A compact end-drive structure for an endoscopic surgical robot

Abstract

The present invention relates to a compact endoscopic surgical robot terminal driving structure, comprising a surgical terminal driving mechanism, wherein the surgical terminal driving mechanism is mounted on a driving mechanism base, the driving mechanism base is mounted on the terminal end of a mechanical arm, the mechanical arm is arranged above a bed board, the surgical terminal driving mechanism is connected to a surgical instrument, and a slender rod of the surgical instrument passes through a middle channel of the surgical terminal driving mechanism, the surgical terminal driving mechanism comprises a linear motion mechanism and a rotary motion mechanism, the slender rod of the surgical instrument performs linear motion and rotary motion under the drive of the linear motion mechanism and the rotary motion mechanism; the mechanical arm is connected to a movable frame, the movable frame is straddled above the bed board, translation guide rails are installed on the left and right sides of the bed board, and the movable frame performs horizontal movement along the translation guide rails; the present invention can greatly reduce the structural space of the surgical terminal of the mechanical arm, reduce the possibility of mutual interference of the terminal ends of the mechanical arm, and also provide more possible operating space for clinicians.

Description

[Technical field]

[0001] The invention relates to the technical field of medical instruments, in particular to a compact end-drive structure of an endoscopic surgical robot. [Background Technology]

[0002] At present, the terminal drive structure of the existing endoscopic minimally invasive robot is a linear drive structure. This structure is generally composed of an actuator that is longer than the motion stroke, such as a guide rail and a corresponding screw rod or belt structure. Therefore, its own length is generally greater than the motion stroke of the terminal. This structure requires more space, and in the process of coordinated use of multiple arms, the terminal drive structures often interfere with each other in motion. Therefore, the operating space of the robot arm will be limited, which is not conducive to achieving the requirements of various motion postures in complex surgical processes, and often affects the normal operating speed and auxiliary operation effect of the doctor's auxiliary operation. Therefore, if a compact space end drive structure of an endoscopic surgical robot can be provided, it will be of great clinical significance. [Summary of the invention]

[0003] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a compact endoscopic surgical robot end drive structure, which occupies a significantly smaller space than existing products, allowing doctors to have more available space to perform surgery and reducing the possibility of mutual interference at the ends of the robotic arms.

[0004] In order to achieve the above-mentioned purpose, a compact endoscopic surgical robot terminal drive structure is designed, including a surgical terminal drive mechanism 1, wherein the surgical terminal drive mechanism 1 is installed on a drive mechanism base 2, and the drive mechanism base 2 is installed at the end of a mechanical arm 3, and the mechanical arm 3 is arranged above a bed board 4. The surgical terminal drive mechanism 1 is connected to a surgical instrument 5, and a slender rod 6 of the surgical instrument 5 passes through a middle channel of the surgical terminal drive mechanism 1. The surgical terminal drive mechanism 1 includes a linear motion mechanism and a rotary motion mechanism. The slender rod 6 of the surgical instrument 5 performs linear motion and rotary motion under the drive of the linear motion mechanism and the rotary motion mechanism.

[0005] Furthermore, the linear motion mechanism includes a rotary motor 1 7 and a rotary motor 2 8 which are arranged symmetrically on the left and right. The output ends of the rotary motor 1 7 and the rotary motor 2 8 are respectively installed with a driving wheel 1 9 and a driving wheel 2 10. The driving wheel 1 9 is meshed with a driven wheel 12 through a double-toothed conveyor belt 1 11. The driving wheel 2 10 is meshed with a driven wheel 2 14 through a double-toothed conveyor belt 2 13. The outer peripheries of the double-toothed conveyor belt 1 11 and the double-toothed conveyor belt 2 13 are respectively meshed with a single-toothed conveyor belt 1 15 and a single-toothed conveyor belt 2 16. The slender rod 6 of the surgical instrument 5 is clamped between the single-toothed conveyor belt 1 15 and the single-toothed conveyor belt 2 16, and performs linear motion under the drive of the single-toothed conveyor belt 1 15 and the single-toothed conveyor belt 2 16.

[0006] Furthermore, an arc-shaped groove 17 is provided on the outer side of the single-toothed conveyor belt 1 15 and the single-toothed conveyor belt 2 16 , and the arc-shaped groove 17 is in close contact with the slender rod 6 of the surgical instrument 5 .

[0007] Furthermore, the rotary motion mechanism includes a disc motor stator 18 and a disc motor mover 19. The disc motor stator 18 is fixedly connected to the drive mechanism base 2. The disc motor mover 19 rotates relative to the disc motor stator 18, and drives the bearing seat 22 and the rotary motor 1 7 and the rotary motor 2 8 installed on the bearing seat 22 to rotate through the transmission sleeve 20 and the disc bearing 21.

[0008] Furthermore, the mechanical arm 3 is connected to a movable frame 23 , and the movable frame 23 is arranged across the bed board 4 . Translation rails 24 are installed on the left and right sides of the bed board 4 , and the movable frame 23 moves horizontally along the translation rails 24 .

[0009] Furthermore, the robotic arm 3 includes a robotic arm link 1 25, a robotic arm link 2 26, a robotic arm link 3 27, and a robotic arm link 4 28 that are hinged in sequence, the driving mechanism base 2 is fixedly connected to the robotic arm end link 29, the robotic arm end link 29 is connected to the robotic arm link 1 25, the robotic arm link 4 28 is installed on the robotic arm base 30, and is connected to the movable frame 23 through the robotic arm base 30.

[0010] Furthermore, a flexible cable 31 is connected to the end of the surgical instrument 5, and the flexible cable 31 includes a power cable and a signal cable of the surgical instrument. The other end of the flexible cable 31 is connected to the robot arm connecting rod 25.

[0011] Compared with the prior art, the present invention can realize the forward and backward feeding and rotating functions of the surgical end with a larger stroke. The structure integrates the above two functions in an integrated design, which can greatly reduce the structural space of the surgical end of the robotic arm, thereby realizing a more complex multi-arm linkage function, reducing the possibility of mutual interference between different robotic arm ends, and providing more possible operating space for clinicians. In summary, the space occupied by this structure can be greatly reduced compared with existing products, which is convenient for doctors to have more available space to perform surgery, and is worthy of promotion and application. [Drawings]

[0012] Figure 1 It is a structural schematic diagram of the present invention; Laparoscopic surgical robot system

[0013] Figure 2 It is a schematic diagram of the structure of the present invention;

[0014] Figure 3 is a schematic diagram of a linear drive mechanism of the present invention;

[0015] Figure 4 yes Figure 3 Middle AA section view;

[0016] Figure 5 is a schematic diagram of the rotary drive mechanism of the present invention;

[0017] In the figure: 1, surgical end drive mechanism 2, drive mechanism base 3, robotic arm 4, bed board 5, surgical instrument 6, slender rod 7, rotating motor 1 8, rotating motor 2 9, driving wheel 1 10, driving wheel 2 11, double-toothed conveyor belt 1 12, follower wheel 1 13, double-toothed conveyor belt 2 14, follower wheel 2 15, single-toothed conveyor belt 1 16, single-toothed conveyor belt 2 17, arc groove 18, disc motor stator 19, disc motor mover 20, transmission shaft sleeve 21, disc bearing 22, bearing seat 23, movable frame 24, translation guide rail 25, robotic arm connecting rod 1 26, robotic arm connecting rod 2 27, robotic arm connecting rod 3 28, robotic arm connecting rod 4 29, robotic arm end connecting rod 30, robotic arm base 31, flexible cable 32, bed body 33, patient 34, motor mounting base 35, follower wheel bearing. [Specific implementation method]

[0018] The present invention is further described below in conjunction with the accompanying drawings:

[0019] The present invention provides a compact endoscopic surgical robot terminal drive structure, including a surgical terminal drive mechanism 1, the surgical terminal drive mechanism 1 is installed on a drive mechanism base 2, the drive mechanism base 2 is installed at the end of a mechanical arm 3, the mechanical arm 3 is arranged above a bed plate 4, the surgical terminal drive mechanism 1 is connected to a surgical instrument 5, and a slender rod 6 of the surgical instrument 5 passes through a middle channel of the surgical terminal drive mechanism 1, the surgical terminal drive mechanism 1 includes a linear motion mechanism and a rotary motion mechanism, and the slender rod 6 of the surgical instrument 5 performs linear motion and rotary motion under the drive of the linear motion mechanism and the rotary motion mechanism.

[0020] As attached Figure 3 and attached Figure 4 As shown, the linear motion mechanism includes a rotary motor 1 7 and a rotary motor 2 8 which are arranged symmetrically on the left and right. The output ends of the rotary motor 1 7 and the rotary motor 2 8 are respectively installed with a driving wheel 1 9 and a driving wheel 2 10. The driving wheel 1 9 is meshed with a driven wheel 12 through a double-toothed conveyor belt 1 11, and the driving wheel 2 10 is meshed with a driven wheel 2 14 through a double-toothed conveyor belt 2 13. The outer peripheries of the double-toothed conveyor belt 1 11 and the double-toothed conveyor belt 2 13 are respectively meshed with a single-toothed conveyor belt 1 15 and a single-toothed conveyor belt 2 16. The slender rod 6 of the surgical instrument 5 is clamped between the single-toothed conveyor belt 1 15 and the single-toothed conveyor belt 2 16, and moves linearly under the drive of the single-toothed conveyor belt 1 15 and the single-toothed conveyor belt 2 16; the outer sides of the single-toothed conveyor belt 1 15 and the single-toothed conveyor belt 2 16 are both provided with arc grooves 17, and the arc grooves 17 are in close contact with the slender rod 6 of the surgical instrument 5.

[0021] As attached Figure 5 As shown, the rotary motion mechanism includes a disc motor stator 18 and a disc motor mover 19. The disc motor stator 18 is fixedly connected to the driving mechanism base 2. The disc motor mover 19 rotates relative to the disc motor stator 18, and drives the bearing seat 22 and the rotary motor 1 7 and the rotary motor 2 8 installed on the bearing seat 22 to rotate through the transmission sleeve 20 and the disc bearing 21.

[0022] Among them, there can be multiple mechanical arms 3, which are connected to the mobile frame 23, which is arranged across the bed board 4, and the translation guide rails 24 are installed on the left and right sides of the bed board 4, and the mobile frame 23 moves horizontally along the translation guide rails 24. Each mechanical arm 3 includes a mechanical arm connecting rod 1 25, a mechanical arm connecting rod 2 26, a mechanical arm connecting rod 3 27, and a mechanical arm connecting rod 4 28, which are hinged in sequence. The driving mechanism base 2 is fixedly connected to the mechanical arm end connecting rod 29, and the mechanical arm end connecting rod 29 is connected to the mechanical arm connecting rod 1 25. The mechanical arm connecting rod 4 28 is installed on the mechanical arm base 30 and connected to the mobile frame 23 through the mechanical arm base 30. A flexible cable 31 is connected to the end of the surgical instrument 5, and the flexible cable 31 includes a power cable and a signal cable of the surgical instrument. The other end of the flexible cable 31 is connected to the mechanical arm connecting rod 1 25.

[0023] The present invention can realize the forward and backward feeding and rotating functions of a larger stroke of the surgical end. By integrating the above two functions into an integrated design, the structural space of the robotic arm surgical end can be greatly reduced, and a more complex multi-arm linkage function can be realized, reducing the possibility of mutual interference between different robotic arm ends, and also providing clinicians with more possible operating space.

[0024] In the present invention, the laparoscopic surgical robot system is mainly composed of a bed body, a bed board, a movable frame, a translation guide rail, a robotic arm, etc. The driving mechanisms of the surgical instruments are respectively installed at the ends of the robotic arms, and are used to drive the surgical instruments to perform linear motion and rotational motion. There are five degrees of freedom between the end connecting rod of the robotic arm, the robotic arm connecting rod one to the robotic arm connecting rod four, and the linear motion and rotational motion of the surgical instrument are realized by the driving mechanism. The flexible cable includes a power cable and a signal cable of the surgical instrument, one end of which is connected to the end of the surgical instrument, and the other end is connected to the robotic arm connecting rod one. The base of the driving mechanism is fixedly connected to the end connecting rod of the robotic arm, and there is no relative motion between the two. The slender rod of the surgical instrument can achieve linear motion and rotational motion through the middle channel of the driving mechanism.

[0025] The linear motion realization principle of the present invention is as follows: the driving wheel 1 and the driving wheel 2 rotate at the same speed and in opposite directions, and drive the outer ring single-toothed surface conveyor belt 1 and the single-toothed surface conveyor belt 2 to move through the double-toothed surface conveyor belt 1 and the double-toothed surface conveyor belt 2, and the single-toothed surface conveyor belt 1 and the single-toothed surface conveyor belt 2 clamp the slender rod of the surgical instrument, and rely on friction to realize the linear motion of the surgical instrument. Among them, the inner side of the single-toothed surface conveyor belt is meshed with the outer side of the double-toothed surface conveyor belt through teeth, and the outer side of the single-toothed surface conveyor belt has an arc groove, which is closely attached to the slender rod of the surgical instrument; the inner side of the double-toothed surface conveyor belt is meshed with the driving wheel.

[0026] The rotary motion realization principle of the present invention is as follows: the disc motor stator is fixedly connected to the driving mechanism base, and the disc motor mover rotates relative to the stator, driving the bearing seat and all parts installed on the bearing seat to rotate through the transmission sleeve and the disc bearing.

[0027] The present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. A compact end-drive structure for an endoscopic surgical robot, characterized in that: The surgical end driving mechanism (1) comprises a surgical end driving mechanism (1), the surgical end driving mechanism (1) being mounted on a driving mechanism base (2), the driving mechanism base (2) being mounted on the end of a mechanical arm (3), the mechanical arm (3) being arranged above a bed plate (4), the surgical end driving mechanism (1) being connected to a surgical instrument (5), and a slender rod (6) of the surgical instrument (5) passing through a middle channel of the surgical end driving mechanism (1), the surgical end driving mechanism (1) comprising a linear motion mechanism and a rotary motion mechanism, the slender rod (6) of the surgical instrument (5) performing linear motion and rotary motion under the drive of the linear motion mechanism and the rotary motion mechanism; The linear motion mechanism comprises a rotary motor 1 (7) and a rotary motor 2 (8) which are arranged symmetrically on both sides. The output ends of the rotary motor 1 (7) and the rotary motor 2 (8) are respectively provided with a driving wheel 1 (9) and a driving wheel 2 (10). The driving wheel 1 (9) is meshedly connected to a follower wheel 1 (12) via a double-toothed conveyor belt 1 (11). The driving wheel 2 (10) is meshedly connected to a follower wheel 2 (14) via a double-toothed conveyor belt 2 (13). The outer peripheries of the double-toothed conveyor belt 1 (11) and the double-toothed conveyor belt 2 (13) are respectively meshedly connected to a single-toothed conveyor belt 1 (15) and a single-toothed conveyor belt 2 (16). The slender rod (6) of the surgical instrument (5) is sandwiched between the single-toothed conveyor belt 1 (15) and the single-toothed conveyor belt 2 (16), and moves linearly under the drive of the single-toothed conveyor belt 1 (15) and the single-toothed conveyor belt 2 (16). The outer sides of the single-toothed conveyor belt 1 (15) and the single-toothed conveyor belt 2 (16) are both provided with arc-shaped grooves (17), and the arc-shaped grooves (17) are in close contact with the slender rod (6) of the surgical instrument (5); The rotary motion mechanism comprises a disc motor stator (18) and a disc motor mover (19); the disc motor stator (18) is fixedly connected to the drive mechanism base (2); the disc motor mover (19) rotates relative to the disc motor stator (18), and drives the bearing seat (22) and the rotary motor 1 (7) and the rotary motor 2 (8) mounted on the bearing seat (22) to rotate via the transmission sleeve (20) and the disc bearing (21); The mechanical arm (3) is connected to a movable frame (23), and the movable frame (23) is arranged across the bed board (4). Translation guide rails (24) are installed on the left and right sides of the bed board (4), and the movable frame (23) moves horizontally along the translation guide rails (24).

2. The compact endoscopic surgical robot end drive structure according to claim 1, characterized in that: The mechanical arm (3) comprises a mechanical arm connecting rod 1 (25), a mechanical arm connecting rod 2 (26), a mechanical arm connecting rod 3 (27), and a mechanical arm connecting rod 4 (28) which are hinged in sequence. The driving mechanism base (2) is fixedly connected to the mechanical arm end connecting rod (29), the mechanical arm end connecting rod (29) is connected to the mechanical arm connecting rod 1 (25), and the mechanical arm connecting rod 4 (28) is installed on the mechanical arm base (30) and connected to the movable frame (23) through the mechanical arm base (30).

3. The compact endoscopic surgical robot end drive structure according to claim 2, characterized in that: The end of the surgical instrument (5) is connected to a flexible cable (31), the flexible cable (31) comprising a power cable and a signal cable of the surgical instrument, and the other end of the flexible cable (31) is connected to the first robot arm connecting rod (25).

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