A jog-controlled mechanical manipulator

Abstract

The present invention discloses a jog-controlled mechanical manipulator. The jog-controlled mechanical manipulator includes a front-back deflection unit, a left-right deflection unit, an up-down movement unit, and a rotation unit; the left-right deflection unit is installed on the front-back deflection unit, the up-down movement unit and the rotation unit are installed on the left-right deflection unit, the up-down movement unit is connected to the surgical instrument through a first bearing, the rotation unit is movably connected to the surgical instrument through a first gear, and the surgical instrument passes through the first bearing and the first gear at the same time to have adjustments in four degrees of freedom: left-right, front-back, up-down, and rotation. The jog-controlled mechanical manipulator of the present application facilitates the doctor to accurately and quickly control the angle and position of the surgical instrument.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and particularly relates to a jog-controlled mechanical manipulator. Background Art

[0002] With the application and development of science and technology and robot-related technologies, the role of medical surgical robots in clinical practice has been increasingly emphasized by people, especially in the minimally invasive field where they are widely used. The trauma surgical robot system can reduce the physical labor of doctors during surgery through interventional treatment, and at the same time achieve the purpose of precise surgery, resulting in less trauma, less blood loss, less postoperative infection, and faster postoperative recovery for patients. Among them, the DaVinci surgical robot system produced by American company DaVinci and the Miaoshou robot system independently developed by Tianjin University in China are the most typical.

[0003] However, most current surgical robots use six-degree-of-freedom robots, and their robotic arms have defects such as large size, complex structure, inconvenient operation, and large space occupation. How to reduce the occupied space, reduce the volume of the robotic arm and make it easier to maintain, and make it more convenient for doctors to operate has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this application is to provide a jog-controlled mechanical manipulator, which is convenient for doctors to precisely and quickly control the angle and position of surgical instruments.

[0005] To achieve the above purpose, the technical solutions adopted in this application are as follows:

[0006] A jog-controlled mechanical manipulator is used to drive a surgical instrument for four-degree-of-freedom adjustment. The jog-controlled mechanical manipulator includes a front-back deflection unit, a left-right deflection unit, an up-down movement unit, and a rotation unit;

[0007] The left-right deflection unit is installed on the front-back deflection unit, the up-down movement unit and the rotation unit are installed on the left-right deflection unit. The up-down movement unit is connected to the surgical instrument through a first bearing, and the rotation unit is movably connected to the surgical instrument through a first gear. The surgical instrument passes through the first bearing and the first gear at the same time to have four degrees of freedom of adjustment: left-right, front-back, up-down, and rotation. Among them, the front-back and left-right deflection units are both point-motion mechanisms that move around a point.

[0008] The following also provides several optional ways, but they are not additional limitations to the above overall solution, but only further supplements or optimizations. Without technical or logical contradictions, each optional way can be combined with the above overall solution alone, or multiple optional ways can be combined with each other.

[0009] Preferably, the front - rear deflection unit includes a first motor and a first rotating mechanism. The first rotating mechanism includes a first rotating component driven by the first motor, and the left - right deflection unit is mounted on the first rotating component.

[0010] Preferably, the left - right deflection unit includes a second motor and a second rotating mechanism. The second rotating mechanism includes a second rotating component driven by the second motor, and a frame is mounted on the second rotating component. The up - down moving unit and the rotating unit are mounted on the frame.

[0011] Preferably, the up - down moving unit includes a third motor mounted on the frame. The output shaft of the third motor is connected to a lead screw through a coupling. A lead - screw press block is provided on the lead screw, and the first bearing is mounted on the lead - screw press block.

[0012] Preferably, at least two guide rods are also mounted on the frame. The guide rods are arranged side by side with the lead screw and penetrate through the lead - screw press block.

[0013] Preferably, the rotating unit includes a fourth motor fixed on the frame. A second gear is connected to the output shaft of the fourth motor, and the first gear meshes with the second gear;

[0014] The outer surface of the surgical instrument is provided with a groove. A convex block extending into the groove is connected to the inner wall of the first gear. The groove extends along the moving direction of the up - down moving unit, and the extending length of the groove is greater than or equal to the maximum moving stroke of the up - down moving unit.

[0015] Preferably, the point - motion controlled mechanical manipulator uses a voice and direction controller to control the movement of its four degrees of freedom.

[0016] The point - motion controlled mechanical manipulator provided by the present application effectively liberates the doctor's hands by providing control of four degrees of freedom, ensuring the stability and accuracy of the surgical instrument. By facilitating the control of the direction and position of the surgical instrument, it is convenient for the doctor to quickly find the lesion location and shorten the doctor's operation time, improving the operation efficiency; and the fixing devices of the four degrees of freedom significantly reduce the volume of the instrument itself and reduce the space occupancy rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the point - motion controlled mechanical manipulator of the present application after removing the outer shell;

[0018] Figure 2 is a schematic structural diagram of the whole point - motion controlled mechanical manipulator of the present application after adding the outer shell;

[0019] Figure 3 is Figure 1 a partial enlarged view of part A in

[0020] Figure 4 For Figure 1 A partial enlarged view of part B in it.

[0021] In the illustration: 1. Surgical instrument; 2. Lead screw pressing block; 3. Pressing piece; 4. First bearing; 5. Locking sleeve; 6. Lead screw; 7. Guide rod; 8. Second motor; 9. Second bearing; 10. First gear; 11. Third motor; 12. First motor; 13. Second fixing block; 14. Fourth motor; 15. First fixing block; 16. Frame; 17. Trocar; 18. Main housing; 19. Second motor housing; 20. Frame door; 21. First motor housing; 22. Second gear; 23. Annular sleeve. Specific embodiments

[0022] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0023] It should be noted that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can also be an intermediate component; when a component is referred to as being "fixed" to another component, it can be directly fixed to the other component or there can also be an intermediate component.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0025] In one of the embodiments, a point - motion controlled mechanical manipulator is provided, which is used to fix and adjust the state of a surgical instrument in four degrees of freedom to assist a doctor in performing surgery stably, precisely and quickly.

[0026] As Figures 1 to 4 shown, the point - motion controlled mechanical manipulator in this embodiment includes a front - and - back deflection unit, a left - and - right deflection unit, an up - and - down movement unit and a rotation unit, which are used to provide four degrees of freedom of front - and - back, left - and - right, up - and - down and rotation for the surgical instrument. Compared with the current fixing device with six - degree - of - freedom adjustment, the fixing device in this embodiment can not only meet the adjustment of medical angles and positions, but also has a small volume and greatly reduces the occupied space, so as to facilitate reserving more activity space and improving the space utilization rate of the operating room.

[0027] Among them, the left and right deflection units are installed on the front and back deflection units, the up and down moving unit and the rotating unit are installed on the left and right deflection units. The up and down moving unit is connected to the surgical instrument through the first bearing 4, and the rotating unit is movably connected to the surgical instrument through the first gear 10. The surgical instrument passes through the first bearing 4 and the first gear 10 at the same time to have adjustments in four degrees of freedom: left and right, front and back, up and down, and rotation. Among them, the front and back, left and right deflection units are both point motion mechanisms that move around a point.

[0028] The left and right deflection units are installed on the front and back deflection units to obtain the front and back deflection angles. On this basis, the left and right deflection units provide the left and right deflection angles for the up and down moving unit and the rotating unit. Then, based on the above, the up and down moving unit provides the up and down moving path for the surgical instrument. For the rotating unit, it can move up and down synchronously with the surgical instrument and provide the rotating force for the surgical instrument when rotation is needed; however, in this embodiment, it is preferably set that the rotating unit is movably connected to the surgical instrument, that is, there is no tight mating connection between the rotating unit and the surgical instrument, and the rotating unit does not move up and down synchronously with the surgical instrument. Limiting and other methods are used to achieve free up and down movement and rotational limitation. Compared with moving up and down synchronously with the surgical instrument, the preferred method in this embodiment is more precise in adjustment and the stability of the entire device is higher.

[0029] It should be noted that the up and down, front and back, left and right in this embodiment are relative positions, that is, the front and back and the left and right are two mutually perpendicular directions located in a parallel or the same plane, and the up and down is the direction perpendicular to the plane where the front and back and the left and right are located. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the indicated position or component must have a specific orientation, a specific structure, and operation.

[0030] In one embodiment, the front and back deflection unit includes a first motor 12 and a first rotating mechanism. The first rotating mechanism includes a first rotating component driven by the first motor 12, and the left and right deflection units are installed on the first rotating component. The first rotating mechanism can be realized by a worm and worm gear, or can be realized by gears. If it is a worm and worm gear structure, that is, the first rotating component is a worm, the motor drives the worm wheel to rotate, and the worm wheel drives the worm to rotate, so that the left and right deflection units installed on the worm have a deflection angle centered on the worm.

[0031] According to the actual surgical needs, in this embodiment, it is preferably set that the deflection angle is ±15° relative to the center to meet the needs of different lesion positions. And the deflected position is maintained by the friction between the worm and worm gear, or the meshing force between the gears.

[0032] Similar to the front and rear deflection units, the left and right deflection units include a second motor 8 and a second rotating mechanism. The second rotating mechanism includes a second rotating member driven by the second motor 8. A frame 16 is mounted on the second rotating member, and the vertical movement unit and the rotation unit are mounted on the frame 16. The implementation of the left and right deflection units can refer to the implementation of the front and rear deflection units, and will not be elaborated here.

[0033] For easy installation, the front and rear deflection units are fixed on the first fixing block 15. And to increase the protection of the first motor 12, a first motor housing 21 is installed outside the first motor 12. Similarly, the left and right deflection units are fixed on the second fixing block 13, and a second motor housing 19 is installed outside the second motor 8.

[0034] The vertical movement unit therein includes a third motor 11 mounted on the frame 16. The third motor 11 is located inside the frame 16, and its output frame extends upward out of the frame 16 and is connected with a lead screw 6 through a coupling at the extended part. A lead screw pressing block 2 is provided on the lead screw 6, and a first bearing 4 is installed on the lead screw pressing block 2.

[0035] And to improve the movement stability of the surgical instrument 1 and the lead screw 6, at least two guide rods 7 are also installed on the frame 16. The guide rods 7 are arranged side by side with the lead screw 6 (preferably arranged on both sides of the lead screw 6) and penetrate through the lead screw pressing block 2. When the third motor 11 drives the lead screw 6 to move, the surgical instrument 1 moves up and down with the lead screw pressing block 2 to meet the needs of different lesion height positions.

[0036] The rotation unit of this embodiment includes a fourth motor 14 fixed on the frame 16. A second gear 22 is connected to the output shaft of the fourth motor 14, and a first gear 10 meshes with the second gear 22. After the fourth motor 14 works, it drives the first gear 10 to rotate through the second gear 22, and the rotation of the first gear 10 drives the surgical instrument 1 to rotate so as to adjust the arbitrary orientation of the surgical instrument.

[0037] In this embodiment, the limiting method for achieving free up and down movement and rotational limitation between the first gear 10 and the surgical instrument 1 can be that a groove is provided on the outer surface of the surgical instrument 1, and a convex block extending into the groove is connected to the inner wall of the first gear 10. The groove extends along the movement direction of the vertical movement unit, and the extension length of the groove is greater than or equal to the maximum movement stroke of the vertical movement unit.

[0038] When the vertical movement unit drives the surgical instrument 1 to move up and down, the convex block extending into the groove does not constitute a limit in the up and down movement direction. When the first gear 10 rotates, the convex block extending into the groove constitutes a circumferential limit, thereby driving the surgical instrument 1 to rotate synchronously with the first gear 10.

[0039] Simple variations based on the above limiting methods fall within the protection scope of this embodiment. For example, an annular sleeve 23 is connected inside the first gear 10, and the bump extending into the groove is arranged on the inner wall of the annular sleeve 23; another example is to change the number and position of the bumps, as well as the number and position of the corresponding grooves; and another example is to adapt to surgical instruments without grooves on the surface, and the grooves are arranged on the casing that can be sleeved on the surface of the surgical instrument.

[0040] To improve the protection of the device, the frame 16 is set to a structure surrounded by three sides and open on one side. The third motor 11, the fourth motor 14, and the first gear 10 are all located inside the frame 16. And to increase the position limitation of the frame 16 on the surgical instrument, a second bearing 9 is installed on the top of the frame, so that the surgical instrument first passes through the second bearing 9 and then through the first gear 10, which can also avoid the influence of the poor shape of the surgical instrument on the operation of the first gear 10. Finally, a frame door 20 is installed at the opening of the frame 16, which not only protects the internal components of the frame 16 but also facilitates the maintenance of the internal components. At the same time, a main housing 18 is installed above the frame 16 to protect components such as the lead screw 6.

[0041] When the fixing device of this embodiment is in use, the surgical instrument can be directly passed through the first bearing 4, the second bearing 9, and the first gear 10 in the fixing device from top to bottom for fixing work; it can also be that the first bearing 4, the second bearing 9, and the first gear 10 are installed on the surgical instrument, and a locking sleeve 5 is installed at the bottom of the first bearing 4 and then embedded into the fixing device through the openings of the frame 16 and the lead screw pressing block 2 for work. In this scheme, the lead screw pressing block 2 needs to reserve an installation position for fitting and installing the first bearing 4, and the opening direction of the installation position is the same as the opening direction of the frame 16. And to prevent the surgical instrument from falling off, a rotatable pressing piece 3 is arranged at the opening of the installation position, and when the surgical instrument is installed, it is locked by the pressing piece 3.

[0042] The motors in this application can be controlled based on keys, voice, or a host computer. It is preferably to use voice and a direction controller to control the four-degree-of-freedom movement of the jog-controlled mechanical manipulator to achieve the simple control of the surgical instrument, so as to improve the intelligence of the adjustment of the surgical instrument and facilitate the doctor to quickly find the lesion location and shorten the doctor's operation time. Among them, the control of the motors based on various methods belongs to a relatively mature technology in the control field, and will not be elaborated in this embodiment.

[0043] Taking minimally invasive surgery as an example, when the jog-controlled mechanical manipulator of this embodiment is in operation, the surgical instrument is placed into the human minimally invasive hole, and the jog-controlled mechanical manipulator is fixed on an external operating table or an external joint. The clinician controls the operation of each motor through the voice / direction controller as needed, so as to drive the movement of the surgical instrument in four directions, and cooperate with the 3D images of the surgical instrument and the human internal organs displayed in real time by the display screen equipped during the operation, which is convenient for quickly finding the lesion location and performing the operation.

[0044] The jog-controlled manipulator of the present application effectively liberates the hands of doctors, ensures the stability and accuracy of surgical instruments, and through the intelligent control of the direction and position of surgical instruments, facilitates doctors to quickly locate the lesion position and shorten the operation time of doctors, thus improving the operation efficiency.

[0045] In the present application, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity or order of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0046] In the present application, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, which may be the internal connection of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0048] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it cannot be understood as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A jog-controlled mechanical manipulator, which is used to drive a surgical instrument to perform four-degree-of-freedom adjustment, and is characterized in that The jog-controlled mechanical manipulator includes a front-back deflection unit, a left-right deflection unit, an up-down movement unit, and a rotation unit; The left-right deflection unit is installed on the front-back deflection unit, the up-down movement unit and the rotation unit are installed on the left-right deflection unit. The up-down movement unit is connected to the surgical instrument through a first bearing, and the rotation unit is movably connected to the surgical instrument through a first gear. The surgical instrument passes through the first bearing and the first gear simultaneously to enable adjustment with four degrees of freedom: left-right, front-back, up-down, and rotation. Among them, both the front-back and left-right deflection units are point movement mechanisms that rotate around a point; Among them, the front-back deflection unit includes a first motor and a first rotation mechanism. The first rotation mechanism includes a first rotating component driven by the first motor. The first rotating component is a worm and worm gear structure, and the left-right deflection unit is installed on the first rotating component; Among them, the left-right deflection unit includes a second motor and a second rotation mechanism. The second rotation mechanism includes a second rotating component driven by the second motor. The second rotating component is a worm and worm gear structure. A frame is installed on the second rotating component, and the up-down movement unit and the rotation unit are installed on the frame; Among them, the up-down movement unit includes a third motor installed on the frame. The output shaft of the third motor is connected to a lead screw through a coupling. A lead screw press block is provided on the lead screw, and the first bearing is installed on the lead screw press block; Among them, the rotation unit includes a fourth motor fixed on the frame. A second gear is connected to the output shaft of the fourth motor. The first gear meshes with the second gear. A second bearing is installed on the top of the frame. The surgical instrument first passes through the second bearing and then through the first gear; A groove is provided on the outer surface of the surgical instrument. A convex block extending into the groove is connected to the inner wall of the first gear. The groove extends along the moving direction of the up-down movement unit, and the extension length of the groove is greater than or equal to the maximum moving stroke of the up-down movement unit.

2. The jog-controlled mechanical manipulator according to claim 1, wherein At least two guide rods are also installed on the frame. The guide rods are arranged side by side with the lead screw and penetrate through the lead screw press block.

3. The jog-controlled mechanical manipulator according to claim 1, characterized in that, The jog-controlled mechanical manipulator uses a voice and direction controller to control the movement of its four degrees of freedom.

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