Self-rotating mechanism and surgical robot

Abstract

The application relates to the field of medical devices, in particular to a self-rotation mechanism and a surgical robot. The self-rotation mechanism comprises a self-rotation driving part, a self-rotation transmission assembly, a driving rod and a universal joint. Two ends of the universal joint are connected with the driving rod and an execution assembly respectively, and the self-rotation driving part drives the driving rod to rotate. The universal joint can realize the deflection of multiple angles by being connected with the execution assembly through the driving rod. When the execution assembly is in a pitching and yawing posture, the self-rotation driving part drives the execution assembly to rotate without changing the original pitching and yawing posture and without interfering with other movements. The problem that the self-rotation mechanism in the prior art interferes with other movements in the working state is solved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a self-rotating 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 distal end of the rod by manipulating a handle at the proximal end. Because traditional surgical instruments have only a single degree of freedom, coupled with leverage, it is difficult for surgeons to perform complex and precise operations. Another type is the master-slave separation minimally invasive surgical system, represented by "Da Vinci." 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 CN201480053589.X discloses a control unit for a medical device, which includes a drive unit and an attached user interface. The interface is operated by the user with one hand and actuates motors and control cables within the control unit to control the positioning, movement, and operation of the medical device attached to the control unit. The drive unit includes a motor assembly and a cable system. The motor assembly includes one or more motors individually actuated by the interface, with a total of five motors. Three motors are used to pull and release the control cable, one motor is used to open and close the jaws of the gripper, and one motor is used to rotate the jaws. The motors can be electric motors powered by a battery pack housed in the proximal end (e.g., a FAULHABER motor with a gear ratio of 1:2561:64). The above application allows for multiple degrees of freedom of jaw operation, namely pitch, yaw, rotation, and opening / closing. However, in actual operation, the rotation of the jaws interferes with its pitch and yaw movements, altering its original pitch and yaw posture. Summary of the Invention

[0005] To address the problem that existing rotating mechanisms interfere with other motions during operation, this invention proposes a rotating mechanism that solves the aforementioned technical problem. The technical solution of this invention is as follows:

[0006] A self-rotating mechanism includes: a self-rotating drive component; and a self-rotating transmission assembly including a drive rod and a universal joint, wherein the two ends of the universal joint are respectively connected to the drive rod and an actuation component, and the self-rotating drive component drives the drive rod to rotate.

[0007] By setting the drive rod to connect to the actuator through a universal joint, the universal joint can achieve deflection at multiple angles. Thus, when the actuator is in a pitch and yaw attitude, the rotation drive will drive the actuator to rotate without changing the original pitch and yaw attitude and without interfering with other movements.

[0008] Furthermore, the universal joint includes at least two sub-links, with two adjacent sub-links hinged together by a connecting block, and the hinge direction of the two adjacent sub-links being perpendicular to that of the connecting block.

[0009] Furthermore, the sub-link is H-shaped, the connecting block is annular, and the end of the sub-link surrounds the outer periphery of the connecting block and is hinged to the connecting block.

[0010] Furthermore, the universal joint has an axially extending through hole in its center.

[0011] Furthermore, it also includes a rotation control unit, which acquires a rotational electrical signal for rotational action, and the rotation drive unit drives the drive rod to rotate according to the rotational electrical signal.

[0012] Furthermore, the rotation control unit is located within the human-machine interface, which includes a rotatable finger operating part. A movable rod is provided within the finger operating part, and the movable rod rotates with the rotation of the finger operating part. The rotation control unit includes a rotation sensor, which is mounted on the movable rod and rotates accordingly to acquire rotation electrical signals.

[0013] A surgical robot includes: a rotation mechanism; 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 shaft, the shaft coupling the yaw transmission component to the execution component, the shaft being connected to the execution component via a flexible arm, the flexible arm being rotatably connected to the execution component.

[0014] Furthermore, the drive rod and the universal joint pass through the shaft and are connected to the actuation assembly. The universal joint is located inside the flexible arm, and its axial position and axial length are the same as those of the flexible arm.

[0015] Furthermore, it also includes an opening and closing mechanism, which includes an opening and closing control unit, an opening and closing drive component, and an opening and closing transmission assembly. The opening and closing control unit acquires an opening and closing electrical signal, and the opening and closing transmission assembly includes an opening and closing transmission shaft and an opening and closing transmission cable. The opening and closing drive component drives the opening and closing transmission shaft to rotate according to the opening and closing electrical signal. The opening and closing transmission shaft drives the actuation component to open and close through the opening and closing transmission cable. The opening and closing transmission cable passes through the drive rod and the universal joint and is connected to the actuation component.

[0016] Furthermore, the pitch and yaw control unit and the opening and closing control unit are both located within the human-machine interface, the deflection drive assembly, the opening and closing drive component and the rotation drive component are all integrated and mounted on the mounting plate, and the rotation transmission assembly, the deflection transmission assembly and the opening and closing transmission shaft are integrated and mounted between the upper plate and the lower plate.

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

[0018] 1. The self-rotation mechanism of the present invention, by setting a drive rod connected to the actuator through a universal joint, the universal joint can achieve deflection at multiple angles. Thus, when the actuator is in a pitch and yaw posture, the self-rotation drive will drive the actuator to rotate without changing the original pitch and yaw posture and without interfering with other movements. Furthermore, the structure of the universal joint is designed so that the universal joint can maintain the original pitch and yaw posture at any rotation angle. The universal joint has an axially extending through hole inside, so that the opening and closing transmission cable can pass through the drive rod and the universal joint to drive the opening and closing of the actuator.

[0019] 2. The self-rotating mechanism of the present invention, by setting a self-rotation control unit, can control the rotation of the execution component according to the user's operation of the finger operation part, which has high accuracy and strong operability;

[0020] 3. The surgical robot of the present invention uses a pitch and yaw mechanism to drive the pitch and yaw motion of the execution component. The flexible arm enables axial motion, which, compared to the separation of pitch and yaw motion in split-axis motion, combines pitch and yaw motion. When treating wounds, obstacle avoidance is possible. The execution component has a high degree of freedom and is more intuitive and convenient to control. The flexible rotating arm is located inside the flexible arm and has the same axial position and axial length as the flexible arm. Thus, the drive rod can drive the execution component to rotate through the universal joint without affecting the position of the flexible arm. That is, there is no interference between the rotation of the execution component and the pitch and yaw motion.

[0021] 4. The surgical robot of the present invention, by setting up a pitch and yaw mechanism, an opening and closing mechanism and a rotation mechanism, can drive the execution components to achieve four degrees of freedom of movement: yaw, pitch, opening and closing and rotation; the rotation transmission component, the yaw transmission component and the opening and closing transmission shaft are integrated and installed on the plate, realizing the integrated installation of the transmission components and greatly reducing the volume. 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 A schematic diagram of the integrated transmission component with the outer housing removed;

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

[0031] Figure 10 This is a schematic diagram of the rotating mechanism of a surgical robot.

[0032] Figure 11 A schematic diagram of the human-machine interface and drive unit of a surgical robot;

[0033] Figure 12 A schematic diagram of the human-machine interface;

[0034] Figure 13 This is a schematic diagram of the pitch and yaw control unit;

[0035] Figure 14 A schematic diagram of the internal structure of the finger operation part of a human-machine interface;

[0036] In the diagram: 1-Rotation mechanism; 11-Rotation drive component; 12-Rotation transmission assembly; 121-Rotation transmission shaft; 122-Gear set; 1221-Drive gear; 1222-Transmission gear; 1223-Driven gear; 123-Drive rod; 124-Universal joint; 1241-Sub-connecting rod; 1242-Connecting block; 1243-First connecting seat; 1244-Second connecting seat; 13-Rotation sensor; 2-Actuation assembly; 21-Actuation... Finger; 211- Inclined groove; 22- Opening and closing shaft; 23- Hinge shaft; 24- Third connecting seat; 241- Limiting groove; 3- Human-machine interface; 31- Palm operating part; 311- First housing; 312- Spherical sleeve; 3121- Top cover; 3122- Side sleeve; 313- Ball head rod; 32- Finger operating part; 321- Second housing; 322- Clamping piece; 323- Connecting rod; 324- Movable rod; 325- Groove; 33- Bundle; 4-Pitch and yaw mechanism; 41-Yaw drive assembly; 42-Yaw transmission assembly; 421-Yaw drive shaft; 422-Yaw fixed pulley; 423-Yaw transmission cable; 4231-Yaw transition pulley; 424-Actuator frame; 425-Actuator; 4251-Drive cable assembly; 426-Base; 43-Rock sensor; 431-Rock; 5-Opening and closing mechanism; 51-Opening and closing drive component; 52-Opening and closing transmission assembly; 521-Opening and closing transmission... Shaft; 522-Opening and closing fixed wire wheel; 523-Opening and closing transition wheel; 524-Opening and closing transmission cable; 53-Linear 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 board; 10-Female connector; 20-Male connector. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] like Figure 1-14 As shown, this embodiment provides a rotation mechanism, including a rotation drive 11 and a rotation transmission assembly 12. The rotation drive 11 drives the execution assembly 2 to rotate via the rotation transmission assembly 12. The rotation drive 11 is optional, but not limited to, a motor. The rotation drive 11 is mounted on a motor mounting plate 93.

[0044] The self-rotating transmission assembly 12 includes a self-rotating transmission shaft 121, a gear set 122, a drive rod 123, and a universal joint 124. The drive end of the self-rotating drive component 11 is connected to the self-rotating transmission shaft 121. The self-rotating transmission shaft 121 drives the drive rod 123 to rotate through the gear set 122. The drive rod 123 drives the actuator 2 to rotate through the universal joint 124. Specifically, the self-rotating transmission shaft 121 is rotatably mounted on the plate. The drive end of the self-rotating drive component 11 and the self-rotating transmission shaft 121 are connected through a male and female connector. The self-rotating transmission shaft 121 is rotatably mounted between the upper plate 91 and the lower plate 92. The upper end of the self-rotating transmission shaft 121 extends out of the upper plate 91 and is connected to a female connector 10. The drive end of the self-rotating drive component 11 is connected to a male connector 20, and the male connector 20 and the female connector 10 are inserted into each other. The gear set 122 includes a drive gear 1221, a transmission gear 1222, and a driven gear 1223. The drive gear 1221 is sleeved on the self-transmission shaft 121, and the driven gear 1223 is sleeved on the drive rod 123. The drive rod 123 is rotatably mounted on the lower plate 92. The drive gear 1221 drives the driven gear 1223 to rotate through the transmission gear 1222, thereby driving the drive rod 123 to rotate.

[0045] The drive rod 123 is connected to the actuator 2 via a universal joint 124. The universal joint 124 includes at least two sub-links 1241, which are sequentially hinged together by a connecting block 1242. The hinge direction of two adjacent sub-links 1241 is perpendicular to that of the connecting block 1242. Specifically, the sub-links 1241 are H-shaped, the connecting block 1242 is annular, and the ends of the sub-links 1241 surround the outer periphery of the connecting block 1242 and are hinged to it. The upper end of the universal joint 124 is connected to a first connecting seat 1243, through which the universal joint 124 is connected to the drive rod 123. Specifically, the universal joint 124 and the first connecting seat 1243 are fixedly connected or hinged. The first connecting seat 1243 can extend into the end of the drive rod 123. A keyed connection can be provided between the first connecting seat 1243 and the drive rod 123 after insertion, allowing the drive rod 123 to drive the universal joint 124 to rotate. The lower end of the universal joint 124 is connected to a second connecting seat 1244, through which the universal joint 124 is connected to the actuator 2. Specifically, the lower end of the universal joint 124 is fixedly connected to the second connecting seat 1244. Preferably, both the first connecting seat 1243 and the universal joint 124 have axially extending through holes. The second connecting seat 1244 has a through groove. The upper end of the actuator 2 is slidably disposed in the groove of the second connecting seat 1244. The universal joint 124 drives the actuator 2 to rotate through the second connecting seat 1244. The opening and closing shaft can slide axially along the groove in the second connecting seat 1244.

[0046] It also includes a rotation control unit, which is located within the human-machine interface 3. The human-machine interface 3 includes a palm operation part 31 and a finger operation part 32, which are rotatably connected to the palm operation part 31. A movable rod 324 is provided within the finger operation part 32, and the movable rod 324 rotates with the rotation of the finger operation part 32. The rotation control unit includes a rotation sensor 13, which is mounted on the movable rod 324 and rotates with it to acquire rotation electrical signals. The acquired rotation electrical signals are transmitted to the main control board 72, which includes a chip that can receive and process the rotation electrical signals. Through an algorithm, the chip converts the signals into the rotation amount corresponding to the rotation drive component 11 and controls the rotation drive component 11 to operate according to the rotation amount.

[0047] Preferably, the self-rotation drive component 11 is disposed in the upper housing 7, and the self-rotation transmission component 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 motor mounting plate 93 and the upper plate 91. When the motor 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 self-rotation drive component 11 is inserted into the female head 10 on the self-rotation 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 self-rotation mechanism in this embodiment is as follows: The operator rotates the finger operation part 32, causing the rotation sensor 13 inside the finger operation part 32 to rotate with the movable rod 324. The rotation sensor 13 acquires the self-rotation electrical signal and transmits the self-rotation electrical signal to the main control board 72. The main control board 72 receives the self-rotation electrical signal and converts the self-rotation electrical signal into the rotation amount of the self-rotation drive component 11. The main control board 72 controls the self-rotation drive component 11 to rotate according to the rotation amount. The self-rotation drive component 11 drives the drive rod 123 in the self-rotation transmission assembly 12 to rotate. The drive rod 123 drives the execution component 2 to rotate through the universal joint 124.

[0050] This embodiment also provides a surgical robot, including the aforementioned rotation mechanism 1, and further including an execution component 2, a human-machine interface 3, a pitch and yaw mechanism 4, and an opening and closing mechanism 5. The pitch and yaw mechanism 4 drives the execution component 2 to pitch and yaw; the opening and closing mechanism 5 drives the execution component 2 to open and close; 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. The main control board receives the pitch and yaw electrical signals and converts them into the rotation amount of the yaw drive assembly 41. The main control board 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 motor 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. Preferably, the universal joint 124 is located inside the flexible arm 61, and the axial position and axial length of the universal joint 124 are the same as those of the flexible arm 61. In this way, the universal joint 124 can perform pitch and yaw movements with the flexible arm 61, and can also drive the actuator 2 to rotate under the driving action of the drive rod 123. When the flexible arm 61 maintains a pitch and yaw posture, the drive rod 123 can drive the universal joint 124 to rotate within the flexible arm 61 without affecting the pitch and yaw posture of the flexible arm 61, that is, there is no interference between the pitch and yaw movement and the rotation movement, ensuring the accuracy of the operation of the instrument structure. The drive cable assembly 4251 includes multiple drive cables. One end of each drive cable is connected to the actuator 425, and the other end of each drive cable is connected to two joint links 612 that swing in different directions to drive the flexible arm 61 to pitch and yaw.

[0059] The pitch and yaw control unit is located in the palm operation part 31 of the human-machine interface 3. The human-machine interface 3 includes the palm operation part 31, the finger operation part 32 and the binding member 33. 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 so as to apply a restraining force to the back of the hand when the palm operates the palm operation part 31.

[0060] The hand-operated unit 31 includes a first housing 311 and a pitch and yaw control unit disposed within the first housing 311. The shape of the first 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 first 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 first 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.

[0061] 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.

[0062] When the palm acts on the palm operating part 31, the palm grips the first housing 311. When the palm causes the first housing 311 to tilt, the spherical sleeve 312 inside the first 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 to drive the execution assembly 2 to perform the tilt action based on the electrical signal. When the palm causes the first housing 311 to pitch, the spherical sleeve 312 inside the first 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 to drive the execution assembly 2 to perform the pitch action based on the electrical signal.

[0063] The finger operation unit 32 includes a second housing 321, an opening / closing control unit, and a rotation control unit. The second housing 321 is rotatably connected to the first housing 311. When the palm acts on the palm operation unit 31, the fingers can simultaneously act on the finger operation unit 32. A movable rod 324 is provided inside the second housing 321. The opening / closing control unit includes a linear sensor 53. The linear sensor 53 moves linearly with the movable rod 324, acquires an opening / closing electrical signal, and transmits the opening / closing electrical signal to the main control board 72. The main control board 72 drives the opening / closing drive component 51 according to the opening / closing electrical signal to drive the execution component 2 to perform the opening / closing action. The rotation control unit includes a rotation sensor 13. The rotation sensor 13 senses the rotation of the movable rod 324 to acquire a rotation electrical signal and transmits the rotation electrical signal to the main control board 72. The main control board 72 drives the rotation motor according to the rotation electrical signal to drive the execution component 2 to perform the rotation action.

[0064] Specifically, the movable rod 324 is slidably installed inside the second housing 321. A clamping piece 322 is provided on the second housing 321. The clamping piece 322 is connected to one end of the movable rod 324 via a connecting rod 323. One end of the clamping piece 322 is connected to one end of the connecting rod 323, and the other end of the connecting rod 323 is movably connected to the movable rod 324. The end of the clamping piece 322 connected to the connecting rod 323 is hinged to the second housing 321. When an external force pushes the clamping piece 322 to deflect, the clamping piece 322 drives the connecting rod 323 to deflect, and the connecting rod 323 drives the movable rod 324 to move linearly along its axial direction. Preferably, the end of the connecting rod 323 connected to the movable rod 324 has an elongated hole, through which a fixing member passes to movably connect the connecting rod 323 and the movable rod 324. Preferably, there are two clamping pieces 322, each connected to the movable rod 324 via a connecting rod 323. The two clamping pieces 322 are symmetrically arranged about the rotation axis 324. The thumb and forefinger simultaneously press or release the two clamping pieces 322, causing the movable rod 324 to move linearly. Preferably, the free end of the clamping piece 322 protrudes from the outer surface of the second housing 321 under the action of the reset member. The reset member can be, but is not limited to, a torsion spring.

[0065] More preferably, the movable rod 324 has a slot 325 formed by two spaced disc structures. The linear sensor 53 is slidably disposed in the second housing 321. At least part of the linear sensor 53 extends into the slot 325. When the movable rod 324 moves linearly, the slot 325 on it drives the linear sensor 53 to move linearly, and the linear sensor 53 acquires the opening and closing electrical signal.

[0066] The opening and closing mechanism 5 is used to control the opening and closing of the actuator 2. Specifically, the opening and closing mechanism 5 includes an opening and closing drive component 51, an opening and closing transmission assembly 52, and an opening and closing control unit. The opening and closing drive component 51 is optional, but not limited to, a motor. The opening and closing drive component 51 is mounted on the motor mounting plate 93 and located inside the upper housing 7. The drive end of the opening and closing drive component 55 is connected to a male connector 20. The opening and closing control unit, as described above, includes a linear sensor 53 and is located within the human-machine interface 3.

[0067] The opening and closing transmission assembly 52 includes an opening and closing transmission shaft 521, an opening and closing cable retainer 522, and an opening and closing transmission cable 524. The opening and closing transmission shaft 521 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 521 extends out of the upper plate 91 and is connected to a female head 10. The opening and closing transmission shaft 521 is connected to the opening and closing drive component 51 through a male and female head. The opening and closing cable retainer 522 is sleeved on the opening and closing transmission shaft 521. One end of the opening and closing transmission cable 524 is wound around the opening and closing cable retainer 522, and the other end passes through the drive rod 123 and the universal joint 124 to connect with the actuation component 2 and drive the actuation component 2 to open and close. Preferably, the device further includes an opening / closing transition wheel 523, which controls the direction of tension of the opening / closing transmission cable 524. The opening / closing transition wheel 523 is mounted on the upper plate 91. The opening / closing transmission cable 524 passes through the opening / closing transition wheel 523, the drive rod 123, and the universal joint 124 to drive the actuator 2 to open and close. The opening / closing transmission cable 524 can be, but is not limited to, steel wire.

[0068] The actuation component 2 includes two hinged actuating fingers 21 and an opening / closing shaft 22. The two actuating fingers 21 are hinged at their middle portions via a hinge shaft 23. The opening / closing shaft 22 passes through the driving ends of the two actuating fingers 21, movably connecting the two actuating fingers 21. Specifically, the driving ends of the two actuating fingers 21 have inclined slots 211, and the opening / closing shaft 22 passes through the inclined slots 211 on the two actuating fingers 21 to movably connect the two actuating fingers 21.

[0069] Furthermore, a third connecting seat 24 is provided on the outside of the driving ends of the two actuator fingers 21, and the actuator component 2 is connected to the flexible arm 61 through the third connecting seat 24. Specifically, one end of the third connecting seat 24 is rotatably connected to the fifth connecting seat 613, and the other end of the third connecting seat 24 is forked. The driving end of the actuator finger 21 and the opening and closing shaft 22 are placed between the two forks, and both ends of the hinge shaft 23 are respectively connected to the two forks, realizing the connection between the two actuator fingers 21 and the third connecting seat 24. The third connecting seat 24 is also provided with a limiting groove 241, and both ends of the opening and closing shaft 22 extend into the limiting groove 241 and move along the limiting groove 241. Preferably, the limiting groove 241 extends axially.

[0070] Further, specifically, the second connecting seat 1244 is slidably connected to the opening and closing shaft 22. A connecting block extends from the middle of the opening and closing shaft 22 toward the second connecting seat 1244. The connecting block extends into the second connecting seat 1244 and can slide axially within the second connecting seat 1244. Limiting structures are provided at the ends of the connecting block and the second connecting seat 1244 to prevent relative rotation of the connecting block and the second connecting seat 1244 and to prevent the connecting block from dislodging from the interior of the second connecting seat 1244. The drive rod 123 can drive the actuator 2 to rotate through the second connecting seat 1244.

[0071] Preferably, the deflection drive assembly 41, the opening and closing drive component 51, and the rotation drive component 11 are integrated and mounted on the motor mounting plate 93 and located inside the upper housing 7; the deflection transmission assembly 42, the opening and closing transmission assembly 52, and the rotation transmission assembly 12 are integrated and mounted between the upper plate 91 and the lower plate 92 and located inside the lower housing 8.

[0072] 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.

[0073] When component 2 needs to perform pitch and yaw movements, the palm drives the first housing 311 to yaw. The spherical sleeve 312 inside the first 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.

[0074] When component 2 needs to perform an opening and closing action, the fingers pinch the clamp 322 and deflect it against the force of the reset member. The connecting rod 323 deflects accordingly, and the connecting rod 323 drives the movable rod 324 to move linearly. The slot 325 on the movable rod 324 drives the linear sensor 53 to move linearly. The linear sensor 53 acquires the opening and closing electrical signal and transmits it 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 51. The main control board 72 controls the opening and closing drive component 51 to rotate according to the rotation amount. The opening and closing drive component 51 drives the opening and closing transmission shaft 521 to rotate. The opening and closing transmission shaft 521 drives the opening and closing transmission cable 524 to retract and extend. The opening and closing transmission cable 524 drives the opening and closing shaft 22 to move linearly along the limiting groove 241. The opening and closing shaft 22 drives the drive ends of the two actuator fingers 21 to realize the opening and closing of the two actuator fingers 21.

[0075] When the actuator 2 needs to perform a rotation action, the finger rotates the second housing 321, causing the movable rod 324 inside to rotate. The rotation sensor 13 on the movable rod 324 also rotates accordingly. The rotation sensor 13 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 11. The main control board 72 controls the rotation drive component 11 to rotate according to the rotation amount. The rotation drive component 11 drives the rotation transmission shaft 121 to rotate. The rotation transmission shaft 121 drives the drive gear 1221 on it to rotate. The drive gear 1221 drives the driven gear 1223 to rotate through the transmission gear 1222, thereby driving the drive rod 123 to rotate. The drive rod 123 drives the actuator 2 to rotate through the universal joint 124, realizing the rotation of the actuator 2.

[0076] 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 self-rotating mechanism (1); The self-rotation mechanism (1) includes a self-rotation drive component (11); a self-rotation transmission assembly (12) including a drive rod (123) and a universal joint (124), the two ends of the universal joint (124) being connected to the drive rod (123) and the execution assembly (2) respectively, and the self-rotation drive component (11) driving the drive rod (123) to rotate; 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 shaft (6) that couples the deflection transmission assembly (42) to the execution assembly (2). The shaft (6) is connected to the execution assembly (2) via a flexible arm (61), which is rotatably connected to the execution assembly (2). 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 above-mentioned 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 direction of the tension of the deflection drive cable (423) is approximately perpendicular to the actuator (425) in the initial state; the direction of the tension 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 universal joint (124) includes at least two sub-links (1241), two adjacent sub-links (1241) are hinged by a connecting block (1242), and the hinge direction of the two adjacent sub-links (1241) is perpendicular to that of the connecting block (1242).

3. A surgical robot according to claim 2, characterized in that, The sub-link (1241) is H-shaped, the connecting block (1242) is annular, and the end of the sub-link (1241) surrounds the outer periphery of the connecting block (1242) and is hinged to the connecting block (1242).

4. A surgical robot according to claim 1, characterized in that, The universal joint (124) has an axially extending through hole in the middle.

5. A surgical robot according to claim 1, characterized in that, It also includes a rotation control unit, which acquires a rotation electrical signal for rotational action, and the rotation drive unit drives the drive rod (123) to rotate according to the rotation electrical signal.

6. A surgical robot according to claim 5, characterized in that, The rotation control unit is located in the human-machine interface (3). The human-machine interface (3) includes a rotatable finger operation part (32). A movable rod (324) is provided in the finger operation part (32). The movable rod (324) rotates with the rotation of the finger operation part (32). The rotation control unit includes a rotation sensor (13). The rotation sensor (13) is located on the movable rod (324) and rotates with it to acquire the rotation electrical signal.

7. A surgical robot according to claim 1, characterized in that, The drive rod (123) and the universal joint (124) pass through the shaft (6) and are connected to the actuator (2). The universal joint (124) is located inside the flexible arm (61), and the axial position and axial length of the universal joint (124) are the same as those of the flexible arm (61).

8. A surgical robot according to any one of claims 1-7, characterized in that, It also includes an opening and closing mechanism (5), which includes an opening and closing control unit, an opening and closing drive component (51), and an opening and closing transmission assembly (52). The opening and closing control unit acquires an opening and closing electrical signal. The opening and closing transmission assembly (52) includes an opening and closing transmission shaft (521) and an opening and closing transmission cable (524). The opening and closing drive component (51) drives the opening and closing transmission shaft (521) to rotate according to the opening and closing electrical signal. The opening and closing transmission shaft (521) drives the execution assembly (2) to open and close through the opening and closing transmission cable (524). The opening and closing transmission cable (524) passes through the drive rod (123) and the universal joint (124) and is connected to the execution assembly (2).

9. A surgical robot according to claim 8, characterized in that, The pitch and yaw control unit and the opening and closing control unit are both located in the human-machine interface (3). The deflection drive assembly (41), the opening and closing drive component (51) and the rotation drive component (11) are all integrated on the motor mounting plate (93). The rotation transmission assembly (12), the deflection transmission assembly (42) and the opening and closing transmission shaft (521) are integrated between the upper plate (91) and the lower plate (92).

Images