Rotary drive device and surgical robot

Abstract

The application provides a rotary driving device and a surgical robot, and relates to the field of medical instruments.The rotary driving device comprises a shell, a gear set, a rotating shaft and a motor; the rotating shaft is coaxially arranged in the shell and is used for being connected with a mechanical hand; the motor is arranged in the shell; the motor, the gear set and the rotating shaft are sequentially connected in transmission; and the motor is used for driving the gear set to rotate so as to drive the rotating shaft to rotate. Therefore, the transmission cooperation between the motor and the gear set can drive the rotating shaft to rotate, the transmission performance is stable and reliable, the return difference is avoided, the production cost is effectively reduced, the rotary driving device is simple and compact in structure, and the problem that the existing rotary driving device has large layout limitation is overcome.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically, to a rotary drive device and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limited incision size of minimally invasive instruments significantly increases the difficulty of the procedure, which has become a key factor restricting the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming the shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The patient-side trolley generally includes a preoperative positioning device and an execution device.

[0004] The rotary drive mechanism of the preoperative positioning device is usually composed of a frameless motor and a harmonic reducer. However, frameless motors have high installation requirements and are expensive, and they will produce backlash problems during operation. Therefore, a rotary drive mechanism that can solve the backlash problem and is inexpensive is needed. Summary of the Invention

[0005] This invention provides a rotary drive device and a surgical robot, which effectively reduces production costs. The rotary drive device has a simple and compact structure and avoids backlash.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] In a first aspect, the present invention provides a rotary drive device, comprising:

[0008] shell;

[0009] Gear set;

[0010] A rotating shaft, which is rotatable and coaxially disposed within the housing, is used to connect to a robotic arm;

[0011] The motor is disposed in the housing. The motor, the gear set, and the rotating shaft are sequentially connected in a transmission manner. The motor is used to drive the gear set to rotate, so as to drive the rotating shaft to rotate through the gear set.

[0012] In an optional embodiment, the rotary drive device further includes a limiting member disposed in the housing for limiting the rotation of the shaft.

[0013] In an optional embodiment, the limiting member includes two limiting portions, which are spaced apart circumferentially along the rotating shaft.

[0014] The outer wall of the rotating shaft is provided with a limit block, which is located between two limit parts.

[0015] In an optional embodiment, the rotary drive device further includes a braking mechanism disposed in the housing and connected to the first gear, the braking mechanism being used to stop the first gear from rotating.

[0016] In an optional embodiment, the braking mechanism includes a brake and a brake plate. The brake is disposed on the housing, and the brake plate is disposed on the first gear. Both the brake and the brake plate are sleeved on the outside of the rotating shaft. The brake is used to magnetically attract the brake plate when the power is on or off.

[0017] In an optional embodiment, the rotary drive device further includes a first sensor, which is disposed on the motor and used to acquire the rotation parameters of the motor;

[0018] And / or, the rotary drive device further includes a second sensor disposed in the housing for acquiring the rotation parameters of the shaft.

[0019] In an optional embodiment, the rotary drive device further includes a magnetic ring and a mounting component, the mounting component being disposed on the rotating shaft, the magnetic ring being disposed on the mounting component, and the magnetic ring being disposed correspondingly to the second sensor.

[0020] In an optional embodiment, the rotary drive device further includes a first bearing and / or a second bearing;

[0021] The first bearing is disposed on the housing, and the first bearing is sleeved on one end of the rotating shaft;

[0022] The second bearing is disposed on the housing and sleeved on the other end of the rotating shaft.

[0023] In an optional embodiment, the rotary drive device further includes a tensioning sleeve disposed outside the rotating shaft, and the first gear is mounted outside the tensioning sleeve.

[0024] In a second aspect, the present invention provides a surgical robot, including a column, a cantilever, and a rotary drive device as described in any of the foregoing embodiments. The rotary drive device is disposed on the top of the column and connected to the cantilever, and is used to drive the robotic arm to rotate.

[0025] The beneficial effects of the rotary drive device and surgical robot provided in the embodiments of the present invention include: the rotation of the shaft can be achieved through the transmission cooperation between the motor and the gear set, the transmission performance is stable and reliable, the backlash is avoided, and the production cost is effectively reduced. Moreover, the rotary drive device has a simple and compact structure, overcoming the problem that the existing rotary drive devices have large layout limitations. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the rotary drive device structure provided in an embodiment of the present invention;

[0028] Figure 2 This is a partial structural diagram of the rotary drive device provided in an embodiment of the present invention;

[0029] Figure 3 This is a cross-sectional view of a rotary drive device provided in an embodiment of the present invention.

[0030] Icons: 10-Rotary drive device; 100-Housing; 200-Rotating mechanism; 210-Shaft; 220-First gear; 230-Mounting plate; 240-Tightening sleeve; 250-Limiting block; 300-Drive mechanism; 310-Motor; 320-Second gear; 400-Brake mechanism; 410-Brake; 420-Brake plate; 500-Limiting component; 510-Limiting part; 520-Limiting groove; 600-Sensing mechanism; 610-First sensor; 620-Second sensor; 630-Magnetic ring; 640-Mounting component; 700-Bearing mechanism; 710-First bearing; 720-Second bearing; 730-Bearing mounting base; 740-Safety plate. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0035] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0036] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0037] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0038] Minimally invasive surgery typically consists of a control console for the surgeon, equipment located on the patient's side, and a display device. The surgeon operates the control console to control the equipment on the patient's side to perform the corresponding surgical actions. The equipment on the patient's side usually includes a column, multiple robotic arms, and multiple motion platforms.

[0039] The equipment installed on the patient usually also includes a frameless motor and harmonic reducer to provide power for horizontal rotational motion. However, when manually adjusting the entire rotating component, the frameless motor has high installation requirements, which makes the overall size of the equipment larger and increases installation limitations. Moreover, the use of a frameless motor and harmonic reducer can also produce backlash.

[0040] Based on the above problems, the present invention provides a surgical robot that can effectively solve the above technical problems, which can be applied to the field of medical device technology, and is especially suitable for minimally invasive surgery.

[0041] In this embodiment, the medical device includes a column, a cantilever, and a rotation drive device. The rotation drive device is located on the top of the column and connected to the cantilever, and is used to drive the cantilever to rotate, thereby completing the surgical procedure.

[0042] Please see Figures 1 to 3 The rotary drive device 10 includes a housing 100, a rotating mechanism 200, a drive mechanism 300, a braking mechanism 400, and a gear set. The rotating mechanism 200 is rotatably and coaxially disposed within the housing 100. The drive mechanism 300 is fixedly installed within the housing 100. The braking mechanism 400 is disposed within the housing 100 and connected to the rotating mechanism 200.

[0043] The gear set can be composed of multiple gears connected by transmission, as long as it can enable the drive mechanism 300 to drive the rotating mechanism 200, and no specific limitation is made here. In this embodiment, the gear set includes a first gear 220 and a second gear 320. The first gear 220 is disposed in the rotating mechanism 200, and the second gear 320 is disposed in the drive mechanism 300. The first gear 220 and the second gear 320 mesh.

[0044] In this embodiment, the rotating mechanism 200 is connected to the robotic arm (not shown), so the rotating mechanism 200 can be driven to rotate by the driving mechanism 300, thereby enabling the rotating mechanism 200 to drive the robotic arm to rotate. The braking mechanism 400 is disposed in the housing 100 and connected to the first gear 220. The braking mechanism 400 is used to stop the first gear 220 from rotating, thereby stopping the rotating shaft 210 from rotating, thus improving the controllability of the rotary drive device 10.

[0045] Furthermore, the rotating mechanism 200 includes a rotating shaft 210 and a mounting plate 230. The rotating shaft 210 is movably disposed within the housing 100, and one end of the rotating shaft 210 extends out of the housing 100 and connects to the mounting plate 230. The mounting plate 230 is used to mount the robotic arm so that the robotic arm can be rotated under the drive of the rotating shaft 210. The first gear 220 is fixedly disposed on the outer wall of the rotating shaft 210.

[0046] The drive mechanism 300 includes a motor 310, which is fixedly installed inside the housing 100. A second gear 320 is installed at the output end of the motor 310 and meshes with the first gear 220. Since the motor 310, the gear set and the rotating shaft 210 are sequentially connected for transmission, the second gear 320 can be driven to rotate under the driving action of the motor 310, so that the second gear 320 drives the first gear 220 and the rotating shaft 210 to rotate.

[0047] In this embodiment, compared with the existing rotary drive device 10, the rotary drive device 10 provided by the present invention does not require a frameless motor 310 equipped with a harmonic reducer. It only needs to use an ordinary motor 310 to realize the rotation of the shaft 210, thus effectively reducing the production cost. Moreover, the rotary drive device 10 has a simple and compact structure, overcoming the problem of the existing rotary drive device 10 having large layout limitations. In addition, by using the transmission cooperation between the motor 310, the first gear 220 and the second gear 320, the rotation of the shaft 210 can be realized. Its transmission performance is stable and reliable, effectively overcoming problems such as backlash.

[0048] In addition, the rotating mechanism 200 also includes a tensioning sleeve 240, which is sleeved outside the rotating shaft 210, and the first gear 220 is installed outside the tensioning sleeve 240.

[0049] In this embodiment, the installation stability of the first gear 220 is improved by mounting the first gear 220 on the tensioning sleeve 240.

[0050] Furthermore, the braking mechanism 400 includes a brake 410 and a brake plate 420. The brake 410 is disposed on the housing 100, and the brake plate 420 is disposed on the first gear 220. Both the brake 410 and the brake plate 420 are sleeved on the outside of the rotating shaft 210. The brake 410 is used to magnetically attract the brake plate 420 when the power is on or off.

[0051] In this embodiment, the brake 410 is fixedly mounted on the housing 100 and sleeved on the outside of the rotating shaft 210. It is understood that there is a gap between the brake 410 and the rotating shaft 210. Therefore, during the normal operation of the rotary drive device 10, the rotating shaft 210 rotates relative to the brake 410.

[0052] The brake plate 420 is fixedly mounted on the first gear 220, meaning that the brake plate 420 will rotate with the rotating shaft 210. There is a gap between the brake plate 420 and the brake 410 to avoid friction between the brake plate 420 and the brake 410, which would affect the normal rotation of the rotating shaft 210.

[0053] It should be noted that the brake 410 generates magnetic force to magnetically attract the brake plate 420, thereby achieving a braking effect and stopping the rotation of the shaft 210. During operation, the brake 410 is energized; in this state, the brake 410 does not generate magnetism, and the brake plate 420 can rotate normally under the drive of the shaft 210. However, when the power is off, the brake 410 generates magnetism to brake the brake plate 420. Of course, the conditions for the brake 410 to generate magnetism can also be other settings, which are not specifically limited here.

[0054] Furthermore, the rotary drive device 10 also includes a limiting member 500, which is fixedly disposed in the housing 100 and is used to limit the rotation of the rotating shaft 210.

[0055] In this embodiment, the rotation angle of the rotating shaft 210 is limited by installing a limiting member 500 on the housing 100.

[0056] In detail, the limiting member 500 includes two limiting parts 510, which are spaced apart circumferentially along the rotating shaft 210; a limiting block 250 is provided on the outer wall of the rotating shaft 210, and the limiting block 250 is located between the two limiting parts 510.

[0057] In this embodiment, the limiting member 500 forms a limiting groove 520 through two limiting parts 510. One end of the limiting block 250 is connected to the rotating shaft 210, and the other end extends into the limiting groove 520. The two limiting parts 510 can restrict the circumferential movement of the limiting block 250, thereby restricting the rotation of the rotating shaft 210.

[0058] Specifically, the central angle of the two limiting parts 510 corresponding to the axis of the rotating shaft 210 is 15°. In other words, under the limiting effect of the limiting member 500 on the limiting block 250, the maximum angle of rotation of the rotating shaft 210 in the clockwise or counterclockwise direction is 15°.

[0059] Furthermore, the rotary drive device 10 also includes a sensing mechanism 600, which includes at least one of a first sensor 610 and a second sensor 620.

[0060] In this embodiment, the first sensor 610 is disposed on the motor 310 to acquire the rotation parameters of the motor 310. These rotation parameters are used to indirectly calculate the rotation angle of the shaft 210, thereby determining the specific position of the shaft 210.

[0061] The second sensor 620 is disposed on the housing 100 and is used to acquire the rotation parameters of the rotating shaft 210. The rotation angle of the rotating shaft 210 can be directly calculated using these rotation parameters.

[0062] Therefore, by setting the first sensor 610 and the second sensor 620, the position of the rotating shaft 210 can be effectively obtained, thereby improving the accuracy of the rotation of the rotating shaft 210 and effectively reducing the backlash difference.

[0063] Optionally, the first sensor 610 may be, but is not limited to, an incremental encoder, and the second sensor 620 may be, but is not limited to, an absolute encoder.

[0064] Furthermore, the sensing structure also includes a magnetic ring 630 and a mounting component 640. The mounting component 640 is disposed on the rotating shaft 210, and the magnetic ring 630 is disposed on the mounting component 640. The magnetic ring 630 is disposed correspondingly to the second sensor 620.

[0065] In this embodiment, the magnetic ring 630 is fixedly mounted on the bottom end of the rotating shaft 210 by the mounting member 640 so that the magnetic ring 630 rotates with the rotating shaft 210.

[0066] By setting the magnetic ring 630 to correspond with the second sensor 620, the second sensor 620 can obtain the initial position of the magnetic ring 630 before rotation and the final position after rotation as the magnetic ring 630 rotates with the rotating shaft 210. The angle difference between the magnetic ring 630 at the initial position and the final position of the rotating shaft 210 can be calculated, thereby accurately obtaining the rotation angle of the rotating shaft 210.

[0067] Furthermore, the rotary drive device 10 also includes a bearing mechanism 700, which includes a first bearing 710, a second bearing 720, and a bearing mounting base 730. It should be noted that only one of the first bearing 710 and the second bearing 720 may be provided, or both the first bearing 710 and the second bearing 720 may be provided simultaneously. No specific limitation is made here.

[0068] In this embodiment, the first bearing 710 is disposed on the housing 100 and sleeved on the top end of the rotating shaft 210; the bearing mounting seat 730 is installed on the housing 100, and the second bearing 720 is disposed on the bearing mounting seat 730 and sleeved on the bottom end of the rotating shaft 210.

[0069] Therefore, by setting the first bearing 710 and the second bearing 720, the rotating shaft 210 can rotate relative to the housing 100. The first bearing 710 and the second bearing 720 are respectively connected to the two ends of the rotating shaft 210, which can improve the rotational stability of the rotating shaft 210.

[0070] Optionally, the first bearing 710 may be, but is not limited to, a crossed roller bearing, and the second bearing 720 may be, but is not limited to, a deep groove ball bearing.

[0071] It should be noted that the limiting component 500 and the second sensor 620 are fixedly installed on the bearing mounting base 730.

[0072] Furthermore, a safety plate 740 is also provided on the bearing mounting base 730. The safety plate 740 is located at the bottom end of the rotating shaft 210 and covers the second sensor 620, which can protect the second sensor 620.

[0073] In summary, the embodiments of the present invention provide a rotary drive device 10 and a surgical robot. A motor 310 drives a second gear 320 to rotate, which in turn drives a first gear 220 to rotate. The first gear 220 then drives a rotating shaft 210 to rotate, ultimately causing the mounting plate 230 at the top of the rotating shaft 210 to rotate, thus completing the corresponding surgical action. By de-energizing the brake 410 to generate magnetism, the brake plate 420 is magnetically braked, ensuring the rotating shaft 210 stops rotating promptly when needed, reducing backlash. The maximum rotation range of the rotating shaft 210 is limited by the cooperation of the limiting member 500 and the limiting block 250. The rotational position of the rotating shaft 210 is detected by the first sensor 610 and the second sensor 620, thereby improving the rotational accuracy of the rotating shaft 210.

[0074] Therefore, the rotary drive device 10 and surgical robot provided by the present invention effectively reduce production costs. The rotary drive device 10 has a simple and compact structure, overcomes the problem of large layout limitations of existing rotary drive devices 10, and has stable and reliable transmission performance, avoiding backlash.

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A rotary drive device, characterized in that, include: shell; Gear set; A rotating shaft, which is rotatable and coaxially disposed within the housing, is used to connect to a robotic arm. The motor is disposed in the housing, and the motor, the gear set and the rotating shaft are sequentially connected in a transmission manner. The motor is used to drive the gear set to rotate, so as to drive the rotating shaft to rotate through the gear set. The gear set includes a first gear and a second gear. The first gear is disposed on the rotating shaft, and the second gear is disposed at the output end of the motor. The first gear meshes with the second gear. The rotary drive device further includes a braking mechanism, which is disposed in the housing and connected to the first gear, and is used to stop the first gear from rotating. The braking mechanism includes a brake and a brake plate. The brake is disposed on the housing, and the brake plate is disposed on the first gear. Both the brake and the brake plate are sleeved on the outside of the rotating shaft. The brake is used to magnetically attract the brake plate when the power is on or off.

2. The rotary drive device according to claim 1, characterized in that, The rotary drive device also includes a limiting member disposed in the housing, which is used to limit the rotation of the rotating shaft.

3. The rotary drive device according to claim 2, characterized in that, The limiting member includes two limiting parts, which are spaced apart circumferentially along the rotating shaft; The outer wall of the rotating shaft is provided with a limit block, which is located between two limit parts.

4. The rotary drive device according to claim 1, characterized in that, The rotary drive device further includes a first sensor, which is disposed on the motor and used to acquire the rotation parameters of the motor. And / or, the rotary drive device further includes a second sensor disposed in the housing for acquiring the rotation parameters of the shaft.

5. The rotary drive device according to claim 4, characterized in that, The rotary drive device further includes a magnetic ring and a mounting component. The mounting component is disposed on the rotating shaft, and the magnetic ring is disposed on the mounting component. The magnetic ring is disposed correspondingly to the second sensor.

6. The rotary drive device according to claim 1, characterized in that, The rotary drive device further includes a first bearing and / or a second bearing; The first bearing is disposed on the housing, and the first bearing is sleeved on one end of the rotating shaft; The second bearing is disposed on the housing and sleeved on the other end of the rotating shaft.

7. The rotary drive device according to claim 1, characterized in that, The rotary drive device further includes a tensioning sleeve, which is disposed outside the rotating shaft, and the first gear is mounted outside the tensioning sleeve.

8. A surgical robot, characterized in that, It includes a column, a cantilever, and a rotary drive device as described in any one of claims 1-7, wherein the rotary drive device is disposed on the top of the column, connected to the cantilever, and used to drive the cantilever to rotate.

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