Handheld multi-degree-of-freedom minimally invasive surgery robot

Abstract

The invention provides a handheld multi-degree-of-freedom minimally invasive surgery robot. The handheld multi-degree-of-freedom minimally invasive surgery robot comprises a main end unit, a tail end unit and a connecting mechanism which are connected through a steel wire rope. The tail end unit comprises a clamp, a clamp seat, a wrist joint and an operating rod, the front end of the clamp seat is connected with the clamp through a pin shaft, the rear end of the clamp seat is fixed with the wrist joint through a bolt, and the wrist joint is connected with the operating rod through a pin shaft; the main end unit comprises a driving seat, a driving wheel, a driving rod, a finger ring and a handle, the driving seat is connected with the driving rod through a pin shaft, the driving rod is fixed with the driving wheel through a bolt, the driving rod is fixed with the finger ring through a bolt, and the driving seat is connected with the handle through a pin shaft; the connecting mechanism comprises an arch structure and a guide wheel, the tail end unit and the arch structure are bidirectionally fixed through a bolt, the main end unit and the arch structure are connected through a pin shaft, and the guide wheel is used for winding a steel wire rope. The handheld multi-degree-of-freedom minimally invasive surgery robot is small in size and easy to operate.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a handheld multi-degree-of-freedom minimally invasive surgical robot. Background Art

[0002] In recent years, minimally invasive surgery (MIS) has developed rapidly. Its main advantage is that it can be performed through small incisions, thereby reducing the patient's postoperative pain and hospital stay and avoiding complications. Although this type of surgery has great benefits for patients, it places higher demands on the surgeon's surgical skills.

[0003] For example, minimally invasive surgery is usually performed through small incisions or natural cavities. Surgeons need to use long instruments to operate in a small space, which requires a high degree of precision and hand stability. Long operations may cause fatigue to the surgeon, which in turn affects the surgical results. Summary of the invention

[0004] The present invention provides a handheld multi-degree-of-freedom minimally invasive surgical robot to solve the defects of large-scale minimally invasive surgical robots in the prior art, such as small application environment, complex operation and high price, and realize a handheld multi-degree-of-freedom minimally invasive surgical robot with small size, simple operation and relatively low cost.

[0005] The present invention provides a handheld multi-degree-of-freedom minimally invasive surgical robot, comprising: a main end unit, a terminal unit and a coupling mechanism connected by a steel wire rope; the terminal unit comprises: a clamp, a clamp seat, a wrist joint and a joystick, wherein the front end of the clamp seat is connected to the clamp through a pin, the rear end of the clamp seat is fixed to the wrist joint through a bolt, and the wrist joint is connected to the joystick through a pin; the main end unit comprises: a driving seat, a driving wheel, a driving rod, a finger ring and a handle, wherein the driving seat is connected to the driving rod through a pin, the driving rod is fixed to the driving wheel through bolts, the driving rod is fixed to the finger ring through bolts, and the driving seat is connected to the handle through a pin; the coupling mechanism comprises: an arch structure and a guide wheel, the terminal unit and the arch structure are fixed in two directions by bolts, the main end unit and the arch structure are connected through a pin, and the guide wheel is used to wind the steel wire rope.

[0006] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the clamp is connected to the clamp seat for deflection movement, the wrist joint performs pitch movement based on the joystick, the drive seat performs pitch movement based on the arch structure, and the drive rod is connected to the drive seat for deflection movement; the deflection movement between the clamp and the clamp seat and the deflection movement between the drive rod and the drive seat are mapped to each other, and the pitch movement of the wrist joint and the pitch movement of the drive seat are mapped to each other; wherein the deflection degree of freedom of the deflection movement between the clamp and the clamp seat corresponds to the deflection amplitude of the finger ring; the pitch degree of freedom of the wrist joint performing pitch movement based on the joystick corresponds to the pitch amplitude of the main end unit; the opening and closing degree of freedom of the clamp corresponds to the opening and closing amplitude of the finger ring.

[0007] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the ratio of the wheel groove diameter of the rotating part of the clamp to the wheel groove diameter of the driving wheel is 1:2, and the ratio of the wheel groove diameter of the wrist joint to the wheel groove diameter of the rotating part of the driving seat is 1:2.

[0008] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the rotation amplitude of the driving seat in the main end unit around the arch structure is from negative 45 degrees to positive 45 degrees.

[0009] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the clamp includes a left clamp and a right clamp, and the driving wheel includes an upper driving wheel and a lower driving wheel; the left clamp and the right clamp are the same parts and are installed relative to each other, and there is a partial overlap between the left clamp, the right clamp and the clamp seat; the upper driving wheel and the lower driving wheel are the same parts and are installed relative to each other, and there is a partial overlap between the upper driving wheel, the lower driving wheel and the driving seat.

[0010] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the terminal unit also includes: a plurality of pulleys and a sleeve; the left clamp and the right clamp are symmetrically placed; the hole positions of the left clamp and the hole positions of the right clamp are aligned with the front end hole positions of the clamp seat and are connected by a pin; the hole positions of the plurality of pulleys and the hole positions of the sleeve are aligned with the rear end hole positions of the clamp seat and are connected by a pin.

[0011] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the driving rod includes: a first driving rod and a second driving rod; a sliding washer sheet is included between the upper driving wheel and the lower driving wheel; the first driving rod is connected to the left finger ring of the finger ring, and the second driving rod is connected to the right finger ring of the finger ring; the first driving rod is connected to the upper driving wheel, and the second driving rod is connected to the lower driving wheel, and the height difference between the first driving rod and the second driving rod is the sum of the thickness of the upper driving wheel, the thickness of the lower driving wheel and the thickness of the sliding washer sheet.

[0012] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the main end unit also includes: at least one pulley; the terminal unit and the pulley are used to control the path of the wire rope, and the size of the pulley is related to the diameter of the joystick and the width of the drive seat.

[0013] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the joystick includes a first part and a second part; the first part is used to connect the wrist joint, and the second part is used to connect the arch structure; the second part and the arch structure are fixed in both directions by a pair of hexagon socket bolts, and the first part and the second part are interference fit through an interface.

[0014] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the bolt is a tightening bolt; the head of the tightening bolt is a cross circular drilled hole, and the cross circular drilled hole is used to introduce the knot of the wire rope and rotate and lock it; the aperture of the cross circular drilled hole is positively correlated with the cross-sectional diameter of the wire rope.

[0015] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the terminal unit also includes: a target instrument, wherein the target instrument is used to replace the clamp; the target instrument includes at least one of the following: scissors, staplers, needle holders, ultrasonic knives, bipolar coagulation forceps, separators and electric hooks.

[0016] The handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention can realize flexible operation of multiple degrees of freedom through the cooperation of the clamp, clamp seat, wrist joint and joystick of the terminal unit, so that in minimally invasive surgery, the doctor can control the surgical instrument more accurately, thereby improving the accuracy and safety of the operation; the main end unit and the terminal unit are connected to the wire rope through the arch structure and guide wheel of the coupling mechanism, so that the entire robot system is compact in structure, easy to carry and operate; the connection method between the driving seat, driving wheel, driving rod, finger ring and handle of the main end unit (such as pin and bolt fixing) ensures the stability and accuracy of the transmission. The doctor can accurately control the movement of the clamp and wrist joint of the terminal unit by operating the handle and finger ring, thereby realizing fine control of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the main end unit and the connecting mechanism of the handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention.

[0020] Figure 3 It is a schematic diagram of the handheld multi-degree-of-freedom minimally invasive surgical robot terminal unit provided by the present invention.

[0021] Figure 4 It is a schematic diagram of the exploded main end unit of the handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention.

[0022] Reference numerals: 1-arch structure; 2-handle; 3-drive seat; 4-drive wheel; 5-drive rod; 6-finger ring; 7-clamp; 8-clamp seat; 9-wrist joint; 10-operating lever; 11-hexagon socket bolt; 12-guide wheel; 13-pin shaft; 14-E-type retaining ring; 15-locking bolt; 16-T-type bearing; 17-sleeve; 18-pulley; 19-sliding washer. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] With the advancement of robotic technology, surgical robots such as the da Vinci robot help doctors perform minimally invasive surgeries more easily and accurately with the help of automation and intelligent assistance systems.

[0025] However, most of these surgical robots are large, fixed systems that require a specific operating room environment, are expensive and complex, and have certain limitations. Therefore, a handheld minimally invasive surgical robot is needed that has the advantages of small size, simple operation, and relatively low cost, and can be quickly deployed in more surgical scenarios.

[0026] In order to solve the problems in the prior art that large-scale minimally invasive surgical robots have small application environment, complex operation and high price, the present invention provides a handheld multi-degree-of-freedom minimally invasive surgical robot, including an end unit connected by a wire rope, a main end unit and a connecting mechanism.

[0027] refer to Figure 1 , Figure 1 It is a structural schematic diagram of the handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention.

[0028] The end unit includes: a clamp 7, a clamp seat 8, a wrist joint 9 and a joystick 10, wherein the front end of the clamp seat 8 is connected to the clamp 7 through a pin, the rear end of the clamp seat 8 is fixed to the wrist joint 9 through a bolt, and the wrist joint 9 is connected to the joystick 10 through a pin; The main end unit comprises: a driving seat 3, a driving wheel 4, a driving rod 5, a finger ring 6 and a handle 2, wherein the driving seat 3 and the driving rod 5 are connected by a pin shaft, the driving rod 5 and the driving wheel 4 are fixed by bolts, the driving rod 5 and the finger ring 6 are fixed by bolts, and the driving seat 3 and the handle 2 are connected by a pin shaft; The connection mechanism comprises: an arch structure 1 and a guide wheel 12. The terminal unit and the arch structure 1 are fixed in both directions by bolts, the main end unit and the arch structure 1 are connected by a pin shaft, and the guide wheel 12 is used for winding the wire rope.

[0029] In the embodiment of the present invention, the terminal unit includes a clamp, a clamp seat, a wrist joint and a joystick, the main end unit includes a drive seat, a drive wheel, a drive rod, a finger ring and a handle, and the connecting mechanism is an arch structure.

[0030] In the terminal unit, the front end of the clamp seat is connected to the clamp by a pin, the rear end of the clamp seat is fixed to the wrist joint by bolts, and the wrist joint is connected to the joystick by a pin; in the main end unit, the driving seat and the driving rod are connected by a pin, the finger ring and the driving rod are fixed by bolts, and the handle is connected to the driving seat by a pin; The terminal unit and the arch structure are fixed in two directions with bolts, the main end unit and the arch structure are connected with a pin shaft, and a guide wheel is added in the middle for winding.

[0031] In some embodiments, the set distance between the finger ring and the handle axis should be based on the length of the index finger of the right hand of an adult male.

[0032] Through the embodiments of the present invention, through the cooperation of the clamp, clamp seat, wrist joint and joystick of the terminal unit, flexible operation with multiple degrees of freedom can be achieved, thereby improving the accuracy and safety of the operation; the main end unit and the terminal unit are connected to the wire rope through the arch structure and guide wheel of the connecting mechanism, so that the entire robot system has a compact structure and is easy to carry and operate; the connection method between the driving seat, driving wheel, driving rod, finger ring and handle of the main end unit (such as pin and bolt fixing) ensures the stability and accuracy of the transmission, and the movement of the clamp and wrist joint of the terminal unit is accurately controlled by operating the handle and finger ring, thereby achieving fine control of the surgical instrument.

[0033] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the clamp is connected to the clamp seat to perform deflection movement, the wrist joint performs pitch movement based on the joystick, the drive seat performs pitch movement based on the arch structure, and the drive rod is connected to the drive seat to perform deflection movement; The deflection motion between the clamp and the clamp seat and the deflection motion between the drive rod and the drive seat are mapped to each other, and the pitch motion of the wrist joint and the pitch motion of the drive seat are mapped to each other; The deflection degree of freedom of the deflection movement between the clamp and the clamp seat corresponds to the deflection amplitude of the finger ring; The pitch freedom of the wrist joint in pitch motion based on the joystick corresponds to the pitch amplitude of the master unit; The opening and closing freedom of the clamp corresponds to the opening and closing range of the finger ring.

[0034] In some embodiments, the clamp is connected to a clamp base and is capable of deflection movement on the clamp base. Deflection movement generally refers to rotational movement around a fixed axis for gripping, moving or releasing an object.

[0035] The wrist joint performs pitch motion with the joystick as a reference point. Pitch motion generally refers to up and down swinging around a horizontal axis, which is used to adjust the posture of the clamp or other parts of the device to better complete the target operation.

[0036] The drive base performs pitch motion with the arch structure as a reference point. The arch structure may provide stability and support. The pitch motion is used to adjust the posture of the entire device or drive system.

[0037] The driving rod is connected to the driving seat and can perform deflection movement on the driving seat. The deflection movement is used to transmit power, adjust angles or realize other mechanical functions.

[0038] It should be noted that the above-mentioned deflection degree of freedom, pitch degree of freedom, and opening and closing degree of freedom of the clamp, among which the deflection degree of freedom and the pitch degree of freedom correspond to the two degrees of freedom of the human wrist, and the opening and closing degree of freedom of the clamp corresponds to the opening and closing of the thumb and index finger when wearing a ring.

[0039] The deflection degree of freedom is used to allow the handheld multi-degree-of-freedom minimally invasive surgical robot to perform flexible deflection movements in the horizontal plane to adapt to different surgical needs.

[0040] The pitch degree of freedom is used to enable the handheld multi-degree-of-freedom minimally invasive surgical robot to perform pitch motion in the vertical direction, thereby more accurately controlling the surgical depth and direction.

[0041] The opening and closing freedom of the clamp corresponds to the opening and closing of the thumb and index finger when worn, and is used to enable the handheld multi-degree-of-freedom minimally invasive surgical robot to clamp and manipulate the target tissue as flexibly as a human hand.

[0042] In some embodiments, the deflection movement between the clamp and the clamp seat and the deflection movement between the drive rod and the drive seat are mirrored to each other, for example, when the clamp deflects in one direction, the drive rod may also deflect in the same or opposite direction.

[0043] The pitch motion of the wrist and the pitch motion of the drive mount mirror each other, e.g., when the wrist swings up, the drive mount may also swing up; or they may move in opposite ways.

[0044] For example, when an object needs to be gripped, the gripper deflects to grasp the object, while the drive rod deflects to adjust the angle or position of the gripper, and when the attitude of the joystick needs to be adjusted, the wrist joint and drive base perform pitch motion. These movements may be synchronized to ensure that the joystick can be smoothly moved to the desired position.

[0045] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the rotation range of the driving seat in the main end unit around the arch structure is from negative 45 degrees to positive 45 degrees.

[0046] In an embodiment of the present invention, regarding the pitch movement of the wrist joint, the staff holds the handle and uses the force of the wrist to drive the drive seat to rotate around the pin shaft connected to the arch structure, with a rotation range of negative 45 degrees to positive 45 degrees, and the connected wire rope drives the wrist joint to rotate.

[0047] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the clamp includes a left clamp and a right clamp, and the driving wheel includes an upper driving wheel and a lower driving wheel; The left clamp and the right clamp are identical parts and are installed opposite to each other. The left clamp, the right clamp and the clamp seat partially overlap. The upper driving wheel and the lower driving wheel are identical parts and are installed opposite to each other. The upper driving wheel, the lower driving wheel and the driving seat partially overlap.

[0048] In the embodiment of the present invention, the clamp in the terminal unit and the driving wheel in the main end unit, the left and right clamps and the left and right driving wheels are all the same parts installed relative to each other, and the surface close to the wheel groove overlaps with the clamp seat / driving seat.

[0049] It should be noted that if no design is added, the wrist joint will couple with the clamp during movement, that is, when the wrist joint rotates upward, the wire rope in the upper clamp will relax, while the wire rope in the lower clamp will tighten, causing the clamp to rotate. In order to eliminate the coupling phenomenon of the wrist joint to the left and right clamps, if the left clamp is placed above the clamp seat during assembly, the drive wheel corresponding to the left finger ring should be placed below the drive seat, and the wire rope on the outside of the clamp needs to be connected to the wire rope on the inside of the finger ring, and the wire rope on the inside of the clamp needs to be connected to the wire rope on the outside of the finger ring.

[0050] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the terminal unit further comprises: a plurality of pulleys and sleeves; The left clamp is placed symmetrically with the right clamp; The holes of the left clamp and the right clamp are aligned with the front holes of the clamp seat and connected via a pin shaft; The hole positions of the plurality of pulleys and the hole positions of the sleeve are aligned with the rear end hole positions of the clamp seat and are connected through a pin shaft.

[0051] In the embodiment of the present invention, regarding the opening and closing of the clamps, since each clamp is driven by a set of rope wheels, the movements of the two do not interfere with each other.

[0052] Taking the left clamp as an example, the wire rope connects the left clamp and the drive wheel connected to the left finger ring. Since the terminal unit and the main end unit are installed in the same direction, the wire rope on the outside of the clamp needs to be connected to the wire rope on the inside of the finger ring, and the wire rope on the inside of the clamp needs to be connected to the wire rope on the outside of the finger ring. The staff pushes the left finger ring with their fingers, and the connected drive wheel rotates. The wire rope changes direction through the pulley on the path, and transmits force to the left clamp for synchronous rotation. The rotation angle ratio is 1:2. The left and right clamps can move in different directions or be combined for deflection.

[0053] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the driving rod comprises: a first driving rod and a second driving rod; a sliding washer sheet is included between the upper driving wheel and the lower driving wheel; The first driving rod is connected to the left ring of the finger ring, and the second driving rod is connected to the right ring of the finger ring; The first driving rod is connected to the upper driving wheel, the second driving rod is connected to the lower driving wheel, and the height difference between the first driving rod and the second driving rod is the sum of the thickness of the upper driving wheel, the thickness of the lower driving wheel and the thickness of the sliding washer.

[0054] In the embodiment of the present invention, the integrally processed parts of the finger ring and the driving rod are not completely the same. The driving rod corresponding to the upper driving wheel should be higher than the other driving rod, and the height difference is the sum of the thickness of the driving wheel and the thickness of the sliding washer.

[0055] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the main end unit further comprises: at least one pulley; The end unit and pulley are used to control the path of the wire rope, and the size of the pulley is related to the diameter of the joystick and the width of the drive seat.

[0056] In the embodiment of the present invention, there is no specific requirement for the size of the pulleys of the terminal unit and the main end unit, but the pulley size should meet the correct wire rope path and should be set according to the control rod diameter and the drive seat width.

[0057] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the joystick includes a first part and a second part; The first part is used to connect the wrist joint, and the second part is used to connect the arch structure; The second part is fixed to the arch structure in two directions by a pair of hexagon socket bolts, and the first part and the second part are interference fit through an interface.

[0058] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the bolt is a tightening bolt; The head of the tightening bolt is a cross circular drilled hole, and the cross circular drilled hole is used to introduce the knot of the wire rope and rotate and lock it; The hole diameter of the cross circular drilled hole is positively correlated with the cross-sectional diameter of the steel wire rope.

[0059] In the embodiment of the present invention, the head of the locking bolt is a cross-shaped circular drilled hole. To facilitate the introduction of the wire rope knot into the rotational locking, the hole diameter should be more than 3 times the cross-sectional diameter of the wire rope, and the locking bolt should not be tightened first during installation.

[0060] According to a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention, the terminal unit also includes: A target instrument, wherein the target instrument is used to replace the clamp; The target instrument includes at least one of the following: scissors, staplers, needle holders, ultrasonic scalpels, bipolar electrocoagulation forceps, separators, and electric hooks.

[0061] Here, clamps are used to grasp, move or fix tissues and organs; scissors are used to cut tissues and blood vessels; staplers are used to suture wounds or tissues; needle holders are used to grasp suture needles for precise suturing; ultrasonic knives are used to cut and coagulate blood vessels through ultrasonic vibrations; bipolar electrocoagulation forceps are used to cut tissues and blood vessels; separators are used to isolate human tissues, etc.; electric hooks are used to cut and locate through electric cutting and cutting, and to quickly cut or cut tissues.

[0062] It should be noted that the clamp can be replaced by any one of the above-mentioned target instruments or other surgical instruments according to the needs of the actual application scenario; if the clamp is replaced with scissors, staplers, ultrasonic knives, bipolar electrocoagulation forceps and other end instruments, the mechanical configuration provided by the present invention is still applicable.

[0063] In some preferred technical solutions, the steel wire rope can be fixed in the rope pulley transmission system by installing a bolt in the middle of the clamp.

[0064] In some preferred technical solutions, by changing the connection form between the wrist joint and the clamp seat, two bolts are used to fix it in the middle of the steel, which facilitates processing without affecting winding. By drilling holes near the bolts, the wire rope at the wrist joint can be led out and fixed.

[0065] In some preferred technical solutions, the wrist joint is changed into a form of covering the guide wheel, and a through hole is drilled to introduce the wire rope into the through hole for winding.

[0066] In some preferred technical solutions, a flexible tube is added to the arch structure to ensure a consistent path for the wire rope, and a hexagonal guide wheel is installed to fix the flexible tube.

[0067] In some preferred technical solutions, locking bolts are used to connect the front and rear parts and lock the wire rope at the same time.

[0068] In some preferred technical solutions, the handle is split into two parts, the upper part cooperates with the driving seat and the driving wheel and is processed using metal; the lower part is processed using resin material.

[0069] In some preferred technical solutions, the bolt connection between the driving rod and the finger ring is eliminated and replaced with an integrated 3D printing process.

[0070] In some preferred technical solutions, the connection mode between the driving rod and the driving seat is changed to parallel fixation with a common bolt and a locking bolt.

[0071] In some preferred technical solutions, the movement ratio of the terminal unit and the main end unit is 2:1.

[0072] The present invention has 6 degrees of freedom, namely, rotation of the minimally invasive surgical robot around its own axis, 360-degree rotation around the fixed point of the surgical incision, forward and backward movement along its own axis, opening and closing of the clamp, and pitch movement of the wrist joint. The multi-degree-of-freedom minimally invasive surgical robot meets the needs of doctors during surgery, and there is no movement blind spot. The present invention can be used to complete surgical work under small-scale movement.

[0073] The present invention realizes the mutual mapping between the terminal unit and the main end unit through the rope pulley drive mode, and realizes the single-handed control of the main end unit to complete the operation. At the same time, the motion coupling phenomenon between the terminal and the main end is solved through the symmetrically connected winding mode, and the movement of the clamp and the wrist joint is more precise.

[0074] The handheld multi-degree-of-freedom minimally invasive surgical robot of the present invention has small size, light weight, is easy to carry, is simple to manufacture, has low cost, and is easy to realize mass production.

[0075] The handheld multi-degree-of-freedom minimally invasive surgical robot of the present invention is used to replace large-scale minimally invasive surgical robots to perform minimally invasive surgery in certain application scenarios. A variety of terminal surgical instruments can be added to meet the needs of the surgery, thereby improving the flexibility and operability of the surgical instruments.

[0076] In order to more clearly illustrate the handheld multi-degree-of-freedom minimally invasive surgical robot of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0077] refer to Figure 2 , Figure 2 It is a schematic diagram of a main end unit and a connecting mechanism of a handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention; refer to Figure 3 , Figure 3 Schematic diagram of a handheld multi-degree-of-freedom minimally invasive surgical robot terminal unit provided by the present invention; refer to Figure 4 , Figure 4 It is a schematic diagram of the main end unit of the handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention; A handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention comprises a main end unit, a terminal unit and a coupling mechanism connected by a steel wire rope; The main end unit includes a handle 2, a drive seat 3, a drive wheel 4, a drive rod 5, a finger ring 6, a locking bolt 15, a T-bearing 16, a sleeve 17, a pulley 18, and a sliding washer 19; The end unit includes a clamp 7, a clamp seat 8, a wrist joint 9, and a joystick 10; The connecting mechanism includes an arch structure 1, a hexagonal guide wheel 12, a pin 13, and an E-shaped retaining ring 14; Since the main end, the terminal unit and the connecting mechanism all use different types of pins, pulleys, hexagon socket bolts and E-type retaining rings, the following are named as pin 13, pulley 18, hexagon socket bolt 11 and E-type retaining ring 14.

[0078] The two clamps 7 are placed symmetrically, the holes of the clamps 7 are aligned with the holes at the front end of the clamp seat 6 and are connected with a pin 13, and the pin is fixed by an E-type retaining ring 14; the holes of the two pulleys 18 and the sleeve 17 are aligned with the holes at the rear end of the clamp seat 6 and are connected with a pin 13, and the pin is fixed by an E-type retaining ring 14; the clamp seat 6 and the wrist joint 9 are fixed with a pair of bolts 11, and the wrist joint 9 and the joystick 10 are fixed with a pin 13 and an E-type retaining ring 14, two pulleys 18 are placed on each side, for a total of eight pulleys, and a sleeve 17 is placed opposite to the wrist joint for fixation.

[0079] The joystick 10 is divided into two parts. The first part is connected to the wrist joint 9, the pulley 18, etc., and the second part is fixed to the arch structure 1 in both directions by a pair of hexagon socket bolts 11. The two parts are interference fit with the interface.

[0080] The front end of the arch structure 11 is connected to the joystick 10, and the rear end is connected to the drive seat 3. Two pulleys 18 are placed on each side of the connection, for a total of eight pulleys, and a sleeve 17 is placed relative to the drive seat 3 to fix it; the arch structure is divided into left and right arches, and three hexagonal guide wheels 12 are installed inside for interference fit. The left and right arches are fixed with pins 13 and E-type retaining rings 14.

[0081] The rear end of the driving seat 3 is fixed with a hexagon socket bolt 11 and a locking bolt 15, the front end hole is aligned with the hole of the driving wheel 4, and is connected with the upper half of the handle 2. A T-shaped bearing 16 is axially installed on the driving seat 4, and a sliding washer 19 is installed between the two bearings. The driving rod 5 and the driving wheel 4 are fixed with a hexagon socket bolt 11 and a locking bolt 15.

[0082] Figure 2 The schematic diagram of the main end of the handheld multi-degree-of-freedom minimally invasive surgical robot is shown, that is, the main end unit and the connecting mechanism cooperate with each other. Figure 3 A schematic diagram of the end of the handheld multi-degree-of-freedom minimally invasive surgical robot of the present invention is illustrated.

[0083] It is understood that the arch structure 1 includes a hexagonal guide wheel 12. Preferably, the guide wheel profile is cut proportionally at the selected positions of the left and right arches of the arch structure 1 for easy assembly. A pair of pins 11 and E-shaped retaining rings 14 are used near the installation position of the hexagonal guide wheel to connect and fix the two arches.

[0084] Preferably, the handle 2 is split into two parts, the upper part has the same function as the pin 11, and the lower part is a cylinder, and the two are interference fit using a D-groove.

[0085] Furthermore, the driving seat 3 is the main body of the main end unit. Preferably, the driving seat 3 is split into two parts, the front and rear parts. The front part carries the driving wheel 4, the pulley 18 and the sleeve 17, and is connected by the pin 11 and the E-type retaining ring 14. The rear part has a wheel groove, and the wheel groove diameter is in a 2:1 ratio with the wheel groove diameter of the wrist joint 9. A pair of pulleys 18 are installed on both sides of the wheel groove and connected to the arch structure 1 through the pin 11 and the E-type retaining ring 14. The two parts are fixed with hexagon socket bolts 11 and locking bolts 15, and holes are drilled near the locking bolts 15 for lead wires.

[0086] A T-shaped bearing 16 needs to be installed between the driving wheel 4 and the driving seat 3. The bearing is installed in the through hole of the driving wheel 4. The outer diameter of the T-shaped bearing 16 should be equal to the hole diameter of the driving wheel 4, and the length should not be greater than the width of the driving wheel 4. Sliding washers 19 need to be installed in the two driving wheels 4. Preferably, the driving rod 5 and the finger ring 6 are processed as one piece, and the driving wheel 4 is connected and fixed with the hexagon socket bolt 11 and the locking bolt 15, and a hole is punched near the locking bolt 5 for lead wire. Preferably, the driving rod 5 is processed into a pin form, which is interference fit with the front end of the driving wheel 4.

[0087] See also Figure 3 The holes of the clamp 7 are aligned with the holes of the clamp seat 8, and are connected by a pin 13 and an E-type retaining ring 14. Preferably, a plane is cut out at the contact between the two sides of the clamp seat 8 and the E-type retaining ring 14 to increase the contact area. Preferably, a small bolt is installed near the through hole of the clamp 7 to fix the wire rope. The front end of the wrist joint 9 is fixed to the clamp seat 8 with a hexagon socket bolt 11 and a locking bolt 15, and a pair of pulleys 18 are installed on both sides of the rear end. The hole position is aligned with the front end of the joystick 10, and is connected by a pin 13 and an E-type retaining ring 14.

[0088] Preferably, the joystick is split into two parts, the front half is connected to the wrist joint 9, and a hole is drilled in the plane for wiring, and the back half is connected to the arch structure 1, and the two are interference-fitted in the form of a latch.

[0089] Since some parts need to rotate with each other, there are certain requirements for the friction between the materials. The clamp 7, clamp seat 8, wrist joint 9, and front end of the joystick in the terminal unit are machined and made of stainless steel, and the rear end of the joystick uses a standard carbon fiber tube; the arch structure is processed by 3D printing and uses a light-cured resin material; the rear end of the drive seat 3 containing the wheel groove in the main end unit is machined and made of brass; the front end of the drive seat 3 is machined and made of aluminum; the drive wheel 4 is machined and made of brass; the upper part of the handle 2 is machined and made of aluminum, and the rest of the parts are formed by 3D printing. It is worth noting that all pulleys are machined with brass materials, the locking bolts are machined with stainless steel materials, and the pins, E-type retaining rings, and hexagon socket bolts are standard parts.

[0090] When using specific surgical end instruments such as electric hooks, the instruments need to be powered on. Issues regarding circuits and power supplies are not related to the mechanical structure of the present invention and will not be discussed in detail here.

[0091] The handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention can have six working modes according to the six degrees of freedom: rotation of the surgical robot around its own axis; 360-degree rotation around a fixed point; forward and backward movement along its own axis; opening and closing of the clamp; and pitching of the wrist joint, wherein the opening and closing of the clamp and the pitching of the wrist joint require manual manipulation of the main end unit to drive the terminal unit.

[0092] Regarding the opening and closing of the clamp, since each clamp is driven by a set of rope pulleys, the movements of the two do not interfere with each other. Taking the left clamp as an example, the wire rope connects the left clamp and the drive wheel connected to the left finger ring. Since the terminal unit and the main end unit are installed in the same direction, the wire rope on the outside of the clamp needs to be connected to the wire rope on the inside of the finger ring, and the wire rope on the inside of the clamp needs to be connected to the wire rope on the outside of the finger ring. The staff pushes the left finger ring with their fingers, and the connected drive wheel rotates. The wire rope changes direction through the pulley on the path, and transmits force to the left clamp to rotate synchronously. The rotation angle ratio is 1:2. The left and right clamps can move in different directions or be combined to perform deflection movements.

[0093] Regarding the pitching movement of the wrist joint, the staff holds the handle and uses the force of the wrist to drive the drive seat to rotate around the pin connected to the arch structure, with a rotation range of -45°~45°, and the connected wire rope drives the wrist joint to rotate. It should be noted that if no design is added, the wrist joint will couple with the clamp during movement, that is, when the wrist joint rotates upward, the wire rope in the upper clamp will relax, and the wire rope in the lower clamp will tighten, causing the clamp to rotate. In order to eliminate the coupling phenomenon of the wrist joint to the left and right clamps, if the left clamp is placed above the clamp seat during assembly, the drive wheel corresponding to the left finger ring should be placed below the drive seat, and the wire rope on the outside of the clamp needs to be connected to the wire rope on the inside of the finger ring, and the wire rope on the inside of the clamp needs to be connected to the wire rope on the outside of the finger ring.

[0094] The installation method of the end clamp of the present invention is suitable for a variety of minimally invasive surgical end instruments, such as scissors, graspers, needle holders, etc. Bolts are installed on the clamp to fix the wire rope, and a locking bolt is installed on the main end to lock the wire rope. Holes are punched at the joystick, drive seat, etc. for lead-in, ensuring the consistency and stability of the path of the wire rope during work.

[0095] The present invention assembles the minimally invasive surgical robot into an integral body through three units, which is easy to disassemble and assemble. The arch structure increases the operability of the minimally invasive surgical instrument, and the flexible tube installed inside isolates the path of each wire rope, and also avoids the friction between the wire rope and the arch structure during operation. The specific installation method solves the coupling phenomenon of the wrist joint, making the operation more precise.

[0096] The handheld multi-degree-of-freedom minimally invasive surgical robot of the present invention has small size, light weight, is easy to carry, is simple to manufacture, has low cost, and is easy to realize mass production.

[0097] The handheld multi-degree-of-freedom minimally invasive surgical robot of the present invention is used to replace large-scale minimally invasive surgical robots to perform minimally invasive surgery in certain application scenarios. A variety of terminal surgical instruments can be added to meet the needs of the surgery, thereby improving the flexibility and operability of the surgical instruments.

[0098] Unlike related technologies, domestic hospitals currently rely on large minimally invasive surgical robots for minimally invasive surgery. Such equipment is expensive, and the end instruments need to be replaced frequently. The working scene is fixed, and doctors need specific training to use them proficiently. The handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention has basic functions, low cost, is not restricted to a specific surgical environment, and can be used by doctors after simple training.

[0099] The handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention is designed with emphasis on the coupling problem of the handheld minimally invasive surgical robot. In the related art, large-scale minimally invasive surgical robots are usually decoupled through complex control programs, while other handheld minimally invasive surgical robots remove the guide wheels on both sides of the wrist joint, directly drill holes on the core shaft of the wrist joint, and allow the wire rope to pass directly through the core shaft, and then decouple the core shaft and the wrist joint by interference fit. However, this solution will reduce the strength of the core shaft of the wrist joint, resulting in increased friction between the wire rope and the core shaft hole, thereby reducing the wire rope force transmission efficiency and the service life of the instrument.

[0100] The handheld multi-degree-of-freedom minimally invasive surgical robot provided by the present invention can replace large minimally invasive surgical instruments for surgical work, greatly reducing surgical costs, and does not require a specific surgical environment, which is more convenient and quick. The wrist joint coupling phenomenon is avoided without affecting the working efficiency and service life of the surgical instruments.

[0101] It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0102] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0103] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A handheld multi-degree-of-freedom minimally invasive surgical robot, characterized in that: include: Main end unit, terminal unit and coupling mechanism connected by wire rope; The terminal unit comprises: a clamp, a clamp seat, a wrist joint and a joystick, wherein the front end of the clamp seat is connected to the clamp through a pin, the rear end of the clamp seat is fixed to the wrist joint through a bolt, and the wrist joint is connected to the joystick through a pin; The main end unit comprises: a driving seat, a driving wheel, a driving rod, a finger ring and a handle, wherein the driving seat is connected to the driving rod through a pin, the driving rod is fixed to the driving wheel through bolts, the driving rod is fixed to the finger ring through bolts, and the driving seat is connected to the handle through a pin; The coupling mechanism comprises: an arch structure and a guide wheel. The terminal unit and the arch structure are fixed in both directions by bolts. The main end unit and the arch structure are connected by a pin shaft. The guide wheel is used for winding the steel wire rope.

2. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The clamp is connected to the clamp seat for deflection movement, the wrist joint is used as a reference for pitch movement, the drive seat is used as a reference for pitch movement, and the drive rod is connected to the drive seat for deflection movement; The deflection motion between the clamp and the clamp seat and the deflection motion between the drive rod and the drive seat are mapped to each other, and the pitch motion of the wrist joint and the pitch motion of the drive seat are mapped to each other; wherein the deflection freedom of the deflection movement between the clamp and the clamp seat corresponds to the deflection amplitude of the finger ring; The pitching degree of freedom of the wrist joint performing pitching motion with respect to the joystick corresponds to the pitching amplitude of the master end unit; The degree of freedom of opening and closing of the clamp corresponds to the opening and closing amplitude of the finger ring.

3. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The ratio of the wheel groove diameter of the rotating part of the clamp to the wheel groove diameter of the driving wheel is 1:2, and the ratio of the wheel groove diameter of the wrist joint to the wheel groove diameter of the rotating part of the driving seat is 1:

2.

4. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The driving seat in the main end unit rotates around the arch structure in a range from negative 45 degrees to positive 45 degrees.

5. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The clamp includes a left clamp and a right clamp, and the driving wheel includes an upper driving wheel and a lower driving wheel; The left clamp and the right clamp are identical parts and are installed opposite to each other, and the left clamp, the right clamp and the clamp seat partially overlap; The upper driving wheel and the lower driving wheel are identical parts and are installed opposite to each other. The upper driving wheel, the lower driving wheel and the driving seat partially overlap.

6. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 5, characterized in that: The terminal unit also includes: a plurality of pulleys and sleeves; The left clamp is placed symmetrically with the right clamp; The hole position of the left clamp and the hole position of the right clamp are aligned with the front end hole position of the clamp seat and are connected by a pin shaft; The hole positions of the plurality of pulleys, the hole position of the sleeve and the rear end hole position of the clamp seat are aligned and connected through a pin shaft.

7. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 5, characterized in that: The driving rod comprises: a first driving rod and a second driving rod; a sliding washer sheet is provided between the upper driving wheel and the lower driving wheel; The first driving rod is connected to the left ring of the finger ring, and the second driving rod is connected to the right ring of the finger ring; The first driving rod is connected to the upper driving wheel, the second driving rod is connected to the lower driving wheel, and the height difference between the first driving rod and the second driving rod is the sum of the thickness of the upper driving wheel, the thickness of the lower driving wheel and the thickness of the sliding washer.

8. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The master end unit further comprises: at least one pulley; The terminal unit and the pulley are used to control the path of the wire rope, and the size of the pulley is related to the diameter of the operating rod and the width of the driving seat.

9. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The joystick includes a first part and a second part; The first part is used to connect the wrist joint, and the second part is used to connect the arch structure; The second part and the arch structure are fixed in both directions by a pair of hexagon socket bolts, and the first part and the second part are interference fit through an interface.

10. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The bolt is a tightening bolt; The head of the tightening bolt is a cross circular drilled hole, and the cross circular drilled hole is used to introduce the knot of the wire rope and rotate and lock it; The hole diameter of the cross circular drilled hole is positively correlated with the cross-sectional diameter of the steel wire rope.

11. The handheld multi-degree-of-freedom minimally invasive surgical robot according to claim 1, characterized in that: The terminal unit also includes: A target instrument, wherein the target instrument is used to replace the clamp; The target instrument includes at least one of the following: scissors, staplers, needle holders, ultrasonic scalpels, bipolar electrocoagulation forceps, separators, and electric hooks.

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