CN119700316A - A novel telecentric mechanism micro-anastomosis surgical robot slave device - Google Patents
A novel telecentric mechanism micro-anastomosis surgical robot slave device Download PDFInfo
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Abstract
本发明提供一种新型远心机构显微吻合手术机器人从手装置，涉及医疗器械领域，包括新型远心机构、位置调整机构、测试模块，所述位置调整机构由三个完全一致的直线运动模组组成，且用于调节新型远心机构的坐标位置，所述新型远心机构包括AB偏转运动基座、BC杆、AF杆、CE杆、EH杆、FJ杆、HI杆、IJ自转运动基座、俯仰驱动电机。采用位置‑姿态解耦构型的设置，由三轴平台满足高精度位置需求，由新型远心机构满足较大的转动范围需求，符合显微吻合手术“小位置‑大姿态‑高精度”的运动需求，提高了机器人运动灵活性，同时解耦构型可以降低控制算法复杂度，提高运动精度和手术过程的安全性。
The present invention provides a novel telecentric mechanism micro-anastomosis surgery robot slave device, which relates to the field of medical devices, including a novel telecentric mechanism, a position adjustment mechanism, and a test module. The position adjustment mechanism is composed of three completely identical linear motion modules and is used to adjust the coordinate position of the novel telecentric mechanism. The novel telecentric mechanism includes an AB deflection motion base, a BC rod, an AF rod, a CE rod, an EH rod, an FJ rod, a HI rod, an IJ rotation motion base, and a pitch drive motor. The position-attitude decoupling configuration is adopted, and the three-axis platform meets the high-precision position requirement, and the novel telecentric mechanism meets the larger rotation range requirement, which meets the "small position-large attitude-high precision" motion requirement of micro-anastomosis surgery, improves the robot's motion flexibility, and the decoupling configuration can reduce the complexity of the control algorithm, improve the motion accuracy and the safety of the surgical process.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a novel slave hand device of a telecentric mechanism micro anastomosis surgical robot.
Background
Microsurgery is an important surgical skill in microsurgery, requiring a doctor to repair and reconstruct small blood vessels (0.3-3 mm in diameter) by means of a medical microscope (5-40X), which is widely used in some fine reconstructive procedures requiring remote transplantation, such as breast reconstructive procedures, finger replantation, facial transplantation, etc. The general micro anastomosis operation is completed through cooperation of multiple surgical instruments, and the operation steps can be briefly described as follows, a doctor firstly fixes a blood vessel through micro forceps and a vascular clamp and provides a clear operation field by utilizing a background plate, further, the doctor needs to peel off the adventitia of the blood vessel as far as possible by utilizing micro scissors, which provides a necessary basis for preventing thrombus from forming after operation, after the blood vessel is further expanded by utilizing a vascular dilator, the doctor can use a needle holder and the micro forceps to perform anastomosis operation, and the needle threading process is taken as the most important step in the anastomosis operation, which directly influences the anastomosis quality, and a skilled doctor can suture up to 10 needles on the blood vessel with the diameter of 1 mm.
Although the artificial anastomotic blood vessel is still used as the golden standard of the current microsurgery, some objective factors still exist to make the operation difficult, firstly, the flexibility of a movement mechanism is related, when the needle threading action is performed, the high-precision position movement of the human hand is required, however, when the knot is tied, the flexible posture change is required, and the movement mode of 'small position-large posture-high precision' brings a certain challenge to the human hand operation. Secondly, the physiological trembling phenomenon of the human hand, although the physiological trembling phenomenon can be restrained at about 70um through practice, the precision requirement for performing the micro anastomosis operation of 30um still has a certain limit, and finally, due to the limitation of working space, all operations need to be performed in a narrow operation field to ensure safety, and meanwhile, direct interference with a microscope and a patient needs to be avoided.
The prior proposal and the defects that the robot assisted surgery has been verified in the fields of laparoscopic surgery, neurosurgery, ophthalmology and the like by virtue of the excellent tremor inhibition capability and flexible movement scaling performance. However, the related art is not fully applicable in the field of micro anastomosis. For example, davinci laparoscopic surgery robots have successfully achieved 1.5mm arterial vessel anastomosis ex vivo, but limited by motion scaling factors and insufficient resolution, cannot be applied to vessel anastomosis with diameters below 1mm, and are unfavorable for use in combination with a medical microscope due to their large volumes. NeuroArm neurosurgery robots also have the problem that the positioning accuracy is insufficient (1 mm) and the problem of micro anastomosis surgery cannot be solved, and in addition, the problem that the surgical instruments are not compatible exists. PRECEYES the ophthalmic surgery robot adopts a double-parallelogram mechanism to realize telecentric motion, so that higher motion precision is obtained, and the world first robot assisted macula retinae stripping operation is completed, but the robot degree of freedom is not directly applied to the field of microscopic anastomosis due to the lack of freedom. At present, although some special surgical robots for micro anastomosis can break through the accuracy limit of 1mm, some problems still exist and are difficult to solve. The MUSA mechanical arm adopts a simple serial configuration to realize anastomosis, the pose movement mode is not matched with the operation characteristic, the dexterity is poor, the multi-joint movement error accumulation problem is difficult to eliminate, and the limitation precision is further improved. Symani the robot adopts a wire driving mode to obtain smaller end volume structure and flexible wrist joint movement, but the creep effect of a steel wire rope is still difficult to solve, and more serious challenges are presented to accurate control and system stability.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a novel slave hand device of a telecentric mechanism micro anastomosis surgical robot, which solves the problems in the prior art.
(II) technical scheme
The novel telecentric mechanism comprises an AB deflection motion base, a BC rod, an AF rod, a CE rod, an EH rod and a pitching driving motor, wherein the AB deflection motion base, the AF rod and the FJ rod are sequentially hinged, the BC rod, the CE rod, the EH rod and the HI rod are sequentially hinged, the bottom end of the BC rod is hinged with the middle end of the AB deflection motion base, the middle end of the CE rod and the AF rod is hinged with the middle end of the EH rod and the FJ rod, the head end and the tail end of the IJ rotation motion base are hinged with the top ends of the FJ rod and the HI rod, the pitching driving motor is used for driving a rotating shaft between the AF rod and the FJ rod, and the IJ rotation motion base is arranged on the test module.
Preferably, the test module comprises a test rod, a spherical measuring head and a rotation driving motor, wherein the rotation driving motor is arranged on the IJ rotation motion base, the test rod is fixedly connected with a driving shaft of the rotation driving motor, and the spherical measuring head is in threaded connection with the test rod.
Preferably, the spherical measuring head is a three-coordinate special measuring head, the diameter of the ball head is mm, and the motion performance of the designed robot from the hand can be accurately measured.
Preferably, the linear motion module comprises a supporting frame, a stepping motor, a screw rod, a nut, a guide rail and a sliding block, wherein two ends of the screw rod are pivoted on the supporting frame through bearing seats, the stepping motor is connected with the screw rod, the nut is in threaded fit with the screw rod, the guide rail is arranged at the bottom of the supporting frame along the length direction of the screw rod, the sliding block is in sliding fit with the guide rail and is connected with the nut, and the supporting frame of the upper linear motion module is connected with the nut of the lower linear motion module.
Preferably, the automatic rotary table further comprises an angle connecting plate, a rotary table and a rotary motor, wherein the angle connecting plate is connected with a nut positioned on the uppermost linear motion module through a connecting block, the tail end of the AB deflection motion base is rotatably arranged on the angle connecting plate through the rotary table, and the rotary motor is arranged on the rotary table and is used for driving the rotary table to rotate.
Preferably, the motion scaling relationships among the AB deflection motion base, the BC rod, the AF rod, the AB section, the CE section and the DF section on the CE rod are shown in the following formulas;
(III) beneficial effects
The invention provides a novel slave hand device of a telecentric mechanism micro anastomosis surgical robot. The beneficial effects are as follows:
1. The novel telecentric mechanism microscopic anastomosis surgical robot is arranged from a hand device, the position-posture decoupling configuration is adopted, the high-precision position requirement is met by the triaxial platform, the large rotation range requirement is met by the novel telecentric mechanism, the motion requirement of 'small position-large posture-high precision' of the microscopic anastomosis surgical is met, the motion flexibility of the robot is improved, meanwhile, the complexity of a control algorithm can be reduced due to the decoupling configuration, and the motion precision and the safety of the surgical process are improved.
2. The novel telecentric mechanism is based on the novel double-triangle principle design, ensures flexible posture adjustment movement of the surgical instrument in a narrow working space, and has more compact volume and larger movement scaling compared with the traditional double-parallelogram telecentric mechanism.
3. The novel auxiliary hand device of the telecentric mechanism micro anastomosis surgical robot is characterized in that the connecting rod group of the telecentric mechanism adopts a symmetrical arrangement mode, so that the structural rigidity of the auxiliary hand is improved, the influence of deflection deformation caused by gravity on the telecentric mechanism in the deflection process is reduced, and the movement precision of the auxiliary hand in the posture change process is ensured.
Drawings
FIG. 1 is an overall isometric view of the present invention;
FIG. 2 is a schematic view of a position adjustment mechanism according to the present invention;
FIG. 3 is a side cross-sectional view of the novel telecentric mechanism of the present invention;
FIG. 4 is a diagram of a novel telecentric mechanism construction process of the present invention;
FIG. 5 is a diagram showing the proportional relationship between input and output movements according to an embodiment of the present invention;
FIG. 6 is a diagram showing the proportional relationship between input and output movements according to the second embodiment of the present invention;
Fig. 7 is a diagram showing a three-input-output motion proportional relationship according to an embodiment of the present invention.
In the figure, a novel telecentric mechanism, a 2-position adjusting mechanism, a 3-test module, an 11AB deflection motion base, a 12BC rod, a 13AF rod, a 14CE rod, a 15EH rod, a 16FJ rod, a 17HI rod, an 18IJ rotation motion base, a 19 pitching driving motor, a 21 supporting frame, a 22 stepping motor, a 23 screw rod, a 24 nut, a 25 guide rail, a 26 sliding block, a 31 spherical measuring head, a 32 measuring rod, a 33 rotation driving motor, a 4 connecting block, a 5-angle connecting plate, a6 rotating table and a 7 rotating motor are arranged.
Detailed Description
The embodiment of the invention provides a novel telecentric mechanism microscopic anastomosis surgical robot slave hand device, which is shown in figures 1-7 and comprises a novel telecentric mechanism 1, a position adjusting mechanism 2 and a testing module 3.
As shown in fig. 2, the position adjusting mechanism 2 is composed of three completely identical linear motion modules, and is used for adjusting the coordinate position of the novel telecentric mechanism 1, so as to respectively realize the adjustment in X, Y, Z three directions. The linear motion module comprises a supporting frame 21, a stepping motor 22, a screw 23, a nut 24, a guide rail 25 and a sliding block 26, wherein two ends of the screw 23 are pivoted on the supporting frame 21 through bearing seats, the stepping motor 22 is fixedly connected with the supporting frame 21 through bolts, a driving shaft of the stepping motor 22 is connected with the screw 23, the screw 24 is in threaded fit with the screw 23, the screw 23 and the nut 24 jointly form a spiral motion pair, the guide rail 25 is arranged at the bottom of the supporting frame 21 along the length direction of the screw 23, the sliding block 26 is in sliding fit with the guide rail 25, the sliding block 26 and the guide rail 25 form a linear motion pair, the sliding block 26 is connected with the nut 24, and the supporting frame 21 of the linear motion module positioned above is connected with the nut 24 of the linear motion module below. The linear motion module converts the rotational motion of the stepper motor 22 into linear motion of the nut 24.
The device also comprises an angle connecting plate 5, a rotating table 6 and a rotating motor 7, wherein the angle connecting plate 5 is connected with a nut 24 positioned on the uppermost linear motion module through a connecting block 4, the tail end of the AB deflection motion base 11 is rotatably arranged on the angle connecting plate 5 through the rotating table 6, and the rotating motor 7 is arranged on the rotating table 6 and is used for driving the rotating table 6 to rotate. The driving shaft of the rotating motor 7 is connected with the rotating table 6 through a worm and gear kinematic pair. Is used for adjusting the angle of the novel telecentric mechanism 1.
As shown in fig. 2, the test module 3 includes a test rod 32, a spherical measuring head 31, and a rotation driving motor 33, the rotation driving motor 33 is disposed on the IJ rotation motion base 18, the test rod 32 is fixedly connected with a driving shaft of the rotation driving motor 33, the test rod 32 is fixedly connected with the rotation driving motor 33 by means of shaft hole positioning and fastening bolts, and the spherical measuring head 31 is in threaded connection with the test rod 32. The spherical measuring head 31 is a three-coordinate special measuring head, the diameter of the ball head is 1mm, and the motion performance of the designed robot from the hand can be accurately measured.
As shown in fig. 1 and 3, the novel telecentric mechanism 1 comprises an AB yaw motion base 11, a BC rod 12, an AF rod 13, a CE rod 14, an EH rod 15, an FJ rod 16, an HI rod 17, an IJ rotation motion base 18, a pitch driving motor 19, the AB yaw motion base 11, the AF rod 13, and the FJ rod 16 are hinged in sequence, the BC rod 12, the CE rod 14, the EH rod 15, the HI rod 17 are hinged in sequence, the bottom end of the BC rod 12 is hinged with the middle end of the AB yaw motion base 11, the middle ends of the CE rod 14 and the AF rod 13 are hinged, the EH rod 15 and the middle end of the FJ rod 16 are hinged, the head and tail ends of the IJ rotation motion base 18 are hinged with the top ends of the FJ rod 16 and the HI rod 17, the pitch driving motor 19 is fixed on the AF rod 13 and is used for driving a hinge shaft between the AF rod 13 and the FJ rod 16, and the test module 3 is arranged on the IJ rotation motion base 18.
Specifically, the novel telecentric mechanism 1 is designed based on the principle of double triangles, and the connecting rod assemblies formed by the AB deflection motion base 11, the BC rod 12, the AF rod 13, the CE rod 14, the EH rod 15, the FJ rod 16, the HI rod 17 and the IJ autorotation motion base 18 are symmetrically arranged in space to obtain higher structural rigidity, and the length of each rod is determined according to the principle of double triangles.
As shown in fig. 4, the design principle of the novel telecentric mechanism 1 is that parallel and unequal-length connecting rods AD and BC can form a group of similar triangles AOD and BOC in a plane, and as shown in fig. 4a, due to the characteristic of the similar triangles, the extension lines of CD can necessarily intersect the extension lines of the rod AB at the point O, which lays a geometric foundation for creating the telecentric fixed point O, but the point O is still in a floating position on the connecting rod CD at this time because the length of the rod OD is continuously changed when the connecting rod AD swings. In order to obtain a stable O-point, the links DE, EF, FC of comparable length are symmetrically arranged in the direction of the link CD, as shown in fig. 4b, which is constructed in such a way that a set of congruent triangles AOD and DOE is geometrically obtained, which ensures that the link OE is a fixed value. Further, to provide stable parallel constraint while reducing the number of hinge points, links DJ and DI are added inside the links, as shown in FIG. 4c, and sufficient angular constraint is provided for diamond DJCI by using parallelograms ABJD and DIFE to maintain the motion characteristics of the telecentric mechanism, that is, changing the position of the non-fixed links in the parallelograms can result in a new variety of mechanisms, first, translating the non-fixed links AD along the AB straight line, and then, as shown in FIG. 4d, finally, translating the non-fixed links ED along the EF straight line, and finally, as shown in FIG. 4 e. It is not difficult to find out that the variant mechanism provides a more flexible mechanism installation distance OB and instrument installation distance OF compared with the original mechanism, which brings more flexibility to the use OF the telecentric mechanism, and meanwhile, the second variant mechanism has a more compact size relative to the original mechanism under the condition OF the same motion parameters, and the motion diagram OF the novel telecentric mechanism 1 is constructed as shown in fig. 4f, and the correspondence between the connecting rod and the model in the technical scheme in fig. f is as follows, AB is an AB deflection motion base 11, BC is a BC rod 12, AF is an AF rod 13, CE is a CE rod 14, EH is an EH rod 15, FJ is an FJ rod 16, HI is an HI rod 17 and IJ is an IJ autorotation motion base 18.
The joint F in fig. 4F is used as a pitching motor 19 to input the joint, and the motion scaling relations among the AB section, the CE section and the DF section on the AB yaw motion base 11, the BC rod 12, the AF rod 13 and the CE rod 14 are shown in the following formulas;
according to the formula, three embodiments are used for exploring different motion performances of the telecentric mechanism when the lengths of the three rods of the AB section, the CE section and the DF section have different mathematical relations.
In the first embodiment, when L DF>(LCE-LAB) is used, the input-output motion ratio is shown in fig. 5, and the ratio is smaller than 1, and the novel telecentric mechanism 1 has the performance of motion reduction, and the maximum input angle is 180 °.
In the second embodiment, when L DF＝(LCE-LAB) is used, the input-output motion relationship is shown in fig. 6, where the ratio of input motion to output motion is equal to 1, the novel telecentric mechanism 1 does not have motion scaling performance, and in particular, the novel telecentric mechanism 1 is degenerated into a double-parallelogram mechanism.
In the third embodiment, when L DF<(LCE-LAB) is used, the input-output motion ratio is shown in fig. 7, and the ratio is greater than 1, and the novel telecentric mechanism 1 has a motion amplifying function, and the maximum output angle is 180 °.
By exploring different rod length conditions it can be concluded that, first, the double parallelogram mechanism is only one special form of it, and its motion scaling is not adjustable. Second, we can choose motion zoom out or motion zoom in by changing the relationship of DF and (DF-AB). Third, the numerical adjustment of such motion scaling described above may be further determined by DF/(DF-AB).
The novel telecentric mechanism 1 micro anastomosis surgical robot adopts a pose decoupling configuration from a hand device, and the kinematics of the novel telecentric mechanism 1 micro anastomosis surgical robot can be expressed as follows:
T=Tp(q1,q2,q3)To(q4,q5,q6)#(1)
Where T p is a position transformation matrix, (x, y, z) represents the motion parameters of the linear stage, which can be expressed as follows:
Tp＝Trans(x,q1)Trans(y,q2)Trans(z,q3)#(2)
Where Trans (i, j) represents the transformation matrix for the distance j of displacement along the i-axis, q i is the output rotation angle of the drive motor. For another part of the direction transformation matrix T o, it contains the angle information of the rotation axis of the RCM manipulator, as shown in the following formula:
To＝Rot(y,Φ0)Rot(x,Ψ)Rot(y,Φ)Rot(z,Θ)#(3)
Where Rot (i, j) represents a transformation matrix of rotation angle j around i axis, Φ 0 represents an initial pitch angle of the RCM manipulator, (ψ, Φ, Θ) are independently driven by (q 4,q5,q6) motors, respectively, and their correspondence is expressed as follows:
and substituting the formulas (2) - (4) into the formula (1) to obtain the complete robot kinematics model. Obviously, the configuration mode of pose decoupling greatly simplifies a kinematic model, which is also helpful for error modeling and control model construction.
The working principle of the slave hand of the novel remote-mechanism micro-anastomosis surgical robot adopts a master-slave operation mode, and comprises a remote operation table, a surgical operation table and a control module. The operation console consists of an operation microscope and a micro anastomosis operation robot slave hand, the robot slave hand completes operation interaction in an operation area, the process is captured by the operation microscope in real time, video signals are transmitted to a remote operation console, the remote operation console comprises a display, a main operation hand and a PC host, and a doctor completes remote operation by observing the display and using the main operation hand. The motion instruction of the main manipulator is sent to a control module through a PC host, the control module consists of a controller and a driver, the controller further processes the received motion instruction, and the motion instruction is converted into an electric signal through the driver and is sent to the slave manipulator of the micro anastomosis robot so as to realize corresponding motor control.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The novel telecentric mechanism microscopic anastomosis surgical robot slave hand device comprises a novel telecentric mechanism (1), a position adjusting mechanism (2) and a testing module (3), wherein the position adjusting mechanism (2) is composed of three completely consistent linear motion modules and is used for adjusting the coordinate positions of the novel telecentric mechanism (1), the novel telecentric mechanism is characterized in that the novel telecentric mechanism (1) comprises an AB deflection motion base (11), a BC rod (12), an AF rod (13), a CE rod (14), an EH rod (15), a FJ rod (16), an HI rod (17), an IJ autorotation motion base (18) and a pitching driving motor (19), the AB deflection motion base (11), the AF rod (13) and the FJ rod (16) are sequentially hinged, the BC rod (12), the CE rod (14), the EH rod (15) and the HI rod (17) are sequentially hinged, the bottom end of the BC rod (12) is hinged with the middle end of the AB deflection motion base (11), the middle end of the CE rod (14) and the middle end of the AF rod (13) are hinged, the head end of the EH rod (15) and the middle end of the F rod (16) are hinged with the front end of the F rod (16), the rotating shaft (16) is hinged between the two rotating shafts (16) and the rotating shafts (16) of the rotating shafts (16) and (16) are hinged, the testing module (3) is arranged on the IJ autorotation motion base (18).
2. The slave hand device of the novel telecentric mechanism micro anastomosis surgical robot of claim 1, wherein the test module (3) comprises a test rod (32), a spherical measuring head (31) and an autorotation driving motor (33), the autorotation driving motor (33) is arranged on the IJ autorotation motion base (18), the test rod (32) is fixedly connected with a driving shaft of the autorotation driving motor (33), and the spherical measuring head (31) is in threaded connection with the test rod (32).
3. The novel telecentric mechanism microscopic anastomosis surgical robot slave hand device disclosed by claim 2 is characterized in that the spherical measuring head (31) is a three-coordinate special measuring head, the diameter of the ball head is 1mm, and the motion performance of the designed robot slave hand can be accurately measured.
4. The novel telecentric micro anastomosis surgical robot slave hand device disclosed in claim 1, wherein the linear motion module comprises a supporting frame (21), a stepping motor (22), a screw rod (23), a nut (24), a guide rail (25) and a sliding block (26), wherein two ends of the screw rod (23) are pivoted on the supporting frame (21) through bearing seats, the stepping motor (22) is connected with the screw rod (23), the nut (24) is in threaded fit with the screw rod (23), the guide rail (25) is arranged at the bottom of the supporting frame (21) along the length direction of the screw rod (23), the sliding block (26) is in sliding fit with the guide rail (25) and is connected with the nut (24), and the supporting frame (21) of the upper linear motion module is connected with the nut (24) of the lower linear motion module.
5. The novel telecentric mechanical micro-anastomosis surgical robot slave hand device according to claim 4, further comprising an angle connecting plate (5), a rotary table (6) and a rotary motor (7), wherein the angle connecting plate (5) is connected with a nut (24) positioned at the uppermost linear motion module through the connecting block (4), the tail end of the AB deflection motion base (11) is rotatably arranged on the angle connecting plate (5) through the rotary table (6), and the rotary motor (7) is arranged on the rotary table (6) and is used for driving the rotary table (6) to rotate.
6. The slave hand device of the novel telecentric mechanical micro anastomosis surgical robot, which is characterized in that the motion scaling relations among the AB section, the CE section and the DF section on the AB deflection motion base (11), the BC rod (12), the AF rod (13) and the CE rod (14) are shown in the following formula;
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| CN113974842A (en) * | 2021-10-12 | 2022-01-28 | 浙江理工大学 | Three-degree-of-freedom slave operation arm of surgical robot |
| CN114209400A (en) * | 2021-12-13 | 2022-03-22 | 天津科技大学 | Ultrasound image navigation prostate puncture surgical robot |
| CN114652452A (en) * | 2022-04-20 | 2022-06-24 | 天津大学医疗机器人与智能系统研究院 | From the operating end arm |
| CN115300105A (en) * | 2022-07-19 | 2022-11-08 | 上海大学 | RCM mechanism for tail end of minimally invasive surgery robot |
| CN115990061A (en) * | 2022-11-21 | 2023-04-21 | 上海交通大学 | Vitreoretinal surgery robot system, control method and terminal |
| CN218832878U (en) * | 2023-02-06 | 2023-04-11 | 北京衔微医疗科技有限公司 | A remote motion center mechanism and intraocular surgery robot |
| CN118161270A (en) * | 2024-03-27 | 2024-06-11 | 中国科学院苏州生物医学工程技术研究所 | Subretinal injection surgery robot |
| CN119112370A (en) * | 2024-11-15 | 2024-12-13 | 中国科学院自动化研究所 | Remote center of motion device and robotic system for minimally invasive surgery |
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| CN119700316B (en) | 2025-09-23 |
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