[0045] The multi-degree-of-freedom micro-manipulator for minimally invasive surgery of the present invention will be described in detail below with reference to the embodiments.
[0046] As shown in Figure 1, Figure 2, and Figure 3, the multi-degree-of-freedom micromanipulator for minimally invasive surgery of the present invention includes a base A, an upper traction mechanism B of the end tool transmission part, and a lower traction mechanism C of the end tool transmission part , The autorotation mechanism D of the transmission part of the end tool, the actuator E of the end tool, and the transmission box body 1. In the base A, three sets of servo motors 10 are respectively connected with three lower clutch discs 7 through three couplings 9. The lower clutch discs 7 are respectively fixed on the motor frame 3 through three rolling bearings 8; the transmission box body 1 is arranged on the upper surface of the motor frame 3; the upper traction mechanism B, the lower traction mechanism C and the rotation mechanism D are respectively located in the transmission box Inside the box 1, the upper ends of the upper traction mechanism B, the lower traction mechanism C, and the rotation mechanism D are respectively fixed in the top surface of the transmission box body 1, and the lower ends pass through the bottom surface of the transmission box body 1 and the lower clutch disc 7 respectively. The front ends of the upper traction mechanism B, the lower traction mechanism C, and the rotation mechanism D are connected from top to bottom through their own upper traction sleeve 13, lower traction sleeve 25, and rotation sleeve 33 in turn. The rotation sleeve 33 of the rotation mechanism D Through the rotation support 48, the lower end of the rotation sleeve 33 is connected with the actuator E of the end tool.
[0047] Column pin holes are respectively formed on both sides of the bottom surface of the transmission box body 1, and the positions corresponding to the pin holes on both sides of the top surface of the motor frame 3 are respectively provided with columns for mutual positioning of the transmission box body 1 and the motor frame 3 The pin 2 constitutes a positioning structure; the bottom of the two sides of the transmission box body 1 are respectively formed with hooks, and the motor frame 3 and its corresponding position are provided with a handle 5 hinged with the two sides of the motor frame 1 through a spindle 6 and a handle 5 The tension hook 4 hinged and used for hooking with the hook constitutes a locking mechanism to realize the locking between the transmission box body 1 and the motor frame 3. At the same time, it also constitutes a quick-change mechanism, and by opening the hook and the stretch hook 4, different surgical tools can be quickly changed.
[0048] As shown in Figure 4, the upper traction mechanism B of the transmission part of the end tool includes: an upper traction arm 15; a first lead screw 16 threadedly connected to the middle of the upper traction arm 15; , The lower ends are respectively connected to the top and bottom surfaces of the transmission box body 1 through rolling bearings 17, 20, and their lower ends penetrate the bottom surface of the transmission box body 1 and are connected to the upper clutch disc 21, which is located in the transmission box body 1 The outer side of the bottom surface is engaged with the lower clutch disc 7 in the base A; at one end of the upper traction arm 15 is provided an upper traction sleeve 13 that penetrates the upper traction arm 15 through a rolling bearing 12, and a lower end connection is provided through the upper traction sleeve 13 The upper traction rod 11 of the actuator E of the end tool, the upper end of the upper traction rod 11 is connected with the upper traction sleeve 13 by the tightening screw 14; the other end of the upper traction arm 15 is provided with a linear motion ball bearing 19, which runs through linear motion The ball bearing 19 is provided with a guide shaft 18, and the upper and lower ends of the guide shaft 18 are respectively fixed in the top surface and the bottom surface of the transmission box body 1.
[0049] As shown in Figure 5, the lower traction mechanism C of the transmission part of the end tool includes: a lower traction arm 26; a second lead screw 27 threadedly connected to the middle of the lower traction arm 26, and an upper part of the second lead screw 27 , The lower ends are respectively connected to the top and bottom surfaces of the transmission box body 1 through rolling bearings 28 and 31, and their lower ends penetrate the bottom surface of the transmission box body 1 and are connected to the upper clutch disc 32, which is located in the transmission box body 1 The outside of the bottom surface is engaged with the lower clutch disc 7 in the base A; at one end of the lower traction arm 26 is provided a lower traction sleeve 25 that penetrates the lower traction arm 26 through a rolling bearing 23, and a lower end connection end is provided through the lower traction sleeve 25 The upper end of the lower traction rod 22 of the actuator E of the tool, the upper end of the lower traction rod 22 is connected to the lower traction sleeve 25 by the tightening screw 24, and the upper end of the lower traction sleeve 25 is formed with a groove for connecting the upper end of the upper traction mechanism B The lower end of the traction sleeve 13 is placed in the groove; the other end of the lower traction arm 26 is provided with a linear motion ball bearing 30, a guide shaft 29 is provided through the linear motion ball bearing 30, and the upper and lower ends of the guide shaft 29 are respectively fixed In the top and bottom surfaces of the transmission box body 1.
[0050] As shown in Figures 6 and 7, the rotation mechanism D of the transmission part of the end tool includes: a threaded wheel shaft 40. The upper and lower ends of the threaded wheel shaft 40 are respectively connected to the transmission box 1 through rolling bearings 39 and 46. In the top and bottom surfaces, the lower end penetrates the bottom surface of the transmission box body 1 and is connected to the upper clutch plate 45. The upper clutch plate 45 is located outside the bottom surface of the transmission box body 1 and engages with the lower clutch plate 7 in the base A; The wheel shaft 40 is connected to the thread wheel nut 36 through the closed wire rope 47; the thread wheel nut 36 is provided with a lock nut 37 at the upper end, and an upper sliding sleeve 35, a rotation support 48, and a lower sliding sleeve 34 are arranged in turn at the lower end, and are rotated by The sleeve 33 penetrates through it; the upper end of the rotation sleeve 33 is formed with a groove for placing the lower end of the lower traction sleeve 25 in the lower traction mechanism C in the groove, and the upper end of the rotation sleeve 33 is formed with a thread, which is locked with The nut 37 and the screw nut 36 are connected; the rotation support 48 is connected to the front of the transmission box body 1, and the rotation support 48 is connected with the upper and lower sliding sleeves 35, 34 to form a rotation sleeve 33 The structure passing through; the upper traction rod 11 in the upper traction mechanism B and the lower traction rod 22 in the lower traction mechanism C are placed in the rotation sleeve 33, and the lower end of the rotation sleeve 33 is connected to the actuator E of the end tool.
[0051] As shown in Figures 6 and 8, the rotation mechanism D of the transmission part of the end tool can also be designed to include: a threaded wheel shaft 40. The upper and lower ends of the threaded wheel shaft 40 are connected to the transmission box through rolling bearings 39 and 46, respectively. In the top and bottom surfaces of the box 1, its lower end penetrates the bottom surface of the transmission box 1 and is connected with the upper clutch plate 45. The upper clutch plate 45 is located outside the bottom surface of the transmission box 1 and is connected to the lower clutch plate 7 in the base A The thread wheel shaft 40 is connected with the thread wheel nut 36 through the closed wire rope 47; the upper end of the thread wheel nut 36 is provided with a lock nut 37, and the lower end is sequentially provided with an upper ball 54, a rotation support 48, and a lower ball 55, and is rotated by The sleeve 33 penetrates through it; the upper end of the rotation sleeve 33 is formed with a groove for placing the lower end of the lower traction sleeve 25 in the lower traction mechanism C in the groove, and the upper end of the rotation sleeve 33 is formed with a thread, which is locked with The nut 37 and the thread wheel nut 36 are connected; the rotation support 48 is connected to the front of the transmission box body 1, the upper and lower ends of the rotation support 48 are formed with inner cones, and the upper and lower balls 54, 55 are evenly distributed on the inner cone Upper, thus forming a structure in which the rotation sleeve 33 can be penetrated and rotated; the upper traction rod 11 in the upper traction mechanism B and the lower traction rod 22 in the lower traction mechanism C are placed in the rotation sleeve 33, and the rotation sleeve The lower end of the barrel 33 is connected to the actuator E of the end tool.
[0052] A steel wire tensioning mechanism is also provided on both sides of the transmission box body 1, including a tensioning wheel seat 42; a tensioning wheel 38 that is connected to one end of the tensioning wheel seat 42 through a spindle 41 and located outside the closed wire rope 47; A screw 43 connected to the outside of the transmission case 1 and passing through the other end of the tensioning wheel base 42; and a lock nut 44 arranged on the screw 43. The position of the steel wire tensioning mechanism is adjusted by the two screws 43, and the two are locked The nut 44 realizes locking.
[0053] As shown in Figures 9 and 10, the actuator E of the end tool, that is, the surgical tool (the surgical forceps mechanism in this embodiment) includes: the lower end of the upper traction rod 11 and the lower traction mechanism in the upper traction mechanism B The upper and lower jaws 50, 52 connected to the lower end of the lower traction rod 22 and the lower end of the rotation sleeve 33 in C. The upper and lower jaws 50, 52 are respectively formed with a central hole and an eccentric hole. The lower end of the rotation sleeve 33 is formed with the center The connecting hole corresponding to the hole, the lower end of the traction rod 11, 22 is formed with a connecting hole corresponding to the eccentric hole, the central hole of the upper and lower jaws 49, 51 of the actuator D of the end tool passes through the mandrel 51 and the lower end of the rotation sleeve 33 At the same time, the eccentric hole is connected with the lower ends of the traction rods 11 and 22 through the mandrels 49 and 53. Surgical tools can also be replaced with scalpels, surgical forceps, surgical scissors, needle holders, etc.
[0054] The following describes the operation implementation process of the multi-degree-of-freedom micromanipulator for minimally invasive surgery of the present invention.
[0055] 1. Three degrees of freedom movement:
[0056] The multi-degree-of-freedom micro-manipulator for minimally invasive surgery of the present invention includes three-degree-of-freedom movement: end tool pitching, opening and closing degrees of freedom, and rotation of the rotation sleeve around its own axis.
[0057] The upper traction arm and the lower traction arm are driven by the first lead screw and the second lead screw, and are guided by the two guide rods to move up and down, and the motion is transmitted to the upper and lower traction sleeves through the two rolling bearings, thereby driving the tight Nail screws are fixed on the upper and lower traction sleeves to move the upper and lower traction rods; the lower ends of the upper and lower traction rods are hinged with the eccentric holes on the upper and lower jaws of the surgical forceps through the mandrel, thereby driving the upper and lower jaws of the surgical forceps to open and close Movement; upper and lower traction sleeves, upper and lower traction rods and upper and lower jaws form two sets of "crank-like slider mechanisms", in which the middle rod (ie traction rod) and the slider (ie, upper and lower traction sleeves) are consolidated Instead of articulation, the flexibility of the intermediate rod (traction rod) is used to achieve a slight swing, which greatly simplifies the structure and improves reliability; adjust the proper position of the eccentric hole on the upper and lower jaws to make the end tool in the working stroke (ie closing action Middle) Both traction rods are under tension, thereby reducing the size of the traction rod while improving the carrying capacity; adjusting the position of the eccentric hole can make the upper and lower jaw of the surgical forceps have the required stroke range for work. The above structure can realize that the upper and lower jaws of the surgical forceps can be opened or closed at any position within the stroke range, and therefore have the freedom of pitching and opening and closing.
[0058] The thread wheel shaft drives the thread wheel nut to rotate through the closed wire rope wound on the thread wheel shaft and the thread wheel nut, and then drives the rotation sleeve to rotate around its own axis, that is, the degree of freedom of rotation.
[0059] 2. Quick change action mode of end tool
[0060] The invention can quickly replace different surgical tools (such as surgical tweezers, surgical scissors, needle holders, etc.), and realize the positioning, locking and transmission of end tools while quickly replacing.
[0061] Pin holes are respectively formed on both sides of the bottom surface of the transmission box body, and pins are respectively provided at the positions corresponding to the pin holes on both sides of the top surface of the motor frame to realize the positioning between the transmission box body and the motor frame; At the same time of positioning, the three upper clutch discs mesh with the three lower clutch discs to transmit the movement of the servo motor to the first screw, the second screw and the screw shaft; two protruding cards are formed at the bottom of the two sides of the transmission box. Hook, hook the tension hook in the locking mechanism to the buckle, and at the same time pull the handle downwards to deform the tension hook to generate considerable tension, so that the transmission box and the motor frame can be reliably locked.
[0062] 3. Adjustment of steel wire tensioning mechanism
[0063] Adjust the screws so that the two steel wire tensioning mechanisms are in proper positions, so that the loose and tight sides of the wire rope are respectively tensioned, and then turn the lock nut to lock the tensioning mechanism.
