening and closing
S002、确定获取的压力是否大于第一压力阈值；S002. Determine whether the acquired pressure is greater than a first pressure threshold;
S003、在获取的压力大于第一压力阈值时，判定开合组件13处于闭合状态；S003. When the obtained pressure is greater than the first pressure threshold, it is determined that the opening and closing
S004、在获取的压力小于或等于第一压力阈值时，判定开合组件13处于打开状态。S004. When the obtained pressure is less than or equal to the first pressure threshold, it is determined that the opening and closing
如图16B所示，为本实施例的另一种用于确定开合组件13的开合状态的方法，该方法包括：As shown in FIG. 16B, it is another method for determining the opening and closing state of the opening and closing
S0010、分别获取第一偏心部P1与第一开合瓣13a之间的第一挤压力、第二偏心部P2与第二开合瓣13b之间的第二挤压力；S0010. Respectively acquire the first pressing force between the first eccentric part P1 and the first opening and
S0020、确定获取的各挤压力是否大于第二压力阈值；S0020. Determine whether the acquired extrusion forces are greater than the second pressure threshold;
S0030、在获取的第一挤压力、第二挤压力均大于第二压力阈值时，判定开合组件13处于闭合状态；S0030. When the obtained first extrusion force and the second extrusion force are both greater than the second pressure threshold, it is determined that the opening and closing
S0040、在获取的第一挤压力、第二挤压力均小于或等于第二压力阈值时，判定开合组件13处于打开状态。S0040. When the obtained first pressing force and the second pressing force are both less than or equal to the second pressure threshold, determine that the opening and closing
由于第一加力轮12a、第二加力轮12b分别通过缆线驱动转动，可以考虑通过缆线的受力判断开合组件13的开合状态。如图16C所示，为本实施例的又一种用于确定开合组件13的开合状态的方法，该方法包括：Since the first booster wheel 12 a and the
S0011、分别获取用于驱动第一加力轮12a的第一偏心部P1、第二加力轮12b的第二偏心部P2相互靠近的缆线的张力，即获取第一子缆线1611、第四子缆线1622的张力；S0011. Obtain the tension of the cables for driving the first eccentric part P1 of the first booster wheel 12a and the second eccentric part P2 of the
S0021、确定获取的各张力是否大于预设张力阈值；S0021. Determine whether each tension obtained is greater than a preset tension threshold;
S0022、在获取的张力大于预设张力阈值时，判定开合组件13处于闭合状态；S0022. When the obtained tension is greater than the preset tension threshold, it is determined that the opening and closing
S0023、在获取的张力小于或等于预设张力阈值时，判定开合组件13处于打开状态。S0023. When the obtained tension is less than or equal to the preset tension threshold, it is determined that the opening and closing
在某些需要在夹持过程中对被夹持物通电的特殊应用场景，如电凝场景，开合组件13的两个开合瓣的咬合面均形成有电极，这种情形下，如图17A，本实施例的咬合力控制方法还包括：In some special application scenarios that need to energize the clamped object during the clamping process, such as the electrocoagulation scenario, electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and
S1、判断是否收到通电指令；S1, judging whether a power-on command is received;
S2、在收到通电指令后，判断开合组件13是否处于闭合状态；S2. After receiving the power-on instruction, judge whether the opening and closing
S3、在开合组件13处于闭合状态时，根据通电指令使开合组件13的电极通电，以开始电凝，对开合组件13的咬合面之间的材料施加电能或热能。此种设置使得只有在开合组件是闭合时电凝操作才可以进行，保证了手术的安全性。S3. When the opening and closing
更进一步地，在开始电凝前，还需要调整开合组件13的咬合力至合适的水平，如图17B，在上述步骤S3开始电凝前，本实施例的咬合力控制方法还包括：Furthermore, before starting the electrocoagulation, it is necessary to adjust the bite force of the opening and closing
S21、检测开合组件13的初始咬合模式；S21. Detect the initial bite mode of the opening and closing
S22、在初始咬合模式为第二模式时，降低开合组件13的咬合力；S22. When the initial occlusal mode is the second mode, reduce the occlusal force of the opening and closing
S23、在初始咬合模式为第一模式时，增大开合组件13的咬合力；S23. When the initial occlusal mode is the first mode, increase the occlusal force of the opening and closing
S24、在开合组件13的咬合力达到预设临界范围时，咬合力即调整完成，可继续上述步骤S3，根据通电指令使开合组件13的电极通电。S24. When the bite force of the opening and
在开始电凝后，考虑到不同电凝阶段生物组织的特性有所差异，为了降低对生物组织的损伤，本实施例在电凝过程中也实时调整开合组件13的咬合力，重复执行上述步骤S22～23。After the start of electrocoagulation, considering that the characteristics of biological tissues are different in different stages of electrocoagulation, in order to reduce the damage to biological tissues, this embodiment also adjusts the bite force of the opening and closing
开始电凝后，还包括步骤S4：实时判断电凝过程是否结束，并在电凝通电过程完成后，执行步骤S5：恢复开合组件13的咬合模式至初始咬合模式。After starting the electrocoagulation, step S4 is also included: judge in real time whether the electrocoagulation process is over, and after the electrocoagulation energization process is completed, perform step S5: restore the occlusal mode of the opening and closing
这里，判断通电过程是否完成的步骤可以包括：检测有无第四触发指令，并在检测到第四触发指令时，判定通电过程完成。该第四触发指令是收到主动电凝停止的指令，或者计时装置达到触发条件的自动指令。Here, the step of judging whether the power-on process is completed may include: detecting whether there is a fourth trigger instruction, and determining that the power-on process is completed when the fourth trigger instruction is detected. The fourth trigger instruction is an instruction to stop active electrocoagulation, or an automatic instruction that the timing device reaches a trigger condition.
在其他实施方式中，判断通电过程是否完成的步骤，也可以包括：检测开合组件13之间被咬合的组织的阻抗和/或温度和/或颜色是否达到阈值条件，在相应的特征达到阈值条件时，判定通电过程完成。In other embodiments, the step of judging whether the energization process is completed may also include: detecting whether the impedance and/or temperature and/or color of the tissue engaged between the opening and
此外，本实施例还提供了一种计算机可读存储介质，计算机可读存储介质内存储有多条指令，该指令适于由至少一个处理器加载并执行上述的咬合力控制方法的步骤，该计算机可读存储介质为咬合力控制系统的一部分。处理器在一些实施例中可以是中央处理器Central Processing Unit，CPU、控制器、微控制器、微处理器、或其他数据处理芯片。该处理器通常用于控制计算设备的总体操作。本实施例中，该处理器用于运行存储介质中存储的程序代码或者处理数据。In addition, this embodiment also provides a computer-readable storage medium, where a plurality of instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by at least one processor and executing the steps of the above-mentioned bite force control method. A computer readable storage medium is part of the bite force control system. In some embodiments, the processor may be a Central Processing Unit, a CPU, a controller, a microcontroller, a microprocessor, or other data processing chips. The processor is typically used to control the overall operation of the computing device. In this embodiment, the processor is configured to run program codes stored in the storage medium or process data.
如图18，本实施例还提供了一种计算设备，该计算设备包括存储器1和处理器2，存储器1可以是上述计算机可读存储介质，其内存储有多条指令，该指令适于由至少一个处理器2加载并执行上述的咬合力控制方法的步骤。As shown in Figure 18, this embodiment also provides a computing device, which includes a memory 1 and a
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present invention.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述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 the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.
尽管上面已经示出和描述了本发明的实施例，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，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.
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| CN202111604314.9ACN116370096A (en) | 2021-12-24 | 2021-12-24 | Surgical system, bite force control method, and computer-readable storage medium |
| PCT/CN2022/139720WO2023116577A1 (en) | 2021-12-24 | 2022-12-16 | Surgical system, occluding force control method, and computer-readable storage medium |
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