Disclosure of Invention
The embodiment of the application provides a flexible surgical robot which has a simple structure and good stability, provides possibility for further miniaturization of surgical instruments, and can improve the motion performance of the instruments.
The embodiment of the application provides a flexible surgical robot which comprises a control cabinet, a multi-axis cooperative mechanical arm, a chassis and a plurality of telescopic arm units, wherein the multi-axis cooperative mechanical arm is arranged on the control cabinet and is electrically connected with the control cabinet, the chassis is connected with the tail end of the multi-axis cooperative mechanical arm, the telescopic arm units are distributed along the circumferential direction of the chassis, each telescopic arm unit comprises a linear driving module, a traction structure and a tail end instrument module, the linear driving module is arranged on the chassis, the traction structure is arranged at the driving end of the linear driving module, the linear driving module is used for driving the traction structure to move along a first direction to be close to or far away from the chassis, the traction structure is connected with the tail end instrument module and is driven by a traction rope to drive the tail end instrument module to execute corresponding actions, and the linear driving module, the traction structure and the tail end instrument module are linearly distributed along the first direction.
In the scheme, the chassis is connected with the tail end of the multi-axis cooperative mechanical arm, the telescopic arm units are circumferentially arranged on the chassis and are arranged on the control cabinet through the multi-axis cooperative mechanical arm, and the control cabinet can control the multi-axis cooperative mechanical arm and the telescopic arm units on the chassis to execute corresponding actions after receiving instructions of a doctor driving platform, so that remote operation is realized. And a plurality of telescopic arm units on the chassis can move relatively and independently, so that corresponding actions are executed. Specifically, the linear driving modules in the telescopic arm units can drive the traction structure and the tail end instrument module to be close to or far away from the chassis, and the tail end instrument module can execute corresponding operation under the traction action of the traction structure, so that the structure is simple, and the stability is good. In addition, in the telescopic arm unit, the linear driving module, the traction structure and the tail end instrument module are linearly distributed along the first direction, so that the space layout of the telescopic arm unit on the chassis is more reasonable, the possibility is provided for realizing the further miniaturization of the surgical instrument, and the motion performance of the tail end instrument module can be improved under the double control actions of the linear driving module and the traction structure.
In some embodiments, the number of telescopic arm units is three, and the three telescopic arm units may be a left instrument arm unit, a right instrument arm unit and a vision arm unit, respectively, and are mounted on the chassis at equal intervals along the circumferential direction.
Among the above-mentioned technical scheme, through the quantity with flexible arm unit for three, three flexible arm unit is vision arm unit, left apparatus arm unit and right apparatus arm unit respectively, utilizes the vision arm unit can present the operation scene actual scene in real time, does benefit to medical personnel and can long-range according to the actual scene in the art, and control left apparatus arm unit and/or right apparatus arm unit carry out corresponding operation, and medical personnel's operation is more convenient reliable, and the precision is higher.
In some embodiments, the end instrument module sequentially comprises an instrument rod, an end base, a first flexible joint, an end big arm, an end forearm, a rotating arm and an end effector, wherein the instrument rod is connected to the traction structure, the end base is connected to the end of the instrument rod, the end effector is an end instrument or a lens, the first flexible joint comprises one or more first snake bone joints, and any two adjacent snake bone joints can rotate relative to each other.
In the above technical solution, the instrument rod is connected to the pulling structure, so that the pulling wire in the pulling structure passes through and is connected to the first flexible joint or the end effector at the front side of the end base, and the first flexible joint comprises one or more first snake bone joints, and the first snake bone joints can be utilized to rotate, so that the end instrument module can execute a rotation action, thereby adjusting the cutting angle of the end effector, and being beneficial to executing a corresponding operation.
In some embodiments, the first flexible joint comprises a plurality of first snake bone joints, the first snake bone joints are provided with inner holes, the inner holes are used for being penetrated by a traction rope of a traction structure, two axial sides of each first snake bone joint are respectively provided with a connecting groove and a connecting shaft, the connecting shafts are used for being connected with the connecting grooves of the adjacent first snake bone joints so that the first snake bone joints can rotate around the connecting shafts, two axial sides of each first snake bone joint are respectively provided with a rotation avoidance plane, each rotation avoidance plane comprises a first avoidance surface and a second avoidance surface, the angle between each first avoidance surface and each second avoidance surface is alpha, and alpha is 10 degrees < alpha <40 degrees.
In the above technical scheme, including a plurality of first snake bone joints through first flexible joint, under the traction effect of haulage rope in the tractive structure, can make between two adjacent first snake bone joints can be around the articulated connecting axle relative rotation of corresponding first snake bone, realize the rotation and the angular adjustment of terminal instrument module, of course, the axial both sides of first snake bone joint all have and rotate and dodge the plane, rotate and dodge the plane and can provide the effect of stepping down when rotating first snake bone joint to provide the space of stepping down for first snake bone joint rotation. And the angle alpha of the first avoidance surface and the second avoidance surface is 10 degrees < alpha <40 degrees, so that the maximum rotation angle of two adjacent first snake bone joints is 40 degrees, and the minimum rotation angle is 10 degrees.
In some embodiments, the number of the inner holes is four, the four inner holes are divided into a first inner hole group and a second inner hole group, the number of the first inner hole group and the second inner hole group is two, the first inner hole group and the second inner hole group are positioned on two opposite sides of the connecting shaft, and each inner hole axially penetrates through the first snake bone joint.
In the technical scheme, the inner holes can be used for the traction ropes of the traction structure to be arranged and connected with two adjacent first snake bone joints, the integrity of the first flexible joints is improved, the number of the inner holes in the first snake bone joints is four, the four inner holes are divided into the first inner hole groups and the second inner hole groups, and therefore under the driving action of the traction ropes of the traction structure, the first snake bone joints can be provided with angle adjustment in two opposite directions.
In some embodiments, the connecting axes of two adjacent first snake bone joints are offset in the circumferential direction of the first snake bone joints.
Among the above-mentioned technical scheme, through being dislocation distribution with the connecting axle of two adjacent first snake bone joints in the circumference of first snake bone joint for the rotation of a plurality of first snake bone joints in the first flexible joint can be annular distribution, is similar to the fluted, makes the angle adjustment scope of first flexible joint bigger.
In some embodiments, a second flexible joint is disposed between the distal forearm and the distal forearm, the second flexible joint including a plurality of second snake bone joints, the plurality of second snake bone joints being sequentially disposed between the distal forearm and the distal forearm, the second snake bone joints being identical in structure to the first snake bone joints.
According to the technical scheme, the second flexible joint is arranged between the tail end big arm and the tail end forearm, and the second flexible joint are matched together, so that the angle adjusting range of the tail end instrument module can be enlarged, and the flexibility of angle adjustment of the tail end instrument module is higher.
In some embodiments, the linear drive module is a multi-stage telescoping unit.
In the technical scheme, the linear driving module is used as the multi-stage telescopic unit, so that the telescopic travel of the terminal instrument module is longer, the travel of the multi-axis cooperative mechanical arm can be made up, and the application range of the flexible surgical robot is wider.
In some embodiments, the linear driving module is a two-stage telescopic unit, the linear driving module comprises a motor base, a driving motor, a gear, a first belt wheel, a first transmission belt, a first moving platform, a second belt wheel, a second transmission belt and a second moving platform, the motor base is arranged on the chassis, the driving motor is arranged on the motor base, the driving end of the driving motor is meshed with the gear, the driving end of the driving motor is meshed with the first belt wheel and is coaxially connected with the first transmission belt, a first sliding block is arranged on the first moving platform, the first moving platform is connected with the first transmission belt through the first sliding block, the driving motor rotates to drive the first moving platform to move along a first direction, the second belt wheel is respectively arranged on the first moving platform and the second moving platform, the second transmission belt is arranged between the two second belt wheels, and a second sliding block is arranged on the second moving platform and is connected with the second transmission belt so as to drive the second moving platform to move along the first direction.
In the above technical scheme, through adopting the linear drive module as the flexible unit of two-stage, the motor drives gear rotation, gear coaxial coupling is in first band pulley, first band pulley rotates and then drives first drive belt action, because first moving platform is connected with first drive belt through first slider, first drive belt is provided with first slider, thereby drive first moving platform motion, and be provided with the second slider on the second moving platform, the second slider is connected with the second drive belt, when the motor starts, can drive first drive belt action, first drive belt can drive the second drive belt and realize the second transmission, the second drive belt action drives the second moving platform action, thereby realize the second grade is flexible.
In some embodiments, the linear driving module further comprises two first guide posts, the two first guide posts are arranged on the motor base, the first guide posts are used for guiding the first moving platform to move along the first direction, the first moving platform is provided with two second guide posts, the two second guide posts are used for guiding the second moving platform to move along the first direction on the first moving platform, and the traction structure is mounted on the second moving platform.
Among the above-mentioned technical scheme, can provide the guide effect for first moving platform action through first guide post for first moving platform's motion is more stable, through being provided with the second guide post at first moving platform, the second guide post can guide the second moving platform to remove along first direction on first moving platform, and tractive structure installs in the second moving platform, thereby realizes that tractive structure's second is flexible, flexible process stability is good, and the precision is high.
Additional features and advantages of the application will be set forth in the detailed description which follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a flexible surgical robot according to some embodiments of the present application;
fig. 2 is a schematic structural diagram of a plurality of telescopic boom units according to some embodiments of the present application;
FIG. 3 is a schematic view of the telescopic arm unit of FIG. 2 in an extended position;
FIG. 4 is a schematic view of the configuration of the distal instrument module of the front end of the plurality of telescopic arm units of FIG. 3;
FIG. 5 is a schematic view of the end instrument module of the vision arm unit of FIG. 4;
FIG. 6 is a schematic structural view of a distal instrument module of the front end of a single telescopic boom unit provided in some embodiments of the present application;
FIG. 7 is a schematic diagram illustrating a state switch of a terminal instrument module according to some embodiments of the present application;
FIG. 8 is a schematic view of the structure of a single first snake bone joint according to FIG. 7;
FIG. 9 is a schematic diagram illustrating a state switch of a distal instrument module according to further embodiments of the present application;
FIG. 10 is a schematic view of the structure of a single first snake bone joint according to FIG. 9;
FIG. 11 is a schematic view of a single telescopic arm unit according to some embodiments of the present application;
FIG. 12 is an exploded view of the telescopic boom unit of FIG. 11;
FIG. 13 is an exploded view of a single telescopic boom unit at another angle in accordance with some embodiments of the present application;
FIG. 14 is a schematic view of a telescopic boom unit in a contracted state according to some embodiments of the present application;
Fig. 15 is a schematic view of the telescopic arm unit in 14 in an extended state;
FIG. 16 is a schematic view of another angle of the telescopic boom unit in a retracted state according to some embodiments of the present application;
FIG. 17 is a schematic view of the telescopic arm unit of FIG. 16 in an extended position;
Fig. 18 is a schematic structural view of a pulling structure according to some embodiments of the present application;
FIG. 19 is an exploded view of FIG. 18;
FIG. 20 is a schematic view of the structure of FIG. 18 at another angle;
FIG. 21 is a schematic view of the length of a drive wire before and after bending a distal instrument in an ideal state of the art using a conventional shaft to retract and retract the pull cord;
FIG. 22 is a schematic view showing the length of a driving wire before and after bending a distal instrument in the prior art by winding and unwinding a traction rope using a conventional shaft;
Fig. 23 is a schematic diagram of force transfer between an active traction unit and a passive traction unit in a traction structure provided by some embodiments of the present application;
FIG. 24 is a schematic diagram of a pulling structure implementing constant force pulling;
FIG. 25 is a schematic view illustrating a connection between a driving member and a slider in an active traction unit according to some embodiments of the present application;
FIG. 26 is a schematic view of a center pillar according to some embodiments of the present application;
FIG. 27 is an exploded view of FIG. 26;
FIG. 28 is a front view of FIG. 26;
fig. 29 is a schematic view of a flexible surgical robot according to some embodiments of the present application applied to a real scene.
Icon: 100-telescoping arm unit; 101-a left instrument arm unit; 102-a right instrument arm unit; 103-visual arm unit, 10-linear drive module, 11-motor base, 12-drive motor, 13-gear, 140-first pulley, 141-first drive belt, 142-first moving platform, 150-second pulley, 151-second drive belt, 152-second moving platform, 153-first guide post, 154-second guide post, 16-linear drive box, 20-traction structure, 21-base, 210-receiving slot, 22-passive traction unit, 220-elastic member, 221-drive plate, 2210-hinged end, 2211-connecting end, 2212-second connecting end, 222-plug, 2220-body, 2221-protrusion, 223-outer sleeve, 23-active traction unit, 230-drive member, 231-slider, 232-first pulley block, 233-hook, 234-hanging portion, 24-traction rope, 240-first passive traction rope, 241-second passive rope, 242-active rope, 25-center support post, 250-pulley block, 250-second pulley block, 2212-35-end, 35-inner bore, 35-end-35-flexible joint surface, 35-end-35-connecting end-35-flexible shaft -end forearm, 37-swivel arm, 38-end effector, 39-binocular camera, 200-control cabinet, 201-roller, 300-multiaxial cooperative robot arm, 400-chassis, X-first direction, 1000-flexible surgical robot.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is conventionally put in use of the product of this application, merely for convenience in describing the present application and simplifying the description, and is not indicative or implying that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed" and "connected" are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, or may be directly connected, or may be indirectly connected through an intermediate medium, or may be in communication with the inside of two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Examples
Referring to fig. 1 to 27, a flexible surgical robot 1000 includes a control cabinet 200, a multi-axis cooperative mechanical arm 300, a chassis 400 and a plurality of telescopic arm units 100, wherein the multi-axis cooperative mechanical arm 300 is mounted on the control cabinet 200 and is electrically connected with the control cabinet 200, the chassis 400 is connected with the end of the multi-axis cooperative mechanical arm 300, the plurality of telescopic arm units 100 are distributed along the circumferential direction of the chassis 400, each telescopic arm unit 100 includes a linear driving module 10, a pulling structure 20 and an end instrument module 30, the linear driving module 10 is mounted on the chassis 400, the pulling structure 20 is disposed at the driving end of the linear driving module 10, the linear driving module 10 is used for driving the pulling structure 20 to move along a first direction X to approach or separate from the chassis 400, the pulling structure 20 is connected with the end instrument module 30 and is driven by a pulling rope to drive the end instrument module 30 to perform corresponding actions, and the linear driving module 10, the pulling structure 20 and the end instrument module 30 are linearly distributed along the first direction X.
In this scheme, the chassis 400 is connected with the end of the multi-axis cooperative mechanical arm 300, and the plurality of telescopic arm units 100 are distributed along the circumferential direction of the chassis 400, and are installed on the control cabinet 200 through the multi-axis cooperative mechanical arm 300, and the control cabinet 200 can control the multi-axis cooperative mechanical arm 300 and the telescopic arm units 100 on the chassis 400 to execute corresponding actions after receiving the instruction of the doctor driving platform, so as to realize the remote operation. And the plurality of telescopic arm units 100 on the chassis 400 can move relatively independently, thereby performing corresponding actions. Specifically, the linear driving module 10 in each telescopic arm unit 100 can drive the traction structure 20 and the end instrument module 30 to approach or depart from the chassis 400, and under the traction action of the traction structure 20, the end instrument module 30 executes corresponding operation actions, so that the structure is simple and the stability is good. In addition, in the telescopic arm unit 100, the linear driving module 10, the traction structure 20 and the end instrument module 30 are linearly distributed along the first direction X, so that the spatial layout of the telescopic arm unit on the chassis 400 is more reasonable, the possibility is provided for further miniaturization of the surgical instrument, and the movement performance of the end instrument module 30 can be improved under the dual control of the linear driving module 10 and the traction structure 20.
As shown in fig. 27, the flexible surgical robot of the present application is applied to a surgical scene, and because of the compactness and light weight of the flexible surgical robot, the total weight of the three arms is less than 5kg, so that the flexible surgical robot can be carried on a lightweight cooperative mechanical arm, the occupied space beside an operating table is small, and compared with the existing single-hole robot with a ring arm, the single-hole surgical robot of the present application has the advantage of being capable of accessing from the side of a human body in elevation angle.
As shown in fig. 1, rollers 201 are disposed at four corners of the bottom of the control cabinet 200, and brakes are disposed on the rollers 201, so that the flexible surgical robot 1000 can be conveniently transferred by using the rollers 201. In addition, the number of the telescopic boom units 100 can be two, three or four, and the specific number of the telescopic boom units 100 can be determined according to actual needs and application situations.
In some embodiments, as shown in fig. 2, the number of telescopic arm units 100 is three, and the three telescopic arm units may be a left instrument arm unit 101, a right instrument arm unit 102, and a vision arm unit 103, respectively, and are mounted to the chassis 400 at equal intervals in the circumferential direction. Through the quantity of the telescopic boom units 100 is three, the three telescopic boom units 100 are the visual boom unit 103, the left instrument arm unit 101 and the right instrument arm unit 102 respectively, the visual boom unit 103 is utilized to present the actual scene of the operation site in real time, the medical staff can be favorably controlled to execute corresponding operation according to the actual scene in the operation remotely, the left instrument arm unit 101 and/or the right instrument arm unit 102 are controlled to execute corresponding operation, the operation of the medical staff is more convenient and reliable, and the precision is higher.
The vision arm unit 103, it may be understood that the end of the telescopic arm unit 100 is provided with a vision module, such as the binocular camera 39, so as to transmit the actual influence to the display of the doctor main control platform, so that the medical staff can remotely control the other two telescopic arm units 100 to perform the corresponding operation. While the left and right instrument arm units 101 and 102, it is understood that the distal ends of the left and right instrument arm units 101 and 102 are mounted with corresponding instruments for performing surgical operations.
In some embodiments, referring to fig. 4-6, the end instrument module 30 includes, in order, an instrument rod 31, an end base 32, a first flexible joint 33, an end boom 34, an end forearm 36, a rotating arm 37, and an end effector 38, the instrument rod 31 is connected to the pulling structure 20, the end base 32 is connected to an end of the instrument rod 31, the end effector 38 is an end instrument or lens, and the first flexible joint 33 includes one or more first snake bone joints 330, between any two adjacent snake bone joints capable of rotating relative to each other. The instrument bar 31 is connected to the pulling structure 20, so that a pulling wire in the pulling structure 20 passes through and is connected to the first flexible joint 33 or the end effector 38 at the front side of the end base 32, and the first flexible joint 33 includes one or more first snake-bone joints 330, and the first snake-bone joints 330 can be used to rotate, so that the end instrument module 30 can perform a rotation action, thereby adjusting the cutting angle of the end effector 38, and facilitating the corresponding operation.
In some embodiments, referring to fig. 7 and 8, the first flexible joint 33 includes a plurality of first snake bone joints 330, the first snake bone joints 330 have inner holes 331, the inner holes 331 are used for the traction ropes of the traction structure 20 to pass through, two axial sides of the first snake bone joints 330 are respectively provided with a connecting groove 332 and a connecting shaft 333, the connecting shaft 333 is used for connecting with the connecting grooves 332 of adjacent first snake bone joints 330 so that the first snake bone joints 330 can rotate around the connecting shaft 333, two axial sides of the first snake bone joints 330 are respectively provided with a rotation avoidance plane, the rotation avoidance plane includes a first avoidance surface 334 and a second avoidance surface 335, the angle formed by the first avoidance surface 334 and the second avoidance surface 335 is alpha, and alpha satisfies 10 degrees < alpha <40 degrees.
Through first flexible joint 33 includes a plurality of first snake bone joints 330, under the traction effect of haulage rope in the tractive structure 20, can make between two adjacent first snake bone joints 330 can be around the connecting axle 333 relative rotation of corresponding first snake bone joint 330, realize the rotation and the angular adjustment of terminal instrument module, of course, the epaxial both sides of first snake bone joint 330 all have the rotation and dodge the plane, rotate and dodge the plane and can provide the effect of stepping down when rotating first snake bone joint 330, in order to provide the space of stepping down for first snake bone joint 330 rotates. And, by satisfying the angle alpha of the first avoidance surface 334 and the second avoidance surface 335 to 10 deg. < alpha <40 deg., the maximum rotation angle of the adjacent two first snake bone joints 330 is 40 deg., and the minimum rotation angle is 10 deg..
In some embodiments, as shown in fig. 8, the number of the inner holes 331 is four, the four inner holes 331 are divided into a first inner hole group and a second inner hole group, the number of the first inner hole group and the second inner hole group is two, the first inner hole group and the second inner hole group are located at opposite sides of the connecting shaft 333, and each inner hole 331 axially penetrates through the first snake bone joint 330. The inner holes 331 can be used for the traction rope of the traction structure 20 to be arranged and pass through and connect two adjacent first snake bone joints 330, so that the integrity of the first flexible joint 33 is improved, and the number of the inner holes 331 in the first snake bone joints 330 is four, and the four inner holes 331 are divided into a first inner hole group and a second inner hole group, so that the first snake bone joints 330 can have two opposite-direction angle adjustment under the driving action of the traction rope of the traction structure 20.
The connecting shafts 333 of two adjacent first snake bone joints 330 are distributed in the same axial direction in the circumferential direction of the first snake bone joints 330, or may be distributed in a staggered manner.
In some embodiments, referring to fig. 9 and 10, the connecting shafts 333 of two adjacent first snake bone joints 330 are distributed in a staggered manner in the circumferential direction of the first snake bone joints 330. By arranging the connecting shafts 333 of two adjacent first snake bone joints 330 in a staggered manner in the circumferential direction of the first snake bone joints 330, the rotation of a plurality of first snake bone joints 330 in the first flexible joints 33 can be distributed in a ring shape, which is similar to a twist shape, and the angle adjustment range of the first flexible joints 33 is larger.
In some embodiments, referring to fig. 6, a second flexible joint 35 is disposed between the distal big arm 34 and the distal forearm 36, the second flexible joint 35 includes a plurality of second snake-bone joints, and the plurality of second snake-bone joints are sequentially distributed between the distal big arm 34 and the distal forearm 36, and the second snake-bone joints are identical in structure to the first snake-bone joints 330. By providing the second flexible joint 35 between the distal large arm 34 and the distal forearm 36, the second flexible joint 35 and the second flexible joint 35 cooperate together, the angular adjustment range of the distal instrument module 30 can be increased, making the angular adjustment of the distal instrument module 30 more flexible.
The linear driving module 10 may be a single-stage telescopic unit or a multi-stage telescopic unit.
In some embodiments, the linear drive module 10 is a multi-stage telescoping unit.
In the above technical solution, the linear driving module 10 is adopted as a multi-stage telescopic unit, so that the telescopic stroke of the end instrument module 30 is longer, the stroke of the multi-axis cooperative mechanical arm 300 can be compensated, and the application range of the flexible surgical robot 1000 is wider.
In some embodiments, referring to fig. 11 to 17, the linear driving module 10 is a two-stage telescopic unit, the linear driving module 10 includes a motor base 11, a driving motor 12, a gear 13, a first belt pulley 140, a first driving belt 141, a first moving platform 142, a second belt pulley 150, a second driving belt 151 and a second moving platform 152, the chassis 400 is mounted on the chassis 400, the driving motor 12 is mounted on the motor base 11, a driving end of the driving motor 12 is meshed with the gear 13, the meshing is coaxially connected with the first belt pulley 140, a first slider is disposed on the first moving platform 142, the first moving platform 142 is connected with the first driving belt 141 through the first slider, the driving motor 12 rotates to drive the first moving platform 142 to move along a first direction X, the second belt pulley 150 is respectively disposed on the first moving platform 142 and the second moving platform 152, the second driving belt 151 is disposed between the two second belt pulleys 150, a second slider is disposed on the second moving platform 152, and the second slider is connected with the second driving belt 151 to drive the second moving platform 152 to move along the first direction X.
Through adopting sharp drive module 10 to two-stage telescopic unit, the motor drives gear 13 and rotates, gear 13 coaxial coupling is in first band pulley 140, first band pulley 140 rotates and then drives first drive belt 141 action, because first moving platform 142 is connected with first drive belt 141 through first slider, first drive belt 141 is provided with first slider, thereby drive first moving platform 142 motion, and be provided with the second slider on the second moving platform 152, the second slider is connected with second drive belt 151, when the motor starts, can drive first drive belt 141 action, first drive belt 141 can drive second drive belt 151 and realize the second transmission, second drive belt 151 action drives second moving platform 152 action, thereby realize the second grade flexible.
In some embodiments, referring to fig. 11 to 17, the linear driving module 10 further includes two first guide posts 153, where the two first guide posts 153 are disposed on the motor base 11, the first guide posts 153 are used for guiding the first moving platform 142 to move along the first direction X, the first moving platform 142 is provided with two second guide posts 154, the two second guide posts 154 are used for guiding the second moving platform 152 to move along the first direction X on the first moving platform 142, and the pulling structure 20 is mounted on the second moving platform 152.
The first guide column 153 can provide a guiding effect for the action of the first moving platform 142, so that the movement of the first moving platform 142 is more stable, the second guide column 154 is arranged on the first moving platform 142, the second guide column 154 can guide the second moving platform 152 to move along the first direction X on the first moving platform 142, and the traction structure 20 is arranged on the second moving platform 152, so that the two-stage expansion and contraction of the traction structure 20 are realized, the stability of the expansion and contraction process is good, and the precision is high.
The linear driving module 10 further includes a linear driving box 16, the linear driving box 16 is covered on the motor base 11 and covers the driving motor 12, the gear 13, the first belt pulley 140 and a part of the first transmission belt 141, the linear driving box 16 can cover the driving motor 12 on the motor base 11, so that the overall aesthetic property of the linear driving module 10 is stronger, and the dustproof and aseptic functions can be played due to the covering function of the linear driving box 16.
In some embodiments, referring to fig. 18 to 28, the pulling structure 20 includes a base 21 and a pulling mechanism, the pulling mechanism is disposed on the base 21, the pulling mechanism includes a passive pulling unit 22, an active pulling unit 23 and a pulling rope 24, the pulling rope 24 is connected between the passive pulling unit 22 and the active pulling unit 23, the passive pulling unit 22 and the active pulling unit 23 cooperate together to drive the end instrument module to perform corresponding actions, the passive pulling unit 22 includes an elastic member 220 and a driving disc 221, the base 21 has a receiving groove 210 extending along a first direction X, the elastic member 220 is disposed in the receiving groove 210, the driving disc 221 has a triangular hinged end 2210, a first connecting end 2211 and a second connecting end 2212, the driving disc 221 is rotatably mounted on the base 21 near one side of the end instrument module through the hinged end 2210, the first connecting end 2211 is closer to the elastic member 220 than the second connecting end 2212 along the first direction X, the elastic member 220 is located near one side of the driven disc 221 and is limited by the end wall 210, the end wall 24 of the elastic member 220 is located at the end wall of the driven disc 221, the end wall 24 is located at the opposite to the opposite side of the first connecting end of the driven disc 221 to the first connecting end of the active pulling element, the end element 241 is located opposite to the end of the first connecting end of the driven disc 21, and the end of the end element is opposite to the end of the driving element, and the driving element is connected to the end element, and the end element is opposite to the end of the end element.
In this solution, the passive traction unit 22 is actively traction by the active traction unit 23, so that the driving disc 221 correspondingly rotates by the second passive traction rope 241, then the elastic member 220 can be compressed or actively relaxed by using the transmission of the first passive traction rope 240, in this solution, the first passive traction rope 240 and the second passive traction rope 241 are transitionally arranged by the driving disc 221, and the connection positions of the first passive traction rope 240 and the second passive traction rope 241 on the driving disc 221 are specially set, that is, the driving disc 221 is provided with a hinge end 2210, a first connecting end 2211 and a second connecting end 2212 which are distributed in a triangle shape, one end of the first passive traction rope 240 is connected to one side of the elastic member 220, which is far away from the driving disc 221, the other end is connected to the first connecting end 2211, one end of the second passive traction rope 241 is connected to the corresponding part of the end instrument module, and when the second passive traction rope 241 is pulled by the rotation of the driving disc 221, the driving disc 221 can be driven by a constant pulling force, that is always in the constant traction process.
In some embodiments, as shown in fig. 23, the active traction unit 23 includes a driving member 230 and a sliding block 231, the base 21 has a sliding slot extending along a first direction X, the sliding block 231 is slidably disposed in the sliding slot, the traction rope 24 further includes an active traction rope 242, one end of the active traction rope 242 is connected to the sliding block 231, the other end is connected to a corresponding portion of the end instrument module, and the driving member 230 is used for driving the sliding block 231 to move along the first direction X so as to pull the second passive traction rope 241 to drive the driving disc 221 to rotate, so that the elastic member 220 is compressed or relaxed. Through having the spout that extends along first direction X in the base 21, driving piece 230 drives slider 231 and follows directional slip of first direction X in the spout of base 21, slider 231 slides and drives initiative haulage rope 242 and act on the corresponding position of terminal instrument module after, make the corresponding rotation of second passive haulage rope 241 drive driving disc 221, let elastic component 220 compressed or diastole under the effect of first passive haulage rope 240, thereby accomplish the control of a degree of freedom, this process control is accurate, the pulling force that second passive haulage rope 241 receives is comparatively invariable in the quilt traction process, control accuracy higher in order to ensure flexible surgical robot, stability is good, can more intuitively give the operator with force feedback.
The driving member 230 may be a variety of driving mechanisms, for example, the driving member 230 may be an electric push rod, a screw nut pair mechanism, an air cylinder, a hydraulic cylinder, or a synchronous belt mechanism. In this embodiment, the driving member 230 is an electric push rod. The driving member 230 has a hook 233 connected to the end thereof, and a corresponding L-shaped slider 231, wherein a hooking portion 234 is formed at one end of the slider 231 near the hook 233, and the hook 233 is hooked to the hooking portion 234. The inside fastening groove that supplies initiative haulage rope 242 to stretch into that is provided with of slider 231, is provided with the fastening screw on one side of fastening groove on the slider 231, and the fastening screw supports tightly with initiative haulage rope 242 to realize the fixed of initiative haulage rope 242 and slider 231.
As shown in fig. 21 and 22, a schematic diagram and a defect diagram of a conventional rotary shaft for winding and unwinding a traction rope to drive a distal instrument in the prior art are shown. Fig. 21 shows a length of the driving wire before and after bending the distal instrument in an ideal state by winding and unwinding the traction rope using the conventional rotation shaft. The radius of the rotating shaft A is R. The length of the left traction rope in the bendable part of the tail end device is L1, the length of the right traction rope in the bendable part of the tail end device is L2, and the distance between the traction ropes at two sides is 2r. When the rotating shaft rotates, the bending angle of the tail end instrument is theta, and in the bendable part of the tail end instrument, the length of the left traction rope is L1', and the length of the right traction rope is L2'. The specific calculation process of the length of the traction wire is that L1+L2=2Rθ exists before bending. After bending, l1'+l2' = (r+r) θ+ (R-R) θ=2rθ, l1+l2=l1 '+l2'.
Fig. 22 shows a length diagram of a driving wire before and after bending the distal instrument in a practical state by winding and unwinding the traction rope using a conventional rotation shaft. The radius of the rotating shaft A is R. The length of the left traction rope in the bendable part of the tail end device is L1, the length of the right traction rope in the bendable part of the tail end device is L2, and the distance between the traction ropes at two sides is 2r. When the rotating shaft rotates, the bending angle of the tail end instrument is theta, and in the bendable part of the tail end instrument, the length of the left traction rope is L1', and the length of the right traction rope is L2'. In the actual state, the right traction rope is lengthened due to the fact that the pulling force is large, delta L deformation occurs, the released steel wire is loosened S, and therefore a gap occurs in control of the tail end of the bent instrument. The specific calculation process of the length of the traction wire is that L1+L2=2Rθ exists before bending. After bending, there is l1'+l2' +Δl= (r+r) θ+ (R-R) θ+Δl, l1+l2++l1 '+l2' +Δl.
According to the analysis of fig. 21 and 22, the tension of the traction rope is not known in actual operation, and the traction rope can only estimate bilateral traction force through the torque of the rotating shaft, so that the force control is inconvenient.
The specific calculation process for realizing constant force traction in the traction structure 20 in the scheme is as follows:
As shown in fig. 24, the left graph shows the initial state of the driving disc 221, the right graph shows the pulling state of the driving disc 221, where o is the rotation center of the hinge end 2210 of the driving disc 221, the driving disc 221 receives a downward spring tension force F1, the moment of the F1 relative to the hinge end 2210o is d1, the distance between the stress point of F1 and o is L1, the connecting line of the first connecting line 2211 and o of the driving disc 221 forms an angle θ1 with the horizontal, the second passive pulling rope 241 receives the pulling force from the outside to the right, the pulling force F2 acts on the driving disc 221 through the second connecting line 2212 of the driving disc 221, the moment of F2 relative to the rotating shaft o is d2, and the connecting line of the second connecting line 2212 and o of the driving disc 221 forms an angle θ2 with the horizontal.
After the drive disk 221 in the right figure rotates, F1, F2, d1, d2, θ1, θ2 become F1 ', F2', d1 ', d 2', θ1 ', θ2'.
Initial pose:
geometric relationship: d1=l1· sin θ1, d2 =l2·sinθ2;
Angular momentum balance: f1·d1= f2·d2;
Taking into account the geometrical relationship to obtain F1.L1 sin θ1=f2 L2.sinθ2
After traction rotation:
The geometric relationship is d1 '=L1.sinθ1'; d2 '=L2.sinθ2';
angular momentum balance: f1·d1= F2 '. D2';
Taking in the geometric relationship to obtain F1 '. L1.sin θ1 ' =F2 '. L2.sin θ2
Changes in right tension before and after rotation Δf:
ΔF=F2 ' -F2= (F1 '. L1. Sin θ1)/(L2. Sin θ2' - (F1. L1. Sin θ1)/(L2. Sin θ2), wherein, it is assumed that θ1 is approximately equal to θ1 ', f1″ =α·f1, sin θ2' =β·sin θ2;
after rotation, the compression of the spring is increased, F1' is greater than F1, so alpha is greater than 1, and the geometric relationship can be known as sin theta 2> sin theta 2, so beta is greater than 1;
After substitution, Δf= (f1·l1·sinθ1)/(l2·sinθ2) · (α/β -1) is obtained;
therefore, when a=β, the tension change Δf is zero.
Therefore, according to the above calculation, compared with the traditional traction method of winding and unwinding the traction ropes by the rotating shaft, the traction ropes on two sides of the scheme have no direct relation (not 1:1) between the winding length and the unwinding length. In the scheme, if the passive traction unit is a paying-off side, the constant force traction structure on the opposite side ensures that the whole traction end of paying-off is tight, if the active traction unit is a paying-off side, the paying-off distance is controllable, excessive slackening caused by excessive paying-off is avoided, the tension at the second passive traction rope 241 in the scheme is constant, the active traction rope 242 is axially connected to the driving piece 230 through the first pulley block 232, the force conduction is more transparent, and the instrument control force can be fed back to an operator more intuitively.
It should be noted that, after the traction structure 20 is used for multiple times, the traction ropes 24 on both sides may be loosened, the loosening of the first passive traction rope 240 and/or the second passive traction rope 241 may be compensated by the travel of the elastic member 220, and the active traction rope 242 in the active traction unit 23 may be correspondingly compensated by the force control of the active traction unit, thereby prolonging the service life of the apparatus. In addition, the distribution of the hinge end 2210, the first connection end 2211 and the second connection end 2212 on the driving disc 221 may be a right triangle, an obtuse triangle, etc.
In the present embodiment, the hinge end 2210, the first connection end 2211 and the second connection end 2212 are distributed on the driving disc 221 in an obtuse triangle, and the connection line between the first connection end 2211 and the hinge end 2210 and the connection line between the first connection end 2211 and the second connection end 2212 are distributed in an obtuse triangle. The driving disc 221 has an initial state and a pulling state, when the driving disc 221 is in the initial state, the elastic member 220 stores an initial elastic potential energy, the distance between the second connection end 2212 and the base 21 is L1, and when the driving disc 221 is in the pulling state, the elastic potential energy stored in the elastic member 220 is increased, the distance between the second connection end 2212 and the base 21 is L2, so that L2> L1 is satisfied. The vertical distance between the second passive traction rope 241 and the hinged end 2210 is relatively short, the driving disc 221 is pulled to rotate relatively hard, when the driving disc 221 is in a traction state, the driving disc 221 is pulled to rotate by the second passive traction rope 241 until the vertical distance between the second connecting wire end 2212 and the base 21 is increased, the driving disc 221 is pulled to rotate relatively hard, but at the moment, after the elastic piece 220 is gradually compressed, the restoring force provided by the elastic piece 220 is increased, so that the pulling force in the whole process of pulling the second passive traction rope 241 is almost constant, the control precision of the flexible surgical robot is higher, the stability is good, and the force feedback to an operator is safer and more accurate.
In some embodiments, as shown in fig. 19, the passive traction unit 22 further includes a plug 222, the plug 222 includes a body 2220 and a protrusion 2221, the body 2220 is located outside the elastic member 220, the protrusion 2221 extends into the elastic member 220 and is disposed coaxially with the elastic member 220, and the elastic member 220 and the driving disc 221 are connected to the protrusion 2221 through a first passive traction rope 240. Through being provided with end cap 222 at the end of elastic component 220, utilize the bulge 2221 of end cap 222 can insert in the hole of elastic component 220, first passive haulage rope 240 is connected in bulge 2221 for first passive haulage rope 240 is in the in-process of compressing elastic component 220, and the stress point is located the axis direction of elastic component 220, avoids appearing eccentric power transmission's phenomenon, ensures that first passive haulage rope 240 is evenly passed power and the even compression or the diastole of elastic component 220 by the traction in-process, has still prolonged the life of elastic component 220 correspondingly.
The elastic member 220 may be a spring, and has simple structure, convenient material drawing, low cost and easy implementation. In addition, the outer side of the spring member may be further sleeved with a metal outer sleeve 223, and the outer sleeve 223 may reduce friction.
In some embodiments, as shown in fig. 19, the active traction unit 23 further includes a first pulley block 232, where the first pulley block 232 and the driving disc 221 are located on the same side of the base 21, and the first pulley block 232 includes a pulley frame and a first pulley, where the first pulley is rotatably mounted on the base 21 through the pulley frame, and the first pulley is used for guiding an end of the active traction rope 242 away from the end. Because the end instrument module is located at one side of the base 21, the first pulley block 232 is arranged at one side of the base 21 close to the end instrument module, and the first pulley on the first pulley block 232 is arranged on the base 21 through the pulley frame, the first pulley can guide one far end of the active traction rope 242 so as to guide the active traction rope 242 to be converged into the instrument rod in the end instrument module, so that the friction and abrasion of the active traction rope 242 in the traction process are reduced, and the force transmission between the active traction unit 23 and the passive traction unit 22 is more smooth and reliable.
The number of the pulling mechanisms may be one set or may be multiple sets, for example, the number of the pulling mechanisms may be three sets, four sets, six sets, or the like, which is specific to the actual situation.
In some embodiments, as shown in fig. 19, the number of the pulling mechanisms is set to be multiple, and the multiple pulling mechanisms are distributed on the base 21 at equal intervals in a fan shape. The number of the traction mechanisms is set to be multiple groups, and the multiple groups of traction mechanisms can jointly control multiple degrees of freedom on the terminal instrument module, so that the terminal instrument module is more accurately controlled, and the steering range is wider.
In this embodiment, the number of the pulling mechanisms is six, the six pulling mechanisms are distributed in a fan shape on the base 21, and the radian of any two adjacent pulling mechanisms on the base 21 is equal.
In some embodiments, as shown in fig. 19, the traction structure further includes a central strut 25, the central strut 25 being fixed to the side of the base 21 having the drive disc 221, the central strut 25 being configured to intercept a plurality of traction ropes 24 of the traction mechanism facing away from the base 21. Through being provided with center pillar 25, center pillar 25 is crossed the many haulage ropes 24 that deviate from in the base 21 among the traction mechanism, plays the guide effect, and haulage rope 24 among the multiunit traction mechanism is crossed the center pillar 25 and is passed the apparatus pole together along predetermineeing the direction and get into in terminal apparatus module and be connected with corresponding position.
In some embodiments, as shown in fig. 26 to 28, a plurality of sets of second pulley blocks 250 are disposed in the central pillar 25, the plurality of sets of second pulley blocks 250 are distributed in the central pillar 25 along the axial direction and/or at intervals along the axial direction, and the plurality of sets of second pulley blocks 250 cooperate together to be used for converging the plurality of traction ropes 24 in the traction mechanism, which are away from the base 21, so as to guide the plurality of traction ropes 24 to be connected to corresponding positions of the end instrument module along the first direction X. Through being provided with multiunit second assembly pulley 250 in central pillar 25 inside, multiunit second assembly pulley 250 is used for converging and providing guiding effect to the one end that initiative haulage rope 242 and second passive haulage rope 241 kept away from base 21 for the corresponding initiative haulage rope 242 and second passive haulage rope 241 in the multiunit traction mechanism can walk the line along predetermined route and connect in the corresponding position of terminal apparatus module, reduce the probability that the circuit is disordered, and second assembly pulley 250 can guide initiative haulage rope 242 and second passive haulage rope 241, reduce the frictional resistance and the wearing and tearing of initiative haulage rope 242 and second passive haulage rope 241 in traction or by the in-process power, make the force transfer between initiative haulage unit 23 and the passive haulage unit 22 more smooth.
Wherein each set of second pulley arrangements 250 is positioned at a corresponding position of the central strut 25 by means of a pin 253, respectively. One side of the central pillar 25 is provided with a channel 252 along the axial direction for the traction rope 24 to pass through, the central pillar 25 is provided with a plurality of pulley grooves 251 for the corresponding second pulley blocks 250 to be installed, the pulley grooves 251 are communicated with the channel 252, each group of second pulley blocks 250 are correspondingly installed in the pulley grooves 251 of the central pillar 25, and at least part of the pulley surfaces of the second pulley blocks 250 are positioned in the channel 252 so as to meet and guide the passing traction rope 24.
In some embodiments, the pulling structure further includes a housing, the housing is covered on the base 21, and the housing is detachably connected with the base 21. By providing the housing on the outside of the base 21, the housing can cover the base 21 and the actuator on the base 21, ensuring the overall tightness and aesthetics of the pulling mechanism. And the shell is detachably connected with the base 21, so that the pulling structure 20 is relatively convenient to assemble and disassemble, and the subsequent maintenance of all parts in the pulling structure is also convenient.
Wherein the housing and base 21 in combination may be referred to as a drive cassette 280. The housing may shield the base 21 and at least a portion of the center pillar 25 on the base 21. The active traction unit 23 may further comprise a driving box, wherein the driving box is detachably connected with the driving instrument box, a driving piece 230 in each traction mechanism is installed in the driving box, and the driving end of the driving piece 230 is connected with a sliding block 231 in the instrument box of the driving instrument box.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.