A robotic arm of an instrument with an adjustable joint device

Abstract

The present invention relates to an instrument robotic arm with an adjustable joint device, which solves the technical problems in the existing minimally invasive surgical robot system that when the patient operating console interferes with the active part of the instrument robotic arm, the surgical instrument is first withdrawn, the active part of the instrument robotic arm is retracted, the passive part is rearranged, and then the position of the active part is adjusted to eliminate the interference between the active part and the patient's body. Then, the active part of the instrument robotic arm is unfolded, and further, the operating end of the surgical instrument is inserted into the patient's body, which wastes a lot of time, the operation process is complex, increases the surgical risk, and reduces the surgical safety. It includes a passive part, an active part, and an adjustable joint device, and the adjustable joint device is connected between the passive part and the active part.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive surgical instruments, and more particularly to an instrument robotic arm with an adjustable joint device. Background Art

[0002] Referring to the Chinese patent application with publication number CN109091237A and title "Minimally Invasive Surgical Instrument Assistance System", minimally invasive surgery represented by laparoscopy is regarded as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgical operation means that a doctor uses a slender surgical tool to penetrate into the body through a small incision on the body surface for surgical operation. Compared with traditional open surgery, it has the advantages of small surgical incisions, less bleeding, small postoperative scars, and fast recovery time, which greatly reduces the pain suffered by patients; therefore, minimally invasive surgery is widely used in clinical operations.

[0003] Referring to the invention patent with publication number CN112914683A and the invention patent with publication number CN111700683A, surgical instruments perform different functions, including clamping, resection, cutting, suturing, anastomosis, etc. Surgical instruments have different configurations, which include an execution end, a wrist joint, an instrument rod, an instrument box, etc.

[0004] Referring to the Chinese patent application with publication number CN112370168A and title "Minimally Invasive Surgical Robot System", the minimally invasive surgical robot system includes a doctor operation console and a patient operation console. The surgeon precisely controls the surgical instrument on the instrument robotic arm of the patient operation console by operating the control end operating arm in the doctor operation console to perform various surgical actions. Usually, two instrument robotic arms are used, that is, one instrument robotic arm is composed of a left instrument passive arm 1.7 and a left instrument active arm 1.10, and another instrument robotic arm is composed of a right instrument passive arm 1.8 and a right instrument active arm 1.12. In the preoperative adjustment stage, the left instrument passive arm 1.7 is adjusted so that the distal fixed point of the left instrument active arm 1.10 coincides with the puncture hole, and the right instrument passive arm 1.8 is adjusted so that the distal fixed point of the right instrument active arm 1.12 coincides with the puncture hole. At the same time, not only should interference between the left instrument passive arm 1.7 and the right instrument passive arm 1.8 be avoided, but also as much space as possible should be left between the left instrument active arm 1.10 and the right instrument active arm 1.12 to avoid collision between the two. It can be seen that the structural layout of the left instrument passive arm 1.7 and the right instrument passive arm 1.8 is particularly important.

[0005] However, due to the extremely complex clinical surgical situations, individual differences among patients, and various surgical procedures, simply adjusting the passive part of the instrument robotic arm (the left instrument passive arm 1.7 or the right instrument passive arm 1.8) cannot guarantee meeting all clinical requirements. During the operation, there may be a situation where the active part of the instrument robotic arm (the left instrument active arm 1.10 or the right instrument active arm 1.12) interferes with the patient's body, resulting in the surgical instrument being unable to reach the designated position to complete the corresponding surgical actions. At this time, in order to complete the operation, medical staff can only temporarily stop the operation, first withdraw the surgical instrument, retract the active part of the instrument robotic arm, re-arrange the passive part, and then adjust the position of the active part to eliminate the interference between the active part and the patient's body. Then, expand the active part of the instrument robotic arm, further insert the execution end of the surgical instrument into the patient's body, and then continue the operation. This wastes a large amount of time, not only the operation process is complex, but also the surgical risk is increased and the surgical safety is reduced. Summary of the Invention

[0006] The present invention aims to solve the technical problem that in the existing minimally invasive surgical robot system, when the active part of the instrument robotic arm interferes with the patient's body, the operation process of first withdrawing the surgical instrument, retracting the active part of the instrument robotic arm, re-arranging the passive part, and then adjusting the position of the active part to eliminate the interference between the active part and the patient's body, and then expanding the active part of the instrument robotic arm and further inserting the execution end of the surgical instrument into the patient's body wastes a large amount of time, the operation process is complex, the surgical risk is increased, and the surgical safety is reduced. The present invention provides an instrument robotic arm with an adjustment joint device that can directly adjust the active part of the instrument robotic arm during the operation.

[0007] The present invention provides a robotic arm of an instrument with an adjustable joint device, which includes a passive part, an active part, and an adjustable joint device. The adjustable joint device includes a housing, a bearing gland, a first bearing, a second bearing, a first wire wheel, a secondary shaft, a connecting seat, a transfer rod housing, a guide wheel, a brake, a sleeve, a bent seat, an adjustable joint main shaft, a guide rod, an adjusting nut, a second wire wheel, a steel wire, a third bearing, and a fourth bearing. The bearing gland is fixedly connected to the upper part of the left end of the housing. The bearing gland is provided with a bearing chamber. The first bearing is connected to the bearing chamber of the bearing gland. The lower part of the left end of the housing is provided with a bearing chamber. The second bearing is connected to the bearing chamber at the lower part of the left end of the housing. The upper end of the secondary shaft is connected to the first bearing, and the lower end of the secondary shaft is connected to the second bearing. The lower end of the secondary shaft extends out of the housing. The connecting seat is fixedly connected to the lower end of the secondary shaft. The transfer rod housing is fixedly connected to the connecting seat. The first wire wheel is fixedly connected to the middle part of the secondary shaft. The first wire wheel is located inside the housing. The sleeve is sleeved on the adjustable joint main shaft and fixedly connected. The inclined part of the bent seat is provided with a mounting hole. The sleeve is inserted into the mounting hole of the inclined part of the bent seat and fixedly connected. The upper part of the right end of the housing is provided with an upper bearing chamber. The lower part of the right end of the housing is provided with a lower bearing chamber. The third bearing is connected to the upper bearing chamber. The fourth bearing is connected to the lower bearing chamber. The upper part of the sleeve is connected to the third bearing. The lower part of the sleeve is connected to the fourth bearing. The upper part of the sleeve passes through the upper part of the housing, and the lower part of the sleeve passes through the lower part of the housing. The brake is connected to the bottom of the right end of the housing. The brake is provided with a brake rotor and a brake stator. The brake rotor is fixedly connected to the lower end of the adjustable joint main shaft. The second wire wheel is connected to the middle part of the sleeve. The second wire wheel is located inside the housing. The steel wire is connected between the second wire wheel and the first wire wheel. The middle part of the housing is provided with a guide hole. The guide rod passes through the guide hole to achieve a sliding connection with the middle part of the housing. The upper end of the guide rod is located outside the housing, and the lower end of the guide rod is located inside the housing. The upper end of the guide rod is provided with an external thread. The adjusting nut is connected and matched with the external thread. The guide wheel is connected to the lower end of the guide rod. The guide wheel is located inside the housing. The steel wire bypasses the guide wheel. The diameters of the first wire wheel and the second wire wheel are the same. The axis of the secondary shaft intersects with the axis of the adjustable joint main shaft. The end of the bent seat is fixedly connected to the free end of the passive part. The free end of the transfer rod housing is fixedly connected to the support arm of the active part. The axis of the adjustable joint main shaft intersects with the rotation axis of the active part at the RCM point.

[0008] Preferably, the first bearing, the second bearing, the third bearing, and the fourth bearing are all angular contact bearings.

[0009] Preferably, the bottom of the transfer rod housing is provided with an opening. The cover is connected to the bottom of the transfer rod housing by screws, and the cover covers the opening.

[0010] Preferably, an outer housing gland is detachably connected to the bottom at the middle position of the housing.

[0011] The beneficial effects of the present invention are as follows: during the operation, the active part of the instrument manipulator can be directly adjusted, so that the spatial attitude of the active part of the instrument manipulator can be quickly changed within a short time, without the need to withdraw the instrument to redeploy the passive part of the instrument manipulator. It can effectively avoid the collision between the manipulator and the patient's body and will not cause harm to the patient. When the manipulator collides with the patient's body but still cannot make the instrument reach the ideal position, the adjustment joint can be used to re-layout the active part of the manipulator. The improved instrument manipulator can not only improve the safety and effectiveness of existing surgeries, but also broaden the surgical procedures and complete various difficult clinical surgeries.

[0012] Further features of the present invention will be clearly described in the following description of specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of the adjustment joint device;

[0014] Figure 2 is Figure 1 In the structure shown, the first wire wheel is connected to the second wire wheel through a steel wire, and the schematic diagram of the guide wheel cooperating with the steel wire;

[0015] Figure 3 is the schematic principle diagram of the adjustment joint device;

[0016] Figure 4 is the external shape diagram of the adjustment joint device;

[0017] Figure 5 is the schematic structural diagram of the adjustment joint device installed on the instrument manipulator.

[0018] Symbol description in the figure:

[0019] 1. Housing, 2. Bearing gland, 3. First angular contact bearing, 4. First wire wheel, 5. Locking nut, 6. Slave shaft, 7. Connecting seat, 8. Adapter rod housing, 9. Cover, 10. Outer housing gland, 11. Guide wheel, 12. Brake rotor, 13. Brake stator, 14. Brake pressure cylinder, 15. Sleeve, 16. Bent seat, 17. Adjustment joint main shaft, 18. Guide rod, 19. Adjusting nut. 20. Second angular contact bearing, 21. Second wire wheel, 22. Steel wire, 23. Third angular contact bearing, 24. Fourth angular contact bearing; 100-1. Passive part of the instrument manipulator, 100-2. Active part of the instrument manipulator, 100-2-1. Support arm. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] As Figure 1 , 2As shown in Figures 3 and 4, the adjustment joint device includes a housing 1, a bearing gland 2, a first angular contact bearing 3, a second angular contact bearing 20, a first wire wheel 4, a secondary shaft 6, a connecting seat 7, a transfer rod housing 8, a guide wheel 11, a brake, a sleeve 15, a bent seat 16, an adjustment joint main shaft 17, a guide rod 18, an adjusting nut 19, a second wire wheel 21, a steel wire 22, a third angular contact bearing 23, and a fourth angular contact bearing 24. The bearing gland 2 is fixedly connected to the upper part of the left end of the housing 1 by screws. The bearing gland 2 is provided with a bearing chamber, and the first angular contact bearing 3 is installed in the bearing chamber of the bearing gland 2. The lower part of the left end of the housing 1 is provided with a bearing chamber, and the second angular contact bearing 20 is installed in the bearing chamber at the lower part of the left end of the housing 1. The upper end of the secondary shaft 6 is connected to the first angular contact bearing 3, and the lower end of the secondary shaft 6 is connected to the second angular contact bearing 20. The secondary shaft 6 can rotate under the support of the first angular contact bearing 3 and the second angular contact bearing 20. The lower end of the secondary shaft 6 extends out of the housing 1, and the connecting seat 7 is fixedly connected to the lower end of the secondary shaft 6. The transfer rod housing 8 is fixedly connected to the connecting seat 7 by screws; the bottom of the transfer rod housing 8 is provided with an opening, and a cover 9 is connected to the bottom of the transfer rod housing 8 by screws, and the cover 9 covers the opening (removing the cover 9 facilitates maintenance). The first wire wheel 4 is fixedly connected to the middle part of the secondary shaft 6 by a locking nut 5, and the first wire wheel 4 is located inside the housing 1. The sleeve 15 is sleeved on the adjustment joint main shaft 17 and fixedly connected. The inclined part of the bent seat 16 is provided with a mounting hole, and the sleeve 15 is inserted into the mounting hole of the inclined part of the bent seat 16 and fixedly connected by interference fit. The upper part of the right end of the housing 1 is provided with an upper bearing chamber, and the lower part of the right end of the housing 1 is provided with a lower bearing chamber. The third angular contact bearing 23 is installed in the upper bearing chamber, and the fourth angular contact bearing 24 is installed in the lower bearing chamber. The upper part of the sleeve 15 is connected to the third angular contact bearing 23, and the lower part of the sleeve 15 is connected to the fourth angular contact bearing 24. The upper part of the sleeve 15 passes through the upper part of the housing 1, and the lower part of the sleeve 15 passes through the lower part of the housing 1. The brake is provided with a brake pressure cylinder 14, a brake rotor 12, and a brake stator 13. The brake is installed at the bottom of the right end of the housing 1 by the brake pressure cylinder 14, and the brake rotor 12 is fixedly connected to the lower end of the adjustment joint main shaft 17. The second wire wheel 21 is connected to the middle part of the sleeve 15, and the second wire wheel 21 is located inside the housing 1. The steel wire 22 is connected between the second wire wheel 21 and the first wire wheel 4. The middle part of the housing 1 is provided with a guide hole, and the guide rod 18 passes through the guide hole to achieve sliding connection with the middle part of the housing 1. The upper end of the guide rod 18 is located outside the housing 1, and the lower end of the guide rod 18 is located inside the housing 1. The upper end of the guide rod 18 is provided with an external thread, and the adjusting nut 19 is connected and matched with the external thread. The guide wheel 11 is connected to the lower end of the guide rod 18, and the guide wheel 11 is located inside the housing 1. The steel wire 22 bypasses the guide wheel 11. By screwing the adjusting nut 19, the guide rod 18 can slide to adjust the position of the guide wheel 11.

[0022] The diameters of the first wire wheel 4 and the second wire wheel 21 are the same, and the transmission ratio of the slave shaft 6 to the adjusting joint main shaft 17 is 1:1. Since the axes of the slave shaft 6 and the adjusting joint main shaft 17 intersect, the first wire wheel 4 and the second wire wheel 21 are not in the same plane. The guide wheel 11 can not only change the transmission direction of the steel wire, but also play a tensioning role. By adjusting the position of the guide wheel 11 with the adjusting nut 19, the tensioning degree can be adjusted to ensure a constant transmission ratio.

[0023] An outer shell gland 10 can be provided at the bottom of the middle position of the housing 1. The outer shell gland 10 is detachably connected to the bottom of the middle position of the housing 1. Removing the outer shell gland 10 can expose the guide wheel 11, facilitating maintenance work.

[0024] As Figure 5 shown, when applying the above-mentioned adjusting joint device, the end of the bent seat 16 is fixedly connected to the free end of the passive part 100-1 of the instrument manipulator, and the free end of the adapter rod housing 8 is fixedly connected to the support arm 100-2-1 of the active part 100-2 of the instrument manipulator. In this way, a joint is added between the active part and the passive part of the instrument manipulator, that is, a degree of freedom is added. Refer to Figure 3 , the RCM point represents the distal fixed point of the manipulator. During preoperative positioning, this point coincides with the puncture hole on the patient's body. During the operation, the surgical instrument moves around this point without pulling the epidermis near the patient's puncture hole. The axis of the adjusting joint main shaft 17 is the rotation axis of the adjusting joint device. The rotation axis of the active part 100-2 of the instrument manipulator intersects with the rotation axis of the adjusting joint device at the RCM point. In this way, when adjusting the posture of the active part 100-2 of the instrument manipulator, the entire manipulator also always rotates around the RCM point, so that the position of the active part 100-2 of the instrument manipulator can be directly adjusted during the operation, without having to completely withdraw the surgical instrument and without having to retract the active part 100-2 of the instrument manipulator. During the operation, when the active part 100-2 of the instrument manipulator interferes with the patient's body, the medical staff holds the housing 1 by hand and manually rotates the housing 1. When the rotation angle of the housing 1 is α, the rotation angle of the slave shaft 6 through wire transmission is -α, that is, the rotation angle of the active part 100-2 of the instrument manipulator is -α. In this way, it can be ensured that the posture of the active part 100-2 of the instrument manipulator as a whole remains unchanged while the spatial position changes, without having to withdraw the surgical instrument and without having to retract the active part 100-2 of the instrument manipulator, eliminating the interference with the patient's body. Finally, the brake is turned on and the housing 1 is locked and cannot rotate.

[0025] It can be seen that the active part 100-2 of the instrument manipulator can complete the posture adjustment in a relatively short time during the operation, ensuring the smooth operation without completely withdrawing the instrument. In this way, the operation time is saved, the operation risk is reduced, the operation safety is improved, the continuity, safety and effectiveness of the operation are fundamentally guaranteed, and it is conducive to the complete recovery of the patient.

[0026] On the basis of existing technology, the introduction of the adjustment joint device provides more possibilities for the rearrangement of the active part of the robot arm, thus bringing a series of advantages. First, the surgical operation space of the robotic surgical system is increased in disguise, so that the activity space of the surgical instrument becomes larger, and surgical operations can be performed in a larger range. The size of the active space of the instrument robot arm remains unchanged. By changing the spatial posture of its rotation axis, the position of its activity space can be effectively changed, thereby increasing the operating space of the robotic surgical system in disguise. Secondly, it can effectively avoid the collision between the robot arm and the patient's body and will not cause harm to the patient. Finally, the re-layout time of the active part of the robotic arm is short and can be completed within 5 minutes. It will not have an adverse effect on the safety and effectiveness of the operation, ensuring that the operation continues to be completed smoothly.

[0027] It should be noted that the four angular contact bearings in the adjustment joint device are a preferred choice, and these four bearings may also be bearings of other structures.

[0028] The above schematically describes the present invention and its embodiments, which are not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it, without departing from the purpose of the invention, other forms of part configurations, drive devices and connection methods, and structures and embodiments similar to the technical solution without creative design should all fall within the scope of protection of the present invention.

Claims

1. An instrument robotic arm with an adjustable joint device, characterized in that, It includes a passive part, an active part and an adjustment joint device. The adjustment joint device includes a housing, a bearing gland, a first bearing, a second bearing, a first wire wheel, a secondary shaft, a connecting seat, a transfer rod housing, a guide wheel, a brake, a sleeve, a bent seat, an adjustment joint main shaft, a guide rod, an adjusting nut, a second wire wheel, a steel wire, a third bearing and a fourth bearing. The bearing gland is fixedly connected to the upper part of the left end of the housing. The bearing gland is provided with a bearing chamber. The first bearing is connected to the bearing chamber of the bearing gland. The lower part of the left end of the housing is provided with a bearing chamber. The second bearing is connected to the bearing chamber at the lower part of the left end of the housing. The upper end of the secondary shaft is connected to the first bearing. The lower end of the secondary shaft is connected to the second bearing. The lower end of the secondary shaft extends out of the housing. The connecting seat is fixedly connected to the lower end of the secondary shaft. The transfer rod housing is fixedly connected to the connecting seat. The first wire wheel is fixedly connected to the middle part of the secondary shaft. The first wire wheel is located inside the housing. The sleeve is sleeved on the adjustment joint main shaft and fixedly connected. The inclined part of the bent seat is provided with a mounting hole. The sleeve is inserted into the mounting hole in the inclined part of the bent seat and fixedly connected. The upper part of the right end of the housing is provided with an upper bearing chamber. The lower part of the right end of the housing is provided with a lower bearing chamber. The third bearing is connected to the upper bearing chamber. The fourth bearing is connected to the lower bearing chamber. The upper part of the sleeve is connected to the third bearing. The lower part of the sleeve is connected to the fourth bearing. The upper part of the sleeve passes through the upper part of the housing. The lower part of the sleeve passes through the lower part of the housing. The brake is connected to the bottom of the right end of the housing. The brake is provided with a brake rotor and a brake stator. The brake rotor is fixedly connected to the lower end of the adjustment joint main shaft. The second wire wheel is connected to the middle part of the sleeve. The second wire wheel is located inside the housing. The steel wire is connected between the second wire wheel and the first wire wheel. The middle part of the housing is provided with a guide hole. The guide rod passes through the guide hole to achieve sliding connection with the middle part of the housing. The upper end of the guide rod is located outside the housing. The lower end of the guide rod is located inside the housing. The upper end of the guide rod is provided with an external thread. The adjusting nut is connected and matched with the external thread. The guide wheel is connected to the lower end of the guide rod. The guide wheel is located inside the housing. The steel wire bypasses the guide wheel. The diameters of the first wire wheel and the second wire wheel are the same. The axis of the secondary shaft intersects with the axis of the adjustment joint main shaft. The end of the bent seat is fixedly connected to the free end of the passive part. The free end of the transfer rod housing is fixedly connected to the support arm of the active part. The axis of the adjustment joint main shaft intersects with the rotation axis of the active part at the RCM point.

2. The robotic arm of the instrument with an adjustable joint device according to claim 1, characterized in that, The first bearing, the second bearing, the third bearing and the fourth bearing are all angular contact bearings.

3. The robotic arm of the instrument with an adjustable joint device according to claim 1, characterized in that, The bottom of the transfer rod housing is provided with an opening. The cover is connected to the bottom of the transfer rod housing by screws. The cover covers the opening.

4. The robotic arm of the instrument with an adjustable joint device according to claim 1, characterized in that, The outer housing gland is detachably connected to the bottom at the middle position of the housing.

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