Cable control device for serpentine surgical instrument for surgical robotTechnical Field
The invention relates to the technical field of medical instruments, in particular to a rope control device of a snake-shaped surgical instrument for a surgical robot.
Background
At present, the serpentine joint applied to the surgical robot has a relatively large number of driving cables, such as 12 cables, 14 cables or more, so that the driving structure of the cables needs to be designed more complicated, and particularly, the guiding and driving structures of the cables need to be designed reasonably. The number of the cable guide wheel stages of the existing driving structure is relatively large, the distance between the cable driving reel and the driving joint along the cable is large, the driving force utilization efficiency of the cable driving is low, the cable stretching creep amount is large, and the movement precision is low. And when the number of the driving cables increases, in order to prevent the driving cables from being intertwined and knotted, the mechanical structures of the driving cables need to be correspondingly increased, so that the cable control becomes more complicated. Therefore, a need exists for a cable control device that can simplify the cable control structure, achieve efficient motion capabilities of the drive cable, and meet the requirements of precise motion of the serpentine joint.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and aims to provide a cable control device which can simplify a cable control structure, realize the efficient movement capability of a driving cable and meet the requirement of accurate movement of a snake-shaped joint.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the rope control device for the snakelike surgical instrument for the surgical robot comprises a control box, an instrument rod and a driving rope, wherein one end of the driving rope is connected with a snakelike joint of the surgical instrument, the other end of the driving rope penetrates through the instrument rod and enters the control box, horizontal guide wheel pin shafts which are increased step by step are arranged in the control box in a grading mode, first rope guide wheels which are horizontally rotated are arranged on each horizontal guide wheel pin shaft in pairs, vertical guide wheel pin shafts which are matched with the heights of the horizontal guide wheel pin shafts are arranged in the control box, a single group of second rope guide wheels which are vertically rotated are arranged on each vertical guide wheel pin shaft, rope driving sheaves are arranged in the control box corresponding to the groups of second rope guide wheels, and rope grooves are formed in the rope driving sheaves; the driving ropes pass through the first rope guide wheel and the second rope guide wheel and then are wound on the rope grooves, and the driving ropes of the same group of second rope guide wheels are reversely wound on the rope grooves.
Further, four first rope guide wheels are arranged on the horizontal guide wheel pin shafts, two vertical guide wheel pin shafts and rope driving twisting wheels are correspondingly arranged on each horizontal guide wheel pin shaft, and the vertical guide wheel pin shafts and the rope driving twisting wheels are symmetrically distributed left and right.
Further, two separated rope grooves are formed in the rope driving reel, and the two rope grooves are matched with the corresponding second rope guide wheels in height.
Compared with the prior art, the invention has the following beneficial effects:
the first rope guide wheels and the second rope guide wheels are arranged in a grading manner in the height direction, and the rope driving pulleys are provided with rope grooves with corresponding heights corresponding to different rope guide wheels, so that the driving ropes are smoothly guided in the extending process, the condition of deviating from the central surface of the rope groove in a large angle is avoided, and the condition of winding, knotting and separating from the rope grooves of the guide pulleys or the rope grooves of the pulleys in the extending and contracting processes of different driving ropes is avoided. Simultaneously, the lengths of two driving ropes on the same rope driving reel, which are wrapped in rope grooves and separated from the rope grooves in the rotation process of the reel, can be ensured to be more nearly equal. And the driving rope is converted from vertical to horizontal direction through the first rope guide wheel, and the left and right branching of the driving rope is wound on the rope driving reel through the second rope guide wheel, so that each driving rope has only two direction conversions, the number of transmission stages is small, the structure is simple, the number of parts is small, and the effects of high instrument control precision and high force transmission efficiency are ensured.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the reversing structure of the driving cable according to the present invention;
FIG. 3 is a schematic illustration of the progressive elevation of a second cable guide in accordance with the present invention;
FIG. 4 is a schematic view showing the gradual rise of rope grooves of a rope-driven sheave of the present invention;
fig. 5 is a schematic view of the movement direction of the driving cable in the present invention.
Reference numerals:
the device comprises a 1-control box, a 2-instrument rod, a 3-driving rope, a 4-snake joint, a 5-horizontal guide wheel pin shaft, a 6-first rope guide wheel, a 7-rope driving reel, an 8-second rope guide wheel, a 9-vertical guide wheel pin shaft and a 10-rope groove.
Detailed Description
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 5, a cable control device for a serpentine surgical instrument for a surgical robot comprises a control box 1, an instrument rod 2 and a driving cable 3, wherein one end of the driving cable 3 is connected with a serpentine joint 4 of the surgical instrument, the other end of the driving cable passes through the instrument rod 2 and enters the control box 1, horizontal guide wheel pin shafts 5 which are heightened step by step are arranged in the control box 1 in a grading manner, first cable guide wheels 6 which are horizontally rotated are arranged on each horizontal guide wheel pin shaft 5 in pairs, vertical guide wheel pin shafts 9 which are matched with the heights of each horizontal guide wheel pin shaft 5 are arranged in the control box 1, a single group of second cable guide wheels 8 which are vertically rotated are arranged on each vertical guide wheel pin shaft 9, a cable driving winch 7 is arranged in the control box 1 corresponding to each group of second cable guide wheels 8, and a rope groove 10 is arranged on each cable driving winch 7; the driving ropes 3 pass through the first rope guide wheels 6 and the second rope guide wheels 8 and then are wound on the rope grooves 10, and the driving ropes 3 of the same group of second rope guide wheels 8 are reversely wound on the rope grooves 10.
Four first rope guide wheels 6 are arranged on the horizontal guide wheel pin shafts 5, two vertical guide wheel pin shafts 9 and rope driving pulleys 7 are correspondingly arranged on each horizontal guide wheel pin shaft 5, and the vertical guide wheel pin shafts 9 and the rope driving pulleys 7 are symmetrically distributed left and right. In this embodiment, one horizontal guide wheel pin shaft 5 only corresponds to four first rope guide wheels 6, and more first rope guide wheels 6 can be arranged at the same time, so that the number of the guide wheels is increased, and the strength of the horizontal guide wheel pin shaft 5 and the supporting structure thereof is correspondingly enhanced according to the change of the driving force. Wherein two first rope guide pulleys 6 on the left are matched with a vertical guide pulley pin shaft 9 and a rope driving reel 7 at the same level on the left, and two first rope guide pulleys 6 on the right are matched with a vertical guide pulley pin shaft 9 and a rope driving reel 7 at the same level on the right. The two driving ropes 3 on each rope driving reel 7 are mutually and reversely wound on the rope groove 10, and the two driving ropes 3 on the rope driving reel 7 are used for controlling a group of hole sites on the snake-shaped joint 4. Because the two driving ropes 3 are reversely wound on the rope groove 10, the two driving ropes 3 can simultaneously stretch and contract for equal length, namely, when one driving rope 3 stretches, the other driving rope 3 correspondingly contracts for equal length, so that deflection control of a single joint on the snake-shaped joint 4 is completed.
Wherein, be provided with two detached rope grooves 10 on the rope drive reel 7, two rope grooves 10 respectively with the high assorted of corresponding second rope guide pulley 8, make two drive ropes 3 on the same rope drive reel 7 separate winding in rope groove 10, assorted vertical height has guaranteed that the central plane of second rope guide pulley 8 is close to the coincidence with the central plane of the rope winding part of rope groove 10, thereby reduced the rope and led wheel groove and reel rope groove lateral wall contact friction, also reduced the risk that the rope twines the in-process and deviate from the guide slot, can avoid two drive ropes 3 on the same rope drive reel 7 to take place the phenomenon of twining or knot.
The horizontal guide wheel pin shaft 5 is connected with the inner wall of the control box 1, one end of the rope driving reel 7 is provided with a driving power connection interface, a driving motor is installed in the robot instrument installation base, the tail end of an output shaft of the motor is provided with a driving interface matched with the power connection interface at the tail end of the rope driving reel 7, and when the control box 1 is installed in the robot instrument installation base, the two connection interfaces are in butt joint, so that the twisting driving of the rope driving reel 7 by a motor is realized, and each rope driving reel 7 is driven by an independent motor.
As shown in fig. 1 and 5, the driving cable 3 entering the control box 1 along the instrument rod 2 is guided by the first cable guide wheel 6 to turn from vertical to horizontal, and then guided by the second cable guide wheel 8 to turn from horizontal to left and right sides respectively. The driving cables 3 guided by one second cable guide wheel 8 are wound on the corresponding cable driving reel 7 from top to bottom clockwise, and the driving cables 3 guided by the other second cable guide wheel 8 are wound from bottom to top anticlockwise. The rope grooves 10 of the same rope driving reel 7 are mutually separated and are spiral rope grooves, so that the driving ropes 3 wound on the same rope driving reel 7 are wound according to the same spiral parameters, but the winding starting positions of the two driving ropes 3 are different, one driving rope is arranged on the left side of the reel, the other driving rope is arranged on the right side of the reel, in the process of rotating the reel in such a mode, one rope is wound into the reel, one rope is wound out of the reel, and the spiral rope grooves can ensure that the radius of each winding circle of the two driving ropes 3 is the same, ensure that the extending and retracting lengths of the two driving ropes 3 are equal as far as possible, and meet the requirement of accurate movement of a snake-shaped joint.
The first rope guide wheels 6 and the second rope guide wheels 8 are arranged in a grading manner in the height direction, and the rope driving sheaves 7 are provided with rope grooves 10 with corresponding heights corresponding to different rope guide wheels, so that the driving rope 3 is smoothly guided in the extending process, and the condition of deviating from the central surface of the rope groove 10 in a large angle does not occur. The driving rope 3 only passes through the first rope guide wheel 6 and the second rope guide wheel 8, and the effect that is by vertical to the level, by the level to the double direction conversion of the winding respectively in left and right sides, the transmission progression is few, simple structure, spare part is few, has guaranteed that apparatus control precision is high, the power transmission efficiency is high is accomplished.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.