CN115089304A - Multi-arm multi-degree-of-freedom minimally invasive surgery platform - Google Patents
Multi-arm multi-degree-of-freedom minimally invasive surgery platform Download PDFInfo
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- CN115089304A CN115089304A CN202210740216.6A CN202210740216A CN115089304A CN 115089304 A CN115089304 A CN 115089304A CN 202210740216 A CN202210740216 A CN 202210740216A CN 115089304 A CN115089304 A CN 115089304A
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- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000009434 installation Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 description 12
- 238000001356 surgical procedure Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000001965 increasing effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 206010052428 Wound Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
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- 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
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- 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
- A61B34/37—Master-slave robots
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention discloses a multi-arm multi-degree-of-freedom minimally invasive surgery platform, which comprises: the movable lifting platforms are symmetrically arranged on two sides of the operating table; the plurality of arc-shaped supporting arms can deflect and move along the length direction of the movable lifting platform; an arc-shaped telecentric mechanism which deflects along the arc-shaped supporting arm; arc heart mechanism includes arc owner bottom plate, sharp module and actuating mechanism are installed respectively to the both sides of arc owner bottom plate, be provided with the apparatus box on the sharp module, sharp module is installed on the fifth slider, and the fifth slider can remove along first arc slide rail, first arc slide rail is installed on arc owner bottom plate, the arc guide rail is installed to the opposite side of arc owner bottom plate, actuating mechanism removes along arc guide rail. The invention solves the problems of complex motion of the minimally invasive surgery robot, poor realization of telecentric motion, small space of a tail end instrument and the like.
Description
Technical Field
The invention relates to the technical field of pleuroperitoneal cavity minimally invasive surgery, in particular to a multi-arm multi-degree-of-freedom minimally invasive surgery platform.
Background
The minimally invasive surgery refers to a surgery mode of extending a minimally invasive surgery instrument into the abdominal cavity of a human body through a plurality of tiny wounds on the body surface to perform surgery under the guidance of an image system, and has the advantages of small wound, quick recovery and small infection risk, so that the minimally invasive surgery instrument can be widely applied to clinic. However, the operation type has the defects that the operation time of the minimally invasive operation is long, the combination of hands and eyes of a doctor is needed, the precision degree of the surgical instrument is deviated to a certain degree, and the operation is influenced.
With the innovation and development of the technology, new technologies such as robotics, computer technology, intelligent recognition, information technology, and bioengineering are emerging and developed, and the development of the robot in the medical service field is promoted. The robot technology is combined with the minimally invasive surgery, so that the developed robot assists the minimally invasive surgery, the problems of poor flexibility, fatigue, interference and the like caused by hand tremor in the surgery are solved, the surgery quality and success rate are improved, the related surgery type is expanded, and the accuracy and flexibility of the surgery operation are improved. However, the existing general minimally invasive surgical robot is difficult to establish a kinematics model with a complex structure, difficult to map a master hand and a slave hand, small in space of a surgical instrument part, easy to interfere and difficult to ensure telecentric motion. Therefore, the invention provides a multi-arm multi-degree-of-freedom minimally invasive surgery platform.
Disclosure of Invention
The invention provides a multi-arm multi-degree-of-freedom minimally invasive surgery platform which solves the problems that a minimally invasive surgery robot is complex in motion, poor in telecentric motion, small in space of a tail end instrument and the like.
In order to achieve the above purpose, the invention provides the following technical scheme:
a multi-arm, multi-degree of freedom, minimally invasive surgical platform comprising:
the movable lifting platforms are symmetrically arranged on two sides of the operating table;
the plurality of arc-shaped supporting arms can deflect and move along the length direction of the movable lifting platform;
an arc-shaped telecentric mechanism which deflects along the arc-shaped supporting arm;
the arc telecentric mechanism comprises an arc main bottom plate, linear modules and a driving mechanism are respectively installed on two sides of the arc main bottom plate, an instrument box is arranged on each linear module, each linear module is installed on a fifth slider, each fifth slider can move along a first arc slide rail, each first arc slide rail is installed on the arc main bottom plate, an arc guide rail is installed on the other side of the arc main bottom plate, and the driving mechanism moves along the arc guide rails.
Furthermore, the driving mechanism comprises a driving motor, the driving motor is mounted on the driving frame, an output end of the driving motor is connected with a first bevel gear, the first bevel gear is meshed with a second bevel gear, an output end of the second bevel gear penetrates through a rotary joint connecting plate to be connected with a gear, the gear is meshed with a rack on the arc-shaped main bottom plate, an arc-shaped groove is formed in the arc-shaped main bottom plate, and an output end of the second bevel gear can move in the arc-shaped groove.
Furthermore, the bottom end of the driving frame is mounted on a first sliding block, the first sliding block moves along the arc-shaped guide rail, the top end of the driving frame is connected with the bottom end of a rotary joint connecting plate, the output end of the second bevel gear penetrates through the connecting position of the driving frame and the rotary joint connecting plate, the top end of the rotary joint connecting plate is connected with a first connecting block, a rotary motor is mounted on the first connecting block, and the rotary motor drives the first connecting block to rotate; the middle part of the outer side of the driving frame is provided with a motor mounting plate, and the driving motor is mounted on the motor mounting plate.
Further, the arc-shaped support arm comprises:
the moving block can move along the length direction of the moving lifting platform;
the sliding main body supporting arm is arranged on the moving block in a deflection manner;
the middle part of the side face of the sliding main body supporting arm is provided with a second arc-shaped sliding rail, a second sliding block capable of moving along the extending direction of the second arc-shaped sliding rail is arranged on the second arc-shaped sliding rail, and the first connecting block is installed on the second sliding block and moves synchronously with the second sliding block.
Further, a sliding joint side cover plate is installed on the outer side of the second slider, a sliding connection block is installed on the outer side of the sliding joint side cover plate, the sliding connection block is connected with the second slider and moves synchronously with the second slider, and the first connection block is installed on the sliding connection block.
Furthermore, the whole sliding main body supporting arm is of an arc-shaped structure, one end of the sliding main body supporting arm is connected with the rotary joint connecting block, the rotary joint connecting block is arranged on the moving block in a deflection mode, and the other end of the sliding main body supporting arm on one moving lifting platform is connected with the corresponding sliding main body supporting arm on the other moving lifting platform.
Further, the moving block includes:
the joint connecting blocks can move along the length direction of the corresponding movable lifting platform, two ends of the top surface of each joint connecting block protrude upwards to form shaft connecting plates respectively, the central connecting line of the two shaft connecting plates is perpendicular to the moving direction of the joint connecting blocks, and the rotary joint connecting blocks are connected with the two shaft connecting plates through rotating shafts;
the power-off brake is arranged on the outer side of the brake mounting plate, and the brake mounting plate is arranged on the outer side of the shaft connecting plate positioned on the outer side;
the encoder is arranged on the inner side of the shaft connecting plate positioned on the inner side and used for recording the rotating angle of the rotating shaft;
the reading head is installed on the inner side of the reading installation plate, the reading installation plate is installed on the inner side of the joint connection block, and the reading head is used for reading data of the movement of the joint connection block.
Further, the mobile lifting platform comprises:
the bottom surface of the mounting bottom plate is provided with a plurality of trundles;
the two side plates are respectively arranged at two ends of the mounting bottom plate in the length direction;
the baffle plate is arranged on one side of the two side plates, which is far away from the operating table;
the limiting blocks are respectively installed on the inner sides of the side plates, the supporting base plate is installed between the two limiting blocks, first sliding rails are arranged on the top surface of the supporting base plate in parallel, magnetic grid rules are arranged between the adjacent first sliding rails, the magnetic grid rules are installed on the supporting base plate, third sliding blocks capable of moving along the length direction of the first sliding rails are arranged on the first sliding rails, and joint connecting blocks are arranged on the corresponding third sliding blocks.
Furthermore, the two ends of the bottom surface of the supporting bottom plate are symmetrically provided with second connecting blocks respectively, a fourth sliding block is installed on the outer side of each second connecting block, the fourth sliding blocks can be arranged along second sliding rails, and the second sliding rails are installed on corresponding side plates.
Furthermore, an electric push rod is installed in the middle of the bottom end of the inner side face of the side plate, and the electric push rod drives the supporting bottom plate to ascend or descend.
In the technical scheme, the multi-arm multi-degree-of-freedom minimally invasive surgery platform provided by the invention has the following beneficial effects:
1. the utility model provides a lift platform has two square degrees of freedom, and the arc support arm has two degrees of freedom, and arc telecentric mechanism has three degree of freedom, through the very big increase flexibility of above-mentioned degree of freedom. And the connection mode of the telecentric mechanism part is modified and adjusted again, so that the problems of insufficient operation space and stroke are corrected. .
2. The tangential adjustment of the incision and the deflection movement of the arc-shaped telecentric mechanism in the operation process are independent, so that the stroke in the operation process is increased, and the operation is more flexible.
3. The connection mode of the arc-shaped telecentric mechanism is modified and adjusted, so that the problems of insufficient operation space and stroke are corrected.
4. The transmission mode of the arc-shaped telecentric mechanism is changed, so that the problems of influence on the surgical precision in chain transmission, such as inaccurate transmission and the like, are solved, single guide is changed into double guide, and the stability and the reliability are improved.
5. The plate application structure is simple to operate, the far center point is easy to determine, the far center movement is easy to realize, and the aerial posture is flexibly adjusted.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic structural diagram of a multi-arm multi-degree-of-freedom minimally invasive surgical platform according to an embodiment of the invention;
FIG. 2 is a schematic view of the connection structure of the movable lifting platform, the arc-shaped supporting arm and the arc-shaped telecentric mechanism in FIG. 1;
FIG. 3 is a schematic view of the arc-shaped telecentric mechanism shown in FIG. 2;
FIG. 4 is a second schematic structural view of the arc-shaped telecentric mechanism shown in FIG. 2;
FIG. 5 is a schematic view of the connection structure of the linear module and the instrument pod of FIG. 3;
FIG. 6 is a schematic view of the connection structure between the arc-shaped supporting arm and the supporting base plate in FIG. 2;
fig. 7 is a schematic structural view of the movable lifting platform in fig. 2.
Description of reference numerals:
10. an operating table;
20. moving the lifting platform; 21. mounting a bottom plate; 22. a caster wheel; 23. a side plate; 24. a baffle plate; 25. a limiting block; 26. a support base plate; 27. a first slide rail; 28. a magnetic grid ruler; 29. a third slider;
231. an electric push rod;
261. a second connecting block; 262. a fourth slider; 263. a second slide rail;
30. an arc-shaped support arm; 31. a moving block; 32. a sliding body support arm; 33. a second arc-shaped slide rail; 34. a second slider; 35. a sliding joint side cover plate; 36. a sliding connection block; 37. a rotary joint connecting block;
310. a joint connecting block; 311. a shaft connecting plate; 312. a power-off brake; 313. a brake mounting plate; 314. an encoder; 315. a reading head; 316. a reading installation plate;
40. an arc-shaped telecentric mechanism; 41. an arc-shaped main bottom plate; 42. a linear module; 43. a drive mechanism; 44. an instrument cartridge; 45. a first arcuate slide rail; 46. an arc-shaped guide rail; 47. a fifth slider;
430. a drive motor; 431. a driving frame; 432. a first bevel gear; 433. a second bevel gear; 434. a rotary joint connecting plate; 435. a gear; 436. a first slider; 437. a first connection block; 438. a rotating electric machine; 439. a motor mounting plate;
411. a rack; 412. an arc-shaped groove.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in FIGS. 1-7;
the embodiment of the invention provides a multi-arm multi-degree-of-freedom minimally invasive surgery platform, which comprises:
the movable lifting platform 20 is symmetrically arranged at two sides of the operating table 10;
two arc-shaped supporting arms 30 capable of deflecting and moving along the length direction of each moving elevating platform 20;
an arc-shaped telecentric mechanism 40 which deflects along the arc-shaped support arm 30, the arc-shaped support arm 30 having a different arc than the arc-shaped telecentric mechanism 40 thereon, such that the arc-shaped telecentric mechanism 40 slides on the arc-shaped support arm 30 in an arc-shaped manner corresponding to a movement around a fixed point; meanwhile, the arc-shaped supporting arm 30 drives the arc-shaped telecentric mechanism 40 to move along the length direction of the movable lifting platform 20, so that the adjustment of a telecentric point in the direction can be realized; the arc-shaped supporting arm 30 drives the arc-shaped telecentric mechanism 40 to be passive, so that the angle of the arc-shaped telecentric mechanism 40 can be realized;
The linear module 42 controls the instrument box 44 on the linear module to linearly extend and retract, so that the arc-shaped telecentric mechanism 40 has the freedom degree in the direction and can perform the probing work.
The arc-shaped supporting arm 30 is in the form of an arc, the arc-shaped telecentric mechanism 40 can move on the arc-shaped supporting arm 30 and can stop at any position, the arc-shaped supporting arm 30 and the arc-shaped telecentric mechanism 40 are different in size and concentric through installation, the arc-shaped telecentric mechanism 40 moves around the coincidence of the arc-shaped telecentric mechanism and the arc-shaped telecentric mechanism when moving, and the coincidence point is a far-center point.
The number of the arc-shaped support arms 30 and the corresponding arc-shaped telecentric mechanisms 40 can be selected according to actual requirements, and the arc-shaped support arms 30 can work independently, or the corresponding arc-shaped support arms 30 positioned on the two movable lifting platforms 20 can be connected and synchronously deflected or moved. During the preparation phase, the operator can select the proper number of the arc-shaped supporting arms 30 to use, determine the using positions of the instruments and the endoscope, mount the instruments on the arc-shaped telecentric mechanism 40 and perform the next operation.
As shown in FIGS. 1-5;
the driving mechanism 43 comprises a driving motor 430, the driving motor 430 is mounted on a driving frame 431, an output end of the driving motor 430 is connected with a first bevel gear 432, the first bevel gear 432 is connected with a second bevel gear 433 in a meshing manner, an output end of the second bevel gear 433 is connected with a gear 435 through a rotary joint connecting plate 434, the gear 435 is connected with a rack 411 on the arc-shaped main bottom plate 41 in a meshing manner, an arc-shaped groove 412 is formed in the arc-shaped main bottom plate 41, and an output end of the second bevel gear 433 can move in the arc-shaped groove 412.
The driving motor 430 is operated to rotate the gear 435 via the first bevel gear 432 and the second bevel gear 433 which are engaged with each other, and to swing the arc-shaped main bottom plate 41 via the rack 411 which is engaged with the gear, even though the arc-shaped main bottom plate 41 has a degree of freedom in the swing direction.
The bottom end of the driving frame 431 is mounted on a first sliding block 436, the first sliding block 436 moves along the arc-shaped guide rail 46, the top end of the driving frame 431 is connected with the top and bottom ends of a rotary joint connecting plate 434, the output end of a second bevel gear 433 passes through the connection between the driving frame 431 and the rotary joint connecting plate 434, the top end of the rotary joint connecting plate 434 is connected with a first connecting block 437, a rotary motor 438 is mounted on the first connecting block 437, and the rotary motor 438 drives the first connecting block 437 to rotate; the middle part of the outer side of the driving frame 431 is provided with a motor mounting plate 439, and the driving motor 430 is mounted on the motor mounting plate 439.
The rotating motor 438 is operated to drive the first connecting block 437 to rotate, so as to drive the arc-shaped telecentric mechanism 40 to rotate, even if the arc-shaped telecentric mechanism 40 has the degree of freedom of the rotating direction.
The arc-shaped telecentric mechanism 40 is beneficial to adjusting the incision position and the incision angle can not be achieved due to the fact that only the eccentric mechanism and the swing joint are combined with the rotary joint to adjust the incision direction, and the small stroke exists in the incision direction. Secondly, the arc-shaped telecentric mechanism 40 and the arc-shaped supporting arm 30 are connected in a relative sliding way, so that the deflection motion part of the arc-shaped telecentric mechanism 40 required for adjusting the incision direction is generated by the relative motion of the arc-shaped telecentric mechanism 40 and the arc-shaped telecentric mechanism, and the deflection motion of the arc-shaped telecentric mechanism 40 can be completely applied to the operation, thereby greatly increasing the operation space of the operation and increasing the flexibility of the operation.
The driving mode of the application replaces the chain transmission of the prior art by gear and rack transmission, and solves the problem that the arc-shaped telecentric mechanism 40 is inaccurate in transmission and affects the operation quality due to long-time use; meanwhile, the double-slide-rail guide is adopted, so that the use process is more stable and reliable, and the transmission precision is increased.
See FIGS. 1-2, 6;
further, the arc-shaped support arm 30 includes:
a moving block 31 which can move along the length direction of the moving elevating platform 20 and enables the arc-shaped supporting arm 30 to have the freedom degree of the moving direction;
a sliding body support arm 32 provided on the moving block 31 and biased so that the arc-shaped support arm 30 has a degree of freedom in the direction of the bias;
the middle part of the side surface of the sliding main body supporting arm 32 is provided with a second arc-shaped slide rail 33, a second slide block 34 capable of moving along the extending direction of the second arc-shaped slide rail 33 is arranged on the second arc-shaped slide rail 33, and the first connecting block 437 is installed on the second slide block 34 and moves synchronously with the second slide block 34.
A sliding joint side cover plate 35 is installed on the outer side of the second slider 34, a sliding connection block 36 is arranged on the outer side of the sliding joint side cover plate 35, the sliding connection block 36 is connected with the second slider 35 and moves synchronously with the second slider 34, and the first connection block 437 is installed on the sliding connection block 36.
The whole sliding body supporting arm 32 is of an arc-shaped structure, one end of the sliding body supporting arm 32 is connected with a rotary joint connecting block 37, the rotary joint connecting block 37 is arranged on the moving block 31 in a deflection mode, and the other end of the sliding body supporting arm 32 on one moving lifting platform 20 is connected with the corresponding sliding body supporting arm 32 on the other moving lifting platform 20.
The moving block 31 includes:
the joint connection block 310 can move along the length direction of the corresponding mobile lifting platform 20, two ends of the top surface of the joint connection block 310 protrude upwards to form shaft connection plates 311, the central connecting line of the two shaft connection plates 311 is perpendicular to the moving direction of the joint connection block 310, and the rotary joint connection block 310 is connected with the two shaft connection plates 311 through a rotating shaft;
the power-off brake 312 is mounted on the outer side of the brake mounting plate 313, and the brake mounting plate 313 is mounted on the outer side of the shaft connecting plate 311 positioned on the outer side;
the encoder 314 is installed on the inner side of the shaft connecting plate 311 on the inner side and used for recording the rotating angle of the rotating shaft;
the reading head 315 is installed on the inner side of the reading installation plate 316, the reading installation plate 316 is installed on the inner side of the joint connection block 310, and the reading head 315 is used for reading data of the movement of the joint connection block 310.
Joint connecting block 310 and sliding connection piece 36, swivel connecting block 37 is the initiative joint, in using, swivel connecting block 37 rotation angle can be adjusted as required, in order to adapt to different height and angle, joint connecting block 310 department installs encoder 214 and loses electric brake 312, in-process of adjustment loses electric brake 312 circular telegram, the pivot can be rotated, can make the rotation axis lock die through breaking off electric brake 312 after moving to suitable position, just so can't move this moment, swivel connecting block 37 and joint connecting block 310 position can not change in the whole operation process.
The integral movement of the arc-shaped telecentric mechanism 40 is an active joint, and the locking is performed after the arc-shaped telecentric mechanism is moved to a proper position. The joints of the arc-shaped support arm 30 are all provided with a data acquisition module (encoder 214) for acquiring the rotation distance. And a zero switch is arranged at the limit position, so that accurate control can be realized.
See FIGS. 1-2, 7;
the mobile lifting platform 20 comprises:
the installation base plate 21 is provided with a plurality of casters 22 on the bottom surface of the installation base plate 21, so that the mobile lifting platform 20 can move along the length direction of the operating table 10, that is, the mobile lifting platform 20 has a degree of freedom in the direction and can drive the position of the far center point of the arc-shaped telecentric mechanism 40 perpendicular to the direction of the operating table 10;
the two side plates 23 are respectively arranged at two ends of the mounting bottom plate 21 in the length direction;
the baffle plate 24 is arranged on one side of the two side plates 23 far away from the operating table 10;
two stopper 25 is installed respectively to the inboard of curb plate 23, installs supporting baseplate 26 between two stopper 25, supporting baseplate 26's top surface parallel arrangement has first slide rail 27, is provided with magnetic grid chi 28 between the adjacent first slide rail 27, magnetic grid chi 28 is installed on supporting baseplate 26, be provided with the third slider 29 that can follow its length direction and remove on the first slide rail 27, joint connecting block 310 sets up on the third slider 29 that corresponds.
The third slide block 29 (moving joint) mainly measures displacement information by using the magnetic scale 28 as a main part; and a zero switch is arranged at the limit position, so that the precise control of the mechanical arm can be realized
The two ends of the bottom surface of the supporting bottom plate 26 are symmetrically provided with second connecting blocks 261 respectively, fourth sliding blocks 262 are installed on the outer sides of the second connecting blocks 261, the fourth sliding blocks 262 can be installed on the corresponding side plates 23 along second sliding rails 263, and the second sliding rails 263 are installed on the corresponding side plates 23.
The bottom mid-mounting of curb plate 23 medial surface has electric putter 231, electric putter 231 drives supporting baseplate 26 and rises or descends, moves lift platform 20 promptly and has the degree of freedom of perpendicular to operating table 10 direction, can drive the position of the far center point direction of height of arc telecentric mirror mechanism 40.
In particular use, the mobile lifting platform 20 is used to provide adjustment of the position of the remote centre in the height direction and along the operating table 10; four identical casters 22 are mounted on the bottom surface of each movable lifting platform 20, each caster 22 has a self-locking mechanism, the distance between the movable lifting platform 20 and the operating table 10 can be adjusted according to actual conditions, two identical electric push rods 231 are used for providing a degree of freedom of movement in the Z direction (vertical direction), the fourth slider 262 freely moves on a corresponding second slide rail 263, and simultaneously drives the supporting base plate 26 to move through a second connecting block 261, so as to provide guidance for the lifting of the supporting base plate 26, the second slide rail 263 and the electric push rods 231 are arranged in parallel, when the electric push rods 231 work, the whole supporting base plate 26 can move together with parts mounted thereon, the third slider 29 can freely move on the first slide rail 27, the magnetic scale 28 and the first slide rail 27 are mounted on the supporting base plate 26 in parallel for measuring and recording movement data along the length direction of the operating table, the limiting blocks 25 are mounted on the supporting base plate 26 and located at two ends of the first slide rail 27 for limiting the movement distance, a micro quick switch is arranged on the limiting block 25 and used for determining the zero point of the joint.
The third slide block 29 on the movable lifting platform 20 is connected with the joint connecting block 310 on the arc-shaped supporting arm 30, and the third slide block and the joint connecting block move simultaneously, and the reading head 315 and the magnetic grid ruler 28 work together to collect and record the moving distance.
The arcuate support arm 30 has two articulations. Respectively, a rotational joint around a rotation center (a rotating shaft) and a sliding joint of the arc-shaped telecentric mechanism 40 on the arc-shaped support arm 30. The pivot sets up between two axle connecting plates 311, and rotary joint connecting block 37 can use the pivot to rotate as the axle, makes arc support arm 30 have along pivot pivoted rotational degree of freedom, installs out electric brake 312 in the outside of axle connecting plate 311 and installs on it, can make the pivot lock dead unable rotation through the mode of outage after rotatory to suitable position, will rotate the joint (rotary joint connecting block 37) and fix. The encoder 315 is mounted on the joint connecting block 37 to record the rotation angle, and further lay a foundation for realizing control. The reading head 315 is mounted on the joint 310 and cooperates with the magnetic scale 28 of the mobile lift platform 20 to record the distance traveled.
The sliding connection block 36 of the arc-shaped supporting arm 30 is connected with the first connection block 437 on the arc-shaped telecentric mechanism 40, when the second slide block 34 slides on the second arc-shaped guide rail 33, the arc-shaped telecentric mechanism 40 is driven to slide together, and the recording of the part is also recorded by adopting a magnetic grid ruler.
The arc-shaped telecentric mechanism 40 has three degrees of freedom, namely rotation, deflection and probing, so that the degree of freedom required in the operation process can be realized; the first arc-shaped slide rail 45 and the arc-shaped guide rail 46 are used for guiding the arc-shaped main board 41 during deflection, and the corresponding fifth slide block 47 and the corresponding first slide block 436 are respectively installed on the first arc-shaped slide rail 45 and the arc-shaped guide rail 46 and can slide to realize deflection of the arc-shaped telecentric mechanism 40. The linear module 42 can move to bring the instrument box 44 mounted thereon to complete the insertion freedom during the operation. The first bevel gear 432 and the second bevel gear 433 convert the axial rotation direction of the driving motor 430, thereby realizing yaw. The second bevel gear 433 is connected with the gear 435, the second bevel gear 433 and the gear 435 rotate coaxially, the gear 435 is engaged with the rack 411 installed on the arc-shaped main bottom plate 41, when the driving motor 430 rotates, the gear 435 is finally converted into the movement of the gear 435 relative to the rack 411 through the conversion of the first bevel gear 432 and the second bevel gear 433, that is, the deflection of the instrument box can be realized, the motor mounting plate 439 is connected with the rotary joint connecting plate 434, the first connecting block 437 is also connected with the rotary joint connecting plate 434, the first connecting block 437 is internally provided with a bearing shaft, the rotary motor 438 is installed on the first connecting block 437, and when the rotary motor 438 works, the rotary joint connecting plate 434 and the following parts can be driven to rotate to realize the rotary movement.
The linear module 42 is controlled by the motor to extend and contract in an internal screw nut pair mode, and meanwhile, the instrument box 44 mounted on the outer side moving slide block of the linear module 42 is driven to stretch and retract, so that the probing and probing movement is completed.
Four identical arc support arms 30 are respectively installed on two sides of the operating table 10, two arc support arms are respectively installed on two sides, one of the arc support arms is a lens holding arm, the other three arc support arms are instrument arms, two structures in the four arc support arms 30 are identical in size, the two groups of arc support arms 30 are identical in structure and size, and the number of the corresponding working arms and the suitable mechanical arms can be selected as the lens holding arms according to specific operation type and patient characteristics in the operation process.
The two arc-shaped supporting arms 30 on each movable lifting platform 20 have different sizes, the arc-shaped supporting arm 30 with a small size can pass through the inner side of the arc-shaped supporting arm 30 with a large size in the standing state, and the arc-shaped supporting arms 30 which are positioned on the two movable lifting platforms 20 and have the same size can move synchronously. Due to the fact that the sizes of the single-side arc-shaped supporting arms 30 are different in the using process, the arc-shaped supporting arms 30 can be adjusted to be crossed in the operation process so as to reduce the distance between the end instruments and increase the practical application range. The design that the size is different but the form is the same is favorable to placing the use in-process and preventing that two machine arc support arms 30 from taking place to interfere, and under the condition that the arc support arm 30 does not use, big or small arc support arm 30 can be retrieved and place and reduce the occupation of space under the non-operating condition in same side.
The invention uses the joint to adjust the position coordinate of the incision and the initial probing direction of the instrument, the corresponding planning needs to be carried out on the coordinate adjusting joints in the preoperative preparation stage, when the proper position and the proper angle are appropriate, the joints can be locked, and the corresponding change can not occur in the whole operation. The three degrees of freedom provided by the arcuate telecentric mechanism 40 are used to perform the corresponding surgical procedure.
The platform adopts a mode of combining an active joint and a passive joint; wherein the movement along the operating table, the pivoting joints and the sliding of the arc-shaped telecentric mechanism 40 on the arc-shaped support arm 30 are in the form of active joints, and the other joints are in the form of passive joints. The passive joint is mainly driven by adopting a motor and the motor after conversion, the active joint is correspondingly adjusted by adopting human hands, and the passive joint is locked after the adjustment is completed to reach a proper position. The active joint will not move any further during the following surgery.
The selection of passive joints mainly combines the overall working requirements, on one hand, the active joints cannot be adopted or are too complicated, and on the other hand, the passive joints are adopted due to the fact that the passive joints need to move all the time.
The locking of the active joint is important, especially for the adjustment at the preoperative stage, and no change occurs during the operation. The active joint is mainly locked in several different ways. The power-off brake 312 is adopted to lock the rotary joint, when the rotary joint needs to be adjusted, the power-on brake 312 is powered on, the power-off brake 312 stops working and can be correspondingly adjusted, after the position adjustment is completed, the power is off, and the locking angle of the power-off brake 312 is fixed. The electromagnetic lock is adopted for controlling the linear moving joint, when the electromagnetic lock needs to be moved, the lock plate of the power-off lock body of the electromagnetic lock is separated and the position is adjusted, and when the position is proper, the lock body and the lock plate are adsorbed to be locked when the electromagnetic lock is powered on, and the adjustment is not performed.
The active joint part realizes the position adjustment of the incision in a dragging mode in the preoperative operation stage, and positions the mechanical arm through electromagnetic locking and brake locking, so that the support is provided for the next operation of the surgical instrument. The detection part independently exists in each active and passive joint to determine the position of each mechanical arm relative to the coordinate system of the operating table, so that the control of the required attitude angle in the operation process is better carried out.
The detection part can determine the position of each mechanical arm relative to the coordinate system of the operating table, so that the control of the required attitude angle in the operation process is better performed. The application of the detecting element of the detecting part corresponds to the form of the joint, a magnetic grid ruler 28 and a reading head 315 are adopted for recording aiming at the moving joint (the third slide block 29), when the third slide block 29 generates relative displacement during working, data are generated, and the data are recorded, so that the moving distance information of the arc-shaped supporting arm 30 in the moving direction is obtained. The rotary joint (joint connecting block 310 and sliding connecting block 36) is in the form of an encoder 214, and when the rotating shaft rotates, the encoder 214 generates data which becomes the basis for the later control.
Because the distance recording needs the existence of the reference point, the invention sets the corresponding limit and the zero point for each joint needing to be recorded, the joint is positioned at the zero point when the work is started, and the movement data or the angle information can be recorded according to the relative displacement with the zero point when the work is started.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (10)
1. A multi-arm multi-degree-of-freedom minimally invasive surgical platform is characterized by comprising:
the movable lifting platforms (20) are symmetrically arranged at two sides of the operating table (10);
a plurality of arc-shaped supporting arms (30) which can deflect and move along the length direction of the movable lifting platform (20);
an arc-shaped telecentric mechanism (40) which deflects along the arc-shaped supporting arm (30);
arc heart mechanism (40) include arc owner bottom plate (41), straight line module (42) and actuating mechanism (43) are installed respectively to the both sides of arc owner bottom plate (41), be provided with apparatus box (44) on straight line module (42), install on fifth slider (47) straight line module (42), and fifth slider (47) can remove along first arc slide rail (45), install on arc owner bottom plate (41) first arc slide rail (45), arc guide rail (46) are installed to the opposite side of arc owner bottom plate (41), actuating mechanism (43) remove along arc guide rail (46).
2. The multi-arm multi-degree-of-freedom minimally invasive surgical platform as claimed in claim 1, wherein the driving mechanism (43) comprises a driving motor (430), the driving motor (430) is mounted on a driving frame (431), the output end of the driving motor (430) is connected with a first bevel gear (432), the first bevel gear (432) is connected with a second bevel gear (433) in a meshed manner, the output end of the second bevel gear (433) is connected with a gear (435) through a rotary joint connecting plate (434), the gear (435) is connected with a rack (411) on an arc-shaped main bottom plate (41) in a meshed manner, an arc-shaped groove (412) is formed in the arc-shaped main bottom plate (41), and the output end of the second bevel gear (433) can move in the arc-shaped groove (412).
3. The multi-arm multi-degree-of-freedom minimally invasive surgical platform as claimed in claim 2, wherein the bottom end of the driving frame (431) is mounted on a first sliding block (436), the first sliding block (436) moves along the arc-shaped guide rail (46), the top end of the driving frame (431) is connected with the bottom end of a rotary joint connecting plate (434), the output end of the second bevel gear (433) passes through the connection position of the driving frame (431) and the rotary joint connecting plate (434), the top end of the rotary joint connecting plate (434) is connected with a first connecting block (437), a rotating motor (438) is mounted on the first connecting block (437), and the rotating motor (438) drives the first connecting block (437) to rotate; the middle part of the outer side of the driving frame (431) is provided with a motor mounting plate (439), and the driving motor (430) is mounted on the motor mounting plate (439).
4. The multi-arm, multi-degree of freedom, minimally invasive surgical platform of claim 1, wherein the arcuate support arm (30) comprises:
a moving block (31) capable of moving along the length direction of the moving lifting platform (20);
a sliding body support arm (32) which is provided on the moving block (31) and is deflected;
the middle part of the side surface of the sliding main body supporting arm (32) is provided with a second arc-shaped sliding rail (33), a second sliding block (34) capable of moving along the extending direction of the second arc-shaped sliding rail (33) is arranged on the second sliding block (34), and a first connecting block (437) is arranged on the second sliding block (34) and moves synchronously with the second sliding block (34).
5. The multi-arm multi-degree-of-freedom minimally invasive surgical platform as claimed in claim 4, wherein a sliding joint side cover plate (35) is mounted on the outer side of the second sliding block (34), a sliding connection block (36) is arranged on the outer side of the sliding joint side cover plate (35), the sliding connection block (36) is connected with the second sliding block (34) and moves synchronously with the second sliding block (34), and the first connection block (437) is mounted on the sliding connection block (36).
6. The multi-arm multi-degree-of-freedom minimally invasive surgical platform as claimed in claim 5, wherein the sliding body support arm (32) is of an arc structure as a whole, one end of the sliding body support arm (32) is connected with a rotary joint connecting block (37), the rotary joint connecting block (37) is arranged on the moving block (31) in a deflection manner, and the other end of the sliding body support arm (32) on one moving lifting platform (20) is connected with a corresponding sliding body support arm (32) on the other moving lifting platform (20).
7. The multi-arm multi-degree-of-freedom minimally invasive surgical platform according to claim 4, wherein the moving block (31) comprises:
the joint connecting block (310) can move along the length direction of the corresponding movable lifting platform (20), two ends of the top surface of the joint connecting block (310) protrude upwards to form shaft connecting plates (311), the central connecting line of the two shaft connecting plates (311) is perpendicular to the moving direction of the joint connecting block (310), and the rotary joint connecting block (310) is connected with the two shaft connecting plates (311) through a rotating shaft;
the power-off brake (312) is mounted on the outer side of the brake mounting plate (313), and the brake mounting plate (313) is mounted on the outer side of the shaft connecting plate (311) positioned on the outer side;
the encoder (314) is arranged on the inner side of the shaft connecting plate (311) positioned on the inner side, and is used for recording the rotating angle of the rotating shaft;
the reading head (315) is installed on the inner side of the reading installation plate (316), the reading installation plate (316) is installed on the inner side of the joint connection block (310), and the reading head (315) is used for reading data of movement of the joint connection block (310).
8. The multi-arm, multi-degree of freedom, minimally invasive surgical platform of claim 1, wherein the mobile lift platform (20) comprises:
the device comprises a mounting base plate (21), wherein a plurality of trundles (22) are arranged on the bottom surface of the mounting base plate (21);
the two side plates (23), the two side plates (23) are respectively arranged at two ends of the mounting bottom plate (21) in the length direction;
the baffle plate (24) is mounted on one side, far away from the operating table (10), of the two side plates (23);
two stopper (25) are installed respectively to the inboard of curb plate (23), install supporting baseplate (26) between two stopper (25), the top surface parallel arrangement of supporting baseplate (26) has first slide rail (27), is provided with between adjacent first slide rail (27) magnetic grid chi (28), install on supporting baseplate (26) magnetic grid chi (28), be provided with third slider (29) that can follow its length direction and remove on first slide rail (27), joint connecting block (310) sets up on corresponding third slider (29).
9. The multi-arm multi-degree-of-freedom minimally invasive surgical platform as claimed in claim 8, wherein second connecting blocks (261) are symmetrically arranged at two ends of the bottom surface of the supporting base plate (26), fourth sliding blocks (262) are mounted on the outer sides of the second connecting blocks (261), the fourth sliding blocks (262) can be mounted along second sliding rails (263), and the second sliding rails (263) are mounted on corresponding side plates (23).
10. The multi-arm multi-degree-of-freedom minimally invasive surgical platform as claimed in claim 8, wherein an electric push rod (231) is installed in the middle of the bottom end of the inner side surface of the side plate (23), and the electric push rod (231) drives the supporting bottom plate (26) to ascend or descend.
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