An opening and closing mechanism and surgical robot

Abstract

The application relates to the field of medical devices, in particular to an opening and closing mechanism and a surgical robot. The opening and closing mechanism comprises an opening and closing driving part, an opening and closing transmission assembly, a reset part and an execution assembly. The opening and closing transmission assembly comprises an opening and closing transmission cable and an opening and closing shaft. The opening and closing transmission cable is wound or unwound under the driving action of the opening and closing driving part. The free end of the opening and closing transmission cable is connected to the opening and closing shaft. The opening and closing shaft is slidingly assembled. When the opening and closing transmission cable is wound, the opening and closing transmission cable pulls the opening and closing shaft to slide in the positive direction to overcome the action force of the reset part. When the opening and closing transmission cable is unwound, the opening and closing shaft slides in the reverse direction under the action force of the reset part. The execution assembly comprises two hinged execution fingers. The two ends of the opening and closing shaft are movably connected to the two execution fingers of the execution assembly. The opening and closing shaft slides to push the two execution fingers to swing to realize the opening and closing of the two execution fingers. The technical problems of the prior art, i.e. many parts and complex structure of the opening and closing mechanism, are solved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to an opening and closing mechanism and a surgical robot. Background Technology

[0002] In 1987, the world's first successful laparoscopic cholecystectomy was performed, ushering in a new chapter in the development of minimally invasive techniques. This led to the emergence of numerous advanced surgical instruments, propelling the development and maturation of minimally invasive techniques. Compared to traditional surgery, minimally invasive surgery, characterized by less trauma, less pain, and faster recovery, is widely used in clinical practice, and minimally invasive surgical techniques have become a new direction representing medical development.

[0003] In existing technologies, traditional minimally invasive endoscopic surgical instruments are all slender rod structures. These instruments (e.g., needle holders, dissecting forceps, scalpels, scissors, etc.) are inserted into the body through small incisions in the patient's tissue walls (e.g., abdominal cavity, thoracic cavity). The surgeon controls the instrument at the distal end of the rod by manipulating a handle at the proximal end. Because traditional surgical instruments have only one degree of freedom, coupled with leverage, it is difficult for surgeons to achieve complex and precise operations. Another type is the master-slave separation minimally invasive surgical system, represented by "DaVinci." This system has a complex overall structure, high unit cost, and high operating costs; it is bulky and requires a dedicated large operating room; its operation is complex, requiring specialized training for surgeons to master, and even then, there is a long learning curve to achieve proficiency.

[0004] For example, patent application US6817974B2 discloses a surgical tool with a positionable multi-disc wrist joint, which discloses that the opening and closing mechanism includes an opening pull rope and a closing pull rope. The opening pull rope pulls the opening actuator to open the clamp, and the closing pull rope pulls the closing actuator to close the clamp. The above-mentioned opening and closing mechanism requires two pull ropes to control two actuators to open and close the clamp, which has many parts and a complex structure. Summary of the Invention

[0005] To address the technical problems of numerous components and complex structures in existing opening and closing mechanisms, this invention proposes an opening and closing mechanism that solves the aforementioned technical problems. The technical solution of this invention is as follows:

[0006] An opening and closing mechanism includes: an opening and closing drive member; an opening and closing transmission assembly including an opening and closing transmission cable and an opening and closing shaft, wherein the opening and closing transmission cable is wound up and down under the driving action of the opening and closing drive member, the free end of the opening and closing transmission cable is connected to the opening and closing shaft, the opening and closing shaft is slidably assembled, when the opening and closing transmission cable is wound up, the opening and closing transmission cable pulls the opening and closing shaft to slide forward against the force of a reset member; when the opening and closing transmission cable is unwound, the opening and closing shaft slides in the opposite direction under the force of the reset member; and an actuation assembly including two hinged actuation fingers, the two ends of the opening and closing shaft being movably connected to the two actuation fingers of the actuation assembly, the opening and closing shaft slidingly pushing the two actuation fingers to swing to realize the opening and closing of the two actuation fingers.

[0007] The opening and closing mechanism includes an opening and closing drive component and an opening and closing transmission cable. The drive component retracts and extends the transmission cable. When the transmission cable is retracted, it pulls the opening and closing shaft to slide forward. When the cable is extended, the shaft slides in the opposite direction under the action of a reset component, achieving reciprocating motion of the shaft in both directions. The two ends of the shaft are movably connected to two actuator fingers, which can be driven to swing and open / close. Only one transmission cable is needed to drive the actuator assembly to open and close, resulting in a simple structure and convenient operation.

[0008] Furthermore, the two actuator fingers are hinged at the middle, and symmetrical oblique grooves are provided on the driving ends of the two actuator fingers. The two ends of the opening and closing shaft pass through the two oblique grooves and can slide within the two oblique grooves.

[0009] Furthermore, the opening and closing transmission assembly also includes an opening and closing transmission shaft, on which an opening and closing fixed line wheel is provided. One end of the opening and closing transmission cable is wound around the opening and closing fixed line wheel, and the other end of the opening and closing transmission cable is connected to the opening and closing shaft via an opening and closing transition wheel. The opening and closing drive component drives the opening and closing transmission shaft to rotate, thereby winding and unwinding the opening and closing transmission cable.

[0010] Furthermore, it also includes an opening and closing control unit, which acquires opening and closing electrical signals for opening and closing actions, and the opening and closing drive unit drives the execution component to open and close according to the opening and closing electrical signals.

[0011] Furthermore, the opening and closing control unit is located within the human-machine interface, and a movable rod is provided within the human-machine interface. The movable rod reciprocates linearly along its axis under the driving action of the drive assembly. The opening and closing control unit includes a linear sensor, which moves linearly with the movable rod to obtain opening and closing electrical signals.

[0012] Furthermore, the human-machine interface includes a finger operation part, the finger operation part includes a housing, the movable rod is slidably disposed in the housing, and the drive assembly includes two bent drive linkages, the two drive linkages are hinged inside the housing and respectively located on both sides of the movable rod, one end of the movable rod is movably connected to one end of the two drive linkages, and the other end of the two drive linkages protrudes out of the housing under the action of an elastic element.

[0013] Furthermore, the movable rod is provided with two protruding structures at intervals, and a slot is formed between the two protruding structures. The linear sensor is slidably disposed in the housing, and the linear sensor extends at least partially into the slot.

[0014] A surgical robot includes: the opening and closing mechanism described above; a pitch and yaw mechanism, the pitch and yaw mechanism including a pitch and yaw control unit, a yaw drive component, and a yaw transmission component, wherein the pitch and yaw control unit acquires a pitch and yaw electrical signal, the yaw drive component drives the yaw transmission component according to the pitch and yaw electrical signal, and the yaw transmission component drives the execution component to yaw or pitch; and a rotation mechanism, the rotation mechanism including a rotation control unit, a rotation drive component, and a rotation transmission component, wherein the rotation control unit acquires a rotation electrical signal, the rotation drive component includes a drive rod, the rotation drive component drives the drive rod to rotate according to the rotation electrical signal, and the drive rod drives the execution component to rotate; the pitch and yaw control unit, the rotation control unit, and the opening and closing control unit are all disposed within a human-machine interface, the yaw drive component, the rotation drive component, and the opening and closing drive component are all integrated on a mounting plate and located within an upper housing, and the yaw transmission component, the rotation transmission component, and the opening and closing transmission component are all integrated on a plate and located within a lower housing.

[0015] Furthermore, it also includes a shaft that couples the deflection drive assembly to the actuation assembly. The shaft is connected to the actuation assembly via a flexible arm that is rotatably connected to the actuation assembly.

[0016] Furthermore, the drive rod is connected to the actuator via a universal joint. The drive rod and the universal joint pass through the shaft and are connected to the actuator. The universal joint is located inside the flexible arm. The axial position and axial length of the universal joint are the same as those of the flexible arm. The opening and closing transmission cable passes through the drive rod and the universal joint and is connected to the opening and closing shaft.

[0017] Based on the above structure, the technical effects that this invention can achieve are as follows:

[0018] 1. The opening and closing mechanism of the present invention, when the opening and closing transmission cable is wound up, pulls the opening and closing shaft to slide in the forward direction; when the opening and closing transmission cable is unwound, the opening and closing shaft slides in the reverse direction under the action of the reset member, realizing the reciprocating motion of the opening and closing shaft in two directions. The two ends of the opening and closing shaft are movably connected to two actuator fingers, which can push the two actuator fingers to swing to realize opening and closing; the direction of tension of the opening and closing transmission cable can be controlled by setting an opening and closing transition wheel. Only one opening and closing transmission cable is needed to drive the actuator to open and close, which is simple in structure and convenient in operation;

[0019] 2. The opening and closing mechanism of the present invention, by setting an opening and closing control unit, can control the opening and closing of the execution component according to the user's operation of the finger operation part, which has high accuracy and strong operability; the opening and closing of the execution component can be controlled by pressing the bent drive linkage with the finger;

[0020] 3. The surgical robot of the present invention uses a pitch and yaw mechanism to drive the pitch and yaw of the execution component. The flexible arm enables axial movement, making control more intuitive and convenient. A rotation mechanism drives the rotation of the execution component. The universal joint is located inside the flexible arm and has the same axial position and length as the flexible arm. Thus, the drive rod can drive the rotation of the execution component through the universal joint without affecting the position of the flexible arm; that is, there is no interference between the rotation and yaw / pitch movements of the execution component. An opening and closing mechanism drives the opening and closing of the execution component. The opening and closing transmission cable passes through the drive rod and the universal joint and connects to the opening and closing shaft of the execution component. This allows the execution component to achieve four degrees of freedom of movement: pitch, yaw, rotation, and opening / closing, without interference between them, resulting in high integration.

[0021] 4. In the surgical robot of the present invention, the pitch and yaw control unit, the rotation control unit, and the opening and closing control unit are all located within the human-machine interface. The yaw drive component, the rotation drive component, and the opening and closing drive component are all integrated on the mounting plate and located within the upper housing. The yaw transmission component, the rotation transmission component, and the opening and closing transmission component are all integrated on the plate and located within the lower housing. This achieves separate integration of the control structure, drive structure, and transmission structure of the surgical robot, greatly reducing its size and facilitating operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the surgical robot of the present invention;

[0023] Figure 2 A schematic diagram of the integrated transmission system of a surgical robot;

[0024] Figure 3 This is a schematic diagram of the combined transmission and drive components of a surgical robot.

[0025] Figure 4 for Figure 3 Enlarged view of part A;

[0026] Figure 5 This is a schematic diagram of the deflection transmission assembly;

[0027] Figure 6 This is a schematic diagram of the structure connecting the flexible arm and the actuator.

[0028] Figure 7 This is a schematic diagram of the structure connecting the flexible self-rotating arm and the actuator;

[0029] Figure 8 This is a schematic diagram of the flexible self-rotating arm.

[0030] Figure 9 A schematic diagram of the human-machine interface and drive unit of a surgical robot;

[0031] Figure 10 A schematic diagram of the human-machine interface;

[0032] Figure 11 This is a schematic diagram of the pitch and yaw control unit;

[0033] Figure 12 A schematic diagram of the internal structure of the finger operation part of a human-machine interface;

[0034] In the diagram: 1-Opening and closing mechanism; 11-Opening and closing drive component; 12-Opening and closing transmission assembly; 121-Opening and closing transmission shaft; 122-Opening and closing wire-fixing wheel; 123-Opening and closing transition wheel; 124-Opening and closing transmission cable; 125-Opening and closing shaft; 13-Linear sensor; 2-Actuation assembly; 21-Actuating finger; 211-Slanted groove; 22-Hinge shaft; 24-First connecting seat; 241-Limiting groove; 3-Human machine interface; 31-Palm operating part; 311-Housing; 312-Ball 3121-Top cover; 3122-Side sleeve; 313-Ball head rod; 32-Finger operating part; 321-Outer shell; 322-Modular rod; 3221-Protruding structure; 3222-Slot; 323-Drive linkage; 3231-Linkage; 3232-Clamping piece; 3233-Connecting shaft; 33-Bundle; 4-Pitch and yaw mechanism; 41-Deflection drive assembly; 42-Deflection transmission assembly; 421-Deflection transmission shaft; 422-Deflection fixed wheel; 423-Deflection drive cable; 4231-Deflection transition wheel; 424-Actuator frame; 425-Actuator; 4251-Drive cable assembly; 426-Base; 43-Rock sensor; 431-Rock; 5-Rotation mechanism; 51-Rotation drive component; 52-Rotation transmission assembly; 521-Rotation transmission shaft; 522-Gear set; 5221-Drive gear; 5222-Transmission gear; 5223-Driven gear; 523-Drive rod; 524-Universal joint; 5241-Sub-connecting rod; 5242-Connecting block; 5243-Second connecting seat; 5244-Third connecting seat; 53-Rotation sensor; 6-Shaft; 61-Flexible arm; 611-Fourth connecting seat; 612-Joint connecting rod; 613-Fifth connecting seat; 7-Upper housing; 71-First chip; 72-Main control board; 8-Lower housing; 81-Slot; 82-Second chip; 91-Upper board; 92-Lower board; 93-Mounting plate; 10-Female connector; 20-Male connector. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0039] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0040] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0041] like Figures 1-12 As shown, this embodiment provides an opening and closing mechanism 1, including an opening and closing drive component 11, an opening and closing transmission assembly 12, and an opening and closing control unit. The opening and closing control unit acquires opening and closing electrical signals according to the operator's operation. The opening and closing drive component 11 drives the opening and closing transmission assembly 12 to work according to the opening and closing electrical signals, and the opening and closing transmission assembly 12 drives the execution component 2 to open and close. The opening and closing drive component 11 can be, but is not limited to, a motor. The opening and closing drive component 11 is mounted on the mounting plate 93 and located inside the upper housing 7.

[0042] The opening and closing transmission assembly 12 includes an opening and closing transmission shaft 121, an opening and closing cable retaining wheel 122, an opening and closing transmission cable 124, and an opening and closing shaft 125. The opening and closing transmission shaft 121 is rotatably mounted on a plate, which includes an upper plate 91 and a lower plate 92. The opening and closing transmission shaft 121 is rotatably mounted between the upper plate 91 and the lower plate 92 and is located inside the lower housing 8. The upper end of the opening and closing transmission shaft 121 extends out of the upper plate 91 and connects to the opening and closing drive member 11. Preferably, the opening and closing transmission shaft 121 is connected to the opening and closing drive member 11 through a male and female connector. The driving end of the opening and closing drive member 11 is connected to a male connector 20, and the upper end of the opening and closing transmission shaft is connected to a female connector 10. The male connector 20 and the female connector 10 are inserted into each other. An opening / closing drive shaft 121 is fitted with an opening / closing wire-fixing wheel 122. One end of the opening / closing drive cable 124 is wound around the opening / closing wire-fixing wheel 122, and the other end is connected to the opening / closing shaft 125. The opening / closing shaft 125 is slidably mounted. When the opening / closing drive cable 124 is wound up under the action of the opening / closing drive shaft 121, the opening / closing drive cable 124 pulls the opening / closing shaft 125 to slide forward against the force of the reset member. When the opening / closing drive cable 124 is unwound, the opening / closing shaft 125 slides in the opposite direction under the force of the reset member. Preferably, it also includes an opening / closing transition wheel 123, which controls the direction of tension of the opening / closing drive cable 124. The opening / closing transition wheel 123 is mounted on the upper plate 91, and the opening / closing drive cable 124 is connected to the opening / closing shaft 125 through the opening / closing transition wheel 123. The opening / closing drive cable 124 can be, but is not limited to, steel wire.

[0043] The actuation component 2 includes two hinged actuating fingers 21, which are hinged at the middle by a hinge shaft 22. An opening / closing shaft 125 passes through the drive ends of the two actuating fingers 21, movably connecting them. Specifically, each drive end of the two actuating fingers 21 has a slanted groove 211, through which the opening / closing shaft 125 movably connects them. When the two actuating fingers 21 need to be closed, the opening / closing drive shaft 121 rotates, causing the opening / closing drive cable 124 on it to retract the line. The opening / closing drive cable 124 drives the opening / closing shaft 125 to slide axially upward against the force of the reset member, i.e., forward sliding, thus closing the two actuating fingers 21. When the two actuating fingers 21 need to be opened, the opening / closing drive shaft 121 rotates, causing the opening / closing drive cable 124 on it to release the line. The opening / closing shaft 125 slides axially downward under the action of the reset member, i.e., reverse sliding, thus opening the two actuating fingers 21. Preferably, the reset element may be, but is not limited to, a compression spring.

[0044] The opening and closing control unit is located within the human-machine interface 3. The human-machine interface 3 includes a palm operation part 31, a finger operation part 32, and a retainer 33. The finger operation part 32 is rotatably connected to the palm operation part 31. The finger operation part 32 includes a housing 321, within which a movable rod 322 is disposed. The movable rod 322 rotates with the rotation of the finger operation part 32, and can reciprocate linearly along its axis within the finger operation part 32. The movable rod 322 reciprocates linearly under the action of a drive assembly. Specifically, the drive assembly includes two bent drive linkages 323, which are hinged within the housing 321 and located on both sides of the movable rod 322. One end of the movable rod 322 is movably connected to one end of the two drive linkages 323, and the other end of the two drive linkages 323 protrudes from the housing 321 under the action of an elastic member. More specifically, the drive link 323 includes a fixedly connected or integrally formed link 3231 and a clamping piece 3232. The bend or near the bend of the drive link 323 is hinged to the housing 321 via a connecting shaft 3233. Preferably, the link 3231 and the clamping piece 3232 are perpendicular to each other, and the connecting shaft 3233 is located at the end of the link 3231 that is connected to the clamping piece 3232. Preferably, the end of the link 3231 that is connected to the movable rod 322 has an elongated hole, and a connector passes through the elongated holes on the two link 3231 to movably connect the two link 3231 and the movable rod 322. When the user presses the two clips 3232 with their fingers, the connecting rod 3231 swings accordingly, driving the movable rod 322 to move in a straight line; when the user releases the two clips 3232, the two clips 3232 swing outward and protrude from the outer shell 321 under the action of the elastic element, the connecting rod 3231 swings accordingly, driving the movable rod 322 to move in the opposite direction, thus achieving reset.

[0045] The opening and closing control unit includes a linear sensor 13, which reciprocates linearly with the movable rod 322 to acquire opening and closing electrical signals. Specifically, the movable rod 322 has two protrusions 3221 spaced apart, forming a slot 3222 between them. The linear sensor 13 is slidably mounted inside the housing 321, with at least a portion of it extending into the slot 3222. When the movable rod 322 reciprocates linearly, it drives the linear sensor 13 to move along with it. Preferably, the protrusions 3221 may be disc-shaped.

[0046] The linear sensor 13 transmits the acquired opening and closing electrical signal to the main control board 72. The main control board 72 includes a chip that can receive and process the opening and closing electrical signal, convert it into the rotation amount corresponding to the opening and closing drive component 11 through an algorithm, and control the opening and closing drive component 11 to work according to the rotation amount.

[0047] Preferably, the opening and closing drive component 11 is disposed in the upper housing 7, and the opening and closing transmission assembly 12 is disposed in the lower housing 8. The upper housing 7 and the lower housing 8 are detachably connected by the hook and slot structure on the mounting plate 93 and the upper plate 91. When the mounting plate 93 and the upper plate 91 are connected by the hook and slot, the edges of the upper housing 7 and the lower housing 8 are joined together as a whole, and the male head 20 on the opening and closing drive component 11 is inserted into the female head 10 on the opening and closing transmission shaft 121.

[0048] More preferably, at least a portion of the upper housing 7 protrudes towards the lower housing 8 of the transmission mechanism. A first chip 71 is disposed on the end face of the protrusion, and a corresponding slot 81 is disposed inside the lower housing 8. A second chip 82 is disposed on the bottom surface of the slot 81. When the protrusion of the upper housing 7 is inserted into the slot 81, the first chip 71 and the second chip 82 are connected, and the first chip 71 can obtain relevant information from the second chip 82. This relevant information includes the type of instrument, instrument lifespan, and number of uses. A main control board 72 is disposed inside the protrusion. The main control board 72 includes a chip that can receive and process various electrical signals, convert them into rotational amounts corresponding to each driving component through an algorithm, and control each driving component to operate according to the rotational amounts.

[0049] Based on the above structure, the working principle of the opening and closing mechanism in this embodiment is as follows: The operator presses the two clamping pieces 3232 with his hand, causing the clamping pieces 3232 to drive the connecting rod 3231 to deflect. The connecting rod 3231 pushes the movable rod 322 to move along the axis. The movable rod 322 drives the linear sensor 13 to move accordingly to obtain the opening and closing electrical signal, and transmits the opening and closing electrical signal to the main control board 72. The main control board 72 receives the opening and closing electrical signal and converts it into the rotation amount of the opening and closing drive component 11. The main control board 72 controls the opening and closing drive component 11 to rotate according to the rotation amount. The opening and closing drive component 11 drives the opening and closing transmission shaft 121 to rotate and retracts the opening and closing transmission cable 124. The opening and closing transmission cable 124, in conjunction with the reset component, drives the opening and closing shaft 125 to slide in both directions relative to the execution component 2, so as to drive the two execution fingers 21 to open and close.

[0050] This embodiment also provides a surgical robot, including the opening and closing mechanism 1 described above, as well as a human-machine interface 3, a pitch and yaw mechanism 4, and a rotation mechanism 5. The pitch and yaw mechanism 4 drives the execution component 2 to pitch and yaw; the rotation mechanism 5 drives the execution component 2 to rotate; the human-machine interface 3 is internally equipped with multiple sensors to acquire pitch and yaw electrical signals, opening and closing electrical signals, and rotation electrical signals, respectively.

[0051] The pitch and yaw mechanism 4 includes a pitch and yaw control unit, a yaw drive assembly 41, and a yaw transmission assembly 42. The pitch and yaw control unit is located in the human-machine interface 3 to acquire pitch and yaw electrical signals and transmit them to the main control board 72. The main control board 72 receives the pitch and yaw electrical signals and converts them into the rotation amount of the yaw drive assembly 41. The main control board 72 controls the yaw drive assembly 41 to rotate according to the rotation amount. The yaw drive assembly 41 drives the actuator 2 to pitch and yaw through the yaw transmission assembly 42.

[0052] The deflection drive assembly 41 is optional, but not limited to, motors. There are two motors, which are integrated and mounted on the mounting plate 93. The drive ends of the two motors are connected to male connectors 20. The deflection drive assembly 41 is driven by the deflection transmission assembly 42.

[0053] The deflection drive assembly 42 includes a deflection drive shaft 421, an actuator frame 424, and an actuator 425. Two deflection drive shafts 421 are provided, corresponding to two motors. The two deflection drive shafts 421 are integrated and mounted between the upper plate 91 and the lower plate 92. The upper ends of the two deflection drive shafts 421 extend out of the upper plate 91 and are provided with female heads 10. The two deflection drive shafts 421 are connected to the two motors of the deflection drive assembly 41 via male and female heads. Deflection cable sheaves 422 are respectively fitted onto the two deflection drive shafts 421. One end of two deflection drive cables 423 is wound around the deflection cable sheaves 422, and the other end of the two deflection drive cables 423 drives the actuator frame 424 or the actuator 425 to deflect.

[0054] Specifically, the two ends of the actuator frame 424 are hinged to the base 426 via pitch axes, and the two ends of the actuator 425 are hinged to the inner wall of the actuator frame 424 via yaw axes. The actuator frame 424 can drive the actuator 425 to deflect along the pitch axis, and the actuator 425 can deflect relative to the actuator frame 424 along the yaw axis. The pitch axis and yaw axis are arranged perpendicularly. Preferably, the center points of the actuator frame 424 and the actuator 425 coincide, and the pitch axis and yaw axis are perpendicular and intersect, with the intersection point coinciding with the aforementioned center point.

[0055] The deflection of the actuator frame 424 and the actuator 425 is driven by the deflection transmission cable 423. Specifically, two deflection transmission cables 423 are respectively connected to both sides of the actuator 425. The two deflection transmission cables 423 are symmetrically arranged. When the two deflection transmission cables 423 are simultaneously and equally retracted and released, the actuator 425 deflects. When the two deflection transmission cables 423 are simultaneously and equally retracted or released, the actuator frame 424 deflects. Preferably, the two deflection transmission cables 423 are connected to both sides of one end of the actuator 425. Preferably, the deflection transmission cable 423 can be, but is not limited to, steel wire.

[0056] The deflection drive cable 423 is retracted and extended under the drive of the deflection drive shaft 421. Preferably, the deflection drive cable 423 acts on the actuator 425 from above, and the tension direction of the deflection drive cable 423 is approximately perpendicular to the actuator 425 in its initial state. The tension direction of the deflection drive cable 423 is controlled by the deflection transition wheel 4231, which passes around the deflection transition wheel 4231 and connects to the actuator 425. The deflection transition wheel 4231 is located directly above the actuator 425.

[0057] The deflection of actuator 425 causes the actuator component 2 to pitch and yaw. A drive cable assembly 4251 is provided on actuator 425. When actuator 425 deflects relative to actuator frame 424 along the yaw axis, actuator 425 causes actuator component 2 to yaw via drive cable assembly 4251; when actuator frame 424 causes actuator 425 to deflect along the pitch axis, actuator 425 causes actuator component 2 to pitch via drive cable assembly 4251. Further, drive cable assembly 4251 includes multiple drive cables. Preferably, at least a portion of the vertically extending middle section of each drive cable is a rod-shaped structure, i.e., the two ends of the drive cable are cable-like, and the middle portion is rod-like. This facilitates processing and enhances rigidity and hardness. More preferably, the two ends of the drive cable are steel wires, and the middle portion is a steel rod.

[0058] Furthermore, the deflection transmission assembly 42 is coupled to the actuation assembly 2 via the shaft 6. Specifically, one end of the shaft 6 is connected to the lower plate 92, and the other end of the shaft 6 is connected to the actuation assembly 2 via the flexible arm 61. Specifically, the flexible arm 61 includes at least two joint links 612, which are sequentially hinged together. The joint links 612 are in the shape of a ring with a certain thickness, and each joint link 612 has a hinge structure extending axially from its outer periphery. Adjacent joint links 612 are hinged together via the hinge structure. The joint link 612 closer to the shaft 6 is fixedly connected to the shaft 6 via the fourth connecting seat 611, and the joint link 612 closer to the actuation assembly 2 is rotatably connected to the actuation assembly 2 via the fifth connecting seat 613. Preferably, the fourth connecting seat 611 and the joint link 612 can be hinged or fixedly connected, and the fifth connecting seat 613 and the joint link 612 can be hinged or fixedly connected, as long as the fourth connecting seat 611, at least two joint links 612, and the fifth connecting seat 613 can deflect along two perpendicular hinge axes. The drive cable assembly 4251 includes multiple drive cables, one end of which is connected to the actuator 425, and the other end of which is connected to two joint links 612 that swing in different directions to drive the flexible arm 61 to pitch and yaw.

[0059] Preferably, the flexible arm 61 is rotatably connected to the actuation component 2. Specifically, the actuation component 2 further includes a first connecting seat 24, through which the actuation component 2 is rotatably connected to the flexible arm 61. Specifically, the fifth connecting seat 613 is rotatably connected to one end of the first connecting seat 24, and the other end of the first connecting seat 24 is forked. The driving ends of the two actuating fingers 21 and the opening / closing shaft 125 are positioned between the two forks, and both ends of the hinge shaft 22 are respectively connected to the two forks, thereby connecting the two actuating fingers 21 to the first connecting seat 24. The first connecting seat 24 also has a limiting groove 241, and both ends of the opening / closing shaft 125 extend into the limiting groove 241 and move along the limiting groove 241. Preferably, the limiting groove 241 extends axially.

[0060] The pitch and yaw control unit is located inside the palm operation part 31 of the human-machine interface 3. The palm operation part 31 is connected to the end of the upper housing 7 away from the lower housing 8. The finger operation part 32 is rotatably connected to the palm operation part 31. The binding member 33 is connected to the palm operation part 31 to apply a restraining force to the back of the hand when the palm operates the palm operation part 31.

[0061] The hand-operated unit 31 includes a housing 311 and a pitch and yaw control unit disposed within the housing 311. The shape of the housing 311 is adapted to the shape of a human hand for easy gripping. The pitch and yaw control unit includes a spherical sleeve 312 and a ball-head rod 313. The spherical sleeve 312 is fixedly disposed inside the housing 311. One end of the ball-head rod 313 is a ball head, and the other end is a rod head. The ball head of the ball-head rod 313 extends into the spherical sleeve 312 and can swing relative to the ball head rod 313. The rod head of the ball head rod 313 extends out of the housing 311 and connects to the upper housing 7. The ball head of the ball head rod 313 has a hollow structure, and the pitch and yaw control unit is housed within the ball head. The pitch and yaw control unit senses the deflection of the spherical sleeve relative to the ball head to obtain a pitch and yaw electrical signal.

[0062] In this embodiment, the pitch and yaw control unit includes a rocker sensor 43. An opening is provided at the top of the ball head, and the rocker arm 431 of the rocker sensor 43 can extend from the opening and connect to the inner top surface of the spherical sleeve 312. When the ball head rod 313 and the spherical sleeve 312 swing relative to each other, the rocker arm 431 will yaw. The rocker sensor 43 acquires relative swing electrical signals between the ball head rod 313 and the spherical sleeve 312 in two orthogonal directions, which are divided into pitch electrical signals and yaw electrical signals. Preferably, the spherical sleeve 312 includes an upper cover 3121 and a side sleeve 3122. The side sleeve 3122 is fitted around the outer periphery of the ball head of the ball head rod 313, and the upper cover 3121 is located above the ball head rod 313 and connected to the rocker arm 431. Furthermore, in order to prevent the spherical sleeve 312 from rotating along the axis of the ball head rod 313, the ball head of the ball head rod 313 and the spherical sleeve 312 are prevented from rotating relative to each other through a columnar protrusion and a limiting groove structure.

[0063] When the palm acts on the palm operating part 31, the palm grips the housing 311. When the palm causes the housing 311 to tilt, the spherical sleeve 312 inside the housing 311 swings relative to the ball head rod 313 in the tilt direction. The rocker sensor 43 acquires the tilt electrical signal and transmits the signal to the main control board 72. The main control board 72 drives the deflection drive assembly 11 according to the electrical signal to drive the execution assembly 2 to perform the tilt action. When the palm causes the housing 311 to pitch, the spherical sleeve 312 inside the housing 311 swings relative to the ball head rod 313 in the pitch direction. The rocker sensor 43 acquires the pitch electrical signal and transmits the signal to the main control board 72. The main control board 72 drives the deflection drive assembly 11 according to the electrical signal to drive the execution assembly 2 to perform the pitch action.

[0064] The rotation mechanism 5 is used to control the rotation of the actuator 2. Specifically, the rotation mechanism 5 includes a rotation drive 51, a rotation transmission assembly 52, and a rotation control unit. The rotation control unit is located in the human-machine interface 3 to acquire rotation electrical signals and transmit them to the main control board 72. The main control board 72 receives the rotation electrical signals and converts them into the rotation amount of the rotation drive 51. The main control board 71 controls the rotation drive 51 to rotate according to the rotation amount. The rotation drive 51 drives the actuator 2 to rotate through the rotation transmission assembly 52.

[0065] The self-rotation drive component 51 is optional, but not limited to, a motor. The self-rotation drive component 51 is mounted on the mounting plate 93. The drive end of the self-rotation drive component 51 is connected to a male connector 20. The self-rotation drive component 51 is driven by the self-rotation transmission assembly 52.

[0066] The self-rotating transmission assembly 52 includes a self-rotating transmission shaft 521, a gear set 522, a drive rod 523, and a universal joint 524. The drive end of the self-rotating drive component 51 is connected to the self-rotating transmission shaft 521. The self-rotating transmission shaft 521 drives the drive rod 523 to rotate through the gear set 522. The drive rod 523 drives the actuator 2 to rotate through the universal joint 524. Specifically, the self-rotating transmission shaft 521 is rotatably mounted on the plate. The drive end of the self-rotating drive component 51 and the self-rotating transmission shaft 521 are connected through a male and female connector. The self-rotating transmission shaft 521 is rotatably mounted between the upper plate 91 and the lower plate 92. The upper end of the self-rotating transmission shaft 521 extends out of the upper plate 91 and is connected to a female connector 10. The drive end of the self-rotating drive component 51 is connected to a male connector 20, and the male connector 20 and the female connector 10 are mated together. The gear set 522 includes a drive gear 5221, a transmission gear 5222, and a driven gear 5223. The drive gear 5221 is sleeved on the self-transmission shaft 521, and the driven gear 5223 is sleeved on the drive rod 523. The drive rod 523 is rotatably mounted on the lower plate 92. The drive gear 5221 drives the driven gear 5223 to rotate through the transmission gear 5222, thereby driving the drive rod 523 to rotate.

[0067] The drive rod 523 is connected to the actuator 2 via a universal joint 524. The universal joint 524 includes at least two sub-links 5241, which are sequentially hinged together by a connecting block 5242. The hinge direction of two adjacent sub-links 5241 is perpendicular to that of the connecting block 5242. Specifically, the sub-links 5241 are H-shaped, the connecting block 5242 is annular, and the ends of the sub-links 5241 surround the outer periphery of the connecting block 5242 and are hinged to it. The upper end of the universal joint 524 is connected to a second connecting seat 5243, through which the universal joint 524 is connected to the drive rod 523. Specifically, the universal joint 524 and the second connecting seat 5243 are fixedly connected or hinged. The second connecting seat 5243 can extend into the end of the drive rod 523. A keyed connection can be provided between the second connecting seat 5243 and the drive rod 523 after insertion, allowing the drive rod 523 to drive the universal joint 524 to rotate. The lower end of the universal joint 524 is connected to a third connecting seat 5244, through which the universal joint 524 is connected to the actuator 2. Specifically, the lower end of the universal joint 524 is fixedly connected to the third connecting seat 5244. Preferably, both the second connecting seat 5243 and the universal joint 524 have axially extending through holes. The third connecting seat 5244 has a through groove. The upper end of the opening and closing shaft 125 is slidably disposed in the groove of the third connecting seat 5244. The universal joint 524 drives the actuator 2 to rotate through the third connecting seat 5244. The opening and closing shaft 125 can slide axially along the groove in the third connecting seat 5244.

[0068] It also includes a rotation control unit, which is located in the finger operation part 32 of the human-machine interface 3. The finger operation part 32 is rotatably connected to the palm operation part 31. The movable rod 322 in the finger operation part 32 rotates with the rotation of the finger operation part 32. The rotation control unit includes a rotation sensor 53, which is mounted on the movable rod 322 and rotates with it to acquire the rotation electrical signal. The acquired rotation electrical signal is transmitted to the main control board 72. The main control board 72 can receive the rotation electrical signal and process it. Through an algorithm, it is converted into the rotation amount corresponding to the rotation drive 51 and controls the rotation drive 51 to work according to the rotation amount.

[0069] The pitch and yaw control unit, rotation control unit, and opening / closing control unit are all located within the human-machine interface 3. The yaw drive assembly 41, rotation drive component 51, and opening / closing drive component 11 are all integrated onto the mounting plate 93 and located within the upper housing 7. The yaw transmission assembly 42, rotation transmission assembly 52, and opening / closing transmission assembly 12 are all integrated between the upper plate 91 and the lower plate 92 and located within the lower housing 8. When the upper plate 91 and the mounting plate 93 are connected via hooks and slots, the edges of the upper housing 7 and the lower housing 8 are joined together as a single unit. The male connector 20 on the opening / closing drive component 11 is inserted into the female connector 10 on the opening / closing transmission shaft 121. The male connector 20 on the yaw drive assembly 41 is correspondingly inserted into the female connectors 10 on the two yaw transmission shafts 421. The male connector 20 on the rotation drive component 51 is inserted into the female connector 10 on the rotation transmission shaft 521. Simultaneously, the first chip 71 and the second chip 82 are connected.

[0070] Based on the above structure, the working principle of the surgical robot in this embodiment is as follows: the operator's hand extends into the opening between the palm operation part 31 and the binding member 33, the palm grasps the palm operation part 31, and the fingers operate the finger operation part 32.

[0071] When component 2 needs to perform pitch and yaw movements, the palm drives the housing 311 to yaw. The spherical sleeve 312 inside the housing 311 yaws relative to the ball head of the ball joint 313. The rocker sensor 43 obtains the pitch and yaw electrical signals corresponding to the palm swing and transmits the obtained pitch and yaw electrical signals to the main control board 72. The main control board 72 receives the pitch and yaw electrical signals and calculates and converts them into the rotation amount of the two motors of the yaw drive component 41. The main control board 72 controls the rotation of the two motors according to the rotation amount. The two motors drive the two yaw drive shafts 421 to rotate. The two yaw drive shafts 421 drive the two yaw drive cables 423 to retract and extend, driving the actuator frame 424 and / or actuator 425 to deflect. The drive cable group 4251 on the actuator 425 pulls the joint link 612 of the flexible arm 61 to perform pitch and yaw movements.

[0072] When component 2 needs to perform an opening and closing action, the fingers pinch the clamp 3232 and deflect it against the force of the reset member. The connecting rod 3231 deflects accordingly, and the connecting rod 3231 drives the movable rod 322 to move linearly. The slot 3222 on the movable rod 322 drives the linear sensor 13 to move linearly. The linear sensor 13 acquires the opening and closing electrical signal and transmits the opening and closing electrical signal to the main control board 72. The main control board 72 receives the opening and closing electrical signal and calculates and converts it into the rotation amount of the opening and closing drive component 11. The main control board 72 controls the opening and closing drive component 11 to rotate according to the rotation amount. The opening and closing drive component 11 drives the opening and closing transmission shaft 121 to rotate. The opening and closing transmission shaft 121 drives the opening and closing transmission cable 124 to retract and extend. The opening and closing transmission cable 124 drives the opening and closing shaft 125 to move linearly along the limiting groove 241. The opening and closing shaft 125 drives the drive ends of the two actuator fingers 21 to realize the opening and closing of the two actuator fingers 21.

[0073] When the actuator 2 needs to perform a rotation action, the finger rotates the outer shell 321, causing the movable rod 322 inside to rotate. The rotation sensor 53 on the movable rod 322 also rotates accordingly. The rotation sensor 53 acquires the rotation electrical signal and transmits the rotation electrical signal to the main control board 72. The main control board 72 receives the rotation electrical signal and calculates and converts it into the rotation amount of the rotation drive component 51. The main control board 72 controls the rotation drive component 51 to rotate according to the rotation amount. The rotation drive component 51 drives the rotation transmission shaft 521 to rotate. The rotation transmission shaft 521 drives the drive gear 5221 on it to rotate. The drive gear 5221 drives the driven gear 5223 to rotate through the transmission gear 5222, thereby driving the drive rod 523 to rotate. The drive rod 523 drives the actuator 2 to rotate through the universal joint 524, realizing the rotation of the actuator 2.

[0074] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A surgical robot, characterized in that, Including the opening and closing mechanism (1); The opening and closing mechanism includes: Opening and closing drive component (11); The opening and closing transmission assembly (12) includes an opening and closing transmission cable (124) and an opening and closing shaft (125). The opening and closing transmission cable (124) is wound up and down under the driving action of the opening and closing drive member (11). The free end of the opening and closing transmission cable (124) is connected to the opening and closing shaft (125). The opening and closing shaft (125) is slidably assembled. When the opening and closing transmission cable (124) is wound up, the opening and closing transmission cable (124) pulls the opening and closing shaft (125) to slide forward against the force of the reset member. When the opening and closing transmission cable (124) is unwound, the opening and closing shaft (125) slides in the opposite direction under the force of the reset member. An execution component (2) includes two hinged execution fingers (21). The two ends of the opening and closing shaft (125) are movably connected to the two execution fingers (21) of the execution component (2). The opening and closing shaft (125) slides and pushes the two execution fingers (21) to swing, thereby realizing the opening and closing of the two execution fingers (21). It also includes an opening and closing control unit, which acquires opening and closing electrical signals for opening and closing actions, and the opening and closing drive unit drives the execution component (2) to open and close according to the opening and closing electrical signals; The surgical robot also includes a pitch and yaw mechanism (4), which includes a pitch and yaw control unit, a yaw drive component (41), and a yaw transmission component (42). The pitch and yaw control unit acquires a pitch and yaw electrical signal, and the yaw drive component (41) drives the yaw transmission component (42) according to the pitch and yaw electrical signal. The yaw transmission component (42) drives the execution component (2) to yaw or pitch. The surgical robot also includes a rotation mechanism (5), which includes a rotation control unit, a rotation drive (51), and a rotation transmission assembly (52). The rotation control unit acquires a rotation electrical signal, and the rotation drive (51) includes a drive rod (523). The rotation drive (51) drives the drive rod (523) to rotate according to the rotation electrical signal, and the drive rod (523) drives the execution assembly (2) to rotate. The pitch and yaw control unit, the rotation control unit and the opening and closing control unit are all located in the human-machine interface (3). The deflection drive assembly (41), the rotation drive component (51) and the opening and closing drive component (11) are all integrated on the mounting plate (93) and located in the upper housing (7). The deflection transmission assembly (42), the rotation transmission assembly (52) and the opening and closing transmission assembly (12) are all integrated on the plate and located in the lower housing (8). The deflection drive assembly (42) includes a deflection drive shaft (421), an actuator frame (424), and an actuator (425). There are two deflection drive shafts (421), which are corresponding to two motors. The two deflection drive shafts (421) are integrated and installed between the upper plate (91) and the lower plate (92). The upper ends of the two deflection drive shafts (421) extend out of the upper plate (91) and are provided with female heads (10). The two deflection drive shafts (421) are connected to the two motors of the deflection drive assembly (41) through male and female heads. Deflection fixed wire wheels (422) are respectively sleeved on the two deflection drive shafts (421). One end of the two deflection drive cables (423) is wound around the deflection fixed wire wheels (422), and the other end of the two deflection drive cables (423) drives the actuator frame (424) or the actuator (425) to deflect. The two ends of the actuator frame (424) are hinged to the base (426) via the pitch axis, and the two ends of the actuator (425) are hinged to the inner wall of the actuator frame (424) via the yaw axis. The actuator frame (424) can drive the actuator (425) to deflect along the pitch axis, and the actuator (425) can deflect relative to the actuator frame (424) along the yaw axis. The pitch axis and the yaw axis are set perpendicularly. The center points of the actuator frame (424) and the actuator (425) coincide. The pitch axis and the yaw axis are perpendicular and intersect, and the intersection point coincides with the aforementioned center point. The deflection of the actuator frame (424) and the actuator (425) is driven by the deflection transmission cable (423); the two deflection transmission cables (423) are respectively connected to the two sides of the actuator (425), the two deflection transmission cables (423) are symmetrically arranged, when the two deflection transmission cables (423) are simultaneously and equally retracted and released, the actuator (425) deflects, when the two deflection transmission cables (423) are simultaneously and equally retracted or released, the actuator frame (424) deflects; The deflection drive cable (423) is wound and released under the drive of the deflection drive shaft (421); the deflection drive cable (423) acts on the actuator (425) from above, and the tension direction of the deflection drive cable (423) is perpendicular to the actuator (425) in the initial state; the tension direction of the deflection drive cable (423) is controlled by the deflection transition wheel (4231), and the deflection drive cable (423) passes around the deflection transition wheel (4231) and connects to the actuator (425), and the deflection transition wheel (4231) is located directly above the actuator (425).

2. The surgical robot according to claim 1, characterized in that, The two actuator fingers (21) are hinged at the middle, and the drive ends of the two actuator fingers (21) are symmetrically provided with inclined grooves (211). The two ends of the opening and closing shaft (125) pass through the two inclined grooves (211) and can slide in the two inclined grooves (211).

3. A surgical robot according to any one of claims 1-2, characterized in that, The opening and closing transmission assembly (12) further includes an opening and closing transmission shaft (121), on which an opening and closing fixed line wheel (122) is provided. One end of the opening and closing transmission cable (124) is wound around the opening and closing fixed line wheel (122), and the other end of the opening and closing transmission cable (124) is connected to the opening and closing shaft (125) via an opening and closing transition wheel (123). The opening and closing drive member (11) drives the opening and closing transmission shaft (121) to rotate, thereby winding and unwinding the opening and closing transmission cable (124).

4. A surgical robot according to claim 1, characterized in that, The opening and closing control unit is located in the human-machine interface (3). The human-machine interface (3) is provided with a movable rod (322). The movable rod (322) moves linearly along its axis under the driving action of the driving component. The opening and closing control unit includes a linear sensor (13). The linear sensor (13) moves linearly with the movable rod (322) to obtain the opening and closing electrical signal.

5. A surgical robot according to claim 4, characterized in that, The human-machine interface (3) includes a finger operation part (32), the finger operation part (32) includes a housing (321), the movable rod (322) is slidably disposed inside the housing (321), the drive assembly includes two bent drive linkages (323), the two drive linkages (323) are hinged inside the housing (321) and are respectively located on both sides of the movable rod (322), one end of the movable rod (322) is movably connected to one end of the two drive linkages (323), and the other end of the two drive linkages (323) protrudes out of the housing (321) under the action of the elastic element.

6. A surgical robot according to claim 5, characterized in that, The movable rod (322) is provided with two protruding structures (3221) spaced apart, and a groove (3222) is formed between the two protruding structures (3221). The linear sensor (13) is slidably disposed in the outer shell (321), and the linear sensor (13) extends at least partially into the groove (3222).

7. A surgical robot according to claim 1, characterized in that, It also includes a shaft (6) that couples each transmission component to the actuation component (2). The shaft (6) is connected to the actuation component (2) via a flexible arm (61) that is rotatably connected to the actuation component (2).

8. A surgical robot according to claim 7, characterized in that, The drive rod (523) is connected to the actuator (2) via a universal joint (524). The drive rod (523) and the universal joint (524) pass through the shaft (6) and are connected to the actuator (2). The universal joint (524) is located inside the flexible arm (61). The axial position and axial length of the universal joint (524) are the same as those of the flexible arm (61). The opening and closing transmission cable (124) passes through the drive rod (523) and the universal joint (524) and is connected to the opening and closing shaft (125).

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