A single-port surgical robot quick-change mechanism with controlled decoupling of mobile joints

Abstract

The present invention discloses a single-port surgical robot quick-change mechanism with controlled decoupling of movable joints, which is composed of a first joint drive mechanism, a second joint drive mechanism, a third joint drive mechanism, a fourth joint drive mechanism, a fifth joint drive mechanism, a sixth joint drive mechanism, a seventh joint drive mechanism, an eighth joint drive mechanism, a base shell, a base cover, a connector, and a locking mechanism. The surgical instrument drive mechanism adopts controlled decoupling, which completely solves the mutual motion coupling problem generated when the joints of the surgical instrument actuator rotate; decoupling through the control principle can simplify the structural design of the surgical instrument actuator, which is conducive to the mass production of the surgical instrument actuator. The quick-change mechanism with controlled decoupling of movable joints for a single-port surgical robot of the present invention has the advantages of convenient disassembly and assembly, easy adjustment, accurate positioning, large rigidity, reasonable layout, miniaturization, and light weight.

Description

Technical Field

[0001] The invention relates to a medical device in the field of minimally invasive surgery, and in particular to a quick-change mechanism of a minimally invasive single-port surgical robot suitable for minimally invasive surgery in the thoracic cavity and the abdominal cavity. Background Art

[0002] Minimally invasive surgery, represented by laparoscopy, is hailed as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the operation performed by doctors through tiny incisions on the surface of the human body with the help of slender surgical instruments. Compared with traditional open surgery, it has the advantages of small surgical incisions, less bleeding, small postoperative scars, and fast recovery time, achieving the same therapeutic effect as traditional open surgery. Manually operated minimally invasive surgical instruments are passively operated, and generally have only one degree of freedom of movement at the end. During the operation, the doctor drives the end instrument through the fingers, and relies on the flexibility of the doctor's arm and wrist to successfully complete various complex operations including suturing and knotting. However, for the auxiliary minimally invasive surgical robot system, since the operation of the surgical instrument is completed by the robot, the robot system itself does not have the flexibility of human operation. Therefore, higher requirements are put forward for the design of surgical instruments dedicated to minimally invasive surgical robots. In order to meet the requirements of minimally invasive surgery, the design of surgical instruments should meet the requirements of small size, flexible operation, diverse forms, easy installation with robot arms, sufficient rigidity and strength, and suitable for medical environment requirements (such as multiple disinfection). In particular, surgical instruments should have more degrees of freedom to meet flexibility requirements so that they can adapt to complex surgical operations such as suturing and knotting.

[0003] During the minimally invasive surgical robot operation, the surgical tool is the only part that comes into contact with the diseased tissue of the human body, and is also the part of the robot that directly performs the surgical operation. Therefore, the performance of the surgical tool is the key to the comprehensive performance of the minimally invasive surgical robot system. In order to meet the requirements of modern minimally invasive surgery, the design of surgical tools should meet the requirements of delicate structure, flexible operation, diverse forms, easy replacement, and suitability for medical environment. In particular, the surgical tool should have more degrees of freedom to meet the flexibility requirements, and it should be easy to replace in order to achieve complex surgical operations. Therefore, the performance of the surgical instruments matched with the surgical tools is also an important part of the comprehensive performance of the minimally invasive surgical robot system. Its performance indicators not only affect the use of surgical tools, but also directly determine the design indicators and layout of the main system. In short, the performance of surgical tools and quick-change devices is a key factor in reflecting the overall performance level of the surgical robot system.

[0004] Internationally, in the field of minimally invasive surgical robot system research, many prototypes have reached the level of commercial clinical application, including da Vinci, Zeus, LAPROTEK systems, etc. Through the study of the development of surgical robot systems, it is found that the surgical tool system is mainly composed of tool parts and quick-change devices. The development trend of the tool part is from rod transmission and low degrees of freedom to wire transmission and multiple degrees of freedom. Although its structure is becoming more and more simplified, its functions are becoming more and more powerful; the quick-change device is gradually developing towards compact and integrated types, and its performance is becoming more and more efficient and stable. The two existing commercial minimally invasive surgical robots both use four-degree-of-freedom surgical tool systems with wire transmission, but these surgical tool systems still have shortcomings such as scattered structural layout and large external dimensions, so the surgical tool system still has great development potential.

[0005] In my country, the research and development of minimally invasive single-port surgical robots is still in its infancy, especially the research on surgical tool systems is still far behind foreign technologies. Therefore, the development of wire-driven, multi-degree-of-freedom surgical tools and matching quick-change devices with more stable and efficient performance is of great significance to fill the domestic gap and promote technological progress in related fields. Research and development of multi-degree-of-freedom surgical tool systems with different wire drive forms and quick-change methods from existing systems has far-reaching significance for improving my country's academic and technological status in this scientific research field. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a miniaturized, lightweight, and controlled decoupled quick-change mechanism for a minimally invasive single-port surgical robot that is easy to disassemble and adjust, has accurate positioning, high rigidity, and a reasonable layout. The mechanism can clamp surgical tools to assist doctors in performing minimally invasive single-port surgical operations.

[0007] The present invention provides a miniaturized, lightweight quick-change mechanism with controlled decoupling of mobile joints for a minimally invasive single-port surgical robot, which is convenient for disassembly and assembly, easy to adjust, accurate in positioning, has high rigidity, and reasonable layout. The specific scheme is as follows:

[0008] A quick-change mechanism with controlled decoupling of a mobile joint for a minimally invasive surgical single-port surgical robot, comprising a fixed seat, on which first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are mounted;

[0009] The first joint drive mechanism is installed on a fixed seat, and the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first joint drive mechanism is also connected to the base; the base can move axially along the axis of the arm segment of the surgical instrument actuator relative to the fixed seat; thereby realizing the axial movement of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms and the surgical instrument actuator relative to the fixed seat fixedly connected to the first joint drive mechanism along the axis of the arm segment of the surgical instrument actuator;

[0010] The second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are each connected to the surgical instrument actuator via an interface clutch disk; the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms respectively drive the rotation of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators of the surgical instrument actuator via transmission parts.

[0011] The second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms have the same structure, and each comprises a motor, which drives a transmission shaft to rotate, and the transmission shaft is connected to a corresponding interface clutch disc;

[0012] Furthermore, both ends of the transmission shafts of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are axially fixed by bearings, and the bearings are fixed on the base.

[0013] Furthermore, the transmission shaft cross-sections of the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are in a "D" shape, and the transmission shaft is circumferentially fixed by the "D"-shaped cross-sections.

[0014] Furthermore, the second, third, fourth, fifth and sixth joint drive mechanisms are arranged in series in a single row on the base; the seventh joint drive mechanism and the eighth joint drive mechanism are arranged in parallel with the sixth joint drive mechanism on the base.

[0015] Furthermore, the interface base includes a base shell and a base cover, the base shell is provided with two positioning bosses, and two long bolt holes are respectively provided on two side surfaces of the base shell, and the long bolt holes are connected to the base cover.

[0016] Furthermore, there are two base covers, which are respectively installed and fixed on both sides of the base shell; a guide slot is designed on the base cover, and the top of the guide slot is in a "trumpet" shape to facilitate the installation of the surgical instrument actuator, and the end and middle slot bottom of the guide slot on the base cover are in an "arc" shape, and the opening direction of the end and middle "arc" slot bottom of the guide slot is perpendicular to the axial direction of the guide slot, and the end and middle slot bottom of the "arc" guide slot form an "interference" fit with the fixed pin of the surgical instrument actuator to prevent the fixed pin of the surgical instrument actuator from "slipping out" from the end and middle slot bottom of the guide slot on the base cover, causing the surgical instrument actuator to be "separated" from the quick-change mechanism;

[0017] Furthermore, the surgical instrument actuator can be installed on the quick-change mechanism along the guide groove on the base cover; two long bolt holes are designed on the base cover, and the two long bolt holes on the base cover are perpendicular to the long hole axis of the long bolt holes on the base shell, so as to facilitate the adjustment of the relative installation position of the base cover and the base shell when the base cover is installed and fixed on the base shell.

[0018] Furthermore, the quick-change mechanism interface base for minimally invasive surgical single-port surgical robot also includes a locking mechanism for fixing the surgical instrument actuator to the interface base; the locking mechanism includes two groups, each group includes a locking hook, one end of the two locking hooks is rotatably mounted on the same base cover, the other end of the locking hook is provided with a groove, and a boss is provided at a corresponding position on the outer shell of the surgical instrument actuator, and the groove on the locking hook cooperates with the boss at a corresponding position on the outer shell of the surgical instrument actuator to fix the surgical instrument actuator.

[0019] Furthermore, the first joint drive mechanism is a ball screw mechanism, or a telescopic rod, or a hydraulic or cylinder drive device; it only needs to be able to realize the axial movement of the second joint drive mechanism, the third joint drive mechanism, the fourth joint drive mechanism, the fifth joint drive mechanism, the sixth joint drive mechanism, the seventh joint drive mechanism, the eighth joint drive mechanism and the surgical instrument actuator relative to the fixed seat fixedly connected to the first joint drive mechanism along the axis direction of the arm segment.

[0020] Beneficial effects:

[0021] The quick-change mechanism with controlled decoupling of mobile joints for minimally invasive single-port surgical robot of the present invention has the following beneficial effects compared with the prior art:

[0022] 1. The quick-change mechanism with controlled decoupling of mobile joints for minimally invasive surgical single-port surgical robot of the present invention is convenient for disassembly and assembly, easy to adjust, accurate in positioning, large in rigidity, reasonable in layout, miniaturized and lightweight.

[0023] 2. The surgical instrument quick-change mechanism adopts control decoupling, which completely solves the problem of mutual motion coupling generated when the joints of the surgical instrument actuator swing.

[0024] 3. By adjusting the relative installation position between the base cover and the base shell, the relative installation position between the guide groove on the base cover and the interface clutch disk on the base shell can be adjusted, so that when the surgical instrument actuator M is installed on the quick-change mechanism N, the interface clutch disk on the surgical instrument actuator M can fit exactly with the interface clutch disk on the base shell for transmission, and the interface clutch disk on the surgical instrument actuator M and the interface clutch disk on the base shell will not be unable to fit due to interference.

[0025] 4. The top of the guide slot on the knife holder cover is made into a trumpet mouth, which makes it more convenient and quick to install the surgical instrument actuator M into the quick change mechanism N; the guide slot curve can ensure that the tool transmission disc slides naturally for docking without interference; the interference fit at the end and the middle groove bottom of the guide slot can accurately locate the relative installation position of the surgical instrument actuator M and the quick change mechanism N. The surgical instrument actuator M is installed, entered and removed from the front upper part of the quick change mechanism N, which conforms to the customary operation direction and reduces the difficulty of installation and removal.

[0026] 5. The hook locking mechanism can accurately and reliably fix the surgical instrument actuator M to the quick-change mechanism N; it can also conveniently lock and release the surgical instrument actuator M.

[0027] 6. The interface clutch disk on the quick-change mechanism N is arranged in a single row, so that the force arm between the fixing points of the surgical instrument actuator M on the interface base is longer, which is more conducive to ensuring the fixation of the surgical instrument actuator M on the interface base.

[0028] 7. The interface clutch disk on the quick-change mechanism N is arranged in a single row, and the motor and the interface clutch disk are "coaxially arranged", so that the motors of the second joint drive mechanism, the third joint drive mechanism, the fourth joint drive mechanism, the fifth joint drive mechanism, the sixth joint drive mechanism, the seventh joint drive mechanism and the eighth joint drive mechanism can be arranged in a single row, reducing the possibility of interference when multiple quick-change mechanisms act in coordination, and the space layout is reasonable.

[0029] 8. Control decoupling is performed on the quick-change mechanism N, and the decoupling mechanism is not designed on the surgical instrument actuator M. This can simplify the structural design of the surgical instrument actuator M and is conducive to the mass production of the surgical instrument actuator M. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are not necessarily to scale and are only illustrative descriptions of the present invention. The drawings described below are only some embodiments of the present invention and are not intended to limit the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 It is a right view schematic diagram of a double-head instrument decoupling structure of a quick-change mechanism with controlled decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0032] Figure 2 It is a schematic front view of a double-head instrument decoupling structure of a quick-change mechanism with controlled decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0033] Figure 3 The present invention is a schematic top view of a double-head instrument decoupling structure of a quick-change mechanism with controlled decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0034] Figure 4 The present invention is a schematic diagram of the main view of a single-head instrument decoupling structure of a quick-change mechanism with a controlled decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0035] Figure 5 It is a schematic right view of the assembly of a quick-change mechanism with a control decoupling of a moving joint and an instrument actuator for a minimally invasive surgical single-port surgical robot according to the present invention.

[0036] Figure 6 The present invention is a schematic diagram of the assembly of a quick-change mechanism with a control decoupling of a moving joint and an instrument actuator for a minimally invasive single-port surgical robot.

[0037] Figure 7 The present invention is a top view schematic diagram of the assembly of a quick-change mechanism with a control decoupling of a moving joint and an instrument actuator for a minimally invasive surgical single-port surgical robot.

[0038] Figure 8 The present invention is a schematic diagram of a base cover structure of a quick-change mechanism with a control decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0039] Fig. 9 The present invention is a schematic diagram of the main structure of a second embodiment of a double-head instrument decoupling structure of a quick-change mechanism with controlled decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0040] Fig.10 The present invention is a schematic diagram of the main structure of a second embodiment of a single-head instrument decoupling structure of a quick-change mechanism with controlled decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0041] Figure 11-13 yes Figure 5 A partial enlarged view of the .

[0042] Figure 14-15 yes Figure 6 A partial enlarged view of the . DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Explanations of the specific numbers omitted in the following reference numerals: 2_1 to 8_1 represent: 2_1, 3_1, 4_1, 5_1, 6_1, 7_1, 8_1; 2_2 to 8_2 represent: 2_2, 3_2, 4_2, 5_2, 6_2, 7_2, 8_2; 2_3 to 8_3 represent: 2_3, 3_3, 4_3, 5_3, 6_3, 7_3, 8_3; 2_1 to 8_1 represent: 2_1, 3_1, 4_1, 5_1, 6_1, 7_1, 8_1 ; 2_4~8_4 represents: 2_4, 3_4, 4_4, 5_4, 6_4, 7_4, 8_4; 2_5~8_5 represents: 2_5, 3_5, 4_5, 5_5, 6_5, 7_5, 8_5; 2_6~8_6 represents: 2_6, 3_6, 4_6, 5_6, 6_6, 7_6, 8_6; 3_3~6_3 represents: 3_3, 4_3, 5_3, 6_3; 3_4~6_4 represents: 3_4, 4_4, 5_4, 6_4.

[0045] Embodiment 1

[0046] Combination Figure 1 to Figure 3 , Figures 5 to 8 , Figure 11 to Figure 15To describe this embodiment, the quick-change mechanism with controlled decoupling of mobile joints for a minimally invasive surgical single-port surgical robot comprises a fixed seat 1_1, and a first joint drive mechanism 1, a second joint drive mechanism 2, a third joint drive mechanism 3, a fourth joint drive mechanism 4, a fifth joint drive mechanism 5, a sixth joint drive mechanism 6, a seventh joint drive mechanism 7 and an eighth joint drive mechanism 8 installed on the fixed seat 1_1.

[0047] The first joint drive mechanism 1 is fixedly connected to the fixed seat 1_1 through a ball screw mechanism 1_2, and the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are installed on the same base 1_3, and the first joint drive mechanism 1 is connected to the base 1_3 of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 through a nut 1_2_1 of a ball screw mechanism 1_2; the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 The bases 1_3 of the first joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 can move axially along the axis direction of the arm segment 9_2 of the surgical instrument actuator M relative to the fixing seat 1_1 fixedly connected to the first joint drive mechanism 1; thereby realizing the axial movement of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 and the surgical instrument actuator M relative to the fixing seat 1_1 fixedly connected to the first joint drive mechanism 1 along the axis direction of the arm segment 9_2 of the surgical instrument actuator M;

[0048] The first joint drive mechanism 1 drives the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 and the surgical instrument actuator M to move axially along the arm segment-9_2 axis direction of the surgical instrument actuator M relative to the fixing seat 1_1 fixedly connected to the first joint drive mechanism 1;

[0049] The second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 respectively drive the rotation of the second joint actuator 10, the third joint actuator 11, the fourth joint actuator 12, the fifth joint actuator 13, the sixth joint actuator 14, the seventh joint actuator 15 and the eighth joint actuator 16 of the surgical instrument actuator M through the wire rope;

[0050] The second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are each connected to the surgical instrument actuator M via an interface clutch disk 2_4 to 8_4;

[0051] The second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 have the same structure, and each comprises a motor 2_1 to 8_1, and the motor 2_1 to 8_1 is connected to the transmission shaft 2_3 to 8_3 through the coupling 2_2 to 8_2, and the transmission shaft 2_3 to 8_3 is connected to the corresponding interface clutch disk 2_4 to 8_4;

[0052] Furthermore, the two ends of the transmission shafts 2_3~8_3 of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are axially fixed by bearings 2_5~8_5 and bearings 2_6~8_6, and the bearings 2_5~8_5 and bearings 2_6~8_6 are fixed on the base 1_3.

[0053] Furthermore, the "D"-shaped sections of the transmission shafts 2_3 to 8_3 of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 form an interference fit, and the transmission shafts 2_3 to 8_3 are circumferentially fixed by the "D"-shaped sections.

[0054] Furthermore, the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 are arranged in series in a single row on the base 1_3; the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are arranged in parallel with the sixth joint drive mechanism 6 on the base 1_3.

[0055] Furthermore, the interface base 1_3 includes a base shell 1_3_1 and a base cover 1_3_2, the base shell 1_3_1 is provided with two positioning bosses, and two long bolt holes are respectively provided on two side surfaces of the base shell 1_3_1, and the long bolt holes are connected to the base cover 1_3_2.

[0056] Furthermore, there are two base covers 1_3_2, which are respectively installed and fixed on both sides of the base shell 1_3_1; a guide slot is designed on the base cover 1_3_2, and the top of the guide slot is in a "trumpet" shape to facilitate the installation of the surgical instrument actuator M. The end and the middle slot bottom of the guide slot on the base cover 1_3_2 are in an "arc" shape, and the opening direction of the end and the middle "arc" slot bottom of the guide slot is perpendicular to the axial direction of the guide slot, and the end and the middle slot bottom of the "arc" shaped guide slot form an "interference" fit with the fixed pin 1_3_4 of the surgical instrument actuator M to prevent the fixed pin 1_3_4 of the surgical instrument actuator M from "slipping out" from the end and the middle slot bottom of the guide slot on the base cover 1_3_2, resulting in the "separation" of the surgical instrument actuator M from the quick-change mechanism N;

[0057] Furthermore, the surgical instrument actuator M can be installed on the quick-change mechanism N along the guide groove on the base cover 1_3_2; two long bolt holes are designed on the base cover 1_3_2, and the two long bolt holes on the base cover 1_3_2 are perpendicular to the long hole axes of the long bolt holes on the base shell 1_3_1, so as to facilitate the adjustment of the relative installation positions of the base cover 1_3_2 and the base shell 1_3_1 when the base cover 1_3_2 is installed and fixed on the base shell 1_3_1.

[0058] Furthermore, the quick-change mechanism N interface base 1_3 for minimally invasive surgical single-port surgical robot also includes a locking mechanism 1_3_3 for fixing the surgical instrument actuator M to the interface base 1_3; the locking mechanism 1_3_3 includes two groups, each group includes a locking hook, namely a locking hook 1_3_3_1 and a locking hook 1_3_3_2, one end of the locking hook 1_3_3_1 and the locking hook 1_3_3_2 are rotatably mounted on the same base cover 1_3_2, the other end of the locking hook 1_3_3_1 and the locking hook 1_3_3_2 are provided with a groove, and a boss is provided at a corresponding position on the outer shell of the surgical instrument actuator M, and the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 cooperate with the bosses at corresponding positions on the outer shell of the surgical instrument actuator M to fix the surgical instrument actuator M.

[0059] The first joint drive mechanism 1 can use a ball screw mechanism 1_2, or a telescopic rod, or a lifting rod driven by hydraulics, cylinders, etc., as long as it can realize the axial movement of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 and the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1 along the arm segment -9_2 axis direction of the surgical instrument actuator M.

[0060] Working principle of the present invention:

[0061] The first joint drive mechanism 1 realizes axial forward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M: the motor 1_4 on the first joint drive mechanism 1 is started to make its output shaft rotate clockwise, driving the coupling 1_5 and the lead screw 1_2_2 on the first joint drive mechanism 1 to rotate clockwise, driving the nut 1_2_1 on the first joint drive mechanism 1 to realize axial forward movement, and the nut 1_2_1 on the first joint drive mechanism 1 drives the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6. The bases 1_3 of the mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 move forward along the axial direction of the arm segment 9_2 relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1; thereby driving the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 to realize axial forward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1.

[0062] The first joint drive mechanism 1 realizes axial backward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M: the motor 1_4 on the first joint drive mechanism 1 is started to rotate its output shaft counterclockwise, driving the coupling 1_5 and the lead screw 1_2_2 on the first joint drive mechanism 1 to rotate counterclockwise, driving the nut 1_2_1 on the first joint drive mechanism 1 to realize axial backward movement, and the nut 1_2_1 on the first joint drive mechanism 1 drives the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6. The base 1_3 of the mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 moves backward along the axial direction of the arm segment 9_2 relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1; thereby driving the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 to realize axial backward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1.

[0063] The interface clutch disk 2_4 of the second joint drive mechanism 2 realizes clockwise rotation around the axis of the transmission shaft 2_3: start the motor 2_1 on the second joint drive mechanism 2 to rotate its output shaft clockwise, driving the coupling 2_2, the transmission shaft 2_3, and the interface clutch disk 2_4 on the second joint drive mechanism 2 to rotate clockwise, and the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes.

[0064] At the same time, the motor 3_1 on the third joint drive mechanism 3 is started to make its output shaft rotate clockwise, driving the coupling 3_2, the transmission shaft 3_3, and the interface clutch disk 3_4 on the third joint drive mechanism 3 to rotate clockwise. When the second joint 10_1 is swinging clockwise, the third joint 11_1 is also swinging clockwise. By setting an appropriate ratio, the third joint 11_1 and the second joint 10_1 can have "the same direction and equal speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes, the arm segment 3 11_2 does not passively swing relative to the arm segment 2 10_2, so that the relative angle between the arm segment 3 11_2 and the arm segment 2 10_2 does not change, thereby achieving the purpose of "decoupling" through control.

[0065] At the same time, the motor 4_1 on the fourth joint drive mechanism 4 is started to make its output shaft rotate clockwise, driving the coupling 4_2, the transmission shaft 4_3, and the interface clutch disk 4_4 on the fourth joint drive mechanism 4 to rotate clockwise. While the second joint 10_1 is swinging clockwise, the fourth joint 12_1 is also swinging clockwise. By setting an appropriate ratio, the fourth joint 12_1 and the second joint 10_1 can have "the same direction and equal speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes, the arm segment 4 12_2 does not passively swing relative to the arm segment 3 11_2, so that the relative angle between the arm segment 4 12_2 and the arm segment 3 11_2 does not change, thereby achieving the purpose of "decoupling" through control.

[0066] At the same time, the motor 5_1 on the fifth joint drive mechanism 5 is started to make its output shaft rotate clockwise, driving the coupling 5_2, the transmission shaft 5_3, and the interface clutch disk 5_4 on the fifth joint drive mechanism 5 to rotate clockwise. While the second joint 10_1 is swinging clockwise, the fifth joint 13_1 is also swinging clockwise. By setting an appropriate ratio, the fifth joint 13_1 and the second joint 10_1 can have "the same direction and equal speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes, the arm segment 5 13_2 does not passively swing relative to the arm segment 4 12_2, so that the relative angle between the arm segment 5 13_2 and the arm segment 4 12_2 does not change, thereby achieving the purpose of "decoupling" through control.

[0067] At the same time, the motor 6_1 on the sixth joint drive mechanism 6 is started to rotate its output shaft clockwise, driving the coupling 6_2, the transmission shaft 6_3, and the interface clutch disk 6_4 on the sixth joint drive mechanism 6 to rotate clockwise. While the second joint 10_1 is swinging clockwise, the sixth joint 14_1 is also swinging clockwise. By setting an appropriate ratio, the sixth joint 14_1 and the second joint 10_1 can have "the same direction and equal speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes, the arm segment 6 14_2 does not passively swing relative to the arm segment 5 13_2, so that the relative angle between the arm segment 6 14_2 and the arm segment 5 13_2 does not change, thereby achieving the purpose of "decoupling" through control.

[0068] At the same time, the motor 7_1 on the seventh joint drive mechanism 7 is started to make its output shaft rotate clockwise, driving the coupling 7_2, the transmission shaft 7_3, and the interface clutch disk 7_4 on the seventh joint drive mechanism 7 to rotate clockwise. When the second joint 10_1 is swinging clockwise, the seventh joint 15_1 is also swinging clockwise. By setting an appropriate ratio, the seventh joint 15_1 and the second joint 10_1 can have "the same direction and equal speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes, the arm segment 7 15_2 does not passively swing relative to the arm segment 6 14_2, so that the relative angle between the arm segment 7 15_2 and the arm segment 6 14_2 does not change, thereby achieving the purpose of "decoupling" through control.

[0069] At the same time, the motor 8_1 on the eighth joint drive mechanism 8 is started to rotate its output shaft clockwise, driving the coupling 8_2, the transmission shaft 8_3, and the interface clutch disk 8_4 on the eighth joint drive mechanism 8 to rotate clockwise. When the second joint 10_1 is swinging clockwise, the eighth joint 16_1 is also swinging clockwise. By setting an appropriate ratio, the eighth joint 16_1 and the second joint 10_1 can have "the same direction and equal speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes, the arm segment 8 16_2 does not passively swing relative to the arm segment 6 14_2, so that the relative angle between the arm segment 8 16_2 and the arm segment 6 14_2 does not change, thereby achieving the purpose of "decoupling" through control.

[0070] The interface clutch disk 2_4 of the second joint drive mechanism 2 realizes counterclockwise rotation around the axis of the gear shaft 2_3: the interface clutch disk 2_4 of the second joint drive mechanism 2 realizes counterclockwise rotation around the axis of the gear shaft 2_3 and the interface clutch disk 2_4 of the second joint drive mechanism 2 realizes clockwise rotation around the axis of the gear shaft 2_3 "the transmission route is the same, but the direction of rotation is opposite".

[0071] The interface clutch disks 3_4~6_4 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize clockwise rotation around the axis of the gear shaft 3_3~6_3: the interface clutch disk 2_4 of the second joint drive mechanism 2 realizes clockwise rotation around the axis of the gear shaft 2_3. The "transmission mode is similar". The joint drive mechanism actively rotates, and all the joint drive mechanisms behind the actively rotating joint drive mechanism (close to the side of the end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument actuator M) are actively rotated at the same time. By setting an appropriate ratio, all the joint drive mechanisms behind the actively rotating joint drive mechanism (close to the side of the end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument actuator M) can have the "same direction and equal speed" as the actively rotating joint drive mechanism, so that the arm segment of the surgical instrument actuator M controlled by the actively rotating joint drive mechanism is relative to the previous adjacent arm segment (away from the end joint (joint eight 16_1) of the surgical instrument actuator M). When the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism (the side close to the end joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) actively swings clockwise to change the relative angle between the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism and the previous adjacent arm segment (the side away from the end joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)), the arm segment of the surgical instrument actuator M controlled by all the joint driving mechanisms corresponding to the back of the active rotating joint driving mechanism (the side close to the end joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) does not passively swing relative to the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism, so that the relative angle between the arm segment of the surgical instrument actuator M controlled by all the joint driving mechanisms corresponding to the back of the active rotating joint driving mechanism (the side close to the end joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) and the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism does not change, thereby achieving the purpose of "decoupling" through control.

[0072] The interface clutch disks 3_4~6_4 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize counterclockwise rotation around the axis of the gear shaft 3_3~6_3: the interface clutch disks 3_4~6_4 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize counterclockwise rotation around the axis of the gear shaft 3_3~6_3, and the interface clutch disks 3_4~6_4 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize clockwise rotation around the axis of the gear shaft 3_3~6_3 "same transmission route, opposite direction".

[0073] The interface clutch disk 7_4 of the seventh joint drive mechanism 7 realizes clockwise rotation around the axis of the transmission shaft 7_3: the motor 7_1 on the seventh joint drive mechanism 7 is started to rotate its output shaft clockwise, driving the coupling 7_2, the transmission shaft 7_3, and the interface clutch disk 7_4 on the seventh joint drive mechanism 7 to rotate clockwise, and the arm segment seven 15_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment six 14_2, so that the relative angle between the arm segment seven 15_2 and the arm segment six 14_2 changes.

[0074] The interface clutch disk 7_4 of the seventh joint drive mechanism 7 realizes counterclockwise rotation around the axis of the sun gear shaft 7_3: the interface clutch disk 7_4 of the seventh joint drive mechanism 7 realizes counterclockwise rotation around the axis of the sun gear shaft 7_3 and the interface clutch disk 7_4 of the seventh joint drive mechanism 7 realizes clockwise rotation around the axis of the sun gear shaft 7_3 "same transmission route, opposite direction".

[0075] The interface clutch disk 8_4 of the eighth joint drive mechanism 8 realizes clockwise rotation around the axis of the transmission shaft 8_3: the motor 8_1 on the eighth joint drive mechanism 8 is started to rotate its output shaft clockwise, driving the coupling 8_2, the transmission shaft 8_3, and the interface clutch disk 8_4 on the eighth joint drive mechanism 8 to rotate clockwise, and the arm segment eight 16_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment six 14_2, so that the relative angle between the arm segment eight 16_2 and the arm segment six 14_2 changes.

[0076] The interface clutch disk 8_4 of the eighth joint drive mechanism 8 realizes counterclockwise rotation around the axis of the sun gear shaft 8_3: the interface clutch disk 8_4 of the eighth joint drive mechanism 8 realizes counterclockwise rotation around the axis of the sun gear shaft 8_3 and the interface clutch disk 8_4 of the eighth joint drive mechanism 8 realizes clockwise rotation around the axis of the sun gear shaft 8_3 "the transmission route is the same, but the direction of rotation is opposite".

[0077] Adjustment of the relative installation position between the base cover 1_3_2 and the base shell 1_3_1:

[0078] Two long bolt holes are designed on the base cover 1_3_2, and two long bolt holes are designed on the two side surfaces of the base shell 1_3_1 respectively. The two long bolt holes on the base cover 1_3_2 are perpendicular to the long hole axes of the long bolt holes on the base shell 1_3_1. When the two base covers 1_3_2 are fixed to the base shell 1_3_1, the relative installation positions of the base cover 1_3_2 and the base shell 1_3_1 can be adjusted by adjusting the relative fixing positions of the long bolt holes of the base cover 1_3_2 and the base shell 1_3_1.

[0079] Installation and disassembly between surgical instrument actuator M and joint drive mechanism N:

[0080] When the surgical instrument actuator M is installed in the joint drive mechanism N, the surgical instrument actuator M slides along the top of the "trumpet-shaped" guide slot on the base cover 1_3_2 into the end of the guide slot and the middle slot bottom on the base cover 1_3_2, and the end of the guide slot and the middle slot bottom on the base cover 1_3_2 form an "interference" fit with the fixed pin of the surgical instrument actuator M. At the same time, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base covers 1_3_2 are rotated respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 cooperate with the bosses at the corresponding positions on the outer shell of the surgical instrument actuator M, so as to prevent the fixed pin 1_3_4 of the surgical instrument actuator M from "slipping out" from the guide slot on the base cover 1_3_2, causing the surgical instrument actuator M to "separate" from the joint drive mechanism N. At the same time, the two positioning bosses on the base shell 1_3_1 can position and fix the surgical instrument actuator M;

[0081] When the surgical instrument actuator M is separated from the joint driving mechanism N, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base covers 1_3_2 are rotated simultaneously to separate the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 from the bosses at the corresponding positions on the outer shell of the surgical instrument actuator M, and the surgical instrument actuator M slides out of the base cover 1_3_2 from the top of the "trumpet-shaped" guide groove along the end of the guide groove on the base cover 1_3_2 and the bottom of the middle groove, so that the surgical instrument actuator M is "separated" from the joint driving mechanism N.

[0082] Example 2

[0083] Combination Figure 9-10 In this embodiment, based on the technical solution of the first embodiment, the layout of the quick-change mechanism with control decoupling of the mobile joint for the minimally invasive single-port surgical robot can be changed to the following: Figure 9-10 That is, the layout of the quick-change mechanism with control decoupling of the moving joint for the minimally invasive surgical single-port surgical robot in the technical solution of the first embodiment is adjusted to the technical solution of the second embodiment, and the layout of the transmission box of the surgical instrument actuator M is also adjusted to the technical solution of the second embodiment, which can also correctly drive and control decoupling.

[0084] The quick-change mechanism N with control decoupling of movable joints for minimally invasive surgical single-port surgical robot can be applied to the drive and control decoupling of double-head instruments, such as clamping instruments and shearing instruments; the eighth joint drive mechanism 8 of the quick-change mechanism with control decoupling of movable joints for minimally invasive surgical single-port surgical robot is removed, such as Figure 4, the quick-change mechanism with control decoupling of a moving joint for a minimally invasive single-port surgical robot can be applied to the drive and control decoupling of single-head instruments, such as cutting instruments and 30° laparoscope instruments. The seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 of the quick-change mechanism with control decoupling of a moving joint for a minimally invasive single-port surgical robot are removed, and the quick-change mechanism with control decoupling of a moving joint for a minimally invasive single-port surgical robot can be applied to the drive and control decoupling of 360° laparoscope instruments.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0086] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot, characterized in that: It comprises a fixing seat, on which the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are installed; The first joint drive mechanism is installed on a fixed seat, and the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first joint drive mechanism is also connected to the base; the base can move axially along the axis of the arm segment of the surgical instrument actuator relative to the fixed seat; thereby realizing the axial movement of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms and the surgical instrument actuator relative to the fixed seat fixedly connected to the first joint drive mechanism along the axis of the arm segment of the surgical instrument actuator; The first joint drive mechanism is fixedly connected to the fixed seat through a ball screw mechanism, and the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first joint drive mechanism is connected to the bases of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms through a nut of a ball screw mechanism; The second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are each connected to the surgical instrument actuator via an interface clutch disk; the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms respectively drive the rotation of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators of the surgical instrument actuator via a transmission member; The second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms have the same structure, and each comprises a motor, which drives a transmission shaft to rotate, and the transmission shaft is connected to a corresponding interface clutch disc; The second, third, fourth, fifth and sixth joint drive mechanisms are arranged in series in a single row on the base; the seventh joint drive mechanism and the eighth joint drive mechanism are arranged in parallel with the sixth joint drive mechanism on the base.

2. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 1, characterized in that: Both ends of the transmission shafts of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are axially fixed by bearings, and the bearings are fixed on the base.

3. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 1, characterized in that: The transmission shaft cross-sections of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are in a "D" shape, and the transmission shaft is circumferentially fixed by the "D"-shaped cross-sections.

4. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 1, characterized in that: The base comprises a base shell and a base cover. The base shell is provided with two positioning bosses. Two long bolt holes are respectively provided on two side surfaces of the base shell. The long bolt holes are connected to the base cover.

5. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 4, characterized in that: There are two base covers, which are respectively installed and fixed on both sides of the base shell; a guide slot is designed on the base cover, and the top of the guide slot is in a "trumpet" shape; the end and middle bottom of the guide slot on the base cover are in an "arc" shape, and the opening direction of the end and middle bottom of the guide slot is perpendicular to the axial direction of the guide slot, and the end and middle bottom of the "arc" shaped guide slot form an "interference" fit with the fixed pin shaft of the surgical instrument actuator.

6. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 4, characterized in that: The base cover is designed with two long bolt holes, and the two long bolt holes on the base cover are perpendicular to the long hole axes of the long bolt holes on the base shell, so as to facilitate the adjustment of the relative installation position of the base cover and the base shell when the base cover is installed and fixed on the base shell.

7. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 4, characterized in that: It also includes a locking mechanism for fixing the surgical instrument actuator to the base; the locking mechanism includes two groups, each group includes a locking hook, one end of the two locking hooks is rotatably installed on the same base cover, the other end of the locking hook is provided with a groove, and a boss is provided at a corresponding position on the surgical instrument actuator shell, and the groove on the locking hook cooperates with the boss at a corresponding position on the surgical instrument actuator shell to fix the surgical instrument actuator.

8. The quick-change mechanism with controlled decoupling of a mobile joint for a single-port surgical robot according to claim 1, characterized in that: The first joint driving mechanism is a ball screw mechanism, or a telescopic rod, or a lifting rod driven by hydraulic pressure or cylinder.

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