Modularized soft tissue minimally invasive surgery mechanical arm

Abstract

The invention discloses a modular soft tissue minimally invasive surgery mechanical arm which comprises a continuum tube located at one end of the mechanical arm, and the first end of the continuum tube is used for being connected with a surgical instrument; the first end of the rope guide device is connected with the second end of the continuous body pipe; the motor groove is connected to the second end of the rope guide device; the driver is arranged in the motor groove; the connecting piece is detachably connected with the output end of the driver; the first end of the driving rope is detachably connected with the connecting piece, the second end of the driving rope extends to the first end of the continuous body pipe, and the driving rope penetrates through the interiors of the continuous body pipe and the rope guide device. The modularized soft tissue minimally invasive surgery mechanical arm has the advantages that the structure is compact, the mechanical arm can be rapidly disassembled and assembled, the tail end tool can be rapidly switched, and stability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a modular soft tissue minimally invasive surgery robotic arm. Background Art

[0002] The continuum robot is an ultra-flexible electromechanical structure with infinite degrees of freedom. Compared with traditional robots, the continuum robot is small, flexible, and compliant, and has the ability to manipulate complex curved paths. Therefore, it is widely used in the medical field. As a bionic flexible actuator, the continuum robot adopts an octopus-like tentacle mechanism constructed of variable stiffness composite materials, and realizes continuous deformation in three-dimensional space through the distributed drive of bionic muscles. This ultra-redundant structure with infinite degrees of freedom breaks through the discrete motion limitations of traditional serial / parallel robots and shows significant advantages in natural orifice transluminal surgery (NOTES).

[0003] However, the existing continuum robot arm has low efficiency in disassembly and assembly and switching of the end tooling. The disassembly and assembly process of the robot arm and the end tooling (such as surgical instruments) is cumbersome and cannot meet the needs of frequent switching during surgery; the connection method between the drive rope and the driver is complicated, and the disassembly time is long, which affects the efficiency of the operation. The traditional continuum robot arm has a complex structure and is bulky. The traditional continuum robot arm adopts a complex drive and transmission device, resulting in a large overall volume and cannot be flexibly operated in confined spaces (such as oral and maxillofacial-skull base surgery scenarios); the robot arm is difficult to install and requires more surgical equipment space. At the same time, the traditional continuum robot arm structure has the problem of insufficient motion accuracy and stability. The design of the continuum tube structure is not optimized, and it is easy to cause local stress concentration due to the single torsion direction, affecting the flexibility and stability of the robot arm; the drive rope is prone to friction or uneven path during the transmission process, resulting in a decrease in motion accuracy.

[0004] Therefore, technicians in this field are committed to providing a modular soft tissue minimally invasive surgery robotic arm that meets the requirements of compact structure, quick disassembly and assembly of the robotic arm, quick switching of the end tooling, and high stability. Summary of the invention

[0005] In view of the defects in the prior art, the technical problem to be solved by the present invention is how to provide a mechanical arm with compact structure, quick assembly and disassembly and high stability.

[0006] To achieve the above object, the present invention provides a modular soft tissue minimally invasive surgery robot arm, comprising:

[0007] a continuous tube, which is located at one end of the robotic arm and has a first end for connecting a surgical instrument;

[0008] a guide rope device, a first end of which is connected to the second end of the continuous body tube;

[0009] a motor slot connected to the second end of the guide rope device;

[0010] A driver, which is arranged in the motor slot;

[0011] A connecting member, which is detachably connected to the output end of the driver;

[0012] A driving rope, a first end of which is detachably connected to the connecting piece, and a second end of which extends to the first end of the continuous body tube. The driving rope passes through the interior of the continuous body tube and the guide rope device.

[0013] Preferably, it further comprises a connecting device, and the motor slot is connected to the guide rope device through the connecting device.

[0014] Furthermore, the continuous tube comprises a spring sheet and a spring structure section, wherein the spring sheet is arranged at the first end of the continuous tube, and the spring structure section extends along the length direction of the continuous tube.

[0015] Furthermore, the continuous tube further comprises a fixing slot, adjacent spring segments are connected via the fixing slot, and the rotation directions of adjacent spring segments are opposite.

[0016] Furthermore, the first end of the rope guide device is provided with a set screw hole and a countersunk hole, the interior of the rope guide device is provided with a rope guide groove, the second end of the rope guide device is provided with a first connecting through hole, and the second end of the continuous body tube is connected to the rope guide device through the countersunk hole and the set screw hole.

[0017] Furthermore, the shape of the rope guide groove is a spline curve.

[0018] Furthermore, the connecting member includes a through-hole screw, a nut, and a stud screw. The through-hole screw is threadedly connected to one end of the nut, one end of the stud screw is threadedly connected to the other end of the nut, and the other end of the stud screw is threadedly connected to the driver. The first end of the drive rope passes through the through-hole screw, and the drive rope is compressed in the nut.

[0019] Preferably, it also includes a connecting flange, which is arranged on the circumferential outer side of the motor slot and has bolt reserved holes.

[0020] Preferably, it also includes a driving device, which is connected to the motor slot and connected to the surgical instrument via a wire.

[0021] Preferably, it further comprises a PCB board, wherein the PCB board is arranged on the driving device and the PCB board is electrically connected to the driver.

[0022] The present invention has at least the following beneficial technical effects:

[0023] 1. The modularized soft tissue minimally invasive surgery robot arm of the present invention adopts a quick connection screw group to achieve rapid fixation and disassembly of the drive rope and the driver by bending and pressing the drive rope; and adopts a detachable connection flange to achieve rapid disassembly and assembly of the robot arm and external equipment. The present invention improves the disassembly and assembly efficiency and meets the needs of rapid replacement during surgery.

[0024] 2. The modular soft tissue minimally invasive surgery robot arm of the present invention adopts modular compact design and continuous tube segment optimization, decomposing the robot arm into modular components such as continuous tube, guide rope device, motor slot, etc. to achieve compact integration; it adopts spring segments with alternating rotation directions to reduce stress concentration and reduce the overall length.

[0025] 3. The modular soft tissue minimally invasive surgical robot arm of the present invention uses a spline curve to optimize the guide rope groove, which reduces the friction resistance during the movement of the drive rope and reduces the motion error; a rigid section is set at the end of the continuum tube to double fix the surgical machine and improve the end stability.

[0026] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 2 is a schematic diagram of the overall structure of a modular soft tissue minimally invasive surgery robot arm according to an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a continuous tube structure according to an embodiment of the present invention;

[0029] Figure 3 2 is a schematic structural diagram of a rope guide device according to an embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of a connecting device according to an embodiment of the present invention;

[0031] Figure 5 is a schematic diagram of the connecting flange structure of an embodiment of the present invention;

[0032] Figure 6 is a schematic diagram of the motor slot structure of an embodiment of the present invention;

[0033] Figure 7 is a schematic structural diagram of a driving device according to an embodiment of the present invention;

[0034] Figure 8 Schematic diagram of the connector structure of an embodiment of the present invention.

[0035] In the figure,

[0036] 1-continuous tube, 101-spring sheet, 102-spring structure, 103-fixed slot;

[0037] 2-guiding rope device, 201-setting screw hole, 202-counter hole, 203-guiding rope groove, 204-surgical instrument groove, 205-first connecting through hole;

[0038] 3-connecting device, 301-rectangular slot, 302-circular through hole, 303-first motor through hole, 304-second connecting through hole;

[0039] 4-connecting flange, 401-bolt reserved hole, 402-flange connecting hole, 403-mechanical arm connecting hole;

[0040] 5-motor slot, 501-second motor through hole, 502-rectangular through hole, 503-third connecting through hole;

[0041] 6-driving device, 601-PCB board connecting column, 602-fourth connecting through hole;

[0042] 7-PCB board;

[0043] 8-Driver;

[0044] 9-connector, 901-through-hole screw, 902-nut, 903-stud screw;

[0045] 10- driving rope;

[0046] 11-Surgical instruments. DETAILED DESCRIPTION

[0047] The following describes the preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0048] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0049] The present invention provides a modular soft tissue minimally invasive surgery robotic arm, which is based on modular collaborative design and standardized interface integration. It realizes the compactness of the robotic arm, rapid disassembly and assembly, terminal tooling switching, and high stability while ensuring high flexibility and motion accuracy of the robotic arm.

[0050] like Figure 1As shown, the modularized soft tissue minimally invasive surgical robot arm of this embodiment includes a continuous body tube 1, a guide rope device 2, a motor slot 5, a driver 8, a connector 9 and a driving rope 10. The continuous body tube 1, the guide rope device 2 and the motor slot 5 are roughly distributed in a straight line. The driver 8 is arranged on the motor slot 5. The connector 9 is connected to the output end of the driver 8. One end of the driving rope 10 is connected to the connector 9, and the other end extends to the end of the continuous body tube 1 through the inside of the guide rope device 2 and the inside of the continuous body tube 1. The surgical instrument 11 is arranged at the end of the continuous body tube 1, and the surgical instrument 11 is also connected to the driving rope 10, and the driving rope 10 controls the surgical instrument 11.

[0051] In some specific embodiments, the surgical robot arm may further include a connecting device 3 , which is disposed between the guide rope device 2 and the motor slot 5 , and is used to connect the guide rope device 2 and the motor slot 5 .

[0052] like Figure 2 As shown, the continuous body tube 1 includes a spring sheet 101 and a spring segment 102. The spring sheet 101 is provided at one end of the continuous body tube 1, and the surgical instrument 11 is clamped by the spring sheet 101. The spring segment 102 is connected to the spring sheet 101, and under the pulling action of the driving rope 10, the spring segment 102 can be bent, compressed, and deformed.

[0053] In some specific embodiments, the spring segment 102 has multiple sections, and the continuous body tube 1 also includes a fixed slot 103, which is used to connect adjacent spring segments 102, and the rotation directions of adjacent spring segments 102 are opposite, so that when the continuous body tube 1 is bent, the torsional moment can be offset, avoiding the accumulation of deformation caused by a single rotation direction, thereby shortening the length of the continuous body tube 1.

[0054] In addition to being clamped by the spring sheet 101 , the surgical instrument 11 may also be doubly fixed using a set screw to enhance the stability of the end connection.

[0055] like Figure 3 As shown, the first end of the guide rope device 2 has a small diameter, and the second end has a large diameter, and is roughly truncated. The first end of the guide rope device 2 is provided with a set screw hole 201 and a countersunk hole 202. The other end of the continuous body tube 1 is inserted into the countersunk hole 202, and then the screw is installed from the circumferential direction through the set screw hole 201 to achieve a stable connection between the continuous body tube 1 and the guide rope device 2. The second end of the guide rope device 2 is provided with a first connecting through hole 205, and the interior of the guide rope device 2 is provided with a through guide rope groove 203, which is used for the driving rope 10 to pass through.

[0056] The guide rope groove 203 adopts a continuous and smooth spline curve shape to avoid sharp turns of the driving rope 10 and reduce the friction resistance when the driving rope 10 moves.

[0057] The guide rope device 2 is also provided with a surgical instrument slot 204 for the guide wires and other components of the surgical instrument 11 to pass through.

[0058] like Figure 4 As shown, the connecting device 3 is roughly in the shape of two parallel discs connected by a columnar member. A circular through hole 302 is opened at the first end of the connecting device 3 for passing the driving rope 10. A first motor through hole 303 is opened at the second end of the connecting device 3 for passing the driver 8. A second connecting through hole 304 is opened at both the first and second ends of the connecting device 3. The bolt connection between the rope guide device 2 and the connecting device 3 is realized through the second connecting through hole 304 at the first end and the first connecting through hole 205 of the rope guide device 2.

[0059] The connecting device 3 is also provided with a rectangular groove 301 for laying wires and the like.

[0060] like Figure 6 As shown, a rectangular through hole 502 is provided at the second end of the motor slot 5. A second motor through hole 501 is provided at the first end of the motor slot 5 for the driver 8 to pass through. A third connecting through hole 503 is provided at the first end and the second end of the motor slot 5, respectively, and the motor slot 5 is bolted to the connecting device 3 through the third connecting through hole 503 at the first end and the second connecting through hole 304 at the second end of the connecting device 3.

[0061] The driver 8 is a linear driver, which is fixed on the motor slot 5 . The telescopic rod of the driver 8 passes through the second motor through hole 501 and the first motor through hole 303 , and the connector 9 is connected to the end of the telescopic rod.

[0062] like Figure 8 As shown, the connecting member 9 includes a through-hole screw 901, a nut 902 and a stud screw 903. A through hole is formed inside the through-hole screw 901, so that the driving rope 10 can pass through. The through-hole screw 901 is connected to one end of the nut 902, and one end of the stud screw 903 is connected to the other end of the nut 902. When the through-hole screw 901 and the stud screw 903 are connected to the nut 902 at the same time, the driving rope 10 can be compressed. The other end of the stud screw 903 is connected to the telescopic rod of the driver 8, so that the connecting member 9 and the driver 8 can be detachably connected.

[0063] In this embodiment, the driving rope 10 is passed through the through hole of the through hole screw 901 and then bent, and then the through hole screw 901 and the nut 902 are tightened, and one end of the stud screw 903 is screwed into the nut 902 to press the bent driving rope 10, and the other end of the stud screw 903 is screwed into the linear driver 8, so that the driving rope 10 and the driver 8 are quickly installed. When disassembly is required, the connection between the through hole screw 901 and the nut 902 is unscrewed to pull out the driving rope 10; then all the driving ropes 10 corresponding to the continuous body tube 1 are pulled out and the set screws fixing the continuous body tube 1 are loosened, and the continuous body tube 1 can be taken out to achieve quick disassembly.

[0064] The modular soft tissue minimally invasive surgical robot arm of this embodiment decouples the strain of the continuum robot arm and performs spatial optimization through modular collaborative design. By separating functional units such as the continuum tube, guide rope device, and drive module, and adopting spring sections with alternating rotation directions, stress concentration and motion crosstalk during multi-degree-of-freedom movement are effectively suppressed.

[0065] like Figure 1 As shown, in other embodiments of the present invention, a connecting flange 4 is further included. The connecting flange 4 is sleeved on the motor slot 5, and connection with an external device can be achieved through the connecting flange 4.

[0066] Specifically, Figure 5 As shown, the connection flange 4 is a split double half-ring structure, and each half ring is provided with a flange connection hole 402 to achieve the connection of the two half rings. The connection flange 4 is provided with bolt reserved holes 401 for connection with external devices; the connection flange 4 is also provided with mechanical arm connection holes 403 for connection with the motor slots 5 at both ends thereof. Through the bolt reserved holes 401 of the connection flange 4, a variety of equipment interfaces can be adapted, showing quick disassembly and assembly compatibility.

[0067] like Figure 1 As shown, in other embodiments of the present invention, a driving device 6 is further included, and the driving device 6 is connected to the other end of the motor slot 5. The surgical instrument 11 can be connected to the driving device 6 through a wire, and the driving device 6 can further connect the surgical instrument 11 to an external device.

[0068] like Figure 7 As shown, the drive device 6 is provided with a fourth connecting through hole 602 and a PCB board connecting column 601, and the drive device 6 is bolted to the motor slot 5 through the fourth connecting through hole 602 and the third connecting through hole 503 at the second end of the motor slot 5. A PCB board 7 is provided on the PCB board connecting column 601, and the 4-pin signal line of the driver 8 passes through the rectangular through hole 502 and is connected to the PCB board 7 to realize the control of the driver 8.

[0069] The modular soft tissue minimally invasive surgical robotic arm disclosed above has the advantages of compact structure, fast dynamic response, good load capacity, and high disassembly and assembly efficiency. It meets the needs of rapid replacement during surgery and can be effectively adapted to various platforms such as surgical robots and industrial robotic arms.

[0070] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A modular soft tissue minimally invasive surgery robot arm, characterized in that: include: a continuous tube, which is located at one end of the robotic arm and has a first end for connecting a surgical instrument; a guide rope device, a first end of which is connected to the second end of the continuous body tube; a motor slot connected to the second end of the guide rope device; A driver, which is arranged in the motor slot; A connecting member, which is detachably connected to the output end of the driver; A driving rope, a first end of which is detachably connected to the connecting piece, and a second end of which extends to the first end of the continuous body tube. The driving rope passes through the interior of the continuous body tube and the guide rope device.

2. The modular soft tissue minimally invasive surgery robot arm according to claim 1, characterized in that: A connecting device is also included, and the motor slot is connected to the guide rope device through the connecting device.

3. The modular soft tissue minimally invasive surgery robot arm according to claim 2, characterized in that: The continuous tube comprises a spring sheet and a spring structure section. The spring sheet is arranged at a first end of the continuous tube, and the spring structure section extends along the length direction of the continuous tube.

4. The modular soft tissue minimally invasive surgery robot arm according to claim 3, characterized in that: The continuous body tube further comprises a fixing slot, adjacent spring segments are connected via the fixing slot, and the rotation directions of adjacent spring segments are opposite.

5. The modular soft tissue minimally invasive surgery robot arm according to claim 3, characterized in that: The first end of the rope guide device is provided with a set screw hole and a countersunk hole, the interior of the rope guide device is provided with a rope guide groove, the second end of the rope guide device is provided with a first connecting through hole, and the second end of the continuous body tube is connected to the rope guide device through the countersunk hole and the set screw hole.

6. The modular soft tissue minimally invasive surgery robot arm according to claim 5, characterized in that: The shape of the rope guide groove is a spline curve.

7. The modular soft tissue minimally invasive surgery robot arm according to claim 1, characterized in that: The connecting part includes a through-hole screw, a nut, and a stud screw. The through-hole screw is threadedly connected to one end of the nut, one end of the stud screw is threadedly connected to the other end of the nut, and the other end of the stud screw is threadedly connected to the driver. The first end of the drive rope passes through the through-hole screw, and the drive rope is compressed in the nut.

8. The modular soft tissue minimally invasive surgery robot arm according to claim 1, characterized in that: It also includes a connecting flange, which is arranged on the circumferential outer side of the motor slot and has bolt reserved holes.

9. The modular soft tissue minimally invasive surgery robot arm according to claim 6, characterized in that: It also includes a driving device, which is connected to the motor slot and connected to the surgical instrument through a wire.

10. The modular soft tissue minimally invasive surgery robot arm according to claim 9, characterized in that: It also includes a PCB board, which is arranged on the driving device and electrically connected to the driver.

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