WO2021155707A1 - 驱动盒、操作臂以及手术机器人 - Google Patents

驱动盒、操作臂以及手术机器人 Download PDF

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Publication number
WO2021155707A1
WO2021155707A1 PCT/CN2020/133277 CN2020133277W WO2021155707A1 WO 2021155707 A1 WO2021155707 A1 WO 2021155707A1 CN 2020133277 W CN2020133277 W CN 2020133277W WO 2021155707 A1 WO2021155707 A1 WO 2021155707A1
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WIPO (PCT)
Prior art keywords
drive
hole
drive shaft
shaft
connecting rod
Prior art date
Application number
PCT/CN2020/133277
Other languages
English (en)
French (fr)
Inventor
张旭
刘放
孙强
王建辰
Original Assignee
深圳市精锋医疗科技有限公司
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Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Publication of WO2021155707A1 publication Critical patent/WO2021155707A1/zh

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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
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • 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

  • This application relates to the technical field of medical devices, and in particular to a drive box, an operating arm and a surgical robot.
  • Minimally invasive surgery refers to the use of laparoscopy, thoracoscopy and other modern medical equipment and related equipment to perform surgery inside the body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Minimally invasive surgical robots usually include a master operating table and a slave operating device.
  • the master operating table is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device, and the slave operating device is used to respond to the control command sent by the master operating console. , And carry out the corresponding surgical operation.
  • the slave operating equipment usually includes a mechanical arm, a power mechanism set on the mechanical arm, and an operating arm.
  • the mechanical arm is used to adjust the position of the operating arm
  • the operating arm is used to extend into the body and perform surgical operations
  • the power mechanism is used to drive the operating arm. Perform the corresponding operation on the end device.
  • the existing operating arm performs a surgical operation
  • there may be a phenomenon of loosening of the connecting rod of the operating arm which causes errors in the rotation of the connecting rod, which in turn leads to the problem of low operation accuracy. Therefore, improving the operating accuracy of the operating arm during surgery is an urgent problem to be solved in the industry.
  • the main purpose of this application is to provide a drive box, an operating arm and a surgical robot, aiming to improve the operating accuracy of the operating arm during minimally invasive surgery.
  • the present application provides a drive box, which is connected to a terminal instrument through a connecting rod and a drive wire passing through the connecting rod.
  • the drive shaft assembly on the base the drive shaft assembly includes a spinning drive shaft wound with a drive wire set and a slave drive shaft connected to the spinning drive shaft through the drive wire set;
  • the slave drive shaft includes a drive shaft for winding The first shaft body of the drive wire set, and a protrusion protruding from the first shaft body in the direction of the axis of the first shaft body, and the connecting rod is on the side close to the slave drive shaft
  • the notch portion is used to accommodate the protrusion when the connecting rod extends into the slave drive shaft, so that when the slave drive shaft rotates, the coupling is driven by the protrusion The rod turns.
  • the present application also provides an operating arm, the operating arm includes the drive box, the connecting rod and the end device as described above, the operating arm also includes the connecting rod penetrating through the connecting rod, and respectively connected with the end The instrument and the drive wire connected to the drive box.
  • the present application also provides a surgical robot, which includes the above-mentioned operating arm.
  • the drive box, the operating arm, and the surgical robot provided by the present application are provided with a self-rotating drive shaft wound with a drive wire group and a slave drive shaft connected to the self-rotating drive shaft through the drive wire group, and the slave drive shaft includes On the first shaft body wound around the drive wire set, and a protrusion protruding from the first shaft body in the direction of the axis of the first shaft body, the connecting rod is close to the slave drive shaft One side is correspondingly provided with a notch, and the notch is used to accommodate the protrusion when the connecting rod extends into the slave drive shaft, so that when the slave drive shaft rotates, the protrusion is driven by the protrusion.
  • the connecting rod rotates. In this way, the rotation accuracy of the connecting rod under the driving action of the slave drive shaft can be improved, thereby improving the operation accuracy of the operating arm.
  • Fig. 1 is a schematic structural diagram of an embodiment of an operating arm of the present application
  • FIG. 2 is a schematic diagram of an assembly structure of an embodiment of the connecting rod, the slave drive shaft and the connecting pipe in FIG. 1;
  • FIG. 3 is a schematic cross-sectional structure diagram of an embodiment along the line A-A in FIG. 2;
  • FIG. 4 is a schematic cross-sectional structure view of another embodiment along the line A-A in FIG. 2;
  • Fig. 5 is a schematic diagram of the assembly structure of another embodiment of the connecting rod, the slave drive shaft and the connecting pipe in Fig. 1;
  • FIG. 6 is an assembly diagram of an embodiment of the pitch angle drive shaft assembly, the swing angle drive shaft assembly, the autorotation drive shaft assembly, and the end opening and closing drive shaft assembly in FIG. 1;
  • FIG. 7 is a schematic view of the structure of FIG. 2 from another angle
  • Fig. 8 is a schematic structural view of an embodiment of the rotation drive shaft, the pitch angle drive shaft, the swing angle drive shaft, or the end opening and closing drive shaft in Fig. 1;
  • FIG. 9 is a schematic structural view of an embodiment of the top view angle of FIG. 1; FIG.
  • FIG. 10 is a simplified structural diagram of an embodiment of the top view angle of FIG. 1;
  • FIG. 11 is a simplified schematic diagram of another embodiment of the top view of FIG. 1;
  • FIG. 12 is a simplified structural diagram of another embodiment of the top view angle of FIG. 1; FIG.
  • FIG. 13 is a simplified structural diagram of still another embodiment of the top view angle of FIG. 1; FIG.
  • Fig. 14 is a schematic structural diagram of an embodiment of the housing in Fig. 1.
  • the terms “connected”, “fixed”, etc. should be understood in a broad sense.
  • “fixed” can be a fixed connection, a detachable connection, or a whole; It is a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless specifically defined otherwise.
  • “fixed” can be a fixed connection, a detachable connection, or a whole; It is a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless specifically defined otherwise.
  • the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.
  • the present application provides a surgical robot.
  • the surgical robot includes a master operating table and a slave operating device.
  • the master operating table is used to send a control command to the slave operating device according to a doctor's operation to control the slave operating device; the slave operating device is used to respond Control commands sent by the main operating console and perform corresponding surgical operations.
  • the slave operating device includes a mechanical arm, a power mechanism arranged on the mechanical arm, and an operating arm, and the operating arm is used to extend into the body to perform a corresponding surgical operation under the driving action of the power mechanism.
  • the operating arm 1 includes a drive box 10, a connecting rod 20, and an end instrument 30 that are sequentially connected.
  • the driving wire connected to the driving box 10.
  • the driving box 10 is connected to the end instrument 30 through a connecting rod 20 and a driving wire passing through the connecting rod 20.
  • the drive box 10 includes a base 11 connected with the connecting rod 20, a drive shaft assembly 12 provided on the base, and a housing 13 provided on the base and accommodating each drive shaft assembly 12.
  • the drive shaft assembly 12 specifically includes a pitch angle drive shaft assembly, a swing angle drive shaft assembly, a rotation drive shaft assembly, and an end opening and closing drive shaft assembly.
  • the relative position of each drive shaft assembly 12 on the base may be specifically Set reasonably according to actual needs.
  • the pitch angle drive shaft assembly and the swing angle drive shaft assembly may be arranged opposite to each other on the base, and the rotation drive shaft assembly and the end opening and closing drive shaft assembly are arranged opposite to each other on the base.
  • the pitch angle drive shaft assembly can also be arranged adjacent to the swing angle drive shaft assembly on the base.
  • the rotation drive shaft assembly and the end opening and closing drive shaft assembly It can also be arranged adjacent to each other on the base.
  • the rotation drive shaft assembly includes a rotation drive shaft 14 wound with a drive wire group 40, a slave drive shaft 15 connected to the rotation drive shaft through the drive wire group 40, and a sleeve A connecting pipe 16 on the connecting rod 20 and fixedly connected to the connecting rod 20.
  • the connecting pipe 16 is used for fixedly connecting the slave drive shaft 15 and the connecting rod 20.
  • the slave driving shaft 15 includes a first shaft 151 for winding the driving wire set 40, and a protrusion 150 protruding from the first shaft 151 in the direction of its axis, Specifically, the protrusion 150 may be protrudingly provided along the axial direction of the slave driving shaft 15 toward the axial center of the slave driving shaft 15; the connecting rod 20 is located on the side close to the slave driving shaft 15 Correspondingly, a notch 200 is provided. The notch 200 is used to accommodate the protrusion 150 when the connecting rod 20 extends into the slave drive shaft 15, so as to pass through the slave drive shaft 15 when the slave drive shaft 15 rotates.
  • the bump 150 drives the connecting rod 20 to rotate.
  • the thickness of the protrusion 150 protruding from the axis of the drive shaft 15, that is, the end position of the protrusion 150 can reach the position of the notch 200, and can be It is stored to the position of the notch 200.
  • the protrusion 150 may continue to extend in the direction of the axis of the slave drive shaft 15 and protrude out of the notch 200 to further prevent the slave drive shaft 15 from moving The connecting rod 20 slips off.
  • the drive box 10 provided by the present application is provided with a self-rotating drive shaft 14 wound with a drive wire group 40 and a slave drive shaft 15 connected to the self-rotating drive shaft 14 through the drive wire group 40, wherein the slave drive shaft 15 is provided with a convex block 150 protruding in the direction of its axis.
  • the connecting rod 20 is provided with a notch 200 corresponding to the side close to the slave drive shaft 15. The notch 200 is used to extend the connecting rod 20
  • the protrusion 150 is accommodated when the slave driving shaft 15 is inserted, so that when the slave driving shaft 15 rotates, the connecting rod 20 is driven to rotate through the protrusion 150. In this way, it can be ensured that when the slave drive shaft 15 rotates, the connecting rod 20 is driven to rotate in time, thereby improving the rotation accuracy of the connecting rod 20 under the driving action of the slave driving shaft 15 and thereby improving the operating arm Operation accuracy of 1.
  • the connecting pipe 16 has a pipe body 160 for extending into the slave drive shaft 15, and the connecting pipe 16 is from a side of the pipe body 160 close to the slave drive shaft 15
  • An elastic member 17 is protruded from the end of the, and the elastic member is used to elastically abut the slave driving shaft 15 after the connecting tube 16 extends into the slave driving shaft 15.
  • the elastic member 17 is a plurality of adjacently arranged tooth-shaped structures, and the tooth-shaped structure has a first side surface 171 and a second side surface 172 oppositely disposed.
  • One side surface 171 is a side surface close to the center of the connecting tube 16, and the second side surface 172 is a side surface of the tooth-like structure protruding away from the center of the connecting tube 16.
  • the second side surface 172 is a convex arc surface.
  • the tooth-like structure is arranged around the center of the connecting pipe 16.
  • the connecting tube 16 has an inner side wall 174 close to the center of the connecting tube 16 and an outer side wall 175 away from the center of the connecting tube 16, and the first side surface 171 is located on the inner side wall 174 and the outer side wall 175 In between, the second side surface 172 is located on a side of the outer side wall 175 away from the center of the connecting pipe 16.
  • the second side surface 172 or the outer side wall 175 of the elastic member 17 extends in a direction away from the center of the connecting pipe 16, and protrudes from the drive shaft 15 Outside the inner wall 170.
  • the elastic member 17 correspondingly has a pressing surface 180 close to the end device 30.
  • the abutting surface 180 can prevent the slave drive shaft 15 from moving in a direction away from the end instrument 30, thereby restricting the slave drive shaft 15 from moving in the axial direction of the connecting rod 20 during the rotation process. Displacement.
  • the shape of the second side surface 172 may not be limited to the arc shape.
  • the convex arc surface can also directly elastically abut the inner side wall 170 of the slave drive shaft 15 to restrict the slave drive shaft 15 from moving along the The connecting rod 20 is displaced in the axial direction.
  • the connecting rod 20 and the connecting pipe 16 are an integral structure, the connecting pipe 16 may not be provided with an elastic member 17, and the slave drive shaft 15 and the connection
  • the tube 16 is provided in an integral structure.
  • the drive box 10 further includes a clamping portion 60, which can be located at the end of the connecting tube 16 close to the end instrument 30, in the direction of the center of the connecting tube 16, and along the connecting tube 16.
  • a mounting groove 50 is recessed in the circumferential direction of the, and the mounting groove 50 is used to receive the clamping portion 60 such as a circlip.
  • the connecting tube 16 can be fixed to the connecting rod 20, thereby restricting the slave drive shaft 15 from moving along the connecting rod 20 during the rotation process. Displacement in the axial direction.
  • the first shaft 151 is used to sleeve on the connecting rod 20 and is fixedly connected to the connecting rod 20, and the slave drive shaft 15 further includes two shafts located opposite to the first shaft 151.
  • the first end body 152 and the second end body 153 protruding from the axial direction of the driving shaft 15 are laterally and away from the first end body 152 and the second end body 153. It can be understood that the first end body 152 and the second end body 153 may be formed protrudingly along the periphery of the two ends of the first shaft body 151.
  • the first shaft body 151 is used to wind the driving wire set 40, and the protrusion 150 is protruded from the first shaft body 151 toward the axis of the slave driving shaft 15 from the driving shaft 15 .
  • the length of the protrusion 150 may be equal to the length of the slave drive shaft 15.
  • the length of the protrusion 150 can also be less than the length of the slave drive shaft 15, and can also be greater than the length of the slave drive shaft 15.
  • the specific length of the protrusion 150 can be based on actual conditions. Need to make reasonable settings.
  • the driving wire group 40 includes a first driving wire 41 close to the first end body 152 side, and a second driving wire 42 close to the second end body 153 side.
  • the first end body 152 is provided with a first guide groove 521 for guiding the first driving wire 41
  • the first shaft body 151 is located on the side of the first end body 152 toward the slave
  • a first accommodating groove (not shown in the figure) is recessed in the axial direction of the drive shaft 15, and the first accommodating groove is in communication with the first guide groove 521 to fix the end of the first driving wire 41 In the first containing groove.
  • the first guide groove 521 guides the driving wire wound in the first receiving groove into the first guide groove 521.
  • the first guide groove 521 may extend into the protrusion 150 and form a termination position in the protrusion 150, and the termination position may be a circular groove. It is understandable that the end of the first driving wire 41 can be fixed to the circular groove, and the specific fixing method is not specifically limited in this application. For example, the end of the first driving wire 41 can be made into a ball or a protruding structure, and received in the circular groove. In addition, the tightening/relaxing length of the first driving wire 41 and the relaxing/tightening length of the second driving wire 42 are correspondingly equal.
  • the second end body 153 is provided with a second guide groove 531 for guiding the second driving wire 42
  • the first shaft body 151 is located on the side of the second end body 153 toward the slave driving
  • a second receiving groove 532 is recessed in the axial direction of the shaft 15, and the second receiving groove 532 is in communication with the second guide groove 531 to fix the end of the second drive wire 42 to the second receiving Slot 532.
  • the second guide groove 531 guides the driving wire wound in the second receiving groove 532 into the second guide groove 531.
  • the second guide groove 531 may extend into the protrusion 150 and form a termination position in the protrusion 150, and the termination position may be a circular groove.
  • the end of the second driving wire 42 can be fixed to the circular groove, and the specific fixing method is not specifically limited in this application.
  • the end of the second driving wire 42 can be made into a ball or a protruding structure, and received in the circular groove.
  • the drive shaft assembly 12 further includes a first drive shaft 121 arranged around the slave drive shaft 15 and opposite to the rotation drive shaft 14, and a second drive shaft arranged around the slave drive shaft 15 opposite.
  • 122 and the third drive shaft 123, the first group of reversing wheels 124, the second group of reversing wheels 125, and the third group of reversing wheels 126 are located above the slave drive shaft 15.
  • the first drive shaft 121 is wound with a first group of drive wires 127 with the opposite winding direction
  • the second drive shaft 122 is wound with a second group of drive wires 128 with the opposite winding direction
  • the third drive shaft 123 A third group of driving wires 129 whose winding direction is opposite is wound.
  • the first set of driving wires 127 are connected to the end instrument 30 through the connecting rod 20 after the reversing action of the first set of reversing wheels 124, and the second set of driving wires 128 are connected to the end instrument 30 through the first set of reversing wheels 124.
  • the connecting rod 20 is connected to the end instrument 30.
  • the first drive shaft 121, the second drive shaft 122, and the third drive shaft 123 may be any one of a pitch angle drive shaft, a swing angle drive shaft, and an end opening and closing drive shaft, respectively.
  • the extending direction of the driving wire group 40 between the rotation driving shaft 14 and the slave driving shaft 15 is parallel to the base, and the first driving wire 127 is connected to the first driving shaft 121
  • the extension direction of the part between the first group of reversing wheels 124 is parallel to the base, and the second group of driving wires 128 is between the second drive shaft 122 and the second group of reversing wheels 125
  • the extension direction of the part of the third group of drive wires 129 between the third drive shaft 123 and the third group of reversing wheels 126 extends parallel to the base. In this way, on the one hand, each group of drive wires can be prevented from slipping out of the receiving grooves on the corresponding drive shafts, and on the other hand, the force loss of the drive wires can be reduced.
  • the rotation drive shaft 14, the pitch angle drive shaft, the swing angle drive shaft, and the end opening and closing drive shaft may all include a second shaft body 141, sleeved on the first shaft.
  • the rotating part 142 includes a first rotating body 144 and a second rotating body 145 disposed oppositely, a first winding part 421 fixedly connected to the first rotating body 144, and a first winding part 421 fixedly connected to the second rotating body 145
  • the second winding portion 422 is connected to the second winding portion 422.
  • the turntable portion 143 has a disk body 430 fixedly connected to the second shaft body 141, and the turntable portion 143 includes a protrusion from the disk body 430 in a direction away from the center of the second shaft body 141.
  • a protrusion 146 is provided to manually rotate the turntable 143 to turn the second shaft 141 back to the initial position when the surgical robot is suddenly powered off, thereby preventing surgical accidents.
  • the turntable portion 143 is gear-shaped. Of course, in other embodiments, the turntable portion 143 may also have other shapes, and is not limited to the gear shape.
  • the first winding part 421 is provided with a first winding groove 147 wound with a first winding driving wire 110
  • the second winding part 422 is provided with a first winding groove 147 wound with a first winding drive wire 110.
  • the second winding groove 148 of the two winding driving wires 120, the first winding driving wire 110 and the second winding driving wire 120 belong to the same group of driving wires, and the same group of driving wires is the driving wire group 40, One of the first group of driving wires 127, the second group of driving wires 128, and the third group of driving wires 129.
  • the first rotating body 144 is provided with a third guide groove 441 for guiding the first winding driving wire 110, and the end of the third guide groove 441 is recessed in a direction away from the first winding portion 421
  • the third receiving groove 442 is used to fix the end of the first winding driving wire 110 in the third receiving groove 442.
  • the second rotating body 145 is provided with a fourth guide groove (not shown in the figure) for guiding the second winding driving wire 120, and the end of the fourth guide groove faces away from the second winding part
  • a fourth accommodating groove (not shown in the figure) is recessed in the 422 direction to fix the end of the second winding driving wire 120 in the fourth accommodating groove.
  • the fixing method of each group of driving wires can be the same as above, and will not be repeated here.
  • the first rotating body 144 is provided with a first through hole (not shown in the figure) for the first bolt (not shown in the figure) to pass through, and the first rotating body 144 is facing away from the One side of the first winding portion 421 is recessed with a first cut (not shown in the figure) in the direction of the first winding portion 421, and the first cut separates the first through hole into a first through hole.
  • a hole (not shown in the figure) and a second hole (not shown in the figure) the first bolt is used to pass through the first hole, the first cut and the second hole in sequence At this time, the first rotating body 144 is fixed to the second shaft 141 by resisting the second shaft 141.
  • the second rotating body 145 is provided with a second through hole (not shown in the figure) for the second bolt (not shown in the figure) to pass through, and the second rotating body 145 is facing away from the second winding part.
  • a second cutout 454 is recessed on one side of the 422 in the direction of the second winding portion 422.
  • the second cutout 454 divides the second through hole into a third hole (not shown in the figure) and a fourth hole. Hole (not shown in the figure), the second bolt is used to resist the second shaft 141 when passing through the third hole, the second notch 454, and the fourth hole in sequence.
  • the second rotating body 145 is fixed on the second shaft body 141.
  • the first group of reversing wheels 124 includes a first wheel 181 and a second wheel 181 for guiding the first group of driving wires 127 wound on the first drive shaft 121 into the connecting rod 20 Wheel 182, the second group of reversing wheels 125 includes a third wheel 183 and a fourth wheel for guiding the second group of drive wires 128 wound on the second drive shaft 122 into the connecting rod 20 184.
  • the third group of reversing wheels 126 includes a fifth wheel 185 and a sixth wheel 186 for guiding the third group of drive wires 129 wound on the third drive shaft 123 into the connecting rod 20 .
  • the first wheel 181, the second wheel 182, the third wheel 183, the fourth wheel 184, the fifth wheel 185, and the sixth wheel 186 are all located above the connecting rod 20, and the position of each wheel It can be set reasonably according to actual needs, and the details will be explained below.
  • the connecting rod 20 and the end instrument 30 are provided with a connecting plate 19, and the connecting plate 19 is provided with a first side close to the third drive shaft 123.
  • the positions of the first through hole 191, the second through hole 192, the third through hole 193, the fourth through hole 194, the fifth through hole 195, and the sixth through hole 196 on the connecting plate 19, can be set reasonably according to actual needs.
  • the above-mentioned relative positions of the through holes in this embodiment can make each driving wire extend into the connecting rod 20 in a vertical direction, avoiding the twisting of the driving wire and reducing the force loss of the driving wire.
  • the first set of driving wires 127 enter the first through hole 191 after being reversed by the first wheel 181, and enter the first through hole 191 after being reversed by the second wheel 182.
  • the third through hole 193, the second set of driving wires 128 enter the second through hole 192 after being reversed by the third wheel 183, and enter the fifth through hole 192 after being reversed by the fourth wheel 184
  • Through holes 195, the third group of driving wires 129 enter the fourth through holes 194 after being reversed through the fifth wheel 185, and enter the sixth through holes 196 after being reversed through the sixth wheel 186 .
  • the first set of driving wires 127 enter the fifth through hole 195 after being reversed through the first wheel 181, and enter the fifth through hole 195 after being reversed through the second wheel 182.
  • the second through hole 192, the second set of driving wires 128 enter the sixth through hole 196 after being reversed by the third wheel 183, and enter the second through hole 196 after being reversed by the fourth wheel 184.
  • Four through holes 194, the third group of driving wires 129 enter the third through hole 193 after being reversed by the fifth wheel 185, and enter the first through hole after being reversed by the sixth wheel 186 191.
  • the first set of driving wires 127 enter the fifth through hole 195 after being reversed through the first wheel 181, and enter the fifth through hole 195 after being reversed through the second wheel 182.
  • the second through hole 192, the second set of driving wires 128 enter the first through hole 191 after being reversed by the third wheel 183, and enter the first through hole 191 after being reversed by the fourth wheel 184.
  • Three through holes 193, the third group of driving wires 129 enter the fourth through hole 194 after being reversed through the fifth wheel 185, and enter the sixth through hole after being reversed through the sixth wheel 186 196.
  • the first set of driving wires 127 enter the sixth through hole 196 after being reversed through the first wheel 181, and enter the sixth through hole 196 after being reversed through the second wheel 182.
  • the fourth through hole 194, the second set of driving wires 128 enter the first through hole 191 after being reversed by the third wheel 183, and enter the first through hole 191 after being reversed by the fourth wheel 184.
  • Three through holes 193, the third group of driving wires 129 enter the fifth through hole 195 after being reversed through the fifth wheel 185, and enter the second through hole after being reversed through the sixth wheel 186 192.
  • the base is provided with a first mounting hole (not shown in the figure) and a second mounting hole (not shown in the figure) which are arranged in a diagonal direction opposite to each other, which are arranged in a diagonal direction opposite to each other.
  • the third mounting hole (not shown in the figure) and the fourth mounting hole (not shown in the figure), as well as the first mounting hole, the second mounting hole, the third mounting hole and the second mounting hole located in the center of the base.
  • the housing 13 includes an upright 130 extending from the base in a direction away from the terminal instrument 30, and a cover connected to the upright 130 and extending in a direction parallel to the base.
  • the cover includes a first cover 131 corresponding to the position of the first mounting hole, a second cover 132 corresponding to the position of the second mounting hole, and a third cover corresponding to the position of the third mounting hole.
  • the first cover 131, the second cover 132, the third cover 133, the fourth cover 134, and the fifth cover 135 are respectively enclosed with the pillar 130 and the base to form an open
  • the first accommodating space 136, the second accommodating space 137, the third accommodating space 138, the fourth accommodating space 139 and the fifth accommodating space 140, the first accommodating space 136 is used for accommodating the rotating drive shaft 14, the
  • the second accommodating space 137 is for accommodating the first drive shaft 121
  • the third accommodating space 138 is for accommodating the second drive shaft 122
  • the fourth accommodating space 139 is for accommodating the third drive shaft 123
  • the fifth accommodating space 140 is used to accommodate the first group of reversing wheels 124, the second group of reversing wheels 125, and the third group of reversing wheels 126.
  • first drive shaft 121, the second drive shaft 122, and the third drive shaft 123 are respectively a pitch angle drive shaft, a swing angle drive shaft, and an end opening and closing drive shaft
  • the rotation drive shaft 14 the pitch angle drive shaft
  • the swing angle drive shaft and the end opening and closing drive shaft respectively enter the corresponding accommodating spaces from the respective mounting holes on the base.
  • the fifth cover 135 includes a first mounting portion 501 for mounting the first set of reversing wheels 124 between the base and the second cover 132, and is located between the base and the second cover 132.
  • the first mounting portion 501 includes a first connecting piece (not shown in the figure) extending from the second cover 132 toward the center of the housing 13
  • An extended first mounting part (not shown in the figure), the first mounting part is provided with a first set of perforations for the first pin to pass through and fix the first set of reversing wheels 124 (in the figure (Not shown);
  • the second mounting portion 502 includes a second connecting member 507 extending from the third cover 133 to the base direction and from the second connecting member 507 to the center direction of the housing 13
  • An extended second mounting member 508, the second mounting member 508 is provided with a second set of perforations 509 for the second pin to pass through and fix the second set of reversing wheels 125;
  • the third mounting portion 503 includes a third connecting piece (not shown in the figure) extending from the fourth cover 134 in the direction of the base, and a third mounting piece extending from the third connecting piece in the center direction of the housing 13 (Not shown in the figure), the third mounting member is provided
  • each cover body and each mounting part are an integral structure, which simplifies the number of structures to a certain extent, making the structure small and compact.
  • the first mounting portion 501, the second mounting portion 502, and the third mounting portion 503 may be independent of the first cover 131, the second cover 132, and the third cover 133, respectively. set up.

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

一种驱动盒（10）、操作臂（1）以及手术机器人，驱动盒（10）通过连杆（20）以及贯穿连杆（20）的驱动丝与末端器械（30）连接，驱动盒（10）包括与连杆（20）连接的底座（11）、设于底座（11）上的驱动轴组件（12），驱动轴组件（12）包括缠绕有驱动丝组（40）的自转驱动轴（14）以及通过驱动丝组（40）与自转驱动轴（14）连接的从驱动轴（15）；从驱动轴（15）包括用于缠绕驱动丝组（40）的第一轴体（151），以及自第一轴体（151）向第一轴体（151）的轴心方向凸设的凸块（150），连杆（20）在靠近从驱动轴（15）的一侧对应设有缺口部（200），缺口部（200）用于在连杆（20）伸入从驱动轴（15）时容纳凸块（150），以在从驱动轴（15）转动时，通过凸块（150）驱动连杆（20）转动。可以提高操作臂（1）在微创手术过程中的操作精度。

Description

驱动盒、操作臂以及手术机器人
本申请要求于2020年2月9日提交中国专利局、申请号为202010083294.4、申请名称为“驱动盒、操作臂以及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，尤其涉及一种驱动盒、操作臂以及手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式，微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。
从操作设备通常包括机械臂、设置于机械臂上的动力机构以及操作臂，机械臂用于调节操作臂的位置，操作臂用于伸入体内，并执行手术操作，动力机构用于驱动操作臂的末端器械执行对应的操作。但现有操作臂在执行手术操作时，可能存在操作臂的连杆发生松动现象，使得所述连杆的转动存在误差，进而导致操作精度较低的问题。因此，提高操作臂在手术过程中的操作精度是业界亟待解决的问题。
申请内容
本申请的主要目的在于提供一种驱动盒、操作臂以及手术机器人，旨在提高操作臂在微创手术过程中的操作精度。
为实现上述目的，本申请提供一种驱动盒，驱动盒通过连杆以及贯穿所述连杆的驱动丝与末端器械连接，所述驱动盒包括与所述连杆连接的底座、 设于所述底座上的驱动轴组件，所述驱动轴组件包括缠绕有驱动丝组的自转驱动轴以及通过所述驱动丝组与所述自转驱动轴连接的从驱动轴；所述从驱动轴包括用于缠绕所述驱动丝组的第一轴体，以及自所述第一轴体向所述第一轴体的轴心方向凸设的凸块，所述连杆在靠近所述从驱动轴的一侧对应设有缺口部，所述缺口部用于在所述连杆伸入所述从驱动轴时容纳所述凸块，以在所述从驱动轴转动时，通过所述凸块驱动所述连杆转动。
为实现上述目的，本申请还提供一种操作臂，所述操作臂包括如上所述的驱动盒、连杆以及末端器械，所述操作臂还包括贯穿所述连杆，并分别与所述末端器械以及所述驱动盒连接的驱动丝。
为实现上述目的，本申请还提供一种手术机器人，所述手术机器人包括如上所述的操作臂。
本申请提供的驱动盒、操作臂以及手术机器人，通过设置缠绕有驱动丝组的自转驱动轴以及通过所述驱动丝组与所述自转驱动轴连接的从驱动轴，所述从驱动轴包括用于缠绕所述驱动丝组的第一轴体，以及自所述第一轴体向所述第一轴体的轴心方向凸设的凸块，所述连杆在靠近所述从驱动轴的一侧对应设有缺口部，所述缺口部用于在所述连杆伸入所述从驱动轴时容纳所述凸块，以在所述从驱动轴转动时，通过所述凸块驱动所述连杆转动。如此，可以提高所述连杆在所述从驱动轴的驱动作用下的转动精度，进而提高所述操作臂的操作精度。
附图说明
图1为本申请操作臂一实施例的结构示意图；
图2为图1中连杆、从驱动轴以及连接管一实施例的组装结构示意图；
图3为图2中沿A-A线一实施例的剖面结构示意图；
图4为图2中沿A-A线另一实施例的剖面结构示意图；
图5为图1中连杆、从驱动轴以及连接管另一实施例的组装结构示意图；
图6为图1中俯仰角度驱动轴组件、摇摆角度驱动轴组件、自转驱动轴组件和末端开合驱动轴组件一实施例的组装示意图；
图7为图2另一角度的结构示意图；
图8为图1中自转驱动轴、俯仰角度驱动轴、摇摆角度驱动轴或末端开 合驱动轴一实施例的结构示意图；
图9为图1的俯视角度一实施例的结构示意图；
图10为图1的俯视角度一实施例的简化结构示意；
图11为图1的俯视角度另一实施例的简化结构示意；
图12为图1的俯视角度又一实施例的简化结构示意；
图13为图1的俯视角度再一实施例的简化结构示意；
图14为图1中壳体一实施例的结构示意图。
附图标号说明：
Figure PCTCN2020133277-appb-000001
Figure PCTCN2020133277-appb-000002
本申请目的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，本申请实施例中所有方向性指示(诸如上、下、左、右、前、后......)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本申请中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一 体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
另外，在本申请中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提供一种手术机器人，所述手术机器人包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备；从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。所述从操作设备包括机械臂、设置于机械臂上的动力机构以及操作臂，所述操作臂用于在动力机构的驱动作用下伸入体内执行相应的手术操作。
如图1所示，所述操作臂1包括依次连接的驱动盒10、连杆20以及末端器械30，所述操作臂1还包括贯穿所述连杆20，并分别与所述末端器械30以及所述驱动盒10连接的驱动丝。
如图1所示，所述驱动盒10通过连杆20、以及贯穿所述连杆20的驱动丝与末端器械30连接。所述驱动盒10包括与所述连杆20连接的底座11、设于所述底座上的驱动轴组件12以及设于所述底座上并收容各个驱动轴组件12的壳体13。其中，所述驱动轴组件12具体包括俯仰角度驱动轴组件、摇摆角度驱动轴组件、自转驱动轴组件和末端开合驱动轴组件，上述各个驱动轴组件12在所述底座上的相对位置具体可以根据实际需要合理设置。例如，所述俯仰角度驱动轴组件可以与所述摇摆角度驱动轴组件在所述底座上相对设置，所述自转驱动轴组件和末端开合驱动轴组件在所述底座上相对设置。当然，在其他实施例中，所述俯仰角度驱动轴组件还可以与所述摇摆角度驱动轴组件在所述底座上相邻设置，同样地，所述自转驱动轴组件和末端开合驱 动轴组件在所述底座上也可以相邻设置。
其中，如图2所示，所述自转驱动轴组件包括缠绕有驱动丝组40的自转驱动轴14，通过所述驱动丝组40与所述自转驱动轴连接的从驱动轴15，以及套设于所述连杆20上并与所述连杆20固定连接的连接管16。所述连接管16用于固定连接所述从驱动轴15以及所述连杆20。
如图2所示，所述从驱动轴15包括用于缠绕所述驱动丝组40的第一轴体151，以及自所述第一轴体151向其轴心方向凸设的凸块150，具体地，所述凸块150可以沿所述从驱动轴15的轴向向所述从驱动轴15的轴心方向进行凸设；所述连杆20在靠近所述从驱动轴15的一侧对应设有缺口部200，所述缺口部200用于在所述连杆20伸入所述从驱动轴15时容纳所述凸块150，以在所述从驱动轴15转动时，通过所述凸块150驱动所述连杆20转动。可以理解的是，所述凸块150向所述从驱动轴15的轴心方向凸设的厚度，也即所述凸块150延伸的终止位置可以以达到所述缺口部200的位置，并可以被容纳至所述缺口部200的位置时为止。当然，在其他实施例中，所述凸块150可以继续向所述从驱动轴15的轴心方向延伸，并凸出于所述缺口部200之外，以进一步防止所述从驱动轴15从所述连杆20上滑脱。
本申请提供的驱动盒10，通过设置缠绕有驱动丝组40的自转驱动轴14以及通过所述驱动丝组40与所述自转驱动轴14连接的从驱动轴15，其中，所述从驱动轴15向其轴心方向凸设有凸块150，所述连杆20在靠近所述从驱动轴15的一侧对应设有缺口部200，所述缺口部200用于在所述连杆20伸入所述从驱动轴15时容纳所述凸块150，以在所述从驱动轴15转动时，通过所述凸块150驱动所述连杆20转动。如此，可以确保所述从驱动轴15转动时，及时带动所述连杆20转动，从而提高所述连杆20在所述从驱动轴15的驱动作用下的转动精度，进而提高所述操作臂1的操作精度。
进一步地，参照图2，所述连接管16具有用于伸入所述从驱动轴15的管体160，所述连接管16自所述管体160的靠近所述从驱动轴15的一侧的末端凸设有弹性件17，所述弹性件用于在所述连接管16伸入所述从驱动轴15后与所述从驱动轴15弹性顶抵。
如图3所示，在一实施例中，所述弹性件17为多个相邻设置的齿状结构， 所述齿状结构具有相对设置的第一侧面171和第二侧面172，所述第一侧面171为靠近所述连接管16的中心的侧面，所述第二侧面172为所述齿状结构向远离所述连接管16的中心的方向凸出的侧面。具体地，所述第二侧面172为凸出的弧面。所述齿状结构围绕所述连接管16的中心设置。所述连接管16具有靠近所述连接管16的中心的内侧壁174以及远离所述连接管16的中心的外侧壁175，所述第一侧面171位于所述内侧壁174和所述外侧壁175之间，所述第二侧面172位于所述外侧壁175远离所述连接管16的中心的一侧。通过凸出的弧面结构，可以防止所述从驱动轴15向远离所述末端器械30的方向移动，从而限制所述从驱动轴15在转动过程中，沿所述连杆20的轴向方向上进行位移。
如图4所示，在另一实施例中，所述弹性件17的第二侧面172或外侧壁175向远离所述连接管16中心的方向延伸，并凸出于所述从驱动轴15的内侧壁170之外。此时，所述弹性件17对应具有靠近所述末端器械30一侧的顶抵面180。所述顶抵面180可以防止所述从驱动轴15向远离所述末端器械30的方向移动，从而限制所述从驱动轴15在转动过程中，沿所述连杆20的轴向方向上进行位移。可以理解的是，此时，所述第二侧面172的形状可以不限于弧面形状。
当然，在其他实施例中，所述凸出的弧面也可以直接与所述从驱动轴15的内侧壁170进行弹性顶抵，以限制所述从驱动轴15在转动过程中，沿所述连杆20的轴向方向上进行位移。
参照图5，在又一实施例中，所述连杆20与所述连接管16为一体结构，所述连接管16可以不设弹性件17，且将所述从驱动轴15与所述连接管16设置成一体结构。另外，所述驱动盒10还包括卡接部60，可以在所述连接管16靠近所述末端器械30的一侧的末端，向所述连接管16的中心的方向，沿所述连接管16的周向凹设有安装槽50，所述安装槽50用于***述卡接部60如卡簧等。在所述卡簧安装至所述安装槽50内时，可以将所述连接管16固定于所述连杆20上，从而限制所述从驱动轴15在转动过程中，沿所述连杆20的轴向方向上进行位移。
参照图2，所述第一轴体151用于套设于所述连杆20上并与所述连杆20 固定连接，所述从驱动轴15还包括位于所述第一轴体151相对两侧并向背离所述从驱动轴15的轴心方向凸设的第一端体152和第二端体153。可以理解的是，所述第一端体152和第二端体153可以沿所述第一轴体151两端的周缘凸设而成。所述第一轴体151用于缠绕所述驱动丝组40，所述从驱动轴15自所述第一轴体151向所述从驱动轴15的轴心方向凸设有所述凸块150。具体地，所述凸块150的长度可以与所述从驱动轴15的长度相等。当然，在其他实施例中，所述凸块150的长度也可以小于所述从驱动轴15的长度，还可以大于所述从驱动轴15的长度，所述凸块150的具体长度可以根据实际需要进行合理设置。
如图1、图6所示，所述驱动丝组40包括靠近所述第一端体152侧的第一驱动丝41，以及靠近所述第二端体153侧的第二驱动丝42。参照图7，所述第一端体152上设有用于引导所述第一驱动丝41的第一导槽521，所述第一轴体151在所述第一端体152侧向所述从驱动轴15的轴心方向凹设有第一容纳槽(图中未示出)，所述第一容纳槽与所述第一导槽521连通，以将所述第一驱动丝41的末端固定于所述第一容纳槽内。具体地，所述第一导槽521将缠绕于所述第一容纳槽内的驱动丝引导至所述第一导槽521内。在一实施例中，所述第一导槽521可以延伸至所述凸块150内，并在所述凸块150内形成终止位置，所述终止位置处可以为圆形凹槽。可以理解的是，可以将所述第一驱动丝41的末端固定于所述圆形凹槽处，具体固定方式本申请并不做具体限定。例如，可以使所述第一驱动丝41的末端成球或为突起结构，并收容至所述圆形凹槽内。另外，所述第一驱动丝41收紧/放松的长度和所述第二驱动丝42放松/收紧的长度对应相等。
同样地，所述第二端体153上设有用于引导所述第二驱动丝42的第二导槽531，所述第一轴体151在所述第二端体153侧向所述从驱动轴15的轴心方向凹设有第二容纳槽532，所述第二容纳槽532与所述第二导槽531连通，以将所述第二驱动丝42的末端固定于所述第二容纳槽532内。具体地，所述第二导槽531将缠绕于所述第二容纳槽532内的驱动丝引导至所述第二导槽531内。在一实施例中，所述第二导槽531可以延伸至所述凸块150内，并在所述凸块150内形成终止位置，所述终止位置处可以为圆形凹槽。可以理解 的是，可以将所述第二驱动丝42的末端固定于所述圆形凹槽处，具体固定方式本申请并不做具体限定。例如，可以使所述第二驱动丝42的末端成球或为突起结构，并收容至所述圆形凹槽内。
参照图6，所述驱动轴组件12还包括围绕所述从驱动轴15并与所述自转驱动轴14相对设置的第一驱动轴121，围绕所述从驱动轴15相对设置的第二驱动轴122以及第三驱动轴123，位于所述从驱动轴15上方的第一组换向轮124、第二组换向轮125以及第三组换向轮126。所述第一驱动轴121上缠绕有缠绕方向相反的第一组驱动丝127，所述第二驱动轴122上缠绕有缠绕方向相反的第二组驱动丝128，所述第三驱动轴123上缠绕有缠绕方向相反的第三组驱动丝129。所述第一组驱动丝127经所述第一组换向轮124的换向作用后穿过所述连杆20与所述末端器械30连接，所述第二组驱动丝128经所述第二组换向轮125的换向作用后穿过所述连杆20与所述末端器械30连接，所述第三组驱动丝129经所述第三组换向轮126的换向作用后穿过所述连杆20与所述末端器械30连接。可以理解的是，所述第一驱动轴121、第二驱动轴122以及第三驱动轴123，可以分别是俯仰角度驱动轴、摇摆角度驱动轴和末端开合驱动轴中的任何一种。
所述驱动丝组40在所述自转驱动轴14与所述从驱动轴15之间的部分的延伸方向与所述底座平行，所述第一组驱动丝127在所述第一驱动轴121与所述第一组换向轮124之间的部分的延伸方向与所述底座平行，所述第二组驱动丝128在所述第二驱动轴122与所述第二组换向轮125之间的部分的延伸方向与所述底座平行，所述第三组驱动丝129在所述第三驱动轴123与所述第三组换向轮126之间的部分的延伸方向与所述底座平行。如此，一方面可以防止各组驱动丝从对应的驱动轴上的容纳槽中滑脱，另一方面又可以减少驱动丝的力损失。
参照图6、图8、图13和图14，所述自转驱动轴14、俯仰角度驱动轴、摇摆角度驱动轴和末端开合驱动轴均可以包括第二轴体141、套设于所述第二轴体141上并远离所述底座侧的转动部142以及固定于所述第二轴体141上并靠近所述底座侧的转盘部143。所述转动部142包括相对设置的第一转体 144和第二转体145，与所述第一转体144固定连接的第一绕线部421、以及与所述第二转体145固定连接的第二绕线部422，所述第一绕线部421与所述第二绕线部422连接。参照图8，所述转盘部143具有与所述第二轴体141固定连接的盘体430，所述转盘部143包括自所述盘体430向远离所述第二轴体141的中心方向凸设的突起部146，以在所述手术机器人突然断电时，通过手动旋转所述转盘部143使所述第二轴体141转回至初始位置，从而防止手术意外。进一步地，所述转盘部143呈齿轮状。当然，在其他实施例中，所述转盘部143还可以为其他形状，并不局限于所述齿轮状。
如图6和图8所示，所述第一绕线部421上设有缠绕有第一缠绕驱动丝110的第一绕线槽147，所述第二绕线部422上设有缠绕有第二缠绕驱动丝120的第二绕线槽148，所述第一缠绕驱动丝110及所述第二缠绕驱动丝120属于同一组驱动丝，所述同一组驱动丝为所述驱动丝组40、第一组驱动丝127、第二组驱动丝128及第三组驱动丝129其中之一。所述第一转体144上设有用于引导所述第一缠绕驱动丝110的第三导槽441，所述第三导槽441的末端向远离所述第一绕线部421方向凹设有第三容纳槽442，以将所述第一缠绕驱动丝110的末端固定于所述第三容纳槽442内。所述第二转体145上设有用于引导所述第二缠绕驱动丝120的第四导槽(图中未示出)，所述第四导槽的末端向远离所述第二绕线部422方向凹设有第四容纳槽(图中未示出)，以将所述第二缠绕驱动丝120的末端固定于所述第四容纳槽内。各组驱动丝的固定方式可以同上，此处不再赘述。
进一步地，所述第一转体144上设有第一通孔(图中未示出)，以供第一螺栓(图中未标示)穿过，所述第一转体144在背离所述第一绕线部421的一侧向所述第一绕线部421方向凹设有第一切口(图中未示出)，所述第一切口将所述第一通孔分隔为第一孔(图中未示出)和第二孔(图中未示出)，所述第一螺栓用于在依次穿过所述第一孔、所述第一切口和所述第二孔时，抵触所述第二轴体141而将所述第一转体144固定于所述第二轴体141上。第二转体145上设有第二通孔(图中未示出)，以供第二螺栓(图中未标示)穿过，所述第二转体145在背离所述第二绕线部422的一侧向所述第二绕线部422方向凹设有第二切口454，所述第二切口454将所述第二通孔分隔为第三孔(图中未示出)和第四孔(图中未示出)，所述第二螺栓用于在依次穿过所 述第三孔、所述第二切口454和所述第四孔时，抵触所述第二轴体141而将所述第二转体145固定于所述第二轴体141上。
参照图6，所述第一组换向轮124包括用于引导缠绕在所述第一驱动轴121上的所述第一组驱动丝127进入所述连杆20的第一轮181和第二轮182，所述第二组换向轮125包括用于引导缠绕在所述第二驱动轴122上的所述第二组驱动丝128进入所述连杆20的第三轮183和第四轮184，所述第三组换向轮126包括用于引导缠绕在所述第三驱动轴123上的所述第三组驱动丝129进入所述连杆20的第五轮185和第六轮186。本实施例中，所述第一轮181、第二轮182、第三轮183、第四轮184、第五轮185以及第六轮186均位于所述连杆20的上方，各个轮的位置可以根据实际需要合理进行设置，具体将在下文进行阐述。
如图9至图13所示，所述连杆20与所述末端器械30的连接处设有一连接盘19，所述连接盘19上设有靠近所述第三驱动轴123一侧的第一通孔191、第六通孔196以及第五通孔195，以及靠近所述第二驱动轴122的一侧的第二通孔192、第三通孔193以及第四通孔194，所述第一通孔191与所述第四通孔194相对所述连接盘19的中心设置，所述第二通孔192与所述第五通孔195相对所述连接盘19的中心设置，所述第三通孔193与所述第六通孔196相对所述连接盘19的中心设置。应理解，所述第一通孔191、第二通孔192、第三通孔193、第四通孔194、第五通孔195以及第六通孔196在所述连接盘19上的位置，可以根据实际需要进行合理设置。本实施例中的各个通孔的如上相对位置，可以使各个驱动丝以竖直的方向延伸至所述连杆20内，避免造成驱动丝的扭曲，从而降低驱动丝的力损失。
参照图10，在一实施例中，所述第一组驱动丝127分别经所述第一轮181换向后进入所述第一通孔191、经所述第二轮182换向后进入所述第三通孔193，所述第二组驱动丝128分别经所述第三轮183换向后进入所述第二通孔192、经所述第四轮184换向后进入所述第五通孔195，所述第三组驱动丝129分别经所述第五轮185换向后进入所述第四通孔194、经所述第六轮186换向后进入所述第六通孔196。
参照图11，在另一实施例中，所述第一组驱动丝127分别经所述第一轮 181换向后进入所述第五通孔195、经所述第二轮182换向后进入所述第二通孔192，所述第二组驱动丝128分别经所述第三轮183换向后进入所述第六通孔196、经所述第四轮184换向后进入所述第四通孔194，所述第三组驱动丝129分别经所述第五轮185换向后进入所述第三通孔193、经所述第六轮186换向后进入所述第一通孔191。
参照图12，在又一实施例中，所述第一组驱动丝127分别经所述第一轮181换向后进入所述第五通孔195、经所述第二轮182换向后进入所述第二通孔192，所述第二组驱动丝128分别经所述第三轮183换向后进入所述第一通孔191、经所述第四轮184换向后进入所述第三通孔193，所述第三组驱动丝129分别经所述第五轮185换向后进入所述第四通孔194、经所述第六轮186换向后进入所述第六通孔196。
参照图13，在又一实施例中，所述第一组驱动丝127分别经所述第一轮181换向后进入所述第六通孔196、经所述第二轮182换向后进入所述第四通孔194，所述第二组驱动丝128分别经所述第三轮183换向后进入所述第一通孔191、经所述第四轮184换向后进入所述第三通孔193，所述第三组驱动丝129分别经所述第五轮185换向后进入所述第五通孔195、经所述第六轮186换向后进入所述第二通孔192。
参照图14，所述底座上设有以对角线方向相对设置的第一安装孔(图中未示出)和第二安装孔(图中未示出)，以对角线方向相对设置的第三安装孔(图中未示出)和第四安装孔(图中未示出)，以及位于所述底座中心并被所述第一安装孔、第二安装孔、第三安装孔以及第四安装孔围设的第五安装孔(图中未示出)。所述壳体13包括自所述底座向远离所述末端器械30方向延伸的立柱130，以及与所述立柱130连接并以平行于所述底座的方向延伸的盖体。所述盖体包括与所述第一安装孔位置对应的第一盖体131，与所述第二安装孔位置对应的第二盖体132，与所述第三安装孔位置对应的第三盖体133，与所述第四安装孔位置对应的第四盖体134，以及与所述第五安装孔位置对应的第五盖体135。所述第一盖体131、所述第二盖体132、第三盖体133、第四盖体134以及第五盖体135，分别与所述立柱130以及所述底座围合形成具有开口的第一容纳空间136、第二容纳空间137、第三容纳空间138、第四容 纳空间139以及第五容纳空间140，所述第一容纳空间136用于容纳所述自转驱动轴14，所述第二容纳空间137用于容纳所述第一驱动轴121，所述第三容纳空间138用于容纳所述第二驱动轴122，所述第四容纳空间139用于容纳所述第三驱动轴123，所述第五容纳空间140用于容纳所述第一组换向轮124、第二组换向轮125以及第三组换向轮126。假设所述第一驱动轴121、第二驱动轴122以及第三驱动轴123分别为俯仰角度驱动轴、摇摆角度驱动轴和末端开合驱动轴，则所述自转驱动轴14、俯仰角度驱动轴、摇摆角度驱动轴和末端开合驱动轴分别自所述底座上的各个安装孔进入上述对应的各个容纳空间。
进一步地，所述第五盖体135包括位于所述底座与所述第二盖体132之间的用于安装所述第一组换向轮124的第一安装部501，位于所述底座与所述第三盖体133之间的用于安装所述第二组换向轮125的第二安装部502，以及位于所述底座与所述第四盖体134之间的用于安装所述第三组换向轮126的第三安装部503。所述第一安装部501包括自所述第二盖体132向所述底座方向延伸的第一连接件(图中未示出)以及自所述第一连接件向所述壳体13中心方向延伸的第一安装件(图中未示出)，所述第一安装件上设有用于供第一插梢穿过并固定所述第一组换向轮124的第一组穿孔(图中未示出)；所述第二安装部502包括自所述第三盖体133向所述底座方向延伸的第二连接件507以及自所述第二连接件507向所述壳体13中心方向延伸的第二安装件508，所述第二安装件508上设有用于供第二插梢穿过并固定所述第二组换向轮125的第二组穿孔509；所述第三安装部503包括自所述第四盖体134向所述底座方向延伸的第三连接件(图中未示出)以及自所述第三连接件向所述壳体13中心方向延伸的第三安装件(图中未示出)，所述第三安装件上设有用于供第三插梢穿过并固定所述第三组换向轮126的第三组穿孔(图中未示出)。可以理解的是，各个安装部上还设有供驱动丝穿过的孔状结构，或条形槽状结构。
本实施例中，各个盖体以及各个安装部为一体结构，在一定程度上简化了结构数量，使得结构小巧、紧凑。当然，在其他实施例中，所述第一安装部501、第二安装部502以及第三安装部503可以分别独立于所述第一盖体131、第二盖体132以及第三盖体133设置。
以上所述仅为本申请的可选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (20)

  1. 一种驱动盒，所述驱动盒通过连杆以及贯穿所述连杆的驱动丝与末端器械连接，其特征在于，所述驱动盒包括与所述连杆连接的底座、设于所述底座上的驱动轴组件，所述驱动轴组件包括缠绕有驱动丝组的自转驱动轴以及通过所述驱动丝组与所述自转驱动轴连接的从驱动轴；所述从驱动轴包括用于缠绕所述驱动丝组的第一轴体，以及自所述第一轴体向所述第一轴体的轴心方向凸设的凸块，所述连杆在靠近所述从驱动轴的一侧对应设有缺口部，所述缺口部用于在所述连杆伸入所述从驱动轴时容纳所述凸块，以在所述从驱动轴转动时，通过所述凸块驱动所述连杆转动。
  2. 如权利要求1所述的驱动盒，其特征在于，所述驱动轴组件还包括套设于所述连杆上并与所述连杆固定连接的连接管，所述连接管具有用于伸入所述从驱动轴的管体，所述连接管自所述管体的靠近所述从驱动轴的一侧的末端凸设有弹性件，所述弹性件用于在所述连接管伸入所述从驱动轴后与所述从驱动轴弹性顶抵。
  3. 如权利要求2所述的驱动盒，其特征在于，所述弹性件为多个相邻设置的齿状结构。
  4. 如权利要求3所述的驱动盒，其特征在于，所述齿状结构具有第一侧面和第二侧面，所述第一侧面为靠近所述连接管的中心的侧面，所述第二侧面为所述齿状结构向远离所述连接管的中心的方向凸出的弧面。
  5. 如权利要求4所述的驱动盒，其特征在于，所述连接管具有靠近所述连接管的中心的内侧壁以及远离所述连接管的中心的外侧壁，所述第一侧面位于所述内侧壁和所述外侧壁之间，所述第二侧面位于所述外侧壁远离所述连接管的中心的一侧。
  6. 如权利要求2所述的驱动盒，其特征在于，所述驱动盒还包括卡接部， 所述连接管在靠近所述末端器械的一侧的末端，向所述连接管的中心的方向沿所述连接管的周向凹设有安装槽，所述安装槽用于***述卡接部，以在所述卡接部的固定作用下将所述连接管固定于所述连杆上。
  7. 如权利要求1所述的驱动盒，其特征在于，所述第一轴体用于套设于所述连杆上并与所述连杆固定连接，所述从驱动轴还包括位于所述第一轴体相对两侧并向背离所述从驱动轴的轴心方向凸设的第一端体和第二端体，所述第一轴体用于缠绕所述驱动丝组，所述从驱动轴自所述第一轴体向所述从驱动轴的轴心方向凸设有所述凸块。
  8. 如权利要求7所述的驱动盒，其特征在于，所述驱动丝组包括靠近所述第一端体侧的第一驱动丝，以及靠近所述第二端体侧的第二驱动丝；所述第一端体上设有用于引导所述第一驱动丝的第一导槽，所述第一轴体在所述第一端体侧向所述从驱动轴的轴心方向凹设有第一容纳槽，所述第一容纳槽与所述第一导槽连通，以将所述第一驱动丝的末端固定于所述第一容纳槽内；所述第二端体上设有用于引导所述第二驱动丝的第二导槽，所述第一轴体在所述第二端体侧向所述从驱动轴的轴心方向凹设有第二容纳槽，所述第二容纳槽与所述第二导槽连通，以将所述第二驱动丝的末端固定于所述第二容纳槽内。
  9. 如权利要求1所述的驱动盒，其特征在于，所述驱动轴组件还包括围绕所述从驱动轴并与所述自转驱动轴相对设置的第一驱动轴，围绕所述从驱动轴相对设置的第二驱动轴以及第三驱动轴，位于所述从驱动轴上方的第一组换向轮、第二组换向轮以及第三组换向轮，所述第一驱动轴上缠绕有缠绕方向相反的第一组驱动丝，所述第二驱动轴上缠绕有缠绕方向相反的第二组驱动丝，所述第三驱动轴上缠绕有缠绕方向相反的第三组驱动丝，所述第一组驱动丝经所述第一组换向轮的换向作用后穿过所述连杆与所述末端器械连接，所述第二组驱动丝经所述第二组换向轮的换向作用后穿过所述连杆与所述末端器械连接，所述第三组驱动丝经所述第三组换向轮的换向作用后穿过所述连杆与所述末端器械连接。
  10. 如权利要求9所述的驱动盒，其特征在于，所述驱动丝组在所述自转驱动轴与所述从驱动轴之间的部分的延伸方向与所述底座平行，所述第一组驱动丝在所述第一驱动轴与所述第一组换向轮之间的部分的延伸方向与所述底座平行，所述第二组驱动丝在所述第二驱动轴与所述第二组换向轮之间的延伸方向与所述底座平行，所述第三组驱动丝在所述第三驱动轴与所述第三组换向轮之间的部分的延伸方向与所述底座平行。
  11. 如权利要求9所述的驱动盒，其特征在于，所述自转驱动轴、第一驱动轴、第二驱动轴或第三驱动轴包括第二轴体、套设于所述第二轴体上并远离所述底座侧的转动部以及固定于所述第二轴体上并靠近所述底座侧的转盘部；所述转动部包括相对设置的第一转体和第二转体，与所述第一转体固定连接的第一绕线部、以及与所述第二转体固定连接的第二绕线部，所述第一绕线部与所述第二绕线部连接。
  12. 如权利要求11所述的驱动盒，其特征在于，所述第一绕线部上设有缠绕有第一缠绕驱动丝的第一绕线槽，所述第二绕线部上设有缠绕有第二缠绕驱动丝的第二绕线槽，所述第一缠绕驱动丝及所述第二缠绕驱动丝属于同一组驱动丝，所述同一组驱动丝为所述驱动丝组、第一组驱动丝、第二组驱动丝及第三组驱动丝其中之一；
    所述第一转体上设有用于引导所述第一缠绕驱动丝的第三导槽，所述第三导槽的末端向远离所述第一绕线部方向凹设有第三容纳槽，以将所述第一缠绕驱动丝的末端固定于所述第三容纳槽内；所述第二转体上设有用于引导所述第二缠绕驱动丝的第四导槽，所述第四导槽的末端向远离所述第二绕线部方向凹设有第四容纳槽，以将所述第二缠绕驱动丝的末端固定于所述第四容纳槽内。
  13. 如权利要求11所述的驱动盒，其特征在于，所述第一转体上设有第一通孔，以供第一螺栓穿过，所述第一转体在背离所述第一绕线部的一侧向所述第一绕线部方向凹设有第一切口，所述第一切口将所述第一通孔分隔为 第一孔和第二孔，所述第一螺栓用于在依次穿过所述第一孔、所述第一切口和所述第二孔时，抵触所述第二轴体而将所述第一转体固定于所述第二轴体上；第二转体上设有第二通孔，以供第二螺栓穿过，所述第二转体在背离所述第二绕线部的一侧向所述第二绕线部方向凹设有第二切口，所述第二切口将所述第二通孔分隔为第三孔和第四孔，所述第二螺栓用于在依次穿过所述第三孔、所述第二切口和所述第四孔时，抵触所述第二轴体而将所述第二转体固定于所述第二轴体上。
  14. 如权利要求9所述的驱动盒，其特征在于，所述第一组换向轮包括用于引导缠绕在所述第一驱动轴上的所述第一组驱动丝进入所述连杆的第一轮和第二轮，所述第二组换向轮包括用于引导缠绕在所述第二驱动轴上的所述第二组驱动丝进入所述连杆的第三轮和第四轮，所述第三组换向轮包括用于引导缠绕在所述第三驱动轴上的所述第三组驱动丝进入所述连杆的第五轮和第六轮。
  15. 如权利要求14所述的驱动盒，其特征在于，所述连杆与所述末端器械的连接处设有一连接盘，所述连接盘上设有靠近所述第三驱动轴一侧的第一通孔、第六通孔以及第五通孔，以及靠近所述第二驱动轴的一侧的第二通孔、第三通孔以及第四通孔，所述第一通孔与所述第四通孔相对所述连接盘的中心设置，所述第二通孔与所述第五通孔相对所述连接盘的中心设置，所述第三通孔与所述第六通孔相对所述连接盘的中心设置。
  16. 如权利要求15所述的驱动盒，其特征在于，所述第一组驱动丝分别经所述第一轮换向后进入所述第一通孔、经所述第二轮换向后进入所述第三通孔，所述第二组驱动丝分别经所述第三轮换向后进入所述第二通孔、经所述第四轮换向后进入所述第五通孔，所述第三组驱动丝分别经所述第五轮换向后进入所述第四通孔、经所述第六轮换向后进入所述第六通孔；或
    所述第一组驱动丝分别经所述第一轮换向后进入所述第五通孔、经所述第二轮换向后进入所述第二通孔，所述第二组驱动丝分别经所述第三轮换向后进入所述第六通孔、经所述第四轮换向后进入所述第四通孔，所述第三组 驱动丝分别经所述第五轮换向后进入所述第三通孔、经所述第六轮换向后进入所述第一通孔；或
    所述第一组驱动丝分别经所述第一轮换向后进入所述第五通孔、经所述第二轮换向后进入所述第二通孔，所述第二组驱动丝分别经所述第三轮换向后进入所述第一通孔、经所述第四轮换向后进入所述第三通孔，所述第三组驱动丝分别经所述第五轮换向后进入所述第四通孔、经所述第六轮换向后进入所述第六通孔；或
    所述第一组驱动丝分别经所述第一轮换向后进入所述第六通孔、经所述第二轮换向后进入所述第四通孔，所述第二组驱动丝分别经所述第三轮换向后进入所述第一通孔、经所述第四轮换向后进入所述第三通孔，所述第三组驱动丝分别经所述第五轮换向后进入所述第五通孔、经所述第六轮换向后进入所述第二通孔。
  17. 如权利要求9所述的驱动盒，其特征在于，所述底座上设有以对角线方向相对设置的第一安装孔和第二安装孔，以对角线方向相对设置的第三安装孔和第四安装孔，以及位于所述底座中心并被所述第一安装孔、第二安装孔、第三安装孔以及第四安装孔围设的第五安装孔；
    所述驱动盒还包括盖设于所述底座上的壳体，所述壳体包括自所述底座向远离所述末端器械方向延伸的立柱，以及与所述立柱连接并以平行于所述底座的方向延伸的盖体；所述盖体包括与所述第一安装孔位置对应的第一盖体，与所述第二安装孔位置对应的第二盖体，与所述第三安装孔位置对应的第三盖体，与所述第四安装孔位置对应的第四盖体，以及与所述第五安装孔位置对应的第五盖体；
    所述第一盖体、所述第二盖体、第三盖体、第四盖体以及第五盖体，分别与所述立柱以及所述底座围合形成具有开口的第一容纳空间、第二容纳空间、第三容纳空间、第四容纳空间以及第五容纳空间，所述第一容纳空间用于容纳所述自转驱动轴，所述第二容纳空间用于容纳所述第一驱动轴，所述第三容纳空间用于容纳所述第二驱动轴，所述第四容纳空间用于容纳所述第三驱动轴，所述第五容纳空间用于容纳所述第一组换向轮、第二组换向轮以及第三组换向轮。
  18. 如权利要求17所述的驱动盒，其特征在于，所述第五盖体包括位于所述底座与所述第二盖体之间的用于安装所述第一组换向轮的第一安装部，所述第一安装部包括自所述第二盖体向所述底座方向延伸的第一连接件以及自所述第一连接件向所述壳体中心方向延伸的第一安装件，所述第一安装件上设有用于供第一插梢穿过并固定所述第一组换向轮的第一组穿孔；
    所述第五盖体还包括位于所述底座与所述第三盖体之间的用于安装所述第二组换向轮的第二安装部，所述第二安装部包括自所述第三盖体向所述底座方向延伸的第二连接件以及自所述第二连接件向所述壳体中心方向延伸的第二安装件，所述第二安装件上设有用于供第二插梢穿过并固定所述第二组换向轮的第二组穿孔；
    所述第五盖体还包括位于所述底座与所述第四盖体之间的用于安装所述第三组换向轮的第三安装部，所述第三安装部包括自所述第四盖体向所述底座方向延伸的第三连接件以及自所述第三连接件向所述壳体中心方向延伸的第三安装件，所述第三安装件上设有用于供第三插梢穿过并固定所述第三组换向轮的第三组穿孔。
  19. 一种操作臂，其特征在于，所述操作臂包括驱动盒、连杆以及末端器械，所述操作臂还包括贯穿所述连杆，并分别与所述末端器械以及所述驱动盒连接的驱动丝；所述驱动盒包括与所述连杆连接的底座、设于所述底座上的驱动轴组件，所述驱动轴组件包括缠绕有驱动丝组的自转驱动轴以及通过所述驱动丝组与所述自转驱动轴连接的从驱动轴；所述从驱动轴包括用于缠绕所述驱动丝组的第一轴体，以及自所述第一轴体向所述第一轴体的轴心方向凸设的凸块，所述连杆在靠近所述从驱动轴的一侧对应设有缺口部，所述缺口部用于在所述连杆伸入所述从驱动轴时容纳所述凸块，以在所述从驱动轴转动时，通过所述凸块驱动所述连杆转动。
  20. 一种手术机器人，其特征在于，所述手术机器人包括操作臂，所述操作臂包括驱动盒、连杆、末端器械、贯穿所述连杆并分别与所述末端器械和所述驱动盒连接的驱动丝；所述驱动盒包括与所述连杆连接的底座、设于 所述底座上的驱动轴组件，所述驱动轴组件包括缠绕有驱动丝组的自转驱动轴以及通过所述驱动丝组与所述自转驱动轴连接的从驱动轴；所述从驱动轴包括用于缠绕所述驱动丝组的第一轴体，以及自所述第一轴体向所述第一轴体的轴心方向凸设的凸块，所述连杆在靠近所述从驱动轴的一侧对应设有缺口部，所述缺口部用于在所述连杆伸入所述从驱动轴时容纳所述凸块，以在所述从驱动轴转动时，通过所述凸块驱动所述连杆转动。
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CN211750046U (zh) * 2020-02-09 2020-10-27 深圳市精锋医疗科技有限公司 驱动盒、操作臂以及手术机器人

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US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform

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