CN111358559A - A surgical instrument control method for a laparoscopic surgical robot - Google Patents

Abstract

The invention relates to a surgical instrument control method of a laparoscopic surgery robot, wherein the height and the front and back positions of a mechanical arm are adjusted, a monitoring device acquires rotation angle information and deflection angle information of a control handle and transmits the acquired information to a main control unit; the master control unit analyzes the received information respectively, determines the arm rotation angle and the wrist deflection angle of the operator, and outputs corresponding rotation control instructions and deflection control instructions to the slave control unit; the first control module of the slave control unit controls the first motor to drive the surgical instrument to rotate according to the rotation control instruction, and the second control module of the slave control unit controls the second motor to drive the surgical instrument to deflect according to the deflection control instruction; and controlling the sliding of the instrument fixing device mounted with the surgical instrument on the sliding table by controlling the revolution number of the sliding control motor to replace the surgical instrument at the initial position.

Description

A surgical instrument control method for a laparoscopic surgical robot

technical field

The invention relates to the technical field of robots, in particular to a surgical instrument control method of a laparoscopic surgical robot.

Background technique

In minimally invasive surgery, medical staff are often required to manually cut, peel, and sew tissue. Especially for complex surgical operations, medical staff often need to operate surgical instruments for a long time. This is a challenge to the doctor's physical strength and energy, which in turn affects the quality of the operation.

Existing minimally invasive surgical instruments are often simple imitations of traditional open surgical instruments, with few degrees of freedom, poor flexibility, and often large frictional forces inside the instruments, which can lead to attenuation of transmission force and fatigue of operators, especially It is operator's hand tremor due to fatigue that reduces the precision of surgery.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention provides a surgical instrument control method for a laparoscopic surgical robot, which is used to solve the technical problems existing in the prior art.

A surgical instrument control method for a laparoscopic surgical robot, wherein the laparoscopic surgical robot comprises a control handle, a monitoring device, a main control unit, a trolley, and a robotic arm connected to a telescopic arm of the trolley at one end, and is arranged at a A sliding table at the other end of the mechanical arm, an instrument fixing device slidably connected to the sliding table, a sliding control motor for controlling the sliding of the instrument fixing device on the sliding table, and a sliding control motor arranged on the instrument fixing device The slave control unit, the first motor and the second motor;

The control method includes the following steps:

Controlling the telescopic arm of the trolley to move the mechanical arm along the axis of the trolley to adjust the height of the mechanical arm, and controlling the moving part of the telescopic arm of the trolley to carry the mechanical arm sliding along the axial direction of the telescopic arm to adjust the front and rear positions of the mechanical arm;

The monitoring equipment collects the corresponding rotation angle information of the control handle when the operator turns the arm and the corresponding deflection angle information of the control handle when the operator deflects the wrist, and transmits the collected rotation angle information and deflection angle information to the main control unit;

The master control unit analyzes the received rotation angle information and deflection angle information respectively, determines the operator's arm rotation angle and wrist deflection angle, and outputs corresponding rotation control instructions and deflection control instructions to the slave control unit;

The first control module of the slave control unit controls the rotation of the first motor according to the received rotation control command, and drives the surgical instrument to rotate through the rotation of the first motor, so that the surgical instrument and the operator's arm rotate synchronously, and at the same time, it is controlled by the slave control unit. The second control module controls the rotation of the second motor according to the received deflection control instruction, and drives the surgical instrument to deflect through the rotation of the second motor, so that the surgical instrument and the operator's wrist are deflected synchronously;

Record the number of revolutions of the output shaft of the sliding control motor during the movement of the instrument fixing device from the initial position on the sliding table to the designated position;

When the surgical instrument needs to be replaced, the sliding control motor is controlled to reverse according to the rotation number, so as to drive the instrument fixing device to return to the starting position;

After the replacement of the surgical instrument is completed, the sliding control motor is controlled to rotate forward according to the number of revolutions, so as to drive the instrument fixing device to reach the designated position again.

According to an embodiment of the present invention, the instrument fixing device further comprises a first coupling, a second coupling, a third coupling, a main gear, a secondary gear and a rotating shaft, and an instrument rod connected in sequence, wherein the The first coupling is connected with the output shaft of the first motor, the end of the instrument rod is fixedly connected with the surgical instrument, and the rotational motion of the output shaft of the first motor is converted into the rotational motion of the surgical instrument The first control module of the slave control unit has a built-in first mathematical model describing the transformation relationship between the rotational motion of the output shaft of the first motor and the rotational motion of the surgical instrument, based on the first mathematical model The model, the first control module of the slave control unit controls the rotation parameters of the first motor according to the received rotation control instruction, so that the surgical instrument and the operator's arm rotate synchronously;

The instrument fixing device further comprises a fourth coupling, a fifth coupling, a sixth coupling, a first lead screw, a first seat, and a push rod connected in sequence, wherein the fourth coupling is connected to the The output shaft of the second motor is connected to convert the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod, the push rod is arranged in the instrument rod, the push rod The end of the device goes out of the instrument rod, and is provided with a swing rod for holding the surgical instrument. Under the push or pull of the push rod, the swing rod drives the surgical instrument to deflect, so as to push the push rod The linear reciprocating motion is converted into the deflection motion of the surgical instrument; the second control module of the slave control unit has a built-in description that the rotational motion of the output shaft of the second motor is converted into the linear reciprocating motion of the push rod, and then A second mathematical model converted into a transformation relationship of the deflection motion of the surgical instrument, based on the second mathematical model, the second control module of the slave control unit controls the rotation parameters of the second motor according to the received deflection control instruction , so that the surgical instrument is deflected synchronously with the operator's wrist.

According to an embodiment of the present invention, the rotation parameters include rotational speed and number of revolutions.

According to an embodiment of the present invention, the main control unit analyzes the received rotation angle information and deflection angle information respectively, and further includes filtering out the interference information respectively.

According to an embodiment of the present invention, the interference information includes interference information respectively generated by the operator's arm shaking and wrist shaking.

According to an embodiment of the present invention, the main control unit analyzes the received rotation angle information and deflection angle information respectively, and further includes judging whether the rotation angle and/or the deflection angle exceeds a preset threshold value, and if so, judges that the operation is wrong, and the main control The unit outputs a locking control command to the slave control unit to suspend the control of the surgical instrument.

According to an embodiment of the present invention, the main control unit analyzes the received rotation angle information and deflection angle information respectively, and further includes judging whether the change speed of the rotation angle and/or the deflection angle exceeds a preset threshold, and if so, judging that the operation is wrong , the master control unit outputs a locking control command to the slave control unit to suspend the control of the surgical instrument.

According to an embodiment of the present invention, recording the number of revolutions of the output shaft of the sliding control motor during the movement of the instrument fixing device from the initial position on the sliding table to the specified position includes:

Controlling the output shaft of the sliding control motor to rotate in the forward direction according to the first control signal, so that the sliding control motor drives the instrument fixing device to move from the starting position along the axial direction of the sliding table through the transmission mechanism;

Controlling the sliding control motor to stop working according to the second control signal, so that the instrument fixing device reaches the designated position;

The reading of the encoder of the number of revolutions of the output shaft of the slide control motor during the movement of the instrument holding device from the starting position to the designated position is read as the number of revolutions.

According to an embodiment of the present invention, controlling the sliding control motor to reverse rotation according to the number of revolutions, so as to drive the instrument fixing device back to the starting position, includes:

According to the third control signal, the output shaft of the sliding control motor is controlled to reversely rotate the rotation number, so that the sliding control motor drives the instrument fixing device to return along the axial direction of the sliding table through the transmission mechanism. to the starting position.

According to an embodiment of the present invention, controlling the sliding control motor to rotate forward according to the number of revolutions, so as to drive the instrument fixing device to reach the designated position again, includes:

According to the fourth control signal, the output shaft of the sliding control motor is controlled to rotate in the positive direction by the number of revolutions, so that the sliding control motor drives the instrument fixing device through the transmission mechanism again along the axial direction of the sliding table. reach the specified location.

Compared with the prior art, the advantages of the present invention are:

1. The technical solution provided by the present invention can imitate the rotation of the human arm and the deflection of the wrist, to ensure that the surgical instruments and the arms and wrists of the medical staff operating the surgical robot move synchronously, work in the narrow space around the target at different angles, and assist medical care. personnel to carry out surgery, reducing the difficulty of manual operation by medical staff in the past.

2. The technical solution provided by the present invention can filter out interfering information such as shaking of the operator's hand (arm, wrist and finger), and has stability and accuracy unmatched by human hands.

3. The technical solution provided by the present invention has the function of preventing errors, when the medical staff operating the surgical robot automatically issues a lock control command when the operation is wrong, suspends the control of the surgical instrument, and effectively ensures the safe operation of the operation.

4. The technical solution provided by the present invention can record the number of revolutions of the output shaft of the drive motor during the process of moving the slider from the initial position to the designated position by using the encoder, and control the reverse rotation of the drive motor to drive the slider and the motor according to the number of revolutions. The replaced surgical instrument set on it returns to the starting position, and the driving motor is controlled to rotate forward to drive the slider and the replaced surgical instrument set on it to reach the designated position again. The invention can enable medical staff to quickly and accurately find the operation point before replacing the surgical instruments after replacing the surgical instruments, so that they can be quickly put into the operation that was interrupted before the surgical instruments are replaced, and the operation efficiency and the operation efficiency are effectively improved. Quality, but also reduce the risk of patients' lives.

5. The technical solution provided by the present invention can drive the mechanical arm to freely expand and contract and move up and down through the telescopic arm, adjust the front and rear positions of the mechanical arm through the telescopic arm, and the mechanical arm has multiple degrees of freedom, which can completely imitate the motion range of the human arm, Its flexibility is no different from the human arm, so that the actual position of the lesion that needs to be operated can be precisely positioned without the need for a doctor to perform auxiliary operations.

Description of drawings

Hereinafter, the invention will be described in more detail on the basis of examples and with reference to the accompanying drawings.

1 is a schematic three-dimensional structural diagram of an instrument fixing device of a laparoscopic surgical robot in an embodiment of the present invention;

FIG. 2 is a schematic three-dimensional structure diagram of an instrument fixing device of a laparoscopic surgical robot in an embodiment of the present invention (the instrument connecting mechanism is not shown in the figure);

Fig. 3 is the front view of the first quick release structure in the embodiment of the present invention;

Fig. 4 is an exploded view of the first quick-release structure shown in Fig. 3;

5 is an exploded view (bottom perspective) of the second quick release structure in the embodiment of the present invention;

6 is an exploded view (top view) of the second quick release structure in the embodiment of the present invention;

7 is an exploded view of the instrument fixing device of the laparoscopic surgical robot in the embodiment of the present invention (the instrument connecting mechanism is not shown in the figure)

8 is a schematic three-dimensional structure diagram of a transmission seat in an embodiment of the present invention;

Fig. 9 is the perspective sectional view of the transmission seat shown in Fig. 8;

10 is a schematic three-dimensional structure diagram of an instrument connection mechanism in an embodiment of the present invention;

11 is a schematic three-dimensional structure diagram of the device connecting mechanism in the embodiment of the present invention (the outer tube is not shown in the figure);

12 is a schematic three-dimensional structure diagram of the device connecting mechanism in the embodiment of the present invention (the outer tube and the inner tube are not shown in the figure);

13 is a working flow chart of the surgical instrument control method according to the fourth embodiment of the present invention;

14 is a schematic diagram of the sliding connection between the instrument fixing device installed with the surgical instrument and the sliding table of the present invention;

FIG. 15 is a schematic view of the robot arm-mounted trolley of the present invention.

In the drawings, the same components are designated by the same reference numerals. The drawings are not drawn to actual scale.

Reference number:

1-drive seat; 2-isolation seat; 3-transmission seat;

4-Apparatus connection mechanism; 5-Drive mechanism; 6-First quick release structure;

7-Second quick release structure; 11-Base; 12-Fixed seat;

21- the second coupling; 22- the fifth coupling; 23- the eighth coupling;

31-Third coupling; 32-Main gear; 33-Rotating shaft;

34-slave gear; 35-first seat; 36-second seat;

37-sixth coupling; 38-ninth coupling; 41-instrument rod;

42-surgical instrument; 43-threaded sleeve; 44-first slot;

45-Second card slot; 46-Push bar; 47-Draw bar;

48-the third card slot; 51-power source; 52-drive circuit board;

53- the first coupling; 54- the fourth coupling; 55- the seventh coupling;

56-first spring; 57-second spring; 58-third spring;

61-first positioning part; 62-first positioning part; 71-third positioning part;

72-fourth positioning part; 73-fifth positioning part; 121-first hole;

122-second hole; 123-third hole; 211-second groove;

212-first clip; 311-second clip; 331-positioning protrusion;

351 - the first card hole; 352 - the first elastic card plate; 353 - the first pressing part;

354- the first lead screw; 355- the first chute; 356- the first slide rail;

357-rear limiter; 358-first spring limiter;

361- the second card hole; 362- the second elastic card plate; 363- the second pressing part;

364-Second screw; 365-Second chute; 366-Second slide rail;

367-Second spring limiting body; 368-Circuit board;

411-outer tube; 412-rotating head; 413-limiting clip;

414-Inner tube; 415-Slot body; 416-Limiting ring;

417-open slot; 421- oblique hole; 461- adapter;

462 - snap tube; 463 - swing rod; 464 - connecting plane;

465-holding head; 471-fourth spring; 472-pin;

511-first motor; 512-second motor; 513-third motor;

531-the first groove; 611-the third slide rail; 612-the third chute;

613-guide slope; 621-first accommodating cavity; 622-first elastic body;

623-claw; 624-barb; 625-jaw hole;

626-arc guide groove; 627-guide bar; 628-guide part;

711-fourth chute; 712-slider; 721-block;

722-slot; 723-long hole; 731-pressing piece;

732-second elastic body; 733-step hole; 734-installation hole;

735-fixed disc; 736-ear; 737-notch;

738 - Lid.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

The present invention provides a method for controlling a surgical instrument using the instrument fixing device shown in FIG. 1 in a surgical robot device. In order to better describe the method, the composition structure of the instrument fixing device shown in FIG. 1 is first described in detail.

As shown in FIG. 1 and FIG. 2 , the apparatus fixing device involved in the present invention mainly includes a drive base 1 , an isolation base 2 arranged on the drive base 1 , a transmission base 3 arranged on the isolation base 2 , and a transmission base 3 installed on the drive base 3 The instrument connection mechanism 4 on the device, and the drive mechanism 5 fixed on the drive base 1, the drive mechanism 5 drives the instrument connection mechanism 4 to move through the transmission base 3, thereby driving the surgical instruments 42 installed on the end of the instrument connection mechanism 4. sports.

In the embodiment of the present invention, it is preferable to take the length direction of the drive seat 1 (that is, the isolation seat 2 and the transmission seat 3 ) as the X axis, and the width direction of the driving seat 1 (that is, the isolation seat 2 and the transmission seat 3 ) to be The Y-axis, taking the direction perpendicular to the plane formed by the X-axis and the Y-axis as the Z-axis, establishes a Cartesian coordinate system, and combines this coordinate system to describe the positional connection relationship between the components in detail.

Preferably, the first quick-release structure 6 shown in FIG. 3 and FIG. 4 realizes the quick-release connection between the transmission base 3 and the isolation base 2 .

As shown in FIG. 3 , the first quick release structure 6 includes a first positioning portion 61 . The first positioning portion 61 includes third sliding rails 611 arranged on both sides of the transmission base 3 and third sliding grooves 612 arranged on the isolation base 2 . The two third sliding rails 611 are respectively arranged on the corresponding third sliding rails 611 . In the groove 612, the transmission base 3 can slide along the X-axis direction.

In order to guide the third sliding rail 611 into the third sliding groove 612 conveniently and smoothly, a downwardly inclined guide slope 613 is provided at the end of the third sliding rail 611 to reduce the entry of the third sliding rail 611 into the third sliding rail 611 . The resistance of the groove 612, thereby improving the efficiency of the assembly.

Through the third sliding rail 611 and the third sliding groove 612, the transmission seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction and the Z-axis direction.

Further, the first quick release structure 6 further includes a second positioning portion 62 , wherein the second positioning portion 62 includes a first accommodating cavity 621 and a first elastic body 622 disposed in the first accommodating cavity 621 . The top end of the first elastic body 622 is provided with a guide portion 628, wherein one end of the guide portion 628 is a downward inclined slope, and the other end is a stopper; after the transmission seat 3 is installed on the isolation seat 2, the end of the transmission seat 3 The end portion (ie, the stop portion) of the guide portion 628 is in contact, so that the transmission seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

The bottom end of the first elastic body 622 is provided with at least two claws 623 . For example, FIG. 4 shows four claws 623 , which are respectively located at the four corners of the elastic seat 622 and are integrally formed with the first elastic body 622 . The first accommodating cavity 621 is provided with clamping holes 625 , and the clamping claws 623 are respectively disposed in the corresponding clamping holes 625 . The bottom of the claw 623 is provided with a barb 624, and the barb 624 is engaged with the bottom of the clamping hole 625, thereby restricting the movement of the first elastic body 622 in a direction away from the first accommodating cavity 621 (ie, upward movement in the Z-axis direction). the maximum displacement.

At least one side wall of the first elastic body 622 is provided with an arc-shaped guide groove 626. For example, FIG. 4 shows four arc-shaped guide grooves 626, which are respectively located on the four side walls of the first elastic body 622; A semi-cylindrical guide bar 627 is arranged on the inner wall of the accommodating cavity 621, and the guide bar 627 is arranged in the arc-shaped guide groove 626 for keeping the movement of the first elastic body 622 along the Z-axis direction in a linear motion.

The initial state of the first elastic body 622 is that the end of the first elastic body 622 is flush with the end of the first accommodating cavity 621 , and the guide portion 628 at the top of the first elastic body 622 is higher than the end of the first accommodating cavity 621 The claws 623 of the first elastic body 622 are arranged in the claws 625, and the barbs 624 at the bottom of the claws 623 are engaged with the bottom of the claws 625. That is, when the first elastic body 622 is in the initial state, it can only move downward along the Z-axis direction.

A spring is provided between the first elastic body 622 and the first accommodating cavity 621 , and the spring is used to restore the first elastic body 622 to an initial state.

The installation method of the transmission seat 3 and the isolation seat 2 is as follows:

The bottom surface of the transmission base 3 is in contact with the upper surface of the isolation base 2, and the transmission base 3 is pushed along the X-axis direction. During the movement of the transmission base 3, the first end of the transmission base 3 first contacts the first elastic body 622. When the transmission base 3 continues to move, it will exert downward pressure on the first elastic body 622, and the first elastic body 622 is forced to move downward along the Z-axis direction. During this process, the transmission base 3 can easily move to the top of the first elastic body 622 through the guide portion 628 at the top end of the first elastic body 622, so that the movement of the transmission base 3 will not be resisted.

During the continuous movement of the transmission base 3 , the third slide rails 611 on both sides of the transmission base 3 smoothly enter the third chute 612 through the guiding inclined surfaces 613 , and continue to move along the third chute 612 until it moves to the transmission base 3 The bottom end is completely separated from the first elastic body 622, so that the first elastic body 622 is no longer pressed, and the first elastic body 622 moves upward along the Z-axis direction under the action of the spring, and returns to the initial state. At this time, the stop portion of the first elastic body 622 is in contact with the second end of the transmission base 3, so that the transmission base 3 cannot move backwards any more.

So far, the installation of the transmission base 3 and the isolation base 2 is completed.

When disassembling the transmission base 3 , just press down the elastic base 622 so that the stop part of the first elastic body 622 does not contact the end of the transmission base 3 , and then the transmission base 3 can move in the opposite direction to the above-mentioned direction. , so as to separate the transmission base 3 from the isolation base 2 .

Since the transmission base 3 is provided with the instrument connection mechanism 4, the above-mentioned quick-release structure can be used, so that the transmission base 3 and the instrument connection mechanism 4 can be easily and quickly removed from the isolation base 2 and installed on the isolation base 2, so that the Medical staff can easily and quickly change surgical instruments during surgery.

In the embodiment of the present invention, preferably, the isolation seat 2 and the drive seat 1 are connected by a second quick release structure 7 as shown in FIG. 5 and FIG. 6 to realize quick disassembly and assembly.

As shown in FIGS. 5 and 6 , the second quick release structure 7 includes a third positioning portion 71 , wherein the third positioning portion 71 includes a fourth chute 711 arranged at the bottom of the isolation 3 and a slider arranged on the drive base 1 712, the sliding block 712 is arranged in the fourth sliding groove 711, so that the isolation seat 2 can slide along the X-axis direction. Through the sliding block 712 and the fourth sliding groove 711, the transmission seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction.

Further, the second quick release structure 7 includes a fourth positioning portion 72 , wherein the fourth positioning portion 72 includes a blocking block 721 disposed at the first end of the isolation seat 3 and a slot 722 disposed at the second end of the isolation base 3 . The slot 722 extends along the length direction of the isolation base 3 , and the drive base 1 is provided with a long hole 723 . It is engaged with the slot 722, so that the transmission base 3 and the isolation base 2 are completely positioned in the X-axis direction.

In addition, the front end of the clamping block 721 is provided with a downwardly inclined slope, which facilitates the insertion of the clamping block 721 into the long hole 723 .

Further, the second quick release structure 7 includes a fifth positioning portion 73 , and the fifth positioning portion 73 includes a pressing piece 731 arranged on the isolation seat 3 and a second elastic body 732 arranged on the driving seat 1 . The second elastic body 732 is arranged in the stepped hole 733 on the isolation seat 3 . Specifically, the pressing piece 731 is disposed in the larger diameter hole in the stepped hole 733 , and the second elastic body 732 is inserted into the smaller diameter hole in the stepped hole 733 from the bottom of the stepped hole 733 and then contacts the bottom of the pressing piece 731 , so that the top end of the pressing piece 731 is kept flush with the upper surface of the spacer seat 3 , so that the transmission seat 3 and the spacer seat 2 are completely positioned in the Z-axis direction.

Wherein, the pressing piece 731 is a silicone diaphragm, which has a certain elastic deformation ability.

When the pressing piece 731 is pressed down, the second elastic body 732 can be moved downward in the Z-axis direction, so that the second elastic body 732 can be disengaged from the stepped hole 733, thereby releasing the isolation seat 3 and the driving seat 1 in the Z-axis direction constraints on.

In order to improve the sensitivity of the response of the second elastic body 732, a downwardly inclined slope is provided on the upper end surface of the second elastic body 732, so that the volume of the second elastic body 732 protruding into the stepped hole 733 is reduced. When the pressing piece 731 presses the second elastic body 732 downward, the elastic body 732 can quickly escape from the stepped hole 733 .

The drive base 1 is provided with an installation hole 734 , and a fixed plate 735 is disposed in the installation hole 734 , and the bottom of the fixed plate 735 is in contact with the bottom end of the drive base 1 . The bottom of the drive base 1 is provided with an ear portion 736 , the fixing plate 735 is provided with a notch 737 for accommodating the ear portion 736 , and the cover 738 at the bottom of the fixed plate 734 is fixedly connected to the ear portion 736 , thereby connecting the fixed plate 735 to the drive base 1 . to be fixed.

The second elastic body 732 is disposed in the fixing plate 734, and a spring is disposed between the second elastic body 732 and the cover body 738, so as to restore the second elastic body 732 to the initial state.

The initial state of the second elastic body 732 is that the top end of the second elastic body 732 protrudes to the outside of the fixing plate 735 , that is, the top end of the second elastic body 732 is higher than the upper surface of the drive base 1 .

The installation method of the isolation seat 2 and the drive seat 1 is as follows:

The bottom surface of the isolation seat 2 is in contact with the upper surface of the driving seat 1, and the isolation seat 2 is pushed along the length direction of the driving seat 1 (ie, the X-axis direction). The groove 711 cooperates with the slider 712 to guide the movement of the isolation seat 2 .

When the isolation base 2 continues to move, the first end of the isolation base 2 will contact the second elastic body 732, and when the isolation base 2 continues to move, it will exert downward pressure on the second elastic body 732, and the second elastic body 732 will be forced to Move down in the direction of the Z axis. In this process, the isolation seat 2 can easily move to the top of the second elastic body 732 through the inclined surface of the top end of the second elastic body 732, so that the movement of the isolation seat 2 will not be resisted.

Subsequently, the stepped hole 733 at the bottom end of the isolation seat 2 moves above the second elastic body 732. At this time, the second elastic body 732 is no longer pressed, and the second elastic body 732 moves upward along the Z-axis direction under the action of the spring. Thereby, it is inserted into the stepped hole 733 and restored to the initial state. At this time, the second elastic body 732 cooperates with the stepped hole 733, so that the isolation seat 2 can no longer move.

So far, the installation of the isolation base 2 and the drive base 1 is completed.

When disassembling the isolation seat 2, it is only necessary to press down the pressing piece 731 to disengage the second elastic body 732 from the stepped hole 733, so that the isolation seat 2 can move in the opposite direction to the above-mentioned direction, thereby connecting the isolation seat 2 to the drive Seat 1 is separated.

The drive base 1 includes a base 11 for fixedly connecting with the sliding table of the trolley, and a fixing base 12 integrally provided with the base 11 . The side wall of the fixing base 12 is used for fixing the power source 51 in the driving mechanism 5 , and the base 11 is used for fixing the driving circuit board 52 in the driving mechanism 5 , and the driving circuit board 52 is electrically connected with the power source 51 . , used to control the power source 51 to output power.

The instrument connection mechanism 4 includes an instrument rod 41, one end of the instrument rod 41 is used to install the surgical instrument 42, and the other end of the instrument rod 41 passes through the side wall of the fixed seat 12 of the drive seat 1, the side wall of the isolation seat 2 and the transmission seat in turn. After the side wall of 3, it is fixed on the transmission base 3.

In the present invention, the surgical instrument 42 can be, for example, any one of the following devices: surgical scissors, electric hooks, surgical forceps, ultrasonic knives, needle holders, radio frequency electric knives, endoscopes, and the like. Specifically, according to the degrees of freedom of movement, surgical instruments can be classified into three types: instruments with one degree of freedom, instruments with two degrees of freedom, and instruments with three degrees of freedom. For example, an endoscope with one degree of freedom, a scalpel with two degrees of freedom, and surgical scissors with three degrees of freedom, etc. The specific movement modes of these three types of surgical instruments will be described in detail below.

Example 1

In a first embodiment of the present invention, the surgical instrument 42 has a first degree of freedom (eg, an endoscope). Here, the first degree of freedom of the surgical instrument 42 means that the surgical instrument 42 can rotate with the axis of the instrument shaft 41 of the instrument connection mechanism 4 as the rotation axis (ie, along the X-axis direction). The first degree of freedom of surgical instrument 42 can mimic the rotational motion of a human arm.

In this embodiment, the power source 51 of the driving mechanism 5 includes a first motor 511 , and the output shaft of the first motor 511 is disposed in the first hole 121 on the side wall of the fixing base 12 of the driving base 1 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the first motor 511 and the length direction of the fixed seat 12 are the same.

Specifically, the power transmission mode of the first motor 511 is as follows:

The first motor 511 is disposed on the side wall of the fixing base 12 of the drive base 1 , and after its output shaft passes through the first hole 121 , the first coupling 53 is fixedly connected to the end of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with a second coupling 21 and a third coupling 31, and the second coupling 21 is respectively connected with the first coupling 53 and the third coupling. The device 31 is connected, and the specific connection method will be described in detail below.

The side wall of the transmission base 3 is also provided with a rotating shaft 33 , one end of the rotating shaft 33 is provided with a slave gear 34 , and the end of the third coupling 31 is provided with a main gear 32 , which meshes with the slave gear 34 .

Therefore, when the drive circuit board 52 receives a control command for the surgical instrument to rotate around the X axis, the drive circuit board 52 drives the first motor 511 to rotate and output power, and the power follows the output shaft of the first motor 511, the first coupling 53, The second coupling 21 , the third coupling 31 , the main gear 32 and the slave gear 34 are transmitted to the rotating shaft 33 , thereby driving the rotating shaft 33 to rotate. The rotating shaft 33 is a hollow shaft, and the instrument rod 41 is arranged in the rotating shaft 33 and rotates with the rotating shaft 33 .

The specific connection method of the instrument rod 41 and the rotating shaft 33 is as follows:

As shown in FIG. 7 , the end of the rotating shaft 33 is provided with a positioning protrusion 331 , and the outer wall of the instrument rod 41 is provided with a first slot 44 . After the instrument rod 41 is inserted into the rotating shaft 33 , the positioning protrusion 331 and the first latch The grooves 44 are engaged, so that the instrument shaft 41 and the rotating shaft 33 are positioned in the radial direction.

Further, the rotating shaft 33 is provided with an external thread, and the outer wall of the instrument rod 41 is provided with a threaded sleeve 43. When the instrument rod 41 extends into the rotating shaft 33, the instrument rod 41 is fixedly connected with the rotating shaft 33 through the threaded sleeve 43, thereby The positioning of the instrument shaft 41 and the rotating shaft 33 in the axial direction is completed.

So far, the rotating shaft 33 and the instrument shaft 41 have been fixed in both directions, so when the rotating shaft 33 rotates, the instrument shaft 41 and the surgical instrument 42 rotate accordingly.

The fixed connection between the instrument rod 41 and the rotating shaft 33 is a fixed point between the instrument rod 41 and the transmission base 3, but because the length of the instrument rod 41 is long, the single-point fixation is unstable. In order to improve the connection stability between the instrument rod 41 and the transmission base 3, preferably a first seat 35 is further provided on the transmission base 3, and the end of the instrument rod 41 is fixed on the first seat 35, so that the instrument rod The number of fixed points between 41 and the transmission base 3 is increased to two, which improves the stability of the connection between the two.

Specifically, the fixing method between the end of the instrument rod 41 and the first seat 35 is as follows:

As shown in FIGS. 8 and 9 , the first seat 35 is provided with a first clamping hole 351 for installing the instrument rod 41 , and the axis of the first clamping hole 351 coincides with the axis of the rotating shaft 33 . A first elastic card plate 352 is disposed in the first card hole 351, and the first elastic card plate 352 can move along the radial direction of the first card hole 351, so that the installation diameter of the first card hole 351 is reduced (that is, smaller than the first card hole 351). The actual diameter of a clamping hole 351 ), or the installation diameter of the first clamping hole 351 is increased (ie, equal to the actual diameter of the first clamping hole 351 ).

The end of the first seat 35 is provided with a first pressing portion 353, the first pressing portion 353 may be a pressing rod, and the first pressing portion 353 is connected with the first elastic card 352. When the first pressing portion 353 is pressed, the first pressing portion 353 is pressed. An elastic card plate 352 moves downward to increase the installation diameter of the first card hole 351; when the pressure applied to the first pressing portion 353 is removed, the first elastic card plate 352 bounces up under the action of the elastic member, Therefore, the installation diameter of the first clamping hole 351 is reduced.

A push rod 46 is coaxially disposed in the instrument rod 41 , and the push rod 46 can extend beyond the end of the instrument rod 41 and rotate relative to the instrument rod 41 . The outer wall of the push rod 46 is provided with a second slot 45. After the push rod 46 extends into the first slot 351, the elastic first clip 352 engages with the second slot 45, so that the push rod 46 is fixed in the first slot 351. into the first clamping hole 351 , so as to be fixed with the first seat 35 .

When the instrument rod 41 needs to be removed, it is only necessary to press the first pressing portion 353 to move the first elastic clip plate 352 in the radial direction of the first clip hole 351 , thereby increasing the installation diameter of the first clip hole 351 If it is large, the push rod 46 can be taken out from the first clamping hole 351 .

Therefore, in this embodiment, only the surgical instrument 42 needs to be fixed on the end of the instrument rod 41, and the surgical instrument 42 is driven to rotate by the instrument rod 41, so that the rotation of the surgical instrument 42 along the axial direction of the instrument rod 41 can be realized. sports.

The connection manner of the first coupling 53 , the second coupling 21 and the third coupling 31 will be described below.

The end of the first coupling 53 is provided with a first groove 531 , the two ends of the second coupling 21 are respectively provided with a second groove 211 and a first clip 212 , and the end of the third coupling 31 A second clamping strip 311 is provided, wherein the first clamping strip 212 is arranged in the first groove 531, and the second clamping strip 311 is arranged in the second groove 211, so as to connect the first coupling 53, the second coupling The shaft 21 and the third shaft coupling 31 are positioned in the radial direction.

The first coupling 53 , the second coupling 21 and the third coupling 31 are positioned in the axial direction through the fixed connection between the transmission seat 3 , the isolation seat 2 and the drive seat 1 .

Further, as shown in FIG. 7 , in order to improve the convenience of assembling between the first coupling 53 , the second coupling 21 and the third coupling 31 , the first coupling 53 is connected to the first motor. The first spring 56 is arranged between the 511, so when connecting the first coupling 53 and the second coupling 21, the alignment of the first clip 212 and the first groove 531 will no longer be a necessary operation, In other words, the first clip 212 on the end face of the second coupling 21 can be in contact with any position on the end face of the second coupling 21. When the first clip 212 is not inserted into the first groove 531, In this case, the first coupling 53 is urged by the second coupling 21 so that the first spring 56 is compressed. Then, when the first motor 511 rotates and drives the first coupling 53 to rotate, since the first coupling 53 and the second coupling 21 are not positioned radially, there will be relative motion between the two, thereby The first groove 531 of the first coupling 53 will rotate to a position matching the first clamping strip 212 of the second coupling 21, and under the push of the first spring 56, the first clamping strip 212 They are engaged with each other, thereby realizing the radial positioning between the first coupling 53 and the second coupling 21 .

Likewise, when connecting the third coupling 31 with the second coupling 21, the alignment of the second clip 311 with the second groove 211 is no longer necessary, in other words, the third coupling The second clip 311 on the end face of the second coupling 21 can be in contact with any position on the end face of the second coupling 21. When the second coupling 21 rotates, the second groove 211 of the second coupling 21 will rotate to The position matched with the second clip 311 of the third coupling 31, and under the push of the first spring 56, is engaged with the second clip 311, so as to realize the connection between the second coupling 21 and the third coupling. Radial positioning between shafts 31 .

To sum up, in this embodiment, the rotational motion of the first motor 511 is essentially converted into the rotational motion of the instrument rod 41 , so that the surgical instrument 42 is rotated, simulating the real action of the medical staff's arm rotation.

In fact, when operating the surgical robot, the medical staff operates the control handle located on the surgical console. When the medical staff rotates their arms, the control handle rotates accordingly, and the monitoring equipment collects the rotation angle information of the control handle, and transmits the collected information to the main control unit. The main control unit processes the received information, filters out the interference information caused by arm tremor, etc., determines the rotation angle of the medical staff's arm, and outputs the corresponding rotation control command to the slave controller arranged on the drive circuit board 52. unit (not shown in the figure). The slave control unit controls the rotation of the first motor 511 (including the rotation speed and the number of revolutions) according to the received rotation control command, and passes the first coupling 53 , the second coupling 21 , the third coupling 31 and the main gear 32 through the first coupling 53 , the second coupling 21 , the third coupling 31 , and the main gear 32 The cooperation with the slave gear 34 drives the rotating shaft 33 to rotate. Since the instrument rod 41 is connected with the rotating shaft 33 (set in the rotating shaft 33 ), the instrument rod 41 will rotate with the rotating shaft 33 , so that the surgical instruments fixed on the end of the instrument rod 41 are 42 also rotates. That is, the rotational motion of the first motor 511 is converted into the rotational motion of the surgical instrument 42 . In addition, the slave control unit has a built-in mathematical model describing the transformation relationship between the rotational motion of the first motor 511 and the rotational motion of the surgical instrument 42 , and the slave control unit controls the first motor 511 according to the received rotation control instruction based on the mathematical model. Rotation (including the rotation speed and number of rotations, etc.) is performed to ensure that the surgical instrument 42 is consistent with the rotation of the medical staff's arm.

Embodiment 2

In a second embodiment of the present invention, the surgical instrument 42 has a second degree of freedom (eg, a scalpel that only makes cuts at specified locations). Here, the second degree of freedom of the surgical instrument 42 means that the surgical instrument 42 can deflect with the Z axis as the rotation axis. The second degree of freedom of the surgical instrument 42 can mimic the yaw motion of the human wrist.

In this embodiment, the power source 51 includes a second motor 512 , and the output shaft of the second motor 512 is disposed in the second hole 122 on the side wall of the fixing base 12 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the second motor 512 and the length direction of the fixed seat 12 are the same.

In this embodiment, the power output by the second motor 512 is transmitted to the instrument shaft 41 through the first lead screw 354 and the first seat 35 slidably connected to the transmission base 3 , and the specific transmission method is as follows: The power is transmitted to the first seat 35 through the first lead screw 354, so that the first seat 35 reciprocates in a straight line along the X-axis direction, thereby driving the instrument rod 41 connected to the first seat 35 to reciprocate in a straight line along the X-axis direction, and then The surgical instrument 42 is deflected about the Z-axis.

The implementation of the linear reciprocating motion of the first seat 35 along the X-axis direction is described in detail below:

The second motor 512 is disposed on the side wall of the fixing base 12 , and after the output shaft passes through the second hole 122 , the fourth coupling 54 is fixedly connected to the end of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with a fifth coupling 22 and a sixth coupling 37, and the fifth coupling 22 is respectively connected with the fourth coupling 54 and the sixth coupling device 37 is connected.

The sixth coupling 37 is connected with the first lead screw 354 , wherein the first lead screw 354 passes through the first seat 35 and forms a threaded connection with the first seat 35 . The bottom of the first seat 35 is provided with a first sliding groove 355, and the first sliding rail 356 on the transmission seat 3 is arranged in the first sliding groove 355. When the first screw 354 rotates, the first seat 35 moves along the first screw The axial direction of the lever 354 moves.

Further, the limit position of the rightward movement of the first seat 35 is defined by the first spring limiting body 358 . As shown in FIG. 8 , the first spring limiting body 358 is disposed on the first lead screw 354, and when the first seat 35 moves to the right (towards the direction close to the surgical instrument 42) and compresses the spring to the most retracted amount It can no longer move to the right, so that the collision with the first spring limiting body 358 can be avoided when the first seat 35 moves to the limit position.

Further, the limit position of the leftward movement of the first seat 35 is defined by the rear limiting body 357 . As shown in FIG. 8 , the rear limiting body 357 is disposed on the first lead screw 354 . When the first seat 35 moves to the left (towards the direction away from the surgical instrument 42 ) and contacts the rear limiting body 357 , it will no longer be able to Movement to the left.

By mechanically limiting the extreme positions of the first seat 35 in two directions, the maximum deflection angle of the surgical instrument 42 can be controlled.

In addition, the fixing method of the instrument rod 41 and the transmission base 3 is as follows:

Optionally, the fixing method of the instrument rod 41 and the transmission base 3 can be the same as that of the previous embodiment.

Optionally, since in this embodiment, the instrument rod 41 does not need to rotate around the X-axis, the instrument rod 41 can also be directly fixed on the side wall of the transmission base 3 .

In addition, the fixing method of the push rod 46 and the first seat 35 has been described in detail in the foregoing embodiments, and will not be repeated here.

Therefore, when the driving circuit board 52 receives the control command for the deflection of the surgical instrument around the Z axis, the driving circuit board 52 drives the second motor 512 to rotate and output power, and the power follows the output shaft of the second motor 512, the fourth coupling 54, The fifth coupling 22 , the sixth coupling 37 , and the first lead screw 354 are transmitted to the first seat 35 to convert the rotational motion of the second motor 512 into the linear reciprocating motion of the first seat 35 along the X-axis direction, and then The instrument rod 41 is driven to perform linear reciprocating motion along the X-axis direction.

Secondly, since the end of the instrument rod 41 is hinged with the surgical instrument 42, when the instrument rod 41 performs linear reciprocating motion along the X-axis direction, the surgical instrument 42 can be deflected around the Z-axis.

The implementation of the deflection of the surgical instrument 42 around the Z axis is described in detail below:

A push rod 46 is disposed inside the instrument rod 41 , and the push rod 46 can move in the instrument rod 41 along the axis direction of the instrument rod 41 . One end of the push rod 46 is connected to the first seat 35, and the other end is connected to the surgical instrument 42. When the first seat 35 moves, the push rod 46 is driven to move, thereby pulling or pushing the surgical instrument 42 to deflect the surgical instrument 42.

Specifically, as shown in FIGS. 10 and 11 , the instrument shaft 41 includes an outer tube 411 and an inner tube 414 coaxially arranged in the outer tube 411 , the first end of the outer tube 411 is provided with a rotating head 412 , the second A limiting head 413 is provided at the end, and a limiting ring 416 is provided on the outer wall of the limiting head 413 .

The inner tube 414 is arranged in the outer tube 411, and the first end of the inner tube 414 protrudes out of the outer tube 411 and then enters the rotating head 412, and is in contact with the collar inside the rotating head 412; the second end of the inner tube 414 is sleeved at the limit The outer part of the head 413 is in contact with the end face of the limiting ring 416 , so that the inner tube 414 is confined between the rotating head 412 and the limiting head 413 .

In addition, since the outer diameter of the inner tube 414 is the same as the inner diameter of the outer tube 411, the inner tube 414 and the outer tube 411 are tightly fitted and can rotate together.

Further, the first end of the inner tube 414 is further provided with a groove body 415 extending along the axial direction of the inner tube 414 , and the groove body 415 is to avoid interference with the swing rod 463 described below.

The push rod 46 is coaxially disposed inside the inner tube 414 , and a first end of the push rod 46 is provided with an adapter 461 , and the adapter 461 is disposed in the inner pipe 414 .

The end of the adapter 461 is connected with a swing rod 463 , the other end of the swing rod is hinged with a clamping head 465 , the first end of the clamping head 465 is connected with the surgical instrument 42 , and the second end of the clamping head 465 rotates with the rotating head 412 Therefore, when the swing rod 463 is subjected to a pushing force or a pulling force, the clamping head 465 drives the surgical instrument 42 to rotate around its connection with the rotating head 412 , thereby realizing the deflection of the surgical instrument 42 around the Z axis.

Specifically, two sides of the clamping head 465 are respectively provided with connecting planes 464 , the upper end of the rotating head 412 is provided with an open groove 417 , the end of the clamping head 465 is disposed in the open groove 417 , and the connecting plane 464 and the open groove 417 are connected The inner wall of the pin is in contact, and the rotating head 412 is connected with the connecting plane 464 by a pin, so that the clamping head 465 can rotate with the axis of the pin as the rotation axis.

The second end of the push rod 46 passes through the inner tube 414 and the limiting head 413 in sequence, and is connected to the clamping tube 262 outside the limiting head 413 . Specifically, the second end of the push rod 46 protrudes into the clamping tube 462 and is in contact with the collar inside the clamping tube 462 ; A snap hole 351 is used for snap connection.

The inner diameter of the snap tube 462 is the same as the outer diameter of the push rod 46, so when the first seat 35 moves and pulls the snap tube 462 to make a linear motion, the push rod 46 also moves linearly, that is, the movement of the first seat 35 makes the push rod 46 move linearly. The rod 46 moves along its axis, so that the swing rod 463 is acted by a pushing force or a pulling force, so that the clamping head 465 drives the surgical instrument 42 to rotate.

In this embodiment, the first end refers to the end close to the surgical instrument 42 , and the second end refers to the end away from the surgical instrument 42 .

In addition, it should be noted that the connection between the fourth coupling 54 , the fifth coupling 22 and the sixth coupling 37 in this embodiment is the same as that of the first coupling 53 , the first coupling 53 and the sixth coupling 37 in the first embodiment. The second coupling 21 and the third coupling 31 are connected in the same manner, wherein a second spring 57 is provided between the fourth coupling 54 and the second motor 512 . Similarly, the second spring 57 can make the three The assembly between the couplings is quicker and will not be repeated here.

To sum up, in the present embodiment, the rotational motion of the second motor 512 is substantially converted into the linear reciprocating motion of the first seat 35 through the first lead screw 354 , and the first seat 35 drives the rotary motion in the instrument rod 41 . The push rod 46 performs a linear reciprocating motion, and the linear reciprocating motion of the push rod 46 is converted into a deflection motion of the surgical instrument 42, so as to simulate the actual movement of the medical staff's wrist deflection.

In fact, when operating the surgical robot, the medical staff operates the control handle located on the surgical console. When the wrist joint of the medical staff is deflected, the control handle is deflected accordingly, and the monitoring equipment collects information such as the deflection angle of the control handle, and transmits the collected information to the main control unit. The main control unit processes the received information, filters out the interference information caused by wrist vibration, etc., analyzes the deflection angle of the wrist joint of the medical staff, and outputs corresponding deflection control instructions to the slaves arranged on the drive circuit board 52. control unit (not shown in the figure). The slave control unit controls the rotation of the second motor 512 according to the received deflection control instruction (including the rotation speed and the number of revolutions, etc.), through the fourth coupling 54 , the fifth coupling 22 , the sixth coupling 37 and the first wire The cooperation of the lever 354 converts the rotational motion of the second motor 512 into the linear reciprocating motion of the first seat 35, thereby driving the push rod 46 in the instrument rod 41 to perform linear reciprocating motion, thereby pulling or pushing the surgical instrument 42, so that the surgical instrument 42 Deflection occurs, that is, the linear reciprocating motion of the push rod 46 is converted into a deflection motion of the surgical instrument 42 . In addition, the slave control unit has a built-in mathematical model describing the transformation relationship between the rotational motion of the second motor 512 and the deflection motion of the surgical instrument 42, and the slave control unit controls the second motor 512 according to the received deflection control instruction based on the mathematical model. Rotation (including rotation speed and number of revolutions, etc.) is performed to ensure that the deflection of the surgical instrument 42 is consistent with the deflection of the doctor's wrist.

Embodiment 3

In the third embodiment of the present invention, the surgical instrument 42 has a third degree of freedom (eg, surgical scissors that only perform cutting at specified locations). Here, the third degree of freedom of the surgical instrument 42 means that the surgical instrument 42 can perform opening and closing operations. The third degree of freedom of surgical instrument 42 is capable of mimicking the closing and opening motions of human fingers.

In this embodiment, the power source 51 includes a third motor 513 , and the output shaft of the third motor 513 is disposed in the third hole 123 on the side wall of the fixing base 12 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the third motor 513 and the length direction of the fixed seat 12 are the same.

In this embodiment, the power output by the third motor 513 is transmitted to the instrument rod 41 through the second lead screw 364 and the second seat 36 slidably connected on the transmission base 3 , and the specific transmission method is as follows: The power is transmitted to the second seat 36 through the second lead screw 364, so that the second seat 36 reciprocates in a straight line along the X-axis direction, thereby driving the instrument rod 41 connected to the second seat 36 to perform a linear reciprocating motion in the X-axis direction, and then The surgical instrument 42 realizes the opening and closing movement.

The implementation of the linear reciprocating motion of the second seat 36 along the X-axis direction is described in detail below:

The third motor 513 is disposed on the side wall of the fixing base 12 , and after its output shaft passes through the third hole 123 , the seventh coupling 55 is fixedly connected to the end of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with an eighth coupling 23 and a ninth coupling 38, and the eighth coupling 23 is respectively connected with the seventh coupling 55 and the ninth coupling. device 38 is connected.

The ninth coupling 38 is connected with the second lead screw 364 , wherein the second lead screw 364 passes through the second seat 36 and forms a threaded connection with the second seat 36 . The bottom of the second seat 36 is provided with a second sliding groove 365, and the second sliding rail 366 on the transmission seat 3 is arranged in the second sliding groove 365. When the second lead screw 364 rotates, the second seat 36 moves along the second lead screw 365. The axial direction of the lever 364 moves.

Therefore, when the drive circuit board 52 receives the control command for opening and closing the surgical instrument, the drive circuit board 52 drives the third motor 513 to rotate and output power, and the power follows the output shaft of the third motor 513, the seventh coupling 55, the eighth coupling The coupling 23 , the ninth coupling 38 , and the second lead screw 364 are transmitted to the second seat 36 to convert the rotational motion of the third motor 513 into linear reciprocating motion of the second seat 36 along the X-axis direction.

Further, the limit position of the rightward movement of the second seat 36 is defined by the second spring limiting body 367. As shown in FIG. 8, the second spring limiting body 367 is arranged on the second lead screw 364. When the 36 moves to the right (towards the direction close to the surgical instrument 42) and compresses the spring to the most shrinking amount, it will no longer be able to move to the right. The spring can prevent the second seat 36 from moving to the limit position and the second spring limiting body. 367 produces a collision.

Further, the limit position of the leftward movement of the second seat 36 is defined by the circuit board 368. As shown in FIG. 8, the circuit board 368 is arranged on the transmission seat 3 and is located on the left side of the second seat 36. When it moves to the left (towards the direction away from the surgical instrument 42 ) to the limit position, the end of the end contact with the end of the rear limiting body 357 will not be able to move to the left any more.

By mechanically limiting the extreme positions of the second seat 36 in two directions, the maximum opening angle of the surgical instrument 42 can be controlled.

In addition, the fixing method of the instrument rod 41 and the transmission base 3 is as follows:

Optionally, the fixing method of the instrument rod 41 and the transmission base 3 can be the same as that of the previous embodiment.

Optionally, since in this embodiment, the instrument rod 41 does not need to rotate around the X-axis, the instrument rod 41 can also be directly fixed on the side wall of the transmission base 3 .

Further, the fixing method between the push rod 46 and the second seat 36 is as follows:

The second seat 36 is provided with a second clamping hole 361 for installing the push rod 46 , and the axis of the second clamping hole 361 coincides with the axis of the rotating shaft 33 . A second elastic clamping plate 362 is disposed in the second clamping hole 361, and the second elastic clamping plate 362 can move along the radial direction of the second clamping hole 361, so that the installation diameter of the second clamping hole 361 is reduced (ie, smaller than the first clamping plate 361). The actual diameter of the second clamping hole 361 ), or the installation diameter of the second clamping hole 361 is increased (ie, equal to the actual diameter of the second clamping hole 361 ).

The end of the second seat 36 is provided with a second pressing portion 363. The second pressing portion 363 can be a pressing rod. The second pressing portion 363 is connected to the second elastic card plate 362. When the second pressing portion 363 is pressed, the first pressing portion 363 is pressed. The two elastic clips 362 move downward to increase the installation diameter of the second clip hole 361; when the pressure applied to the second pressing portion 363 is removed, the second elastic clip 362 bounces up under the action of the elastic member, Therefore, the installation diameter of the second clamping hole 361 is reduced.

A pull rod 47 is coaxially disposed in the push rod 46 , the pull rod 47 protrudes beyond the end of the push rod 46 , and the pull rod 47 can move in the push rod 46 along its axial direction.

The outer wall of the drawbar 47 is provided with a third slot 48. After the drawbar 47 extends into the second slot 361, the elastic second card plate 362 is engaged with the third slot 46, so that the drawbar 47 is fixed in the second slot 361. in the second locking hole 361 , so as to be fixed with the second seat 36 .

When the instrument rod 41 needs to be removed, it is only necessary to press the second pressing portion 363 to move the second elastic clamping plate 362 along the radial direction of the second clamping hole 361 , thereby increasing the installation diameter of the second clamping hole 361 If it is large, the pulling rod 47 can be taken out from the second clamping hole 361 .

The implementation of the opening and closing movement of the surgical instrument 42 is described in detail below:

As shown in FIG. 12 , the first end of the pulling rod 47 passes through the push rod 46 and the clamping head 465 in sequence, and is connected with the surgical instrument 42 . A fourth spring 471 is arranged between the traction rod 47 and the clamping head 465, the first end of the fourth spring 471 is connected with the inner wall of the clamping head 465, the second end of the fourth spring 471 is connected with the inner wall of the adapter 461, The fourth spring 471 is restrained between the clamping head 465 and the adapter 461 .

The side wall of the surgical instrument 42 is provided with an oblique hole 421, and the two sides of the first end of the traction rod 47 are provided with a pin shaft 472, and the pin shaft 472 is arranged in the oblique hole 421. The push pin 472 will move in the inclined hole 421 , so that the surgical instrument 42 is opened or closed.

The outer wall of the second end of the traction rod 47 is provided with a third slot 48, and the third slot 48 is engaged with the second slot 361 of the second seat 36. Therefore, when the second seat 36 reciprocates in a straight line along the X axis During the movement, the traction rod 47 will be driven to reciprocate linearly along the X axis, so that the pin shaft 472 moves in the inclined hole 421 , so that the surgical instrument 42 is opened or closed.

In this embodiment, the first end refers to the end close to the surgical instrument 42 , and the second end refers to the end away from the surgical instrument 42 .

In addition, it should be noted that the connection between the seventh coupling 55 , the eighth coupling 23 and the ninth coupling 38 in this embodiment is the same as that of the first coupling 53 , the first coupling 53 and the ninth coupling 38 in the first embodiment. The second coupling 21 and the third coupling 31 are connected in the same manner, wherein a third spring 58 is provided between the seventh coupling 55 and the third motor 513 . Similarly, the third spring 58 can make the three The assembly between the couplings is quicker and will not be repeated here.

To sum up, in this embodiment, the rotational motion of the third motor 513 is essentially converted into the linear reciprocating motion of the second seat 36 through the second lead screw 364 , and the second seat 36 drives the rotary motion in the instrument rod 41 . The drawbar 47 performs linear reciprocating motion, and converts the linear reciprocating motion of the drawbar 47 into the opening and closing motion of the surgical instrument 42, simulating the real movement of the fingers of the medical staff.

In fact, when operating the surgical robot, the medical staff operates the control handle located on the surgical console. When the fingers of the medical staff open and close, the control handle opens and closes accordingly, and the monitoring equipment collects information such as the opening angle of the control handle, and transmits the collected information to the main control unit. The main control unit processes the received information, filters out the interference information caused by finger shaking, etc., analyzes the opening angle of the medical staff's fingers, and outputs corresponding opening and closing control instructions to the driver circuit board 52. Slave control unit (not shown in the figure). The slave control unit controls the rotation of the third motor 513 (including the rotational speed and the number of revolutions, etc.) according to the received opening and closing control instructions, and passes the seventh coupling 55 , the eighth coupling 23 , the ninth coupling 38 and the first The cooperation of the two lead screws 364 converts the rotational motion of the third motor 513 into the linear reciprocating motion of the second seat 36, thereby driving the traction rod 47 in the instrument rod 41 to perform linear reciprocating motion, thereby pulling or pushing the surgical instrument 42, so that the operation The instrument 42 is opened or closed, that is, the linear reciprocating motion of the traction rod 47 is converted into the opening and closing motion of the surgical instrument 42 . In addition, the slave control unit has a built-in mathematical model describing the transformation relationship between the rotational motion of the third motor 513 and the opening and closing motion of the surgical instrument 42. Based on this mathematical model, the slave control unit controls the third motor according to the received opening and closing control instructions. The motor 513 rotates (including the rotational speed and the number of revolutions, etc.), so as to ensure that the opening and closing of the surgical instrument 42 is consistent with the opening and closing movements of the doctor's fingers.

Embodiment 4

In a fourth embodiment of the present invention, surgical instrument 42 has a first degree of freedom and a second degree of freedom (eg, a scalpel).

In this embodiment, a first hole 121 and a second hole 122 are provided on the side wall of the fixing base 12 , the power source 51 includes a first motor 511 and a second motor 512 , and the output shaft of the first motor 511 is disposed on the first In the hole 121 , the output shaft of the second motor 512 is arranged in the second hole 122 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the first motor 511 , the axial direction of the second motor 512 and the length direction of the fixing base 12 are the same.

Wherein, the power transmission mode of the first motor 511 and the second motor 512 is the same as the transmission mode in the foregoing embodiment, which is not repeated here.

In this embodiment, since both the rotation of the instrument rod 41 around the X-axis and the deflection of the instrument rod 41 around the Z-axis are required, the instrument rod 41 is connected to the transmission base 3 through the rotating shaft 33 on the one hand, and the first The seat 35 is connected to the transmission seat 3, and the connection method is the same as the transmission method in the previous embodiment, and will not be repeated here.

Further, a push rod 46 is coaxially disposed in the instrument rod 41 , and the specific arrangement of the push rod 46 has been described in detail in the foregoing embodiments, and will not be repeated here.

To sum up, in this embodiment, the rotational motion of the first motor 511 is substantially converted into the rotational motion of the instrument rod 41 , while the rotational motion of the second motor 512 is converted into the first lead screw 354 through the first lead screw 354 The linear reciprocating motion of the seat 35 drives the push rod 46 in the instrument rod 41 to perform linear reciprocating motion, and then converts the linear reciprocating motion of the instrument rod 41 into the deflection motion of the surgical instrument 42 (as shown in FIG. 13 ).

Embodiment 5

In the fifth embodiment of the present invention, the surgical instrument 42 has a first degree of freedom and a third degree of freedom (eg, surgical scissors that only perform cutting at specified positions).

In this embodiment, a first hole 121 and a third hole 123 are provided on the side wall of the fixing base 12 , the power source 51 includes a first motor 511 and a third motor 513 , and the output shaft of the first motor 511 is arranged on the first In the hole 121 , the output shaft of the third motor 513 is arranged in the third hole 123 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the first motor 511 , the axial direction of the third motor 513 and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the third motor 513 are the same as those in the foregoing embodiments, and are not repeated here.

In this embodiment, since both the rotational movement of the instrument rod 41 along the X-axis direction and the opening and closing movement of the surgical instrument 42 are required, the instrument rod 41 is connected with the transmission base 3 through the rotating shaft 33 on the one hand, and on the other hand The second seat 36 is connected to the transmission seat 3 , and the connection method is the same as the transmission method in the previous embodiment, which is not repeated here.

Further, a push rod 46 is coaxially disposed in the instrument rod 41, and a draw rod 47 is coaxially disposed in the push rod 46. The specific arrangement of the push rod 46 and the pull rod 47 has been described in detail in the foregoing embodiments. description, which will not be repeated here.

To sum up, in this embodiment, the rotational motion of the first motor 511 is substantially converted into the rotational motion of the instrument rod 41 , and the rotational motion of the third motor 513 is converted into the second rotational motion through the second lead screw 364 at the same time. The linear reciprocating motion of the seat 36 drives the drawbar 47 in the instrument rod 41 to perform a linear reciprocating motion, and then converts the linear reciprocating motion of the drawbar 47 into the opening and closing motion of the surgical instrument 42 .

Embodiment 6

In a sixth embodiment of the present invention, the surgical instrument 42 has a second degree of freedom and a third degree of freedom (eg, a forceps gripping a suture needle).

In this embodiment, a second hole 122 and a third hole 123 are provided on the side wall of the fixing base 12 , the power source 51 includes a second motor 512 and a third motor 513 , and the output shaft of the second motor 512 is disposed on the second In the hole 122 , the output shaft of the third motor 513 is arranged in the third hole 123 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the second motor 512 , the axial direction of the third motor 513 , and the length direction of the fixing base 12 are the same.

Wherein, the power transmission mode of the second motor 512 and the third motor 513 is the same as the transmission mode in the foregoing embodiment, which will not be repeated here.

In this embodiment, a push rod 46 is coaxially disposed in the instrument rod 41, and a draw rod 47 is coaxially disposed in the push rod 46, and the push rod 46 and the pull rod 47 pass through the first seat 35 and the second seat 36 respectively. Connected to the transmission base 3, its specific connection and working methods have been described in detail in the foregoing embodiments, and will not be repeated here.

Embodiment 7

In a seventh embodiment of the present invention, the surgical instrument 42 has a first degree of freedom, a second degree of freedom, and a third degree of freedom (eg, surgical scissors).

In this embodiment, a first hole 121 , a second hole 122 and a third hole 123 are respectively provided on the side wall of the fixing base 12 , and the power source 51 includes a first motor 511 , a second motor 512 and a third motor 513 ; The output shaft of the first motor 511 is set in the first hole 121 , the output shaft of the second motor 512 is set in the second hole 122 , and the output shaft of the third motor 513 is set in the third hole 123 . In order to improve the utilization rate of space, the axial direction of the instrument shaft 41 , the axial direction of the second motor 512 , the axial direction of the third motor 513 , and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 , the second motor 512 and the third motor 513 are the same as those in the foregoing embodiments, which will not be repeated here.

In this embodiment, on the one hand, the instrument rod 41 is connected with the transmission base 3 through the rotating shaft 33; The rod 46 and the traction rod 47 are respectively connected with the transmission base 3 through the first seat 35 and the second seat 36 , and the specific connection and working methods have been described in detail in the foregoing embodiments, and will not be repeated here.

In each of the above embodiments, the main control unit analyzes the received rotation angle information and deflection angle information respectively, and further includes judging whether the rotation angle and/or the deflection angle exceed a preset threshold, and if so, judging that the operation is wrong, The master control unit outputs a locking control command to the slave control unit to suspend the control of the surgical instrument.

Further, the main control unit analyzes the received rotation angle information and deflection angle information respectively, and also includes judging whether the change speed of the rotation angle and/or the deflection angle exceeds a preset threshold, if so, judges that the operation is wrong, and the main control The unit outputs a locking control command to the slave control unit to suspend the control of the surgical instrument.

As shown in FIG. 14 , the minimally invasive surgical robot provided by the present invention further includes a sliding table 141 , and the above-mentioned instrument fixing device 142 slides on the sliding table 141 under the driving of a sliding control motor 143 . Specifically, the instrument fixing device 142 can be slidably connected to the sliding table 141 through a sliding block 144 , and the output shaft of the sliding control motor 143 is connected to the sliding table 141 through a transmission mechanism 145 to drive the sliding table 141 . Move on the sliding table, thereby driving the instrument fixing device 142 to move along the axial direction of the sliding table.

Correspondingly, the control method for controlling the surgical instrument includes the following steps:

Record the number of revolutions of the output shaft of the sliding control motor during the movement of the instrument fixing device from the initial position on the sliding table to the designated position;

When the surgical instrument needs to be replaced, the sliding control motor is controlled to reverse according to the rotation number, so as to drive the instrument fixing device to return to the starting position;

After the replacement of the surgical instrument is completed, the sliding control motor is controlled to rotate forward according to the number of revolutions, so as to drive the instrument fixing device to reach the designated position again.

Specifically, the output shaft of the sliding control motor is controlled to rotate in the forward direction according to the first control signal, so that the sliding control motor drives the instrument fixing device from the starting position along the axial direction of the sliding table through the transmission mechanism move; control the sliding control motor to stop working according to the second control signal, so that the instrument fixing device reaches the designated position; read the sliding control during the movement of the instrument fixing device from the initial position to the designated position The encoder's reading of the number of revolutions of the motor's output shaft is taken as the number of revolutions.

Then, according to the third control signal, the output shaft of the sliding control motor is controlled to reversely rotate the rotation number, so that the sliding control motor drives the instrument fixing device along the axial direction of the sliding table through the transmission mechanism direction back to the starting position.

Next, control the output shaft of the sliding control motor to rotate the rotation number in the forward direction according to the fourth control signal, so that the sliding control motor drives the instrument fixing device along the axial direction of the sliding table through the transmission mechanism The direction reaches the specified position again.

In addition, as shown in FIG. 15 , the minimally invasive surgical robot provided by the present invention further includes a trolley 151 , a side of the trolley 151 is provided with a telescopic arm 152 , and the telescopic arm 152 is connected with one end of a mechanical arm 153 , so The other end of the mechanical arm 153 is provided with the sliding table 141 . Specifically, the telescopic arm 152 can be connected to the trolley 151 through an adapter flange (not shown in the figure), and driven by a drag chain (not shown in the figure) along the trolley The axis of the cart moves up and down, so that the robot arm 153 moves up and down along the axis of the trolley together, so as to achieve the purpose of adjusting the height of the robot arm 153 . In addition, the telescopic arm 152 also includes a fixed arm and a moving arm (not shown in the figure). Wherein, the fixed arm is provided with a linear slide rail (not shown in the figure) installed along the axial direction of the telescopic arm, and the moving arm is slidably connected to the movable arm through a slider (not shown in the figure). on the linear slide rail, so that the moving arm can move linearly along the axial direction of the telescopic arm, so as to realize the extension of the telescopic arm 152 in its axial direction, and then bring the mechanical arm 153 together It moves along the axial direction of the telescopic arm, so as to achieve the purpose of adjusting the front and rear positions of the mechanical arm.

Claims (10)

1. A surgical instrument control method for a laparoscopic surgical robot, wherein the laparoscopic surgical robot comprises a control handle, a monitoring device, a main control unit, a trolley, a robotic arm connected with a telescopic arm of the trolley at one end, and set A sliding table at the other end of the mechanical arm, an instrument fixing device slidably connected to the sliding table, a sliding control motor for controlling the sliding of the instrument fixing device on the sliding table, and a sliding control motor provided on the instrument fixing device The slave control unit, the first motor and the second motor on the; The control method includes the following steps: Controlling the telescopic arm of the trolley to move the mechanical arm along the axis of the trolley to adjust the height of the mechanical arm, and controlling the moving part of the telescopic arm of the trolley to carry the mechanical arm sliding along the axial direction of the telescopic arm to adjust the front and rear positions of the mechanical arm; The monitoring equipment collects the corresponding rotation angle information of the control handle when the operator turns the arm and the corresponding deflection angle information of the control handle when the operator deflects the wrist, and transmits the collected rotation angle information and deflection angle information to the main control unit; The master control unit analyzes the received rotation angle information and deflection angle information respectively, determines the operator's arm rotation angle and wrist deflection angle, and outputs corresponding rotation control instructions and deflection control instructions to the slave control unit; The first control module of the slave control unit controls the rotation of the first motor according to the received rotation control command, and drives the surgical instrument to rotate through the rotation of the first motor, so that the surgical instrument and the operator's arm rotate synchronously, and at the same time, it is controlled by the slave control unit. The second control module controls the rotation of the second motor according to the received deflection control instruction, and drives the surgical instrument to deflect through the rotation of the second motor, so that the surgical instrument and the operator's wrist are deflected synchronously; Record the number of revolutions of the output shaft of the sliding control motor during the movement of the instrument fixing device from the initial position on the sliding table to the designated position; When the surgical instrument needs to be replaced, the sliding control motor is controlled to reverse according to the rotation number, so as to drive the instrument fixing device to return to the starting position; After the replacement of the surgical instrument is completed, the sliding control motor is controlled to rotate forward according to the number of revolutions, so as to drive the instrument fixing device to reach the designated position again. 2. The control method according to claim 1, wherein, The instrument fixing device also includes a first coupling, a second coupling, a third coupling, a main gear, a slave gear, a rotating shaft, and an instrument rod connected in sequence, wherein the first coupling is connected to the The output shaft of the first motor is connected, the end of the instrument rod is fixedly connected to the surgical instrument, and the rotational motion of the output shaft of the first motor is converted into the rotational motion of the surgical instrument; The first control module has a built-in first mathematical model describing the transformation relationship between the rotational motion of the output shaft of the first motor and the rotational motion of the surgical instrument, and based on the first mathematical model, the slave control unit The first control module controls the rotation parameters of the first motor according to the received rotation control instruction, so that the surgical instrument and the operator's arm rotate synchronously; The instrument fixing device further comprises a fourth coupling, a fifth coupling, a sixth coupling, a first lead screw, a first seat, and a push rod connected in sequence, wherein the fourth coupling is connected to the The output shaft of the second motor is connected to convert the rotary motion of the output shaft of the second motor into the linear reciprocating motion of the push rod, the push rod is arranged in the instrument rod, the push rod The end of the device goes out of the instrument rod, and is provided with a swing rod for holding the surgical instrument. Under the push or pull of the push rod, the swing rod drives the surgical instrument to deflect, so as to push the push rod The linear reciprocating motion is converted into the deflection motion of the surgical instrument; the second control module of the slave control unit has a built-in description that the rotational motion of the output shaft of the second motor is converted into the linear reciprocating motion of the push rod, and then A second mathematical model converted into a transformation relationship of the deflection motion of the surgical instrument, based on the second mathematical model, the second control module of the slave control unit controls the rotation parameters of the second motor according to the received deflection control instruction , so that the surgical instrument is deflected synchronously with the operator's wrist. 3 . The control method according to claim 2 , wherein the rotation parameters include rotational speed and number of revolutions. 4 . 4 . The control method according to claim 1 , wherein the main control unit analyzes the received rotation angle information and deflection angle information respectively, and further comprises filtering out interference information respectively. 5 . 5 . The control method according to claim 4 , wherein the interference information comprises interference information respectively generated by the operator's arm shaking and wrist shaking. 6 . 6. The control method according to claim 1, wherein the main control unit analyzes the received rotational angle information and deflection angle information respectively, and further comprises judging whether the rotational angle and/or deflection angle exceed a preset threshold , if it is judged that the operation is wrong, the master control unit outputs a locking control command to the slave control unit to stop the control of the surgical instrument. 7. The control method according to claim 1, wherein the main control unit analyzes the received rotation angle information and the deflection angle information respectively, and also includes judging whether the speed of change of the rotation angle and/or the deflection angle exceeds a predetermined value. If it is the set threshold, if it is judged that the operation is wrong, the master control unit outputs a lock control command to the slave control unit to stop the control of the surgical instrument. 8. The control method according to claim 1, wherein recording the number of revolutions of the output shaft of the sliding control motor during the movement of the instrument fixing device from the initial position on the sliding table to the specified position, comprising: Controlling the output shaft of the sliding control motor to rotate in the forward direction according to the first control signal, so that the sliding control motor drives the instrument fixing device to move from the starting position along the axial direction of the sliding table through the transmission mechanism; Controlling the sliding control motor to stop working according to the second control signal, so that the instrument fixing device reaches the designated position; The reading of the encoder of the number of revolutions of the output shaft of the slide control motor during the movement of the instrument holding device from the starting position to the designated position is read as the number of revolutions. 9 . The control method according to claim 8 , wherein controlling the sliding control motor to reverse rotation according to the number of revolutions so as to drive the instrument fixing device back to the starting position, comprising: 10 . According to the third control signal, the output shaft of the sliding control motor is controlled to reversely rotate the rotation number, so that the sliding control motor drives the instrument fixing device to return along the axial direction of the sliding table through the transmission mechanism. to the starting position. 10 . The control method according to claim 9 , wherein controlling the sliding control motor to rotate forward according to the number of revolutions so as to drive the instrument fixing device to reach the designated position again, comprising: 10 . According to the fourth control signal, the output shaft of the sliding control motor is controlled to rotate in the positive direction by the number of revolutions, so that the sliding control motor drives the instrument fixing device through the transmission mechanism again along the axial direction of the sliding table. reach the specified location.

Images