End effector of interventional robot and interventional robot

Abstract

The present invention discloses an end-actuator and an interventional robot, wherein the end-actuator comprises a track plate, on which a screw mechanism and a slider mechanism are arranged; a first motion assembly is arranged on the slider mechanism, comprising a first motor, a first transmission mechanism and a first clutch; a second motion assembly is arranged on the slider mechanism, comprising a second motor, a second transmission mechanism and a second clutch; a feeding assembly comprises a third motor and a screw mechanism, and the third motor is connected to the screw mechanism; the first transmission mechanism and the second transmission mechanism are coaxial, arranged at intervals and respectively connected to the first section and the second section of the end of the endoscope to form a transmission assembly; when the first transmission mechanism is asynchronous with the second transmission mechanism, the front end of the endoscope undergoes a yaw motion; when the first transmission mechanism is synchronous with the second transmission mechanism, the endoscope performs a rotation motion around its own axis. The interventional surgery and detection time can be shortened, the efficiency can be improved, and the degree of pain of the patient can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an end effector mechanism of an interventional robot and an interventional robot having the end effector mechanism. Background Art

[0002] In current medical conditions, taking bronchoscopy technology as an example, Figure 5 As shown, the main device structure includes a vehicle body 1', a mechanical arm 2' arranged on the vehicle body 1' and a slider mechanism 3' connected to the end of the mechanical arm 2', a bronchoscope 4' is fixed on the slider mechanism 3', and the bronchoscope 4' is fed or retracted by adjusting the position of the slider mechanism 3' on the track at the end of the mechanical arm 2'. Usually, doctors need to rely on their own experience and try to detect different bronchi in the patient's body for many times before they can reach the vicinity of the lesion, which not only causes unnecessary pain to the patient, but also greatly reduces the efficiency of the doctor. Summary of the invention

[0003] In view of the above-mentioned technical problems, the purpose of the present invention is to provide an end effector mechanism of an interventional robot and an interventional robot having the end effector mechanism, which can realize the overall rotation of the endoscope, the bending and swinging of the front end of the endoscope and the linear feeding movement of the endoscope through the coordinated cooperation of the first motion component, the second motion component and the feeding component, thereby shortening the interventional surgery and detection time, improving efficiency and reducing the patient's pain.

[0004] The technical solution of the present invention is:

[0005] One of the purposes of the present invention is to provide an end effector of an interventional robot, comprising:

[0006] A track plate, on which a screw mechanism and a slider mechanism slidably arranged on the screw mechanism are provided;

[0007] A first motion assembly, which is disposed on the slider mechanism, the first motion assembly comprising a first motor, a first transmission mechanism connected to the first motor, and a first clutch disposed between the first motor and the first transmission mechanism;

[0008] A second motion assembly, which is disposed on the slider mechanism, the second motion assembly comprising a second motor, a second transmission mechanism connected to the second motor, and a second clutch disposed between the second motor and the second transmission mechanism;

[0009] A feeding assembly, comprising a third motor and the screw mechanism provided on the track plate, wherein the third motor is connected to the screw mechanism and is used to control the slider mechanism to perform linear translation along the screw mechanism so as to achieve feeding and retracting movements of the endoscope fixed on the slider mechanism;

[0010] The first transmission mechanism and the second transmission mechanism are coaxial, spaced apart, and respectively connected to the end of the endoscope by a first section and a second section, which constitute a transmission assembly. The first section is provided with two steel wires, which pass through the second section and extend in parallel to connect to the front end of the endoscope.

[0011] When the first transmission mechanism is asynchronous with the second transmission mechanism, the front end of the endoscope performs a yaw motion; when the first transmission mechanism is synchronous with the second transmission mechanism, the endoscope performs a rotation motion around its own axis.

[0012] Another object of the present invention is to provide an interventional robot, comprising the above-mentioned end effector, wherein the end effector is connected to the end of the robotic arm.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] The end effector of the interventional robot of the present invention realizes the overall rotation of the endoscope, the bending and swinging of the front end of the endoscope, and the linear feeding action of the endoscope through the coordinated cooperation of the first motion component, the second motion component and the feeding component, which can shorten the interventional surgery and detection time, improve efficiency, and reduce the patient's pain. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0016] Figure 1 It is a structural schematic diagram of the screw mechanism of the end actuator of an embodiment of the present invention when it is laid flat;

[0017] Figure 2 It is a schematic diagram of the main structure of the end actuator (a linear fixing device of one structure) of an embodiment of the present invention;

[0018] Figure 3 It is a schematic side view of the structure of the end effector (a linear fixing device of another structure) of an embodiment of the present invention;

[0019] Figure 4 It is a schematic structural diagram of the end actuator of an embodiment of the present invention when the steel wire is in a stationary state (dashed line) and when the steel wire is in a yaw bending state (solid line);

[0020] Figure 5 The figure is a simplified structural diagram of the main devices of bronchoscopy technology in the prior art.

[0021] Among them: 1. track plate; 2. first motion component; 21. first motor; 22. first clutch; 23. first pinion; 24. first large gear; 25. first coupling; 3. second motion component; 31. second motor; 32. second clutch; 33. second pinion; 34. second large gear; 35. second coupling; 36. motor encoder; 4. feed component; 41. third motor; 42. screw mechanism; 43. screw encoder; 5. robotic arm; 6. linear fixing device; 7. locking device; 71. locking plate; 8. endoscope; 9. extreme position mechanism; 91. photoelectric switch; 92. photoelectric switch baffle; 10. brake button; 11. slider mechanism; 12. mounting plate; 13. first steel wire when not bent; 131. first steel wire when bent; 14. second steel wire when not bent; 141. second steel wire when bent; 15. aviation plug. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0023] Example:

[0024] See also Figures 1 to 4 An end effector mechanism of an interventional robot according to an embodiment of the present invention comprises a track plate 1, a first motion component 2, a second motion component 3 and a feed component 4. A slider mechanism 11 is provided on the track plate 1. The first motion component 2 is arranged on the slider mechanism 11, and comprises a first motor 21, a first transmission mechanism and a first clutch 22. The second motion component 3 is also arranged on the slider mechanism 11, and comprises a second motor 31, a second transmission mechanism and a second clutch 32. The feed component 4 comprises a third motor 41 and a screw mechanism 42. The screw mechanism 42 is fixed on the track plate 1 and connected to the third motor 41. The slider mechanism 11 is slidably arranged on the screw mechanism 42. The screw mechanism 42 is driven to rotate by the third motor 41, so that the slider mechanism 11 is linearly translated along the screw mechanism 42 to realize the feeding movement or retracting movement of the endoscope 8 fixed on the slider mechanism 11. The endoscope 8 comprises a tubular hose and a tube disposed at the end of the hose, i.e., Figure 2 For the convenience of description and distinction, the two coaxially connected rotating bodies at the upper end of the embodiment of the present invention are as follows. Figure 2 The two rotating bodies shown in FIG. 1 are described as the first section and the second section respectively. Figure 2 The lower end shown can be bent and swung. In order to transmit the image signal taken by the endoscope 8, the upper end of the first section is Figure 1 The right end of the first section is also provided with an aviation plug 15, which is connected to the external control system through the aviation plug 15, transmits the image signal to the control system, and obtains power input from the outside. The first section and the second section respectively form a transmission assembly with the first transmission mechanism and the second transmission mechanism, that is, the first section cooperates with the first transmission mechanism, and the first section is driven to rotate by the first transmission mechanism. Similarly, the second section cooperates with the second transmission mechanism, and the second section is driven to rotate by the second transmission mechanism. Two steel wires are provided on the first section, and the two steel wires pass through the perforations opened on the second section and enter the hose and extend parallel to the end of the hose and are fixed. When the first transmission mechanism and the second transmission mechanism are synchronized, that is, the speed and direction are the same, the first section, the second section and the hose part rotate around their own axis as a whole, the two steel wires are in a balanced state, and the front end of the endoscope 8 does not bend and swing, that is, the two steel wires are symmetrically arranged about the axis of the endoscope 8. When the first transmission mechanism and the second transmission mechanism are asynchronous, that is, the speed is the same and the direction is opposite, one of the two steel wires stretches outward and the other shrinks inward, so that the front end of the endoscope 8 swings and bends. When the three motors are not working at the same time, the endoscope 8 does not move, and the steel wire is in a balanced state, that is, a static state. The end actuator of the embodiment of the present invention, through the arrangement of the first motion component 2, the second motion component 3 and the feeding component 4, cooperates to realize the bending, swinging, rotation and feeding actions of the endoscope 8, which can greatly reduce the workload of doctors, relieve doctors' fatigue, and greatly shorten the examination time, improve efficiency, and reduce the degree of pain of patients.

[0025] According to some embodiments of the present invention, Figure 4 As shown, the two steel wires represented by the dotted lines are in a balanced state or a static state, and the two steel wires represented by the solid lines are in a bent and deflected state. For the convenience of description and distinction, the two steel wires are described as the first steel wire and the second steel wire respectively. In a balanced state or a static state, the first steel wire and the second steel wire are symmetrically distributed about the axis of the first transmission mechanism and the second transmission mechanism. The upper ends of the two steel wires are respectively wound and fixed on the left and right ends of the first section, and the lower ends pass through the perforations opened on the second section to enter the interior of the endoscope 8 and extend parallel to the front end of the endoscope 8. When the first transmission mechanism and the second transmission mechanism rotate synchronously, that is, in the same direction and at the same speed, the positions of the first steel wire and the second steel wire do not change relative to each other and remain in a balanced state. When the first transmission mechanism and the second transmission mechanism rotate asynchronously, that is, in the same direction and at different speeds or in opposite directions and at the same speed, the positions of the first steel wire and the second steel wire change relative to each other, that is, one contracts inward and the other stretches outward, that is, as shown in FIG. Figure 4 As shown, the upper end of the first steel wire and the connecting line of the perforations on the second section are in the same straight line, so that the front end of the endoscope 8 is in the direction of the second steel wire, that is, Figure 4 The rightward bend shown is yaw.

[0026] According to some embodiments of the present invention, Figure 1 to Figure 2 As shown, the first transmission mechanism includes a first pinion 23 and a first large gear 24, the first pinion 23 is connected to the motor shaft of the first motor 21, the first large gear 24 is meshed with the first pinion 23, and the first large gear 24 is sleeved on the outer periphery of the first section. More specifically, the first motor 21 is connected to the first clutch 22 through the first coupling 25, and then connected to the first transmission shaft through the first coupling 25, and the first pinion 23 is installed on the first transmission shaft. Similarly, the second transmission mechanism includes a second pinion 33 and a second large gear 34, the second pinion 33 is connected to the second transmission shaft, the second transmission shaft is connected to the second clutch 32 through the second coupling 35, the second clutch 32 is connected to the motor shaft of the second motor 31 through the second coupling 35, the second large gear 34 is meshed with the second pinion 33, and the second large gear 34 is sleeved on the outer periphery of the second section.

[0027] The clutch is set to prevent the endoscope 8 from causing damage to the human body due to the fast operation during the deflection and rotation of the endoscope 8. When the rotation speed exceeds a certain value or the doctor believes that the deflection or rotation needs to be stopped, it can be achieved by disconnecting the clutch. At this time, the motor and the transmission shaft are disconnected, and the power cannot be transmitted to the transmission mechanism, so that the deflection and rotation of the endoscope 8 cannot be achieved. It should be noted that during the clutch power-off process, the front end of the endoscope 8 is in a relaxed state, which can play a role in protecting the safety of the human body. Optionally, for the first clutch 22 and the second clutch 32, it is an existing conventional micro-electromagnetic clutch, and its specific structure and working principle are not described and limited in detail here.

[0028] According to some embodiments of the present invention, Figure 3 As shown, a slider mechanism 11 is installed above the slider mechanism 11 along the feeding direction. Figure 3 The mounting plate 12 extending in the vertical direction is shown, and the first motion component 2 and the second motion component 3 are both mounted on the mounting plate 12. Specifically, the first motor 21, the first coupling 25, the first clutch 22 and the first transmission shaft (not shown) are arranged along the first straight line, the second motor 31, the second coupling 35, the second clutch 32 and the second transmission shaft (not shown) are arranged along the second straight line, the axis of the first transmission mechanism and the second transmission mechanism is the third straight line, the first straight line, the second straight line and the third straight line are all along the feeding direction and the first straight line and the second straight line are symmetrically distributed about the third straight line, that is, as shown in Figure 2 As shown, the first straight line and the second straight line are symmetrically arranged on the left and right sides of the mounting plate 12. Such a design is not only reasonable in design, but also beautiful in appearance, so that the size of the entire end actuator is not too large.

[0029] According to some embodiments of the present invention, in order to prevent extreme phenomena such as the feed motor, i.e., the third motor 41, from running away, a brake and a brake switch are installed on the third motor 41. Once an abnormal situation is detected or the doctor believes that an emergency stop is necessary, the brake switch can be used to cut off the power to the motor so that the brake is locked, which can effectively ensure the safety of the patient.

[0030] According to some embodiments of the present invention, the first motor 21, the second motor 31 and the third motor 41 are all provided with encoders. Figure 1 As shown, a screw encoder 43 is provided at the left end of the screw mechanism 42. Figure 2 As shown, motor encoders 36 are provided at the bottom ends of the first transmission shaft and the second transmission shaft.

[0031] According to some embodiments of the present invention, an extreme position mechanism 9 is further included, and the extreme position mechanism 9 includes a photoelectric switch 91 and a photoelectric switch 91 blocking piece. Figure 1 As shown, at both ends of the screw mechanism 42, Figure 1 As shown, both left and right ends are equipped with photoelectric switches 91, and the slider mechanism 11 is also equipped with a photoelectric switch 91 baffle. Once the movement reaches the limit position, the photoelectric switch 91 senses the photoelectric switch baffle and sends a signal to stop the feed motor, that is, the third motor 41, thereby ensuring that the feed movement is within a certain range. As an alternative embodiment, the photoelectric switch 91 can also be installed on the slider mechanism 11, and the photoelectric switch 91 baffle is installed on the screw mechanism 42.

[0032] According to some embodiments of the present invention, it also includes a linear fixing device 6 for fixing and guiding the endoscope 8 to perform linear feed motion. The slider mechanism 11 is provided with a locking device 7 for fixing one end of the linear fixing device 6, and the other end of the linear fixing device 6 is fixed to one end of the connecting robot arm 5 of the track plate 1.

[0033] For the linear fixing device 6, it can be as follows Figure 1 and Figure 2 A folding door structure similar to that in the prior art as shown in Figure 3 The telescopic umbrella pole structure shown, for more specific structure and working principle, can refer to the structure and working principle of the guiding device in the guiding device and use method for conveying slender equipment in the prior art patent CN109475721A.

[0034] For the locking device 7, if Figure 1 As shown, on the slider mechanism 11, Figure 1The left end shown in the figure is provided with two locking plates 71 which are arranged opposite to each other and spaced apart. Through holes are opened on the two locking plates 71. The locking rods are inserted in the through holes in the horizontal direction. A T-shaped locking plate (not shown) is provided at the right end of the linear fixing device 6. The locking plate is provided with locking holes which pass through the front and back. The locking holes correspond to the holes on the two locking plates 71. The left end of the linear fixing device 6 is fixed to the end of the track plate 1 connected to the mechanical arm 5, that is, Figure 1 The left end of the track plate 1 shown. When the right end of the linear fixture 6 needs to be locked and fixed with the slider mechanism 11, the slider mechanism 11 is moved to the left close to the right end of the linear fixture 6 through the feeding mechanism, so that the locking plate enters the gap between the two locking plates 71, and then the locking rod is passed through the through hole on the locking plate 71, the locking hole and the through hole on the other locking plate 71 in sequence to fix the right end of the linear fixture 6 on the slider mechanism 11. As an alternative embodiment, the locking device 7 and the right end of the linear fixture 6 can also be fixed by a locking device with a magnetic structure.

[0035] When in use, the front end of the endoscope 8 is Figure 1 The right end shown in FIG. 1 is fixed by the slider mechanism 11, specifically, the first transmission mechanism and the second transmission mechanism arranged on the slider mechanism 11. The end of the endoscope 8 is also fixed as shown in FIG. Figure 3 The left end shown passes through the hole on the linear fixture 6 and then extends to the left out of the linear fixture 6, thereby ensuring the linear feeding of the endoscope 8.

[0036] According to some embodiments of the present invention, the track plate 1 is made of shockproof profiles, which can improve the shaking of the entire mechanism when the screw motor is running, thereby improving the stability and safety of the entire system.

[0037] As a replaceable embodiment, the interventional robot of the embodiment of the present invention, the first motion component and the linear fixing device can also adopt the structure of the fixing mechanism of the interventional tool in the patent authorization announcement number CN112168353B and the patent name "An Interventional Tool and Medical Robot for Endoscope" previously applied for and publicly authorized by the applicant; and / or the second motion component can also adopt the structure of the rotating mechanism of the interventional tool in the patent authorization announcement number CN112168353B and the patent name "An Interventional Tool and Medical Robot for Endoscope" previously applied for and publicly authorized by the applicant.

[0038] The embodiment of the present invention further provides an interventional robot, comprising the end effector of the above embodiment and a mechanical arm 5, wherein the end effector is mounted at the end of the mechanical arm 5. As an alternative embodiment, the end effector of the interventional robot of the embodiment of the present invention may also adopt the structure of the interventional tool in the patent authorization announcement number CN112168353B and the patent name "An interventional tool and medical robot for endoscope" previously applied for and publicly authorized by the applicant.

[0039] As for the robot arm 5, a conventional multi-degree-of-freedom robot arm 5 in the prior art may be selected. Figure 1 and Figure 2 As shown, the mechanical arm 5 of the embodiment of the present invention includes a rotary joint and a joint brake (not shown). The end of the rotary joint is also as shown in FIG. Figure 1 The upper right end shown is connected to the lower left end of the track plate 1 on the end actuator. The joint brake is installed at the other end of the rotary joint, that is, Figure 3 The left end of the revolute joint is shown.

[0040] The entire end effector is dragged to a fixed position, i.e., a desired set position, by the robot arm 5 and then locked. The locking is achieved by the joint brake, ensuring that the robot will not be displaced during operation, thereby enhancing safety. Since the end effector of the above embodiment is provided, it has at least all the beneficial effects of the end effector of the above embodiment, and the details are not repeated here.

[0041] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. An end effector of an interventional robot, characterized in that: include: A track plate, on which a screw mechanism and a slider mechanism slidably arranged on the screw mechanism are provided; A first motion assembly, which is disposed on the slider mechanism, the first motion assembly comprising a first motor, a first transmission mechanism connected to the first motor, and a first clutch disposed between the first motor and the first transmission mechanism; A second motion assembly, which is disposed on the slider mechanism, the second motion assembly comprising a second motor, a second transmission mechanism connected to the second motor, and a second clutch disposed between the second motor and the second transmission mechanism; A feeding assembly, comprising a third motor and the screw mechanism provided on the track plate, wherein the third motor is connected to the screw mechanism and is used to control the slider mechanism to perform linear translation along the screw mechanism so as to achieve feeding and retracting movements of the endoscope fixed on the slider mechanism; The first transmission mechanism and the second transmission mechanism are coaxially arranged, spaced apart, and respectively connected to the first section and the second section of the end of the endoscope coaxially to form a transmission assembly, the first section is provided with two steel wires, the two steel wires pass through the through holes provided on the second section and enter into the hose and extend in parallel to the end of the hose and are connected to the front end of the endoscope; When the first transmission mechanism is asynchronous with the second transmission mechanism, that is, they have the same rotation speed but opposite directions, one of the two steel wires stretches outward and the other contracts inward, causing the front end of the endoscope to undergo a pendulum bending motion; when the first transmission mechanism is synchronized with the second transmission mechanism, the endoscope rotates around its own axis.

2. The end effector according to claim 1, characterized in that: The first transmission mechanism comprises: a first pinion gear connected to a driving shaft of the first motor; The first large gear is sleeved on the outer circumference of the first section and meshes with the first small gear.

3. The end effector according to claim 2, characterized in that: The second transmission mechanism comprises: a second pinion gear connected to a drive shaft of the second motor; A second large gear, sleeved on the outer circumference of the second section and meshing with the second small gear; The second large gear and the first large gear are arranged along the same axis with an interval.

4. The end effector according to any one of claims 1 to 3, characterized in that: The first motor and the first clutch are arranged along a first straight line, and the second motor and the second clutch are arranged along a second straight line; The axes of the first transmission mechanism and the second transmission mechanism are along a third straight line; The first straight line, the second straight line and the third straight line are all along the feeding direction, and the first straight line and the second straight line are symmetrically distributed with respect to the third straight line.

5. The end effector according to claim 1, characterized in that: The first clutch and / or the second clutch is a micro electromagnetic clutch.

6. The end effector according to claim 1, characterized in that: It also includes an extreme position mechanism for controlling the third motor to stop, and the extreme position mechanism includes a photoelectric switch arranged on one of the lead screw mechanism and the slider mechanism, and a photoelectric switch baffle arranged on the other of the lead screw mechanism and the slider mechanism.

7. The end effector according to claim 1, characterized in that: It also includes a linear fixing device for fixing and guiding the endoscope to perform linear feeding movement. The slider mechanism is provided with a locking device for fixing one end of the linear fixing device, and the other end of the linear fixing device is fixed to one end of the connecting mechanical arm of the track plate.

8. The end effector according to claim 1, characterized in that: Also included are motor brakes and / or motor drives.

9. An interventional robot, characterized in that: It comprises a robotic arm and the end effector mechanism according to any one of claims 1 to 8, wherein the end effector mechanism is connected to the end of the robotic arm.

10. The interventional robot according to claim 9, characterized in that: The mechanical arm comprises a rotary joint connected to the track plate and a joint brake connected to the rotary joint, wherein the joint brake is used to lock the end actuator at a set position.

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