Wrist rotation mechanism and surgical robot

Abstract

The present invention proposes a wrist rotation mechanism and a surgical robot, which include a bracket, an end tool, two cables and four drive units; the bracket is provided with at least two pairs of guide grooves, the bracket includes a first frame and a second frame, the proximal end of the second frame is rotatably connected to the distal end of the first frame, and the guide groove of the bracket is provided on at least one of the first frame and the second frame, for arranging the cables to drive the end tool to achieve pitch motion; the end tool includes two sub-parts, the two sub-parts are respectively rotatably connected to the distal end of the second frame, and the sub-parts are provided with guide grooves for arranging the cables to drive the end tool to achieve opening and closing and yaw motion; the two cables pass through the guide grooves of the end tool and the guide grooves of the bracket and extend from the proximal end of the first frame; the four drive units are respectively connected to the four ends of the two cables extending from the proximal end of the bracket.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a wrist rotation mechanism and a surgical robot. Background Art

[0002] In operations such as laparoscopic surgery, traditional instruments are straight-cylindrical in shape, and operating tools are mounted on the end of the straight-cylindrical instruments. The above-mentioned tools are composed of opposing jaws that can grasp tissue and clamp blood vessels. The jaws are fixed together in some way to close and open. Excluding the freedom of the jaws to open and close, the end tool and the instrument sleeve are relatively fixed. Although the operator can manipulate the instrument to move the tool to the required position, since the sleeve of the instrument has only one degree of freedom of rotation (for example, the degree of freedom of rotation of the end tool around the axis of the sleeve itself), it is difficult to adjust the direction of the jaws relative to the tissue. For example, in blood vessel closure, the end tool needs to close the lumen laterally along the blood vessel, but traditional laparoscopic instruments are often difficult to flexibly adjust the angle of the end tool due to the limitations of the access route and the abdominal operating space.

[0003] In order to realize the rotation of the jaws relative to the instrument sleeve, the prior art proposes a wrist rotation instrument, which adopts a structure of cables and pulleys. Specifically, the cables are guided through multiple sets of pulleys to drive the opening, closing, pitch and yaw of the end tool.

[0004] However, the above-mentioned existing wrist rotation device currently adopts the traditional wheel-rope drive form. After long-term use, the cable is very likely to degrade in performance. For example, the cable plastically deforms under a large load and then becomes loose, which will directly reduce the operating accuracy and lifespan, and the reliability of the product is limited. In addition, the existing wheel-rope drive structure is complex and has many parts. It consists of multiple wrist supports and 3 to 4 sets of pulleys. In order to ensure the operating accuracy, the performance requirements of the parts materials are high, the assembly process is complex, and the cost is high. Furthermore, the existing wrist rotation device uses 3 cables, which will lead to a complicated assembly process. There are many ropes during assembly, which is prone to assembly errors. In addition, the existing wrist rotation device uses one motor to control one cable, that is, one motor controls both ends of one cable at the same time, which can easily make it difficult to control the cable and cause looseness after long-term use. Summary of the Invention

[0005] A main purpose of the present invention is to overcome at least one of the above-mentioned defects of the prior art and to provide a wrist rotation mechanism with high operating accuracy and reliability, low cost and simple assembly.

[0006] Another main purpose of the present invention is to overcome at least one of the above-mentioned defects of the prior art and provide a surgical robot having the above-mentioned wrist rotation mechanism.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] According to one aspect of the present invention, a wrist rotation mechanism is provided, wherein the wrist rotation mechanism includes a bracket, an end tool, two cables and four drive units; the bracket is provided with at least two pairs of guide grooves, the bracket includes a first frame and a second frame, the proximal end of the second frame is rotatably connected to the distal end of the first frame, the guide groove of the bracket is provided on at least one of the first frame and the second frame, for arranging the cables to drive the end tool to achieve pitch movement; the end tool includes two sub-sections, the two sub-sections are respectively rotatably connected to the distal end of the second frame, the sub-sections are provided with guide grooves, for arranging the cables to drive the end tool to achieve opening and closing and yaw movement; the two cables pass through the guide grooves of the end tool and the guide grooves of the bracket and extend from the proximal end of the first frame; the four drive units are respectively connected to the four ends of the two cables extending from the proximal end of the bracket.

[0009] According to one embodiment of the present invention, during the process in which the four driving units cooperate to tighten or release the four ends of the two cables, the total length of the two cables remains unchanged.

[0010] According to one embodiment of the present invention, the pitching motion of the end tool is achieved by the rotational motion of the second frame; the opening, closing and yaw motions of the end tool are achieved jointly by the rotational motions of the two sub-parts.

[0011] According to one embodiment of the present invention, the guide groove of the bracket is only provided on the second frame body, and the second frame body is provided with at least two pairs of guide grooves. The two guide grooves belonging to the same pair of the second frame body are respectively provided on both sides of the second frame body, and on one side of the second frame body, the extension directions of at least two guide grooves belonging to different pairs are different.

[0012] According to one embodiment of the present invention, on one side of the second frame, at least two guide grooves belonging to different pairs together form a "Y"-shaped, "V"-shaped or "X"-shaped groove; and / or, the guide groove at the proximal end of the second frame is composed of at least one arcuate surface, and the axis of at least one section of the arcuate surface is parallel to the rotation axis of the second frame.

[0013] According to one embodiment of the present invention, the first frame is provided with at least one pair of guide grooves, and the second frame is provided with at least one pair of guide grooves; wherein: the at least one pair of guide grooves of the first frame is composed of at least one arcuate surface, and the axis of at least one section of the arcuate surface is parallel to the rotation axis of the second frame; the at least one pair of guide grooves of the second frame is composed of at least one arcuate surface, and the extension direction of the at least one pair of guide grooves of the second frame is different from that of the at least one pair of guide grooves of the first frame.

[0014] According to one embodiment of the present invention, the guide groove of the bracket is only provided on the first frame body, and the first frame body is provided with at least two pairs of guide grooves; wherein: the guide groove at the proximal end of the first frame body is composed of at least one arcuate surface, and the axis of at least one section of the arcuate surface is parallel to the rotation axis of the second frame body; the guide groove at the distal end of the first frame body is composed of at least one arcuate surface, and the extension directions of the proximal guide groove and the distal guide groove of the first frame are different.

[0015] According to one embodiment of the present invention, the first frame is provided with a pair of guide grooves, and the second frame is provided with two pairs of guide grooves. The two guide grooves belonging to the same pair of the second frame are respectively provided on both sides of the second frame. On one side of the second frame, the extension directions of at least two guide grooves belonging to different pairs are different.

[0016] According to one embodiment of the present invention, the rotation axis of the first frame and the second frame, and the rotation axis of the second frame and the end tool are spatially orthogonal to each other.

[0017] According to another aspect of the present invention, a surgical robot is provided, wherein the surgical robot includes the wrist rotation mechanism proposed by the present invention and described in the above embodiments.

[0018] From the above technical solutions, it can be seen that the advantages and positive effects of the wrist rotation mechanism and surgical robot proposed in the present invention are:

[0019] The wrist-rotation mechanism proposed in this invention utilizes four drive units to independently drive the four drive ends of two cables. Specifically, each cable is driven by two drive units, replacing the design of existing wrist-rotation devices that utilizes a single motor to control a single cable. Consequently, the present invention utilizes the relative motion of the drive units to ensure that the cables remain taut throughout their lifecycle, improving the device's operational precision and reliability. Furthermore, the present invention utilizes only two cables to drive the coupled motion of the end tool in three degrees of freedom: opening and closing, pitch, and yaw. Compared to existing wrist-rotation devices, the present invention eliminates one cable, thereby reducing component count and lowering costs. Furthermore, the present invention optimizes the conventional wrist-rotation device design of multiple wrist components and a pulley assembly into a single, integrated component with a guide groove, significantly reducing the number of device parts and simplifying assembly. Furthermore, because the drive units can compensate for cable slack and degradation, the performance requirements for the cable material are also lowered. Therefore, the present invention, through a comprehensive approach, can achieve significant cost reductions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The various objects, features, and advantages of the present invention will become more apparent upon consideration of the following detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings are merely illustrative illustrations of the present invention and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout.

[0021] Figure 1 is a perspective view of a wrist rotation mechanism according to an exemplary embodiment;

[0022] Figure 2 yes Figure 1 An exploded schematic diagram of the wrist rotation mechanism is shown;

[0023] Figure 3 yes Figure 1 A perspective view of a first frame of the wrist rotation mechanism is shown;

[0024] Figure 4 yes Figure 3 A cross-sectional view of the first frame is shown;

[0025] Figure 5 is a perspective view of a first frame of a wrist rotation structure according to another exemplary embodiment;

[0026] Figure 6 is a perspective view of a wrist rotation mechanism according to another exemplary embodiment;

[0027] Figure 7 yes Figure 6 An exploded schematic diagram of the wrist rotation mechanism is shown;

[0028] Figure 8 is an exploded schematic diagram showing a wrist rotation mechanism according to another exemplary embodiment;

[0029] Figure 9 is an exploded schematic diagram of a wrist rotation mechanism according to another exemplary embodiment.

[0030] Figure 10 is a perspective view of a wrist rotation mechanism according to another exemplary embodiment;

[0031] Figure 11 yes Figure 10 A front view of the wrist rotation mechanism is shown;

[0032] Figure 12 yes Figure 10 A side view of the wrist rotation mechanism is shown;

[0033] Figure 13 yes Figure 10 The structure diagram of the wrist rotation mechanism in the pitch state is shown;

[0034] Figure 14 yes Figure 10 The structure diagram of the wrist rotation mechanism in the open and closed state is shown;

[0035] Figure 15 yes Figure 10 The structure diagram of the wrist rotation mechanism in the deflection state is shown;

[0036] The following are the descriptions of the reference numerals:

[0037] 110. First frame;

[0038] 111. First adapter;

[0039] 112.Curved surface;

[0040] 113.Curved surface;

[0041] 120. Second frame;

[0042] 121. Second adapter;

[0043] 1211. Prominent structure;

[0044] 122. The third transfer unit;

[0045] 130. First axis;

[0046] 140. Second axis;

[0047] 200. Surgical forceps;

[0048] 210. Clamp arm;

[0049] 211. The fourth transfer unit;

[0050] 212. Fixed buckle;

[0051] 300. Cable;

[0052] 400. Sleeve;

[0053] G11, G12, G13, G31, G32, G33, G41, G42, G43, G51, G52, G53, G61, G62, G63. Guide groove. DETAILED DESCRIPTION

[0054] Typical embodiments embodying the features and advantages of the present invention are described in detail in the following description. It should be understood that the present invention is capable of various variations in different embodiments without departing from the scope of the present invention, and that the description and drawings are intended to be illustrative in nature and not to limit the present invention.

[0055] In the following description of different exemplary embodiments of the present invention, reference is made to the accompanying drawings, which form a part of the present invention and in which are shown by way of example different exemplary structures, systems and steps that can implement aspects of the present invention. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps can be used, and structural and functional modifications can be made without departing from the scope of the present invention. Moreover, although the terms "above", "between", "within", etc. may be used in this specification to describe different exemplary features and elements of the present invention, these terms are used herein for convenience only, for example, according to the directions of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the present invention.

[0056] Wrist rotation mechanism implementation method 1

[0057] See Figure 1 , which represents a perspective view of the wrist rotation mechanism proposed in the present invention. In this exemplary embodiment, the wrist rotation mechanism proposed in the present invention is described using instruments used in laparoscopic surgery as an example. Those skilled in the art will readily appreciate that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the relevant designs of the present invention to other types of medical devices. Such changes remain within the scope of the principles of the wrist rotation mechanism proposed in the present invention.

[0058] like Figure 1 As shown in FIG, in this embodiment, the wrist rotation mechanism proposed by the present invention includes a bracket, an end tool, two cables 300 and four drive units. Figures 2 to 4 , Figure 2 hereinafter is a representative exploded view of a wrist rotation mechanism that embodies the principles of the present invention; Figure 3 7 is a representative perspective view of a first frame of a wrist rotation mechanism that can embody the principles of the present invention; Figure 4 The following will describe in detail the structure, connection mode and functional relationship of the main components of the wrist rotation mechanism proposed by the present invention in conjunction with the above-mentioned drawings.

[0059] like Figures 1 to 4As shown, in this embodiment, the bracket includes a first frame 110 and a second frame 120. The proximal end of the second frame 120 is rotatably connected to the distal end of the first frame 110 via a first shaft 130. The bracket is provided with two pairs of guide grooves for positioning cables 300 to drive the end tool to achieve pitch motion. The end tool can be, for example, surgical forceps 200 (or scissors). The end tool includes two sub-sections, namely, two clamping arms 210 of the surgical forceps 200. The two clamping arms 210 are rotatably connected to the distal end of the second frame 120. The clamping arms 210 are provided with guide grooves G13 for positioning cables 300 to drive the surgical forceps to achieve opening, closing, and yaw motion. The cables 300 pass through the guide grooves G13 of the surgical forceps 200 and the bracket's guide grooves G11 and G12, and extend from the proximal end of the first frame 110. Four drive units are connected to the four ends of the two cables 300 extending from the proximal end of the bracket (i.e., the proximal end of the first frame 110), respectively, to independently drive the four ends of the two cables 300. Through this design, the present invention ensures that the cables 300 remain taut throughout their life cycle through the relative motion of the drive units, thereby improving the operational precision and reliability of the instrument. Furthermore, the present invention utilizes only two cables 300 to drive the coupled motion of the end tool in three degrees of freedom: opening and closing, pitch, and yaw. Compared to existing wrist-operated instruments, the present invention eliminates one cable, thereby reducing parts and costs. Furthermore, the present invention optimizes the traditional wrist-operated instrument design of multiple wrist components and a pulley assembly into a single, integrated component with a guide groove, significantly reducing the number of instrument parts and simplifying assembly. Furthermore, because the drive units can compensate for the slack and degradation of the cables 300, the performance requirements for the cable 300 material are also reduced. Therefore, the present invention achieves significant cost reductions through a comprehensive approach.

[0060] Optionally, in this embodiment, during the process of the four drive units cooperating to tighten or release the four ends of the two cables 300, the total length of the two cables 300 remains unchanged. Among them, the existing wrist rotation device using cables and pulleys uses a motor to simultaneously connect and drive both ends of a cable, so that during the adjustment process, the lengths of the three cables that respectively realize pitching, swinging and opening and closing do not change. Different from this, the wrist rotation mechanism proposed in the present invention adopts the above-mentioned design of this embodiment, which can achieve the total length of the two cables 300 remaining unchanged on the basis of reducing the number of cables and independently driving the four ends of the two cables 300 through independent drive units.

[0061] Furthermore, based on the above-mentioned design that the total length of the two cables 300 remains unchanged, in this embodiment, in the process of the four drive units cooperatively tightening or releasing the four ends of the two cables 300, the lengths of the two cables 300 change, and the increase in the length of one of the cables 300 can be equal to the decrease in the length of the other cable 300, so that the total length of the two cables 300 remains unchanged.

[0062] It should be noted that the description of the length of the above-mentioned cable 300 can be understood as the length change state of the cable 300 when it is displaced by driving the end of the cable 300 by the driving unit. The length change state has nothing to do with the deformation of the cable 300 itself due to the material and force stretching.

[0063] Alternatively, in this embodiment, the pitch motion of the surgical forceps 200 can be achieved by the rotational motion of the second frame 120 (i.e., rotational motion relative to the first frame 110). Furthermore, the opening, closing, and yaw motions of the surgical forceps 200 can be achieved by the rotational motion of the two clamping arms 210 (i.e., relative rotational motion of the two clamping arms 210, or rotational motion of each clamping arm 210 relative to the first frame 110).

[0064] Optionally, in this embodiment, the guide grooves of the bracket can be provided on the first frame 110 and the second frame 120, respectively, with the first frame 110 provided with at least one pair of guide grooves and the second frame 120 provided with at least one pair of guide grooves. Furthermore, the at least one pair of guide grooves of the first frame 110 can be formed by at least one segment of an arcuate surface, the axis of which can be substantially parallel to the rotation axis of the second frame 120. The at least one pair of guide grooves of the second frame 120 can be formed by at least one segment of an arcuate surface, and the guide grooves of the second frame and the guide grooves of the first frame can extend in different directions.

[0065] Specifically, if Figures 1 to 4 As shown, in this embodiment, the bracket is provided with two pairs of guide grooves, namely a pair of guide grooves G11 away from the surgical forceps 200 and a pair of guide grooves G12 closer to the surgical forceps 200. One pair of guide grooves G11 is spaced apart along a direction parallel to the first axis 130 (i.e., the rotation axis of the first frame 110 and the second frame 120), and the guide grooves G11 can be formed by arcuate surfaces 112. The other pair of guide grooves G12 is spaced apart along a direction parallel to the second axis 140 (i.e., the rotation axis of the second frame 120 and the surgical forceps 200), and the guide grooves G12 can also be formed by arcuate surfaces.

[0066] Furthermore, if Figure 1 and Figure 2As shown, based on the aforementioned design of the two pairs of guide grooves in the bracket, in this embodiment, the cable 300 is arranged in the guide groove G13 of the clamp arm 210. The two ends of the cable 300 extend from the two sides of the guide groove G13 and are arranged in the portion of the pair of guide grooves G12 located on one side of the bracket's central axis. The two ends of the cable 300 then extend from the pair of guide grooves G12 and wrap around to the portion of the other pair of guide grooves G11 located on the other side of the bracket's central axis. In other words, the cable 300 is arranged in a roughly "S" shape between the guide grooves G12 and G11. The two ends of the cable 300 then extend to the proximal end of the bracket (i.e., the proximal end of the first frame 110) and extend out. Through the aforementioned design, the drive unit controls the relative extension and contraction of the two ends of a cable 300 to drive the rotation of the surgical forceps 200, achieving both yaw and opening and closing degrees of freedom. By controlling the simultaneous tightening of both ends of one cable 300 and the simultaneous release of the other cable 300, the drive unit can drive the pitch motion of the first frame 110 and the second frame 120, thereby achieving the pitch motion of the surgical forceps 200. Thus, by independently driving and coordinating the four ends of the two cables 300 through four drive units, the coupled pitch, yaw, and opening and closing motions of the wrist rotation mechanism can be achieved. In other embodiments, based on the aforementioned guide slot arrangement of the bracket, the cables can also be arranged in other configurations, and are not limited to this embodiment.

[0067] Alternatively, as Figures 1 to 4 As shown, in this embodiment, a pair of guide grooves G11 can be provided at the proximal end of the first frame 110, and another pair of guide grooves G12 can be provided at the proximal end of the second frame 120. Furthermore, the proximal end of the first frame 110 can be provided with a curved surface 112, the axis of which is substantially parallel to the axis of the first shaft 130 (i.e., the rotation axis of the second frame 120). Furthermore, the pair of guide grooves G11 of the first frame 110 can be formed by the axial ends of the curved surface 112, respectively. It should be noted that, in the description of the curved surface 112, the phrase "the curved surface 112 is provided at the proximal end of the first frame 110" can also be understood as the curved surface 112 being provided at a location other than the distal end of the first frame 110, i.e., to prevent interference between the curved surface 112 and the second frame 120.

[0068] Alternatively, as Figure 1 and Figure 2As shown, in this embodiment, the pair of guide grooves G12 at the proximal end of the second frame 120 can be formed by at least one segment of an arcuate surface, and the axis of the arcuate surface is roughly parallel to the axis of the first shaft 130 (i.e., the rotation axis of the second frame). On this basis, the pair of guide grooves G12 of the second frame 120 can be formed at both ends of the arcuate surface along the axial direction. In other embodiments, the proximal end of the second frame can also have other structures, not limited to an arcuate surface. On this basis, the distal end of the first frame 110 can have an arcuate surface facing the second frame 120, and the axis of the arcuate surface is roughly parallel to the axis of the first shaft, and is not limited to this embodiment.

[0069] It should be noted that in other embodiments, the bracket's guide slots may be provided only on the first frame, only on the second frame, or, as in the present embodiment, on both the first and second frames. Furthermore, the bracket may include at least two pairs of guide slots. These at least two pairs of guide slots, along with the guide slots of the end tooling and the cable, drive the end tooling to achieve pitch and yaw motion. In other words, in various possible embodiments consistent with the design concept of the wrist-turning mechanism proposed in the present invention, the bracket is provided with at least two pairs of guide slots, and the bracket's guide slots are provided on at least one of the first and second frames.

[0070] Optionally, in this embodiment, the driving unit may include a motor.

[0071] Alternatively, as Figure 2 As shown, in this embodiment, the first shaft 130 can be a rivet. The second shaft 140 can be integrally formed with the distal end of the second frame 120 and extend to both sides of the distal end of the second frame 120 to be rotatably connected to the two clamping arms 210. In other embodiments, the first shaft 130 and the second shaft 140 can adopt other structures, not limited to rivets, pins, or integrated shaft structures.

[0072] Alternatively, as Figure 2 As shown, in this embodiment, the wrist rotation mechanism proposed by the present invention may further include a sleeve 400. Specifically, the sleeve 400 may be a tubular structure, and the sleeve 400 may be detachably connected to the proximal end of the first frame 110. Based on this, the cable 300 extending from the first frame 110 may extend along the sleeve 400 to the distal end of the sleeve 400 for operator control.

[0073] Alternatively, as Figure 1 and Figure 2As shown, in this embodiment, the cable 300 can be connected to the clamp arm 210 via a connection structure such as a fixing buckle 212, so that the cable 300 and the guide groove G13 (i.e., the end tool) do not move relative to each other, thereby allowing the cable 300 to move along the guide groove G13 and drive the end tool to deflect relative to the second frame 120. For example, a mounting hole can be provided in the guide groove G13, and after the cable 300 is wound around the guide groove G13, the fixing buckle 212 can be used to buckle the cable and insert it into the mounting hole, thereby fixing the cable 300 relative to the guide groove G13.

[0074] It should be noted that, based on the aforementioned design of the cables being connected to the end tool without relative movement, for a guide slot of the end tool (e.g., corresponding to one clamping arm 210 of the surgical forceps 200), the single cable passing through the guide slot in this embodiment can be split into two cables. For an end tool comprising two sub-sections, the number of cables can be increased from two in this embodiment to four (of course, three is also possible, i.e., one cable is split into two while the other cable remains the same as in this embodiment). Specifically, one end of each of the two cables engaged with the same guide slot is connected to the guide slot, and neither cable is subject to relative movement with respect to the guide slot. The other ends of the two cables are arranged in other guide slots in accordance with the arrangement of the two ends of the single cable in this embodiment, and ultimately serve as control ends connected to their respective corresponding drive units. In this case, the two split cables effectively provide the same function as the single cable in this embodiment, while still having four ends for connecting to the four drive units to achieve independent control.

[0075] Alternatively, as Figures 1 to 4 As shown, in this embodiment, a first adapter portion 111 can be provided at the distal end of the first frame 110, and correspondingly, a second adapter portion 121 can be provided at the proximal end of the second frame 120. Based on this, the first adapter portion 111 and the second adapter portion 121 can be rotatably connected via a first shaft 130. Furthermore, in this embodiment, the arcuate surface forming the guide groove G12 can be provided on the second adapter portion 121.

[0076] Furthermore, if Figures 1 to 4 As shown, based on the design of the first adapter portion 111 and the second adapter portion 121, in this embodiment, the first adapter portion 111 can be substantially U-shaped, and the second adapter portion 121 can be substantially T-shaped to match the first adapter portion 111. In other embodiments, the structure of each adapter portion is not limited to a U-shape or a T-shape and can be flexibly adjusted as needed, and is not limited to this embodiment.

[0077] Alternatively, as Figure 1 and Figure 2As shown, in this embodiment, the distal end of the second frame 110 may be provided with a third adapter portion 122, and correspondingly, the proximal end of the clamping arm 210 may be provided with a fourth adapter portion 211. Based on this, the third adapter portion 122 and the fourth adapter portion 211 may be rotatably connected via the second shaft 140. Furthermore, in this embodiment, the guide groove G13 may be provided on the fourth adapter portion 211.

[0078] Furthermore, if Figure 1 and Figure 2 As shown, based on the design of the third adapter portion 122 and the fourth adapter portion 211, in this embodiment, the third adapter portion 122 can be substantially U-shaped, and the fourth adapter portion 2111 can be substantially matched with the third adapter portion 122. In other embodiments, the structure of each adapter portion is not limited to a U-shape or a T-shape, and can be flexibly adjusted as needed, and is not limited to this embodiment.

[0079] Alternatively, as Figures 1 to 6 As shown, in this embodiment, each guide groove can adopt a groove structure or a combination of a recess and a hole structure. For example, in this embodiment, guide groove G11, guide groove G12, and guide groove G13 can all be annular groove structures. In other embodiments, the structure of each guide groove can be flexibly adjusted according to the location and connection relationship of each structure, and is not limited to a protrusion, recess, or channel structure. The guide groove can also be a continuous curved surface or a plurality of discontinuous curved surfaces, without being limited to this embodiment.

[0080] Optionally, in this embodiment, the bracket can be made of plastic and can be formed using an injection molding process. In other embodiments, the bracket can also be made of metal and can be formed using a metal injection molding process. Through the above design, the wrist rotation mechanism proposed in the present invention can significantly reduce the raw material cost of disposable devices. In addition, as a disposable device, the wrist rotation mechanism does not need to consider the requirements of multiple cleaning and sterilization, which can greatly simplify the design of the device.

[0081] Alternatively, as Figures 1 to 4 As shown, in this embodiment, the axis of the first shaft 130 (i.e., the rotational axis of the first frame 110 and the second frame 120) can be spatially orthogonal to the axis of the second shaft 140 (i.e., the rotational axis of the second frame 120 and the end tool), that is, the angle between the two is 90°. In other embodiments, depending on different surgical needs, the axis of the first shaft 130 and the axis of the second shaft 140 can also be at a non-90° angle in space.

[0082] Wrist rotation mechanism implementation method 2

[0083] Based on the above detailed description of the first embodiment of the wrist rotation mechanism proposed by the present invention, Figure 5 , the second embodiment of the wrist rotation mechanism proposed by the present invention is described. Figure 5 As shown, Figure 5 , a perspective view of the first frame of the wrist rotation mechanism in the second embodiment is representatively shown in FIG. The following describes the main differences between the wrist rotation mechanism in the second embodiment and the first embodiment proposed by the present invention in conjunction with the above-mentioned figures.

[0084] like Figure 5 As shown, in this embodiment, the guide groove at the proximal end of the first frame 110 can be directly formed by the surface of the curved surface, that is, the surface of the curved surface 112 can be used to provide guidance for the cable 300. In other embodiments, such as the first embodiment, the guide groove G11 at the proximal end of the first frame 110 can also be formed by a channel structure provided on the surface of the curved surface, and this embodiment is not limited to this. In other words, the guide grooves formed by the curved surface of the first frame 110 and the second frame 120 can be specifically formed directly by the surface of the curved surface, or can be formed by a channel structure provided on the surface of the curved surface.

[0085] Wrist rotation mechanism implementation method three

[0086] Based on the above detailed description of the first embodiment of the wrist rotation mechanism proposed by the present invention, Figure 6 and Figure 7 , the third embodiment of the wrist rotation mechanism proposed by the present invention is described. Figure 6 and Figure 7 As shown, Figure 6 : A perspective view of a third embodiment of the wrist rotation mechanism of the present invention is representatively shown; Figure 7 The exploded schematic diagram of the wrist rotation mechanism in the third embodiment is representatively shown in FIG. The following will describe the main differences between the wrist rotation mechanism in the third embodiment and the first embodiment proposed by the present invention in conjunction with the above-mentioned figures.

[0087] In this embodiment, the guide grooves of the stent can be provided only on the first frame 110, and the first frame 110 can be provided with at least two pairs of guide grooves. Furthermore, the guide grooves at the proximal end of the first frame 110 can be formed by at least one curved surface, the axis of which can be substantially parallel to the rotation axis of the second frame 120. The guide grooves at the distal end of the first frame 110 can also be formed by at least one curved surface, and the proximal and distal guide grooves of the first frame 110 can extend in different directions.

[0088] Specifically, if Figure 6 and Figure 7As shown, in this embodiment, taking the end tool as a surgical forceps 200 including two clamping arms 210 as an example, the guide groove of the bracket can be set only on the first frame 110, and the first frame 110 is provided with a pair of guide grooves G31 and a pair of guide grooves G32. Specifically, the proximal ends of the two clamping arms 210 are respectively provided with guide grooves G33, and two cables 300 are respectively arranged along the two guide grooves G33 and connected to the two clamping arms 210, respectively, to drive the two clamping arms 210 to move independently. Accordingly, the cables 300 are arranged along the guide grooves G31, G32, and G33. Through the above design, during the process of relative rotation between the first frame 110 and the second frame 120 to achieve the pitch movement of the mechanism, the present invention can utilize the guiding effect of the arc surface 112 to avoid the problem of the cable 300 escaping from the guide groove and causing control failure.

[0089] Alternatively, as Figure 6 and Figure 7 As shown, in this embodiment, the distal end of the first frame 110 can be provided with two arcuate surfaces 113. The axes of the arcuate surfaces 113 are substantially parallel to the axis of the first shaft 130 (i.e., the rotation axis of the second frame 120). The two arcuate surfaces 113 are spaced apart along the axial direction, and the proximal end of the second frame 120 can be disposed between the two arcuate surfaces 113. Based on this, the pair of guide grooves G32 of the first frame 110 can each be formed by the two arcuate surfaces 113. In addition, the arcuate surface can also be provided at the distal end of the first frame. Based on this, the pair of guide grooves at the distal end of the first frame 110 can also be formed by the two ends of a single arcuate surface along the axial direction, respectively, without being limited to this embodiment.

[0090] Wrist rotation mechanism implementation method 4

[0091] Based on the above detailed description of the first embodiment of the wrist rotation mechanism proposed by the present invention, Figure 8 , the fourth embodiment of the wrist rotation mechanism proposed by the present invention is described. Figure 8 As shown, Figure 8 The following is a representative exploded view of the wrist rotation mechanism of the present invention in the fourth embodiment. The main differences between the wrist rotation mechanism of the present invention in the fourth embodiment and the first embodiment will be described below in conjunction with the above figures.

[0092] In this embodiment, the at least two pairs of guide grooves of the bracket can be provided only on the second frame 120, that is, the second frame 120 is provided with at least two pairs of guide grooves. The two guide grooves belonging to the same pair of the second frame 120 are respectively provided on both sides of the second frame 120, and on one side of the second frame 120, the extension directions of the two guide grooves belonging to different pairs can be different.

[0093] Specifically, if Figure 8As shown, in this embodiment, taking the end tool as a surgical forceps 200 comprising two clamping arms 210 as an example, the guide grooves of the bracket can be provided only on the second frame 120, and the second frame 120 is provided with a pair of guide grooves G41. The proximal ends of the two clamping arms 210 are respectively provided with guide grooves G43. Two cables 300 are arranged along the two guide grooves G43 and connected to the two clamping arms 210, respectively, to drive the two clamping arms 210 to move independently. Accordingly, the cables 300 are arranged along the guide grooves G41 and G43. On this basis, a protruding structure 1211 is provided on the side of the guide groove G41 facing the distal end of the second frame 120, so that the guide groove G41 forms a groove with a reverse curvature at the position of the protruding structure 1211. These reverse curvature grooves form another pair of guide grooves G42 in the second frame 120. The function of these guide grooves G42 can roughly correspond to the "guide groove G12" in the first embodiment, and the function of the remaining grooves of the guide groove G41 in this embodiment can roughly correspond to the "guide groove G11" in the first embodiment. In other words, in this embodiment, the second frame 120 is provided with two pairs of guide grooves, namely the guide groove G41 and the guide groove G42, which are connected as a whole, and the curvature directions of these two sets of guide grooves are opposite. Accordingly, in various possible embodiments of the design concept of the wrist rotation mechanism proposed in the present invention, each guide groove of the bracket can be an independent groove structure, or a continuous groove structure can be adopted. For example, when at least two groups of guide grooves of the bracket are simultaneously provided with the first frame or the second frame, these guide grooves can be arranged in independent structures as described in the above embodiments one to three, or can be arranged in a continuous groove structure as described in this embodiment, without limitation.

[0094] Furthermore, if Figure 8 As shown, based on the design of the two guide grooves G41 and G42 on the same side of the second frame 120 extending in different directions, in this embodiment, on one side of the second frame 120, the two guide grooves G41 and G42 belonging to different pairs can jointly form an inverted "Y"-shaped groove. In other embodiments, the two guide grooves G41 and G42 belonging to different pairs on the same side of the second frame 120 can also jointly form other shapes such as an inverted "V" shape or an "X" shape.

[0095] Wrist rotation mechanism implementation method five

[0096] Based on the above detailed description of the first embodiment of the wrist rotation mechanism proposed by the present invention, Figure 9 , the fifth embodiment of the wrist rotation mechanism proposed by the present invention is described. Figure 9 As shown, Figure 9 The exploded schematic diagram of the wrist rotation mechanism of the present invention in the fifth embodiment is representatively shown in FIG. The main differences between the wrist rotation mechanism of the present invention in the fifth embodiment and the first embodiment will be described below in conjunction with the above-mentioned figures.

[0097] like Figure 9 As shown, in this embodiment, the first connecting portion 111 of the first frame 110 is generally U-shaped, and the second connecting portion 121 of the second frame 120 is generally T-shaped. The second connecting portion 121 has an arcuate surface forming a pair of guide grooves G52, and the second connecting portion 121 is disposed within the first connecting portion 111. The first shaft 130 extends through the first connecting portion 111 and the second connecting portion 121, and the axis of the first shaft 130 coincides with or is parallel to the axis of the second connecting portion 121. Furthermore, the third connecting portion 122 of the second frame 120 is generally U-shaped. The fourth connecting portion 211 at the proximal end of the clamping arm 210 of the surgical forceps 200 is disposed within the third connecting portion 122, and the second shaft 140 extends through the third connecting portion 122 and the fourth connecting portion 211.

[0098] In addition, if Figure 9 As shown, in this embodiment, the arrangement of the guide grooves of the bracket is substantially the same as that of the first embodiment, i.e., a pair of guide grooves G51 are provided at the proximal end of the first bracket 110, and a pair of guide grooves G52 are provided at the proximal end of the second bracket 120. Furthermore, a guide groove G53 is provided at the proximal end of each of the two clamping arms 210.

[0099] Wrist rotation mechanism implementation method six

[0100] Based on the above detailed description of the first embodiment of the wrist rotation mechanism proposed by the present invention, Figures 10 to 15 , the sixth embodiment of the wrist rotation mechanism proposed by the present invention is described. Figure 10 As shown, Figure 10 The following is a representative exploded view of a sixth embodiment of the wrist rotation mechanism of the present invention; Figure 11 hereinafter is a representative front view of a wrist rotation mechanism that can embody the principles of the present invention; Figure 12 hereinafter is a representative side view of a wrist rotation mechanism that can embody the principles of the present invention; Figures 13 to 15 The following diagrams represent the structure of a wrist rotation mechanism in pitch, opening, and yaw states, respectively, which can embody the principles of the present invention. The following describes the main differences between the wrist rotation mechanism in the sixth embodiment and the first embodiment, in conjunction with the above-mentioned figures.

[0101] like Figures 10 to 15 As shown, in this embodiment, the bracket is provided with three sets of guide grooves: a pair of guide grooves G61 provided in the first bracket body 110 and two pairs of guide grooves G62 provided in the middle of the second bracket body 120. Cables are arranged along the bracket guide grooves G61 and G62 and the guide groove G63 of the end tool to drive the end tool to achieve pitch and yaw motions.

[0102] Furthermore, if Figures 10 to 15 As shown, based on the design of the end tool comprising two sub-sections, in this embodiment, the two pairs of guide grooves G62 provided in the middle portion of the second frame 120 correspond to the guide grooves G63 of the two clamping arms 210, respectively. The two guide grooves G62 belonging to the same pair are provided on either side of the second frame 120, that is, on either side of the second frame 120 in a direction perpendicular to the axial direction of the second shaft 140. Furthermore, on one side of the second frame 120, the extension directions of two guide grooves G62 belonging to different pairs can be different.

[0103] Furthermore, based on the arrangement of the above-mentioned guide grooves, in this embodiment, the cable is arranged in the guide groove G63 of the clamp arm, and the two end portions of the cable extend from both sides of the guide groove G63, and are arranged in two pairs of guide grooves G62 located on one side of the central axis of the bracket in the middle of the second frame 120. The two end portions of the cable then extend from the two pairs of guide grooves G62, and go around to the guide groove G61 at the far end of the first frame 110, which is located on the other side of the central axis of the bracket. Then, the two end portions of the cable extend to the proximal end of the first frame 110 and extend out.

[0104] Furthermore, if Figure 10 and Figure 11 As shown, due to the design that the two guide grooves G62 on the same side of the second frame 120 extend in different directions, in this embodiment, on one side of the second frame 120, two guide grooves G62 belonging to different pairs can jointly form a "Y"-shaped groove. In other embodiments, two guide grooves G62 belonging to different pairs on the same side of the second frame 120 can also jointly form a groove of other shapes, such as a "V" shape or an "X" shape.

[0105] Furthermore, if Figure 10 and Figure 11 As shown, based on the design that the two guide grooves G62 on the same side of the second frame 120 extend in different directions, in this embodiment, on one side of the second frame 120, two guide grooves G62 belonging to different pairs can share a portion of the groove body. In other embodiments, the two guide grooves G62 belonging to different pairs on the same side of the second frame 120 can also be relatively independent guide groove structures, and do not share the groove body, which is not limited to this embodiment.

[0106] Furthermore, if Figure 10 and Figure 12As shown, based on the design of the end tool comprising two sub-sections, in this embodiment, a pair of guide grooves G61 can be provided at the distal end of the first frame 110. The pair of guide grooves G61 are spaced apart along the rotation axis of the first frame 110 and the second frame 120 (i.e., the axis of the first shaft 130). The guide grooves G61 can be formed by an arcuate surface at the distal end of the first frame 110, with the axis of the arcuate surface substantially coinciding with the rotation axis of the first frame 110 and the second frame 120.

[0107] Optionally, in this embodiment, the cable can be connected to the guide groove of the end tool via a connecting structure, such that the cable and the guide groove (i.e., the end tool) do not move relative to each other, thereby allowing the cable to move along the guide groove and cause the end tool to deflect relative to the second frame. The deflection angle can be, for example, ±90°, or other angle ranges. In other embodiments, the cable can also achieve the above-mentioned function through static friction generated between the cable and the guide groove of the end tool, and the present invention is not limited to this embodiment.

[0108] It should be noted that the wrist rotation mechanism shown in the drawings and described in this specification is only one example of many wrist rotation mechanisms that can employ the principles of the present invention. It should be clearly understood that the principles of the present invention are in no way limited to any detail or any component of the wrist rotation mechanism shown in the drawings or described in this specification.

[0109] Surgical robot implementation

[0110] Based on the above detailed description of several exemplary embodiments of the wrist rotation mechanism proposed in the present invention, an exemplary embodiment of the surgical robot proposed in the present invention will be described below.

[0111] In this embodiment, the surgical robot proposed by the present invention includes the wrist rotation mechanism proposed by the present invention and described in detail in the above embodiments.

[0112] It should be noted that the surgical robot shown in the drawings and described in this specification is only one example of many surgical robots that can employ the principles of the present invention. It should be clearly understood that the principles of the present invention are in no way limited to any detail or component of the surgical robot shown in the drawings or described in this specification.

[0113] In summary, the wrist-rotation mechanism proposed in the present invention utilizes four drive units to independently drive the four drive ends of two cables. Specifically, each cable is driven by two drive units, replacing the design of existing wrist-rotation devices that utilizes a single motor to control a single cable. Consequently, the present invention utilizes the relative motion of the drive units to ensure that the cables remain taut throughout their lifecycle, improving the operational precision and reliability of the device. Furthermore, the present invention utilizes only two cables to drive the coupled motion of the end tool in three degrees of freedom: opening and closing, pitch, and yaw. Compared to existing wrist-rotation devices, the present invention eliminates one cable, thereby reducing component count and lowering costs. Furthermore, the present invention optimizes the traditional wrist-rotation device design of multiple structural components and a pulley assembly into a single, integrated component with a guide groove, significantly reducing the number of device parts and simplifying assembly. Furthermore, because the drive units can compensate for cable slack and degradation, the performance requirements for the cable material are also lowered. Therefore, the present invention achieves significant cost reductions through a comprehensive approach.

[0114] The exemplary embodiments of the wrist rotation mechanism and surgical robot proposed by the present invention are described and / or illustrated in detail above. However, the embodiments of the present invention are not limited to the specific embodiments described here. On the contrary, the components and / or steps of each embodiment can be used independently and separately from the other components and / or steps described here. Each component and / or each step of an embodiment can also be used in combination with other components and / or steps of other embodiments. When introducing the elements / components / etc. described and / or illustrated here, the terms "one", "an" and "above" are used to indicate the presence of one or more elements / components / etc. The terms "comprising", "including" and "having" are used to express an open-ended inclusion and mean that in addition to the listed elements / components / etc., additional elements / components / etc. may be present. In addition, the terms "first" and "second" in the claims and the specification are used only as marks and are not numerical limitations on their objects.

[0115] Although the wrist rotation mechanism and surgical robot proposed in the present invention have been described according to different specific embodiments, those skilled in the art will recognize that the implementation of the present invention can be modified within the spirit and scope of the claims.

Claims

1. A wrist rotation mechanism, characterized in that: The wrist rotation mechanism includes a bracket, an end tool, two cables and four drive units; The bracket includes a first frame and a second frame, the proximal end of the second frame is rotatably connected to the distal end of the first frame, the second frame is provided with a pair of guide slots, the guide slots are provided with a protruding structure on one side facing the distal end of the second frame, the guide slots form a channel with a reverse arc at the position of the protruding structure, and the channel forms another pair of guide slots of the second frame, and the two pairs of guide slots are used for arranging the cables to drive the end tool to achieve pitching movement; the end tool includes two sub-sections, the two sub-sections are respectively rotatably connected to the distal end of the second frame, and the sub-sections are provided with guide slots for arranging the cables to drive the end tool to achieve opening, closing and yaw movement; The two cables pass through the guide groove of the end tool and the guide groove of the bracket and extend from the proximal end of the first frame; The four driving units are respectively connected to the four ends of the two cables extending from the proximal end of the bracket.

2. The wrist rotation mechanism according to claim 1, characterized in that: In the process of the four driving units cooperatively tightening or releasing the four ends of the two cables, the total length of the two cables remains unchanged.

3. The wrist rotation mechanism according to claim 1, characterized in that: The pitching motion of the end tool is realized by the rotational motion of the second frame; the opening, closing and yaw motion of the end tool are realized by the rotational motion of the two sub-parts.

4. The wrist rotation mechanism according to any one of claims 1 to 3, characterized in that: The rotation axes of the first frame and the second frame are spatially orthogonal to the rotation axes of the second frame and the end tool.

5. A surgical robot, characterized in that: The surgical robot comprises the wrist rotation mechanism according to any one of claims 1 to 4.

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