技术领域technical field
本实用新型涉及一种微创外科手术领域内的医疗设备，尤其涉及一种适合于胸腔和腹腔的微创手术操作的微创外科单孔手术机器人的手术器械。The utility model relates to a medical device in the field of minimally invasive surgery, in particular to a minimally invasive surgical single-hole surgical robot surgical instrument suitable for the minimally invasive surgical operation of the thoracic cavity and the abdominal cavity.
背景技术Background technique
以腹腔镜为代表的微创外科被誉为20世纪医学科学对人类文明的重要贡献之一，微创手术操作是指医生借助细长的手术器械通过人体表面的微小切口探入到体内进行手术操作的。它与传统的开口手术相比具有手术切口小、出血量少、术后疤痕小、恢复时间快等优点，达到与传统开口手术相同的疗效。手工操作的微创手术器械是被动操作形式，一般末端只具有一个运动自由度。手术过程中医生通过手指施加驱动实现末端器械动作，并依靠医生手臂与腕部的运动灵活性顺利完成包括缝合、打结在内的各种复杂操作。但是，对于辅助微创手术机器人系统而言，由于手术器械的操作是通过机器人来完成的，而机器人系统本身不具备人操作的灵活性。因此，对微创手术机器人专用手术器械的设计提出了更高的要求。为适应微创手术的要求，手术器械的设计应满足体积小、操作灵活、形式多样、便于与机器人手臂安装、有足够的刚度和强度、适于医疗环境要求(如多次消毒)等。特别是手术器械应具有较多的自由度以满足灵活性要求，才能适应缝合打结等复杂手术操作。Minimally invasive surgery represented by laparoscopy is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of slender surgical instruments by doctors to probe into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of smaller surgical incision, less blood loss, less postoperative scar, and faster recovery time, and achieves the same curative effect as traditional open surgery. Manually operated minimally invasive surgical instruments are passively operated, and generally the end only has one degree of freedom of movement. During the operation, the doctor realizes the action of the end device through the driving of the fingers, and relies on the flexibility of the doctor's arm and wrist movement to successfully complete various complex operations including suturing and knotting. However, for the assisted minimally invasive surgical robot system, since the operation of the surgical instrument is completed by the robot, the robot system itself does not have the flexibility of human operation. Therefore, higher requirements are put forward for the design of special surgical instruments for minimally invasive surgical robots. In order to meet the requirements of minimally invasive surgery, the design of surgical instruments should meet the requirements of small size, flexible operation, various forms, easy installation with robot arms, sufficient rigidity and strength, and suitable for medical environment requirements (such as multiple disinfections). In particular, surgical instruments should have more degrees of freedom to meet flexibility requirements in order to adapt to complex surgical operations such as suturing and knotting.
在微创手术机器人手术过程当中，手术工具是唯一与人体病变组织相接触的部分，也是直接执行手术操作的机器人部分，因此，手术工具的性能是微创手术机器人系统综合性能的关键所在。为适应现代化微创手术的要求，手术工具的设计应满足结构精巧、操作灵活、形式多样、易于更换、适合医疗环境等要求，特别是手术工具应有较多的自由度以满足灵活性要求，且要易于更换才能实现复杂的手术操作。因此，与手术工具相配套的手术器械的性能也是微创手术机器人系统综合性能的重要组成部分，其性能指标不仅影响着手术工具的使用，还直接决定了本体系统的设计指标与布局方式。总之，手术工具与快换装置的性能是体现手术机器人系统整体性能水平的关键因素。In the minimally invasive surgical robotic surgery process, the surgical tool is the only part in contact with the human diseased tissue, and it is also the part of the robot that directly performs the surgical operation. Therefore, the performance of the surgical tool is the key to the overall performance of the minimally invasive surgical robotic system. In order to meet the requirements of modern minimally invasive surgery, the design of surgical tools should meet the requirements of compact structure, flexible operation, various forms, easy replacement, and suitability for medical environments, especially surgical tools should have more degrees of freedom to meet flexibility requirements, And to be easy to replace to achieve complex surgical operations. Therefore, the performance of the surgical instruments matched with the surgical tools is also an important part of the overall performance of the minimally invasive surgical robot system. Its performance indicators not only affect the use of surgical tools, but also directly determine the design indicators and layout of the ontology system. In conclusion, the performance of surgical tools and quick-change devices is a key factor that reflects the overall performance level of a surgical robotic system.
在国际上，微创手术机器人系统研究领域已有多套样机达到了商业临床应用水平，包括da Vinci、Zeus、LAPROTEK系统等。通过研究手术机器人系统的发展发现手术工具系统主要由工具部分和快换装置组成。工具部分的发展趋势是由杆传动、低自由度向丝传动、多自由度发展，其结构虽越来越简化，功能却变得越来越强大；快换装置则是逐渐向紧凑型、集成型发展，性能也变的越来越高效、稳定。现存的两套商业化微创手术机器人都是采用丝传动的四自由度手术工具系统，但这些手术工具系统仍存在结构布局分散，外形尺寸较大等缺点，所以手术工具系统仍有很大的发展潜力。Internationally, in the research field of minimally invasive surgical robotic systems, several prototypes have reached the level of commercial clinical applications, including da Vinci, Zeus, and LAPROTEK systems. By studying the development of the surgical robot system, it is found that the surgical tool system is mainly composed of a tool part and a quick-change device. The development trend of the tool part is from rod transmission, low degree of freedom to wire transmission, and multiple degrees of freedom. Although its structure is becoming more and more simplified, its functions are becoming more and more powerful; the quick change device is gradually becoming more compact and integrated. With the development of the model, the performance has become more and more efficient and stable. The two existing sets of commercial minimally invasive surgical robots are four-degree-of-freedom surgical tool systems using wire transmission. However, these surgical tool systems still have the disadvantages of scattered structural layout and large external dimensions, so the surgical tool system still has a lot of problems. Development potential.
在我国，微创外科单孔手术机器人的研发还处于起步阶段，尤其对手术工具系统的研究与国外技术相比还有较大的差距，因此，开发丝传动、多自由度手术工具及相配套的性能更为稳定高效的快换装置对填补国内空白，推进相关领域技术进步具有重要意义。研究开发与现有系统拥有不同的丝传动形式和快换方式的多自由度手术工具系统对于提升我国在该科研领域的学术、技术地位具有深远意义。In my country, the research and development of single-port surgical robots for minimally invasive surgery is still in its infancy, especially the research on surgical tool systems is still far behind foreign technologies. Therefore, the development of wire transmission, multi-degree-of-freedom surgical tools and matching The quick-change device with more stable and efficient performance is of great significance to fill the domestic gap and promote technological progress in related fields. The research and development of a multi-degree-of-freedom surgical tool system with different wire transmission forms and quick-change methods from the existing systems has far-reaching significance for improving my country's academic and technological status in this field of scientific research.
实用新型内容Utility model content
本实用新型的目的在于克服现有技术的不足，提供一种方便拆装、定位准确、刚度较大、布局合理的小型化、轻量化的用于单孔手术机器人的具有移动定位关节的手术器械，它能够辅助医生实施微创手术操作。The purpose of the utility model is to overcome the deficiencies of the prior art, and to provide a miniaturized and lightweight surgical instrument with a movable positioning joint for a single-hole surgical robot, which is convenient for disassembly, accurate positioning, high rigidity and reasonable layout. , which can assist doctors in performing minimally invasive surgical operations.
本实用新型提供了一种方便拆装、定位准确、刚度较大、布局合理的小型化、轻量化的用于单孔手术机器人的具有移动定位关节的手术器械，具体方案如下：The utility model provides a miniaturized and lightweight surgical instrument with movable positioning joints for a single-hole surgical robot, which is convenient for disassembly, accurate in positioning, high in rigidity and reasonable in layout. The specific scheme is as follows:
一种用于单孔手术机器人的具有移动定位关节的手术器械，包括第一、第二、第三、第四、第五、第六、第七、第八关节执行机构；所述的八个关节执行机构包含8个自由度，8个自由度从末端传动盒一端开始，依次为：沿臂段一轴线z轴方向移动自由度，绕第二关节轴线x轴向摆转自由度，绕第三关节轴线x轴向摆转自由度，绕第四关节轴线y轴向摆转自由度，绕第五关节轴线z轴向自转自由度，绕第六关节轴线x轴向摆转自由度，绕第七关节轴线y轴向摆转自由度I，绕第七关节轴线y轴向摆转自由度II；第一、第二、第三、第四、第五、第六、第七关节执行机构每相邻两个关节自由度轴线方向空间垂直，第七和第八关节执行机构两个关节自由度轴线重合。A surgical instrument with moving positioning joints for a single-hole surgical robot, comprising first, second, third, fourth, fifth, sixth, seventh, and eighth joint actuators; the eight The joint actuator contains 8 degrees of freedom. The 8 degrees of freedom start from one end of the end drive box, and the order is as follows: the movement degree of freedom along the z-axis of the first axis of the arm segment, the swing degree of freedom around the second joint axis x axis, and the rotation degree of freedom around the second joint axis. The three joint axes are x-axis rotational degrees of freedom, about the fourth joint axis y-axis rotational degrees of freedom, about the fifth joint axis z-axis rotational degrees of freedom, about the sixth joint axis x-axis rotational degrees of freedom, about The seventh joint axis y-axis swing degree of freedom I, around the seventh joint axis y-axis swing degree of freedom II; the first, second, third, fourth, fifth, sixth, seventh joint actuators The directions of the axes of the degrees of freedom of every two adjacent joints are vertical in space, and the axes of the two degrees of freedom of the joints of the seventh and eighth joint actuators are coincident.
所述的手术器械执行机构安装并固定在关节驱动机构的底座上，所述的关节驱动机构的底座与一个滚珠丝杠机构的螺母固连，所述的滚珠丝杠机构与固定座固连。The surgical instrument implementing mechanism is installed and fixed on the base of the joint drive mechanism, the base of the joint drive mechanism is fixedly connected with a nut of a ball screw mechanism, and the ball screw mechanism is fixedly connected with the fixing seat.
所述的第二、第三、第四、第五、第六、第七和第八执行机构的末端传动盒内的结构相同，各自均包括一个传动线轮轴、线轮、接口离合盘；所述的接口离合盘一端连接关节驱动机构，另一端与传动线轮轴相连，在所述的传动线轮轴上安装有线轮；通过接口离合盘的旋转带动传动线轮轴和线轮的旋转。The structures in the end transmission boxes of the second, third, fourth, fifth, sixth, seventh and eighth actuators are the same, and each includes a transmission reel shaft, a reel, and an interface clutch disc; One end of the interface clutch disc is connected to the joint drive mechanism, and the other end is connected to the transmission reel shaft, and a wire wheel is installed on the transmission reel shaft; the rotation of the transmission reel shaft and the reel is driven by the rotation of the interface clutch disc.
所述的第一关节执行机构是所述的手术器械执行机构通过与所述的关节驱动机构壳体固连的滚珠丝杠机构相对于与所述的滚珠丝杠机构固连的固定座沿手术器械执行机构的臂段一轴线方向轴向移动。The first joint implementing mechanism is that the surgical instrument implementing mechanism moves along the surgical edge relative to the fixed seat fixedly connected with the ball screw mechanism through the ball screw mechanism fixed with the joint drive mechanism shell. The arm section of the instrument actuator moves axially in an axial direction.
所述的第二关节执行机构包括第二关节传动线轮轴、线轮、接口离合盘、臂段一连接套管、臂段二连接套管、臂段一连接件、臂段二连接件一、臂段二连接件二、臂段一连接件与臂段二连接件一连接处的第二关节；The second joint actuator comprises a second joint drive reel shaft, a reel, an interface clutch disc, an arm segment one connecting sleeve, an arm segment two connecting sleeve, an arm segment one connecting piece, an arm segment two connecting piece one, The second joint of the second arm segment connecting piece, the arm segment one connecting piece and the arm segment two connecting piece one;
所述的第二关节接口离合盘一端连接第二关节驱动机构，另一端与第二关节传动线轮轴相连，在所述的第二关节传动线轮轴上安装有线轮；通过第二关节接口离合盘的旋转带动第二关节传动线轮轴和线轮的旋转；One end of the second joint interface clutch plate is connected to the second joint drive mechanism, and the other end is connected to the second joint transmission wire wheel shaft, and a wire wheel is installed on the second joint transmission wire wheel shaft; through the second joint interface clutch plate The rotation of the second joint drives the rotation of the reel shaft and the reel;
所述的臂段一连接套管一端与所述的末端传动盒固连，所述的臂段一连接套管有两个刚性弯折关节，每个刚性弯折关节安装有一组导向轮一和四组张紧轮一，用于钢丝绳导向与张紧；One end of the arm segment-connecting sleeve is fixedly connected with the end drive box, the arm-segment-connecting sleeve has two rigid bending joints, and each rigid bending joint is installed with a set of guide wheels one and one. One of four sets of tensioning pulleys is used for wire rope guiding and tensioning;
所述的臂段一连接件与臂段二连接件一连接处的第二关节处的所述的臂段一连接套管另一端与所述的臂段一连接件固连，所述的臂段一连接件上面安装有控制第二关节、第三关节、第四关节、第五关节、第六关节、第七关节、第八关节相对运动的一个导向轮轴和两个张紧轮轴，其中所述的导向轮轴上面安装一组导向轮二和臂段二连接件一，所述的两个张紧轮轴上面分别安装一组张紧轮二，所述的臂段二连接套管一端与所述的臂段二连接件一固连，所述的臂段二连接件一上面安装有控制第三关节、第四关节、第五关节、第六关节、第七关节、第八关节相对运动的两个张紧轮轴，其中所述的两个张紧轮轴上面分别安装一组张紧轮三，所述的臂段二连接件一上面有绳槽，用于控制臂段二与臂段一的相对摆转；The other end of the arm segment-connecting sleeve at the second joint at the connection between the arm-segment-connecting piece and the arm-segment-connecting piece-one is fixedly connected with the arm segment-connecting piece. A guide wheel shaft and two tensioning wheel shafts are installed on the connecting piece of the first section to control the relative movement of the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the seventh joint and the eighth joint. A set of guide wheel two and arm segment two connecting piece one are installed on the guide wheel shaft, and a set of tension wheel two is respectively installed on the two tension wheel shafts, and one end of the arm section two is connected to the Two connecting pieces of the arm section are fixedly connected, and two connecting pieces for controlling the relative movement of the third joint, the fourth joint, the fifth joint, the sixth joint, the seventh joint and the eighth joint are installed on the second arm section connecting piece one. A set of tensioning wheel shafts are respectively installed on the two tensioning wheel shafts, and a rope groove is provided on the connecting piece 1 of the second arm section, which is used to control the relative relationship between the second arm section and the first arm section. swing;
第二关节处臂段一连接件上面的导向轮二轴线与第二关节相对摆转轴线重合，第二关节处臂段一连接件上面的导向轮二轴线和两个张紧轮二轴线与臂段二连接件一上面的两个张紧轮三轴线均平行，第二关节处控制同一个关节摆转的相邻臂段一连接件和臂段二连接件一上安装的导向轮二和张紧轮二、三中心面位于同一平面内，所述的导向轮一、二均可相对于所述导向轮轴自由转动，所述的张紧轮一、二、三均可相对于所述张紧轮轴自由转动；The second axis of the guide wheel on the connecting piece of the arm section at the second joint coincides with the relative swing axis of the second joint. The three axes of the two tensioning pulleys on the first connecting piece of the second joint are parallel, and the second joint controls the swinging of the same joint of the adjacent arm section 1 connecting piece and the second connecting piece of the arm section. The center planes of the second and third tensioning wheels are located in the same plane, the first and second guide wheels can rotate freely relative to the guide wheel shaft, and the first, second and third tensioning wheels can be relative to the tensioning wheel. The axle is free to rotate;
所述的臂段二连接套管另一端与所述的臂段二连接件二固连，所述的臂段二连接件二上面安装有一个导向轮轴和两个张紧轮轴，其中所述的导向轮轴上面安装一组导向轮三，所述的两个张紧轮轴上面分别安装一组张紧轮四。The other end of the connecting sleeve of the second arm segment is fixedly connected with the second connecting piece of the second arm segment, and a guide wheel axle and two tensioning wheel axles are installed on the second connecting piece of the second arm segment, wherein the A set of three guide wheels is installed on the guide wheel shaft, and a set of four tension wheels are respectively installed on the two tension wheel shafts.
所述的第三、第四、第五、第六、第七、第八关节执行机构与第二关节执行机构结构基本相同，其中所述的第五关节执行机构的导向轮轴线与第五关节的自转轴线重合，所述的臂段五连接件一上面的绳槽的同一侧安装有两个张紧轮五，所述的两个张紧轮五轴线与臂段五连接件一上的绳槽轴线垂直，且所述的两个张紧轮五和臂段五连接件一上的绳槽切线重合，用于控制臂段五与臂段四的相对自转；The third, fourth, fifth, sixth, seventh, and eighth joint actuators are basically the same in structure as the second joint actuator, and the guide wheel axis of the fifth joint actuator is the same as that of the fifth joint. The axis of rotation of the arm segment 5 is coincident, and two tensioning pulleys 5 are installed on the same side of the rope groove on the connecting piece 1 of the arm segment 5. The axes of the two tensioning pulleys 5 The groove axis is vertical, and the two tension pulleys five and the rope groove tangents on the connecting piece one of the arm segment five coincide, which is used to control the relative rotation of the arm segment five and the arm segment four;
所述的第五关节处臂段五连接套管内安装有第六关节、第七关节、第八关节导向轮和张紧轮，控制同一关节的两个张紧轮分别布置在导向轮两侧，且控制同一个关节摆转的两个张紧轮轴线与导向轮轴线垂直，且两个张紧轮和导向轮切线重合。A sixth joint, a seventh joint, an eighth joint guide wheel and a tensioning wheel are installed in the fifth connecting sleeve of the arm section at the fifth joint, and the two tensioning wheels that control the same joint are respectively arranged on both sides of the guiding wheel, In addition, the axes of the two tensioning wheels controlling the swing of the same joint are perpendicular to the axes of the guide wheels, and the tangents of the two tensioning wheels and the guiding wheels are coincident.
所述的第二、第三、第四、第五、第六、第七和第八关节执行机构通过钢丝绳分别对应驱动第二关节、第三关节、第四关节、第五关节、第六关节、第七关节和第八关节旋转；The second, third, fourth, fifth, sixth, seventh and eighth joint actuators respectively drive the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint through the wire rope. , the seventh joint and the eighth joint rotation;
进一步的，在所述的第二、第三、第四、第五、第六、第七和第八关节执行机构的末端传动盒中的线轮两侧均安装有导向结构；所述的导向结构各自包括导向轮轴、导向轮组和套筒，所述的套筒套装在所述的导向轮轴上，所述的导向轮套装在导向轮轴上；导向轮轴的两端固定在底座壳体上。Further, guide structures are installed on both sides of the wire pulley in the end transmission box of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators; the guide Each structure includes a guide wheel shaft, a guide wheel group and a sleeve, the sleeve is sleeved on the guide wheel shaft, the guide wheel is sleeved on the guide wheel shaft; both ends of the guide wheel shaft are fixed on the base shell.
进一步的，所述第二、第三、第四、第五、第六、第七和第八关节执行机构的套管与各自两端对应连接件保持过盈连接并通过销轴固定。Further, the sleeves of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators are in interference connection with the corresponding connectors at both ends and are fixed by pins.
进一步的，所述的第二、第三、第四、第五、第六、第七和第八关节执行机构中的线轮和传动线轮轴上有钢丝绳槽，用于缠绕钢丝绳；所述第二、第三、第四、第五、第六、第七和第八关节执行机构中的线轮和传动线轮轴上的绳槽上有槽孔，钢丝绳末端打结后嵌入在槽孔中，用于固定钢丝绳末端。Further, there are wire rope grooves on the wire pulleys and the transmission wire pulley shafts in the second, third, fourth, fifth, sixth, seventh and eighth joint actuators for winding the wire rope; the first 2. There are slots on the wire pulleys in the third, fourth, fifth, sixth, seventh and eighth joint actuators and the rope grooves on the transmission wire pulley shaft. The ends of the wire ropes are knotted and embedded in the grooves. For fixing wire rope ends.
进一步的，所述的第二、第三、第四、第五、第六、第七和第八关节执行机构的对应关节臂段连接件绳槽有槽孔，钢丝绳末端打结后嵌入在槽孔中，用于固定钢丝绳末端。Further, the rope grooves of the corresponding joint arm segment connectors of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators have slot holes, and the ends of the wire ropes are knotted and embedded in the grooves. hole for fixing the end of the wire rope.
进一步的，为防止钢丝绳从导向轮和张紧轮中脱出，可在靠近张紧轮的位置安装导向孔板，使钢丝绳沿导向轮和张紧轮切线绕进绕出导向轮和张紧轮后从导向孔板的导向孔中穿出到相邻关节。Further, in order to prevent the wire rope from falling out of the guide wheel and the tension wheel, a guide orifice plate can be installed near the tension wheel, so that the wire rope can be wound in and out of the guide wheel and the tension wheel along the tangent of the guide wheel and the tension wheel. Pass through the guide hole of the guide hole plate to the adjacent joint.
进一步的，所述的第二、第三、第四、第五、第六关节执行机构在所述的末端传动盒内单列依次布置；第七和第八关节执行机构在所述的末端传动盒内与第六关节执行机构并联布置。Further, the second, third, fourth, fifth and sixth joint actuators are arranged in a single row in the end transmission box; the seventh and eighth joint actuators are arranged in the end transmission box It is arranged in parallel with the sixth joint actuator.
进一步的，所述的第二、第三、第四、第五、第六、第七和第八关节执行机构的所述的线轮套装于所述的传动线轮轴上，所述的线轮与所述的传动线轮轴上有圆弧形长螺栓孔，所述的线轮与所述的传动线轮轴之间调节相对转角后用螺栓连接并紧固；所述的传动线轮轴一端通过轴承固定在所述手术器械执行机构壳体上，所述的传动线轮轴另一端通过轴承固定在所述手术器械执行机构壳体上；所述的传动线轮轴的一端与所述的接口离合盘截面呈“D”字形，所述的传动线轮轴与所述的接口离合盘的“D”字形截面形成过盈配合，所述的传动线轮轴的一端与所述的接口离合盘通过“D”字形截面周向固定，所述的传动线轮轴的一端与所述的接口离合盘通过螺栓轴向固定。Further, the wire pulleys of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators are sleeved on the transmission wire pulley shaft, and the wire pulleys There is an arc-shaped long bolt hole on the drive reel shaft, and the relative angle between the reel and the drive reel shaft is adjusted with bolts and fastened; one end of the drive reel shaft passes through the bearing is fixed on the casing of the surgical instrument implementing mechanism, and the other end of the transmission wire wheel shaft is fixed on the casing of the surgical instrument implementing mechanism through a bearing; one end of the transmission wire wheel shaft has a cross section of the interface clutch disc In the shape of "D", the drive reel shaft forms an interference fit with the "D"-shaped cross-section of the interface clutch disc, and one end of the drive reel shaft and the interface clutch disc pass through the "D" shape. The cross section is fixed in the circumferential direction, and one end of the transmission wire wheel shaft and the interface clutch disc are axially fixed by bolts.
进一步的，所述的第二、第三、第四、第五、第六、第七和第八关节执行机构的前驱动钢丝的一端固定各自对应的线轮的钢丝槽中，前驱动钢丝的另一端固定在各自对应关节的环形钢丝槽内；所述的后驱动钢丝的一端固定在各自对应的传动线轮轴的钢丝槽中，后驱动钢丝的另一端固定在各自对应关节的环形钢丝槽内；通过调节线轮与传动线轮轴之间相对转角，使前驱动钢丝和后驱动钢丝在传动路径中达到合适的张紧度，然后用螺栓将传动线轮轴和线轮相互连接并紧固。Further, one end of the front driving wire of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators is fixed in the wire groove of the corresponding wire pulley, and the front driving wire is The other end is fixed in the annular wire groove of the corresponding joint; one end of the rear driving wire is fixed in the wire groove of the corresponding transmission reel shaft, and the other end of the rear driving wire is fixed in the annular wire groove of the corresponding joint. ; By adjusting the relative angle between the reel and the drive reel, the front drive wire and the rear drive wire can reach the appropriate tension in the transmission path, and then use bolts to connect and fasten the drive reel and the reel.
本实用新型的有益效果：The beneficial effects of the present utility model:
本实用新型的用于单孔手术机器人的具有移动定位关节的手术器械与现有技术相比具有以下有益效果：Compared with the prior art, the surgical instrument with movable positioning joint for the single-hole surgical robot of the present invention has the following beneficial effects:
1.本实用新型的用于单孔手术机器人的具有移动定位关节的手术器械方便拆装、定位准确、刚度较大、布局合理、小型化、轻量化。1. The surgical instrument with movable positioning joints for the single-hole surgical robot of the present invention is easy to disassemble and assemble, has accurate positioning, high rigidity, reasonable layout, miniaturization and light weight.
2.手术器械关节驱动机构采用机械解耦或控制解耦，完全解决了手术器械执行机构各关节摆转时产生的相互运动耦合问题。2. The joint drive mechanism of the surgical instrument adopts mechanical decoupling or control decoupling, which completely solves the problem of mutual motion coupling generated when each joint of the surgical instrument actuator swings.
3.手术器械执行机构动作灵活，完成各种动作运动范围小，有效解决多器械协作时的干涉问题。3. The actuator of the surgical instrument is flexible and has a small range of motion to complete various actions, which effectively solves the problem of interference when multiple instruments cooperate.
4.手术器械执行机构M上面的接口离合盘采用单列布置，使手术器械M在接口底座上面的固定点之间的力臂更长，更有利于手术器械执行机构M在关节驱动机构N上面的固定。4. The interface clutch disc on the surgical instrument actuator M is arranged in a single row, so that the force arm between the fixed points of the surgical instrument M on the interface base is longer, which is more conducive to the operation of the surgical instrument actuator M on the joint drive mechanism N. fixed.
5.手术器械执行机构M上面的接口离合盘采用单列布置，关节驱动机构N上面的电机与接口离合盘“同轴布置”，可以将第二关节执行机构、第三关节执行机构、第四关节执行机构、第五关节执行机构、第六关节执行机构、第七关节执行机构和第八关节执行机构的驱动电机单列布置，减少了多个器械协同动作时发生干涉的可能性，空间布置合理。5. The interface clutch disc on the surgical instrument actuator M is arranged in a single row, and the motor on the joint drive mechanism N is "coaxially arranged" with the interface clutch disc, which can connect the second joint actuator, the third joint actuator, and the fourth joint. The drive motors of the actuator, the fifth joint actuator, the sixth joint actuator, the seventh joint actuator and the eighth joint actuator are arranged in a single row, which reduces the possibility of interference when multiple instruments work together, and the space arrangement is reasonable.
6.将机械解耦机构设计在关节驱动机构N上，不设计在手术器械执行机构M上，这样可以简化手术器械执行机构M的结构设计，有利于手术器械执行机构M是大量生产。6. The mechanical decoupling mechanism is designed on the joint drive mechanism N, not on the surgical instrument actuator M, which can simplify the structural design of the surgical instrument actuator M and facilitate mass production of the surgical instrument actuator M.
附图说明Description of drawings
图1是本实用新型一种用于单孔手术机器人手术器械执行机构双头类器械的自由度组合示意图。FIG. 1 is a schematic diagram of the combined degree of freedom of a double-headed instrument used for a single-hole surgical robot surgical instrument implementing mechanism according to the present invention.
图2是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构单头类器械和30°腔镜的自由度组合示意图。FIG. 2 is a schematic diagram of the combined degree of freedom of a single-headed instrument and a 30° endoscope for a surgical instrument implementing mechanism with a moving positioning joint for a single-hole surgical robot according to the present invention.
图3是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构360°腔镜的自由度组合示意图。3 is a schematic diagram of the combined degree of freedom of a 360° endoscope of a surgical instrument implementing mechanism with a moving positioning joint for a single-hole surgical robot according to the present invention.
图4是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构的结构主视示意图。4 is a schematic front view of the structure of a surgical instrument implementing mechanism with a moving positioning joint for a single-hole surgical robot according to the present invention.
图5是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构的结构右视示意图。5 is a schematic right side view of the structure of a surgical instrument implementing mechanism with a moving positioning joint for a single-hole surgical robot according to the present invention.
图6是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构与关节驱动机构装配主视示意图。6 is a schematic front view of the assembly of a surgical instrument implementing mechanism and a joint driving mechanism with a moving positioning joint for a single-hole surgical robot according to the present invention.
图7是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构与关节驱动机构装配右视示意图。7 is a schematic diagram of the right side view of the assembly of a surgical instrument implementing mechanism with a moving positioning joint and a joint driving mechanism for a single-hole surgical robot according to the present invention.
图8是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构与关节驱动机构装配俯视示意图。FIG. 8 is a schematic top view of the assembly of a surgical instrument implementing mechanism with a moving positioning joint and a joint driving mechanism for a single-hole surgical robot according to the present invention.
图9是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构实施例2的结构主视示意图。9 is a schematic front view of the structure of Embodiment 2 of a surgical instrument implementing mechanism with moving positioning joints for a single-hole surgical robot according to the present invention.
图10是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构实施例2的结构右视示意图。FIG. 10 is a schematic right side view of the structure of Embodiment 2 of a surgical instrument implementing mechanism with moving and positioning joints for a single-hole surgical robot according to the present invention.
图11是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构实施例3的结构主视示意图。11 is a schematic front view of the structure of Embodiment 3 of a surgical instrument implementing mechanism with moving positioning joints for a single-hole surgical robot according to the present invention.
图12是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构实施例2的装配主视示意图。FIG. 12 is a schematic front view of the assembly of Embodiment 2 of a surgical instrument implementing mechanism with moving positioning joints for a single-hole surgical robot according to the present invention.
图13是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构实施例2的装配右视示意图。FIG. 13 is a schematic view of the assembled right side of Embodiment 2 of a surgical instrument implementing mechanism with moving positioning joints for a single-hole surgical robot according to the present invention.
图14是本实用新型一种用于单孔手术机器人的具有移动定位关节的手术器械执行机构实施例2的装配俯视示意图。14 is a schematic top view of the assembly of Embodiment 2 of a surgical instrument implementing mechanism with moving positioning joints for a single-hole surgical robot according to the present invention.
图15-图17是图4中的局部放大图。15-17 are partial enlarged views of FIG. 4 .
图18-图20是图5中的局部放大图。18-20 are partial enlarged views of FIG. 5 .
图中：In the picture:
关节驱动机构N,手术器械执行机构M,Joint drive mechanism N, surgical instrument implementing mechanism M,
固定座1_1,滚珠丝杠机构1_2,底座1_3,底座壳体1_3_1,底座外罩1_3_2,锁紧挂钩1_3_3_1,锁紧挂钩1_3_3_2,固定销轴1_3_4,Fixed seat 1_1, ball screw mechanism 1_2, base 1_3, base shell 1_3_1, base cover 1_3_2, locking hook 1_3_3_1, locking hook 1_3_3_2, fixing pin 1_3_4,
导向轮轴1_4_1_1、1_4_1_2、1_4_1_3、1_4_1_4、1_4_1_5、1_4_1_6、1_4_1_7、1_4_1_8；导向轮组1_4_2_1、1_4_2_2、1_4_2_3、1_4_2_4、1_4_2_5、1_4_2_6、1_4_2_7、1_4_2_8；Guide wheel axles 1_4_1_1, 1_4_1_2, 1_4_1_3, 1_4_1_4, 1_4_1_5, 1_4_1_6, 1_4_1_7, 1_4_1_8;
第一关节1_5；第二关节2_1；第三关节3_1，第四关节4_1，第五关节5_1，第六关节6_1，第七关节7_1，第八关节8_1；The first joint 1_5; the second joint 2_1; the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, the eighth joint 8_1;
臂段一1_6；臂段二2_2；臂段三3_2；臂段四4_2；臂段五5_2；臂段六6_2；臂段七7_2；臂段八8_2；Arm segment one 1_6; arm segment two 2_2; arm segment three 3_2; arm segment four 4_2; arm segment five 5_2; arm segment six 6_2; arm segment seven 7_2; arm segment eight 8_2;
刚性弯折关节1_12、1_13；导向轮1_12_1、1_13_1；张紧轮1_12_2、1_13_3‘’Rigid bending joints 1_12, 1_13; guide pulleys 1_12_1, 1_13_1; tension pulleys 1_12_2, 1_13_3'’
两个张紧轮轴1_15、1_16；一组导向轮1_17；张紧轮1_18、1_19；手术器械执行机构壳体1_20；末端传动盒1_4；Two tensioning wheel shafts 1_15, 1_16; a set of guide wheels 1_17; tensioning wheels 1_18, 1_19; surgical instrument actuator housing 1_20; end drive box 1_4;
臂段一连接套管1_10；Arm segment one connecting sleeve 1_10;
臂段一连接件1_11；导向轮轴1_14；Arm segment-connector 1_11; guide wheel shaft 1_14;
臂段二2_2；传动线轮轴2_3；线轮2_4；接口离合盘2_5；臂段二连接件一2_6；臂段二连接套管2_7；臂段二连接件二2_8；张紧轮轴2_10、2_11；张紧轮2_13、2_14；The second arm section 2_2; the transmission wire wheel shaft 2_3; the wire wheel 2_4; the interface clutch plate 2_5; the second arm section connecting piece 2_6; the arm section two connecting sleeve 2_7; Tensioner 2_13, 2_14;
导向轮轴2_15，张紧轮轴2_16、2_17；导向轮2_18；张紧轮2_19、2_20；Guide wheel shaft 2_15, tension wheel shaft 2_16, 2_17; guide wheel 2_18; tension wheel 2_19, 2_20;
张紧轮5_17～5_18；臂段五连接件一5_6；臂段五连接套管5_7。Tensioning pulleys 5_17-5_18; five connecting pieces of arm section one 5_6; fifth arm section connecting sleeve 5_7.
具体实施方式Detailed ways
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.
正如背景技术所介绍的，现有技术中微创外科单孔手术机器人的研发还处于起步阶段，尤其对手术工具系统的研究与国外技术相比还有较大的差距，因此，开发丝传动、多自由度手术工具及相配套的性能更为稳定高效的快换装置对填补国内空白，推进相关领域技术进步具有重要意义。研究开发与现有系统拥有不同的丝传动形式和快换方式的多自由度手术工具系统对于提升我国在该科研领域的学术、技术地位具有深远意义，为了解决如上的技术问题，本申请提出了一种具有移动和自转定位关节的单孔手术器械。As described in the background art, the research and development of single-port surgical robots for minimally invasive surgery in the prior art is still in its infancy, and there is still a big gap between the research on surgical tool systems and foreign technologies. Therefore, the development of wire transmission, Multi-degree-of-freedom surgical tools and matching quick-change devices with more stable and efficient performance are of great significance to filling the domestic gap and promoting technological progress in related fields. The research and development of a multi-degree-of-freedom surgical tool system with different wire transmission forms and quick-change methods from the existing systems has far-reaching significance for improving my country's academic and technical status in this scientific research field. In order to solve the above technical problems, this application proposes A single-hole surgical instrument with movable and self-rotating positioning joints.
实施例1Example 1
结合图1、图4～图8、图15～图20说明本实施方式，用于单孔手术机器人的具有移动定位关节的手术器械执行机构M，包括第一关节执行机构1、第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8和手术器械执行机构壳体1_20等组成；1 , 4 to 8 , and 15 to 20 , the present embodiment will be described. The surgical instrument execution mechanism M with a moving positioning joint for a single-hole surgical robot includes a first joint execution mechanism 1 and a second joint execution mechanism M. Mechanism 2, Third Joint Actuator 3, Fourth Joint Actuator 4, Fifth Joint Actuator 5, Sixth Joint Actuator 6, Seventh Joint Actuator 7, Eighth Joint Actuator 8 and Surgical Instrument Actuator Housing Body 1-20, etc.;
所述的手术器械执行机构M包含8个自由度，所述的手术器械执行机构M包含的8个自由度从末端传动盒1_4一端开始，依次为：沿臂段一1_6轴线z轴方向移动自由度，绕第二关节2_1轴线x轴向摆转自由度，绕第三关节3_1轴线x轴向摆转自由度，绕第四关节4_1轴线y轴向摆转自由度，绕第五关节5_1轴线z轴向自转自由度，绕第六关节6_1轴线x轴向摆转自由度，绕第七关节7_1轴线y轴向摆转自由度I，绕第七关节7_1轴线y轴向摆转自由度II。第一、第二、第三、第四、第五、第六、第七关节执行机构7每相邻两个关节自由度轴线方向空间垂直，第七和第八关节执行机构8两个关节自由度轴线重合。The surgical instrument implementing mechanism M includes 8 degrees of freedom, and the eight degrees of freedom contained in the surgical instrument implementing mechanism M start from one end of the end drive box 1_4, and the order is: freedom of movement along the arm segment-1_6 axis in the z-axis direction degree of freedom of rotation around the axis x of the second joint 2_1, degree of freedom of rotation around the axis x of the third joint 3_1, degree of freedom of rotation around the axis y of the fourth joint 4_1, degree of freedom of rotation around the axis of the fifth joint 5_1 The z-axis rotation degree of freedom, the axial rotation degree of freedom around the sixth joint 6_1 axis x, the axial rotation degree of freedom around the seventh joint 7_1 axis y, the axial rotation degree of freedom I, and the y-axis swing degree of freedom II around the seventh joint 7_1 axis . The first, second, third, fourth, fifth, sixth, and seventh joint actuators 7 have two adjacent joint degrees of freedom, and the axis directions are vertical in space, and the seventh and eighth joint actuators 8 have two free joints. Degree axes coincide.
手术器械执行机构M安装并固定在关节驱动机构N的底座1_3上，所述的关节驱动机构N的底座壳体1_3_1与一个滚珠丝杠机构1_2的螺母固连，所述的滚珠丝杠机构1_2与固定座1_1固连。The surgical instrument implementing mechanism M is installed and fixed on the base 1_3 of the joint drive mechanism N, the base shell 1_3_1 of the joint drive mechanism N is fixedly connected with a nut of a ball screw mechanism 1_2, and the ball screw mechanism 1_2 It is fixedly connected to the holder 1_1.
所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8的末端传动盒1_4内的结构相同，各自均包括有一个传动线轮轴、线轮、接口离合盘、轴承等组成；所述的接口离合盘一端连接关节驱动机构N，另一端与传动线轮轴相连，在所述的传动线轮轴上安装有线轮；通过接口离合盘的旋转带动传动线轮轴和线轮旋转；The second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator The structure in the end drive box 1-4 of 8 is the same, and each includes a drive reel shaft, reel, interface clutch disc, bearing, etc.; are connected, and a wire wheel is installed on the transmission wire wheel shaft; the transmission wire wheel shaft and the wire wheel are driven to rotate by the rotation of the interface clutch plate;
所述的第一关节执行机构1是所述的手术器械执行机构M通过与所述的关节驱动机构N底座壳体1_3固连的滚珠丝杠机构1_2相对于与所述的滚珠丝杠机构1_2固连的固定座1_1沿手术器械执行机构M的臂段一1_6轴线方向轴向移动；The first joint actuator 1 is the surgical instrument actuator M relative to the ball screw mechanism 1_2 through the ball screw mechanism 1_2 fixedly connected with the joint drive mechanism N base housing 1_3. The fixed seat 1_1 moves axially along the axis direction of the arm segment-1_6 of the surgical instrument implementing mechanism M;
所述的第二关节执行机构2包括第二关节传动线轮轴2_3，线轮2_4，接口离合盘2_5，臂段一连接套管1_10，臂段二连接套管2_7，臂段一连接件1_11，臂段二连接件一2_6，臂段二连接件二2_8，臂段一连接件1_11与臂段二连接件一2_6连接处的第二关节2_1；The second joint actuator 2 includes a second joint drive reel shaft 2_3, a reel 2_4, an interface clutch plate 2_5, an arm segment 1 connecting sleeve 1_10, an arm segment 2 connecting sleeve 2_7, an arm segment 1 connecting piece 1_11, The second joint of the arm segment 2 connecting piece 2_6, the arm segment 2 connecting piece 2_8, the second joint 2_1 at the connection between the arm segment 1 connecting piece 1_11 and the second arm segment connecting piece 2_6;
所述的第二关节接口离合盘2_5一端连接第二关节驱动机构，另一端与第二关节传动线轮轴2_3相连，在所述的第二关节传动线轮轴2_3上安装有线轮2_4；通过第二关节接口离合盘2_5的旋转带动第二关节传动线轮轴2_3和线轮2_4旋转；One end of the second joint interface clutch disc 2_5 is connected to the second joint drive mechanism, and the other end is connected to the second joint transmission reel shaft 2_3, and a wire wheel 2_4 is installed on the second joint transmission reel shaft 2_3; The rotation of the joint interface clutch plate 2_5 drives the second joint transmission reel shaft 2_3 and the reel 2_4 to rotate;
所述的臂段一连接套管1_10一端与所述的末端传动盒1_4固连，所述的臂段一连接套管1_10有两个刚性弯折关节1_12、1_13，每个刚性弯折关节1_12、1_13安装有一组导向轮1_12_1、1_13_1和四组张紧轮1_12_2、1_13_2，用于钢丝绳导向与张紧；One end of the arm section-connecting sleeve 1_10 is fixedly connected with the end transmission box 1_4, and the arm-section-connecting sleeve 1_10 has two rigid bending joints 1_12 and 1_13, each rigid bending joint 1_12 , 1_13 is equipped with a set of guide wheels 1_12_1, 1_13_1 and four sets of tensioning wheels 1_12_2, 1_13_2, which are used for wire rope guidance and tensioning;
所述的臂段一连接件1_11与臂段二连接件一2_6连接处的第二关节2_1处的所述的臂段一连接套管1_10另一端与所述的臂段一连接件1_11固连，所述的臂段一连接件1_11上面安装有控制第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1相对运动的一个导向轮轴1_14和两个张紧轮轴1_15、1_16，其中所述的导向轮轴1_14上面安装一组导向轮1_17和臂段二连接件一2_6，所述的两个张紧轮轴1_15、1_16上面分别安装一组张紧轮1_18、1_19，所述的臂段二连接套管2_7一端与所述的臂段二连接件一2_6固连，所述的臂段二连接件一2_6上面安装有控制第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1相对运动的两个张紧轮轴2_10、2_11，其中所述的两个张紧轮轴2_10、2_11上面分别安装一组张紧轮2_13、2_14，所述的臂段二连接件一2_6上面有绳槽，用于控制臂段二2_2与臂段一1_6的相对摆转。第二关节2_1处臂段一连接件1_11上面的导向轮1_17轴线与第二关节2_1相对摆转轴线重合，第二关节2_1处臂段一连接件1_11上面的导向轮1_17轴线和两个张紧轮1_18、1_19轴线与臂段二连接件一2_6上面的两个张紧轮2_13、2_14轴线均平行，第二关节2_1处控制同一个关节摆转的相邻臂段一连接件1_11和臂段二连接件一2_6上安装的导向轮和张紧轮中心面位于同一平面内，所述的导向轮1_17均可相对于所述导向轮轴1_14自由转动，所述的张紧轮1_18、1_19、2_13、2_14均可相对于所述张紧轮轴1_15、1_16、2_10、2_11自由转动。The other end of the arm segment one connecting sleeve 1_10 at the second joint 2_1 where the arm segment one connector 1_11 is connected with the arm segment two connector one 2_6 is fixedly connected with the arm segment one connector 1_11 , the arm segment-connecting member 1_11 is installed on the second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, the eighth joint 8_1 to control the relative movement One guide wheel shaft 1_14 and two tension wheel shafts 1_15, 1_16, wherein a group of guide wheels 1_17 and two connecting pieces of arm segment two are installed on the guide wheel shaft 1_14, and the two tension wheel shafts 1_15 and 1_16 are above A set of tensioning pulleys 1_18 and 1_19 are respectively installed, one end of the arm section two connecting sleeve 2_7 is fixedly connected with the arm section two connecting piece one 2_6, and the arm section two connecting piece one 2_6 is installed with a control The third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 relatively move the two tensioning wheel shafts 2_10, 2_11, wherein the two tensioning wheel shafts A set of tensioning pulleys 2_13 and 2_14 are respectively installed on 2_10 and 2_11. The arm section two connecting piece one 2_6 has a rope groove on it, which is used to control the relative swing of arm section two 2_2 and arm section one 1_6. The axis of the guide wheel 1_17 on the connecting piece 1_11 of the arm section at the second joint 2_1 coincides with the relative swing axis of the second joint 2_1. The axis of the guide wheel 1_17 on the connecting piece 1_11 of the arm section at the second joint 2_1 and the two tensioning The axes of the wheels 1_18 and 1_19 are parallel to the axes of the two tensioning pulleys 2_13 and 2_14 on the second connecting piece 2_6 of the arm segment. The second joint 2_1 controls the adjacent arm segment-connecting piece 1_11 and the arm segment that control the swing of the same joint. The center surface of the guide wheel and the tensioner wheel installed on the second connecting piece 2_6 are located in the same plane, the guide wheel 1_17 can be freely rotated relative to the guide wheel shaft 1_14, the tension wheel 1_18, 1_19, 2_13 , 2_14 can be freely rotated relative to the tensioning wheel shafts 1_15, 1_16, 2_10, 2_11.
所述的臂段二连接套管2_7另一端与所述的臂段二连接件二2_8固连，所述的臂段二连接件二2_8上面安装有一个导向轮轴2_15和两个张紧轮轴2_16、2_17，其中所述的导向轮轴2_15上面安装一组导向轮2_18，所述的两个张紧轮轴2_16、2_17上面分别安装一组张紧滑轮2_19、2_20。The other end of the second arm section connecting sleeve 2_7 is fixedly connected with the second arm section connecting piece 2_8, and a guide wheel shaft 2_15 and two tensioning wheel shafts 2_16 are installed on the second arm section connecting piece 2_8. , 2_17, wherein a set of guide wheels 2_18 are installed on the guide wheel shaft 2_15, and a set of tension pulleys 2_19 and 2_20 are respectively installed on the two tension wheel shafts 2_16 and 2_17.
所述的第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8与第二关节执行机构2结构基本相同。所述的第五关节执行机构5的导向轮轴线与第五关节5_1的自转轴线重合，所述的臂段五连接件一5_6上面的绳槽的同一侧安装有两个张紧轮5_17、5_18，所述的两个张紧轮5_17、5_18轴线与臂段五连接件一5_6上的绳槽轴线垂直，且所述的两个张紧轮5_17、5_18和臂段五连接件一5_6上的绳槽切线重合，用于控制臂段五5_2与臂段四4_2的相对自转；所述的第五关节5_1处臂段五连接套管5_7内安装有第六关节6_1、第七关节7_1、第八关节8_1导向轮和张紧轮，控制同一关节的所述的两个张紧轮分别布置在导向轮两侧，且控制同一个关节摆转的所述的两个张紧轮轴线与导向轮轴线垂直，且控制同一个关节摆转的两个张紧轮和导向轮切线重合。The third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, the eighth joint actuator 8 and the second joint actuator 2 have basically the same structure. The axis of the guide wheel of the fifth joint actuator 5 coincides with the axis of rotation of the fifth joint 5_1, and two tensioning wheels 5_17 and 5_18 are installed on the same side of the rope groove on the fifth connecting piece 5_6 of the arm segment. , the axes of the two tensioning pulleys 5_17, 5_18 are perpendicular to the axes of the rope grooves on the fifth connecting piece 5_6 of the arm segment, and the two tensioning pulleys 5_17, 5_18 and the fifth connecting piece 5_6 of the arm segment are The tangent lines of the rope grooves overlap, and are used to control the relative rotation of the arm segment five 5_2 and the arm segment four 4_2; the arm segment five connecting sleeve 5_7 at the fifth joint 5_1 is installed with a sixth joint 6_1, a seventh joint 7_1, a sixth joint Eight-joint 8_1 guide wheel and tension wheel, the two tension wheels that control the same joint are arranged on both sides of the guide wheel, and the axes of the two tension wheels and the guide wheel that control the swing of the same joint The axes are vertical, and the tangents of the two tensioning pulleys and guide pulleys that control the swing of the same joint coincide.
所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8通过钢丝绳分别对应驱动第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1和第八关节8_1旋转；The second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator 8. The second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1 and the eighth joint 8_1 are respectively driven to rotate through the wire rope;
进一步的，在所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8的末端传动盒1_4中的线轮两侧均安装有导向结构；所述的导向结构各自包括导向轮轴、导向轮组和套筒，所述的套筒套装在所述的导向轮轴上，所述的导向轮套装在导向轮轴上；导向轮轴的两端固定在底座壳体1_3_1上。Further, in the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the Guide structures are installed on both sides of the wire pulley in the end drive box 1_4 of the eight-joint actuator 8; the guide structures each include a guide wheel shaft, a guide wheel set and a sleeve, and the sleeve is sleeved on the guide On the wheel shaft, the guide wheel is sleeved on the guide wheel shaft; both ends of the guide wheel shaft are fixed on the base shell 1_3_1.
进一步的，所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8的套筒与各自两端对应连接件保持过盈连接并通过销轴固定。Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator The sleeves of the joint actuators 8 are in an interference connection with the corresponding connectors at both ends and are fixed by pins.
进一步的，所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8中的线轮和传动线轮轴上有钢丝绳槽，用于缠绕钢丝绳；所述第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8中的线轮和传动线轮轴上的绳槽上有槽孔，钢丝绳末端打结后嵌入在槽孔中，用于固定钢丝绳末端。Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator There are wire rope grooves on the wire wheel and the transmission wire wheel shaft in the joint actuator 8 for winding the wire rope; the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, and the fifth joint actuator 5. There are slot holes on the wire pulley and the rope groove on the transmission wire pulley shaft in the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator 8, and the end of the wire rope is knotted and embedded in the slot hole, For fixing wire rope ends.
进一步的，所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8的对应关节臂段连接件绳槽有槽孔，钢丝绳末端打结后嵌入在槽孔中，用于固定钢丝绳末端。Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator The rope groove of the corresponding joint arm segment connecting piece of the joint actuator 8 has a slot hole, and the end of the wire rope is embedded in the slot hole after being knotted, so as to fix the end of the wire rope.
进一步的，为防止钢丝绳从导向轮和张紧轮中脱出，可在靠近张紧轮的位置安装导向孔板，使钢丝绳沿导向轮和张紧轮切线绕进绕出导向轮和张紧轮后从导向孔板的导向孔中穿出到相邻关节。Further, in order to prevent the wire rope from falling out of the guide wheel and the tension wheel, a guide orifice plate can be installed near the tension wheel, so that the wire rope can be wound in and out of the guide wheel and the tension wheel along the tangent of the guide wheel and the tension wheel. Pass through the guide hole of the guide hole plate to the adjacent joint.
进一步的，所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6在所述的末端传动盒1_3_4内单列依次布置；第七关节执行机构7和第八关节执行机构8在所述的末端传动盒1_3_4内与第六关节执行机构6并联布置。Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, and the sixth joint actuator 6 are in a single row in the end transmission box 1_3_4. Arranged in sequence; the seventh joint actuator 7 and the eighth joint actuator 8 are arranged in parallel with the sixth joint actuator 6 in the end transmission box 1_3_4.
进一步的，所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8的所述的线轮套装于所述的传动线轮轴上，所述的线轮与所述的传动线轮轴上有圆弧形长螺栓孔，所述的线轮与所述的传动线轮轴之间调节相对转角后用螺栓连接并紧固；所述的传动线轮轴一端通过轴承固定在所述手术器械执行机构壳体1_20上，所述的传动线轮轴另一端通过轴承固定在所述手术器械执行机构壳体1_20上；所述的传动线轮轴的一端与所述的接口离合盘截面呈“D”字形，所述的传动线轮轴与所述的接口离合盘的“D”字形截面形成过盈配合，所述的传动线轮轴的一端与所述的接口离合盘通过“D”字形截面周向固定，所述的传动线轮轴的一端与所述的接口离合盘通过螺栓轴向固定。Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator The said wire wheel of the joint actuator 8 is sleeved on the said transmission wire wheel shaft, and the said wire wheel and the said transmission wire wheel shaft have arc-shaped long bolt holes, and the said wire wheel and the said After adjusting the relative rotation angle between the transmission reel shafts, use bolts to connect and fasten them; one end of the transmission reel shaft is fixed on the surgical instrument actuator housing 1_20 through a bearing, and the other end of the transmission reel shaft is fixed on the surgical instrument actuator housing 1_20 through a bearing. On the casing 1_20 of the surgical instrument actuator; one end of the transmission wire shaft and the interface clutch disc have a "D"-shaped cross-section, and the transmission wire shaft is in the shape of a "D" with the interface clutch disc. The zigzag section forms an interference fit, and one end of the transmission reel shaft and the interface clutch disc are circumferentially fixed through the "D"-shaped section, and one end of the transmission reel shaft and the interface clutch disc pass through the bolt shaft. to fixed.
进一步的，所述的第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7和第八关节执行机构8的前驱动钢丝的一端固定各自对应的线轮的钢丝槽中，前驱动钢丝的另一端固定在各自对应关节2_1～8_1的环形钢丝槽内；所述的后驱动钢丝的一端固定在各自对应的传动线轮轴的钢丝槽中，后驱动钢丝的另一端固定在各自对应关节2_1～8_1的环形钢丝槽内；通过调节线轮与传动线轮轴之间相对转角，使前驱动钢丝和后驱动钢丝在传动路径中达到合适的张紧度，然后用螺栓将传动线轮轴和线轮相互连接并紧固。Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7 and the eighth joint actuator One end of the front driving wire of the joint actuator 8 is fixed in the wire groove of the corresponding wire wheel, and the other end of the front driving wire is fixed in the annular wire groove corresponding to the joints 2_1 to 8_1; one end of the rear driving wire is fixed In the respective wire grooves of the corresponding transmission reel shafts, the other end of the rear driving wire is fixed in the annular wire grooves of the respective corresponding joints 2_1 to 8_1; The rear drive wire is properly tensioned in the transmission path, and then the transmission reel shaft and reel are connected and tightened with bolts.
具体的钢丝绳走向如下：The specific wire rope direction is as follows:
第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1前驱动钢丝走向基本相同。第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1前驱动钢丝的一端分别固定在第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8上的线轮的钢丝槽中，第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1前驱动钢丝的另一端分别逆时针从第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8上的线轮的钢丝槽中绕出再绕过末端传动盒1_4内的导向轮后依次绕过臂段一1_6上的两个刚性弯折关节1_12、1_13处的导向轮组1_12_1、1_13_1和张紧轮组1_12_2、1_13_2、该关节与末端传动盒1_4之间的各个关节处的控制该关节臂段相对运动的导向轮组和张紧轮组、该关节处的控制该关节臂段相对运动的张紧轮组、逆时针绕进该关节处的臂段连接件一中的环形钢丝槽内并与该关节处的臂段连接件一中的环形钢丝槽内固定。The front driving wires of the second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 are basically the same. One ends of the front driving wires of the second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 are respectively fixed to the second joint actuator 2, the first joint In the wire grooves of the wire pulleys on the three-joint actuator 3, the fourth-joint actuator 4, the fifth-joint actuator 5, the sixth-joint actuator 6, the seventh-joint actuator 7, and the eighth-joint actuator 8, the The second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 The other ends of the front driving wires are respectively counterclockwise from the second joint actuator 2, The third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 are wound in the wire grooves of the wire pulleys. After exiting and then bypassing the guide wheel in the end drive box 1_4, bypass the guide wheel group 1_12_1, 1_13_1 and the tensioning wheel group 1_12_2, 1_13_2 at the two rigid bending joints 1_12 and 1_13 on the arm section 1_6 in turn. The guide wheel set and the tension wheel set at each joint between the end drive box 1_4 that control the relative movement of the joint arm segment, the tension wheel set at the joint that controls the relative movement of the joint arm segment, and the counterclockwise winding The first arm segment connecting piece at the joint is fixed in the annular wire groove in the first arm segment connecting piece at the joint.
第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1后驱动钢丝走向基本相同。第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1后驱动钢丝的一端分别固定在第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8上的线轮的钢丝槽中，第二关节2_1、第三关节3_1、第四关节4_1、第五关节5_1、第六关节6_1、第七关节7_1、第八关节8_1后驱动钢丝的另一端分别顺时针从第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8上的线轮的钢丝槽中绕出再绕过末端传动盒1_4内的导向轮后依次绕过臂段一1_6上的两个刚性弯折关节1_12、1_13处的导向轮组1_12_1、1_13_1和张紧轮组1_12_2、1_13_2、该关节与末端传动盒1_4之间的各个关节处的控制该关节臂段相对运动的导向轮组和张紧轮组、该关节处的控制该关节臂段相对运动的张紧轮组、顺时针绕进该关节处的臂段连接件一中的环形钢丝槽内并与该关节处的臂段连接件一中的环形钢丝槽内固定。The second joint 2_1 , the third joint 3_1 , the fourth joint 4_1 , the fifth joint 5_1 , the sixth joint 6_1 , the seventh joint 7_1 , and the eighth joint 8_1 have basically the same rear driving wires. The second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 have one end of the rear driving wire respectively fixed to the second joint actuator 2, the second joint In the wire grooves of the wire pulleys on the three-joint actuator 3, the fourth-joint actuator 4, the fifth-joint actuator 5, the sixth-joint actuator 6, the seventh-joint actuator 7, and the eighth-joint actuator 8, the The second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, the eighth joint 8_1 and the other ends of the driving wires are respectively clockwise from the second joint actuator 2, The third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 are wound in the wire grooves of the wire pulleys. After exiting and then bypassing the guide wheel in the end drive box 1_4, bypass the guide wheel group 1_12_1, 1_13_1 and the tensioning wheel group 1_12_2, 1_13_2 at the two rigid bending joints 1_12 and 1_13 on the arm section 1_6 in turn. The guide wheel group and the tension wheel group at each joint between the end drive box 1_4 that control the relative movement of the joint arm segment, the tension wheel group at the joint that controls the relative movement of the joint arm segment, clockwise winding The first arm segment connecting piece at the joint is fixed in the annular wire groove in the first arm segment connecting piece at the joint.
本实用新型的工作原理：The working principle of the present utility model:
第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8中的各臂段2_2～8_2绕各自对应关节2_1～8_1导向轮轴实现顺时针转动：第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8的接口离合盘在关节驱动机构N动力输入下顺时针旋转，第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8的接口离合盘带动各关节执行机构2～8的传动线轮轴、线轮顺时针旋转，第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8的传动线轮轴、线轮带动各臂段2_2～8_2驱动钢丝顺时针旋转，各臂段2_2～8_2驱动钢丝带动各臂段2_2～8_2驱动钢丝绕过的末端传动盒1_4内的导向轮后依次绕过臂段一上的两个刚性弯折关节1_12、1_13处的导向轮组1_12_1、1_13_1和张紧轮组1_12_2、1_13_3、该关节与末端传动盒1_4之间的各个关节处的控制该关节臂段相对运动的导向轮组和张紧轮组、该关节处的控制该关节臂段相对运动的张紧轮组及该关节处的臂段连接件一的绳槽顺时针旋转，从而带动该臂段顺时针旋转。The second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 Each arm segment 2_2～8_2 rotates clockwise around the guide wheel shaft of the corresponding joint 2_1～8_1: the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator The interface clutch discs of the joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 rotate clockwise under the power input of the joint drive mechanism N, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator The interface clutch discs of the joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 drive the transmission reel shafts and wires of the joint actuators 2 to 8. The wheel rotates clockwise, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint The transmission spool shaft and the spool of the actuator 8 drive the drive wires of each arm segment 2_2 to 8_2 to rotate clockwise, and the drive wires of each arm segment 2_2 to 8_2 drive the guide wires in the end drive box 1_4 around which the drive wires of each arm segment 2_2 to 8_2 pass. After the wheel goes around the guide wheel group 1_12_1, 1_13_1 and the tensioning wheel group 1_12_2, 1_13_3 at the two rigid bending joints 1_12, 1_13 on the arm segment 1 in turn, and the joints at each joint between the joint and the end transmission box 1_4. The guide wheel group and the tensioning wheel group that control the relative movement of the joint arm segment, the tensioning wheel group that controls the relative movement of the joint arm segment at the joint, and the rope groove of the arm segment connecting piece 1 at the joint rotate clockwise, Thereby, the arm segment is driven to rotate clockwise.
第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8中的各臂段2_2～8_2绕各自对应关节2_1～8_1导向轮轴实现逆时针转动：第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8的接口离合盘在关节驱动机构N动力输入下逆时针旋转，第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8的接口离合盘带动各关节执行机构2～8的传动线轮轴、线轮逆时针旋转，第二关节执行机构2、第三关节执行机构3、第四关节执行机构4、第五关节执行机构5、第六关节执行机构6、第七关节执行机构7、第八关节执行机构8的传动线轮轴、线轮带动各臂段2_2～8_2驱动钢丝逆时针旋转，各臂段2_2～8_2驱动钢丝带动各臂段2_2～8_2驱动钢丝绕过的末端传动盒1_4内的导向轮后依次绕过臂段一上的两个刚性弯折关节1_12、1_13处的导向轮组1_12_1、1_13_1和张紧轮组1_12_2、1_13_3、该关节与末端传动盒1_4之间的各个关节处的控制该关节臂段相对运动的导向轮组和张紧轮组、该关节处的控制该关节臂段相对运动的张紧轮组及该关节处的臂段连接件一的绳槽逆时针旋转，从而带动该臂段逆时针旋转。The second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 Each arm segment 2_2～8_2 rotates counterclockwise around the guide wheel shaft of the corresponding joint 2_1～8_1: the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator The interface clutch plates of the joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 rotate counterclockwise under the power input of the joint drive mechanism N, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator The interface clutch discs of the joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 drive the transmission reel shafts and wires of the joint actuators 2 to 8. The wheel rotates counterclockwise, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint The transmission spool shaft and the spool of the actuator 8 drive the drive wires of each arm segment 2_2 to 8_2 to rotate counterclockwise, and the drive wires of each arm segment 2_2 to 8_2 drive the guide wires in the end drive box 1_4 around which the drive wires of each arm segment 2_2 to 8_2 bypass. After the wheel goes around the guide wheel group 1_12_1, 1_13_1 and the tensioning wheel group 1_12_2, 1_13_3 at the two rigid bending joints 1_12, 1_13 on the arm segment 1 in turn, and the joints at each joint between the joint and the end transmission box 1_4. The guide wheel set and the tension wheel set for controlling the relative movement of the joint arm segment, the tension wheel set at the joint for controlling the relative movement of the joint arm segment, and the rope groove of the arm segment connecting piece 1 at the joint rotate counterclockwise, Thereby, the arm segment is driven to rotate counterclockwise.
第一关节执行机构1沿臂段一1_6轴线方向实现轴向前进移动：手术器械执行机构M通过与所述的关节驱动机构壳体1_3固连的滚珠丝杠机构1_2相对于与所述的滚珠丝杠机构1_2固连的固定座1_1沿手术器械执行机构M的臂段一1_6轴线方向轴向前进移动实现第一关节执行机构1沿臂段一1_6轴线方向实现轴向前进移动。The first joint actuator 1 realizes axial forward movement along the axis direction of the arm segment 1_6: the surgical instrument actuator M is relative to the ball screw mechanism 1_2 fixedly connected with the joint drive mechanism housing 1_3 relative to the ball screw mechanism 1_2. The fixed seat 1_1 fixedly connected with the screw mechanism 1_2 moves axially forward along the axis direction of the arm segment-1_6 of the surgical instrument actuator M to realize the axial forward movement of the first joint actuator 1 along the axis direction of the arm segment-1_6.
第一关节执行机构1沿臂段一1_6轴线方向实现轴向后退移动：手术器械执行机构M通过与所述的关节驱动机构壳体1_3固连的滚珠丝杠机构1_2相对于与所述的滚珠丝杠机构1_2固连的固定座1_1沿手术器械执行机构M的臂段一1_6轴线方向轴向后退移动实现第一关节执行机构1沿臂段一1_6轴线方向实现轴向后退移动。The first joint actuator 1 realizes the axial backward movement along the axis direction of the arm segment one 1_6: the surgical instrument actuator M passes through the ball screw mechanism 1_2 fixedly connected with the joint drive mechanism housing 1_3 relative to the ball screw mechanism 1_2. The fixed seat 1_1 fixedly connected with the screw mechanism 1_2 moves axially backward along the axis direction of the arm segment-1_6 of the surgical instrument actuator M to realize the axial backward movement of the first joint actuator 1 along the axis direction of the arm segment-1_6.
具有移动定位关节的手术器械执行机构M与关节驱动机构N之间的安装与拆卸：Installation and disassembly between the surgical instrument implementing mechanism M and the joint driving mechanism N with moving positioning joints:
手术器械执行机构M安装到关节驱动机构N中时，手术器械执行机构M沿着底座外罩1_3_2上面的“喇叭口”形状的导向滑槽顶端滑入底座外罩1_3_2上面导向滑槽末端及中部槽底，底座外罩1_3_2上面的导向滑槽末端及中部槽底与手术器械执行机构M的固定销轴1_3_4形成“过盈”配合，同时分别旋转两个底座外罩1_3_2上面的两个锁紧挂钩1_3_3_1、1_3_3_2，使锁紧挂钩1_3_3_1、1_3_3_2上面的凹槽与手术器械执行机构M外壳上对应位置的凸台配合，以防止手术器械执行机构M的固定销轴1_3_4从底座外罩1_3_2上面的导向滑槽中“滑出”，导致手术器械执行机构M与关节驱动机构N“分离”。同时，底座壳体1_3_1上的两道定位凸台，可以对手术器械执行机构M进行定位与固定；When the surgical instrument actuator M is installed in the joint drive mechanism N, the surgical instrument actuator M slides along the top of the "bell mouth" shaped guide chute on the base cover 1_3_2 and into the guide chute end and middle groove bottom on the base cover 1_3_2. , the end of the guide chute and the bottom of the middle groove on the base cover 1_3_2 form an "interference" fit with the fixed pin 1_3_4 of the surgical instrument actuator M, and at the same time rotate the two locking hooks 1_3_3_1, 1_3_3_2 on the two base covers 1_3_2 respectively. , so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are matched with the corresponding bosses on the outer casing of the surgical instrument actuator M to prevent the fixing pin 1_3_4 of the surgical instrument actuator M from " slip out", causing the surgical instrument actuator M to "separate" from the joint drive mechanism N. At the same time, the two positioning bosses on the base shell 1_3_1 can position and fix the surgical instrument actuator M;
当手术器械执行机构M从关节驱动机构N中分离时，同时分别旋转两个底座外罩1_3_2上面的两个锁紧挂钩1_3_3_1、1_3_3_2，使锁紧挂钩1_3_3_1、1_3_3_2上面的凹槽与手术器械执行机构M外壳上对应位置的凸台分离，手术器械执行机构M沿着底座外罩1_3_2上面的导向滑槽末端及中部槽底从“喇叭口”形状的导向滑槽顶端滑出底座外罩1_3_2，使手术器械执行机构M与关节驱动机构N“分离”。When the surgical instrument actuator M is separated from the joint drive mechanism N, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base covers 1_3_2 are rotated respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are connected to the surgical instrument actuator. The bosses at the corresponding positions on the M shell are separated, and the surgical instrument actuator M slides out of the base cover 1_3_2 from the top of the "bell mouth" shaped guide chute along the end of the guide chute on the base cover 1_3_2 and the bottom of the middle groove, so that the surgical instrument M slides out of the base cover 1_3_2 The actuator M is "separated" from the joint drive mechanism N.
实施例2Example 2
结合图9、图10、图12～图14说明本实施方式，在实施例一的技术方案的基础上，可将所述具有移动定位关节的手术器械执行机构M的臂段一1_6的两个刚性弯折关节1_12、1_13的布局改为附图9、附图10中的结构。9 , 10 , and 12 to 14 , the present embodiment will be described. On the basis of the technical solution of the first embodiment, two of the arm segments 1 - 6 of the surgical instrument implementing mechanism M with moving positioning joints can be The layout of the rigid bending joints 1_12 and 1_13 is changed to the structure in FIG. 9 and FIG. 10 .
结合图9、图10、图12～图14说明本实施方式，在实施例一的技术方案的基础上，可将用于单孔手术机器人的具有移动定位关节的手术器械执行机构M的臂段一1_6的两个刚性弯折关节1_12、1_13的布局改为附图9、图10中的结构。即将实施例一的技术方案中的用于单孔手术机器人的具有移动定位关节的手术器械执行机构M的臂段一1_6的两个刚性弯折关节1_12、1_13的布局调整为实施例二的技术方案，同样可以正确驱动及解耦。This embodiment will be described with reference to FIGS. 9 , 10 , and 12 to 14 . On the basis of the technical solution of the first embodiment, the arm segment of the surgical instrument implementing mechanism M with moving positioning joints for the single-hole surgical robot can be used The layout of the two rigid bending joints 1_12 and 1_13 of a 1_6 is changed to the structure in FIG. 9 and FIG. 10 . The layout of the two rigid bending joints 1_12 and 1_13 of the arm segment 1_6 of the surgical instrument actuator M with moving positioning joints for the single-hole surgical robot in the technical solution of the first embodiment is adjusted to the technology of the second embodiment The solution can also be correctly driven and decoupled.
实施例3Example 3
结合图11说明本实施方式，在实施例一或实施例二的技术方案的基础上，可将所述具有移动定位关节的手术器械执行机构M的钢丝绳布局改为附图11中的结构。The present embodiment will be described with reference to FIG. 11 . On the basis of the technical solutions of the first or second embodiment, the wire rope layout of the surgical instrument implementing mechanism M with movable positioning joints can be changed to the structure in FIG. 11 .
结合图11说明本实施方式，在实施例一或实施例二的技术方案的基础上，可将用于单孔手术机器人的具有移动定位关节的手术器械执行机构M的传动盒1_4的布局改为附图11中的结构。即将实施例一或实施例二的技术方案中的用于单孔手术机器人的具有移动定位关节的手术器械执行机构M的传动盒的布局调整为实施例三的技术方案，同时将微创外科单孔手术机器人的机械解耦或控制解耦的关节驱动机构N的布局也调整为实施例三的技术方案，同样可以正确驱动及解耦。This embodiment is described with reference to FIG. 11 . On the basis of the technical solutions of the first or second embodiment, the layout of the transmission box 1_4 of the surgical instrument implementing mechanism M with the moving positioning joint for the single-hole surgical robot can be changed to The structure in Figure 11. That is, the layout of the transmission box of the surgical instrument implementing mechanism M with moving positioning joints for the single-hole surgical robot in the technical solution of the first embodiment or the second embodiment is adjusted to the technical solution of the third embodiment, and the minimally invasive surgical single The layout of the mechanical decoupling or control decoupling joint drive mechanism N of the orifice surgical robot is also adjusted to the technical solution of the third embodiment, which can also be correctly driven and decoupled.
上述用于单孔手术机器人的具有移动定位关节的手术器械执行机构M可以应用于双头类器械，如夹持类器械、剪切类器械等；如图2，将上述用于单孔手术机器人的具有移动定位关节的手术器械执行机构M的第八关节执行机构8去掉，可以用于单孔手术机器人的具有移动定位关节的手术器械执行机构M应用于单头类器械等，如切割类器械；第七关节7_1改为自转关节，则可应用于30°腔镜类器械等。如图3，将上述用于单孔手术机器人的具有移动定位关节的手术器械执行机构M的第七关节驱动机构7、第八关节驱动机构8去掉，可以用于单孔手术机器人的具有移动定位关节的手术器械执行机构M应用于360°腔镜类器械等。The above-mentioned surgical instrument implementing mechanism M with movable positioning joints for single-hole surgical robots can be applied to double-headed instruments, such as clamping instruments, shearing instruments, etc.; The eighth joint actuator 8 of the surgical instrument implementing mechanism M with moving positioning joints is removed, and the surgical instrument implementing mechanism M with moving positioning joints that can be used for single-hole surgical robots is applied to single-head instruments, such as cutting instruments. ; The seventh joint 7_1 is changed to an autorotation joint, which can be applied to 30° endoscopic instruments and so on. As shown in FIG. 3, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 of the above-mentioned surgical instrument implementing mechanism M with moving positioning joints for single-hole surgical robots are removed, which can be used for single-hole surgical robots with moving positioning The surgical instrument actuator M of the joint is applied to 360° endoscopic instruments and the like.
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection of the utility model.
上述虽然结合附图对本实用新型的具体实施方式进行了描述，但并非对本实用新型保护范围的限制，所属领域技术人员应该明白，在本实用新型的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本实用新型的保护范围以内。Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, it is not intended to limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to Various modifications or deformations that can be made with creative work are still within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820275211.XUCN209153974U (en) | 2018-02-26 | 2018-02-26 | A surgical instrument with a mobile positioning joint for a single-hole surgical robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820275211.XUCN209153974U (en) | 2018-02-26 | 2018-02-26 | A surgical instrument with a mobile positioning joint for a single-hole surgical robot |
| Publication Number | Publication Date |
|---|---|
| CN209153974Utrue CN209153974U (en) | 2019-07-26 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820275211.XUActiveCN209153974U (en) | 2018-02-26 | 2018-02-26 | A surgical instrument with a mobile positioning joint for a single-hole surgical robot |
| Country | Link |
|---|---|
| CN (1) | CN209153974U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309455A (en)* | 2018-02-26 | 2018-07-24 | 山东大学齐鲁医院 | A kind of surgical instrument with running fix joint for single hole operating robot |
| CN114102658A (en)* | 2021-12-27 | 2022-03-01 | 南京佗道医疗科技有限公司 | Robot transmission joint |
| CN114833813A (en)* | 2022-05-13 | 2022-08-02 | 上海交通大学 | General type dynamometry drive arrangement to super redundant arm |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309455A (en)* | 2018-02-26 | 2018-07-24 | 山东大学齐鲁医院 | A kind of surgical instrument with running fix joint for single hole operating robot |
| CN108309455B (en)* | 2018-02-26 | 2024-08-20 | 山东大学齐鲁医院 | Surgical instrument with movable positioning joint for single-hole surgical robot |
| CN114102658A (en)* | 2021-12-27 | 2022-03-01 | 南京佗道医疗科技有限公司 | Robot transmission joint |
| CN114833813A (en)* | 2022-05-13 | 2022-08-02 | 上海交通大学 | General type dynamometry drive arrangement to super redundant arm |
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