CN101027010B - 偏移遥控中心的操纵器 - Google Patents
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Abstract
本发明公开了通常包括偏移遥控中心平行四边形操纵器联动装置的医疗、手术、和/或机器人装置和系统，该平行四边形操纵器联动装置在微创机器人手术过程中限制手术器械的位置。经改进的遥控中心操纵器联动装置有利地扩大了手术器械的运动范围，同时降低了机器人手术系统的总体复杂性、缩小了机器人手术系统的尺寸、减轻了其重量。
Description
技术领域
本发明总体上涉及医疗、手术和/或机器人装置和系统。在示例性实施例中，本发明提供了在微创机器人手术过程中限制手术器械位置的偏移遥控中心的操纵器。
背景技术
微创医疗技术的目的是减少在诊断或者手术过程中被破坏的体外组织的数量，从而缩短病人的康复时间、不适以及减少有害的副作用。例如，微创手术的一个作用就是减少手术后的住院康复时间。因为标准手术的平均住院时间通常显著长于模拟微创手术的平均住院时间，所以增加使用微创技术每年可以节约数百万美元的医院成本。尽管每年在美国实施的许多手术潜在地可以采用微创方式，但是由于微创手术器械的限制和掌握这些器械所涉及到的额外手术培训，目前的手术中只有一部分采用了这些有利技术。
开发微创机器人手术或者远程手术系统的目的是增加外科医生的灵巧性并且避免传统微创技术的一些局限性。在远程手术中，外科医生使用某种形式的遥控，例如伺服机构等来操作手术器械运动，而不是直接用手拿着并运动器械。在远程手术系统中，可以在手术工作站为外科医生提供手术部位的图象。在观察显示器上手术部位的二维或者三维图象时，外科医生通过操作主控制装置来给病人做手术，主控制装置又控制伺服机械操作的器械的运动。
用于远程手术的伺服机构通常会接受两个主控制器的输入(外科医生一手一个)，并且可以包括两个或者两个以上的机械臂，每个机械臂上均安装有手术器械。主控制器与关联的机械臂和器械组件之间的操作通信通常是通过控制系统实现的。该控制系统通常包括至少一个处理器，处理器中继从主控制器到关联的机械臂和器械组件的输入指令，并在例如有力反馈等的情况下中继从器械和臂组件到关联的主控制器的返回指令。机器人手术系统的一个例子是Intuitive Surgicl，Inc.ofMountain View，CA的DA VINCI系统。
在机器人手术过程中，可以用多种结构配置来支撑手术部位的手术器械。驱动联动装置或者“从动”装置通常称为机器人手术操纵器，美国专利6,758,843号、6,246,200号和5,800,423号中描述了微创机器人手术过程中用作机器人手术操纵器的示例性联动装置配置，其全部内容以参考的方式并入此处。这些联动装置通常利用平行四边形配置来支撑带有轴的器械。这种操纵器结构可以限制器械的运动，从而器械围绕球形旋转中心作枢轴运动，球形旋转中心沿着刚轴长度方向上的空间中。通过使该旋转中心与内部手术部位的切入点对准(例如，在腹腔镜手术中与套管针或套管)，可以通过使用操纵器联动装置运动轴近端来安全地定位手术器械的终端执行器，而不对腹壁施加危险的作用力。例如在美国专利6,702,805号、6,676,669号、5,855,583号、5,808,665号、5,445,166号和5,184,601号中描述了替代性操纵器结构，其全部内容以参考的方式并入此处。
尽管新型远程手术系统和装置已经被证明高效、有利，进一步改进仍然是必要的。一般，提供用于执行微创机器人手术的改进结构和系统是必要的。更具体地，提高这些系统的使用效率和容易度是有利的。例如，在降低系统总体复杂程度、缩小系统尺寸和减轻系统物理重量的同时提高机器人手术操纵器提供的运动范围是十分有利的。
发明内容
本发明大体上涉及医疗、手术和/或机器人装置和系统。具体地，本发明涉及经改进的遥控中心操纵器，在微创机器人手术过程中，该遥控中心操纵器被用来支撑手术器械并且提供球形旋转中心，球形旋转中心位于器械的所需位置并且远离任何轴承或者机械支撑件。该遥控中心操纵器限制器械，使其围绕固定的旋转中心运动，优选与对病人身体的进入切口一致，例如病人的腹壁。在示例性实施例中，本发明提供了在微创机器人手术过程中限制手术器械位置的偏移遥控中心平行四边形操纵器联动装置。该经改进的遥控中心操纵器在降低机器人手术系统的总体难度、缩小系统尺寸、减轻系统物理重量的同时有利地扩大了器械沿着第一轴线和第二轴线的运动范围。这些优点又提高了机器人手术系统的效率，并且使机器人手术系统的使用更加便利。
在本发明的第一方面，提供了用于限制手术器械位置的遥控中心操纵器。可以在微创机器人手术过程中与器械支架耦合的手术器械包括延长轴。该轴具有远端工作端，其被配置从而通过体壁的切口插入病人的体腔。该遥控中心操纵器包括具有安装底座的连接联动组件，安装底座与平行四边形联动装置旋转耦合，从而围绕第一轴线旋转。平行四边形联动装置底座通过多个连杆和接头与器械支架耦合。这些连杆和接头构成平行四边形，从而当器械被安装在器械支架上并且轴至少以1个自由度运动时相对于旋转中心限制延长轴。第一轴线和与平行四边形联动装置底座相邻的平行四边形的第一边在旋转中心处与轴交叉。重要的是，平行四边形的第一边成角度地偏离第一轴线。
平行四边形的第一边成角度地偏离第一轴线，角度至少为2度，优选为10度。大体上，平行四边形的第一边成角度地偏离第一轴线，角度范围大约是2度到45度，优选大约2度到大约35度。平行四边形的第一边有时可以在第一轴线下延伸，通常平行四边形的至少一条边在第一轴线下延伸。操纵器提供经改进的沿着第一轴线大于±90度之间的轴运动范围，优选沿着第一轴线的大于±95度之间的轴运动范围。具体地，悬挂式平行四边形联动装置底座提供沿着第一轴线的±168度之间的轴运动范围，其中第一轴线有时称为摇摆轴线。偏移连接联动装置有利地提供经改进的沿着第二轴线的大于±55度之间的轴运动范围，优选沿着第二轴线大于±60度之间的范围。通常偏移连接联动装置以±75度之间的范围提供沿着第二轴线的经改进的轴运动，其中第二轴线有时称为俯仰轴线。
优选至少一个连杆成角度弯曲，从而为另一连杆提供空隙，使其位于弯曲的连杆上。该空隙阻止联动装置之间的碰撞，从而进一步允许经改进的俯仰运动范围。例如，连杆可以成大约22度的角度弯曲。操纵器不能以至少1个自由度平衡。同样地，制动系统可以与连接联动装置耦合。制动系统可释放地抑制至少一个接头的连接。优选地多个连杆和接头包括至少一个滑轮和至少一个与该滑轮耦合的柔性元件，滑轮经配置以便限制相对于旋转中心的轴运动。在一个实施例中，多个连杆和接头包括具有六个滑轮和四条带的联动装置。这些连杆和接头由伺服机构驱动。多个连杆和平行四边形联动装置底座可以在不同的平面偏移，从而降低联动装置之间碰撞的概率。然而，多个连杆和器械支架可以设置在同一平面。
通常，连接联动装置被配置以便限制相对于旋转中心的轴运动。同样地，当轴以至少1个自由度做枢轴运动时，轴通过旋转中心基本保持对准。优选旋转中心与内部手术部位切入点对准，例如在腹腔镜手术过程中与腹壁上的套管针和套管对准。同样地，可以通过使用偏移遥控中心机器人操纵器运动轴的近端来安全地定位手术器械的终端执行器，而不对腹壁施加危险的作用力。
在本发明的另一方面，提供了用来限制手术器械位置的遥控中心操纵器。在微创机器人手术过程中能够与器械支架耦合的手术器械包括延长轴。该轴的远端工作终端被配置，从而通过体壁上的切口插入病人的体腔。遥控中心操纵器包括具有安装底座的连接联动装置，该安装底座与平行四边形联动装置底座旋转耦合，从而围绕第一轴线旋转。平行四边形联动装置底座通过多个连杆和枢轴与器械支架耦合。连杆和枢轴构成平行四边形，从而当器械被安装在器械支架上并且轴沿着平行四边形的一个面运动时相对于旋转中心限制器械的延长轴。重要的是，与平行四边形联动装置底座相邻的平行四边形的第一轴线和第一枢轴成角度偏移并且至少有一个连杆被弯曲。
平行四边形的第一枢轴成角度偏离第一轴线，角度至少为2度，优选10度。大体上，平行四边形的第一枢轴成角度偏离第一轴线，角度范围大约为2度到大约45度，优选的角度范围大约为2度到35度。平行四边形的第一枢轴有时可以在第一轴线下延伸，通常平行四边形至少有一个枢轴在第一轴线下延伸。操纵器以大于±90度之间的范围提供沿着第一轴线的轴运动，优选大于±95度之间的沿着第一轴线的轴运动。具体地，悬挂式平行四边形联动装置底座沿着第一轴线，例如摇摆轴线以±168度之间的范围提供改进的轴运动。有利的是，偏移平行四边形和弯曲连杆沿着第二轴线以大于±55度之间的范围共同提供轴运动，优选以沿着第二轴线大于±60度之间的范围提供轴运动。通常，偏移平行四边形和弯曲连杆沿着第二轴线，例如俯仰轴线以±75度之间的范围提供轴运动。
至少一个连杆被成角度地(例如，22度)弯曲，从而为另一连杆提供空隙，使其位于弯曲连杆上。在至少1个自由度中，至少有一个连杆和枢轴不平衡。因此，制动系统与连接联动装置耦合，该制动系统可释放地抑制至少一个枢轴的连接。优选多个连杆和枢轴包括至少一个滑轮和至少一个与该滑轮耦合的柔性元件，滑轮被配置以便限制相对于旋转中心的轴运动。在一个实施例中，多个连杆和枢轴包括具有六个滑轮和四条带的联动装置。多个连杆和平行四边形联动装置底座可以在不同的平面中偏移，尽管多个连杆和器械支架可以设置在同一个平面上。
在本发明的另一方面中，提供了用来限制手术器械位置的遥控中心操纵器。在微创机器人手术过程中可以跟器械支架耦合的手术器械包括延长轴。轴具有远端工作终端，其被配置以便通过体壁的切口插入病人的体腔。遥控中心操纵器包括具有安装底座的连接联动装置，安装底座与平行四边形联动装置底座旋转耦合，从而围绕第一轴线旋转。平行四边形联动装置底座通过多个连杆和枢轴与器械支架耦合。连杆和枢轴构成平行四边形，从而当器械被安装到器械支架上并且轴沿着平行四边形的一个平面运动时限制相对于旋转中心的器械延长轴。第一轴线和平行四边形在旋转中心与轴交叉。重要的是，平行四边形成角度偏离第一轴线。例如，从与器械支架相邻的接头向旋转中心延伸的平行四边形的远端成角度偏离延长轴。
在本发明的另一方面中，提供了用于手术器械枢轴运动的遥控中心操纵器。能够在微创机器人手术过程中与器械支架耦合的手术器械包括延长轴。轴的远端和工作终端被配置，从而通过体壁的切口插入病人的体腔。遥控中心操纵器包括联动装置底座、第一联动装置和第二联动装置。第一联动装置被联动装置底座转动支撑并且具有第一外壳。第二联动装置在近端枢轴接头和远端枢轴接头之间悬置，并且限定其间的第二联动装置轴线。近端枢轴接头把第二联动装置与第一联动装置耦合。远端枢轴接头把第二联动装置与器械支架耦合。第一联动装置和第二联动装置把轴的横向运动限制为围绕旋转中心的枢轴运动，该旋转中心沿轴设置。第二联动装置具有第二外壳，该外壳具有凹部，该凹部设置在第一接头和第二接头之间并且与第一接头和第二接头分开，从而当轴的近端向联动装置底座运动时，第一联动装置的第一外壳伸进凹部并且跨越第二联动装置轴线。第二联动装置可以包括在近端枢轴接头和远端枢轴接头之间的拉紧的柔性构件，并且包括至少一个与柔性构件横向啮合的导向装置，从而使柔性构件离开凹部。
在本发明的另一方面，提供了使用手术器械在病人的体腔内实施微创机器人手术的方法。能够在微创机器人手术过程中与器械支架耦合的手术器械包括延长轴。轴的远端经配置以便通过体壁的切口插入病人的体腔。这种方法包括提供上述的偏移连接联动装置。至少器械轴的远端工作终端通过切口引进体腔。当至少一部分远端工作终端位于体腔内时，至少器械的轴在至少1个自由度上枢轴运动。偏移连接联动装置把轴的横向运动限制为围绕旋转中心的枢轴运动，从而通过旋转中心使轴基本保持对准。
通过参考本说明书的剩余部分和附图可以进一步理解本发明的本质和优点。
附图说明
以下附图应参考详细描述阅读。不同附图中的相同编号指代相同的元件。附图不一定按照比例，仅是示例性地描述本发明，不是限制本发明范围。
图1是手术室一部分的示意平面图，示出了机器人手术系统，包括用来输入手术过程的主外科医生控制台或者工作站，和以机器人方式运动手术器械的病人侧的机器人推车，手术器械有位于手术部位的终端执行器。
图2是病人侧的机器人推车或者支台的透视图，包括两个病人侧机器人操纵器和一个内窥镜/照相机机器人操纵器。
图3A和图3B分别是图2所示的机器人操纵器联动装置的侧视图和正视图。
图4是用于图1所示系统的连接手术器械的透视图。
图5A和图5B分别为按照本发明原理构造的示例性机器人操纵器联动装置的侧视图和正视图。
图6A和图6B是示例性机器人操纵器联动装置额外的侧视图。
图7A和图7B是示例性机器人操纵器联动装置的侧视图，其示出了经改进的、沿着俯仰轴线的运动范围。
图8A图8B是示例性机器人操纵器联动装置的侧视图，其示出了经改进的、沿着俯仰轴线的运动范围。
图9A到图9D是示例性机器人组合操纵器联动装置的透视图，其示出了经改进的、沿着俯仰轴线和摇摆轴线的运动范围。
具体实施方式
图1到图4描述了用于实施微创机器人手术的机器人手术系统1，微创机器人手术在美国专利6,246,200号中被更为详细地描述。手术员O(通常为外科医生)对躺在手术台T上的病人P进行微创手术，手术员O在外科医生控制台3操作一个或者一个以上输入装置或者主控装置2。作为对外科医生的输入的响应，控制台3的计算机处理器4引导内窥镜手术器械或者工具5的运动，同时通过病人侧的机器人系统6(本例中为车载系统)实现器械的伺服机械运动。
通常，病人侧系统或者推车6包括至少三个机器人操纵器臂。两条臂或者联动装置7(本例中被安装在推车6的侧边)支撑并定位驱动手术工具5的伺服操纵器8；一条臂或者联动装置9(本例中被安装在推车6的中心)支撑并且定位控制内窥镜/照相机探针11运动的伺服操纵器10，内窥镜/照相机探针11捕捉内部手术部位的图象(优选为体视的)。
内部手术部位的图象通过外科医生控制台3的体视显示器观察器12显示给外科医生或者手术员O，同时通过助手显示器14显示给助手A。助手协助利用安装联动装置臂7和9预先设定相对于病人P操纵器8和10的位置，协助将一个或者一个以上的手术操纵器8(和/或10)中的工具5与替换性手术工具或者器械5’交换，协助操作关联的非机器人医疗器械和设备等等。
概括地说，臂或者联动装置7和9包括病人侧系统6的定位联动装置或者调定臂部分，通常是当病人身上的组织被操作时处于固定配置状态，操纵器8和10包括被驱动部分，在外科医生控制台3的指示下，被驱动部分被主动连接。被主动驱动的部分在此处通常称为“操纵器”，病人侧系统联动装置的定位联动装置的可固定部分在此处称为“调定臂”，注意到这些调定臂可选地具有带动力的且被计算机控制的接头。
为了术语表达的方便，影响手术工具的致动组织的操纵器，例如操纵器8，在此处通常称为PSM(病人侧操纵器)，控制图象捕捉或者数据采集装置(例如，内窥镜11)的操纵器，例如操纵器10，在此处通常称为ECM(内窥镜一照相机操纵器)，同时注意到这些远程手术机器人操纵器可以有选择地致动、操纵和控制多种在手术中有用的器械、工具和装置。
图2示出了在图1所示的车载的远程手术病人侧系统6的透视图，其包括两个PSM 8和一个ECM 10。车系统6包括支柱15，支柱15又安装三个定位联动装置或者调定臂，其包括两个PSM调定臂7，每条臂支撑一个PSM 8，还包括一个支撑ECM 10的ECM调定臂9。每个PSM调定臂7均有6个自由度，并且安装在中间的ECM调定臂9的每一边均被安装一个PSM调定臂7。所示的ECM调定臂9的自由度小于6，ECM 10不包括提供给连接手术器械的全部工具致动驱动系统，例如PSM 8中通常所包括的。每个PSM 8可释放地安装手术工具5(以虚线示出)，ECM 10可以放松的安装内窥镜探针11(以虚线示出)。
图3A和图3B分别是图2所示的机器人操纵器或者PSM 8的联动装置的侧视图和正视图，其具有遥控中心机构。PSM 8是操纵器的一个现有技术例子，该操纵器可以由车架6、顶架或者地架/座架来安装和支撑。在本例子中，PSM 8优选包括限制工具界面壳体21和安装的器械或工具5运动的联动装置20。更具体地，联动装置20包括被平行四边形配置中的旋转接头耦合在一起的刚性连杆，从而壳体21和工具5围绕空间22中的一点旋转，这在授权的美国专利6,758,843中被更完整地描述。
如图3A中的箭头22a所示，联动装置20的平行四边形配置把旋转限制为绕轴线旋转，该轴线有时称为俯仰轴线，俯仰轴线与所描述页面垂直，并且穿过枢轴点22。支撑平行四边形联动装置的连杆通过枢轴安装到调定接头上(图2中的7)，从而工具5进一步围绕轴线22b(图3B)旋转，轴22b有时称为摇摆轴线。俯仰轴线和摇摆轴线在遥控中心22处相互交叉，遥控中心22沿着工具5的轴23对准。由于被操纵器8支撑，工具5还有进一步的驱动自由度，包括工具沿着插入轴线22c的滑动。工具5包括安装在操纵器界面壳体21上的近端壳体24。界面壳体21既提供工具5沿着轴22c的运动也将来自PSM 8的终端执行器致动器伺服机构的致动输入传送至工具5。在本遥控中心系统的例子中，平行四边形配置20与工具5耦合，从而当伺服机构按照外科医生的控制输入致动工具运动时，机械地限制工具轴23，使其围绕枢轴点22旋转。
当工具5相对于操纵器8沿着轴线22c滑动时，遥控中心22仍然相对于操纵器8的安装底座25(调定臂7的安装点)保持固定。因此，整个操纵器8基本上被运动，从而重新定位遥控中心22。操纵器8的联动装置20被一系列电动机26(图3A)驱动。作为对处理器(图1中的4)指令的响应，这些电动机主动地运动联动装置。电动机26进一步与工具5耦合，从而围绕轴线22c使工具转动，而且电动机26可以在工具5的远端以大约至少1个自由度，且通常为2个自由度与腕部件(图4中的29)连接。此外，电动机26可以用来驱动工具的可连接终端执行器，从而用镊子等的钳夹抓住组织。电动机26可以使用缆线与工具5的至少一些接头耦合，如美国专利5,792,135号中更为完整的描述，其全部内容也以参考的方式并入此处。如该参考文献中的描述，操纵器8通常包括用来从驱动部件向手术工具5传送运动的柔性构件。在内窥镜手术中，操纵器8通常包括套管27。套管27可以能够释放地与操纵器8耦合，支撑工具5，优选允许工具通过套管27的中孔旋转和轴向运动。
图4描述了连接手术工具或器械5和近端壳体24的分解透视图，其可以应用于图1所示的系统中。工具5包括支撑相对于近端壳体24的终端执行器28的延长轴23。近端壳体24适于可释放地将器械5安装并与操纵器(例如，图1、图2、图3A和图3B中的PSM)连接，并且在操纵器8和终端执行器28之间传送驱动信号和/或运动。连接腕部件机构29可以在终端执行器28和轴23之间提供2个自由度的运动，轴23可以相对于近端壳体24旋转，从而在病人体内为终端执行器28提供3个大体方向上的自由度。
现在参考图5A和5B，分别是按照本发明原理构造的示例性偏移遥控中心机器人操纵器的侧视图和正视图。如以下更为详细的描述，精确操纵器30提供偏移遥控中心平行四边形操纵器联动装置，其在微创机器人手术过程中限制耦合至器械支架34的手术器械32的位置。手术器械32包括具有远端工作终端38的延长轴36，远端工作终端被配置，从而通过体壁的切口插入病人的体腔。应注意到以上描述仅仅出于阐释目的，并不一定反应机器人手术操纵器30的实际形状、大小或者尺寸。这一点也适用于以下一切描述。
一般来说，偏移遥控中心机器人操纵器30被配置，从而限制轴36相对于旋转中心66的运动。同样地，在轴36以至少1个自由度枢轴运动时，轴36通过旋转中心保持基本对准。优选地，旋转中心66与内部手术部位的切口点对准，例如在腹腔镜手术过程中与腹壁上的套管针和套管对准。同样地，可以通过利用偏移遥控中心机器人操纵器30运动的轴36的近端来安全地定位手术器械32的终端执行器，而不对腹壁施加危险的作用力。
再参考图5A，精确的遥控中心操纵器通常包括连接联动装置30，其具有安装底座40、平行四边形联动装置底座42、多个连杆44和46以及接头48、50、52和54。术语“接头”和术语“枢轴”在此处可以交换使用。安装底座40与平行四边形联动装置底座42旋转耦合，从而围绕第一轴线56旋转，也称为摇摆轴线，如箭头58所示。安装底座40允许手术操纵器30由车架、顶架、地架/座架或者其它安装表面的调定臂/接头安装和支撑。本实施例中的安装底座40被螺钉或者螺栓62固定在底座支架60上，其中底座支架60适于装配到调定臂/接头上。平行四边形联动装置底座40被刚性连杆44和46耦合在器械支架34上，连杆44和46被旋转的枢轴接头48、50、52和54耦合在一起。连杆44，46和接头48、50、52和54构成平行四边形64，从而当器械32被安装在器械支架34上时相对于旋转中心66限制器械32的延长轴36，并且轴36沿着平行四边形64的平面运动。
重要的是，第一轴线56和平行四边形64在旋转中心64与轴36交叉，其中平行四边形64成角度地偏离第一轴线56。具体地，以与平行四边形联动装置底座40相邻的平行四边形64的第一枢轴48为起点的第一边68和第一轴线56在旋转中心66与轴36交叉，其中平行四边形64的第一边68和第一枢轴48成角度地与第一轴线56偏离。平行四边形64的第一边68和第一枢轴48与第一轴线56的偏离角为α，α至少为2度，优选为10度。通常，平行四边形64的第一边68和第一枢轴48与第一轴线56偏离角为α，α的范围是大约2度到大约45度，优选范围是大约2度到大约35度。
参考图6A和图6B，其示出了示例性机器人操纵器联动装置30的额外侧视图，示出了处于延伸位置的器械支架34。尽管遥控旋转中心66仍然处于相同的位置，偏移平行四边形64的配置允许超过图3A所描述的现有技术例子的器械32和支架34的改进的旋转。具体地，如图7A、图7B、图8A、图8B、图9C和图9D所示，偏移连接联动装置30提供改进的轴36的运动范围，其相对于第二轴线(与这些示图中的纸面垂直并且穿过枢轴点66)大于±55度，优选相对于第二轴线大于±60度。通常，偏移连接联动装置30以相对于第二轴线±75度之间的范围限制轴36围绕枢轴点66的运动，如箭头72所示，其中第二轴线有时被称为俯仰轴线。操纵器30也提供相对于第一轴线56大于±90度之间的经改进的轴36的运动范围，优选地相对于第一轴线56大于±95度，如图9A和图9B中的箭头58所示。通常，悬挂式平行四边形联动装置底座42以相对于第一轴线56的±168度之间的范围限制轴36绕枢轴点66的运动。
可替换地，与所讨论的现有技术类似，摇摆轴线56、俯仰轴线(与该纸面垂直)和插入轴线74在遥控中心66处彼此交叉，遥控中心沿着器械32的轴36对准。因此，当遥控旋转中心66相对于操纵器30的安装底座40(调定臂的安装点)处于空间中固定的位置时，器械32以箭头58和72所示的合适的角度枢轴旋转。因此，整个操纵器30通常被运动从而重新定位遥控中心66。将进一步注意到，由于受到偏移遥控中心操纵器30的支撑，器械32仍然进一步驱动自由度，包括沿着插入轴线74的器械滑动。
把平行四边形64的第一枢轴48和第一边68与摇摆轴线56拆离的新的、经改进的偏移连接联动装置30有利地扩大了器械32相对于第二轴线围绕枢轴点66的的运动范围，如箭头72所示。操纵器30进一步允许相对于第一轴线56的扩大的运动范围，如箭头58所示。沿着俯仰轴线和摇摆轴线的经改进的枢轴运动范围又提高这种机器人手术系统的效率，使其使用更加方便。例如，经改进的系统运动范围可以降低机器人手术的总体复杂性。具体地，调定接头/臂的自由度数可以降低(例如，少于6个自由度)。这允许需要更少调定接头的预留配置的更简单系统平台。同样地，经过少许专业培训或者不经过专业培训，一般手术室工作人员可以快速地为手术安排和准备机器人系统。
多个连杆包括偏移摇摆连杆42、降低的垂直连杆44和主弯曲连杆46。主连杆46以一定成角度弯曲，从而为垂直连杆44提供空隙，使其位于主弯曲连杆46上。此空隙避免垂直连杆44和主弯曲连杆之间的联动装置间碰撞。例如，主连杆46可以约22度角弯曲，从而在摇摆驱程(pitch dive)上留有空隙，如图8A、图8B和图9D所示。在本实施例中，主弯曲连杆46和垂直连杆44以及器械支架34被设置在同一平面。然而，将注意到主连杆46和垂直连杆44可以在不同的平面交替偏移(即并排放置)，从而减少联动装置间碰撞，而不是弯曲主连杆46。如上所述，相对于摇摆轴线56，垂直连杆44枢轴48更低，从而提供偏移平行四边形64配置，如上述的那样。从图9B到图9D可最好地看出，摇摆连杆42偏离连杆44和46。连杆42、连杆44和46不在同一平面，而是并排偏移，从而降低了连杆42与连杆44和46之间的联动装置间碰撞的概率。
被旋转的枢轴点48、50、52和54耦合在一起的刚性连杆42、44和46中至少有一条在至少1个自由度上不完全平衡。同样地，制动系统可以与连接联动装置30耦合。制动系统可释放地抑制接头48、50、52和54中的至少一个接头的连接。将注意到因为联动装置没有任何抵衡重量(counter-balancing weights)，偏移遥控中心操纵器30可以包括更轻的系统。同样地，连杆42、44和46优选地包括具有足够刚性和硬度的结构，从而支持与更轻的操纵器30有关的任何振动问题。将进一步注意到偏移遥控中心操纵器30可以有选择地通过使用砝码、拉簧、气体弹簧、扭转弹簧、压缩弹簧、气缸或液压缸、力矩电动机或者它们的组合来实现平衡。
再参考图6B、图7B和图8B，偏移遥控中心操纵器30可以优选地包括六个滑轮76、78a、78b、80、82a和82b以及与这六个滑轮76、78a、78b、80、82a和82b耦合的四个柔性元件84a、84b、86a和86b，这些滑轮被配置，从而限制轴36相对于旋转中心66的运动。在两个滑轮76和78a上运行的柔性元件84a和84b阻止连杆42和46相对于彼此旋转，其中一个滑轮76固定在连杆42上，一个滑轮78a固定在连杆46上。同样地，在剩下的四个滑轮78b、80、82a和82b上运行的柔性元件86a和86b阻止连杆44和34相对于彼此旋转，其中一个滑轮78b固定在连杆44上，一个滑轮80固定在连杆34上，空转轮82a和82b使柔性元件86a和86b绕着主弯曲连杆46。因此，连杆42和46可以相对于彼此平移而不是旋转，从而维持平行四边形形状64。同样地，连杆44和34可以相对于彼此平移而不是旋转，从而维持平行四边形形状64。将注意到术语滑轮76、78a、78b、80、82a和82b可以包括轮子、齿轮、链轮等等。
柔性元件84a、84b、86a和86b可以包括绕着滑轮76、78a、78b、80、82a和82b连接的带、链条或者缆线。优选地柔性元件包括多层金属带，例如断裂强度为约800 1bs，宽度为约四分之一英寸的不锈钢带。优选地，使用至少三层的多层带，优选五层，从而足够坚固，能够承受足够的拉伸负荷，但又足够的薄，从而在反复绕滑轮弯曲时不发生疲劳。滑轮76和78a的直径大约相同，例如2.2英寸。较小的滑轮78b和80的直径大约相同，例如1.8英寸。在主连杆46弯曲处有两个空转轮82a和82b，从而方便以相反的方向运行带86a和86b，从而使带终端的固定更加牢固。使用非连续偏移带84a、84b和86a、86b减轻应力，尤其是在固定点处，从而使疲劳最小化。进一步地，非连续带允许张力和位置便利的调整。将进一步注意到带84a、84b以及86a和86b可以有选择地包括连续的单带。此外，金属带可以沿着操纵器臂与传送电气信号的扁平弹性缆线轻度耦合。
偏移连接联动装置30被一系列电动机驱动。电动机可以被设置在多个连杆之内，从而驱动滑轮和带机构。优选地，大多数电动机被设置在降低的垂直连杆44中。具体地，通过正齿轮和谐和传动驱动俯仰轴线72从而使连杆44相对于连杆42旋转的电动机以及运行器械致动缆线(例如，可以具有弹簧张力的腕部件驱动缆线)的电动机可以设置在连杆44内。把垂直连杆44、主弯曲连杆46和器械支架34设置在同一平面是有利的，因为运行驱动缆线的电动机被设置在连杆44内。进一步地，把垂直连杆44、主弯曲连杆46和器械支架34设置在同一平面内允许操纵器30的远端的空间最小化，当在限定的手术环境内实施微创机器人手术时，这一点至关重要。驱动摇摆轴线58的电动机可以设置在安装底座40中。
尽管为了清楚的理解和作为例子，已经以一定的细节描述了若干示例性实施例和方法，通过以上内容本领域的技术人员将清楚地认识到在不偏离本发明真正精神和范围的前提下，可以对这些实施例进行变更、修改、改变和调整。因此，以上描述不应视为是对本发明范围的限制，本发明的范围由所附权利要求限定。
Claims (26)
1.一种遥控中心操纵器，其用于在微创机器人手术过程中限制与器械支架耦合的手术器械位置，所述手术器械包括延长轴，该轴具有远端工作终端，其被配置从而通过旋转中心插入病人的体腔，所述遥控中心操纵器包括：
安装底座；
平行四边形联动装置底座，其与所述安装底座耦合从而围绕第一轴线旋转，所述第一轴线贯穿所述旋转中心；
第一连杆，其具有第一连杆近端和第一连杆远端，所述第一连杆近端在偏离所述第一轴线的底座接头处与所述平行四边形联动装置底座耦合；和
第二连杆，其具有第二连杆近端和第二连杆远端，所述第二连杆近端与所述第一连杆远端耦合，所述第二连杆远端与所述器械支架耦合。
2.如权利要求1中所述的操纵器，其中第一平行四边形边通过连接所述底座接头和所述旋转中心来形成，所述第一平行四边形边成角度地偏离所述第一轴线。
3.如权利要求2中所述的操纵器，其中所述第一平行四边形边成角度地偏离所述第一轴线，角度至少为2度。
4.如权利要求2中所述的操纵器，其中所述第一平行四边形边成角度地偏离所述第一轴线，角度至少为2度，最大为45度。
5.如权利要求4中所述的操纵器，其中所述第一平行四边形边成角度地偏离所述第一轴线，角度为10度。
6.如权利要求2中所述的操纵器，其中所述第一平行四边形边在所述第一轴线下方延伸。
7.如权利要求2中所述的操纵器，其中所述平行四边形联动装置底座被配置为围绕所述第一轴线在至少180度的范围内旋转。
8.如权利要求7中所述的操纵器，其中所述平行四边形联动装置底座被配置为围绕所述第一轴线在至少336度的范围内旋转。
9.如权利要求2中所述的操纵器，其中所述操纵器提供围绕第二轴线在至少110度范围内的轴运动，所述第二轴线垂直于所述第一轴线和所述第一平行四边形边。
10.如权利要求9中所述的操纵器，其中所述操纵器提供围绕第二轴线在至少150度范围内的轴运动，所述第二轴线垂直于所述第一轴线和所述第一平行四边形边。
11.如权利要求1中所述的操纵器，其中至少有一个连杆是弯曲的。
12.如权利要求11中所述的操纵器，其中至少有一个连杆以22度的角弯曲。
13.如权利要求1中所述的操纵器，其中所述操纵器在至少1个自由度上不平衡。
14.如权利要求13中所述的操纵器，其进一步包括制动系统，所述制动系统可释放地限制所述操纵器的至少一个所述接头的连接。
15.如权利要求1中所述的操纵器，其进一步包括至少一个滑轮和与该滑轮耦合的至少一个柔性元件，所述滑轮被配置，从而限制所述延长轴相对于所述旋转中心的运动。
16.如权利要求1中所述的操纵器，其进一步包括六个滑轮和四条带。
17.如权利要求15中所述的操纵器，其中所述滑轮和所述柔性元件由伺服机构驱动。
18.如权利要求1中所述的操纵器，其中所述第一和第二连杆和所述平行四边形联动装置底座偏移于不同的平面内。
19.如权利要求1中所述的操纵器，其中所述第二连杆和所述器械支架被设置在同一个平面内。
20.如权利要求1中所述的操纵器，其中所述第一和第二连杆被配置，从而限制所述延长轴相对于所述旋转中心的运动，从而当所述延长轴在至少1个自由度上枢轴运动时所述延长轴通过所述旋转中心保持基本对准。
21.如权利要求1中所述的操纵器，其中所述器械支架被配置为沿着所述器械支架的纵向轴线可滑动地延伸所述手术器械。
22.如权利要求1中所述的操纵器，其中所述第二连杆以一角度弯曲，所述第二连杆和所述第一连杆位于同一平面内。
23.如权利要求1中所述的操纵器，其中所述平行四边形联动装置底座和所述第二连杆被阻止相对于彼此旋转。
24.如权利要求1中所述的操纵器，其中所述第一连杆和所述器械支架被阻止相对于彼此旋转。
25.如权利要求1中所述的操纵器，其中所述第一连杆容纳用于驱动所述操纵器的电动机。
26.一种遥控中心操纵器，其用于在微创机器人手术过程中限制与器械支架耦合的手术器械位置，所述手术器械包括延长轴，该轴具有远端工作终端，该远端工作终端被配置从而通过体壁的切口插入病人的体腔，所述遥控中心操纵器包括：
连接联动装置组件，其具有与平行四边形联动装置底座旋转耦合的安装底座从而围绕第一轴线旋转，所述平行四边形联动装置底座通过平行四边形装置与所述器械支架耦合，从而当所述器械被安装到所述器械支架上并且所述轴在至少1个自由度上运动时，所述平行四边形装置相对于旋转中心限制所述器械的所述延长轴，其中所述第一轴线和与所述平行四边形联动装置底座相邻的所述平行四边形装置的第一边在所述旋转中心处与所述轴交叉，且所述平行四边形装置的所述第一边成角度地偏离所述第一轴线。
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