CN103006329A - Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof - Google Patents
Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof Download PDFInfo
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- CN103006329A CN103006329A CN2012105104440A CN201210510444A CN103006329A CN 103006329 A CN103006329 A CN 103006329A CN 2012105104440 A CN2012105104440 A CN 2012105104440A CN 201210510444 A CN201210510444 A CN 201210510444A CN 103006329 A CN103006329 A CN 103006329A
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Abstract
The invention provides a multi-joint single-wound abdominal cavity minimally-invasive surgery robot and an operating mechanism thereof. The operating mechanism comprises a mechanical arm and a power part. The mechanical arm comprises a connecting rack and two arms with the same structure. Each arm comprises a connecting arm and an advanced manipulator. A cutter head is installed at the end of the advanced manipulator. The two advanced manipulators are respectively and detachably installed at the ends of the two connecting arms. The two connecting arms are respectively installed on the two sides of the connecting rack. The connecting rack is detachably connected with the power part through a connecting pipe. The operating mechanism is installed on a four-freedom robot. The operating mechanism is designed for abdominal cavity surgeries, the effect of a single wound can be realized, the diameter of the wound is 10-20mm and the requirement on the minimal invasiveness of the surgeries is satisfied. Besides, the strength is enough, and the accuracy, the flexibility, the stability and the safety of the operating mechanism during surgeries are guaranteed.
Description
Technical field
The present invention relates to surgical medical equipment, particularly, relate to a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot and operating mechanism thereof.
Background technology
Along with the develop rapidly of human sciences's technical merit, the improving constantly of living standard, people are to operation safety, accuracy, the requirement of invasive is also more and more higher.Surgical robot system then can satisfy this demand.Compare the traditional operation mode, the main advantage of operating robot is:
(1) can provide more comprehensively the widely visual field, space for the surgeon;
(2) can improve the accuracy of operation, thereby reduce operation wound and blood loss, accelerate resume speed, reduce postoperative complication and complication;
(3) can get rid of the adverse effect of trembling operation being caused of the possible hands of operating doctor;
(4) can carry out in the place that traditional operation can't touch the operation of safety and precise ground;
(5) can for operating doctor provides comfortable working environment, reduce working strength;
(6) can in the major part operation, reduce complexity and the workload of operation, save the human resources.
(7) intelligentized surgical robot system can to the doctor in the operation process with more operation reference, improve the reliability of operation.
China has many universities, institute at present in the research of carrying out operating robot.Minimally Invasive Surgery robotic surgical device " highly skilled man A " system by University Of Tianjin, Nankai University and General Hospital of Tianjin Medical Univ.'s joint research and development passed through assessment of result in 2010, and had reached international most advanced level; " highly skilled man II " system of a new generation also under study for action at present.Estimate that domestic intelligent operation robot is expected to enter in two years clinical experimental stage.
External main surgical robot system has Leonardo da Vinci's surgery systems, ZEUS robotic surgical system and AESOP robot system.The operating robot of these three systems has all reached even has surmounted in some respects the motility of staff, copy operation doctor's surgical action ideally, and force feedback and stable stereo-picture are provided.Can realize Long-distance Control, intelligent correction etc. in addition.
Yet for the requirement of single wound Minimally Invasive Surgery, present operating robot remains needs improvements.Take Leonardo da Vinci's surgery systems as example, in operation process, generally all need to cut three holes in human abdominal cavity, each aperture, hole is about 10mm, and wherein two holes are used for by two working arms, and another is used for by holding handel.This patent is designed a kind of novel micro-wound surgical operation mechanical arm, can be under the prerequisite of work space not second to Leonardo da Vinci's operating robot, two working arms and a photographic head are incorporated in the cylindrical region of a 10～20mm, namely in operation process, need only the circular hole of cutting diameter a 10～20mm in the abdominal cavity, just can be used for finishing an operation, thereby further satisfy people to the needs of operation invasive.
Through retrieval, publication number is the Chinese invention patent of 102697564A, this patent disclosure a kind of flexible arm robot for the single hole abdominal-cavity minimal-invasion surgery, this machine is artificial, and to solve in the existing endoscope micro-wound patient skin otch more, the larger problem of the volume of operating robot.Compare this patent, the present invention has adopted split-type design, is easy to assembling and dismounting, changes, so that operation and maintenance is more convenient; The mechanism that the present invention relates to can be at patient abdominal cavity internal combination, and adopts the both arms co-operating, and every arm (containing cutter head) has 3 degree of freedom, so that operation technique more flexibly and accurately.
Summary of the invention
For defective of the prior art, the purpose of this invention is to provide a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot and operating mechanism thereof, when guaranteeing operation accuracy, motility, stability and safety, reduce surgical wound quantity as far as possible and reduce the wound size, really realize Wicresoft.
The present invention is that the scheme that the above-mentioned object technology problem of solution is taked is:
According to an aspect of the present invention, a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation is provided mechanism, formed by mechanical arm and power section, described mechanical arm inside is provided with many by pulley and connects steel wire, many driving steel wires and many positioning steel wires, these steel wires are connected to described power section, and wherein: described driving steel wire is in order to transmit the driving force from described power section; Described connection steel wire with so that described mechanical arm closely be connected with described power section; Described positioning steel wire is used for the attitude that perioperatively is adjusted described mechanical arm.
Described mechanical arm comprises two hands arms that link is identical with structure; Every arm comprises a linking arm and a most advanced and sophisticated mechanical hand; Described most advanced and sophisticated arm end is equipped with cutter head; It is terminal that described most advanced and sophisticated mechanical hand is removably mounted on described linking arm, can according to the operation needs, select in advance the most advanced and sophisticated mechanical hand of difference in functionality; And described linking arm is installed in respectively the both sides of described link.
Described mechanical arm link top drilling, described link removably connects by connection tube and described power section, and the steel wire of described mechanical arm inside is through the described power section of the inner connection of connection tube; Described link bottom has the shooting hole, is used for installing and guiding shooting and luminaire.
Before the operation, mechanical arm separates (only flexibly connecting by steel wire) with power section, enter human abdominal cavity by umbilical notch cut, affect by the positioning steel wire subsequently, carry out the pose adjustment, and tighten up by connecting steel wire, be implemented in the abdominal cavity incision and closely be connected with power section; Mechanical arm is affected by driving steel wire by power section, carries out various surgical action; After the operation, mechanical arm is broken away from power section again, adjust pose by the positioning steel wire and make mechanical arm leave the abdominal cavity by the abdominal cavity otch.
Preferably, each degree of freedom of whole mechanical arm drives by the steel wire that links to each other with drive part; Steel wire is realized the rotation in each joint by the pulley of inner each joint of driving mechanical arm.The steel wire one of described mechanical arm inside has 13, and wherein 3 are the connection steel wire, and 8 are the driving steel wire, and 2 are the positioning steel wire.Every described arm has 4 to drive the steel wire drive; Specific to arm wherein: 2 drive the action that steel wires are used for driving most advanced and sophisticated arm end cutter, and 1 drives the rotation that steel wire is used for driving most advanced and sophisticated mechanical hand, remains 1 and are used for driving the linking arm rotation; Another arm situation is identical with it.2 positioning steel wires are through directly linking to each other with cutter head on 2 most advanced and sophisticated mechanical hands respectively behind the connection tube, and 3 connection steel wires link together connection tube and mechanical arm link.
Preferably, the described linking arm of each side and the described most advanced and sophisticated mechanical hand of connection thereof have 4 to drive the steel wire drive, wherein 2 steel wires are for the action that drives described most advanced and sophisticated arm end cutter, 1 drives the rotation that steel wire is used for driving described most advanced and sophisticated mechanical hand, in addition 1 rotation that is used for driving described linking arm; The driving steel wire deployment scenarios of both sides is identical, and namely 8 are the driving steel wire.
Preferably, described connection tube is divided into two parts, the end of the first that links to each other with mechanical arm links to each other by being connected steel wire with mechanical arm, the other end is threaded connection second portion, second portion links to each other with described power section, described first and described second portion are realized the flexible of connection tube entire length by thread connection by the length of regulating threaded engagement between described two parts, to realize driving loosening and tension of steel wire.
Preferably, the terminal band of the second portion of described connection tube female thread, the cardinal extremity band external screw thread of first, the thread segment of described second portion has at least 2 pin-and-holes, and along the axial distribution of connection tube; The thread segment of first has a pin-and-hole; The threaded engagement length of two parts of connection tube is turned down, so that two-part pin-and-hole overlaps, this moment, the connection tube overall length was larger, and the driving steel wire is tensioning state; The threaded engagement length of two parts of connection tube is tuned up, and when two-part pin-and-hole overlapped, the connection tube entire length was less, and the driving steel wire is relaxation state; Have when overlapping at pin-and-hole and to insert alignment pin, can avoid between two parts of connection tube relative motion being arranged, prevent that connection tube length from producing the variation beyond artificial the adjusting.
Preferably, handle is equipped with in the described first that links to each other with mechanical arm, described handle in the part of described connection tube first inside with capstan winch, described connection steel wire be entangled on the described capstan winch and stretch out described first after be connected on the described link, this handle is used for adjusting the degree of tightness that connects steel wire, the disengagement of realization mechanical arm and connection tube and fastening.
Among the present invention, described each most advanced and sophisticated mechanical hand has two orthogonal rotary freedoms; The relative link of linking arm has a rotary freedom, and its direction is identical with the one degree of freedom direction of most advanced and sophisticated mechanical hand;
Among the present invention, described power section is a motor housing, and 8 motors and steel wire box are equipped with in inside, realizes respectively driving the self contained function of steel wire;
Among the present invention, the concrete arrangement of pulley and driving steel wire can be implemented according to prior art, as long as realize above-mentioned effect and purpose.Every drives steel wire and moves towards formed track in described arm inside, at the pulley place of each its process along this pulley spindle to projection, can both can avoid steel wire that length variations occurs when arm moves with the complete envelope of this pulley interior, guarantee to drive accurately and reliably.
According to a further aspect in the invention, provide a kind of multi-joint list wound abdominal-cavity minimal-invasion surgery robot, comprise above-mentioned operating mechanism.Described operating mechanism is installed in the robot with 4 degree of freedom, and each described most advanced and sophisticated mechanical hand has two orthogonal rotary freedoms; The relatively described link of described linking arm has a rotary freedom, direction is identical with the one degree of freedom direction of described most advanced and sophisticated mechanical hand, thereby make each most advanced and sophisticated mechanical hand always have 7 degree of freedom, to guarantee that its any attitude in the assigned work spatial dimension can reach and two most advanced and sophisticated mechanical hands can carry out certain collaborative work.
Among the present invention, whole described mechanical arm cross section can carry out single wound surgical operation, and the surgical wound size is in 10～20mm scope in diameter is the just round scope of 10～20mm.Its implementation is:
In the operation preparatory stage, at first adjust connection tube length, loosen the driving steel wire, and be fixedly connected with two parts of pipe with pin; Adjust subsequently the handle on the connection tube, will connect steel wire and loosen sufficient length, mechanical arm and connection tube are broken away from from tightening state; By connecting steel wire and the pose that is connected in the positioning steel wire adjustment mechanical arm on the cutter head, mechanical arm is put into the human body pneumoperitoneum by the otch on the umbilicus, then rotary handle will connect Wire pulling, so that connection tube closely is connected with mechanical arm; Extract the alignment pin between connection tube two parts, be fixedly connected with pipe second portion (upper part), first's (lower part) is dropped to predetermined altitude, use again alignment pin affixed, make to drive the steel wire tensioning; Shooting and luminaire can enter through connection tube, and the whole preparatory stage finishes.
In the operation execution phase, the surgeon can control each motor rotation in the motor housing, drives respectively each joint rotation of described driving steel wire and then hitching machinery arm and the folding (each joint motions is independent of each other) of cutter head, to finish needed operation technique.
After operation is carried out and finished, mechanical arm need to be taken out from the abdominal cavity opening, be specially: propose shooting and luminaire along connection tube; Pin on the fech connection pipe is adjusted connection tube and is loosened the driving steel wire, and uses finger setting; Adjust the handle of connection tube bottom, loosen the connection steel wire, so that mechanical arm breaks away from (only being connected by steel wire) with connection tube, and by being connected in the positioning steel wire on the cutter head, an arm is mentioned, make whole mechanical arm be vertical state, so that cutter head arrives the abdominal cavity otch and proposes, take out immediately whole mechanical arm, finish; Namely carry out afterwards other follow-up work.
Utilize above-mentioned new structure, can realize robot assisted list wound abdominal-cavity minimal-invasion surgery (such as single wound abdominal cavity gallbladder pancreas Minimally Invasive Surgery).In the operation preparatory stage, mechanical arm separates with power section, remakes to be fastenedly connected after putting into the abdominal cavity; After operation technique is finished, mechanical arm with take out again after power section separates; With mechanical arm with state that power section is connected under stretch into inside, abdominal cavity situation compare, the present invention has avoided opening a plurality of wounds or the excessive risk of wound.
Compared with prior art, the present invention has following beneficial effect:
The present invention adopts split-type design, is convenient to assembling and dismounting, changes; The mode of assembling and dismounting effectively reduces surgical wound quantity, and strictly controls the size of wound in mechanical arm by can adjusting flexibly pose and the wound; Multivariant actuator and both arms Cooperative Mode have guaranteed motility and the reliability of operation technique really to realize the requirement of single wound Minimally Invasive Surgery.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is one embodiment of the invention robot overall structure sketch map;
Each label of Fig. 1 is as follows: 1. four-degree-of-freedom robot, 2. motor housing, 3. connection tube, 4. handle, 5. connection tube, 6. mechanical arm.
Fig. 2 is one embodiment of the invention mechanical arm structure chart.
Each label of Fig. 2 is as follows: 7. link, 8. pin, 9. pin, 10. pin, 11. linking arm, 12. pins, 13. most advanced and sophisticated mechanical hands, 14. pins, 15. pin, 16. cutter heads, 17. pins, 18. pins, 19. cutter head, 20. most advanced and sophisticated mechanical hands, 21. pins, 22. linking arms, 23. pin, 24. pins, 25. pins, 26. pins, 27. pin, 28. pins, 29. pins, 30. pins.
The specific embodiment
The present invention is described in detail below in conjunction with specific embodiment.Following examples will help those skilled in the art further to understand the present invention, but not limit in any form the present invention.Should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, this multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism is comprised of mechanical arm and power section as can be known, the present embodiment medium power partly adopts motor housing 2 to realize, described mechanical arm 6 comprises a link 7, two linking arms 11 that structure is identical, 22 two most advanced and sophisticated mechanical hands 13,20 identical with structure, described most advanced and sophisticated arm end is equipped with cutter head, can flexible rotating; Cutter head structure and shears are similar, are divided into two; Described most advanced and sophisticated mechanical hand 13,20 is removably mounted on described linking arm 11,22 ends, can according to the operation needs, select in advance the most advanced and sophisticated mechanical hand of difference in functionality; And described linking arm 11,22 is installed in respectively the both sides of described link 7.Described link 7 by connection tube 3,5 and described motor housing 2 removably connect, the steel wire of described mechanical arm 6 inside innerly connects described motor housing 2 through connection tube 3,5; Described link 7 bottoms have the shooting hole, are used for installing and guiding shooting and luminaire.
In the present embodiment, motor housing 2, connection tube 3,5 and mechanical arm 6 all be installed in a four-degree-of-freedom robot 1 and (can be existing product, such as the SCARA robot) last joint on, consist of a multi-joint list wound abdominal-cavity minimal-invasion surgery robot, each most advanced and sophisticated mechanical hand always has 7 degree of freedom.Wherein: connection tube 3 just end is connected with motor housing 2, and end has female thread, and has two 2 pin-and-holes at thread segment: on the pin-and-hole a() and pin-and-hole b(under), and along the axial distribution of connection tube 3; One end of connection tube 5 contiguous connection tubes 3 has external screw thread, can be connected with connection tube 3; The thread segment of connection tube 5 has pin-and-hole c; Regulate the threaded engagement length (connection tube 3 is static) of connection tube 3 and connection tube 5, so that pin-and-hole b overlaps with pin-and-hole c, this moment, the connection tube overall length was larger, and the driving steel wire is tensioning state; When being adjusted to pin-and-hole a and overlapping with pin-and-hole c, the connection tube entire length is less, and the driving steel wire is relaxation state; There is when coincidence to insert alignment pin at pin-and-hole, can prevents that connection tube length from producing the variation beyond artificially regulating.
In the present embodiment, connection tube 5 is provided with handle 4, and handle 4, connects steel wire and is entangled on the capstan winch, and stretch out connection tube 5 with capstan winch in the part of connection tube 5 inside, is connected on the link 7; Can make along different directions turning handle 4 to connect steel wire and tighten up or loosen at capstan winch, when tightening up, connection tube 5 fits tightly with link 7, and when loosening, connection tube 5 separates with link 7.
According to general design, the pulley in the mechanical arm divides 3 kinds by function: joint pulley, positioning pulley and leading block.The joint pulley can drive by driving steel wire, and the pin of installing in inner each the joints axes position of mechanical arm rotates, and realizes thus the joint rotation; Joint pulley on the linking arm and linking arm one, the joint pulley on the most advanced and sophisticated mechanical hand and most advanced and sophisticated mechanical hand one, two joint pulleys on the cutter head are integral respectively side by side and with two of cutter head; Positioning pulley is used for driving the spacing and directed of steel wire, is installed on the pin of joints axes position, is distributed in the both sides of joint pulley, can freely rotate; Leading block also is used for driving the spacing and directed of steel wire, is installed on the pin of non-joint position; Link is equipped with additional leading block near the position in linking arm joint; Except additional leading block and joint pulley, remaining pulley all uses in pairs, is distributed in the both sides of arm, avoids described driving steel wire to cross one another.Each pulley is a corresponding driving steel wire only, every only corresponding joint pulley of described driving steel wire, but can be through 0-2 to described positioning pulley and a plurality of leading block; Drive steel wire and be that in the key of the inner trend of described arm move towards formed track, pulley place of its process in described arm at each can both be with the complete envelope of this pulley interior; Can prevent that like this driving steel wire gets loose from pulley, and avoid driving steel wire length in when traction and change, guarantee accuracy and the reliability of drive actions.
As shown in Figure 2, concrete, described mechanical arm 6 comprises link 7, linking arm 11, linking arm 22, most advanced and sophisticated mechanical hand 13 and most advanced and sophisticated mechanical hand 20; Pin 8, pin 9, pin 23, pin 24 and pin 25 are contained in the linking arm 7; Pin 10, pin 12 and pin 18 are housed in the linking arm 11; In the most advanced and sophisticated mechanical hand 13 pin 14, pin 17, pin 15 and cutter head 16 are housed; Pin 26, pin 27 and pin 28 are housed in the linking arm 22; In the most advanced and sophisticated mechanical hand 20 pin 21, pin 29, pin 30 and cutter head 19 are housed; Cutter head 16 is identical with cutter head 19 structures, and is similar with shears, all is divided into two; The end of cutter head 16 and cutter head 19 has aperture, is used for installing the adjusting steel wire; 3 additional leading blocks are housed on the pin 8,8 leading blocks are respectively arranged on pin 23 and the pin 24; Pin 9,12,15,25,28,30 is the joint, wherein pin 9 connects link 7 and linking arm 11, pin 12 connects linking arm 11 and most advanced and sophisticated mechanical hand 13, pin 15 connects most advanced and sophisticated mechanical hand 13 and cutter head 16, pin 25 connects link 7 and linking arm 22, pin 28 connects linking arm 22 and most advanced and sophisticated mechanical hand 20, and pin 30 connects most advanced and sophisticated mechanical hand 20 and cutter head 19; There is the joint pulley linking arm 11 that is connected at pin 9 places, and other has 6 positioning pulleys to be distributed on this pulley both sides, joint; The joint pulley at the pin 12 places most advanced and sophisticated mechanical hand 13 that is connected, other has 4 positioning pulleys to be distributed on this pulley both sides, joint; There are be connected respectively two of cutter head 16 of two joint pulleys at pin 15 places; There is the joint pulley linking arm 22 that is connected at pin 25 places, and other has 6 positioning pulleys to be distributed on this pulley both sides, joint; There is a joint pulley most advanced and sophisticated mechanical hand 20 that is connected at pin 28 places, and other has 4 positioning pulleys to be distributed on this pulley both sides, joint; There are be connected two of cutter head 19 of two joint pulleys at pin 30 places; Each pulley is a corresponding driving steel wire only.
The arm that is comprised of linking arm 11, most advanced and sophisticated mechanical hand 13, cutter head 16 in the present embodiment is the same with the arm structure that is comprised of linking arm 22, most advanced and sophisticated mechanical hand 20, cutter head 19, and the configuration of pulley is also identical with the layout that drives steel wire.Take the arm that formed by linking arm 11, most advanced and sophisticated mechanical hand 13, cutter head 16 as example:
The driving card clothing that drives linking arm 11 rotations is set to: one of leading block on one of leading block that adds on one of leading block-linking arm 11 joint pulley-links 7 interior pins 8 on the motor housing 2-connection tube 3-connection tube 5-link 7 interior pins 23-link 7 interior pins 23-connection tube 5-connection tube 3-motor housing 2;
Drive the steel wire trend of most advanced and sophisticated manipulator 13: one of leading block on one of leading block that adds on one of positioning pulley on one of leading block on one of leading block on one of positioning pulley on one of leading block on motor housing 2-tube connector 3-tube connector 5-link 7 interior pins 23-interior pin 9 of link 7-interior pin 18 of linking arm 11-interior pin 10 of most advanced and sophisticated manipulator 13 joint pulley-linking arm 11-interior pin 9 of link 7-interior pin 8 of link 7-interior pin 23 of link 7-tube connector 5-tube connector 3-motor housing 2;
Drive head 16 which is arranged a drive wire: electric housing 2 - connection pipe 3 - connecting pipe 5 - 7 to pin 23 connecting frame guide pulley on one - connecting frame 7 to pin 9 on the positioning of one pulley - connect pin 18 on the arm 11 of the guide pulley - connecting arm 11 is positioned on the pin 12 of the pulley - sophisticated robot 13 pin 17 within the guide pulley on one - one blade 16 joint pulley - sophisticated robotic 13 on the pin 14 of the guide pulley - connecting arm 11 is positioned on the pin 12 of the pulley - connecting arm 11 on the pin 10 of the guide pulley - connecting frame 7 to pin 9 on the positioning of one pulley - connecting frame 7 to pin 8 on the guide pulley attached one - connecting frame 7 pin 23 within the guide pulley on one - connecting pipe 5 - connection pipe 3 - electrical cabinet 2;
The driving steel wire arrangement of another sheet of driving cutter head 16 is similar to the former.
Article two, the deployment scenarios of arm driving steel wire is identical.In the layout that drives steel wire, need to avoid intersecting between the different driving steel wire of the same side as far as possible, and guarantee that every drives the loop of steel wire layout along the projected footprint of pin axis direction, each pulley place in its process, can both be with the pulley at this place complete envelope interior (being that the envelope angle is 360 °), preventing that driving steel wire gets loose from pulley, and avoid when traction, driving steel wire length and change, guarantee drive actions accurately and reliably.
In the operation preparatory stage, mechanical arm 6 need to be put into the abdominal cavity by the abdominal cavity otch.At first regulate the screw thread between connection tube 5 and the connection tube 3, shorten the whole piece connection tube, loosen the driving steel wire, be fixedly connected with pipe 5 and connection tube 3 with pin subsequently, prevent that the connection tube total length from changing again; Adjust the handle 4 on the connection tube 5, loosen 3 and connect steel wire, the link 7 in the mechanical arm 6 is separated with connection tube 5; By being connected in cutter head 16(or cutter head 19) on the adjusting steel wire adjust the pose of mechanical arm 6, make it to become vertical state, and make cutter head 19(or cutter head 16) aim at the abdominal cavity otch, mechanical arm 6 is put into the human body pneumoperitoneum; Then adjust the handle 4 on the connection tube 5, tension connects steel wire, and the link 7 on the mechanical arm 6 closely is connected with connection tube 5; Extract the alignment pin between connection tube 3 and the connection tube 5, regulate threaded engagement length between the two, so that whole connection tube length increases, will drive steel wire and tighten, insert again alignment pin, connection tube 3 and connection tube 5 relative positions are fixed, finish operation preparation.
In operation, main surgical action drives steel wire driving mechanical arm 6 by motor housing 2 by 8 and carries out, and where necessary, the degree of freedom that also needs to transfer four-degree-of-freedom robot 1 cooperates; Drive steel wire and driven by the multiple electric motors in the motor housing 2, by being distributed in the pulley in the mechanical arm 6, pass motion to each joint of mechanical arm 6; Can drive and is not subjected to the impact of other joint action in each joint; Cutter head 16 and cutter head 19 are end effector, in order to the surgical action such as do clamping, cut off.After the operation, mechanical arm 6 need to be taken out through the abdominal cavity otch: first the pin in connection tube 3 and the connection tube 5 is taken out, regulate threaded engagement length between connection tube 3 and the connection tube 5, shorten whole connection tube, loosen the driving steel wire, re-use finger setting; Adjust the handle 4 on the connection tube 5, loosen the connection steel wire, mechanical arm 6 is separated with connection tube 5, adjust simultaneously the pose of mechanical arm 6 by the positioning steel wire that is connected to cutter head 16 or 19, make one of them cutter head terminal aligning abdominal cavity otch and 6 one-tenth vertical shapes of whole mechanical arm, then take out whole piece mechanical arm 6, EO along otch.
The present invention is directed to abdominal operation design, such as the gallbladder operation on pancreas etc., can realize single wound, and the wound diameter is 10～20mm, satisfy the requirement of operation invasive.The both arms cooperation of high-freedom degree, and can be aided with micro lighting and picture pick-up device complete monitoring, so that operation technique is flexible accurately, directly perceived and safety.In addition, this robot arm has enough intensity, guarantees its reliability in operation.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism, formed by mechanical arm and power section, it is characterized in that: described mechanical arm comprises two arms that link is identical with structure, every described arm comprises a linking arm and a most advanced and sophisticated mechanical hand, described most advanced and sophisticated arm end is equipped with cutter head, described two most advanced and sophisticated mechanical hands are removably mounted on respectively described two linking arm ends, and described two linking arms are installed in respectively the both sides of described link, and described link removably connects by connection tube and described power section; Described mechanical arm inside is provided with many by pulley and connects steel wire, many driving steel wires and many positioning steel wires, these steel wires are connected to described power section, wherein: described driving steel wire is in order to transmit the driving force from described power section, described connection steel wire is with so that described mechanical arm closely is connected with described power section, and described positioning steel wire is used for the attitude that perioperatively is adjusted described mechanical arm; The steel wire of described mechanical arm inside is through the described power section of the inner connection of connection tube.
2. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 1 mechanism, it is characterized in that: the steel wire one of described mechanical arm inside has 13, and wherein 3 for connecting steel wire, and 8 for driving steel wire, and 2 are the positioning steel wire; 2 positioning steel wires are through directly linking to each other with cutter head on 2 most advanced and sophisticated mechanical hands respectively behind the connection tube, and 3 connection steel wires link together connection tube and mechanical arm link; Whole each degree of freedom of described mechanical arm is driven by the driving steel wire that links to each other with described power section, and each drives steel wire and realizes the joint rotation by the pulley that drives inner each joint of described mechanical arm.
3. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 2 mechanism, it is characterized in that: the driving steel wire deployment scenarios of described two arms is identical, every arm has 4 to drive the steel wire drive, be specially: 2 drive the action that steel wire is used for driving described most advanced and sophisticated arm end cutter, 1 drives the rotation that steel wire is used for driving described most advanced and sophisticated mechanical hand, in addition 1 rotation that is used for driving described linking arm.
4. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 1 mechanism, it is characterized in that: described connection tube is divided into two parts, the end of the first that links to each other with mechanical arm links to each other by being connected steel wire with mechanical arm, the other end is threaded connection second portion, second portion links to each other with described power section, described first and described second portion pass through thread connection, realize the flexible of connection tube entire length by the length of regulating threaded engagement between described two parts, to realize driving loosening and tension of steel wire.
5. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 4 mechanism, it is characterized in that: the terminal band of the second portion of described connection tube female thread, the cardinal extremity band external screw thread of first, the thread segment of second portion has at least 2 pin-and-holes, and along the axial distribution of connection tube; The thread segment of first has a pin-and-hole; The threaded engagement length of two parts of connection tube is turned down, so that two-part pin-and-hole overlaps, this moment, the connection tube overall length was larger, and the driving steel wire is tensioning state; The threaded engagement length of two parts of connection tube is tuned up, and when two-part pin-and-hole overlapped, the connection tube entire length was less, and drivings steel wire is relaxation state, at pin-and-hole when coincidence insertion alignment pin was arranged, and avoiding has relative motion between two parts of connection tube.
6. multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation according to claim 4 mechanism, it is characterized in that: handle is equipped with in the described first that links to each other with mechanical arm, described handle in the part of described connection tube first inside with capstan winch, described connection steel wire be entangled on the described capstan winch and stretch out described first after be connected on the described link, this handle is used for adjusting the degree of tightness that connects steel wire, the disengagement of realization mechanical arm and connection tube and fastening.
7. each described multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism according to claim 1-6, it is characterized in that: described link bottom has the shooting hole, is used for installing and guiding shooting and luminaire.
8. each described multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism according to claim 1-6, it is characterized in that: whole described mechanical arm cross section is in diameter is the just round scope of 10～20mm.
9. each described multi-joint list wound abdominal-cavity minimal-invasion surgery robot manipulation mechanism according to claim 1-7, it is characterized in that: described power section is a motor housing, the motor corresponding with driving the steel wire number and steel wire box are equipped with in inside, realize respectively driving the self contained function of steel wire.
10. multi-joint list wound abdominal-cavity minimal-invasion surgery robot that comprises the described operating mechanism of claim 1, it is characterized in that: described robot comprises operating mechanism, described operating mechanism is installed in the robot with 4 degree of freedom, and each described most advanced and sophisticated mechanical hand has two orthogonal rotary freedoms; The relatively described link of described linking arm has a rotary freedom, direction is identical with the one degree of freedom direction of described most advanced and sophisticated mechanical hand, thereby make each most advanced and sophisticated mechanical hand always have 7 degree of freedom, guarantee that its any attitude in the assigned work spatial dimension can reach and two most advanced and sophisticated mechanical hands can carry out collaborative work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN107080587A (en) * | 2017-05-31 | 2017-08-22 | 南京医科大学第附属医院 | The mechanical arm and robot sutured for disc herniation Nuclectomy and fibrous ring |
| CN107536642A (en) * | 2017-08-24 | 2018-01-05 | 胡荣 | A kind of multiple degrees of freedom multifunction surgical manipulator |
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108567489A (en) * | 2018-03-23 | 2018-09-25 | 深圳市精锋医疗科技有限公司 | Operation arm, slave operation device and surgical robot |
| CN114305731A (en) * | 2015-08-27 | 2022-04-12 | 福康精准医疗系统公司 | Movable interface between stepper and stabilizer |
| CN114533270A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | Be used for terminal end instrument of surgical robot to stretch out and draw back and rotation equipment |
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