RU2541829C1 - Endoscopic surgical aid drive - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: endoscopic surgical aid drive comprises a body and a drive shaft system connected to hinge joints. Operating mechanism of an end effector is presented by four independent worm gears. Each gear is connected to a drive shaft of the system of coaxial telescopic drive shafts. Each shaft transmits a drive to the respective hinge joint.

EFFECT: result is that a simplified drive control unit coupled with the controlling portion of assisting a mechatronic surgical complex.

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Description

The invention relates to medicine, namely to endoscopic surgical devices, in particular to mechanized endoscopic surgical devices, is intended for use during endosurgical interventions.

Endoscopic surgical devices are often preferred over traditional open surgical devices, since with a smaller incision, postoperative recovery time and risk of complications are usually less.

In the field of endoscopic surgical devices, developments are being carried out that are suitable for the precise placement of the distal end effector, which is the instrument for the operation, in the desired surgical field through a cannula or trocar.

The robotic arm comprises a base, a manipulator arm having substantially vertical and horizontal parts, a wrist joint of the manipulator, and an actuator unit for a medical instrument.

The end effector is a part of the apparatus (for example, an endoscopic cutting tool (such as an endocutter), a gripper, a cutting device, stapling devices, a clamping device, an access device, a gene therapy drug delivery device and an energy device using ultrasound that are high frequency (RF), laser, etc.) configured to interact with tissue in a variety of ways to obtain the desired diagnostic or therapeutic result.

The end effector is sized to be inserted through the trocar into the patient.

The mechanism of the end effector of the endoscopic surgical device serves to regulate the position of the instrument, namely the position of the opening and closing of the instrument.

The tool drive control mechanism for the surgical manipulator is the main drive unit functionally connected to the end effector through a series of mechanisms to bring the moving tool into motion.

Such robotic surgical systems as “DaVinci”, “Zeus”, “ΑΕΖΟΡ” are known in the world today.

In the early nineties, robotic laparoscopy received significant development. Two typical commercially available robotic surgical systems are the surgical system known under the brand name ″ DA VINCI ″ developed by Intuitive Surgical Inc., Sunnyvale, California, and the surgical system known under the trademark ″ ZEUS ″ originally developed by Computer Motion Inc., Goleta, California.

The surgical system, known as ″ DA VINCI ″, is described, among others, by Mol et al. (Molletal.) In US Patents 6,659,939; US 6,837,883 and other patent documents of the same patent holder.

The surgical system, known as ″ ZEUS ″, is described in addition to other Wong et al. (Wangetal.) In US patents 6,102,850; US 5,855,583; US 5,762,458; US 5,515,478 and other patent literature assigned to Computer Motion Inc., Goleta, California.

These remote-controlled robotic units allow you to control surgical intervention either directly from the operating room or from a remote location using the reverse visual control on the control panel. In any case, the tedious pose of the surgeon is ruled out.

In addition to the high acquisition and operating costs of these robotic systems, their distribution and recognition in the medical community is limited, inter alia, due to a lack of diversity. Both systems were developed specifically for cardiac surgery, in which the topological anatomy is constant, the workplace is small and therefore the accuracy of the movement of the instrument and manipulation capabilities are required only in a limited space. Therefore, the mechanical design of these systems is not entirely suitable for use in other types of surgery (including gynecology, urology and general surgery), in which the working space is larger than in cardiology, the anatomical topology varies (even sometimes unpredictably), and the mechanical properties of the tissue and organs are different.

Regardless of these two specific systems, the mechanical development of manipulators in robotic surgical systems currently offers a significant opportunity for improvement in various aspects, among which the versatility of the system is one of many.

Known drive unit described in patent WO 2012068156 (PCT / US 2011/060849), publ. May 24, 2012, which is a cable system of gears and used to separate the rotation of the tool shaft and actuate the end effector of the surgical instrument.

The transmission includes a drum unit, which is rotationally connected to the rotation of the tool shaft relative to the proximal body, an end effector actuation unit, which is rotationally connected to the actuation source, and a ball screw gear (drum), which is rotationally connected to the jaw actuator end effector. The first cable includes both a drum unit and a ball screw transmission, the rotation of which causes the drum unit to rotate. The second cable includes an end effector actuation unit attached to the first unit and the second unit. The first multi-roller block includes a first moving drum. The second multi-roller unit includes a second moving drum. The first and second moving drums tighten the first cable.

Between the drum unit and the ball screw, the first cable captures 4 fixed drive rollers. These fixed driving rollers (drums) include a first driving roller and a second driving roller, a third roller, and a fourth driving roller.

According to the invention, any cable transmission system can be used. For example, in a cable system, the first cable can be driven by a roller (drum), which drives the end effector, the second cable is driven by the cylinder of the drum.

The disadvantage of a drive with a cable transmission system is the unreliability and fragility of the design.

Known drive unit described in patent WO 2013119545 (PCT / US 2013/024736) from 10 Feb. 2012, publ. Aug 15 2013, selected as the closest analogue.

In one embodiment of the closest analogue, the surgical instrument comprises a rack and pinion gear to provide the functionality of the articulated shaft.

The rack gearing of the mechanism comprises a first gear connected to the rotating body so that the rotation of the corresponding driven member causes the first gear to rotate. The bearing is connected to a rotating body and is located between the driven element and the second gear.

The first gear is attached to the first rack and pinion gear in such a way that the conversion of the rotational movement of the first gear to the linear movement of the first rack and pinion gear is controlled by connecting the shaft joint in the left direction.

The bearing is rotatably connected to the body and is located between the driven member and the second gear.

The second gear is meshed with the second rack and pinion gear in such a way that the conversion of the rotational movement of the second gear into linear motion of the second rack and pinion gear is controlled by connecting the shaft joint in the right direction.

The second rack and pinion gear is attached to the second hinge zone (Fig. 10, 14, 21, 22, 106, 107) so that the linear movement of the second gear in the distal direction occurs due to the engagement of the shaft joint in the right direction.

Additional bearings may be provided between the rotating bodies and the respective gears.

Any suitable bearings may be provided to support and stabilize mounting and reduce friction of the rotary shaft and gears.

In another embodiment, the mounting portion of the surgical instrument includes a shaft assembly of a rotation mechanism.

In this embodiment, the surgical instrument comprises a first spiral worm wheel connected to rotate the body, and a second spiral worm wheel connected to the rotation shaft. The bearing is connected to the rotating body and is located between the driven element and the first spiral worm wheel. The first helical worm gear is engaged with a second helical worm gear that is connected to the assembly shaft to control the rotation of the assembled shaft clockwise (CW) or counterclockwise (CCW) in accordance with the direction of rotation of the first and second worm gears . Accordingly, the rotation of the first spiral worm wheel relative to the first axis is converted to the rotation of the second spiral worm wheel relative to the second axis, which is perpendicular to the first axis.

The disadvantage of the closest analogue is the structural complexity of the drive mechanism.

The objective of the proposed technical solution is to create a simplified, in comparison with an analogue, mechanism for controlling the drive of instruments, interfaced with the control part of the assisting mechatronic surgical complex.

The problem is solved in that the drive for the instrument of the endoscopic surgical device contains a housing and a system of drive shafts connected to the hinged nodes, while it contains control mechanisms of the end effector, made in the form of four independent worm gearboxes, each of which is connected to the drive shaft, and the drive the shafts are coaxial, have different diameters and lengths and transmit torque to the corresponding hinge assemblies.

In the claimed technical solution in the drive for the instrument of an endoscopic surgical device, four independent worm gearboxes (worm pairs) are used as control mechanisms, which allow to obtain large gear ratios, high smoothness and noiseless gearing, increased kinematic accuracy with the possibility of precise dividing movements. The proposed design has such an important property as self-braking, which provides a fixation of the position of the tool at a given point in the surgical field.

BLUEPRINTS

Figure 1 - the appearance of the surgical manipulator, including all the working nodes;

Figure 2 - General view of a surgical manipulator;

Figure 3 is a sectional view of a surgical manipulator.

Description

In FIG. 2 and FIG. 3 shows the construction of a drive control mechanism for a surgical manipulator.

The drive for the instrument of the endoscopic surgical device as control mechanisms contains four independent worm gears, consisting of worm pairs 3, 4, 5, 6 (Fig. 2, Fig. 3) located on the base 2 (in Fig. 2) of a plastic housing 1 on bearings supports 12. Worm gears mounted on tubular telescopic drive shafts 7, 8, 9, 10.

Each worm wheel is rigidly fixed with glue with its own tubular drive shaft.

The first worm pair 3 transmits torque to the drive shaft 7 connected to the hinge assemblies 17, 18 and the running gear 19 of the end effector 13.

The second worm pair 4 transmits torque to the drive shaft 8 connected to the hinge assembly 17.

The third worm pair 5 transmits torque to the drive shaft 9 connected to the hinge assembly 18.

The fourth worm pair 6 transmits torque to the drive shaft 10 associated with the running gear 19 of the end effector 13.

In FIG. 1 drive shafts (pos. 8, 9, 10) are coaxial, have different diameters and lengths, and transmit torque to the corresponding gears of the hinge assemblies 17, 18.

The coaxial drive shaft is fixed in the hole of the base element of the housing 11 by the sleeves 15, 16.

The worm pairs are separated by washers 12, inside of which there are PTFE plain bearings 14 (Fig. 3).

The implementation of the invention

Each independent worm pair is driven by its stepping reversible electric motor.

Each independent worm pair with a drive shaft attached to it provides one degree of freedom of the surgical instrument.

The first worm pair 3 (Fig. 1, 2, 3) transmits torque to the drive shaft 7 (Fig. 2), connected to the hinge assemblies 17, 18 and the running gear 19 of the end effector 13, ensuring its rotation through the angle φ = 0 ° ± 360 °.

The second worm pair 4 (Fig. 1, 2, 3) transmits torque to the drive shaft 8 (Fig. 2), which drives the gears of the hinge assembly 17, providing rotation of the housing of the hinge assembly 17 relative to the axis of the drive shafts in the ″ ΥΖ ″ plane at an angle α≤0 ° ± 90 °.

The third worm pair 5 (Fig. 1, 2, 3) transmits torque to the drive shaft 9 (Fig. 2), which drives the gears of the hinge assembly 18 through the gears of the hinge assembly 17, allowing the housing of the hinge assembly 18 to rotate relative to the axis of the drive shafts in the plane ″ ΧΥ ″ at an angle β≤0 ° ± 90 °.

The fourth worm pair 6 (Fig. 1, 2, 3) transmits torque to the drive shaft 10 (Fig. 2), which drives the gear of the running gear 19 through the gears of the hinge assembly 17 and 18, by converting the rotary motion into reciprocating - translational movement of the lead screw, mixing / dilution of the working part of the end effector by an angle φ≤ ± 38 °.

The advantages of the inventive drive for an instrument of an endoscopic surgical device, based on the work of four independent worm gears in comparison with analogues based on a cable drive and a worm gear containing rack and pinion:

- most fully meets the requirements of the layout;

- provides high smoothness and noiseless gearing;

- increased kinematic accuracy with the possibility of precise dividing movements;

- self-braking of the worm pair provides a fixation of the position of the working part of the tool at a given point in the surgical field due to the possibility of self-braking of the worm pair.

The claimed invention meets the criterion of "novelty", because from available sources of information, technical solutions with the same essential features were not identified.

The claimed invention meets the criterion of "inventive step" as it is not obvious to a specialist.

The claimed invention meets the criterion of "industrial applicability", as it can be obtained from known means and known methods.

Items in the drawings

1 - drive housing;

2 - the base of the drive housing;

3-1-th worm pair, mounted on the drive shaft 7;

4-2nd worm pair, mounted on the drive shaft 8;

5-3rd worm pair, mounted on the drive shaft 9;

6-4th worm pair, mounted on the drive shaft 10;

11 - an element of the base of the housing with a hole for securing drive shafts therein;

12 - mounting element - washer;

13 - a surgical instrument;

14 - the bearing;

15 - sleeve;

16 - sleeve;

17 - conical differential gear;

18 - conical differential gear;

19 - hinge assembly.

Claims (1)

A drive for an instrument of an endoscopic surgical apparatus, comprising a housing and a system of drive shafts connected to articulated units, characterized in that it contains control mechanisms of the end effector made in the form of four independent worm gears, each of which is connected to the drive shaft, and the drive shafts are coaxial have a different diameter and length and transmit torque to the corresponding hinge nodes.

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