WO2021147269A1 - Surgical robotic arm and surgical robot - Google Patents

Abstract

A surgical robotic arm (100), comprising a preoperative positioning assembly (10), an execution assembly (30), and a distal control assembly (20); the execution assembly (30) comprises an execution rod (31) and a surgical instrument (32) which is disposed at one end of the execution rod (31) far from the distal control assembly (20); a rotary driving member (41) and a sensor (42) are provided on the distal control assembly (20); the rotary driving member (41) is connected to one end of the execution rod (31) near to the distal control assembly (20), and may drive the execution rod (31) and the surgical instrument (32) to synchronously rotate along the axial direction of the execution rod (31); and the sensor (42) is connected to the execution rod (31), and is used for detecting the environmental force and/or environmental torque to which the surgical instrument (32) is subjected. In the surgical robotic arm (100), since the execution rod (31) and the surgical instrument (32) are configured to synchronously rotate, a connection cable located in the interior of the execution rod (31) may thus move as a whole, which prevents the disadvantage in traditional structures in which the winding of a connection cable results in a reliable mechanical sensor being unable to be achieved, thereby enabling the environmental force and/or the environmental torque to which the surgical instrument (32) is subjected to be precisely measured by the sensor (42).

Description

Surgical robotic arm and surgical robot

Related application

This application requires the priority of the Chinese patent application whose application date is January 23, 2020, the application number is 202020149666.4, and the invention title is "Surgical Robot Arm and Surgical Robot"; and the application date is January 23, 2020, the application number It is 202010076414.8, the priority of the Chinese patent application with the title of "surgical robotic arm and surgical robot"; the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the technical field of medical devices, and in particular to a surgical robotic arm and a surgical robot.

Background technique

The birth of minimally invasive surgery to a large extent overcomes the disadvantages of traditional surgical operations such as large incisions, large bleeding, multiple complications, and high surgical risks. Due to the rapid development in recent years, minimally invasive surgery is gradually gaining popularity among medical staff and patients, and has become an emerging field of medical research and clinical applications.

Using surgical robots to assist doctors in minimally invasive surgery can make surgical operations more sensitive and precise. Take the Da Vinci surgical robot as an example. The Da Vinci surgical robot can magnify the doctor's field of view by ten times while effectively filtering out the doctor's hand tremor. It has a wide range of clinical applications in the field of minimally invasive surgery.

Surgical robotic arms suitable for surgical robots need to drive surgical instruments to perform surgical operations, and surgical instruments need to reach into the patient's body by extending into the tiny wounds opened on the skin surface during use. This requires the surgical instrument to perform the operation in a stable and non-vibrating state, using the tiny wound on the skin surface as a fixed point. However, the current surgical manipulators suitable for surgical robots cannot fully meet the use requirements in clinical manifestations, especially the lack of mechanical testing of surgical operations performed by surgical instruments, and doctors cannot obtain the pathological tissues to be treated under surgical operations. The mechanical feedback of surgical instruments and the lack of mechanical information reduce the accuracy of doctors in surgical operations.

Summary of the invention

According to various embodiments of the present application, there is provided a surgical robotic arm, which includes a preoperative positioning assembly, an execution assembly, and a telecentric control assembly disposed between the positioning assembly and the execution assembly, the execution assembly Comprising an executive rod and a surgical instrument arranged at one end of the executive rod relatively far away from the telecentric control assembly;

The telecentric control assembly is provided with a rotating drive member and a sensor, and the rotation drive member is connected to an end of the actuator rod that is relatively close to the telecentric control assembly and can drive the actuator rod and the surgical instrument. The actuator rod rotates synchronously in the axial direction; the sensor is connected to the actuator rod and is used to detect the environmental force and/or the environmental moment of the surgical instrument.

Further, the telecentric control assembly includes a static platform and a first moving platform connected to the static platform and capable of moving relative to the static platform; the static platform is connected to the preoperative positioning assembly, and the second A moving platform is connected to the execution rod;

The sensor is installed in the first moving platform or the device in the surgical manipulator that is relatively located at the front end of the first moving platform.

Further, the rotation driving part is installed on the first movable platform, the sensor is installed on the rotation driving part, and the rotation driving part can drive the sensor, the execution rod and the surgical instrument They all rotate synchronously along the axial direction of the actuator rod.

Further, the surgical manipulator arm further includes a control driving member for driving the movement of the surgical instrument, the execution rod is installed on the control driving member, and the control driving member is installed on the sensor; The rotation driving part can drive the sensor, the control driving part, the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod;

The sensor obtains the environmental force and/or the environmental torque of the surgical instrument by detecting the overall force state of the execution rod and the control driving member.

Further, the surgical manipulator arm further includes an installation platform connected to the rotation driving member, the control driving member is connected to the sensor, and the sensor is installed on the installation platform; the rotation driving member is driven by The installation platform rotates to drive the sensor, the control driving member, the execution rod, and the surgical instrument to rotate synchronously along the axial direction of the execution rod.

Further, the rotating drive member and the mounting platform are respectively located on both sides of the first moving platform; the first moving platform is provided with a avoiding hole; the rotating driving member extends into the avoiding hole and Connect to the installation platform.

Further, a plurality of first telescopic elements are arranged between the first movable platform and the static platform, and both ends of each first telescopic element are respectively rotatably connected to the static platform and the first telescopic element. Movable platform; the rotation connection points between the first telescopic element and the first movable platform are spaced apart from each other; and the rotation connection points between the first telescopic element and the static platform are also mutually spaced Interval settings.

Further, the rotation connection points of the first telescopic element and the first movable platform are paired in a nearby manner, and the two rotation connection points of the same pair in each group are connected to the first movable platform. A first included angle is formed between the centers of, and the first included angles are equal in size.

Further, the angle range of the first included angle is 15° to 60°.

Further, the rotation connection points between the first telescopic element and the static platform are paired in a nearby manner, and the two rotation connection points of the same pair in each group are connected to the center of the static platform. Correspondingly, a second included angle is formed therebetween, and the magnitudes of the second included angles are the same.

Further, the angle range of the second included angle is 60° to 105°.

Further, the number of the control driving parts is at least three; wherein, two of the control driving parts are used for controlling the operation instrument to swing in two different directions that are staggered, and the remaining one of the control driving parts is used for Control the opening and closing of the surgical instrument.

Further, the centers of the three control driving members are enclosed to form an equilateral triangle, and the axial direction of the actuator rod passes through the center of the equilateral triangle.

In the surgical manipulator provided by the present application, the actuator rod and the surgical instrument are set to rotate synchronously, so that the connecting cable located inside the actuator rod will move in an integrated manner, avoiding the inability to achieve reliable mechanics due to the twisting of the connecting cable in the traditional structure The disadvantages of the sensor enable the sensor to accurately measure the environmental force and/or environmental torque experienced by the surgical instrument.

The present application also provides a surgical robot, including a surgical robotic arm, and the surgical robotic arm is the surgical robotic arm described in any one of the above.

The surgical robot provided by the present application can realize the detection of the mechanical feedback of the surgical instrument acting on the human tissue by using the above-mentioned surgical manipulator, and provide feedback of the mechanical data for the doctor's surgical operation, thereby increasing the information between the doctor and the human tissue Interactively, the surgical robot provided by this application has a wide range of application prospects.

Description of the drawings

In order to better describe and illustrate the embodiments and/or examples of those disclosed herein, one or more drawings may be referred to. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed, currently described embodiments and/or examples and the best mode currently understood.

Fig. 1 is a schematic structural diagram of a surgical manipulator in the first embodiment of the application.

Fig. 2 is a schematic diagram of the structure of the telecentric control assembly shown in Fig. 1.

Fig. 3 is a schematic diagram of a block diagram of some components in the surgical manipulator shown in Fig. 1.

4 is a schematic diagram of the structure of the telecentric control assembly shown in FIG. 1 in a top view.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that when a component is referred to as being "installed on" another component, it can be directly installed on the other component or a centered component may also exist. When a component is considered to be "installed on" another component, it can be directly installed on another component or a centered component may exist at the same time. When a component is considered "fixed" to another component, it can be directly fixed to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "or/and" as used herein includes any and all combinations of one or more related listed items.

Please refer to FIG. 1, which is a schematic structural diagram of a surgical manipulator 100 in the first embodiment of this application.

The present application provides a surgical robot arm 100, which is used in a Da Vinci surgical robot. In this embodiment, the surgical robot arm 100 is used to assist a doctor in performing a complex surgical operation through a minimally invasive method. It can be understood that, in other embodiments, the surgical robot arm 100 may also be applied to other medical devices to assist doctors in performing surgical operations.

The Da Vinci surgical robot usually includes an operating component (not shown), a surgical robot arm 100, and an image processing device (not shown). The operating component is for the doctor to actively control the operation. The operating component is coupled with the surgical robot 100 and can connect the doctor The active control operation of the surgical manipulator 100 is transmitted to the surgical manipulator 100; the surgical manipulator 100 can respond to the doctor's control operation on the operating component, and correspondingly perform follow-up surgical actions to perform minimally invasive surgery on the patient, the motion trajectory of the surgical manipulator 100 and the operation The process can be transmitted to the image processing device through the endoscope; the image processing device can present the picture peeped by the endoscope in real time, and can also enlarge the picture peeped by the endoscope, so that the doctor's surgical field of vision is clearer.

The operating components usually include a main controller (not shown) and a foot pedal controller (not shown). The main controller is coupled to the surgical robot arm 100 and moves synchronously with the surgical robot arm 100. The doctor controls the surgical machine through the main controller The arm 100 is positioned, and the operating state of the surgical robot arm 100 is opened and closed through the foot pedal controller. The main controller can not only filter out the slight tremor of the doctor's hand, but also reduce the distance of the doctor's hand compared to the same period. With the enlarged endoscopic picture in the image processing equipment, it can greatly improve the degree of doctor's eye-hand coordination, thereby ensuring the operation Accuracy.

The image processing device is coupled to the endoscope, can present the picture peeped by the endoscope in real time, and can enlarge the picture peeped by the endoscope when necessary, and the magnification can be adjusted according to different surgical requirements. It is understandable that after adjusting the magnification of the endoscope, the doctor can synchronously adjust the magnification of the doctor's hand movement distance in the main controller when it is reduced year-on-year, so that the magnification of the endoscope is the same as the magnification of the main controller when the main controller is reduced year-on-year. It is suitable to ensure the doctor's eye-hand coordination to the greatest extent and improve the accuracy of the operation.

The endoscope has at least an illumination function and an image acquisition function. The endoscope can be a three-dimensional lens to keep the picture basically the same when the human eye is looking directly; at the same time, the endoscope uses a three-dimensional lens to shoot the picture with high definition, which can be used by the image processing equipment for subsequent magnification processing.

The surgical manipulator 100 provided in the present application includes a preoperative positioning assembly 10, a telecentric control assembly 20, and an executive assembly 30. The telecentric control assembly 20 is disposed between the preoperative positioning assembly 10 and the executive assembly 30; The component 10 is used to move the actuator 30 roughly to a position close to the lesion; the telecentric control component 20 is used to control the actuator 30 to move within a small range; the actuator 30 is used to perform surgical operations.

Specifically, the preoperative positioning assembly 10 can drive the actuator 30 to perform a wide range of position adjustments. The preoperative swing assembly 10 includes at least one moving arm 11 and/or at least one telescopic arm 12. The moving arm 11 has two degrees of freedom and can drive the actuator 30 to translate and rotate; the telescopic arm 12 has one degree of freedom and can drive The execution component 30 performs translation.

The telecentric control assembly 20 can drive the actuator 30 to perform fine position adjustment with the telecentric immobile point as the swing center. Generally, the telecentric control assembly 20 has multiple degrees of freedom at the same time, which can drive the execution assembly 30 to perform flexible surgical operations.

The actuator assembly 30 includes a surgical instrument 32, which is located at the end of the actuator assembly 30, and the surgical instrument 32 can perform micro-movements through its own swing, rotation and other actions to perform surgical operations. The surgical instrument 32 may be an electrosurgical knife, forceps, clamps, or hooks, or other surgical instruments, which will not be repeated here. The surgical instrument 32 is usually detachably installed at the end of the executive assembly 30. According to different surgical needs, or according to the needs of different surgical stages of the same operation, different surgical instruments 32 can be replaced to complete different surgical operations.

Surgical robotic arms suitable for surgical robots need to drive surgical instruments to perform surgical operations, and surgical instruments need to reach into the patient's body by extending into the tiny wounds opened on the skin surface during use. This requires the surgical instrument to perform the operation in a stable and non-vibrating state, using the tiny wound on the skin surface as a fixed point. However, the current surgical manipulators suitable for surgical robots cannot fully meet the use requirements in clinical manifestations, especially the lack of mechanical testing of surgical operations performed by surgical instruments, and doctors cannot obtain the pathological tissues to be treated under surgical operations. The mechanical feedback of surgical instruments and the lack of mechanical information reduce the accuracy of doctors in surgical operations.

The surgical manipulator 100 provided in the present application avoids the winding of the steel belt in the surgical manipulator by providing the overall synchronously rotating actuator 30, and can realize the accurate measurement of the mechanical information on the surgical instrument 32.

Specifically, the actuator assembly 30 includes an actuator rod 31, which is hollow inside and connected to a surgical instrument 32; the surgical instrument 32 is located on an end of the actuator rod 31 that is relatively far away from the telecentric manipulation assembly 20. The surgical manipulator arm 100 also includes a rotation driving member 41, which is arranged on the telecentric control assembly 20; the rotation driving member 41 is connected to the actuator rod 31 and can drive the actuator rod 31 and the surgical instrument 32 to perform the operation in the form of integral movement. The axial direction of the rod 31 rotates synchronously.

The surgical manipulator 100 further includes a sensor 42 connected to the execution rod 31 and used to detect the environmental force and/or the environmental torque received by the surgical instrument 32.

It should be additionally noted that the mutual connection between the sensor 42 and the actuator rod 31 may be direct contact between the two, that is, the actuator rod 31 directly contacts the measuring surface of the sensor 42; or the sensor 42 and the The indirect contact between the actuator rods 31, that is, the actuator rod 31 is connected to the intermediate transition element, and the intermediate transition element directly contacts the measuring surface of the sensor 42, thereby forming the actuator rod 31 connected to the sensor 42.

It should also be explained that the environmental force and/or environmental moment of the surgical instrument 32 referred to herein is the force and/or torque exerted on the surgical instrument 32 by the external environment. For example, the surgical instrument 32 is provided by the tissue when the surgical instrument 32 is clamped. When there are multiple forces coupled to the surgical instrument 32 and form a moment action, the surgical instrument 32 will be simultaneously affected by the environmental force and the environmental moment.

In this embodiment, the sensor 42 is a six-axis force and torque sensor. At this time, the sensor 42 can simultaneously sense the environmental force and/or environmental torque received by the surgical instrument 32 on the measuring surface of the sensor 42. It can be understood that when only the environmental force received by the surgical instrument 32 needs to be measured, the sensor 42 can be selected as a force sensor; when only the environmental torque received by the surgical instrument 32 needs to be measured, the sensor 42 can be selected as a torque sensor.

Due to the synchronous rotation of the actuator rod 31 and the surgical instrument 32, the connecting cable (not shown) inside the actuator rod 31 will move in an integrated manner, avoiding the disadvantage of the traditional structure that the connecting cable is entangled and the reliable mechanical sensor cannot be realized. Therefore, the sensor 42 can accurately measure the environmental force and/or the environmental torque received by the surgical instrument 32.

Please also refer to FIG. 2, which is a schematic diagram of the structure of the telecentric control assembly 20 shown in FIG. 1. The telecentric control assembly 20 includes a static platform 21, a first moving platform 22, and a plurality of first telescopic elements 23 arranged between the static platform 21 and the first moving platform 22. The static platform 21 is relatively far away from the first moving platform 22. It is fixedly connected to the preoperative positioning assembly 10, the first movable platform 22 is fixedly connected to the execution assembly 30 on the side relatively far from the static platform 21, and both ends of each first telescopic element 23 are respectively connected to the static platform 21 and the first The movable platform 22; the actuator 30 has a preset telecentric immobile point, and the coordinated expansion and contraction between the multiple first telescopic elements 23 can control the movement of the first movable platform 22 relative to the static platform 21 and drive the actuator 30 to telescope and swing, The swing center of the actuator 30 is a telecentric fixed point, and the telescopic path of the actuator 30 passes through the telecentric fixed point.

With this arrangement, the preoperative positioning assembly 10 only needs to perform the function of roughly moving the actuator assembly 30, and the telecentric control assembly 20 realizes precise control of the actuator assembly 30. Therefore, the number of positioning units in the preoperative positioning assembly 10 can be reduced correspondingly, thereby reducing the accumulation of errors and response time of multiple positioning units, so as to improve the accuracy of the operation.

Secondly, the multiple first telescopic elements 23 in the telecentric control assembly 20 are arranged in parallel rather than in series, and the errors of the multiple first telescopic elements 23 will not only not be accumulated and transmitted, but may also cancel each other out. In addition, since each first telescopic element 23 is driven independently, the response time of the multiple first telescopic elements 23 will not be accumulated and transmitted. Therefore, the precise control of the actuator 30 by the telecentric control assembly 20 can reduce the displacement error during the operation and shorten the response time.

On the other hand, due to the improvement of the control accuracy of the actuator 30 by the telecentric control assembly 20, the actuator 30 can carry a larger load under the same accuracy as the traditional Da Vinci surgical robot, so it can complete more complicated Operation. In addition, the actuator 30 can swing with the telecentric immobile point as the center of the swing during the operation. Therefore, it is only necessary to open a tiny wound on the surface of the patient's skin for the actuator 30 to pass through. Small, quick recovery after operation.

The first telescopic element 23 is preferably an electric cylinder. Preferably, in order to make the surgical manipulator 100 to be miniaturized, the electric cylinder is a small electric cylinder, as long as it can drive the load movement during the operation.

The sensor 42 in this embodiment is installed on the first movable platform 22 or installed in a device relatively located at the front end of the first movable platform 22 in the surgical manipulator 100.

It should be noted that the sensor 42 is installed in the device of the surgical manipulator 100 that is relatively located at the front end of the first movable platform 22, which means that the installation position of the sensor 42 is located at a position of the first movable platform 22 relatively far away from the preoperative positioning assembly 10. Side, that is, the sensor 42 may be installed on the rod body of the execution rod 31 or directly installed on the surgical instrument 32.

At this time, the sensor 42 relative to the surgical instrument 32 will not be disturbed by the orbiting movement of the first telescopic element 23 when the first telescopic element 23 is stretched, and the accuracy of the measurement is greatly improved.

Please also refer to FIG. 3. FIG. 3 is a block diagram of some components in the surgical manipulator 100 shown in FIG. 1. The rotation driving member 41 is installed on the first movable platform 22, and the sensor 42 is installed on the rotation driving member 41. At this time, the rotation driving member 41 can drive the sensor 42, the actuator rod 31, and the surgical instrument 32 to be opposite to the second axis along the axis of the actuator rod 31. A moving platform 22 rotates synchronously.

The rotation drive 41 and the sensor 42 are selectively installed on the first movable platform 22, which can provide great convenience for the installation of the rotation drive 41 and the sensor 42. Compared with the sensor 42 installed in the surgical manipulator 100, the sensor 42 is relatively located in the first moving platform. The solution of the front-end components of the mobile platform 22 has greatly reduced the installation accuracy.

Further, the surgical manipulator arm 100 further includes a control driving member 43 for driving the movement of the surgical instrument 32, the control driving member 43 is used to control the surgical instrument 32 to swing or occlude movement; at this time, the execution rod 31 is installed on the control driving member 43 , The control driving member 43 is installed on the sensor 42; when the rotation driving member 41 drives the actuator rod 31 and the surgical instrument 32 to rotate synchronously along the axial direction of the actuator rod 31, the control driving member 43 will synchronize with the driving actuator rod 31 and the surgical instrument 32 Perform rotation.

The sensor 42 at this time detects the environmental force and/or the environmental moment received by the surgical instrument 32 by detecting the overall dynamic state formed by the actuator rod 31 and the control driving member 43.

With this arrangement, the synchronous rotation of the control driving part 43 and the sensor 42 will greatly facilitate the installation requirements of the sensor 42. The sensor 42 does not need to be accurately positioned, only the coupling of the sensor 42 and the control driving part 43 on the measurement surface needs to be ensured. Compared with the coupling of the sensor 42 and the actuator rod 31, the accuracy requirements for assembly are greatly reduced.

Further, the surgical manipulator 100 further includes a mounting platform 50, the control driving part 43 is connected to the sensor 42, and the sensor is fixedly installed on the mounting platform 50; at this time, the rotation driving part 41 is connected to the mounting platform 50 and can drive the mounting platform 50 to rotate. As a result, the mounting sensor 42, the control driving member 43, the execution rod 31 and the surgical instrument 32 are driven to rotate synchronously along the axial direction of the execution rod 31 in an integral motion.

At this time, the installation platform 50 will provide great convenience for the installation of the sensor 42, which is conducive to the improvement of the convenience during installation.

Further, the rotation driving member 41 and the installation platform 50 are respectively located on both sides of the first movable platform 22. At this time, the rotation driving member 41 and the installation platform 50 can be separately arranged on the two sides of the first movable platform 22, which is beneficial to maintain the center of gravity of the first movable platform 22 during the movement, and greatly improves the movement stability.

Of course, in other embodiments, the rotating drive member 41 can also be located on the same side of the first moving platform 22 as the mounting platform 50, that is, the mounting platform 50 is mounted on the rotating drive member 41, and the rotating drive member 41 is then mounted on the first moving platform. A moving platform 22.

Further, the first movable platform 22 is provided with an escape hole (not shown in the figure), the rotation driving member 41 is a motor, and the motor shaft of the rotation driving member 41 extends into the escape hole and is connected to the mounting platform 50, thereby realizing the rotation of the driving member 41 to the rotation drive of the mounting platform 50.

Further, the number of control driving members 43 is at least three, and two of the three control driving members 43 are used to control the deflection (swing) of the surgical instrument 32 in two different directions that are staggered, that is, the two control The driving part 43 is a control element for the swing movement of the surgical instrument 32; one of the three control driving parts 43 is used to control the surgical instrument 32 to open and close.

Further, the three control driving members 43 are arranged in an equilateral triangle manner, that is, the centers of the three control driving members 43 are surrounded to form an equilateral triangle, and the axial direction of the actuator rod 31 passes through the The center of an equilateral triangle.

At this time, the three control driving members 43 will be arranged with the axial direction of the actuator rod 31 as the center, and the position distribution design between the three enables the dynamic balance performance during the movement to be maintained.

In order to improve the stability of the surgical manipulator 100, in an embodiment of the present application, a plurality of rotation connection points 24 between each first telescopic element 23 and the first movable platform 22 are arranged in a circle, and each first telescopic element 23 The rotation connection point 24 between the stationary platform 21 and the stationary platform 21 are arranged in a circle; the diameter of the circle formed by the rotation connection point 24 on the stationary platform 21 is enclosed by the rotation connection point 24 on the first movable platform 22 1 to 2 times the diameter of the formed circle.

With this arrangement, the first movable platform 22 has a small vibration during the movement relative to the static platform 21, and the total error between the first telescopic elements 23 can compensate each other, so that the stability of the surgical manipulator 100 is improved.

It can be understood that the cross section of the static platform 21 and the first movable platform 22 in the radial direction can be circular, polygonal, or other irregular shapes, as long as the multiple rotations of each first telescopic element 23 are satisfied. The connection points 24 may be arranged in a circle on the static platform 21 and the first movable platform 22.

In order to further improve the stability of the surgical manipulator 100, in one embodiment of the present application, the circular diameter formed by the rotation connection point 24 on the static platform 21 is the rotation connection on the first movable platform 22 1.7 times the diameter of the circle formed by the point 24.

With this arrangement, the first moving platform 22 has the smallest vibration during the movement relative to the static platform 21, and at the same time, the space occupied by the first moving platform 22 and the static platform 21 can be relatively compressed, which is between lightweight structure and high performance. Has the most balanced combination.

In order to realize the rotational connection between the first telescopic element 23 and the first movable platform 22 and the static platform 21, in an embodiment of the present application, both ends of the first telescopic element 23 are respectively provided with a spherical joint and a Hooke hinge Joint 241; the first telescopic element 23 is connected to one of the static platform 21 and the first moving platform 22 through a spherical hinge joint, and is connected to the other of the static platform 21 and the first moving platform 22 through a Hooke hinge joint 241 By.

With this arrangement, both ends of the first telescopic element 23 can be respectively rotatably connected with the first movable platform 22 and the static platform 21, and the connection performance of the first telescopic element 23 is better. The operating principle is: the spherical joint has three degrees of freedom, the Hooke hinge joint 241 has two degrees of freedom, and the spherical joint and the Hooke hinge joint 241 are respectively arranged at both ends of the first telescopic element 23, so that the first The movable platform 22 can realize six degrees of freedom of movement.

In order to balance the cost on the basis of realizing the rotational connection between the first telescopic element 23 and the first movable platform 22 and the static platform 21, in an embodiment of the present application, the surgical manipulator 100 further includes a cylinder liner 242, a cylinder liner 242 It is sleeved and rotatably connected to the first telescopic element 23; the cylinder sleeve 242 is provided with a Hooke hinge joint 241 at an end relatively far away from the first telescopic element 23 and the first telescopic element 23 at an end relatively far away from the cylinder sleeve 242; One of the cylinder liner 242 and the first telescopic element 23 is connected to the first movable platform 22 through the corresponding Hooke hinge joint 241; the other of the cylinder liner 242 and the first telescopic element 23 is connected to the first movable platform 22 through the corresponding Hooke hinge The hinge joint 241 is connected to the static platform 21.

With this arrangement, the first telescopic element 23 can realize the power transmission between the first movable platform 22 and the static platform 21 through the Hooke hinge joint 241 with lower manufacturing difficulty and low cost, without the need to install expensive and easily damaged ball hinges. Head, has a better cost-effective advantage. The operating principle is: the Hooke hinge joint 241 at both ends of the first telescopic element 23 has two degrees of freedom, and the cylinder liner 242 has one degree of freedom, which is more capable of realizing the telescopic movement of the first telescopic element 23 in the axial direction, so that The first moving platform 22 can realize six degrees of freedom of movement.

It can be understood that in other embodiments, other joints can also be used to realize the connection between the first telescopic element 23 and the first movable platform 22 and the static platform 21, as long as the first movable platform 22 can have a certain degree of The degree of freedom can drive the actuator 30 to complete the surgical operation.

In order to improve the motion stability of the surgical manipulator 100, in an embodiment of the present application, the number of the first telescopic element 23 is six, and the rotation connection points 24 between the first telescopic element 23 and the first movable platform 22 They are all spaced apart from each other; and the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are also spaced apart from each other.

With this arrangement, by adopting the distributed form of the spaced rotation connection points 24, the vibration interference between the first telescopic elements 23 is reduced, and the motion stability of the surgical manipulator 100 can be further improved. In addition, when the six first telescopic elements 23 drive the first movable platform 22 to move, they can realize the multi-directional and comprehensive movement of the first movable platform 22 without causing excessively redundant kinematic analysis to slow down the calculation speed.

It is understandable that, in other embodiments, the number of the first telescopic elements 23 can also be three, four, five, or even more, as long as the first movable platform 22 can drive the executive assembly 30 to complete the surgical operation. That's it.

Please also refer to FIG. 4. FIG. 4 is a schematic view of the structure of the telecentric control assembly 20 shown in FIG. 1 from a top perspective. In order to further improve the motion stability of the surgical manipulator 100, while facilitating kinematic analysis, in one embodiment of the present application, the rotation connection points 24 between the first telescopic element 23 and the first movable platform 22 are Pairs are made in pairs in a nearby manner; and each group of the two rotation connection points 24 of the same pair and the center of the first movable platform 22 form a first included angle α corresponding to each of the first included angles α. The sizes are all equal.

There are six rotational connection points 24 between the first telescopic element 23 and the first movable platform 22, which are respectively marked as M ₁ to M ₆ ; the six rotational connection points 24 are combined in a nearby manner, that is, the two closest to each other. A pair of rotating connection points 24 are matched to form a three-group pairing relationship of _{M 1} and M ₂ , M ₃ and M ₄ , M ₅ and M _6. Between each pairing relationship, that is, every two rotating connection points 24 and the center of the first movable platform 22 form a first included angle α, and the angles of the three first included angles α are equal.

At this time, the first telescopic elements 23 will be symmetrically distributed on the first movable platform 22, which is beneficial to the improvement of the motion stability of the surgical manipulator 100.

Preferably, the angle range of the first included angle α is 15° to 60°. At this time, the included angle range between the first telescopic element 23 and each rotating connection point 24 of the first movable platform 22 is within a better range, which not only helps to ensure the stability of motion, but also can pass a relatively suitable included angle range. It is convenient to realize the movement analysis of the expansion and contraction amount of each first telescopic element 23.

In order to further improve the motion stability of the surgical manipulator 100, the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are paired in a nearby manner; the two rotation connection points 24 of the same pair are in pairs. A second included angle β is formed correspondingly between the centers of the static platform 21, and the magnitudes of the second included angles β are the same.

There are six rotational connection points 24 between the first telescopic element 23 and the static platform 21, which are respectively marked as S ₁ to S ₆ ; these six rotational connection points 24 are combined in a nearby manner, that is, the two closest rotational connections Point 24 matches a pair to form three sets of pairing relationships of _{S 1} and S ₂ , S ₃ and S ₄ , and S ₅ and S _6. Between each pairing relationship, that is, every two rotating connection points 24 and the center of the static platform 21 form a second included angle β, and the angles of the three second included angles β are equal.

At this time, the first telescopic elements 23 will be symmetrically distributed on the static platform 21, which is beneficial to the improvement of the motion stability of the surgical manipulator 100.

Preferably, the angle range of the second included angle β is 60° to 105°.

At this time, the included angle range between the first telescopic element 23 and each rotation connection point 24 of the static platform 21 is within a better interval, which is not only helpful to ensure the stability of motion, but also can be easily achieved through a relatively suitable included angle range. The movement analysis of the expansion and contraction amount of each first telescopic element 23.

Preferably, the pairing manner of the rotation connection points 24 of the first telescopic element 23 on the static platform 21 is staggered from the pairing manner of the rotation connection points 24 of the corresponding first telescopic element 23 on the first movable platform 22, That is, the same pair of rotation connection points 24 of the first telescopic element 23 on the static platform 21 and the corresponding two rotation connection points 24 of the first telescopic element 23 on the first movable platform 22 are not paired.

The present application also provides a surgical robot, including the surgical robotic arm 100 described above. The surgical robot provided by the present application can realize the detection of the mechanical feedback of the surgical instrument 32 acting on the human tissue by adopting the above-mentioned surgical manipulator 100, and provide feedback of the mechanical data for the doctor's surgical operation, thereby increasing the doctor and the human tissue. Information interaction, the surgical robot provided in this application has a wide range of application prospects.

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

Those of ordinary skill in the art should realize that the above implementations are only used to illustrate the application, not as a limitation to the application, as long as the above implementations are appropriately changed within the scope of the essential spirit of the application And changes fall within the scope of protection claimed by this application.

Claims (14)

1. A surgical robotic arm, which is characterized by comprising a preoperative positioning assembly, an execution assembly, and a telecentric control assembly arranged between the preoperative positioning assembly and the execution assembly, the execution assembly including an execution rod and A surgical instrument arranged at one end of the executive rod relatively far away from the telecentric control assembly;

   The telecentric control assembly is provided with a rotating drive member and a sensor, and the rotation drive member is connected to an end of the actuator rod that is relatively close to the telecentric control assembly and can drive the actuator rod and the surgical instrument. The actuator rod rotates synchronously in the axial direction; the sensor is arranged between the actuator rod and the telecentric control assembly, and is used to detect the environmental force and/or the environmental moment of the surgical instrument.
2. The surgical robotic arm according to claim 1, wherein the telecentric control assembly includes a static platform and a first moving platform connected to the static platform and capable of moving relative to the static platform; the static platform is connected to In the preoperative positioning assembly, the first movable platform is connected to the executive rod;

   The sensor is installed in the first moving platform or the device in the surgical manipulator that is relatively located at the front end of the first moving platform.
3. The surgical manipulator according to claim 2, wherein the rotation driving member is installed on the first movable platform, the sensor is installed on the rotation driving member, and the rotation driving member can drive the The sensor, the execution rod and the surgical instrument all rotate synchronously along the axial direction of the execution rod.
4. The surgical robot arm according to claim 3, wherein the surgical robot arm further comprises a control driving member for driving the movement of the surgical instrument, the execution rod is mounted on the control driving member, and the The control driving part is installed on the sensor; the rotation driving part can drive the sensor, the control driving part, the execution rod and the surgical instrument to rotate synchronously along the axial direction of the execution rod;

   The sensor obtains the environmental force and/or the environmental torque of the surgical instrument by detecting the overall force state of the execution rod and the control driving member.
5. The surgical robotic arm of claim 4, wherein the surgical robotic arm further comprises a mounting platform connected to the rotating drive member, the control drive member is connected to the sensor, and the sensor is mounted on the The installation platform; the rotation driving member drives the sensor, the control driving member, the actuator rod, and the surgical instrument to rotate synchronously along the axis of the actuator rod by driving the installation platform to rotate.
6. The surgical manipulator according to claim 5, wherein the rotation driving member and the installation platform are respectively located on both sides of the first movable platform; the first movable platform is provided with an escape hole; The rotating drive member extends into the escape hole and is connected to the installation platform.
7. The surgical manipulator according to claim 2, wherein a plurality of first telescopic elements are arranged between the first movable platform and the static platform, and two ends of each first telescopic element are respectively Are rotatably connected to the static platform and the first movable platform; the rotation connection points between the first telescopic element and the first movable platform are spaced apart from each other; and the first telescopic element and the first movable platform The rotating connection points between the static platforms are also spaced apart from each other.
8. The surgical manipulator according to claim 7, wherein the first telescopic element and the rotation connection points of the first movable platform are paired in a nearby manner, and each group is the same pair A first included angle is formed between the two rotating connection points and the center of the first movable platform, and the first included angles are equal in size.
9. The surgical robotic arm according to claim 8, wherein the angle range of the first included angle is 15° to 60°.
10. The surgical manipulator according to claim 9, wherein the rotational connection points between the first telescopic element and the static platform are paired in a nearby manner, and each group is the same pair. A second included angle is formed between the two rotating connection points and the center of the static platform, and the size of each second included angle is equal.
11. The surgical robotic arm according to claim 10, wherein the angle range of the second included angle is 60° to 105°.
12. The surgical robotic arm according to claim 4, wherein the number of the control driving parts is at least three; wherein two of the control driving parts are used to control the surgical instruments to move in two different directions that are staggered Swing, the remaining one of the control driving parts is used to control the opening and closing of the surgical instrument.
13. The surgical manipulator of claim 12, wherein the centers of the three control drive members are surrounded to form an equilateral triangle, and the axial direction of the actuator rod passes through the equilateral triangle. center.
14. A surgical robot comprising a surgical robotic arm, characterized in that the surgical robotic arm is the surgical robotic arm according to any one of claims 1 to 13.

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