Medical robotic arm

Abstract

The application discloses a medical mechanical arm, which comprises a driving part, a flexible arm, a wrist joint part and a multifunctional composite medical operation instrument terminal, wherein the multifunctional composite medical operation instrument terminal is used for performing operation in a human body, and the multifunctional composite medical operation instrument terminal comprises a clamping part, an outer sleeve, an inner rotating cylinder, an illuminating lamp and a camera. The clamping part is used for clamping relevant tissues. The inner rotating cylinder can drive the clamping part to rotate so as to adjust the clamping angle. The illuminating lamp is used for providing illumination during operation, and the camera is used for providing video shooting during operation. The illuminating lamp and the camera can be adjusted in angle and position. The application adopts a flat clamping mode, is reliable and stable, does not hurt organs, and the angle of the video shooting device and the illumination device can be adjusted in a large range, which is beneficial to accurate operation. The application has compact and reasonable structure, high practicability, and great economic and social values.

Description

[Technical Field]

[0001] This invention relates to a medical robotic arm, and more particularly to a multifunctional composite surgical instrument end effector, belonging to the field of medical devices. [Background Technology]

[0002] Medical robots are advanced devices used in remote surgery, characterized by precise operation, minimal trauma, and rapid healing. The field is estimated to have an annual output value of $700 billion. Currently, leading international companies in the medical robot field include Intuitive Surgical, Olympus, Ixicom, Covidien, and Royal Philips. Domestic companies include Minimally Invasive Medical, Shenzhen Jingfeng Medical, Beijing Shurui, and Chengdu Zhongke Bornes Medical Robotics Co., Ltd. Shanghai Jiao Tong University, Harbin Institute of Technology, and Tianjin University also conduct significant research in this area. However, current products and patents typically employ a scissor-type gripper at the end, as seen in patents CN103687553A, CN106137397A, CN109640856A, and CN109475361A. This method, due to the proximal hinge point, first grasps the object, which can easily injure organs during some surgical procedures. Furthermore, existing products and patents often feature scattered lighting and camera devices with limited adjustment flexibility, as seen in patent CN102905641A (attached). Figure 8 As shown in the figure, this setup not only requires a large abdominal cavity (which is difficult to achieve in some surgical procedures), but also results in insufficient clarity due to shadows in the lighting and incomplete and unclear images due to obstruction, which is not conducive to precise surgical procedures. [Summary of the Invention]

[0003] To address the aforementioned problems, this invention provides a multifunctional composite surgical instrument tip that uses a flat clamping method for holding the device, and the camera and lighting devices have adjustable angles. The specific technical solution of this invention is as follows:

[0004] A medical robotic arm includes a drive unit, a flexible arm, a wrist joint, and a multifunctional composite medical surgical instrument end effector. The multifunctional composite medical surgical instrument end effector includes a clamping unit, an outer sleeve, an inner rotating cylinder, a lighting lamp, and a camera. The inner rotating cylinder is located inside the outer sleeve and rotates circumferentially relative to the outer sleeve. The clamping unit is located at the top of the inner rotating cylinder. The outer sleeve includes an outer circumferential wall and an outer sleeve end effector. The outer sleeve end effector includes a lighting lamp movement slot and a camera movement slot, and the lighting lamp and the camera can move within the lighting lamp movement slot and the camera movement slot, respectively.

[0005] Furthermore, the inner rotating cylinder includes an inner cylinder body and bearings, wherein multiple bearings are sequentially sleeved on the inner cylinder body along the longitudinal direction; the inner cylinder body includes a jaw mounting groove at the top, a conical tooth portion at the bottom, and a weight-reducing slot at the middle internal position; the clamping part is disposed in the jaw mounting groove, and the clamping part further includes two jaws, jaw seats fixedly connected to the jaws, a lead screw, a drive wheel, and a drive wire rotatably connected in the jaw mounting groove; the lead screw includes two sections with opposite left and right helical directions; the two jaw seats are respectively sleeved on the two ends of the lead screw; the drive wheel is fixedly disposed on one end of the lead screw; and the drive wire passes through the wire-passing hole and drives the drive wheel to rotate.

[0006] Furthermore, the outer sleeve end also includes a bearing mounting groove, an end mounting hole, a rotating insertion hole, a camera rotating tooth arc, and a lighting lamp rotating tooth arc. The bearing mounting groove is used to install a rotating bearing, and the end mounting hole allows the top of the inner cylinder to pass through. The camera rotating tooth arc and the lighting lamp rotating tooth arc are correspondingly set with the lighting lamp moving groove and the camera moving groove.

[0007] Furthermore, the inner cylinder also includes a rotating slot formed around the circumference, and there are multiple rotating slots, which are sequentially formed at the lower end of the bearing along the longitudinal direction.

[0008] Furthermore, it also includes a gear disk, the number of which corresponds to the number of bearings and is fitted onto the bearings. The gear disk includes a straight tooth portion and a bevel tooth portion. The lighting lamp and the camera both include a support rod and a planetary gear. The planetary gear meshes with the straight tooth portion of the gear disk and the rotating tooth arc of the camera and the rotating tooth arc of the lighting lamp. The medical robotic arm also includes an upper bevel gear and a lower bevel gear. The number of upper bevel gears corresponds to the number of gear disks and meshes with the bevel tooth portion of the gear disk. The lower bevel gear meshes with the bevel tooth portion at the bottom of the inner cylinder.

[0009] Furthermore, the upper bevel gear is fixedly mounted on the rotating support rod. One end of the rotating support rod is provided with a rotating insertion part, which is used to be rotatably inserted into the rotating insertion hole at the end of the outer sleeve. The other end of the rotating support rod is provided with a ball head, which is used to be rotatably inserted into the rotating slot of the inner cylinder. A corresponding drive wheel is also fixedly provided at one end of the rotating support rod near the rotating insertion part, and the drive wire drives the drive wheel to rotate.

[0010] Furthermore, the bottom bevel gear is fixedly mounted on the bottom bevel gear rotating shaft. Both ends of the bottom bevel gear rotating shaft have rotating insertion parts, which are used to be rotatably inserted into the rotating insertion hole at the end of the outer sleeve. A corresponding drive wheel is also fixedly provided at one end of the bottom bevel gear rotating shaft, and the drive wire drives the drive wheel to rotate.

[0011] Furthermore, the number of lighting lamps and cameras is four.

[0012] Furthermore, the central angle corresponding to the single lighting lamp moving slot is 50 degrees, and the central angle corresponding to the single camera moving slot is 110 degrees.

[0013] This invention offers the following beneficial technical effects: The flat clamp method ensures reliable and stable clamping without damaging internal organs. Furthermore, the camera and lighting devices allow for a wide range of angle adjustments, facilitating precise surgical procedures. The invention also features a compact and rational structural layout, strong practicality, and significant economic and social value. [Attached Image Description]

[0014] Figure 1 The accompanying drawing is a schematic representation of the overall structure of the surgical instrument of the present invention;

[0015] Figure 2 This is a schematic diagram of the end of the surgical instrument of the present invention;

[0016] Figure 3 for Figure 2 A partial sectional view;

[0017] Figure 4 for Figure 2 Exploded view;

[0018] Figure 5a This is a front sectional view of the outer casing;

[0019] Figure 5b Top view of the outer casing;

[0020] Figure 6 This is a front sectional view of the internal rotating cylinder;

[0021] Figure 7 The attached diagram is a schematic representation of the transmission structure (excluding the outer sleeve).

[0022] Figure 8 for Figure 7 A magnified view of A in the middle.

Detailed Implementation Methods

[0023] First, the specific features referred to by the reference numerals in the accompanying drawings of this invention will be explained, wherein: 1-driving part, 2-flexible arm, 3-wrist joint part, 4-end of multifunctional composite medical surgical instrument, 5-clamping part, 51-gripper, 52-gripper seat, 53-lead screw, 54-driving wheel, 55-driving screw, 6-outer sleeve, 61-outer circumferential cylinder wall, 62-end of outer sleeve, 63-bearing mounting groove, 64-lighting lamp moving groove, 65-camera moving groove, 66-end mounting hole, 67-rotating insertion hole, 68-camera rotating tooth arc, 6 9-Lighting lamp rotating tooth arc, 7-Inner rotating cylinder, 71-Inner cylinder body, 72-Claw mounting groove, 73-Bearing, 74-Rotating slot, 75-Bevel tooth section, 76-Weight reduction slot, 77-Threading hole, 78-Bottom bevel gear, 79-Bottom bevel gear rotating shaft, 8-Lighting lamp, 9-Camera, 10-Rotating bearing, 11-Support rod, 12-Gear disc, 121-Gear disc spur tooth section, 122-Gear disc bevel tooth section, 13-Planetary gear, 14-Upper bevel gear, 15-Rotating insertion part, 16-Rotating support rod, 17-Ball head.

[0024] Reference Figure 1 The present invention discloses a medical robotic arm, including a drive unit 1, a flexible arm 2, a wrist joint 3, and a multifunctional composite medical surgical instrument end effector 4, which is inserted into the human body to perform surgical operations.

[0025] Figure 2-4 The overall structure of the end effector 4 of the multifunctional composite medical surgical instrument of the present invention is shown in various forms. It includes a clamping part 5, an outer sleeve 6, an inner rotating cylinder 7, a lighting lamp 8, and a camera 9. The clamping part 5 is the main functional component for performing the procedure and is used to clamp the relevant tissues. The outer sleeve 6 and the inner rotating cylinder 7 provide overall support and also realize corresponding functions through the transmission structure set inside them. The specific transmission structure and corresponding functions will be described in detail later. The lighting lamp 8 is used to provide illumination during the procedure so that the camera 9 can capture images more clearly or the assistant physician standing next to the operating table can observe more clearly.

[0026] Furthermore, the clamping part 5 is located at the top of the inner rotating cylinder 7, which is located inside the outer cylinder 6 and rotates circumferentially relative to the outer cylinder 6. Thus, the rotation of the inner rotating cylinder 7 allows the clamping part 5 to rotate as well, thereby adjusting the clamping angle. The outer cylinder 6 includes an outer circumferential cylindrical wall 61 and an outer cylinder end 62 located at the end. The outer cylinder end 62 includes a lighting lamp moving slot 64 and a camera moving slot 65. The lighting lamp 8 and the camera 9 can move within the lighting lamp moving slot 64 and the camera moving slot 65 respectively, thereby adjusting the relevant angles to provide omnidirectional lighting and multi-angle shooting.

[0027] Reference Figure 5a-b, the outer sleeve end 62 of the outer sleeve 6 also includes a bearing mounting groove 63 and an end mounting hole 66. The bearing mounting groove 63 is used to install the rotating bearing 10, and the end mounting hole 66 allows the top of the inner rotating cylinder 7 to pass through. In this way, the inner rotating cylinder 7 will be positioned and assembled with the outer sleeve 6 by means of the rotating bearing 10, while ensuring smooth rotation. It can be further seen that the inner wall of the outer circumferential cylinder wall 61 of the outer sleeve 6 is provided with a rotating insertion hole 67, a camera rotating tooth arc 68, and a lighting lamp rotating tooth arc 69. The positions and numbers of the camera rotating tooth arc 68 and the lighting lamp rotating tooth arc 69 correspond to the lighting lamp moving groove 64 and the camera moving groove 65. Preferably, there are two lighting lamps 8 and two cameras 9. It is obvious that there are also two lighting lamp moving grooves 64, two camera moving grooves 65, two lighting lamp rotating tooth arcs 69, and two camera rotating tooth arcs 68. In actual surgical procedures, we found that the camera adjustment angle needs to be large, while the lighting adjustment angle requirement is not strict. Therefore, we set the central angle corresponding to the single lighting lamp movement slot 64 to 50 degrees and the central angle corresponding to the single camera movement slot 65 to 110 degrees. This setting shows that as long as the two lighting lamps are adjusted at the right angle, a shadowless lamp effect will be formed, which is very beneficial for the operation. The images captured in real time by the two cameras can be processed and fused through image algorithms to obtain a complete and clear surgical image, ensuring the smooth progress of the operation.

[0028] Reference Figure 6 Combined Figure 4 The inner rotating cylinder 7 includes an inner cylinder body 71 and bearings 73. Multiple bearings 73 are sequentially mounted on the inner cylinder body 71 along the longitudinal direction; preferably, four bearings 73 are also present. The inner cylinder body 71 includes a jaw mounting groove 72 at the top for accommodating the clamping part 5. The inner cylinder body 71 also includes a conical toothed part 75 at the bottom and a weight-reducing groove 76 in the middle. Since the end of the surgical instrument requires light weight, the weight-reducing groove 76 can effectively reduce weight. The clamping part 5 further includes two jaws 51, a jaw seat 52 fixedly connected to the jaws 51, and a rotating... The screw 53, drive wheel 54, and drive wire 55 are connected in the gripper mounting groove 72. The screw 53 is a double-helical screw, which includes two sections with opposite left and right helical directions. Two gripper seats 52 are respectively sleeved on both ends of the screw 53. The drive wheel 54 is fixed on one end of the screw 53. The drive wire 55 passes through the wire hole 77 and drives the drive wheel 54 to rotate. The specific clamping process of the clamping part 5 is as follows: the drive wire 55 drives the drive wheel 54 to rotate, the drive wheel 54 drives the screw 53 to rotate, and the screw 53 drives the gripper seat 52 sleeved on it to move closer and further away, thereby driving the two grippers 51 to clamp or open.

[0029] The inner cylinder 71 also includes a rotating slot 74 opened in the circumferential direction. There are multiple rotating slots 74, which are opened sequentially in the longitudinal direction at the lower end of the bearing 73.

[0030] The following reference Figure 7-8 The transmission structure is described in detail, including how the inner rotating cylinder 7 is rotated and how the lighting lamp 8 and camera 9 are moved.

[0031] The invention also includes geared discs 12, the number of which corresponds to the bearings 73, and which are fitted onto the bearings 73. Each geared disc 12 includes a straight tooth portion 121 and a bevel tooth portion 122. Both the lighting lamp 8 and the camera 9 include a support rod 11 and a planetary gear 13. The support rod 11 supports the lighting lamp 8 and the camera 9, and provides internal wiring. The length of the support rod 11 is specified in the appendix. Figure 7 As can be seen, the planetary gear 13 meshes with the spur tooth section 121 of the gear disk and the rotating tooth arc 68 of the camera or the rotating tooth arc 69 of the lighting lamp, thus forming a planetary gear system.

[0032] The medical robotic arm also includes an upper bevel gear 14, the number of which corresponds to the number of gear discs 12, and meshes with the bevel teeth 122 of the gear discs. The upper bevel gear 14 is fixedly mounted on a rotating support rod 16. One end of the rotating support rod 16 is provided with a rotating insertion part 15, which is used to be rotatably inserted into the rotating insertion hole 67 of the outer sleeve end 62. The other end of the rotating support rod 16 is provided with a ball head 17, which is used to be rotatably inserted into the rotating slot 74 of the inner cylinder 71. A corresponding drive wheel 54 is also fixedly provided at the end of the rotating support rod 16 near the rotating insertion part 15. The drive wire 55 drives the drive wheel 54 to rotate, thereby driving the rotating support rod 16 to rotate. During the rotation of the rotating support rod 16, the upper bevel gear 14 is driven to rotate, and the upper bevel gear 14 drives the gear disc 12 to rotate. The gear disc 12 drives the planetary gear 13 to rotate along the camera rotation tooth arc 68 or the lighting lamp rotation tooth arc 69, thereby adjusting the position of the lighting lamp 8 and the camera 9 in the lighting lamp moving slot 64 and the camera moving slot 65.

[0033] Similarly, this application also includes a bottom bevel gear 78, which meshes with the bevel tooth portion 75 at the bottom of the inner cylinder 71. The bottom bevel gear 78 is fixedly mounted on the bottom bevel gear rotating shaft 79. Both ends of the bottom bevel gear rotating shaft 79 have rotating insertion portions 15, which are used to be rotatably inserted into the rotating insertion hole 67 at the end of the outer sleeve 62. One end of the bottom bevel gear rotating shaft 79 is also fixedly provided with a corresponding drive wheel 54. The drive wire 55 drives the drive wheel 54 to rotate, and the drive wheel 54 drives the bottom bevel gear rotating shaft 79 to rotate. The bottom bevel gear rotating shaft 79 drives the bottom bevel gear 78 to rotate. The bottom bevel gear 78 drives the inner rotating cylinder 7 to rotate by meshing with the bevel tooth portion 75 at the bottom of the inner cylinder 71. In this way, the inner rotating cylinder 7 drives the clamping portion 5 to rotate so as to adjust the clamping direction.

[0034] It should be noted that during the rotation of the inner rotating cylinder 7, due to the presence of the bearing 73 and the self-locking function of the gear transmission system consisting of (gear disk 12, planetary gear 13, camera rotating gear arc 68 or lighting lamp rotating gear arc 69, upper bevel gear 14), the gear disk 12 will not rotate with the rotation of the inner rotating cylinder 7. It is stationary relative to the inner rotating cylinder 7. That is, during the rotation of the inner rotating cylinder 7, the ball head 17 at the other end of the rotating support rod 16 slides relative to the inner rotating cylinder 7 in the rotating slot 74.

[0035] It should also be noted that the wires leading from the inside of the support rod 11 to the lighting lamp 8 and camera 9 pass through the wrist joint 3 and the flexible arm 2 and are introduced into the drive unit 1. Since the wires can be in a completely relaxed state, they will not cause any functional impairment or hinder the movement of other components when they are squeezed or twisted. Of course, it is also possible to have no wires at all, that is, to set up relevant electronic components, such as batteries, circuit boards, and signal transmitting and receiving devices, inside the support rod 11. Since electronic components are becoming smaller and more integrated, this method is also entirely feasible.

[0036] As can be seen from the technical solution of this invention, it has an ingenious design, simple structure, and compact and reasonable layout. It can effectively ensure that the gripper will not pinch or injure organs. Moreover, the lighting and camera are adjustable, making it highly practical and of great economic and social value.

[0037] Finally, it should be noted that any invention or creation that does not depart from the core technical concept of this invention should be considered to be included within the scope of protection of this invention.

Claims

1. A medical robotic arm, comprising a drive unit (1), a flexible arm (2), a wrist joint (3), and a multifunctional composite medical surgical instrument end effector (4), characterized in that: The end (4) of the multifunctional composite medical surgical instrument includes a clamping part (5), an outer sleeve (6), an inner rotating cylinder (7), a lighting lamp (8), and a camera (9); the inner rotating cylinder (7) is located inside the outer sleeve (6) and rotates circumferentially relative to the outer sleeve (6); the clamping part (5) is located at the top of the inner rotating cylinder (7); the outer sleeve (6) includes an outer circumferential cylindrical wall (61) and an outer sleeve end (62); the outer sleeve end (62) includes a lighting lamp moving slot (64) and a camera moving slot (65); the lighting lamp (8) and the camera (9) can move within the lighting lamp moving slot (64) and the camera moving slot (65), respectively; the inner rotating cylinder (7) includes an inner cylinder body. (71) Bearings (73), wherein there are multiple bearings (73), which are sequentially sleeved on the inner cylinder (71) in the longitudinal direction; the inner cylinder (71) includes a jaw mounting groove (72) at the top, a bevel tooth part (75) at the bottom, and a weight reduction slot (76) at the middle internal position; the clamping part (5) is disposed in the jaw mounting groove (72), and the clamping part (5) further includes two jaws (51), a jaw seat (52) fixedly connected to the jaws (51), a lead screw (53) rotatably connected in the jaw mounting groove (72), a drive wheel (54), and a drive screw (55), wherein the lead screw (53) includes two sections with opposite left and right helical directions, and the two jaw seats (52) are divided into The drive wheel (54) is fixed to one end of the lead screw (53), and the drive wire (55) passes through the wire hole (77) and drives the drive wheel (54) to rotate. The outer sleeve end (62) also includes a bearing mounting groove (63) and an end mounting hole (66). The inner wall of the outer circumferential cylinder wall (61) includes a rotating insertion hole (67), a camera rotating tooth arc (68), and a lighting lamp rotating tooth arc (69). The bearing mounting groove (63) is used to install a rotating bearing (10), and the end mounting hole (66) allows the top of the inner cylinder (71) to pass through. The camera rotating tooth arc (68) and the lighting lamp rotating tooth arc (69) are connected to the lighting lamp moving groove (64) and the camera moving groove (69). The moving groove (65) is correspondingly provided; the inner cylinder (71) also includes a rotating slot (74) opened around the circumference, the rotating slot (74) has multiple slots, and is opened sequentially at the lower end of the bearing (73) in the longitudinal direction; it also includes a gear disk (12), the number of gear disks (12) corresponds to the bearing (73), and is sleeved on the bearing (73), the gear disk (12) includes a straight tooth part (121) and a bevel tooth part (122); the lighting lamp (8) and the camera (9) both include a support rod (11) and a planetary gear (13), the planetary gear (13) meshes with the straight tooth part (121) of the gear disk and the rotating tooth arc (68) of the camera and the rotating tooth arc (69) of the lighting lamp;The medical robotic arm also includes an upper bevel gear (14) and a lower bevel gear (78). The number of upper bevel gears (14) corresponds to the number of gears on the toothed disc (12), and they mesh with the bevel teeth (122) of the toothed disc. The lower bevel gear (78) meshes with the bevel teeth (75) at the bottom of the inner cylinder (71).

2. The medical robotic arm as described in claim 1, characterized in that: The upper bevel gear (14) is fixedly mounted on the rotating support rod (16). One end of the rotating support rod (16) is provided with a rotating insertion part (15), which is used to be rotatably inserted into the rotating insertion hole (67) at the end of the outer sleeve (62). The other end of the rotating support rod (16) is provided with a ball head (17), which is used to be rotatably inserted into the rotating slot (74) of the inner cylinder (71). A corresponding drive wheel (54) is also fixedly provided at one end of the rotating support rod (16) near the rotating insertion part (15). The drive wire (55) drives the drive wheel (54) to rotate.

3. A medical robotic arm as described in claim 2, characterized in that: The bottom bevel gear (78) is fixedly mounted on the bottom bevel gear rotating shaft (79). Both ends of the bottom bevel gear rotating shaft (79) have rotating insertion parts (15), which are used to be rotatably inserted into the rotating insertion hole (67) at the end of the outer sleeve (62). One end of the bottom bevel gear rotating shaft (79) is also fixedly provided with a corresponding drive wheel (54), and the drive wire (55) drives the drive wheel (54) to rotate.

4. A medical robotic arm as described in claim 1, characterized in that: The number of lighting lamps (8) is two, and the number of cameras (9) is two.

5. A medical robotic arm as described in claim 4, characterized in that: The central angle corresponding to the single lighting lamp moving slot (64) is 50 degrees, and the central angle corresponding to the single camera moving slot (65) is 110 degrees.

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