TWI844410B - Medical device for manipulating surgical tools - Google Patents
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Translated fromChinese本發明係為台灣專利申請案第111111535號（申請日：2022年3月28日）之分割案，該申請案之完整內容納入為本發明專利說明書的一部分以供參照。This invention is a division of Taiwan Patent Application No. 111111535 (filing date: March 28, 2022). The complete contents of the application are incorporated as part of the patent specification of this invention for reference.
本公開總體上涉及醫療裝置，更具體地，涉及一種具有軸馬達和並聯操縱器的醫療裝置，其可通過滑動件和傳動軛以傳遞軸馬達產生的機械力到耦接手術工具的接收軛。The present disclosure generally relates to medical devices, and more particularly, to a medical device having a shaft motor and a parallel manipulator, which can transmit the mechanical force generated by the shaft motor to a receiving yoke coupled to a surgical tool through a sliding member and a driving yoke.
並聯機構能夠以多達六個或更多的自由度來定位和定向端部平臺。並聯機構的端部平臺可用於支撐醫療裝置，例如診斷裝置或手術工具。由於並聯機構的端部平臺可以做得極小，因此該機構既可以用於通過大的手術開口進行外科手術，也可以用於通過小的手術開口或體孔進行內視鏡手術。The parallel mechanism is capable of positioning and orienting the end platform with up to six or more degrees of freedom. The end platform of the parallel mechanism can be used to support medical devices, such as diagnostic devices or surgical tools. Because the end platform of the parallel mechanism can be made extremely small, the mechanism can be used for both surgical procedures through large surgical openings and endoscopic procedures through small surgical openings or body orifices.
由於端部平臺能夠高精度、靈巧地進行操縱，因此並聯機構特別適合用於通過遠程控制進行外科手術。該機構能夠調節端部平臺的位置，使得該機構適合用於需要精確微動的醫療應用。然而，其具有用於控制安裝在端部平臺上的手術工具的馬達，會在操作期間對端部平臺造成額外的重量和力。額外的重量和力可影響響應時間和操作計劃的範圍/路徑的精度。因此，為了提高醫療裝置的精度，需要將影響並聯操縱器的端部平臺的力減到最小。The parallel mechanism is particularly suitable for use in surgical procedures by remote control because the end platform can be manipulated with high precision and dexterity. The mechanism can adjust the position of the end platform, making the mechanism suitable for medical applications that require precise micro-movement. However, it has a motor for controlling the surgical tools mounted on the end platform, which causes additional weight and force to the end platform during operation. The additional weight and force can affect the response time and the accuracy of the range/path of the operation plan. Therefore, in order to improve the accuracy of the medical device, it is necessary to minimize the forces affecting the end platform of the parallel manipulator.
本發明所要解決的技術問題在於，針對現有技術的不足提供一種具有軸馬達和並聯操縱器的醫療裝置，其可通過滑動件和傳動軛以傳遞軸馬達產生的機械力到耦接手術工具的接收軛。The technical problem to be solved by the present invention is to provide a medical device with a shaft motor and a parallel manipulator to address the deficiencies of the prior art, which can transmit the mechanical force generated by the shaft motor to a receiving yoke coupled to a surgical tool through a sliding member and a transmission yoke.
本發明所採用的其中一技術方案是提供一種醫療裝置，包括軸馬達、並聯操縱器、接收軛、滑動件以及傳動軛。軸馬達經配置以產生用於操縱手術工具的機械力。並聯操縱器包括用於支撐手術工具的端部平臺、用於支撐軸馬達的基部平臺以及聯接在端部平臺和基部平臺之間的多個臂。多個臂經配置以控制端部平臺的移動。接收軛耦接手術工具。滑動件滑動接合到軸馬達，並且經配置以接收機械力。傳動軛耦接滑動件以及接收軛，並且經配置以將機械力傳遞到接收軛。One of the technical solutions adopted by the present invention is to provide a medical device, including a shaft motor, a parallel manipulator, a receiving yoke, a sliding member and a transmission yoke. The shaft motor is configured to generate a mechanical force for manipulating a surgical tool. The parallel manipulator includes an end platform for supporting the surgical tool, a base platform for supporting the shaft motor, and a plurality of arms connected between the end platform and the base platform. The plurality of arms are configured to control the movement of the end platform. The receiving yoke couples the surgical tool. The sliding member is slidably engaged to the shaft motor and is configured to receive the mechanical force. The transmission yoke couples the sliding member and the receiving yoke and is configured to transmit the mechanical force to the receiving yoke.
以下描述將參考附圖以更全面地描述本發明。附圖中所示為本公開的示例性實施例。然而，本發明可以以許多不同的形式來實施，並且不應該被解釋為限於在此闡述的示例性實施例。提供這些示例性實施例是為了使本公開透徹和完整，並且將本發明的範圍充分地傳達給本領域技術人員。類似的附圖標記表示相同或類似的組件。The following description will refer to the accompanying drawings to more fully describe the present invention. Shown in the accompanying drawings are exemplary embodiments of the present disclosure. However, the present invention can be implemented in many different forms and should not be construed as being limited to the exemplary embodiments described herein. These exemplary embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present invention to those skilled in the art. Similar figure labels represent the same or similar components.
本文使用的術語僅用於描述特定示例性實施例的目的，而不意圖限制本發明。如本文所使用的，除非上下文另外清楚地指出，否則單數形式“一”，“一個”和“該”旨在也包含複數形式。此外，當在本文中使用時，“包含”和/或“包含”或“包含”和/或“包含”或“具有”和/或“具有”，整數，步驟，運作，元件和/或元件，但不排除存在或添加一個或多個其它特徵，區域，整數，步驟，運作，元件，元件和/或其群組。The terms used herein are for the purpose of describing specific exemplary embodiments only and are not intended to limit the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms as well. In addition, when used herein, "includes" and/or "includes" or "includes" and/or "includes" or "has" and/or "has", integers, steps, operations, elements and/or components, but do not exclude the existence or addition of one or more other features, regions, integers, steps, operations, elements, components and/or groups thereof.
除非另外定義，否則本文使用的所有術語（包含技術和科學術語）具有與本公開所屬領域的普通技術人員通常理解的相同的含義。此外，除非文中明確定義，諸如在通用字典中定義的那些術語應該被解釋為具有與其在相關技術和本公開內容中的含義一致的含義，並且將不被解釋為理想化或過於正式的含義。Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by ordinary technicians in the field to which this disclosure belongs. In addition, unless explicitly defined herein, those terms as defined in common dictionaries should be interpreted as having a meaning consistent with their meanings in the relevant technology and this disclosure, and will not be interpreted as an idealized or overly formal meaning.
以下內容將結合附圖對示例性實施例進行描述。須注意的是，參考附圖中所描繪的元件不一定按比例顯示；而相同或類似的組件將被賦予相同或相似的附圖標記表示或類似的技術用語。The following content will describe exemplary embodiments in conjunction with the accompanying drawings. It should be noted that the elements depicted in the reference drawings are not necessarily shown to scale; and the same or similar components will be given the same or similar figure markings or similar technical terms.
圖1示出了根據本公開的一些實施例的醫療裝置的3D表示視圖。圖2示出了根據本公開的一些實施例的醫療裝置的橫斷面圖。圖3示出了根據本公開的一些實施例的醫療裝置的分解圖。在一些實施例中，醫療裝置1包括並聯操縱器、傳動軸12和適配器13。並聯操縱器包括端部平臺11-1、基部平臺11-2以及可操作地聯接在端部平臺11-1和基部平臺11-2之間的多個臂11-3。傳動軸12設置在端部平臺11-1和基部平臺11-2之間。此外，傳動軸12由端部平臺11-1可旋轉地支撐。在一些實施例中，適配器13被配置成夾持手術工具T1，例如鑽頭、套管針或鋸片。在一些實施例中，醫療裝置1還包括設置在適配器13和端部平臺11-1之間的傳感器系統14。傳感器系統14被配置成監測由適配器13施加和接收的力。FIG. 1 shows a 3D representation view of a medical device according to some embodiments of the present disclosure. FIG. 2 shows a cross-sectional view of a medical device according to some embodiments of the present disclosure. FIG. 3 shows an exploded view of a medical device according to some embodiments of the present disclosure. In some embodiments, the medical device 1 includes a parallel manipulator, a drive shaft 12, and an adapter 13. The parallel manipulator includes an end platform 11-1, a base platform 11-2, and a plurality of arms 11-3 operably connected between the end platform 11-1 and the base platform 11-2. The drive shaft 12 is disposed between the end platform 11-1 and the base platform 11-2. In addition, the drive shaft 12 is rotatably supported by the end platform 11-1. In some embodiments, the adapter 13 is configured to clamp a surgical tool T1, such as a drill, a trocar, or a saw. In some embodiments, the medical device 1 further includes a sensor system 14 disposed between the adapter 13 and the end platform 11-1. The sensor system 14 is configured to monitor the force applied and received by the adapter 13.
在一些實施例中，醫療裝置1還包括殼體15、手柄16和控制模塊17。基部平臺11-2機械地附接在殼體15，並且容納機器模塊80，該機器模塊80被配置成操縱多個臂11-3的移動，這進而控制端部平臺11-1的移動。機器模塊80包括用於相應地操縱多個臂11-3的多個致動器以及用於操縱傳動軸12的軸馬達。手柄16使得用戶可以在操作期間握住並操縱醫療裝置1。控制模塊17使得用戶可以觸發、停止或調整手術工具T1的動作或執行醫療裝置1的其他功能。In some embodiments, the medical device 1 further includes a housing 15, a handle 16, and a control module 17. The base platform 11-2 is mechanically attached to the housing 15 and accommodates a machine module 80, which is configured to manipulate the movement of the plurality of arms 11-3, which in turn controls the movement of the end platform 11-1. The machine module 80 includes a plurality of actuators for correspondingly manipulating the plurality of arms 11-3 and a shaft motor for manipulating the transmission shaft 12. The handle 16 allows the user to hold and manipulate the medical device 1 during operation. The control module 17 allows the user to trigger, stop, or adjust the movement of the surgical tool T1 or perform other functions of the medical device 1.
可以基於自由度、臂的數量、每個臂中的接頭順序以及致動器的類型對並聯操縱器進行分類。在一些實施例中，並聯操縱器可以是具有六個自由度（6-DOF）的六自由度並聯操縱器。在一些實施例中，多個臂11-3包括六個臂。在一些實施例中，每個臂11-3具有聯接至基部平臺11-2底下的致動器的第一接頭、聯接至端部平臺11-1的第二接頭、以及在第一接頭和第二接頭之間的第三接頭。在一些實施例中，並聯操縱器是6-PUS並聯操縱器。在一些實施例中，第一接頭是棱柱形接頭(亦或，線性接頭)。在一些實施例中，第二接頭是球形接頭。在一些實施例中，第三接頭是萬向接頭。其中，萬向接頭採用兩個轉動接頭形成。Parallel manipulators can be classified based on the degrees of freedom, the number of arms, the order of joints in each arm, and the type of actuator. In some embodiments, the parallel manipulator can be a six-DOF parallel manipulator with six degrees of freedom (6-DOF). In some embodiments, the plurality of arms 11-3 include six arms. In some embodiments, each arm 11-3 has a first joint connected to the actuator under the base platform 11-2, a second joint connected to the end platform 11-1, and a third joint between the first joint and the second joint. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In some embodiments, the first joint is a prismatic joint (or, a linear joint). In some embodiments, the second joint is a spherical joint. In some embodiments, the third joint is a universal joint. Wherein, the universal joint is formed by two rotating joints.
在一些實施例中，醫療裝置1還包括第一定位單元18-1和第二定位單元18-2。第一定位單元18-1和第二定位單元18-2相應地包括用於發出電磁信號、聲波、熱或其他可感知信號的多個標記，以及用於將標記相對於裝置本體以特定方向/角度安裝的適配器。在一些實施例中，標記和適配器與空間傳感器配合使用，以在操作期間實現目標跟蹤功能。第二定位單元18-2可以設置在適配器13與端部平臺11-1之間的區域中。在一些實施例中，第二定位單元18-2設置在端部平臺11-1上。在另一些實施例中，第二定位單元18-2設置在適配器13上。在另一些實施例中，第二定位單元18-2設置在工具T1上。In some embodiments, the medical device 1 further includes a first positioning unit 18-1 and a second positioning unit 18-2. The first positioning unit 18-1 and the second positioning unit 18-2 respectively include a plurality of markers for emitting electromagnetic signals, sound waves, heat or other perceptible signals, and an adapter for mounting the markers in a specific direction/angle relative to the device body. In some embodiments, the markers and the adapter are used in conjunction with a spatial sensor to achieve a target tracking function during operation. The second positioning unit 18-2 can be disposed in the area between the adapter 13 and the end platform 11-1. In some embodiments, the second positioning unit 18-2 is disposed on the end platform 11-1. In other embodiments, the second positioning unit 18-2 is disposed on the adapter 13. In some other embodiments, the second positioning unit 18 - 2 is disposed on the tool T1 .
圖4A示出了根據本公開的一些實施例的傳動軸的透視圖。圖4B示出了根據本公開的一些實施例的萬向接頭的示意圖。在一些實施例中，傳動軸40由端部平臺可旋轉地支撐並且滑動地接合到基部平臺。在一些實施例中，傳動軸40包括配置成將機械力傳遞至手術工具（即，圖1中的手術工具T1）的傳動軛41、連接至傳動軛41的第一桿件44、連接至第一桿件44的第二桿件45、連接於第一桿件44和第二桿件45之間的萬向接頭46 (universal joint)、以及連接至第二桿件45的滑動件43。在一些實施例中，萬向接頭46（包含接頭內的連接軸）都是由結構強度較佳的實心金屬所製成，使得其與由金屬彈簧管所構成的柔性桿件相比，可具有較佳的使用壽命。萬向接頭46在結構上適應所施加的力，並且當力被移除時返回到原始結構。萬向接頭46足夠硬以承受和傳遞來自軸馬達的機械力。在一個示例性實施例中，萬向接頭46包括連接至第一桿件44的第一連接件46-1、連接至第一連接件46-1的第二連接件46-2，以及連接於第二連接件46-2和第二桿件45之間的第三連接件46-3。如圖4B所示，第一連接件46-1係通過第一連接軸S1和第二連接軸S2樞接於第二連接件46-2，且第一連接件46-1相對於第二連接件46-2分別在第一方向D1和第二方向D2上為可擺動的。另外，第二連接件46-2係通過第三連接軸S3和第四連接軸S4樞接於第三連接件46-3，且第二連接件46-2相對於第三連接件46-3分別在第一方向D1和第二方向D2上為可擺動的。具體地，第一連接件46-1係以第一連接軸S1為中心而相對於第二連接件46-2在第一方向D1上轉動，並以第二連接軸S2為中心而相對於第二連接件46-2在第二方向D2上轉動。另外，第二連接件46-2係以第三連接軸S3為中心而相對於第三連接件46-3在第一方向D1上轉動，並以第四連接軸S4為中心而相對於第三連接件46-3在第二方向D2上轉動。由於傳動軸40是可旋轉的，因此第一方向D1和第二方向D2皆不為固定方向，只要第一方向D1和第二方向D2對應的平面垂直。FIG. 4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure. FIG. 4B shows a schematic diagram of a universal joint according to some embodiments of the present disclosure. In some embodiments, the
在一些實施例中，萬向接頭46還可包括連接於第一連接件46-1和第二連接件46-2之間的第四連接件46-4以及連接於第二連接件46-2和第三連接件46-3之間的第五連接件46-5。如圖4B所示，第一連接件46-1係以第一連接軸S1為中心可轉動的樞接於第四連接件46-4，且第二連接件46-2係以第二連接軸S2為中心可轉動的樞接於第四連接件46-4。另外，第二連接件46-2係以第三連接軸S3為中心可轉動的樞接於第五連接件46-5，且第三連接件46-3係以第四連接軸S4為中心可轉動的樞接於第五連接件46-5。在一些實施例中，第四連接件46-4可設置有第一穿孔及第二穿孔，第一連接件46-1鄰近第四連接件46-4的一端設置有一對第一樞耳46-11，第一連接軸S1穿過該對第一樞耳46-11與第一穿孔以使第一連接件46-1以第一連接軸S1為中心可轉動的樞接於第四連接件46-4。另外，第二連接件46-2鄰近第四連接件46-4的一端設置有一對第二樞耳46-21，第二連接軸S2穿過該對第二樞耳46-21與第二穿孔以使第二連接件46-2以第二連接軸S2為中心可轉動的樞接於第四連接件46-4。相對地，第五連接件46-5可設置有第三穿孔及第四穿孔，第二連接件46-2鄰近第五連接件46-5的一端設置有一對第三樞耳46-22，第三連接軸S3穿過該對第三樞耳46-22與第三穿孔以使第二連接件46-2以第三連接軸S3為中心可轉動的樞接於第五連接件46-5。另外，第三連接件46-3鄰近第五連接件46-5的一端設置有一對第四樞耳46-31，第四連接軸S4穿過該對第四樞耳46-31與第四穿孔以使第三連接件46-3以第四連接軸S4為中心可轉動的樞接於第五連接件46-5。在一些實施例中，萬向接頭46的兩端固定點為止附螺絲鎖附迫緊實心金屬軸的銑銷平面，使得在長期使用下，該銑銷平面不會發生因結構變形而造成緊固力不足的缺陷。在一些實施例中，端部平臺和基部平臺之間的最大距離大於第一桿件44、萬向接頭46和第二桿件45的總和長度，並且端部平臺和基部平臺之間的最小距離與第一桿件44、萬向接頭46和第二桿件45的總和長度基本相同。這樣，當不使用醫療裝置時，萬向接頭46不會受到壓力。In some embodiments, the universal joint 46 may further include a fourth connector 46-4 connected between the first connector 46-1 and the second connector 46-2 and a fifth connector 46-5 connected between the second connector 46-2 and the third connector 46-3. As shown in FIG. 4B , the first connector 46-1 is pivotally connected to the fourth connector 46-4 rotatably around the first connecting axis S1, and the second connector 46-2 is pivotally connected to the fourth connector 46-4 rotatably around the second connecting axis S2. In addition, the second connector 46-2 is pivotally connected to the fifth connector 46-5 rotatably around the third connecting axis S3, and the third connector 46-3 is pivotally connected to the fifth connector 46-5 rotatably around the fourth connecting axis S4. In some embodiments, the fourth connector 46-4 may be provided with a first through hole and a second through hole, and a pair of first hinges 46-11 are provided at one end of the first connector 46-1 adjacent to the fourth connector 46-4, and a first connecting shaft S1 passes through the pair of first hinges 46-11 and the first through hole so that the first connector 46-1 is rotatably connected to the fourth connector 46-4 around the first connecting shaft S1. In addition, a pair of second hinges 46-21 are provided at one end of the second connector 46-2 adjacent to the fourth connector 46-4, and a second connecting shaft S2 passes through the pair of second hinges 46-21 and the second through hole so that the second connector 46-2 is rotatably connected to the fourth connector 46-4 around the second connecting shaft S2. In contrast, the fifth connector 46-5 may be provided with a third through hole and a fourth through hole, and a pair of third hinges 46-22 are provided at one end of the second connector 46-2 adjacent to the fifth connector 46-5, and a third connecting shaft S3 passes through the pair of third hinges 46-22 and the third through hole so that the second connector 46-2 is pivotally connected to the fifth connector 46-5 rotatably around the third connecting shaft S3. In addition, a pair of fourth hinges 46-31 are provided at one end of the third connector 46-3 adjacent to the fifth connector 46-5, and a fourth connecting shaft S4 passes through the pair of fourth hinges 46-31 and the fourth through hole so that the third connector 46-3 is pivotally connected to the fifth connector 46-5 rotatably around the fourth connecting shaft S4. In some embodiments, the two fixed points of the universal joint 46 are the milling pin planes of the solid metal shaft that are locked and tightened by the stop screws, so that the milling pin plane will not have the defect of insufficient fastening force due to structural deformation under long-term use. In some embodiments, the maximum distance between the end platform and the base platform is greater than the total length of the
在一些實施例中，在操作醫療裝置期間，當端部平臺和基部平臺之間處於最小距離時，只有第一桿件44、萬向接頭46和第二桿件45暴露在端部平臺和基部平臺之間。在另一些實施例中，在操作醫療裝置期間，當端部平臺和基部平臺之間處於最小距離時，第一桿件44、萬向接頭46、第二桿件45和滑動件的一部分暴露在端部平臺和基部平臺之間。換言之，當端部平臺和基部平臺之間處於最小距離時，滑動件相對於基部平臺基本上是平坦的。In some embodiments, during operation of the medical device, when the end platform and the base platform are at a minimum distance, only the
另一方面，當端部平臺和基部平臺之間的距離大於最小距離時，滑動件的一部分暴露在端部平臺與基部平臺之間。當端部平臺和基部平臺之間處於最大距離時，滑動件和驅動軸之間的重疊量不小於5mm。然而，在另一些實施例中，在端部平臺和基部平臺之間處於最大距離時，滑動件和驅動軸之間的重疊量可以小於5mm。換言之，滑動件和驅動軸之間的最小重疊量不超過5mm。在操作過程中，可能會向萬向接頭46施加力，導致第一連接件46-1和第二連接件46-2擺動，而在移除施加的力時變回第一連接件46-1和第二連接件46-2不擺動的原形。On the other hand, when the distance between the end platform and the base platform is greater than the minimum distance, a portion of the slider is exposed between the end platform and the base platform. When the end platform and the base platform are at the maximum distance, the overlap between the slider and the drive shaft is not less than 5 mm. However, in other embodiments, when the end platform and the base platform are at the maximum distance, the overlap between the slider and the drive shaft may be less than 5 mm. In other words, the minimum overlap between the slider and the drive shaft does not exceed 5 mm. During operation, a force may be applied to the
在一些實施例中，當端部平臺和基部平臺之間處於最小距離時，滑動件相對於基部平臺基本上是平坦的。此外，第一桿件44、萬向接頭46和第二桿件45的總和長度與端部平臺和基部平臺之間的最小距離基本相同。在另一些實施例中，當端部平臺和基部平臺之間處於最小距離時，滑動件從基部平臺伸出。此外，第一桿件44、萬向接頭46和第二桿件45的總和長度小於端部平臺和基部平臺之間的最小距離。在另一些實施例中，當端部平臺和基部平臺之間處於最小距離時，滑動件從基部平臺凹入。此外，第一桿件44、萬向接頭46和第二桿件45的總和長度大於端部平臺和基部平臺之間的最小距離。但是，在端部平臺和基部平臺之間處於最小距離期間，萬向接頭46處於正常狀態。在一些實施例中，萬向接頭46的正常狀態是萬向接頭46處於相對不受力的狀態。因此，萬向接頭46在正常狀態下保持其原始形狀（即，第一連接件46-1和第二連接件46-2無擺動）。In some embodiments, the slider is substantially flat relative to the base platform when the end platform and the base platform are at a minimum distance. In addition, the combined length of the
在一個示例性實施例中，傳動軸40的長度L40基本上為11.5cm（即11.495cm）。在一個示例性實施例中，第一桿件44、萬向接頭46和第二桿件45的總和長度L42基本上為5.5cm（即5.475cm）。在一個示例性實施例中，第一桿件44和第二桿件45的直徑D42基本上為0.38cm。在一個示例性實施例中，滑動件43的直徑D43基本上為1cm。在一個示例性實施例中，滑動件43的長度L43基本上為3cm（即2.995cm）。在一個示例性實施例中，傳動軛41的加寬部的直徑D41基本上為1.3cm。然而，上述尺寸僅是示例，並且不應被用來限制本公開的範圍。In an exemplary embodiment, the length L40 of the
圖5示出了根據本公開的一些實施例的傳動軸的分解圖。在一些實施例中，第一桿件44、萬向接頭46和第二桿件45可統稱為萬向接頭傳動軸42，且為了方便以下說明，圖5將萬向接頭傳動軸42簡化為桿來表示。傳動軛41和滑動件43相應地具有通孔，萬向接頭傳動軸42插入其中。為了將萬向接頭傳動軸42物理性地附接到傳動軛41和滑動件43，相應地使用銷41-21、41-22、43-21和43-22。銷41-21和41-22用於將萬向接頭傳動軸42的一端按到或壓到傳動軛41的通孔的內表面。在一些實施例中，銷41-21和41-22彼此正交地設置。銷43-21和43-22用於將萬向接頭傳動軸42的另一端按到或壓到滑動件43的通孔的內表面。在一些實施例中，銷43-21和43-22彼此正交地設置。因此，銷41-21、41-22、43-21和43-22的正交定位確保在操作過程中萬向接頭傳動軸42牢固地固定到傳動軛41和滑動件43上。FIG. 5 shows an exploded view of a transmission shaft according to some embodiments of the present disclosure. In some embodiments, the
在使用由金屬彈簧管所構成的柔性桿件連接於傳動軛41與滑動件43之間的情況下，因為彈簧疲勞壽命較低，所以柔性桿件可為彈簧線纏繞多束金屬細線所組成。另外，因為柔性桿件在使用上會須維持彎曲狀態，所以其剛性不能夠太大。然而，柔性桿件的彈簧線的直徑尺寸會影響到其剛性的大小，所以在需要柔性桿件有彈性功能可彎曲的條件下，就須採用直徑較小的彈簧線，但直徑較小的彈簧線則使用壽命不長。另外，傳動軸12可將馬達輸出的旋轉扭力傳遞至手術工具T1上，但柔性桿件在旋轉過程中會因彈簧線的金屬表面互相摩擦而產生金屬粉塵，因此增加了損壞平臺內部的風險。本發明的其中一有益效果在於，本發明所提供的醫療裝置1，可使用萬向接頭46連接於傳動軛41與滑動件43之間，萬向接頭46可配合端部平臺進行多方位運動，以實現六個自由度的運動能力，亦可解決使用由金屬彈簧管所構成的柔性桿件會有使用壽命較差的問題。另外，萬向接頭46在旋轉過程中不易摩擦生塵，因此可降低損壞平臺內部的風險。When a flexible rod made of a metal spring tube is used to connect between the
在一些實施例中，傳動軛41包括突起41-1，該突起被配置成將機械力傳遞到適配器（即，圖1中的適配器13）的接收軸。突起41-1被配置成在操作期間與適配器的接收軸的接觸最少，以防止在適配器上產生雜訊(也就是說，避免在適配器上產生不需要的力和力矩的輸入)。In some embodiments, the
如圖5所示，端部平臺50包括第一軸承51和第二軸承52。在一些實施例中，端部平臺50還包括墊圈53和保持環54。在一些實施例中，第一軸承51和第二軸承52是凸緣軸承，其中軸承的外圈上的延伸部或唇部被設計成幫助軸承的安裝和定位。在一些實施例中，第一軸承51的凸緣定位在端部平臺50的背離基部平臺的表面上（即，定位在圖3中的端部平臺11-1和適配器13之間）。在一些實施例中，第二軸承52的凸緣定位在端部平臺50的面向基部平臺的表面上（即，定位在圖3中的端部平臺11-1和基部平臺11-2之間）。As shown in FIG5 , the end platform 50 includes a first bearing 51 and a second bearing 52. In some embodiments, the end platform 50 further includes a washer 53 and a retaining ring 54. In some embodiments, the first bearing 51 and the second bearing 52 are flange bearings, wherein an extension or lip on the outer ring of the bearing is designed to assist in the installation and positioning of the bearing. In some embodiments, the flange of the first bearing 51 is positioned on the surface of the end platform 50 facing away from the base platform (i.e., positioned between the end platform 11-1 and the adapter 13 in FIG3 ). In some embodiments, the flange of the second bearing 52 is positioned on the surface of the end platform 50 facing the base platform (ie, positioned between the end platform 11-1 and the base platform 11-2 in FIG. 3).
在一些實施例中，保持環54徑向安裝在傳動軛41的凹槽41-4上。保持環54可以是C形環。在一些實施例中，墊圈53設置在保持環54和第二軸承52之間，以防止第二軸承52磨損。此外，墊圈53用於填充傳動軛41的凸緣41-3與保持環54之間的間隙。在一些實施例中，通過使用保持環54基本上去除了凸緣41-3、端部平臺50、墊圈53、第一軸承51和第二軸承52之間的間隙。軸承51和52可以被夾在傳動軛41的凸緣41-3和保持環54之間。因此，傳動軛41的凸緣41-3和保持環54用於幫助傳動軛41的安裝和定位。In some embodiments, the retaining ring 54 is radially mounted on the groove 41-4 of the
圖6示出了根據本公開的一些實施例的適配器的分解圖。在一些實施例中，適配器包括本體以及設置在本體內並由本體可旋轉地支撐的接收軸66。本體包括基座61和機械地附接到基座61的蓋62。接收軸66設置在基座61和蓋62之間。在一些實施例中，接收軸66包括接收軛66-1和與接收軛66-1相對的卡盤66-2。卡盤66-2被配置成夾持手術工具（即，圖1中的手術工具T1）。卡盤66-2與蓋62的通孔對準，手術工具可以插入該通孔中。接收軛66-1暴露在適配器的外部。這樣，接收軛66-1可以接收來自傳動軸的機械力。接收軛66-1與傳動軸之間的接觸被設計成盡可能最少，以防止產生雜訊。在一些實施例中，在接收軛66-1上形成凹槽（未示出），該凹槽與傳動軸的突起（即圖5中的突起41-1）互補，以接收機械力。Figure 6 shows an exploded view of an adapter according to some embodiments of the present disclosure. In some embodiments, the adapter includes a body and a receiving shaft 66 disposed in the body and rotatably supported by the body. The body includes a base 61 and a cover 62 mechanically attached to the base 61. The receiving shaft 66 is disposed between the base 61 and the cover 62. In some embodiments, the receiving shaft 66 includes a receiving yoke 66-1 and a chuck 66-2 opposite to the receiving yoke 66-1. The chuck 66-2 is configured to clamp a surgical tool (i.e., the surgical tool T1 in Figure 1). The chuck 66-2 is aligned with the through hole of the cover 62, and the surgical tool can be inserted into the through hole. The receiving yoke 66-1 is exposed to the outside of the adapter. In this way, the receiving yoke 66-1 can receive the mechanical force from the drive shaft. The contact between the receiving yoke 66-1 and the drive shaft is designed to be as minimal as possible to prevent noise. In some embodiments, a groove (not shown) is formed on the receiving yoke 66-1, which complements the protrusion of the drive shaft (i.e., the protrusion 41-1 in Figure 5) to receive the mechanical force.
在一些實施例中，適配器還包括第一軸承63和第二軸承64。在一些實施例中，第一軸承63和第二軸承64是凸緣軸承，其中軸承的外圈上的延伸部或唇部被設計成幫助軸承的安裝和定位。在一些實施例中，第一軸承63的凸緣定位在基座61的面向蓋62的表面上。在一些實施例中，第二軸承64的凸緣定位在基座61的背離蓋62的表面上。In some embodiments, the adapter further includes a first bearing 63 and a second bearing 64. In some embodiments, the first bearing 63 and the second bearing 64 are flange bearings, wherein an extension or lip on the outer ring of the bearing is designed to assist in the installation and positioning of the bearing. In some embodiments, the flange of the first bearing 63 is positioned on the surface of the base 61 facing the cover 62. In some embodiments, the flange of the second bearing 64 is positioned on the surface of the base 61 facing away from the cover 62.
在一些實施例中，適配器還包括保持環65。在一些實施例中，保持環65徑向安裝在接收軸66的凹槽66-3上。保持環65可以是C形環。在一些實施例中，接收軛66-1的直徑大於卡盤66-2的直徑。這樣，接收軛66-1的直徑比第一軸承63和第二軸承64的內圈寬。第一軸承63和第二軸承64可以被夾在接收軛66-1和保持環65之間。因此，接收軛66-1和保持環65用於幫助接收軸66的安裝和定位。In some embodiments, the adapter further includes a retaining ring 65. In some embodiments, the retaining ring 65 is radially mounted on the groove 66-3 of the receiving shaft 66. The retaining ring 65 can be a C-shaped ring. In some embodiments, the diameter of the receiving yoke 66-1 is larger than the diameter of the chuck 66-2. In this way, the diameter of the receiving yoke 66-1 is wider than the inner ring of the first bearing 63 and the second bearing 64. The first bearing 63 and the second bearing 64 can be clamped between the receiving yoke 66-1 and the retaining ring 65. Therefore, the receiving yoke 66-1 and the retaining ring 65 are used to help the installation and positioning of the receiving shaft 66.
圖7示出了根據本公開的一些實施例的機器模塊的等距視圖。在一些實施例中，機器模塊80機械地附接到並聯操縱器的基部平臺70。在一些實施例中，機器模塊80包括：多個致動器81，所述致動器被配置成控制並聯操縱器的多個臂（即，圖1中的臂11-3）的運動；以及軸馬達82，該軸馬達被配置成產生用於操縱手術工具（即圖1中的手術工具T1）的機械力。FIG7 shows an isometric view of a machine module according to some embodiments of the present disclosure. In some embodiments, the machine module 80 is mechanically attached to the base platform 70 of the parallel manipulator. In some embodiments, the machine module 80 includes: a plurality of actuators 81, which are configured to control the movement of a plurality of arms of the parallel manipulator (i.e., arms 11-3 in FIG1 ); and a shaft motor 82, which is configured to generate a mechanical force for manipulating a surgical tool (i.e., surgical tool T1 in FIG1 ).
在一些實施例中，如圖7所示，基部平臺70包括臂基座71和被臂基座71圍繞的軸基座72。臂基座71用於在並聯操縱器的多個臂與機器模塊80的致動器81之間提供結構支撐。軸基座72用於為軸馬達82提供結構支撐。在一些實施例中，傳動軸40設置在軸基座72的凹進區域內。軸馬達82的一部分可以暴露在軸基座72的凹進區域中。傳動軸40和軸馬達82可以滑動地接合在軸基座72的凹進區域內。In some embodiments, as shown in FIG. 7 , the base platform 70 includes an arm base 71 and a shaft base 72 surrounded by the arm base 71. The arm base 71 is used to provide structural support between the multiple arms of the parallel manipulator and the actuator 81 of the machine module 80. The shaft base 72 is used to provide structural support for the shaft motor 82. In some embodiments, the
圖8示出了根據本公開的一些實施例的傳動軸、並聯操縱器和機器模塊的分解圖。機器模塊的軸馬達92聯接到並聯操縱器的軸基座91。在一些實施例中，軸馬達92的轉子92-1插入到軸基座91的凹進區域中。驅動軸94附接到轉子92-1並且被配置成沿與轉子92-1相同的方向移動。傳動軸的滑動件93滑動接合到軸馬達92。在一些實施例中，滑動件93滑動接合到驅動軸94，其中由軸馬達產生的機械力通過驅動軸94傳遞到滑動件93。滑動件93具有插口，並且驅動軸94的截面形狀輪廓在結構上與插口的截面形狀輪廓互補。插口被配置成沿著驅動軸94滑動。驅動軸與滑動件之間的關係的進一步圖解和相關說明應在圖9中應公開。FIG8 shows an exploded view of a transmission shaft, a parallel manipulator, and a machine module according to some embodiments of the present disclosure. A shaft motor 92 of the machine module is connected to a shaft base 91 of the parallel manipulator. In some embodiments, a rotor 92-1 of the shaft motor 92 is inserted into a recessed area of the shaft base 91. A drive shaft 94 is attached to the rotor 92-1 and is configured to move in the same direction as the rotor 92-1. A slide 93 of the transmission shaft is slidably engaged to the shaft motor 92. In some embodiments, the slide 93 is slidably engaged to the drive shaft 94, wherein a mechanical force generated by the shaft motor is transmitted to the slide 93 via the drive shaft 94. The slider 93 has a socket, and the cross-sectional shape profile of the drive shaft 94 is complementary to the cross-sectional shape profile of the socket in structure. The socket is configured to slide along the drive shaft 94. Further illustration and related explanation of the relationship between the drive shaft and the slider should be disclosed in FIG. 9.
在一些實施例中，在軸基座91的凹進區域內放置圓筒95。當組裝醫療裝置時，圓筒95圍繞滑動件93，而滑動件93圍繞驅動軸94。圓筒95、滑動件93和驅動軸94依次裝配在彼此內。In some embodiments, a cylinder 95 is placed in a recessed area of the shaft base 91. When the medical device is assembled, the cylinder 95 surrounds the slider 93, and the slider 93 surrounds the drive shaft 94. The cylinder 95, the slider 93, and the drive shaft 94 are sequentially assembled in each other.
在一些實施例中，為了減少滑動件93和驅動軸94之間的摩擦，滑動件93和驅動軸94的材料彼此不同。驅動軸94的楊氏模量與滑動件93的楊氏模量不同。在一些實施例中，滑動件93的材料是鋼，而驅動軸94的材料是銅。在一些實施例中，滑動件93和驅動軸94的材料是抗摩擦金屬聚合物。In some embodiments, in order to reduce the friction between the slider 93 and the drive shaft 94, the materials of the slider 93 and the drive shaft 94 are different from each other. The Young's modulus of the drive shaft 94 is different from the Young's modulus of the slider 93. In some embodiments, the material of the slider 93 is steel, and the material of the drive shaft 94 is copper. In some embodiments, the material of the slider 93 and the drive shaft 94 is an anti-friction metal polymer.
在一些實施例中，為了減少滑動件93與驅動軸94之間的摩擦，在驅動軸94的外表面上塗覆潤滑劑。在一些實施例中，在滑動件93的內表面上塗覆潤滑劑。潤滑劑可以包括碳粉、潤滑油等中的至少一種。In some embodiments, in order to reduce the friction between the slider 93 and the drive shaft 94, a lubricant is applied on the outer surface of the drive shaft 94. In some embodiments, a lubricant is applied on the inner surface of the slider 93. The lubricant may include at least one of carbon powder, lubricating oil, and the like.
在一些實施例中，為了減少滑動件93和圓筒95之間的摩擦，滑動件93和圓筒95的材料彼此不同。滑動件93的楊氏模量與圓筒95的楊氏模量不同。在一些實施例中，滑動件93的材料是鋼，而圓筒95的材料是銅。在一些實施例中，滑動件93和圓筒95的材料是抗摩擦金屬聚合物。In some embodiments, in order to reduce the friction between the slider 93 and the cylinder 95, the materials of the slider 93 and the cylinder 95 are different from each other. The Young's modulus of the slider 93 is different from the Young's modulus of the cylinder 95. In some embodiments, the material of the slider 93 is steel, and the material of the cylinder 95 is copper. In some embodiments, the material of the slider 93 and the cylinder 95 is an anti-friction metal polymer.
在一些實施例中，為了減少滑動件93與圓筒95之間的摩擦，在滑動件93的外表面上塗覆潤滑劑。在一些實施例中，在圓筒95的內表面上塗覆潤滑劑。潤滑劑可以包括碳粉、潤滑油等中的至少一種。In some embodiments, in order to reduce the friction between the slider 93 and the cylinder 95, a lubricant is applied on the outer surface of the slider 93. In some embodiments, a lubricant is applied on the inner surface of the cylinder 95. The lubricant may include at least one of carbon powder, lubricating oil, and the like.
圖9示出了根據本公開的一些實施例的驅動軸和滑動件的橫斷面圖。提供了滑動件21和驅動軸22的代表性圖示，以幫助描述它們之間的滑動接合。滑動件21具有插口21-1。驅動軸的表面22-1的截面形狀輪廓在結構上與插口21-1的截面形狀輪廓互補。插口21-1被配置成在操作醫療裝置期間在需要時沿著驅動軸22滑動。在另一些實施例中，在操作期間在驅動軸22和滑動件21之間需要重疊量，以確保在它們之間傳遞機械力。在操作期間驅動軸22與滑動件21之間的重疊量不小於5mm，以確保在它們之間傳遞機械力。在另一些實施例中，驅動軸22與滑動件21之間的最小重疊量不大於5mm。在另一些實施例中，驅動軸22與滑動件21之間的最小重疊量的範圍在0mm至5mm之間。在另一些實施例中，驅動軸22與滑動件21之間的最小重疊量的範圍在5mm至100mm之間。在一些實施例中，插口21-1的深度L1大於驅動軸22的高度L2。在另一些實施例中，插口21-1的深度L1與驅動軸22的高度L2基本相同。FIG9 shows a cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure. Representative illustrations of the slider 21 and the drive shaft 22 are provided to help describe the sliding engagement therebetween. The slider 21 has a socket 21-1. The cross-sectional shape profile of the surface 22-1 of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket 21-1. The socket 21-1 is configured to slide along the drive shaft 22 when necessary during operation of the medical device. In other embodiments, an overlap is required between the drive shaft 22 and the slider 21 during operation to ensure that mechanical forces are transmitted therebetween. During operation, the overlap between the drive shaft 22 and the slider 21 is not less than 5 mm to ensure that mechanical force is transmitted therebetween. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 is not more than 5 mm. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 ranges from 0 mm to 5 mm. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 ranges from 5 mm to 100 mm. In some embodiments, the depth L1 of the socket 21-1 is greater than the height L2 of the drive shaft 22. In other embodiments, the depth L1 of the socket 21-1 is substantially the same as the height L2 of the drive shaft 22.
在一些實施例中，插口21-1和驅動軸22的表面22-1的截面形狀輪廓是多邊形的形狀輪廓。驅動軸22具有彼此相交的多個小平面以形成角度的交叉部。在一些實施例中，兩個小平面之間的交叉部是圓形的或彎曲的以防止在插入期間造成損壞。插口21-1是一個封閉的開口，其可抓住驅動軸22的多個小平面。 驅動軸22的小平面之間的角度為驅動滑動件21提供了抓力。In some embodiments, the cross-sectional shape profile of the socket 21-1 and the surface 22-1 of the drive shaft 22 is a polygonal shape profile. The drive shaft 22 has a plurality of facets that intersect each other to form an angled intersection. In some embodiments, the intersection between two facets is rounded or curved to prevent damage during insertion. The socket 21-1 is a closed opening that can grasp the plurality of facets of the drive shaft 22. The angles between the facets of the drive shaft 22 provide gripping force for the drive slider 21.
在另一些實施例中，驅動軸和滑動件具有用於傳遞機械力的不同結構。驅動軸具有突起。滑動件具有對應於突起的凹槽。在組裝好的醫療裝置中，驅動軸的突起插入滑動件的凹槽中。凹槽的高度足以使得在操作期間滑動件滑離驅動軸時，突起留在凹槽內。突起被配置成沿著相應的凹槽滑動。此外，驅動軸被配置成在運動時通過與滑動件的凹槽內側壁相切的驅動軸的突起側壁將機械力傳遞至滑動件。In other embodiments, the drive shaft and the slider have different structures for transmitting mechanical force. The drive shaft has a protrusion. The slider has a groove corresponding to the protrusion. In the assembled medical device, the protrusion of the drive shaft is inserted into the groove of the slider. The height of the groove is sufficient to allow the protrusion to remain in the groove when the slider slides off the drive shaft during operation. The protrusion is configured to slide along the corresponding groove. In addition, the drive shaft is configured to transmit the mechanical force to the slider through the protrusion side wall of the drive shaft that is tangent to the inner side wall of the groove of the slider during movement.
在一些實施例中，驅動軸具有沿彼此相反的方向延伸的兩個突起。滑動件具有與驅動軸的兩個突起互補的兩個凹槽。在一些實施例中，驅動軸具有狗骨式驅動接頭(dogbone drive joint)，並且滑動件是驅動杯(drive cup)。In some embodiments, the drive shaft has two protrusions extending in opposite directions from each other. The slider has two grooves that complement the two protrusions of the drive shaft. In some embodiments, the drive shaft has a dogbone drive joint, and the slider is a drive cup.
圖10示出了根據本公開的一些實施例的接收軸和傳動軛的透視圖。在一些實施例中，傳動軸的傳動軛102具有至少一個突起102-1。該至少一個突起102-1從傳動軛102的本體102-2延伸。在一些實施例中，突起102-1是圓柱形的。接收軸101具有接收軛101-1。接收軛101-1具有在結構上與傳動軛102的該至少一個突起102-1互補的凹槽101-2。在組裝醫療裝置時，將本體102-2的頂部插入接收軛101-1的凹進區域中。在操作期間，傳動軛102被配置成通過與凹槽101-2的內側壁相切的突起102-1的側壁將機械力傳遞至接收軛101-1。這樣，在操作期間接收軛101-1與傳動軛102之間的接觸最小，以防止傳動軛102產生多餘的雜訊。FIG. 10 shows a perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure. In some embodiments, the drive yoke 102 of the drive shaft has at least one protrusion 102-1. The at least one protrusion 102-1 extends from the body 102-2 of the drive yoke 102. In some embodiments, the protrusion 102-1 is cylindrical. The receiving shaft 101 has a receiving yoke 101-1. The receiving yoke 101-1 has a groove 101-2 that complements the at least one protrusion 102-1 of the drive yoke 102 in structure. When assembling the medical device, the top of the body 102-2 is inserted into the recessed area of the receiving yoke 101-1. During operation, the drive yoke 102 is configured to transmit mechanical force to the receiving yoke 101-1 through the side wall of the protrusion 102-1 tangential to the inner side wall of the groove 101-2. In this way, the contact between the receiving yoke 101-1 and the drive yoke 102 is minimized during operation to prevent the drive yoke 102 from generating unnecessary noise.
在一些實施例中，傳動軛102具有兩個突起102-1。突起102-1從傳動軛102的側壁沿彼此相反的方向延伸。兩個突起102-1彼此間隔180°。接收軛101-1具有與兩個突起102-1互補的兩個凹槽101-2。以與兩個突起102-1相同的方式，兩個凹槽101-2彼此相對設置。在一些實施例中，傳動軛102是狗骨式驅動接頭，並且接收軛101-1是驅動杯。In some embodiments, the drive yoke 102 has two protrusions 102-1. The protrusions 102-1 extend from the side wall of the drive yoke 102 in opposite directions. The two protrusions 102-1 are spaced 180° apart from each other. The receiving yoke 101-1 has two grooves 101-2 that complement the two protrusions 102-1. In the same manner as the two protrusions 102-1, the two grooves 101-2 are disposed opposite to each other. In some embodiments, the drive yoke 102 is a dog-bone drive joint, and the receiving yoke 101-1 is a drive cup.
在操作期間，把來自傳動軸的雜訊盡可能地減到最小，從而在監測手術工具的運動時不會引發問題。在一些實施例中，可以使用傳感器系統來監測手術工具。圖11示出了根據本公開的一些實施例的力傳感器的橫斷面圖。圖12示出了根據本公開的一些實施例的力傳感器的分解圖。在一些實施例中，傳感器系統110設置在端部平臺130與適配器120之間。傳感器系統110被配置成測量適配器120的力。傳感器系統110具有通孔，由軸承122可旋轉地支撐的接收軸121和由軸承131可旋轉地支撐的傳動軸140在該通孔中會合。During operation, the noise from the drive shaft is minimized as much as possible so that it does not cause problems when monitoring the movement of the surgical tool. In some embodiments, a sensor system can be used to monitor the surgical tool. Figure 11 shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure. Figure 12 shows an exploded view of a force sensor according to some embodiments of the present disclosure. In some embodiments, the sensor system 110 is disposed between the end platform 130 and the adapter 120. The sensor system 110 is configured to measure the force of the adapter 120. The sensor system 110 has a through hole in which a receiving shaft 121 rotatably supported by a bearing 122 and a driving shaft 140 rotatably supported by a bearing 131 meet.
在一些實施例中，傳感器系統110包括力中繼器111和機械地聯接到力中繼器111的力傳感器112。力中繼器111可拆卸地聯接到適配器120。在一些實施例中，力中繼器111具有與適配器120的凹槽和突起互鎖的凹槽和突起。In some embodiments, the sensor system 110 includes a force relay 111 and a force sensor 112 mechanically coupled to the force relay 111. The force relay 111 is detachably coupled to the adapter 120. In some embodiments, the force relay 111 has grooves and protrusions that interlock with grooves and protrusions of the adapter 120.
在一些實施例中，力傳感器112機械地附接到力中繼器111和端部平臺130，並且配置成將施加到適配器120的力轉換成電信號。在一些實施例中，力傳感器112利用在力傳感器112的通孔的外圍周圍嵌入的緊固件113機械地附接到力中繼器111和端部平臺130。在一些實施例中，在力傳感器112的前表面和後表面上形成多個孔，以相應地容納用於力中繼器111和端部平臺130的緊固件113。在一些實施例中，力中繼器111的緊固件113與端部平臺130的緊固件113交錯。在一些實施例中，用於力中繼器111的緊固件113不與用於端部平臺130的緊固件113對準，並且不與它們在投影上重疊。In some embodiments, the force sensor 112 is mechanically attached to the force relay 111 and the end platform 130 and is configured to convert the force applied to the adapter 120 into an electrical signal. In some embodiments, the force sensor 112 is mechanically attached to the force relay 111 and the end platform 130 using fasteners 113 embedded around the periphery of the through hole of the force sensor 112. In some embodiments, a plurality of holes are formed on the front and rear surfaces of the force sensor 112 to correspondingly accommodate the fasteners 113 for the force relay 111 and the end platform 130. In some embodiments, the fasteners 113 of the force relay 111 are staggered with the fasteners 113 of the end platform 130. In some embodiments, the fasteners 113 for the force relay 111 are not aligned with the fasteners 113 for the end platform 130 and do not overlap them in projection.
在一些實施例中，力傳感器112是環形稱重傳感器（也稱作負載墊圈或通孔稱重傳感器）。力傳感器112將諸如張力、壓縮、壓力或轉矩等力轉換成電信號。在一些實施例中，施加到力傳感器112的力與電信號的變化成比例。In some embodiments, the force sensor 112 is a ring load cell (also called a load pad or through-hole load cell). The force sensor 112 converts a force such as tension, compression, pressure, or torque into an electrical signal. In some embodiments, the force applied to the force sensor 112 is proportional to the change in the electrical signal.
在一些實施例中，除了預定力和預定轉矩之外，施加到適配器120的力還包括在操作期間測量的力偏差和轉矩偏差。力偏差表示在操作期間當設置在接收軸121上的手術工具與諸如骨骼的目標物體接觸並對其施加力時，在接收軸方向上的影響。轉矩偏差表示在操作期間當設置在接收軸121上的手術工具與諸如骨骼的目標物體接觸並對其施加力時，在接收軸的運動上的影響。In some embodiments, in addition to the predetermined force and the predetermined torque, the force applied to the adapter 120 also includes force deviation and torque deviation measured during operation. The force deviation represents the influence in the direction of the receiving shaft when the surgical tool disposed on the receiving shaft 121 contacts and applies force to the target object such as bone during operation. The torque deviation represents the influence on the movement of the receiving shaft when the surgical tool disposed on the receiving shaft 121 contacts and applies force to the target object such as bone during operation.
在一些實施例中，傳感器系統110用於在操作期間控制手術工具的位置和方向/角度。在一些實施例中，傳感器系統信號連接至控制器。在操作期間，由控制器接收具有預定範圍、預定路徑或其組合的操作計劃。傳感器系統測量力偏差、轉矩偏差或其組合。力偏差和轉矩偏差是與操作計劃的預定範圍（即，預定力和預定轉矩）的偏差。基於力偏差和轉矩偏差來調節手術工具的方向/角度和位置。通過控制使並聯操縱器移動的致動器來調節手術工具的方向/角度和位置。通過控制來自軸馬達的機械力來調節手術工具的運動。在一些實施例中，傳動軸可能在傳感器系統上引起雜訊。因此，在一些實施例中，低通濾波器進一步電聯接至傳感器系統以去除雜訊。In some embodiments, the sensor system 110 is used to control the position and direction/angle of the surgical tool during operation. In some embodiments, the sensor system signal is connected to a controller. During operation, an operation plan having a predetermined range, a predetermined path, or a combination thereof is received by the controller. The sensor system measures force deviation, torque deviation, or a combination thereof. Force deviation and torque deviation are deviations from the predetermined range (i.e., predetermined force and predetermined torque) of the operation plan. The direction/angle and position of the surgical tool are adjusted based on the force deviation and torque deviation. The direction/angle and position of the surgical tool are adjusted by controlling an actuator that moves a parallel manipulator. The movement of the surgical tool is adjusted by controlling the mechanical force from the shaft motor. In some embodiments, the drive shaft may cause noise on the sensor system. Therefore, in some embodiments, a low pass filter is further electrically connected to the sensor system to remove noise.
因此，本公開的一個方面提供了一種醫療裝置，該醫療裝置包括：並聯操縱器，該並聯操縱器具有端部平臺和機械地聯接到端部平臺的基部平臺；適配器，該適配器具有可拆卸地聯接至端部平臺的本體和由本體可旋轉地支撐的接收軸，該接收軸具有接收軛；由端部平臺可旋轉地支撐的傳動軸，該傳動軸具有配置成將機械力傳遞至接收軛的傳動軛、連接至傳動軛的第一桿件、連接至第一桿件的第二桿件、連接於第一桿件和第二桿件之間的萬向接頭、和連接至第二桿件的滑動件；以及軸馬達，該軸馬達被配置成產生機械力以驅動傳動軸，該軸馬達具有可滑動地接合到滑動件的驅動軸。Therefore, one aspect of the present disclosure provides a medical device, which includes: a parallel manipulator having an end platform and a base platform mechanically connected to the end platform; an adapter having a body detachably connected to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a transmission shaft rotatably supported by the end platform, The drive shaft has a drive shaft configured to transmit mechanical force to a receiving shaft, a first rod connected to the drive shaft, a second rod connected to the first rod, a universal joint connected between the first rod and the second rod, and a sliding member connected to the second rod; and a shaft motor configured to generate mechanical force to drive the drive shaft, the shaft motor having a drive shaft slidably engaged to the sliding member.
在一些實施例中，醫療裝置還包括設置在端部平臺與適配器之間的傳感器系統，該傳感器系統被配置成測量適配器上的力。In some embodiments, the medical device further includes a sensor system disposed between the end platform and the adapter, the sensor system being configured to measure force on the adapter.
在一些實施例中，傳感器系統包括力中繼器，該力中繼器可拆卸地聯接到適配器；力傳感器，該力傳感器機械地附接到力中繼器和端部平臺，並且配置成將施加到適配器的力轉換成電信號。In some embodiments, the sensor system includes a force relay that is removably connected to the adapter; a force sensor that is mechanically attached to the force relay and the end platform and is configured to convert the force applied to the adapter into an electrical signal.
在一些實施例中，傳動軛具有突起，並且接收軛具有在結構上與突起互補的凹槽。在一些實施例中，傳動軛被配置成在運動時通過與凹槽相切的突起的側壁將機械力傳遞至接收軛。In some embodiments, the drive yoke has a protrusion, and the receiving yoke has a groove that complements the protrusion in structure. In some embodiments, the drive yoke is configured to transmit mechanical force to the receiving yoke through the side wall of the protrusion tangent to the groove during movement.
在一些實施例中，滑動件具有插口。驅動軸的截面形狀輪廓在結構上與插口的截面形狀輪廓互補。插口被配置成沿著驅動軸滑動。In some embodiments, the slider has a socket. The cross-sectional shape profile of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket. The socket is configured to slide along the drive shaft.
在一些實施例中，插口和驅動軸的截面形狀輪廓是多邊形的形狀輪廓。In some embodiments, the cross-sectional shape profiles of the socket and the drive shaft are polygonal shape profiles.
在一些實施例中，驅動軸具有突起，並且滑動件具有對應於突起的凹槽。在一些實施例中，突起被配置成沿著凹槽滑動。In some embodiments, the drive shaft has a protrusion, and the slider has a groove corresponding to the protrusion. In some embodiments, the protrusion is configured to slide along the groove.
在一些實施例中，驅動軸和滑動件之間的最小重疊量不小於5mm。In some embodiments, the minimum overlap between the drive shaft and the slider is not less than 5 mm.
在一個實施例中，萬向接頭包括連接至第一桿件的第一連接件、連接至第一連接件的第二連接件，以及連接於第二連接件和第二桿件之間的第三連接件；第一連接件係通過第一連接軸和第二連接軸樞接於第二連接件，且第一連接件相對於第二連接件分別在第一方向和第二方向上為可擺動的；第二連接件係通過第三連接軸和第四連接軸樞接述第三連接件，且第二連接件相對於第三連接件分別在第一方向和第二方向上為可擺動的。In one embodiment, the universal joint includes a first connection member connected to a first rod, a second connection member connected to the first connection member, and a third connection member connected between the second connection member and the second rod; the first connection member is pivoted to the second connection member through a first connection axis and a second connection axis, and the first connection member is swingable relative to the second connection member in a first direction and a second direction, respectively; the second connection member is pivoted to the third connection member through a third connection axis and a fourth connection axis, and the second connection member is swingable relative to the third connection member in the first direction and the second direction, respectively.
在一些實施例中，萬向接頭還包括連接於第一連接件和第二連接件之間的第四連接件以及連接於第二連接件和第三連接件之間的第五連接件；第一連接件係以第一連接軸為中心可轉動的樞接於第四連接件，且第二連接件係以第二連接軸為中心可轉動的樞接於第四連接件；第二連接件係以第三連接軸為中心可轉動的樞接於第五連接件，且第三連接件係以第四連接軸為中心可轉動的樞接於第五連接件。In some embodiments, the universal joint further includes a fourth connector connected between the first connector and the second connector and a fifth connector connected between the second connector and the third connector; the first connector is rotatably connected to the fourth connector around the first connecting axis, and the second connector is rotatably connected to the fourth connector around the second connecting axis; the second connector is rotatably connected to the fifth connector around the third connecting axis, and the third connector is rotatably connected to the fifth connector around the fourth connecting axis.
在一些實施例中，醫療裝置還包括圍繞滑動件的圓筒。圓筒、滑動件和驅動軸依次裝配在彼此內。In some embodiments, the medical device further comprises a cylinder surrounding the slider. The cylinder, the slider and the drive shaft are sequentially assembled in each other.
在一些實施例中，驅動軸的楊氏模量與滑動件的楊氏模量不同，並且滑動件的楊氏模量與圓筒的楊氏模量不同。In some embodiments, the Young's modulus of the drive shaft is different from the Young's modulus of the slider, and the Young's modulus of the slider is different from the Young's modulus of the cylinder.
在一些實施例中，醫療裝置還包括潤滑劑，該潤滑劑被施用以塗覆圓筒、滑動件和驅動軸中的至少一者的表面。In some embodiments, the medical device further includes a lubricant applied to coat a surface of at least one of the cylinder, the slider, and the drive shaft.
在一些實施例中，在端部平臺和基部平臺之間處於最小距離時，萬向接頭處於正常狀態。In some embodiments, the universal joint is in a normal state when the end platform and the base platform are at a minimum distance.
在一些實施例中，力傳感器是環形稱重傳感器。In some embodiments, the force sensor is a ring load cell.
在一些實施例中，適配器還具有軸承，該軸承被配置成將接收軸可旋轉地附接到本體。在一些實施例中，端部平臺還具有軸承，該軸承被配置成將傳動軸可旋轉地附接到端部平臺。In some embodiments, the adapter also has a bearing configured to rotatably attach the receiving shaft to the body. In some embodiments, the end platform also has a bearing configured to rotatably attach the drive shaft to the end platform.
最後所應說明的是，以上實施例僅用以說明本發明的技術方案而非限制，儘管參照以上較佳實施例對本發明進行了詳細說明，本領域的普通技術人員應當理解，可以對本發明的技術方案進行修改或等同替換，而不脫離本發明技術方案的精神和範圍。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention is described in detail with reference to the above preferred embodiments, ordinary technical personnel in this field should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.
1:醫療裝置 11-1:端部平臺 11-2:基部平臺 11-3:臂 12:傳動軸 13:適配器 14:傳感器系統 15:殼體 16:手柄 17:控制模塊 18-1:第一定位單元 18-2:第二定位單元 T1:工具 40:傳動軸 41:傳動軛 41-1:突起 41-21,41-22,43-21,43-22:銷 41-3:凸緣 41-4:凹槽 42:萬向接頭傳動軸 43:滑動件 44:第一桿件 45:第二桿件 46:萬向接頭 46-1:第一連接件 46-2:第二連接件 46-3:第三連接件 46-4:第四連接件 46-5:第五連接件 S1:第一連接軸 S2:第二連接軸 S3:第三連接軸 S4:第四連接軸 46-11:第一樞耳 46-21:第二樞耳 46-22:第三樞耳 46-31:第四樞耳 D1:第一方向 D2:第二方向 50:端部平臺 51:第一軸承 52:第二軸承 53:墊圈 54:保持環 61:基座 62:蓋 63:第一軸承 64:第二軸承 65:保持環 66:接收軸 66-1:接收軛 66-2:卡盤 66-3:凹槽 70:基部平臺 71:臂基座 72:軸基座 80:機器模塊 81:致動器 82:軸馬達 91:軸基座 92:軸馬達 92-1:轉子 93:滑動件 94:驅動軸 95:圓筒 21:滑動件 21-1:插口 22:驅動軸 101:接收軸 101-1:接收軛 101-2:凹槽 102:傳動軛 102-1:突起 102-2:本體 110:傳感器系統 111:力中繼器 112:力傳感器 113:緊固件 120:適配器 121:接收軸 130:端部平臺 122,131:軸承 140:傳動軸1: Medical device11-1: End platform11-2: Base platform11-3: Arm12: Drive shaft13: Adapter14: Sensor system15: Housing16: Handle17: Control module18-1: First positioning unit18-2: Second positioning unitT1: Tool40: Drive shaft41: Drive yoke41-1: Protrusion41-21, 41-22, 43-21, 43-22: Pin41-3: Flange41-4: Groove42: Universal joint drive shaft43: Sliding member44: First rod45: Second rod46: Universal joint46-1: First connecting member46-2: Second connecting member46-3: Third connecting member46-4: Fourth connecting member46-5: Fifth connecting memberS1: First connecting shaftS2: Second connecting shaftS3: Third connecting shaftS4: Fourth connecting shaft46-11: First hinge46-21: Second hinge46-22: Third hinge46-31: Fourth hingeD1: First directionD2: Second direction50: End platform51: First bearing52: Second bearing53: Gasket54: Retaining ring61: Base62: Cover63: First bearing64: Second bearing65: Retaining ring66: Receiving shaft66-1: Receiving yoke66-2: Chuck66-3: Groove70: Base platform71: Arm base72: Shaft base80: Machine module81: Actuator82: Shaft motor91: Shaft base92: Shaft motor92-1: Rotor93: Sliding member94: Drive shaft95: Cylinder21: Sliding member21-1: Socket22: Drive shaft101: Receiving shaft101-1: Receiving yoke101-2: Groove102: Drive yoke102-1: protrusion102-2: body110: sensor system111: force relay112: force sensor113: fastener120: adapter121: receiving shaft130: end platform122,131: bearing140: drive shaft
圖1示出了根據本公開的一些實施例的醫療裝置的3D表示視圖。Figure 1 shows a 3D representation of a medical device according to some embodiments of the present disclosure.
圖2示出了根據本公開的一些實施例的醫療裝置的橫斷面圖。Figure 2 shows a cross-sectional view of a medical device according to some embodiments of the present disclosure.
圖3示出了根據本公開的一些實施例的醫療裝置的分解圖。Figure 3 shows an exploded view of a medical device according to some embodiments of the present disclosure.
圖4A示出了根據本公開的一些實施例的傳動軸的透視圖。Figure 4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure.
圖4B示出了根據本公開的一些實施例的萬向接頭的示意圖。Figure 4B shows a schematic diagram of a universal joint according to some embodiments of the present disclosure.
圖5示出了根據本公開的一些實施例的傳動軸的分解圖。Figure 5 shows an exploded view of a drive shaft according to some embodiments of the present disclosure.
圖6示出了根據本公開的一些實施例的適配器的分解圖。Figure 6 shows an exploded view of an adapter according to some embodiments of the present disclosure.
圖7示出了根據本公開的一些實施例的機器模塊的透視圖。Figure 7 shows a perspective view of a machine module according to some embodiments of the present disclosure.
圖8示出了根據本公開的一些實施例的傳動軸、並聯操縱器和機器模塊的分解圖。Figure 8 shows an exploded view of the drive shaft, parallel manipulator and machine module according to some embodiments of the present disclosure.
圖9示出了根據本公開的一些實施例的驅動軸和滑動件的橫斷面圖。Figure 9 shows a cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure.
圖10示出了根據本公開的一些實施例的接收軸和傳動軛的透視圖。Figure 10 shows a perspective view of a receiving shaft and a driving shaft according to some embodiments of the present disclosure.
圖11示出了根據本公開的一些實施例的力傳感器的橫斷面圖。Figure 11 shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure.
圖12示出了根據本公開的一些實施例的力傳感器的分解圖。Figure 12 shows an exploded view of a force sensor according to some embodiments of the present disclosure.
1:醫療裝置1: Medical devices
11-1:端部平臺11-1: End platform
11-2:基部平臺11-2: Base platform
11-3:臂11-3: Arm
12:傳動軸12: Drive shaft
13:適配器13: Adapter
14:傳感器系統14:Sensor system
15:殼體15: Shell
16:手柄16: Handle
17:控制模塊17: Control module
18-1:第一定位單元18-1: First positioning unit
18-2:第二定位單元18-2: Second positioning unit
T1:工具T1: Tools
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| CN105744904A (en)* | 2013-11-22 | 2016-07-06 | 伊西康内外科有限责任公司 | Features for coupling surgical instrument shaft assembly with instrument body |
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| TWM524169U (en)* | 2016-04-12 | 2016-06-21 | 寶健科技股份有限公司 | Ultrasonic shockwave apparatus with multiple-direction multi-angle movement mechanical arms |
Also Published As
| Publication number | Publication date |
|---|---|
| TW202402243A (en) | 2024-01-16 |
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