A medical robot end effector and system

Abstract

This invention discloses a medical robot end effector, comprising a housing, a transmission assembly, and an end effector platform. The transmission assembly includes a first transmission bevel gear and a second transmission bevel gear. The end effector platform is a parallel spherical motion mechanism comprising irregularly shaped connecting rods and a working platform. A driver rotates the first transmission bevel gear, which in turn rotates the meshing second transmission bevel gear. Multiple sets of second transmission bevel gears are rotatably coaxially stacked and drive the irregularly shaped connecting rods to rotate. The multiple sets of irregularly shaped connecting rods rotate around a reference sphere, and the other end of the irregularly shaped connecting rods is rotatably connected to the working platform. This allows the working platform to flexibly adjust its position and posture around the center of the reference sphere at multiple angles. The working platform can be connected to an actuator to achieve the therapeutic purpose of the medical robot. This invention uses first and second transmission bevel gears to transmit power, which helps reduce vibration and noise generation. This invention also provides a medical robot end effector system.

Description

Technical Field

[0001] This invention relates to the field of medical devices and related facilities, and in particular to a medical robot end effector and system. Background Technology

[0002] For a long time, endoscopic surgical instruments based on continuum robots have been commonly used in minimally invasive surgery, precision device flaw detection, and other tasks requiring image perception in unstructured, confined spaces. Continuum-based endoscopic surgical instruments possess excellent continuous passive compliant adaptability, enabling them to flexibly conform to the shapes of various cavities (channels) within the human body during minimally invasive surgery, thereby greatly improving surgical safety and comfort. Unlike capsule endoscopes, continuum-based endoscopes have a base connected to the outside of the body, providing sufficiently large interaction forces and flexible drive units for the endoscope tip. Therefore, they are often used to mount actuators such as grippers and scissors, becoming minimally invasive surgical instruments. To further improve the ability of minimally invasive surgical robots to acquire images and perform surgical operations on the human body, increase the working angle range of the end effector, and enhance the flexibility of the end effector, the design of the mechanical structure of the endoscope tip has become a research hotspot.

[0003] Existing endoscope tip mechanical structure designs include Chinese patent CN219109551U, which describes a design for installing a puncture mechanism at the end of a continuum robot. This patent does not make significant changes to the end, and its working angle is highly coupled with the continuum robot. Chinese patent CN116211468A designs a structure that uses a pull wire to drive the end-effector platform to rotate, improving the flexibility of biopsy procedures. However, it only adds one rotation and does not improve the working angle range. International patent WO2020135748A1 adds a structure with rotational degrees of freedom perpendicular to the continuum's central axis between the continuum robot's end and the biopsy forceps base. However, the overall working angle range still largely depends on the bending of the continuum robot itself and is limited by the continuum's minimum bending radius. In confined working spaces, the actual working angle range is often less than expected. As can be seen from the aforementioned patents and related literature, due to size limitations, the end effector of minimally invasive surgical robots cannot utilize the motor joints commonly found in industrial robots to increase degrees of freedom. When using the rope drive, a common feature in minimally invasive robots, to add two or more degrees of freedom to the end effector, phenomena such as motion coupling and entanglement occur between the drive ropes of different degrees of freedom. Literature review indicates that parallel mechanisms, with their independent drive mechanisms, can be used to avoid the problems of motion coupling and entanglement of drive ropes. Chinese patent CN116079701A describes a rope-driven six-degree-of-freedom serial-parallel robotic arm with a gear-spherical parallel end effector. This patent uses three coaxial rotary joints to drive the spherical parallel mechanism; however, each branch of the mechanism used in the patent contains two solid links, resulting in a complex structure that is not conducive to miniaturization and is prone to reaching and traversing singularities during movement, altering the mechanism's configuration. The Chinese patent with publication number CN109703654A uses a spherical parallel mechanism with a single solid link as the branch, but its driving method is difficult to miniaturize and cannot be directly used in the end platform of minimally invasive surgical robots.

[0004] Based on the analysis of the aforementioned technologies, the inventors believe that an end-effector platform capable of multi-degree-of-freedom flexible rotation can greatly improve the performance of minimally invasive surgical robots, and is an important problem that urgently needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a medical robot end effector and system to solve the problems existing in the prior art, enabling the medical robot end effector to drive the actuator to rotate flexibly, increasing the working angle range of the medical robot end effector, while making the structure compact, saving space, facilitating the integration of the medical robot end effector, and improving the adaptability of the medical robot.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] This invention provides a medical robot end effector, comprising:

[0008] A housing, wherein a driver is disposed within the housing;

[0009] The transmission assembly includes a first transmission bevel gear and a second transmission bevel gear. Both the first transmission bevel gear and the second transmission bevel gear are rotatably disposed within the housing. The first transmission bevel gear is connected to the driver. There are multiple sets of the first transmission bevel gears. The second transmission bevel gears mesh with the first transmission bevel gears and correspond one-to-one. All the second transmission bevel gears are rotatably coaxially stacked.

[0010] The end-effector platform includes a shaped connecting rod and a working platform. One end of the shaped connecting rod is rotatably connected to the second transmission bevel gear, and the two correspond one-to-one. The other end of the shaped connecting rod is rotatably connected to the working platform. The motion trajectory of the shaped connecting rod forms a sphere. The sphere containing the sphere formed by the motion trajectory of the shaped connecting rod is used as a reference sphere. The rotation axes of the shaped connecting rod and the second transmission bevel gear, and the rotation axes of the shaped connecting rod and the working platform, all pass through the center of the reference sphere. The working platform can be connected to the medical robot actuator.

[0011] Preferably, the housing includes a first sub-shell and a second sub-shell, the first sub-shell and the second sub-shell are detachably connected, and the driver, the first transmission bevel gear and the second transmission bevel gear are all located within the space enclosed by the first sub-shell and the second sub-shell.

[0012] Preferably, the second shell has a connecting block, and the outer wall of the first shell has a connecting groove adapted to the connecting block. The connecting block extends into the connecting groove to realize the plug-in connection between the first shell and the second shell. The first shell and the second shell are also connected by bolts.

[0013] Preferably, the second transmission bevel gear is connected to a transmission ring, which can drive the transmission ring to rotate. The transmission ring is provided with a connecting element, which is rotatably connected to the irregular connecting rod. The transmission rings correspond one-to-one with the second transmission bevel gears, and all the transmission rings are rotatably coaxially stacked.

[0014] Preferably, the second transmission bevel gear is connected to the transmission ring via a tenon and mortise structure.

[0015] Preferably, the transmission assembly further includes a transmission winding, which is wound around the gear shaft of the first transmission bevel gear and connected to the driver.

[0016] Preferably, a torsion spring is also provided between the gear shaft of the first transmission bevel gear and the housing.

[0017] Preferably, the transmission assembly further includes a gear cover fixed inside the housing. The gear cover includes a base and a mounting post disposed on the base. The base has a mounting hole adapted to the gear shaft of the first transmission bevel gear. The gear shaft of the first transmission bevel gear is rotatably disposed in the mounting hole, and the first transmission bevel gear corresponds one-to-one with the mounting hole. Among the second transmission bevel gears coaxially stacked, the innermost second transmission bevel gear is rotatably sleeved on the mounting post.

[0018] Preferably, ball bearings are provided between adjacent second transmission bevel gears and between the innermost second transmission bevel gear and the mounting post.

[0019] The present invention also provides a medical robot end effector system, including an actuator and the aforementioned medical robot end effector mechanism, wherein the actuator is connected to the working platform and is located on the side of the working platform away from the irregular connecting rod.

[0020] The present invention achieves the following technical advantages over the prior art: The end effector of the medical robot of the present invention includes a housing, a transmission assembly, and an end effector platform. A driver is disposed within the housing. The transmission assembly includes a first transmission bevel gear and a second transmission bevel gear, both rotatably disposed within the housing. The first transmission bevel gear is connected to the driver via transmission. Multiple sets of first transmission bevel gears are present. The second transmission bevel gears mesh with the first transmission bevel gears and correspond one-to-one. All second transmission bevel gears are rotatably coaxially stacked. The end effector platform is a parallel spherical motion mechanism including a shaped connecting rod and a working platform. One end of the shaped connecting rod is rotatably connected to the second transmission bevel gear, and the other end is rotatably connected to the working platform. The motion trajectory of the shaped connecting rod forms a sphere. The sphere containing the sphere formed by the motion trajectory of the shaped connecting rod is used as a reference sphere. The rotation axes of the shaped connecting rod and the second transmission bevel gear, and the rotation axes of the shaped connecting rod and the working platform, both pass through the center of the reference sphere. The working platform can be connected to the medical robot actuator.

[0021] The end effector mechanism of the medical robot of the present invention uses a driver to rotate a first transmission bevel gear, which in turn drives a meshing second transmission bevel gear to rotate. Multiple sets of second transmission bevel gears are rotatably coaxially stacked and drive irregularly shaped connecting rods to rotate. These connecting rods rotate around a reference sphere, and the other end of each connecting rod is rotatably connected to a working platform. This allows the working platform to flexibly adjust its position and posture around the center of the reference sphere at multiple angles. The working platform can be connected to an execution mechanism to achieve the therapeutic purpose of the medical robot. The end effector mechanism of the medical robot of the present invention uses a first and second transmission bevel gear to transmit power, enabling a change in the transmission direction. This helps reduce vibration and noise generation, and the compact structure saves space, achieving miniaturization and improving adaptability. The housing provides stable support for the transmission components and the end effector platform, ensuring the structural integrity and operational reliability of the mechanism.

[0022] The present invention also provides a medical robot end effector system, including an actuator and the aforementioned medical robot end effector mechanism. The actuator is connected to a working platform to drive the actuator to rotate, thereby achieving the therapeutic purpose of the medical robot and improving the flexibility and adaptability of the medical robot. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the end effector of the medical robot provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the disassembled structure of the end effector of the medical robot provided in an embodiment of the present invention;

[0026] Figure 3 This is a partial structural schematic diagram of the end effector of a medical robot provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of another part of the end effector mechanism of the medical robot provided in an embodiment of the present invention.

[0028] In the image: 100, the end effector of a medical robot;

[0029] 1. Shell; 101. First shell; 102. Second shell; 103. Connecting block; 104. Connecting groove;

[0030] 2. Transmission assembly; 201. First transmission bevel gear; 202. Second transmission bevel gear; 203. Transmission ring; 204. Connecting element; 205. Transmission winding; 206. Gear cover;

[0031] 3. End platform; 301. Irregular connecting rod; 302. Working platform. Detailed Implementation

[0032] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The purpose of this invention is to provide a medical robot end effector and system to solve the problems existing in the prior art, enabling the medical robot end effector to drive the actuator to rotate flexibly, increasing the working angle range of the medical robot end effector, while making the structure compact, saving space, facilitating the integration of the medical robot end effector, and improving the adaptability of the medical robot.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Example 1

[0036] This embodiment provides a medical robot end effector 100, including a housing 1, a transmission assembly 2, and an end effector platform 3. Please refer to [reference needed]. Figures 1-4The housing 1 contains a driver; the transmission assembly 2 includes a first transmission bevel gear 201 and a second transmission bevel gear 202, both of which are rotatably mounted within the housing 1. The first transmission bevel gear 201 is connected to the driver, and there are multiple sets of first transmission bevel gears 201. The second transmission bevel gears 202 mesh with the first transmission bevel gears 201, and they correspond one-to-one. All the second transmission bevel gears 202 are rotatably coaxially stacked; the end platform 3 includes a shaped connecting rod 301 and a working platform 30. The parallel spherical motion mechanism 2 has one end of the irregularly shaped connecting rod 301 rotatably connected to the second transmission bevel gear 202, and the two correspond one-to-one. The other end of the irregularly shaped connecting rod 301 is rotatably connected to the working platform 302. The motion trajectory of the irregularly shaped connecting rod 301 forms a sphere. The sphere containing the sphere formed by the motion trajectory of the irregularly shaped connecting rod 301 is used as the reference sphere. The rotation axes of the irregularly shaped connecting rod 301 and the second transmission bevel gear 202, and the rotation axes of the irregularly shaped connecting rod 301 and the working platform 302 all pass through the center of the reference sphere. The working platform 302 can be connected to the medical robot actuator.

[0037] The end effector 100 of the medical robot of the present invention uses a driver to rotate a first transmission bevel gear 201, which in turn drives a second transmission bevel gear 202 meshing with it to rotate. Multiple sets of second transmission bevel gears 202 are rotatably coaxially stacked and drive irregularly shaped connecting rods 301 to rotate. The multiple sets of irregularly shaped connecting rods 301 rotate around a reference sphere. The other end of the irregularly shaped connecting rods 301 is rotatably connected to a working platform 302, thereby enabling the working platform 302 to flexibly adjust its position and posture around the center of the reference sphere at multiple angles. The working platform 302 can be connected to an execution mechanism to achieve the therapeutic purpose of the medical robot. In the end effector 100 of the medical robot of the present invention, the transmission component 2 uses the first transmission bevel gear 201 and the second transmission bevel gear 202 to transmit power, thereby changing the transmission direction. This helps to reduce vibration and noise generation, and the compact structure saves space, achieving miniaturization of the mechanism and improving its adaptability. The housing 1 provides stable support for the transmission component 2 and the end effector platform 3, ensuring the structural integrity and operational reliability of the mechanism.

[0038] In this specific embodiment, there are three sets of first transmission bevel gear 201 and second transmission bevel gear 202, which ensures stable power transmission while minimizing the space occupied by the mechanism.

[0039] It should be noted that the actuator can be a motor, which can be the actuator of the mechanism itself or an actuator of other structures of the medical robot to meet the power source requirements.

[0040] The housing 1 includes a first sub-housing 101 and a second sub-housing 102. The first sub-housing 101 and the second sub-housing 102 are detachably connected to facilitate the disassembly and assembly of components. The driver, the first transmission bevel gear 201 and the second transmission bevel gear 202 are all located within the space enclosed by the first sub-housing 101 and the second sub-housing 102.

[0041] In this specific embodiment, the second shell 102 has a connecting block 103, and the outer wall of the first shell 101 has a connecting groove 104 adapted to the connecting block 103. The connecting block 103 extends into the connecting groove 104 to realize the insertion connection between the first shell 101 and the second shell 102, providing guidance for the connection between the first shell 101 and the second shell 102, improving the convenience of assembly operation. There are multiple sets of connecting blocks 103 and connecting grooves 104, which correspond one-to-one. The connecting blocks 103 are evenly distributed around the axis of the second shell 102, improving the uniformity of force on the first shell 101 and the second shell 102. The first shell 101 and the second shell 102 are also connected by bolts to limit the displacement of the first shell 101 and the second shell 102 in the axial direction, further improving the structural stability of the shell 1.

[0042] Specifically, the second transmission bevel gear 202 is connected to a transmission ring 203, which drives the transmission ring 203 to rotate. A connecting element 204 is provided on the transmission ring 203, and the connecting element 204 is rotatably connected to the irregular connecting rod 301. The transmission ring 203 and connecting element 204 facilitate the transmission of torque from the second transmission bevel gear 202 to the irregular connecting rod 301. Each transmission ring 203 corresponds one-to-one with the second transmission bevel gear 202, and all transmission rings 203 are rotatably coaxially stacked, making the transmission assembly 2 compact and reducing the space occupied by the transmission assembly 2. Correspondingly, in this specific embodiment, the working platform 302 is also provided with a connection structure similar to the connecting element 204, facilitating the connection between the working platform 302 and the irregular connecting rod 301.

[0043] In practical applications, the second transmission bevel gear 202 and the transmission ring 203 can be connected by a tenon and mortise structure to ensure smooth power transmission; the second transmission bevel gear 202 and the transmission ring 203 can also be connected by a key to facilitate assembly and achieve smooth torque transmission.

[0044] More specifically, the transmission assembly 2 also includes a transmission winding 205, which is wound around the gear shaft of the first transmission bevel gear 201 and connected to the driver. When the driver rotates, the transmission winding 205 drives the first transmission bevel gear 201 to rotate. By changing the direction of rotation, the driver adjusts the rotation direction of the first transmission bevel gear 201. It should be noted that in practical applications, the end of the transmission winding 205 can be connected to the output end of the driver, and the middle section of the transmission winding 205 can be wound around the gear shaft of the first transmission bevel gear 201. The driver's rotation then drives the first transmission bevel gear 201 to rotate using the transmission winding 205. Alternatively, the transmission winding 205 can be configured as a loop structure similar to a synchronous belt. The driver then uses the transmission winding 205 to drive the gear shaft of the first transmission bevel gear 201 to rotate, smoothly transmitting torque to the first transmission bevel gear 201. In addition, in other specific embodiments of the present invention, a spiral groove adapted to the transmission winding 205 can be provided on the gear shaft of the first transmission bevel gear 201. A wear-resistant layer with a large surface roughness is provided in the spiral groove to increase the friction between the gear shaft of the first transmission bevel gear 201 and the transmission winding 205, ensuring smooth power transmission, while improving the structural strength of the gear shaft of the first transmission bevel gear 201 and extending its service life.

[0045] In other specific embodiments of the present invention, a torsion spring is also provided between the gear shaft of the first transmission bevel gear 201 and the housing 1 to realize the rotation angle restoration function of the first transmission bevel gear 201 in the derailed state, and at the same time, to enable the rotation angle of the working platform 302 to be restored. The torsion spring limits the winding range of the transmission winding 205, thereby controlling the rotation angle (number of turns) range of the first transmission bevel gear 201 and improving the controllability of the mechanism. In practical applications, the parameters for installing the torsion spring can be selected according to the working angle range of the mechanism to meet different working conditions and improve the flexibility and adaptability of the mechanism.

[0046] It should also be noted that the transmission assembly 2 further includes a gear cover 206, which is fixed inside the housing 1. The gear cover 206 includes a base and a mounting post disposed on the base. The base has mounting holes that are adapted to the gear shaft of the first transmission bevel gear 201. The gear shaft of the first transmission bevel gear 201 is rotatably disposed in the mounting holes, and the first transmission bevel gear 201 corresponds one-to-one with the mounting holes. Among the coaxially stacked second transmission bevel gears 202, the innermost second transmission bevel gear 202 is rotatably sleeved on the mounting post. The gear cover 206 is used to support the first transmission bevel gear 201 and the second transmission bevel gear 202, eliminating the use of bearings and saving space occupied by the mechanism.

[0047] To ensure smooth rotation of the first and second transmission bevel gears 201 and 202, ball bearings are installed between adjacent second transmission bevel gears 202 and between the innermost second transmission bevel gear 202 and the mounting post. This reduces friction during rotation, replaces bearings to reduce space occupation, and helps to reduce the overall size of the device. In practical applications, grooves adapted to the ball bearings can also be provided to further improve the reliability of the mechanism's movement. Correspondingly, ball bearings can also be installed between adjacent transmission rings 203 to reduce the relative rotational friction between the transmission rings 203 and further improve the smoothness of the mechanism's movement.

[0048] Example 2

[0049] This embodiment provides a medical robot end effector system, including an actuator and the medical robot end effector 100 of Embodiment 1. The actuator is connected to a working platform 302 and is located on the side of the working platform 302 away from the irregular connecting rod 301. The actuator can be a miniature camera, gripper, or scissors, etc., to realize the practical application function of the minimally invasive medical robot end effector.

[0050] Example 3

[0051] This embodiment provides a medical robot, including the medical robot end effector system of Embodiment 2.

[0052] The medical robot end effector 100 of this invention has a transmission component 2 whose rotational joint axis intersects the center of a reference sphere. The working platform 302 can rotate arbitrarily within the surface of the reference sphere. Connected to existing end effectors, this invention adds a rotational degree of freedom about a vertical axis, resulting in three degrees of freedom. This allows for more agile rotation and increases the working angle range of the working platform 302. The transmission component 2 of this invention utilizes the meshing of a first transmission bevel gear 201 and a second transmission bevel gear 202 to convert rotation about a horizontal axis into rotation about a vertical axis, thus changing the transmission direction. This transmission method is smooth and reliable, effectively reducing vibration and noise generation, and has a compact structure, facilitating miniaturization.

[0053] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A medical robot end effector, characterized in that, include: A housing, wherein a driver is disposed within the housing; The transmission assembly includes a first transmission bevel gear and a second transmission bevel gear. Both the first transmission bevel gear and the second transmission bevel gear are rotatably disposed within the housing. The first transmission bevel gear is connected to the driver. There are multiple sets of the first transmission bevel gears. The second transmission bevel gears mesh with the first transmission bevel gears and correspond one-to-one. All the second transmission bevel gears are rotatably coaxially stacked. The end-effector platform includes a shaped connecting rod and a working platform. One end of the shaped connecting rod is rotatably connected to the second transmission bevel gear, and the two correspond one-to-one. The other end of the shaped connecting rod is rotatably connected to the working platform. The motion trajectory of the shaped connecting rod forms a sphere. The sphere containing the sphere formed by the motion trajectory of the shaped connecting rod is used as a reference sphere. The rotation axes of the shaped connecting rod and the second transmission bevel gear, and the rotation axes of the shaped connecting rod and the working platform, all pass through the center of the reference sphere. The working platform can be connected to the medical robot actuator.

2. The medical robot end effector according to claim 1, characterized in that: The housing includes a first sub-shell and a second sub-shell, which are detachably connected. The driver, the first transmission bevel gear, and the second transmission bevel gear are all located within the space enclosed by the first sub-shell and the second sub-shell.

3. The medical robot end effector according to claim 2, characterized in that: The second shell has a connecting block, and the outer wall of the first shell has a connecting groove that is adapted to the connecting block. The connecting block extends into the connecting groove to realize the plug-in connection between the first shell and the second shell. The first shell and the second shell are also connected by bolts.

4. The medical robot end effector according to claim 1, characterized in that: The second transmission bevel gear is connected to a transmission ring, which can drive the transmission ring to rotate. The transmission ring is provided with a connecting element, which is rotatably connected to the irregular connecting rod. The transmission rings correspond one-to-one with the second transmission bevel gears, and all the transmission rings are rotatably coaxially stacked.

5. The medical robot end effector according to claim 4, characterized in that: The second transmission bevel gear is connected to the transmission ring via a tenon and mortise structure.

6. The medical robot end effector according to claim 1, characterized in that: The transmission assembly further includes a transmission winding, which is wound around the gear shaft of the first transmission bevel gear and connected to the driver.

7. The medical robot end effector according to claim 6, characterized in that: A torsion spring is also provided between the gear shaft of the first transmission bevel gear and the housing.

8. The medical robot end effector according to claim 1, characterized in that: The transmission assembly further includes a gear cover fixed inside the housing. The gear cover includes a base and a mounting post disposed on the base. The base has a mounting hole adapted to the gear shaft of the first transmission bevel gear. The gear shaft of the first transmission bevel gear is rotatably disposed in the mounting hole. The first transmission bevel gear corresponds one-to-one with the mounting hole. Among the second transmission bevel gears coaxially stacked, the innermost second transmission bevel gear is rotatably sleeved on the mounting post.

9. The medical robot end effector according to claim 8, characterized in that: Ball bearings are provided between adjacent second transmission bevel gears and between the innermost second transmission bevel gear and the mounting post.

10. A medical robot end effector system, comprising an actuator, characterized in that: It also includes the medical robot end effector as described in any one of claims 1-9, wherein the actuator is connected to the working platform and is located on the side of the working platform away from the irregular connecting rod.

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