Wrist joint and minimally invasive surgery robot and knee joint endoscopic surgery robot

Abstract

The invention relates to a wrist joint, a minimally invasive surgery robot and a knee joint endoscopic surgery robot. The knee joint endoscopic surgery robot comprises a far-end two-degree-of-freedom wrist joint, a one-degree-of-freedom bent flexible mechanical arm, a rigid insertion sheath tube, a wire transmission device, a bending driving device and a gear transmission device. Wherein the endoscope module is integrated at the tail end of the wrist joint, so that flexible exploration in a knee joint cavity is realized; through two-degree-of-freedom movement of the wrist joint, local flexible adjustment of the visual field of the endoscope is achieved; large-range bending movement and safe interaction of the endoscope are realized through one-degree-of-freedom bending movement of the flexible mechanical arm; by controlling extension and retraction of the rigid insertion sheathing canal, a doctor can conveniently control the endoscope to smoothly enter a knee joint cavity from a knee joint incision, the bending radius of the flexible joint in the flexible mechanical arm can be changed by regulating and controlling the extension amount of the rigid insertion sheathing canal, and then flexible adjustment of the visual field of the endoscope in a large range and a small range is achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a wrist joint and minimally invasive surgical robot and a knee joint endoscopic surgical robot. Background Art

[0002] The knee arthroscopy surgery robot is a minimally invasive surgery robot that uses an endoscope to diagnose and treat knee joint diseases. Doctors usually make some small incisions on the knee joint, and then insert the robot's distal endoscope into the knee joint cavity through the incision, and then observe the situation inside the knee joint cavity through the endoscope. This minimally invasive surgery is usually used to treat diseases such as meniscus injuries and cruciate ligament tears.

[0003] At present, the distal structure of the knee arthroscopy surgical robot used in clinical practice is often rigid, and has the disadvantage of limited freedom. Specifically, in actual application, in order to obtain a wider range of surgical fields, the doctor often needs to rotate the wrist to achieve the overall rotation of the knee arthroscopy, and actively feed the arm to achieve the overall feeding of the knee arthroscopy. Therefore, the actual application of this rigid knee arthroscopy surgical robot has the following disadvantages:

[0004] (1) The robot has few degrees of freedom at the distal end and a small range of motion, which limits the doctor's field of view and leads to blind spots in the surgical field (such as the posterior root of the medial meniscus, the anterior cruciate ligament, the posterolateral complex, etc., which are difficult to see in full). This increases the difficulty of surgery and causes patients to suffer from joint injuries or complications. Currently, in order to solve this problem, when using a rigid knee arthroscopy, if you want to expand the field of view, you often need to make more incisions on the knee joint, but this surgical method will further increase the patient's trauma.

[0005] (2) The rotation and feeding movements of the distal endoscope are both achieved through the doctor's wrist operation. This surgical method that relies on manual input has the disadvantages of low operating accuracy, poor flexibility, low surgical success rate, and high risk factor (e.g., the doctor's hand tremors or wrist fatigue may lead to high surgical risks and surgical failures). Summary of the invention

[0006] In order to overcome the problems of insufficient distal degrees of freedom and small range of motion of existing rigid knee arthroscopy surgical robots, which in turn lead to limited surgical field of view and increased difficulty in operation, the present invention first provides a wrist joint that can perform two-degree-of-freedom rotational motion (including deflection motion and pitch motion), and on this basis, the wrist joint with two degrees of freedom motion and a flexible robotic arm with bending freedom are cascaded to obtain a minimally invasive surgical robot with at least three degrees of freedom motion (wrist joint deflection motion + wrist joint pitch motion + flexible robotic arm bending motion); further, in order to better achieve the dexterous adjustment of the minimally invasive surgical field of view and the distal reachable motion range, the present invention also arranges the flexible joint portion in the above-mentioned minimally invasive surgical robot to have an adjustable bending radius, thereby obtaining a minimally invasive surgical robot with controllable bending radius of the flexible joint in the adjustable bending section.

[0007] Specifically, the technical solution adopted by the present invention to solve the above technical problems is: a wrist joint, including an end effector, a yaw axis, a pitch support frame, a pitch axis and a pitch support seat; wherein:

[0008] The end effector is fixedly arranged on the deflection axis;

[0009] The yaw axis is rotatably arranged on the pitch support frame and can drive the end effector to perform rotational motion around the axis A;

[0010] The pitch support frame is fixedly connected to the pitch axis;

[0011] The pitch axis is rotatably arranged on the pitch support seat, and can drive the integral joint composed of the end effector, the yaw axis and the pitch support frame to rotate around the axis B;

[0012] The axis A and the axis B are perpendicular to each other.

[0013] Preferably, the rotational movement of the yaw axis is driven by a first wire transmission device; the rotational movement of the pitch axis is driven by a second wire transmission device, the first wire transmission device and the second wire transmission device have the same structural arrangement, and respectively comprise: a driving wire and a wire driving component; wherein: the wire driving component comprises two driving wire winding wheels fixed by top wires, a driving motor connecting shaft and a driving motor, the two driving wire winding wheels are respectively fixed to the driving motor connecting shaft by top wires, and the driving motor connecting shaft is driven to rotate by the driving motor;

[0014] The yaw axis and the pitch axis are respectively provided with spiral grooves for winding the driving wires, and the two driving wires are respectively wound in the corresponding spiral grooves, and of the two ends of each driving wire: one end is wound on one of the driving wire winding wheels in a clockwise winding manner, and the other end is wound on the other driving wire winding wheel in a counterclockwise winding manner.

[0015] The present invention also provides a minimally invasive surgical robot, comprising the above-mentioned wrist joint and flexible mechanical arm, wherein:

[0016] The flexible mechanical arm is mainly composed of a plurality of flexible joints connected to each other, and can perform bending motion with at least one degree of freedom under the drive of a bending drive device;

[0017] The pitch support seat in the wrist joint is the distal joint in the flexible mechanical arm.

[0018] Preferably, the bending drive device is a rod-driven bending device, which includes two driving rods, a fixed block, a slider and a guide rail, wherein:

[0019] One end of the two driving rods is respectively fixed on the flexible mechanical arm;

[0020] Two fixed blocks are provided, the other ends of the two driving rods are fixed to the two fixed blocks respectively, and racks are provided at the bottoms of the two fixed blocks respectively, a transmission gear is meshed between the two racks, and the transmission gear is driven to rotate by the fourth driving motor;

[0021] The sliders are provided with two, which are respectively assembled at the bottom of the two racks;

[0022] The guide rails are provided with two, and the two sliding blocks are respectively slidably mounted on the two guide rails.

[0023] Preferably, it also includes a rigid insertion sheath and a gear transmission device, wherein:

[0024] The rigid insertion sheath is sleeved on the outside of the flexible mechanical arm;

[0025] The gear transmission device is matched with the rigid insertion sheath and can drive the rigid insertion sheath to move forward and backward relative to the flexible robotic arm, so that the flexible joint in the flexible robotic arm can passively extend out of the rigid insertion sheath or retract into the rigid insertion sheath.

[0026] Furthermore, the rigid insertion sheath is provided with an external thread section; the gear transmission device includes a threaded sleeve, the threaded sleeve is provided with an internal thread section matching the external thread section on the rigid insertion sheath, and the rigid insertion sheath is threadedly engaged in the threaded sleeve through the external thread section; a first bevel gear is provided on the outer sleeve of the threaded sleeve, the first bevel gear is meshed with a second bevel gear, a transmission shaft is provided on the second bevel gear, and the transmission shaft is driven to rotate by a first drive motor.

[0027] Preferably, an external clamping block is provided at the end of the external threaded section on the rigid insertion sheath, and a plurality of protrusions are provided on the external clamping block; a rigid tube is provided at the proximal end of the flexible robotic arm, and a plurality of long strip-shaped cuts matching the protrusions are provided on the rigid tube; when the rigid insertion sheath moves in a straight line, the protrusions on the external clamping block can slide in the corresponding long strip-shaped cuts on the rigid tube.

[0028] On this basis, the present invention also provides a knee joint endoscopic surgical robot, including any of the above-mentioned minimally invasive surgical robots, wherein the end effector is an endoscope module, the endoscope module includes an endoscope and a scope support for assembling the endoscope, and the scope support is fixed on the deflection axis.

[0029] Preferably, it further comprises a device housing, which comprises an outer shell and a supporting base plate, and the gear transmission device, the rod-driven bending device, the first wire transmission device and the second wire transmission device are respectively arranged on the supporting base plate.

[0030] Preferably, a first hand-held part and a second hand-held part are provided on the device housing; the driving motors in the first wire transmission device, the second wire transmission device and the rod-driven bending device are all arranged in the second hand-held part, and the driving motor in the gear transmission device is arranged in the first hand-held part.

[0031] Compared with the prior art, the present invention has the following advantages and effects:

[0032] (1) In the wrist joint provided by the present invention, the end effector is arranged on the deflection axis. When the deflection axis rotates, the end effector can be driven to rotate around axis A. At the same time, the deflection axis is rotatably arranged on the pitch support frame, and the pitch support frame is fixedly connected to the pitch axis. When the pitch axis rotates, the end effector can be driven to rotate around axis B. In addition, since axis A and axis B are perpendicular to each other, as shown in the figure, when the deflection axis rotates, the end effector can be driven to deflect to the left and right. When the pitch axis rotates, the overall joint composed of the end effector, the deflection axis and the pitch support frame can be driven to pitch up and down. That is, the wrist joint described in the present application has two degrees of freedom, namely, deflection and pitch. Compared with the wrist joint in the traditional rigid knee joint minimally invasive surgical robot, the wrist joint with this structural design has the characteristics of flexible and variable degrees of freedom, convenient adjustment, ability to meet different surgical operation requirements, and wide application range.

[0033] (2) In the minimally invasive surgical robot provided by the present invention, by connecting a wrist joint capable of performing two-degree-of-freedom movement with a flexible robotic arm, the flexible robotic arm can perform bending movement with at least one degree of freedom when driven by a bending drive device or a wire transmission device, thereby realizing at least three-degree-of-freedom movement of the distal end of the robot, greatly improving the motion range and accessible working space of the wrist joint end effector, thereby improving the flexibility of surgical operations and being able to meet the operational requirements of different surgical procedures.

[0034] (3) The present invention realizes the forward and backward movement of the rigid insertion sheath by providing an external thread on the rigid tube of the rigid insertion sheath, and matching the rigid insertion sheath with the gear transmission device through the internal and external threads; in the present application, if there is no rigid insertion sheath, when the flexible joint is bent, the distal joint, the middle joint, and the proximal joint of the flexible robotic arm will bend and rotate together, and the bending radius is fixed; however, by providing a rigid insertion sheath and adjusting the extension and contraction amount of the rigid insertion sheath, a part of the flexible joint can be made to enter the rigid insertion sheath. At this time, when the flexible robotic arm is bending, since a part of the joint (part of the middle joint and the proximal joint) is in the rigid insertion tube sheath, the bending length of the flexible robotic arm will change; therefore, when the flexible robotic arm is bending, the bending radius can be changed. This ingenious design can not only realize the large-scale and small-scale bending movement and safe interaction of the distal end of the robot, but also realize the flexible adjustment of the working posture and field of view of the distal wrist joint, thereby improving the operation accuracy and success rate of the surgical operation.

[0035] (4) In the minimally invasive surgical robot provided by the present invention, the deflection movement and pitch movement of the wrist joint are respectively driven by a wire transmission device, and the wire transmission device includes a driving wire, a driving winding wheel, a driving motor connecting shaft and a driving motor; further, the present invention provides spiral grooves for winding the driving wire on the deflection axis and the pitch axis of the wrist joint, respectively, and two driving wires are respectively wound in the spiral grooves, and the two ends of the driving wire are respectively wound on the two driving wire winding wheels in a clockwise and counterclockwise winding manner; therefore, when the corresponding driving motor is started, the driving motor connecting shaft rotates, thereby driving the two driving wire winding wheels to rotate, and since the winding directions of the two ends of the driving wire are opposite, the stretching movement of the driving wire can be realized; further, the friction between the driving wire and the rotating shaft can drive the deflection axis and the pitch axis to rotate, thereby realizing the deflection movement and pitch movement of the wrist joint. This structural design method of "wire transmission + friction transmission" results in a wrist joint with two degrees of freedom. Compared with the ordinary joint design method that uses direct motor drive, since the driving motor is not directly connected to the rotating shaft, the wrist joint also has the characteristics of compact structure, small size, and dexterous movement (small motion load); at the same time, the deflection and pitch motion of the wrist joint are driven by the driving wire and the motor. Compared with traditional surgical procedures that rely on manual input by the doctor, it has the advantages of high operating precision and high surgical safety.

[0036] (5) The present invention also provides a knee joint endoscopic surgical robot, comprising a distal 2-DOF wrist joint, a 1-DOF bending flexible robotic arm, a rigid insertion sheath, a distal wrist joint drive module (wire transmission device), a flexible robotic arm drive module (rod bending drive device) and a rigid insertion sheath drive module (gear transmission device); wherein, by integrating an endoscope module at the end of the wrist joint, dexterous exploration of the knee joint cavity is achieved; by the 2-DOF movement of the wrist joint, local dexterous adjustment of the endoscope field of view is achieved; by the 1-DOF bending movement in the flexible robotic arm, a large-range bending movement and safe interaction of the endoscope are achieved; at the same time, by controlling the extension and retraction of the rigid insertion sheath, on the one hand, it is convenient for doctors to control the endoscope integrated at the end of the wrist joint so that it can smoothly enter the knee joint cavity from the knee joint incision; on the other hand, by adjusting the extension amount of the rigid insertion sheath, the bending radius of the 1-DOF flexible joint in the flexible robotic arm is changed, thereby further achieving dexterous adjustment of the endoscope field of view within a large and small range. In summary, the application of the knee arthroscopy surgical robot described in the present invention can effectively avoid the disadvantage of making multiple incisions on the patient's knee joint in order to expand the surgical field of view. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 This is a schematic diagram of the three-dimensional structure of the wrist joint described in Example 1 of the present invention.

[0039] Figure 2 This is a schematic diagram of the decomposition of the wrist joint structure described in Example 1 of the present invention.

[0040] Figure 3 This is a schematic structural diagram of the connection between the wrist joint and the flexible robotic arm in the minimally invasive surgical robot described in Example 2 of the present invention.

[0041] Figure 4 This is a schematic diagram of the decomposition structure of the flexible robotic arm in the minimally invasive surgical robot described in Example 2 of the present invention.

[0042] Figure 5 This is a schematic diagram of the bending state of the flexible robotic arm in the minimally invasive surgical robot described in Example 2 of the present invention.

[0043] Figure 6 This is a schematic structural diagram of the flexible robotic arm bending drive device in the minimally invasive surgical robot described in Example 2 of the present invention.

[0044] Figure 7 This is a schematic diagram of the structure of a notch-type flexible robotic arm in Example 2 of the present invention.

[0045] Figure 8 This is a schematic diagram of the spine-type flexible robotic arm structure in Example 2 of the present invention.

[0046] Fig. 9 This is a schematic diagram of the assembly of the rigid insertion sheath and the gear transmission device in the minimally invasive surgical robot described in Example 3 of the present invention.

[0047] Fig.10 This is a schematic diagram of an adjustable bending radius r of the distal joint of the flexible robotic arm in the minimally invasive surgical robot described in Example 3 of the present invention.

[0048] Fig.11 This is a schematic diagram of the internal structure of the knee arthroscopy surgical robot described in Example 4 of the present invention (without the device shell).

[0049] Fig.12 This is a schematic diagram of the overall appearance of the knee arthroscopy surgical robot described in Example 4 of the present invention (the arrow indicates the wrist joint).

[0050] Description of labels:

[0051] 1. End effector; 2. Deflection axis; 3. Pitch support frame; 4. Pitch axis; 5. Pitch support seat; 6. Positioning pin; 7. First drive wire; 8. Second drive wire; 9. Endoscope support; 10. Endoscope; 11. Flexible mechanical arm; 12. Rigid tube; 13. Drive rod; 14. Fixed block; 15. Rack; 16. Slider; 17. Guide rail; 18. Transmission gear; 19. Gear drive shaft; 20. Rigid insertion sheath; 21. External thread segment; 2 2. Block; 23. First bevel gear; 24. Gear transmission shaft; 25. Second bevel gear; 26. First drive motor; 27. Guide wire wheel; 28. Winding pulley; 29. ​​Drive wire winding wheel; 30. Drive motor connecting shaft; 31. Second drive motor; 32. Third drive motor; 33. Fourth drive motor; 34. Rear support seat; 35. First hand-held part; 36. Second hand-held part; 37. Front support seat; 38. Device housing; 39. Support base plate. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with embodiments. The following embodiments are for explanation of the present invention but the present invention is not limited to the following embodiments.

[0053] Example 1: Figures 1 to 2 As shown, a wrist joint includes an end effector 1, a deflection axis 2, a pitch support frame 3, a pitch axis 4 and a pitch support seat 5; wherein:

[0054] The end effector 1 is fixedly arranged on the deflection shaft 2;

[0055] The yaw axis 2 is rotatably disposed on the pitch support frame 3 and can drive the end effector 1 to perform a rotational motion around the axis A;

[0056] The pitch support frame 3 is fixedly connected to the pitch axis 4;

[0057] The pitch axis 4 is rotatably disposed on the pitch support seat 5, and can drive the overall joint composed of the end effector 1, the deflection axis 2 and the pitch support frame 3 to rotate around the axis B;

[0058] The axis A and the axis B are perpendicular to each other.

[0059] Specifically, Figure 2 As shown, in this embodiment, the deflection axis 2 is set on the pitch support frame 3 through the positioning pin 6, and the deflection axis 2 can rotate freely on the positioning pin 6; at the same time, the pitch axis 4 is connected to the pitch support seat 5 through the positioning pin, and the pitch axis 4 can rotate freely on the positioning pin.

[0060] Furthermore, if Figure 1 As shown, in the wrist joint described in this embodiment 1, the end effector 1 can be a scalpel, surgical forceps or an endoscope component, etc.

[0061] Working principle and characteristics: In the present embodiment 1, since the end effector 1 is fixed on the deflection axis 2, when the deflection axis 2 rotates under the driving force of an external force, the end effector 1 can be driven to rotate around the axis A of the deflection axis 2; at the same time, since the deflection axis 2 is arranged on the pitch support frame 3 and the pitch support frame 3 is fixed on the pitch axis 4, when the pitch axis 4 rotates under the driving force of an external force, the end effector 1 can be driven to rotate around the axis B of the pitch axis 4; in addition, since the axis A and the axis B are perpendicular to each other, Figure 2 As shown, when the deflection axis 2 is defined to rotate, the end effector 1 can be driven to deflect to the left or right; when the pitch axis 4 is defined to rotate, the end effector 1 can be driven to pitch up or down; that is, the wrist joint described in this embodiment 1 has two degrees of freedom, namely, deflection around axis A and pitch around axis B. Compared with the wrist joint in the traditional rigid knee joint minimally invasive surgical robot, the wrist joint of this structural design has two degrees of freedom, and the degrees of freedom are flexible and variable, easy to adjust, and can meet the operation requirements of different surgical procedures, and has a wide range of applications.

[0062] Furthermore, if Figure 1 , Figure 2 , Fig. 9 As shown, in the wrist joint described in the present embodiment 1, the yaw axis 2 and the pitch axis 4 can respectively perform rotational motion under the drive of the wire transmission device, specifically:

[0063] The rotational movement of the yaw axis 2 is driven by a first wire transmission device; the rotational movement of the pitch axis 4 is driven by a second wire transmission device, the first wire transmission device includes a first driving wire 7 and a wire driving component, the wire driving component includes two driving wire winding wheels 29 fixed by top wires, a driving motor connecting shaft 30 and a second driving motor 31; the second wire transmission device includes a second driving wire 8 and a wire driving component, the wire driving component includes two driving wire winding wheels 29 fixed by top wires, a driving motor connecting shaft 30 and a third driving motor 32; wherein:

[0064] In the first wire transmission device and the second wire transmission device: the two driving wire winding wheels 29 are respectively fixed to the driving motor connecting shaft 30 through top screws, and the driving motor connecting shaft 30 is driven to rotate by the corresponding driving motors.

[0065] Furthermore, if Figure 1 , Figure 2 , Fig.11As shown, the yaw axis 2 and the pitch axis 4 are respectively provided with spiral grooves for winding the first driving wire 7 and the second driving wire 8, the two driving wires are respectively wound in the corresponding spiral grooves, and the two ends of each driving wire are respectively wound on two driving wire winding wheels 29, specifically: of the two ends of each driving wire, one end is wound on one of the driving wire winding wheels in a clockwise winding manner, and the other end is wound on the other driving wire winding wheel in a counterclockwise direction.

[0066] In this embodiment, the yaw axis 2 and the pitch axis 4 can be driven by the first wire transmission device and the second wire transmission device to perform rotational motion, and the specific working principle and characteristics are as follows:

[0067] In this embodiment, spiral grooves for winding the drive wire are respectively provided on the deflection axis 2 and the pitch axis 4 of the wrist joint, and two drive wires are respectively wound in the corresponding spiral grooves, and the two ends of the drive wire are respectively wound around the two drive wire winding wheels 29 in a clockwise and counterclockwise winding manner; therefore, when the corresponding drive motor is started, the drive motor connecting shaft 30 rotates, thereby driving the two drive wire winding wheels 29 to rotate. Since the winding directions of the two drive wires are opposite, the corresponding drive wire can be stretched (one side is extended and the other side is shortened); at the same time, the friction between the drive wire and the rotating shaft can drive the deflection axis / pitch axis to rotate, thereby realizing the deflection and pitching movements of the wrist joint. This kind of rotational drive mode using "wire transmission + friction transmission" obtains a wrist joint with two degrees of freedom. Compared with the common joint design mode using motor direct drive, since the drive motor is not directly connected to the rotating shaft, the wrist joint also has the characteristics of compact structure, small size, and flexible movement (small movement load).

[0068] In this embodiment, as a preferred implementation, Fig.11 As shown, the first wire transmission device and the second wire transmission device further include a wire guide wheel 27 for guiding the driving wire and a group of winding pulleys 28 for adjusting the tension of the driving wire.

[0069] Example 2: Figures 3 to 8 As shown, this embodiment provides a minimally invasive surgical robot based on the wrist joint provided in Example 1, including a flexible robotic arm 11 and the 2-DOF wrist joint described in Example 1, wherein:

[0070] like Figures 3 to 7 The flexible mechanical arm 11 is mainly composed of a plurality of flexible joints connected to each other, and can perform bending motion with at least one degree of freedom under the drive of a bending drive device;

[0071] The pitch support seat 5 in the wrist joint is the distal joint in the flexible robotic arm.

[0072] In this embodiment, the flexible robotic arm is defined as: a flexible structure that can generate bending motion with at least one degree of freedom under the action of an external force, which can be specifically as follows: Figures 3 to 5 The slotted flexible arm shown can also be Figure 7 The disc-type flexible arm shown can also be Figure 8 The spine-type flexible arm shown; further, as Figures 3 to 7 As shown, the flexible robotic arm 11 specifically includes a flexible arm shell consisting of a distal joint, a plurality of intermediate joints and a proximal joint. Preferably, the flexible arm shell can be made by cutting and stamping a stainless steel tube without assembly. At the same time, grooves can be punched out in the distal joints, intermediate joints and proximal joints of the flexible arm shell, so that the two ends of the first driving wire 7 and the second driving wire 8 are respectively connected to the corresponding wire transmission devices through the inside of the grooves.

[0073] In the minimally invasive surgical robot provided in this embodiment 2, a wrist joint capable of performing two-degree-of-freedom movement is connected to a flexible robotic arm, and the flexible robotic arm can perform bending movement with at least one degree of freedom when driven by a bending drive device, thereby realizing at least three-degree-of-freedom movement of the far end of the robot, greatly improving the motion range and accessible working space of the wrist joint end effector, thereby improving the flexibility of surgical operations, and being able to meet the operational requirements of different surgical procedures.

[0074] In this embodiment 2, the flexible robotic arm is driven by a bending drive device to achieve at least one degree of freedom bending. The bending drive device can be a rod-driven bending device or a wire-driven bending device. When a wire-driven bending device is selected, at least two driving wires need to be bonded to the flexible robotic arm and connected to the wire-driven device. Since the wire-driven device has the same structural setting as the wire transmission device in embodiment 1, in order to avoid the structural setting of the proximal driving part of the minimally invasive robot being too complicated, this embodiment uses a rod-driven bending device, and takes the realization of one degree of freedom bending as an example. The specific structural setting is as follows:

[0075] like Figure 6 , Fig.11 As shown, the rod driven bending device includes two driving rods 13, a fixing block 14, a slider 16 and a guide rail 17, wherein:

[0076] One end of the two driving rods 13 is respectively fixed to the flexible mechanical arm 11 by bonding;

[0077] Two fixing blocks 14 are provided, and the other ends of the two driving rods 13 are fixed to the two fixing blocks 14 respectively, and racks 15 are provided at the bottom of the two fixing blocks 14 respectively, and a transmission gear 18 is meshed between the two racks 15, and the transmission gear 18 is driven to rotate by the fourth driving motor 33;

[0078] The sliders 16 are provided with two, which are respectively assembled at the bottom of the two racks 15;

[0079] The guide rails 17 are provided with two, and the two sliders 16 are slidably mounted on the two guide rails 17 respectively.

[0080] Wherein: the transmission gear 18 is provided with a gear drive shaft 19 , and the gear drive shaft 19 is connected to the fourth drive motor 33 .

[0081] The driving principle of the rod-driven bending device described in this embodiment is as follows:

[0082] When the fourth driving motor 33 is started, the gear driving shaft 19 rotates, and drives the transmission gear 18 to rotate. The transmission gear 18 can transmit torque to the two racks 15 meshing with it, and drive the two fixed blocks 14 fixed thereto to perform linear motion respectively; at the same time, since the movement directions of the two racks 14 are opposite, the two driving rods 13 connected to the fixed blocks 14 can drive the flexible robotic arm to perform a 1-degree-of-freedom bending motion along a certain direction by antagonizing each other (one moves forward and the other moves backward). Its bending state is as shown in FIG. Figure 5 shown.

[0083] Example 3: Fig. 9 , Fig.10 As shown, the present invention also provides a minimally invasive surgical robot, which is different from Example 2 in that it also includes a rigid insertion sheath 20 and a gear transmission device, wherein:

[0084] The rigid insertion sheath 20 is sleeved on the outside of the flexible robotic arm 11;

[0085] The gear transmission device is matched with the rigid insertion sheath 20, and can drive the rigid insertion sheath 20 to move forward and backward relative to the flexible robotic arm 11, so that the flexible joint in the flexible robotic arm 11 can passively extend out of the rigid insertion sheath 20 or retract into the rigid insertion sheath 20, thereby changing the bending radius r of the flexible joint located outside the rigid insertion sheath 20.

[0086] Specifically, Fig. 9As shown, the rigid insertion sheath 20 is provided with an external thread section 21; the gear transmission device includes a threaded sleeve, the threaded sleeve is provided with an internal thread section matching the external thread section 21 on the rigid insertion sheath 20, and the rigid insertion sheath 20 is threadedly engaged in the threaded sleeve through the external thread section; the outer sleeve of the threaded sleeve is provided with a first bevel gear 23, the first bevel gear 23 is meshed with the second bevel gear 25, the second bevel gear 25 is provided with a transmission shaft 24, and the transmission shaft 24 is driven to rotate by a first drive motor 26.

[0087] In the minimally invasive surgical robot described in this embodiment, the specific working principle of the gear transmission device and the reason why the bending radius of the adjustable bending section of the flexible mechanical arm is adjustable are explained as follows:

[0088] When the first driving motor 26 is started, the transmission shaft 24 rotates and drives the second bevel gear 25 connected thereto to rotate; the second bevel gear 25 rotates and can drive the first bevel gear 23 meshing therewith to rotate; at the same time, since the first bevel gear 23 is provided with a threaded sleeve inside, the threaded sleeve is provided with an internal threaded section matching the external threaded section 21 on the rigid insertion sheath 20; therefore, when the first bevel gear 23 rotates, the rigid insertion sheath 20 can move forward and backward in a straight line direction, thereby enabling the flexible joint in the flexible mechanical arm 11 sleeved inside the rigid insertion sheath 20 to passively extend out of the rigid insertion sheath 20 or retract into the rigid insertion sheath 20. Wherein: Fig. 9 As shown, in order to prevent the rigid insertion sheath 20 from falling off from the threaded sleeve when it moves, an external clamping block 22 can be set at the end of the external threaded section 21 of the rigid insertion sheath 20; at the same time, in order to ensure that there is no coupling interference between the rigid insertion sheath 20 and the flexible robotic arm 11 and other assembled parts when it moves linearly, a plurality of protrusions can be set on the external clamping block 22, and a rigid tube 12 is set at the proximal end of the flexible robotic arm 11, and a plurality of long strip-shaped incisions matching the protrusions are set on the rigid tube 12; when the rigid insertion sheath 20 moves linearly, the protrusions on the external clamping block 22 can slide in the corresponding long strip-shaped incisions on the rigid tube 12.

[0089] Further, in this embodiment, if Fig.10 As shown in (a), when the rigid insertion sheath 20 moves backward (in the direction indicated by the arrow), the length of the flexible mechanical arm located outside the rigid insertion sheath 20 is larger and the bending radius r is larger; Fig.10 (b) shows that when the rigid insertion sheath 20 moves forward (in the direction indicated by the arrow), the length of the flexible mechanical arm outside the rigid insertion sheath 20 (relative to the Fig.10 a) is small, and the bending radius r is small; therefore, by adjusting the rigid insertion sheath 20 for linear displacement, the bending radius r of the flexible mechanical arm 11 outside the rigid insertion sheath can be changed.

[0090] The minimally invasive surgical robot described in this embodiment 3 decomposes the manual rotation movement in traditional minimally invasive surgery into automatic deflection movement and pitch movement of the distal wrist joint, thereby ensuring that the distal end of the robot can automatically adjust to any position within the working range and meet any posture during work. Compared with traditional surgical procedures, it can achieve accurate positioning and precise operation requirements of the surgery, and has the characteristics of high surgical success rate and high safety. In addition, on this basis, this embodiment sets the flexible mechanical arm connected to the wrist joint as an adjustable bending section with at least 1 degree of freedom, and the external sleeve of the adjustable bending section is provided with a rigid insertion sheath that can be displaced relative to it, so that when the adjustable bending section is bent, the bending radius r of the external adjustable bending section of the rigid insertion sheath can be changed by controlling the linear displacement of the rigid insertion sheath. This ingenious design can not only realize a large range of bending movement and safe interaction of the distal end of the robot, but also further realize the flexible adjustment of the working posture of the distal wrist joint.

[0091] Example 4: Figures 1 to 12 As shown, this embodiment provides a knee joint endoscopic surgical robot. The difference from Example 3 is that in this embodiment, the end effector 1 is defined as an endoscope module, and the endoscope module includes an endoscope 10 and a scope support 9 for assembling the endoscope, and the scope support 9 is fixed on the deflection shaft 2.

[0092] Furthermore, if Fig.11 , 12 As shown, the knee arthroscopy surgical robot further includes a device housing 38, which includes an outer shell and a support base plate 39. The gear transmission device, the rod-driven bending device, and the two sets of wire transmission devices are compactly arranged on the support base plate 39. The internal structure schematic diagram of the knee arthroscopy surgical robot described in this embodiment is shown in FIG. Fig.11 The overall structure diagram is shown in Fig.12 shown.

[0093] Furthermore, if Figure 8 , 11 As shown, a rigid tube 12 is provided at the proximal end of the flexible robotic arm 11, and the two driving rods 13, the first driving wire 7 and the second driving wire 8 are respectively passed through the rigid tube 12 and connected to the corresponding driving device; the rigid tube 12 is fixed to the supporting base plate 39 through the rear supporting plate 34.

[0094] Furthermore, if Fig.11 , 12 The device housing 34 is also provided with a front support seat 37 , and the first bevel gear 23 in the gear transmission device is rotatably disposed on the front support seat 37 .

[0095] Furthermore, if Fig.12As shown, a first hand-held part 35 and a second hand-held part 36 are provided on the device housing 34; the second drive motor 31, the third drive motor 32 and the fourth drive motor 33 are arranged in the second hand-held part 36, and the first drive motor 26 in the gear transmission device is arranged in the first hand-held part 35, that is, the surgical robot provided by the present invention is a flexible handheld knee arthroscopy surgical robot.

[0096] In the knee joint endoscopic surgical robot described in this embodiment, the flexible mechanical arm 11 can be driven by the rod-driven bending device to perform a 1-degree-of-freedom bending movement, thereby realizing a large range of bending movement and safe interaction of the robot's distal wrist joint; the end effector 1 on the distal wrist joint of the flexible mechanical arm 11 is set as an endoscope module, and the local dexterous adjustment of the endoscope field of view can also be realized. At the same time, a rigid insertion sheath 20 is sleeved on the outside of the flexible mechanical arm 11, and the front and rear movement of the rigid insertion sheath 20 is regulated by the gear transmission device, so that the flexible joint in the flexible mechanical arm can be regulated to passively extend out of the rigid insertion sheath or retract into the rigid insertion sheath; this structural feature, on the one hand, facilitates the doctor to control the endoscope module integrated at the end of the mechanical arm to smoothly enter the knee joint cavity from the knee joint incision; on the other hand, by regulating the extension amount of the rigid insertion sheath, the bending radius of the flexible joint in the flexible mechanical arm can be changed, further realizing the dexterous adjustment of the endoscope field of view, thereby avoiding the blind area of ​​the surgical field, reducing the difficulty of the operation, and improving the safety of the surgical operation.

[0097] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different. Any equivalent or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. The technicians in the technical field of the present invention can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A wrist joint, comprising an end effector, characterized in that: It also includes a yaw axis, a pitch support frame, a pitch axis and a pitch support seat; wherein: The end effector is fixedly arranged on the deflection axis; The yaw axis is rotatably arranged on the pitch support frame and can drive the end effector to perform rotational motion around the axis A; The pitch support frame is fixedly connected to the pitch axis; The pitch axis is rotatably arranged on the pitch support seat, and can drive the integral joint composed of the end effector, the yaw axis and the pitch support frame to rotate around the axis B; The axis A and the axis B are perpendicular to each other.

2. The wrist joint according to claim 1, characterized in that: The rotational movement of the yaw axis is driven by a first wire transmission device; the rotational movement of the pitch axis is driven by a second wire transmission device; The first wire transmission device and the second wire transmission device have the same structure and respectively include: a driving wire and a wire driving component; wherein: the wire driving component includes two driving wire winding wheels fixed by top wires, a driving motor connecting shaft and a driving motor, the two driving wire winding wheels are respectively fixed on the driving motor connecting shaft by top wires, and the driving motor connecting shaft is driven to rotate by the driving motor; The yaw axis and the pitch axis are respectively provided with spiral grooves for winding the drive wires, the two drive wires are respectively wound in the corresponding spiral grooves, and the two ends of each drive wire are respectively wound on the two drive wire winding wheels in a clockwise winding manner and a counterclockwise winding manner.

3. A minimally invasive surgical robot, characterized in that: The invention comprises the wrist joint and the flexible robotic arm as described in any one of claims 1 to 2, wherein: The flexible mechanical arm is mainly composed of a plurality of flexible joints connected to each other, and can perform bending motion with at least one degree of freedom under the drive of a bending drive device; The pitch support seat in the wrist joint is the distal joint in the flexible mechanical arm.

4. The minimally invasive surgical robot according to claim 3, characterized in that: The bending drive device is a rod-driven bending device, which includes two driving rods, a fixed block, a slider and a guide rail, wherein: One end of the two driving rods is respectively fixed on the flexible mechanical arm; Two fixed blocks are provided, the other ends of the two driving rods are fixed to the two fixed blocks respectively, and racks are provided at the bottoms of the two fixed blocks respectively, a transmission gear is meshed between the two racks, and the transmission gear is driven to rotate by the fourth driving motor; The sliders are provided with two, which are respectively assembled at the bottom of the two racks; The guide rails are provided with two, and the two sliding blocks are respectively slidably mounted on the two guide rails.

5. The minimally invasive surgical robot according to claim 4, characterized in that: Also included is a rigid insertion sheath and a gear transmission device, wherein: The rigid insertion sheath is sleeved on the outside of the flexible mechanical arm; The gear transmission device is matched with the rigid insertion sheath and can drive the rigid insertion sheath to move forward and backward relative to the flexible robotic arm, so that the flexible joint in the flexible robotic arm can passively extend out of the rigid insertion sheath or retract into the rigid insertion sheath.

6. The minimally invasive surgical robot according to claim 5, characterized in that: The rigid insertion sheath is provided with an external thread section; the gear transmission device includes a threaded sleeve, the threaded sleeve is provided with an internal thread section matching the external thread section on the rigid insertion sheath, and the rigid insertion sheath is threadedly engaged in the threaded sleeve through the external thread section; a first bevel gear is provided on the outer sleeve of the threaded sleeve, the first bevel gear is meshed with a second bevel gear, a transmission shaft is provided on the second bevel gear, and the transmission shaft is driven to rotate by a first drive motor.

7. The minimally invasive surgical robot according to claim 5, characterized in that: An external clamping block is arranged at the end of the external threaded section on the rigid insertion sheath, and a plurality of protrusions are arranged on the external clamping block; a rigid tube is arranged at the proximal end of the flexible robotic arm, and a plurality of long strip-shaped cuts matching with the protrusions are arranged on the rigid tube; when the rigid insertion sheath moves in a straight line, the protrusions on the external clamping block can slide in the corresponding long strip-shaped cuts on the rigid tube.

8. A knee arthroscopy surgery robot, characterized in that: A minimally invasive surgical robot comprising any one of claims 2 to 7, wherein the end effector is an endoscope module, the endoscope module comprises an endoscope and a endoscope support for assembling the endoscope, and the endoscope support is fixed on a deflection shaft.

9. The knee arthroscopy surgical robot according to claim 8, characterized in that: It also includes a device shell, which includes an outer shell and a supporting base plate. The gear transmission device, the rod-driven bending device, the first wire transmission device and the second wire transmission device are respectively arranged on the supporting base plate.

10. The knee arthroscopy surgical robot according to claim 9, characterized in that: The device housing is provided with a first hand-held part and a second hand-held part; the driving motors in the first wire transmission device, the second wire transmission device and the rod-driven bending device are all arranged in the second hand-held part, and the driving motor in the gear transmission device is arranged in the first hand-held part.

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