WO2023143131A1 - 传动组件、驱动组件以及介入手术机器人 - Google Patents
传动组件、驱动组件以及介入手术机器人 Download PDFInfo
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- WO2023143131A1 WO2023143131A1 PCT/CN2023/072101 CN2023072101W WO2023143131A1 WO 2023143131 A1 WO2023143131 A1 WO 2023143131A1 CN 2023072101 W CN2023072101 W CN 2023072101W WO 2023143131 A1 WO2023143131 A1 WO 2023143131A1
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- Prior art keywords
- rotating
- driving member
- pair
- transmission assembly
- meshing gear
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 80
- 230000033001 locomotion Effects 0.000 claims abstract description 55
- 238000006243 chemical reaction Methods 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000010102 embolization Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000005166 vasculature Anatomy 0.000 description 1
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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- the present application relates to the technical field of medical devices, in particular to a transmission assembly, a drive assembly and an interventional surgery robot.
- Catheters and guidewires are used in many minimally invasive medical procedures for the diagnosis and treatment of various diseases of the vasculature. Manually inserting a catheter or guide wire into a patient is a relatively traditional surgical procedure.
- the catheter or guide wire can be driven by the interventional surgical robot system, and the catheter or guide wire can be delivered to the desired position in the patient's body under the remote control of the doctor.
- the delivery mechanism and the rotation mechanism usually drive the axial movement and rotational movement of the catheter/guide wire respectively.
- the publication numbers are CN112353491B, CN211723416U, CN112120792A, FR3022147B1, CN107847279A and other patents.
- the delivery mechanism and the rotation mechanism of the control catheter or guide wire are two independent parts, and the delivery mechanism and the rotation mechanism are likely to interfere with each other during the power transmission process, resulting in that the catheter/guide wire cannot be controlled during the rotation process. Pushing, or the catheter/guidewire being unable to be rotated during pushing, imposes certain limitations on the application of interventional procedures.
- the present application provides a transmission assembly, a drive assembly and an interventional surgical robot, the guide wire/catheter can be delivered and rotated at the same time, the delivery and rotation of the guide wire/catheter
- the power transmission has no effect.
- a transmission assembly comprising: a base, a pair of rotating wheels arranged on the base, a delivery mechanism and a thread rolling mechanism, the pair of rotating wheels are in contact with the elongated instrument to be driven and arranged on both sides side; among them,
- the delivery mechanism includes: a pair of rotating shafts, the rotating shafts are rotatably arranged on the base, and are correspondingly connected with the pair of rotating wheels, at least one of the rotating shafts can drive the a pair of rotating wheels rotating around the axis of the rotating shaft;
- the thread rolling mechanism includes: at least one rotating driving member, which is rotatably arranged on the base; a torque conversion module arranged between the rotating driving member and the rotating wheel, and the rotating driving member When the part is driven to rotate, the The torque conversion module is capable of converting the rotational motion of the rotary driving member into the relative translational motion between the pair of rotating wheels, and the direction of the translational motion is the axis direction of the rotating shaft.
- the base is provided with a first input hole, and at least one of the rotating driving members can realize power transmission with an external driver through the first input hole.
- the base is provided with a second input hole, and at least one of the rotating shafts can realize power transmission with an external driver through the second input hole.
- the rotation shaft is parallel to and spaced apart from the rotation driving member.
- the rotating shaft when the rotating wheel performs a translational movement, is configured to allow the rotating wheel to perform a translational movement along the rotating shaft, and to drive the rotating wheel to perform a rotational movement.
- there are two rotating driving members including: a first rotating driving member and a second rotating driving member, when the first rotating driving member and the second rotating driving member are driven to rotate , through the corresponding torque conversion module, one of the pair of rotating wheels relatively moves upward in translation, and the other of the pair of rotating wheels moves relatively downward in translation.
- there are two rotating driving members including: a first rotating driving member and a second rotating driving member, and a The first transmission unit, when the first rotation driving member is driven to rotate, the second rotation driving member is driven to rotate in the opposite direction through the first transmission unit, and then through the corresponding torque conversion module, the middle of the pair of rotating wheels can be realized.
- One of the pair of rotating wheels relatively moves upward in translation, and the other of the pair of rotating wheels moves relatively downward in translation.
- the first transmission unit includes: a first meshing gear fixedly arranged on the first rotating driving member, and a second meshing gear fixedly arranged on the second rotating driving member , the first meshing gear is meshed with the second meshing gear for transmission.
- the base is provided with a first input hole
- the first meshing gear is arranged at the corresponding position of the first input hole, and the first meshing gear can pass through the first
- the input hole is rotationally fitted with the external driver, so as to transmit the power of the external driver to the first rotary driving member.
- the rotating driving member has one, and when the rotating driving member is driven to rotate, the torque conversion module realizes that one of the pair of rotating wheels is opposite to one of the pair of rotating wheels. Another up or down translation movement.
- the torque conversion module includes: a linkage plate, the linkage plate has a transverse section extending transversely, and the transverse section is arranged between the rotating driving member and the rotating wheel, the The transverse segment extends laterally in its The direction has a first end and a second end, the first end is relatively fixedly connected with the rotating wheel, and the second end is transmission-connected with the rotating drive member.
- the linkage plate includes: a vertical section perpendicular to the transverse section, and the moment conversion module includes: a rotating member fixed in the vertical section, and the rotating member is set There is an internal thread; an external thread provided on the rotating drive part to match the internal thread.
- the rotating wheel includes: a body part in contact with the elongated instrument, and an extension part extending upward from the body part; There are bearings, upper circlips and lower circlips, the upper circlips are arranged above the bearings, the lower circlips are arranged below the bearings, the upper circlips and the lower circlips are matched It can drive the bearing and the rotating wheel to follow the linkage plate to move up and down in translation.
- an upper engaging part is provided between one of the linkage plate and the rotating wheel and the bearing, and the other of the linkage plate and the rotating wheel is connected to the bearing
- a lower engaging part is arranged therebetween, and the upper engaging part and the lower engaging part are used to limit the vertical movement of the bearing relative to the linkage plate.
- the pair of rotating wheels includes: a driving wheel and a driven wheel
- the rotating shaft includes: a first rotating shaft and a second rotating shaft, and a third meshing gear is fixedly arranged on the first rotating shaft
- the second rotating shaft is fixedly provided with a fourth meshing gear
- the third meshing gear is meshed with the fourth meshing gear for transmission.
- the base is provided with a second input hole
- the third meshing gear is arranged at the corresponding position of the second input hole, and the third meshing gear can pass through the second
- the input hole is rotationally fitted with the external driver, so as to transmit the power of the external driver to the first rotating shaft.
- a drive assembly comprising: a first drive, a second drive and the transmission assembly, wherein the first drive is operatively connected to at least one of the rotating drive members, and the second drive is connected to at least one of the The rotating shaft is operatively connected.
- a surgical robot includes: a mechanical arm and the driving assembly, the mechanical arm is used to support the driving assembly.
- the transmission assembly, drive assembly, and interventional surgery robot provided in the embodiments of the present application drive the delivery and rotation of the elongated instrument through a pair of rotating wheels.
- the relative translation between the pair of rotating wheels is generated by rotating the driving member and the torque conversion module.
- the movement which simulates the doctor's thread-rolling action, causes the slender instrument to rotate about its own axis. It can be seen that when the rotating wheel is rotating, it can also perform a translational movement under the action of the rotating drive member and the torque conversion module, so that the slender instrument can simultaneously perform a rotating action and a delivery action.
- the transmission assembly, the driving assembly and the interventional surgery robot provided by the application can rotate and deliver the elongated instrument
- the transmission is concentrated on the same pair of rotating wheels, which can reduce the overall size of the transmission assembly and realize miniaturization.
- Fig. 1 is a schematic structural diagram of a transmission assembly provided by an embodiment of this specification at a first viewing angle
- Fig. 2 is a schematic structural diagram of a transmission assembly provided by an embodiment of the present specification under a second viewing angle;
- Fig. 3 is a schematic diagram of a partial structure of a transmission assembly provided by an embodiment of this specification at a first viewing angle
- Fig. 4 is a structural schematic diagram of another transmission assembly provided by the embodiment of this specification under a first viewing angle
- Fig. 5 is a schematic structural diagram of another transmission assembly provided by the embodiment of this specification under a second viewing angle
- Fig. 6 is a partial structural schematic view of another transmission assembly provided by the embodiment of this specification at a first viewing angle
- Fig. 7 is a schematic structural diagram of another transmission assembly provided by the embodiment of this specification.
- Fig. 8 is a cross-sectional structure diagram of the transmission assembly provided in the embodiment according to Fig. 1 to Fig. 3 in this specification;
- Fig. 9 is an enlarged view of place A in Fig. 8;
- Fig. 10 is a structural schematic diagram of a driving assembly provided by an embodiment of this specification at a viewing angle
- Fig. 11 is a schematic structural diagram of a driving assembly provided by an embodiment of the present specification in another perspective.
- Sterile box 30. Base; 31. First input hole; 32. Second input hole; 33. First fixed block; 34. Second fixed block; 35. Connecting plate; 36. First elastic member ; 37, the second elastic member; 38, the locking screw; 39, the guide rail;
- Rotation axis 41. The first rotation axis; 42. The second rotation axis;
- Rotary driving part 51. The first rotating driving part; 52. The second rotating driving part;
- front refers to the side of the drive assembly facing the patient.
- rear refers to the side of the transmission assembly away from the patient.
- advancing refers to the process of moving from the side away from the patient towards the side facing the patient.
- withdrawal refers to the process of moving from the side facing the patient towards the side away from the patient.
- This specification provides a transmission assembly, as shown in Figures 1 to 7, including: a base 30, a pair of rotating wheels 1 arranged on the base 30, a delivery mechanism and a thread rolling mechanism, the pair of The rotating wheel 1 is in contact with the elongated instrument 2 to be driven and is arranged on both sides thereof.
- the slender instrument 2 has a slender shaft body, which is different types of medical instruments in different application scenarios, such as guide wires, guiding catheters, microcatheters, embolization coils, balloon catheters and other working catheters, suction catheters and An atherectomy catheter, etc., the application does not limit the type of the elongated device 2 .
- the slender instrument 2 is clamped on the pair of rotating wheels 1, the rotation of the pair of rotatable wheels 1 around its own center can generate rotational friction, thereby driving the slender instrument 2 to advance and retreat.
- the delivery mechanism is used to drive the rotating wheel 1 to rotate, including: a pair of rotating shafts 4, and the rotating shafts 4 are arranged on On the base 30, and correspondingly connected with the pair of rotating wheels 1, when at least one of the rotating shafts 4 is driven to rotate, it can drive the pair of rotating wheels 1 to rotate around the axis of the rotating shaft 4, and then drive the The elongated instrument 2 moves along its axis.
- the rotating shaft 4 includes: a first rotating shaft 41 and a second rotating shaft 42, corresponding to the positions of a pair of rotating wheels 1, the first rotating shaft 41 and the second rotating shaft 42 are respectively arranged on the slender instrument 2 sides.
- the first rotating shaft 41 and the second rotating shaft 42 are fixedly connected with a pair of rotating wheels 1 respectively, when the first rotating shaft 41 and the second rotating shaft 42 rotate, they can drive the pair of rotating wheels 1 to rotate around the axis of the rotating shaft 4 .
- the pair of rotating wheels 1 rotate in opposite directions, the elongated instrument 2 can be driven forward or backward along its own axis.
- the first rotating shaft 41 and the second rotating shaft 42 can both be connected to an external driver, and the external driver can drive the first rotating shaft 41 and the second rotating shaft 42 to rotate in opposite directions, for example, one rotates clockwise , and the other rotates counterclockwise.
- one of the first rotating shaft 41 and the second rotating shaft 42 is connected to an external driver, and power is transmitted between the first rotating shaft 41 and the second rotating shaft 42 through a transmission component, so that the first rotating shaft 41 is driven to rotate
- the second rotating shaft 42 is driven to rotate through the transmission component, so that the pair of rotating wheels 1 rotate in opposite directions.
- the thread rolling mechanism is used to drive a pair of rotating wheels 1 to generate relative translational motion, so as to drive the slender instrument 2 to rotate around its own axis.
- the thread rolling mechanism includes: at least one rotating driving member 5, which is rotatably arranged on the base 30; a torque conversion module arranged between the rotating driving member 5 and the rotating wheel 1, so that When the rotating driving member 5 is driven to rotate, the torque conversion module can convert the rotating motion of the rotating driving member 5 into the relative translational motion between the pair of rotating wheels 1, so as to make the elongated instrument 2 rotate around Its axis rotates, and the translation movement direction is the axis direction of the rotating shaft 4 .
- the base 30 is provided with a first input hole 31 , and at least one of the rotating driving members 5 can realize power transmission with an external driver through the first input hole 31 .
- the number of the first input hole 31 can be one or two. When there is one rotating drive member 5, the number of corresponding first input holes 31 is one; when there are two rotating drive members 5, the number of corresponding first input holes 31 can be two or one, specifically See description of the examples below.
- the base 30 is provided with a second input hole 32 , and at least one of the rotating shafts 4 can realize power transmission with an external driver through the second input hole 32 .
- the number of the second input hole 32 may be one or two. When there is one rotating shaft 4, the number of the corresponding second input hole 32 is one; when there are two rotating shafts 4, The number of corresponding second input holes 32 may be two or one, please refer to the description of the following embodiments for details.
- the rotating shaft 4 in the direction along the axis of the elongated instrument 2 , the rotating shaft 4 is parallel to and spaced apart from the rotating driving member 5 . Further, when the rotating wheel 1 performs a translational movement, the rotating shaft 4 is configured to allow the rotating wheel 1 to perform a translational movement along the rotating shaft 4 and to drive the rotating wheel 1 to rotate.
- the rotating shaft 4 is parallel to the rotating driving member 5 and arranged at intervals to better utilize the space of the base 30 along the axis of the elongated instrument.
- the rotating shaft 4 can also drive the rotating wheel 1 to rotate together when driven to rotate by an external driver. Therefore, the rotating wheel 1 can perform a translational movement and a rotational movement at the same time. During this process, the rotating shaft 4 can only perform rotational movement, but not axial movement.
- the rotating shaft 4 may have a special-shaped structure, or a square structure, or other structures with irregular shapes.
- the rotating shaft 4 is a special-shaped structure with a planar section formed by longitudinally cutting along the axial direction of the cylinder.
- the rotating shaft 4 since the rotating shaft 4 only performs rotational movement and does not perform axial movement, when the external driver drives the rotating shaft 4, there is no need to add redundant transmission parts, the structure of the overall solution is relatively simple, and the movement of the rotating wheel 1 can be realized The ways are diverse.
- the first rotating driving member 51 and the second rotating driving member 52 can be arranged on both sides of the elongated instrument 2 respectively, and the first rotating driving member 51 is used to drive one of the pair of rotating wheels 1 to translate upward relatively. movement, the second rotating drive member 52 is used to drive the other of the pair of rotating wheels 1 to move in relative downward translation. In this way, the elongated instrument 2 clamped between the pair of rotating wheels 1 prevents the elongated instrument 2 from moving upwards or downwards from deviation through this movement form.
- first rotating driving member 51 and the second rotating driving member 52 are respectively driven to rotate, there are two corresponding to the first input holes 31 on the base 30 and are connected to two external drivers.
- One driver can control the first rotation driving member 51 to rotate along the first direction, and the other driver can control the second rotation driving member 52 to rotate along the second direction, and the first direction and the second direction are reversed.
- the two drivers control the same steering of the first rotating drive member 51 and the second rotating drive member 52 , but the translational movement of the rotating wheel 1 in different directions can be realized through the corresponding torque conversion module.
- FIGS. 1 to 3 there are two rotating driving members 5, including: a first rotating driving member 51 and a second rotating driving member 52, and the first rotating driving member 51
- a first transmission unit is arranged between the second rotation driving member 52, and when the first rotation driving member 51 is driven to rotate, the first transmission unit drives the second transmission unit.
- the rotary driving member 52 rotates in the opposite direction, and then realizes a relative upward translational movement of one of the pair of rotating wheels 1 and a relative downward translational movement of the other of the pair of rotating wheels 1 through the corresponding torque conversion module.
- the first rotation driving member 51 is driven to rotate, and torque transmission is realized between the first rotation driving member 51 and the second rotation driving member 52 through the first transmission unit.
- the torque can be transmitted to the second rotating driving member 52 through the first transmission unit.
- the first transmission unit includes: a first meshing gear 71 fixedly arranged on the first rotating driving member 51 , and a second meshing gear 72 fixedly arranged on the second rotating driving member 52 , the first meshing gear 71 is meshed with the second meshing gear 72 for transmission.
- the rotation directions of the first rotating driving member 51 and the second rotating driving member 52 are opposite.
- the base 30 is provided with a first input hole 31, the first meshing gear 71 is arranged at a corresponding position of the first input hole 31, and the first meshing gear 71 can pass through the first
- the input hole 31 is rotationally matched with the external driver, so as to transmit the power of the external driver to the first rotary driving member 51 .
- the first meshing gear 71 is fixedly connected to the first rotating driving member 51, and the first rotating driving member 51 may protrude from the first input hole 31 to the outside of the base 30, and be connected to the external driver through a coupling; or
- the bottom of the first rotating drive member 51 is connected with the first meshing gear 71, and the first meshing gear 71 is fixed at the position of the first input hole 31, and the output shaft of the external driver can be stretched into from the first input hole 31 until it meets the first meshing gear.
- the wheel hub of 71 matches and connects. This specification does not specifically limit the connection relationship between the first rotating driving member 51 , the first meshing gear 71 and the external driver, as long as the power transmission between the external driver and the first rotating driving member 51 can be realized.
- the rotating driving member 5 has one, and when the rotating driving member 5 is driven to rotate, one of the pair of rotating wheels is relatively opposite to each other through the torque conversion module. The other of the pair of rotating wheels moves upward or downward in translation.
- this embodiment when the elongated instrument 2 is driven to rotate, only one rotating wheel 1 moves upward or downward in translation. There is one corresponding to the first input hole 31 on the base 30, and is connected to an external driver.
- the torque conversion module includes: a linkage plate 61, the linkage plate 61 has a transverse section 611 extending transversely, and the transverse section 611 is arranged between the rotating drive member 5 and the Between the rotating wheel 1, the transverse section 611 has a first end and a second end in the direction of its transverse extension, the first end is relatively fixedly connected with the rotating wheel 1, and the second end is connected to the rotating wheel 1
- the above-mentioned rotary drive member 5 is transmission connected.
- the linkage plate 61 that is transmission-connected with the rotary drive member 5 drives The turning wheel 1 performs a translational movement.
- the linkage plate 61 includes: a vertical section 612 perpendicular to the transverse section 611, and the moment conversion module includes: a rotating member 62 fixed in the vertical section 612, and the rotating member 62 An internal thread is provided; an external thread is provided on the rotating drive member 5 to cooperate with the internal thread.
- the vertical section 612 is located at the second end of the horizontal section 611, and the vertical section 612 is provided with a groove for inserting the rotating member 62, and the rotating member 62 can be fixed in the vertical section 612 by screws or bolts .
- the rotating member 62 is provided with a through hole with an internal thread
- the rotating drive member 5 is provided with an external thread that matches the internal thread.
- the rotating member 62 moves up and down along the axial direction of the rotating drive member 5, and then drives the linkage plate 61 and the rotating wheel 1 fixedly connected with the linkage plate 61 to move up and down, thereby realizing the rotation of the rotating wheel 1 relative to the rotating shaft 4. Translational movement along the axial direction of the rotating shaft 4.
- the external threads on the first rotating driving member 51 and the second rotating driving member 52 have the same direction of rotation, and the pair of rotating wheels 1 can move in opposite directions, so that the pair of rotating wheels 1 clamped between the pair of rotating wheels 1
- the rotating wheel 1 includes: a body part in contact with the elongated instrument 2, and an extension part 10 extending upward from the body part; the extension part 10 A bearing 81, an upper circlip 82 and a lower circlip 83 are arranged between the linkage plate 61, the upper circlip 82 is arranged above the bearing 81, and the lower circlip 83 is arranged on the bearing 81 Below, the upper circlip 82 and the lower circlip 83 cooperate to drive the bearing 81 and the rotating wheel 1 to follow the linkage plate 61 to move up and down in translation.
- the transverse section 611 of the linkage plate 61 is provided with a slot for inserting the bearing 81 , and the bearing 81 provided between the rotating shaft 4 and the linkage plate 61 can reduce the friction force when the rotating shaft 4 rotates.
- the upper jumper 82 and the lower jumper 83 It can drive the synchronous translation motion of the linkage plate 61 and the bearing 81 .
- the upper circlip 82 and the lower circlip 83 are preferably arranged in the diagonal direction of the bearing 81, for example, the extension part 10 is provided with a first groove for inserting the upper circlip 82, and the linkage plate 61 is provided with a groove for Embedded in the second groove of the lower jumper 83, when the linkage plate 61 performs translational movement, the lower jumper 83 drives the bearing 81 to follow the linkage plate 61 for translational movement, and the upper jumper 82 drives the rotating wheel 1 to follow the bearing 81, The linkage plate 61 performs a translational movement, thereby realizing the synchronous translational movement of the bearing 81 , the rotating wheel 1 and the linkage plate 61 .
- an upper engaging portion 84 is provided between one of the linkage plate 61 and the rotating wheel 1 and the bearing 81, and the other of the linkage plate 61 and the rotating wheel 1 is connected to the bearing 81.
- a lower engaging portion 85 is provided between the bearings, and the upper engaging portion 84 and the lower engaging portion 85 are used to limit the vertical movement of the bearing 81 relative to the linkage plate 61 .
- the upper engaging portion 84 and the lower engaging portion 85 can be arranged in a diagonal direction of the bearing 81, for example, the linkage plate 61 is provided with the upper engaging portion 84, the extension portion 40 is provided with the lower engaging portion 85, and the upper engaging portion 85 is provided with the upper engaging portion 85.
- the engaging portion 84 and the lower engaging portion 85 cooperate with corresponding positions of the bearing 81 to prevent the bearing 81 from translational movement relative to the linkage plate 61 and the rotating wheel 1 .
- the pair of rotating wheels 1 includes: a driving wheel 11 and a driven wheel 12, the first rotating shaft 41 is fixedly provided with a third meshing gear 73, and the second The rotating shaft 42 is fixedly provided with a fourth meshing gear 74 , and the third meshing gear 73 is meshed with the fourth meshing gear 74 for transmission.
- the first rotating shaft 41 When the first rotating shaft 41 is driven to rotate, it drives the third meshing gear 73 fixed to the first rotating shaft 41 to rotate, and then drives the fourth meshing gear 74 meshed with the third meshing gear 73 to rotate, thereby driving the driving wheel 11 and the driven wheel 12 counter-rotate to realize that the elongated instrument 2 advances along its own axis. Similarly, through the reverse driving of the first rotating shaft 41, the elongated instrument 2 is driven backward along its own axis.
- the first rotating shaft 41 and the second rotating shaft 42 are respectively driven to rotate, that is, there is no second transmission unit arranged between them, and they are respectively driven to rotate by an external driver. Since the first rotating shaft 41 and the second rotating shaft 42 are respectively driven to rotate, there are two corresponding to the second input holes 32 on the base 30 and are connected to two external drivers. One driver can control the first rotating shaft 41 to rotate along a first direction, and the other driver can control the second rotating shaft 42 to rotate along a second direction, and the first direction and the second direction are reversed.
- the base 30 is provided with a second input hole 32, the third meshing gear 73 is arranged at the corresponding position of the second input hole 32, and the third meshing gear 73 can pass through the second
- the input hole 32 is rotationally matched with the external driver, so as to transmit the power of the external driver to the first rotating shaft 41 .
- connection relationship between the first rotating shaft 41 and the third meshing gear 73 and the external drive please refer to the above-mentioned connection between the first rotating drive member 51 and the external drive. The description of the device connection relationship will not be repeated here in this specification.
- the transmission assembly also includes an adjustment module set on the base 30, as shown in Figure 2 and Figure 3, the adjustment module includes: a first fixed block 33, a second fixed block 34, a first The elastic member 36, the second elastic member 37, the locking screw 38, the guide rail 39, the connecting plate 35, and the connecting block.
- the first fixed block 33 can be selectively fixed on the base 30, the second fixed block 34 is fixed on the base 30, the connecting block can slide along the guide rail 39, and the first elastic member 36 is located on the first fixed block 33.
- the locking screw 38 passes through and is fixed from the second fixing block 34 , and the second elastic member 37 is located between the second fixing block 34 and the locking screw 38 .
- the length of the first elastic member 36 can be adjusted, and then the clamping force value between the driving wheel 11 and the driven wheel 12 can be adjusted to suit For the clamping of slender instruments of different sizes.
- the connecting block slides on the guide rail 39 , it can squeeze the first elastic member 36 to facilitate the placement and movement of elongated instruments 2 of different sizes.
- both the connecting block and the rotating wheel 1 are installed on the connecting plate 35 , and when the connecting block moves on the guide rail 39 , it can drive the rotating wheel 1 and the connecting plate 35 to slide together.
- the locking screw 38 is pushed toward the direction of the connecting block, the length of the second elastic member 37 can be adjusted, and the connecting block can be pushed to slide on the guide rail 39, thereby correcting the clamping force value between the driving wheel 11 and the driven wheel 12 , adjust the minimum gap between the driving wheel 11 and the driven wheel 12 to prevent the elongated instrument 2 from being damaged when the elongated instrument 2 with a softer material (such as a contrast catheter) is clamped.
- a softer material such as a contrast catheter
- the driving assembly includes: a first driver 91, a second driver 92 and the transmission assembly, wherein the first driver 91 and at least one The rotary drive member 5 is operatively connected, and the second driver 92 is operatively connected with at least one of the rotary shafts 4 .
- the first driver 91 and the second driver 92 are specifically motors provided with output shafts, the number of the first driver 91 matches the number of the first input holes 31, and the number of the second driver 92 The number matches the number of the second input holes 32 .
- the drive assembly also includes a sterile box 3 , and the transmission assembly is arranged in the sterile box 3 .
- the entire transmission assembly is used as a disposable consumable, and the sterile box 3 needs to be disassembled from the external driver as a whole and replaced after each operation.
- the driving assembly also includes a base 90, the base 90 is used to install the first driver 91 and the second driver 92, since the rotating shaft 4 and the rotating driving member 5 are spaced apart and parallel to the axial direction of the elongated instrument 2 distribution, the first driver 91 and the second driver 92 are also distributed along the axial direction of the elongated instrument 2 at intervals.
- the specification also provides a surgical robot, including: a mechanical arm and the driving assembly, and the mechanical arm is used to support the driving assembly.
- the drive assembly and the surgical robot can realize the technical problems solved by the above-mentioned embodiments problems, and correspondingly achieve the technical effects of the above-mentioned embodiments, and the specific details of this application will not be repeated here.
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- Transmission Devices (AREA)
Abstract
本说明书公开了一种传动组件、驱动组件以及介入手术机器人，传动组件包括：基座、设置在基座上的一对转动轮、递送机构和搓丝机构，一对转动轮与待驱动的细长器械相接触并设置在其两侧；其中，递送机构包括：一对转动轴，转动轴转动设置在基座上，与一对转动轮相对应连接；搓丝机构包括：至少一个转动驱动件，转动驱动件转动设置在基座上；设置在转动驱动件与转动轮之间的力矩转换模块，转动驱动件被驱动旋转时，力矩转换模块能将转动驱动件的旋转运动转换为一对转动轮之间的相对平移运动，平移运动方向为转动轴的轴线方向。本申请的传动组件、驱动组件以及介入手术机器人，能够使导丝/导管可以同时被递送和旋转，递送及旋转之间的动力传递没有影响。
Description
本申请涉及医疗器械技术领域，具体涉及一种传动组件、驱动组件以及介入手术机器人。
导管以及导丝可用于许多微创医疗程序，以用于各种脉管***疾病的诊断和治疗。医生手动将导管或者导丝***至患者体内是一种相对传统的手术步骤。
但是，当上述手术步骤需要DSA设备发出的X射线来实施时，医生会受到大量的辐射，在长期工作中会危害医生的健康。为了减小X射线对医生的辐射，可通过介入手术机器人***驱动导管或者导丝，在医生的远程控制下，将导管或者导丝递送至患者体内的期望位置。
现有技术中，在已知介入手术机器人的从端部分，通常由递送机构和旋转机构分别带动导管/导丝的轴向运动和旋转运动，具体可见公开号为CN112353491B、CN211723416U、CN112120792A、FR3022147B1、CN107847279A等专利。在上述专利中，控制导管或者导丝的递送机构和旋转机构为独立的两部分，递送机构和旋转机构在动力传递过程中相互之间容易产生干涉，从而导致导管/导丝旋转过程中不能被推送，或者导管/导丝推送过程中不能被旋转，对介入手术的应用造成了一定的限制。
发明内容
为了解决现有技术中存在的至少一个技术问题，本申请提供了一种传动组件、驱动组件以及介入手术机器人，导丝/导管可以同时被递送和旋转，导丝/导管的递送及旋转之间的动力传递没有影响。
为了达到上述目的，本申请提供的技术方案如下所述：
一种传动组件，包括：基座、设置在所述基座上的一对转动轮、递送机构和搓丝机构，所述一对转动轮与待驱动的细长器械相接触并设置在其两侧；其中，
所述递送机构包括：一对转动轴，所述转动轴转动设置在所述基座上，并与所述一对转动轮相对应连接，至少一个所述转动轴被驱动旋转时能带动所述一对转动轮绕所述转动轴的轴线旋转；
所述搓丝机构包括：至少一个转动驱动件，所述转动驱动件转动设置在所述基座上；设置在所述转动驱动件与所述转动轮之间的力矩转换模块，所述转动驱动件被驱动旋转时，所
述力矩转换模块能将所述转动驱动件的旋转运动转换为所述一对转动轮之间的相对平移运动，所述平移运动方向为所述转动轴的轴线方向。
作为一种优选的实施方式，所述基座上设置有第一输入孔，至少一个所述转动驱动件能通过所述第一输入孔与外部驱动器实现动力传递。
作为一种优选的实施方式，所述基座上设置有第二输入孔，至少一个所述转动轴能通过所述第二输入孔与外部驱动器实现动力传递。
作为一种优选的实施方式，在沿着细长器械的轴线方向上，所述转动轴与所述转动驱动件相平行并且间隔设置。
作为一种优选的实施方式，所述转动轮作平移运动时，所述转动轴被构造为允许所述转动轮沿着所述转动轴进行平移运动，并能够带动所述转动轮进行旋转运动。
作为一种优选的实施方式，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件和所述第二转动驱动件被驱动旋转时，通过对应的力矩转换模块实现所述一对转动轮中的一个相对向上平移运动，所述一对转动轮中的另一个相对向下平移运动。
作为一种优选的实施方式，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件与所述第二转动驱动件之间设置有第一传动单元，所述第一转动驱动件被驱动旋转时，通过第一传动单元带动第二转动驱动件沿着相反方向转动，进而通过对应的力矩转换模块能实现所述一对转动轮中的一个相对向上平移运动，所述一对转动轮中的另一个相对向下平移运动。
作为一种优选的实施方式，所述第一传动单元包括：固定设置在所述第一转动驱动件上的第一啮合齿轮，以及固定设置在所述第二转动驱动件上的第二啮合齿轮，所述第一啮合齿轮与所述第二啮合齿轮啮合传动。
作为一种优选的实施方式，所述基座上设置有第一输入孔，所述第一啮合齿轮设置在所述第一输入孔的对应位置，所述第一啮合齿轮能通过所述第一输入孔与外部驱动器实现旋转配接，以将所述外部驱动器的动力传递给所述第一转动驱动件。
作为一种优选的实施方式，所述转动驱动件具有一个，所述转动驱动件被驱动旋转时，通过所述力矩转换模块实现所述一对转动轮中的一个相对所述一对转动轮中的另一个向上或者向下平移运动。
作为一种优选的实施方式，所述力矩转换模块包括：联动板，所述联动板具有横向延伸的横向段，所述横向段设置在所述转动驱动件与所述转动轮之间，所述横向段在其横向延伸
方向上具有第一端和第二端，所述第一端与所述转动轮相对固定地连接，所述第二端与所述转动驱动件传动连接。
作为一种优选的实施方式，所述联动板包括：与所述横向段相垂直的竖向段，所述力矩转换模块包括：固定在所述竖向段中的旋转件，所述旋转件设置有内螺纹；设置在所述转动驱动件上与所述内螺纹相配合的外螺纹。
作为一种优选的实施方式，所述转动轮包括：与所述细长器械相接触的本体部，以及自所述本体部向上延伸的延伸部；所述延伸部与所述联动板之间设置有轴承、上卡簧和下卡簧，所述上卡簧设置在所述轴承的上方，所述下卡簧设置在所述轴承的下方，所述上卡簧和所述下卡簧相配合能带动所述轴承和所述转动轮跟随所述联动板作上下平移运动。
作为一种优选的实施方式，所述联动板和所述转动轮二者之一与所述轴承之间设置上卡合部，所述联动板和所述转动轮二者另一与所述轴承之间设置下卡合部，所述上卡合部和所述下卡合部用于限制所述轴承相对于所述联动板上下移动。
作为一种优选的实施方式，所述一对转动轮包括：主动轮和从动轮，所述转动轴包括：第一转动轴和第二转动轴，所述第一转动轴固定设置第三啮合齿轮，所述第二转动轴固定设置第四啮合齿轮，所述第三啮合齿轮与所述第四啮合齿轮啮合传动。
作为一种优选的实施方式，所述基座上设置有第二输入孔，所述第三啮合齿轮设置在所述第二输入孔的对应位置，所述第三啮合齿轮能通过所述第二输入孔与外部驱动器实现旋转配接，以将所述外部驱动器的动力传递给所述第一转动轴。
一种驱动组件，包括：第一驱动器、第二驱动器以及所述的传动组件，其中，所述第一驱动器与至少一个所述转动驱动件可操作地连接，所述第二驱动器与至少一个所述转动轴可操作地连接。
一种手术机器人，包括：机械臂以及所述的驱动组件，所述机械臂用于支撑所述驱动组件。
本申请实施方式提供的传动组件、驱动组件以及介入手术机器人，通过一对转动轮带动细长器械递送和旋转，旋转时，通过转动驱动件以及力矩转换模块使得一对转动轮之间产生相对平移运动，如此能模拟医生搓丝动作，使得细长器械绕其自身轴线旋转。可见，转动轮在转动时，还能够在转动驱动件以及力矩转换模块的作用下进行平移运动，如此细长器械能够同时进行旋转动作和递送动作。
此外，本申请提供的传动组件、驱动组件以及介入手术机器人，将细长器械的旋转和递
送均集中在同一对转动轮，可以减小传动组件的整体尺寸、实现小型化。
参照后文的说明和附图，详细公开了本申请的特定实施方式，指明了本申请的原理可以被采用的方式。应该理解，本申请的实施方式在范围上并不因而受到限制。
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动力的前提下，还可以根据这些附图获得其他的附图。
图1为本说明书实施例提供的一种传动组件在第一视角下的结构示意图；
图2为本说明书实施例提供的一种传动组件在第二视角下的结构示意图；
图3为本说明书实施例提供的一种传动组件在第一视角下的局部结构示意图；
图4为本说明书实施例提供的另一种传动组件在第一视角下的结构示意图；
图5为本说明书实施例提供的另一种传动组件在第二视角下的结构示意图；
图6为本说明书实施例提供的另一种传动组件在第一视角下的局部结构示意图；
图7为本说明书实施例提供的再一种传动组件的结构示意图；
图8为本说明书根据图1至图3实施例提供的传动组件的剖面结构图；
图9为图8中A处的放大图；
图10为本说明书实施例提供的一种驱动组件在一个视角下的结构示意图；
图11为本说明书实施例提供的一种驱动组件在另一个视角下的结构示意图。
附图标记说明：
1、转动轮；10、延伸部；11、主动轮；12、从动轮；
2、细长器械；
3、无菌盒；30、基座；31、第一输入孔；32、第二输入孔；33、第一固定块；34、第二固定块；35、连接板；36、第一弹性件；37、第二弹性件；38、锁紧螺钉；39、导轨；
4、转动轴；41、第一转动轴；42、第二转动轴；
5、转动驱动件；51、第一转动驱动件；52、第二转动驱动件；
61、联动板；611、横向段；612、竖向段；62、旋转件；
71、第一啮合齿轮；72、第二啮合齿轮；73、第三啮合齿轮；74、第四啮合齿轮；
81、轴承；82、上卡簧；83、下卡簧；84、上卡合部；85、下卡合部；
90、底座；91、第一驱动器；92、第二驱动器。
下面将结合附图和具体实施方式，对本发明的技术方案作详细说明，应理解这些实施方式仅用于说明本发明而不用于限制范围，在阅读了本发明之后，本领域技术人员对本发明的各种等价形式的修改均落入本申请所限定的范围内。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
下面将结合图1至图11对本说明书实施例的传动组件、驱动组件以及介入手术机器人进行解释和说明。需要说明的是，在本发明的实施例中，相同的附图标记表示相同的部件。而为了简洁，在不同的实施例中，省略对相同部件的详细说明，且相同部件的说明可互相参照和引用。
如本文所用，术语“前方”、“前侧”是指传动组件面向患者的一侧。术语“后方”、“后侧”是指传动组件远离患者的一侧。术语“推进”、“推送”或者“递送”是指自远离患者的一侧朝向面向患者的一侧运动的过程。术语“回撤”、“后退”或者“撤出”是指自面向患者的一侧朝向远离患者的一侧运动的过程。
本说明书提供了一种传动组件，如图1至图7所示，包括：基座30、设置在所述基座30上的一对转动轮1、递送机构和搓丝机构，所述一对转动轮1与待驱动的细长器械2相接触并设置在其两侧。
所述细长器械2具有细长的轴身，其在不同应用场景下为不同类型的医疗器械，诸如导丝、引导导管、微导管、栓塞线圈、球囊导管等工作导管、抽吸导管和动脉粥样硬化切除术导管等，本申请对于细长器械2的类型不作限定。当细长器械2被夹持在一对转动轮1时，一对转动轮1绕其自身中心的旋转运动能够产生转动摩擦力，从而可以带动细长器械2推进和回撤。
所述递送机构用于带动转动轮1旋转，包括：一对转动轴4，所述转动轴4转动设置在
基座30上，并与所述一对转动轮1相对应连接，至少一个所述转动轴4被驱动旋转时能带动所述一对转动轮1绕转动轴4的轴线旋转，进而带动所述细长器械2沿其轴线方向运动。
具体的，所述转动轴4包括：第一转动轴41和第二转动轴42，与一对转动轮1的位置相对应，第一转动轴41和第二转动轴42分别设置在细长器械2的两侧。第一转动轴41和第二转动轴42分别与一对转动轮1相固定连接，第一转动轴41和第二转动轴42旋转时，能够带动一对转动轮1围绕转动轴4的轴线旋转。当一对转动轮1沿着相反方向转动时，能够带动细长器械2沿着自身轴线方向前进或者后退。
所述第一转动轴41和所述第二转动轴42可以均与外部驱动器连接，可以被外部驱动器带动第一转动轴41和第二转动轴42沿相反方向转动，例如一个沿顺时针方向转动，另一个沿逆时针方向转动。或者，第一转动轴41和第二转动轴42的其中一个与外部驱动器连接，第一转动轴41与第二转动轴42之间通过传动部件传递动力，如此，第一转动轴41被带动旋转后，通过传动部件带动第二转动轴42转动，从而实现一对转动轮1沿着相反方向旋转。
所述搓丝机构用于带动一对转动轮1之间产生相对平移运动，以带动细长器械2绕其自身轴线旋转。所述搓丝机构包括：至少一个转动驱动件5，所述转动驱动件5转动设置在基座30上；设置在所述转动驱动件5与所述转动轮1之间的力矩转换模块，所述转动驱动件5被驱动旋转时，所述力矩转换模块能将所述转动驱动件5的旋转运动转换为所述一对转动轮1之间的相对平移运动，促使所述细长器械2绕其轴线旋转，所述平移运动方向为所述转动轴4的轴线方向。
从而，通过转动驱动件5以及力矩转换模块使得一对转动轮1之间产生相对平移运动，如此能模拟医生搓丝动作，使得细长器械2绕其自身轴线旋转。可见，转动轮1在转动时，还能够在转动驱动件5以及力矩转换模块的作用下进行平移运动，如此细长器械2能够同时进行旋转动作和递送动作。
在本说明书中，所述基座30上设置有第一输入孔31，至少一个所述转动驱动件5能通过所述第一输入孔31与外部驱动器实现动力传递。所述第一输入孔31的个数可以为一个，或者为两个。当转动驱动件5为一个时，对应的第一输入孔31的个数为一个，当转动驱动件5为两个时，对应的第一输入孔31的个数可以为两个、一个，具体请参见下文实施例的描述。
在本说明书中，所述基座30上设置有第二输入孔32，至少一个所述转动轴4能通过所述第二输入孔32与外部驱动器实现动力传递。所述第二输入孔32的个数可以为一个，或者为两个。当转动轴4为一个时，对应的第二输入孔32的个数为一个，当转动轴4为两个时，
对应的第二输入孔32的个数可以为两个、一个，具体请参见下文实施例的描述。
在本说明书中，在沿着细长器械2的轴线方向上，所述转动轴4与所述转动驱动件5相平行并且间隔设置。进一步的，所述转动轮1作平移运动时，所述转动轴4被构造为允许所述转动轮1沿着所述转动轴4进行平移运动，并能够带动所述转动轮1进行旋转。
在本实施例中，转动轴4与转动驱动件5相平行并且间隔设置能够更好的利用了基座30在沿着细长器械的轴线方向上的空间。转动轮1在沿着转动轴4进行平移时，转动轴4被外部驱动器驱动旋转时还可以带动转动轮1一同转动。因此，转动轮1可以一边作平移运动，一边作旋转运动。在此过程中，转动轴4仅可以作旋转运动，而不能作轴向运动。为了实现该目的，所述转动轴4可以为异形结构，或者为方形结构、或者其他具有不规则形状的结构。在一个具体的实施例中，转动轴4为沿着圆柱体的轴向进行纵切形成的具有平面切面的异形结构。
另外，由于转动轴4仅作旋转运动，而不作轴向运动，在外部驱动器驱动转动轴4时，无需再增加多余的传动部件，整体方案的结构比较简单，且能够实现的转动轮1的运动方式多样化。
在一个实施方式中，如图4至图6所示，所述转动驱动件5具有两个，包括：第一转动驱动件51和第二转动驱动件52，所述第一转动驱动件51和所述第二转动驱动件52被驱动旋转时，通过对应的力矩转换模块实现所述一对转动轮1中的一个相对向上平移运动，所述一对转动轮1中的另一个相对向下平移运动。
所述第一转动驱动件51和所述第二转动驱动件52可以分别设置在细长器械2的两侧，第一转动驱动件51用于带动一对转动轮1的中的一个相对向上平移运动，第二转动驱动件52用于带动一对转动轮1中的另一个相对向下平移运动。如此，夹持在一对转动轮1之间的细长器械2通过这种运动形式防止细长器械2向上或者向下运动跑偏。
具体的，第一转动驱动件51和第二转动驱动件52由于分别被驱动旋转，对应于基座30上的第一输入孔31为两个，并与两个外部驱动器相连接。一个驱动器可以控制第一转动驱动件51沿着第一方向转动，另一个驱动器可以控制第二转动驱动件52沿着第二方向转动，第一方向和第二方向反向。或者，两个驱动器控制第一转动驱动件51、第二转动驱动件52的转向相同，但是通过对应的力矩转换模块可以实现转动轮1沿着不同方向平移运动。
在另一个实施方式中，如图1至图3所示，所述转动驱动件5具有两个，包括：第一转动驱动件51和第二转动驱动件52，所述第一转动驱动件51与所述第二转动驱动件52之间设置有第一传动单元，所述第一转动驱动件51被驱动旋转时，通过第一传动单元带动第二
转动驱动件52沿着相反方向转动，进而通过对应的力矩转换模块实现所述一对转动轮1中的一个相对向上平移运动，所述一对转动轮1中的另一个相对向下平移运动。
与上述实施例不同的是，在本实施例中，仅第一转动驱动件51被驱动旋转，第一转动驱动件51与第二转动驱动件52之间通过第一传动单元实现力矩传递。如此，在第一转动驱动件51旋转时可以通过第一传动单元将转矩传递给第二转动驱动件52。对应于基座30上的第一输入孔31为一个，并与一个外部驱动器相连接。
在一个具体的实施例中，所述第一传动单元包括：固定设置在第一转动驱动件51上的第一啮合齿轮71，以及固定设置在第二转动驱动件52上的第二啮合齿轮72，第一啮合齿轮71与第二啮合齿轮72啮合传动。在本实施例中，通过第一啮合齿轮71和第二啮合齿轮72的啮合传动，使得第一转动驱动件51和第二转动驱动件52二者的转动方向相反。
具体的，所述基座30上设置有第一输入孔31，所述第一啮合齿轮71设置在所述第一输入孔31的对应位置，所述第一啮合齿轮71能通过所述第一输入孔31与外部驱动器实现旋转配接，以将所述外部驱动器的动力传递给所述第一转动驱动件51。进一步的，第一啮合齿轮71与第一转动驱动件51固定连接，第一转动驱动件51可以从第一输入孔31凸出于基座30外部，与外部驱动器通过联轴器相连接；或者第一转动驱动件51的底部连接第一啮合齿轮71，第一啮合齿轮71固定于第一输入孔31的位置，外部驱动器的输出轴可以从第一输入孔31伸入直至与第一啮合齿轮71的轮毂相配接。本说明书对于第一转动驱动件51、第一啮合齿轮71与外部驱动器之间的连接关系不作特别限定，只要能够实现外部驱动器与第一转动驱动件51之间的动力传递即可。
在另一个实施方式中，如图7所示，所述转动驱动件5具有一个，所述转动驱动件5被驱动旋转时，通过所述力矩转换模块实现所述一对转动轮中的一个相对所述一对转动轮中的另一个向上或者向下平移运动。
与上述两个实施例不同的是，在本实施例中，当驱动细长器械2旋转时，仅一个转动轮1向上平移运动或者向下平移运动。对应于基座30上的第一输入孔31为一个，并与一个外部驱动器相连接。
在本说明书中，如图8所示，所述力矩转换模块包括：联动板61，所述联动板61具有横向延伸的横向段611，所述横向段611设置在所述转动驱动件5与所述转动轮1之间，所述横向段611在其横向延伸方向上具有第一端和第二端，所述第一端与所述转动轮1相对固定地连接，所述第二端与所述转动驱动件5传动连接。
如此，当转动驱动件5被驱动旋转时，通过与转动驱动件5传动连接的联动板61，带动
转动轮1进行平移运动。具体的，所述联动板61包括：与所述横向段611相垂直的竖向段612，所述力矩转换模块包括：固定在所述竖向段612中的旋转件62，所述旋转件62设置有内螺纹；设置在所述转动驱动件5上与所述内螺纹相配合的外螺纹。
进一步的，所述竖向段612位于横向段611的第二端，竖向段612设置有用于嵌入旋转件62的凹槽，所述旋转件62可以通过螺钉或者螺栓固定在竖向段612中。所述旋转件62设置有带有内螺纹的通孔，转动驱动件5设置有与该内螺纹相配合的外螺纹，当转动驱动件5被驱动旋转时，通过外螺纹、内螺纹的配合实现旋转件62沿着转动驱动件5的轴向进行上、下运动，进而带动联动板61以及与联动板61固定连接的转动轮1进行上、下运动，从而实现转动轮1相对于转动轴4沿着转动轴4的轴线方向平移运动。
对应的，当转动驱动件5具有两个时，即第一转动驱动件51和第二转动驱动件52。则，力矩转换模块以及联动板61也应当对应有两个。以图1至图3所示的实施例为例，当第一转动驱动件51被驱动旋转时，通过对应的联动板61以及力矩转换模块带动其中一个转动轮1作平移运动，同时带动第一啮合齿轮71转动，通过与第一啮合齿轮71外啮合的第二啮合齿轮72，同时带动与第二啮合齿轮72相固定的第二转动驱动件52转动，从而通过对应的联动板61以及力矩转换模块带动另一个转动轮1作平移运动。
在本实施例中，第一转动驱动件51和第二转动驱动件52上的外螺纹旋向相同，一对转动轮1能够沿着相反方向运动，从而使夹持在一对转动轮1之间的细长器械2旋转。
以图4至图6所示的实施例为例，当第一转动驱动件51和第二转动驱动件52被驱动旋转时，若第一转动驱动件51和第二转动驱动件52的外螺纹旋向相同，与第一转动驱动件51和第二转动驱动件52相连接的两个外部驱动器的旋转方向相反；若第一转动驱动件51和第二转动驱动件52的外螺纹旋向相反，与第一转动驱动件51和第二转动驱动件52相连接的两个外部驱动器的旋转方向相同。在本实施例中，以上两种方式均能够实现一对转动轮1沿着相反方向进行平移运动。
进一步的，如图8和图9所示，所述转动轮1包括：与所述细长器械2相接触的本体部，以及自所述本体部向上延伸的延伸部10；所述延伸部10与所述联动板61之间设置有轴承81、上卡簧82和下卡簧83，所述上卡簧82设置在所述轴承81的上方，所述下卡簧83设置在所述轴承81的下方，所述上卡簧82和所述下卡簧83相配合能带动所述轴承81和所述转动轮1跟随所述联动板61作上下平移运动。
具体的，所述联动板61的横向段611设置有用于嵌入轴承81的卡槽，转动轴4与联动板61之间设置轴承81能够减小转动轴4旋转时的摩擦力。通过设置上卡簧82与下卡簧83
能够带动联动板61与轴承81的同步平移运动。所述上卡簧82、所述下卡簧83优选设置在轴承81的对角线方向上，例如，延伸部10设置有用于嵌入上卡簧82的第一凹槽，联动板61设置有用于嵌入下卡簧83的第二凹槽，当联动板61作平移运动时，通过下卡簧83带动轴承81跟随联动板61进行平移运动，并通过上卡簧82带动转动轮1跟随轴承81、联动板61进行平移运动，从而实现轴承81、转动轮1和联动板61的同步平移运动。
进一步的，所述联动板61和所述转动轮1二者之一与所述轴承81之间设置上卡合部84，所述联动板61和所述转动轮1二者另一与所述轴承之间设置下卡合部85，所述上卡合部84和所述下卡合部85用于限制所述轴承81相对于所述联动板61上下移动。
上卡合部84和下卡合部85可以设置在轴承81的一条对角线方向上，例如，联动板61设置有上卡合部84，延伸部40设置有下卡合部85，上卡合部84和下卡合部85分别与轴承81的对应位置相配合，防止轴承81相对于联动板61和转动轮1进行平移运动。
在本说明书中，如图1至图7所示，所述一对转动轮1包括：主动轮11和从动轮12，所述第一转动轴41固定设置第三啮合齿轮73，所述第二转动轴42固定设置第四啮合齿轮74，所述第三啮合齿轮73与所述第四啮合齿轮74啮合传动。
当第一转动轴41被驱动旋转时，带动与第一转动轴41相固定的第三啮合齿轮73旋转，进而带动与第三啮合齿轮73啮合传动的第四啮合齿轮74旋转，从而带动主动轮11和从动轮12反向旋转，实现细长器械2沿着其自身轴线前进。同理，通过第一转动轴41的反向驱动，带动细长器械2沿着其自身轴线后退。
在本实施例中，仅第一转动轴41被驱动旋转，第一转动轴41与第二转动轴42之间通过第二传动单元(即第三啮合齿轮73和第四啮合齿轮74)实现力矩传递。对应于基座30上的第二输入孔32为一个，并与一个外部驱动器相连接。
当然，在其他可能的实施例中，第一转动轴41和第二转动轴42分别被驱动旋转，即二者之间没有设置第二传动单元，分别被外部驱动器驱动旋转。由于第一转动轴41和第二转动轴42分别被驱动旋转，对应于基座30上的第二输入孔32为两个，并与两个外部驱动器相连接。一个驱动器可以控制第一转动轴41沿着第一方向转动，另一个驱动器可以控制第二转动轴42沿着第二方向转动，第一方向和第二方向反向。
进一步的，所述基座30上设置有第二输入孔32，所述第三啮合齿轮73设置在所述第二输入孔32的对应位置，所述第三啮合齿轮73能通过所述第二输入孔32与外部驱动器实现旋转配接，以将所述外部驱动器的动力传递给所述第一转动轴41。关于第一转动轴41与第三啮合齿轮73与外部驱动器之间的连接关系可参考上文关于第一转动驱动件51与外部驱动
器连接关系的描述，本说明书在此不再作赘述。
在本说明书中，所述传动组件还包括设置在基座30上的调节模组，如图2和图3所示，调节模组包括：第一固定块33、第二固定块34、第一弹性件36、第二弹性件37、锁紧螺钉38、导轨39和连接板35、连接块。其中，第一固定块33可以选择性地固定在基座30上，第二固定块34固定在基座30上，连接块可以沿着导轨39滑动，第一弹性件36位于第一固定块33与连接块之间，锁紧螺钉38从第二固定块34中穿设并固定，第二弹性件37位于第二固定块34与锁紧螺钉38之间。
通过调整第一固定块33在基座30上的位置，并在调整后固定，可以调节第一弹性件36的长度，进而调节主动轮11与从动轮12之间的夹紧力值，以适应于不同尺寸的细长器械的夹持。当连接块在导轨39上滑动时能够挤压第一弹性件36，以方便不同尺寸的细长器械2地放置及运动。
进一步的，连接块与转动轮1均安装在连接板35上，当连接块在导轨39上移动时，能够带动转动轮1以及连接板35一同滑动。当朝向连接块的方向推进锁紧螺钉38时，可以调节第二弹性件37的长度，并能推动连接块在导轨39上滑动，进而修正主动轮11与从动轮12之间的夹紧力值，调整主动轮11与从动轮12之间的最小间隙，防止在夹持材质较软的细长器械2(如造影导管)时，损坏细长器械2。
本说明书还提供了一种驱动组件，如图10和图11所示，驱动组件包括：第一驱动器91、第二驱动器92以及所述的传动组件，其中，所述第一驱动器91与至少一个所述转动驱动件5可操作地连接，所述第二驱动器92与至少一个所述转动轴4可操作地连接。
所述第一驱动器91和所述第二驱动器92具体是设置有输出轴的电机，所述第一驱动器91的个数与第一输入孔31的个数相匹配，所述第二驱动器92的个数与第二输入孔32的个数相匹配。
进一步的，所述驱动组件还包括无菌盒3，所述传动组件设置在无菌盒3中。整个传动组件作为一次性耗材使用，在每次手术结束后需要将无菌盒3从外部驱动器上整体拆卸并更换。
进一步的，所述驱动组件还包括底座90，所述底座90用于安装第一驱动器91和第二驱动器92，由于转动轴4和转动驱动件5沿着细长器械2的轴向间隔且平行分布，则第一驱动器91和第二驱动器92也沿着细长器械2的轴向间隔分布。
本说明书还提供了一种手术机器人，包括：机械臂以及所述的驱动组件，所述机械臂用于支撑所述驱动组件。所述驱动组件以及手术机器人其能够实现上述实施例所解决的技术问
题，并相应的达到上述实施方式的技术效果，具体的本申请在此不再赘述。
需要说明的是，在本说明书的描述中，术语“第一”、“第二”等仅用于描述目的和区别类似的对象，两者之间并不存在先后顺序，也不能理解为指示或暗示相对重要性。此外，在本说明书的描述中，除非另有说明，“多个”的含义是两个或两个以上。
上述实施例只为说明本申请的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本申请的内容并据以实施，并不能以此限制本申请的保护范围。凡根据本申请精神实质所作的等效变化或修饰，都应涵盖在本申请的保护范围之内。
应该理解，以上描述是为了进行图示说明而不是为了进行限制。通过阅读上述描述，在所提供的示例之外的许多实施方式和许多应用对本领域技术人员来说都将是显而易见的。出于全面之目的，所有文章和参考包括专利申请和公告的公开都通过参考结合在本文中。
Claims (18)
- 一种传动组件，其特征在于，包括：基座、设置在所述基座上的一对转动轮、递送机构和搓丝机构，所述一对转动轮与待驱动的细长器械相接触并设置在其两侧；其中，所述递送机构包括：一对转动轴，所述转动轴转动设置在所述基座上，并与所述一对转动轮相对应连接，至少一个所述转动轴被驱动旋转时能带动所述一对转动轮绕所述转动轴的轴线旋转；所述搓丝机构包括：至少一个转动驱动件，所述转动驱动件转动设置在所述基座上；设置在所述转动驱动件与所述转动轮之间的力矩转换模块，所述转动驱动件被驱动旋转时，所述力矩转换模块能将所述转动驱动件的旋转运动转换为所述一对转动轮之间的相对平移运动，所述平移运动方向为所述转动轴的轴线方向。
- 如权利要求1所述的传动组件，其特征在于，所述基座上设置有第一输入孔，至少一个所述转动驱动件能通过所述第一输入孔与外部驱动器实现动力传递。
- 如权利要求1所述的传动组件，其特征在于，所述基座上设置有第二输入孔，至少一个所述转动轴能通过所述第二输入孔与外部驱动器实现动力传递。
- 如权利要求1所述的传动组件，其特征在于，在沿着细长器械的轴线方向上，所述转动轴与所述转动驱动件相平行并且间隔设置。
- 如权利要求1所述的传动组件，其特征在于，所述转动轮作平移运动时，所述转动轴被构造为允许所述转动轮沿着所述转动轴进行平移运动，并能够带动所述转动轮进行旋转运动。
- 如权利要求1所述的传动组件，其特征在于，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件和所述第二转动驱动件被驱动旋转时，通过对应的力矩转换模块能实现所述一对转动轮中的一个相对向上平移运动，所述一对转动轮中的另一个相对向下平移运动。
- 如权利要求1所述的传动组件，其特征在于，所述转动驱动件具有两个，包括：第一转动驱动件和第二转动驱动件，所述第一转动驱动件与所述第二转动驱动件之间设置有第一 传动单元，所述第一转动驱动件被驱动旋转时，通过第一传动单元带动第二转动驱动件沿着相反方向转动，进而通过对应的力矩转换模块实现所述一对转动轮中的一个相对向上平移运动，所述一对转动轮中的另一个相对向下平移运动。
- 如权利要求7所述的传动组件，其特征在于，所述第一传动单元包括：固定设置在所述第一转动驱动件上的第一啮合齿轮，以及固定设置在所述第二转动驱动件上的第二啮合齿轮，所述第一啮合齿轮与所述第二啮合齿轮啮合传动。
- 如权利要求8所述的传动组件，其特征在于，所述基座上设置有第一输入孔，所述第一啮合齿轮设置在所述第一输入孔的对应位置，所述第一啮合齿轮能通过所述第一输入孔与外部驱动器实现旋转配接，以将所述外部驱动器的动力传递给所述第一转动驱动件。
- 如权利要求1所述的传动组件，其特征在于，所述转动驱动件具有一个，所述转动驱动件被驱动旋转时，通过所述力矩转换模块实现所述一对转动轮中的一个相对所述一对转动轮中的另一个向上或者向下平移运动。
- 如权利要求1所述的传动组件，其特征在于，所述力矩转换模块包括：联动板，所述联动板具有横向延伸的横向段，所述横向段设置在所述转动驱动件与所述转动轮之间，所述横向段在其横向延伸方向上具有第一端和第二端，所述第一端与所述转动轮相对固定地连接，所述第二端与所述转动驱动件传动连接。
- 如权利要求11所述的传动组件，其特征在于，所述联动板包括：与所述横向段相垂直的竖向段，所述力矩转换模块包括：固定在所述竖向段中的旋转件，所述旋转件设置有内螺纹；设置在所述转动驱动件上与所述内螺纹相配合的外螺纹。
- 如权利要求11所述的传动组件，其特征在于，所述转动轮包括：与所述细长器械相接触的本体部，以及自所述本体部向上延伸的延伸部；所述延伸部与所述联动板之间设置有轴承、上卡簧和下卡簧，所述上卡簧设置在所述轴承的上方，所述下卡簧设置在所述轴承的下方，所述上卡簧和所述下卡簧相配合能带动所述轴承和所述转动轮跟随所述联动板作上下平移运动。
- 如权利要求13所述的传动组件，其特征在于，所述联动板和所述转动轮二者之一与 所述轴承之间设置上卡合部，所述联动板和所述转动轮二者另一与所述轴承之间设置下卡合部，所述上卡合部和所述下卡合部用于限制所述轴承相对于所述联动板上下移动。
- 如权利要求1所述的传动组件，其特征在于，所述一对转动轮包括：主动轮和从动轮，所述转动轴包括：第一转动轴和第二转动轴，所述第一转动轴固定设置第三啮合齿轮，所述第二转动轴固定设置第四啮合齿轮，所述第三啮合齿轮与所述第四啮合齿轮啮合传动。
- 如权利要求15所述的传动组件，其特征在于，所述基座上设置有第二输入孔，所述第三啮合齿轮设置在所述第二输入孔的对应位置，所述第三啮合齿轮能通过所述第二输入孔与外部驱动器实现旋转配接，以将所述外部驱动器的动力传递给所述第一转动轴。
- 一种驱动组件，其特征在于，包括：第一驱动器、第二驱动器以及如权利要求1-16所述的传动组件，其中，所述第一驱动器与至少一个所述转动驱动件可操作地连接，所述第二驱动器与至少一个所述转动轴可操作地连接。
- 一种手术机器人，其特征在于，包括：机械臂以及如权利要求17所述的驱动组件，所述机械臂用于支撑所述驱动组件。
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| CN117357263A (zh) * | 2023-12-05 | 2024-01-09 | 北京云力境安科技有限公司 | 一种柔性器械输送装置及其执行部件、驱动部件 |
| CN117379233A (zh) * | 2023-12-11 | 2024-01-12 | 上海申淇医疗科技有限公司 | 鞘管适配器及手术辅助*** |
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| CN207171020U (zh) * | 2017-08-22 | 2018-04-03 | 广东天机工业智能***有限公司 | 旋转升降机构 |
| CN111529065A (zh) * | 2020-05-09 | 2020-08-14 | 中国科学院自动化研究所 | 血管介入器械操控装置 |
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| US6375471B1 (en) * | 1998-07-10 | 2002-04-23 | Mitsubishi Electric Research Laboratories, Inc. | Actuator for independent axial and rotational actuation of a catheter or similar elongated object |
| CN103157170A (zh) * | 2013-02-25 | 2013-06-19 | 中国科学院自动化研究所 | 一种基于两点夹持的血管介入手术导管或导丝操纵装置 |
| CN207171020U (zh) * | 2017-08-22 | 2018-04-03 | 广东天机工业智能***有限公司 | 旋转升降机构 |
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| CN117357263A (zh) * | 2023-12-05 | 2024-01-09 | 北京云力境安科技有限公司 | 一种柔性器械输送装置及其执行部件、驱动部件 |
| CN117357263B (zh) * | 2023-12-05 | 2024-03-01 | 北京云力境安科技有限公司 | 一种柔性器械输送装置及其执行部件、驱动部件 |
| CN117379233A (zh) * | 2023-12-11 | 2024-01-12 | 上海申淇医疗科技有限公司 | 鞘管适配器及手术辅助*** |
| CN117379233B (zh) * | 2023-12-11 | 2024-03-15 | 上海申淇医疗科技有限公司 | 鞘管适配器及手术辅助*** |
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