CN109381261A - Surgical procedures arm and surgical operation robot - Google Patents
Surgical procedures arm and surgical operation robot Download PDFInfo
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- CN109381261A CN109381261A CN201710693447.5A CN201710693447A CN109381261A CN 109381261 A CN109381261 A CN 109381261A CN 201710693447 A CN201710693447 A CN 201710693447A CN 109381261 A CN109381261 A CN 109381261A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Veterinary Medicine (AREA)
- Robotics (AREA)
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Otolaryngology (AREA)
- Pulmonology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physiology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of surgical procedures arms, including bracket component, at least one moving parts, bending driving assembly and endoscope.Bracket component includes back and front supporting seat, and the crooked assembly of front support seat is connected to by support rod, wherein, the crooked assembly includes the backend component being connected with the support rod, and passes through shaft and the backend component pivotly sequentially connected intermediate member and front end components.Each moving parts include multiple transmission components disposed in parallel.The elastic screw rod of transmission component is slidably disposed through the first through hole being provided in front end components, intermediate member and backend component respectively.The driving rope of bending driving assembly is slidably disposed through the second through-hole for being provided with front end components and intermediate member respectively, and is fixedly attached to backend component.Driving rope is suitable for driving front end components, intermediate member and backend component and relatively rotates, and promotes elastic screw rod that elastic deformation occurs.The surgical procedures arm, which has, to be operated conveniently, the high advantage of accuracy.
Description
Technical field
The present invention relates to surgical medical equipment fields, more particularly to the surgical operation in the Minimally Invasive Surgery for being applied to throat
Motion arm and surgical operation robot.
Background technique
Throat diseases are common disease and frequently-occurring disease, it is often necessary to which operative treatment, common therapeutic modality are endoscope cooperation
Surgical instrument operation.Since throat is one of region the most complicated in organization of human body, have that cavity is small, position is deep, neural blood
It manages the features such as intensive, therefore higher requirement is proposed to operator.Laryngeal surgery robot is in addition to that can overcome interior peep
Outside the problems such as mirror two dimensional image lacks depth feelings, instrument flexibility is insufficient, operation wound and bleeding can also be effectively reduced, is shortened
Operating time restores patient comparatively fast after surgery, therefore is with a wide range of applications.
That there are volumes is big for existing laryngeal surgery robot system, mechanism is complicated, control is difficult, chucking power is small, work is empty
Between it is limited the disadvantages of.For example, N.Simaan et al. is in paper " the A Dexterous System for Laryngeal delivered
Surgery " (IEEE International Conference on Robotics&Automation, 2004,1:351-357)
In propose a kind of dexterous system for operation on larynx, the system uses a kind of snake-shaped robot, which is adopted
Use more elastic tubes as flexible support, by the bending of push-pull mode implementation tool end, by the translation of parallel fixing device
Be converted to the rotation of snakelike mechanism end gripper.The end of this robot rotates completely through elastic tube bending and realizes, bending
Radius is larger.In addition, McLeod IK et al. is in paper " the Potential Applications of the Da delivered
Vinci Minimally Invasive Surgical Robotic System in Otolaryngology”(《Ear
Nose&Throat Journal ", 2005,84 (8): 483-487) in mention using Da Vinci surgical operation robot carry out
Throat's surgical operation, which includes two multiple degrees of freedom clamping devices for operation, by cooperating laryngoscope
The visual information for obtaining diseased region, is operated using master-slave mode.However, this robot volume is larger, clamping
Mechanism is difficult to quickly position, meanwhile, end is easy to happen interference during the motion.
Summary of the invention
Based on this, it is necessary to not for the existing operation of existing surgical operation robot, especially laryngeal surgery robot
Just, the not high disadvantage of precision provides a kind of surgical procedures arm of driving member based on multiple parallel elastic screw rod drivings,
And the surgical operation robot using the surgical procedures arm, it is particularly suited for assisted surgery doctor and implements throat's hand
Art.
In one aspect of the invention, a kind of surgical procedures arm is provided.The surgical procedures arm includes:
Bracket component comprising: front support seat is connected to the rear support of one end of the front support seat by a connecting plate
Seat, and it is connected to by support rod the crooked assembly of the other end opposite with the rear support of the front support seat,
In, the crooked assembly includes the backend component being connected with the support rod, and can pivot by shaft and the backend component
Turn sequentially connected intermediate member and front end components；
At least one moving parts, each moving parts include connecting flange and with the connecting flange be connected, it is parallel
The multiple transmission components being arranged, each transmission component include that the first screw arbor assembly, elastic screw rod, Hooks coupling universal coupling and flange connect
Extension bar, wherein first screw arbor assembly is connected to one end of the elastic screw rod, and the other end of the elasticity screw rod passes through institute
One end that Hooks coupling universal coupling is connected to the flanged joint bar is stated, the other end of the flanged joint bar is connected to the connection method
Blue one end end face, another end face of the connecting flange are suitable for installation surgical instrument；
It is bent driving assembly comprising the second screw arbor assembly and driving rope, wherein second screw arbor assembly is connected to institute
One end of driving rope is stated, the other end of the driving rope is fixedly attached to the front end components；And
Endoscope is fixedly attached to the front end components；
Wherein, second screw rod group of first screw arbor assembly of the transmission component and the bending driving assembly
Part is respectively connected to the front support seat and the rear support, and can the relatively described front support seat and the rear support into
Row axially reciprocating；
The front end components, the intermediate member and the backend component offer the institute for the transmission component respectively
The first through hole that elastic screw rod is slidably disposed through is stated, the front end components, the intermediate member and the backend component are also equal
The second through-hole being slidably disposed through for the driving rope of the bending driving assembly is offered respectively；
When it is described bending driving assembly the relatively described front support seat of second screw arbor assembly and the rear support to
After when moving, the driving rope is suitable for that the front end components, the intermediate member and the backend component is driven to relatively rotate,
Promote the elastic screw rod that elastic deformation occurs.
The surgical procedures arm includes two moving parts disposed in parallel in one of the embodiments,.
Each moving parts include three transmission components disposed in parallel in one of the embodiments,.
Preferably, the elastic screw rod of the transmission component is with the column screw rod that can restore elasticity.
Preferably, the driving rope of the bending driving assembly is that have flexible tightrope.
Preferably, the front end components, the intermediate member, the backend component are the blocky knot with multiple through-holes
Structure.
First screw arbor assembly of the transmission component includes the first screw rod, the first company in one of the embodiments,
Fitting and the first screw rod connecting rod, first screw rod are connected to the first screw rod connecting rod by first connector
One end, the other end of the first screw rod connecting rod are connected to the elastic screw rod of the transmission component；The bending driving
Second screw arbor assembly of component includes the second screw rod, the second connector and the second screw rod connecting rod, and second screw rod is logical
Cross one end that second connector is connected to the second screw rod connecting rod, the other end connection of the second screw rod connecting rod
To the driving rope of the bending driving assembly.
The front support seat offers first screw rod for first screw arbor assembly in one of the embodiments,
The third through-hole that connecting rod is slidably disposed through, the front support seat are also provided with described second for second screw arbor assembly
The fourth hole that screw rod connecting rod is slidably disposed through；The rear support offers described for first screw arbor assembly
The first threaded hole that one screw rod is passed through and connect with first screw flight, the rear support are also provided with for described the
The second threaded hole that second screw rod of two screw arbor assemblies is passed through and connect with second screw flight.
Preferably, the front support seat and the rear support are the block structure with multiple through-holes.
Compared with prior art, the surgical procedures arm of above-mentioned aspect according to the present invention has and operates conveniently, accurately
High advantage is spent, implements operation on larynx particularly suitable for assisted surgery doctor.Specifically, the exercise group of the surgical procedures arm
Part uses parallel mechanism --- multiple transmission components disposed in parallel, compared with traditional serial mechanism, has positioning accuracy height,
The advantages of High power output.In addition, the surgical procedures arm transmits power using elastic screw rod, cooperates parallel mechanism, reduce
Motion arm end bend radius operates end surgical instrument connected to it in small space more flexible.In the surgery
Surgical procedure arm tool can be realized the movement of 7 freedom degrees there are two in the case where moving parts, should so as to meet operation
Surgical procedures arm carries out the needs of operation in human body larynx position.
In another aspect of the invention, a kind of surgical operation robot is provided.The surgical operation robot includes upper
State surgical procedures arm, surgical instrument, power source, controller and the display equipment of aspect.The surgical instrument is installed to institute
State the connecting flange of surgical procedures arm；The power source is connected to the screw rod of the surgical procedures arm,
For driving the screw rod；The controller is configured to control the operation of the power source；The display equipment is connected to described
Endoscope, for showing the endoscope acquired image.
According to the surgical operation robot of above-mentioned aspect, can be needed according to operation, in the connection of surgical procedures arm
End face of flange configures different surgical instruments, such as surgical clamp, operating scissors, the sintering tool of throat.The surgery machine
People can go deep into human body trunnion internal work, and end surgical instrument has biggish working space.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to the surgical procedures arm of one embodiment of the present of invention；
Fig. 2 is the structural schematic diagram of the bracket component of surgical procedures arm shown in FIG. 1；
Fig. 3 is the structural schematic diagram of the front end components of bracket component shown in Fig. 2；
Fig. 4 is the structural schematic diagram of the intermediate member of bracket component shown in Fig. 2；
Fig. 5 is the structural schematic diagram of the backend component of bracket component shown in Fig. 2；
Fig. 6 is the structural schematic diagram of the support rod block of bracket component shown in Fig. 2；
Fig. 7 is the structural schematic diagram of the front support seat of bracket component shown in Fig. 2；
Fig. 8 is the structural schematic diagram of the rear support of bracket component shown in Fig. 2；
Fig. 9 is the structural schematic diagram of the connecting plate of bracket component shown in Fig. 2；
Figure 10 is the structural schematic diagram of the moving parts of surgical procedures arm shown in FIG. 1；
Figure 11 is the structural schematic diagram of the transmission component of moving parts shown in Fig. 10；
Figure 12 is the structural schematic diagram of the transmission component of moving parts shown in Fig. 10；
Figure 13 is the structural schematic diagram of the flanged joint bar of transmission component shown in Figure 12；
Figure 14 is the structural schematic diagram of the Hooks coupling universal coupling of transmission component shown in Figure 12；
Figure 15 is the structural schematic diagram of the elastic screw rod of transmission component shown in Figure 12；
Figure 16 is the structural schematic diagram of the screw arbor assembly of transmission component shown in Figure 12；
Figure 17 is the structural schematic diagram of the screw rod connecting rod of screw arbor assembly shown in Figure 16；
Figure 18 is the structural schematic diagram of the connector of screw arbor assembly shown in Figure 16；
Figure 19 is the structural schematic diagram of the screw rod of screw arbor assembly shown in Figure 16；
Figure 20 is the structural schematic diagram of the bending driving assembly of surgical procedures arm shown in FIG. 1；
Figure 21 is the structural schematic diagram of the driving rope of bending driving assembly shown in Figure 20；
Figure 22 is the structural schematic diagram of the endoscope of surgical procedures arm shown in FIG. 1；
Figure 23 is that the bracket component of surgical procedures arm shown in FIG. 1 is in the structural schematic diagram of bending state；
Figure 24 is that the moving parts of surgical procedures arm shown in FIG. 1 are in the structural schematic diagram of bending state；
Figure 25 is that surgical procedures arm shown in FIG. 1 is in the status diagram in human body throat.
Description of symbols
100: bracket component；
101: front end components；
103: intermediate member；
105: backend component；
120: support rod；
131: front support seat；
133: rear support；
140: connecting plate；
151A, 151B, 151C, 151D, 151E, 151F: first through hole；
152: the second through-holes；
153A, 153B, 153C, 153D: mounting hole；
154A, 154B, 154C, 154D, 154E, 154F: third through-hole；
155: fourth hole；
156A, 156B, 156C, 156D, 156E, 156F: the first threaded hole；
157: the second threaded holes；
200: moving parts；
210: connecting flange；
220: transmission component；
221: flanged joint bar；
223: Hooks coupling universal coupling；
225: elastic screw rod；
227: the first screw arbor assemblies；
2271: screw rod connecting rod；
2273: connector；
2275: screw rod；
300: bending driving assembly；
310: driving rope；
320: the second screw arbor assemblies；
400: endoscope.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
It is understood that it can be straight when feature or element herein are referred to as in another feature or element "upper"
It connects in another feature or element, or is also likely to be present feature and/or element between.On the contrary, working as feature or element
The another feature that referred to as " directly exists " or element "upper", then there is no features and/or element between.It is also to be understood that
When feature or element are known as " connected " in another feature or element, it can be connected directly to another feature or want
Element, or there may be features and/or element between.On the contrary, when feature or element are known as " being directly connected to " to another
One feature or element, then there is no features and/or element between.
The term of space correlation, as " ... under ", " ... on ", " ... later ", " ... before "
Etc., the pass for facilitating description one element or feature as illustrated by attached drawing with respect to another element or feature can be used to herein
System.It is understood that the term of space correlation is intended in addition to direction described in figure, also comprising setting in use or in work
Standby different directions.For example, being described as wanting in other element or feature " later " if the equipment in figure is to reverse
Element, then may be towards other element or feature " before ".Therefore, illustrative term " later " may include backward and to
The first two direction.The equipment may have completely different direction (being rotated by 90 ° or with other directions), and sky used herein
Between it is relevant description be interpreted accordingly.Similarly, unless otherwise specializing, " onwards " used herein, " backward ",
" upward ", " down " etc. terms are solely for the purpose of illustration.
Although term " first " and " second " may be used to describe herein various feature/elements, unless otherwise
It specializes, these feature/elements are not limited by these terms.These terms can be used to by a feature/element with it is another
Feature/element distinguishes.Therefore, fisrt feature/element described below is properly termed as second feature/element, similarly, with
Second feature/element of lower description is referred to as fisrt feature/element, without departing from the scope of the present invention.
Fig. 1 is the structural schematic diagram according to the surgical procedures arm of one embodiment of the present of invention.As shown, this is outer
Section's surgical procedure arm includes bracket component 100, two moving parts 200A, 200B disposed in parallel, bending 300 and of driving assembly
Endoscope 400.Although there are two moving parts 200A, 200B for the present embodiment tool, it will be appreciated by those skilled in the art that
It is can only have a moving parts or three or three or more moving parts in other embodiments.Bracket component is used
In supporting movement component, bending driving assembly and endoscope.Moving parts are used for the end in surgical procedures arm and implement hand
Art operation can implement multiple surgical operations in the end of surgical procedures arm using more than two moving parts.Such as figure
Endoscope 400 shown in 22 can be commercially available any appropriate endoscope for acquiring image information.
As shown in figs. 2-9, bracket component 100 includes 101, three intermediate members 103 of front end components, backend component 105, four
A support rod 120, front support seat 131, connecting plate 140 and rear support 133.101, three 103 and of intermediate member of front end components
Backend component 105 is serially arranged with overlapped way and two neighboring bending module is pivotably connected by shaft.Although
Three intermediate members 103 are used in the present embodiment, but it will be understood by those skilled in the art that in other embodiments
It can also be using an intermediate member, two intermediate members or three or more intermediate member.Backend component 105 passes through four branch
Strut is fixedly attached to front support seat 131, and front support seat 131 and rear support 133 are all fixedly connected on 140 on connecting plate.
Although using four support rods 120 in the present embodiment, as long as it will be understood by those skilled in the art that after realizing
Compartment of terrain between end component 105 and front support seat is fixedly connected, and can use any number of support rod.
As shown in fig. 10-15, each moving parts 200 include connecting flange 210 and three transmission groups disposed in parallel
Part 220.Although using three transmission components 220 in the present embodiment, it will be understood by those skilled in the art that
It can also be using a transmission component, two transmission components or three or more transmission component in other embodiments.Each transmission
Component 220 includes flanged joint bar 221, Hooks coupling universal coupling 223, elastic screw rod 225 and the first screw arbor assembly 227.First spiral shell
Bar assembly 227 is connected to the one of elastic screw rod 225 by the usual connection type such as welding, snapping connection, being threadedly coupled, being bonded
End, the other end of elastic screw rod 225 are connected to one end of flanged joint bar 221, flanged joint bar by Hooks coupling universal coupling 223
221 other end is connected to the one of connecting flange 210 by the usual connection type such as welding, snapping connection, being threadedly coupled, being bonded
End face is held, another end face of connecting flange 210 is suitable for installation surgical instrument.In the present embodiment, three transmission components 220
Flanged joint bar 221 is connected with the connecting hole opened up on connecting flange 210 respectively.Connecting flange 210 is that have multiple mounting holes
Disc-shaped structure, in addition to for being also used to connect surgical instrument other than connecting flange connecting rod 221.Elastic screw rod 225 is tool
There is the column screw rod that can restore elasticity, elastic deformation can occur under the action of radial force.Flanged joint bar 221 is a kind of rod-shaped
Structure is used to support moving parts.Hooks coupling universal coupling 223 is commercially available any appropriate Hooks coupling universal coupling, can
Any suitable structure type is thought, for example, Cardon universal joint, ball cage type, curved grooved type, convex block formula, ball-and-spigot, ball-and-socket hinge style, flexural pivot
Plunger type, three pin-type, three forks rod, tripod, hinge rod type etc..
As illustrated in figs. 16-19, the first screw arbor assembly 227 includes screw rod connecting rod 2271, connector 2273 and screw rod 2275.
Screw rod 2275 is connected to one end of screw rod connecting rod 2271 by connector 2273, and the other end of screw rod connecting rod 2271 is connected to
Elastic screw rod 225.Screw rod connecting rod 2271 is a kind of one end with step, and two sides have the rod-like structure of plane, are used to pass
Graduating power.Connector 2273 is the column structure that a kind of both ends are respectively provided with through-hole and stepped hole, and both ends are respectively used to connect
Screw rod connecting rod 2271 and screw rod 2275.Screw rod 2275 is commercially available any appropriate screw rod, and being used for will be one
Rotary motion on end (input terminal) is converted to the linear motion on the other end (output end).The input terminal of screw rod 2275 connects
The power sources such as motor, the output end of screw rod 2275 are connected to connector 2273.The rotation of screw rod 2275 will lead to screw rod 2275
The connector 2273 that reciprocates through of reciprocating motion on straight line, screw rod 2275 is transferred to screw rod connecting rod 2271, thus
So that screw rod connecting rod 2271 also has reciprocating motion on straight line.Connector 2273 limits the rotation of screw rod connecting rod 2271
Turn.
As shown in figures 20-21, bending driving assembly 300 includes driving rope 310 and the second screw arbor assembly 320.Second screw rod
Component 320 is connected to one end of driving rope 310, and the other end of driving rope 310 is fixedly attached to the front end components of bracket component 100
101.Driving rope is commercially available with flexible tightrope.Second screw arbor assembly 320 can be using similar to first
The configuration of screw arbor assembly 227.In the present embodiment, the structure and function of the second screw arbor assembly 320 and the first screw arbor assembly 227
Structure and function is identical, and details are not described herein.
Referring again to Fig. 3-5, front end components 101, intermediate member 103 and backend component 105 have similar structure, and
For the block structure with multiple through-holes.Front end components 101 offer first through hole 151A, 151B, 151C, 151D, 151E and
151F and the second through-hole 152, intermediate member 103 and backend component 105 are in the first through hole and second with front end components 101
The corresponding position of through-hole also offers first through hole and the second through-hole.Six transmission components 220 of two moving parts 200 are respective
Elastic screw rod 225 respectively slidably sequentially pass through the first logical of backend component 105, intermediate member 103 and front end components 101
Hole 151A, 151B, 151C, 151D, 151E and 151F.After the driving rope 310 of bending driving assembly 300 slideably sequentially passes through
Hold the second through-hole 152 of component 105, intermediate member 103 and front end components 101.Across the second through-hole 152 of front end components 101
Driving rope 310 end can be connected to stop bit part so that driving rope 310 end opposed front end component 101 be kept fixed.It can
The end of driving rope 310 can be directly anchored in the second through-hole 152 of front end components 101 by selection of land.When driving rope 310 by
When post-tensioning, driving rope 310 is suitable for driving front end components 101, intermediate member 103 and backend component 105 and makees phase around corresponding shaft
To rotation, promote the elastic screw rod across first through hole that elastic deformation occurs.Front end components 101 are also used to fixed endoscope 400.
In the connection type that front end components 101 Yu endoscope 400 are not shown in the figure, however, it will be understood by those skilled in the art that
Endoscope 400 can be fixed in front end components 101 by any appropriate customary technical means in the art, for example, gluing,
It snaps connection, be threadedly coupled, details are not described herein.In backend component 105, be also provided with mounting hole 153A, 153B,
153C, 153D, these mounting holes are respectively used to one end of four support rods 120 of connection.
In reference Fig. 7, front support seat 131 is also the block structure with multiple through-holes.Front support seat 131 offers installation
Hole 153A, 153B, 153C, 153D, these mounting holes are corresponding with the mounting hole in backend component 105, are respectively used to connection four
The other end of a support rod 120.Front support seat 131 offers third through-hole 154A, 154B, 154C, 154D, 154E and 154F,
And fourth hole 155.The respective screw rod connecting rod 2271 of six transmission components 220 of two moving parts 200 can be slided respectively
Third through-hole 154A, 154B, 154C, 154D, 154E and 154F of front support seat 131 are passed through dynamicly.It is bent driving assembly 300
Screw rod connecting rod is slidably disposed through the fourth hole 155 of front support seat 131.
In reference Fig. 8, rear support 133 is also the block structure with multiple through-holes.Rear support 133 offers first
Threaded hole 156A, 156B, 156C, 156D, 156E and 154F and the second threaded hole 157.Six of two moving parts 200
The respective screw rod 2275 of transmission component 220 be each passed through first threaded hole 156A, 156B, 156C, 156D, 156E and 154F and
It is threadedly coupled with these first threaded holes 156A, 156B, 156C, 156D, 156E and 154F.It is bent the screw rod of driving assembly 300
It is threadedly coupled across the second threaded hole 157 and with second threaded hole 157.Moving parts 200 and bending driving assembly 300
Screw rod can rotate in respective screw hole under the action of the driving force of power source.
The screw arbor assembly of transmission component 220 and bending driving assembly 300 is respectively by front support seat 131 and rear support 133
Support, and axially reciprocating can be carried out with respect to front support seat 131 and rear support 133.The screw rod of screw arbor assembly and rear branch
The threaded hole of support seat 133 is threadedly engaged, and the screw rod connecting rod of screw arbor assembly slidably cooperates with the fourth hole of front support seat.Spiral shell
Bar can rotate under the power source drives such as motor, so that screw rod carries out axially reciprocating with respect to rear support 133, at this point,
Under the driving of screw rod, screw rod connecting rod carries out axially reciprocating with respect to front support seat 131.Connecting screw and screw rod connecting rod
Connector allow screw rod rotation, but limit screw rod connecting rod rotation.The axially reciprocating of screw rod connecting rod is by phase
Drive the axially reciprocating of elastic screw rod or driving rope connected to it with answering.
The bracket component that Figure 23 illustrates above-mentioned surgical procedures arm is in the structural schematic diagram of bending state.Work as rotation
It is bent the screw rod of the second screw arbor assembly 320 of driving assembly 300, so that the opposite front support seat 131 of the second screw arbor assembly 320 is with after
When 133 entirety of support base translates backward, the driving rope 310 connecting with the second screw arbor assembly 320 is pulled rearward, in driving rope 310
Under the action of between front end components 101 and intermediate member 103, between intermediate member 103, intermediate member 103 and backend component 105
Between carry out relative rotary motion.At this moment, the front end components 101 of script alignment, intermediate member 103 and backend component 105
Generate bending, each transmission component being limited in the respective through hole of front end components 101, intermediate member 103 and backend component 105
220 elastic screw rod 225 bends deformation under the action of radial force.Pass through the first screw rod group of rotary drive component 220
The screw rod of part 227, it is also possible that elastic screw rod 225 is along the corresponding of front end components 101, intermediate member 103 and backend component 105
Through-hole carries out axially reciprocating.When moving reciprocatingly, 200 end of moving parts is along 210 axial translation of connecting flange or diameter
To bending, the movement of each 3 freedom degrees of moving parts is realized.
The moving parts that Figure 24 illustrates above-mentioned surgical procedures arm are in the structural schematic diagram of bending state.In front end
Component 101, intermediate member 103 and backend component 105 are generated there is no relative rotation in curved situation, if to same fortune
Three transmission components 220 of dynamic component 200 apply identical driving force, it can be achieved that connecting flange 210 axial translation, that is, one
The translational motion of a freedom degree.In contrast, if applying different drives to three transmission components 220 of same moving parts 200
Power, the Hooks coupling universal coupling 223 in three transmission components 220 will generate different degrees of rotation, so that 200 end of moving parts
End is towards the lesser transmission component lateral bend of driving force is applied, as shown in figure 24, and the driving being subject between transmission component
Power difference is bigger, and bending degree is bigger.Therefore, different drives is applied to three transmission components 220 by control power source respectively
Power can make connecting flange 210 be bent towards different sides, and have different curvature, realize that connecting flange 210 exists
The movement of orthogonal two bendings freedom degree.
The present invention also provides a kind of surgical operation robots.The surgical operation robot includes above-mentioned surgical procedures
Arm, surgical instrument, power source, controller and display equipment.Surgical instrument is (not shown) to be installed to the company of surgical procedures arm
Acting flange, surgical clamp, operating scissors, sintering tool including throat etc.；Power source (not shown) is connected to surgical procedures
Each screw rod of arm, for driving screw rod to rotate；Controller (not shown) is configured to the operation of control power source；Show equipment (not
Diagram) it is connected to endoscope, for showing endoscope acquired image.The surgical operation robot it is particularly suitable with throat outside
Section's operation, working method are as follows: one end that surgical procedures arm is equipped with surgical instrument is placed in the throat of patient；Rotation
It is bent the screw rod of the second screw arbor assembly 320 of driving assembly 300, so that bracket component 100 is bent, to promote moving parts
200 also bend, while pushing ahead surgical operation robot, until the surgical instrument of surgical operation robot reaches lesion
Position (Figure 25 illustrates the status diagram that surgical procedures arm is in human body throat)；By endoscope 400, in conjunction with aobvious
Show that equipment observes lesions position state, the screw rod of the first screw arbor assembly 227 of rotary motion component 200 changes moving parts 200
End pose, to change the pose of surgical instrument；Two moving parts 200A and 200B cooperate, and carry out operation behaviour
Make；After the completion of operation, relative to aforementioned operation oppositely the second screw arbor assembly 320 of rotoflector driving assembly 300 and movement
The screw rod of first screw arbor assembly 227 of component 200, makes bracket component 100 and the bending of moving parts 200 be restored, simultaneously
Surgical operation robot is moved backward, until surgical operation robot exits completely from patient throat.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of surgical procedures arm, comprising:
Bracket component comprising: front support seat is connected to the rear support of one end of the front support seat by a connecting plate,
And the crooked assembly of the other end opposite with the rear support of the front support seat is connected to by support rod, wherein
The crooked assembly includes the backend component being connected with the support rod, and passes through shaft and the backend component pivotly
Sequentially connected intermediate member and front end components；
At least one moving parts, each moving parts include connecting flange and be connected with the connecting flange, parallel set
The multiple transmission components set, each transmission component include the first screw arbor assembly, elastic screw rod, Hooks coupling universal coupling and flanged joint
Bar, wherein first screw arbor assembly is connected to one end of the elastic screw rod, and the other end of the elasticity screw rod passes through described
Hooks coupling universal coupling is connected to one end of the flanged joint bar, and the other end of the flanged joint bar is connected to the connecting flange
One end end face, another end face of the connecting flange is suitable for installation surgical instrument；
It is bent driving assembly comprising the second screw arbor assembly and driving rope, wherein second screw arbor assembly is connected to the drive
One end of running rope, the other end of the driving rope are fixedly attached to the front end bending module；And
Endoscope is fixedly attached to the front end bending module；
Wherein, second screw arbor assembly point of first screw arbor assembly of the transmission component and the bending driving assembly
It is not connected to the front support seat and the rear support, and can the relatively described front support seat and rear support progress axis
To reciprocating motion；
The front end components, the intermediate member and the backend component offer the bullet for the transmission component respectively
The first through hole that sex pilus bar is slidably disposed through, the front end components and the intermediate member are offered respectively for the bending
The second through-hole that the driving rope of driving assembly is slidably disposed through；
When the relatively described front support seat of second screw arbor assembly of the bending driving assembly and the rear support are transported backward
When dynamic, the driving rope is suitable for that the front end components, the intermediate member and the backend component is driven to relatively rotate, and promotes
Elastic deformation occurs for the elasticity screw rod.
2. the surgical procedures arm according to claim 1, which is characterized in that moved including two disposed in parallel
Component.
3. the surgical procedures arm according to claim 1, which is characterized in that each moving parts include parallel
Three transmission components being arranged.
4. the surgical procedures arm according to claim 1, which is characterized in that the elasticity of the transmission component
Screw rod is with the column screw rod that can restore elasticity.
5. the surgical procedures arm according to claim 1, which is characterized in that described to be bent the described of driving assembly
Driving rope is that have flexible tightrope.
6. the surgical procedures arm according to claim 1, which is characterized in that the front end components, the centre
Component, the backend component are the block structure with multiple through-holes.
7. the surgical procedures arm according to claim 1, which is characterized in that described the first of the transmission component
Screw arbor assembly includes the first screw rod, the first connector and the first screw rod connecting rod, and first screw rod is connected by described first
Part is connected to one end of the first screw rod connecting rod, and the other end of the first screw rod connecting rod is connected to the transmission component
The elastic screw rod；Second screw arbor assembly of the bending driving assembly includes the second screw rod, the second connector and the
Two screw rod connecting rods, second screw rod are connected to one end of the second screw rod connecting rod, institute by second connector
The other end for stating the second screw rod connecting rod is connected to the driving rope of the bending driving assembly.
8. the surgical procedures arm according to claim 7, which is characterized in that the front support seat is offered for institute
The third through-hole that the first screw rod connecting rod of the first screw arbor assembly is slidably disposed through is stated, the front support seat is also provided with
The fourth hole being slidably disposed through for the second screw rod connecting rod of second screw arbor assembly；The rear support opens up
There is the first threaded hole that first screw rod for first screw arbor assembly is passed through and connect with first screw flight,
The rear support be also provided with second screw rod for second screw arbor assembly pass through and with the second screw rod spiral shell
Second threaded hole of line connection.
9. the surgical procedures arm according to claim 1, which is characterized in that the front support seat and the rear branch
Supportting seat is the block structure with multiple through-holes.
10. a kind of surgical operation robot, comprising:
According to claim 1 to surgical procedures arm described in any one of 9；
Surgical instrument is installed to the connecting flange of the surgical procedures arm；
Power source is connected to the screw rod of the surgical procedures arm, for driving the screw rod；
Controller is configured to control the operation of the power source；And
It shows equipment, the endoscope is connected to, for showing the endoscope acquired image.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710693447.5A CN109381261B (en) | 2017-08-14 | 2017-08-14 | Surgical operation arm and surgical operation robot |
| PCT/SG2018/050410 WO2019035764A1 (en) | 2017-08-14 | 2018-08-14 | Surgical manipilator arm and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710693447.5A CN109381261B (en) | 2017-08-14 | 2017-08-14 | Surgical operation arm and surgical operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109381261A true CN109381261A (en) | 2019-02-26 |
| CN109381261B CN109381261B (en) | 2022-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710693447.5A Active CN109381261B (en) | 2017-08-14 | 2017-08-14 | Surgical operation arm and surgical operation robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109381261B (en) |
| WO (1) | WO2019035764A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112621724A (en) * | 2020-12-25 | 2021-04-09 | 上海交通大学 | Flexible mechanical arm with series-parallel hybrid structure |
| CN113305827A (en) * | 2021-06-21 | 2021-08-27 | 西南科技大学 | Line-driven flexible mechanical arm suitable for underwater operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111678539B (en) * | 2019-03-11 | 2024-02-13 | 新加坡国立大学 | Fiber bragg grating sensor for surgical instruments |
| CN110623693A (en) * | 2019-10-15 | 2019-12-31 | 沈阳术驰医疗科技有限公司 | Multi-degree-of-freedom flexible handheld minimally invasive surgical instrument |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019035764A1 (en) | 2019-02-21 |
| CN109381261B (en) | 2022-10-28 |
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