本申请要求于2023年12月28日提交中国专利局、申请号为202311844402.5、申请名称为“一种滚转运动副前置的蛇形末端执行机构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed with the China Patent Office on December 28, 2023, with application number 202311844402.5 and application name “A serpentine end effector with a pre-rolling motion pair”, the entire contents of which are incorporated by reference in this application.
本申请涉及微型末端执行器系统的技术领域，特别是一种滚转运动副前置的蛇形末端执行机构。The present application relates to the technical field of a micro end effector system, and in particular to a serpentine end effector mechanism with a front rolling motion pair.
目前国际市场上成熟的单孔腔镜手术机器人产品，其末端执行器大多采用滚转运动副后置的驱传动方式，典型一种方法是：利用电机转轴带动一些列齿轮组的传动方式，通过末端执行机构操作臂的整体滚转来实现末端扭矩输出，缺点是存在齿轮的回程误差以及转动时将导致过渡长杆中的驱动丝缠绕，影响末端精度。另一种典型的方法是：将滚转运动副设计在整套末端执行器系统的后端，通过整机的外壳旋转带动执行器操作臂的滚转，从而实现末端器械的旋拧操作，但是增加了末端执行器整体尺寸，后端驱动部分整体臃肿，不便于多臂末端执行器系统的集成。Most of the mature single-port laparoscopic surgical robot products on the international market use a rear-mounted rolling motion pair for their end effectors. A typical method is to use the motor shaft to drive a series of gear sets, and achieve the end torque output through the overall rolling of the end effector operating arm. The disadvantages are that there is a return error of the gear and the drive wire in the transition rod will be entangled during rotation, affecting the end precision. Another typical method is to design the rolling motion pair at the rear end of the entire end effector system, and drive the actuator operating arm to roll by rotating the shell of the entire machine, so as to achieve the screwing operation of the end instrument, but it increases the overall size of the end effector, and the overall rear-end drive part is bloated, which is not convenient for the integration of multi-arm end effector systems.
发明内容Summary of the invention
本申请提供一种滚转运动副前置的蛇形末端执行机构，满足对偶约束的连续体构节空间灵活全维度位姿变换的同时，具备夹持末端原位旋拧功能，有效降低驱控端传动系统复杂程度，减小执行机构体积尺寸，实现手术器械末端对血管组织的精细操作能力。未来可广泛应用于单孔腔镜、多孔腔镜、骨科、介入手术以及经自然腔道手术机器人系统末端执行机构。This application provides a serpentine end effector with a rolling motion pair in front, which can meet the dual constraint of the continuous body segment space flexible full-dimensional posture transformation, and has the function of in-situ twisting of the clamping end, effectively reducing the complexity of the drive system of the control end, reducing the volume of the actuator, and realizing the fine operation ability of the end of the surgical instrument on the vascular tissue. In the future, it can be widely used in single-port laparoscope, multi-port laparoscope, orthopedics, interventional surgery and end effector of natural cavity surgery robot system.
第一方面，提供了一种滚转运动副前置的蛇形末端执行机构，包括末端器械、槽轮机构和第一驱动丝；In a first aspect, a serpentine end effector with a rolling motion pair in front is provided, comprising an end instrument, a grooved wheel mechanism and a first drive wire;
末端器械具有上夹爪和下夹爪，上夹爪和下夹爪设置于器械旋转轴心的上下两侧，上夹爪可相对于器械旋转轴心旋转；第一驱动丝用于驱动槽轮旋转中心旋转；槽轮机构包括上槽轮，上槽轮与槽轮旋转中心固定连接，上槽轮具有上槽轮导向槽，上槽轮导向槽呈偏心弧形，且横跨槽轮旋转中心和器械旋转轴心的连线，沿着逆时针方向，上槽轮导向槽的中心弧线到槽轮旋转中心的距离逐渐增大，上夹爪的根部插入上槽轮导向槽内，可在上槽轮导向槽内相对滑动；The end device has an upper clamp and a lower clamp, which are arranged on the upper side of the rotation axis of the device. The upper clamping jaws on the lower two sides can rotate relative to the rotation axis of the instrument; the first driving wire is used to drive the rotation center of the groove wheel to rotate; the groove wheel mechanism includes an upper groove wheel, the upper groove wheel is fixedly connected to the rotation center of the groove wheel, and the upper groove wheel has an upper groove wheel guide groove, the upper groove wheel guide groove is eccentrically arc-shaped, and crosses the line connecting the rotation center of the groove wheel and the rotation axis of the instrument, and along the counterclockwise direction, the distance from the central arc line of the upper groove wheel guide groove to the rotation center of the groove wheel gradually increases, and the root of the upper clamping jaw is inserted into the upper groove wheel guide groove, and can slide relatively in the upper groove wheel guide groove;
在上夹爪和下夹爪开启状态下时，上夹爪的根部在上槽轮导向槽内的位置到槽轮旋转中心的距离为第一距离，在上夹爪和下夹爪关闭状态下时，上夹爪的根部在上槽轮导向槽内的位置到槽轮旋转中心的距离为第二距离，第一距离小于第二距离。When the upper jaw and the lower jaw are in the open state, the distance from the position of the root of the upper jaw in the upper groove wheel guide groove to the rotation center of the groove wheel is a first distance. When the upper jaw and the lower jaw are in the closed state, the distance from the position of the root of the upper jaw in the upper groove wheel guide groove to the rotation center of the groove wheel is a second distance. The first distance is smaller than the second distance.
结合第一方面，在第一方面的某些实现方式中，槽轮机构还包括下槽轮，下槽轮与槽轮旋转中心固定连接，下槽轮具有下槽轮导向槽，下槽轮导向槽呈偏心弧形，且横跨槽轮旋转中心和器械旋转轴心的连线，沿着逆时针方向，下槽轮导向槽的中心弧线到槽轮旋转中心的距离逐渐减小，下夹爪的根部插入下槽轮导向槽内，可在下槽轮导向槽内相对滑动；In combination with the first aspect, in certain implementations of the first aspect, the sheave mechanism further includes a lower sheave, the lower sheave is fixedly connected to the sheave rotation center, the lower sheave has a lower sheave guide groove, the lower sheave guide groove is eccentrically arc-shaped, and crosses a line connecting the sheave rotation center and the instrument rotation axis, and along the counterclockwise direction, a distance from a central arc of the lower sheave guide groove to the sheave rotation center gradually decreases, and a root of the lower clamping jaw is inserted into the lower sheave guide groove and can slide relatively in the lower sheave guide groove;
在上夹爪和下夹爪开启状态下时，下夹爪的根部在下槽轮导向槽内的位置到槽轮旋转中心的距离为第三距离，在上夹爪和下夹爪关闭状态下时，下夹爪的根部在下槽轮导向槽内的位置到槽轮旋转中心的距离为第四距离，第三距离小于第四距离。When the upper jaw and the lower jaw are in the open state, the distance from the position of the root of the lower jaw in the guide groove of the lower groove wheel to the rotation center of the groove wheel is the third distance, and when the upper jaw and the lower jaw are in the closed state, the distance from the position of the root of the lower jaw in the guide groove of the lower groove wheel to the rotation center of the groove wheel is the fourth distance, and the third distance is smaller than the fourth distance.
结合第一方面，在第一方面的某些实现方式中，上槽轮导向槽和下槽轮导向槽相对于槽轮旋转中心和器械旋转轴心的连线对称设置。In combination with the first aspect, in certain implementations of the first aspect, the upper sheave guide groove and the lower sheave guide groove are symmetrically arranged relative to a line connecting a sheave rotation center and an instrument rotation axis.
结合第一方面，在第一方面的某些实现方式中，第一驱动丝夹设于上槽轮和下槽轮之间。In combination with the first aspect, in certain implementations of the first aspect, the first drive wire clamp is disposed between the upper groove wheel and the lower groove wheel.
结合第一方面，在第一方面的某些实现方式中，末端器械、槽轮机构和第一驱动丝构成所述末端执行机构的末端器械-槽轮传动机构；所述末端执行机构还包括滚转轴、滚转筒和第二驱动丝；In combination with the first aspect, in certain implementations of the first aspect, the end instrument, the grooved wheel mechanism and the first drive wire constitute an end instrument-groove wheel transmission mechanism of the end actuator; the end actuator further includes a rolling shaft, a rolling cylinder and a second drive wire;
滚转轴用于承载末端器械-槽轮传动机构；滚转筒与滚转轴同轴连接，滚转筒用于在第二驱动丝的驱动下带动滚转轴滚转；滚转轴、滚转筒均在中心轴上开设有通孔，以穿过第一驱动丝。The rolling shaft is used to carry the end instrument-groove transmission mechanism; the rolling cylinder is coaxially connected to the rolling shaft. The cylinder is used to drive the rolling shaft to roll under the drive of the second driving wire; the rolling shaft and the rolling cylinder are both provided with a through hole on the central axis to pass the first driving wire.
结合第一方面，在第一方面的某些实现方式中，滚转筒包括滚转轴体、第一导向柱和第二导向柱；In combination with the first aspect, in certain implementations of the first aspect, the rolling drum includes a rolling shaft body, a first guide post, and a second guide post;
滚转轴体具有螺旋滚道的滚转轴体，在滚转轴体的中间位置具有贯穿滚转轴体的锁紧孔，锁紧孔与滚转轴体的中心轴相交，且锁紧孔沿螺旋升角方向设置；第一导向柱和第二导向柱分别位于滚转轴体的两侧，且分别位于滚转轴体的两端；The rolling shaft body has a rolling shaft body with a spiral raceway, and a locking hole penetrating the rolling shaft body is provided in the middle position of the rolling shaft body, the locking hole intersects with the central axis of the rolling shaft body, and the locking hole is arranged along the spiral lead angle direction; the first guide column and the second guide column are respectively located on both sides of the rolling shaft body, and are respectively located at both ends of the rolling shaft body;
第二驱动丝沿螺旋滚道环绕滚转轴体，从滚转轴体的一端环绕至另一端，且在锁紧孔处穿过锁紧孔，并绕至第一导向柱和第二导向柱的外侧；第一导向柱侧的第二驱动丝和第二导向柱侧的第二驱动丝朝着相反的方向移动，驱动滚转筒的滚转轴体旋转，进而带动滚转轴上的末端器械-槽轮传动机构旋转。The second drive wire wraps around the rolling shaft body along the spiral raceway, from one end of the rolling shaft body to the other end, passes through the locking hole at the locking hole, and wraps around the outside of the first guide column and the second guide column; the second drive wire on the first guide column side and the second drive wire on the second guide column side move in opposite directions, driving the rolling shaft body of the rolling drum to rotate, and then driving the end instrument-groove wheel transmission mechanism on the rolling shaft to rotate.
结合第一方面，在第一方面的某些实现方式中，第一导向柱侧的第二驱动丝和第二导向柱侧的第二驱动丝沿圆周对称。In combination with the first aspect, in certain implementations of the first aspect, the second driving wire on the first guide column side and the second driving wire on the second guide column side are symmetrical along the circumference.
结合第一方面，在第一方面的某些实现方式中，包括滚转筒和第二驱动丝；In combination with the first aspect, in some implementations of the first aspect, a roller and a second drive wire are included;
滚转筒包括滚转轴体、第一导向柱和第二导向柱；滚转轴体具有螺旋滚道的滚转轴体，在滚转轴体的中间位置具有贯穿滚转轴体的锁紧孔，锁紧孔与滚转轴体的中心轴相交，且锁紧孔沿螺旋升角方向设置；第一导向柱和第二导向柱分别位于滚转轴体的两侧，且分别位于滚转轴体的两端；The rolling cylinder comprises a rolling shaft body, a first guide column and a second guide column; the rolling shaft body has a spiral raceway, a locking hole penetrating the rolling shaft body is provided in the middle of the rolling shaft body, the locking hole intersects with the central axis of the rolling shaft body, and the locking hole is arranged along the spiral lead angle direction; the first guide column and the second guide column are respectively located on both sides of the rolling shaft body, and are respectively located at both ends of the rolling shaft body;
第二驱动丝沿螺旋滚道环绕滚转轴体，从滚转轴体的一端环绕至另一端，且在锁紧孔处穿过锁紧孔，并绕至第一导向柱和第二导向柱的外侧；第一导向柱侧的第二驱动丝和第二导向柱侧的第二驱动丝朝着相反的方向移动，驱动滚转筒的滚转轴体旋转，进而带动滚转轴上的末端器械-槽轮传动机构旋转。The second drive wire wraps around the rolling shaft body along the spiral raceway, from one end of the rolling shaft body to the other end, passes through the locking hole at the locking hole, and wraps around the outside of the first guide column and the second guide column; the second drive wire on the first guide column side and the second drive wire on the second guide column side move in opposite directions, driving the rolling shaft body of the rolling drum to rotate, and then driving the end instrument-groove wheel transmission mechanism on the rolling shaft to rotate.
结合第一方面，在第一方面的某些实现方式中，第一导向柱侧的第二驱动丝和第二导向柱侧的第二驱动丝沿圆周对称。In combination with the first aspect, in certain implementations of the first aspect, the second driving wire on the first guide column side and the second driving wire on the second guide column side are symmetrical along the circumference.
第二方面，提供了一种末端执行器，包括如上述第一方面中的任意一种实现方式中所述的末端执行机构。In a second aspect, an end effector is provided, comprising any one of the embodiments of the first aspect. The end effector mechanism described in the present embodiment.
与现有技术相比，本申请提供的方案至少包括以下有益技术效果：Compared with the prior art, the solution provided by this application includes at least the following beneficial technical effects:
(1)集成滚转运动副的对偶连续体蛇形末端执行机构具备末端器械原位旋拧功能。(1) The dual continuum serpentine end effector with integrated rolling motion pair has the function of in-situ screwing of the end instrument.
(2)滚转运动副前置，降低驱控端传动机构复杂程度，减小末端执行机构体积尺寸。(2) The roll motion pair is placed in front to reduce the complexity of the transmission mechanism at the drive control end and reduce the size of the end actuator.
(3)手术末端执行机构轴向长度短，适用于极限空间约束条件下的精细操作。(3) The surgical end effector has a short axial length and is suitable for delicate operations under extreme space constraints.
(4)器械-槽轮机构结构简单，通过单向驱传动可实现夹持器两个部件的同步反向运动，实现器械张开与闭合操作。(4) The instrument-groove mechanism has a simple structure and can realize synchronous reverse movement of the two parts of the clamp through unidirectional drive transmission, thereby realizing the opening and closing operation of the instrument.
(5)力传递装置可实现与驱动端伺服电机的快速拆卸与连接，便于术中快速更换末端执行器。(5) The force transmission device can be quickly disassembled and connected to the servo motor at the driving end, which facilitates the rapid replacement of the end effector during surgery.
(6)驱动丝与约束丝的空间布局，既实现多关节线性耦合提升控制效率，又满足运动学解耦关系，便于运动学模型的快速构建，实现末端执行机构精准稳定操控。(6) The spatial layout of the driving wire and the constraint wire not only realizes multi-joint linear coupling to improve control efficiency, but also satisfies the kinematic decoupling relationship, facilitates the rapid construction of the kinematic model, and realizes precise and stable control of the end effector.
图1为末端执行器系统结构图。Figure 1 is a structural diagram of the end effector system.
图2为末端器械-槽轮传动机构图。FIG. 2 is a diagram of the end instrument-groove wheel transmission mechanism.
图3为滚转运动副传动机构图。Figure 3 is a diagram of the rolling motion pair transmission mechanism.
图4为开合及滚转关节结构图。Figure 4 is a structural diagram of the opening, closing and rolling joints.
下面结合附图和具体实施例对本申请作进一步详细的描述。The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.
图1为本申请实施例提供的一种末端执行器系统结构图。末端执行器系统可以通过微创通道进入人体内部对病灶区域完成高精准手术操作。手术机器人末端执行器是一种将近端驱动电机的旋转输入转化为远端手术操作器械输出的机械装置。近端与远端由支撑杆进行连接。近端通过力传递装置与驱动端伺服电机进行连接。每个驱动电机通过驱动丝与导向机构将扭矩输入传递至末端执行机构的关节上。每一个关节都代表一个独立的控制变量，也称作自由度。手术机器人末端执行器是一种结构、传动、驱动控制高度集成的微执行机构，由末端器械与运动关节组成，其本身不具有驱动部分，由关节与驱传动环节形成闭环传动链，驱动端伺服电机通过力传递装置协同驱动多关节运动，从而代替传统开放式外科手术器械伸入人体内，精准完成外科手术过程中对血管等组织的夹持、切割以及缝合等典型操作。FIG1 is a structural diagram of an end effector system provided in an embodiment of the present application. The end effector system can enter the human body through a minimally invasive channel to perform high-precision surgical operations on the lesion area. The end effector of the surgical robot is a mechanical device that converts the rotation input of the proximal drive motor into the output of the distal surgical operating instrument. The proximal end and the distal end are connected by a support rod. The proximal end is connected to the drive end servo through a force transmission device. The motors are connected. Each drive motor transmits the torque input to the joints of the end effector through the drive wire and the guide mechanism. Each joint represents an independent control variable, also known as a degree of freedom. The end effector of the surgical robot is a micro-actuator with highly integrated structure, transmission, and drive control. It consists of an end instrument and a motion joint. It does not have a drive part itself, and a closed-loop transmission chain is formed by the joints and the drive transmission links. The servo motor at the drive end drives the movement of multiple joints through a force transmission device, thereby replacing traditional open surgical instruments to extend into the human body, and accurately completing typical operations such as clamping, cutting, and suturing of blood vessels and other tissues during surgery.
末端执行器具有输入与输出传递距离长、尺寸小、自由度高的特点，允许外科手术医生在主端控制器操作末端执行器伸入人体并执行手术任务。类似人体手臂的自由度配置能够帮助手术医生建立对末端执行器的直觉映射，降低医生控制难度。故在执行器末端需要添加扭转关节模仿人体手腕的轴向旋转自由度。The end effector has the characteristics of long input and output transmission distance, small size and high degree of freedom, allowing surgeons to operate the end effector through the main end controller to insert it into the human body and perform surgical tasks. The degree of freedom configuration similar to that of the human arm can help surgeons establish an intuitive mapping of the end effector and reduce the difficulty of control for doctors. Therefore, a torsion joint needs to be added to the end of the actuator to simulate the axial rotational degree of freedom of the human wrist.
末端执行器系统包括末端执行机构、支撑杆、支撑架、力传递装置、驱动端伺服电机以及移动滑台模组。移动滑台模组共具有7个独立可控的自由度，移动滑台模组与力传递装置连接实现末端执行机构的整体移动。驱动端伺服电机可以具有7个电机，其中6个电机集成于力传递装置，负责驱动末端执行机构运动驱动，1个电机用于驱动末端执行机构整体沿移动滑台运动。支撑杆设置于支撑架上，支撑杆远离支撑架的一端设置有末端执行机构。力传递装置的电机接口部分将驱动端伺服电机的输入转矩通过丝传动机构传递至末端执行机构。丝传动机构的驱动丝穿过支撑架从末端连接至驱动端通过驱动端多个电机的协调运动，实现对末端执行机构在笛卡尔空间位置和姿态的连续运动控制。The end effector system includes an end effector, a support rod, a support frame, a force transmission device, a drive-end servo motor and a mobile slide module. The mobile slide module has a total of 7 independently controllable degrees of freedom. The mobile slide module is connected to the force transmission device to realize the overall movement of the end effector. The drive-end servo motor can have 7 motors, of which 6 motors are integrated in the force transmission device and are responsible for driving the end effector to move, and 1 motor is used to drive the end effector to move along the mobile slide as a whole. The support rod is arranged on the support frame, and the end effector is arranged at one end of the support rod away from the support frame. The motor interface part of the force transmission device transmits the input torque of the drive-end servo motor to the end effector through the wire transmission mechanism. The driving wire of the wire transmission mechanism passes through the support frame and is connected from the end to the drive end. Through the coordinated movement of multiple motors at the drive end, the continuous motion control of the position and posture of the end effector in Cartesian space is realized.
末端执行机构包括末端器械-槽轮传动机构。图2示出了本申请实施例提供的一种末端器械-槽轮传动机构的示意性结构图。The end effector mechanism includes an end tool-groove wheel transmission mechanism. Fig. 2 shows a schematic structural diagram of an end tool-groove wheel transmission mechanism provided in an embodiment of the present application.
末端器械-槽轮传动机构可以包括末端器械、槽轮机构和第一驱动丝。The end instrument-groove transmission mechanism may include an end instrument, a grooved wheel mechanism, and a first drive wire.
末端器械具有上夹爪和下夹爪，上夹爪和下夹爪均可相对于器械旋转轴心旋转，以使上夹爪和下夹爪开合。槽轮机构包括上槽轮和下槽轮，第一驱动丝夹设于上槽轮和下槽轮之间，用于驱动槽轮旋转中心旋转。第一驱动丝用于驱动槽轮旋转中心逆时针方向旋转(在本申请中，观察方向为从上向下看)，以开启器械-槽轮传动机构；驱动槽轮旋转中心顺时针方向旋转，以关闭器械-槽轮传动机构。The end device has an upper clamp and a lower clamp, and both the upper clamp and the lower clamp can rotate relative to the rotation axis of the device to open and close the upper clamp. The first drive wire is arranged between the upper groove wheel and the lower groove wheel to drive the groove wheel rotation center to rotate. The first drive wire is used to drive the groove wheel rotation center to rotate counterclockwise (in this application, the viewing direction is from top to bottom) to open the instrument-groove wheel transmission mechanism; and drive the groove wheel rotation center to rotate clockwise to close the instrument-groove wheel transmission mechanism.
上槽轮和下槽轮均具有导向槽。导向槽均可以跟随槽轮旋转中心旋转。导向槽呈偏心弧形，用于约束夹爪根部的移动轨迹，进而驱动夹爪开合。上槽轮的导向槽和下槽轮的导向槽可以相对于槽轮旋转中心和器械旋转轴心的连线对称设置。在开合过程中，上夹爪的根部和下夹爪的根部可以相对于槽轮旋转中心和器械旋转轴心的连线对称，进而实现末端器械-槽轮传动机构的开合。Both the upper groove wheel and the lower groove wheel have guide grooves. Both guide grooves can rotate with the rotation center of the groove wheel. The guide groove is in an eccentric arc shape, which is used to constrain the movement trajectory of the root of the clamping jaw, thereby driving the clamping jaw to open and close. The guide groove of the upper groove wheel and the guide groove of the lower groove wheel can be symmetrically arranged relative to the line connecting the rotation center of the groove wheel and the rotation axis of the instrument. During the opening and closing process, the root of the upper clamping jaw and the root of the lower clamping jaw can be symmetrical relative to the line connecting the rotation center of the groove wheel and the rotation axis of the instrument, thereby realizing the opening and closing of the terminal instrument-groove wheel transmission mechanism.
上槽轮包括具有上槽轮导向槽，且与槽轮旋转中心固定连接，从而上槽轮跟随槽轮旋转中心旋转。上夹爪的根部从上向下伸入上槽轮导向槽，可在上槽轮导向槽内相对滑动。上槽轮导向槽可以横跨槽轮旋转中心和器械旋转轴心的连线。沿着逆时针方向，上槽轮导向槽的中心弧线到槽轮旋转中心的距离逐渐增大。The upper groove wheel includes an upper groove wheel guide groove, and is fixedly connected to the rotation center of the groove wheel, so that the upper groove wheel rotates with the rotation center of the groove wheel. The root of the upper clamp extends from top to bottom into the upper groove wheel guide groove, and can slide relatively in the upper groove wheel guide groove. The upper groove wheel guide groove can cross the line connecting the rotation center of the groove wheel and the rotation axis of the instrument. Along the counterclockwise direction, the distance from the central arc of the upper groove wheel guide groove to the rotation center of the groove wheel gradually increases.
在器械处于关闭状态时，上夹爪的根部在上槽轮导向槽中的插入位置到槽轮旋转中心距离为a，a例如是上槽轮导向槽的中心弧线距离槽轮旋转中心的最大距离。随着上槽轮导向槽的逆时针旋转，由于上夹爪的根部在上槽轮导向槽中，因此上夹爪的根部到槽轮旋转中心的距离逐渐缩短，从而上槽轮导向槽可以驱动上夹爪绕器械旋转轴心逆时针方向旋转。在器械处于开启状态时，上夹爪的根部在上槽轮导向槽中的插入位置到槽轮旋转中心距离为b，b例如是上槽轮导向槽的中心弧线距离槽轮旋转中心的最小距离。When the instrument is in the closed state, the distance from the insertion position of the root of the upper clamping jaw in the upper groove wheel guide groove to the rotation center of the groove wheel is a, and a is, for example, the maximum distance between the center arc of the upper groove wheel guide groove and the rotation center of the groove wheel. As the upper groove wheel guide groove rotates counterclockwise, since the root of the upper clamping jaw is in the upper groove wheel guide groove, the distance from the root of the upper clamping jaw to the rotation center of the groove wheel gradually shortens, so that the upper groove wheel guide groove can drive the upper clamping jaw to rotate counterclockwise around the rotation axis of the instrument. When the instrument is in the open state, the distance from the insertion position of the root of the upper clamping jaw in the upper groove wheel guide groove to the rotation center of the groove wheel is b, and b is, for example, the minimum distance between the center arc of the upper groove wheel guide groove and the rotation center of the groove wheel.
下槽轮包括具有下槽轮导向槽，且与槽轮旋转中心固定连接，从而下槽轮跟随槽轮旋转中心逆时针旋转。下夹爪的根部从下向上伸入下槽轮导向槽，可在下槽轮导向槽内相对滑动。下槽轮导向槽可以横跨槽轮旋转中心和器械旋转轴心的连线。沿着逆时针方向，下槽轮导向槽的中心弧线距离槽轮旋转中心的距离逐渐减小。The lower groove wheel includes a lower groove wheel guide groove, and is fixedly connected to the rotation center of the groove wheel, so that the lower groove wheel rotates counterclockwise following the rotation center of the groove wheel. The root of the lower clamp extends from bottom to top into the lower groove wheel guide groove, and can slide relatively in the lower groove wheel guide groove. The lower groove wheel guide groove can cross the line connecting the rotation center of the groove wheel and the rotation axis of the instrument. Along the counterclockwise direction, the distance between the center arc of the lower groove wheel guide groove and the rotation center of the groove wheel gradually decreases.
在器械处于关闭状态时，下夹爪的根部在下槽轮导向槽中的插入位置到槽轮旋转中心距离为c，c例如是下槽轮导向槽的中心弧线距离槽轮旋转中心的最大距离。随着下槽轮导向槽的逆时针旋转，由于下夹爪的根部在下槽轮导向槽中，因此下夹爪的根部到槽轮旋转中心的距离逐渐缩短，从而下槽轮导向槽可以驱动下夹爪绕器械旋转轴心顺时针方向旋转。在器械处于开启状态时，下夹爪的根部在下槽轮导向槽中的插入位置到槽轮旋转中心距离为d，d例如是下槽轮导向槽的中心弧线距离槽轮旋转中心的最小距离。When the instrument is in the closed state, the distance from the insertion position of the root of the lower jaw in the lower groove wheel guide groove to the rotation center of the groove wheel is c, and c is, for example, the maximum distance between the center arc of the lower groove wheel guide groove and the rotation center of the groove wheel. As the lower groove wheel guide groove rotates counterclockwise, since the root of the lower jaw is in the lower groove wheel guide groove, the distance from the root of the lower jaw to the rotation center of the groove wheel gradually shortens, so that the lower groove wheel guide groove can drive the lower jaw to rotate clockwise around the rotation axis of the instrument. When the instrument is in the open state, the distance from the insertion position of the root of the lower jaw in the lower groove wheel guide groove to the rotation center of the groove wheel is d, and d is, for example, the minimum distance between the center arc of the lower groove wheel guide groove and the rotation center of the groove wheel.
综上所述，末端器械的两个夹爪分别设置于槽轮机构上下两端面的导向槽上。通过丝传动带动槽轮沿槽轮旋转轴心转动，通过导向槽驱动器械夹爪两半沿器械旋转轴心转动，从而实现器械张开和闭合运动。In summary, the two clamping jaws of the end instrument are respectively arranged on the guide grooves of the upper and lower end surfaces of the groove wheel mechanism. The groove wheel is driven to rotate along the rotation axis of the groove wheel through the wire transmission, and the two halves of the instrument clamping jaw are driven to rotate along the rotation axis of the instrument through the guide groove, thereby realizing the opening and closing movement of the instrument.
末端执行机构还可以包括滚转运动副传动机构。图3示出了本申请实施例提供的一种滚转运动副传动机构的示意性结构图。The end effector may further include a rolling motion pair transmission mechanism. Fig. 3 shows a schematic structural diagram of a rolling motion pair transmission mechanism provided in an embodiment of the present application.
滚转运动副传动机构可以包括滚转轴，滚转轴可以用于安装图2所示的末端器械-槽轮传动机构。滚转轴通过推力轴承与滚转筒同轴连接，滚转筒用于驱动滚转轴滚转。滚转轴、推力轴承和滚转筒均在中心轴上开设有通孔，以穿过上述第一驱动丝。The rolling motion pair transmission mechanism may include a rolling shaft, which can be used to install the end instrument-groove wheel transmission mechanism shown in Figure 2. The rolling shaft is coaxially connected to the rolling cylinder through a thrust bearing, and the rolling cylinder is used to drive the rolling shaft to roll. The rolling shaft, the thrust bearing and the rolling cylinder are all provided with a through hole on the central axis to pass the above-mentioned first drive wire.
滚转筒可以包括具有螺旋滚道的滚转轴体，第二驱动丝沿螺旋滚道环绕该滚转轴体。滚转轴体的第一端部附近可以设置有第一导向柱，第二端部附近可以设置有第二导向柱，第一导向柱和第二导向柱分别位于滚转轴体的两侧。在滚转轴体的中间位置具有贯穿滚转轴体的锁紧孔，锁紧孔与滚转轴体的中心轴相交。锁紧孔可以沿螺旋升角方向设置。第二驱动丝在沿螺旋滚道从滚转轴体的一端环绕至另一端，且在锁紧孔处穿过锁紧孔(增大第二驱动丝对滚转轴体的摩擦力)，并绕至第一导向柱和第二导向柱的外侧。第一导向柱和第二导向柱可以是一种定滑轮。第二驱动丝驱动时，第一导向柱侧的第二驱动丝和第二导向柱侧的第二驱动丝可以朝着相反的方向移动，驱动滚转筒的滚转轴体旋转，进而带动滚转轴上的末端器械-槽轮传动机构旋转。The rolling cylinder may include a rolling shaft body having a spiral raceway, and the second drive wire surrounds the rolling shaft body along the spiral raceway. A first guide column may be provided near the first end of the rolling shaft body, and a second guide column may be provided near the second end, and the first guide column and the second guide column are respectively located on both sides of the rolling shaft body. A locking hole that penetrates the rolling shaft body is provided in the middle position of the rolling shaft body, and the locking hole intersects with the central axis of the rolling shaft body. The locking hole may be arranged along the spiral lead angle direction. The second drive wire surrounds from one end of the rolling shaft body to the other end along the spiral raceway, and passes through the locking hole at the locking hole (increasing the friction force of the second drive wire on the rolling shaft body), and is wound around the outside of the first guide column and the second guide column. The first guide column and the second guide column may be a fixed pulley. When the second drive wire is driven, the second drive wire on the first guide column side and the second drive wire on the second guide column side can move in opposite directions, drive the rolling shaft body of the rolling cylinder to rotate, and then drive the end instrument-groove wheel transmission mechanism on the rolling shaft to rotate.
通过第一导向柱和第二导向柱改变第二驱动丝两端传递方向，由径向变换至轴向。第二驱动丝沿圆周对称，经由一系列关节组件与驱动端相连接，形成闭环传动链。既实现多关节线性耦合提升控制效率，又满足运动学解耦关系，便于运动学模型的快速构建，实现末端执行机构精准稳定操控。The transmission direction of the two ends of the second drive wire is changed from radial to axial through the first guide column and the second guide column. The second drive wire is symmetrical along the circumference and connected to the drive end through a series of joint components to form a closed-loop transmission chain. It not only realizes multi-joint linear coupling to improve control efficiency, but also satisfies the kinematic decoupling relationship, facilitates the rapid construction of the kinematic model, and realizes precise and stable control of the end actuator.
本申请实施例提供的末端执行机构集成滚转运动副的对偶连续体蛇形末端执行机构具备末端器械原位旋拧功能，通过驱动丝与关节组、驱动轮形成闭合回路实现各关节组的往复灵活运动。驱动轮通过力传递转置与驱动端伺服电机实现快速连接或拆卸，满足外科手术对末端执行机构全维度灵巧、精准、稳定操控要求，同时具备器械快速更换能力。滚转运动副前置，降低驱控端传动机构复杂程度，减小末端执行机构体积尺寸。手术末端执行机构轴向长度短，适用于极限空间约束条件下的精细操作。器械-槽轮机构结构简单，通过单向驱传动可实现夹持器两个部件的同步反向运动，实现器械张开与闭合操作。力传递装置可实现与驱动端伺服电机的快速拆卸与连接，便于术中快速更换末端执行器。驱动丝与约束丝的空间布局，既实现多关节线性耦合提升控制效率，又满足运动学解耦关系，便于运动学模型的快速构建，实现末端执行机构精准稳定操控。The dual continuum serpentine end actuator with integrated rolling motion pair provided in the embodiment of the present application has the function of in-situ screwing of the end instrument, and realizes the reciprocating flexible movement of each joint group by forming a closed loop with the driving wire, the joint group and the driving wheel. The driving wheel realizes rapid connection or disassembly with the driving end servo motor through force transmission transposition, meets the surgical operation requirements for full-dimensional dexterity, precision and stability of the end actuator, and has the ability to quickly replace the instrument. The front rolling motion pair reduces the complexity of the drive control end transmission mechanism and reduces the volume size of the end actuator. The axial length of the surgical end actuator is short, which is suitable for delicate operations under extreme space constraints. The instrument-groove wheel mechanism has a simple structure, and the synchronous reverse movement of the two parts of the clamp can be realized through unidirectional drive transmission, realizing the opening and closing operation of the instrument. The force transmission device can realize rapid disassembly and connection with the driving end servo motor, which is convenient for rapid replacement of the end actuator during surgery. The spatial layout of the driving wire and the constraint wire not only realizes multi-joint linear coupling to improve control efficiency, but also satisfies the kinematic decoupling relationship, facilitates the rapid construction of the kinematic model, and realizes precise and stable control of the end actuator.
本发明虽然以较佳实施例公开如上，但其并不是用来限定本发明，任何本领域技术人员在不脱离本发明的精神和范围内，都可以做出可能的变动和修改，因此，本发明的保护范围应当以本发明权利要求所界定的范围为准。Although the present invention is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311844402.5 | 2023-12-28 | ||
| CN202311844402.5ACN117838315A (en) | 2023-12-28 | 2023-12-28 | Front-mounted snake-shaped end actuating mechanism of rolling kinematic pair |
| Publication Number | Publication Date |
|---|---|
| WO2025139284A1true WO2025139284A1 (en) | 2025-07-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2024/126970PendingWO2025139284A1 (en) | 2023-12-28 | 2024-10-24 | Rolling kinematic pair-fronted snake-shaped end-effector mechanism |
| Country | Link |
|---|---|
| CN (1) | CN117838315A (en) |
| WO (1) | WO2025139284A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117838315A (en)* | 2023-12-28 | 2024-04-09 | 北京精密机电控制设备研究所 | Front-mounted snake-shaped end actuating mechanism of rolling kinematic pair |
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