CN216455278U

CN216455278U - Multi-degree-of-freedom minimally invasive surgery robot tail end based on cord driving

Info

Publication number: CN216455278U
Application number: CN202120030347.6U
Authority: CN
Inventors: 冯永威; 郭语; 毛宇斌; 杨佳龙; 葛智溶; 丁爽爽
Original assignee: Jinling Institute of Technology
Current assignee: Jinling Institute of Technology
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2022-05-10
Anticipated expiration: 2031-01-07

Abstract

The utility model provides a multi-degree-of-freedom minimally invasive surgery robot tail end based on cord driving. During operation, the tail end is converted and fixed by utilizing the threads in the joint rod, and the power mechanism drives the thread rope to drive each joint to realize the rotation and swing compound motion of the tail end of the surgical robot, so that the complicated operation corresponding to different operation environments in a narrow space is realized. The minimally invasive surgery is carried out by utilizing the tail end of the surgical robot, the purposes of minimally invasive, precision, high efficiency and the like can be achieved, and the minimally invasive surgical robot has the advantages of small surgical wound, high flexibility, strong maneuverability, few surgical wounds, quick postoperative recovery and the like. The utility model belongs to the field of medical appliances.

Description

Multi-degree-of-freedom minimally invasive surgery robot tail end based on cord driving

Technical Field

The utility model belongs to the field of medical instruments, and particularly relates to a multi-degree-of-freedom minimally invasive surgery robot tail end based on cord driving.

Background

The surgical operation is one of important application scenes of medical instruments, and although the traditional open operation can complete lesion excision, functional reconstruction and wound closure, the traditional open operation also has the defects of large wound, much blood loss, slow recovery, improper lesion excision range and the like. Compared with the traditional operation, the minimally invasive operation greatly reduces the number of wounds, reduces the size of the wound surface from centimeter level to millimeter level, reduces the blood loss in the operation and shortens the postoperative recovery period. In the field of medical surgery, an important trend is toward minimal invasion.

With the development of computer technology, the controllability, the safety and the operation precision of the surgical robot are guaranteed, the surgical robot is an auxiliary tool which can enter clinical experiments, and the introduction of a minimally invasive surgical robot into operation work is a necessary trend.

In order to reduce the wound surface, the volume of a terminal operation unit of the minimally invasive operation robot needs to be reduced as much as possible, but on the premise of ensuring small volume, how to realize flexible operation is always a difficult problem, and meanwhile, how to reasonably utilize a power element to drive the terminal of the robot to realize operation action is also a key research subject.

Disclosure of Invention

The purpose of the utility model is as follows: the utility model provides a multi-degree-of-freedom minimally invasive surgery robot tail end driven by a cord, wherein the cord is used as a power transmission element to drive each moving element of the tail end to move independently, the whole size is small, the operation is sensitive, the physical labor of a doctor in the surgery process is reduced, and the advantages of precise surgery, small surgery wound and less surgery wound are achieved.

The technical scheme is as follows: a multi-degree-of-freedom minimally invasive surgery robot tail end based on cord driving comprises a joint rod, a rotary joint I, a swing joint II, a rotary joint II, a swing joint III, a connecting pin shaft, a joint connecting sheet, a volute spiral spring, a torsion spring, upper surgery forceps, lower surgery forceps, screws and cords; hollow holes are formed in the middle of the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III, a cord can penetrate through the hollow holes, and when the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III are connected, the middle holes are communicated with one another; partial holes are formed in the side walls of the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III for the thread rope to pass through and be fixed, and the end part of the thread rope can be fixed on the side wall of the element in a screw mode and the like; the joint rod is connected with a surgical mechanical arm, the rotary joint I is nested in the joint rod, a volute spiral spring is arranged between the joint rod and the rotary joint I, the volute spiral spring provides certain potential energy to push the joint rod and the rotary joint I to return to an initial position when the joint rod and the rotary joint I rotate relatively, the rotary joint I is connected with a thread rope, the thread rope pulls the rotary joint I to rotate in a reverse direction of the potential energy of the volute spiral spring under the driving of a power mechanism, the rotary joint I is connected with the swing joint I through a connecting pin shaft and a joint connecting sheet, the two joint connecting sheets are movably connected through the connecting pin shaft, the joint connecting sheet is fixedly connected with the rotary joint I and the swing joint I through screws, a plurality of holes are formed in the rotary joint I, the thread ropes are connected to two sides of the joint connecting sheet, and the thread rope is connected with the power mechanism, the power mechanism drives the cotton rope to move so as to drive the swing joint I to swing, the swing joint I is connected with the swing joint II through the connecting pin and the joint connecting sheet, the cotton rope is connected with the power mechanism, and the power mechanism drives the cotton rope to move so as to drive the swing joint II to swing; the connection mode between the rotary joint II and the rotary joint II is the same as that between the rotary joint I and the joint rod, the swing joint III is connected with the rotary joint II through a connecting pin shaft, wire ropes are connected to the two sides of the swing joint III, the swing joint III is swung through pulling of the wire ropes, the end portion of the swing joint III is of a U-shaped structure, an upper operating forceps and a lower operating forceps are connected to the middle of the U-shaped structure through a pin shaft, the upper operating forceps and the lower operating forceps are closed through torsion springs, the upper operating forceps and the lower operating forceps are connected with the wire ropes, and the upper operating forceps and the lower operating forceps can be pulled to be separated from each other through pulling of the wire ropes.

As a further improvement of the utility model, the joint rod is connected with the surgical mechanical arm through a screw thread.

As a further improvement of the utility model, each wire rope is driven by an independent power mechanism to move, and the rotary joint I, the swing joint II, the rotary joint II, the swing joint III, the upper surgical clamp and the lower surgical clamp can independently move under the driving of the wire rope.

As a further improvement of the utility model, one end of the joint rod connected with the rotary joint I is provided with a notch with a certain radian, the rotary joint I is provided with a bulge corresponding to the notch at the end part of the joint rod, the bulge is fixedly connected with a wire rope, the connection mode and the structure between the swing joint II and the rotary joint II are the same as those between the joint rod and the rotary joint I, the rotatable angle between the rotary joint I and the rotary joint II is determined by the radian of the notch, and the sum of the two radian of the notch is not less than 2 pi.

As a further improvement of the utility model, the outer side walls of the end parts of the joint rod and the swing joint II, which are provided with the notches, are also provided with wire grooves, and the included angle between each wire groove and the axis of the joint rod and the axis of the swing joint II is not less than 45 degrees.

As a further improvement of the utility model, the side walls of the rotary joint I and the swing joint I are respectively provided with a through wire slot hole for a wire rope to pass through, and the included angle between the axis of the wire slot hole and the axes of the rotary joint I and the swing joint I is not more than 45 degrees.

Has the advantages that:

the tail end of the multi-degree-of-freedom minimally invasive surgery robot is a transmission system based on cord driving, the number of degrees of freedom is 6 in total, each joint is hollow, cords are arranged through holes in the joints to provide a good surgery working environment, the requirements of surgery operation are met, meanwhile, the structure is small and compact, and the purpose of minimally invasive surgery is achieved.

The utility model has compact structure, utilizes the screw thread in the joint rod to convert and fix the tail end during operation, and drives each joint through the power mechanism to realize the compound motion of rotation and swing of the tail end of the surgical robot, thereby realizing the complex operation in different operation environments in a narrow space. The minimally invasive surgery is carried out by utilizing the tail end of the surgical robot, the purposes of minimally invasive, precision, high efficiency and the like can be achieved, and the minimally invasive surgical robot has the advantages of small surgical wound, high flexibility, strong maneuverability, few surgical wounds, quick postoperative recovery and the like. The utility model belongs to the field of medical appliances.

Drawings

FIG. 1 is a schematic structural diagram of a multi-degree-of-freedom minimally invasive surgery robot end based on cord driving;

FIG. 2 is an exploded view of a multi-degree-of-freedom minimally invasive surgical robot end structure based on wire rope driving;

FIG. 3 is a cross-sectional view of a multi-degree-of-freedom minimally invasive surgical robot end structure based on cord driving;

FIG. 4 is a cross-sectional view of a multi-degree-of-freedom minimally invasive surgical robot end structure based on cord driving;

FIG. 5 is a schematic view of a rotary joint;

FIG. 6 is a sectional view of the rotary joint structure;

FIG. 7 is a schematic view of a swing joint structure;

FIG. 8 is a sectional view of the swing joint structure;

reference numerals: 1. a joint bar; 2. a revolute joint; 3. a swing joint; 4. a swing joint; 5. a revolute joint; 6. a swing joint; 7. connecting a pin shaft; 8. a joint connecting sheet; 9. a volute spiral spring; 10. a torsion spring; 11. mounting surgical forceps; 12. a lower operating forceps; 13. a screw; 14. a thread rope.

For convenience of description, different cords in the drawings are indicated by different numbers "14-N", where N is an integer from 1 to 10.

Detailed Description

The utility model will be further elucidated with reference to the following description and embodiments in which:

the multiple-degree-of-freedom minimally invasive surgical robot tail end based on the wire rope driving comprises a joint rod 1, a rotary joint I2, a swing joint I3, a swing joint I3I, a rotary joint I2I, a swing joint I3II, a connecting pin 7, a joint connecting sheet 8, a volute spiral spring 9, a torsion spring 10, an upper surgical clamp 11, a lower surgical clamp 12, a screw 13 and a wire rope 14; hollow holes are formed in the middles of the joint rod 1, the rotating joint I2, the swinging joint I3, the swinging joint I3I, the rotating joint I2I and the swinging joint I3II, the thread rope 14 can penetrate through the hollow holes, and when the joint rod 1, the rotating joint I2, the swinging joint I3, the swinging joint I3I, the rotating joint I2I and the swinging joint I3II are connected, the middle holes are communicated with one another; partial holes are formed in the side walls of the joint rod 1, the rotating joint I2, the swinging joint I3, the swinging joint I3I, the rotating joint I2I and the swinging joint I3II for the wire rope 14 to pass through and be fixed, and the end part of the wire rope 14 can be fixed on the side wall of the above elements in a screw 13 mode or the like. Each wire rope 14 is driven to move by an independent power mechanism, and each wire rope 14 can move independently.

The joint rod 1 is connected with a surgical manipulator through a threaded structure, the rotary joint I2 is nested in the joint rod 1, a volute spring 9 is arranged between the joint rod 1 and the rotary joint I2, notches of the joint rod 1 and the rotary joint I2 are provided with slots for fixing the volute spring 9, the volute spring 9 provides certain potential energy, when the joint rod 1 and the rotary joint I2 rotate relatively, the joint rod 1 and the rotary joint I2 are pushed to return to the initial position, the rotary joint I2 is connected with a wire rope 14, the wire rope 14 pulls the rotary joint I2 to rotate towards the reverse direction of the potential energy of the volute spring 9 under the driving of a power mechanism, the rotary joint I2 is connected with the rotary joint I3 through a connecting pin 7 and a joint connecting piece 8, the two joint connecting pieces 8 are movably connected through the connecting pin 7, the joint connecting piece 8 is fixedly connected with the rotary joint I2 and the rotary joint I3 through a screw 13, the inner part of the rotating joint I2 is provided with a plurality of holes, the two sides of the joint connecting sheet 8 are both connected with a cord 14, the cord 14 is connected with a power mechanism, the power mechanism drives the cord 14 to move so as to drive the swinging joint I3 to swing, the swinging joint I3 is connected with a swinging joint I3I through a connecting pin and the joint connecting sheet 8, the two sides of the joint connecting sheet 8 are both connected with the cord 14, the cord 14 is connected with the power mechanism, and the power mechanism drives the cord 14 to move so as to drive the swinging joint I3I to swing; the connection mode between the rotating joint I2I and the rotating joint I2I is the same as that between the rotating joint I2 and the joint rod 1, the swinging joint I3II is connected with the rotating joint I2I through a connecting pin 7, wire ropes 14 are connected to two sides of the swinging joint I3II, the swinging of the swinging joint I3II is realized through pulling of the wire ropes 14, the end of the swinging joint I3II is of a U-shaped structure, an upper operating forceps 11 and a lower operating forceps 12 are connected to the middle of the U-shaped structure through pins, the upper operating forceps 11 and the lower operating forceps 12 are closed through a torsion spring 10, the upper operating forceps 11 and the lower operating forceps 12 are connected with the wire ropes 14, and the upper operating forceps 11 and the lower operating forceps 12 can be pulled to be separated from each other through pulling of the wire ropes 14.

As shown in fig. 5 and 7, a gap with a certain radian is formed at one end of the joint rod 1 connected with the rotary joint I2, a protrusion is formed on the rotary joint I2 corresponding to the gap at the end of the joint rod 1, a connection rope 14 is fixedly connected to the protrusion, the connection mode between the swing joint I3I and the rotary joint I2I is the same as that between the joint rod 1 and the rotary joint I2, the rotatable angle between the rotary joint I2 and the rotary joint I2I is determined by the radian of the gap, and the sum of the radians of the two gaps is not less than 2 pi, so that the 360-degree rotation of the whole surgical end can be ensured, and the winding caused by the rotation of the single rope 14 over one circle can be avoided. The outer side walls of the end parts of the joint rod 1 and the swinging joint I3I, which are provided with the notches, are also provided with wire grooves, and the wire grooves and the axes of the joint rod 1 and the flapping joint II form an angle of not less than 45 degrees, so that the rotating joint I2 and the rotating joint I2I can be pulled to rotate better.

As shown in fig. 3, 4 and 8, the side walls of the rotary joint I2 and the swing joint I3 are provided with through slot holes for the wire 14 to pass through, and the included angle between the axis of the slot holes and the axes of the rotary joint I2 and the swing joint I3 is not more than 45 degrees, so that the wire 14 can be better pulled to rotate.

The specific operation will be described below with reference to the drawings, and all the cords will be distinguished.

The joint rod 1 is connected with a surgical mechanical arm through threads, the rotary joint 2 is nested in the joint rod 1, slits are formed in the joint rod 1 and the rotary joint I2 to fix the spiral spring 9, the rotary joint I2 is rotated through the spiral spring 9 and the wire rope 14-1, the rotary joint I2 is connected with the swing joint I3 through the connecting pin shaft 7 and the joint connecting piece 8, the joint is fixed with the joint connecting piece 8 through the screw 13, a plurality of holes are formed in the rotary joint I2, and swing of the swing joint I3 is achieved through the wire rope 14-2 and the wire rope 14-3, as shown in figures 7 and 8.

The swing joint II4 is connected with the swing joint I3 through a connecting pin shaft 7 and a joint connecting sheet 8, the joint and the joint connecting sheet 7 are fixed through a screw 13, and swing of the swing joint II4 is realized through a cord 14-4 and a cord 14-5.

The rotary joint II5 is nested inside the swing joint II4, slits are formed in notches of the swing joint II4 and the rotary joint II5 to fix the spiral spring 9, the rotation of the rotary joint 5 is realized through the spiral spring 9 and the wire rope 14-6, the swing joint III6 is connected with the rotary joint II5 through the connecting pin shaft 7, the swing of the swing joint III6 is realized through the wire rope 14-7 and the wire rope 14-8, the upper surgical forceps 11 and the lower surgical forceps 12 are connected with the swing joint III6 through the connecting pin shaft 7, the upper surgical forceps 11 and the lower surgical forceps 12 are provided with grooves for clamping the torsion spring 10, and the opening and closing of the surgical forceps are realized through the torsion spring 10 and the wire ropes 14-9 and 14-10.

During surgery, the tail end is converted and fixed by utilizing threads in the joint rod 1, the rotation of the rotary joint I2 is realized by driving the wire rope 14-1, the swing of the swing joint I3 is realized by driving the wire rope 14-2 and the wire rope 14-3, the swing of the swing joint II4 is realized by driving the wire rope 14-4 and the wire rope 14-5, the rotation of the rotary joint II5 is realized by driving the wire rope 14-6 and the volute spring 9, the swing of the swing joint III6 is realized by driving the wire rope 14-7 and the wire rope 14-8, and the opening and closing of the surgical forceps are realized by driving the wire ropes 14-9, 14-10 and the torsion spring 10. Thereby drive each joint through power unit drive cotton rope and realize the terminal rotation of surgical robot and the compound motion of swing during the operation, realize dealing with different operation environment under narrow and small space and carry out complicated operation. The minimally invasive surgery is carried out by utilizing the tail end of the surgical robot, the purposes of minimally invasive, precision, high efficiency and the like can be achieved, and the minimally invasive surgical robot has the advantages of small surgical wound, high flexibility, strong maneuverability, few surgical wounds, quick postoperative recovery and the like.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.

Claims

1. A multi-degree-of-freedom minimally invasive surgery robot tail end based on cord driving is characterized by comprising a joint rod, a rotary joint I, a swing joint II, a rotary joint II, a swing joint III, a connecting pin shaft, a joint connecting sheet, a volute spiral spring, a torsion spring, upper surgical forceps, lower surgical forceps, screws and cords; hollow holes are formed in the middle of the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III, a cord can penetrate through the hollow holes, and when the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III are connected, the middle holes are communicated with one another; partial holes are formed in the side walls of the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III for a thread rope to pass through and be fixed, and the end parts of the thread rope are fixed on the side walls of the joint rod, the rotating joint I, the swinging joint II, the rotating joint II and the swinging joint III in a screw mode; the joint rod is connected with a surgical mechanical arm, the rotary joint I is nested in the joint rod, a volute spiral spring is arranged between the joint rod and the rotary joint I, the volute spiral spring provides certain potential energy to push the joint rod and the rotary joint I to return to an initial position when the joint rod and the rotary joint I rotate relatively, the rotary joint I is connected with a thread rope, the thread rope pulls the rotary joint I to rotate in a reverse direction of the potential energy of the volute spiral spring under the driving of a power mechanism, the rotary joint I is connected with the swing joint I through a connecting pin shaft and a joint connecting sheet, the two joint connecting sheets are movably connected through the connecting pin shaft, the joint connecting sheet is fixedly connected with the rotary joint I and the swing joint I through screws, a plurality of holes are formed in the rotary joint I, the thread ropes are connected to two sides of the joint connecting sheet, and the thread rope is connected with the power mechanism, the power mechanism drives the cotton rope to move so as to drive the swing joint I to swing, the swing joint I is connected with the swing joint II through the connecting pin and the joint connecting sheet, the cotton rope is connected with the power mechanism, and the power mechanism drives the cotton rope to move so as to drive the swing joint II to swing; the connection mode between the rotary joint II and the rotary joint II is the same as that between the rotary joint I and the joint rod, the swing joint III is connected with the rotary joint II through a connecting pin shaft, wire ropes are connected to the two sides of the swing joint III, the swing joint III is swung through pulling of the wire ropes, the end portion of the swing joint III is of a U-shaped structure, an upper operating forceps and a lower operating forceps are connected to the middle of the U-shaped structure through a pin shaft, the upper operating forceps and the lower operating forceps are closed through torsion springs, the upper operating forceps and the lower operating forceps are connected with the wire ropes, and the upper operating forceps and the lower operating forceps can be pulled to be separated from each other through pulling of the wire ropes.

2. The string-driven multiple degree of freedom minimally invasive surgical robot tip according to claim 1, wherein the joint rod is connected to a surgical robotic arm by a thread.

3. The string-driven multiple-degree-of-freedom minimally invasive surgical robot tail end according to claim 1 or 2, characterized in that each string is driven to move by an independent power mechanism, and the rotary joint I, the swing joint II, the rotary joint II, the swing joint III, the upper surgical clamp and the lower surgical clamp can move independently under the driving of the strings.

4. The string-driven multiple degree of freedom minimally invasive surgical robot tip according to claim 3, wherein a gap with a certain radian is formed at one end of the joint rod connected with the rotary joint I, a protrusion is formed on the rotary joint I corresponding to the gap at the end of the joint rod, a wire rope is fixedly connected to the protrusion, the connection mode and the structure between the swing joint II and the rotary joint II are the same as those between the joint rod and the rotary joint I, the rotatable angle between the rotary joint I and the rotary joint II is determined by the radian of the gap, and the sum of the two radians of the gap is not less than 2 pi.

5. The string-driven multiple-degree-of-freedom minimally invasive surgical robot tail end based on claim 4 is characterized in that the outer side wall of the end part of the joint rod and the swing joint II, which are provided with the notches, is further provided with a wire groove, and the included angle between the wire groove and the axis of the joint rod and the axis of the swing joint II is not less than 45 degrees.

6. The string-driven multiple-degree-of-freedom minimally invasive surgical robot tail end based on claim 5 is characterized in that through line slot holes are formed in the side walls of the rotating joint I and the swinging joint I and used for strings to pass through, and the included angle between the axis of each line slot hole and the axis of each of the rotating joint I and the swinging joint I is not more than 45 degrees.