技术领域Technical Field
本公开涉及医疗器械领域，尤其涉及一种紧凑型腕关节手术工具及手术机器人系统。The present disclosure relates to the field of medical devices, and in particular to a compact wrist joint surgery tool and a surgical robot system.
背景技术Background Art
微创手术具有创伤面积小、恢复快等诸多特点，在临床手术中已得到了越来越广泛的应用。在手术机器人系统中，通常手术工具设置于机械臂上。机械臂上设置伺服电机，机械臂与手术工具之间设置连接适配器，通过连接适配器以实时传动力矩和载荷。手术工具上设有传动机构，以将电机输入的旋转运动转化成线性运动，从而对手术工具进行控制，并通过控制手术工具末端的手术执行器实现不同部位的外科手术。Minimally invasive surgery has many characteristics such as small trauma area and fast recovery, and has been increasingly widely used in clinical surgery. In a surgical robot system, surgical tools are usually set on a robotic arm. A servo motor is set on the robotic arm, and a connecting adapter is set between the robotic arm and the surgical tool. The torque and load are transmitted in real time through the connecting adapter. A transmission mechanism is set on the surgical tool to convert the rotational motion input by the motor into linear motion, thereby controlling the surgical tool, and realizing surgical operations on different parts by controlling the surgical actuator at the end of the surgical tool.
在手术过程中，由于部分机械臂将直接接触外科手术工具，由于临近手术部位，易在手术期间受污染，且机械臂部分的驱动模块一般不能用蒸气、热压或化学制品等常规方法消毒。通常利用从连接适配器处延伸的无菌保护套将非无菌的机械臂与无菌的手术工具从操作环境中隔离开。During the operation, part of the robot arm will directly contact the surgical tools and is easily contaminated during the operation due to its proximity to the surgical site, and the drive module of the robot arm part cannot be sterilized by conventional methods such as steam, autoclave or chemicals. A sterile protective cover extending from the connection adapter is usually used to isolate the non-sterile robot arm and the sterile surgical tools from the operating environment.
现有的连接适配器主要用于传递旋转扭矩，手术工具在频繁转动过程中，容易造成冗余的无菌保护套缠绕或下垂，甚至可能会被卷入，阻挠限制手术工具的运动。且手术工具需要设置将旋转运动转化为线性运动的传动机构，这样也会造成手术工具尺寸偏大，不利于携带和装配。Existing connection adapters are mainly used to transmit rotational torque. During the frequent rotation of surgical tools, the redundant sterile protective cover is easily entangled or drooped, and may even be caught in it, obstructing and restricting the movement of the surgical tool. In addition, the surgical tool needs to be equipped with a transmission mechanism that converts rotational motion into linear motion, which will also make the size of the surgical tool larger, which is not conducive to carrying and assembly.
发明内容Summary of the invention
本公开提供一种手术工具，包括：The present disclosure provides a surgical tool, comprising:
臂体，所述臂体包括远端和近端；An arm body, the arm body comprising a distal end and a proximal end;
腕关节，可转动地设置在所述臂体的远端；A wrist joint, rotatably disposed at the distal end of the arm body;
末端器械，设置在所述腕关节上；An end instrument is arranged on the wrist joint;
多个滑块，所述滑块包括设置在所述滑块上的连接接口，所述连接接口用于与外部装置耦合并从所述外部装置接收驱动，所述多个滑块包括至少一个腕关节驱动滑块；以及a plurality of sliders, each of which includes a connection interface disposed on the slider, the connection interface being used to couple with an external device and receive a drive from the external device, the plurality of sliders including at least one wrist joint drive slider; and
多根驱动丝，包括至少一根腕关节驱动丝，所述腕关节驱动丝的近端与所述腕关节驱动滑块连接，远端与所述腕关节连接，所述腕关节驱动滑块用于在所接收的驱动下，推或拉所述腕关节驱动丝以驱动所述腕关节旋转。A plurality of drive wires include at least one wrist joint drive wire, wherein the proximal end of the wrist joint drive wire is connected to the wrist joint drive slider, and the distal end is connected to the wrist joint, and the wrist joint drive slider is used to push or pull the wrist joint drive wire to drive the wrist joint to rotate under the received drive.
在一些实施例中，本公开还提供一种手术机器人系统，包括：In some embodiments, the present disclosure further provides a surgical robot system, comprising:
至少一个机械臂，所述机械臂包括至少一个驱动机构和至少一个驱动接口，所述至少一个驱动机构用于驱动所述至少一个驱动接口运动；at least one mechanical arm, the mechanical arm comprising at least one driving mechanism and at least one driving interface, the at least one driving mechanism being used to drive the at least one driving interface to move;
如本公开中任意实施例所述的至少一个手术工具；以及At least one surgical tool as described in any embodiment of the present disclosure; and
至少一个连接适配器，所述连接适配器用于与所述机械臂和所述手术工具可拆卸地连接，所述连接适配器包括至少一个第一接口和至少一个第二接口，所述第一接口用于与所述手术工具的连接接口耦合，所述第二接口用于与所述驱动接口耦合。At least one connection adapter, which is used to detachably connect with the robotic arm and the surgical tool, and the connection adapter includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the surgical tool, and the second interface is used to couple with the drive interface.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本公开实施例中的技术方案，下面将对本公开实施例描述中所需要使用的附图作简单的介绍。下面描述中的附图仅仅示出本公开的一些实施例，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，还可以根据本公开实施例的内容和这些附图获得其他的实施例。In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.
图1示出根据本公开一些实施例的手术工具的结构示意图；FIG1 is a schematic structural diagram of a surgical tool according to some embodiments of the present disclosure;
图2(a)示出根据本公开一些实施例的臂体的远端结构示意图；FIG2( a ) shows a schematic diagram of the distal end structure of an arm according to some embodiments of the present disclosure;
图2(b)示出根据本公开另一些实施例的臂体的远端结构示意图；FIG2( b ) shows a schematic diagram of the distal structure of an arm according to other embodiments of the present disclosure;
图3(a)和(b)示出根据本公开一些实施例的末端器械和腕关节的结构示意图；3(a) and (b) are schematic diagrams showing the structures of an end instrument and a wrist joint according to some embodiments of the present disclosure;
图4示出根据本公开一些实施例的腕关节旋转机构的结构示意图；FIG4 is a schematic structural diagram of a wrist joint rotation mechanism according to some embodiments of the present disclosure;
图5(a)和(b)示出根据本公开一些实施例的末端执行机构的结构示意图；5(a) and (b) are schematic diagrams showing the structure of an end effector according to some embodiments of the present disclosure;
图6示出根据本公开一些实施例的手术工具的近端内部结构示意图；FIG6 is a schematic diagram showing the internal structure of the proximal end of a surgical tool according to some embodiments of the present disclosure;
图7示出根据本公开另一些实施例的手术工具的近端部分结构示意图；FIG7 is a schematic diagram showing the structure of the proximal portion of a surgical tool according to other embodiments of the present disclosure;
图8示出根据本公开一些实施例的手术工具的近端部分与外部装置耦合的结构示意图；FIG8 is a schematic diagram showing a structure in which a proximal portion of a surgical tool is coupled to an external device according to some embodiments of the present disclosure;
图9示出根据本公开一些实施例的滑块与驱动丝分布的结构示意图；FIG9 is a schematic diagram showing the structure of the slider and the drive wire distribution according to some embodiments of the present disclosure;
图10示出根据本公开一些实施例的手术机器人系统的结构框图；FIG10 shows a structural block diagram of a surgical robot system according to some embodiments of the present disclosure;
图11示出根据本公开一些实施例的连接接口、传动件和驱动接口的分解结构示意图；FIG11 is a schematic diagram showing an exploded structure of a connection interface, a transmission member, and a drive interface according to some embodiments of the present disclosure;
图12示出根据本公开一些实施例的连接适配器展开状态下的正面视图；FIG12 illustrates a front view of a connection adapter in an unfolded state according to some embodiments of the present disclosure;
图13示出根据本公开一些实施例的连接适配器折叠状态下的结构示意图；FIG13 is a schematic diagram showing the structure of a connection adapter in a folded state according to some embodiments of the present disclosure;
图14示出根据本公开一些实施例的连接适配器与手术工具的装配结构示意图；FIG14 is a schematic diagram showing an assembly structure of a connection adapter and a surgical tool according to some embodiments of the present disclosure;
图15示出根据本公开一些实施例的连接适配器展开状态下的反面视图。FIG. 15 illustrates a rear view of a connection adapter in an unfolded state according to some embodiments of the present disclosure.
具体实施方式DETAILED DESCRIPTION
为使本公开解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本公开实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本公开示例性实施例，而不是全部的实施例。In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“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公开和简化描述，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公开的限制。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。In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“耦合”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连；可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。在本公开中，定义靠近操作者(例如医生)的一端为近端、近部或后端、后部，靠近手术患者的一端为远端、远部或前端、前部。本领域技术人员可以理解，本公开的实施例可以用于医疗器械或手术机器人，也可以用于其他非医疗装置。In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the distal part or the front end, the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.
图1示出根据本公开一些实施例的手术工具30的结构示意图。如图1所示，手术工具30可以包括多个滑块33、多根驱动丝34、包括远端和近端的臂体31、可转动地设置在臂体31远端的腕关节39、以及设置在腕关节39上的末端器械32。如图1所示，滑块33包括设置在滑块33上的连接接口331，连接接口331用于与外部装置耦合并从外部装置接收驱动。例如，外部装置可以包括驱动接口，连接接口331直接或间接与驱动接口耦合，以接收外部装置的驱动。通过将驱动机构外置和/或将传递驱动的传动机构外置，可以实现手术工具的小型化、轻量化。FIG1 shows a schematic diagram of the structure of a surgical tool 30 according to some embodiments of the present disclosure. As shown in FIG1 , the surgical tool 30 may include a plurality of sliders 33, a plurality of drive wires 34, an arm body 31 including a distal end and a proximal end, a wrist joint 39 rotatably disposed at the distal end of the arm body 31, and an end instrument 32 disposed on the wrist joint 39. As shown in FIG1 , the slider 33 includes a connection interface 331 disposed on the slider 33, and the connection interface 331 is used to couple with an external device and receive a drive from the external device. For example, the external device may include a drive interface, and the connection interface 331 is directly or indirectly coupled to the drive interface to receive a drive from the external device. By externalizing the drive mechanism and/or externalizing the transmission mechanism that transmits the drive, the miniaturization and lightweight of the surgical tool can be achieved.
图2(a)示出根据本公开一些实施例的臂体31的远端结构示意图，图2(b)示出根据本公开另一些实施例的臂体31的远端结构示意图。如图2(a)所示，多根驱动丝34可以包括至少一根腕关节驱动丝341。多个滑块33可以包括至少一个腕关节驱动滑块。腕关节驱动丝341的近端与腕关节驱动滑块连接，远端与腕关节39连接，腕关节驱动滑块用于在所接收的驱动下，拉动腕关节驱动丝341以驱动腕关节39旋转。通过设置腕关节，可以实现手术工具末端的弯转，增加运动灵活性。在一些实施例中，如图2(a)所示，臂体31包括刚性段臂体。在一些实施例中，如图2(b)所示，臂体31还可以包括位于近端的刚性或柔性段臂体31b和位于远端的连续体臂体31a。通过连续体臂体31a可以进一步提高手术工具的运动能力。FIG. 2( a) shows a schematic diagram of the distal structure of the arm 31 according to some embodiments of the present disclosure, and FIG. 2( b) shows a schematic diagram of the distal structure of the arm 31 according to other embodiments of the present disclosure. As shown in FIG. 2( a), the plurality of drive wires 34 may include at least one wrist joint drive wire 341. The plurality of sliders 33 may include at least one wrist joint drive slider. The proximal end of the wrist joint drive wire 341 is connected to the wrist joint drive slider, and the distal end is connected to the wrist joint 39. The wrist joint drive slider is used to pull the wrist joint drive wire 341 to drive the wrist joint 39 to rotate under the received drive. By setting the wrist joint, the bending of the end of the surgical tool can be achieved and the flexibility of movement can be increased. In some embodiments, as shown in FIG. 2( a), the arm 31 includes a rigid segment arm. In some embodiments, as shown in FIG. 2( b), the arm 31 may also include a rigid or flexible segment arm 31b located at the proximal end and a continuum arm 31a located at the distal end. The continuum arm 31a can further improve the movement ability of the surgical tool.
应当理解，末端器械32可以包括末端执行器、内窥镜或其他器械。末端执行器可以包括，例如，分离钳、抓钳、剪刀、双极抓钳、单级弯剪、持针器、施夹器等等。内窥镜可以包括，例如，至少一个成像单元和照明单元等等。其他器械可以包括，例如，电勾、引流管或吸引器等等。It should be understood that the end instrument 32 may include an end effector, an endoscope, or other instruments. The end effector may include, for example, a separation forceps, a grasping forceps, a scissors, a bipolar grasping forceps, a single-stage curved scissors, a needle holder, a clip applier, etc. The endoscope may include, for example, at least one imaging unit and an illumination unit, etc. Other instruments may include, for example, an electric hook, a drainage tube, or an aspirator, etc.
图3(a)和(b)示出根据本公开一些实施例的末端器械32和腕关节39的结构示意图。在一些实施例中，如图3(a)和(b)所示，腕关节39可以包括腕关节基座391和腕关节旋转机构392。腕关节基座391固定设置在臂体31的远端，腕关节旋转机构392设置在腕关节基座391上(例如，通过枢轴连接)，并与腕关节驱动丝341连接，用于在腕关节驱动丝341的驱动下在第一平面(例如，与旋转轴垂直的平面)内的旋转。FIG3 (a) and (b) show schematic diagrams of the structures of the end instrument 32 and the wrist joint 39 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG3 (a) and (b), the wrist joint 39 may include a wrist joint base 391 and a wrist joint rotation mechanism 392. The wrist joint base 391 is fixedly disposed at the distal end of the arm body 31, and the wrist joint rotation mechanism 392 is disposed on the wrist joint base 391 (for example, via a pivot connection) and connected to the wrist joint drive wire 341, for rotation in a first plane (for example, a plane perpendicular to the rotation axis) driven by the wrist joint drive wire 341.
在一些实施例中，如图2(a)、图3(a)和(b)所示，多根驱动丝34还可以包括至少一根执行器驱动丝342。作为示例，图2(a)、图3(a)和(b)所示出的末端器械32是末端执行器，可以包括末端执行机构321、第一钳头322和第二钳头323。末端执行机构321设置在腕关节旋转机构392上，并与执行器驱动丝342连接。第一钳头322和第二钳头323可以设置在末端执行机构321上，末端执行机构321用于随腕关节旋转机构392旋转，并在执行器驱动丝342的驱动下带动第一钳头322和/或第二钳头323在第二平面(例如，与第一钳头322和/或第二钳头323的旋转轴垂直的平面)内张合。应当理解，在本公开中，钳头应该做宽泛解释，可以包括任何张合工具的工具头，包括但不限于，夹钳类工具、剪刀类工具等等。In some embodiments, as shown in FIG. 2(a), FIG. 3(a) and (b), the plurality of drive wires 34 may further include at least one actuator drive wire 342. As an example, the end instrument 32 shown in FIG. 2(a), FIG. 3(a) and (b) is an end effector, which may include an end effector 321, a first clamp 322 and a second clamp 323. The end effector 321 is disposed on the wrist joint rotation mechanism 392 and is connected to the actuator drive wire 342. The first clamp 322 and the second clamp 323 may be disposed on the end effector 321, and the end effector 321 is used to rotate with the wrist joint rotation mechanism 392, and drive the first clamp 322 and/or the second clamp 323 to open and close in a second plane (e.g., a plane perpendicular to the rotation axis of the first clamp 322 and/or the second clamp 323) under the drive of the actuator drive wire 342. It should be understood that in the present disclosure, the pliers head should be interpreted broadly and may include the tool head of any opening and closing tool, including but not limited to pliers-type tools, scissors-type tools, and the like.
在一些实施例中，如图3(a)和(b)所示，腕关节旋转机构392可以包括腕关节旋转体3921和执行器基座3922。腕关节旋转体3921转动连接在腕关节基座391上，例如通过枢轴连接，执行器基座3922设置在腕关节旋转体3921上。腕关节旋转体3921可以包括能够绕旋转轴旋转的转轮，执行器基座3922与转轮固定连接，以随着转轮旋转。应当理解，执行器基座3922可以包括第一执行器支架3922a和第二执行器支架3922b，如图3(b)所示，第一执行器支架3922a和第二执行器支架3922b对称地设置在腕关节旋转体3921上，例如，与腕关节旋转体3921的旋转轴所在平面垂直。第一执行器支架3922a和第二执行器支架3922b之间形成容纳空间，可以用于容纳末端执行机构321。In some embodiments, as shown in FIG. 3( a) and (b), the wrist joint rotation mechanism 392 may include a wrist joint rotation body 3921 and an actuator base 3922. The wrist joint rotation body 3921 is rotatably connected to the wrist joint base 3921, for example, by a pivot connection, and the actuator base 3922 is disposed on the wrist joint rotation body 3921. The wrist joint rotation body 3921 may include a rotating wheel capable of rotating around a rotation axis, and the actuator base 3922 is fixedly connected to the rotating wheel to rotate with the rotating wheel. It should be understood that the actuator base 3922 may include a first actuator bracket 3922a and a second actuator bracket 3922b, as shown in FIG. 3(b), the first actuator bracket 3922a and the second actuator bracket 3922b are symmetrically disposed on the wrist joint rotation body 3921, for example, perpendicular to the plane where the rotation axis of the wrist joint rotation body 3921 is located. A receiving space is formed between the first actuator bracket 3922a and the second actuator bracket 3922b, which can be used to accommodate the end actuator 321.
图4示出根据本公开一些实施例的腕关节旋转机构392的结构示意图。如图4所示，其中至少一根腕关节驱动丝341包括第一腕关节驱动丝341a和第二腕关节驱动丝341b，至少一个腕关节驱动滑块包括第一腕关节驱动滑块和第二腕关节驱动滑块，第一腕关节驱动丝341a的近端与多个滑块33中的第一腕关节驱动滑块连接，穿过臂体31，远端与腕关节旋转体3921的第一侧连接，第二腕关节驱动丝341b的近端与多个滑块33中的第二腕关节驱动滑块连接，穿过臂体31，远端与腕关节旋转体3921的与第一侧相对的第二侧连接。在一些实施例中，第一腕关节驱动滑块和第二腕关节驱动滑块可以以相同的速度向相反的方向直线运动。由此，通过进行反向直线运动的第一腕关节驱动滑块和第二腕关节驱动滑块推和/或拉连接于腕关节旋转体3921两侧的腕关节驱动丝341，驱使腕关节旋转体3921的正、反向旋转，进而带动执行器基座3922在垂直于腕关节旋转体3921旋转轴的第一平面内完成旋转运动。FIG4 shows a schematic diagram of the structure of the wrist joint rotation mechanism 392 according to some embodiments of the present disclosure. As shown in FIG4, at least one wrist joint drive wire 341 includes a first wrist joint drive wire 341a and a second wrist joint drive wire 341b, and at least one wrist joint drive slider includes a first wrist joint drive slider and a second wrist joint drive slider. The proximal end of the first wrist joint drive wire 341a is connected to the first wrist joint drive slider among the multiple sliders 33, passes through the arm body 31, and the distal end is connected to the first side of the wrist joint rotation body 3921. The proximal end of the second wrist joint drive wire 341b is connected to the second wrist joint drive slider among the multiple sliders 33, passes through the arm body 31, and the distal end is connected to the second side of the wrist joint rotation body 3921 opposite to the first side. In some embodiments, the first wrist joint drive slider and the second wrist joint drive slider can move linearly in opposite directions at the same speed. Thus, by pushing and/or pulling the wrist joint driving wire 341 connected to both sides of the wrist joint rotating body 3921 through the first wrist joint driving slider and the second wrist joint driving slider performing reverse linear motion, the wrist joint rotating body 3921 is driven to rotate forward and reverse, thereby driving the actuator base 3922 to complete the rotational motion in the first plane perpendicular to the rotation axis of the wrist joint rotating body 3921.
如图3(b)和图4所示，执行器基座3922可以包括第一执行器支架3922a、第二执行器支架3922b和连接板3922c，第一执行器支架3922a和第二执行器支架3922b对称设置，连接板3922c固定设置在第一执行器支架3922a和第二执行器支架3922b之间，将第一执行器支架3922a和第二执行器支架3922b固定连接在一起。As shown in Figures 3(b) and 4, the actuator base 3922 may include a first actuator bracket 3922a, a second actuator bracket 3922b and a connecting plate 3922c, the first actuator bracket 3922a and the second actuator bracket 3922b are symmetrically arranged, and the connecting plate 3922c is fixedly arranged between the first actuator bracket 3922a and the second actuator bracket 3922b to fix the first actuator bracket 3922a and the second actuator bracket 3922b together.
图5(a)和(b)示出根据本公开一些实施例的末端执行机构321的结构示意图。在一些实施例中，如图5(a)和(b)所示，末端执行机构321包括第一执行器旋转体3211、第二执行器旋转体3212、第一组转向滑轮3213和第二组转向滑轮3214。第一执行器旋转体3211与第一钳头322固定连接并且与执行器基座3922转动连接，例如通过枢轴连接。第二执行器旋转体3212与第二钳头323固定连接且与执行器基座3922转动连接，例如通过枢轴连接。应当理解，第一执行器旋转体3211与第一钳头322、第二执行器旋转体3212与第二钳头323也可以一体成型。第一执行器旋转体3211和第二执行器旋转体3212可以包括转轮。第一组转向滑轮3213可以与执行器基座3922转动连接，第二组转向滑轮3214也可以与执行器基座3922转动连接。例如，第一组转向滑轮3213和第二组转向滑轮3214可以与连接板3922c转动连接。第一组转向滑轮3213和第二组转向滑轮3214可以对称设置在连接板3922c的两侧上。FIG. 5( a) and (b) show schematic diagrams of the structure of the end actuator 321 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 5( a) and (b), the end actuator 321 includes a first actuator rotating body 3211, a second actuator rotating body 3212, a first set of steering pulleys 3213 and a second set of steering pulleys 3214. The first actuator rotating body 3211 is fixedly connected to the first clamp head 322 and is rotatably connected to the actuator base 3922, for example, by a pivot connection. The second actuator rotating body 3212 is fixedly connected to the second clamp head 323 and is rotatably connected to the actuator base 3922, for example, by a pivot connection. It should be understood that the first actuator rotating body 3211 and the first clamp head 322, and the second actuator rotating body 3212 and the second clamp head 323 can also be integrally formed. The first actuator rotating body 3211 and the second actuator rotating body 3212 may include a rotating wheel. The first group of diverting pulleys 3213 can be rotatably connected to the actuator base 3922, and the second group of diverting pulleys 3214 can also be rotatably connected to the actuator base 3922. For example, the first group of diverting pulleys 3213 and the second group of diverting pulleys 3214 can be rotatably connected to the connecting plate 3922c. The first group of diverting pulleys 3213 and the second group of diverting pulleys 3214 can be symmetrically arranged on both sides of the connecting plate 3922c.
如图5(a)和(b)所示，至少一根执行器驱动丝342包括第一执行器驱动丝342a、第二执行器驱动丝342b、第三执行器驱动丝342c和第四执行器驱动丝342d。多个滑块33可以包括多个执行器驱动滑块。第一执行器驱动丝342a的近端与多个滑块33中的第一执行器驱动滑块连接，穿过臂体31，绕过第一组转向滑轮3213，远端与第一执行器旋转体3211的第一侧连接。第二执行器驱动丝342b的近端与多个滑块33中的第二执行器驱动滑块连接，穿过臂体31，绕过第二组转向滑轮3214，远端与第一执行器旋转体3211的与第一侧相对的第二侧连接。第三执行器驱动丝342c的近端与多个滑块33中的第三执行器驱动滑块连接，穿过臂体31，绕过第一组转向滑轮3213，远端与第二执行器旋转体3212的第一侧连接。第四执行器驱动丝342d的近端与多个滑块33中的第四执行器驱动滑块连接，穿过臂体31，绕过第二组转向滑轮3214，远端与第二执行器旋转体3212的与第一侧相对的第二侧连接。应当理解，腕关节驱动丝341和执行器驱动丝342可以包括各种实现拉和/或推的驱动丝，例如镍钛合金丝、钢丝等等。As shown in Fig. 5 (a) and (b), at least one actuator drive wire 342 includes a first actuator drive wire 342a, a second actuator drive wire 342b, a third actuator drive wire 342c and a fourth actuator drive wire 342d. The plurality of sliders 33 may include a plurality of actuator drive sliders. The proximal end of the first actuator drive wire 342a is connected to the first actuator drive slider among the plurality of sliders 33, passes through the arm body 31, bypasses the first group of steering pulleys 3213, and the distal end is connected to the first side of the first actuator rotating body 3211. The proximal end of the second actuator drive wire 342b is connected to the second actuator drive slider among the plurality of sliders 33, passes through the arm body 31, bypasses the second group of steering pulleys 3214, and the distal end is connected to the second side of the first actuator rotating body 3211 opposite to the first side. The proximal end of the third actuator driving wire 342c is connected to the third actuator driving slider among the plurality of sliders 33, passes through the arm body 31, bypasses the first group of steering pulleys 3213, and the distal end is connected to the first side of the second actuator rotating body 3212. The proximal end of the fourth actuator driving wire 342d is connected to the fourth actuator driving slider among the plurality of sliders 33, passes through the arm body 31, bypasses the second group of steering pulleys 3214, and the distal end is connected to the second side of the second actuator rotating body 3212 opposite to the first side. It should be understood that the wrist joint driving wire 341 and the actuator driving wire 342 may include various driving wires for achieving pulling and/or pushing, such as nickel-titanium alloy wire, steel wire, etc.
在一些实施例中，第一执行器驱动滑块和第二执行器驱动滑块、和/或第三执行器驱动滑块和第四执行器驱动滑块可以用于以相同的速度向相反的方向直线运动。由此，通过进行反向直线运动的第一执行器驱动滑块和第二执行器驱动滑块推和/或拉连接于第一执行器旋转体3211两侧的第一执行器驱动丝342a和第二执行器驱动丝342b，通过进行反向直线运动的第三执行器驱动滑块和第四执行器驱动滑块推和/或拉连接于第二执行器旋转体3212两侧的第三执行器驱动丝342c和第四执行器驱动丝342d，通过第一组转向滑轮3213和第二组转向滑轮3214的转向，驱使第一执行器旋转体3211和第二执行器旋转体3212向相反的方向正反向旋转，从而带动第一钳头322和第二钳头323在垂直第一执行器旋转体3211和第二执行器旋转体3212的旋转轴的第二平面内完成张合运动。应当理解，第一执行器旋转体3211和第二执行器旋转体3212的旋转轴同轴线或者平行设置。通过设置多组转向滑轮，以改变执行器驱动丝342的转向，以改变执行器旋转体的旋转方向。In some embodiments, the first actuator driving slider and the second actuator driving slider, and/or the third actuator driving slider and the fourth actuator driving slider can be used to perform linear motion in opposite directions at the same speed. Thus, the first actuator driving slider and the second actuator driving slider that perform reverse linear motion push and/or pull the first actuator driving wire 342a and the second actuator driving wire 342b connected to both sides of the first actuator rotating body 3211, and the third actuator driving slider and the fourth actuator driving slider that perform reverse linear motion push and/or pull the third actuator driving wire 342c and the fourth actuator driving wire 342d connected to both sides of the second actuator rotating body 3212, and the first set of steering pulleys 3213 and the second set of steering pulleys 3214 are turned to drive the first actuator rotating body 3211 and the second actuator rotating body 3212 to rotate in opposite directions, thereby driving the first clamp head 322 and the second clamp head 323 to complete the opening and closing motion in the second plane perpendicular to the rotation axis of the first actuator rotating body 3211 and the second actuator rotating body 3212. It should be understood that the rotation axes of the first actuator rotating body 3211 and the second actuator rotating body 3212 are coaxial or parallel. By providing multiple sets of steering pulleys, the steering direction of the actuator driving wire 342 is changed to change the rotation direction of the actuator rotating body.
如图3(a)所示，在位于腕关节旋转体3921两侧的腕关节基座391上分别设有腕关节驱动丝引导孔3923和执行器驱动丝引导孔3924，腕关节驱动丝341和执行器驱动丝342可以分别从腕关节驱动丝引导孔3923和执行器驱动丝引导孔3924中穿过。As shown in Figure 3(a), a wrist joint drive wire guide hole 3923 and an actuator drive wire guide hole 3924 are respectively provided on the wrist joint base 391 located on both sides of the wrist joint rotating body 3921, and the wrist joint drive wire 341 and the actuator drive wire 342 can pass through the wrist joint drive wire guide hole 3923 and the actuator drive wire guide hole 3924 respectively.
在一些实施例中，如图1所示，手术工具30还可以包括壳体35，壳体35用于容纳至少一个滑块33。壳体35包括至少一个壳体窗口(例如壳体窗口3531)，至少一个滑块33的连接接口331位于至少一个壳体窗口中。例如，壳体35可以位于手术工具30的近端，至少一个滑块33可滑动地设置在壳体35内，滑块33的连接接口331突出位于壳体35的壳体窗口中。In some embodiments, as shown in FIG1 , the surgical tool 30 may further include a housing 35, the housing 35 being used to accommodate at least one slider 33. The housing 35 includes at least one housing window (e.g., housing window 3531), and the connection interface 331 of at least one slider 33 is located in the at least one housing window. For example, the housing 35 may be located at the proximal end of the surgical tool 30, and the at least one slider 33 may be slidably disposed in the housing 35, and the connection interface 331 of the slider 33 may protrude from the housing window of the housing 35.
图6示出根据本公开一些实施例的手术工具30的近端内部结构示意图。如图6所示，在一些实施例中，壳体35内可以设有至少一个滑轨36。至少一个滑块33设置在至少一个滑轨36上，通过滑轨36以使滑块33的运动更加稳定可靠。应当理解，连接接口331上设有耦合结构，例如，耦合凹槽、耦合凸起、侧切面等等。各滑块上的连接接口的结构可以相同或者不同，例如，接口可以为不规则柱形(例如包括侧切面)，接口可以为圆柱形或圆台形等。通过设置不同结构的接口，可以便于装配。FIG6 shows a schematic diagram of the proximal internal structure of a surgical tool 30 according to some embodiments of the present disclosure. As shown in FIG6, in some embodiments, at least one slide rail 36 may be provided in the housing 35. At least one slider 33 is disposed on at least one slide rail 36, and the slide rail 36 is used to make the movement of the slider 33 more stable and reliable. It should be understood that a coupling structure is provided on the connection interface 331, such as a coupling groove, a coupling protrusion, a side section, and the like. The structures of the connection interfaces on each slider may be the same or different, for example, the interface may be an irregular column (e.g., including a side section), the interface may be cylindrical or truncated cone, and the like. By providing interfaces of different structures, assembly may be facilitated.
在一些实施例中，图7示出根据本公开另一些实施例的手术工具30的近端部分结构示意图，图8示出根据本公开一些实施例的手术工具30的近端部分与外部装置耦合的结构示意图。应当理解，图6中示出的手术工具30的臂体31包括连续体臂体和刚性臂体。图7中示出的手术工具30的臂体31不包括连续体臂体。清楚起见，仅示出图7中的其中一个壳体窗口的可形变膜(由阴影示出)，其他附图中的壳体窗口的可形变膜未示出。如图7所示，手术工具30还可以包括至少一个可形变膜37。可形变膜37密封设置在壳体35上，用于覆盖至少一个壳体窗口(例如壳体窗口3531、3521)。应当理解，可形变膜37的周向可以密封连接(例如焊接、粘合等等)在壳体35上，通过覆盖至少一个壳体窗口，以使壳体35的第一侧(例如内侧)与第二侧(例如外侧)之间形成有效的屏障，例如阻隔细菌的无菌屏障。其中连接接口331与可形变膜37密封连接，并且用于通过至少一个可形变膜37的形变接收驱动。例如，连接接口331可以与可形变膜37一体成型、焊接或者粘合连接，以使连接接口331与可形变膜37的连接处之间不存在间隙，以将有菌区与无菌区密封隔离开。In some embodiments, FIG. 7 shows a schematic diagram of the structure of the proximal portion of the surgical tool 30 according to other embodiments of the present disclosure, and FIG. 8 shows a schematic diagram of the structure of the proximal portion of the surgical tool 30 coupled to an external device according to some embodiments of the present disclosure. It should be understood that the arm 31 of the surgical tool 30 shown in FIG. 6 includes a continuum arm and a rigid arm. The arm 31 of the surgical tool 30 shown in FIG. 7 does not include a continuum arm. For clarity, only the deformable membrane of one of the shell windows in FIG. 7 is shown (shown by the shadow), and the deformable membranes of the shell windows in other figures are not shown. As shown in FIG. 7, the surgical tool 30 may also include at least one deformable membrane 37. The deformable membrane 37 is sealingly disposed on the shell 35 to cover at least one shell window (e.g., shell windows 3531, 3521). It should be understood that the circumference of the deformable membrane 37 can be sealed and connected (e.g., welded, bonded, etc.) to the shell 35, and by covering at least one shell window, an effective barrier is formed between the first side (e.g., the inside) and the second side (e.g., the outside) of the shell 35, such as a sterile barrier that blocks bacteria. The connection interface 331 is sealed and connected to the deformable membrane 37, and is used to receive drive through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be integrally formed, welded, or bonded with the deformable membrane 37, so that there is no gap between the connection between the connection interface 331 and the deformable membrane 37, so as to seal and isolate the sterile area from the sterile area.
本领域技术人员应当理解，本公开中的密封设置或密封连接是指连接处是密封的，形成阻隔屏障，例如用于阻隔细菌的无菌屏障、用于阻隔灰尘的灰尘屏障等等。至少一个滑块33的连接接口331用于通过至少一个可形变膜37的形变，在连接接口331与外部装置的驱动接口之间传动。例如，连接接口331可以用于在外部装置的驱动接口的驱动下运动。如图8所示，外部装置的驱动接口可以通过连杆23与传动件300连接，由传动件300带动连接接口331(或331c)运动。由于可形变膜37能够形变，从而允许驱动接口带动连接接口331运动，以实现将驱动接口的驱动(例如线性驱动)传递至连接接口331，通过连接接口331带动滑块33运动，以实现对驱动丝(例如腕关节驱动丝341、执行器驱动丝342)的推和/或拉，结构简单，易于操作。Those skilled in the art should understand that the sealing arrangement or sealing connection in the present disclosure means that the connection is sealed to form a barrier, such as a sterile barrier for blocking bacteria, a dust barrier for blocking dust, etc. The connection interface 331 of at least one slider 33 is used to transmit between the connection interface 331 and the drive interface of the external device through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be used to move under the drive of the drive interface of the external device. As shown in Figure 8, the drive interface of the external device can be connected to the transmission member 300 through the connecting rod 23, and the transmission member 300 drives the connection interface 331 (or 331c) to move. Since the deformable membrane 37 can be deformed, the drive interface is allowed to drive the connection interface 331 to move, so as to realize the transmission of the drive interface (such as linear drive) to the connection interface 331, and the slider 33 is driven to move through the connection interface 331 to realize the push and/or pull of the drive wire (such as the wrist joint drive wire 341, the actuator drive wire 342), which has a simple structure and is easy to operate.
本领域技术人员可以理解，运动可以包括各种形式的运动，例如与窗口平面平行的移动、垂直于窗口平面的移动或两种运动的组合等等。运动可以包括，例如线性运动、曲线运动等等。本公开的一些实施例中，以线性运动为例来描述，但这并不构成对本公开的任何限制。Those skilled in the art will appreciate that the motion may include various forms of motion, such as motion parallel to the window plane, motion perpendicular to the window plane, or a combination of the two motions, etc. The motion may include, for example, linear motion, curvilinear motion, etc. In some embodiments of the present disclosure, linear motion is used as an example for description, but this does not constitute any limitation to the present disclosure.
在一些实施例中，可形变膜37包括与壳体35形状适配的片状膜，片状膜密封设置在壳体35的内表面或外表面上，以覆盖至少一个壳体窗口。例如，壳体35呈立方形，每个侧板呈矩形，可形变膜37可以为与每个侧板适配的矩形片状膜，可形变膜与每个侧板的周向边缘连接，以使可形变膜37贴设在每个侧板的表面上，以覆盖每个侧板上的多个壳体窗口。In some embodiments, the deformable film 37 includes a sheet-like film that matches the shape of the housing 35, and the sheet-like film is sealed on the inner surface or the outer surface of the housing 35 to cover at least one housing window. For example, the housing 35 is in a cubic shape, and each side panel is in a rectangular shape. The deformable film 37 can be a rectangular sheet-like film that matches each side panel, and the deformable film is connected to the circumferential edge of each side panel so that the deformable film 37 is attached to the surface of each side panel to cover multiple housing windows on each side panel.
在一些实施例中，可形变膜37包括分别与至少一个壳体窗口对应的至少一个片状膜，至少一个片状膜分别与壳体密封连接，以覆盖至少一个壳体窗口。应当理解，至少一个壳体窗口可以呈矩形、多边形或者其他形状。可形变膜37可以包括与壳体窗口数量一致的片状膜，片状膜的形状可以与各壳体窗口的形状匹配。每个片状膜分别与每个壳体窗口的周向边缘连接，以覆盖每个壳体窗口。In some embodiments, the deformable film 37 includes at least one sheet film corresponding to at least one housing window, and at least one sheet film is respectively connected to the housing in a sealed manner to cover at least one housing window. It should be understood that at least one housing window can be rectangular, polygonal or other shapes. The deformable film 37 can include a sheet film consistent with the number of housing windows, and the shape of the sheet film can match the shape of each housing window. Each sheet film is connected to the circumferential edge of each housing window to cover each housing window.
可形变膜可以包括各种可以形变的材料，例如，弹性膜。作为示例，可形变膜可以包括例如橡胶膜(例如，TPU膜)、塑料膜等。可形变膜可以随传动件的线性运动进行伸缩运动，以保证传动件在运动过程中不会撕扯损坏可形变膜。The deformable film may include various deformable materials, such as an elastic film. As an example, the deformable film may include, for example, a rubber film (e.g., a TPU film), a plastic film, etc. The deformable film may perform telescopic movement with the linear movement of the transmission member to ensure that the transmission member does not tear and damage the deformable film during movement.
在一些实施例中，如图7和图8所示，至少一个壳体窗口可以包括位于壳体35第一侧的至少一个第一壳体窗口3531和位于壳体35第二侧的至少一个第二壳体窗口(图中未示)。如图7所示，壳体35可以呈立方体结构。壳体35可以包括上侧板351、下侧板352、左侧板353和右侧板(图7中未示出，位于与左侧板353相对的一侧)。例如，第一壳体窗口3531和第二壳体窗口(未示出)分别设置在左侧板353和右侧板上(未示出)。如图7所示，四个第一壳体窗口3531设置在左侧板353上。至少一个滑块33可以包括至少一个滑块33a和至少一个滑块33b(如图9所示)。至少一个滑块33a的连接接口331位于至少一个第一壳体窗口3531中，至少一个滑块33b的连接接口331位于至少一个第二壳体窗口中。在一些实施例中，如图7和图8所示，至少一个壳体窗口还可以包括位于壳体第三侧(例如，下侧板352)的第三壳体窗口3521，至少一个滑块33还包括滑块33c，滑块33c的连接接口331c位于第三壳体窗口3521中。本领域技术人员可以理解，本文中所称的左侧、右侧、上侧、下侧是为了表示相对位置关系方便，应做宽泛解释，也可以采用其他命名方式，例如顶侧、底侧、前侧、后侧等等。In some embodiments, as shown in FIGS. 7 and 8 , at least one housing window may include at least one first housing window 3531 located on the first side of the housing 35 and at least one second housing window (not shown) located on the second side of the housing 35. As shown in FIG. 7 , the housing 35 may be a cubic structure. The housing 35 may include an upper side plate 351, a lower side plate 352, a left side plate 353, and a right side plate (not shown in FIG. 7 , located on the side opposite to the left side plate 353). For example, the first housing window 3531 and the second housing window (not shown) are respectively arranged on the left side plate 353 and the right side plate (not shown). As shown in FIG. 7 , four first housing windows 3531 are arranged on the left side plate 353. At least one slider 33 may include at least one slider 33a and at least one slider 33b (as shown in FIG. 9 ). The connection interface 331 of at least one slider 33a is located in at least one first housing window 3531, and the connection interface 331 of at least one slider 33b is located in at least one second housing window. In some embodiments, as shown in FIGS. 7 and 8 , at least one housing window may further include a third housing window 3521 located on a third side of the housing (e.g., the lower side plate 352), and at least one slider 33 may further include a slider 33c, wherein a connection interface 331c of the slider 33c is located in the third housing window 3521. It will be appreciated by those skilled in the art that the left side, right side, upper side, and lower side referred to herein are for the convenience of indicating relative positional relationships, and should be interpreted broadly, and other naming methods may also be used, such as the top side, bottom side, front side, rear side, and the like.
至少一个第一壳体窗口3531可以包括位于左侧板353上的一个或多个第一壳体窗口，例如一组第一壳体窗口，至少一个第二壳体窗口可以包括位于右侧板上的一个或多个第二壳体窗口，例如一组第二壳体窗口。至少一个第三壳体窗口3521可以包括位于下侧板352上的一个或多个第三壳体窗口，例如一组第三壳体窗口。在一些实施例中，以滑块33a为例，多个滑块33a的连接接口331可以位于同一第一壳体窗口3531中，或者一个滑块33a的多个连接接口331位于同一第一壳体窗口3531中。At least one first shell window 3531 may include one or more first shell windows located on the left side plate 353, such as a group of first shell windows, and at least one second shell window may include one or more second shell windows located on the right side plate, such as a group of second shell windows. At least one third shell window 3521 may include one or more third shell windows located on the lower side plate 352, such as a group of third shell windows. In some embodiments, taking the slider 33a as an example, the connection interfaces 331 of multiple sliders 33a may be located in the same first shell window 3531, or multiple connection interfaces 331 of one slider 33a may be located in the same first shell window 3531.
在一些实施例中，第一壳体窗口3531和至少一个滑块33a与第二壳体窗口和至少一个滑块33b可以呈镜像对称分布。应当理解，一组第一壳体窗口3531和一组第二壳体窗口可以分别包括多个间隔设置的窗口，一组第三壳体窗口3521可以包括一个壳体窗口。如图7所示，各滑块可以包括一个连接接口331。如图7所示，第一壳体窗口3531和滑块33a的数量分别为四个，每个滑块33a的连接接口331分别位于相应的第一壳体窗口3531内。第二壳体窗口和滑块33b的数量分别为四个，每个滑块33b的连接接口331分别位于相应的第二壳体窗口内。四个第一壳体窗口3531和的滑块33a连接接口与四个第二壳体窗口和滑块33b的连接接口沿线性移动的方向(例如壳体35或手术工具30的长度方向)呈镜像对称分布。这样可以便于协同驱动位于第一壳体窗口3531和第二壳体窗口内的连接接口331。以上数量仅作为示例，应当理解，第一壳体窗口3531和第二壳体窗口的数量还可以为一个、二个、五等。位于同一壳体窗口的连接接口331的数量还可以为二个、三个等，壳体窗口和连接接口331的数量可以根据待驱动的外部装置上的接口数量进行调整。In some embodiments, the first housing window 3531 and at least one slider 33a can be distributed in mirror symmetry with the second housing window and at least one slider 33b. It should be understood that a group of first housing windows 3531 and a group of second housing windows can respectively include a plurality of windows arranged at intervals, and a group of third housing windows 3521 can include a housing window. As shown in FIG. 7 , each slider can include a connection interface 331. As shown in FIG. 7 , the number of first housing windows 3531 and sliders 33a is four, respectively, and the connection interface 331 of each slider 33a is respectively located in the corresponding first housing window 3531. The number of second housing windows and sliders 33b is four, respectively, and the connection interface 331 of each slider 33b is respectively located in the corresponding second housing window. The four first housing windows 3531 and the slider 33a connection interface and the four second housing windows and the slider 33b connection interface are distributed in mirror symmetry along the direction of linear movement (e.g., the length direction of the housing 35 or the surgical tool 30). This can facilitate the coordinated driving of the connection interface 331 located in the first housing window 3531 and the second housing window. The above numbers are only examples, and it should be understood that the number of the first housing window 3531 and the second housing window can also be one, two, five, etc. The number of connection interfaces 331 located in the same housing window can also be two, three, etc. The number of housing windows and connection interfaces 331 can be adjusted according to the number of interfaces on the external device to be driven.
在一些实施例中，如图7所示，手术工具30还可以包括设置在第一侧和/或第二侧的至少一个限位结构38。例如，左侧板353和/或右侧板外侧设有至少一个限位结构38。应当理解，左侧板和右侧板的内侧是指左侧板353和右侧板相对设置时，彼此相对的一侧。左侧板和右侧板的外侧是指左侧板和右侧板相对设置时，彼此背离的一侧。如图7所示，限位结构38可以为凹槽，外部装置(例如连接适配器10)的内侧上设有与限位结构38配合的限位凸起(例如图13所示的凸起170)。限位结构与限位凸起卡合，以限制手术工具30沿线性移动的方向(例如左侧板353或右侧板的长度方向)移动。本领域技术人员可以理解，图7所示的限位结构仅仅是示例性实施例，可以采用其他结构，例如凸起、磁性吸合结构等等。In some embodiments, as shown in FIG. 7 , the surgical tool 30 may further include at least one limiting structure 38 disposed on the first side and/or the second side. For example, at least one limiting structure 38 is disposed on the outer side of the left side plate 353 and/or the right side plate. It should be understood that the inner side of the left side plate and the right side plate refers to the side opposite to each other when the left side plate 353 and the right side plate are disposed relative to each other. The outer side of the left side plate and the right side plate refers to the side opposite to each other when the left side plate and the right side plate are disposed relative to each other. As shown in FIG. 7 , the limiting structure 38 may be a groove, and a limiting protrusion (such as the protrusion 170 shown in FIG. 13 ) that cooperates with the limiting structure 38 is disposed on the inner side of the external device (such as the connection adapter 10). The limiting structure is engaged with the limiting protrusion to limit the surgical tool 30 from moving in the direction of linear movement (such as the length direction of the left side plate 353 or the right side plate). It will be understood by those skilled in the art that the limiting structure shown in FIG. 7 is only an exemplary embodiment, and other structures may be used, such as a protrusion, a magnetic attraction structure, and the like.
在一些实施例中，如图7所示，手术工具30还可以包括设置在壳体35上的平衡阀355。平衡阀355可以用于在手术工具消毒灭菌时，保持内外气压平衡。在实际使用过程中，可以拆除平衡阀。In some embodiments, as shown in FIG7 , the surgical tool 30 may further include a balancing valve 355 disposed on the housing 35. The balancing valve 355 may be used to maintain the balance of internal and external air pressures during sterilization of the surgical tool. In actual use, the balancing valve may be removed.
在一些实施例中，如图7所示，手术工具30还可以包括设置在壳体35上的把手356。例如，把手356可以位于壳体35的上侧板351外侧，用于供操作者把持，以便于将手术工具安装到外部装置上或者从外部装置上拆卸。In some embodiments, as shown in Fig. 7, the surgical tool 30 may further include a handle 356 disposed on the housing 35. For example, the handle 356 may be located outside the upper side plate 351 of the housing 35 for the operator to hold so as to facilitate installation or removal of the surgical tool on or from an external device.
在一些实施例中，如图8所示，手术工具30还可以包括设置在壳体35上的至少一个通信接口357。例如，至少一个通信接口357可以在手术工具的下侧板352的内部和外部之间形成通信连接。例如，手术工具30的壳体35外侧与外部装置连接，至少一个通信接口357可以用于与外部装置通信连接，以使手术工具30的壳体35内侧和外侧的外部装置之间形成通信连接。如图8所示，下侧板352上可以设有多个间隔布置的通信接口357。外部装置上对应设有多个通信触点(例如图12所示的通信触点140)。在外部装置安装完毕后，多个通信接口357与通信触点导通，以在手术工具30和外部装置之间形成通信连接。本领域技术人员应该理解，装配人员可以通过通信触点与通信接口357是否形成通信连接，以判断手术工具30与外部装置是否安装到位。也可以通过通信触点与通信接口357形成的通信连接，以读取手术工具30或外部装置上的参数信息或者向手术工具30或外部装置写入参数信息。In some embodiments, as shown in FIG8 , the surgical tool 30 may further include at least one communication interface 357 disposed on the housing 35. For example, at least one communication interface 357 may form a communication connection between the inside and outside of the lower side plate 352 of the surgical tool. For example, the outer side of the housing 35 of the surgical tool 30 is connected to an external device, and at least one communication interface 357 may be used to communicate with the external device so as to form a communication connection between the external device inside and outside the housing 35 of the surgical tool 30. As shown in FIG8 , a plurality of communication interfaces 357 arranged at intervals may be provided on the lower side plate 352. A plurality of communication contacts (such as the communication contacts 140 shown in FIG12 ) are correspondingly provided on the external device. After the external device is installed, the plurality of communication interfaces 357 are connected to the communication contacts to form a communication connection between the surgical tool 30 and the external device. Those skilled in the art should understand that the assembler can determine whether the surgical tool 30 and the external device are installed in place by whether the communication contacts form a communication connection with the communication interface 357. A communication connection can also be formed with the communication interface 357 through the communication contacts to read parameter information on the surgical tool 30 or the external device or to write parameter information to the surgical tool 30 or the external device.
在一些实施例中，如图7所示，手术工具30还可以包括设置在壳体35上的电极接口358或光纤接口(图中未示)。例如，电极接口358可以给电能量工具，例如单级或双极电凝、电切工具等提供导电通路。光纤接口可以在手术工具的末端器械为内窥镜时，为内窥镜成像或照明提供通路。In some embodiments, as shown in FIG7 , the surgical tool 30 may further include an electrode interface 358 or an optical fiber interface (not shown) disposed on the housing 35. For example, the electrode interface 358 may provide a conductive path for an electric energy tool, such as a monopolar or bipolar electrocoagulation, an electrocuting tool, etc. The optical fiber interface may provide a path for endoscopic imaging or illumination when the end instrument of the surgical tool is an endoscope.
图9示出根据本公开一些实施例的滑块与驱动丝34分布的结构示意图。如图9所示，驱动丝34的近端直接与滑块33(例如滑块33a和/或滑块33b)固定连接。可以通过驱动机构(例如图8所示的驱动机构21)和滑块33耦合，驱动机构的驱动(例如线性运动)，驱动滑块33a和/或滑块33b运动，以拉动多根驱动丝34(例如腕关节驱动丝341或执行器驱动丝342)，以实现腕关节和/或末端器械的弯转。FIG9 shows a schematic diagram of the structure of the distribution of the slider and the drive wire 34 according to some embodiments of the present disclosure. As shown in FIG9, the proximal end of the drive wire 34 is directly fixedly connected to the slider 33 (e.g., the slider 33a and/or the slider 33b). The slider 33 can be coupled by a driving mechanism (e.g., the driving mechanism 21 shown in FIG8), and the driving mechanism is driven (e.g., linear motion) to drive the slider 33a and/or the slider 33b to move, so as to pull multiple drive wires 34 (e.g., wrist joint drive wire 341 or actuator drive wire 342) to achieve the bending of the wrist joint and/or the end instrument.
在一些实施例中，末端器械32可以包括末端执行器，手术工具30还包括至少一根执行器驱动丝(图中未示)。至少一根执行器驱动丝的远端与末端执行器连接，执行器驱动丝的近端与至少一个滑块33c固定连接。通过滑块33c驱动执行器驱动丝推和/或拉，以实现末端执行器的张合，以完成相应的手术操作，例如夹持、抓取、切割等。In some embodiments, the end instrument 32 may include an end effector, and the surgical tool 30 may further include at least one actuator drive wire (not shown). The distal end of at least one actuator drive wire is connected to the end effector, and the proximal end of the actuator drive wire is fixedly connected to at least one slider 33c. The slider 33c drives the actuator drive wire to push and/or pull to achieve the opening and closing of the end effector to complete the corresponding surgical operation, such as clamping, grasping, cutting, etc.
图10示出根据本公开一些实施例的手术机器人系统1的结构框图，图11示出根据本公开一些实施例的连接接口331、传动件300和驱动接口211的分解结构示意图。如图10所示，手术机器人系统1，包括至少一个机械臂20、至少一个连接适配器10和本公开任意实施例中的至少一个手术工具30。在一些实施例中，机械臂20可以包括位于末端的驱动机构21，连接适配器10与机械臂20的末端或与驱动机构21可拆卸地连接。手术工具30的近端部分与连接适配器10可拆卸地连接。机械臂20通过连接适配器10与手术工具30连接，通过连接适配器10将驱动机构21的驱动(例如线性运动)传递至手术工具30，以驱动手术工具30弯曲和末端执行器32张合运动。FIG10 shows a block diagram of a surgical robot system 1 according to some embodiments of the present disclosure, and FIG11 shows a schematic diagram of an exploded structure of a connection interface 331, a transmission member 300, and a drive interface 211 according to some embodiments of the present disclosure. As shown in FIG10 , the surgical robot system 1 includes at least one robotic arm 20, at least one connection adapter 10, and at least one surgical tool 30 in any embodiment of the present disclosure. In some embodiments, the robotic arm 20 may include a drive mechanism 21 located at the end, and the connection adapter 10 is detachably connected to the end of the robotic arm 20 or to the drive mechanism 21. The proximal portion of the surgical tool 30 is detachably connected to the connection adapter 10. The robotic arm 20 is connected to the surgical tool 30 through the connection adapter 10, and the drive (e.g., linear motion) of the drive mechanism 21 is transmitted to the surgical tool 30 through the connection adapter 10 to drive the surgical tool 30 to bend and the end effector 32 to open and close.
如图10和图11所示，驱动机构21可以包括至少一个驱动接口211，驱动接口211可以通过连杆23接收动力。连接适配器10包括至少一个传动件300。传动件300包括接口310和接口320，接口310用于与手术工具30的连接接口331耦合，接口320用于与驱动接口211耦合。As shown in Figures 10 and 11, the driving mechanism 21 may include at least one driving interface 211, and the driving interface 211 may receive power through the connecting rod 23. The connecting adapter 10 includes at least one transmission member 300. The transmission member 300 includes an interface 310 and an interface 320, the interface 310 is used to couple with the connecting interface 331 of the surgical tool 30, and the interface 320 is used to couple with the driving interface 211.
图12示出根据本公开一些实施例的连接适配器10展开状态下的正面视图，图13示出根据本公开一些实施例的连接适配器10折叠状态下的结构示意图。为了说明方便，图13中省去了表示第二可形变膜200的阴影，只保留了传动件300。在一些实施例中，如图12和图13所示，连接适配器10可以包括适配器基板100、至少一个第二可形变膜200和至少一个传动件300。适配器基板100包括至少一个传动窗口(例如传动窗口111、121和131)，适配器基板100分别与机械臂20和手术工具30可拆卸地连接。至少一个第二可形变膜200密封设置在适配器基板100上，用于覆盖至少一个传动窗口。至少一个传动件300密封设置在第二可形变膜200上并且位于至少一个传动窗口中，传动件300包括位于第二可形变膜200的第一侧的接口310和位于第二可形变膜200的第二侧的接口320，至少一个传动件300用于在驱动接口211的线性驱动下，通过至少一个第二可形变膜200的形变，驱动连接接口331线性运动，连接接口331通过至少一个可形变膜37的形变，驱动滑块33线性运动。FIG. 12 shows a front view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure, and FIG. 13 shows a schematic structural diagram of the connection adapter 10 in a folded state according to some embodiments of the present disclosure. For the convenience of explanation, the shadow representing the second deformable film 200 is omitted in FIG. 13, and only the transmission member 300 is retained. In some embodiments, as shown in FIGS. 12 and 13, the connection adapter 10 may include an adapter substrate 100, at least one second deformable film 200, and at least one transmission member 300. The adapter substrate 100 includes at least one transmission window (e.g., transmission windows 111, 121, and 131), and the adapter substrate 100 is detachably connected to the robot arm 20 and the surgical tool 30, respectively. At least one second deformable film 200 is sealingly disposed on the adapter substrate 100 to cover at least one transmission window. At least one transmission member 300 is sealed and arranged on the second deformable membrane 200 and is located in at least one transmission window. The transmission member 300 includes an interface 310 located on the first side of the second deformable membrane 200 and an interface 320 located on the second side of the second deformable membrane 200. At least one transmission member 300 is used to drive the connection interface 331 to move linearly through the deformation of at least one second deformable membrane 200 under the linear drive of the driving interface 211. The connection interface 331 drives the slider 33 to move linearly through the deformation of at least one deformable membrane 37.
如图12和图13所示，至少一个传动窗口可以包括第一传动窗口111和第二传动窗口121。如图13所示，在一些实施例中，适配器基板100可以呈匚字型或者可以折叠形成匚字型。适配器基板100可以包括左侧基板110、右侧基板120和中部基板130。例如，第一传动窗口111和第二传动窗口121可以分别设置在左侧基板110和右侧基板120上。在一些实施例中，至少一个传动窗口可以包括第三传动窗口131，第三传动窗口131可以设置在中部基板130上。例如，如图11和图13所示，传动件300可以包括位于两端且固定连接的接口310和320，接口310和320上分别设有耦合结构。传动件300的接口310的耦合结构可以包括凸起，连接接口331可以包括对应的凹槽，传动件300的接口320可以包括凹槽，驱动接口211可以包括对应的凸起。凸起与凹槽卡合，以通过传动件300实现机械臂驱动接口211和手术工具连接接口311的耦合。以上，仅作为示例，传动件300的接口和驱动接口可以其中一个为凸起，另一个为凹槽。或者，传动件和驱动接口也可以为能够实现相互连接的其他结构。As shown in FIGS. 12 and 13, at least one transmission window may include a first transmission window 111 and a second transmission window 121. As shown in FIG. 13, in some embodiments, the adapter substrate 100 may be in a U-shaped shape or may be folded to form a U-shaped shape. The adapter substrate 100 may include a left substrate 110, a right substrate 120, and a middle substrate 130. For example, the first transmission window 111 and the second transmission window 121 may be respectively disposed on the left substrate 110 and the right substrate 120. In some embodiments, at least one transmission window may include a third transmission window 131, and the third transmission window 131 may be disposed on the middle substrate 130. For example, as shown in FIGS. 11 and 13, the transmission member 300 may include interfaces 310 and 320 located at both ends and fixedly connected, and coupling structures are respectively disposed on the interfaces 310 and 320. The coupling structure of the interface 310 of the transmission member 300 may include a protrusion, the connection interface 331 may include a corresponding groove, the interface 320 of the transmission member 300 may include a groove, and the drive interface 211 may include a corresponding protrusion. The protrusion is engaged with the groove to achieve coupling between the robot drive interface 211 and the surgical tool connection interface 311 through the transmission member 300. As an example, one of the interface and the drive interface of the transmission member 300 can be a protrusion and the other can be a groove. Alternatively, the transmission member and the drive interface can also be other structures that can be connected to each other.
图14示出根据本公开一些实施例的连接适配器10与手术工具30的装配结构示意图。如图14所示，手术工具30的近端可以沿垂直于连接适配器10中部基板130的方向(例如图14所示的进入纸面的方向)安装于连接适配器10内，手术工具30的下侧板352与适配器基板100的中部基板130抵接，中部基板130上的通信触点140与通信接口357通信连接。手术工具30的近端外侧设有沿长度方向延伸的开口，而且还包括从开口露出并可以沿开口平移的连接接口(例如图7和图11所示的连接接口331)。连接适配器10的左侧基板110和右侧基板120的内侧设有接口310，接口310通过连接接口331上的耦合结构与连接接口331耦合，以将手术工具30与连接适配器10可传动地连接。手术工具30的近端外侧设有沿垂直于连接适配器10中部基板130方向的限位结构(例如图7所示的限位结构38)，左侧基板110和/或右侧基板120的内侧设有从左侧基板110和/或右侧基板120表面突出的至少一个限位部170，限位结构38与限位部170卡合，以限制手术工具30沿长度方向移动，以将手术工具30与连接适配器10可拆卸地连接。FIG. 14 shows a schematic diagram of the assembly structure of the connection adapter 10 and the surgical tool 30 according to some embodiments of the present disclosure. As shown in FIG. 14 , the proximal end of the surgical tool 30 can be installed in the connection adapter 10 in a direction perpendicular to the middle substrate 130 of the connection adapter 10 (e.g., the direction of entering the paper shown in FIG. 14 ), the lower side plate 352 of the surgical tool 30 abuts against the middle substrate 130 of the adapter substrate 100, and the communication contact 140 on the middle substrate 130 is in communication connection with the communication interface 357. The proximal outer side of the surgical tool 30 is provided with an opening extending in the length direction, and also includes a connection interface (e.g., the connection interface 331 shown in FIG. 7 and FIG. 11 ) exposed from the opening and translatable along the opening. The inner sides of the left substrate 110 and the right substrate 120 of the connection adapter 10 are provided with an interface 310, and the interface 310 is coupled with the connection interface 331 through the coupling structure on the connection interface 331, so as to connect the surgical tool 30 to the connection adapter 10 in a drivable manner. The proximal outer side of the surgical tool 30 is provided with a limiting structure (such as the limiting structure 38 shown in Figure 7) along a direction perpendicular to the middle substrate 130 of the connecting adapter 10, and the inner side of the left substrate 110 and/or the right substrate 120 is provided with at least one limiting portion 170 protruding from the surface of the left substrate 110 and/or the right substrate 120. The limiting structure 38 is engaged with the limiting portion 170 to limit the movement of the surgical tool 30 along the length direction so as to detachably connect the surgical tool 30 to the connecting adapter 10.
如图12所示，在一些实施例中，适配器基板100上还设有至少一个接地销150。中部基板130上可以设有两个接地销150。通过设置接地销，以防止静电损坏系统的零部件。如图13所示，在一些实施例中，左侧基板110和/或右侧基板120的外侧对应设有至少一个连接结构，例如连接凸起180，连接凸起180用于与机械臂20上的凹槽卡合。通过连接凸起与凹槽卡合，以将适配器基板100与机械臂20可拆卸地连接。在一些实施例中，如图13所示，左侧基板110和/或右侧基板120的外侧上还设有从基板表面向外延伸的遮挡部190，遮挡部190可以用于遮挡传动件300暴露在基板外侧的部分。通过设置遮挡部，可以在适配器基板100与机械臂20安装完毕后，使适配器基板100外侧与机械臂20之间形成供传动件300线性移动的运动空间。As shown in FIG. 12 , in some embodiments, at least one grounding pin 150 is further provided on the adapter substrate 100. Two grounding pins 150 may be provided on the middle substrate 130. By providing the grounding pins, static electricity can be prevented from damaging the components of the system. As shown in FIG. 13 , in some embodiments, at least one connection structure, such as a connection protrusion 180, is correspondingly provided on the outer side of the left substrate 110 and/or the right substrate 120. The connection protrusion 180 is used to engage with the groove on the robot arm 20. The adapter substrate 100 and the robot arm 20 are detachably connected by engaging the connection protrusion with the groove. In some embodiments, as shown in FIG. 13 , a shielding portion 190 extending outward from the substrate surface is further provided on the outer side of the left substrate 110 and/or the right substrate 120. The shielding portion 190 can be used to shield the portion of the transmission member 300 exposed on the outer side of the substrate. By providing the shielding portion, after the adapter substrate 100 and the robot arm 20 are installed, a motion space for the transmission member 300 to move linearly can be formed between the outer side of the adapter substrate 100 and the robot arm 20.
图15示出根据本公开一些实施例的连接适配器10展开状态下的反面视图。如图15所示，在一些实施例中，至少一个连接适配器10还包括无菌保护膜400。无菌保护膜400与适配器基板100的周缘密封连接并向外延伸。应当理解，适配器基板100可以呈匚字型或者为可折叠的片状结构，无菌保护膜400与适配器基板100沿周向连接，例如焊接或者粘接，并向外延伸，以覆盖机械臂20的至少一部分。应当理解，无菌保护膜400可以为TPU膜，以便于在制造过程中杀菌消毒，以达到医用材料级别。适配器基板100可以为塑料，以便于与无菌保护膜400和第二可形变膜200连接。应当理解，延伸的无菌保护膜400可以与机械臂20需要覆盖的部分形状适配。通过无菌保护膜400覆盖机械臂20，可以将手术工具30和机械臂20隔离开，以隔离有菌侧和无菌侧，满足操作环境要求。FIG. 15 shows a reverse view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. As shown in FIG. 15 , in some embodiments, at least one connection adapter 10 further includes a sterile protective film 400. The sterile protective film 400 is sealed and connected to the periphery of the adapter substrate 100 and extends outward. It should be understood that the adapter substrate 100 may be in a U-shaped or foldable sheet structure, and the sterile protective film 400 is connected to the adapter substrate 100 in a circumferential direction, such as by welding or bonding, and extends outward to cover at least a portion of the robotic arm 20. It should be understood that the sterile protective film 400 may be a TPU film to facilitate sterilization during the manufacturing process to achieve a medical material grade. The adapter substrate 100 may be plastic to facilitate connection with the sterile protective film 400 and the second deformable film 200. It should be understood that the extended sterile protective film 400 may be adapted to the shape of the portion of the robotic arm 20 that needs to be covered. By covering the robotic arm 20 with the sterile protective film 400, the surgical tool 30 and the robotic arm 20 can be isolated to isolate the sterile side and the sterile side, thereby meeting the operating environment requirements.
可形变膜37覆盖手术工具30的至少一个壳体窗口，以使位于手术工具30的外侧(无菌侧)和内侧(可能为有菌侧)之间形成有效阻隔细菌的无菌屏障。可形变膜200覆盖至少一个传动窗口，以使连接适配器10内侧和外侧之间形成有效阻隔细菌的无菌屏障。通过双屏障，可以进一步保证阻隔效果。通过无菌保护膜400覆盖驱动机构21以及机械臂20，以使靠近手术工具30的机械臂部分与手术工具30之间形成有效阻隔细菌的无菌屏障，以提供无菌手术操作环境，避免细菌污染手术工具。将至少一个传动件300设置在第二可变形膜200上，通过第二可形变膜200的形变，以将连接适配器10第一侧的驱动(例如，线性驱动)通过传动件300传递至连接适配器10的第二侧，以实现直接传递各种运动，例如线性运动。通过可形变膜37的形变，从而允许外部装置的驱动接口带动连接接口运动，以实现对驱动丝的推和/或拉，从而驱动手术工具进行各种操作，使得结构简单，易于操作。The deformable membrane 37 covers at least one housing window of the surgical tool 30 so that a sterile barrier that effectively blocks bacteria is formed between the outer side (sterile side) and the inner side (possibly the sterile side) of the surgical tool 30. The deformable membrane 200 covers at least one transmission window so that a sterile barrier that effectively blocks bacteria is formed between the inner side and the outer side of the connecting adapter 10. The double barrier can further ensure the barrier effect. The driving mechanism 21 and the mechanical arm 20 are covered by the sterile protective film 400 so that a sterile barrier that effectively blocks bacteria is formed between the mechanical arm part close to the surgical tool 30 and the surgical tool 30, so as to provide a sterile surgical operating environment and avoid bacterial contamination of the surgical tool. At least one transmission member 300 is arranged on the second deformable membrane 200, and the second deformable membrane 200 is deformed to transmit the drive (e.g., linear drive) of the first side of the connecting adapter 10 to the second side of the connecting adapter 10 through the transmission member 300 to realize direct transmission of various movements, such as linear movement. Through the deformation of the deformable membrane 37, the driving interface of the external device is allowed to drive the connecting interface to move, so as to push and/or pull the driving wire, thereby driving the surgical tool to perform various operations, so that the structure is simple and easy to operate.
注意，上述仅为本公开的示例性实施例及所运用技术原理。本领域技术人员会理解，本公开不限于这里的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本公开的保护范围。因此，虽然通过以上实施例对本公开进行了较为详细的说明，但是本公开不仅仅限于以上实施例，在不脱离本公开构思的情况下，还可以包括更多其他等效实施例，而本公开的范围由所附的权利要求范围决定。Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310295767.0ACN118680608A (en) | 2023-03-24 | 2023-03-24 | Compact wrist surgery tools and surgical robot systems |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310295767.0ACN118680608A (en) | 2023-03-24 | 2023-03-24 | Compact wrist surgery tools and surgical robot systems |
| Publication Number | Publication Date |
|---|---|
| CN118680608Atrue CN118680608A (en) | 2024-09-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310295767.0APendingCN118680608A (en) | 2023-03-24 | 2023-03-24 | Compact wrist surgery tools and surgical robot systems |
| Country | Link |
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| CN (1) | CN118680608A (en) |
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