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WO2025086511A1 - Appareil télescopique et système de robot chirurgical - Google Patents

Appareil télescopique et système de robot chirurgical Download PDF

Info

Publication number
WO2025086511A1
WO2025086511A1 PCT/CN2024/078313 CN2024078313W WO2025086511A1 WO 2025086511 A1 WO2025086511 A1 WO 2025086511A1 CN 2024078313 W CN2024078313 W CN 2024078313W WO 2025086511 A1 WO2025086511 A1 WO 2025086511A1
Authority
WO
WIPO (PCT)
Prior art keywords
shell
lead screw
telescopic
screw
housing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/078313
Other languages
English (en)
Chinese (zh)
Inventor
高恒瑞
何伍伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anteeo Surgical Co Ltd
Original Assignee
Anteeo Surgical Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anteeo Surgical Co Ltd filed Critical Anteeo Surgical Co Ltd
Publication of WO2025086511A1 publication Critical patent/WO2025086511A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present application relates to the technical field of medical devices, and in particular to a telescopic device and a surgical robot system.
  • the telescopic device realizes telescopic movement through a synchronous belt.
  • the telescopic device described above has poor telescopic accuracy, and the positional accuracy of the instrument entering the natural cavity of the human body is low, which will affect the surgical effect.
  • the present application provides a telescopic device and a surgical robot system, aiming to solve the technical problems that the telescopic device in the related technology has poor telescopic accuracy and low positioning accuracy of the instrument entering the natural cavity of the human body, which will affect the surgical effect.
  • the present application provides a telescopic device, including a first shell, a second shell and a third shell, wherein a driving assembly, a first screw and a second screw are arranged in the second shell, the first shell is screwed to the first screw, and the third shell is screwed to the second screw;
  • the driving assembly is connected to the first screw, and is used to drive the first screw to rotate, so that the first shell performs a first telescopic movement relative to the second shell;
  • the driving assembly is connected to the second screw, and is used to drive the second screw to rotate, so that the third shell performs a second telescopic movement relative to the second shell;
  • the second telescopic movement and the first telescopic movement are in opposite directions and parallel to each other.
  • an extension direction of the output shaft of the driving assembly is parallel to a direction of the first telescopic movement.
  • the output shaft of the driving assembly is connected to the first lead screw and to the second lead screw, so that the first lead screw and the second lead screw rotate synchronously.
  • telescopic device optionally, it also includes a first transmission member and a second transmission member, the first end of the first transmission member and the first end of the second transmission member are both connected to the output shaft of the drive assembly, the second end of the first transmission member is connected to the first screw, and the second end of the second transmission member is connected to the second screw.
  • the driving assembly includes a driving member and a driving wheel, the axle of the driving wheel is connected to the driving member;
  • the first transmission member includes a first driven wheel and a first transmission belt, the first transmission belt is wound around the driving wheel and the first driven wheel;
  • the second transmission member includes a second driven wheel and a second transmission belt, the second transmission belt is wound around the driving wheel and the second driven wheel;
  • the first lead screw and the second lead screw rotate in the same direction, and the thread rotation direction of the first lead screw is opposite to the thread rotation direction of the second lead screw.
  • the driving assembly includes a first driving member and a second driving member, the output shaft of the first driving member is connected to the first screw, and the output shaft of the second driving member is connected to the second screw.
  • the output shaft of the driving assembly is connected to the first lead screw, and the first lead screw is connected to the second lead screw, so that the first lead screw and the second lead screw rotate synchronously.
  • the above telescopic device optionally, it further includes a third transmission member and a fourth transmission member, the third transmission member connects the first screw and the fourth transmission member, and the fourth transmission member connects the second screw.
  • the third transmission member includes a first gear
  • the fourth transmission member includes a second gear
  • the axle of the first gear is connected to the first screw
  • the axle of the second gear is connected to the second screw
  • the first gear is meshed with the second gear
  • the first lead screw and the second lead screw rotate in opposite directions, and the thread rotation direction of the first lead screw is the same as the thread rotation direction of the second lead screw.
  • the telescopic device optionally, it further includes a sliding assembly, wherein the sliding assembly includes a first sliding rail, a second sliding rail, a first sliding block and a second sliding block;
  • the first slider is installed on one of the first shell and the second shell, the first slide rail is installed on the other of the first shell and the second shell, and the first slider is slidably connected to the first slide rail;
  • the second slider is installed on one of the second shell and the third shell, the second slide rail is installed on the other of the second shell and the third shell, and the second slider is slidably connected to the second slide rail.
  • the present application further provides a telescopic device, comprising a first housing, a second housing and a third housing, wherein a driving assembly, a first lead screw and a transmission assembly are disposed in the second housing, and the first housing is threadedly connected to the first lead screw for driving the first lead screw to rotate, so that the first housing performs a first telescopic motion relative to the second housing;
  • the driving assembly is connected to the third housing through the transmission assembly, and is used to drive the third housing to perform a second telescopic movement relative to the second housing;
  • the second telescopic movement and the first telescopic movement are in opposite directions and parallel to each other.
  • the driving assembly includes a driving member, a driving wheel, a third driven wheel, and a third transmission belt;
  • the transmission assembly includes a rotating belt and at least two rotating wheels, the axle of the driving wheel is connected to the output shaft of the driving member, the third transmission belt is wound around the driving wheel and the third driven wheel, and the axle of the third driven wheel is connected to the first screw;
  • the rotating belt is wound around at least two rotating wheels, and different parts of the rotating belt are respectively connected to the first shell and the third shell.
  • the present application also provides a surgical robot system, comprising an operating device and the telescopic device, wherein the operating device is mounted on a third shell of the telescopic device.
  • the operating device includes an endoscope, a flexible sheath and a sheath guide, the endoscope is installed in the flexible sheath, the flexible sheath is connected to the first shell of the telescopic device, and the sheath guide is installed in the first shell and is located on the periphery of the flexible sheath.
  • the surgical robot system optionally, it further includes a positioning device, a display device and a trolley device, one end of the positioning device is connected to the other of the first shell and the third shell of the telescopic device, and the trolley device The other end of the device is connected to the trolley device, and the display device is connected to the trolley device.
  • the telescopic device and surgical robot system provided by the present application are provided with a first shell, a second shell, a third shell, and a driving assembly, a first screw and a second screw located in the second shell.
  • the first screw is used to connect with the first shell
  • the second screw is used to connect with the third shell.
  • the driving assembly can drive the first screw and the second screw to rotate, and then drive the first shell and the third shell to move relative to the driving assembly, that is, the first shell can perform a first telescopic movement relative to the second shell, and the third shell can perform a second telescopic movement relative to the second shell, thereby realizing the telescopic function of the telescopic device;
  • the first screw and the second screw can better convert the rotation into It is a linear movement with a high accuracy, so that the movement accuracy of the first telescopic movement and the second telescopic movement is high, which is beneficial to improving the accuracy of telescopic movement of the first shell and the third shell, and can avoid the adverse effects of position errors on the operation;
  • the first lead screw and the second lead screw both have high rigidity, the first shell can move more accurately along the extension direction of the first lead screw, and the third shell can move more accurately along the extension direction of the second lead screw, so that the first telescopic movement and the second telescopic movement have high linear movement accuracy,
  • FIG1 is a schematic diagram of a first structure of a telescopic device provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of a second structure of the telescopic device provided in an embodiment of the present application.
  • FIG3 is a partial cross-sectional structural schematic diagram of a telescopic device provided in an embodiment of the present application from one viewing angle;
  • FIG4 is a schematic diagram of a partial cross-sectional structure of the telescopic device provided in an embodiment of the present application from another perspective;
  • FIG5 is a partial cross-sectional structural schematic diagram of the telescopic device provided in an embodiment of the present application from another viewing angle;
  • FIG6 is a schematic diagram of a third structure of the telescopic device provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of a fourth structure of the telescopic device provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of a fifth structure of the telescopic device provided in an embodiment of the present application.
  • FIG9 is a schematic diagram of the structure of an operating device of a surgical robot system provided in an embodiment of the present application.
  • FIG10 is a schematic diagram of the structure of a surgical robot system provided in an embodiment of the present application.
  • FIG. 11 is a schematic diagram of an application scenario of a surgical robot system provided in an embodiment of the present application.
  • 100- telescopic device 111- first housing; 112- second housing; 113- third housing; 114- first screw; 115- second screw; 101- threading cavity; 102- first nut; 103- second nut 120-driving assembly; 121-driving member; 122-driving wheel; 123-third driven wheel; 124-third transmission belt; 125-first driving member; 126-second driving member; 130-first transmission member; 131-first driven wheel; 132-first transmission belt; 140 - second transmission member; 141 - second driven wheel; 142 - second transmission belt; 150 - third transmission member; 151 - first gear; 160- fourth transmission member; 161- second gear; 170-transmission assembly; 171-rotating belt; 172-rotating wheel; 181-reel; 182-cable; 190-sliding assembly; 191-first slide rail; 192-second slide rail; 193-first slide block; 194-second slide block; 10-Surgical robot system
  • the telescopic device includes a synchronous belt between two brackets, the synchronous belt is wound around two fixed pulleys, and the drive motor is connected to one of the fixed pulleys.
  • the drive motor drives the fixed pulley to rotate, which can realize the rotation of the synchronous belt, and the two brackets can move synchronously.
  • An instrument that enters the natural cavity of the human body is set between the two brackets. The length of the instrument changes with the movement of the bracket, thereby realizing the telescopic device.
  • the embodiments of the present application provide a telescopic device and a surgical robot system, by setting a first shell, a second shell, a third shell, and a driving assembly, a first screw and a second screw located in the second shell, the first screw is used to connect with the first shell, and the second screw is used to connect with the third shell, the driving assembly can drive the first screw and the second screw to rotate, and then can drive the first shell and the third shell to move relative to the driving assembly, that is, the first shell can perform a first telescopic movement relative to the second shell, and the third shell can perform a second telescopic movement relative to the second shell, thereby realizing the telescopic function of the telescopic device; the first screw and the second screw can be relatively The rotation is converted into linear movement better, and the accuracy of linear movement is high, so that the movement accuracy of the first telescopic movement and the second telescopic movement is high, which is beneficial to improving the accuracy of telescopic movement of the first shell
  • FIG1 is a schematic diagram of the first structure of the telescopic device provided in an embodiment of the present application
  • FIG2 is a schematic diagram of the second structure of the telescopic device provided in an embodiment of the present application
  • FIG3 is a schematic diagram of a partial cross-sectional structure of the telescopic device provided in an embodiment of the present application from one viewing angle
  • FIG4 is a schematic diagram of a partial cross-sectional structure of the telescopic device provided in an embodiment of the present application from another viewing angle
  • FIG5 is a schematic diagram of a partial cross-sectional structure of the telescopic device provided in an embodiment of the present application from another viewing angle
  • FIG6 is a schematic diagram of a partial cross-sectional structure of the telescopic device provided in an embodiment of the present application from another viewing angle
  • FIG. 7 is a fourth structural schematic diagram of the telescopic device provided in an embodiment of the present application.
  • the present application provides a telescopic device 100 , including a first shell 111 , a second shell 112 , and a third shell 113 .
  • the first shell 111, the second shell 112 and the third shell 113 may be connected in sequence, that is, the first shell 111 is connected to the second shell 112, and the second shell 112 is connected to the third shell 113.
  • the first shell 111 may be located on the outside of the second shell 112 or on the inside of the second shell 112; correspondingly, the third shell 113 may be located on the outside of the second shell 112 or on the inside of the second shell 112; or, the second shell 112 may be located on the outside of the first shell 111 or the third shell 113 or on the inside of the first shell 111 or the third shell 113.
  • the second shell 112 is located on the inner side of the first shell 111
  • the third shell 113 is located on the inner side of the second shell 112, that is, the first shell 111, the second shell 112 and the third shell 113 are arranged in sequence
  • the first shell 111 is located on the outermost side
  • the third shell 113 is located on the innermost side
  • the second shell 112 is located between the first shell 111 and the third shell 113.
  • the shapes of the first shell 111, the second shell 112 and the third shell 113 can be arbitrary.
  • the shapes of the first shell 111, the second shell 112 and the third shell 113 can be the same, for example, they are all cylinders or cuboids. Of course, they can also be any other shape, for example, the first shell 111 and the second shell 112 are cuboids, and the third shell 113 is a cylinder.
  • the embodiment of the present application does not limit the specific shapes of the first shell 111, the second shell 112 and the third shell 113, nor is it limited to the above examples.
  • first shell 111 and the second shell 112 as rectangular parallelepipeds and the third shell 113 as a cylinder as an example.
  • the first shell 111, the second shell 112 and the third shell 113 are all provided with openings (not shown in the figures), and the openings are used to allow instruments to be inserted into the telescopic device 100 to facilitate the insertion of instruments into the telescopic device 100, which is beneficial to the installation and maintenance of the telescopic device 100.
  • a driving assembly 120, a first lead screw 114 and a second lead screw 115 are provided in the second shell 112, the first shell 111 is screwed to the first lead screw 114, and the third shell 113 is screwed to the second lead screw 115; the driving assembly 120 is connected to the first lead screw 114, and is used to drive the first lead screw 114 to rotate so that the first shell 111 performs a first telescopic movement relative to the second shell 112; and the driving assembly 120 is connected to the second lead screw 115, and is used to drive the second lead screw 115 to rotate so that the third shell 113 performs a second telescopic movement relative to the second shell 112; the second telescopic movement is in opposite directions to the first telescopic movement and is parallel to each other.
  • the first shell 111 can be provided with a first nut 102, the first nut 102 is fixed on the first shell 111, and the first nut 102 is threadedly connected to the first screw 114;
  • the third shell 113 can be provided with a second nut 103, the second nut 103 is fixed on the third shell 113, and the second nut 103 is threadedly connected to the second screw 115.
  • first shell 111 moves closer to the second shell 112
  • third shell 113 moves closer to the second shell 112
  • first shell 111 moves away from the second shell 112
  • third shell 113 moves away from the second shell 112.
  • the first shell 111 and the third shell 113 may be located at opposite sides of the second shell 112, respectively.
  • first shell 111 and the third shell 113 both move closer to the second shell 112 or both move away from the second shell 112
  • the first shell 111 and the third shell 113 move in opposite directions, that is, the first telescopic movement and the second telescopic movement are in opposite directions.
  • first telescopic movement and the second telescopic movement are parallel to each other, so that the parallel telescopic movement of the telescopic device 100 can be achieved, deviation during telescopic movement can be avoided, and the telescopic accuracy of the telescopic device 100 can be improved.
  • the drive assembly 120 may be a motor or a drive device such as a cylinder, which is not limited in the present embodiment.
  • the drive assembly 120 is connected to the first lead screw 114 and the second lead screw 115, which may be directly connected or connected through other transmission devices, which is not limited in the present embodiment.
  • the driving assembly 120 can drive the first lead screw 114 and the second lead screw 115 to rotate, thereby driving the first housing 111 and the third housing 113 to move relative to the driving assembly 120.
  • the first housing 111 can complete the first telescopic movement relative to the second housing 112
  • the third housing 113 can complete the second telescopic movement relative to the second housing 112, thereby realizing the telescopic function of the telescopic device 100.
  • the first lead screw 114 and the second lead screw 115 can convert rotation into linear movement, and the accuracy of the linear movement is high, which can improve the movement accuracy of the first telescopic movement and the second telescopic movement, that is, improve the accuracy of the telescopic device 100, and avoid the adverse effects on the operation caused by position error.
  • first lead screw 114 and the second lead screw 115 both have high rigidity, so that the first shell 111 can move along the extension direction of the first lead screw 114, and the third shell 113 can move along the extension direction of the second lead screw 115.
  • the linear movement accuracy of the first telescopic movement and the second telescopic movement is high, which further improves the accuracy of the telescopic device 100 and can avoid the adverse effects on the operation due to position errors.
  • the first telescopic movement and the second telescopic movement are performed synchronously.
  • the drive assembly 120 can be connected to the first screw 114 and the second screw 115 at the same time, and is used to drive the first screw 114 and the second screw 115 to rotate at the same time, thereby driving the first shell 111 to perform a first telescopic movement relative to the second shell 112, and at the same time driving the third shell 113 to perform a second telescopic movement relative to the second shell 112.
  • the parallel extension and retraction of the telescopic device 100 can be achieved, large errors during extension and retraction can be avoided, and the extension and retraction accuracy of the telescopic device 100 can be improved; at the same time, because the first lead screw 114 and the second lead screw 115 have high rigidity, the extension and retraction changes caused by external forces can also be avoided, thereby improving the stability and reliability of the telescopic device 100, and can better control the surgical process or treatment process.
  • the extension direction of the output shaft of the driving assembly 120 is parallel to the direction of the first telescopic movement.
  • the space occupied by the driving assembly 120 can be reduced, and the internal space distribution of the second shell 112 can be optimized, thereby improving the portability and flexibility of the telescopic device 100 to facilitate adaptation to different application environments.
  • the output shaft of the driving assembly 120 is connected to the first lead screw 114 and the second lead screw 115, so that the first lead screw 114 and the second lead screw 115 rotate synchronously. That is, the driving assembly 120 is connected to the first lead screw 114 and the second lead screw 115 at the same time, so that the first lead screw 114 and the second lead screw 115 can rotate simultaneously, thereby realizing the synchronous telescopic movement of the first housing 111 and the third housing 113.
  • the rotation speeds of the first screw 114 and the second screw 115 can be ensured to be the same, thereby ensuring that the telescopic speeds of the first shell 111 and the third shell 113 are synchronized, avoiding large errors when the telescopic device 100 is telescoped, and improving the stability and reliability of the telescopic device 100.
  • the rotation directions of the first screw 114 and the second screw 115 can be ensured to be the same, thereby ensuring that the telescopic directions of the first shell 111 and the third shell 113 are consistent, avoiding inconsistent telescopic directions, and improving the stability and reliability of the telescopic device 100.
  • the parallel extension and contraction of the telescopic device 100 can be achieved, the offset during extension and contraction can be avoided, and the extension and contraction accuracy of the telescopic device 100 can be improved; at the same time, large errors during extension and contraction of the telescopic device 100 can be avoided, thereby improving the stability and reliability of the telescopic device 100, and better controlling the surgical process or treatment process.
  • the telescopic device 100 also includes a first transmission member 130 and a second transmission member 140, the first end of the first transmission member 130 and the first end of the second transmission member 140 are both connected to the output shaft of the driving assembly 120, the second end of the first transmission member 130 is connected to the first screw 114, and the second end of the second transmission member 140 is connected to the second screw 115.
  • first transmission member 130 can be a transmission element such as a gear or a chain, which is used to transmit the output power of the drive component 120 to the first screw 114
  • second transmission member 140 can also be a transmission element such as a gear or a chain, which is used to transmit the output power of the drive component 120 to the second screw 115.
  • the rotation speed of the first lead screw 114 and the second lead screw 115 can be ensured to be the same, thereby ensuring that the telescopic speeds of the first housing 111 and the third housing 113 are synchronized, avoiding large errors when the telescopic device 100 is telescoped, and improving the stability and reliability of the telescopic device 100.
  • the rotation directions of the first lead screw 114 and the second lead screw 115 can be ensured to be the same, thereby ensuring that the telescopic directions of the first housing 111 and the third housing 113 are consistent, avoiding the situation of inconsistent telescopic directions, and improving the stability and reliability of the telescopic device 100.
  • the parallel extension and contraction of the telescopic device 100 can be achieved, the offset during extension and contraction can be avoided, and the extension and contraction accuracy of the telescopic device 100 can be improved; at the same time, large errors during extension and contraction of the telescopic device 100 can be avoided, thereby improving the stability and reliability of the telescopic device 100, and better controlling the surgical process or treatment process.
  • the driving assembly 120 includes a driving member 121 and a driving wheel 122 , and the axle of the driving wheel 122 is connected to the driving member 121 .
  • the first transmission member 130 includes a first driven wheel 131 and a first transmission belt 132, and the first transmission belt 132 is wound around the driving wheel 122 and the first driven wheel 131, so that when the driving wheel 122 rotates, the first driven wheel 131 can rotate synchronously and drive the first transmission belt 132 to rotate.
  • the second transmission member 140 includes a second driven wheel 141 and a second transmission belt 142, and the second transmission belt 142 is wound around the driving wheel 122 and the second driven wheel 141, so that when the driving wheel 122 rotates, the second driven wheel 141 can rotate synchronously and drive the second transmission belt 142 to rotate.
  • first lead screw 114 and the second lead screw 115 rotate in the same direction, and the thread rotation direction of the first lead screw 114 and the thread rotation direction of the second lead screw 115 are opposite.
  • the driving wheel 122 drives the first driven wheel 131 and the second driven wheel 141 to rotate
  • the first lead screw 114 drives the first shell 111 to move
  • the second lead screw 115 drives the third shell 113 to move.
  • the movement directions of the first shell 111 and the third shell 113 are opposite, thereby realizing the telescopic function of the telescopic device 100.
  • the drive assembly 120 includes a first drive member 125 and a second drive member 126, the output shaft of the first drive member 125 is connected to the first lead screw 114, and the output shaft of the second drive member 126 is connected to the second lead screw 115, that is, the first housing 111 and the third housing 113 can perform telescopic motion independently.
  • the parallel telescopic motion of the first housing 111 and the third housing 113 can be achieved, the efficiency and flexibility of the telescopic device 100 can be improved, and it is convenient to cope with different surgical scenarios or treatment needs.
  • the driving assembly 120 includes a first driving member 125 and a second driving member 126
  • the first driving member 125 and the second driving member 126 can work simultaneously or sequentially, that is, the first telescopic movement and the second telescopic movement can be performed simultaneously or sequentially.
  • the output shaft of the driving assembly 120 is connected to the first lead screw 114, and the first lead screw 114 is connected to the second lead screw 115, so that the first lead screw 114 and the second lead screw 115 rotate synchronously.
  • the first lead screw 114 can drive the second lead screw 115 to rotate while rotating, thereby realizing the synchronous extension and retraction of the first shell 111 and the third shell 113.
  • the rotation speeds of the first screw 114 and the second screw 115 can be ensured to be the same, thereby ensuring that the telescopic speeds of the first shell 111 and the third shell 113 are synchronized, avoiding large errors when the telescopic device 100 is telescoped, and improving the stability and reliability of the telescopic device 100.
  • the rotation directions of the first lead screw 114 and the second lead screw 115 can be ensured to be the same, thereby ensuring that the telescopic directions of the first shell 111 and the third shell 113 are consistent, avoiding inconsistent telescopic directions, and improving the stability and reliability of the telescopic device 100.
  • the parallel extension and contraction of the telescopic device 100 can be achieved, the offset during extension and contraction can be avoided, and the extension and contraction accuracy of the telescopic device 100 can be improved; at the same time, large errors during extension and contraction of the telescopic device 100 can be avoided, thereby improving the stability and reliability of the telescopic device 100, and better controlling the surgical process or treatment process.
  • the telescopic device 100 further includes a third transmission member 150 and a fourth transmission member 160 , the third transmission member 150 connects the first screw 113 and the fourth transmission member 160 , and the fourth transmission member 160 connects the second screw 115 .
  • the third transmission member 150 can be a transmission element such as a gear or a chain, which is used to transmit the output power of the drive assembly 120 to the first screw 114
  • the fourth transmission member 160 can also be a transmission element such as a gear or a chain, which is used to transmit the output power of the drive assembly 120 to the second screw 115.
  • the rotation speeds of the first lead screw 114 and the second lead screw 115 can be ensured to be the same, thereby ensuring that the telescopic speeds of the first housing 111 and the third housing 113 are synchronized, avoiding large errors when the telescopic device 100 is telescoped, and improving the stability and reliability of the telescopic device 100.
  • the rotation directions of the first lead screw 114 and the second lead screw 115 can be ensured to be the same, thereby ensuring that the telescopic directions of the first housing 111 and the third housing 113 are consistent, avoiding the situation of inconsistent telescopic directions, and improving the stability and reliability of the telescopic device 100.
  • the parallel extension and contraction of the telescopic device 100 can be achieved, the offset during extension and contraction can be avoided, and the extension and contraction accuracy of the telescopic device 100 can be improved; at the same time, large errors during extension and contraction of the telescopic device 100 can be avoided, thereby improving the stability and reliability of the telescopic device 100, and better controlling the surgical process or treatment process.
  • the third transmission member 150 includes a first gear 151
  • the fourth transmission member 160 includes a second gear 161.
  • the axle of the first gear 151 is connected to the first screw 114
  • the axle of the second gear 161 is connected to the second screw 115
  • the first gear 151 is meshed with the second gear 161
  • the first screw 114 and the second screw 115 rotate in opposite directions, and the thread rotation direction of the first screw 114 and the thread rotation direction of the second screw 115 are the same.
  • the driving assembly 120 can drive the first lead screw 114 to rotate, the first lead screw 114 drives the first gear 151 to rotate, the first gear 151 drives the second gear 161 to rotate, and the second gear 161 drives the second lead screw 115 to rotate, so that the first lead screw 114 and the second lead screw 115 can rotate simultaneously, so that the rotation speed of the first lead screw 114 and the second lead screw 115 is
  • the first shell 111 and the third shell 113 have the same extension and retraction speed, which avoids large errors when the retractable device 100 is extended and retracted, thereby improving the stability and reliability of the retractable device 100; the first shell 111 and the third shell 113 have the same extension and retraction direction, which avoids inconsistent extension and retraction directions, thereby improving the stability and reliability of the retractable device 100.
  • first lead screw 114 and the second lead screw 115 rotate in opposite directions.
  • the driving assembly 120 drives the first lead screw 114 to rotate, and sequentially rotates the first gear 151, the second gear 161 and the second lead screw 115
  • the first lead screw 114 drives the first shell 111 to move
  • the second lead screw 115 drives the third shell 113 to move.
  • the movement directions of the first shell 111 and the third shell 113 are opposite, thereby realizing the telescopic function of the telescopic device 100.
  • the telescopic device 100 further includes a sliding assembly 190, which may include a first sliding assembly and a second sliding assembly, wherein the first sliding assembly is disposed between the first housing 111 and the second housing 112, and the second sliding assembly is disposed between the second housing 112 and the third housing 113.
  • the first sliding assembly may enable the first housing 111 to slide relative to the second housing 112, and the second sliding assembly may enable the third housing 113 to slide relative to the second housing 112.
  • the first sliding assembly includes a first sliding rail 191 and a first slider 193
  • the second sliding assembly includes a second sliding rail 192 and a second slider 194.
  • the first slider 193 is installed in one of the first shell 111 and the second shell 112, and the first sliding rail 191 is installed in the other of the first shell 111 and the second shell 112, and the first slider 193 can be slidably connected to the first sliding rail 191;
  • the second slider 194 is installed in one of the second shell 112 and the third shell 113, and the second sliding rail 192 is installed in the other of the second shell 112 and the third shell 113, and the second slider 194 can be slidably connected to the second sliding rail 192.
  • the first slide rail 191 can be installed on the second shell 112; when the first slider 193 is installed on the second shell 112, the first slide rail 191 can be installed on the first shell 111; when the second slider 194 is installed on the second shell 112, the second slide rail 192 can be installed on the third shell 113; when the second slider 194 is installed on the third shell 113, the second slide rail 192 can be installed on the second shell 112.
  • first slider 193 and the second slider 194 are both installed on the second shell 112
  • first slide rail 191 and the second slide rail 192 are respectively installed on the first shell 111 and the third shell 113 .
  • the second housing 112 can slide flexibly with the first housing 111 and the third housing 113, thereby improving the user's operating experience.
  • the installation of the two slide rails 191 on the first housing 111 and the third housing 113 can also make the second housing 112 more stable during the sliding process, preventing shaking or instability during the sliding process.
  • the telescopic device 100 also includes a reel 181 and a cable 182, a portion of the cable 182 is wound and connected to the reel 181, the first shell 111 or the third shell 113 has a threading cavity 101, and the other portion of the cable 182 is inserted into the threading cavity 101.
  • the cable 182 can be a mechanical cable, an electrical cable, etc., such as a steel rope, an optical fiber, a metal wire, etc.
  • the length of the cable 182 is greater than the length of the cable 182 wound on the reel 181, so that a portion of the cable 182 is wound on the reel 181, and another portion of the cable 182 is inserted into the threading cavity 101.
  • the cable reel 181 can switch the working state to adjust the winding degree of the cable 182.
  • the cable reel 181 can reduce the winding degree of the cable 182, provide more cables 182 to correspond to the telescopic device 100 with a larger size, and avoid the cable 182 from breaking when the size of the telescopic device 100 becomes larger, thereby affecting the normal use of the surgical robot system;
  • the cable reel 181 can increase the winding degree of the cable 182, provide less cables 182 to correspond to the telescopic device 100 with a smaller size, and avoid the cables in the telescopic device 100 from getting tangled, so as to reduce the crosstalk between the cables 182, thereby affecting the normal use of the surgical robot system.
  • the cable reel 181 may include a mechanical cable reel, an electric cable reel, a hydraulic cable reel, etc., for storing the cable 182.
  • the embodiment of the present application does not limit the specific type of the cable reel 181, nor is it limited to the above examples.
  • the threading cavity 101 can protect the cable 182, prevent the cable 182 from being damaged, and facilitate replacement or repair.
  • FIG8 is a fifth structural schematic diagram of the telescopic device provided in an embodiment of the present application.
  • an embodiment of the present application further provides a telescopic device 100, comprising a first shell 111, a second shell 112 and a third shell 113, wherein a driving assembly 120, a first lead screw 114 and a transmission assembly 170 are arranged in the second shell 112, and the first shell 111 is screwed to the first lead screw 114 for driving the first lead screw 114 so that the first shell 111 performs a first telescopic movement relative to the second shell 112; the driving assembly 120 is connected to the third shell 113 through the transmission assembly 170 for driving the third shell 113 to perform a second telescopic movement relative to the second shell 112; the second telescopic movement is in opposite directions to the first telescopic movement and is parallel to each other.
  • first shell 111 the second shell 112 and the third shell 113 can refer to the above content and will not be elaborated here.
  • the driving assembly 120 can drive the first screw 114 to rotate, and the first screw 114 rotates and drives the first shell 111 to move; the driving assembly 120 can also be connected to the third shell 113 through the transmission assembly 170 and drive the third shell 113 to move.
  • the first shell 111 can be provided with a first nut 102, the first nut 102 is fixed on the first shell 111, and the first nut 102 is threadedly connected to the first screw 114;
  • the third shell 113 can be provided with a second nut 103, the second nut 103 is fixed on the third shell 113, and the second nut 103 is threadedly connected to the second screw 115.
  • the third shell 113 moves closer to the second shell 112; when the first shell 111 moves away from the second shell 112, the third shell 113 moves away from the second shell 112. Since the first shell 111 and the third shell 113 are respectively located on opposite sides of the second shell 112, when the first shell 111 and the third shell 113 both move closer to the second shell 112 or both move away from the second shell 112, the first shell 111 and the third shell 113 move in opposite directions, that is, the first telescopic movement and the second telescopic movement are in opposite directions.
  • first telescopic movement and the second telescopic movement are parallel to each other, so that the parallel telescopic movement of the telescopic device 100 can be achieved, deviation during telescopic movement can be avoided, and the telescopic accuracy of the telescopic device 100 can be improved.
  • the driving assembly 120 can complete the movement of the first shell 111 and the third shell 113 by only driving the first lead screw 114 , that is, complete the first telescopic movement and the second telescopic movement, with low cost.
  • the driving assembly 120 further includes a driving member 121, a driving wheel 122, a third driven wheel 123, and a third transmission belt 124;
  • the transmission assembly 170 includes a rotating belt 171 and at least two rotating wheels 172, the axle of the driving wheel 122 is connected to the output shaft of the driving member 125, the third transmission belt 124 is wound around the driving wheel 122 and the third driven wheel 123, and the axle of the third driven wheel 123 is connected to the first lead screw 114;
  • the rotating belt 171 is wound around at least two rotating wheels 172;
  • Different parts of the rotating belt 171 are respectively connected to the first lead screw 114 and the third housing 113 , so as to drive the third housing 113 to perform a second telescopic movement relative to the second housing 112 .
  • the number of the rotating wheels 172 can be arbitrary, for example, the number of the rotating wheels 172 can be two, three, or four, etc.
  • the embodiment of the present application does not limit the specific number of the rotating wheels 172, nor is it limited to the above examples.
  • the first lead screw 114 is connected to the rotating belt 171 through the first nut 102, and the portion of the rotating belt 171 away from the first nut 102 is connected to the third housing 113.
  • the driving assembly 120 drives the first lead screw 114 to rotate
  • the first lead screw 114 drives the first nut 102 to move
  • the first nut 102 drives the rotating belt 171 and the rotating wheel 172 around the rotating belt 171 to rotate, thereby causing the third housing 113 to move.
  • the driving assembly 120 can drive the first lead screw 114 to rotate, thereby driving the first housing 111 and the third housing 113 to move relative to the driving assembly 120.
  • the first housing 111 can complete the first telescopic movement relative to the second housing 112
  • the third housing 113 can complete the second telescopic movement relative to the second housing 112, thereby realizing the telescopic function of the telescopic device 100.
  • the first lead screw 114 can convert rotation into linear movement, and the linear movement has high precision, which can improve the movement precision of the first telescopic movement and the second telescopic movement, that is, improve the accuracy of the telescopic device 100, and avoid the adverse effects on the operation caused by position error.
  • the first lead screw 114 has a relatively high rigidity, so that both the first shell 111 and the third shell 113 can move along the extension direction of the first lead screw 114, and the linear movement accuracy of the first telescopic movement and the second telescopic movement is relatively high, which further improves the accuracy of the telescopic device 100 and can avoid adverse effects on the operation due to position errors.
  • Figure 9 is a schematic diagram of the structure of the operating device of the surgical robot system provided in an embodiment of the present application
  • Figure 10 is a schematic diagram of the structure of the surgical robot system provided in an embodiment of the present application
  • Figure 11 is a schematic diagram of the application scenario of the surgical robot system provided in an embodiment of the present application.
  • an embodiment of the present application further provides a surgical robot system 10, comprising an operating device 200 and a telescopic device 100 , wherein the operating device 200 is installed on one of the first shell 111 and the third shell 113 of the telescopic device 100 .
  • the operating device 200 may refer to an instrument or surgical instrument that contacts the patient.
  • the operating device 200 may be a monitoring device for obtaining the internal conditions of the patient's natural cavity, which may be a bronchial duct, intestinal tract, ureter, etc. of the human body.
  • the operating device 200 can also reach the lesion site under image and navigation-assisted manual operation, and cooperate with external equipment to achieve surgical operations such as local injection, biopsy sampling, microwave ablation, and ultrasonic lithotripsy.
  • the embodiment of the present application does not limit the specific type of the operating device 200, nor is it limited to the above examples.
  • the operating device 200 includes an endoscope (not shown in the figure), a flexible sheath 210 and a sheath guide 220.
  • the endoscope is installed at one end of the flexible sheath 210.
  • the flexible sheath 210 is connected to the first shell 111 of the telescopic device 100.
  • the sheath guide 220 is installed on the first shell 111 and is located on the outer periphery of the flexible sheath 210.
  • the endoscope is used to obtain image information of the target position
  • the sheath guide 220 is used to provide support and guidance for the flexible sheath 210 to enter and exit the human body, that is, the guide 220 is retractable or foldable, and the retractable direction of the guide 220 can be the same as the direction of the first retractable movement.
  • the flexible sheath 210 has an instrument channel, which can be connected to different devices, such as the endoscope mentioned above, or external devices such as injection equipment and anesthesia equipment.
  • the flexible sheath 210 of the operating device 200 can reach the lesion site under image and navigation-assisted manual operation, and the instrument channel inside the flexible sheath 210 can be used in conjunction with external equipment to achieve local injection, biopsy sampling, microwave ablation, ultrasonic lithotripsy and other surgical operations.
  • the operating device 200 may include a positioning member (not shown in the figure), which can be installed on the flexible sheath 210 to obtain position information of the flexible sheath 210 so that the staff can obtain the current specific position of the flexible sheath 210 inside the human body.
  • a positioning member not shown in the figure
  • the positioning device 300 and the display device 300 are also included.
  • the trolley device 500 is used to carry the positioning device 300, the display device 400, the operating device 200 and the telescopic device 100.
  • the trolley device 500 may have moving wheels to facilitate movement or transfer.
  • the display device 400 can display various information, such as the position of the flexible sheath 210 obtained by the above-mentioned positioning member, or the monitoring of the patient's vital signs, etc.
  • the embodiment of the present application does not limit the specific content displayed by the display device 400, nor is it limited to the above-mentioned examples.
  • the surgical robot system 10 may also include a doctor's console (master hand) and a patient surgical platform (slave hand).
  • the doctor operates on the doctor's console, thereby being able to remotely control the patient surgical platform and perform minimally invasive surgery on the patient using the surgical instruments on the patient surgical platform.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

La présente demande concerne un appareil télescopique et un système de robot chirurgical. Un premier boîtier peut effectuer un premier mouvement télescopique par rapport à un second boîtier, et un troisième boîtier peut effectuer un second mouvement télescopique par rapport au second boîtier, ce qui permet d'obtenir la fonction télescopique de l'appareil télescopique. Une première vis-mère et une seconde vis-mère peuvent convertir efficacement la rotation en mouvement linéaire, et la précision du mouvement linéaire est relativement élevée, ce qui permet à la précision de déplacement du premier mouvement télescopique et du second mouvement télescopique d'être relativement élevée, ce qui permet d'améliorer la précision télescopique du premier boîtier et du troisième boîtier. De plus, la première vis-mère et la seconde vis-mère présentent toutes deux une rigidité relativement élevée ; le premier boîtier peut se déplacer relativement précisément dans une direction d'extension de la première vis-mère, et le troisième boîtier peut se déplacer relativement précisément dans une direction d'extension de la deuxième vis-mère, ce qui permet au premier mouvement télescopique et au deuxième mouvement télescopique d'avoir une précision de mouvement linéaire relativement élevée, ce qui permet d'améliorer la précision télescopique du premier boîtier et du troisième boîtier, de telle sorte que les effets indésirables d'erreurs de position sur la chirurgie peuvent être évités.
PCT/CN2024/078313 2023-10-24 2024-02-23 Appareil télescopique et système de robot chirurgical Pending WO2025086511A1 (fr)

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