WO2022001224A1 - 手术机器人*** - Google Patents
手术机器人*** Download PDFInfo
- Publication number
- WO2022001224A1 WO2022001224A1 PCT/CN2021/082651 CN2021082651W WO2022001224A1 WO 2022001224 A1 WO2022001224 A1 WO 2022001224A1 CN 2021082651 W CN2021082651 W CN 2021082651W WO 2022001224 A1 WO2022001224 A1 WO 2022001224A1
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- WIPO (PCT)
- Prior art keywords
- arm
- reducer
- joint
- positioning
- positioning arm
- Prior art date
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- 239000003638 chemical reducing agent Substances 0.000 claims description 173
- 230000005540 biological transmission Effects 0.000 claims description 116
- 230000033001 locomotion Effects 0.000 claims description 70
- 230000007246 mechanism Effects 0.000 claims description 70
- 230000001360 synchronised effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
Classifications
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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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- 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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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
-
- 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
Definitions
- endoscopic minimally invasive surgery has less trauma and quicker postoperative recovery, and has been widely used.
- surgical instruments are carried by a positioning arm.
- the positioning arm needs to be adjusted and positioned before or during the operation, so that the surgical instrument can be adjusted to the designated position for the operation.
- the chief surgeon uses the remote operation mode to control the surgical actuator at the end of the surgical instrument to achieve surgical operations on different parts.
- the positioning ability of the positioning arm in the external space is directly related to whether the surgical robot can perform various surgical procedures.
- FIG. 3 shows a schematic structural diagram of a turntable according to some embodiments of the present disclosure
- FIG. 9 illustrates a front view of a telecentric motion mechanism according to some embodiments of the present disclosure.
- the end close to the operator is defined as proximal, proximal or posterior, posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior.
- FIG. 1 shows a schematic structural diagram of a surgical robot system 100 according to some embodiments of the present disclosure
- FIG. 2 shows a schematic structural diagram of a positioning arm 120 according to some embodiments of the present disclosure
- the surgical robotic system 100 may include at least one surgical cart 110 and at least one positioning arm 120 .
- At least one surgical cart 110 may include a turntable 111 .
- the surgical robotic system 100 may not include the surgical cart 110, and the turntable 111 may be mounted on other structures, such as racks, buildings, and the like.
- at least one positioning arm 120 eg, positioning arm 120a or positioning arm 120b of FIG.
- the at least one positioning arm 120 may include a first positioning arm 120a and a second positioning arm 120b.
- the first cross arm 121a of the first positioning arm 120a and the first cross arm 121b of the second positioning arm 120b are rotatable relative to each other.
- the proximal ends of the first transverse arm 121a of the first positioning arm 120a and the first transverse arm 121b of the second positioning arm 120b are respectively rotatably connected to the turntable 111 .
- the rotation axes of the first rotation joint 130 of the first positioning arm 120a and the first rotation joint 140 of the second positioning arm 120b are coaxially disposed.
- FIG. 3 shows a schematic structural diagram of the turntable 111 according to some embodiments of the present disclosure.
- 4 and 5 respectively illustrate a partial schematic view and a longitudinal partial cross-sectional view of the first rotation joint 130 of the first positioning arm 120a according to some embodiments of the present disclosure.
- the first rotation joint 130 of the first positioning arm 120 a may include a first motor 131 , a first transmission device 132 and a first speed reducer 133 .
- the first motor 131 may be fixedly disposed in the turntable 111 , and the first transmission device 132 is linked with the first motor 131 for transmitting the driving force of the first motor 131 .
- FIGS. 1 shows a schematic structural diagram of the turntable 111 according to some embodiments of the present disclosure.
- 4 and 5 respectively illustrate a partial schematic view and a longitudinal partial cross-sectional view of the first rotation joint 130 of the first positioning arm 120a according to some embodiments of the present disclosure.
- the first rotation joint 130 of the first positioning arm 120 a may include
- the casing of the first reducer 133 is fixedly arranged in the turntable 111 , and the first reducer output shaft 1332 and the first reducer input shaft 1331 are rotatable relative to each other relative to the casing, and the first reducer output shaft The 1332 is fixedly connected with the first transverse arm 121a of the first positioning arm 120a through a fastener (eg, a bolt group), thereby driving the first transverse arm 121a of the first positioning arm 120a to rotate.
- the first reducer 133 may be a harmonic reducer.
- the first transmission device 132 may include a first pulley 1321 and a first timing belt 1322 .
- the first pulley 1321 is fixed coaxially with the output shaft of the first motor 131 .
- the first speed reducer input shaft 1331 is coaxially fixed with a transmission pulley that cooperates with the first pulley 1321, and the first synchronous transmission belt 1322 surrounds the first pulley 1321 and the transmission pulley.
- the output shaft of the first motor 131 drives the first speed reducer input shaft 1331 to rotate through the first synchronous transmission belt 1322 to form a rotational motion of the first speed reducer input shaft 1331 .
- the rotation of the first reducer input shaft 1331 can be converted into the output torque of the first reducer output shaft 1332 at a lower speed but the torque is proportionally increased through the reduction transmission of the first reducer 133, thereby driving the first positioning arm 120a.
- the first transverse arm 121a performs a relative rotational motion relative to the turntable 111 around the first reducer output shaft 1332, thereby forming the first rotation joint 130 of the first positioning arm 120a.
- the first timing transmission belt 1322 may be a belt or a chain belt.
- the first transmission device 132 may also include other structures capable of transmitting motion, such as a gear transmission structure.
- the first rotating joint 130 of the first positioning arm 120 a may further include a first holding brake 134 coaxially disposed with the first speed reducer input shaft 1331 .
- the first holding brake 134 may be located between the transmission wheel and the first reducer output shaft 1332 .
- the first holding brake 134 is in a working state (eg, an unlocked state), so that the driving force of the first motor 131 is transmitted to the first reducer input shaft 1331 through the first synchronous transmission belt 1322, thereby driving the first positioning arm 120a of the first wishbone movement.
- the first holding brake 134 In the case of power failure, the first holding brake 134 is in a closed state (eg, a locked state), so that the driving force of the first motor 131 cannot be transmitted to the first speed reducer 133 or the first positioning arm 120a, and the first positioning arm 120a is blocked by locking. Therefore, the safety of the first rotating joint 130 can be improved, and injury caused by the accidental movement of the positioning arm can be avoided.
- a closed state eg, a locked state
- the first rotation joint 140 of the second positioning arm 120b may include a second motor 141 , a second transmission device 142 , a reducer fixing seat 144 , a support shaft 145 and a second reducer 143.
- the second motor 141 and the reducer fixing seat 144 may be fixedly disposed in the first transverse arm 121b of the second positioning arm 120b.
- the second transmission device 142 is linked with the second motor 141 for transmitting the driving force of the second motor 141 .
- the proximal end portion of the second reducer 143 is fixedly connected with the reducer fixing seat 144, and the proximal end of the second reducer transmission shaft 1433 passes through the second reducer 143 from the second reducer output shaft 1432 located at the distal end, and is connected with the second reducer 143.
- the second reducer input shaft 1431 at the proximal end is coaxially and fixedly connected.
- the distal end of the second reducer transmission shaft 1433 is connected with the output shaft of the second motor 141 through the second transmission device 142 .
- the second reducer output shaft 1432 is fixedly connected to the first transverse arm 121b of the second positioning arm 120b, and is used to drive the first transverse arm 121b of the second positioning arm 120b to rotate.
- the housing of the second speed reducer 143 is fixedly disposed in the speed reducer fixing seat 144 , and the second speed reducer output shaft 1432 and the second speed reducer input shaft 1431 are rotatable relative to their housings.
- the second reducer output shaft 1432 is fixedly connected to the first transverse arm 121b of the second positioning arm 120b through fasteners (eg, bolt sets), thereby driving the first transverse arm 121b of the second positioning arm 120b to rotate.
- the second reducer 143 may be a harmonic reducer.
- the first reducer 133 and the first reducer input shaft 1331 may include through passages along the central axis of rotation.
- the support shaft 145 passes through the through channel and is fixedly connected with the reducer fixing seat 144 to connect the first transverse arm 121b of the second positioning arm 120b with the turntable 111, so that the second positioning arm 120b and the first cross arm 121b are connected to the turntable 111
- the first transverse arms 121a-b of a positioning arm 120a are connected to the turntable 111 independently of each other.
- the turntable 111 may include a turntable frame 1111 and a support shaft fixing seat 1112 .
- the support shaft fixing seat 1112 is fixedly connected to the turntable frame 1111 .
- the proximal end of the support shaft 145 is fixedly disposed on the support shaft fixing seat 1112 .
- the first transverse arm 121a of the first positioning arm 120a is connected to the turntable frame 1111 through the first rotating joint 130 of the first positioning arm 120a.
- the first transverse arm 121b of the second positioning arm 120b is connected to the support shaft fixing seat 1112 through the first rotating joint 140 of the second positioning arm 120b.
- the second holding brake 146 In the case of power failure, the second holding brake 146 is in a closed state (eg, a locked state), and at this time, the driving force of the second motor 141 cannot be transmitted to the second reducer 143 or the first cross arm 121b and the second positioning arm 120b.
- the first cross arm 121b is locked. In this way, the safety of the first rotating joint 140 can be improved, and injury caused by the accidental movement of the positioning arm can be avoided.
- the first rotary joint 140 of the second positioning arm 120b may further include a second gear and a second angle encoder (not shown in the figures).
- the second gear is coaxially and fixedly connected with the output shaft of the second motor, and the second angle encoder meshes with the second gear.
- the rotary motion output by the second motor drives the second angle encoder through the second gear, and then the angular displacement information of the second motor 141 is monitored in real time through the second angle encoder, thereby recording and feeding back the first rotary joint of the second positioning arm 120b 140 motion status.
- the second gear may also be coaxially fixed on the second reducer transmission shaft 1433 . It should be understood that the synchronous movement between the first gear and the first angle encoder can also be realized through the pulley, so as to realize the monitoring of the angular displacement information of the second motor 141 through the second angle encoder.
- the casing of the second reducer 143' is fixedly disposed in the main body 1442', and the second reducer output shaft 1432' and the second reducer input shaft 1431' are rotatable relative to each other relative to the casing, and the second reducer output shaft 1432' and the second reducer input shaft 1431'
- the output shaft 1432' of the reducer is fixedly connected to the first transverse arm 121b of the second positioning arm 120b through a fastener (eg, a bolt group), thereby driving the first transverse arm 121b of the second positioning arm 120b to rotate.
- the first rotary joint 140' of the second positioning arm 120b may further include a second angle encoder 148' and a second holding brake 146'.
- the second holding brake 146' is coaxially disposed with the second reducer input shaft 1431', and the second angle encoder 148' can move synchronously with the output shaft of the second motor 141' through the second gear 147'.
- the second angle encoder 148' can also move synchronously with the output shaft of the second motor through the synchronous belt, and then the angular displacement information of the second motor 141' can be monitored in real time through the second angle encoder 148', so as to record and feedback The motion state of the first rotation joint 140' of the second positioning arm 120b.
- the rotary motion of the motor or motor is converted into linear motion by the motion conversion mechanism, so as to drive the vertical arm outer cylinder 1231 to move up and down, so as to realize the connection between the vertical arm outer cylinder 1231 and the vertical arm inner cylinder 1232. relative movement.
- the vertical arm outer cylinder 1231 can also be connected to the lower part of the distal end of the second transverse arm 122 through the vertical arm rotating joint 160, and the vertical arm inner cylinder 1232 can be driven by a driving motor or motor to perform a lifting movement, so as to realize The relative movement between the vertical arm outer cylinder 1231 and the vertical arm inner cylinder 1232 .
- the second movable joint 183b may include a second reduction wheel 1832, the second reduction wheel 1832 may include a second input shaft and a second output shaft that are rotatable relative to each other, and the second reduction wheel 1832 may be located at the distal end of the first movable arm 181 and The proximal end of the second movable arm 182 .
- the second input shaft rotates under the driving of a driving device, such as a motor, and drives the second output shaft to rotate through the reduction transmission of the second reduction wheel 1832 .
- the surgical robotic system 100 may also include an auxiliary power mechanism.
- the auxiliary power mechanism may include a third electric machine 186 and a third pulley 187 .
- the third motor 186 and the third pulley 187 are disposed in the inclined arm, and the third pulley 187 is coaxially and fixedly connected to the output shaft of the third motor 186 .
- the third transmission device may include a third transmission belt 184c surrounding the third pulley 187 at the proximal end and the first input shaft at the distal end to transmit the power of the third motor 186 to the first input shaft.
- the third drive belt 184c may include various drive chains, flexible timing belts, or rigid timing belts, or the like.
- the first reduction wheel 1831 , the second reduction wheel 1832 and the third reduction wheel 1833 may have the same reduction ratio to control the angular velocity of each output shaft to be the same. In some embodiments, the first reduction wheel 1831, the second reduction wheel 1832 and the third reduction wheel 1833 may have different reduction ratios, and the angular velocity of each output shaft may be achieved by changing the radius of the corresponding pulley or transmission wheel same.
- the auxiliary power driving effect of the first movable arm 181 can be realized through the auxiliary power mechanism, and the motion and attitude data of the first movable arm 181 can be obtained through the detection of the rotational speed of the third motor 186 and the state monitoring.
- At least one angle encoder 189 (or potentiometer) is arranged on the corresponding first reduction wheel 1831, the second reduction wheel 1832 and the third reduction wheel 1833, or is arranged on the corresponding pulley or transmission wheel, for example, can be
- the gears are meshed and connected for recording and feeding back the motion state of the telecentric motion mechanism 180 .
- the braking mechanism 188 may be a holding brake. The overall stability of the telecentric motion mechanism 180 is improved by providing the braking mechanism 188 .
- the third movable arm 185 may include a linear movement assembly 1851 and a surgical instrument 1852 .
- the linear moving assembly 1851 is disposed along the length direction of the third movable arm 185
- the surgical instrument 1852 is detachably mounted on the linear moving assembly 1851 , and is driven by the linear moving assembly 1851 to move relative to the length direction of the third movable arm 185 .
- surgical instrument 1852 may include a surgical tool or an endoscope. The end of the surgical tool is connected with an end surgical effector, and the end of the endoscope tool is connected with an illumination device or an image acquisition device.
- the surgical robot system 100 may include at least two sets of positioning arms consisting of a first positioning arm 120a and a second positioning arm 120b. At least two sets of positioning arm groups may be mirror-symmetrical with respect to the central section of the turntable 111 . Multiple positioning arms can move relatively independently, and each positioning arm will not cause dry swinging between each other, and various operations such as single-hole, multi-hole or mixed-hole can be realized.
- a first transverse arm of the positioning arm passes through a first rotational joint (eg, , the first rotary joint 130 or the first rotary joint 140 of FIG. 2 ) is connected to the turntable (eg, the turntable 111 of FIG. 1 ).
- the first cross arm of a pair of positioning arms may overlap and be connected coaxially to the turntable. Therefore, some embodiments of the present disclosure can reduce the longitudinal space occupation of the positioning arms, and reduce the risk of interference and collision between the positioning arms.
- a telecentric motion mechanism comprising:
- first movable joint the proximal end of the first movable arm is rotatably connected to the installation structure through the first movable joint;
- a first transmission mechanism connected with the first movable joint and the second movable joint, so that the first movable joint and the second movable joint rotate synchronously;
- the telecentric motion mechanism according to item 1, wherein the first movable joint includes a first reduction wheel, the first reduction wheel includes a first input shaft and a first output shaft, and the first output shaft is a to drive the first movable joint to rotate;
- the third movable joint includes a third reduction wheel, the third reduction wheel includes a third input shaft and a third output shaft, and the third output shaft is used to drive the rotation of the third movable joint;
- the third motor including the output shaft
- the third transmission mechanism connects the output shaft of the third motor with the first input shaft, the second input shaft or the third input shaft.
- At least one braking mechanism coupled with the first reduction wheel, the second reduction wheel or the third reduction wheel, is used for locking or unlocking the corresponding reduction wheel.
- a linear moving component arranged on the third movable arm along the length direction of the third movable arm;
- a surgical instrument is mounted on the linear moving assembly, and the linear moving assembly drives the surgical instrument to move in the length direction of the third movable arm.
- the first transmission belt and the second transmission belt comprising at least one of a transmission chain, a flexible timing belt, or a rigid timing belt.
- the distal end of the at least one positioning arm includes the mounting structure to which at least one of the telecentric motion mechanisms is rotatably connected.
- the at least one positioning arm comprising: a first positioning arm and a second positioning arm;
- the proximal end of the first transverse arm of the first positioning arm and the proximal end of the first transverse arm of the second positioning arm are respectively connected with the turntable, and the first transverse arm of the first positioning arm and the The first transverse arms of the second positioning arm are rotatable relative to each other.
- the first reducer includes a first reducer input shaft and a first reducer output shaft, the first reducer input shaft is connected with the output shaft of the first motor through the first transmission device, and the first reducer input shaft is connected to the output shaft of the first motor.
- the output shaft of the reducer is fixedly connected with the first transverse arm of the first positioning arm, and is used for driving the first transverse arm of the first positioning arm to rotate.
- a second transmission device for transmitting the driving force of the second motor
- the second reducer includes a second reducer input shaft and a second reducer output shaft, the second reducer input shaft is connected to the output shaft of the second motor through the second transmission device, and the second reducer input shaft is connected to the output shaft of the second motor.
- the output shaft of the reducer is fixedly connected with the first transverse arm of the second positioning arm, and is used for driving the first transverse arm of the second positioning arm to rotate;
- the second reducer further comprises a second reducer transmission shaft, and one end of the second reducer transmission shaft is disposed coaxially with the second reducer input shaft And fixedly connected, the second reducer transmission shaft is connected with the output shaft of the second motor through the second transmission device.
- the reducer fixing seat is fixedly arranged in the first transverse arm of the first positioning arm, and is fixedly connected with the distal end of the supporting shaft;
- the drive module seat includes a base at least partially disposed in the first transverse arm of the first positioning arm and a main body located at the distal end of the base and having an accommodating cavity, and the distal end of the support shaft is connected to the base.
- the seat is fixedly connected, and the second motor and the second reducer are fixedly arranged in the main body.
- the first rotating joint of the second positioning arm further includes a second holding brake coaxially arranged on the output shaft of the second reducer.
- first rotary joint of the first positioning arm further comprises a first angle encoder, the first angle encoder is connected with the output of the first motor through the transmission member the shaft or the input shaft of the first reducer is connected;
- the surgical robotic system of item 17 the first reducer and the first reducer input shaft including a through channel along the axis of rotation through which the support shaft passes to connect the
- the first cross arm of the second positioning arm is connected to the turntable, and the first cross arm of the second positioning arm and the first cross arm of the first positioning arm are connected to the turntable independently of each other.
- the turntable comprises a turntable frame and a support shaft fixing seat
- the support shaft fixing seat is fixedly connected in the turntable frame
- the proximal end of the support shaft is fixedly disposed in the on the support shaft fixing seat
- the first transverse arm of the first positioning arm is connected to the turntable frame through the first rotation joint of the first positioning arm, and the first transverse arm of the second positioning arm passes through the second positioning arm.
- the first rotation joint is connected to the support shaft fixing seat.
- the at least one positioning arm further comprising at least one second transverse arm and a second rotational joint through which a proximal end of the at least one second transverse arm rotates A joint is rotatably connected to the distal end of the first transverse arm, and the rotational axis of the second rotational joint is parallel to the rotational axis of the first rotational joint.
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- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
Description
Claims (20)
- 一种手术机器人***,包括:转台;至少一个定位臂,包括第一横臂和第一旋转关节,所述第一旋转关节设置于所述第一横臂或所述转台内,所述第一横臂的近端通过所述第一旋转关节与所述转台旋转连接,并且所述第一横臂可操作用于相对于所述转台绕纵向轴线旋转。
- 根据权利要求1所述的手术机器人***,其特征在于,所述至少一个定位臂包括:第一定位臂和第二定位臂;所述第一定位臂的第一横臂的近端和所述第二定位臂的第一横臂的近端分别与所述转台连接,并且所述第一定位臂的第一横臂和所述第二定位臂的第一横臂相对于彼此可旋转。
- 根据权利要求2所述的手术机器人***,其特征在于,所述第一定位臂的第一旋转关节和所述第二定位臂的第一旋转关节的旋转轴同轴设置。
- 根据权利要求3所述的手术机器人***,其特征在于,所述第一定位臂的第一旋转关节包括:第一电机,固定设置于所述转台内;第一传动装置,用于传递所述第一电机的驱动力;第一减速器,包括第一减速器输入轴和第一减速器输出轴,所述第一减速器输入轴通过所述第一传动装置与所述第一电机的输出轴连接,所述第一减速器输出轴与所述第一定位臂的第一横臂固定连接,用于带动所述第一定位臂的第一横臂旋转。
- 根据权利要求4所述的手术机器人***,其特征在于,所述第二定位臂 的第一旋转关节包括:第二电机;第二传动装置,用于传递所述第二电机的驱动力;第二减速器,包括第二减速器输入轴和第二减速器输出轴,所述第二减速器输入轴通过所述第二传动装置与所述第二电机的输出轴连接,所述第二减速器输出轴与所述第二定位臂的第一横臂固定连接,用于带动所述第二定位臂的第一横臂旋转;支撑轴,贯穿所述第一减速器,近端与所述转台固定连接,并且远端与所述第二减速器固定连接。
- 根据权利要求5所述的手术机器人***,其特征在于,所述第二减速器还包括第二减速器传动轴,所述第二减速器传动轴的一端与所述第二减速器输入轴同轴设置并且固定连接,所述第二减速器传动轴通过所述第二传动装置与所述第二电机的输出轴连接。
- 根据权利要求6所述的手术机器人***,其特征在于,所述第二电机和所述第二减速器至少部分地固定设置于所述第二定位臂的第一横臂内。
- 根据权利要求7所述的手术机器人***,其特征在于,所述第二定位臂的第一旋转关节还包括:减速器固定座,固定设置于所述第一定位臂的第一横臂内,并与所述支撑轴的远端固定连接;所述第二减速器近端部分与所述减速器固定座固定连接,所述第二减速器传动轴的近端从位于远端的所述第二减速器输出轴穿过所述第二减速器,并与位于近端的所述第二减速器输入轴同轴设置并且固定连接,所述第二减速器传动轴的远端通过所述第二传动装置与所述第二电机的输出轴连接。
- 根据权利要求5所述的手术机器人***,其特征在于,所述第二定位臂的第一旋转关节包括:驱动模块座,包括至少部分设置于所述第一定位臂的第一横臂内的基座和位于所述基座远端且具有容纳腔的主体,所述支撑轴的远端与所述基座固定连接,所述第二电机和所述第二减速器固定设置于所述主体内。
- 根据权利要求5所述的手术机器人***,其特征在于,所述第一定位臂的第一旋转关节还包括第一抱闸,所述第一抱闸与所述第一减速器输入轴同轴设置;或所述第二定位臂的第一旋转关节还包括同轴设置在所述第二减速器输出轴上的第二抱闸。
- 根据权利要求5所述的手术机器人***,其特征在于,所述第一定位臂的第一旋转关节还包括第一角度编码器,所述第一角度编码器通过传动件与所述第一电机的输出轴或所述第一减速器输入轴连接;所述第二定位臂的第一旋转关节还包括第二角度编码器,且所述第二角度编码器通过传动件与所述第二电机的输出轴或所述第二减速器输入轴或第二减速器传动轴连接。
- 根据权利要求5所述的手术机器人***,其特征在于,所述第一减速器或所述第二减速器为谐波减速器。
- 根据权利要求5所述的手术机器人***,其特征在于,所述第一减速器和所述第一减速器输入轴包括沿旋转轴线的贯穿通道,所述支撑轴穿过所述贯穿通道以将所述第二定位臂的第一横臂与所述转台连接,所述第二定位臂的第一横臂和所述第一定位臂的第一横臂彼此独立地与所述转台连接。
- 根据权利要求5所述的手术机器人***,其特征在于,所述转台包括转 台骨架和支撑轴固定座,所述支撑轴固定座固定连接于所述转台骨架内,所述支撑轴的近端固定设置于所述支撑轴固定座上;所述第一定位臂的第一横臂通过所述第一定位臂的第一旋转关节连接于所述转台骨架上,所述第二定位臂的第一横臂通过所述第二定位臂的第一旋转关节连接于所述支撑轴固定座上。
- 根据权利要求1所述的手术机器人***,其特征在于,所述至少一个定位臂还包括至少一个第二横臂和第二旋转关节,所述至少一个第二横臂的近端通过所述第二旋转关节与所述第一横臂的远端旋转连接,所述第二旋转关节的旋转轴线与所述第一旋转关节的旋转轴线平行。
- 根据权利要求15所述的手术机器人***,其特征在于,所述至少一个定位臂还包括竖臂和竖臂旋转关节,所述竖臂包括彼此能沿纵向相对移动的竖臂外筒和竖臂内筒,所述竖臂外筒和所述竖臂内筒中的一个通过所述竖臂旋转关节连接于所述第二横臂的远端,以相对于所述第二横臂的远端绕纵向轴线旋转。
- 根据权利要求16所述的手术机器人***,其特征在于,所述至少一个定位臂还包括斜臂和斜臂旋转关节,其中所述斜臂的近端通过所述斜臂旋转关节连接于所述竖臂的远端,且所述斜臂旋转关节的旋转轴线相对于纵向成角度。
- 根据权利要求17所述的手术机器人***,其特征在于,所述至少一个定位臂还包括远心运动机构,所述远心运动机构包括:第一活动臂;第一活动关节,所述第一活动臂的近端通过所述第一活动关节与所述斜臂的远端转动连接;第二活动臂;第二活动关节,所述第一活动臂的远端通过所述第二活动关节与所述第二活动臂的近端转动连接;第三活动关节;第一传动机构,与所述第一活动关节和所述第二活动关节连接,以使所述第一活动关节和所述第二活动关节同步转动;第二传动机构,与所述第二活动关节和所述第三活动关节连接,以使所述第二活动关节和所述第三活动关节同步转动;第三活动臂,通过所述第三活动关节与所述第二活动臂的远端转动连接,以使所述第三活动臂的远端绕远心定点运动。
- 根据权利要求18所述的手术机器人***,其特征在于,所述第一活动关节包括第一减速轮,所述第一减速轮包括第一输入轴和第一输出轴,所述第一输出轴用于带动所述第一活动关节转动;所述第二活动关节包括第二减速轮,所述第二减速轮包括第二输入轴和第二输出轴,所述第二输出轴用于带动所述第一活动关节或第二活动关节的转动;所述第三活动关节包括第三减速轮,所述第三减速轮包括第三输入轴和第三输出轴,所述第三输出轴用于带动所述第三活动关节的转动;所述第一传动机构包括连接所述第一输入轴和第二输入轴的第一传动带,所述第二传动机构包括连接所述第二输入轴和第三输入轴的第二传动带。
- 根据权利要求2所述的手术机器人***,其特征在于,包括至少两个定位臂组,每个所述定位臂组包括所述第一定位臂和所述第二定位臂,所述至少两个定位臂组关于所述转台的对称面镜面对称。
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CN202180034409.3A CN115551435A (zh) | 2020-06-30 | 2021-03-24 | 手术机器人*** |
CA3173577A CA3173577A1 (en) | 2020-06-30 | 2021-03-24 | Surgical robot system |
US18/009,502 US20230310102A1 (en) | 2020-06-30 | 2021-03-24 | Surgical robot system |
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CN202010727664.3 | 2020-07-23 | ||
CN202010727664.3A CN113967075A (zh) | 2020-07-23 | 2020-07-23 | 一种具有多关节定位机械臂的手术机器人*** |
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CN115551435A (zh) | 2022-12-30 |
KR20230002994A (ko) | 2023-01-05 |
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