WO2021145792A1 - Combined manipulator for robotic surgical system - Google Patents

Abstract

The invention relates to two-component spatial manipulator mechanisms for parallel robots that are part of a robotic surgical system for performing minimally invasive surgical operations. The present manipulator is an improved design of a tripod in combination with a portal mechanism for linear movement of the tripod over a working area. This hybrid kinematic structure enables the manipulator to move an output link, to which a surgical instrument is mounted, around a remote centre of motion - point "0" - with maximum accuracy, a maximum of necessary angles of rotation and with a minimum of weight and size.

Description

COMBINED SURGICAL ROBOT MANIPULATOR

OF THE COMPLEX

The technical field to which the invention relates

[1] The invention relates to mechanical engineering, in particular, to robotics, namely, to spatial manipulation mechanisms of robots of a parallel structure. Such mechanisms can be applied in the following areas: robotization, teleoperation, minimal invasive surgery, and others. More specifically, the invention relates to the mechanisms of a manipulator included in a robotic surgical system for minimally invasive surgical operations.

Background of the invention

[2] Recently, robot-assisted surgery has become widespread in medicine in developed countries. Robots-surgeons make it possible to achieve high accuracy in surgical action on tissues and organs during the operation and to ensure low invasiveness. The use of such techniques and technologies forms the current trends in the development of modern surgery.

[3] The main actuator in robotic systems is the manipulator. The manipulator provides fastening and precise movement of the surgical instrument in the operated area. A surgical instrument moved by a manipulator during an operation implements / performs the necessary surgical manipulations on tissues (coagulation, cutting, stitching, and so on). The cost of error, inaccuracies and inaccuracies in the operation of the tool is very high. The need for more and more advanced manipulators for surgery creates urgent scientific and technical problems. Improvement of manipulators is due to the need for remote control of the instrument by the surgeon located remotely from the operating table, the requirements for increasing accuracy, reliability and minimal trauma when the instrument is exposed to the operating field, as well as the requirements for minimal impact / trauma on tissues located near the operating field.

[4] In robotic-assisted operations, a "controller" is used that reads the mechanical movements of the surgeon's hands and converts them into digital signals, which, in turn, are recalculated in the control system and used to control the movements of the manipulator and the instrument.

[5] Traditional surgical robot manipulators use sequential structure mechanics, the main advantage of which is the large area of coverage of the output link of the manipulator. However, the dimensions of such mechanisms are large, and the indicators of rigidity, accuracy and efficiency are limited, which imposes significant fundamental restrictions on their use. The most significant of them: a. limitations on possible dynamic and repeat accuracy when moving the manipulator;

B. significant size of the manipulator while ensuring the required, relatively small, working displacement of the output link of the manipulator; c. the use of significant space to ensure the trajectories of movement of individual links of the manipulator (the system is cumbersome and takes up a lot of space, including above the operating area, which is unacceptable, since during a surgical intervention it is always necessary to provide a sufficient approach to the patient); d. insignificant useful mass carried by the manipulator in comparison with the used power of the manipulator motors; e. insignificant and limited rigidity of the manipulator structure due to the significant cantilever of the sequential structure; f. complex mechanics to ensure the required movements (two turns) to the point "0" (the point of entry of the surgical instrument into the patient's body); g. Due to the limitations of the movements associated with the architecture of the manipulator and the relative position of its links caused by the complexity of the model and the accuracy of calculating the position of the output link of the manipulator, it is not always feasible to keep the tool at point "0" within an acceptable tolerance range.

[6] Due to the above and other reasons, when using manipulators of a sequential structure, there are restrictions on the possible trajectories of the surgical instrument and limitations on reliable and accurate control of the surgical instrument.

[7] Constructions of manipulators with a sequential architecture are disclosed, in particular, in US6659939 B2, US6102850 A, EP1984150 B1, US10293498 B2, W02018059039 A1, US10299883 B2.

[8] During the research, a new approach to the mechanics of a manipulator was identified and proposed, namely, the use of manipulators on parallel structures. Unlike traditional manipulators, structures with parallel kinematics contain closed kinematic chains and perceive the load as spatial trusses, that is, the links of these mechanisms work in tension and compression, which ensures the rigidity of the entire structure and has a positive effect on many characteristics, and, above all, on the positioning accuracy of the actuator. Using a manipulator on parallel structures in comparison with existing manipulators of a sequential structure allows: a. to provide up to ten times higher accuracy, which makes it possible to manipulate a surgical instrument with an accuracy that exceeds the dimensions of any human organs, and, in specially designed cases, to ensure accuracy in the micron range; b. to increase the rigidity of the structure by more than five times; c. to provide a large payload on the manipulator executive link in comparison with structures of similar power on a sequential structure; d. to reduce the size of the manipulator several times; e. reduce the weight of the manipulator several times.

[9] Designs of manipulators with a parallel structure are disclosed, in particular, in CN207630032 U, US20140088613 A1, US9554865 B2, US20120245596 A1.

[10] Also known solutions that combine the structural principles of sequential and parallel kinematics (see, for example, EP2740435 B1, DE102017111296 BZ, US10299883 B2, CN 108015750 A). Among the shortcomings of such a scheme, it is worth noting all the typical problems inherent in the mechanisms of a sequential structure, which are listed above.

[11] Manipulators based on parallel kinematics, with all their advantages, are rarely used in medicine, and those that are used have limitations in their use. This situation is due to several factors: a. significant limitation of the movements of the output link of the manipulator, while an attempt to increase the movements of the output link leads to a significant (to unacceptable) increase in the size of the manipulator;

B. restrictions or impossibility to provide the required movements (two turns) at the point "0"; c. restrictions at the correct position of the manipulator relative to the point "0", while the correctness is determined by the position / distance of the manipulator relative to the point "0", determined by the requirements of the surgical intervention.

[12] In this regard, structures based on a parallel structure reduce the functionality and efficiency of manipulators when used in the work area.

[13] Existing developments of manipulators do not allow in one design to achieve multitasking, functionality and efficiency of using a manipulator, namely, to implement in one design a mechanism with small dimensions, with high accuracy and rigidity of the output link of the manipulator, while having a sufficient working area. Such a design of the manipulator is necessary in order to realize with high dynamics and accuracy the movement of the surgical instrument into the patient's body during the surgical operation with the restriction that the instrument can have only two rotations at the calculated entry point (point "0"). Thus, there is a need for development of a mechatronic device that combines the main advantages of sequential and parallel kinematics of mechanisms, while leveling the existing disadvantages of each.

[14] The closest analogue to the claimed invention is disclosed in document RU172752 Sh portal manipulator of parallel structure (figure 1). The mechanism includes a base, linear drives with vertical axes placed on it, coupled to a movable platform, a transverse carriage coupled to a movable platform by a translational drive, a longitudinal carriage coupled with a transverse carriage also by means of a translational drive, an output link coupled with a rotary drive. The mechanism contains a portal, which includes vertical struts fixed on the base, connected by longitudinal and transverse horizontal beams, two linear motors with vertical axes, the first of which is coupled to a movable platform by means of a frame made with the possibility of vertical movement relative to the struts, rotational kinematic pairs, and the second linear an engine with a vertical axis is coupled to a movable platform also by means of a frame made with the possibility of vertical movement along the racks, and an additional link connected to the frame and the movable platform by rotational kinematic pairs, while the output link is connected to the movable platform by a kinematic chain consisting of a kinematic chain made in the form successively nested frames of transverse and longitudinal carriages, having the possibility of translational movement relative to perpendicular axes, and the drive for rotary movement of the output link is placed on the longitudinal carriage.

[15] The disadvantages of the above-described manipulator include a small ratio of linear movements to the dimensions of the structure due to the architecture of the location and the number of frames in the mechanism. Also, in order to provide a sufficient angle of rotation of a larger horizontal frame along one of the rotational axes, there is a need to increase the dimensions (height) of the manipulator base. It is worth noting the complexity of the mathematical description of the kinematics of displacement around point "0" and ensuring sufficient angles of rotation around it due to the increasing dimensions of frame structures.

[16] This application is dedicated to the solution of the listed problems.

The essence of the invention

[17] The technical problem to be solved by the present invention is to increase the efficiency and functionality of the robotic surgical complex by developing a fundamentally new scheme for solving the formulated technical problems.

[18] The technical result of the present invention is the development of a manipulator that combines small dimensions and weight with sufficient structural rigidity and dynamic positioning accuracy, while having sufficient mobility and freedom of the output link on which the surgical instrument is installed.

[19] The set objectives and technical results are achieved through the development of a two-component spatial mechanism. It is an improved design of the tripod in combination with a gantry mechanism for its linear movements over the working area. This hybrid kinematic scheme makes it possible to create a manipulator with the necessary mobility and the angle of rotation of the output link, on which the surgical instrument is ultimately installed. [20] In more detail, the technical result of the invention is achieved due to the fact that the combined manipulator of the robotic surgical complex includes a mechanism 100 provided with drive elements 200 and made in the form of a fixed support platform 110 and a movable platform 120 connected to each other by means of three rods 130, a movable platform 120 the mechanism 100 is configured to receive a surgical instrument 500 thereon; and a portal mechanism 300 made in the form of a transverse movement module and a longitudinal movement module, each of which is provided with a drive unit 400; the drive elements 200 and the drive units 400 are configured to transmit and / or receive data from the control system of the robotic surgical complex. In this case, the mechanism 100 is installed on the transverse movement module with the ability to move along it in the transverse direction, and the transverse movement module is installed on the longitudinal movement module with the ability to move along it in the longitudinal direction. Moreover, each rod 130 of the mechanism 100 with one end

132 through the bearing assembly 290 is connected to the corresponding drive element 200, fixed on the fixed support platform 110, and the other end 131 through the Hooke's hinge

133 - with a movable platform 120. Moreover, each of these modules of the portal mechanism 300 is made in the form of a support frame of four rails arranged in pairs perpendicular to each other, and the rails in pairs are arranged in parallel, while one pair of rails is equipped with linear guides. Moreover, on the linear guide rails of the first pair 310 of the transverse movement module, there are carriages 312 with a fixed support platform 110 attached to them for transverse movement of the mechanism 100, and on the linear guide rails of the first pair 330 of the longitudinal movement module there are two carriages 332 with fixed on each of them a mounting platform 322, which is fixed on the mounting plane of the inner surface of the rails 320 of the second pair of rails of the lateral movement module, for longitudinal movement of the lateral movement module with the mechanism 100.

[21] In some embodiments of the invention, the drive unit 400 of each module of the portal mechanism 300 is based on a synchronous servo drive 410 in conjunction with a precision planetary gear 411.

[22] In some embodiments, the arm further includes a drive member 600 disposed on a movable platform 120 to move a surgical instrument along a single linear axis.

[23] In some embodiments, a servo drive is used as a drive element 200 of the mechanism 100 or a drive element 600 for moving a surgical instrument in conjunction with a backlash-free wave-type precision gearbox or a planetary gearbox with an angular backlash of less than 6 '.

[24] In some embodiments, diametrically opposed fasteners 112 are provided on the fixed support platform 110 of the mechanism 100 for mounting the carriages 312 of the lateral movement module. [25] In some embodiments of the invention, the stationary support platform 110 of the mechanism 100 is provided with platforms 111 oriented towards the movable platform 120 of the mechanism 100 and located relative to each other at an angle of 120 °.

[26] In some embodiments of the invention, the drive element 200 is located on the platform 111 and is made in the form of a servo drive 210 with a ball and a screw drive.

[27] The proposed scheme solves the set problems and provides a sufficient area (working space) for the manipulator.

[28] The use of the proposed scheme will make it possible to create highly accurate, compact, rigid, highly dynamic and at the same time inexpensive manipulators for each (necessary) type of surgical intervention (abdominal surgery, vertebral surgery, etc.), which are maximally verified for the surgical technology.

[29] The objects and advantages of the present invention will become more apparent to those skilled in the art upon consideration of the following detailed description and drawings.

Brief Description of Drawings

[30] The accompanying drawings, which are incorporated and form part of the present specification, illustrate embodiments of the invention and together with the foregoing general description of the invention and the following detailed description of the embodiments serve to explain the principles of the present invention.

[31] Figure 1 depicts the closest analogue to the claimed invention - a portal manipulator of parallel structure.

[32] Figure 2 illustrates the kinematic diagram of the tripod.

[33] Figure 3 is a perspective view of a tripod model according to the present invention.

[34] Figure 4 illustrates a preferred embodiment of a tripod drive member.

[35] Figure 5 illustrates a general view of the structure of the arm.

[36] Figure 6 depicts a general view of a model of a tripod with a surgical instrument installed on its movable platform.

[37] Figure 7 illustrates a general view of the structure of the manipulator with a surgical instrument installed on its movable platform.

Terms and Definitions

[38] For a better understanding of the present invention, below are some of the terms used in the present description of the invention. Unless otherwise specified, technical and scientific terms in this application have the standard meanings generally accepted in the scientific and technical literature.

[39] In the present description and in the claims, the terms "includes", "including" and "includes", "having", "equipped", "containing" and their other grammatical forms are not intended to be construed in an exclusive sense, but , on the contrary, are used in non-exclusive sense (ie, in the sense of "having in its composition"). Only expressions of the type “consisting of” should be considered as an exhaustive list.

[40] In these application materials, the terms “robotic technological complex”, “robotic system”, “robotic complex”, “robotic surgical complex”, “robotic surgical system” mean complex systems or complexes in surgery using a robotic assistant during an operation. "Robot assistive systems" or "robotic assisted surgical systems" are robotic systems designed to perform medical operations. These are not autonomous devices, robotic assistive systems are controlled by surgeons during the operation.

[41] In these application materials, the term "mechatronic complex" or "mechatronic system" means a complex or system with computer control of motion, which is based on knowledge in the field of mechanics, electronics and microprocessor technology, computer science and computer control of the movement of machines and assemblies.

[42] In this application, the term "operator" refers to the performing the operation of the surgeon. The terms "operator" and "surgeon" in the present description of the invention are synonymous.

[43] In the present application materials, the term "manipulator" is understood as a mechatronic mechanism designed to secure and move (change the position) of a surgical instrument during a surgical operation in accordance with given commands from the control system of the robotic surgical complex.

[44] In these application materials, the term "portal mechanism" is understood as a mechanism of a robotic system, consisting of two support (portal) frames, which, upon command from the control system of the robotic surgical complex, can move relative to each other along axes located at an angle of 90 ° relative to each other. friend.

[45] In the present application materials, the terms "longitudinal displacement module" and "lateral displacement module" are understood as mechanisms that ensure the mutually perpendicular movement of one or another element relative to each other.

[46] The term "connected" means operatively connected, and any number or combination of intermediate elements between the connected components (including the absence of intermediate elements) can be used.

[47] In addition, the terms “first”, “second”, “third”, etc. are used simply as conditional markers, without imposing any numerical or other restrictions on the enumerated objects.

Detailed description of the invention

[48] The description of exemplary embodiments of the present invention below is given by way of example only and is intended for illustrative purposes and is not intended to limit the scope of the disclosed invention. [49] Information for the design of a manipulator is research devoted to the optimization of the geometric, kinematic and power parameters of manipulators with mechanisms of a parallel structure, and the development of methods for their calculation and design, as well as the problem of a reasonable choice of design parameters of the manipulator at the design stage and modes of motion when performing various technological operations. The developed mechanism must have a high accuracy and rigidity of the output link and, at the same time, have a working area with a sufficient coverage area. A possible solution is to create a mechanism based on parallel kinematics, the capabilities of which are expanded / supplemented by another mechanism to provide a sufficient working area.

[50] Parallel kinematics mechanisms are devices, the output link of which is connected to the base by several independent kinematic chains. They are characterized by high rigidity, allow you to achieve high accuracy of movements, reduce vibrations, and also optimally distribute forces. Different solutions can be used as a parallel mechanism.

[51] In a preferred embodiment of the invention, the manipulator is a mechatronic device that uses a mechanism that is a conditionally parallel mechanism and is similar in kinematics to a tripod mechanism ("tripod" mechanism), in combination with a mechanism for its linear movement over the working area. For further convenience, in the description, the term "tripod" is used to denote a mechanism that is kinematically similar to that of a tripod. The kinematic diagram of such a tripod is shown in figure 2. It is based on a spatial mechanism and provides the mechanism with two rotational degrees of freedom (around the x and y axes) and one translational degree of freedom (along the z axis), which is a basic requirement for robotic surgery.

[52] In general, the combined manipulator proposed according to the present invention includes a mechanism 100 equipped with drive elements 200 (a mechanism of the "tripod" or tripod type according to the above terminology) and a portal mechanism 300 for ensuring movement of the mechanism 100 along two linear axes, equipped with drive units 400. In this case, the drive elements 200 and the drive units 400 are made with the possibility of transmitting data to the control system of the robotic surgical complex when moving the elements or receiving control signals from the control system of the robotic surgical complex to move the output link of the manipulator to the required position according to the calculated data.

[53] Figure 3 shows a General view of a part of the inventive manipulator (mechanism 100) - General view of the tripod 100. The tripod 100 consists of two platforms: a fixed support platform (base) 110 and a movable platform 120, which are interconnected by three rods 130 constant length.

[54] Three rods 130 are connected at one end 132 through a bearing assembly to the corresponding drive elements 200, and the other ends 131 of the rod 130 are connected through the hinges 133 to the movable platform 120. The rods 130 are universal shafts and the hinges 133 in the preferred embodiment are cardan joints (Hooke's hinges) that provide two degrees of freedom at the attachment point (two rotational degrees of freedom).

[55] The fixed platform 110 is provided with platforms 111 oriented towards the movable platform 120. The platforms 111 together with the fixed platform 110 of the tripod 100 can be made in the form of a single integral part or can be made in the form of separate elements rigidly connected to each other. The pads 111 are directed parallel to the central axis of the tripod, positioned relative to each other at an angle of 120 °.

[56] The mechanism 100 of the "tripod" type is driven by actuating elements 200, which are located on the platform 111. By interconnectedly controlling the three actuating elements 200 according to a certain law, it is possible to move the movable platform 120 of the manipulator tripod in space (two rotations and one linear movement) ... The movable platform 120 of the tripod is its final link, therefore, it is the output link of the tripod.

[57] In some embodiments of the manipulator, the actuator 200 may be any known mechanism to reduce loss of accuracy due to backlash. For example, any known servo drive can be used as the drive element 200 in conjunction with a backlash-free gearbox with zero mechanical backlash, for example, with a backlash-free precision gearbox, preferably wave-type, or with a planetary gearbox with an angular backlash of less than 6 '.

[58] A specific embodiment of a manipulator actuator 200 according to the present invention is shown in Figure 4. The actuator 200 includes a dynamic and precise synchronous ball screw servo 210. Depending on the pitch of the ball screw, the gear ratio of the drive element can be increased or decreased.

[59] The transmission of torque is carried out as follows. A servo drive 210, mounted on a stationary support platform 110, is connected to the ball screw shaft 230 through a coupling 220 and rotates it. In this case, the nut 240 of the ball screw makes translational movements. The nut 240 is secured in a ball screw nut holder 250, which is connected at its lower part to a platform 260 mounted on a movable linear carriage 270. The carriage 270 is made with the possibility of movement along the guide rail 280, fixed on the inner side of the platform 111, mounted perpendicular to the stationary platform 110.

[60] The bearing unit 290 is based on the upper part of the ball screw nut holder 250. Rods 130 (not shown in the drawing).

[61] Thus, the ball screw provides the translational movement of the rods. 130 tripods 100.

[62] An important advantage of the above described mechanism of the "tripod" type is the ability to position the output link (rotary, movable platform) as far away from the drives that form its movement as desired. The distance is determined and regulated by the length of the rods 130. In this case, the drives with a significant mass are mounted on a fixed support platform. This design allows to significantly reduce the dynamic loads on the output link, positioning it at any convenient distance.

[63] To increase the coverage area of the output link of the tripod and for its full positioning in space in the construction of the manipulator, it is proposed to use a portal mechanism of linear movements 300 (figure 5). The design of the portal mechanism 300 provides additionally two linear movements for the tripod 100 in space - longitudinal and transverse. The portal mechanism 300 consists of a transverse movement module, along which the tripod 100 moves in the transverse direction, and a longitudinal movement module, along which the lateral movement module moves in the longitudinal direction. Module structures are located in parallel planes. Each of the modules is made in the form of a rectangular frame.

[64] The transverse movement module is made in the form of a support (portal) frame of four rails arranged in pairs perpendicular to each other, with the rails in pairs being parallel. On the rails 310 of the first pair, from the outside, linear guides 311 of the transverse movement module are installed, along which the carriages 312 move synchronously.

[65] On the rails 320 of another pair (second pair) of the transverse movement module, located perpendicular to the first pair of rails 310, a mounting plane is located on the inner side, on which the mounting pads 322 are fixed. one of the embodiments of the invention can be located at a small distance from the corners of the rectangular frame.

[66] The module of longitudinal movement is also made in the form of a support (portal) frame of four rails arranged in pairs perpendicular to each other, while the rails in pairs are arranged in parallel. On the rails 330 of the first pair of the longitudinal displacement module, from the outside, there are linear guides 331 of the longitudinal displacement module, along which the carriages 332 move synchronously. The first pair of rails 330 of the longitudinal displacement module is located parallel to the second pair of rails 320 of the transverse displacement module in such a way that the carriages 332 cooperate with the corresponding mounting pads 322 of the transverse movement module in order to move it along the x-axis (FIG. 5).

[67] To attach the manipulator to other elements of the robot, the manipulator has special attachments for the manipulator (not shown in the drawing). The design of the arm attachment depends on the design of the robot as a whole. The manipulator mount has surfaces for connecting with other elements of the robot, and there are counter surfaces for connections and fastenings directly with the manipulator. The surfaces for attachment with the manipulator are connected to the manipulator, namely, with specially provided surfaces on one of the frames of the longitudinal movement module of the portal mechanism 300.

[68] The fixed tripod platform 110 is fixed directly to the transverse movement module without the use of any additional kinematic links. The specified connection is carried out as follows. On the fixed platform 110 of the tripod, diametrically opposite "ears" 112 (fastening element) (figure 3) are made for mounting the carriages 312 of the transverse movement module, which move the tripod mechanism 100 along linear guides 311 along the y-axis (figure 5). In the preferred embodiment of the invention, precision rail guides are used as linear guides, which are mounted on the portal frame.

[69] The advantage of the above-described design of the portal mechanism 300 for providing linear movements of the tripod 100 is to create a rigid frame and ensure high accuracy of movements. The arrangement of the tripod 100 with the portal mechanism 300 provides a large coverage of the operating field by the output link of the tripod, while having more compact dimensions of the entire manipulator as a whole in comparison with other variants of the combined manipulators.

[70] The gantry drive unit 400 may be any known mechanism to reduce the loss of accuracy due to backlash during operation.

[71] In a preferred embodiment of the arm, each of the linear axes of the gantry is driven by a precision synchronous servo 410 in conjunction with a belt drive. The 410 servo drive is paired with the 411 precision planetary gearbox. It is required to increase the motor torque and increase the load capacity of the structure. As gearbox 411, any known gearbox with zero mechanical backlash can be used. The belt drive is a polyurethane toothed belt paired with toothed pulleys 412. These drive belts are not stretched due to the pressed-in cord, and thus are not subject to permanent deformation. The elongation caused by peripheral forces and pretension is extremely small. This solution is suitable for high power transmissions and the required accuracy.

[72] The result is a manipulator as a combination of a kinematic solution in the form of a tripod mechanism 100 and a portal mechanism 300 of its linear movements (figure 5). The tripod has two rotational and one translational degrees of freedom. The translational movement (z-axis) is ensured by the synchronous operation of three servomotors in the same direction. The mechanism of linear movements of the tripod provides an additional two degrees of freedom (along the x, y axes).

[73] Thus, the developed manipulator allows the most accurate, at the maximum required angles of rotation, with a minimum weight and size of the structure, to provide displacement of the output link (movable platform of the tripod) around the remote center of movement - point "0".

[74] In one embodiment of the manipulator according to the present invention, a surgical instrument 500 (FIG. 6, FIG. 7) is mounted on the output link of the surgical manipulator, for example, in the form of an end effector 510 with jaws and a drive 550 to control the end effector of the surgical instrument. The actuator 550 is mounted on a platform of a surgical instrument (not shown in the drawing), for which a separate actuator 600 is provided for movement along one linear axis.

[75] The actuator 600 may be any known mechanism to reduce loss of precision due to backlash during operation. In a preferred embodiment of the manipulator, the platform of the surgical instrument in conjunction with the surgical instrument is driven by a linearly accurate synchronous servo motor 610 in conjunction with a belt drive. It provides an additional z-travel to the surgical instrument 500 when movement along this axis, due to the simultaneous operation of the servo motors 210 of the tripod 100, would be insufficient, undesirable or impossible.

[76] To implement the above-described linear movement of the surgical instrument 500 along the z-axis to the movable platform 120 of the tripod, a platform 620 is rigidly attached with a linear guide 630 mounted on it, along which a carriage (not shown in the drawing) is moved with the help of a servo drive 610 platform of the surgical instrument 500.

[77] Such a kinematic scheme allows the insertion of the instrument into the patient's body at point "0" (the point of entry of the surgical instrument into the patient's body) and, using the developed mathematical apparatus of the control system, will ensure the movement of the entire mechanism around this point.

[78] When it becomes necessary to move the manipulator, the surgeon moves the "handle" of the control controller. A digital signal is generated and transmitted to a digital control unit, which is a rack with a numerical control system (hereinafter - "CNC system"). The CNC system converts the coordinates of the handle of the control controller into the coordinates of the executive device (manipulator). It generates drive control signals for each degree of mobility of the actuator in such a way that one or another of its movement corresponds to the direction in which the operator-surgeon acted on the mechanism of the control controller, and it was intuitive for him.

[79] The drive units (drive elements) of the manipulator are linked to the CNC system. They are linked via a common data bus. The CNC system is made with the ability to record data on the received commands. Data transmission media are selected from devices designed to implement the communication process between various devices via wired and / or wireless communication, in particular, such devices can be: GSM modem, Wi-Fi transceiver, Bluetooth or BLE module, GPRS module, NFS, Ethernet, etc.

[80] The manipulator has flexible settings, which allows it to be oriented for different tasks. The use of the proposed scheme will make it possible to create highly accurate, compact, rigid, highly dynamic and, at the same time, inexpensive manipulators for each (necessary) type of surgical intervention, which are maximally verified for the surgical technology.

[81] The applied approach, based on the combination of the tripod structure with the portal mechanism of its linear movements, is theoretically substantiated and confirmed by modeling.

[82] While this patent application relates to an invention as defined in the claims appended below, it is important to note that this patent application contains a basis for the formulation of other inventions that may, for example, be claimed as the subject of the amended claims of the present application or as the subject of claims in a sectoral and / or continuing application. Such an object can be characterized by any feature or combination of features described herein.

Claims

CLAIM 1. Combined manipulator of a robotic surgical complex, including: a mechanism 100, equipped with drive elements 200 and made in the form of a fixed support platform 110 and a movable platform 120 connected to each other by means of three rods 130, the movable platform 120 of the mechanism 100 is configured to accommodate a surgical instrument 500 and a portal mechanism 300 made in the form of a transverse movement module and a longitudinal movement module, each of which is equipped with a drive unit 400, while the drive elements 200 and drive units 400 are configured to transmit and / or receive data from the control system of the robotic surgical complex; while the mechanism 100 is mounted on the transverse movement module with the ability to move along it in the transverse direction, and the transverse movement module is installed on the longitudinal movement module with the ability to move along it in the longitudinal direction, with each rod 130 of the mechanism 100 with one end 132 through the bearing assembly 290 connected to the corresponding drive element 200, fixed on the fixed support platform 110, and the other end 131 through the Hooke hinge 133 to the movable platform 120; moreover, each of the specified modules of the portal mechanism 300 is made in the form of a support frame of four rails arranged in pairs perpendicular to each other, and the rails in pairs are arranged in parallel, while one pair of rails is equipped with linear guides, and on the linear guide rails of the first pair 310 of the transverse movement module there are carriages 312 with a fixed support platform 110 fixed on them for transverse movement of the mechanism 100, and two carriages 332 are placed on the linear guide rails of the first pair 330 of the longitudinal movement module with a mounting platform 322 fixed on each of them, which is fixed on the mounting plane of the inner surface racks 320 of the second pair of rails of the transverse movement module, for longitudinal movement of the transverse movement module with the mechanism 100. 2. Manipulator according to claim 1, characterized in that the drive unit 400 of each module of the portal mechanism 300 is made on the basis of a synchronous servo drive 410 together with a precision planetary gearbox 411. 3. The manipulator of claim 1, further comprising a drive element 600 disposed on the movable platform 120 to move the surgical instrument along a single linear axis. 4. A manipulator according to any one of claims 1-3, characterized in that a servo drive is used as a drive element 200 of the mechanism 100 or a drive element 600 for moving the surgical instrument together with a backlash-free precision wave-type gearbox or with a planetary gearbox with an angular backlash of less than 6 '. 5. Manipulator for and. 1, characterized in that on the fixed support platform 110 of the mechanism 100, diametrically opposed fastening elements 112 are made for mounting the carriages 312 of the transverse movement module. 6. The manipulator according to claim 1, characterized in that the fixed support platform 110 of the mechanism 100 is provided with platforms 111 oriented towards the movable platform 120 of the mechanism 100 and located relative to each other at an angle of 120 °. 7. The manipulator according to claim 6, characterized in that the drive element 200 is located on the platform 111 and is made in the form of a servo drive 210 with a ball and a screw drive.