Single-port cardiac surgery execution tail end mechanical arm

Abstract

A single-hole cardiac surgery execution tail end mechanical arm comprises an execution clamp mechanism which has the freedom degree of rotating motion and opening and closing motion. The wrist mechanism comprises a transverse deflection structure and a longitudinal deflection structure which are connected in series, and the executing clamp mechanism is connected with the wrist mechanism; the robot further comprises a big arm mechanism which is connected with the wrist mechanism. The large arm mechanism comprises a transverse deflection unit and a longitudinal deflection unit; the longitudinal deflection unit comprises a three-section type longitudinal joint section and a longitudinal driving rod assembly installed on the longitudinal joint section. The transverse deflection unit comprises a two-section type transverse joint section and a transverse driving rod assembly installed on the transverse joint section and the longitudinal joint section. Operation is carried out in the mode that rope / wire transmission and rod driving coexist, through the synergistic effect of the two different driving modes, the tail end can carry out operation actions such as lifting, cutting and suturing, and the whole robot can have the high response speed and load capacity.

Description

Technical Field

[0001] The present invention relates to a robotic arm, and more particularly to an end robotic arm for performing single-port cardiac surgery, belonging to the technical field of medical robots. Background Art

[0002] With the rapid development of minimally invasive surgical techniques, single-port laparoscopic minimally invasive surgery (such as single-port cardiac surgery) has become a hot topic in clinical research due to its advantages of small trauma, rapid postoperative recovery, and few complications. This surgical method enters the patient's body through a single incision and performs complex and delicate surgeries through surgical instruments. However, traditional rigid surgical instruments are prone to movement interference in the narrow single-port channel, and lack flexibility and accuracy, making it difficult to complete complex operations (such as valve repair, coronary artery bypass grafting, etc.) in a narrow space like the heart. The operation difficulty of the surgery is relatively high, so a continuum robot is generally used as the operating arm. The end of the continuum robot, with its bionic flexible structure, multi-degree-of-freedom movement ability, and high load ratio characteristics, enables the continuum end of the surgical robot to complete many more complex operation tasks and perform more refined surgeries within the human body.

[0003] During the process of performing single-port cardiac surgery, in addition to the doctor, the institutional part mainly consists of two aspects: the master operation end and the execution end. The doctor controls the "joystick" of the master operation end, that is, the master operating hand, and transmits the movement and pose parameters of the hand to the mechanical forceps that actually perform the surgery at the slave end, that is, the execution end. In this process, the structure of the execution end will affect the final surgical effect and is an important guarantee for the high-quality implementation of the surgery.

[0004] The overall structure of the traditional execution end focuses on cable drive, and there are defects of slow response speed and weak load-bearing capacity during surgical operations, which limit the application of surgical actions. Summary of the Invention

[0005] The present invention aims to solve the deficiencies of the prior art and provides an end mechanism for performing single-port cardiac surgery. The configuration of this mechanism is designed as a series structure, which is composed of an execution forceps mechanism at the most end, a wrist mechanism connected thereto, and a large arm mechanism in terms of structure. This continuum mechanism performs surgical operations through an external drive method. Among them, the execution forceps and the wrist structure will be driven by a wire drive method, while the large arm mechanism will be driven by a link structure.

[0006] The end robotic arm for performing single-port cardiac surgery includes: An execution forceps mechanism having degrees of freedom of rotational movement and opening / closing movement; A wrist mechanism including a serially connected lateral yaw structure and a longitudinal yaw structure, and the execution forceps mechanism is connected to the wrist mechanism; It further includes a large arm mechanism, and the large arm mechanism is connected to the wrist mechanism; The boom mechanism includes a lateral yaw unit and a longitudinal yaw unit; The longitudinal yaw unit includes a three-section longitudinal joint section and a longitudinal drive rod assembly installed on the longitudinal joint section; the longitudinal joint section I can yaw relative to the longitudinal joint section II, and the longitudinal joint section II can yaw relative to the longitudinal joint section III. The yaw of the longitudinal joint section I and the longitudinal joint section II is driven by the longitudinal drive rod assembly; The lateral yaw unit includes a two-section lateral joint section and a lateral drive rod assembly installed on the lateral and longitudinal joint sections; the lateral joint section I can yaw relative to the lateral joint section II, and the lateral joint section II can yaw relative to the longitudinal joint section I. The yaw of the lateral joint section I and the lateral joint section II is driven by the lateral drive rod assembly.

[0007] Further, the longitudinal drive rod assembly A includes rod AI, rod AII, and rod AIII; rod AI is longitudinally rotatably connected to the longitudinal joint section I, rod AI and rod AII are longitudinally rotatably connected at the limiting rod AI respectively, rod AII and rod AIII are longitudinally rotatably connected at the limiting rod AII respectively. The limiting rod AI is slidably arranged on the longitudinal joint section II, and the limiting rod AII is slidably arranged on the longitudinal joint section III.

[0008] Further, the sliding limit area of the limiting rod AI enables the longitudinal joint section I to yaw relative to the longitudinal joint section II by 0° - 35°.

[0009] Further, the sliding limit area of the limiting rod AII enables the longitudinal joint section II to yaw relative to the longitudinal joint section III by 0° - 35°.

[0010] Further, the lateral drive rod assembly includes rod BI, rod BII, rod BIII, rod BⅣ, and rod BⅤ; the lateral joint section I is rotatably connected to rod BI, rod BI and rod BII are laterally rotatably connected at the limiting rod BI respectively, rod BII is laterally rotatably connected to the conversion limiting rod, rod BIII is longitudinally rotatably connected to the conversion limiting rod, rod BIII and rod BⅣ are longitudinally rotatably connected at the limiting rod BII respectively, rod BⅣ and rod BⅤ are longitudinally rotatably connected. The limiting rod BI is slidably arranged on the lateral joint section II, and the limiting rod BII is slidably arranged on the longitudinal joint section II.

[0011] Further, the sliding limit area of the limiting rod BI enables the lateral joint section I to yaw relative to the lateral joint section II by 0° - 45°.

[0012] Further, the sliding limit area of the limiting rod BII enables the lateral joint section II to yaw relative to the longitudinal joint section I by 0° - 45°.

[0013] Further, the actuating forceps mechanism includes forceps arms, forceps jaws, pulleys and a base; the two forceps arms are rotatably arranged on the forceps jaws, the forceps jaws are rotatably arranged on the base, the base is rotatably arranged on the wrist mechanism, and the sliders are respectively rotatably mounted on the forceps jaws and the base.

[0014] The beneficial effects of the present application compared with the prior art are as follows: The robotic arm of the present application performs surgical operations through an external drive method, and adopts a co-existing method of rope / thread drive and rod drive for operation. The synergistic effect of the two different drive methods can not only enable the end to perform surgical actions such as lifting, cutting, and suturing, but also enable the overall to have a high response speed and load capacity. Among them, the actuating forceps mechanism and the wrist mechanism are driven by a wire rope / thread drive method, and the large arm mechanism is a rod drive mechanism, which has a high response speed and load capacity, and has degrees of freedom of lateral yaw movement and longitudinal yaw movement. The wire drive method has the advantages of saving space and high dexterity, while the link drive has the advantages of fast response and strong load capacity, and plays a role in positioning and deploying the robotic arm. The present application is used for the continuum execution end of a continuous robot.

[0015] The following further illustrates the solution of the application with reference to the drawings and embodiments: Description of the Drawings

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the actuating forceps mechanism; Figure 3 is a schematic diagram of the wrist mechanism; Figure 4 is a schematic diagram of the large arm mechanism; Figure 5 is a side view of the longitudinal yaw unit in the large arm mechanism; Figure 6 is a side view of the lateral yaw unit in the large arm mechanism; Figure 7 is a schematic diagram of the yaw of the large arm mechanism; Figure 8 is a schematic diagram of a simulated surgical scenario.

[0017] In the figure: 1. Execution forceps mechanism; 2. Wrist mechanism; 3. Upper arm mechanism; 4. Forceps arm; 5. Forceps jaw; 6. Pulley; 7. Base; 23. Lateral yaw structure; 24. Longitudinal yaw structure; 25. Lateral yaw unit; 26. Longitudinal yaw unit; 27. Longitudinal joint segment I; 28. Longitudinal joint segment II; 29. Longitudinal joint segment III; 32. Rod AI; 33. Rod AII; 34. Rod AIII; 36. Limit rod I; 37. Limit rod AII; 38. Lateral joint segment I; 39. Lateral joint segment II; 44. Rod BI; 45. Rod BII; 47. Rod BIII; 49. Rod BⅣ; 50. Rod BV. Detailed implementation mode

[0018] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the drawings. Unless otherwise specified, the technical terms or scientific terms used in this application have the ordinary meanings understood by those skilled in the art.

[0019] Combined with Figures 1 - 4 Description is made for a single-hole cardiac surgery execution end robotic arm, which includes an execution forceps mechanism 1 at the outermost end, a wrist mechanism 2 and an upper arm mechanism 3; the execution forceps mechanism 1 includes a forceps arm 4, a forceps jaw 5, a pulley 6 and a base 7; as Figure 2 Shown in (a), two forceps arms 4 are rotatably arranged on the forceps jaw 5, the forceps jaw 5 is rotatably arranged on the base 7, the base 7 is rotatably arranged on the wrist mechanism 2, and the pulleys 6 are respectively rotatably installed on the forceps jaw 5 and the base 7.

[0020] The wrist mechanism 2 is a continuum structure composed of saddle-shaped units 22, which mainly includes a lateral yaw structure 23 and a longitudinal yaw structure 24. For example, the saddle-shaped units 22 are all made of metal, with a diameter as small as 10 mm, and these two parts constitute two degrees of freedom required for wrist deflection; the upper arm mechanism 3 mainly includes a lateral yaw unit 25 and a longitudinal yaw unit 26, and these two parts constitute two degrees of freedom required for upper arm deflection.

[0021] Combined with Figure 2 Description is made that the end execution forceps mechanism 1 is controlled by the way of wire rope drive. A total of 3 ropes are required. Among them, one rope passes through the groove 8 on the forceps jaw 5, bypasses the shaft 21, and the reciprocating movement of this rope can make the end execution forceps have a yaw degree of freedom to increase its dexterity; the other two ropes (blue rope and red rope) as Figure 2 Shown in (b) and Figure 2As shown in (c), one of the ropes passes through one side of the external pulley 19 and the other side of the external pulley 3 11 in sequence and enters the wire hole 19 of one of the clamp arms 14, and is threaded back from one side of the internal pulley 5 15 and the other side of the internal pulley 8 18 on the other side. The reciprocating motion of the rope can independently control the clamping motion of the clamp arm 14; the other rope passes through one side of the internal pulley 2 10 and the other side of the internal pulley 4 12 in sequence and enters the wire hole 20 of one of the clamp arms 2 13, and is threaded back from one side of the external pulley 6 16 and the other side of the external pulley 7 17 on the other side. The reciprocating motion of the rope can independently control the clamping motion of the clamp arm 2 13; the three ropes can respectively control the yaw motion of the clamp jaw 5 and the independent clamping motion of the two clamp arms 2 13 and the clamp arm 1 14, thereby improving the dexterity of the end to achieve more complex surgical movements.

[0022] Combine Figure 3 It is explained that the wrist mechanism 2 is controlled by means of a steel wire rope drive, which requires two sets of ropes. One set passes through the wire hole of the saddle-shaped unit 22 of the transverse deflection structure 23, and the reciprocating motion of the rope realizes the deflection motion of the part; the other set passes through the wire hole of the saddle-shaped unit 22 of the longitudinal deflection structure 24, and the reciprocating motion of the rope realizes the deflection motion of the part; this part mainly cooperates with the end effector 1 through the deflection motion to realize complex surgical movements.

[0023] Combine Figures 4 - 5 It is noted that the arm mechanism 3 is different from the above two drive modes and is rod driven. This mechanism is mainly used to position and deploy the robot arm, so it needs to have a high response speed and load capacity to meet such requirements.

[0024] Specifically, refer to Figure 5 (a), longitudinal joint segment I27 and longitudinal joint segment II28 are longitudinally rotationally connected, and longitudinal joint segment II28 and longitudinal joint segment III29 are longitudinally rotationally connected.

[0025] Reference Figure 5 (b) The longitudinal drive rod assembly A includes a rod AI32, a rod AII33, and a rod AIII34; the rod AI32 is longitudinally rotationally connected to the longitudinal joint segment I27, the rod AI32 and the rod AII33 are longitudinally rotationally connected at the limit rod AI36, and the rod AII33 and the rod AIII34 are longitudinally rotationally connected at the limit rod AII37. The limit rod AI36 is slidably disposed on the longitudinal joint segment II28, and the limit rod AII37 is slidably disposed on the longitudinal joint segment III29; As an example, the longitudinal joint segment I27 and the longitudinal joint segment II28 are longitudinally rotatably connected at the joint 30, and the longitudinal joint segment 28 and the longitudinal joint segment 29 are longitudinally rotatably connected at the joint 31; in the link group responsible for driving this part, the link AI32 is rotatably connected to the longitudinal joint segment I27 at the joint 35, the link AI32 is rotatably connected to the link AII33 through the limiting link AI36, and the link AII33 is rotatably connected to the link AII34 through the limiting link AII37; the end of the link AII34 is connected to the motor. When the motor pushes the link AII34 forward, it finally acts on the joint 35 where the link AI32 is connected to the longitudinal joint segment I27, and drives the longitudinal joint segment I27 to perform a yawing motion. The sliding limit area of the limiting link I36 enables the longitudinal joint segment I27 to achieve a yaw of 0° - 35° relative to the longitudinal joint segment II28; that is, the limiting link AI36 enables the longitudinal joint segment I27 to only perform a yaw of 0° - 35° relative to the longitudinal joint segment AII28. When the limiting link AI36 can no longer move forward, the limiting link AII37 will continue to move forward. The sliding limit area of the limiting link AII37 enables the longitudinal joint segment II28 to achieve a yaw of 0° - 35° relative to the longitudinal joint segment III29. That is, the limiting link AII37 can enable the longitudinal joint segment II28 to perform a yaw of 0° - 35° relative to the longitudinal joint segment III29. Therefore, the longitudinal joint segment A27 can perform a yaw of 0° - 70° relative to the longitudinal joint segment III29.

[0026] Combined with Figures 6 - 7 It is described that the transverse joint segment I38 is connected to the longitudinal yaw structure 24 of the wrist mechanism 2 and is transversely rotatably connected to the transverse joint segment II39, and the transverse joint segment II39 and the longitudinal joint segment I27 are transversely rotatably connected.

[0027] The transverse drive link assembly B includes the link BI44, the link BII45, the link BIII47, the link BⅣ49, and the link BⅤ50; the transverse joint segment I38 is rotatably connected to the link BI44, the link BI44 and the link BII45 are transversely rotatably connected at the limiting link BI43 respectively, the link BII45 is transversely rotatably connected to the conversion limiting link 46, the link BIII47 is longitudinally rotatably connected to the conversion limiting link 46, the link BIII47 and the link BⅣ49 are longitudinally rotatably connected at the limiting link BII48 respectively, and the link BⅣ49 and the link BⅤ50 are longitudinally rotatably connected. The limiting link BI43 is slidably arranged on the transverse joint segment II39, and the limiting link BII48 is slidably arranged on the longitudinal joint segment II28.

[0028] As an embodiment, the transverse joint segment I38 is smoothly connected to the saddle-shaped unit 22 of the wrist mechanism 2, and is laterally rotationally connected to the transverse joint segment II39 at joint four 40, and the transverse joint segment II39 is laterally rotationally connected to the longitudinal joint segment I27 at joint five 41; in the rod group responsible for driving this part, the rod BI44 is rotationally connected to the transverse joint segment I38 at joint six 42, the rod BI44 is rotationally connected to the rod BII45 through the limit rod BI43, the rod BII45 is laterally rotationally connected to the conversion limit rod 46, one side of the rod BIII47 is longitudinally rotationally connected to the conversion limit rod 46, and the rod BIII47 is The other side is rotationally connected to rod BIV49 via limit rod BII48, and rod BIV49 is rotationally connected to rod BV50; the end of rod BV50 is connected to a motor. When the motor pushes rod BV50 forward, it eventually acts on joint 42 at the connection between rod BI44 and transverse joint segment I38, driving transverse joint segment I38 to perform a yaw motion. The sliding limit area of the limit rod BI43 allows transverse joint segment I38 to achieve a yaw of 0°-45° relative to transverse joint segment II39. That is, the limit rod BI43 allows transverse joint segment I38 to only be able to yaw 0°-45° relative to transverse joint segment II39. When the limit rod BI43 cannot continue to move forward, the limit rod BII48 will continue to move forward. The sliding limit area of the limit rod BII48 enables the transverse joint segment II39 to swing 0°-45° relative to the longitudinal joint segment I27, that is, the transverse joint segment II39 swings 0°-45° relative to the longitudinal joint segment I27. Therefore, the transverse joint segment I38 can swing 0°-90° relative to the longitudinal joint segment I27, and the swing direction of the transverse swing unit 25 is orthogonal to the swing direction of the longitudinal swing unit 26.

[0029] Combine Figure 4 and Figure 8 To illustrate, when it comes to a single-port surgery scenario where multiple instruments are operated in coordination, first, the robotic arm should keep each part straight and enter the single-port track, such as Figure 4 As shown, the arm mechanism 3 is then deployed by means of rod drive, as shown in FIG. Figure 8 As shown; when the two end actuators 1 reach the required surgical site, they achieve surgical actions such as lifting, cutting, and suturing through the coordinated rope drive with the wrist mechanism 2; after the operation is completed, the robotic arm returns to the position shown Figure 4 The straight state shown exits the patient's body, and the operation is completed.

[0030] The present invention has been disclosed above in the preferred embodiments. However, it is not intended to limit the present invention. Any person skilled in the relevant art can make some changes or modifications to the equivalent embodiments with equivalent changes within the scope of the technical solution of the present invention by using the disclosed structure and technical content, and all still fall within the scope of the technical solution of the present invention.

Claims

1. The end effector robotic arm for performing single-port cardiac surgery, comprising: An operating forceps mechanism (1) having degrees of freedom of rotational motion and opening / closing motion; A wrist mechanism (2) comprising a serially connected lateral yaw structure (23) and a longitudinal yaw structure (24), and the operating forceps mechanism (1) is connected to the wrist mechanism (2); It is characterized in that: It further comprises a big arm mechanism (3), and the big arm mechanism (3) is connected to the wrist mechanism (2); The big arm mechanism (3) comprises a lateral yaw unit (25) and a longitudinal yaw unit (26); The longitudinal yaw unit (26) comprises a three-segment longitudinal joint segment and a longitudinal drive rod assembly (A) mounted on the longitudinal joint segment; the longitudinal joint segment I (27) can yaw relative to the longitudinal joint segment II (28), the longitudinal joint segment II (28) can yaw relative to the longitudinal joint segment III (29), and the yaw of the longitudinal joint segment I (27) and the longitudinal joint segment II (28) is driven by the longitudinal drive rod assembly (A); The lateral yaw unit (25) comprises a two-segment lateral joint segment and a lateral drive rod assembly (B) mounted on the lateral and longitudinal joint segments; the lateral joint segment I (38) can yaw relative to the lateral joint segment II (39), the lateral joint segment II (39) can yaw relative to the longitudinal joint segment I (27), and the yaw of the lateral joint segment I (38) and the lateral joint segment II (39) is driven by the lateral drive rod assembly (B).

2. The single-hole cardiac surgery execution end robotic arm according to claim 1, wherein: The longitudinal joint segment I (27) And the longitudinal joint segment II (28) are longitudinally rotatably connected at the joint one (30), and the longitudinal joint segment II (28) and the longitudinal joint segment III (29) are longitudinally rotatably connected at the joint two (31).

3. The end effector for performing single-port cardiac surgery according to claim 2, wherein: The longitudinal drive Rod assembly (A) comprises a rod AI (32), a rod AII (33) and a rod AIII (34); the rod AI (32) is longitudinally rotatably connected to the longitudinal joint segment I (2), the rod AI (32) and the rod AII (33) are longitudinally rotatably connected at the limit rod AI (36) respectively, the rod AII (33) and the rod AIII (34) are longitudinally rotatably connected at the limit rod AII (37) respectively, the limit rod AI (36) is slidably arranged on the longitudinal joint segment II (28), and the limit rod AII (37) is slidably arranged on the longitudinal joint segment III (29).

4. The single-hole cardiac surgery performing end effector robotic arm according to claim 3, characterized in that: The limit rod AI (36) The sliding limit area enables the longitudinal joint segment I (27) to yaw relative to the longitudinal joint segment II (28) by 0° - 35°.

5. The single-hole cardiac surgery performing end effector robot arm according to claim 3, wherein: The sliding limit area of the limit rod AII (37) enables the longitudinal joint segment II (28) to yaw relative to the longitudinal joint segment III (29) by 0° - 35°.

6. The single-hole cardiac surgery performing end effector robotic arm according to claim 1, wherein: The lateral joint segment I (38) is connected to the wrist mechanism (2) and is laterally rotatably connected to the lateral joint segment II (39) at the joint four (40), and the lateral joint segment II (39) and the longitudinal joint segment I (27) are laterally rotatably connected at the joint five (41).

7. The end effector for performing single-port cardiac surgery according to claim 6, characterized in that: The transverse drive rod assembly (B) includes rod BI (44), rod BII (45), rod BIII (47), rod BIV (49) and rod BV (50); the transverse joint segment I (38) is rotatably connected to rod BI (44), rod BI (44) and rod BII (45) are transversely rotatably connected at the limit rod BI (43) respectively, rod BII (45) is transversely rotatably connected to the conversion limit rod (46), rod BIII (47) is longitudinally rotatably connected to the conversion limit rod (46), rod BIII (47) and rod BIV (49) are longitudinally rotatably connected at the limit rod BII (48) respectively, rod BIV (49) is longitudinally rotatably connected to rod BV (50), the limit rod BI (43) is slidably arranged in the transverse joint segment II (39), and the limit rod BII (48) is slidably arranged in the longitudinal joint segment II (28).

8. The single-hole cardiac surgery performing end effector robot arm according to claim 7, wherein: The sliding limit area of the limit rod BI (43) enables the transverse joint segment I (38) to achieve a yaw of 0° - 45° relative to the transverse joint segment II (39).

9. The end effector for performing single-port cardiac surgery according to claim 7, wherein: The sliding limit area of the limit rod BII (48) enables the transverse joint segment II (39) to achieve a yaw of 0° - 45° relative to the longitudinal joint segment I (27).

10. The single-hole cardiac surgery performing end effector robot arm according to any one of claims 1-9, characterized in that: The actuating pliers mechanism (1) includes plier arms (4), plier jaws (5), pulleys (6) and a base (7); two plier arms (4) are rotatably arranged on the plier jaws (5), the plier jaws (5) are rotatably arranged on the base (7), the base (7) is rotatably arranged on the wrist mechanism (2), and the pulleys (6) are rotatably mounted on the plier jaws (5) and the base (7) respectively.

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